Function without config file

This makes WMR headset tracking work out of the box.
2022-05-27 14:13:37 +00:00 · 2022-05-27 14:13:37 +00:00 · e36bead967
parent 594603861b
commit e36bead967
6 changed files with 171 additions and 43 deletions
--- a/README.md
+++ b/README.md
@ -27,7 +27,8 @@ in order to get it working in different ones.
 ## Installation

 This was tested on both Ubuntu 20.04 and 18.04, be sure to open an issue if the
-steps don't work for you.
+steps don't work for you. The main branch of this fork is
+[`xrtslam`](https://gitlab.freedesktop.org/mateosss/basalt/-/tree/xrtslam).

 ### Build and Install Directories

@ -106,7 +107,7 @@ This step is optional but you can try Basalt without Monado with one of the foll
 ### Monado Specifics

 You'll need to compile Monado with the same Eigen used in Basalt, and with the
-same flags. For that, set these with CMake (or equivalent flags for meson):
+same flags. For that, set these with CMake:
 `-DEIGEN3_INCLUDE_DIR=$bsltdeps/basalt/thirdparty/basalt-headers/thirdparty/eigen
 -DCMAKE_C_FLAGS="-march=native" -DCMAKE_CXX_FLAGS="-march=native"` otherwise
 Monado will automatically use your system's Eigen, and having mismatched Eigen
--- a/data/reverbg1_calib.json
+++ b/data/reverbg1_calib.json
@ -115,7 +115,7 @@
            0.009999999873689375
        ],
        "cam_time_offset_ns": 0,
-        "view_offset": [247, 0],
+        "view_offset": [0, 0],
        "vignette": []
    }
 }
--- a/doc/monado/WMR.md
+++ b/doc/monado/WMR.md
@ -1,6 +1,22 @@
 # Windows Mixed Reality Headsets

-We'll need to make a Basalt config file for your headset, let's say it's a
+Monado should work out of the box with WMR devices and Basalt without any input
+on your part. So if you successfully followed the guide in the main README and
+Monado detects your WMR headset, then tracking should already be working for you.
+
+If it does not work, double check that you read everything in the guide, from
+top to bottom.
+
+If it still doesn't work, triple check it.
+
+Now if you are still experiencing issues, crashes or would like to debug the
+pipeline for whatever reason, the rest of this document should help you with
+that.
+
+## Making a custom Basalt config file
+
+It's a good idea to make a Basalt config file for your headset so that you can
+easily tweak it if needed. Let's say we are trying to make a config file for a
 Reverb G2.

 First, let's get your WMR device json config block. To get that json, set the
@ -22,18 +38,62 @@ already present for the Odyssey+:
 cp $bsltdeps/basalt/data/monado/odysseyplus_rt8.toml $bsltdeps/basalt/data/monado/reverbg2.toml
 ```

-And edit the `cam-calib` field in the `reverbg2.toml` file to point to your `reverbg2_calib.json` file.
+And edit the `cam-calib` field in the `reverbg2.toml` file to point to your
+`reverbg2_calib.json` file.

-And that's it, now you just need to reference this `reverbg2.toml` in the
-`SLAM_CONFIG` environment variable before launching Monado with `export
-SLAM_CONFIG=$bsltdeps/basalt/data/monado/reverbg2.toml` and Basalt will use the
-appropriate calibration for your headset.
+That's it! now you have a Basalt config file that you can use for your headset.
+
+## Set Monado options
+
+Let's set a couple environment variables in Monado that will help us debug the
+SLAM pipeline.
+
+- `SLAM_CONFIG=$bsltdeps/basalt/data/monado/reverbg2.toml`: Tell Monado where
+  the Basalt `toml` config you just created is. Notice that the `show-gui`
+  property is enabled in this `toml` file so you will start seeing the Basalt
+  visualizer when opening Monado. Furthermore the `config-path` key points to a
+  Basalt specific config file for tweaking the VIO pipeline.
+
+- `OXR_DEBUG_GUI=on`: Enable Monado's own debug GUI.
+
+- `SLAM_SUBMIT_FROM_START=off`: Do not send frames to Basalt from the start,
+  rather wait until we check the checkbox in the Monado GUI box called "SLAM
+  Tracker".
+
+- `WMR_AUTOEXPOSURE=off`: Disable autoexposure to have one less moving part, we
+  will manually adjust it instead on the "WMR Camera" box, by moving the
+  "Brightness" slider on the "Auto exposure and gain control" section.
+
+## Controling auto exposure

 By default, the UI box `SLAM Tracker` has the option `Submit data to SLAM`
 disabled so that you first manually configure the exposure and gain values in
 the `WMR Camera` box. You can enable it yourself in the UI or enable it at start
 by setting the environment variable `SLAM_SUBMIT_FROM_START=true`.

-# Video Walkthrough
+## Recalibrating my device (TODO)

-Here is a 15 minute walkthrough with some tips for using a WMR headset with Monado and Basalt that should help complement the guide found in the [README.md](README.md) file: <https://www.youtube.com/watch?v=jyQKjyRVMS4>
+It's not a bad idea to recalibrate your headset manually with the tools Basalt provides.
+
+TODO: Specify better the steps, but roughly they would be:
+
+1. Get calibration target from Kalibr: https://github.com/ethz-asl/kalibr/wiki/downloads
+2. Open the pdf in a flat monitor, measure dimensions with a ruler and put them on aprilgrid_6x6.json
+3. Record an EuRoC dataset from Monado in which you move the headset around the target (link an example sequence)
+4. Run
+   [basalt_calibrate](https://gitlab.com/VladyslavUsenko/basalt/-/blob/master/doc/Calibration.md#camera-calibration)
+   on
+   [euroc](https://gitlab.com/VladyslavUsenko/basalt/-/blob/master/doc/Calibration.md#euroc-dataset).
+5. Run
+   [basalt_calibrate_vio](https://gitlab.com/VladyslavUsenko/basalt/-/blob/master/doc/Calibration.md#camera-imu-mocap-calibration)
+   on
+   [euroc](https://gitlab.com/VladyslavUsenko/basalt/-/blob/master/doc/Calibration.md#camera-imu-calibration).
+
+# Video Walkthrough (DEPRECATED)
+
+_This video is not up to date anymore but might be useful to see how things
+worked before. Now, `view_offset` is automatically computed, exposure and gain
+are automatically set too, so in general there is no manual input needed from
+the user._
+
+~~Here is a 15 minute walkthrough with some tips for using a WMR headset with Monado and Basalt that should help complement the guide found in the [README.md](README.md) file: <https://www.youtube.com/watch?v=jyQKjyRVMS4>~~
--- a/src/monado/slam_tracker.cpp
+++ b/src/monado/slam_tracker.cpp
@ -68,7 +68,7 @@ struct slam_tracker::implementation {

 private:
  // Options parsed from unified config file
-  bool show_gui = true;
+  bool show_gui = false;
  string cam_calib_path;
  string config_path;
  string marg_data_path;
@ -83,6 +83,11 @@ struct slam_tracker::implementation {
  static constexpr int NUM_CAMS = 2;

  // VIO members
+  struct {
+    bool imu = false;
+    bool cam0 = false;
+    bool cam1 = false;
+  } calib_data_ready;
  Calibration<double> calib;
  VioConfig vio_config;
  OpticalFlowBase::Ptr opt_flow_ptr;
@ -116,6 +121,11 @@ struct slam_tracker::implementation {

 public:
  implementation(const string &unified_config) {
+    if (unified_config == "DEFAULT") {
+      // For the pipeline to work now, the user will need to use add_cam/imu_calibration
+      return;
+    }
+
    load_unified_config(unified_config);

    vio_config.load(config_path);
@ -156,6 +166,7 @@ struct slam_tracker::implementation {
      cereal::JSONInputArchive archive(os);
      archive(calib);
      cout << "Loaded camera with " << calib.intrinsics.size() << " cameras\n";
+      calib_data_ready.imu = calib_data_ready.cam0 = calib_data_ready.cam1 = true;
    } else {
      std::cerr << "could not load camera calibration " << calib_path << "\n";
      std::abort();
@ -216,6 +227,13 @@ struct slam_tracker::implementation {
    cout << "Finished queues_printer\n";
  }

+  void print_calibration() {
+    std::stringstream ss{};
+    cereal::JSONOutputArchive write_to_stream(ss);
+    write_to_stream(calib);
+    cout << "Calibration: " << ss.str() << "\n";
+  }
+
 public:
  void initialize() {
    // Overwrite camera calibration data
@ -223,11 +241,22 @@ struct slam_tracker::implementation {
      apply_cam_calibration(c);
    }

+    bool calib_from_monado = added_cam_calibs.size() == 2;
+    bool view_offset_unknown = calib.view_offset(0) == 0 && calib.view_offset(1) == 0;
+    if (calib_from_monado || view_offset_unknown) {
+      compute_view_offset();
+      cout << "Computed view_offset = " << calib.view_offset.transpose() << "\n";
+    }
+
    // Overwrite IMU calibration data
    for (const auto &c : added_imu_calibs) {
      apply_imu_calibration(c);
    }

+    ASSERT(calib_data_ready.imu, "Missing IMU calibration");
+    ASSERT(calib_data_ready.cam0, "Missing left camera (cam0) calibration");
+    ASSERT(calib_data_ready.cam1, "Missing right camera (cam1) calibration");
+
    // NOTE: This factory also starts the optical flow
    opt_flow_ptr = OpticalFlowFactory::getOpticalFlow(vio_config, calib);
    image_data_queue = &opt_flow_ptr->input_queue;
@ -362,39 +391,68 @@ struct slam_tracker::implementation {
    return true;
  }

+  void compute_view_offset() {
+    constexpr double DISTANCE_TO_WALL = 2;  // In meters
+    double width = calib.resolution[0][0];
+    double height = calib.resolution[0][1];
+    Sophus::SE3d T_i_c0 = calib.T_i_c[0];
+    Sophus::SE3d T_i_c1 = calib.T_i_c[1];
+    Sophus::SE3d T_c1_i = T_i_c1.inverse();
+    Sophus::SE3d T_c1_c0 = T_c1_i * T_i_c0;  // Maps a point in c0 space to c1 space
+    Eigen::Vector4d p3d{0, 0, DISTANCE_TO_WALL, 1};
+    Eigen::Vector4d p3d_in_c1 = T_c1_c0 * p3d;
+    Eigen::Vector2d p2d;
+    calib.intrinsics[1].project(p3d_in_c1, p2d);
+    calib.view_offset.x() = (width / 2) - p2d.x();
+    calib.view_offset.y() = (height / 2) - p2d.y();
+  }
+
  void add_cam_calibration(const cam_calibration &cam_calib) { added_cam_calibs.push_back(cam_calib); }

  void apply_cam_calibration(const cam_calibration &cam_calib) {
    using Scalar = double;
-    int i = cam_calib.cam_index;
+    size_t i = cam_calib.cam_index;

-    const auto &tci = cam_calib.T_cam_imu;
-    Eigen::Matrix3d rci;
-    rci << tci(0, 0), tci(0, 1), tci(0, 2), tci(1, 0), tci(1, 1), tci(1, 2), tci(2, 0), tci(2, 1), tci(2, 2);
-    Eigen::Quaterniond q(rci);
-    Eigen::Vector3d p{tci(0, 3), tci(1, 3), tci(2, 3)};
-    calib.T_i_c[i] = Calibration<Scalar>::SE3(q, p);
+    const auto &tic = cam_calib.t_imu_cam;
+    Eigen::Matrix3d ric;
+    ric << tic(0, 0), tic(0, 1), tic(0, 2), tic(1, 0), tic(1, 1), tic(1, 2), tic(2, 0), tic(2, 1), tic(2, 2);
+    Eigen::Quaterniond q(ric);
+    Eigen::Vector3d p{tic(0, 3), tic(1, 3), tic(2, 3)};
+    ASSERT_(calib.T_i_c.size() == i);
+    calib.T_i_c.push_back(Calibration<Scalar>::SE3(q, p));

    GenericCamera<double> model;
-    const vector<Scalar> &cmp = cam_calib.model_params;
-    if (cam_calib.model == cam_calibration::cam_model::pinhole) {
+    const vector<Scalar> &d = cam_calib.distortion;
+    if (cam_calib.distortion_model == "none") {
+      ASSERT_(d.size() == 0);
      PinholeCamera<Scalar>::VecN mp;
      mp << cam_calib.fx, cam_calib.fy, cam_calib.cx, cam_calib.cy;
      PinholeCamera pinhole(mp);
      model.variant = pinhole;
-    } else if (cam_calib.model == cam_calibration::cam_model::fisheye) {
+    } else if (cam_calib.distortion_model == "kb4") {
+      ASSERT_(d.size() == 4);
      KannalaBrandtCamera4<Scalar>::VecN mp;
-      mp << cam_calib.fx, cam_calib.fy, cam_calib.cx, cam_calib.cy, cmp[0], cmp[1], cmp[2], cmp[3];
+      mp << cam_calib.fx, cam_calib.fy, cam_calib.cx, cam_calib.cy, d[0], d[1], d[2], d[3];
      KannalaBrandtCamera4 kannala_brandt(mp);
      model.variant = kannala_brandt;
+    } else if (cam_calib.distortion_model == "rt8") {
+      ASSERT_(d.size() == 9);  // 8 and rpmax
+      PinholeRadtan8Camera<Scalar>::VecN mp;
+      mp << cam_calib.fx, cam_calib.fy, cam_calib.cx, cam_calib.cy, d[0], d[1], d[2], d[3], d[4], d[5], d[6], d[7];
+      Scalar rpmax = d[8];
+      PinholeRadtan8Camera pinhole_radtan8(mp, rpmax);
+      model.variant = pinhole_radtan8;
    } else {
-      ASSERT(false, "Unsupported camera model (%d)", static_cast<int>(cam_calib.model));
+      ASSERT(false, "Unsupported camera model (%s)", cam_calib.distortion_model.c_str());
    }
-    calib.intrinsics[i] = model;
+    ASSERT_(calib.intrinsics.size() == i);
+    calib.intrinsics.push_back(model);

-    calib.resolution[i] = {cam_calib.width, cam_calib.height};
+    ASSERT_(calib.resolution.size() == i);
+    calib.resolution.push_back({cam_calib.width, cam_calib.height});

-    // NOTE: ignoring cam_calib.distortion_model and distortion_params as basalt can't use them
+    calib_data_ready.cam0 |= i == 0;
+    calib_data_ready.cam1 |= i == 1;
  }

  void add_imu_calibration(const imu_calibration &imu_calib) { added_imu_calibs.push_back(imu_calib); }
@ -448,6 +506,8 @@ struct slam_tracker::implementation {

    calib.gyro_noise_std = {gyro.noise_std(0), gyro.noise_std(1), gyro.noise_std(2)};
    calib.gyro_bias_std = {gyro.bias_std(0), gyro.bias_std(1), gyro.bias_std(2)};
+
+    calib_data_ready.imu = true;
  }

  shared_ptr<vector<string>> enable_pose_ext_timing() {
--- a/src/utils/vio_config.cpp
+++ b/src/utils/vio_config.cpp
@ -48,7 +48,7 @@ VioConfig::VioConfig() {
  // optical_flow_type = "patch";
  optical_flow_type = "frame_to_frame";
  optical_flow_detection_grid_size = 50;
-  optical_flow_max_recovered_dist2 = 0.09f;
+  optical_flow_max_recovered_dist2 = 0.04f;
  optical_flow_pattern = 51;
  optical_flow_max_iterations = 5;
  optical_flow_levels = 3;
@ -74,12 +74,14 @@ VioConfig::VioConfig() {

  vio_enforce_realtime = false;

-  vio_use_lm = false;
+  vio_use_lm = true;
  vio_lm_lambda_initial = 1e-4;
  vio_lm_lambda_min = 1e-6;
  vio_lm_lambda_max = 1e2;
+  // vio_lm_landmark_damping_variant = 1;
+  // vio_lm_pose_damping_variant = 1;

-  vio_scale_jacobian = true;
+  vio_scale_jacobian = false;

  vio_init_pose_weight = 1e8;
  vio_init_ba_weight = 1e1;
@ -104,9 +106,9 @@ VioConfig::VioConfig() {
  mapper_no_factor_weights = false;
  mapper_use_factors = true;

-  mapper_use_lm = false;
+  mapper_use_lm = true;
  mapper_lm_lambda_min = 1e-32;
-  mapper_lm_lambda_max = 1e2;
+  mapper_lm_lambda_max = 1e3;
 }

 void VioConfig::save(const std::string& filename) {
--- a/thirdparty/monado/slam_tracker.hpp
+++ b/thirdparty/monado/slam_tracker.hpp
@ -27,7 +27,7 @@ namespace xrt::auxiliary::tracking::slam {

 // For implementation: same as IMPLEMENTATION_VERSION_*
 // For user: expected IMPLEMENTATION_VERSION_*. Should be checked in runtime.
-constexpr int HEADER_VERSION_MAJOR = 2; //!< API Breakages
+constexpr int HEADER_VERSION_MAJOR = 3; //!< API Breakages
 constexpr int HEADER_VERSION_MINOR = 0; //!< Backwards compatible API changes
 constexpr int HEADER_VERSION_PATCH = 0; //!< Backw. comp. .h-implemented changes

@ -185,17 +185,22 @@ private:
  constexpr int FID_##SHORT_NAME = ID;                                         \
  constexpr int F_##NAME = ID;

+/*!
+ * Container of parameters for a pinhole camera calibration (fx, fy, cx, cy)
+ * with an optional distortion.
+ *
+ *`distortion_model` and its corresponding `distortion` parameters are not
+ * standardized in this struct to facilitate implementation prototyping.
+ */
 struct cam_calibration {
-  enum class cam_model { pinhole, fisheye };
-
  int cam_index; //!< For multi-camera setups. For stereo 0 ~ left, 1 ~ right.
-  int width, height; //<! Resolution
-  double frequency;  //<! Frames per second
-  double fx, fy;     //<! Focal point
-  double cx, cy;     //<! Principal point
-  cam_model model;
-  std::vector<double> model_params;
-  cv::Matx<double, 4, 4> T_cam_imu; //!< Transformation from camera to imu space
+  int width, height;                //<! Resolution
+  double frequency;                 //<! Frames per second
+  double fx, fy;                    //<! Focal point
+  double cx, cy;                    //<! Principal point
+  std::string distortion_model;     //!< Models like: none, rt4, rt5, rt8, kb4
+  std::vector<double> distortion;   //!< Parameters for the distortion_model
+  cv::Matx<double, 4, 4> t_imu_cam; //!< Transformation from IMU to camera
 };

 struct inertial_calibration {
@ -204,7 +209,7 @@ struct inertial_calibration {
  //! This transform will be applied to raw measurements.
  cv::Matx<double, 3, 3> transform;

-  //! Offset to apply to raw measurements to; called bias in other contexts.
+  //! Offset to add to raw measurements to; called bias in other contexts.
  cv::Matx<double, 3, 1> offset;

  // Parameters for the random processes that model this IMU. See section "2.1