478 lines
16 KiB
C++
478 lines
16 KiB
C++
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#include <pangolin/display/image_view.h>
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#include <pangolin/gl/gldraw.h>
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#include <pangolin/image/image.h>
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#include <pangolin/image/image_io.h>
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#include <pangolin/image/typed_image.h>
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#include <pangolin/pangolin.h>
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#include <basalt/io/dataset_io.h>
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#include <basalt/serialization/headers_serialization.h>
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#include <basalt/calibration/calibration.hpp>
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#include <experimental/filesystem>
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#include <tbb/tbb.h>
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#include <CLI/CLI.hpp>
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namespace fs = std::experimental::filesystem;
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basalt::Calibration<double> calib;
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basalt::MocapCalibration<double> mocap_calib;
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// Linear time version
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double compute_error(int64_t offset,
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const std::vector<int64_t> &gyro_timestamps,
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const Eigen::vector<Eigen::Vector3d> &gyro_data,
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const std::vector<int64_t> &mocap_rot_vel_timestamps,
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const Eigen::vector<Eigen::Vector3d> &mocap_rot_vel_data) {
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double error = 0;
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int num_points = 0;
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size_t j = 0;
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for (size_t i = 0; i < mocap_rot_vel_timestamps.size(); i++) {
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int64_t corrected_time = mocap_rot_vel_timestamps[i] + offset;
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while (gyro_timestamps[j] < corrected_time) j++;
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if (j >= gyro_timestamps.size()) break;
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int64_t dist_j = gyro_timestamps[j] - corrected_time;
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int64_t dist_j_m1 = corrected_time - gyro_timestamps[j - 1];
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BASALT_ASSERT(dist_j >= 0);
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BASALT_ASSERT(dist_j_m1 >= 0);
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int idx = dist_j < dist_j_m1 ? j : j - 1;
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if (std::min(dist_j, dist_j_m1) > 1e9 / 120) continue;
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error += (gyro_data[idx] - mocap_rot_vel_data[i]).norm();
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num_points++;
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}
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return error / num_points;
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}
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int main(int argc, char **argv) {
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tbb::task_scheduler_init init(
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tbb::task_scheduler_init::default_num_threads());
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std::string dataset_path;
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std::string calibration_path;
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std::string mocap_calibration_path;
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std::string dataset_type;
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std::string output_path;
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std::string output_error_path;
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std::string output_gyro_path;
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std::string output_mocap_path;
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bool show_gui = true;
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CLI::App app{"Calibrate time offset"};
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app.add_option("-d,--dataset-path", dataset_path, "Path to dataset")
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->required();
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app.add_option("--calibration", calibration_path, "Path to calibration file");
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app.add_option("--mocap-calibration", mocap_calibration_path,
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"Path to mocap calibration file");
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app.add_option("--dataset-type", dataset_type, "Dataset type <euroc, bag>.")
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->required();
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app.add_option("--output", output_path,
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"Path to output file with time-offset result");
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app.add_option("--output-error", output_error_path,
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"Path to output file with error time-series for plotting");
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app.add_option(
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"--output-gyro", output_gyro_path,
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"Path to output file with gyro rotational velocities for plotting");
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app.add_option(
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"--output-mocap", output_mocap_path,
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"Path to output file with mocap rotational velocities for plotting");
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app.add_flag("--show-gui", show_gui, "Show GUI for debugging");
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try {
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app.parse(argc, argv);
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} catch (const CLI::ParseError &e) {
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return app.exit(e);
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}
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basalt::VioDatasetPtr vio_dataset;
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const bool use_calib =
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!(calibration_path.empty() || mocap_calibration_path.empty());
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if (use_calib) {
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std::ifstream is(calibration_path);
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if (is.good()) {
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cereal::JSONInputArchive archive(is);
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archive(calib);
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std::cout << "Loaded calibration from: " << calibration_path << std::endl;
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} else {
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std::cerr << "No calibration found" << std::endl;
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std::abort();
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}
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std::ifstream mocap_is(mocap_calibration_path);
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if (mocap_is.good()) {
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cereal::JSONInputArchive archive(mocap_is);
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archive(mocap_calib);
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std::cout << "Loaded mocap calibration from: " << mocap_calibration_path
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<< std::endl;
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} else {
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std::cerr << "No mocap calibration found" << std::endl;
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std::abort();
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}
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}
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basalt::DatasetIoInterfacePtr dataset_io =
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basalt::DatasetIoFactory::getDatasetIo(dataset_type);
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dataset_io->read(dataset_path);
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vio_dataset = dataset_io->get_data();
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std::vector<int64_t> gyro_timestamps;
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Eigen::vector<Eigen::Vector3d> gyro_data;
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std::vector<int64_t> mocap_rot_vel_timestamps;
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Eigen::vector<Eigen::Vector3d> mocap_rot_vel_data;
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// Apply calibration to gyro
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{
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int saturation_count = 0;
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for (size_t i = 0; i < vio_dataset->get_gyro_data().size(); i++) {
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if (vio_dataset->get_gyro_data()[i].data.array().abs().maxCoeff() >
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499.0 * M_PI / 180) {
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++saturation_count;
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continue;
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}
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gyro_timestamps.push_back(vio_dataset->get_gyro_data()[i].timestamp_ns);
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Eigen::Vector3d measurement = vio_dataset->get_gyro_data()[i].data;
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if (use_calib) {
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gyro_data.push_back(calib.calib_gyro_bias.getCalibrated(measurement));
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} else {
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gyro_data.push_back(measurement);
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}
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}
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std::cout << "saturated gyro measurement count: " << saturation_count
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<< std::endl;
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}
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// compute rotational velocity from mocap data
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{
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Sophus::SE3d T_mark_i;
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if (use_calib) T_mark_i = mocap_calib.T_i_mark.inverse();
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int saturation_count = 0;
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for (size_t i = 1; i < vio_dataset->get_gt_timestamps().size() - 1; i++) {
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Sophus::SE3d p0, p1;
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// compute central differences, to have no timestamp bias
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p0 = vio_dataset->get_gt_pose_data()[i - 1] * T_mark_i;
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p1 = vio_dataset->get_gt_pose_data()[i + 1] * T_mark_i;
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double dt = (vio_dataset->get_gt_timestamps()[i + 1] -
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vio_dataset->get_gt_timestamps()[i - 1]) *
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1e-9;
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// only compute difference, if measurements are really 2 consecutive
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// measurements apart (assuming 120 Hz data)
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if (dt > 2.5 / 120) continue;
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Eigen::Vector3d rot_vel = (p0.so3().inverse() * p1.so3()).log() / dt;
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// Filter outliers
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if (rot_vel.array().abs().maxCoeff() > 500 * M_PI / 180) {
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++saturation_count;
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continue;
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}
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mocap_rot_vel_timestamps.push_back(vio_dataset->get_gt_timestamps()[i]);
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mocap_rot_vel_data.push_back(rot_vel);
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}
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std::cout << "outlier mocap rotation velocity count: " << saturation_count
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<< std::endl;
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}
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std::cout << "gyro_data.size() " << gyro_data.size() << std::endl;
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std::cout << "mocap_rot_vel_data.size() " << mocap_rot_vel_data.size()
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<< std::endl;
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std::vector<double> offsets_vec;
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std::vector<double> errors_vec;
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int best_offset_ns = 0;
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double best_error = std::numeric_limits<double>::max();
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int best_error_idx = -1;
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int64_t max_offset_ns = 10000000000;
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int64_t offset_inc_ns = 100000;
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for (int64_t offset_ns = -max_offset_ns; offset_ns <= max_offset_ns;
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offset_ns += offset_inc_ns) {
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double error = compute_error(offset_ns, gyro_timestamps, gyro_data,
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mocap_rot_vel_timestamps, mocap_rot_vel_data);
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offsets_vec.push_back(offset_ns * 1e-6);
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errors_vec.push_back(error);
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if (error < best_error) {
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best_error = error;
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best_offset_ns = offset_ns;
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best_error_idx = errors_vec.size() - 1;
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}
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}
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std::cout << "Best error: " << best_error << std::endl;
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std::cout << "Best error idx : " << best_error_idx << std::endl;
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std::cout << "Best offset: " << best_offset_ns << std::endl;
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pangolin::DataLog error_log;
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int best_offset_refined_ns = best_offset_ns;
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// Subpixel accuracy
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Eigen::Vector3d coeff(0, 0, 0);
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{
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const static int SAMPLE_INTERVAL = 10;
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if (best_error_idx - SAMPLE_INTERVAL >= 0 &&
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best_error_idx + SAMPLE_INTERVAL < int(errors_vec.size())) {
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Eigen::MatrixXd pol(2 * SAMPLE_INTERVAL + 1, 3);
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Eigen::VectorXd err(2 * SAMPLE_INTERVAL + 1);
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for (int i = 0; i < 2 * SAMPLE_INTERVAL + 1; i++) {
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int idx = i - SAMPLE_INTERVAL;
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pol(i, 0) = idx * idx;
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pol(i, 1) = idx;
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pol(i, 2) = 1;
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err(i) = errors_vec[best_error_idx + idx];
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}
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coeff =
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pol.jacobiSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(err);
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double a = coeff[0];
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double b = coeff[1];
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if (a > 1e-9) {
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best_offset_refined_ns -= offset_inc_ns * b / (2 * a);
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}
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}
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for (size_t i = 0; i < errors_vec.size(); i++) {
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const double idx =
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static_cast<double>(static_cast<int>(i) - best_error_idx);
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const Eigen::Vector3d pol(idx * idx, idx, 1);
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error_log.Log(offsets_vec[i], errors_vec[i], pol.transpose() * coeff);
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}
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}
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std::cout << "Best error refined: "
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<< compute_error(best_offset_refined_ns, gyro_timestamps, gyro_data,
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mocap_rot_vel_timestamps, mocap_rot_vel_data)
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<< std::endl;
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std::cout << "Best offset refined: " << best_offset_refined_ns << std::endl;
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std::cout << "Total mocap offset: "
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<< vio_dataset->get_mocap_to_imu_offset_ns() +
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best_offset_refined_ns
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<< std::endl;
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if (output_path != "") {
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std::ofstream os(output_path);
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cereal::JSONOutputArchive archive(os);
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archive(cereal::make_nvp("mocap_to_imu_initial_offset_ns",
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vio_dataset->get_mocap_to_imu_offset_ns()));
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archive(cereal::make_nvp("mocap_to_imu_additional_offset_refined_ns",
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best_offset_refined_ns));
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archive(cereal::make_nvp(
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"mocap_to_imu_total_offset_ns",
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vio_dataset->get_mocap_to_imu_offset_ns() + best_offset_refined_ns));
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}
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if (output_error_path != "") {
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std::cout << "Writing error time series to '" << output_error_path << "'"
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<< std::endl;
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std::ofstream os(output_error_path);
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os << "#TIME_MS,ERROR,ERROR_FITTED" << std::endl;
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os << "# best_offset_ms: " << best_offset_ns * 1e-6
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<< ", best_offset_refined_ms: " << best_offset_refined_ns * 1e-6
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<< std::endl;
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for (size_t i = 0; i < errors_vec.size(); ++i) {
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const double idx =
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static_cast<double>(static_cast<int>(i) - best_error_idx);
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const Eigen::Vector3d pol(idx * idx, idx, 1);
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const double fitted = pol.transpose() * coeff;
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os << offsets_vec[i] << "," << errors_vec[i] << "," << fitted
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<< std::endl;
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}
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}
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int64_t min_time = vio_dataset->get_gyro_data().front().timestamp_ns;
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int64_t max_time = vio_dataset->get_gyro_data().back().timestamp_ns;
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if (output_gyro_path != "") {
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std::cout << "Writing gyro values to '" << output_gyro_path << "'"
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<< std::endl;
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std::ofstream os(output_gyro_path);
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os << "#TIME_M, GX, GY, GZ" << std::endl;
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for (size_t i = 0; i < gyro_timestamps.size(); ++i) {
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os << (gyro_timestamps[i] - min_time) * 1e-9 << " "
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<< gyro_data[i].transpose() << std::endl;
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}
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}
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if (output_mocap_path != "") {
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std::cout << "Writing mocap rotational velocity values to '"
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<< output_mocap_path << "'" << std::endl;
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std::ofstream os(output_mocap_path);
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os << "#TIME_M, GX, GY, GZ" << std::endl;
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for (size_t i = 0; i < gyro_timestamps.size(); ++i) {
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os << (mocap_rot_vel_timestamps[i] + best_offset_ns - min_time) * 1e-9
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<< " " << mocap_rot_vel_data[i].transpose() << std::endl;
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}
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}
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if (show_gui) {
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static constexpr int UI_WIDTH = 280;
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pangolin::CreateWindowAndBind("Main", 1280, 800);
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pangolin::Plotter *plotter;
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pangolin::DataLog data_log, mocap_log;
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pangolin::View &plot_display = pangolin::CreateDisplay().SetBounds(
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0.0, 1.0, pangolin::Attach::Pix(UI_WIDTH), 1.0);
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pangolin::CreatePanel("ui").SetBounds(0.0, 1.0, 0.0,
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pangolin::Attach::Pix(UI_WIDTH));
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plotter = new pangolin::Plotter(&data_log, 0, (max_time - min_time) * 1e-9,
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-10.0, 10.0, 0.01, 0.01);
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plot_display.AddDisplay(*plotter);
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pangolin::Var<bool> show_gyro("ui.show_gyro", true, false, true);
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pangolin::Var<bool> show_mocap_rot_vel("ui.show_mocap_rot_vel", true, false,
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true);
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pangolin::Var<bool> show_error("ui.show_error", false, false, true);
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pangolin::Var<std::function<void(void)>> save_aligned_dataset(
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"ui.save_aligned_dataset", [&]() {
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if (fs::exists(fs::path(dataset_path + "mav0/gt/data.csv"))) {
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std::cout << "Aligned grount truth data already exists, skipping."
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<< std::endl;
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return;
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}
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std::cout << "Saving aligned dataset in "
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<< dataset_path + "mav0/gt/data.csv" << std::endl;
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// output corrected mocap data
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Sophus::SE3d T_mark_i;
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if (use_calib) T_mark_i = mocap_calib.T_i_mark.inverse();
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fs::create_directory(dataset_path + "mav0/gt/");
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std::ofstream gt_out_stream;
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gt_out_stream.open(dataset_path + "mav0/gt/data.csv");
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gt_out_stream
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<< "#timestamp [ns], p_RS_R_x [m], p_RS_R_y [m], p_RS_R_z [m], "
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"q_RS_w [], q_RS_x [], q_RS_y [], q_RS_z []\n";
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for (size_t i = 0; i < vio_dataset->get_gt_timestamps().size(); i++) {
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gt_out_stream << vio_dataset->get_gt_timestamps()[i] +
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best_offset_refined_ns
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<< ",";
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Sophus::SE3d pose_corrected =
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vio_dataset->get_gt_pose_data()[i] * T_mark_i;
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gt_out_stream << pose_corrected.translation().x() << ","
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<< pose_corrected.translation().y() << ","
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<< pose_corrected.translation().z() << ","
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<< pose_corrected.unit_quaternion().w() << ","
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<< pose_corrected.unit_quaternion().x() << ","
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<< pose_corrected.unit_quaternion().y() << ","
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<< pose_corrected.unit_quaternion().z() << std::endl;
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}
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gt_out_stream.close();
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});
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auto recompute_logs = [&]() {
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data_log.Clear();
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mocap_log.Clear();
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for (size_t i = 0; i < gyro_timestamps.size(); i++) {
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data_log.Log((gyro_timestamps[i] - min_time) * 1e-9, gyro_data[i][0],
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gyro_data[i][1], gyro_data[i][2]);
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}
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for (size_t i = 0; i < mocap_rot_vel_timestamps.size(); i++) {
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mocap_log.Log(
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(mocap_rot_vel_timestamps[i] + best_offset_ns - min_time) * 1e-9,
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mocap_rot_vel_data[i][0], mocap_rot_vel_data[i][1],
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mocap_rot_vel_data[i][2]);
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}
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};
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auto drawPlots = [&]() {
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plotter->ClearSeries();
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plotter->ClearMarkers();
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if (show_gyro) {
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plotter->AddSeries("$0", "$1", pangolin::DrawingModeLine,
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pangolin::Colour::Red(), "g x");
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plotter->AddSeries("$0", "$2", pangolin::DrawingModeLine,
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pangolin::Colour::Green(), "g y");
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plotter->AddSeries("$0", "$3", pangolin::DrawingModeLine,
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pangolin::Colour::Blue(), "g z");
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}
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if (show_mocap_rot_vel) {
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plotter->AddSeries("$0", "$1", pangolin::DrawingModeLine,
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pangolin::Colour(1, 1, 0), "pv x", &mocap_log);
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plotter->AddSeries("$0", "$2", pangolin::DrawingModeLine,
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pangolin::Colour(1, 0, 1), "pv y", &mocap_log);
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plotter->AddSeries("$0", "$3", pangolin::DrawingModeLine,
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pangolin::Colour(0, 1, 1), "pv z", &mocap_log);
|
|
}
|
|
|
|
if (show_error) {
|
|
plotter->AddSeries("$0", "$1", pangolin::DrawingModeLine,
|
|
pangolin::Colour(1, 1, 1), "error", &error_log);
|
|
plotter->AddSeries("$0", "$2", pangolin::DrawingModeLine,
|
|
pangolin::Colour(0.3, 1, 0.8), "fitted error",
|
|
&error_log);
|
|
plotter->AddMarker(pangolin::Marker::Vertical,
|
|
best_offset_refined_ns * 1e-6,
|
|
pangolin::Marker::Equal, pangolin::Colour(1, 0, 0));
|
|
}
|
|
};
|
|
|
|
recompute_logs();
|
|
drawPlots();
|
|
|
|
while (!pangolin::ShouldQuit()) {
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
if (show_gyro.GuiChanged() || show_mocap_rot_vel.GuiChanged() ||
|
|
show_error.GuiChanged()) {
|
|
drawPlots();
|
|
}
|
|
|
|
pangolin::FinishFrame();
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
}
|