diff --git a/.gitignore b/.gitignore index 5ef91a9f9..e50fba169 100644 --- a/.gitignore +++ b/.gitignore @@ -11,4 +11,10 @@ A3_rs/ A3_rs.launch test/ test.launch -.vscode/ +**/.vscode/ +**/log/** +**/build/** +**/install/** +**/V1_01_easy/ +output/ +search.txt \ No newline at end of file diff --git a/README.md b/README.md index 179a5cf13..ef0d00817 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,5 @@ # VINS-Mono + ## A Robust and Versatile Monocular Visual-Inertial State Estimator **11 Jan 2019**: An extension of **VINS**, which supports stereo cameras / stereo cameras + IMU / mono camera + IMU, is published at [VINS-Fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion) diff --git a/ar_demo/CMakeLists.txt b/ar_demo/CMakeLists.txt deleted file mode 100644 index fc4e682b6..000000000 --- a/ar_demo/CMakeLists.txt +++ /dev/null @@ -1,43 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ar_demo) - -set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11 -DEIGEN_DONT_PARALLELIZE") -#-DEIGEN_USE_MKL_ALL") -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs - image_transport - sensor_msgs - cv_bridge - message_filters - camera_model -) -find_package(OpenCV REQUIRED) - -catkin_package( - -) - - -include_directories( - ${catkin_INCLUDE_DIRS} -) - -set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) -find_package(Eigen3) -include_directories( - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} -) - -add_executable(ar_demo_node src/ar_demo_node.cpp) - - target_link_libraries(ar_demo_node - ${catkin_LIBRARIES} ${OpenCV_LIBS} - ) - - diff --git a/ar_demo/cmake/FindEigen.cmake b/ar_demo/cmake/FindEigen.cmake deleted file mode 100644 index cdeb30557..000000000 --- a/ar_demo/cmake/FindEigen.cmake +++ /dev/null @@ -1,172 +0,0 @@ -# Ceres Solver - A fast non-linear least squares minimizer -# Copyright 2015 Google Inc. All rights reserved. -# http://ceres-solver.org/ -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# * Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# * Neither the name of Google Inc. nor the names of its contributors may be -# used to endorse or promote products derived from this software without -# specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -# Author: alexs.mac@gmail.com (Alex Stewart) -# - -# FindEigen.cmake - Find Eigen library, version >= 3. -# -# This module defines the following variables: -# -# EIGEN_FOUND: TRUE iff Eigen is found. -# EIGEN_INCLUDE_DIRS: Include directories for Eigen. -# -# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h -# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 -# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 -# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 -# -# The following variables control the behaviour of this module: -# -# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to -# search for eigen includes, e.g: /timbuktu/eigen3. -# -# The following variables are also defined by this module, but in line with -# CMake recommended FindPackage() module style should NOT be referenced directly -# by callers (use the plural variables detailed above instead). These variables -# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which -# are NOT re-called (i.e. search for library is not repeated) if these variables -# are set with valid values _in the CMake cache_. This means that if these -# variables are set directly in the cache, either by the user in the CMake GUI, -# or by the user passing -DVAR=VALUE directives to CMake when called (which -# explicitly defines a cache variable), then they will be used verbatim, -# bypassing the HINTS variables and other hard-coded search locations. -# -# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the -# include directory of any dependencies. - -# Called if we failed to find Eigen or any of it's required dependencies, -# unsets all public (designed to be used externally) variables and reports -# error message at priority depending upon [REQUIRED/QUIET/] argument. -macro(EIGEN_REPORT_NOT_FOUND REASON_MSG) - unset(EIGEN_FOUND) - unset(EIGEN_INCLUDE_DIRS) - # Make results of search visible in the CMake GUI if Eigen has not - # been found so that user does not have to toggle to advanced view. - mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR) - # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() - # use the camelcase library name, not uppercase. - if (Eigen_FIND_QUIETLY) - message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - elseif (Eigen_FIND_REQUIRED) - message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - else() - # Neither QUIETLY nor REQUIRED, use no priority which emits a message - # but continues configuration and allows generation. - message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - endif () - return() -endmacro(EIGEN_REPORT_NOT_FOUND) - -# Protect against any alternative find_package scripts for this library having -# been called previously (in a client project) which set EIGEN_FOUND, but not -# the other variables we require / set here which could cause the search logic -# here to fail. -unset(EIGEN_FOUND) - -# Search user-installed locations first, so that we prefer user installs -# to system installs where both exist. -list(APPEND EIGEN_CHECK_INCLUDE_DIRS - /usr/local/include - /usr/local/homebrew/include # Mac OS X - /opt/local/var/macports/software # Mac OS X. - /opt/local/include - /usr/include) -# Additional suffixes to try appending to each search path. -list(APPEND EIGEN_CHECK_PATH_SUFFIXES - eigen3 # Default root directory for Eigen. - Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3 - Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3 - -# Search supplied hint directories first if supplied. -find_path(EIGEN_INCLUDE_DIR - NAMES Eigen/Core - PATHS ${EIGEN_INCLUDE_DIR_HINTS} - ${EIGEN_CHECK_INCLUDE_DIRS} - PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES}) - -if (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - eigen_report_not_found( - "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " - "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") -endif (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - -# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets -# if called. -set(EIGEN_FOUND TRUE) - -# Extract Eigen version from Eigen/src/Core/util/Macros.h -if (EIGEN_INCLUDE_DIR) - set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) - if (NOT EXISTS ${EIGEN_VERSION_FILE}) - eigen_report_not_found( - "Could not find file: ${EIGEN_VERSION_FILE} " - "containing version information in Eigen install located at: " - "${EIGEN_INCLUDE_DIR}.") - else (NOT EXISTS ${EIGEN_VERSION_FILE}) - file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) - - string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" - EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" - EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") - - string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" - EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" - EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") - - string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" - EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" - EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") - - # This is on a single line s/t CMake does not interpret it as a list of - # elements and insert ';' separators which would result in 3.;2.;0 nonsense. - set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") - endif (NOT EXISTS ${EIGEN_VERSION_FILE}) -endif (EIGEN_INCLUDE_DIR) - -# Set standard CMake FindPackage variables if found. -if (EIGEN_FOUND) - set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) -endif (EIGEN_FOUND) - -# Handle REQUIRED / QUIET optional arguments and version. -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Eigen - REQUIRED_VARS EIGEN_INCLUDE_DIRS - VERSION_VAR EIGEN_VERSION) - -# Only mark internal variables as advanced if we found Eigen, otherwise -# leave it visible in the standard GUI for the user to set manually. -if (EIGEN_FOUND) - mark_as_advanced(FORCE EIGEN_INCLUDE_DIR) -endif (EIGEN_FOUND) diff --git a/ar_demo/launch/3dm_bag.launch b/ar_demo/launch/3dm_bag.launch deleted file mode 100644 index 8e1b300cd..000000000 --- a/ar_demo/launch/3dm_bag.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - \ No newline at end of file diff --git a/ar_demo/launch/ar_rviz.launch b/ar_demo/launch/ar_rviz.launch deleted file mode 100644 index 105063b46..000000000 --- a/ar_demo/launch/ar_rviz.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - \ No newline at end of file diff --git a/ar_demo/launch/realsense_ar.launch b/ar_demo/launch/realsense_ar.launch deleted file mode 100755 index 68c63ee77..000000000 --- a/ar_demo/launch/realsense_ar.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/ar_demo/package.xml b/ar_demo/package.xml deleted file mode 100644 index 74270241d..000000000 --- a/ar_demo/package.xml +++ /dev/null @@ -1,58 +0,0 @@ - - - ar_demo - 0.0.0 - The ar_demo package - - - - - tony-ws - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - std_msgs - camera_model - roscpp - rospy - std_msgs - camera_model - - - - - - - - \ No newline at end of file diff --git a/ar_demo/src/ar_demo_node.cpp b/ar_demo/src/ar_demo_node.cpp deleted file mode 100644 index 95c3a220a..000000000 --- a/ar_demo/src/ar_demo_node.cpp +++ /dev/null @@ -1,557 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "camodocal/camera_models/CameraFactory.h" -#include "camodocal/camera_models/CataCamera.h" -#include "camodocal/camera_models/PinholeCamera.h" -#include -#include -#include -#include -#include - -using namespace std; -using namespace Eigen; -using namespace sensor_msgs; -using namespace message_filters; -using namespace camodocal; - -int ROW; -int COL; -double FOCAL_LENGTH; -const int axis_num = 0; -const int cube_num = 1; -const double box_length = 0.8; -bool USE_UNDISTORED_IMG; -bool pose_init = false; -int img_cnt = 0; - -ros::Publisher object_pub; -image_transport::Publisher pub_ARimage; -Vector3d Axis[6]; -Vector3d Cube_center[3]; -vector Cube_corner[3]; -vector output_Axis[6]; -vector output_Cube[3]; -vector output_corner_dis[3]; -double Cube_center_depth[3]; -queue img_buf; -camodocal::CameraPtr m_camera; -bool look_ground = 0; -std_msgs::ColorRGBA line_color_r; -std_msgs::ColorRGBA line_color_g; -std_msgs::ColorRGBA line_color_b; - -void axis_generate(visualization_msgs::Marker &line_list, Vector3d &origin, int id) -{ - - line_list.id = id; - line_list.header.frame_id = "world"; - line_list.header.stamp = ros::Time::now(); - line_list.action = visualization_msgs::Marker::ADD; - line_list.type = visualization_msgs::Marker::LINE_LIST; - line_list.scale.x = 0.1; - line_list.color.a = 1.0; - line_list.lifetime = ros::Duration(); - - line_list.pose.orientation.w = 1.0; - line_list.color.b = 1.0; - geometry_msgs::Point p; - p.x = origin.x(); - p.y = origin.y(); - p.z = origin.z(); - line_list.points.push_back(p); - line_list.colors.push_back(line_color_r); - p.x += 1.0; - line_list.points.push_back(p); - line_list.colors.push_back(line_color_r); - p.x -= 1.0; - line_list.points.push_back(p); - line_list.colors.push_back(line_color_g); - p.y += 1.0; - line_list.points.push_back(p); - line_list.colors.push_back(line_color_g); - p.y -= 1.0; - line_list.points.push_back(p); - line_list.colors.push_back(line_color_b); - p.z += 1.0; - line_list.points.push_back(p); - line_list.colors.push_back(line_color_b); -} - -void cube_generate(visualization_msgs::Marker &marker, Vector3d &origin, int id) -{ - - //uint32_t shape = visualization_msgs::Marker::CUBE; - marker.header.frame_id = "world"; - marker.header.stamp = ros::Time::now(); - marker.ns = "basic_shapes"; - marker.id = 0; - //marker.type = shape; - marker.action = visualization_msgs::Marker::ADD; - marker.type = visualization_msgs::Marker::CUBE_LIST; - /* - marker.pose.position.x = origin.x(); - marker.pose.position.y = origin.y(); - marker.pose.position.z = origin.z(); - marker.pose.orientation.x = 0.0; - marker.pose.orientation.y = 0.0; - marker.pose.orientation.z = 0.0; - marker.pose.orientation.w = 1.0; - */ - marker.scale.x = box_length; - marker.scale.y = box_length; - marker.scale.z = box_length; - - marker.color.r = 0.0f; - marker.color.g = 1.0f; - marker.color.b = 0.0f; - marker.color.a = 1.0; - - marker.lifetime = ros::Duration(); - geometry_msgs::Point p; - p.x = origin.x(); - p.y = origin.y(); - p.z = origin.z(); - marker.points.push_back(p); - marker.colors.push_back(line_color_r); - Cube_corner[id].clear(); - Cube_corner[id].push_back(Vector3d(origin.x() - box_length / 2, origin.y() - box_length / 2, origin.z() - box_length / 2)); - Cube_corner[id].push_back(Vector3d(origin.x() + box_length / 2, origin.y() - box_length / 2, origin.z() - box_length / 2)); - Cube_corner[id].push_back(Vector3d(origin.x() - box_length / 2, origin.y() + box_length / 2, origin.z() - box_length / 2)); - Cube_corner[id].push_back(Vector3d(origin.x() + box_length / 2, origin.y() + box_length / 2, origin.z() - box_length / 2)); - Cube_corner[id].push_back(Vector3d(origin.x() - box_length / 2, origin.y() - box_length / 2, origin.z() + box_length / 2)); - Cube_corner[id].push_back(Vector3d(origin.x() + box_length / 2, origin.y() - box_length / 2, origin.z() + box_length / 2)); - Cube_corner[id].push_back(Vector3d(origin.x() - box_length / 2, origin.y() + box_length / 2, origin.z() + box_length / 2)); - Cube_corner[id].push_back(Vector3d(origin.x() + box_length / 2, origin.y() + box_length / 2, origin.z() + box_length / 2)); -} - -void add_object() -{ - visualization_msgs::MarkerArray markerArray_msg; - - visualization_msgs::Marker line_list; - visualization_msgs::Marker cube_list; - - for (int i = 0; i < axis_num; i++) - { - axis_generate(line_list, Axis[i], i); - markerArray_msg.markers.push_back(line_list); - } - - for (int i = 0; i spaceToPlane(local_point, local_uv); - - if (local_point.z() > 0) - //&& 0 <= local_uv.x() && local_uv.x() <= COL - 1 && 0 <= local_uv.y() && local_uv.y() <= ROW -1) - { - output_Axis[i].push_back(Vector3d(local_uv.x(), local_uv.y(), 1)); - - local_point = camera_q.inverse() * (Axis[i] + Vector3d(1, 0, 0) - camera_p); - m_camera->spaceToPlane(local_point, local_uv); - output_Axis[i].push_back(Vector3d(local_uv.x(), local_uv.y(), 1)); - - local_point = camera_q.inverse() * (Axis[i] + Vector3d(0, 1, 0) - camera_p); - m_camera->spaceToPlane(local_point, local_uv); - output_Axis[i].push_back(Vector3d(local_uv.x(), local_uv.y(), 1)); - - local_point = camera_q.inverse() * (Axis[i] + Vector3d(0, 0, 1) - camera_p); - m_camera->spaceToPlane(local_point, local_uv); - output_Axis[i].push_back(Vector3d(local_uv.x(), local_uv.y(), 1)); - - } - } - - for (int i = 0; i < cube_num; i++) - { - output_Cube[i].clear(); - output_corner_dis[i].clear(); - Vector3d local_point; - Vector2d local_uv; - local_point = camera_q.inverse() * (Cube_center[i] - camera_p); - if (USE_UNDISTORED_IMG) - { - local_uv.x() = local_point(0) / local_point(2) * FOCAL_LENGTH + COL / 2; - local_uv.y() = local_point(1) / local_point(2) * FOCAL_LENGTH + ROW / 2; - } - else - m_camera->spaceToPlane(local_point, local_uv); - if (local_point.z() > box_length / 2) - //&& 0 <= local_uv.x() && local_uv.x() <= COL - 1 && 0 <= local_uv.y() && local_uv.y() <= ROW -1) - { - Cube_center_depth[i] = local_point.z(); - for (int j = 0; j < 8; j++) - { - local_point = camera_q.inverse() * (Cube_corner[i][j] - camera_p); - output_corner_dis[i].push_back(local_point.norm()); - if (USE_UNDISTORED_IMG) - { - //ROS_INFO("directly project!"); - local_uv.x() = local_point(0) / local_point(2) * FOCAL_LENGTH + COL / 2; - local_uv.y() = local_point(1) / local_point(2) * FOCAL_LENGTH + ROW / 2; - } - else - { - //ROS_INFO("camera model project!"); - m_camera->spaceToPlane(local_point, local_uv); - local_uv.x() = std::min(std::max(-5000.0, local_uv.x()),5000.0); - local_uv.y() = std::min(std::max(-5000.0, local_uv.y()),5000.0); - } - output_Cube[i].push_back(Vector3d(local_uv.x(), local_uv.y(), 1)); - } - } - else - { - Cube_center_depth[i] = -1; - } - - } -} - -void draw_object(cv::Mat &AR_image) -{ - for (int i = 0; i < axis_num; i++) - { - if(output_Axis[i].empty()) - continue; - cv::Point2d origin(output_Axis[i][0].x(), output_Axis[i][0].y()); - cv::Point2d axis_x(output_Axis[i][1].x(), output_Axis[i][1].y()); - cv::Point2d axis_y(output_Axis[i][2].x(), output_Axis[i][2].y()); - cv::Point2d axis_z(output_Axis[i][3].x(), output_Axis[i][3].y()); - cv::line(AR_image, origin, axis_x, cv::Scalar(0, 0, 255), 2, 8, 0); - cv::line(AR_image, origin, axis_y, cv::Scalar(0, 255, 0), 2, 8, 0); - cv::line(AR_image, origin, axis_z, cv::Scalar(255, 0, 0), 2, 8, 0); - } - - //depth sort big---->small - int index[cube_num]; - for (int i = 0; i < cube_num; i++) - { - index[i] = i; - //cout << "i " << i << " init depth" << Cube_center_depth[i] << endl; - } - for (int i = 0; i < cube_num; i++) - for (int j = 0; j < cube_num - i - 1; j++) - { - if (Cube_center_depth[j] < Cube_center_depth[j + 1]) - { - double tmp = Cube_center_depth[j]; - Cube_center_depth[j] = Cube_center_depth[j + 1]; - Cube_center_depth[j + 1] = tmp; - int tmp_index = index[j]; - index[j] = index[j + 1]; - index[j + 1] = tmp_index; - } - } - - for (int k = 0; k < cube_num; k++) - { - int i = index[k]; - //cout << "draw " << i << "depth " << Cube_center_depth[i] << endl; - if (output_Cube[i].empty()) - continue; - //draw color - cv::Point* p = new cv::Point[8]; - p[0] = cv::Point(output_Cube[i][0].x(), output_Cube[i][0].y()); - p[1] = cv::Point(output_Cube[i][1].x(), output_Cube[i][1].y()); - p[2] = cv::Point(output_Cube[i][2].x(), output_Cube[i][2].y()); - p[3] = cv::Point(output_Cube[i][3].x(), output_Cube[i][3].y()); - p[4] = cv::Point(output_Cube[i][4].x(), output_Cube[i][4].y()); - p[5] = cv::Point(output_Cube[i][5].x(), output_Cube[i][5].y()); - p[6] = cv::Point(output_Cube[i][6].x(), output_Cube[i][6].y()); - p[7] = cv::Point(output_Cube[i][7].x(), output_Cube[i][7].y()); - - int npts[1] = {4}; - float min_depth = 100000; - int min_index = 5; - for(int j= 0; j < (int)output_corner_dis[i].size(); j++) - { - if(output_corner_dis[i][j] < min_depth) - { - min_depth = output_corner_dis[i][j]; - min_index = j; - } - } - - cv::Point plain[1][4]; - const cv::Point* ppt[1] = {plain[0]}; - //first draw large depth plane - int point_group[8][12] = {{0,1,5,4, 0,4,6,2, 0,1,3,2}, - {0,1,5,4, 1,5,7,3, 0,1,3,2}, - {2,3,7,6, 0,4,6,2, 0,1,3,2}, - {2,3,7,6, 1,5,7,3, 0,1,3,2}, - {0,1,5,4, 0,4,6,2, 4,5,7,6}, - {0,1,5,4, 1,5,7,3, 4,5,7,6}, - {2,3,7,6, 0,4,6,2, 4,5,7,6}, - {2,3,7,6, 1,5,7,3, 4,5,7,6}}; - - plain[0][0] = p[point_group[min_index][4]]; - plain[0][1] = p[point_group[min_index][5]]; - plain[0][2] = p[point_group[min_index][6]]; - plain[0][3] = p[point_group[min_index][7]]; - cv::fillPoly(AR_image, ppt, npts, 1, cv::Scalar(0, 200, 0)); - - plain[0][0] = p[point_group[min_index][0]]; - plain[0][1] = p[point_group[min_index][1]]; - plain[0][2] = p[point_group[min_index][2]]; - plain[0][3] = p[point_group[min_index][3]]; - cv::fillPoly(AR_image, ppt, npts, 1, cv::Scalar(200, 0, 0)); - - if(output_corner_dis[i][point_group[min_index][2]] + output_corner_dis[i][point_group[min_index][3]] > - output_corner_dis[i][point_group[min_index][5]] + output_corner_dis[i][point_group[min_index][6]]) - { - plain[0][0] = p[point_group[min_index][4]]; - plain[0][1] = p[point_group[min_index][5]]; - plain[0][2] = p[point_group[min_index][6]]; - plain[0][3] = p[point_group[min_index][7]]; - cv::fillPoly(AR_image, ppt, npts, 1, cv::Scalar(0, 200, 0)); - - } - plain[0][0] = p[point_group[min_index][8]]; - plain[0][1] = p[point_group[min_index][9]]; - plain[0][2] = p[point_group[min_index][10]]; - plain[0][3] = p[point_group[min_index][11]]; - cv::fillPoly(AR_image, ppt, npts, 1, cv::Scalar(0, 0, 200)); - delete p; - } -} - -void callback(const ImageConstPtr& img_msg, const nav_msgs::Odometry::ConstPtr pose_msg) -{ - //throw the first few unstable pose - if(img_cnt < 50) - { - img_cnt ++; - return; - } - //ROS_INFO("sync callback!"); - Vector3d camera_p(pose_msg->pose.pose.position.x, - pose_msg->pose.pose.position.y, - pose_msg->pose.pose.position.z); - Quaterniond camera_q(pose_msg->pose.pose.orientation.w, - pose_msg->pose.pose.orientation.x, - pose_msg->pose.pose.orientation.y, - pose_msg->pose.pose.orientation.z); - - //test plane - Vector3d cam_z(0, 0, -1); - Vector3d w_cam_z = camera_q * cam_z; - //cout << "angle " << acos(w_cam_z.dot(Vector3d(0, 0, 1))) * 180.0 / M_PI << endl; - if (acos(w_cam_z.dot(Vector3d(0, 0, 1))) * 180.0 / M_PI < 90) - { - //ROS_WARN(" look down"); - look_ground = 1; - } - else - look_ground = 0; - - project_object(camera_p, camera_q); - - cv_bridge::CvImageConstPtr ptr; - if (img_msg->encoding == "8UC1") - { - sensor_msgs::Image img; - img.header = img_msg->header; - img.height = img_msg->height; - img.width = img_msg->width; - img.is_bigendian = img_msg->is_bigendian; - img.step = img_msg->step; - img.data = img_msg->data; - img.encoding = "mono8"; - ptr = cv_bridge::toCvCopy(img, sensor_msgs::image_encodings::MONO8); - } - else - ptr = cv_bridge::toCvCopy(img_msg, sensor_msgs::image_encodings::MONO8); - - //cv_bridge::CvImagePtr bridge_ptr = cv_bridge::toCvCopy(ptr, sensor_msgs::image_encodings::MONO8); - cv::Mat AR_image; - AR_image = ptr->image.clone(); - cv::cvtColor(AR_image, AR_image, cv::COLOR_GRAY2RGB); - draw_object(AR_image); - - sensor_msgs::ImagePtr AR_msg = cv_bridge::CvImage(img_msg->header, "bgr8", AR_image).toImageMsg(); - pub_ARimage.publish(AR_msg); - -} -void point_callback(const sensor_msgs::PointCloudConstPtr &point_msg) -{ - if (!look_ground) - return; - int height_range[30]; - double height_sum[30]; - for (int i = 0; i < 30; i++) - { - height_range[i] = 0; - height_sum[i] = 0; - } - for (unsigned int i = 0; i < point_msg->points.size(); i++) - { - //double x = point_msg->points[i].x; - //double y = point_msg->points[i].y; - double z = point_msg->points[i].z; - int index = (z + 2.0) / 0.1; - if (0 <= index && index < 30) - { - height_range[index]++; - height_sum[index] += z; - } - //cout << "point " << " z " << z << endl; - } - int max_num = 0; - int max_index = -1; - for (int i = 1; i < 29; i++) - { - if (max_num < height_range[i]) - { - max_num = height_range[i]; - max_index = i; - } - } - if (max_index == -1) - return; - int tmp_num = height_range[max_index - 1] + height_range[max_index] + height_range[max_index + 1]; - double new_height = (height_sum[max_index - 1] + height_sum[max_index] + height_sum[max_index + 1]) / tmp_num; - //ROS_WARN("detect ground plain, height %f", new_height); - if (tmp_num < (int)point_msg->points.size() / 2) - { - //ROS_INFO("points not enough"); - return; - } - //update height - for (int i = 0; i < cube_num; i++) - { - Cube_center[i].z() = new_height + box_length / 2.0; - } - add_object(); - -} -void img_callback(const ImageConstPtr& img_msg) -{ - if(pose_init) - { - img_buf.push(img_msg); - } - else - return; -} -void pose_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) -{ - if(!pose_init) - { - pose_init = true; - return; - } - - if (img_buf.empty()) - { - //ROS_WARN("image coming late"); - return; - } - - while (img_buf.front()->header.stamp < pose_msg->header.stamp && !img_buf.empty()) - { - img_buf.pop(); - } - - if (!img_buf.empty()) - { - callback(img_buf.front(), pose_msg); - img_buf.pop(); - } - //else - // ROS_WARN("image coming late"); -} -int main( int argc, char** argv ) -{ - ros::init(argc, argv, "points_and_lines"); - ros::NodeHandle n("~"); - object_pub = n.advertise("AR_object", 10); - n.getParam("use_undistored_img", USE_UNDISTORED_IMG); - ros::Subscriber sub_img; - if (USE_UNDISTORED_IMG) - { - // the same as image crop - ROW = 600; - COL = 480; - FOCAL_LENGTH = 320.0; - sub_img = n.subscribe("image_undistored", 100, img_callback); - } - else - { - ROW = 752; - COL = 480; - FOCAL_LENGTH = 460.0; - sub_img = n.subscribe("image_raw", 100, img_callback); - } - - Axis[0] = Vector3d(0, 1.5, -1.2); - Axis[1]= Vector3d(-10, 5, 0); - Axis[2] = Vector3d(3, 3, 3); - Axis[3] = Vector3d(-2, 2, 0); - Axis[4]= Vector3d(5, 10, -5); - Axis[5] = Vector3d(0, 10, -1); - - Cube_center[0] = Vector3d(0, 1.5, -1.2 + box_length / 2.0); - //Cube_center[0] = Vector3d(0, 3, -1.2 + box_length / 2.0); - Cube_center[1] = Vector3d(4, -2, -1.2 + box_length / 2.0); - Cube_center[2] = Vector3d(0, -2, -1.2 + box_length / 2.0); - - ros::Subscriber pose_img = n.subscribe("camera_pose", 100, pose_callback); - ros::Subscriber sub_point = n.subscribe("pointcloud", 2000, point_callback); - image_transport::ImageTransport it(n); - pub_ARimage = it.advertise("AR_image", 1000); - - line_color_r.r = 1.0; - line_color_r.a = 1.0; - line_color_g.g = 1.0; - line_color_g.a = 1.0; - line_color_b.b = 1.0; - line_color_b.a = 1.0; - - string calib_file; - n.getParam("calib_file", calib_file); - ROS_INFO("reading paramerter of camera %s", calib_file.c_str()); - m_camera = CameraFactory::instance()->generateCameraFromYamlFile(calib_file); - - ros::Rate r(100); - ros::Duration(1).sleep(); - add_object(); - add_object(); - ros::spin(); -} - diff --git a/benchmark_publisher/CMakeLists.txt b/benchmark_publisher/CMakeLists.txt deleted file mode 100644 index fabccc1cb..000000000 --- a/benchmark_publisher/CMakeLists.txt +++ /dev/null @@ -1,28 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(benchmark_publisher) - -set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11 -DEIGEN_DONT_PARALLELIZE") -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -rdynamic") - - -find_package(catkin REQUIRED COMPONENTS - roscpp - tf - ) - -catkin_package() -include_directories(${catkin_INCLUDE_DIRS}) - -set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) -find_package(Eigen3) -include_directories( - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} -) - -add_executable(benchmark_publisher - src/benchmark_publisher_node.cpp - ) - -target_link_libraries(benchmark_publisher ${catkin_LIBRARIES}) diff --git a/benchmark_publisher/cmake/FindEigen.cmake b/benchmark_publisher/cmake/FindEigen.cmake deleted file mode 100644 index cdeb30557..000000000 --- a/benchmark_publisher/cmake/FindEigen.cmake +++ /dev/null @@ -1,172 +0,0 @@ -# Ceres Solver - A fast non-linear least squares minimizer -# Copyright 2015 Google Inc. All rights reserved. -# http://ceres-solver.org/ -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# * Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# * Neither the name of Google Inc. nor the names of its contributors may be -# used to endorse or promote products derived from this software without -# specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -# Author: alexs.mac@gmail.com (Alex Stewart) -# - -# FindEigen.cmake - Find Eigen library, version >= 3. -# -# This module defines the following variables: -# -# EIGEN_FOUND: TRUE iff Eigen is found. -# EIGEN_INCLUDE_DIRS: Include directories for Eigen. -# -# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h -# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 -# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 -# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 -# -# The following variables control the behaviour of this module: -# -# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to -# search for eigen includes, e.g: /timbuktu/eigen3. -# -# The following variables are also defined by this module, but in line with -# CMake recommended FindPackage() module style should NOT be referenced directly -# by callers (use the plural variables detailed above instead). These variables -# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which -# are NOT re-called (i.e. search for library is not repeated) if these variables -# are set with valid values _in the CMake cache_. This means that if these -# variables are set directly in the cache, either by the user in the CMake GUI, -# or by the user passing -DVAR=VALUE directives to CMake when called (which -# explicitly defines a cache variable), then they will be used verbatim, -# bypassing the HINTS variables and other hard-coded search locations. -# -# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the -# include directory of any dependencies. - -# Called if we failed to find Eigen or any of it's required dependencies, -# unsets all public (designed to be used externally) variables and reports -# error message at priority depending upon [REQUIRED/QUIET/] argument. -macro(EIGEN_REPORT_NOT_FOUND REASON_MSG) - unset(EIGEN_FOUND) - unset(EIGEN_INCLUDE_DIRS) - # Make results of search visible in the CMake GUI if Eigen has not - # been found so that user does not have to toggle to advanced view. - mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR) - # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() - # use the camelcase library name, not uppercase. - if (Eigen_FIND_QUIETLY) - message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - elseif (Eigen_FIND_REQUIRED) - message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - else() - # Neither QUIETLY nor REQUIRED, use no priority which emits a message - # but continues configuration and allows generation. - message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - endif () - return() -endmacro(EIGEN_REPORT_NOT_FOUND) - -# Protect against any alternative find_package scripts for this library having -# been called previously (in a client project) which set EIGEN_FOUND, but not -# the other variables we require / set here which could cause the search logic -# here to fail. -unset(EIGEN_FOUND) - -# Search user-installed locations first, so that we prefer user installs -# to system installs where both exist. -list(APPEND EIGEN_CHECK_INCLUDE_DIRS - /usr/local/include - /usr/local/homebrew/include # Mac OS X - /opt/local/var/macports/software # Mac OS X. - /opt/local/include - /usr/include) -# Additional suffixes to try appending to each search path. -list(APPEND EIGEN_CHECK_PATH_SUFFIXES - eigen3 # Default root directory for Eigen. - Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3 - Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3 - -# Search supplied hint directories first if supplied. -find_path(EIGEN_INCLUDE_DIR - NAMES Eigen/Core - PATHS ${EIGEN_INCLUDE_DIR_HINTS} - ${EIGEN_CHECK_INCLUDE_DIRS} - PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES}) - -if (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - eigen_report_not_found( - "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " - "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") -endif (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - -# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets -# if called. -set(EIGEN_FOUND TRUE) - -# Extract Eigen version from Eigen/src/Core/util/Macros.h -if (EIGEN_INCLUDE_DIR) - set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) - if (NOT EXISTS ${EIGEN_VERSION_FILE}) - eigen_report_not_found( - "Could not find file: ${EIGEN_VERSION_FILE} " - "containing version information in Eigen install located at: " - "${EIGEN_INCLUDE_DIR}.") - else (NOT EXISTS ${EIGEN_VERSION_FILE}) - file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) - - string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" - EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" - EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") - - string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" - EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" - EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") - - string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" - EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" - EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") - - # This is on a single line s/t CMake does not interpret it as a list of - # elements and insert ';' separators which would result in 3.;2.;0 nonsense. - set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") - endif (NOT EXISTS ${EIGEN_VERSION_FILE}) -endif (EIGEN_INCLUDE_DIR) - -# Set standard CMake FindPackage variables if found. -if (EIGEN_FOUND) - set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) -endif (EIGEN_FOUND) - -# Handle REQUIRED / QUIET optional arguments and version. -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Eigen - REQUIRED_VARS EIGEN_INCLUDE_DIRS - VERSION_VAR EIGEN_VERSION) - -# Only mark internal variables as advanced if we found Eigen, otherwise -# leave it visible in the standard GUI for the user to set manually. -if (EIGEN_FOUND) - mark_as_advanced(FORCE EIGEN_INCLUDE_DIR) -endif (EIGEN_FOUND) diff --git a/benchmark_publisher/config/V1_01_easy/data.csv b/benchmark_publisher/config/V1_01_easy/data.csv deleted file mode 100644 index 98c4a0211..000000000 --- a/benchmark_publisher/config/V1_01_easy/data.csv +++ /dev/null @@ -1,28713 +0,0 @@ -#timestamp, p_RS_R_x [m], p_RS_R_y [m], p_RS_R_z [m], q_RS_w [], q_RS_x [], q_RS_y [], q_RS_z [], v_RS_R_x [m s^-1], v_RS_R_y [m s^-1], v_RS_R_z [m s^-1], b_w_RS_S_x [rad s^-1], b_w_RS_S_y [rad s^-1], b_w_RS_S_z [rad s^-1], b_a_RS_S_x [m s^-2], b_a_RS_S_y [m s^-2], b_a_RS_S_z [m s^-2] -1403715274302142976,0.878612,2.142470,0.947262,0.060514,-0.828459,-0.058956,-0.553641,0.009474,-0.014009,-0.002145,-0.002229,0.020700,0.076350,-0.012492,0.547666,0.069073 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-1403715417857143040,0.489592,1.967734,0.967288,0.154937,0.780946,-0.241803,0.554661,0.001683,-0.005510,0.002494,-0.002214,0.020814,0.076280,-0.013988,0.547514,0.067583 diff --git a/benchmark_publisher/launch/publish.launch b/benchmark_publisher/launch/publish.launch deleted file mode 100644 index 5e066fa61..000000000 --- a/benchmark_publisher/launch/publish.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - diff --git a/benchmark_publisher/package.xml b/benchmark_publisher/package.xml deleted file mode 100644 index 6a33c48f0..000000000 --- a/benchmark_publisher/package.xml +++ /dev/null @@ -1,52 +0,0 @@ - - - benchmark_publisher - 0.0.0 - The benchmark_publisher package - - - - - dvorak - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - roscpp - - - - - - - - \ No newline at end of file diff --git a/benchmark_publisher/src/benchmark_publisher_node.cpp b/benchmark_publisher/src/benchmark_publisher_node.cpp deleted file mode 100644 index c405c87fd..000000000 --- a/benchmark_publisher/src/benchmark_publisher_node.cpp +++ /dev/null @@ -1,160 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace std; -using namespace Eigen; - -const int SKIP = 50; -string benchmark_output_path; -string estimate_output_path; -template -T readParam(ros::NodeHandle &n, std::string name) -{ - T ans; - if (n.getParam(name, ans)) - { - ROS_INFO_STREAM("Loaded " << name << ": " << ans); - } - else - { - ROS_ERROR_STREAM("Failed to load " << name); - n.shutdown(); - } - return ans; -} - -struct Data -{ - Data(FILE *f) - { - if (fscanf(f, " %lf,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f", &t, - &px, &py, &pz, - &qw, &qx, &qy, &qz, - &vx, &vy, &vz, - &wx, &wy, &wz, - &ax, &ay, &az) != EOF) - { - t /= 1e9; - } - } - double t; - float px, py, pz; - float qw, qx, qy, qz; - float vx, vy, vz; - float wx, wy, wz; - float ax, ay, az; -}; -int idx = 1; -vector benchmark; - -ros::Publisher pub_odom; -ros::Publisher pub_path; -nav_msgs::Path path; - -int init = 0; -Quaterniond baseRgt; -Vector3d baseTgt; -tf::Transform trans; - -void odom_callback(const nav_msgs::OdometryConstPtr &odom_msg) -{ - //ROS_INFO("odom callback!"); - if (odom_msg->header.stamp.toSec() > benchmark.back().t) - return; - - for (; idx < static_cast(benchmark.size()) && benchmark[idx].t <= odom_msg->header.stamp.toSec(); idx++) - ; - - - if (init++ < SKIP) - { - baseRgt = Quaterniond(odom_msg->pose.pose.orientation.w, - odom_msg->pose.pose.orientation.x, - odom_msg->pose.pose.orientation.y, - odom_msg->pose.pose.orientation.z) * - Quaterniond(benchmark[idx - 1].qw, - benchmark[idx - 1].qx, - benchmark[idx - 1].qy, - benchmark[idx - 1].qz).inverse(); - baseTgt = Vector3d{odom_msg->pose.pose.position.x, - odom_msg->pose.pose.position.y, - odom_msg->pose.pose.position.z} - - baseRgt * Vector3d{benchmark[idx - 1].px, benchmark[idx - 1].py, benchmark[idx - 1].pz}; - return; - } - - nav_msgs::Odometry odometry; - odometry.header.stamp = ros::Time(benchmark[idx - 1].t); - odometry.header.frame_id = "world"; - odometry.child_frame_id = "world"; - - Vector3d tmp_T = baseTgt + baseRgt * Vector3d{benchmark[idx - 1].px, benchmark[idx - 1].py, benchmark[idx - 1].pz}; - odometry.pose.pose.position.x = tmp_T.x(); - odometry.pose.pose.position.y = tmp_T.y(); - odometry.pose.pose.position.z = tmp_T.z(); - - Quaterniond tmp_R = baseRgt * Quaterniond{benchmark[idx - 1].qw, - benchmark[idx - 1].qx, - benchmark[idx - 1].qy, - benchmark[idx - 1].qz}; - odometry.pose.pose.orientation.w = tmp_R.w(); - odometry.pose.pose.orientation.x = tmp_R.x(); - odometry.pose.pose.orientation.y = tmp_R.y(); - odometry.pose.pose.orientation.z = tmp_R.z(); - - Vector3d tmp_V = baseRgt * Vector3d{benchmark[idx - 1].vx, - benchmark[idx - 1].vy, - benchmark[idx - 1].vz}; - odometry.twist.twist.linear.x = tmp_V.x(); - odometry.twist.twist.linear.y = tmp_V.y(); - odometry.twist.twist.linear.z = tmp_V.z(); - pub_odom.publish(odometry); - - geometry_msgs::PoseStamped pose_stamped; - pose_stamped.header = odometry.header; - pose_stamped.pose = odometry.pose.pose; - path.header = odometry.header; - path.poses.push_back(pose_stamped); - pub_path.publish(path); -} - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "benchmark_publisher"); - ros::NodeHandle n("~"); - - string csv_file = readParam(n, "data_name"); - std::cout << "load ground truth " << csv_file << std::endl; - FILE *f = fopen(csv_file.c_str(), "r"); - if (f==NULL) - { - ROS_WARN("can't load ground truth; wrong path"); - //std::cerr << "can't load ground truth; wrong path " << csv_file << std::endl; - return 0; - } - char tmp[10000]; - if (fgets(tmp, 10000, f) == NULL) - { - ROS_WARN("can't load ground truth; no data available"); - } - while (!feof(f)) - benchmark.emplace_back(f); - fclose(f); - benchmark.pop_back(); - ROS_INFO("Data loaded: %d", (int)benchmark.size()); - - pub_odom = n.advertise("odometry", 1000); - pub_path = n.advertise("path", 1000); - - ros::Subscriber sub_odom = n.subscribe("estimated_odometry", 1000, odom_callback); - - ros::Rate r(20); - ros::spin(); -} diff --git a/camera_model/CMakeLists.txt b/camera_model/CMakeLists.txt deleted file mode 100644 index 95a0c5b3d..000000000 --- a/camera_model/CMakeLists.txt +++ /dev/null @@ -1,67 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(camera_model) - -set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC") - -find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - ) - -find_package(Boost REQUIRED COMPONENTS filesystem program_options system) -include_directories(${Boost_INCLUDE_DIRS}) - -find_package(OpenCV REQUIRED) - -# set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3") -find_package(Ceres REQUIRED) -include_directories(${CERES_INCLUDE_DIRS}) - - -catkin_package( - INCLUDE_DIRS include - LIBRARIES camera_model - CATKIN_DEPENDS roscpp std_msgs -# DEPENDS system_lib - ) - -include_directories( - ${catkin_INCLUDE_DIRS} - ) - -include_directories("include") - - -add_executable(Calibration - src/intrinsic_calib.cc - src/chessboard/Chessboard.cc - src/calib/CameraCalibration.cc - src/camera_models/Camera.cc - src/camera_models/CameraFactory.cc - src/camera_models/CostFunctionFactory.cc - src/camera_models/PinholeCamera.cc - src/camera_models/CataCamera.cc - src/camera_models/EquidistantCamera.cc - src/camera_models/ScaramuzzaCamera.cc - src/sparse_graph/Transform.cc - src/gpl/gpl.cc - src/gpl/EigenQuaternionParameterization.cc) - -add_library(camera_model - src/chessboard/Chessboard.cc - src/calib/CameraCalibration.cc - src/camera_models/Camera.cc - src/camera_models/CameraFactory.cc - src/camera_models/CostFunctionFactory.cc - src/camera_models/PinholeCamera.cc - src/camera_models/CataCamera.cc - src/camera_models/EquidistantCamera.cc - src/camera_models/ScaramuzzaCamera.cc - src/sparse_graph/Transform.cc - src/gpl/gpl.cc - src/gpl/EigenQuaternionParameterization.cc) - -target_link_libraries(Calibration ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) -target_link_libraries(camera_model ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) diff --git a/camera_model/cmake/FindEigen.cmake b/camera_model/cmake/FindEigen.cmake deleted file mode 100644 index cdeb30557..000000000 --- a/camera_model/cmake/FindEigen.cmake +++ /dev/null @@ -1,172 +0,0 @@ -# Ceres Solver - A fast non-linear least squares minimizer -# Copyright 2015 Google Inc. All rights reserved. -# http://ceres-solver.org/ -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# * Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# * Neither the name of Google Inc. nor the names of its contributors may be -# used to endorse or promote products derived from this software without -# specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -# Author: alexs.mac@gmail.com (Alex Stewart) -# - -# FindEigen.cmake - Find Eigen library, version >= 3. -# -# This module defines the following variables: -# -# EIGEN_FOUND: TRUE iff Eigen is found. -# EIGEN_INCLUDE_DIRS: Include directories for Eigen. -# -# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h -# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 -# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 -# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 -# -# The following variables control the behaviour of this module: -# -# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to -# search for eigen includes, e.g: /timbuktu/eigen3. -# -# The following variables are also defined by this module, but in line with -# CMake recommended FindPackage() module style should NOT be referenced directly -# by callers (use the plural variables detailed above instead). These variables -# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which -# are NOT re-called (i.e. search for library is not repeated) if these variables -# are set with valid values _in the CMake cache_. This means that if these -# variables are set directly in the cache, either by the user in the CMake GUI, -# or by the user passing -DVAR=VALUE directives to CMake when called (which -# explicitly defines a cache variable), then they will be used verbatim, -# bypassing the HINTS variables and other hard-coded search locations. -# -# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the -# include directory of any dependencies. - -# Called if we failed to find Eigen or any of it's required dependencies, -# unsets all public (designed to be used externally) variables and reports -# error message at priority depending upon [REQUIRED/QUIET/] argument. -macro(EIGEN_REPORT_NOT_FOUND REASON_MSG) - unset(EIGEN_FOUND) - unset(EIGEN_INCLUDE_DIRS) - # Make results of search visible in the CMake GUI if Eigen has not - # been found so that user does not have to toggle to advanced view. - mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR) - # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() - # use the camelcase library name, not uppercase. - if (Eigen_FIND_QUIETLY) - message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - elseif (Eigen_FIND_REQUIRED) - message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - else() - # Neither QUIETLY nor REQUIRED, use no priority which emits a message - # but continues configuration and allows generation. - message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - endif () - return() -endmacro(EIGEN_REPORT_NOT_FOUND) - -# Protect against any alternative find_package scripts for this library having -# been called previously (in a client project) which set EIGEN_FOUND, but not -# the other variables we require / set here which could cause the search logic -# here to fail. -unset(EIGEN_FOUND) - -# Search user-installed locations first, so that we prefer user installs -# to system installs where both exist. -list(APPEND EIGEN_CHECK_INCLUDE_DIRS - /usr/local/include - /usr/local/homebrew/include # Mac OS X - /opt/local/var/macports/software # Mac OS X. - /opt/local/include - /usr/include) -# Additional suffixes to try appending to each search path. -list(APPEND EIGEN_CHECK_PATH_SUFFIXES - eigen3 # Default root directory for Eigen. - Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3 - Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3 - -# Search supplied hint directories first if supplied. -find_path(EIGEN_INCLUDE_DIR - NAMES Eigen/Core - PATHS ${EIGEN_INCLUDE_DIR_HINTS} - ${EIGEN_CHECK_INCLUDE_DIRS} - PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES}) - -if (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - eigen_report_not_found( - "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " - "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") -endif (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - -# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets -# if called. -set(EIGEN_FOUND TRUE) - -# Extract Eigen version from Eigen/src/Core/util/Macros.h -if (EIGEN_INCLUDE_DIR) - set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) - if (NOT EXISTS ${EIGEN_VERSION_FILE}) - eigen_report_not_found( - "Could not find file: ${EIGEN_VERSION_FILE} " - "containing version information in Eigen install located at: " - "${EIGEN_INCLUDE_DIR}.") - else (NOT EXISTS ${EIGEN_VERSION_FILE}) - file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) - - string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" - EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" - EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") - - string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" - EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" - EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") - - string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" - EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" - EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") - - # This is on a single line s/t CMake does not interpret it as a list of - # elements and insert ';' separators which would result in 3.;2.;0 nonsense. - set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") - endif (NOT EXISTS ${EIGEN_VERSION_FILE}) -endif (EIGEN_INCLUDE_DIR) - -# Set standard CMake FindPackage variables if found. -if (EIGEN_FOUND) - set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) -endif (EIGEN_FOUND) - -# Handle REQUIRED / QUIET optional arguments and version. -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Eigen - REQUIRED_VARS EIGEN_INCLUDE_DIRS - VERSION_VAR EIGEN_VERSION) - -# Only mark internal variables as advanced if we found Eigen, otherwise -# leave it visible in the standard GUI for the user to set manually. -if (EIGEN_FOUND) - mark_as_advanced(FORCE EIGEN_INCLUDE_DIR) -endif (EIGEN_FOUND) diff --git a/camera_model/instruction b/camera_model/instruction deleted file mode 100644 index 078d7cecc..000000000 --- a/camera_model/instruction +++ /dev/null @@ -1 +0,0 @@ -rosrun camera_model Calibration -w 8 -h 11 -s 70 -i ~/bag/PX/calib/ diff --git a/camera_model/package.xml b/camera_model/package.xml deleted file mode 100644 index 511c997f6..000000000 --- a/camera_model/package.xml +++ /dev/null @@ -1,54 +0,0 @@ - - - camera_model - 0.0.0 - The camera_model package - - - - - dvorak - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - std_msgs - roscpp - std_msgs - - - - - - - - \ No newline at end of file diff --git a/config/AR_demo.rviz b/config/AR_demo.rviz deleted file mode 100644 index 12c630e12..000000000 --- a/config/AR_demo.rviz +++ /dev/null @@ -1,235 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /AR_image1/Status1 - - /raw image1/Status1 - - /Path2/Status1 - Splitter Ratio: 0.465116 - Tree Height: 729 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: PointCloud -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 130; 130; 130 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: -1.2 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 170; 0 - Enabled: true - Head Diameter: 0.3 - Head Length: 0.2 - Length: 0.3 - Line Style: Lines - Line Width: 0.01 - Name: Path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Style: None - Radius: 0.03 - Shaft Diameter: 0.1 - Shaft Length: 0.1 - Topic: /vins_estimator/path - Unreliable: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: false - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 255; 255; 255 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: true - Max Color: 0; 0; 0 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 1 - Size (m): 0.5 - Style: Points - Topic: /vins_estimator/point_cloud - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /ar_demo_node/AR_image - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: AR_image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /mv_25001498/image_raw - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: raw image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /vins_estimator/camera_pose_visual - Name: MarkerArray - Namespaces: - CameraPoseVisualization: true - Queue Size: 100 - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /ar_demo_node/AR_object - Name: MarkerArray - Namespaces: - basic_shapes: true - Queue Size: 100 - Value: true - - Class: rviz/Axes - Enabled: true - Length: 1 - Name: Axes - Radius: 0.1 - Reference Frame: - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 85; 255 - Enabled: true - Head Diameter: 0.3 - Head Length: 0.2 - Length: 0.3 - Line Style: Billboards - Line Width: 0.3 - Name: Path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Style: None - Radius: 0.03 - Shaft Diameter: 0.1 - Shaft Length: 0.1 - Topic: /odom_translation/vins - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 0; 0; 0 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 33.293 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -3.42082 - Y: -4.08465 - Z: -8.071 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 1.5698 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.0571614 - Saved: ~ -Window Geometry: - AR_image: - collapsed: false - Displays: - collapsed: true - Height: 959 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 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 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1572 - X: 286 - Y: 43 - raw image: - collapsed: false diff --git a/config/vins_rviz_config.rviz b/config/vins_rviz_config.rviz deleted file mode 100644 index 6ed63a93d..000000000 --- a/config/vins_rviz_config.rviz +++ /dev/null @@ -1,508 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.465115994 - Tree Height: 221 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679016 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: tracked image - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5 - Tree Height: 359 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 130; 130; 130 - Enabled: true - Line Style: - Line Width: 0.0299999993 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: rviz/Axes - Enabled: true - Length: 1 - Name: Axes - Radius: 0.100000001 - Reference Frame: - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 - Line Style: Lines - Line Width: 0.5 - Name: ground_truth_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 - Topic: /benchmark_publisher/path - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /feature_tracker/feature_img - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: tracked image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /cam0/image_raw - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: raw_image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - - Class: rviz/Group - Displays: - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 255; 0 - Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 - Line Style: Lines - Line Width: 0.0299999993 - Name: Path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 - Topic: /vins_estimator/path - Unreliable: false - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /vins_estimator/camera_pose_visual - Name: camera_visual - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 0; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: current_point - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 1 - Size (m): 0.00999999978 - Style: Points - Topic: /vins_estimator/point_cloud - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: false - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud - Color: 255; 255; 255 - Color Transformer: FlatColor - Decay Time: 3000 - Enabled: false - Invert Rainbow: true - Max Color: 0; 0; 0 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: history_point - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 1 - Size (m): 0.5 - Style: Points - Topic: /vins_estimator/history_cloud - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: false - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: true - Enabled: false - Name: VIO - - Class: rviz/Group - Displays: - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 255; 0 - Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 - Line Style: Lines - Line Width: 0.0299999993 - Name: pose_graph_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 - Topic: /pose_graph/pose_graph_path - Unreliable: false - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 170; 0 - Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 - Line Style: Lines - Line Width: 0.0299999993 - Name: base_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 - Topic: /pose_graph/base_path - Unreliable: false - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /pose_graph/pose_graph - Name: loop_visual - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /pose_graph/camera_pose_visual - Name: camera_visual - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /pose_graph/match_image - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: loop_match_image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /pose_graph/key_odometrys - Name: Marker - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 25; 255; 0 - Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 - Line Style: Lines - Line Width: 0.300000012 - Name: Sequence1 - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 - Topic: /pose_graph/path_1 - Unreliable: false - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 - Line Style: Lines - Line Width: 0.300000012 - Name: Sequence2 - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 - Topic: /pose_graph/path_2 - Unreliable: false - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 85; 255 - Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 - Line Style: Lines - Line Width: 0.300000012 - Name: Sequence3 - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 - Topic: /pose_graph/path_3 - Unreliable: false - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 170; 0 - Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 - Line Style: Lines - Line Width: 0.300000012 - Name: Sequence4 - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 - Topic: /pose_graph/path_4 - Unreliable: false - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 170; 255 - Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 - Line Style: Lines - Line Width: 0.0299999993 - Name: Sequence5 - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 - Topic: /pose_graph/path_5 - Unreliable: false - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 25; 255; 0 - Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 - Line Style: Lines - Line Width: 0.0299999993 - Name: no_loop_path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 - Topic: /pose_graph/no_loop_path - Unreliable: false - Value: true - Enabled: true - Name: pose_graph - Enabled: true - Global Options: - Background Color: 0; 0; 0 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/XYOrbit - Distance: 20.9684067 - Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -2.7069304 - Y: -1.26974416 - Z: 2.1410624e-05 - Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 1.0797962 - Target Frame: - Value: XYOrbit (rviz) - Yaw: 3.08722663 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 912 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 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 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1390 - X: 2127 - Y: 109 - loop_match_image: - collapsed: false - raw_image: - collapsed: false - tracked image: - collapsed: false diff --git a/docker/Dockerfile b/docker/Dockerfile deleted file mode 100644 index c46cfe86a..000000000 --- a/docker/Dockerfile +++ /dev/null @@ -1,46 +0,0 @@ -FROM ros:kinetic-perception - -ENV CERES_VERSION="1.12.0" -ENV CATKIN_WS=/root/catkin_ws - - # set up thread number for building -RUN if [ "x$(nproc)" = "x1" ] ; then export USE_PROC=1 ; \ - else export USE_PROC=$(($(nproc)/2)) ; fi && \ - apt-get update && apt-get install -y \ - cmake \ - libatlas-base-dev \ - libeigen3-dev \ - libgoogle-glog-dev \ - libsuitesparse-dev \ - python-catkin-tools \ - ros-${ROS_DISTRO}-cv-bridge \ - ros-${ROS_DISTRO}-image-transport \ - ros-${ROS_DISTRO}-message-filters \ - ros-${ROS_DISTRO}-tf && \ - rm -rf /var/lib/apt/lists/* && \ - # Build and install Ceres - git clone https://ceres-solver.googlesource.com/ceres-solver && \ - cd ceres-solver && \ - git checkout tags/${CERES_VERSION} && \ - mkdir build && cd build && \ - cmake .. && \ - make -j$(USE_PROC) install && \ - rm -rf ../../ceres-solver && \ - mkdir -p $CATKIN_WS/src/VINS-Mono/ - -# Copy VINS-Mono -COPY ./ $CATKIN_WS/src/VINS-Mono/ -# use the following line if you only have this dockerfile -# RUN git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git - -# Build VINS-Mono -WORKDIR $CATKIN_WS -ENV TERM xterm -ENV PYTHONIOENCODING UTF-8 -RUN catkin config \ - --extend /opt/ros/$ROS_DISTRO \ - --cmake-args \ - -DCMAKE_BUILD_TYPE=Release && \ - catkin build && \ - sed -i '/exec "$@"/i \ - source "/root/catkin_ws/devel/setup.bash"' /ros_entrypoint.sh diff --git a/docker/Makefile b/docker/Makefile deleted file mode 100644 index 95bc50e68..000000000 --- a/docker/Makefile +++ /dev/null @@ -1,16 +0,0 @@ -all: help - -help: - @echo "" - @echo "-- Help Menu" - @echo "" - @echo " 1. make build - build all images" - # @echo " 1. make pull - pull all images" - @echo " 1. make clean - remove all images" - @echo "" - -build: - @docker build --tag ros:vins-mono -f ./Dockerfile .. - -clean: - @docker rmi -f ros:vins-mono diff --git a/docker/run.sh b/docker/run.sh deleted file mode 100755 index 815030445..000000000 --- a/docker/run.sh +++ /dev/null @@ -1,61 +0,0 @@ -#!/bin/bash -trap : SIGTERM SIGINT - -function abspath() { - # generate absolute path from relative path - # $1 : relative filename - # return : absolute path - if [ -d "$1" ]; then - # dir - (cd "$1"; pwd) - elif [ -f "$1" ]; then - # file - if [[ $1 = /* ]]; then - echo "$1" - elif [[ $1 == */* ]]; then - echo "$(cd "${1%/*}"; pwd)/${1##*/}" - else - echo "$(pwd)/$1" - fi - fi -} - -if [ "$#" -ne 1 ]; then - echo "Usage: $0 LAUNCH_FILE" >&2 - exit 1 -fi - -roscore & -ROSCORE_PID=$! -sleep 1 - -rviz -d ../config/vins_rviz_config.rviz & -RVIZ_PID=$! - -VINS_MONO_DIR=$(abspath "..") - -docker run \ - -it \ - --rm \ - --net=host \ - -v ${VINS_MONO_DIR}:/root/catkin_ws/src/VINS-Mono/ \ - ros:vins-mono \ - /bin/bash -c \ - "cd /root/catkin_ws/; \ - catkin config \ - --env-cache \ - --extend /opt/ros/$ROS_DISTRO \ - --cmake-args \ - -DCMAKE_BUILD_TYPE=Release; \ - catkin build; \ - source devel/setup.bash; \ - roslaunch vins_estimator ${1}" - -wait $ROSCORE_PID -wait $RVIZ_PID - -if [[ $? -gt 128 ]] -then - kill $ROSCORE_PID - kill $RVIZ_PID -fi diff --git a/feature_tracker/CMakeLists.txt b/feature_tracker/CMakeLists.txt deleted file mode 100644 index bc3fb44c9..000000000 --- a/feature_tracker/CMakeLists.txt +++ /dev/null @@ -1,37 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(feature_tracker) - -set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - sensor_msgs - cv_bridge - camera_model - ) - -find_package(OpenCV REQUIRED) - -catkin_package() - -include_directories( - ${catkin_INCLUDE_DIRS} - ) - -set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) -find_package(Eigen3) -include_directories( - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} -) - -add_executable(feature_tracker - src/feature_tracker_node.cpp - src/parameters.cpp - src/feature_tracker.cpp - ) - -target_link_libraries(feature_tracker ${catkin_LIBRARIES} ${OpenCV_LIBS}) diff --git a/feature_tracker/cmake/FindEigen.cmake b/feature_tracker/cmake/FindEigen.cmake deleted file mode 100644 index cdeb30557..000000000 --- a/feature_tracker/cmake/FindEigen.cmake +++ /dev/null @@ -1,172 +0,0 @@ -# Ceres Solver - A fast non-linear least squares minimizer -# Copyright 2015 Google Inc. All rights reserved. -# http://ceres-solver.org/ -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# * Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# * Neither the name of Google Inc. nor the names of its contributors may be -# used to endorse or promote products derived from this software without -# specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -# Author: alexs.mac@gmail.com (Alex Stewart) -# - -# FindEigen.cmake - Find Eigen library, version >= 3. -# -# This module defines the following variables: -# -# EIGEN_FOUND: TRUE iff Eigen is found. -# EIGEN_INCLUDE_DIRS: Include directories for Eigen. -# -# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h -# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 -# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 -# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 -# -# The following variables control the behaviour of this module: -# -# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to -# search for eigen includes, e.g: /timbuktu/eigen3. -# -# The following variables are also defined by this module, but in line with -# CMake recommended FindPackage() module style should NOT be referenced directly -# by callers (use the plural variables detailed above instead). These variables -# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which -# are NOT re-called (i.e. search for library is not repeated) if these variables -# are set with valid values _in the CMake cache_. This means that if these -# variables are set directly in the cache, either by the user in the CMake GUI, -# or by the user passing -DVAR=VALUE directives to CMake when called (which -# explicitly defines a cache variable), then they will be used verbatim, -# bypassing the HINTS variables and other hard-coded search locations. -# -# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the -# include directory of any dependencies. - -# Called if we failed to find Eigen or any of it's required dependencies, -# unsets all public (designed to be used externally) variables and reports -# error message at priority depending upon [REQUIRED/QUIET/] argument. -macro(EIGEN_REPORT_NOT_FOUND REASON_MSG) - unset(EIGEN_FOUND) - unset(EIGEN_INCLUDE_DIRS) - # Make results of search visible in the CMake GUI if Eigen has not - # been found so that user does not have to toggle to advanced view. - mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR) - # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() - # use the camelcase library name, not uppercase. - if (Eigen_FIND_QUIETLY) - message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - elseif (Eigen_FIND_REQUIRED) - message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - else() - # Neither QUIETLY nor REQUIRED, use no priority which emits a message - # but continues configuration and allows generation. - message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - endif () - return() -endmacro(EIGEN_REPORT_NOT_FOUND) - -# Protect against any alternative find_package scripts for this library having -# been called previously (in a client project) which set EIGEN_FOUND, but not -# the other variables we require / set here which could cause the search logic -# here to fail. -unset(EIGEN_FOUND) - -# Search user-installed locations first, so that we prefer user installs -# to system installs where both exist. -list(APPEND EIGEN_CHECK_INCLUDE_DIRS - /usr/local/include - /usr/local/homebrew/include # Mac OS X - /opt/local/var/macports/software # Mac OS X. - /opt/local/include - /usr/include) -# Additional suffixes to try appending to each search path. -list(APPEND EIGEN_CHECK_PATH_SUFFIXES - eigen3 # Default root directory for Eigen. - Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3 - Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3 - -# Search supplied hint directories first if supplied. -find_path(EIGEN_INCLUDE_DIR - NAMES Eigen/Core - PATHS ${EIGEN_INCLUDE_DIR_HINTS} - ${EIGEN_CHECK_INCLUDE_DIRS} - PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES}) - -if (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - eigen_report_not_found( - "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " - "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") -endif (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - -# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets -# if called. -set(EIGEN_FOUND TRUE) - -# Extract Eigen version from Eigen/src/Core/util/Macros.h -if (EIGEN_INCLUDE_DIR) - set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) - if (NOT EXISTS ${EIGEN_VERSION_FILE}) - eigen_report_not_found( - "Could not find file: ${EIGEN_VERSION_FILE} " - "containing version information in Eigen install located at: " - "${EIGEN_INCLUDE_DIR}.") - else (NOT EXISTS ${EIGEN_VERSION_FILE}) - file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) - - string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" - EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" - EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") - - string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" - EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" - EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") - - string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" - EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" - EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") - - # This is on a single line s/t CMake does not interpret it as a list of - # elements and insert ';' separators which would result in 3.;2.;0 nonsense. - set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") - endif (NOT EXISTS ${EIGEN_VERSION_FILE}) -endif (EIGEN_INCLUDE_DIR) - -# Set standard CMake FindPackage variables if found. -if (EIGEN_FOUND) - set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) -endif (EIGEN_FOUND) - -# Handle REQUIRED / QUIET optional arguments and version. -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Eigen - REQUIRED_VARS EIGEN_INCLUDE_DIRS - VERSION_VAR EIGEN_VERSION) - -# Only mark internal variables as advanced if we found Eigen, otherwise -# leave it visible in the standard GUI for the user to set manually. -if (EIGEN_FOUND) - mark_as_advanced(FORCE EIGEN_INCLUDE_DIR) -endif (EIGEN_FOUND) diff --git a/feature_tracker/package.xml b/feature_tracker/package.xml deleted file mode 100644 index 2317a8068..000000000 --- a/feature_tracker/package.xml +++ /dev/null @@ -1,59 +0,0 @@ - - - feature_tracker - 0.0.0 - The feature_tracker package - - - - - dvorak - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - camera_model - message_generation - roscpp - camera_model - message_runtime - - - - - - - - - - - diff --git a/feature_tracker/src/parameters.h b/feature_tracker/src/parameters.h deleted file mode 100644 index 1bb578b32..000000000 --- a/feature_tracker/src/parameters.h +++ /dev/null @@ -1,26 +0,0 @@ -#pragma once -#include -#include - -extern int ROW; -extern int COL; -extern int FOCAL_LENGTH; -const int NUM_OF_CAM = 1; - - -extern std::string IMAGE_TOPIC; -extern std::string IMU_TOPIC; -extern std::string FISHEYE_MASK; -extern std::vector CAM_NAMES; -extern int MAX_CNT; -extern int MIN_DIST; -extern int WINDOW_SIZE; -extern int FREQ; -extern double F_THRESHOLD; -extern int SHOW_TRACK; -extern int STEREO_TRACK; -extern int EQUALIZE; -extern int FISHEYE; -extern bool PUB_THIS_FRAME; - -void readParameters(ros::NodeHandle &n); diff --git a/pose_graph/CMakeLists.txt b/pose_graph/CMakeLists.txt deleted file mode 100644 index cc8a02897..000000000 --- a/pose_graph/CMakeLists.txt +++ /dev/null @@ -1,47 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(pose_graph) - -set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") -#-DEIGEN_USE_MKL_ALL") -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - nav_msgs - camera_model - cv_bridge - roslib - ) - -find_package(OpenCV) - - -find_package(Ceres REQUIRED) - -set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) -find_package(Eigen3) - -include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR}) - -catkin_package() - -add_executable(pose_graph - src/pose_graph_node.cpp - src/pose_graph.cpp - src/keyframe.cpp - src/utility/CameraPoseVisualization.cpp - src/ThirdParty/DBoW/BowVector.cpp - src/ThirdParty/DBoW/FBrief.cpp - src/ThirdParty/DBoW/FeatureVector.cpp - src/ThirdParty/DBoW/QueryResults.cpp - src/ThirdParty/DBoW/ScoringObject.cpp - src/ThirdParty/DUtils/Random.cpp - src/ThirdParty/DUtils/Timestamp.cpp - src/ThirdParty/DVision/BRIEF.cpp - src/ThirdParty/VocabularyBinary.cpp - ) - -target_link_libraries(pose_graph ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) -# message("catkin_lib ${catkin_LIBRARIES}") diff --git a/pose_graph/cmake/FindEigen.cmake b/pose_graph/cmake/FindEigen.cmake deleted file mode 100644 index cdeb30557..000000000 --- a/pose_graph/cmake/FindEigen.cmake +++ /dev/null @@ -1,172 +0,0 @@ -# Ceres Solver - A fast non-linear least squares minimizer -# Copyright 2015 Google Inc. All rights reserved. -# http://ceres-solver.org/ -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# * Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# * Neither the name of Google Inc. nor the names of its contributors may be -# used to endorse or promote products derived from this software without -# specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -# Author: alexs.mac@gmail.com (Alex Stewart) -# - -# FindEigen.cmake - Find Eigen library, version >= 3. -# -# This module defines the following variables: -# -# EIGEN_FOUND: TRUE iff Eigen is found. -# EIGEN_INCLUDE_DIRS: Include directories for Eigen. -# -# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h -# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 -# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 -# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 -# -# The following variables control the behaviour of this module: -# -# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to -# search for eigen includes, e.g: /timbuktu/eigen3. -# -# The following variables are also defined by this module, but in line with -# CMake recommended FindPackage() module style should NOT be referenced directly -# by callers (use the plural variables detailed above instead). These variables -# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which -# are NOT re-called (i.e. search for library is not repeated) if these variables -# are set with valid values _in the CMake cache_. This means that if these -# variables are set directly in the cache, either by the user in the CMake GUI, -# or by the user passing -DVAR=VALUE directives to CMake when called (which -# explicitly defines a cache variable), then they will be used verbatim, -# bypassing the HINTS variables and other hard-coded search locations. -# -# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the -# include directory of any dependencies. - -# Called if we failed to find Eigen or any of it's required dependencies, -# unsets all public (designed to be used externally) variables and reports -# error message at priority depending upon [REQUIRED/QUIET/] argument. -macro(EIGEN_REPORT_NOT_FOUND REASON_MSG) - unset(EIGEN_FOUND) - unset(EIGEN_INCLUDE_DIRS) - # Make results of search visible in the CMake GUI if Eigen has not - # been found so that user does not have to toggle to advanced view. - mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR) - # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() - # use the camelcase library name, not uppercase. - if (Eigen_FIND_QUIETLY) - message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - elseif (Eigen_FIND_REQUIRED) - message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - else() - # Neither QUIETLY nor REQUIRED, use no priority which emits a message - # but continues configuration and allows generation. - message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - endif () - return() -endmacro(EIGEN_REPORT_NOT_FOUND) - -# Protect against any alternative find_package scripts for this library having -# been called previously (in a client project) which set EIGEN_FOUND, but not -# the other variables we require / set here which could cause the search logic -# here to fail. -unset(EIGEN_FOUND) - -# Search user-installed locations first, so that we prefer user installs -# to system installs where both exist. -list(APPEND EIGEN_CHECK_INCLUDE_DIRS - /usr/local/include - /usr/local/homebrew/include # Mac OS X - /opt/local/var/macports/software # Mac OS X. - /opt/local/include - /usr/include) -# Additional suffixes to try appending to each search path. -list(APPEND EIGEN_CHECK_PATH_SUFFIXES - eigen3 # Default root directory for Eigen. - Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3 - Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3 - -# Search supplied hint directories first if supplied. -find_path(EIGEN_INCLUDE_DIR - NAMES Eigen/Core - PATHS ${EIGEN_INCLUDE_DIR_HINTS} - ${EIGEN_CHECK_INCLUDE_DIRS} - PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES}) - -if (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - eigen_report_not_found( - "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " - "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") -endif (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - -# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets -# if called. -set(EIGEN_FOUND TRUE) - -# Extract Eigen version from Eigen/src/Core/util/Macros.h -if (EIGEN_INCLUDE_DIR) - set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) - if (NOT EXISTS ${EIGEN_VERSION_FILE}) - eigen_report_not_found( - "Could not find file: ${EIGEN_VERSION_FILE} " - "containing version information in Eigen install located at: " - "${EIGEN_INCLUDE_DIR}.") - else (NOT EXISTS ${EIGEN_VERSION_FILE}) - file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) - - string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" - EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" - EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") - - string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" - EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" - EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") - - string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" - EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" - EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") - - # This is on a single line s/t CMake does not interpret it as a list of - # elements and insert ';' separators which would result in 3.;2.;0 nonsense. - set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") - endif (NOT EXISTS ${EIGEN_VERSION_FILE}) -endif (EIGEN_INCLUDE_DIR) - -# Set standard CMake FindPackage variables if found. -if (EIGEN_FOUND) - set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) -endif (EIGEN_FOUND) - -# Handle REQUIRED / QUIET optional arguments and version. -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Eigen - REQUIRED_VARS EIGEN_INCLUDE_DIRS - VERSION_VAR EIGEN_VERSION) - -# Only mark internal variables as advanced if we found Eigen, otherwise -# leave it visible in the standard GUI for the user to set manually. -if (EIGEN_FOUND) - mark_as_advanced(FORCE EIGEN_INCLUDE_DIR) -endif (EIGEN_FOUND) diff --git a/pose_graph/package.xml b/pose_graph/package.xml deleted file mode 100644 index 6e1238b5a..000000000 --- a/pose_graph/package.xml +++ /dev/null @@ -1,53 +0,0 @@ - - - pose_graph - 0.0.0 - pose_graph package - - - - - tony-ws - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - camera_model - camera_model - - - - - - - - - \ No newline at end of file diff --git a/pose_graph/src/parameters.h b/pose_graph/src/parameters.h deleted file mode 100644 index 4e0cd132b..000000000 --- a/pose_graph/src/parameters.h +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once - -#include "camodocal/camera_models/CameraFactory.h" -#include "camodocal/camera_models/CataCamera.h" -#include "camodocal/camera_models/PinholeCamera.h" -#include -#include -#include -#include -#include -#include - -extern camodocal::CameraPtr m_camera; -extern Eigen::Vector3d tic; -extern Eigen::Matrix3d qic; -extern ros::Publisher pub_match_img; -extern ros::Publisher pub_match_points; -extern int VISUALIZATION_SHIFT_X; -extern int VISUALIZATION_SHIFT_Y; -extern std::string BRIEF_PATTERN_FILE; -extern std::string POSE_GRAPH_SAVE_PATH; -extern int ROW; -extern int COL; -extern std::string VINS_RESULT_PATH; -extern int DEBUG_IMAGE; -extern int FAST_RELOCALIZATION; - - diff --git a/src/ar_demo/CMakeLists.txt b/src/ar_demo/CMakeLists.txt new file mode 100644 index 000000000..66e1dec43 --- /dev/null +++ b/src/ar_demo/CMakeLists.txt @@ -0,0 +1,57 @@ +cmake_minimum_required(VERSION 3.8) +project(ar_demo) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(visualization_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(OpenCV REQUIRED) +find_package(cv_bridge REQUIRED) +find_package(message_filters REQUIRED) +find_package(image_transport REQUIRED) +find_package(camodocal REQUIRED) + + +# find_package(camodocal REQUIRED) +file(GLOB_RECURSE SRC_FILE ${PROJECT_SOURCE_DIR}/src/*.cpp) + +include_directories(${PROJECT_SOURCE_DIR}/include) + +add_executable(ar_demo_node ${SRC_FILE}) + +ament_target_dependencies( + ar_demo_node + rclcpp + std_msgs + visualization_msgs + nav_msgs + geometry_msgs + sensor_msgs + OpenCV + cv_bridge + message_filters + image_transport + camodocal +) + +install( + TARGETS + ar_demo_node + DESTINATION lib/${PROJECT_NAME} +) + +install( + DIRECTORY + launch + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/src/ar_demo/include/ar_demo_node.hpp b/src/ar_demo/include/ar_demo_node.hpp new file mode 100644 index 000000000..979db1edf --- /dev/null +++ b/src/ar_demo/include/ar_demo_node.hpp @@ -0,0 +1,91 @@ +#ifndef __AR_DEMO_NODE_HPP__ +#define __AR_DEMO_NODE_HPP__ + +#include +#include +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/color_rgba.hpp" +#include "visualization_msgs/msg/marker.hpp" +#include "visualization_msgs/msg/marker_array.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "geometry_msgs/msg/pose_stamped.hpp" +#include "sensor_msgs/msg/image.hpp" +#include "sensor_msgs/image_encodings.hpp" +#include "sensor_msgs/msg/point_cloud.hpp" +#include "cv_bridge/cv_bridge.h" +#include "image_transport/image_transport.hpp" + +#include "opencv2/opencv.hpp" +#include "opencv2/highgui/highgui.hpp" + +#include "message_filters/subscriber.h" +#include "message_filters/synchronizer.h" +#include "message_filters/time_synchronizer.h" +#include "message_filters/sync_policies/approximate_time.h" + +#include "camodocal/camera_models/CataCamera.h" +#include "camodocal/camera_models/CameraFactory.h" +#include "camodocal/camera_models/PinholeCamera.h" + + +using markerArrayMsg = visualization_msgs::msg::MarkerArray; +using pointCloudMsg = sensor_msgs::msg::PointCloud; +using odometryMsg = nav_msgs::msg::Odometry; +using imageMsg = sensor_msgs::msg::Image; + +class ArDemo: public rclcpp::Node{ +public: + ArDemo(); + void axisGenerate(visualization_msgs::msg::Marker &line_list, Eigen::Vector3d &origin, int id); + void cubeGenerate(visualization_msgs::msg::Marker &marker, Eigen::Vector3d &origin, int id); + void addObject(); + void projectObject(Eigen::Vector3d camera_p, Eigen::Quaterniond camera_q); + void drawObject(cv::Mat &AR_image); + void callback(const imageMsg::SharedPtr img_msg, const odometryMsg::SharedPtr pose_msg); + void pointCallback(const pointCloudMsg::SharedPtr point_msg); + void imgCallback(const imageMsg::SharedPtr img_msg); + void poseCallback(const odometryMsg::SharedPtr pose_msg); + void setup(); + void getParam(); + void initTopic(); +private: + int row; + int column; + double focal_length; + + const int axis_num = 0; + const int cube_num = 1; + std::string calib_file; + + int img_cnt = 0; + bool use_undistored_img = false; + bool pose_init = false; + double box_length = 0.8; + camodocal::CameraPtr m_camera; + + Eigen::Vector3d axis[6]; + Eigen::Vector3d cube_center[3]; + std::vector cube_corner[3]; + std::vector output_axis[6]; + std::vector output_cube[3]; + std::vector output_corner_dis[3]; + double cube_center_depth[3]; + std::queue< imageMsg::SharedPtr> img_buf; + bool look_ground = 0; + std_msgs::msg::ColorRGBA line_color_r; + std_msgs::msg::ColorRGBA line_color_g; + std_msgs::msg::ColorRGBA line_color_b; + + rclcpp::Publisher::SharedPtr object_pub; + rclcpp::Publisher::SharedPtr pub_ARimage; + rclcpp::Subscription::SharedPtr sub_point_cloud; + rclcpp::Subscription::SharedPtr sub_pose_img; + rclcpp::Subscription::SharedPtr sub_img; +}; + +#endif \ No newline at end of file diff --git a/src/ar_demo/launch/3dm_bag.launch.py b/src/ar_demo/launch/3dm_bag.launch.py new file mode 100644 index 000000000..3029e2c2d --- /dev/null +++ b/src/ar_demo/launch/3dm_bag.launch.py @@ -0,0 +1,40 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +vins_estimator_path = get_package_share_directory('vins_estimator') + +vins_estimator_node = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(vins_estimator_path,'launch','3dm.launch.py') + ) +) + +ar_demo_node = Node( + package='ar_demo', + executable='ar_demo_node', + output='screen', + remappings=[ + ('image_raw', '/mv_25001498/image_raw'), + ('camera_pose', '/vins_estimator/camera_pose'), + ('pointcloud', '/vins_estimator/point_cloud'), + ], + parameters=[ + {'calib_file': os.path.join(get_package_share_directory('config'), + 'config', '3dm', '3dm_config.yaml')}, + {'use_undistored_img': False} + ] +) + +def generate_launch_description(): + return LaunchDescription([ + ar_demo_node, + vins_estimator_node, + ]) \ No newline at end of file diff --git a/src/ar_demo/launch/ar_rviz.launch.py b/src/ar_demo/launch/ar_rviz.launch.py new file mode 100644 index 000000000..f4525818e --- /dev/null +++ b/src/ar_demo/launch/ar_rviz.launch.py @@ -0,0 +1,17 @@ +import os +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + +rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rvizvisualisation', + output='log', + arguments=['-d', os.path.join(get_package_share_directory('config'), 'config', 'AR_demo.rviz')] + ) + +def generate_launch_description(): + return LaunchDescription([ + rviz_node, + ]) \ No newline at end of file diff --git a/src/ar_demo/launch/realsense_ar.launch.py b/src/ar_demo/launch/realsense_ar.launch.py new file mode 100644 index 000000000..c1d25fc71 --- /dev/null +++ b/src/ar_demo/launch/realsense_ar.launch.py @@ -0,0 +1,40 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +vins_estimator_path = get_package_share_directory('vins_estimator') + +vins_estimator_node = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(vins_estimator_path,'launch','realsense_fisheye.launch.py') + ) +) + +ar_demo_node = Node( + package='ar_demo', + executable='ar_demo_node', + output='screen', + remappings=[ + ('image_raw', '/camera/fisheye/image_raw'), + ('camera_pose', '/vins_estimator/camera_pose'), + ('pointcloud', '/vins_estimator/point_cloud'), + ], + parameters=[ + {'calib_file': os.path.join(get_package_share_directory('config'), + 'config', 'realsense', 'realsense_fisheye_config.yaml')}, + {'use_undistored_img': False} + ] +) + +def generate_launch_description(): + return LaunchDescription([ + ar_demo_node, + vins_estimator_node, + ]) \ No newline at end of file diff --git a/src/ar_demo/package.xml b/src/ar_demo/package.xml new file mode 100644 index 000000000..3e8287d8d --- /dev/null +++ b/src/ar_demo/package.xml @@ -0,0 +1,20 @@ + + + + ar_demo + 0.0.0 + TODO: Package description + serkan + TODO: License declaration + + ament_cmake + + rclcpp + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/ar_demo/src/ar_demo_node.cpp b/src/ar_demo/src/ar_demo_node.cpp new file mode 100644 index 000000000..fe6c8c656 --- /dev/null +++ b/src/ar_demo/src/ar_demo_node.cpp @@ -0,0 +1,465 @@ +#include "ar_demo_node.hpp" + +using namespace std::placeholders; + +ArDemo::ArDemo():Node("ar_demo"){ + getParam(); + initTopic(); + // std::cout << now().nanoseconds() << std::endl; + setup(); +} + +void ArDemo::axisGenerate(visualization_msgs::msg::Marker &line_list, Eigen::Vector3d &origin, int id){ + line_list.id = id; + line_list.header.frame_id = "world"; + line_list.header.stamp = this->now(); + line_list.action = visualization_msgs::msg::Marker::ADD; + line_list.type = visualization_msgs::msg::Marker::LINE_LIST; + line_list.scale.x = 0.1; + line_list.color.a = 1.0; + line_list.lifetime = rclcpp::Duration::from_seconds(0.3); + line_list.pose.orientation.w = 1.0; + line_list.color.b = 1.0; + + geometry_msgs::msg::Point p; + p.x = origin.x(); + p.y = origin.y(); + p.z = origin.z(); + line_list.points.push_back(p); + line_list.colors.push_back(line_color_r); + p.x += 1.0; + line_list.points.push_back(p); + line_list.colors.push_back(line_color_r); + p.x -= 1.0; + line_list.points.push_back(p); + line_list.colors.push_back(line_color_g); + p.y += 1.0; + line_list.points.push_back(p); + line_list.colors.push_back(line_color_g); + p.y -= 1.0; + line_list.points.push_back(p); + line_list.colors.push_back(line_color_b); + p.z += 1.0; + line_list.points.push_back(p); + line_list.colors.push_back(line_color_b); +} + +void ArDemo::cubeGenerate(visualization_msgs::msg::Marker &marker, Eigen::Vector3d &origin, int id){ + //uint32_t shape = visualization_msgs::Marker::CUBE; + marker.header.frame_id = "world"; + marker.header.stamp = this->now(); + marker.ns = "basic_shapes"; + marker.id = 0; + //marker.type = shape; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.type = visualization_msgs::msg::Marker::CUBE_LIST; + + // marker.pose.position.x = origin.x(); + // marker.pose.position.y = origin.y(); + // marker.pose.position.z = origin.z(); + // marker.pose.orientation.x = 0.0; + // marker.pose.orientation.y = 0.0; + // marker.pose.orientation.z = 0.0; + // marker.pose.orientation.w = 1.0; + + marker.scale.x = box_length; + marker.scale.y = box_length; + marker.scale.z = box_length; + + marker.color.r = 0.0f; + marker.color.g = 1.0f; + marker.color.b = 0.0f; + marker.color.a = 1.0; + + marker.lifetime = rclcpp::Duration::from_seconds(0.3); + + geometry_msgs::msg::Point p; + p.x = origin.x(); + p.y = origin.y(); + p.z = origin.z(); + marker.points.push_back(p); + marker.colors.push_back(line_color_r); + cube_corner[id].clear(); + cube_corner[id].push_back(Eigen::Vector3d(origin.x() - box_length / 2, origin.y() - box_length / 2, origin.z() - box_length / 2)); + cube_corner[id].push_back(Eigen::Vector3d(origin.x() + box_length / 2, origin.y() - box_length / 2, origin.z() - box_length / 2)); + cube_corner[id].push_back(Eigen::Vector3d(origin.x() - box_length / 2, origin.y() + box_length / 2, origin.z() - box_length / 2)); + cube_corner[id].push_back(Eigen::Vector3d(origin.x() + box_length / 2, origin.y() + box_length / 2, origin.z() - box_length / 2)); + cube_corner[id].push_back(Eigen::Vector3d(origin.x() - box_length / 2, origin.y() - box_length / 2, origin.z() + box_length / 2)); + cube_corner[id].push_back(Eigen::Vector3d(origin.x() + box_length / 2, origin.y() - box_length / 2, origin.z() + box_length / 2)); + cube_corner[id].push_back(Eigen::Vector3d(origin.x() - box_length / 2, origin.y() + box_length / 2, origin.z() + box_length / 2)); + cube_corner[id].push_back(Eigen::Vector3d(origin.x() + box_length / 2, origin.y() + box_length / 2, origin.z() + box_length / 2)); +} + +void ArDemo::addObject(){ + visualization_msgs::msg::MarkerArray marker_array_msg; + visualization_msgs::msg::Marker line_list; + visualization_msgs::msg::Marker cube_list; + + for(int i = 0; i < axis_num; i++){ + axisGenerate(line_list, axis[i], i); + marker_array_msg.markers.push_back(line_list); + } + + for(int i = 0; i < cube_num; i++){ + cubeGenerate(cube_list, cube_center[i], i); + } + + marker_array_msg.markers.push_back(cube_list); + object_pub->publish(marker_array_msg); +} + +void ArDemo::projectObject(Eigen::Vector3d camera_p, Eigen::Quaterniond camera_q){ + for(int i = 0; i < axis_num; i++){ + output_axis[i].clear(); + Eigen::Vector3d local_point; + Eigen::Vector2d local_uv; + local_point = camera_q.inverse() * (axis[i] - camera_p); + m_camera->spaceToPlane(local_point, local_uv); + + if(local_point.z() > 0){ + output_axis[i].push_back(Eigen::Vector3d(local_uv.x(), local_uv.y(), 1)); + + local_point = camera_q.inverse() * (axis[i] + Eigen::Vector3d(1, 0, 0) - camera_p); + m_camera->spaceToPlane(local_point, local_uv); + output_axis[i].push_back(Eigen::Vector3d(local_uv.x(), local_uv.y(), 1)); + + local_point = camera_q.inverse() * (axis[i] + Eigen::Vector3d(0, 1, 0) - camera_p); + m_camera->spaceToPlane(local_point, local_uv); + output_axis[i].push_back(Eigen::Vector3d(local_uv.x(), local_uv.y(), 1)); + + local_point = camera_q.inverse() * (axis[i] + Eigen::Vector3d(0, 0, 1) - camera_p); + m_camera->spaceToPlane(local_point, local_uv); + output_axis[i].push_back(Eigen::Vector3d(local_uv.x(), local_uv.y(), 1)); + } + } + + for (int i = 0; i < cube_num; i++) { + output_cube[i].clear(); + output_corner_dis[i].clear(); + Eigen::Vector3d local_point; + Eigen::Vector2d local_uv; + local_point = camera_q.inverse() * (cube_center[i] - camera_p); + if (use_undistored_img){ + local_uv.x() = local_point(0) / local_point(2) * focal_length + column / 2; + local_uv.y() = local_point(1) / local_point(2) * focal_length + row / 2; + } + else{ + m_camera->spaceToPlane(local_point, local_uv); + } + if (local_point.z() > box_length / 2) { + cube_center_depth[i] = local_point.z(); + for (int j = 0; j < 8; j++) { + local_point = camera_q.inverse() * (cube_corner[i][j] - camera_p); + output_corner_dis[i].push_back(local_point.norm()); + if (use_undistored_img) { + //ROS_INFO("directly project!"); + local_uv.x() = local_point(0) / local_point(2) * focal_length + column / 2; + local_uv.y() = local_point(1) / local_point(2) * focal_length + row / 2; + } + else { + //ROS_INFO("camera model project!"); + m_camera->spaceToPlane(local_point, local_uv); + local_uv.x() = std::min(std::max(-5000.0, local_uv.x()),5000.0); + local_uv.y() = std::min(std::max(-5000.0, local_uv.y()),5000.0); + } + output_cube[i].push_back(Eigen::Vector3d(local_uv.x(), local_uv.y(), 1)); + } + } + else{ + cube_center_depth[i] = -1; + } + + } +} + +void ArDemo::drawObject(cv::Mat &AR_image){ + for (int i = 0; i < axis_num; i++) { + if(output_axis[i].empty()) + continue; + cv::Point2d origin(output_axis[i][0].x(), output_axis[i][0].y()); + cv::Point2d axis_x(output_axis[i][1].x(), output_axis[i][1].y()); + cv::Point2d axis_y(output_axis[i][2].x(), output_axis[i][2].y()); + cv::Point2d axis_z(output_axis[i][3].x(), output_axis[i][3].y()); + cv::line(AR_image, origin, axis_x, cv::Scalar(0, 0, 255), 2, 8, 0); + cv::line(AR_image, origin, axis_y, cv::Scalar(0, 255, 0), 2, 8, 0); + cv::line(AR_image, origin, axis_z, cv::Scalar(255, 0, 0), 2, 8, 0); + } + + //depth sort big---->small + int index[cube_num]; + for (int i = 0; i < cube_num; i++) { + index[i] = i; + //cout << "i " << i << " init depth" << Cube_center_depth[i] << endl; + } + for (int i = 0; i < cube_num; i++) + for (int j = 0; j < cube_num - i - 1; j++) { + if (cube_center_depth[j] < cube_center_depth[j + 1]) + { + double tmp = cube_center_depth[j]; + cube_center_depth[j] = cube_center_depth[j + 1]; + cube_center_depth[j + 1] = tmp; + int tmp_index = index[j]; + index[j] = index[j + 1]; + index[j + 1] = tmp_index; + } + } + + for (int k = 0; k < cube_num; k++) { + int i = index[k]; + //cout << "draw " << i << "depth " << cube_center_depth[i] << endl; + if (output_cube[i].empty()) + continue; + //draw color + cv::Point* p = new cv::Point[8]; + p[0] = cv::Point(output_cube[i][0].x(), output_cube[i][0].y()); + p[1] = cv::Point(output_cube[i][1].x(), output_cube[i][1].y()); + p[2] = cv::Point(output_cube[i][2].x(), output_cube[i][2].y()); + p[3] = cv::Point(output_cube[i][3].x(), output_cube[i][3].y()); + p[4] = cv::Point(output_cube[i][4].x(), output_cube[i][4].y()); + p[5] = cv::Point(output_cube[i][5].x(), output_cube[i][5].y()); + p[6] = cv::Point(output_cube[i][6].x(), output_cube[i][6].y()); + p[7] = cv::Point(output_cube[i][7].x(), output_cube[i][7].y()); + + int npts[1] = {4}; + float min_depth = 100000; + int min_index = 5; + for(int j= 0; j < (int)output_corner_dis[i].size(); j++) + { + if(output_corner_dis[i][j] < min_depth) + { + min_depth = output_corner_dis[i][j]; + min_index = j; + } + } + + cv::Point plain[1][4]; + const cv::Point* ppt[1] = {plain[0]}; + //first draw large depth plane + int point_group[8][12] = {{0,1,5,4, 0,4,6,2, 0,1,3,2}, + {0,1,5,4, 1,5,7,3, 0,1,3,2}, + {2,3,7,6, 0,4,6,2, 0,1,3,2}, + {2,3,7,6, 1,5,7,3, 0,1,3,2}, + {0,1,5,4, 0,4,6,2, 4,5,7,6}, + {0,1,5,4, 1,5,7,3, 4,5,7,6}, + {2,3,7,6, 0,4,6,2, 4,5,7,6}, + {2,3,7,6, 1,5,7,3, 4,5,7,6}}; + + plain[0][0] = p[point_group[min_index][4]]; + plain[0][1] = p[point_group[min_index][5]]; + plain[0][2] = p[point_group[min_index][6]]; + plain[0][3] = p[point_group[min_index][7]]; + cv::fillPoly(AR_image, ppt, npts, 1, cv::Scalar(0, 200, 0)); + + plain[0][0] = p[point_group[min_index][0]]; + plain[0][1] = p[point_group[min_index][1]]; + plain[0][2] = p[point_group[min_index][2]]; + plain[0][3] = p[point_group[min_index][3]]; + cv::fillPoly(AR_image, ppt, npts, 1, cv::Scalar(200, 0, 0)); + + if(output_corner_dis[i][point_group[min_index][2]] + output_corner_dis[i][point_group[min_index][3]] > + output_corner_dis[i][point_group[min_index][5]] + output_corner_dis[i][point_group[min_index][6]]) + { + plain[0][0] = p[point_group[min_index][4]]; + plain[0][1] = p[point_group[min_index][5]]; + plain[0][2] = p[point_group[min_index][6]]; + plain[0][3] = p[point_group[min_index][7]]; + cv::fillPoly(AR_image, ppt, npts, 1, cv::Scalar(0, 200, 0)); + + } + plain[0][0] = p[point_group[min_index][8]]; + plain[0][1] = p[point_group[min_index][9]]; + plain[0][2] = p[point_group[min_index][10]]; + plain[0][3] = p[point_group[min_index][11]]; + cv::fillPoly(AR_image, ppt, npts, 1, cv::Scalar(0, 0, 200)); + delete p; + } +} + +void ArDemo::callback(const imageMsg::SharedPtr img_msg, const odometryMsg::SharedPtr pose_msg){ + if(img_cnt < 50) { + img_cnt ++; + return; + } + //ROS_INFO("sync callback!"); + Eigen::Vector3d camera_p(pose_msg->pose.pose.position.x, + pose_msg->pose.pose.position.y, + pose_msg->pose.pose.position.z); + Eigen::Quaterniond camera_q(pose_msg->pose.pose.orientation.w, + pose_msg->pose.pose.orientation.x, + pose_msg->pose.pose.orientation.y, + pose_msg->pose.pose.orientation.z); + + //test plane + Eigen::Vector3d cam_z(0, 0, -1); + Eigen::Vector3d w_cam_z = camera_q * cam_z; + //cout << "angle " << acos(w_cam_z.dot(Eigen::Vector3d(0, 0, 1))) * 180.0 / M_PI << endl; + if (acos(w_cam_z.dot(Eigen::Vector3d(0, 0, 1))) * 180.0 / M_PI < 90) { + //ROS_WARN(" look down"); + look_ground = 1; + } + else + look_ground = 0; + + projectObject(camera_p, camera_q); + + cv_bridge::CvImageConstPtr ptr; + if (img_msg->encoding == "8UC1") { + sensor_msgs::msg::Image img; + img.header = img_msg->header; + img.height = img_msg->height; + img.width = img_msg->width; + img.is_bigendian = img_msg->is_bigendian; + img.step = img_msg->step; + img.data = img_msg->data; + img.encoding = "mono8"; + ptr = cv_bridge::toCvCopy(img, sensor_msgs::image_encodings::MONO8); + } + else + ptr = cv_bridge::toCvCopy(img_msg, sensor_msgs::image_encodings::MONO8); + + //cv_bridge::CvImagePtr bridge_ptr = cv_bridge::toCvCopy(ptr, sensor_msgs::image_encodings::MONO8); + cv::Mat AR_image; + AR_image = ptr->image.clone(); + cv::cvtColor(AR_image, AR_image, cv::COLOR_GRAY2RGB); + drawObject(AR_image); + + sensor_msgs::msg::Image::SharedPtr AR_msg = cv_bridge::CvImage(img_msg->header, "bgr8", AR_image).toImageMsg(); + pub_ARimage->publish(*AR_msg); +} + +void ArDemo::pointCallback(const sensor_msgs::msg::PointCloud::SharedPtr point_msg){ + if (!look_ground) + return; + int height_range[30]; + double height_sum[30]; + for (int i = 0; i < 30; i++) { + height_range[i] = 0; + height_sum[i] = 0; + } + for (unsigned int i = 0; i < point_msg->points.size(); i++) { + //double x = point_msg->points[i].x; + //double y = point_msg->points[i].y; + double z = point_msg->points[i].z; + int index = (z + 2.0) / 0.1; + if (0 <= index && index < 30) + { + height_range[index]++; + height_sum[index] += z; + } + //cout << "point " << " z " << z << endl; + } + int max_num = 0; + int max_index = -1; + for (int i = 1; i < 29; i++) { + if (max_num < height_range[i]) + { + max_num = height_range[i]; + max_index = i; + } + } + if (max_index == -1) + return; + int tmp_num = height_range[max_index - 1] + height_range[max_index] + height_range[max_index + 1]; + double new_height = (height_sum[max_index - 1] + height_sum[max_index] + height_sum[max_index + 1]) / tmp_num; + //ROS_WARN("detect ground plain, height %f", new_height); + if (tmp_num < (int)point_msg->points.size() / 2) { + //ROS_INFO("points not enough"); + return; + } + //update height + for (int i = 0; i < cube_num; i++) { + cube_center[i].z() = new_height + box_length / 2.0; + } + addObject(); + +} + +void ArDemo::imgCallback(const imageMsg::SharedPtr img_msg){ + if(pose_init) { + img_buf.push(img_msg); + } + else + return; +} + +void ArDemo::poseCallback(const odometryMsg::SharedPtr pose_msg){ + if(!pose_init) { + pose_init = true; + return; + } + + if (img_buf.empty()) { + return; + } + + while (img_buf.front()->header.stamp.nanosec < pose_msg->header.stamp.nanosec && !img_buf.empty()) { + img_buf.pop(); + } + + if (!img_buf.empty()) { + callback(img_buf.front(), pose_msg); + img_buf.pop(); + } +} + +void ArDemo::setup(){ + if(use_undistored_img){ + row = 680; + column = 480; + focal_length = 320.0; + }else{ + row = 752; + column = 480; + focal_length = 460.0; + } + + axis[0] = Eigen::Vector3d(0, 1.5, -1.2); + axis[1] = Eigen::Vector3d(-10, 5, 0); + axis[2] = Eigen::Vector3d(3, 3, 3); + axis[3] = Eigen::Vector3d(-2, 2, 0); + axis[4] = Eigen::Vector3d(5, 10, -5); + axis[5] = Eigen::Vector3d(0, 10, -1); + + cube_center[0] = Eigen::Vector3d(0, 1.5, -1.2 + box_length / 2.0); + //cube_center[0] = Eigen::Vector3d(0, 3, -1.2 + box_length / 2.0); + cube_center[1] = Eigen::Vector3d(4, -2, -1.2 + box_length / 2.0); + cube_center[2] = Eigen::Vector3d(0, -2, -1.2 + box_length / 2.0); + + line_color_r.r = 1.0; + line_color_r.a = 1.0; + line_color_g.g = 1.0; + line_color_g.a = 1.0; + line_color_b.b = 1.0; + line_color_b.a = 1.0; + + m_camera = camodocal::CameraFactory::instance()->generateCameraFromYamlFile(calib_file); + addObject(); + addObject(); +} + +void ArDemo::getParam(){ + this->declare_parameter("calib_file", ""); + calib_file = this->get_parameter("calib_file").as_string(); + this->declare_parameter("use_undistored_img", false); + use_undistored_img = this->get_parameter("use_undistored_img").as_bool(); +} + +void ArDemo::initTopic(){ + object_pub = this->create_publisher("AR_object", 10); + pub_ARimage = this->create_publisher("AR_image", 1000); + sub_point_cloud = this->create_subscription("pointcloud", 2000, std::bind( + &ArDemo::pointCallback, this, _1)); + sub_pose_img = this->create_subscription("camera_pose", 100, std::bind( + &ArDemo::poseCallback, this, _1)); + sub_img = this->create_subscription((use_undistored_img ? "image_undistored" : "image_raw") + , 100, std::bind(&ArDemo::imgCallback, this, _1)); + +} + + +int main(int argc, char* argv[]){ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/src/benchmark_publisher/CMakeLists.txt b/src/benchmark_publisher/CMakeLists.txt new file mode 100644 index 000000000..dd39243fd --- /dev/null +++ b/src/benchmark_publisher/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 3.8) +project(benchmark_publisher) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) + + +file(GLOB_RECURSE SRC_FILE ${PROJECT_SOURCE_DIR}/src/*.cpp) +include_directories(${PROJECT_SOURCE_DIR}/include) + +add_executable(benchmark_publisher_node ${SRC_FILE}) + +ament_target_dependencies( + benchmark_publisher_node + rclcpp + nav_msgs + geometry_msgs + tf2 + tf2_ros +) + +install( + TARGETS + benchmark_publisher_node + DESTINATION lib/${PROJECT_NAME} +) + +install( + DIRECTORY + launch + config + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/benchmark_publisher/config/MH_01_easy/data.csv b/src/benchmark_publisher/config/MH_01_easy/data.csv similarity index 100% rename from benchmark_publisher/config/MH_01_easy/data.csv rename to src/benchmark_publisher/config/MH_01_easy/data.csv diff --git a/benchmark_publisher/config/MH_02_easy/data.csv b/src/benchmark_publisher/config/MH_02_easy/data.csv similarity index 100% rename from benchmark_publisher/config/MH_02_easy/data.csv rename to src/benchmark_publisher/config/MH_02_easy/data.csv diff --git a/benchmark_publisher/config/MH_03_medium/data.csv b/src/benchmark_publisher/config/MH_03_medium/data.csv similarity index 100% rename from benchmark_publisher/config/MH_03_medium/data.csv rename to src/benchmark_publisher/config/MH_03_medium/data.csv diff --git a/benchmark_publisher/config/MH_04_difficult/data.csv b/src/benchmark_publisher/config/MH_04_difficult/data.csv similarity index 100% rename from benchmark_publisher/config/MH_04_difficult/data.csv rename to src/benchmark_publisher/config/MH_04_difficult/data.csv diff --git a/benchmark_publisher/config/MH_05_difficult/data.csv b/src/benchmark_publisher/config/MH_05_difficult/data.csv similarity index 100% rename from benchmark_publisher/config/MH_05_difficult/data.csv rename to src/benchmark_publisher/config/MH_05_difficult/data.csv diff --git a/benchmark_publisher/config/V1_02_medium/data.csv b/src/benchmark_publisher/config/V1_02_medium/data.csv similarity index 100% rename from benchmark_publisher/config/V1_02_medium/data.csv rename to src/benchmark_publisher/config/V1_02_medium/data.csv diff --git a/benchmark_publisher/config/V1_03_difficult/data.csv b/src/benchmark_publisher/config/V1_03_difficult/data.csv similarity index 100% rename from benchmark_publisher/config/V1_03_difficult/data.csv rename to src/benchmark_publisher/config/V1_03_difficult/data.csv diff --git a/benchmark_publisher/config/V2_01_easy/data.csv b/src/benchmark_publisher/config/V2_01_easy/data.csv similarity index 100% rename from benchmark_publisher/config/V2_01_easy/data.csv rename to src/benchmark_publisher/config/V2_01_easy/data.csv diff --git a/benchmark_publisher/config/V2_02_medium/data.csv b/src/benchmark_publisher/config/V2_02_medium/data.csv similarity index 100% rename from benchmark_publisher/config/V2_02_medium/data.csv rename to src/benchmark_publisher/config/V2_02_medium/data.csv diff --git a/benchmark_publisher/config/V2_03_difficult/data.csv b/src/benchmark_publisher/config/V2_03_difficult/data.csv similarity index 100% rename from benchmark_publisher/config/V2_03_difficult/data.csv rename to src/benchmark_publisher/config/V2_03_difficult/data.csv diff --git a/src/benchmark_publisher/include/benchmark_publisher_node.hpp b/src/benchmark_publisher/include/benchmark_publisher_node.hpp new file mode 100644 index 000000000..cbec0df26 --- /dev/null +++ b/src/benchmark_publisher/include/benchmark_publisher_node.hpp @@ -0,0 +1,76 @@ +#ifndef __BENCHMARK_PUBLISHER_NODE_HPP__ +#define __BENCHMARK_PUBLISHER_NODE_HPP__ + +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "nav_msgs/msg/path.hpp" +#include "geometry_msgs/msg/pose_stamped.hpp" + +#include "tf2_ros/transform_broadcaster.h" + +using odometryMsg = nav_msgs::msg::Odometry; +using pathMsg = nav_msgs::msg::Path; + +const int SKIP = 50; + +// template +// T readParam(rclcpp::Node &n, std::string name){ +// T ans; +// if (n.get_parameter(name, ans)) { +// std::cout << "Loaded " << name << ": " << ans << std::endl; +// } +// else { +// std::cout << "Failed to load " << name << std::endl; +// rclcpp::shutdown(); +// } +// return ans; +// } + +struct Data{ + Data(FILE *f) { + if (fscanf(f, " %lf,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f", &t, + &px, &py, &pz, + &qw, &qx, &qy, &qz, + &vx, &vy, &vz, + &wx, &wy, &wz, + &ax, &ay, &az) != EOF){ + t /= 1e9; + } + } + double t; + float px, py, pz; + float qw, qx, qy, qz; + float vx, vy, vz; + float wx, wy, wz; + float ax, ay, az; +}; + +class BenchmarkPublisherNode: public rclcpp::Node{ +public: + BenchmarkPublisherNode(); + void initTopic(); + void odomCallback(const odometryMsg::SharedPtr odom_msg); + void readFile(); + +private: + int idx = 1; + std::vector benchmark; + std::string csv_file; + + rclcpp::Publisher::SharedPtr pub_path; + rclcpp::Publisher::SharedPtr pub_odom; + rclcpp::Subscription::SharedPtr sub_odom; + std::unique_ptr trans; + pathMsg path; + + int init = 0; + Eigen::Quaterniond baseRgt; + Eigen::Vector3d baseTgt; +}; + +#endif \ No newline at end of file diff --git a/src/benchmark_publisher/launch/publish.launch.py b/src/benchmark_publisher/launch/publish.launch.py new file mode 100644 index 000000000..15863797e --- /dev/null +++ b/src/benchmark_publisher/launch/publish.launch.py @@ -0,0 +1,28 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node + +sequence_name_arg = DeclareLaunchArgument('sequence_name', default_value='MH_01_easy') + + +benchmark_publisher_node = Node( + # name = 'benchmark_publisher', + package = 'benchmark_publisher', + executable = 'benchmark_publisher_node', + output = 'screen', + remappings=[ + ('estimated_odometry', '/vins_estimator/odometry'), + ], + parameters=[ + {'data_name': os.path.join(get_package_share_directory('benchmark_publisher'), + 'config', sequence_name_arg, 'data.csv')}, + ] +) + +def generate_launch_description(): + return LaunchDescription([ + benchmark_publisher_node, + ]) \ No newline at end of file diff --git a/src/benchmark_publisher/package.xml b/src/benchmark_publisher/package.xml new file mode 100644 index 000000000..21dc6655d --- /dev/null +++ b/src/benchmark_publisher/package.xml @@ -0,0 +1,20 @@ + + + + benchmark_publisher + 0.0.0 + TODO: Package description + serkan + TODO: License declaration + + ament_cmake + + rclcpp + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/benchmark_publisher/src/benchmark_publisher_node.cpp b/src/benchmark_publisher/src/benchmark_publisher_node.cpp new file mode 100644 index 000000000..516c61544 --- /dev/null +++ b/src/benchmark_publisher/src/benchmark_publisher_node.cpp @@ -0,0 +1,110 @@ +#include "benchmark_publisher_node.hpp" + +BenchmarkPublisherNode::BenchmarkPublisherNode(): Node("benchmark_publisher_node"){ + initTopic(); + trans = std::make_unique(*this); + csv_file = this->get_parameter("data_name").as_string(); + // csv_file = readParam(*this, "data_name"); + std::cout << "load ground truth " << csv_file << std::endl; + readFile(); +} + +void BenchmarkPublisherNode::initTopic(){ + pub_odom = this->create_publisher("odometry", 100); + pub_path = this->create_publisher("path", 100); + + sub_odom = this->create_subscription("estimated_odometry", 100, + std::bind(&BenchmarkPublisherNode::odomCallback, this, std::placeholders::_1)); +} + +void BenchmarkPublisherNode::readFile(){ + FILE *f = fopen(csv_file.c_str(), "r"); + if(f == NULL){ + RCLCPP_ERROR(this->get_logger(), "can't load ground truth; wrong path %s", csv_file); + return; + } + + char tmp[10000]; + if (fgets(tmp, 10000, f) == NULL){ + RCLCPP_WARN(this->get_logger(), "can't load ground truth; no data available"); + } + + while (!feof(f)){ + benchmark.emplace_back(f); + } + + fclose(f); + benchmark.pop_back(); + RCLCPP_INFO(this->get_logger(), "Data Loaded: %d", (int)benchmark.size()); +} + +void BenchmarkPublisherNode::odomCallback(const odometryMsg::SharedPtr odom_msg){ + if (odom_msg->header.stamp.sec > benchmark.back().t) + return; + + for (; idx < static_cast(benchmark.size()) && benchmark[idx].t <= odom_msg->header.stamp.sec; idx++); + + if (init++ < SKIP) { + baseRgt = Eigen::Quaterniond(odom_msg->pose.pose.orientation.w, + odom_msg->pose.pose.orientation.x, + odom_msg->pose.pose.orientation.y, + odom_msg->pose.pose.orientation.z) * + Eigen::Quaterniond(benchmark[idx - 1].qw, + benchmark[idx - 1].qx, + benchmark[idx - 1].qy, + benchmark[idx - 1].qz).inverse(); + baseTgt = Eigen::Vector3d{odom_msg->pose.pose.position.x, + odom_msg->pose.pose.position.y, + odom_msg->pose.pose.position.z} - + baseRgt * Eigen::Vector3d{benchmark[idx - 1].px, benchmark[idx - 1].py, benchmark[idx - 1].pz}; + return; + } + + odometryMsg odometry; + double time_sec = benchmark[idx - 1].t; + double time_nsec = (time_sec - floor(time_sec)) * 1e9; + + builtin_interfaces::msg::Time time_msg; + time_msg.sec = static_cast(time_sec); + time_msg.nanosec = static_cast(time_nsec); + odometry.header.stamp = time_msg; // this->get_clock()->now() + odometry.header.frame_id = "world"; + odometry.child_frame_id = "world"; + + Eigen::Vector3d tmp_T = baseTgt + baseRgt * Eigen::Vector3d{benchmark[idx - 1].px, benchmark[idx - 1].py, + benchmark[idx - 1].pz}; + odometry.pose.pose.position.x = tmp_T.x(); + odometry.pose.pose.position.y = tmp_T.y(); + odometry.pose.pose.position.z = tmp_T.z(); + + Eigen::Quaterniond tmp_R = baseRgt * Eigen::Quaterniond{benchmark[idx - 1].qw, + benchmark[idx - 1].qx, + benchmark[idx - 1].qy, + benchmark[idx - 1].qz}; + odometry.pose.pose.orientation.w = tmp_R.w(); + odometry.pose.pose.orientation.x = tmp_R.x(); + odometry.pose.pose.orientation.y = tmp_R.y(); + odometry.pose.pose.orientation.z = tmp_R.z(); + + Eigen::Vector3d tmp_V = baseRgt * Eigen::Vector3d{benchmark[idx - 1].vx, + benchmark[idx - 1].vy, + benchmark[idx - 1].vz}; + odometry.twist.twist.linear.x = tmp_V.x(); + odometry.twist.twist.linear.y = tmp_V.y(); + odometry.twist.twist.linear.z = tmp_V.z(); + pub_odom->publish(odometry); + + geometry_msgs::msg::PoseStamped pose_stamped; + pose_stamped.header = odometry.header; + pose_stamped.pose = odometry.pose.pose; + path.header = odometry.header; + path.poses.push_back(pose_stamped); + pub_path->publish(path); +} + +int main(int argc, char** argv){ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/src/camodocal/CMakeLists.txt b/src/camodocal/CMakeLists.txt new file mode 100644 index 000000000..018fbe109 --- /dev/null +++ b/src/camodocal/CMakeLists.txt @@ -0,0 +1,69 @@ +cmake_minimum_required(VERSION 3.8) +project(camodocal) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(OpenCV REQUIRED) +find_package(Ceres REQUIRED) +find_package(Boost REQUIRED COMPONENTS + filesystem program_options system) + +include_directories(${Boost_INCLUDE_DIRS} + ${CERES_INCLUDE_DIRS} + + ) + +add_library(camodocal src/chessboard/Chessboard.cc + src/calib/CameraCalibration.cc + src/camera_models/Camera.cc + src/camera_models/CameraFactory.cc + src/camera_models/CostFunctionFactory.cc + src/camera_models/PinholeCamera.cc + src/camera_models/CataCamera.cc + src/camera_models/EquidistantCamera.cc + src/camera_models/ScaramuzzaCamera.cc + src/sparse_graph/Transform.cc + src/gpl/gpl.cc + src/gpl/EigenQuaternionParameterization.cc) + +target_include_directories(camodocal PUBLIC + "$" + "$") + +target_include_directories(camodocal PUBLIC ${PROJECT_SOURCE_DIR}/include/) +target_link_libraries(camodocal ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES} ${camodocal_lib}) + +# ament_export_targets(camodocal HAS_LIBRARY_TARGET) + +ament_target_dependencies( + camodocal + OpenCV + rclcpp + Ceres + Boost +) + +ament_export_libraries(camodocal) + +install( + DIRECTORY include/camodocal + DESTINATION include +) + +install( + TARGETS camodocal + EXPORT camodocal + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib + RUNTIME DESTINATION bin + INCLUDES DESTINATION include +) + +ament_export_include_directories(include) + +ament_package() \ No newline at end of file diff --git a/camera_model/include/camodocal/calib/CameraCalibration.h b/src/camodocal/include/camodocal/calib/CameraCalibration.h similarity index 100% rename from camera_model/include/camodocal/calib/CameraCalibration.h rename to src/camodocal/include/camodocal/calib/CameraCalibration.h diff --git a/camera_model/include/camodocal/camera_models/Camera.h b/src/camodocal/include/camodocal/camera_models/Camera.h similarity index 100% rename from camera_model/include/camodocal/camera_models/Camera.h rename to src/camodocal/include/camodocal/camera_models/Camera.h diff --git a/camera_model/include/camodocal/camera_models/CameraFactory.h b/src/camodocal/include/camodocal/camera_models/CameraFactory.h similarity index 100% rename from camera_model/include/camodocal/camera_models/CameraFactory.h rename to src/camodocal/include/camodocal/camera_models/CameraFactory.h diff --git a/camera_model/include/camodocal/camera_models/CataCamera.h b/src/camodocal/include/camodocal/camera_models/CataCamera.h similarity index 100% rename from camera_model/include/camodocal/camera_models/CataCamera.h rename to src/camodocal/include/camodocal/camera_models/CataCamera.h diff --git a/camera_model/include/camodocal/camera_models/CostFunctionFactory.h b/src/camodocal/include/camodocal/camera_models/CostFunctionFactory.h similarity index 100% rename from camera_model/include/camodocal/camera_models/CostFunctionFactory.h rename to src/camodocal/include/camodocal/camera_models/CostFunctionFactory.h diff --git a/camera_model/include/camodocal/camera_models/EquidistantCamera.h b/src/camodocal/include/camodocal/camera_models/EquidistantCamera.h similarity index 100% rename from camera_model/include/camodocal/camera_models/EquidistantCamera.h rename to src/camodocal/include/camodocal/camera_models/EquidistantCamera.h diff --git a/camera_model/include/camodocal/camera_models/PinholeCamera.h b/src/camodocal/include/camodocal/camera_models/PinholeCamera.h similarity index 100% rename from camera_model/include/camodocal/camera_models/PinholeCamera.h rename to src/camodocal/include/camodocal/camera_models/PinholeCamera.h diff --git a/camera_model/include/camodocal/camera_models/ScaramuzzaCamera.h b/src/camodocal/include/camodocal/camera_models/ScaramuzzaCamera.h similarity index 100% rename from camera_model/include/camodocal/camera_models/ScaramuzzaCamera.h rename to src/camodocal/include/camodocal/camera_models/ScaramuzzaCamera.h diff --git a/camera_model/include/camodocal/chessboard/Chessboard.h b/src/camodocal/include/camodocal/chessboard/Chessboard.h similarity index 100% rename from camera_model/include/camodocal/chessboard/Chessboard.h rename to src/camodocal/include/camodocal/chessboard/Chessboard.h diff --git a/camera_model/include/camodocal/chessboard/ChessboardCorner.h b/src/camodocal/include/camodocal/chessboard/ChessboardCorner.h similarity index 100% rename from camera_model/include/camodocal/chessboard/ChessboardCorner.h rename to src/camodocal/include/camodocal/chessboard/ChessboardCorner.h diff --git a/camera_model/include/camodocal/chessboard/ChessboardQuad.h b/src/camodocal/include/camodocal/chessboard/ChessboardQuad.h similarity index 100% rename from camera_model/include/camodocal/chessboard/ChessboardQuad.h rename to src/camodocal/include/camodocal/chessboard/ChessboardQuad.h diff --git a/camera_model/include/camodocal/chessboard/Spline.h b/src/camodocal/include/camodocal/chessboard/Spline.h similarity index 100% rename from camera_model/include/camodocal/chessboard/Spline.h rename to src/camodocal/include/camodocal/chessboard/Spline.h diff --git a/camera_model/include/camodocal/gpl/EigenQuaternionParameterization.h b/src/camodocal/include/camodocal/gpl/EigenQuaternionParameterization.h similarity index 100% rename from camera_model/include/camodocal/gpl/EigenQuaternionParameterization.h rename to src/camodocal/include/camodocal/gpl/EigenQuaternionParameterization.h diff --git a/camera_model/include/camodocal/gpl/EigenUtils.h b/src/camodocal/include/camodocal/gpl/EigenUtils.h similarity index 100% rename from camera_model/include/camodocal/gpl/EigenUtils.h rename to src/camodocal/include/camodocal/gpl/EigenUtils.h diff --git a/camera_model/include/camodocal/gpl/gpl.h b/src/camodocal/include/camodocal/gpl/gpl.h similarity index 100% rename from camera_model/include/camodocal/gpl/gpl.h rename to src/camodocal/include/camodocal/gpl/gpl.h diff --git a/camera_model/include/camodocal/sparse_graph/Transform.h b/src/camodocal/include/camodocal/sparse_graph/Transform.h similarity index 100% rename from camera_model/include/camodocal/sparse_graph/Transform.h rename to src/camodocal/include/camodocal/sparse_graph/Transform.h diff --git a/src/camodocal/package.xml b/src/camodocal/package.xml new file mode 100644 index 000000000..6dc9493f2 --- /dev/null +++ b/src/camodocal/package.xml @@ -0,0 +1,20 @@ + + + + camodocal + 0.0.0 + TODO: Package description + serkan + TODO: License declaration + + ament_cmake + + rclcpp + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/camera_model/readme.md b/src/camodocal/readme.md similarity index 100% rename from camera_model/readme.md rename to src/camodocal/readme.md diff --git a/camera_model/src/calib/CameraCalibration.cc b/src/camodocal/src/calib/CameraCalibration.cc similarity index 100% rename from camera_model/src/calib/CameraCalibration.cc rename to src/camodocal/src/calib/CameraCalibration.cc diff --git a/camera_model/src/camera_models/Camera.cc b/src/camodocal/src/camera_models/Camera.cc similarity index 100% rename from camera_model/src/camera_models/Camera.cc rename to src/camodocal/src/camera_models/Camera.cc diff --git a/camera_model/src/camera_models/CameraFactory.cc b/src/camodocal/src/camera_models/CameraFactory.cc similarity index 100% rename from camera_model/src/camera_models/CameraFactory.cc rename to src/camodocal/src/camera_models/CameraFactory.cc diff --git a/camera_model/src/camera_models/CataCamera.cc b/src/camodocal/src/camera_models/CataCamera.cc similarity index 100% rename from camera_model/src/camera_models/CataCamera.cc rename to src/camodocal/src/camera_models/CataCamera.cc diff --git a/camera_model/src/camera_models/CostFunctionFactory.cc b/src/camodocal/src/camera_models/CostFunctionFactory.cc similarity index 100% rename from camera_model/src/camera_models/CostFunctionFactory.cc rename to src/camodocal/src/camera_models/CostFunctionFactory.cc diff --git a/camera_model/src/camera_models/EquidistantCamera.cc b/src/camodocal/src/camera_models/EquidistantCamera.cc similarity index 100% rename from camera_model/src/camera_models/EquidistantCamera.cc rename to src/camodocal/src/camera_models/EquidistantCamera.cc diff --git a/camera_model/src/camera_models/PinholeCamera.cc b/src/camodocal/src/camera_models/PinholeCamera.cc similarity index 100% rename from camera_model/src/camera_models/PinholeCamera.cc rename to src/camodocal/src/camera_models/PinholeCamera.cc diff --git a/camera_model/src/camera_models/ScaramuzzaCamera.cc b/src/camodocal/src/camera_models/ScaramuzzaCamera.cc similarity index 100% rename from camera_model/src/camera_models/ScaramuzzaCamera.cc rename to src/camodocal/src/camera_models/ScaramuzzaCamera.cc diff --git a/camera_model/src/chessboard/Chessboard.cc b/src/camodocal/src/chessboard/Chessboard.cc similarity index 100% rename from camera_model/src/chessboard/Chessboard.cc rename to src/camodocal/src/chessboard/Chessboard.cc diff --git a/camera_model/src/gpl/EigenQuaternionParameterization.cc b/src/camodocal/src/gpl/EigenQuaternionParameterization.cc similarity index 100% rename from camera_model/src/gpl/EigenQuaternionParameterization.cc rename to src/camodocal/src/gpl/EigenQuaternionParameterization.cc diff --git a/camera_model/src/gpl/gpl.cc b/src/camodocal/src/gpl/gpl.cc similarity index 100% rename from camera_model/src/gpl/gpl.cc rename to src/camodocal/src/gpl/gpl.cc diff --git a/camera_model/src/intrinsic_calib.cc b/src/camodocal/src/intrinsic_calib.cc similarity index 100% rename from camera_model/src/intrinsic_calib.cc rename to src/camodocal/src/intrinsic_calib.cc diff --git a/camera_model/src/sparse_graph/Transform.cc b/src/camodocal/src/sparse_graph/Transform.cc similarity index 100% rename from camera_model/src/sparse_graph/Transform.cc rename to src/camodocal/src/sparse_graph/Transform.cc diff --git a/src/config/CMakeLists.txt b/src/config/CMakeLists.txt new file mode 100644 index 000000000..0a696e6d4 --- /dev/null +++ b/src/config/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 3.8) +project(config) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) + +install(DIRECTORY + config + support_files + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/config/3dm/3dm_config.yaml b/src/config/config/3dm/3dm_config.yaml similarity index 100% rename from config/3dm/3dm_config.yaml rename to src/config/config/3dm/3dm_config.yaml diff --git a/config/black_box/black_box_config.yaml b/src/config/config/black_box/black_box_config.yaml similarity index 100% rename from config/black_box/black_box_config.yaml rename to src/config/config/black_box/black_box_config.yaml diff --git a/config/cla/cla_config.yaml b/src/config/config/cla/cla_config.yaml similarity index 100% rename from config/cla/cla_config.yaml rename to src/config/config/cla/cla_config.yaml diff --git a/config/euroc/euroc_config.yaml b/src/config/config/euroc/euroc_config.yaml similarity index 96% rename from config/euroc/euroc_config.yaml rename to src/config/config/euroc/euroc_config.yaml index 97cd8d160..9655a2d62 100644 --- a/config/euroc/euroc_config.yaml +++ b/src/config/config/euroc/euroc_config.yaml @@ -3,7 +3,7 @@ #common parameters imu_topic: "/imu0" image_topic: "/cam0/image_raw" -output_path: "/home/shaozu/output/" +output_path: "/home/serkan/source_code/VINS-Mono/output" #camera calibration model_type: PINHOLE @@ -66,7 +66,7 @@ g_norm: 9.81007 # gravity magnitude loop_closure: 1 # start loop closure load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' fast_relocalization: 0 # useful in real-time and large project -pose_graph_save_path: "/home/shaozu/output/pose_graph/" # save and load path +pose_graph_save_path: "/home/serkan/source_code/VINS-Mono/output/pose_graph/" # save and load path #unsynchronization parameters estimate_td: 0 # online estimate time offset between camera and imu diff --git a/config/euroc/euroc_config_no_extrinsic.yaml b/src/config/config/euroc/euroc_config_no_extrinsic.yaml similarity index 95% rename from config/euroc/euroc_config_no_extrinsic.yaml rename to src/config/config/euroc/euroc_config_no_extrinsic.yaml index 14887eee0..bfba12c73 100644 --- a/config/euroc/euroc_config_no_extrinsic.yaml +++ b/src/config/config/euroc/euroc_config_no_extrinsic.yaml @@ -3,7 +3,7 @@ #common parameters imu_topic: "/imu0" image_topic: "/cam0/image_raw" -output_path: "/home/tony-ws1/output/" +output_path: "/home/serkan/source_code/VINS-Mono/output" #camera calibration model_type: PINHOLE @@ -52,7 +52,7 @@ g_norm: 9.81007 # gravity magnitude loop_closure: 1 # start loop closure load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' fast_relocalization: 0 # useful in real-time and large project -pose_graph_save_path: "/home/tony-ws1/output/pose_graph/" # save and load path +pose_graph_save_path: "/home/serkan/source_code/VINS-Mono/output/pose_graph/" # save and load path #unsynchronization parameters estimate_td: 0 # online estimate time offset between camera and imu diff --git a/config/extrinsic_parameter_example.pdf b/src/config/config/extrinsic_parameter_example.pdf similarity index 100% rename from config/extrinsic_parameter_example.pdf rename to src/config/config/extrinsic_parameter_example.pdf diff --git a/config/fisheye_mask.jpg b/src/config/config/fisheye_mask.jpg similarity index 100% rename from config/fisheye_mask.jpg rename to src/config/config/fisheye_mask.jpg diff --git a/config/fisheye_mask_752x480.jpg b/src/config/config/fisheye_mask_752x480.jpg similarity index 100% rename from config/fisheye_mask_752x480.jpg rename to src/config/config/fisheye_mask_752x480.jpg diff --git a/src/config/config/params.yaml b/src/config/config/params.yaml new file mode 100644 index 000000000..366bcf608 --- /dev/null +++ b/src/config/config/params.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + config_file: "/home/serkan/source_code/VINS-Mono/src/config/config/euroc/euroc_config.yaml" + vins_folder: "/home/serkan/source_code/VINS-Mono/config" + visualization_shift_x: 0 + visualization_shift_y: 0 + skip_cnt: 0 + skip_dis: 0.0 \ No newline at end of file diff --git a/config/realsense/realsense_color_config.yaml b/src/config/config/realsense/realsense_color_config.yaml similarity index 100% rename from config/realsense/realsense_color_config.yaml rename to src/config/config/realsense/realsense_color_config.yaml diff --git a/config/realsense/realsense_fisheye_config.yaml b/src/config/config/realsense/realsense_fisheye_config.yaml similarity index 100% rename from config/realsense/realsense_fisheye_config.yaml rename to src/config/config/realsense/realsense_fisheye_config.yaml diff --git a/config/realsense/realsense_zr300 b/src/config/config/realsense/realsense_zr300 similarity index 100% rename from config/realsense/realsense_zr300 rename to src/config/config/realsense/realsense_zr300 diff --git a/config/tum/tum_config.yaml b/src/config/config/tum/tum_config.yaml similarity index 100% rename from config/tum/tum_config.yaml rename to src/config/config/tum/tum_config.yaml diff --git a/src/config/package.xml b/src/config/package.xml new file mode 100644 index 000000000..0db4cc50c --- /dev/null +++ b/src/config/package.xml @@ -0,0 +1,18 @@ + + + + config + 0.0.0 + TODO: Package description + serkan + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/support_files/brief_k10L6.bin b/src/config/support_files/brief_k10L6.bin similarity index 100% rename from support_files/brief_k10L6.bin rename to src/config/support_files/brief_k10L6.bin diff --git a/support_files/brief_pattern.yml b/src/config/support_files/brief_pattern.yml similarity index 100% rename from support_files/brief_pattern.yml rename to src/config/support_files/brief_pattern.yml diff --git a/support_files/image/vins.png b/src/config/support_files/image/vins.png similarity index 100% rename from support_files/image/vins.png rename to src/config/support_files/image/vins.png diff --git a/support_files/image/vins_black.png b/src/config/support_files/image/vins_black.png similarity index 100% rename from support_files/image/vins_black.png rename to src/config/support_files/image/vins_black.png diff --git a/support_files/paper/tro_technical_report.pdf b/src/config/support_files/paper/tro_technical_report.pdf similarity index 100% rename from support_files/paper/tro_technical_report.pdf rename to src/config/support_files/paper/tro_technical_report.pdf diff --git a/support_files/paper_bib.txt b/src/config/support_files/paper_bib.txt similarity index 100% rename from support_files/paper_bib.txt rename to src/config/support_files/paper_bib.txt diff --git a/src/feature_tracker/CMakeLists.txt b/src/feature_tracker/CMakeLists.txt new file mode 100644 index 000000000..9e5ef89de --- /dev/null +++ b/src/feature_tracker/CMakeLists.txt @@ -0,0 +1,42 @@ +cmake_minimum_required(VERSION 3.8) +project(feature_tracker) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(cv_bridge REQUIRED) +find_package(message_filters REQUIRED) +find_package(OpenCV REQUIRED) +find_package(camodocal REQUIRED) + + +# add_definitions(DEBUG) + +file(GLOB_RECURSE SRC_FILE ${PROJECT_SOURCE_DIR}/src/*.cpp) +include_directories(${PROJECT_SOURCE_DIR}/include) + +add_executable(feature_tracker_node ${SRC_FILE}) + +ament_target_dependencies( + feature_tracker_node + rclcpp + std_msgs + sensor_msgs + cv_bridge + message_filters + OpenCV + camodocal +) + +install( + TARGETS feature_tracker_node + DESTINATION lib/${PROJECT_NAME} +) + +ament_package() \ No newline at end of file diff --git a/feature_tracker/src/feature_tracker.h b/src/feature_tracker/include/feature_tracker.hpp similarity index 50% rename from feature_tracker/src/feature_tracker.h rename to src/feature_tracker/include/feature_tracker.hpp index 9862ec191..52772ade1 100644 --- a/feature_tracker/src/feature_tracker.h +++ b/src/feature_tracker/include/feature_tracker.hpp @@ -1,4 +1,5 @@ -#pragma once +#ifndef __FEATURE_TRACKER_HPP__ +#define __FEATURE_TRACKER_HPP__ #include #include @@ -13,53 +14,42 @@ #include "camodocal/camera_models/CataCamera.h" #include "camodocal/camera_models/PinholeCamera.h" -#include "parameters.h" -#include "tic_toc.h" - -using namespace std; -using namespace camodocal; -using namespace Eigen; +#include "parameters_.hpp" +#include "tic_toc.hpp" bool inBorder(const cv::Point2f &pt); -void reduceVector(vector &v, vector status); -void reduceVector(vector &v, vector status); +void reduceVector(std::vector &v, std::vector status); +void reduceVector(std::vector &v, std::vector status); -class FeatureTracker -{ +class FeatureTracker{ public: FeatureTracker(); - void readImage(const cv::Mat &_img,double _cur_time); - void setMask(); - void addPoints(); - bool updateID(unsigned int i); - - void readIntrinsicParameter(const string &calib_file); - - void showUndistortion(const string &name); - + void readIntrinsicParameter(const std::string &calib_file); + void showUndistortion(const std::string &name); void rejectWithF(); - void undistortedPoints(); cv::Mat mask; cv::Mat fisheye_mask; cv::Mat prev_img, cur_img, forw_img; - vector n_pts; - vector prev_pts, cur_pts, forw_pts; - vector prev_un_pts, cur_un_pts; - vector pts_velocity; - vector ids; - vector track_cnt; - map cur_un_pts_map; - map prev_un_pts_map; + std::vector n_pts; + std::vector prev_pts, cur_pts, forw_pts; + std::vector prev_un_pts, cur_un_pts; + std::vector pts_velocity; + std::vector ids; + std::vector track_cnt; + std::map cur_un_pts_map; + std::map prev_un_pts_map; camodocal::CameraPtr m_camera; double cur_time; double prev_time; static int n_id; }; + +#endif \ No newline at end of file diff --git a/src/feature_tracker/include/feature_tracker_node.hpp b/src/feature_tracker/include/feature_tracker_node.hpp new file mode 100644 index 000000000..1fcd4c2a8 --- /dev/null +++ b/src/feature_tracker/include/feature_tracker_node.hpp @@ -0,0 +1,51 @@ +#ifndef __FEATURE_TRACKER_NODE_HPP__ +#define __FEATURE_TRACKER_NODE_HPP__ +#include "rclcpp/rclcpp.hpp" +#include "sensor_msgs/msg/image.hpp" +#include "sensor_msgs/image_encodings.hpp" +#include "sensor_msgs/msg/point_cloud.hpp" +#include "sensor_msgs/msg/point_cloud2.hpp" +#include "sensor_msgs/msg/channel_float32.hpp" +#include "geometry_msgs/msg/point32.hpp" +#include "sensor_msgs/msg/imu.hpp" +#include "std_msgs/msg/bool.hpp" +#include "cv_bridge/cv_bridge.h" +#include "message_filters/subscriber.h" + +#include "feature_tracker.hpp" + +#define SHOW_UNDISTORTION 0 + +using imuMsg = sensor_msgs::msg::Imu; +using imageMsg = sensor_msgs::msg::Image; +using pointCloudMsg = sensor_msgs::msg::PointCloud; +using pointCloud2Msg = sensor_msgs::msg::PointCloud2; +using boolMsg = std_msgs::msg::Bool; + +class FeatureTrackerNode : public rclcpp::Node{ +public: + FeatureTrackerNode(); + void imgCallback(const imageMsg::SharedPtr img_msg); + void initTopic(); + void getParams(); +private: + std::vector r_status; + std::vector r_err; + std::queue img_buf; + + rclcpp::Publisher::SharedPtr pub_img; + rclcpp::Publisher::SharedPtr pub_match; + rclcpp::Publisher::SharedPtr pub_restart; + + rclcpp::Subscription::SharedPtr sub_img; + + FeatureTracker trackerData[NUM_OF_CAM]; + double first_image_time; + int pub_count = 1; + bool first_image_flag = true; + double last_image_time = 0.0; + bool init_pub = 0; + double current_time = 0.0; +}; + +#endif \ No newline at end of file diff --git a/src/feature_tracker/include/parameters_.hpp b/src/feature_tracker/include/parameters_.hpp new file mode 100644 index 000000000..54cb0bafd --- /dev/null +++ b/src/feature_tracker/include/parameters_.hpp @@ -0,0 +1,45 @@ +#ifndef __PARAMETERS_HPP__ +#define __PARAMETERS_HPP__ + +#include "rclcpp/rclcpp.hpp" +#include "opencv2/highgui/highgui.hpp" +#include "std_msgs/msg/header.hpp" + +#define COLOR_BLK "\x1b[30m" +#define COLOR_RED "\x1b[31m" +#define COLOR_GRN "\x1b[32m" +#define COLOR_YLW "\x1b[33m" +#define COLOR_BLE "\x1b[34m" +#define COLOR_MGT "\x1b[35m" +#define COLOR_CYN "\x1b[36m" +#define COLOR_WHT "\x1b[37m" +#define COLOR_RST "\x1b[0m" + +#define UNDERLINE "\x1b[21m" +#define LINE "=================================================================================================" + +using headerMsg = std_msgs::msg::Header; + +extern int ROW; +extern int COL; +extern int FOCAL_LENGTH; +const int NUM_OF_CAM = 1; + +extern std::string IMAGE_TOPIC; +extern std::string IMU_TOPIC; +extern std::string FISHEYE_MASK; +extern std::vector CAM_NAMES; +extern int MAX_CNT; +extern int MIN_DIST; +extern int WINDOW_SIZE; +extern int FREQ; +extern double F_THRESHOLD; +extern int SHOW_TRACK; +extern int STEREO_TRACK; +extern int EQUALIZE; +extern int FISHEYE; +extern bool PUB_THIS_FRAME; + +void readParameters(std::string config_file, std::string VINS_FOLDER_PATH); +double toSec(headerMsg header_time); +#endif \ No newline at end of file diff --git a/pose_graph/src/utility/tic_toc.h b/src/feature_tracker/include/tic_toc.hpp similarity index 59% rename from pose_graph/src/utility/tic_toc.h rename to src/feature_tracker/include/tic_toc.hpp index 8885273cf..5e3f564b1 100644 --- a/pose_graph/src/utility/tic_toc.h +++ b/src/feature_tracker/include/tic_toc.hpp @@ -1,4 +1,5 @@ -#pragma once +#ifndef __TIC_TOC_HPP__ +#define __TIC_TOC_HPP__ #include #include @@ -14,16 +15,18 @@ class TicToc void tic() { - start = std::chrono::system_clock::now(); + start = std::chrono::steady_clock::now(); } double toc() { - end = std::chrono::system_clock::now(); + end = std::chrono::steady_clock::now(); std::chrono::duration elapsed_seconds = end - start; return elapsed_seconds.count() * 1000; } private: - std::chrono::time_point start, end; + std::chrono::time_point start, end; }; + +#endif \ No newline at end of file diff --git a/src/feature_tracker/package.xml b/src/feature_tracker/package.xml new file mode 100644 index 000000000..b5be7b48c --- /dev/null +++ b/src/feature_tracker/package.xml @@ -0,0 +1,20 @@ + + + + feature_tracker + 0.0.0 + TODO: Package description + serkan + TODO: License declaration + + ament_cmake + + rclcpp + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/feature_tracker/src/feature_tracker.cpp b/src/feature_tracker/src/feature_tracker.cpp similarity index 68% rename from feature_tracker/src/feature_tracker.cpp rename to src/feature_tracker/src/feature_tracker.cpp index d33709cce..ea5469e9f 100644 --- a/feature_tracker/src/feature_tracker.cpp +++ b/src/feature_tracker/src/feature_tracker.cpp @@ -1,4 +1,4 @@ -#include "feature_tracker.h" +#include "feature_tracker.hpp" int FeatureTracker::n_id = 0; @@ -10,7 +10,8 @@ bool inBorder(const cv::Point2f &pt) return BORDER_SIZE <= img_x && img_x < COL - BORDER_SIZE && BORDER_SIZE <= img_y && img_y < ROW - BORDER_SIZE; } -void reduceVector(vector &v, vector status) + +void reduceVector(std::vector &v, std::vector status) { int j = 0; for (int i = 0; i < int(v.size()); i++) @@ -19,7 +20,7 @@ void reduceVector(vector &v, vector status) v.resize(j); } -void reduceVector(vector &v, vector status) +void reduceVector(std::vector &v, std::vector status) { int j = 0; for (int i = 0; i < int(v.size()); i++) @@ -28,26 +29,22 @@ void reduceVector(vector &v, vector status) v.resize(j); } +FeatureTracker::FeatureTracker() { } -FeatureTracker::FeatureTracker() -{ -} - -void FeatureTracker::setMask() -{ +void FeatureTracker::setMask() { if(FISHEYE) mask = fisheye_mask.clone(); else mask = cv::Mat(ROW, COL, CV_8UC1, cv::Scalar(255)); - // prefer to keep features that are tracked for long time - vector>> cnt_pts_id; + std::vector>> cnt_pts_id; for (unsigned int i = 0; i < forw_pts.size(); i++) - cnt_pts_id.push_back(make_pair(track_cnt[i], make_pair(forw_pts[i], ids[i]))); + cnt_pts_id.push_back(std::make_pair(track_cnt[i], std::make_pair(forw_pts[i], ids[i]))); - sort(cnt_pts_id.begin(), cnt_pts_id.end(), [](const pair> &a, const pair> &b) + sort(cnt_pts_id.begin(), cnt_pts_id.end(), [](const std::pair> &a, + const std::pair> &b) { return a.first > b.first; }); @@ -68,48 +65,41 @@ void FeatureTracker::setMask() } } -void FeatureTracker::addPoints() -{ - for (auto &p : n_pts) - { +void FeatureTracker::addPoints() { + for (auto &p : n_pts) { forw_pts.push_back(p); ids.push_back(-1); track_cnt.push_back(1); } } -void FeatureTracker::readImage(const cv::Mat &_img, double _cur_time) -{ +void FeatureTracker::readImage(const cv::Mat &_img, double _cur_time) { cv::Mat img; TicToc t_r; cur_time = _cur_time; - if (EQUALIZE) - { + if (EQUALIZE) { cv::Ptr clahe = cv::createCLAHE(3.0, cv::Size(8, 8)); TicToc t_c; clahe->apply(_img, img); - ROS_DEBUG("CLAHE costs: %fms", t_c.toc()); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"),"CLAHE costs: " << t_c.toc() << " ms" ); } else img = _img; - if (forw_img.empty()) - { + if (forw_img.empty()) { prev_img = cur_img = forw_img = img; } - else - { + else { forw_img = img; } forw_pts.clear(); - if (cur_pts.size() > 0) - { + if (cur_pts.size() > 0) { TicToc t_o; - vector status; - vector err; + std::vector status; + std::vector err; cv::calcOpticalFlowPyrLK(cur_img, forw_img, cur_pts, forw_pts, status, err, cv::Size(21, 21), 3); for (int i = 0; i < int(forw_pts.size()); i++) @@ -121,41 +111,39 @@ void FeatureTracker::readImage(const cv::Mat &_img, double _cur_time) reduceVector(ids, status); reduceVector(cur_un_pts, status); reduceVector(track_cnt, status); - ROS_DEBUG("temporal optical flow costs: %fms", t_o.toc()); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "temporal optical flow costs: " << t_o.toc() << " ms" ); } for (auto &n : track_cnt) n++; - if (PUB_THIS_FRAME) - { + if (PUB_THIS_FRAME) { rejectWithF(); - ROS_DEBUG("set mask begins"); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "set mask begins"); TicToc t_m; setMask(); - ROS_DEBUG("set mask costs %fms", t_m.toc()); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "set mask costs " << t_m.toc() << " ms"); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "detect feature begins"); - ROS_DEBUG("detect feature begins"); TicToc t_t; int n_max_cnt = MAX_CNT - static_cast(forw_pts.size()); if (n_max_cnt > 0) { if(mask.empty()) - cout << "mask is empty " << endl; + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "mask is empty " ); if (mask.type() != CV_8UC1) - cout << "mask type wrong " << endl; + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "mask type wrong " ); if (mask.size() != forw_img.size()) - cout << "wrong size " << endl; + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "wrong size " ); cv::goodFeaturesToTrack(forw_img, n_pts, MAX_CNT - forw_pts.size(), 0.01, MIN_DIST, mask); } else n_pts.clear(); - ROS_DEBUG("detect feature costs: %fms", t_t.toc()); - - ROS_DEBUG("add feature begins"); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "detect feature costs: " << t_t.toc() << " ms" ); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "add feature begins" ); TicToc t_a; addPoints(); - ROS_DEBUG("selectFeature costs: %fms", t_a.toc()); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "selectFeature costs: " << t_t.toc() << " ms" ); } prev_img = cur_img; prev_pts = cur_pts; @@ -166,15 +154,12 @@ void FeatureTracker::readImage(const cv::Mat &_img, double _cur_time) prev_time = cur_time; } -void FeatureTracker::rejectWithF() -{ - if (forw_pts.size() >= 8) - { - ROS_DEBUG("FM ransac begins"); +void FeatureTracker::rejectWithF(){ + if (forw_pts.size() >= 8) { + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "FM ransac begins"); TicToc t_f; - vector un_cur_pts(cur_pts.size()), un_forw_pts(forw_pts.size()); - for (unsigned int i = 0; i < cur_pts.size(); i++) - { + std::vector un_cur_pts(cur_pts.size()), un_forw_pts(forw_pts.size()); + for (unsigned int i = 0; i < cur_pts.size(); i++) { Eigen::Vector3d tmp_p; m_camera->liftProjective(Eigen::Vector2d(cur_pts[i].x, cur_pts[i].y), tmp_p); tmp_p.x() = FOCAL_LENGTH * tmp_p.x() / tmp_p.z() + COL / 2.0; @@ -187,7 +172,7 @@ void FeatureTracker::rejectWithF() un_forw_pts[i] = cv::Point2f(tmp_p.x(), tmp_p.y()); } - vector status; + std::vector status; cv::findFundamentalMat(un_cur_pts, un_forw_pts, cv::FM_RANSAC, F_THRESHOLD, 0.99, status); int size_a = cur_pts.size(); reduceVector(prev_pts, status); @@ -196,15 +181,14 @@ void FeatureTracker::rejectWithF() reduceVector(cur_un_pts, status); reduceVector(ids, status); reduceVector(track_cnt, status); - ROS_DEBUG("FM ransac: %d -> %lu: %f", size_a, forw_pts.size(), 1.0 * forw_pts.size() / size_a); - ROS_DEBUG("FM ransac costs: %fms", t_f.toc()); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "FM ransac: " << size_a << " -> " + << forw_pts.size() << " : " << ( 1.0 * forw_pts.size() / size_a)); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("feature_tracker"), "FM ransac costs: " << t_f.toc() << " ms"); } } -bool FeatureTracker::updateID(unsigned int i) -{ - if (i < ids.size()) - { +bool FeatureTracker::updateID(unsigned int i){ + if (i < ids.size()) { if (ids[i] == -1) ids[i] = n_id++; return true; @@ -213,16 +197,14 @@ bool FeatureTracker::updateID(unsigned int i) return false; } -void FeatureTracker::readIntrinsicParameter(const string &calib_file) -{ - ROS_INFO("reading paramerter of camera %s", calib_file.c_str()); - m_camera = CameraFactory::instance()->generateCameraFromYamlFile(calib_file); +void FeatureTracker::readIntrinsicParameter(const std::string &calib_file){ + RCLCPP_INFO_STREAM(rclcpp::get_logger("FeatureTracker"), "reading paramerter of camera " << calib_file.c_str()); + m_camera = camodocal::CameraFactory::instance()->generateCameraFromYamlFile(calib_file); } -void FeatureTracker::showUndistortion(const string &name) -{ +void FeatureTracker::showUndistortion(const std::string &name) { cv::Mat undistortedImg(ROW + 600, COL + 600, CV_8UC1, cv::Scalar(0)); - vector distortedp, undistortedp; + std::vector distortedp, undistortedp; for (int i = 0; i < COL; i++) for (int j = 0; j < ROW; j++) { @@ -255,8 +237,7 @@ void FeatureTracker::showUndistortion(const string &name) cv::waitKey(0); } -void FeatureTracker::undistortedPoints() -{ +void FeatureTracker::undistortedPoints() { cur_un_pts.clear(); cur_un_pts_map.clear(); //cv::undistortPoints(cur_pts, un_pts, K, cv::Mat()); @@ -266,7 +247,7 @@ void FeatureTracker::undistortedPoints() Eigen::Vector3d b; m_camera->liftProjective(a, b); cur_un_pts.push_back(cv::Point2f(b.x() / b.z(), b.y() / b.z())); - cur_un_pts_map.insert(make_pair(ids[i], cv::Point2f(b.x() / b.z(), b.y() / b.z()))); + cur_un_pts_map.insert(std::make_pair(ids[i], cv::Point2f(b.x() / b.z(), b.y() / b.z()))); //printf("cur pts id %d %f %f", ids[i], cur_un_pts[i].x, cur_un_pts[i].y); } // caculate points velocity diff --git a/feature_tracker/src/feature_tracker_node.cpp b/src/feature_tracker/src/feature_tracker_node.cpp similarity index 60% rename from feature_tracker/src/feature_tracker_node.cpp rename to src/feature_tracker/src/feature_tracker_node.cpp index 5a5261c9c..79b8bf3b0 100644 --- a/feature_tracker/src/feature_tracker_node.cpp +++ b/src/feature_tracker/src/feature_tracker_node.cpp @@ -1,70 +1,73 @@ -#include -#include -#include -#include -#include -#include -#include -#include - -#include "feature_tracker.h" - -#define SHOW_UNDISTORTION 0 - -vector r_status; -vector r_err; -queue img_buf; - -ros::Publisher pub_img,pub_match; -ros::Publisher pub_restart; - -FeatureTracker trackerData[NUM_OF_CAM]; -double first_image_time; -int pub_count = 1; -bool first_image_flag = true; -double last_image_time = 0; -bool init_pub = 0; - -void img_callback(const sensor_msgs::ImageConstPtr &img_msg) -{ +#include "feature_tracker_node.hpp" +#include "sensor_msgs/point_cloud_conversion.hpp" + +FeatureTrackerNode::FeatureTrackerNode(): Node("feature_tracker_node"){ + getParams(); + for (int i = 0; i < NUM_OF_CAM; i++) + trackerData[i].readIntrinsicParameter(CAM_NAMES[i]); + + if(FISHEYE) + { + for (int i = 0; i < NUM_OF_CAM; i++){ + trackerData[i].fisheye_mask = cv::imread(FISHEYE_MASK, 0); + if(!trackerData[i].fisheye_mask.data) + RCLCPP_ERROR(this->get_logger(), "load mask fail"); + else + RCLCPP_ERROR(this->get_logger(), "load mask success"); + } + } + + initTopic(); +} + +void FeatureTrackerNode::initTopic(){ + pub_img = this->create_publisher("feature_tracker/feature", 1000); + pub_match = this->create_publisher("feature_tracker/feature_img", 1000); + pub_restart = this->create_publisher("feature_tracker/restart", 1000); + sub_img = this->create_subscription(IMAGE_TOPIC, 2000, std::bind( + &FeatureTrackerNode::imgCallback, this, std::placeholders::_1)); +} + +void FeatureTrackerNode::imgCallback(const imageMsg::SharedPtr img_msg){ + current_time = toSec(img_msg->header); if(first_image_flag) { first_image_flag = false; - first_image_time = img_msg->header.stamp.toSec(); - last_image_time = img_msg->header.stamp.toSec(); + first_image_time = current_time; + last_image_time = current_time; return; } // detect unstable camera stream - if (img_msg->header.stamp.toSec() - last_image_time > 1.0 || img_msg->header.stamp.toSec() < last_image_time) - { - ROS_WARN("image discontinue! reset the feature tracker!"); + if (current_time - last_image_time > 1.0 || current_time < last_image_time) { + RCLCPP_WARN(this->get_logger(), "image discontinue! reset the feature tracker!"); first_image_flag = true; last_image_time = 0; pub_count = 1; - std_msgs::Bool restart_flag; + std_msgs::msg::Bool restart_flag; restart_flag.data = true; - pub_restart.publish(restart_flag); + pub_restart->publish(restart_flag); return; } - last_image_time = img_msg->header.stamp.toSec(); + last_image_time = current_time; // frequency control - if (round(1.0 * pub_count / (img_msg->header.stamp.toSec() - first_image_time)) <= FREQ) + if (round(1.0 * pub_count /(current_time - first_image_time)) <= FREQ) { PUB_THIS_FRAME = true; // reset the frequency control - if (abs(1.0 * pub_count / (img_msg->header.stamp.toSec() - first_image_time) - FREQ) < 0.01 * FREQ) + if (abs(1.0 * pub_count / (current_time - first_image_time) - FREQ) < 0.01 * FREQ) { - first_image_time = img_msg->header.stamp.toSec(); + first_image_time = current_time; pub_count = 0; } } - else + else{ PUB_THIS_FRAME = false; + } cv_bridge::CvImageConstPtr ptr; if (img_msg->encoding == "8UC1") { - sensor_msgs::Image img; + sensor_msgs::msg::Image img; img.header = img_msg->header; img.height = img_msg->height; img.width = img_msg->width; @@ -79,15 +82,13 @@ void img_callback(const sensor_msgs::ImageConstPtr &img_msg) cv::Mat show_img = ptr->image; TicToc t_r; - for (int i = 0; i < NUM_OF_CAM; i++) - { - ROS_DEBUG("processing camera %d", i); + for (int i = 0; i < NUM_OF_CAM; i++) { + RCLCPP_DEBUG_STREAM(this->get_logger(), "processing camera " << i ); if (i != 1 || !STEREO_TRACK) - trackerData[i].readImage(ptr->image.rowRange(ROW * i, ROW * (i + 1)), img_msg->header.stamp.toSec()); + trackerData[i].readImage(ptr->image.rowRange(ROW * i, ROW * (i + 1)), toSec(img_msg->header)); else { - if (EQUALIZE) - { + if (EQUALIZE) { cv::Ptr clahe = cv::createCLAHE(); clahe->apply(ptr->image.rowRange(ROW * i, ROW * (i + 1)), trackerData[i].cur_img); } @@ -110,20 +111,20 @@ void img_callback(const sensor_msgs::ImageConstPtr &img_msg) break; } - if (PUB_THIS_FRAME) - { + if (PUB_THIS_FRAME) { pub_count++; - sensor_msgs::PointCloudPtr feature_points(new sensor_msgs::PointCloud); - sensor_msgs::ChannelFloat32 id_of_point; - sensor_msgs::ChannelFloat32 u_of_point; - sensor_msgs::ChannelFloat32 v_of_point; - sensor_msgs::ChannelFloat32 velocity_x_of_point; - sensor_msgs::ChannelFloat32 velocity_y_of_point; + // pointCloud2Msg::SharedPtr feature_points2(new pointCloud2Msg); + pointCloudMsg::SharedPtr feature_points(new pointCloudMsg); + sensor_msgs::msg::ChannelFloat32 id_of_point; + sensor_msgs::msg::ChannelFloat32 u_of_point; + sensor_msgs::msg::ChannelFloat32 v_of_point; + sensor_msgs::msg::ChannelFloat32 velocity_x_of_point; + sensor_msgs::msg::ChannelFloat32 velocity_y_of_point; feature_points->header = img_msg->header; feature_points->header.frame_id = "world"; - vector> hash_ids(NUM_OF_CAM); + std::vector> hash_ids(NUM_OF_CAM); for (int i = 0; i < NUM_OF_CAM; i++) { auto &un_pts = trackerData[i].cur_un_pts; @@ -136,7 +137,7 @@ void img_callback(const sensor_msgs::ImageConstPtr &img_msg) { int p_id = ids[j]; hash_ids[i].insert(p_id); - geometry_msgs::Point32 p; + geometry_msgs::msg::Point32 p; p.x = un_pts[j].x; p.y = un_pts[j].y; p.z = 1; @@ -155,15 +156,17 @@ void img_callback(const sensor_msgs::ImageConstPtr &img_msg) feature_points->channels.push_back(v_of_point); feature_points->channels.push_back(velocity_x_of_point); feature_points->channels.push_back(velocity_y_of_point); - ROS_DEBUG("publish %f, at %f", feature_points->header.stamp.toSec(), ros::Time::now().toSec()); + + RCLCPP_DEBUG_STREAM(this->get_logger(), "publish " << toSec(feature_points->header) << " at " << (this->now().seconds())); // skip the first image; since no optical speed on frist image - if (!init_pub) - { + // sensor_msgs::convertPointCloudToPointCloud2(*feature_points, *feature_points2); + if (!init_pub){ init_pub = 1; } - else - pub_img.publish(feature_points); - + else{ + pub_img->publish(*feature_points); + // pub_img2->publish(*feature_points2); + } if (SHOW_TRACK) { ptr = cv_bridge::cvtColor(ptr, sensor_msgs::image_encodings::BGR8); @@ -195,52 +198,26 @@ void img_callback(const sensor_msgs::ImageConstPtr &img_msg) //cv::putText(tmp_img, name, trackerData[i].cur_pts[j], cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 0)); } } - //cv::imshow("vis", stereo_img); - //cv::waitKey(5); - pub_match.publish(ptr->toImageMsg()); + // cv::imshow("vis", stereo_img); + // cv::waitKey(5); + pub_match->publish(*ptr->toImageMsg()); } } - ROS_INFO("whole feature tracker processing costs: %f", t_r.toc()); + RCLCPP_DEBUG(this->get_logger(), "whole feature tracker processing costs: %f", t_r.toc()); } -int main(int argc, char **argv) -{ - ros::init(argc, argv, "feature_tracker"); - ros::NodeHandle n("~"); - ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info); - readParameters(n); - - for (int i = 0; i < NUM_OF_CAM; i++) - trackerData[i].readIntrinsicParameter(CAM_NAMES[i]); - - if(FISHEYE) - { - for (int i = 0; i < NUM_OF_CAM; i++) - { - trackerData[i].fisheye_mask = cv::imread(FISHEYE_MASK, 0); - if(!trackerData[i].fisheye_mask.data) - { - ROS_INFO("load mask fail"); - ROS_BREAK(); - } - else - ROS_INFO("load mask success"); - } - } +void FeatureTrackerNode::getParams(){ + this->declare_parameter("config_file", "/home/serkan/source_code/VINS-Mono/src/config/config/euroc/euroc_config.yaml"); + this->declare_parameter("vins_folder", "/home/serkan/source_code/VINS-Mono/config"); - ros::Subscriber sub_img = n.subscribe(IMAGE_TOPIC, 100, img_callback); - - pub_img = n.advertise("feature", 1000); - pub_match = n.advertise("feature_img",1000); - pub_restart = n.advertise("restart",1000); - /* - if (SHOW_TRACK) - cv::namedWindow("vis", cv::WINDOW_NORMAL); - */ - ros::spin(); - return 0; -} + std::string config_file = this->get_parameter("config_file").as_string(); + std::string VINS_FOLDER_PATH = this->get_parameter("vins_folder").as_string(); + readParameters(config_file, VINS_FOLDER_PATH); +} +int main(int argc, char* argv[]){ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); -// new points velocity is 0, pub or not? -// track cnt > 1 pub? \ No newline at end of file +} \ No newline at end of file diff --git a/feature_tracker/src/parameters.cpp b/src/feature_tracker/src/parameters.cpp similarity index 51% rename from feature_tracker/src/parameters.cpp rename to src/feature_tracker/src/parameters.cpp index 23c35c824..eeba30b9e 100644 --- a/feature_tracker/src/parameters.cpp +++ b/src/feature_tracker/src/parameters.cpp @@ -1,4 +1,4 @@ -#include "parameters.h" +#include "parameters_.hpp" std::string IMAGE_TOPIC; std::string IMU_TOPIC; @@ -18,32 +18,13 @@ int FOCAL_LENGTH; int FISHEYE; bool PUB_THIS_FRAME; -template -T readParam(ros::NodeHandle &n, std::string name) -{ - T ans; - if (n.getParam(name, ans)) - { - ROS_INFO_STREAM("Loaded " << name << ": " << ans); - } - else - { - ROS_ERROR_STREAM("Failed to load " << name); - n.shutdown(); - } - return ans; -} -void readParameters(ros::NodeHandle &n) -{ - std::string config_file; - config_file = readParam(n, "config_file"); +void readParameters(std::string config_file, std::string VINS_FOLDER_PATH){ cv::FileStorage fsSettings(config_file, cv::FileStorage::READ); if(!fsSettings.isOpened()) { std::cerr << "ERROR: Wrong path to settings" << std::endl; } - std::string VINS_FOLDER_PATH = readParam(n, "vins_folder"); fsSettings["image_topic"] >> IMAGE_TOPIC; fsSettings["imu_topic"] >> IMU_TOPIC; @@ -69,6 +50,31 @@ void readParameters(ros::NodeHandle &n) FREQ = 100; fsSettings.release(); - - + RCLCPP_INFO_STREAM(rclcpp::get_logger("parameters"), + COLOR_GRN + << "\n" << LINE + << "\n- IMU_TOPIC: " << IMU_TOPIC + << "\n- IMAGE_TOPIC: " << IMAGE_TOPIC << std::endl + << "\n- ROW: " << ROW + << "\n- COL: " << COL + << "\n- FREQ: " << FREQ + << "\n- FISHEYE: " << FISHEYE + << "\n- MAX_CNT: " << MAX_CNT + << "\n- EQUALIZE: " << EQUALIZE + << "\n- MIN_DIST: " << MIN_DIST + << "\n- SHOW_TRACK: " << SHOW_TRACK + << "\n- F_THRESHOLD: " << F_THRESHOLD + << "\n- WINDOW_SIZE: " << WINDOW_SIZE + << "\n- STEREO_TRACK: " << STEREO_TRACK + << "\n- FOCAL_LENGTH: " << FOCAL_LENGTH + << "\n- PUB_THIS_FRAME: " << PUB_THIS_FRAME << std::endl + << "\n- VINS_FOLDER_PATH: " << VINS_FOLDER_PATH + << "\n- config_file: " << config_file + << "\n" << LINE << std::endl + << COLOR_RST + ); } + +double toSec(headerMsg header_time){ + return static_cast(header_time.stamp.sec + (header_time.stamp.nanosec / 1.0e9)); +} \ No newline at end of file diff --git a/src/pose_graph/CMakeLists.txt b/src/pose_graph/CMakeLists.txt new file mode 100644 index 000000000..640f371ad --- /dev/null +++ b/src/pose_graph/CMakeLists.txt @@ -0,0 +1,64 @@ +cmake_minimum_required(VERSION 3.8) +project(pose_graph) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(OpenCV REQUIRED) +find_package(Ceres REQUIRED) +find_package(camodocal REQUIRED) +find_package(visualization_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(cv_bridge REQUIRED) +find_package(geometry_msgs REQUIRED) + +include_directories(${PROJECT_SOURCE_DIR}/include) + +include_directories(${Boost_INCLUDE_DIRS} + ${CERES_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} + ) + +add_executable(pose_graph_node + src/pose_graph_node.cpp + src/pose_graph.cpp + src/keyframe.cpp + src/utility/CameraPoseVisualization.cpp + src/ThirdParty/DBoW/BowVector.cpp + src/ThirdParty/DBoW/FBrief.cpp + src/ThirdParty/DBoW/FeatureVector.cpp + src/ThirdParty/DBoW/QueryResults.cpp + src/ThirdParty/DBoW/ScoringObject.cpp + src/ThirdParty/DUtils/Random.cpp + src/ThirdParty/DUtils/Timestamp.cpp + src/ThirdParty/DVision/BRIEF.cpp + src/ThirdParty/VocabularyBinary.cpp + src/parameters_.cpp +) + +ament_target_dependencies( + pose_graph_node + rclcpp + nav_msgs + Ceres + OpenCV + camodocal + visualization_msgs + std_msgs + cv_bridge + geometry_msgs +) + +target_link_libraries(pose_graph_node ${OpenCV_LIBS} ${CERES_LIBRARIES}) + +install( + TARGETS pose_graph_node + DESTINATION lib/${PROJECT_NAME} +) + +ament_package() diff --git a/pose_graph/src/ThirdParty/DBoW/BowVector.h b/src/pose_graph/include/ThirdParty/DBoW/BowVector.h similarity index 99% rename from pose_graph/src/ThirdParty/DBoW/BowVector.h rename to src/pose_graph/include/ThirdParty/DBoW/BowVector.h index 670b635ac..f80c2d8f7 100644 --- a/pose_graph/src/ThirdParty/DBoW/BowVector.h +++ b/src/pose_graph/include/ThirdParty/DBoW/BowVector.h @@ -14,6 +14,7 @@ #include #include + namespace DBoW2 { /// Id of words diff --git a/pose_graph/src/ThirdParty/DBoW/DBoW2.h b/src/pose_graph/include/ThirdParty/DBoW/DBoW2.h similarity index 89% rename from pose_graph/src/ThirdParty/DBoW/DBoW2.h rename to src/pose_graph/include/ThirdParty/DBoW/DBoW2.h index 2402069ab..9d4fc2743 100644 --- a/pose_graph/src/ThirdParty/DBoW/DBoW2.h +++ b/src/pose_graph/include/ThirdParty/DBoW/DBoW2.h @@ -1,12 +1,4 @@ -/* - * File: DBoW2.h - * Date: November 2011 - * Author: Dorian Galvez-Lopez - * Description: Generic include file for the DBoW2 classes and - * the specialized vocabularies and databases - * License: see the LICENSE.txt file - * - */ + /*! \mainpage DBoW2 Library * @@ -75,5 +67,4 @@ typedef DBoW2::TemplatedVocabulary typedef DBoW2::TemplatedDatabase BriefDatabase; -#endif - +#endif \ No newline at end of file diff --git a/pose_graph/src/ThirdParty/DBoW/FBrief.h b/src/pose_graph/include/ThirdParty/DBoW/FBrief.h similarity index 95% rename from pose_graph/src/ThirdParty/DBoW/FBrief.h rename to src/pose_graph/include/ThirdParty/DBoW/FBrief.h index d0bfa2113..678ab769a 100644 --- a/pose_graph/src/ThirdParty/DBoW/FBrief.h +++ b/src/pose_graph/include/ThirdParty/DBoW/FBrief.h @@ -1,73 +1,73 @@ -/** - * File: FBrief.h - * Date: November 2011 - * Author: Dorian Galvez-Lopez - * Description: functions for BRIEF descriptors - * License: see the LICENSE.txt file - * - */ - -#ifndef __D_T_F_BRIEF__ -#define __D_T_F_BRIEF__ - -#include -#include -#include - -#include "FClass.h" -#include "../DVision/DVision.h" - -namespace DBoW2 { - -/// Functions to manipulate BRIEF descriptors -class FBrief: protected FClass -{ -public: - - typedef DVision::BRIEF::bitset TDescriptor; - typedef const TDescriptor *pDescriptor; - - /** - * Calculates the mean value of a set of descriptors - * @param descriptors - * @param mean mean descriptor - */ - static void meanValue(const std::vector &descriptors, - TDescriptor &mean); - - /** - * Calculates the distance between two descriptors - * @param a - * @param b - * @return distance - */ - static double distance(const TDescriptor &a, const TDescriptor &b); - - /** - * Returns a string version of the descriptor - * @param a descriptor - * @return string version - */ - static std::string toString(const TDescriptor &a); - - /** - * Returns a descriptor from a string - * @param a descriptor - * @param s string version - */ - static void fromString(TDescriptor &a, const std::string &s); - - /** - * Returns a mat with the descriptors in float format - * @param descriptors - * @param mat (out) NxL 32F matrix - */ - static void toMat32F(const std::vector &descriptors, - cv::Mat &mat); - -}; - -} // namespace DBoW2 - -#endif - +/** + * File: FBrief.h + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: functions for BRIEF descriptors + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_F_BRIEF__ +#define __D_T_F_BRIEF__ + +#include +#include +#include + +#include "FClass.h" +#include "../DVision/DVision.h" + +namespace DBoW2 { + +/// Functions to manipulate BRIEF descriptors +class FBrief: protected FClass +{ +public: + + typedef DVision::BRIEF::bitset TDescriptor; + typedef const TDescriptor *pDescriptor; + + /** + * Calculates the mean value of a set of descriptors + * @param descriptors + * @param mean mean descriptor + */ + static void meanValue(const std::vector &descriptors, + TDescriptor &mean); + + /** + * Calculates the distance between two descriptors + * @param a + * @param b + * @return distance + */ + static double distance(const TDescriptor &a, const TDescriptor &b); + + /** + * Returns a string version of the descriptor + * @param a descriptor + * @return string version + */ + static std::string toString(const TDescriptor &a); + + /** + * Returns a descriptor from a string + * @param a descriptor + * @param s string version + */ + static void fromString(TDescriptor &a, const std::string &s); + + /** + * Returns a mat with the descriptors in float format + * @param descriptors + * @param mat (out) NxL 32F matrix + */ + static void toMat32F(const std::vector &descriptors, + cv::Mat &mat); + +}; + +} // namespace DBoW2 + +#endif + diff --git a/pose_graph/src/ThirdParty/DBoW/FClass.h b/src/pose_graph/include/ThirdParty/DBoW/FClass.h similarity index 100% rename from pose_graph/src/ThirdParty/DBoW/FClass.h rename to src/pose_graph/include/ThirdParty/DBoW/FClass.h diff --git a/pose_graph/src/ThirdParty/DBoW/FeatureVector.h b/src/pose_graph/include/ThirdParty/DBoW/FeatureVector.h similarity index 100% rename from pose_graph/src/ThirdParty/DBoW/FeatureVector.h rename to src/pose_graph/include/ThirdParty/DBoW/FeatureVector.h diff --git a/pose_graph/src/ThirdParty/DBoW/QueryResults.h b/src/pose_graph/include/ThirdParty/DBoW/QueryResults.h similarity index 99% rename from pose_graph/src/ThirdParty/DBoW/QueryResults.h rename to src/pose_graph/include/ThirdParty/DBoW/QueryResults.h index 2490bcee7..90cf221a1 100644 --- a/pose_graph/src/ThirdParty/DBoW/QueryResults.h +++ b/src/pose_graph/include/ThirdParty/DBoW/QueryResults.h @@ -11,6 +11,8 @@ #define __D_T_QUERY_RESULTS__ #include +#include +#include namespace DBoW2 { diff --git a/pose_graph/src/ThirdParty/DBoW/ScoringObject.h b/src/pose_graph/include/ThirdParty/DBoW/ScoringObject.h similarity index 100% rename from pose_graph/src/ThirdParty/DBoW/ScoringObject.h rename to src/pose_graph/include/ThirdParty/DBoW/ScoringObject.h diff --git a/pose_graph/src/ThirdParty/DBoW/TemplatedDatabase.h b/src/pose_graph/include/ThirdParty/DBoW/TemplatedDatabase.h similarity index 100% rename from pose_graph/src/ThirdParty/DBoW/TemplatedDatabase.h rename to src/pose_graph/include/ThirdParty/DBoW/TemplatedDatabase.h diff --git a/pose_graph/src/ThirdParty/DBoW/TemplatedVocabulary.h b/src/pose_graph/include/ThirdParty/DBoW/TemplatedVocabulary.h similarity index 100% rename from pose_graph/src/ThirdParty/DBoW/TemplatedVocabulary.h rename to src/pose_graph/include/ThirdParty/DBoW/TemplatedVocabulary.h diff --git a/pose_graph/src/ThirdParty/DUtils/DException.h b/src/pose_graph/include/ThirdParty/DUtils/DException.h similarity index 100% rename from pose_graph/src/ThirdParty/DUtils/DException.h rename to src/pose_graph/include/ThirdParty/DUtils/DException.h diff --git a/pose_graph/src/ThirdParty/DUtils/DUtils.h b/src/pose_graph/include/ThirdParty/DUtils/DUtils.h similarity index 95% rename from pose_graph/src/ThirdParty/DUtils/DUtils.h rename to src/pose_graph/include/ThirdParty/DUtils/DUtils.h index 7d1829c9c..0dd1f0e75 100644 --- a/pose_graph/src/ThirdParty/DUtils/DUtils.h +++ b/src/pose_graph/include/ThirdParty/DUtils/DUtils.h @@ -1,48 +1,48 @@ -/* - * File: DUtils.h - * Project: DUtils library - * Author: Dorian Galvez-Lopez - * Date: October 6, 2009 - * Description: include file for including all the library functionalities - * License: see the LICENSE.txt file - * - */ - -/*! \mainpage DUtils Library - * - * DUtils library for C++: - * Collection of classes with general utilities for C++ applications. - * - * Written by Dorian Galvez-Lopez, - * University of Zaragoza - * - * Check my website to obtain updates: http://webdiis.unizar.es/~dorian - * - * \section license License - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU Lesser General Public License (LGPL) as - * published by the Free Software Foundation, either version 3 of the License, - * or any later version. - * - */ - - -#pragma once - -#ifndef __D_UTILS__ -#define __D_UTILS__ - -/// Several utilities for C++ programs -namespace DUtils -{ -} - -// Exception -#include "DException.h" - -#include "Timestamp.h" -// Random numbers -#include "Random.h" - - -#endif +/* + * File: DUtils.h + * Project: DUtils library + * Author: Dorian Galvez-Lopez + * Date: October 6, 2009 + * Description: include file for including all the library functionalities + * License: see the LICENSE.txt file + * + */ + +/*! \mainpage DUtils Library + * + * DUtils library for C++: + * Collection of classes with general utilities for C++ applications. + * + * Written by Dorian Galvez-Lopez, + * University of Zaragoza + * + * Check my website to obtain updates: http://webdiis.unizar.es/~dorian + * + * \section license License + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License (LGPL) as + * published by the Free Software Foundation, either version 3 of the License, + * or any later version. + * + */ + + +#pragma once + +#ifndef __D_UTILS__ +#define __D_UTILS__ + +/// Several utilities for C++ programs +namespace DUtils +{ +} + +// Exception +#include "DException.h" + +#include "Timestamp.h" +// Random numbers +#include "Random.h" + + +#endif diff --git a/pose_graph/src/ThirdParty/DUtils/Random.h b/src/pose_graph/include/ThirdParty/DUtils/Random.h similarity index 100% rename from pose_graph/src/ThirdParty/DUtils/Random.h rename to src/pose_graph/include/ThirdParty/DUtils/Random.h diff --git a/pose_graph/src/ThirdParty/DUtils/Timestamp.h b/src/pose_graph/include/ThirdParty/DUtils/Timestamp.h similarity index 100% rename from pose_graph/src/ThirdParty/DUtils/Timestamp.h rename to src/pose_graph/include/ThirdParty/DUtils/Timestamp.h diff --git a/pose_graph/src/ThirdParty/DVision/BRIEF.h b/src/pose_graph/include/ThirdParty/DVision/BRIEF.h similarity index 100% rename from pose_graph/src/ThirdParty/DVision/BRIEF.h rename to src/pose_graph/include/ThirdParty/DVision/BRIEF.h diff --git a/pose_graph/src/ThirdParty/DVision/DVision.h b/src/pose_graph/include/ThirdParty/DVision/DVision.h similarity index 100% rename from pose_graph/src/ThirdParty/DVision/DVision.h rename to src/pose_graph/include/ThirdParty/DVision/DVision.h diff --git a/pose_graph/src/ThirdParty/VocabularyBinary.hpp b/src/pose_graph/include/ThirdParty/VocabularyBinary.hpp similarity index 100% rename from pose_graph/src/ThirdParty/VocabularyBinary.hpp rename to src/pose_graph/include/ThirdParty/VocabularyBinary.hpp diff --git a/pose_graph/src/keyframe.h b/src/pose_graph/include/keyframe.h similarity index 98% rename from pose_graph/src/keyframe.h rename to src/pose_graph/include/keyframe.h index baf5a0ec1..a2539d04e 100644 --- a/pose_graph/src/keyframe.h +++ b/src/pose_graph/include/keyframe.h @@ -1,15 +1,17 @@ -#pragma once +#ifndef __KEYFRAME_H__ +#define __KEYFRAME_H__ #include #include #include #include + #include "camodocal/camera_models/CameraFactory.h" #include "camodocal/camera_models/CataCamera.h" #include "camodocal/camera_models/PinholeCamera.h" #include "utility/tic_toc.h" #include "utility/utility.h" -#include "parameters.h" +#include "parameters_.h" #include "ThirdParty/DBoW/DBoW2.h" #include "ThirdParty/DVision/DVision.h" @@ -102,3 +104,4 @@ class KeyFrame Eigen::Matrix loop_info; }; +#endif \ No newline at end of file diff --git a/src/pose_graph/include/parameters_.h b/src/pose_graph/include/parameters_.h new file mode 100644 index 000000000..19acaccc0 --- /dev/null +++ b/src/pose_graph/include/parameters_.h @@ -0,0 +1,51 @@ +#ifndef __PARAMETERS_H_ +#define __PARAMETERS_H_ + +#include + +#include "camodocal/camera_models/CameraFactory.h" +#include "camodocal/camera_models/CataCamera.h" +#include "camodocal/camera_models/PinholeCamera.h" + +#include "rclcpp/rclcpp.hpp" +#include "sensor_msgs/msg/image.hpp" +#include "sensor_msgs/msg/point_cloud.hpp" +#include "sensor_msgs/image_encodings.hpp" +#include "std_msgs/msg/header.hpp" + +#include + +#define COLOR_BLK "\x1b[30m" +#define COLOR_RED "\x1b[31m" +#define COLOR_GRN "\x1b[32m" +#define COLOR_YLW "\x1b[33m" +#define COLOR_BLE "\x1b[34m" +#define COLOR_MGT "\x1b[35m" +#define COLOR_CYN "\x1b[36m" +#define COLOR_WHT "\x1b[37m" +#define COLOR_RST "\x1b[0m" + +#define UNDERLINE "\x1b[21m" +#define LINE "=================================================================================================" + +using headerMsg = std_msgs::msg::Header; + +extern camodocal::CameraPtr m_camera; +extern Eigen::Vector3d tic; +extern Eigen::Matrix3d qic; +extern rclcpp::Publisher::SharedPtr pub_match_img; +extern rclcpp::Publisher::SharedPtr pub_match_points; +extern int VISUALIZATION_SHIFT_X; +extern int VISUALIZATION_SHIFT_Y; +extern std::string BRIEF_PATTERN_FILE; +extern std::string POSE_GRAPH_SAVE_PATH; +extern int ROW; +extern int COL; +extern std::string VINS_RESULT_PATH; +extern int DEBUG_IMAGE; +extern int FAST_RELOCALIZATION; +// extern std::string IMAGE_TOPIC; + +double toSec(headerMsg header_time); + +#endif \ No newline at end of file diff --git a/pose_graph/src/pose_graph.h b/src/pose_graph/include/pose_graph.h similarity index 91% rename from pose_graph/src/pose_graph.h rename to src/pose_graph/include/pose_graph.h index 7a659227f..47da0b59f 100644 --- a/pose_graph/src/pose_graph.h +++ b/src/pose_graph/include/pose_graph.h @@ -1,19 +1,21 @@ #pragma once -#include +#include #include -#include -#include +#include #include +#include +#include #include #include -#include -#include -#include -#include -#include -#include -#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "nav_msgs/msg/path.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "geometry_msgs/msg/point_stamped.hpp" + #include "keyframe.h" #include "utility/tic_toc.h" #include "utility/utility.h" @@ -23,6 +25,7 @@ #include "ThirdParty/DVision/DVision.h" #include "ThirdParty/DBoW/TemplatedDatabase.h" #include "ThirdParty/DBoW/TemplatedVocabulary.h" +#include "pose_graph_node.hpp" #define SHOW_S_EDGE false @@ -32,19 +35,22 @@ using namespace DVision; using namespace DBoW2; +using navPath = nav_msgs::msg::Path; +using poseStampedMsg = geometry_msgs::msg::PoseStamped; + class PoseGraph { public: PoseGraph(); ~PoseGraph(); - void registerPub(ros::NodeHandle &n); + // void registerPub(rclcpp::Node::SharedPtr n); void addKeyFrame(KeyFrame* cur_kf, bool flag_detect_loop); void loadKeyFrame(KeyFrame* cur_kf, bool flag_detect_loop); void loadVocabulary(std::string voc_path); void updateKeyFrameLoop(int index, Eigen::Matrix &_loop_info); KeyFrame* getKeyFrame(int index); - nav_msgs::Path path[10]; - nav_msgs::Path base_path; + navPath path[10]; + navPath base_path; CameraPoseVisualization* posegraph_visualization; void savePoseGraph(); void loadPoseGraph(); @@ -56,6 +62,11 @@ class PoseGraph Vector3d w_t_vio; Matrix3d w_r_vio; +public: + rclcpp::Publisher::SharedPtr pub_pg_path; + rclcpp::Publisher::SharedPtr pub_base_path; + rclcpp::Publisher::SharedPtr pub_pose_graph; + rclcpp::Publisher::SharedPtr pub_path[10]; private: int detectLoop(KeyFrame* keyframe, int frame_index); @@ -79,11 +90,6 @@ class PoseGraph BriefDatabase db; BriefVocabulary* voc; - - ros::Publisher pub_pg_path; - ros::Publisher pub_base_path; - ros::Publisher pub_pose_graph; - ros::Publisher pub_path[10]; }; template diff --git a/src/pose_graph/include/pose_graph_node.hpp b/src/pose_graph/include/pose_graph_node.hpp new file mode 100644 index 000000000..2933d48d7 --- /dev/null +++ b/src/pose_graph/include/pose_graph_node.hpp @@ -0,0 +1,92 @@ +#ifndef __POSE_GRAPH_NODE_HPP__ +#define __POSE_GRAPH_NODE_HPP__ + +#include + +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "nav_msgs/msg/path.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "sensor_msgs/msg/point_cloud.hpp" +#include "sensor_msgs/msg/image.hpp" +#include "sensor_msgs/image_encodings.hpp" +#include "visualization_msgs/msg/marker.hpp" +#include "std_msgs/msg/bool.hpp" +#include "cv_bridge/cv_bridge.h" +#include "ament_index_cpp/get_package_share_directory.hpp" + +#include "pose_graph.h" +#include "keyframe.h" +#include "utility/tic_toc.h" +#include "parameters_.h" +#include "utility/CameraPoseVisualization.h" + +#define SKIP_FIRST_CNT 10 + +using namespace std; +using namespace DVision; +using namespace DBoW2; + +using odometryMsg = nav_msgs::msg::Odometry; +using imageMsg = sensor_msgs::msg::Image; +using pointCloudMsg = sensor_msgs::msg::PointCloud; + +class PoseGraphNode: public rclcpp::Node{ +public: + PoseGraphNode(); + void newSequence(); + void imageCallback(const imageMsg::SharedPtr image_msg); + void pointCallback(const pointCloudMsg::SharedPtr point_msg); + void poseCallback(const odometryMsg::SharedPtr pose_msg); + void imuForwardCallback(const odometryMsg::SharedPtr forward_msg); + void reloRelativePoseCallback(const odometryMsg::SharedPtr pose_msg); + void vioCallback(const odometryMsg::SharedPtr pose_msg); + void extrinsicCallback(const odometryMsg::SharedPtr pose_msg); + void process(); + void command(); + void initTopic(); + void getParams(); +private: + queue image_buf; + queue point_buf; + queue pose_buf; + queue odometry_buf; + nav_msgs::msg::Path no_loop_path; + + std::mutex m_buf; + std::mutex m_process; + int frame_index = 0; + int sequence = 1; + // PoseGraph posegraph; + int skip_first_cnt = 0; + double last_image_time = -1; + int SKIP_CNT; + int skip_cnt = 0; + bool load_flag = 0; + bool start_flag = 0; + double SKIP_DIS = 0; + int VISUALIZE_IMU_FORWARD; + int LOOP_CLOSURE; + std::string IMAGE_TOPIC; + std::string config_file; + + std::thread measurement_process; + std::thread keyboard_command_process; + + rclcpp::Publisher::SharedPtr pub_camera_pose_visual; + rclcpp::Publisher::SharedPtr pub_key_odometrys; + rclcpp::Publisher::SharedPtr pub_vio_path; + + rclcpp::Subscription::SharedPtr sub_imu_forward; + rclcpp::Subscription::SharedPtr sub_vio; + rclcpp::Subscription::SharedPtr sub_image; + rclcpp::Subscription::SharedPtr sub_pose; + rclcpp::Subscription::SharedPtr sub_extrinsic; + rclcpp::Subscription::SharedPtr sub_point; + rclcpp::Subscription::SharedPtr sub_relo_relative_pose; +}; + +#endif \ No newline at end of file diff --git a/pose_graph/src/utility/CameraPoseVisualization.h b/src/pose_graph/include/utility/CameraPoseVisualization.h similarity index 56% rename from pose_graph/src/utility/CameraPoseVisualization.h rename to src/pose_graph/include/utility/CameraPoseVisualization.h index 3e777d007..245352140 100644 --- a/pose_graph/src/utility/CameraPoseVisualization.h +++ b/src/pose_graph/include/utility/CameraPoseVisualization.h @@ -1,13 +1,22 @@ #pragma once +#ifndef __CAMERA_POSE_VISULIZATION_H__ +#define __CAMERA_POSE_VISULIZATION_H__ + +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/color_rgba.hpp" +#include "visualization_msgs/msg/marker.hpp" +#include "visualization_msgs/msg/marker_array.hpp" +#include "geometry_msgs/msg/point.hpp" -#include -#include -#include -#include #include #include #include -#include "../parameters.h" +#include "../parameters_.h" + +using markerArrayMsg = visualization_msgs::msg::MarkerArray; +using markerMsg = visualization_msgs::msg::Marker; +using colorRgbaMsg = std_msgs::msg::ColorRGBA; +using pointMsg = geometry_msgs::msg::Point; class CameraPoseVisualization { public: @@ -23,18 +32,18 @@ class CameraPoseVisualization { void add_pose(const Eigen::Vector3d& p, const Eigen::Quaterniond& q); void reset(); - void publish_by(ros::Publisher& pub, const std_msgs::Header& header); + void publish_by(rclcpp::Publisher::SharedPtr pub, const std_msgs::msg::Header& header); void add_edge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1); void add_loopedge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1); //void add_image(const Eigen::Vector3d& T, const Eigen::Matrix3d& R, const cv::Mat &src); - void publish_image_by( ros::Publisher &pub, const std_msgs::Header &header); + void publish_image_by(rclcpp::Publisher::SharedPtr pub, const std_msgs::msg::Header &header); private: - std::vector m_markers; - std_msgs::ColorRGBA m_image_boundary_color; - std_msgs::ColorRGBA m_optical_center_connector_color; + std::vector m_markers; + colorRgbaMsg m_image_boundary_color; + colorRgbaMsg m_optical_center_connector_color; double m_scale; double m_line_width; - visualization_msgs::Marker image; + markerMsg image; int LOOP_EDGE_NUM; int tmp_loop_edge_num; @@ -47,3 +56,6 @@ class CameraPoseVisualization { static const Eigen::Vector3d lt1 ; static const Eigen::Vector3d lt2 ; }; + + +#endif \ No newline at end of file diff --git a/feature_tracker/src/tic_toc.h b/src/pose_graph/include/utility/tic_toc.h similarity index 66% rename from feature_tracker/src/tic_toc.h rename to src/pose_graph/include/utility/tic_toc.h index 8885273cf..a38bbc0fc 100644 --- a/feature_tracker/src/tic_toc.h +++ b/src/pose_graph/include/utility/tic_toc.h @@ -14,16 +14,16 @@ class TicToc void tic() { - start = std::chrono::system_clock::now(); + start = std::chrono::steady_clock::now(); } double toc() { - end = std::chrono::system_clock::now(); + end = std::chrono::steady_clock::now(); std::chrono::duration elapsed_seconds = end - start; return elapsed_seconds.count() * 1000; } private: - std::chrono::time_point start, end; + std::chrono::time_point start, end; }; diff --git a/pose_graph/src/utility/utility.h b/src/pose_graph/include/utility/utility.h similarity index 100% rename from pose_graph/src/utility/utility.h rename to src/pose_graph/include/utility/utility.h diff --git a/src/pose_graph/package.xml b/src/pose_graph/package.xml new file mode 100644 index 000000000..5e362ea84 --- /dev/null +++ b/src/pose_graph/package.xml @@ -0,0 +1,18 @@ + + + + pose_graph + 0.0.0 + TODO: Package description + serkan + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/pose_graph/src/ThirdParty/DBoW/BowVector.cpp b/src/pose_graph/src/ThirdParty/DBoW/BowVector.cpp similarity index 97% rename from pose_graph/src/ThirdParty/DBoW/BowVector.cpp rename to src/pose_graph/src/ThirdParty/DBoW/BowVector.cpp index 1337fa3e5..d14b8e93c 100644 --- a/pose_graph/src/ThirdParty/DBoW/BowVector.cpp +++ b/src/pose_graph/src/ThirdParty/DBoW/BowVector.cpp @@ -7,13 +7,12 @@ * */ -#include #include -#include #include #include -#include "BowVector.h" +#include "ThirdParty/DBoW/BowVector.h" + namespace DBoW2 { @@ -126,5 +125,4 @@ void BowVector::saveM(const std::string &filename, size_t W) const // -------------------------------------------------------------------------- -} // namespace DBoW2 - +} \ No newline at end of file diff --git a/pose_graph/src/ThirdParty/DBoW/FBrief.cpp b/src/pose_graph/src/ThirdParty/DBoW/FBrief.cpp similarity index 93% rename from pose_graph/src/ThirdParty/DBoW/FBrief.cpp rename to src/pose_graph/src/ThirdParty/DBoW/FBrief.cpp index c4477722f..30e3582b0 100644 --- a/pose_graph/src/ThirdParty/DBoW/FBrief.cpp +++ b/src/pose_graph/src/ThirdParty/DBoW/FBrief.cpp @@ -1,108 +1,105 @@ -/** - * File: FBrief.cpp - * Date: November 2011 - * Author: Dorian Galvez-Lopez - * Description: functions for BRIEF descriptors - * License: see the LICENSE.txt file - * - */ - -#include -#include -#include - -#include "FBrief.h" - -using namespace std; - -namespace DBoW2 { - -// -------------------------------------------------------------------------- - -void FBrief::meanValue(const std::vector &descriptors, - FBrief::TDescriptor &mean) -{ - mean.reset(); - - if(descriptors.empty()) return; - - const int N2 = descriptors.size() / 2; - const int L = descriptors[0]->size(); - - vector counters(L, 0); - - vector::const_iterator it; - for(it = descriptors.begin(); it != descriptors.end(); ++it) - { - const FBrief::TDescriptor &desc = **it; - for(int i = 0; i < L; ++i) - { - if(desc[i]) counters[i]++; - } - } - - for(int i = 0; i < L; ++i) - { - if(counters[i] > N2) mean.set(i); - } - -} - -// -------------------------------------------------------------------------- - -double FBrief::distance(const FBrief::TDescriptor &a, - const FBrief::TDescriptor &b) -{ - return (double)DVision::BRIEF::distance(a, b); -} - -// -------------------------------------------------------------------------- - -std::string FBrief::toString(const FBrief::TDescriptor &a) -{ - // from boost::bitset - string s; - to_string(a, s); // reversed - return s; -} - -// -------------------------------------------------------------------------- - -void FBrief::fromString(FBrief::TDescriptor &a, const std::string &s) -{ - // from boost::bitset - stringstream ss(s); - ss >> a; -} - -// -------------------------------------------------------------------------- - -void FBrief::toMat32F(const std::vector &descriptors, - cv::Mat &mat) -{ - if(descriptors.empty()) - { - mat.release(); - return; - } - - const int N = descriptors.size(); - const int L = descriptors[0].size(); - - mat.create(N, L, CV_32F); - - for(int i = 0; i < N; ++i) - { - const TDescriptor& desc = descriptors[i]; - float *p = mat.ptr(i); - for(int j = 0; j < L; ++j, ++p) - { - *p = (desc[j] ? 1 : 0); - } - } -} - -// -------------------------------------------------------------------------- - -} // namespace DBoW2 - +/** + * File: FBrief.cpp + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: functions for BRIEF descriptors + * License: see the LICENSE.txt file + * + */ + +#include +#include "ThirdParty/DBoW/FBrief.h" + +using namespace std; + +namespace DBoW2 { + +// -------------------------------------------------------------------------- + +void FBrief::meanValue(const std::vector &descriptors, + FBrief::TDescriptor &mean) +{ + mean.reset(); + + if(descriptors.empty()) return; + + const int N2 = descriptors.size() / 2; + const int L = descriptors[0]->size(); + + vector counters(L, 0); + + vector::const_iterator it; + for(it = descriptors.begin(); it != descriptors.end(); ++it) + { + const FBrief::TDescriptor &desc = **it; + for(int i = 0; i < L; ++i) + { + if(desc[i]) counters[i]++; + } + } + + for(int i = 0; i < L; ++i) + { + if(counters[i] > N2) mean.set(i); + } + +} + +// -------------------------------------------------------------------------- + +double FBrief::distance(const FBrief::TDescriptor &a, + const FBrief::TDescriptor &b) +{ + return (double)DVision::BRIEF::distance(a, b); +} + +// -------------------------------------------------------------------------- + +std::string FBrief::toString(const FBrief::TDescriptor &a) +{ + // from boost::bitset + string s; + to_string(a, s); // reversed + return s; +} + +// -------------------------------------------------------------------------- + +void FBrief::fromString(FBrief::TDescriptor &a, const std::string &s) +{ + // from boost::bitset + stringstream ss(s); + ss >> a; +} + +// -------------------------------------------------------------------------- + +void FBrief::toMat32F(const std::vector &descriptors, + cv::Mat &mat) +{ + if(descriptors.empty()) + { + mat.release(); + return; + } + + const int N = descriptors.size(); + const int L = descriptors[0].size(); + + mat.create(N, L, CV_32F); + + for(int i = 0; i < N; ++i) + { + const TDescriptor& desc = descriptors[i]; + float *p = mat.ptr(i); + for(int j = 0; j < L; ++j, ++p) + { + *p = (desc[j] ? 1 : 0); + } + } +} + +// -------------------------------------------------------------------------- + +} // namespace DBoW2 + diff --git a/pose_graph/src/ThirdParty/DBoW/FeatureVector.cpp b/src/pose_graph/src/ThirdParty/DBoW/FeatureVector.cpp similarity index 95% rename from pose_graph/src/ThirdParty/DBoW/FeatureVector.cpp rename to src/pose_graph/src/ThirdParty/DBoW/FeatureVector.cpp index c055a1576..a864cf25a 100644 --- a/pose_graph/src/ThirdParty/DBoW/FeatureVector.cpp +++ b/src/pose_graph/src/ThirdParty/DBoW/FeatureVector.cpp @@ -7,10 +7,7 @@ * */ -#include "FeatureVector.h" -#include -#include -#include +#include "ThirdParty/DBoW/FeatureVector.h" namespace DBoW2 { diff --git a/pose_graph/src/ThirdParty/DBoW/QueryResults.cpp b/src/pose_graph/src/ThirdParty/DBoW/QueryResults.cpp similarity index 95% rename from pose_graph/src/ThirdParty/DBoW/QueryResults.cpp rename to src/pose_graph/src/ThirdParty/DBoW/QueryResults.cpp index 01897caa6..d2ad06347 100644 --- a/pose_graph/src/ThirdParty/DBoW/QueryResults.cpp +++ b/src/pose_graph/src/ThirdParty/DBoW/QueryResults.cpp @@ -7,9 +7,8 @@ * */ -#include -#include -#include "QueryResults.h" + +#include "ThirdParty/DBoW/QueryResults.h" using namespace std; diff --git a/pose_graph/src/ThirdParty/DBoW/ScoringObject.cpp b/src/pose_graph/src/ThirdParty/DBoW/ScoringObject.cpp similarity index 98% rename from pose_graph/src/ThirdParty/DBoW/ScoringObject.cpp rename to src/pose_graph/src/ThirdParty/DBoW/ScoringObject.cpp index 063a96e87..0aa0cdf75 100644 --- a/pose_graph/src/ThirdParty/DBoW/ScoringObject.cpp +++ b/src/pose_graph/src/ThirdParty/DBoW/ScoringObject.cpp @@ -8,8 +8,8 @@ */ #include -#include "TemplatedVocabulary.h" -#include "BowVector.h" +#include "ThirdParty/DBoW/TemplatedVocabulary.h" +#include "ThirdParty/DBoW/BowVector.h" using namespace DBoW2; diff --git a/pose_graph/src/ThirdParty/DUtils/Random.cpp b/src/pose_graph/src/ThirdParty/DUtils/Random.cpp similarity index 93% rename from pose_graph/src/ThirdParty/DUtils/Random.cpp rename to src/pose_graph/src/ThirdParty/DUtils/Random.cpp index 79df2a697..4937da100 100644 --- a/pose_graph/src/ThirdParty/DUtils/Random.cpp +++ b/src/pose_graph/src/ThirdParty/DUtils/Random.cpp @@ -1,129 +1,128 @@ -/* - * File: Random.cpp - * Project: DUtils library - * Author: Dorian Galvez-Lopez - * Date: April 2010 - * Description: manages pseudo-random numbers - * License: see the LICENSE.txt file - * - */ - -#include "Random.h" -#include "Timestamp.h" -#include -using namespace std; - -bool DUtils::Random::m_already_seeded = false; - -void DUtils::Random::SeedRand(){ - Timestamp time; - time.setToCurrentTime(); - srand((unsigned)time.getFloatTime()); -} - -void DUtils::Random::SeedRandOnce() -{ - if(!m_already_seeded) - { - DUtils::Random::SeedRand(); - m_already_seeded = true; - } -} - -void DUtils::Random::SeedRand(int seed) -{ - srand(seed); -} - -void DUtils::Random::SeedRandOnce(int seed) -{ - if(!m_already_seeded) - { - DUtils::Random::SeedRand(seed); - m_already_seeded = true; - } -} - -int DUtils::Random::RandomInt(int min, int max){ - int d = max - min + 1; - return int(((double)rand()/((double)RAND_MAX + 1.0)) * d) + min; -} - -// --------------------------------------------------------------------------- -// --------------------------------------------------------------------------- - -DUtils::Random::UnrepeatedRandomizer::UnrepeatedRandomizer(int min, int max) -{ - if(min <= max) - { - m_min = min; - m_max = max; - } - else - { - m_min = max; - m_max = min; - } - - createValues(); -} - -// --------------------------------------------------------------------------- - -DUtils::Random::UnrepeatedRandomizer::UnrepeatedRandomizer - (const DUtils::Random::UnrepeatedRandomizer& rnd) -{ - *this = rnd; -} - -// --------------------------------------------------------------------------- - -int DUtils::Random::UnrepeatedRandomizer::get() -{ - if(empty()) createValues(); - - DUtils::Random::SeedRandOnce(); - - int k = DUtils::Random::RandomInt(0, m_values.size()-1); - int ret = m_values[k]; - m_values[k] = m_values.back(); - m_values.pop_back(); - - return ret; -} - -// --------------------------------------------------------------------------- - -void DUtils::Random::UnrepeatedRandomizer::createValues() -{ - int n = m_max - m_min + 1; - - m_values.resize(n); - for(int i = 0; i < n; ++i) m_values[i] = m_min + i; -} - -// --------------------------------------------------------------------------- - -void DUtils::Random::UnrepeatedRandomizer::reset() -{ - if((int)m_values.size() != m_max - m_min + 1) createValues(); -} - -// --------------------------------------------------------------------------- - -DUtils::Random::UnrepeatedRandomizer& -DUtils::Random::UnrepeatedRandomizer::operator= - (const DUtils::Random::UnrepeatedRandomizer& rnd) -{ - if(this != &rnd) - { - this->m_min = rnd.m_min; - this->m_max = rnd.m_max; - this->m_values = rnd.m_values; - } - return *this; -} - -// --------------------------------------------------------------------------- - - +/* + * File: Random.cpp + * Project: DUtils library + * Author: Dorian Galvez-Lopez + * Date: April 2010 + * Description: manages pseudo-random numbers + * License: see the LICENSE.txt file + * + */ + +#include "ThirdParty/DUtils/Random.h" +#include "ThirdParty/DUtils/Timestamp.h" +using namespace std; + +bool DUtils::Random::m_already_seeded = false; + +void DUtils::Random::SeedRand(){ + Timestamp time; + time.setToCurrentTime(); + srand((unsigned)time.getFloatTime()); +} + +void DUtils::Random::SeedRandOnce() +{ + if(!m_already_seeded) + { + DUtils::Random::SeedRand(); + m_already_seeded = true; + } +} + +void DUtils::Random::SeedRand(int seed) +{ + srand(seed); +} + +void DUtils::Random::SeedRandOnce(int seed) +{ + if(!m_already_seeded) + { + DUtils::Random::SeedRand(seed); + m_already_seeded = true; + } +} + +int DUtils::Random::RandomInt(int min, int max){ + int d = max - min + 1; + return int(((double)rand()/((double)RAND_MAX + 1.0)) * d) + min; +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +DUtils::Random::UnrepeatedRandomizer::UnrepeatedRandomizer(int min, int max) +{ + if(min <= max) + { + m_min = min; + m_max = max; + } + else + { + m_min = max; + m_max = min; + } + + createValues(); +} + +// --------------------------------------------------------------------------- + +DUtils::Random::UnrepeatedRandomizer::UnrepeatedRandomizer + (const DUtils::Random::UnrepeatedRandomizer& rnd) +{ + *this = rnd; +} + +// --------------------------------------------------------------------------- + +int DUtils::Random::UnrepeatedRandomizer::get() +{ + if(empty()) createValues(); + + DUtils::Random::SeedRandOnce(); + + int k = DUtils::Random::RandomInt(0, m_values.size()-1); + int ret = m_values[k]; + m_values[k] = m_values.back(); + m_values.pop_back(); + + return ret; +} + +// --------------------------------------------------------------------------- + +void DUtils::Random::UnrepeatedRandomizer::createValues() +{ + int n = m_max - m_min + 1; + + m_values.resize(n); + for(int i = 0; i < n; ++i) m_values[i] = m_min + i; +} + +// --------------------------------------------------------------------------- + +void DUtils::Random::UnrepeatedRandomizer::reset() +{ + if((int)m_values.size() != m_max - m_min + 1) createValues(); +} + +// --------------------------------------------------------------------------- + +DUtils::Random::UnrepeatedRandomizer& +DUtils::Random::UnrepeatedRandomizer::operator= + (const DUtils::Random::UnrepeatedRandomizer& rnd) +{ + if(this != &rnd) + { + this->m_min = rnd.m_min; + this->m_max = rnd.m_max; + this->m_values = rnd.m_values; + } + return *this; +} + +// --------------------------------------------------------------------------- + + diff --git a/pose_graph/src/ThirdParty/DUtils/Timestamp.cpp b/src/pose_graph/src/ThirdParty/DUtils/Timestamp.cpp similarity index 94% rename from pose_graph/src/ThirdParty/DUtils/Timestamp.cpp rename to src/pose_graph/src/ThirdParty/DUtils/Timestamp.cpp index 4551839f1..9788e6577 100644 --- a/pose_graph/src/ThirdParty/DUtils/Timestamp.cpp +++ b/src/pose_graph/src/ThirdParty/DUtils/Timestamp.cpp @@ -30,7 +30,7 @@ #include #endif -#include "Timestamp.h" +#include "ThirdParty/DUtils/Timestamp.h" using namespace std; diff --git a/pose_graph/src/ThirdParty/DVision/BRIEF.cpp b/src/pose_graph/src/ThirdParty/DVision/BRIEF.cpp similarity index 97% rename from pose_graph/src/ThirdParty/DVision/BRIEF.cpp rename to src/pose_graph/src/ThirdParty/DVision/BRIEF.cpp index a2d0d642e..d30abd430 100644 --- a/pose_graph/src/ThirdParty/DVision/BRIEF.cpp +++ b/src/pose_graph/src/ThirdParty/DVision/BRIEF.cpp @@ -10,10 +10,9 @@ * */ -#include "BRIEF.h" -#include "../DUtils/DUtils.h" +#include "ThirdParty/DVision/BRIEF.h" +#include "ThirdParty/DUtils/DUtils.h" #include -#include using namespace std; using namespace DVision; diff --git a/pose_graph/src/ThirdParty/VocabularyBinary.cpp b/src/pose_graph/src/ThirdParty/VocabularyBinary.cpp similarity index 95% rename from pose_graph/src/ThirdParty/VocabularyBinary.cpp rename to src/pose_graph/src/ThirdParty/VocabularyBinary.cpp index 89b7d6c82..0c1da4047 100644 --- a/pose_graph/src/ThirdParty/VocabularyBinary.cpp +++ b/src/pose_graph/src/ThirdParty/VocabularyBinary.cpp @@ -1,4 +1,4 @@ -#include "VocabularyBinary.hpp" +#include "ThirdParty/VocabularyBinary.hpp" #include using namespace std; diff --git a/pose_graph/src/keyframe.cpp b/src/pose_graph/src/keyframe.cpp similarity index 95% rename from pose_graph/src/keyframe.cpp rename to src/pose_graph/src/keyframe.cpp index 66774964c..f8b9d382e 100644 --- a/pose_graph/src/keyframe.cpp +++ b/src/pose_graph/src/keyframe.cpp @@ -461,9 +461,11 @@ bool KeyFrame::findConnection(KeyFrame* old_kf) */ cv::Mat thumbimage; cv::resize(loop_match_img, thumbimage, cv::Size(loop_match_img.cols / 2, loop_match_img.rows / 2)); - sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", thumbimage).toImageMsg(); - msg->header.stamp = ros::Time(time_stamp); - pub_match_img.publish(msg); + sensor_msgs::msg::Image::SharedPtr msg = cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", thumbimage).toImageMsg(); + // msg->header.stamp = rclcpp::Time(time_stamp); + msg->header.stamp.sec = (uint32_t)floor(time_stamp); + msg->header.stamp.nanosec = (uint32_t)round((time_stamp - msg->header.stamp.sec) * 1e9); + pub_match_img->publish(*msg); } } #endif @@ -487,11 +489,13 @@ bool KeyFrame::findConnection(KeyFrame* old_kf) relative_yaw; if(FAST_RELOCALIZATION) { - sensor_msgs::PointCloud msg_match_points; - msg_match_points.header.stamp = ros::Time(time_stamp); + sensor_msgs::msg::PointCloud msg_match_points; + // msg_match_points.header.stamp = rclcpp::Time(time_stamp); + msg_match_points.header.stamp.sec = (uint32_t)floor(time_stamp); + msg_match_points.header.stamp.nanosec = (uint32_t)round((time_stamp - msg_match_points.header.stamp.sec) * 1e9); for (int i = 0; i < (int)matched_2d_old_norm.size(); i++) { - geometry_msgs::Point32 p; + geometry_msgs::msg::Point32 p; p.x = matched_2d_old_norm[i].x; p.y = matched_2d_old_norm[i].y; p.z = matched_id[i]; @@ -500,7 +504,7 @@ bool KeyFrame::findConnection(KeyFrame* old_kf) Eigen::Vector3d T = old_kf->T_w_i; Eigen::Matrix3d R = old_kf->R_w_i; Quaterniond Q(R); - sensor_msgs::ChannelFloat32 t_q_index; + sensor_msgs::msg::ChannelFloat32 t_q_index; t_q_index.values.push_back(T.x()); t_q_index.values.push_back(T.y()); t_q_index.values.push_back(T.z()); @@ -510,7 +514,7 @@ bool KeyFrame::findConnection(KeyFrame* old_kf) t_q_index.values.push_back(Q.z()); t_q_index.values.push_back(index); msg_match_points.channels.push_back(t_q_index); - pub_match_points.publish(msg_match_points); + pub_match_points->publish(msg_match_points); } return true; } diff --git a/src/pose_graph/src/parameters_.cpp b/src/pose_graph/src/parameters_.cpp new file mode 100644 index 000000000..d99d16017 --- /dev/null +++ b/src/pose_graph/src/parameters_.cpp @@ -0,0 +1,5 @@ +#include "parameters_.h" + +double toSec(headerMsg header_time){ + return static_cast(header_time.stamp.sec + (header_time.stamp.nanosec / 1.0e9)); +} \ No newline at end of file diff --git a/pose_graph/src/pose_graph.cpp b/src/pose_graph/src/pose_graph.cpp similarity index 96% rename from pose_graph/src/pose_graph.cpp rename to src/pose_graph/src/pose_graph.cpp index 7029a8fe3..fcb6a29c7 100644 --- a/pose_graph/src/pose_graph.cpp +++ b/src/pose_graph/src/pose_graph.cpp @@ -24,15 +24,6 @@ PoseGraph::~PoseGraph() t_optimization.join(); } -void PoseGraph::registerPub(ros::NodeHandle &n) -{ - pub_pg_path = n.advertise("pose_graph_path", 1000); - pub_base_path = n.advertise("base_path", 1000); - pub_pose_graph = n.advertise("pose_graph", 1000); - for (int i = 1; i < 10; i++) - pub_path[i] = n.advertise("path_" + to_string(i), 1000); -} - void PoseGraph::loadVocabulary(std::string voc_path) { voc = new BriefVocabulary(voc_path); @@ -135,8 +126,11 @@ void PoseGraph::addKeyFrame(KeyFrame* cur_kf, bool flag_detect_loop) R = r_drift * R; cur_kf->updatePose(P, R); Quaterniond Q{R}; - geometry_msgs::PoseStamped pose_stamped; - pose_stamped.header.stamp = ros::Time(cur_kf->time_stamp); + poseStampedMsg pose_stamped; + // pose_stamped.header.stamp = rclcpp::Time(cur_kf->time_stamp); + pose_stamped.header.stamp.sec = (uint32_t)floor(cur_kf->time_stamp); + pose_stamped.header.stamp.nanosec = (uint32_t)round((cur_kf->time_stamp - pose_stamped.header.stamp.sec) * 1e9); + // RCLCPP_INFO(rclcpp::get_logger("pose_grap"), "cur_kf: %f", cur_kf->time_stamp); pose_stamped.header.frame_id = "world"; pose_stamped.pose.position.x = P.x() + VISUALIZATION_SHIFT_X; pose_stamped.pose.position.y = P.y() + VISUALIZATION_SHIFT_Y; @@ -239,8 +233,10 @@ void PoseGraph::loadKeyFrame(KeyFrame* cur_kf, bool flag_detect_loop) Matrix3d R; cur_kf->getPose(P, R); Quaterniond Q{R}; - geometry_msgs::PoseStamped pose_stamped; - pose_stamped.header.stamp = ros::Time(cur_kf->time_stamp); + poseStampedMsg pose_stamped; + // pose_stamped.header.stamp = rclcpp::Time(cur_kf->time_stamp); + pose_stamped.header.stamp.sec = (uint32_t)floor(cur_kf->time_stamp); + pose_stamped.header.stamp.nanosec = (uint32_t)round((cur_kf->time_stamp - pose_stamped.header.stamp.sec) * 1e9); pose_stamped.header.frame_id = "world"; pose_stamped.pose.position.x = P.x() + VISUALIZATION_SHIFT_X; pose_stamped.pose.position.y = P.y() + VISUALIZATION_SHIFT_Y; @@ -604,8 +600,10 @@ void PoseGraph::updatePath() Q = R; // printf("path p: %f, %f, %f\n", P.x(), P.z(), P.y() ); - geometry_msgs::PoseStamped pose_stamped; - pose_stamped.header.stamp = ros::Time((*it)->time_stamp); + poseStampedMsg pose_stamped; + // pose_stamped.header.stamp = rclcpp::Time((*it)->time_stamp); + pose_stamped.header.stamp.sec = (uint32_t)floor((*it)->time_stamp); + pose_stamped.header.stamp.nanosec = (uint32_t)round(((*it)->time_stamp - pose_stamped.header.stamp.sec) * 1e9); pose_stamped.header.frame_id = "world"; pose_stamped.pose.position.x = P.x() + VISUALIZATION_SHIFT_X; pose_stamped.pose.position.y = P.y() + VISUALIZATION_SHIFT_Y; @@ -876,13 +874,13 @@ void PoseGraph::publish() //if (sequence_loop[i] == true || i == base_sequence) if (1 || i == base_sequence) { - pub_pg_path.publish(path[i]); - pub_path[i].publish(path[i]); + pub_pg_path->publish(path[i]); + pub_path[i]->publish(path[i]); posegraph_visualization->publish_by(pub_pose_graph, path[sequence_cnt].header); } } base_path.header.frame_id = "world"; - pub_base_path.publish(base_path); + pub_base_path->publish(base_path); //posegraph_visualization->publish_by(pub_pose_graph, path[sequence_cnt].header); } diff --git a/pose_graph/src/pose_graph_node.cpp b/src/pose_graph/src/pose_graph_node.cpp similarity index 63% rename from pose_graph/src/pose_graph_node.cpp rename to src/pose_graph/src/pose_graph_node.cpp index 122821c40..eb194e29d 100644 --- a/pose_graph/src/pose_graph_node.cpp +++ b/src/pose_graph/src/pose_graph_node.cpp @@ -1,80 +1,45 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "keyframe.h" -#include "utility/tic_toc.h" -#include "pose_graph.h" -#include "utility/CameraPoseVisualization.h" -#include "parameters.h" -#define SKIP_FIRST_CNT 10 -using namespace std; - -queue image_buf; -queue point_buf; -queue pose_buf; -queue odometry_buf; -std::mutex m_buf; -std::mutex m_process; -int frame_index = 0; -int sequence = 1; -PoseGraph posegraph; -int skip_first_cnt = 0; -int SKIP_CNT; -int skip_cnt = 0; -bool load_flag = 0; -bool start_flag = 0; -double SKIP_DIS = 0; +#include "pose_graph_node.hpp" -int VISUALIZATION_SHIFT_X; -int VISUALIZATION_SHIFT_Y; -int ROW; -int COL; -int DEBUG_IMAGE; -int VISUALIZE_IMU_FORWARD; -int LOOP_CLOSURE; -int FAST_RELOCALIZATION; +using namespace std::placeholders; camodocal::CameraPtr m_camera; Eigen::Vector3d tic; Eigen::Matrix3d qic; -ros::Publisher pub_match_img; -ros::Publisher pub_match_points; -ros::Publisher pub_camera_pose_visual; -ros::Publisher pub_key_odometrys; -ros::Publisher pub_vio_path; -nav_msgs::Path no_loop_path; +rclcpp::Publisher::SharedPtr pub_match_img; +rclcpp::Publisher::SharedPtr pub_match_points; +int VISUALIZATION_SHIFT_X; +int VISUALIZATION_SHIFT_Y; std::string BRIEF_PATTERN_FILE; std::string POSE_GRAPH_SAVE_PATH; +int ROW; +int COL; std::string VINS_RESULT_PATH; +string vocabulary_file; +int DEBUG_IMAGE; +int FAST_RELOCALIZATION; + CameraPoseVisualization cameraposevisual(1, 0, 0, 1); Eigen::Vector3d last_t(-100, -100, -100); -double last_image_time = -1; +PoseGraph posegraph; -void new_sequence() -{ - printf("new sequence\n"); +PoseGraphNode::PoseGraphNode(): Node("pose_graph_node"){ + getParams(); + initTopic(); + + measurement_process = std::thread(&PoseGraphNode::process, this); + keyboard_command_process = std::thread(&PoseGraphNode::command, this); +} + +void PoseGraphNode::newSequence(){ + RCLCPP_INFO(this->get_logger(), "new sequence\n"); sequence++; - printf("sequence cnt %d \n", sequence); + RCLCPP_INFO(this->get_logger(), "sequence cnt %d \n", sequence); if (sequence > 5) { - ROS_WARN("only support 5 sequences since it's boring to copy code for more sequences."); - ROS_BREAK(); + RCLCPP_WARN(this->get_logger(), "only support 5 sequences since it's boring to copy code for more sequences."); + rclcpp::shutdown(); + exit(-1); } posegraph.posegraph_visualization->reset(); posegraph.publish(); @@ -90,9 +55,7 @@ void new_sequence() m_buf.unlock(); } -void image_callback(const sensor_msgs::ImageConstPtr &image_msg) -{ - //ROS_INFO("image_callback!"); +void PoseGraphNode::imageCallback(const imageMsg::SharedPtr image_msg){ if(!LOOP_CLOSURE) return; m_buf.lock(); @@ -102,18 +65,16 @@ void image_callback(const sensor_msgs::ImageConstPtr &image_msg) // detect unstable camera stream if (last_image_time == -1) - last_image_time = image_msg->header.stamp.toSec(); - else if (image_msg->header.stamp.toSec() - last_image_time > 1.0 || image_msg->header.stamp.toSec() < last_image_time) + last_image_time = toSec(image_msg->header); + else if (toSec(image_msg->header) - last_image_time > 1.0 || toSec(image_msg->header) < last_image_time) { - ROS_WARN("image discontinue! detect a new sequence!"); - new_sequence(); + RCLCPP_WARN(this->get_logger(), "image discontinue! detect a new sequence!"); + newSequence(); } - last_image_time = image_msg->header.stamp.toSec(); + last_image_time = toSec(image_msg->header); } -void point_callback(const sensor_msgs::PointCloudConstPtr &point_msg) -{ - //ROS_INFO("point_callback!"); +void PoseGraphNode::pointCallback(const pointCloudMsg::SharedPtr point_msg){ if(!LOOP_CLOSURE) return; m_buf.lock(); @@ -131,27 +92,15 @@ void point_callback(const sensor_msgs::PointCloudConstPtr &point_msg) */ } -void pose_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) -{ - //ROS_INFO("pose_callback!"); +void PoseGraphNode::poseCallback(const odometryMsg::SharedPtr pose_msg){ if(!LOOP_CLOSURE) return; m_buf.lock(); pose_buf.push(pose_msg); m_buf.unlock(); - /* - printf("pose t: %f, %f, %f q: %f, %f, %f %f \n", pose_msg->pose.pose.position.x, - pose_msg->pose.pose.position.y, - pose_msg->pose.pose.position.z, - pose_msg->pose.pose.orientation.w, - pose_msg->pose.pose.orientation.x, - pose_msg->pose.pose.orientation.y, - pose_msg->pose.pose.orientation.z); - */ } -void imu_forward_callback(const nav_msgs::Odometry::ConstPtr &forward_msg) -{ +void PoseGraphNode::imuForwardCallback(const odometryMsg::SharedPtr forward_msg){ if (VISUALIZE_IMU_FORWARD) { Vector3d vio_t(forward_msg->pose.pose.position.x, forward_msg->pose.pose.position.y, forward_msg->pose.pose.position.z); @@ -177,8 +126,8 @@ void imu_forward_callback(const nav_msgs::Odometry::ConstPtr &forward_msg) cameraposevisual.publish_by(pub_camera_pose_visual, forward_msg->header); } } -void relo_relative_pose_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) -{ + +void PoseGraphNode::reloRelativePoseCallback(const odometryMsg::SharedPtr pose_msg){ Vector3d relative_t = Vector3d(pose_msg->pose.pose.position.x, pose_msg->pose.pose.position.y, pose_msg->pose.pose.position.z); @@ -195,13 +144,10 @@ void relo_relative_pose_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) relative_q.w(), relative_q.x(), relative_q.y(), relative_q.z(), relative_yaw; posegraph.updateKeyFrameLoop(index, loop_info); - } -void vio_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) -{ - //ROS_INFO("vio_callback!"); - Vector3d vio_t(pose_msg->pose.pose.position.x, pose_msg->pose.pose.position.y, pose_msg->pose.pose.position.z); +void PoseGraphNode::vioCallback(const odometryMsg::SharedPtr pose_msg){ + Vector3d vio_t(pose_msg->pose.pose.position.x, pose_msg->pose.pose.position.y, pose_msg->pose.pose.position.z); Quaterniond vio_q; vio_q.w() = pose_msg->pose.pose.orientation.w; vio_q.x() = pose_msg->pose.pose.orientation.x; @@ -232,14 +178,14 @@ void vio_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) odometry_buf.pop(); } - visualization_msgs::Marker key_odometrys; + visualization_msgs::msg::Marker key_odometrys; key_odometrys.header = pose_msg->header; key_odometrys.header.frame_id = "world"; key_odometrys.ns = "key_odometrys"; - key_odometrys.type = visualization_msgs::Marker::SPHERE_LIST; - key_odometrys.action = visualization_msgs::Marker::ADD; + key_odometrys.type = visualization_msgs::msg::Marker::SPHERE_LIST; + key_odometrys.action = visualization_msgs::msg::Marker::ADD; key_odometrys.pose.orientation.w = 1.0; - key_odometrys.lifetime = ros::Duration(); + key_odometrys.lifetime = rclcpp::Duration(0, 0); //static int key_odometrys_id = 0; key_odometrys.id = 0; //key_odometrys_id++; @@ -251,7 +197,7 @@ void vio_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) for (unsigned int i = 0; i < odometry_buf.size(); i++) { - geometry_msgs::Point pose_marker; + geometry_msgs::msg::Point pose_marker; Vector3d vio_t; vio_t = odometry_buf.front(); odometry_buf.pop(); @@ -261,11 +207,11 @@ void vio_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) key_odometrys.points.push_back(pose_marker); odometry_buf.push(vio_t); } - pub_key_odometrys.publish(key_odometrys); + pub_key_odometrys->publish(key_odometrys); if (!LOOP_CLOSURE) { - geometry_msgs::PoseStamped pose_stamped; + geometry_msgs::msg::PoseStamped pose_stamped; pose_stamped.header = pose_msg->header; pose_stamped.header.frame_id = "world"; pose_stamped.pose.position.x = vio_t.x(); @@ -274,12 +220,11 @@ void vio_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) no_loop_path.header = pose_msg->header; no_loop_path.header.frame_id = "world"; no_loop_path.poses.push_back(pose_stamped); - pub_vio_path.publish(no_loop_path); + pub_vio_path->publish(no_loop_path); } } -void extrinsic_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) -{ +void PoseGraphNode::extrinsicCallback(const odometryMsg::SharedPtr pose_msg){ m_process.lock(); tic = Vector3d(pose_msg->pose.pose.position.x, pose_msg->pose.pose.position.y, @@ -291,43 +236,42 @@ void extrinsic_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) m_process.unlock(); } -void process() -{ +void PoseGraphNode::process(){ if (!LOOP_CLOSURE) return; while (true) { - sensor_msgs::ImageConstPtr image_msg = NULL; - sensor_msgs::PointCloudConstPtr point_msg = NULL; - nav_msgs::Odometry::ConstPtr pose_msg = NULL; + sensor_msgs::msg::Image::SharedPtr image_msg = NULL; + sensor_msgs::msg::PointCloud::SharedPtr point_msg = NULL; + nav_msgs::msg::Odometry::SharedPtr pose_msg = NULL; // find out the messages with same time stamp m_buf.lock(); if(!image_buf.empty() && !point_buf.empty() && !pose_buf.empty()) { - if (image_buf.front()->header.stamp.toSec() > pose_buf.front()->header.stamp.toSec()) + if (toSec(image_buf.front()->header) > toSec(pose_buf.front()->header)) { pose_buf.pop(); printf("throw pose at beginning\n"); } - else if (image_buf.front()->header.stamp.toSec() > point_buf.front()->header.stamp.toSec()) + else if (toSec(image_buf.front()->header) > toSec(point_buf.front()->header)) { point_buf.pop(); printf("throw point at beginning\n"); } - else if (image_buf.back()->header.stamp.toSec() >= pose_buf.front()->header.stamp.toSec() - && point_buf.back()->header.stamp.toSec() >= pose_buf.front()->header.stamp.toSec()) + else if (toSec(image_buf.back()->header) >= toSec(pose_buf.front()->header) + && toSec(point_buf.back()->header) >= toSec(pose_buf.front()->header)) { pose_msg = pose_buf.front(); pose_buf.pop(); while (!pose_buf.empty()) pose_buf.pop(); - while (image_buf.front()->header.stamp.toSec() < pose_msg->header.stamp.toSec()) + while (toSec(image_buf.front()->header) < toSec(pose_msg->header)) image_buf.pop(); image_msg = image_buf.front(); image_buf.pop(); - while (point_buf.front()->header.stamp.toSec() < pose_msg->header.stamp.toSec()) + while (toSec(point_buf.front()->header) < toSec(pose_msg->header)) point_buf.pop(); point_msg = point_buf.front(); point_buf.pop(); @@ -360,7 +304,7 @@ void process() cv_bridge::CvImageConstPtr ptr; if (image_msg->encoding == "8UC1") { - sensor_msgs::Image img; + sensor_msgs::msg::Image img; img.header = image_msg->header; img.height = image_msg->height; img.width = image_msg->width; @@ -410,8 +354,7 @@ void process() //printf("u %f, v %f \n", p_2d_uv.x, p_2d_uv.y); } - - KeyFrame* keyframe = new KeyFrame(pose_msg->header.stamp.toSec(), frame_index, T, R, image, + KeyFrame* keyframe = new KeyFrame(toSec(pose_msg->header), frame_index, T, R, image, point_3d, point_2d_uv, point_2d_normal, point_id, sequence); m_process.lock(); start_flag = 1; @@ -427,8 +370,7 @@ void process() } } -void command() -{ +void PoseGraphNode::command(){ if (!LOOP_CLOSURE) return; while(1) @@ -441,29 +383,56 @@ void command() m_process.unlock(); printf("save pose graph finish\nyou can set 'load_previous_pose_graph' to 1 in the config file to reuse it next time\n"); // printf("program shutting down...\n"); - // ros::shutdown(); } if (c == 'n') - new_sequence(); + newSequence(); std::chrono::milliseconds dura(5); std::this_thread::sleep_for(dura); } } -int main(int argc, char **argv) -{ - ros::init(argc, argv, "pose_graph"); - ros::NodeHandle n("~"); - posegraph.registerPub(n); - - // read param - n.getParam("visualization_shift_x", VISUALIZATION_SHIFT_X); - n.getParam("visualization_shift_y", VISUALIZATION_SHIFT_Y); - n.getParam("skip_cnt", SKIP_CNT); - n.getParam("skip_dis", SKIP_DIS); - std::string config_file; - n.getParam("config_file", config_file); +void PoseGraphNode::initTopic(){ + sub_imu_forward = this->create_subscription("/vins_estimator/imu_propagate", 2000, + std::bind(&PoseGraphNode::imuForwardCallback, this, _1)); + sub_vio = this->create_subscription("/vins_estimator/odometry", 2000, + std::bind(&PoseGraphNode::vioCallback, this, _1)); + sub_image = this->create_subscription(IMAGE_TOPIC, 2000, std::bind(&PoseGraphNode::imageCallback, this, _1)); + sub_pose = this->create_subscription("/vins_estimator/keyframe_pose", 2000, + std::bind(&PoseGraphNode::poseCallback, this, _1)); + sub_extrinsic = this->create_subscription("/vins_estimator/extrinsic", 2000, + std::bind(&PoseGraphNode::extrinsicCallback, this , _1)); + sub_point = this->create_subscription("/vins_estimator/keyframe_point", 2000, + std::bind(&PoseGraphNode::pointCallback, this, _1)); + sub_relo_relative_pose = this->create_subscription("/vins_estimator/relo_relative_pose", 2000, + std::bind(&PoseGraphNode::reloRelativePoseCallback, this, _1)); + + pub_match_img = this->create_publisher("/pose_graph/match_image", 1000); + pub_camera_pose_visual = this->create_publisher("/pose_graph/camera_pose_visual", 1000); + pub_key_odometrys = this->create_publisher("/pose_graph/key_odometrys", 1000); + pub_vio_path = this->create_publisher("/pose_graph/no_loop_path", 1000); + pub_match_points = this->create_publisher("pose_graph/match_points", 1000); + + posegraph.pub_pg_path = this->create_publisher("/pose_graph/pose_graph_path", 1000); + posegraph.pub_base_path = this->create_publisher("/pose_graph/base_path", 1000); + posegraph.pub_pose_graph = this->create_publisher("/pose_graph/pose_graph", 1000); + for (int i = 1; i < 10; i++) + posegraph.pub_path[i] = this->create_publisher("/pose_graph/path_" + to_string(i), 1000); +} + +void PoseGraphNode::getParams(){ + this->declare_parameter("config_file", "/home/serkan/source_code/VINS-Mono/src/config/config/euroc/euroc_config.yaml"); + this->declare_parameter("visualization_shift_x", 0); + this->declare_parameter("visualization_shift_y", 0); + this->declare_parameter("skip_cnt", 0); + this->declare_parameter("skip_dis", 0.0); + + VISUALIZATION_SHIFT_X = this->get_parameter("visualization_shift_x").as_int(); + VISUALIZATION_SHIFT_Y = this->get_parameter("visualization_shift_y").as_int(); + SKIP_CNT = this->get_parameter("skip_cnt").as_int(); + SKIP_DIS = this->get_parameter("skip_dis").as_double(); + config_file = this->get_parameter("config_file").as_string(); + cv::FileStorage fsSettings(config_file, cv::FileStorage::READ); if(!fsSettings.isOpened()) { @@ -474,21 +443,17 @@ int main(int argc, char **argv) cameraposevisual.setScale(camera_visual_size); cameraposevisual.setLineWidth(camera_visual_size / 10.0); - LOOP_CLOSURE = fsSettings["loop_closure"]; - std::string IMAGE_TOPIC; int LOAD_PREVIOUS_POSE_GRAPH; - if (LOOP_CLOSURE) - { + + if (LOOP_CLOSURE){ ROW = fsSettings["image_height"]; COL = fsSettings["image_width"]; - std::string pkg_path = ros::package::getPath("pose_graph"); - string vocabulary_file = pkg_path + "/../support_files/brief_k10L6.bin"; - cout << "vocabulary_file" << vocabulary_file << endl; + std::string pkg_path = ament_index_cpp::get_package_share_directory("config"); + RCLCPP_INFO_STREAM(this->get_logger(), pkg_path); + vocabulary_file = pkg_path + "/support_files/brief_k10L6.bin"; posegraph.loadVocabulary(vocabulary_file); - - BRIEF_PATTERN_FILE = pkg_path + "/../support_files/brief_pattern.yml"; - cout << "BRIEF_PATTERN_FILE" << BRIEF_PATTERN_FILE << endl; + BRIEF_PATTERN_FILE = pkg_path + "/support_files/brief_pattern.yml"; m_camera = camodocal::CameraFactory::instance()->generateCameraFromYamlFile(config_file.c_str()); fsSettings["image_topic"] >> IMAGE_TOPIC; @@ -496,7 +461,6 @@ int main(int argc, char **argv) fsSettings["output_path"] >> VINS_RESULT_PATH; fsSettings["save_image"] >> DEBUG_IMAGE; - // create folder if not exists FileSystemHelper::createDirectoryIfNotExists(POSE_GRAPH_SAVE_PATH.c_str()); FileSystemHelper::createDirectoryIfNotExists(VINS_RESULT_PATH.c_str()); @@ -524,30 +488,35 @@ int main(int argc, char **argv) } } - fsSettings.release(); - - ros::Subscriber sub_imu_forward = n.subscribe("/vins_estimator/imu_propagate", 2000, imu_forward_callback); - ros::Subscriber sub_vio = n.subscribe("/vins_estimator/odometry", 2000, vio_callback); - ros::Subscriber sub_image = n.subscribe(IMAGE_TOPIC, 2000, image_callback); - ros::Subscriber sub_pose = n.subscribe("/vins_estimator/keyframe_pose", 2000, pose_callback); - ros::Subscriber sub_extrinsic = n.subscribe("/vins_estimator/extrinsic", 2000, extrinsic_callback); - ros::Subscriber sub_point = n.subscribe("/vins_estimator/keyframe_point", 2000, point_callback); - ros::Subscriber sub_relo_relative_pose = n.subscribe("/vins_estimator/relo_relative_pose", 2000, relo_relative_pose_callback); - - pub_match_img = n.advertise("match_image", 1000); - pub_camera_pose_visual = n.advertise("camera_pose_visual", 1000); - pub_key_odometrys = n.advertise("key_odometrys", 1000); - pub_vio_path = n.advertise("no_loop_path", 1000); - pub_match_points = n.advertise("match_points", 100); - - std::thread measurement_process; - std::thread keyboard_command_process; - - measurement_process = std::thread(process); - keyboard_command_process = std::thread(command); + RCLCPP_INFO_STREAM(this->get_logger(), + COLOR_GRN + << "\n" << LINE + << "\n- COL: " << COL + << "\n- ROW: " << ROW + << "\n- SKIP_CNT: " << SKIP_CNT + << "\n- SKIP_DIS: " << SKIP_DIS + << "\n- IMAGE_TOPIC: " << IMAGE_TOPIC + << "\n- DEBUG_IMAGE: " << DEBUG_IMAGE + << "\n- LOOP_CLOSURE: " << LOOP_CLOSURE + << "\n- FAST_RELOCALIZATION: " << FAST_RELOCALIZATION + << "\n- VISUALIZE_IMU_FORWARD: " << VISUALIZE_IMU_FORWARD + << "\n- VISUALIZATION_SHIFT_X: " << VISUALIZATION_SHIFT_X + << "\n- VISUALIZATION_SHIFT_Y: " << VISUALIZATION_SHIFT_Y + << "\n- LOAD_PREVIOUS_POSE_GRAPH: " << LOAD_PREVIOUS_POSE_GRAPH << std::endl + << "\n- config_file: " << config_file + << "\n- vocabulary_file: " << vocabulary_file + << "\n- VINS_RESULT_PATH: " << VINS_RESULT_PATH + << "\n- BRIEF_PATTERN_FILE: " << BRIEF_PATTERN_FILE + << "\n- POSE_GRAPH_SAVE_PATH: " << POSE_GRAPH_SAVE_PATH + << "\n" << LINE + << COLOR_RST + ); - - ros::spin(); - - return 0; + fsSettings.release(); } + +int main(int argc, char* argv[]){ + rclcpp::init(argc, argv); + rclcpp::spin(make_shared()); + rclcpp::shutdown(); +} \ No newline at end of file diff --git a/pose_graph/src/utility/CameraPoseVisualization.cpp b/src/pose_graph/src/utility/CameraPoseVisualization.cpp similarity index 89% rename from pose_graph/src/utility/CameraPoseVisualization.cpp rename to src/pose_graph/src/utility/CameraPoseVisualization.cpp index af037d1b8..91e1e26a3 100644 --- a/pose_graph/src/utility/CameraPoseVisualization.cpp +++ b/src/pose_graph/src/utility/CameraPoseVisualization.cpp @@ -1,4 +1,4 @@ -#include "CameraPoseVisualization.h" +#include "utility/CameraPoseVisualization.h" const Eigen::Vector3d CameraPoseVisualization::imlt = Eigen::Vector3d(-1.0, -0.5, 1.0); const Eigen::Vector3d CameraPoseVisualization::imrt = Eigen::Vector3d( 1.0, -0.5, 1.0); @@ -9,7 +9,7 @@ const Eigen::Vector3d CameraPoseVisualization::lt1 = Eigen::Vector3d(-0.7, -0.2, const Eigen::Vector3d CameraPoseVisualization::lt2 = Eigen::Vector3d(-1.0, -0.2, 1.0); const Eigen::Vector3d CameraPoseVisualization::oc = Eigen::Vector3d(0.0, 0.0, 0.0); -void Eigen2Point(const Eigen::Vector3d& v, geometry_msgs::Point& p) { +void Eigen2Point(const Eigen::Vector3d& v, geometry_msgs::msg::Point& p) { p.x = v.x(); p.y = v.y(); p.z = v.z(); @@ -50,18 +50,18 @@ void CameraPoseVisualization::setLineWidth(double width) { m_line_width = width; } void CameraPoseVisualization::add_edge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1){ - visualization_msgs::Marker marker; + markerMsg marker; marker.ns = m_marker_ns; marker.id = m_markers.size() + 1; - marker.type = visualization_msgs::Marker::LINE_LIST; - marker.action = visualization_msgs::Marker::ADD; + marker.type = markerMsg::LINE_LIST; + marker.action = markerMsg::ADD; marker.scale.x = 0.01; marker.color.b = 1.0f; marker.color.a = 1.0; - geometry_msgs::Point point0, point1; + geometry_msgs::msg::Point point0, point1; Eigen2Point(p0, point0); Eigen2Point(p1, point1); @@ -74,16 +74,16 @@ void CameraPoseVisualization::add_edge(const Eigen::Vector3d& p0, const Eigen::V void CameraPoseVisualization::add_loopedge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1){ //m_markers.clear(); - visualization_msgs::Marker marker; + markerMsg marker; marker.ns = m_marker_ns; marker.id = m_markers.size() + 1; //tmp_loop_edge_num++; //if(tmp_loop_edge_num >= LOOP_EDGE_NUM) // tmp_loop_edge_num = 1; - marker.type = visualization_msgs::Marker::LINE_STRIP; - marker.action = visualization_msgs::Marker::ADD; - marker.lifetime = ros::Duration(); + marker.type = markerMsg::LINE_STRIP; + marker.action = markerMsg::ADD; + marker.lifetime = rclcpp::Duration(0, 0); //marker.scale.x = 0.4; marker.scale.x = 0.02; marker.color.r = 1.0f; @@ -91,7 +91,7 @@ void CameraPoseVisualization::add_loopedge(const Eigen::Vector3d& p0, const Eige //marker.color.b = 1.0f; marker.color.a = 1.0; - geometry_msgs::Point point0, point1; + pointMsg point0, point1; Eigen2Point(p0, point0); Eigen2Point(p1, point1); @@ -104,12 +104,12 @@ void CameraPoseVisualization::add_loopedge(const Eigen::Vector3d& p0, const Eige void CameraPoseVisualization::add_pose(const Eigen::Vector3d& p, const Eigen::Quaterniond& q) { - visualization_msgs::Marker marker; + markerMsg marker; marker.ns = m_marker_ns; marker.id = 0; - marker.type = visualization_msgs::Marker::LINE_STRIP; - marker.action = visualization_msgs::Marker::ADD; + marker.type = markerMsg::LINE_STRIP; + marker.action = markerMsg::ADD; marker.scale.x = m_line_width; marker.pose.position.x = 0.0; @@ -121,7 +121,7 @@ void CameraPoseVisualization::add_pose(const Eigen::Vector3d& p, const Eigen::Qu marker.pose.orientation.z = 0.0; - geometry_msgs::Point pt_lt, pt_lb, pt_rt, pt_rb, pt_oc, pt_lt0, pt_lt1, pt_lt2; + geometry_msgs::msg::Point pt_lt, pt_lb, pt_rt, pt_rb, pt_oc, pt_lt0, pt_lt1, pt_lt2; Eigen2Point(q * (m_scale *imlt) + p, pt_lt); Eigen2Point(q * (m_scale *imlb) + p, pt_lb); @@ -195,8 +195,9 @@ void CameraPoseVisualization::reset() { //image.colors.clear(); } -void CameraPoseVisualization::publish_by( ros::Publisher &pub, const std_msgs::Header &header ) { - visualization_msgs::MarkerArray markerArray_msg; +void CameraPoseVisualization::publish_by(rclcpp::Publisher::SharedPtr pub, + const std_msgs::msg::Header &header ) { + markerArrayMsg markerArray_msg; //int k = (int)m_markers.size(); /* for (int i = 0; i < 5 && k > 0; i++) @@ -213,13 +214,13 @@ void CameraPoseVisualization::publish_by( ros::Publisher &pub, const std_msgs::H markerArray_msg.markers.push_back(marker); } - pub.publish(markerArray_msg); + pub->publish(markerArray_msg); } -void CameraPoseVisualization::publish_image_by( ros::Publisher &pub, const std_msgs::Header &header ) { +void CameraPoseVisualization::publish_image_by(rclcpp::Publisher::SharedPtr pub, + const std_msgs::msg::Header &header) { image.header = header; - - pub.publish(image); + pub->publish(image); } /* void CameraPoseVisualization::add_image(const Eigen::Vector3d& T, const Eigen::Matrix3d& R, const cv::Mat &src) diff --git a/pose_graph/src/utility/utility.cpp b/src/pose_graph/src/utility/utility.cpp similarity index 100% rename from pose_graph/src/utility/utility.cpp rename to src/pose_graph/src/utility/utility.cpp diff --git a/src/vins_estimator/CMakeLists.txt b/src/vins_estimator/CMakeLists.txt new file mode 100644 index 000000000..4af92e620 --- /dev/null +++ b/src/vins_estimator/CMakeLists.txt @@ -0,0 +1,74 @@ +cmake_minimum_required(VERSION 3.8) +project(vins_estimator) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(cv_bridge REQUIRED) +find_package(visualization_msgs REQUIRED) +find_package(OpenCV REQUIRED) +find_package(Ceres REQUIRED) +find_package(std_msgs REQUIRED) +# find_package(camodocal REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) + +include_directories(${PROJECT_SOURCE_DIR}/include) + +include_directories(${Boost_INCLUDE_DIRS} + ${CERES_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} + ) + +add_executable(vins_estimator_node + src/estimator_node.cpp + src/parameters.cpp + src/estimator.cpp + src/feature_manager.cpp + src/factor/pose_local_parameterization.cpp + src/factor/projection_factor.cpp + src/factor/projection_td_factor.cpp + src/factor/marginalization_factor.cpp + src/utility/utility.cpp + src/utility/visualization.cpp + src/utility/CameraPoseVisualization.cpp + src/initial/solve_5pts.cpp + src/initial/initial_aligment.cpp + src/initial/initial_sfm.cpp + src/initial/initial_ex_rotation.cpp +) + +ament_target_dependencies( + vins_estimator_node + rclcpp + nav_msgs + Ceres + tf2 + tf2_ros + OpenCV + # camodocal + visualization_msgs + std_msgs + cv_bridge + geometry_msgs +) + +target_link_libraries(vins_estimator_node ${OpenCV_LIBS} ${CERES_LIBRARIES}) + +install( + TARGETS vins_estimator_node + DESTINATION lib/${PROJECT_NAME} +) + +install( + DIRECTORY launch + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/vins_estimator/src/estimator.h b/src/vins_estimator/include/estimator.h similarity index 93% rename from vins_estimator/src/estimator.h rename to src/vins_estimator/include/estimator.h index 2390aa0a9..122dacf73 100644 --- a/vins_estimator/src/estimator.h +++ b/src/vins_estimator/include/estimator.h @@ -1,6 +1,6 @@ #pragma once -#include "parameters.h" +#include "parameters_.h" #include "feature_manager.h" #include "utility/utility.h" #include "utility/tic_toc.h" @@ -8,8 +8,8 @@ #include "initial/initial_sfm.h" #include "initial/initial_alignment.h" #include "initial/initial_ex_rotation.h" -#include -#include +#include +#include #include #include "factor/imu_factor.h" @@ -22,6 +22,8 @@ #include #include +#include "rclcpp/rclcpp.hpp" + class Estimator { @@ -32,7 +34,7 @@ class Estimator // interface void processIMU(double t, const Vector3d &linear_acceleration, const Vector3d &angular_velocity); - void processImage(const map>>> &image, const std_msgs::Header &header); + void processImage(const map>>> &image, const std_msgs::msg::Header &header); void setReloFrame(double _frame_stamp, int _frame_index, vector &_match_points, Vector3d _relo_t, Matrix3d _relo_r); // internal @@ -80,7 +82,7 @@ class Estimator Matrix3d back_R0, last_R, last_R0; Vector3d back_P0, last_P, last_P0; - std_msgs::Header Headers[(WINDOW_SIZE + 1)]; + std_msgs::msg::Header Headers[(WINDOW_SIZE + 1)]; IntegrationBase *pre_integrations[(WINDOW_SIZE + 1)]; Vector3d acc_0, gyr_0; diff --git a/src/vins_estimator/include/estimator_node.hpp b/src/vins_estimator/include/estimator_node.hpp new file mode 100644 index 000000000..951199816 --- /dev/null +++ b/src/vins_estimator/include/estimator_node.hpp @@ -0,0 +1,81 @@ +#ifndef __ESTIMATOR_NODE_HPP__ +#define __ESTIMATOR_NODE_HPP__ + +#include +#include +#include +#include +#include +#include + +#include + +#include "rclcpp/rclcpp.hpp" +#include "cv_bridge/cv_bridge.h" +#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp" + +#include "estimator.h" +#include "parameters_.h" +#include "utility/visualization.h" + +using imuMsg = sensor_msgs::msg::Imu; +using pointCloudMsg = sensor_msgs::msg::PointCloud; +using boolMsg = std_msgs::msg::Bool; + +typedef struct{ + rclcpp::Subscription::SharedPtr imu; + rclcpp::Subscription::SharedPtr image; + rclcpp::Subscription::SharedPtr restart; + rclcpp::Subscription::SharedPtr relo_points; +} Sub_t; + +class EstimatorNode: public rclcpp::Node{ +public: + EstimatorNode(); + void predict(const imuMsg::SharedPtr imu_msg); + void update(); + std::vector, + pointCloudMsg::SharedPtr>> getMeasurements(); + void imu_callback(const imuMsg::SharedPtr imu_msg); + void feature_callback(const pointCloudMsg::SharedPtr feature_msg); + void restart_callback(const boolMsg::SharedPtr restart_msg); + void relocalization_callback(const pointCloudMsg::SharedPtr points_msg); + void process(); + void initTopic(); + void getParams(); + + void pubTF(const Estimator &estimator, const std_msgs::msg::Header &header); + +private: + std::condition_variable con; + double current_time = -1; + queue imu_buf; + queue feature_buf; + queue relo_buf; + std::shared_ptr br_; + + int sum_of_wait = 0; + std::mutex m_buf; + std::mutex m_state; + std::mutex i_buf; + std::mutex m_estimator; + double latest_time; + Eigen::Vector3d tmp_P; + Eigen::Quaterniond tmp_Q; + Eigen::Vector3d tmp_V; + Eigen::Vector3d tmp_Ba; + Eigen::Vector3d tmp_Bg; + Eigen::Vector3d acc_0; + Eigen::Vector3d gyr_0; + bool init_feature = 0; + bool init_imu = 1; + double last_imu_t = 0; + + Sub_t sub; + // rclcpp::Node::SharedPtr node; + // rclcpp::TimerBase::SharedPtr measurement_process_timer; + std::thread measurement_process; + double imu_timer_ = 0.0; +}; + +#endif \ No newline at end of file diff --git a/vins_estimator/src/factor/imu_factor.h b/src/vins_estimator/include/factor/imu_factor.h similarity index 95% rename from vins_estimator/src/factor/imu_factor.h rename to src/vins_estimator/include/factor/imu_factor.h index 355264331..609f713f0 100644 --- a/vins_estimator/src/factor/imu_factor.h +++ b/src/vins_estimator/include/factor/imu_factor.h @@ -1,10 +1,11 @@ -#pragma once -#include +#ifndef __IMU_FACTOR_H__ +#define __IMU_FACTOR_H__ + #include #include #include "../utility/utility.h" -#include "../parameters.h" +#include "../parameters_.h" #include "integration_base.h" #include @@ -78,9 +79,9 @@ class IMUFactor : public ceres::SizedCostFunction<15, 7, 9, 7, 9> if (pre_integration->jacobian.maxCoeff() > 1e8 || pre_integration->jacobian.minCoeff() < -1e8) { - ROS_WARN("numerical unstable in preintegration"); - //std::cout << pre_integration->jacobian << std::endl; -/// ROS_BREAK(); + RCLCPP_WARN(rclcpp::get_logger("imu_factor"), "numerical unstable in preintegration"); + // std::cerr << pre_integration->jacobian << std::endl; + // assert(false); // ROS_BREAK() } if (jacobians[0]) @@ -104,7 +105,7 @@ class IMUFactor : public ceres::SizedCostFunction<15, 7, 9, 7, 9> if (jacobian_pose_i.maxCoeff() > 1e8 || jacobian_pose_i.minCoeff() < -1e8) { - ROS_WARN("numerical unstable in preintegration"); + RCLCPP_WARN(rclcpp::get_logger("imu_factor"),"numerical unstable in preintegration"); //std::cout << sqrt_info << std::endl; //ROS_BREAK(); } @@ -187,3 +188,5 @@ class IMUFactor : public ceres::SizedCostFunction<15, 7, 9, 7, 9> }; +#endif + diff --git a/vins_estimator/src/factor/integration_base.h b/src/vins_estimator/include/factor/integration_base.h similarity index 99% rename from vins_estimator/src/factor/integration_base.h rename to src/vins_estimator/include/factor/integration_base.h index 9794534a3..0c4fe6bd2 100644 --- a/vins_estimator/src/factor/integration_base.h +++ b/src/vins_estimator/include/factor/integration_base.h @@ -1,7 +1,7 @@ #pragma once #include "../utility/utility.h" -#include "../parameters.h" +#include "../parameters_.h" #include using namespace Eigen; diff --git a/vins_estimator/src/factor/marginalization_factor.h b/src/vins_estimator/include/factor/marginalization_factor.h similarity index 98% rename from vins_estimator/src/factor/marginalization_factor.h rename to src/vins_estimator/include/factor/marginalization_factor.h index 1edcef64d..0ef9faf70 100644 --- a/vins_estimator/src/factor/marginalization_factor.h +++ b/src/vins_estimator/include/factor/marginalization_factor.h @@ -1,12 +1,12 @@ #pragma once -#include -#include #include #include #include #include +#include "rclcpp/rclcpp.hpp" + #include "../utility/utility.h" #include "../utility/tic_toc.h" diff --git a/vins_estimator/src/factor/pose_local_parameterization.h b/src/vins_estimator/include/factor/pose_local_parameterization.h similarity index 100% rename from vins_estimator/src/factor/pose_local_parameterization.h rename to src/vins_estimator/include/factor/pose_local_parameterization.h diff --git a/vins_estimator/src/factor/projection_factor.h b/src/vins_estimator/include/factor/projection_factor.h similarity index 91% rename from vins_estimator/src/factor/projection_factor.h rename to src/vins_estimator/include/factor/projection_factor.h index 92de6edb6..b41d36ce4 100644 --- a/vins_estimator/src/factor/projection_factor.h +++ b/src/vins_estimator/include/factor/projection_factor.h @@ -1,11 +1,10 @@ #pragma once -#include #include #include #include "../utility/utility.h" #include "../utility/tic_toc.h" -#include "../parameters.h" +#include "../parameters_.h" class ProjectionFactor : public ceres::SizedCostFunction<2, 7, 7, 7, 1> { diff --git a/vins_estimator/src/factor/projection_td_factor.h b/src/vins_estimator/include/factor/projection_td_factor.h similarity index 94% rename from vins_estimator/src/factor/projection_td_factor.h rename to src/vins_estimator/include/factor/projection_td_factor.h index d797d2618..dfdc0e514 100644 --- a/vins_estimator/src/factor/projection_td_factor.h +++ b/src/vins_estimator/include/factor/projection_td_factor.h @@ -1,11 +1,10 @@ #pragma once -#include #include #include #include "../utility/utility.h" #include "../utility/tic_toc.h" -#include "../parameters.h" +#include "../parameters_.h" class ProjectionTdFactor : public ceres::SizedCostFunction<2, 7, 7, 7, 1, 1> { diff --git a/vins_estimator/src/feature_manager.h b/src/vins_estimator/include/feature_manager.h similarity index 96% rename from vins_estimator/src/feature_manager.h rename to src/vins_estimator/include/feature_manager.h index 4e5d3ce21..a4104b3a5 100644 --- a/vins_estimator/src/feature_manager.h +++ b/src/vins_estimator/include/feature_manager.h @@ -10,10 +10,7 @@ using namespace std; #include using namespace Eigen; -#include -#include - -#include "parameters.h" +#include "parameters_.h" class FeaturePerFrame { diff --git a/vins_estimator/src/initial/initial_alignment.h b/src/vins_estimator/include/initial/initial_alignment.h similarity index 96% rename from vins_estimator/src/initial/initial_alignment.h rename to src/vins_estimator/include/initial/initial_alignment.h index 49bc466ea..c1d8e1c63 100644 --- a/vins_estimator/src/initial/initial_alignment.h +++ b/src/vins_estimator/include/initial/initial_alignment.h @@ -1,10 +1,12 @@ #pragma once -#include +#include #include +#include + +#include "rclcpp/rclcpp.hpp" + #include "../factor/imu_factor.h" #include "../utility/utility.h" -#include -#include #include "../feature_manager.h" using namespace Eigen; diff --git a/vins_estimator/src/initial/initial_ex_rotation.h b/src/vins_estimator/include/initial/initial_ex_rotation.h similarity index 95% rename from vins_estimator/src/initial/initial_ex_rotation.h rename to src/vins_estimator/include/initial/initial_ex_rotation.h index 902b6fa1a..7b1b3a78a 100644 --- a/vins_estimator/src/initial/initial_ex_rotation.h +++ b/src/vins_estimator/include/initial/initial_ex_rotation.h @@ -1,14 +1,13 @@ #pragma once #include -#include "../parameters.h" -using namespace std; +#include "../parameters_.h" #include - #include + +using namespace std; using namespace Eigen; -#include /* This class help you to calibrate extrinsic rotation between imu and camera when your totally don't konw the extrinsic parameter */ class InitialEXRotation diff --git a/vins_estimator/src/initial/initial_sfm.h b/src/vins_estimator/include/initial/initial_sfm.h similarity index 99% rename from vins_estimator/src/initial/initial_sfm.h rename to src/vins_estimator/include/initial/initial_sfm.h index f70432dc5..e41da5f64 100644 --- a/vins_estimator/src/initial/initial_sfm.h +++ b/src/vins_estimator/include/initial/initial_sfm.h @@ -8,11 +8,10 @@ #include #include #include + using namespace Eigen; using namespace std; - - struct SFMFeature { bool state; diff --git a/vins_estimator/src/initial/solve_5pts.h b/src/vins_estimator/include/initial/solve_5pts.h similarity index 96% rename from vins_estimator/src/initial/solve_5pts.h rename to src/vins_estimator/include/initial/solve_5pts.h index 5a807a949..224b9b065 100644 --- a/vins_estimator/src/initial/solve_5pts.h +++ b/src/vins_estimator/include/initial/solve_5pts.h @@ -8,8 +8,6 @@ using namespace std; #include using namespace Eigen; -#include - class MotionEstimator { public: diff --git a/vins_estimator/src/parameters.h b/src/vins_estimator/include/parameters_.h similarity index 66% rename from vins_estimator/src/parameters.h rename to src/vins_estimator/include/parameters_.h index 6d206cb70..efd7aa54a 100644 --- a/vins_estimator/src/parameters.h +++ b/src/vins_estimator/include/parameters_.h @@ -1,12 +1,30 @@ #pragma once -#include #include -#include -#include "utility/utility.h" +#include #include +#include #include -#include + +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/header.hpp" + +#include "utility/utility.h" + +#define COLOR_BLK "\x1b[30m" +#define COLOR_RED "\x1b[31m" +#define COLOR_GRN "\x1b[32m" +#define COLOR_YLW "\x1b[33m" +#define COLOR_BLE "\x1b[34m" +#define COLOR_MGT "\x1b[35m" +#define COLOR_CYN "\x1b[36m" +#define COLOR_WHT "\x1b[37m" +#define COLOR_RST "\x1b[0m" + +#define UNDERLINE "\x1b[21m" +#define LINE "=================================================================================================" + +using headerMsg = std_msgs::msg::Header; const double FOCAL_LENGTH = 460.0; const int WINDOW_SIZE = 10; @@ -38,8 +56,8 @@ extern int ESTIMATE_TD; extern int ROLLING_SHUTTER; extern double ROW, COL; - -void readParameters(ros::NodeHandle &n); +void readParameters(std::string config_file); +double toSec(headerMsg header_time); enum SIZE_PARAMETERIZATION { diff --git a/vins_estimator/src/utility/CameraPoseVisualization.h b/src/vins_estimator/include/utility/CameraPoseVisualization.h similarity index 66% rename from vins_estimator/src/utility/CameraPoseVisualization.h rename to src/vins_estimator/include/utility/CameraPoseVisualization.h index a7d168401..1c58f80b7 100644 --- a/vins_estimator/src/utility/CameraPoseVisualization.h +++ b/src/vins_estimator/include/utility/CameraPoseVisualization.h @@ -1,12 +1,14 @@ #pragma once -#include -#include -#include -#include #include #include +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/color_rgba.hpp" +#include "visualization_msgs/msg/marker.hpp" +#include "visualization_msgs/msg/marker_array.hpp" + +using markerArrayMsg = visualization_msgs::msg::MarkerArray; class CameraPoseVisualization { public: std::string m_marker_ns; @@ -21,13 +23,13 @@ class CameraPoseVisualization { void add_pose(const Eigen::Vector3d& p, const Eigen::Quaterniond& q); void reset(); - void publish_by(ros::Publisher& pub, const std_msgs::Header& header); + void publish_by(rclcpp::Publisher::SharedPtr pub, const std_msgs::msg::Header& header); void add_edge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1); void add_loopedge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1); private: - std::vector m_markers; - std_msgs::ColorRGBA m_image_boundary_color; - std_msgs::ColorRGBA m_optical_center_connector_color; + std::vector m_markers; + std_msgs::msg::ColorRGBA m_image_boundary_color; + std_msgs::msg::ColorRGBA m_optical_center_connector_color; double m_scale; double m_line_width; diff --git a/vins_estimator/src/utility/tic_toc.h b/src/vins_estimator/include/utility/tic_toc.h similarity index 66% rename from vins_estimator/src/utility/tic_toc.h rename to src/vins_estimator/include/utility/tic_toc.h index 8885273cf..a38bbc0fc 100644 --- a/vins_estimator/src/utility/tic_toc.h +++ b/src/vins_estimator/include/utility/tic_toc.h @@ -14,16 +14,16 @@ class TicToc void tic() { - start = std::chrono::system_clock::now(); + start = std::chrono::steady_clock::now(); } double toc() { - end = std::chrono::system_clock::now(); + end = std::chrono::steady_clock::now(); std::chrono::duration elapsed_seconds = end - start; return elapsed_seconds.count() * 1000; } private: - std::chrono::time_point start, end; + std::chrono::time_point start, end; }; diff --git a/vins_estimator/src/utility/utility.h b/src/vins_estimator/include/utility/utility.h similarity index 99% rename from vins_estimator/src/utility/utility.h rename to src/vins_estimator/include/utility/utility.h index 1d41df9bf..a6f7180ae 100644 --- a/vins_estimator/src/utility/utility.h +++ b/src/vins_estimator/include/utility/utility.h @@ -140,7 +140,7 @@ class Utility else return angle_degrees + two_pi * std::floor((-angle_degrees + T(180)) / two_pi); - }; + } }; class FileSystemHelper diff --git a/src/vins_estimator/include/utility/visualization.h b/src/vins_estimator/include/utility/visualization.h new file mode 100644 index 000000000..9ecbfb14d --- /dev/null +++ b/src/vins_estimator/include/utility/visualization.h @@ -0,0 +1,83 @@ +#ifndef __VISUALIZATION_HPP__ +#define __VISUALIZATION_HPP__ + +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/header.hpp" +#include "std_msgs/msg/float32.hpp" +#include "std_msgs/msg/bool.hpp" +#include "sensor_msgs/msg/imu.hpp" +#include "sensor_msgs/msg/point_cloud.hpp" +#include "sensor_msgs/msg/channel_float32.hpp" +#include "sensor_msgs/msg/image.hpp" +#include "sensor_msgs/image_encodings.hpp" +#include "nav_msgs/msg/path.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "geometry_msgs/msg/point.hpp" +#include "geometry_msgs/msg/point_stamped.hpp" +#include "visualization_msgs/msg/marker.hpp" + +#include "tf2/convert.h" +#include "tf2_ros/transform_broadcaster.h" +#include "tf2/LinearMath/Quaternion.h" +#include "tf2/LinearMath/Transform.h" +#include "tf2/transform_datatypes.h" + +#include "utility/CameraPoseVisualization.h" +#include "../estimator.h" +#include "../parameters_.h" + +using navOdometryMsg = nav_msgs::msg::Odometry; +using navPathMsg = nav_msgs::msg::Path; +using pointCloudMsg = sensor_msgs::msg::PointCloud; +using markerMsg = visualization_msgs::msg::Marker; +using markerArrayMsg = visualization_msgs::msg::MarkerArray; + +extern rclcpp::Publisher::SharedPtr pub_odometry; +extern rclcpp::Publisher::SharedPtr pub_path, pub_pose; +extern rclcpp::Publisher::SharedPtr pub_cloud, pub_map; +extern rclcpp::Publisher::SharedPtr pub_key_poses; +extern rclcpp::Publisher::SharedPtr pub_odometry, pub_latest_odometry; +extern rclcpp::Publisher::SharedPtr pub_point_cloud, pub_margin_cloud; +extern rclcpp::Publisher::SharedPtr pub_relo_path; +extern rclcpp::Publisher::SharedPtr pub_relo_relative_pose; +extern rclcpp::Publisher::SharedPtr pub_camera_pose; +extern rclcpp::Publisher::SharedPtr pub_camera_pose_visual; +extern rclcpp::Publisher::SharedPtr pub_keyframe_pose; +extern rclcpp::Publisher::SharedPtr pub_keyframe_point; +extern rclcpp::Publisher::SharedPtr pub_extrinsic; + +// extern rclcpp::Publisher<>::SharedPtr pub_ref_pose, pub_cur_pose; +// extern rclcpp::Publisher<>::SharedPtr pub_key; +// extern rclcpp::Publisher<>::SharedPtr pub_pose_graph; + +// std::shared_ptr tf_broadcaster; + +extern nav_msgs::msg::Path path; +extern int IMAGE_ROW, IMAGE_COL; + +void registerPub(); + +void pubLatestOdometry(const Eigen::Vector3d &P, const Eigen::Quaterniond &Q, const Eigen::Vector3d &V, const std_msgs::msg::Header &header); + +void printStatistics(const Estimator &estimator, double t); + +void pubOdometry(const Estimator &estimator, const std_msgs::msg::Header &header); + +void pubInitialGuess(const Estimator &estimator, const std_msgs::msg::Header &header); + +void pubKeyPoses(const Estimator &estimator, const std_msgs::msg::Header &header); + +void pubCameraPose(const Estimator &estimator, const std_msgs::msg::Header &header); + +void pubPointCloud(const Estimator &estimator, const std_msgs::msg::Header &header); + +void pubTF(const Estimator &estimator, const std_msgs::msg::Header &header); + +void pubKeyframe(const Estimator &estimator); + +void pubRelocalization(const Estimator &estimator); + +#endif \ No newline at end of file diff --git a/src/vins_estimator/launch/3dm.launch.py b/src/vins_estimator/launch/3dm.launch.py new file mode 100644 index 000000000..ec5fa0f28 --- /dev/null +++ b/src/vins_estimator/launch/3dm.launch.py @@ -0,0 +1,37 @@ + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node + +config_path_arg = DeclareLaunchArgument('config_path', default_value = os.path.join(get_package_share_directory('config'), + 'config', '3dm', '3dm_config.yaml')) +vins_path_arg = DeclareLaunchArgument('vins_path', default_value = os.path.join(get_package_share_directory('config'), '..')) + +feature_tracker_node = Node( + package='feature_tracker', + executable='feature_tracker_node', + output='log', + parameters=[ + {'config_file': config_path_arg}, + {'vins_folder': vins_path_arg} + ] +) + +vins_estimator_node = Node( + package='vins_estimator', + executable='vins_estimator_node', + output='screen', + parameters=[ + {'config_file': config_path_arg}, + {'vins_folder': vins_path_arg} + ] +) + +def generate_launch_description(): + return LaunchDescription([ + feature_tracker_node, + vins_estimator_node + ]) \ No newline at end of file diff --git a/src/vins_estimator/launch/black_box.launch.py b/src/vins_estimator/launch/black_box.launch.py new file mode 100644 index 000000000..730c12e2c --- /dev/null +++ b/src/vins_estimator/launch/black_box.launch.py @@ -0,0 +1,49 @@ + + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node + +config_path_arg = DeclareLaunchArgument('config_path', default_value = os.path.join(get_package_share_directory('config'), + 'config', 'black_box', 'black_box_config.yaml')) +vins_path_arg = DeclareLaunchArgument('vins_path', default_value = os.path.join(get_package_share_directory('config'), '..')) + +feature_tracker_node = Node( + package='feature_tracker', + executable='feature_tracker_node', + output='log', + launch_prefix='taskset -c 3', + parameters=[{'config_file': config_path_arg}, + {'vins_folder': vins_path_arg}] + ) + +vins_estimator_node = Node( + package='vins_estimator', + executable='vins_estimator_node', + output='screen', + launch_prefix='taskset -c 1', + parameters=[{'config_file': config_path_arg}, + {'vins_folder': vins_path_arg}] + ) + +pose_graph_node = Node( + package='pose_graph', + executable='pose_graph_node', + output='screen', + launch_prefix='taskset -c 2', + parameters=[{'config_file': config_path_arg}, + {'visualization_shift_x': 0}, + {'visualization_shift_y': 0}, + {'skip_cnt': 0}, + {'skip_dis': 0.1}] + ) + +def generate_launch_description(): + return LaunchDescription([ + feature_tracker_node, + vins_estimator_node, + pose_graph_node + ]) \ No newline at end of file diff --git a/src/vins_estimator/launch/cla.launch.py b/src/vins_estimator/launch/cla.launch.py new file mode 100644 index 000000000..bee4797de --- /dev/null +++ b/src/vins_estimator/launch/cla.launch.py @@ -0,0 +1,45 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node + +config_path_arg = DeclareLaunchArgument('config_path', default_value = os.path.join(get_package_share_directory('config'), + 'config', 'cla', 'cla_config.yaml')) +vins_path_arg = DeclareLaunchArgument('vins_path', default_value = os.path.join(get_package_share_directory('config'), '..')) + +feature_tracker_node = Node( + package='feature_tracker', + executable='feature_tracker_node', + output='log', + parameters=[{'config_file': config_path_arg}, + {'vins_folder': vins_path_arg}] + ) + +vins_estimator_node = Node( + package='vins_estimator', + executable='vins_estimator_node', + output='screen', + parameters=[{'config_file': config_path_arg}, + {'vins_folder': vins_path_arg}] + ) + +pose_graph_node = Node( + package='pose_graph', + executable='pose_graph_node', + output='screen', + launch_prefix='taskset -c 2', + parameters=[{'config_file': config_path_arg}, + {'visualization_shift_x': 0}, + {'visualization_shift_y': 0}, + {'skip_cnt': 0}, + {'skip_dis': 0.1}] + ) + +def generate_launch_description(): + return LaunchDescription([ + feature_tracker_node, + vins_estimator_node, + pose_graph_node + ]) \ No newline at end of file diff --git a/src/vins_estimator/launch/euroc.launch.py b/src/vins_estimator/launch/euroc.launch.py new file mode 100644 index 000000000..7945b32ba --- /dev/null +++ b/src/vins_estimator/launch/euroc.launch.py @@ -0,0 +1,42 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node + + +config = os.path.join( + get_package_share_directory('config'), + 'config', + 'params.yaml' + ) + +feature_tracker_node = Node( + package='feature_tracker', + executable='feature_tracker_node', + output='screen', + parameters=[config], + # ros_arguments=[ "--log-level", "feature_tracker_node:=debug"]w + ) + +vins_estimator_node = Node( + package='vins_estimator', + executable='vins_estimator_node', + output='screen', + parameters=[config] + ) + +pose_graph_node = Node( + package='pose_graph', + executable='pose_graph_node', + output='screen', + parameters=[config] + ) + +def generate_launch_description(): + return LaunchDescription([ + # feature_tracker_node, + vins_estimator_node, + pose_graph_node + ]) \ No newline at end of file diff --git a/src/vins_estimator/launch/euroc_no_extrinsic_param.launch.py b/src/vins_estimator/launch/euroc_no_extrinsic_param.launch.py new file mode 100644 index 000000000..da5d2f53c --- /dev/null +++ b/src/vins_estimator/launch/euroc_no_extrinsic_param.launch.py @@ -0,0 +1,48 @@ + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node + +# config_path_arg = DeclareLaunchArgument('config_path', default_value = os.path.join(get_package_share_directory('config'), +# 'config', 'euroc', 'euroc_config_no_extrinsic.yaml')) +# vins_path_arg = DeclareLaunchArgument('vins_path', default_value = os.path.join(get_package_share_directory('config'), '..')) + +config_path_arg = "/home/serkan/source_code/VINS-Mono/config/config/euroc/euroc_config_no_extrinsic.yaml" +vins_path_arg = "/home/serkan/source_code/VINS-Mono/config" + +feature_tracker_node = Node( + package='feature_tracker', + executable='feature_tracker_node', + output='log', + parameters=[{'config_file': config_path_arg}, + {'vins_folder': vins_path_arg}] + ) + +vins_estimator_node = Node( + package='vins_estimator', + executable='vins_estimator_node', + output='screen', + parameters=[{'config_file': config_path_arg}, + {'vins_folder': vins_path_arg}] + ) + +pose_graph_node = Node( + package='pose_graph', + executable='pose_graph_node', + output='screen', + parameters=[{'config_file': config_path_arg}, + {'visualization_shift_x': 0}, + {'visualization_shift_y': 0}, + {'skip_cnt': 0}, + {'skip_dis': 0.0}] + ) + +def generate_launch_description(): + return LaunchDescription([ + feature_tracker_node, + vins_estimator_node, + pose_graph_node + ]) \ No newline at end of file diff --git a/src/vins_estimator/launch/realsense_color.launch.py b/src/vins_estimator/launch/realsense_color.launch.py new file mode 100644 index 000000000..bb6426ee2 --- /dev/null +++ b/src/vins_estimator/launch/realsense_color.launch.py @@ -0,0 +1,46 @@ + + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node + +config_path_arg = DeclareLaunchArgument('config_path', default_value = os.path.join(get_package_share_directory('config'), + 'config', 'realsense', 'realsense_color_config.yaml')) +vins_path_arg = DeclareLaunchArgument('vins_path', default_value = os.path.join(get_package_share_directory('config'), '..')) + +feature_tracker_node = Node( + package='feature_tracker', + executable='feature_tracker_node', + output='log', + parameters=[{'config_file': config_path_arg}, + {'vins_folder': vins_path_arg}] + ) + +vins_estimator_node = Node( + package='vins_estimator', + executable='vins_estimator_node', + output='screen', + parameters=[{'config_file': config_path_arg}, + {'vins_folder': vins_path_arg}] + ) + +pose_graph_node = Node( + package='pose_graph', + executable='pose_graph_node', + output='screen', + parameters=[{'config_file': config_path_arg}, + {'visualization_shift_x': 0}, + {'visualization_shift_y': 0}, + {'skip_cnt': 0}, + {'skip_dis': 0}] + ) + +def generate_launch_description(): + return LaunchDescription([ + feature_tracker_node, + vins_estimator_node, + pose_graph_node + ]) \ No newline at end of file diff --git a/src/vins_estimator/launch/realsense_fisheye.launch.py b/src/vins_estimator/launch/realsense_fisheye.launch.py new file mode 100644 index 000000000..8bf2ae5f6 --- /dev/null +++ b/src/vins_estimator/launch/realsense_fisheye.launch.py @@ -0,0 +1,46 @@ + + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node + +config_path_arg = DeclareLaunchArgument('config_path', default_value = os.path.join(get_package_share_directory('config'), + 'config', 'realsense', 'realsense_fisheye_config.yaml')) +vins_path_arg = DeclareLaunchArgument('vins_path', default_value = os.path.join(get_package_share_directory('config'), '..')) + +feature_tracker_node = Node( + package='feature_tracker', + executable='feature_tracker_node', + output='log', + parameters=[{'config_file': config_path_arg}, + {'vins_folder': vins_path_arg}] + ) + +vins_estimator_node = Node( + package='vins_estimator', + executable='vins_estimator_node', + output='screen', + parameters=[{'config_file': config_path_arg}, + {'vins_folder': vins_path_arg}] + ) + +pose_graph_node = Node( + package='pose_graph', + executable='pose_graph_node', + output='screen', + parameters=[{'config_file': config_path_arg}, + {'visualization_shift_x': 0}, + {'visualization_shift_y': 0}, + {'skip_cnt': 0}, + {'skip_dis': 0}] + ) + +def generate_launch_description(): + return LaunchDescription([ + feature_tracker_node, + vins_estimator_node, + pose_graph_node + ]) \ No newline at end of file diff --git a/src/vins_estimator/launch/tum.launch.py b/src/vins_estimator/launch/tum.launch.py new file mode 100644 index 000000000..5e49940ee --- /dev/null +++ b/src/vins_estimator/launch/tum.launch.py @@ -0,0 +1,46 @@ + + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node + +config_path_arg = DeclareLaunchArgument('config_path', default_value = os.path.join(get_package_share_directory('config'), + 'config', 'tum', 'tum_config.yaml')) +vins_path_arg = DeclareLaunchArgument('vins_path', default_value = os.path.join(get_package_share_directory('config'), '..')) + +feature_tracker_node = Node( + package='feature_tracker', + executable='feature_tracker_node', + output='log', + parameters=[{'config_file': config_path_arg}, + {'vins_folder': vins_path_arg}] + ) + +vins_estimator_node = Node( + package='vins_estimator', + executable='vins_estimator_node', + output='screen', + parameters=[{'config_file': config_path_arg}, + {'vins_folder': vins_path_arg}] + ) + +pose_graph_node = Node( + package='pose_graph', + executable='pose_graph_node', + output='screen', + parameters=[{'config_file': config_path_arg}, + {'visualization_shift_x': 0}, + {'visualization_shift_y': 0}, + {'skip_cnt': 0}, + {'skip_dis': 0}] + ) + +def generate_launch_description(): + return LaunchDescription([ + feature_tracker_node, + vins_estimator_node, + pose_graph_node + ]) \ No newline at end of file diff --git a/src/vins_estimator/launch/vins_rviz.launch.py b/src/vins_estimator/launch/vins_rviz.launch.py new file mode 100644 index 000000000..f15e5ffd6 --- /dev/null +++ b/src/vins_estimator/launch/vins_rviz.launch.py @@ -0,0 +1,16 @@ +import os +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + +rviz_node = Node( + package='rviz2', + executable='rviz2', + output='log', + arguments=['-d', os.path.join(get_package_share_directory('config'), 'config', 'vins_rviz_config.rviz')] + ) + +def generate_launch_description(): + return LaunchDescription([ + rviz_node, + ]) \ No newline at end of file diff --git a/src/vins_estimator/package.xml b/src/vins_estimator/package.xml new file mode 100644 index 000000000..b084cb288 --- /dev/null +++ b/src/vins_estimator/package.xml @@ -0,0 +1,20 @@ + + + + vins_estimator + 0.0.0 + TODO: Package description + serkan + TODO: License declaration + + ament_cmake + + rclcpp + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/vins_estimator/src/estimator.cpp b/src/vins_estimator/src/estimator.cpp similarity index 87% rename from vins_estimator/src/estimator.cpp rename to src/vins_estimator/src/estimator.cpp index cc198768a..45c5f6b70 100644 --- a/vins_estimator/src/estimator.cpp +++ b/src/vins_estimator/src/estimator.cpp @@ -2,7 +2,7 @@ Estimator::Estimator(): f_manager{Rs} { - ROS_INFO("init begins"); + RCLCPP_INFO(rclcpp::get_logger("estimator"), "init begins"); clearState(); } @@ -117,37 +117,37 @@ void Estimator::processIMU(double dt, const Vector3d &linear_acceleration, const gyr_0 = angular_velocity; } -void Estimator::processImage(const map>>> &image, const std_msgs::Header &header) +void Estimator::processImage(const map>>> &image, const std_msgs::msg::Header &header) { - ROS_DEBUG("new image coming ------------------------------------------"); - ROS_DEBUG("Adding feature points %lu", image.size()); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "new image coming ------------------------------------------"); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "Adding feature points %lu", image.size()); if (f_manager.addFeatureCheckParallax(frame_count, image, td)) marginalization_flag = MARGIN_OLD; else marginalization_flag = MARGIN_SECOND_NEW; - ROS_DEBUG("this frame is--------------------%s", marginalization_flag ? "reject" : "accept"); - ROS_DEBUG("%s", marginalization_flag ? "Non-keyframe" : "Keyframe"); - ROS_DEBUG("Solving %d", frame_count); - ROS_DEBUG("number of feature: %d", f_manager.getFeatureCount()); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "this frame is--------------------%s", marginalization_flag ? "reject" : "accept"); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "%s", marginalization_flag ? "Non-keyframe" : "Keyframe"); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "Solving %d", frame_count); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "number of feature: %d", f_manager.getFeatureCount()); Headers[frame_count] = header; - ImageFrame imageframe(image, header.stamp.toSec()); + ImageFrame imageframe(image, toSec(header)); imageframe.pre_integration = tmp_pre_integration; - all_image_frame.insert(make_pair(header.stamp.toSec(), imageframe)); + all_image_frame.insert(make_pair(toSec(header), imageframe)); tmp_pre_integration = new IntegrationBase{acc_0, gyr_0, Bas[frame_count], Bgs[frame_count]}; if(ESTIMATE_EXTRINSIC == 2) { - ROS_INFO("calibrating extrinsic param, rotation movement is needed"); + RCLCPP_INFO(rclcpp::get_logger("estimator"), "calibrating extrinsic param, rotation movement is needed"); if (frame_count != 0) { vector> corres = f_manager.getCorresponding(frame_count - 1, frame_count); Matrix3d calib_ric; if (initial_ex_rotation.CalibrationExRotation(corres, pre_integrations[frame_count]->delta_q, calib_ric)) { - ROS_WARN("initial extrinsic rotation calib success"); - ROS_WARN_STREAM("initial extrinsic rotation: " << endl << calib_ric); + RCLCPP_WARN(rclcpp::get_logger("estimator"), "initial extrinsic rotation calib success"); + RCLCPP_WARN_STREAM(rclcpp::get_logger("estimator"),"initial extrinsic rotation: " << endl << calib_ric); ric[0] = calib_ric; RIC[0] = calib_ric; ESTIMATE_EXTRINSIC = 1; @@ -160,10 +160,10 @@ void Estimator::processImage(const map 0.1) + if( ESTIMATE_EXTRINSIC != 2 && (toSec(header) - initial_timestamp) > 0.1) { result = initialStructure(); - initial_timestamp = header.stamp.toSec(); + initial_timestamp = toSec(header); } if(result) { @@ -171,7 +171,7 @@ void Estimator::processImage(const mapfirst) == Headers[i].stamp.toSec()) + if((frame_it->first) == toSec(Headers[i])) { frame_it->second.is_key_frame = true; frame_it->second.R = Q[i].toRotationMatrix() * RIC[0].transpose(); @@ -299,7 +300,7 @@ bool Estimator::initialStructure() i++; continue; } - if((frame_it->first) > Headers[i].stamp.toSec()) + if((frame_it->first) > toSec(Headers[i])) { i++; } @@ -333,12 +334,12 @@ bool Estimator::initialStructure() if(pts_3_vector.size() < 6) { cout << "pts_3_vector size " << pts_3_vector.size() << endl; - ROS_DEBUG("Not enough points for solve pnp !"); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "Not enough points for solve pnp !"); return false; } if (! cv::solvePnP(pts_3_vector, pts_2_vector, K, D, rvec, t, 1)) { - ROS_DEBUG("solve pnp fail!"); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "solve pnp fail!"); return false; } cv::Rodrigues(rvec, r); @@ -355,7 +356,7 @@ bool Estimator::initialStructure() return true; else { - ROS_INFO("misalign visual structure with IMU"); + RCLCPP_INFO(rclcpp::get_logger("estimator"), "misalign visual structure with IMU"); return false; } @@ -369,18 +370,18 @@ bool Estimator::visualInitialAlign() bool result = VisualIMUAlignment(all_image_frame, Bgs, g, x); if(!result) { - ROS_DEBUG("solve g failed!"); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "solve g failed!"); return false; } // change state for (int i = 0; i <= frame_count; i++) { - Matrix3d Ri = all_image_frame[Headers[i].stamp.toSec()].R; - Vector3d Pi = all_image_frame[Headers[i].stamp.toSec()].T; + Matrix3d Ri = all_image_frame[toSec(Headers[i])].R; + Vector3d Pi = all_image_frame[toSec(Headers[i])].T; Ps[i] = Pi; Rs[i] = Ri; - all_image_frame[Headers[i].stamp.toSec()].is_key_frame = true; + all_image_frame[toSec(Headers[i])].is_key_frame = true; } VectorXd dep = f_manager.getDepthVector(); @@ -433,8 +434,8 @@ bool Estimator::visualInitialAlign() Rs[i] = rot_diff * Rs[i]; Vs[i] = rot_diff * Vs[i]; } - ROS_DEBUG_STREAM("g0 " << g.transpose()); - ROS_DEBUG_STREAM("my R0 " << Utility::R2ypr(Rs[0]).transpose()); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("estimator"), "g0 " << g.transpose()); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("estimator"), "my R0 " << Utility::R2ypr(Rs[0]).transpose()); return true; } @@ -462,7 +463,7 @@ bool Estimator::relativePose(Matrix3d &relative_R, Vector3d &relative_T, int &l) if(average_parallax * 460 > 30 && m_estimator.solveRelativeRT(corres, relative_R, relative_T)) { l = i; - ROS_DEBUG("average_parallax %f choose l %d and newest frame to triangulate the whole structure", average_parallax * 460, l); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "average_parallax %f choose l %d and newest frame to triangulate the whole structure", average_parallax * 460, l); return true; } } @@ -478,7 +479,7 @@ void Estimator::solveOdometry() { TicToc t_tri; f_manager.triangulate(Ps, tic, ric); - ROS_DEBUG("triangulation costs %f", t_tri.toc()); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "triangulation costs %f", t_tri.toc()); optimization(); } } @@ -547,7 +548,7 @@ void Estimator::double2vector() Matrix3d rot_diff = Utility::ypr2R(Vector3d(y_diff, 0, 0)); if (abs(abs(origin_R0.y()) - 90) < 1.0 || abs(abs(origin_R00.y()) - 90) < 1.0) { - ROS_DEBUG("euler singular point!"); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "euler singular point!"); rot_diff = Rs[0] * Quaterniond(para_Pose[0][6], para_Pose[0][3], para_Pose[0][4], @@ -622,35 +623,35 @@ bool Estimator::failureDetection() { if (f_manager.last_track_num < 2) { - ROS_INFO(" little feature %d", f_manager.last_track_num); + RCLCPP_INFO(rclcpp::get_logger("estimator"), " little feature %d", f_manager.last_track_num); //return true; } if (Bas[WINDOW_SIZE].norm() > 2.5) { - ROS_INFO(" big IMU acc bias estimation %f", Bas[WINDOW_SIZE].norm()); + RCLCPP_INFO(rclcpp::get_logger("estimator"), " big IMU acc bias estimation %f", Bas[WINDOW_SIZE].norm()); return true; } if (Bgs[WINDOW_SIZE].norm() > 1.0) { - ROS_INFO(" big IMU gyr bias estimation %f", Bgs[WINDOW_SIZE].norm()); + RCLCPP_INFO(rclcpp::get_logger("estimator"), " big IMU gyr bias estimation %f", Bgs[WINDOW_SIZE].norm()); return true; } /* if (tic(0) > 1) { - ROS_INFO(" big extri param estimation %d", tic(0) > 1); + RCLCPP_INFO(" big extri param estimation %d", tic(0) > 1); return true; } */ Vector3d tmp_P = Ps[WINDOW_SIZE]; if ((tmp_P - last_P).norm() > 5) { - ROS_INFO(" big translation"); + RCLCPP_INFO(rclcpp::get_logger("estimator"), " big translation"); return true; } if (abs(tmp_P.z() - last_P.z()) > 1) { - ROS_INFO(" big z translation"); + RCLCPP_INFO(rclcpp::get_logger("estimator"), " big z translation"); return true; } Matrix3d tmp_R = Rs[WINDOW_SIZE]; @@ -660,7 +661,7 @@ bool Estimator::failureDetection() delta_angle = acos(delta_Q.w()) * 2.0 / 3.14 * 180.0; if (delta_angle > 50) { - ROS_INFO(" big delta_angle "); + RCLCPP_INFO(rclcpp::get_logger("estimator"), " big delta_angle "); //return true; } return false; @@ -685,11 +686,11 @@ void Estimator::optimization() problem.AddParameterBlock(para_Ex_Pose[i], SIZE_POSE, local_parameterization); if (!ESTIMATE_EXTRINSIC) { - ROS_DEBUG("fix extinsic param"); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "fix extinsic param"); problem.SetParameterBlockConstant(para_Ex_Pose[i]); } else - ROS_DEBUG("estimate extinsic param"); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "estimate extinsic param"); } if (ESTIMATE_TD) { @@ -763,8 +764,8 @@ void Estimator::optimization() } } - ROS_DEBUG("visual measurement count: %d", f_m_cnt); - ROS_DEBUG("prepare for ceres: %f", t_prepare.toc()); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "visual measurement count: %d", f_m_cnt); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "prepare for ceres: %f", t_prepare.toc()); if(relocalization_info) { @@ -817,8 +818,8 @@ void Estimator::optimization() ceres::Solver::Summary summary; ceres::Solve(options, &problem, &summary); //cout << summary.BriefReport() << endl; - ROS_DEBUG("Iterations : %d", static_cast(summary.iterations.size())); - ROS_DEBUG("solver costs: %f", t_solver.toc()); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "Iterations : %d", static_cast(summary.iterations.size())); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "solver costs: %f", t_solver.toc()); double2vector(); @@ -904,11 +905,11 @@ void Estimator::optimization() TicToc t_pre_margin; marginalization_info->preMarginalize(); - ROS_DEBUG("pre marginalization %f ms", t_pre_margin.toc()); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "pre marginalization %f ms", t_pre_margin.toc()); TicToc t_margin; marginalization_info->marginalize(); - ROS_DEBUG("marginalization %f ms", t_margin.toc()); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "marginalization %f ms", t_margin.toc()); std::unordered_map addr_shift; for (int i = 1; i <= WINDOW_SIZE; i++) @@ -943,7 +944,7 @@ void Estimator::optimization() vector drop_set; for (int i = 0; i < static_cast(last_marginalization_parameter_blocks.size()); i++) { - ROS_ASSERT(last_marginalization_parameter_blocks[i] != para_SpeedBias[WINDOW_SIZE - 1]); + assert(last_marginalization_parameter_blocks[i] != para_SpeedBias[WINDOW_SIZE - 1]); if (last_marginalization_parameter_blocks[i] == para_Pose[WINDOW_SIZE - 1]) drop_set.push_back(i); } @@ -957,14 +958,14 @@ void Estimator::optimization() } TicToc t_pre_margin; - ROS_DEBUG("begin marginalization"); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "begin marginalization"); marginalization_info->preMarginalize(); - ROS_DEBUG("end pre marginalization, %f ms", t_pre_margin.toc()); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "end pre marginalization, %f ms", t_pre_margin.toc()); TicToc t_margin; - ROS_DEBUG("begin marginalization"); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "begin marginalization"); marginalization_info->marginalize(); - ROS_DEBUG("end marginalization, %f ms", t_margin.toc()); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "end marginalization, %f ms", t_margin.toc()); std::unordered_map addr_shift; for (int i = 0; i <= WINDOW_SIZE; i++) @@ -997,9 +998,9 @@ void Estimator::optimization() } } - ROS_DEBUG("whole marginalization costs: %f", t_whole_marginalization.toc()); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "whole marginalization costs: %f", t_whole_marginalization.toc()); - ROS_DEBUG("whole time for ceres: %f", t_whole.toc()); + RCLCPP_DEBUG(rclcpp::get_logger("estimator"), "whole time for ceres: %f", t_whole.toc()); } void Estimator::slideWindow() @@ -1007,13 +1008,14 @@ void Estimator::slideWindow() TicToc t_margin; if (marginalization_flag == MARGIN_OLD) { - double t_0 = Headers[0].stamp.toSec(); + double t_0 = toSec(Headers[0]); back_R0 = Rs[0]; back_P0 = Ps[0]; if (frame_count == WINDOW_SIZE) - { + { + for (int i = 0; i < WINDOW_SIZE; i++) - { + { Rs[i].swap(Rs[i + 1]); std::swap(pre_integrations[i], pre_integrations[i + 1]); @@ -1044,6 +1046,7 @@ void Estimator::slideWindow() if (true || solver_flag == INITIAL) { + map::iterator it_0; it_0 = all_image_frame.find(t_0); delete it_0->second.pre_integration; @@ -1055,16 +1058,15 @@ void Estimator::slideWindow() delete it->second.pre_integration; it->second.pre_integration = NULL; } - + all_image_frame.erase(all_image_frame.begin(), it_0); all_image_frame.erase(t_0); - } slideWindowOld(); } } else - { + { if (frame_count == WINDOW_SIZE) { for (unsigned int i = 0; i < dt_buf[frame_count].size(); i++) @@ -1135,7 +1137,7 @@ void Estimator::setReloFrame(double _frame_stamp, int _frame_index, vector(this); + getParams(); + estimator.setParameter(); +#ifdef EIGEN_DONT_PARALLELIZE + RCLCPP_DEBUG(this->get_logger(), "EIGEN_DONT_PARALLELIZE"); +#endif + RCLCPP_WARN(this->get_logger(), "waiting for image and imu..."); + initTopic(); + registerPub(); + + measurement_process = std::thread(&EstimatorNode::process, this); +} + +void EstimatorNode::predict(const imuMsg::SharedPtr imu_msg) +{ + double t = toSec(imu_msg->header); + if (init_imu) + { + latest_time = t; + init_imu = 0; + return; + } + double dt = t - latest_time; + latest_time = t; + + double dx = imu_msg->linear_acceleration.x; + double dy = imu_msg->linear_acceleration.y; + double dz = imu_msg->linear_acceleration.z; + Eigen::Vector3d linear_acceleration{dx, dy, dz}; + + double rx = imu_msg->angular_velocity.x; + double ry = imu_msg->angular_velocity.y; + double rz = imu_msg->angular_velocity.z; + Eigen::Vector3d angular_velocity{rx, ry, rz}; + + Eigen::Vector3d un_acc_0 = tmp_Q * (acc_0 - tmp_Ba) - estimator.g; + + Eigen::Vector3d un_gyr = 0.5 * (gyr_0 + angular_velocity) - tmp_Bg; + tmp_Q = tmp_Q * Utility::deltaQ(un_gyr * dt); + + Eigen::Vector3d un_acc_1 = tmp_Q * (linear_acceleration - tmp_Ba) - estimator.g; + + Eigen::Vector3d un_acc = 0.5 * (un_acc_0 + un_acc_1); + + tmp_P = tmp_P + dt * tmp_V + 0.5 * dt * dt * un_acc; + tmp_V = tmp_V + dt * un_acc; + + acc_0 = linear_acceleration; + gyr_0 = angular_velocity; +} + +void EstimatorNode::update() +{ + TicToc t_predict; + latest_time = current_time; + tmp_P = estimator.Ps[WINDOW_SIZE]; + tmp_Q = estimator.Rs[WINDOW_SIZE]; + tmp_V = estimator.Vs[WINDOW_SIZE]; + tmp_Ba = estimator.Bas[WINDOW_SIZE]; + tmp_Bg = estimator.Bgs[WINDOW_SIZE]; + acc_0 = estimator.acc_0; + gyr_0 = estimator.gyr_0; + + queue tmp_imu_buf = imu_buf; + for (imuMsg::SharedPtr tmp_imu_msg; !tmp_imu_buf.empty(); tmp_imu_buf.pop()) + predict(tmp_imu_buf.front()); +} + +std::vector, pointCloudMsg::SharedPtr>> EstimatorNode::getMeasurements() +{ + std::vector, pointCloudMsg::SharedPtr>> measurements; + while (true) + { + if (imu_buf.empty() || feature_buf.empty()) + { + return measurements; + } + + if (!(toSec(imu_buf.back()->header) > (toSec(feature_buf.front()->header) + (estimator.td / 1.0)))) + { + RCLCPP_WARN(this->get_logger(),"Wait for imu, only should happen at the beginning"); + sum_of_wait++; + return measurements; + } + + if (!(toSec(imu_buf.front()->header) < (toSec(feature_buf.front()->header) + (estimator.td)))) + { + RCLCPP_WARN(this->get_logger(), "throw img, only should happen at the beginning"); + feature_buf.pop(); + continue; + } + pointCloudMsg::SharedPtr img_msg = feature_buf.front(); + feature_buf.pop(); + std::vector IMUs; + while (toSec(imu_buf.front()->header) < (toSec(img_msg->header) + estimator.td)) + { + IMUs.emplace_back(imu_buf.front()); + imu_buf.pop(); + } + IMUs.emplace_back(imu_buf.front()); + if (IMUs.empty()) + RCLCPP_WARN(this->get_logger(), "no imu between two image"); + + measurements.emplace_back(IMUs, img_msg); + } + return measurements; +} + +void EstimatorNode::imu_callback(const imuMsg::SharedPtr imu_msg) +{ + // RCLCPP_INFO(this->get_logger(), "IMU Callback: %f", toSec(imu_msg->header)); + imu_timer_ = toSec(imu_msg->header); + + if (imu_timer_ <= last_imu_t) + { + RCLCPP_WARN_STREAM(this->get_logger(), "imu message in disorder!"); + return; + } + last_imu_t = imu_timer_; + + m_buf.lock(); + imu_buf.push(imu_msg); + m_buf.unlock(); + con.notify_one(); + + last_imu_t = imu_timer_; + { + std::lock_guard lg(m_state); + predict(imu_msg); + std_msgs::msg::Header header = imu_msg->header; + header.frame_id = "world"; + + if (estimator.solver_flag == Estimator::SolverFlag::NON_LINEAR) + pubLatestOdometry(tmp_P, tmp_Q, tmp_V, header); + } +} + +void EstimatorNode::feature_callback(const pointCloudMsg::SharedPtr feature_msg) +{ + if (!init_feature) + { + // skip the first detected feature, which doesn't contain optical flow speed + init_feature = 1; + return; + } + m_buf.lock(); + feature_buf.push(feature_msg); + m_buf.unlock(); + con.notify_one(); +} + +void EstimatorNode::restart_callback(const boolMsg::SharedPtr restart_msg) +{ + if (restart_msg->data == true) { + RCLCPP_WARN(this->get_logger(), "restart the estimator!"); + m_buf.lock(); + while (!feature_buf.empty()) + feature_buf.pop(); + while (!imu_buf.empty()) + imu_buf.pop(); + m_buf.unlock(); + m_estimator.lock(); + estimator.clearState(); + estimator.setParameter(); + m_estimator.unlock(); + current_time = -1; + last_imu_t = 0; + } +} + +void EstimatorNode::relocalization_callback(const pointCloudMsg::SharedPtr points_msg) +{ + RCLCPP_INFO(this->get_logger(), "Relocalization callback!"); + m_buf.lock(); + relo_buf.push(points_msg); + m_buf.unlock(); +} + +// thread: visual-inertial odometry +void EstimatorNode::process() +{ + while (true) + { + std::vector, + pointCloudMsg::SharedPtr>> measurements; + + std::unique_lock lk(m_buf); + con.wait(lk, [&] { + return (measurements = getMeasurements()).size() != 0; + }); + lk.unlock(); + m_estimator.lock(); + for (auto &measurement : measurements) + { + auto img_msg = measurement.second; + double dx = 0, dy = 0, dz = 0, rx = 0, ry = 0, rz = 0; + for (auto &imu_msg : measurement.first) + { + double t = toSec(imu_msg->header); + double img_t = toSec(img_msg->header) + estimator.td; + if (t <= img_t) + { + if (current_time < 0) + { + current_time = t; + } + + double dt = t - current_time; + assert(dt >= 0); + current_time = t; + dx = imu_msg->linear_acceleration.x; + dy = imu_msg->linear_acceleration.y; + dz = imu_msg->linear_acceleration.z; + rx = imu_msg->angular_velocity.x; + ry = imu_msg->angular_velocity.y; + rz = imu_msg->angular_velocity.z; + estimator.processIMU(dt, Vector3d(dx, dy, dz), Vector3d(rx, ry, rz)); + // printf("imu: dt:%f a: %f %f %f w: %f %f %f\n",dt, dx, dy, dz, rx, ry, rz); + } + else + { + double dt_1 = img_t - current_time; + double dt_2 = t - img_t; + current_time = img_t; + assert(dt_1 >= 0); + assert(dt_2 >= 0); + assert(dt_1 + dt_2 > 0); + double w1 = dt_2 / (dt_1 + dt_2); + double w2 = dt_1 / (dt_1 + dt_2); + dx = w1 * dx + w2 * imu_msg->linear_acceleration.x; + dy = w1 * dy + w2 * imu_msg->linear_acceleration.y; + dz = w1 * dz + w2 * imu_msg->linear_acceleration.z; + rx = w1 * rx + w2 * imu_msg->angular_velocity.x; + ry = w1 * ry + w2 * imu_msg->angular_velocity.y; + rz = w1 * rz + w2 * imu_msg->angular_velocity.z; + estimator.processIMU(dt_1, Vector3d(dx, dy, dz), Vector3d(rx, ry, rz)); + // printf("dimu: dt:%f a: %f %f %f w: %f %f %f\n",dt_1, dx, dy, dz, rx, ry, rz); + } + } + // set relocalization frame + pointCloudMsg::SharedPtr relo_msg = NULL; + while (!relo_buf.empty()) + { + relo_msg = relo_buf.front(); + relo_buf.pop(); + } + if (relo_msg != NULL) + { + vector match_points; + double frame_stamp = toSec(relo_msg->header); + for (unsigned int i = 0; i < relo_msg->points.size(); i++) + { + Vector3d u_v_id; + u_v_id.x() = relo_msg->points[i].x; + u_v_id.y() = relo_msg->points[i].y; + u_v_id.z() = relo_msg->points[i].z; + match_points.push_back(u_v_id); + } + Vector3d relo_t(relo_msg->channels[0].values[0], relo_msg->channels[0].values[1], + relo_msg->channels[0].values[2]); + Quaterniond relo_q(relo_msg->channels[0].values[3], relo_msg->channels[0].values[4], + relo_msg->channels[0].values[5], relo_msg->channels[0].values[6]); + Matrix3d relo_r = relo_q.toRotationMatrix(); + int frame_index; + frame_index = relo_msg->channels[0].values[7]; + estimator.setReloFrame(frame_stamp, frame_index, match_points, relo_t, relo_r); + } + + RCLCPP_DEBUG(this->get_logger(), "processing vision data with stamp %f \n", toSec(img_msg->header)); + + TicToc t_s; + map>>> image; + for (unsigned int i = 0; i < img_msg->points.size(); i++) + { + int v = img_msg->channels[0].values[i] + 0.5; + int feature_id = v / NUM_OF_CAM; + int camera_id = v % NUM_OF_CAM; + double x = img_msg->points[i].x; + double y = img_msg->points[i].y; + double z = img_msg->points[i].z; + double p_u = img_msg->channels[1].values[i]; + double p_v = img_msg->channels[2].values[i]; + double velocity_x = img_msg->channels[3].values[i]; + double velocity_y = img_msg->channels[4].values[i]; + assert(z == 1); + Eigen::Matrix xyz_uv_velocity; + xyz_uv_velocity << x, y, z, p_u, p_v, velocity_x, velocity_y; + image[feature_id].emplace_back(camera_id, xyz_uv_velocity); + } + estimator.processImage(image, img_msg->header); + + double whole_t = t_s.toc(); + printStatistics(estimator, whole_t); + std_msgs::msg::Header header = img_msg->header; + header.frame_id = "world"; + pubOdometry(estimator, header); + pubKeyPoses(estimator, header); + pubCameraPose(estimator, header); + pubPointCloud(estimator, header); + pubTF(estimator, header); + pubKeyframe(estimator); + if (relo_msg != NULL) + pubRelocalization(estimator); + // printf("end: %d, at %d", toSec(img_msg->header), rclcpp::Node::now()); + } + // RCLCPP_INFO(this->get_logger(), "UPDATE"); + m_estimator.unlock(); + m_buf.lock(); + m_state.lock(); + if (estimator.solver_flag == Estimator::SolverFlag::NON_LINEAR) + update(); + + m_state.unlock(); + m_buf.unlock(); + } +} + +void EstimatorNode::initTopic() +{ + sub.imu = this->create_subscription(IMU_TOPIC, 2000, + std::bind(&EstimatorNode::imu_callback, this, _1)); + sub.image = this->create_subscription("/feature_tracker/feature", 2000, + std::bind(&EstimatorNode::feature_callback, this, _1)); + sub.restart = this->create_subscription("/feature_tracker/restart", 2000, + std::bind(&EstimatorNode::restart_callback, this, _1)); + sub.relo_points = this->create_subscription("/pose_graph/match_points", 2000, + std::bind(&EstimatorNode::relocalization_callback, this, _1)); + + pub_path = this->create_publisher("vins_estimator/path", 1000); + pub_key_poses = this->create_publisher("vins_estimator/key_poses", 1000); + pub_odometry = this->create_publisher("vins_estimator/odometry", 1000); + pub_extrinsic = this->create_publisher("vins_estimator/extrinsic", 1000); + pub_point_cloud = this->create_publisher("vins_estimator/point_cloud", 1000); + pub_camera_pose = this->create_publisher("vins_estimator/camera_pose", 1000); + pub_margin_cloud = this->create_publisher("vins_estimator/history_cloud", 1000); + pub_relo_path = this->create_publisher("vins_estimator/relocalization_path", 1000); + pub_keyframe_pose = this->create_publisher("vins_estimator/keyframe_pose", 1000); + pub_keyframe_point = this->create_publisher("vins_estimator/keyframe_point", 1000); + pub_latest_odometry = this->create_publisher("vins_estimator/imu_propagate", 1000); + pub_camera_pose_visual = this->create_publisher("vins_estimator/camera_pose_visual", 1000); + pub_relo_relative_pose = this->create_publisher("vins_estimator/relo_relative_pose", 1000); +} + +void EstimatorNode::getParams() +{ + this->declare_parameter("config_file", "/home/serkan/source_code/VINS-Mono/src/config/config/euroc/euroc_config.yaml"); + std::string config_file = this->get_parameter("config_file").as_string(); + readParameters(config_file); +} + + +void EstimatorNode::pubTF(const Estimator &estimator, const std_msgs::msg::Header &header) +{ + if( estimator.solver_flag != Estimator::SolverFlag::NON_LINEAR) + return; + + tf2::Transform transform; + tf2::Quaternion q; + + // geometry_msgs::msg::TransformStamped transform_stamped; + + + // // body frame + Vector3d correct_t = estimator.Ps[WINDOW_SIZE]; + Quaterniond correct_q; + correct_q = estimator.Rs[WINDOW_SIZE]; + + transform.setOrigin(tf2::Vector3(correct_t(0), + correct_t(1), + correct_t(2))); + q.setW(correct_q.w()); + q.setX(correct_q.x()); + q.setY(correct_q.y()); + q.setZ(correct_q.z()); + transform.setRotation(q); + + geometry_msgs::msg::TransformStamped body_transform; + body_transform.header.stamp = header.stamp; + body_transform.header.frame_id = "world"; + body_transform.child_frame_id = "body"; + body_transform.transform.translation.x = transform.getOrigin().getX(); + body_transform.transform.translation.y = transform.getOrigin().getY(); + body_transform.transform.translation.z = transform.getOrigin().getZ(); + body_transform.transform.rotation.x = q.x(); + body_transform.transform.rotation.y = q.y(); + body_transform.transform.rotation.z = q.z(); + body_transform.transform.rotation.w = q.w(); + br_->sendTransform(body_transform); + + // // camera frame + transform.setOrigin(tf2::Vector3(estimator.tic[0].x(), + estimator.tic[0].y(), + estimator.tic[0].z())); + + q.setW(Quaterniond(estimator.ric[0]).w()); + q.setX(Quaterniond(estimator.ric[0]).x()); + q.setY(Quaterniond(estimator.ric[0]).y()); + q.setZ(Quaterniond(estimator.ric[0]).z()); + transform.setRotation(q); + geometry_msgs::msg::TransformStamped camera_transform; + camera_transform.header.stamp = header.stamp; + camera_transform.header.frame_id = "body"; + camera_transform.child_frame_id = "camera"; + camera_transform.transform.translation.x = transform.getOrigin().getX(); + camera_transform.transform.translation.y = transform.getOrigin().getY(); + camera_transform.transform.translation.z = transform.getOrigin().getZ(); + camera_transform.transform.rotation.x = q.x(); + camera_transform.transform.rotation.y = q.y(); + camera_transform.transform.rotation.z = q.z(); + camera_transform.transform.rotation.w = q.w(); + br_->sendTransform(camera_transform); + + auto odometry = std::make_unique(); + + odometry->header = header; + odometry->header.frame_id = "world"; + odometry->pose.pose.position.x = estimator.tic[0].x(); + odometry->pose.pose.position.y = estimator.tic[0].y(); + odometry->pose.pose.position.z = estimator.tic[0].z(); + odometry->pose.pose.orientation.x = Quaterniond(estimator.ric[0]).x(); + odometry->pose.pose.orientation.y = Quaterniond(estimator.ric[0]).y(); + odometry->pose.pose.orientation.z = Quaterniond(estimator.ric[0]).z(); + odometry->pose.pose.orientation.w = Quaterniond(estimator.ric[0]).w(); + pub_extrinsic->publish(std::move(odometry)); +} + +int main(int argc, char **argv) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/vins_estimator/src/factor/marginalization_factor.cpp b/src/vins_estimator/src/factor/marginalization_factor.cpp similarity index 98% rename from vins_estimator/src/factor/marginalization_factor.cpp rename to src/vins_estimator/src/factor/marginalization_factor.cpp index 7e073c01f..1c22e04f7 100644 --- a/vins_estimator/src/factor/marginalization_factor.cpp +++ b/src/vins_estimator/src/factor/marginalization_factor.cpp @@ -1,4 +1,4 @@ -#include "marginalization_factor.h" +#include "factor/marginalization_factor.h" void ResidualBlockInfo::Evaluate() { @@ -70,7 +70,7 @@ void ResidualBlockInfo::Evaluate() MarginalizationInfo::~MarginalizationInfo() { - //ROS_WARN("release marginlizationinfo"); + //printf("release marginlizationinfo"); for (auto it = parameter_block_data.begin(); it != parameter_block_data.end(); ++it) delete[] it->second; @@ -249,8 +249,9 @@ void MarginalizationInfo::marginalize() int ret = pthread_create( &tids[i], NULL, ThreadsConstructA ,(void*)&(threadsstruct[i])); if (ret != 0) { - ROS_WARN("pthread_create error"); - ROS_BREAK(); + RCLCPP_WARN(rclcpp::get_logger("marginalization_factor"), "pthread_create error"); + // ROS_BREAK(); + break; } } for( int i = NUM_THREADS - 1; i >= 0; i--) diff --git a/vins_estimator/src/factor/pose_local_parameterization.cpp b/src/vins_estimator/src/factor/pose_local_parameterization.cpp similarity index 94% rename from vins_estimator/src/factor/pose_local_parameterization.cpp rename to src/vins_estimator/src/factor/pose_local_parameterization.cpp index cb6d94412..1707a6dd8 100644 --- a/vins_estimator/src/factor/pose_local_parameterization.cpp +++ b/src/vins_estimator/src/factor/pose_local_parameterization.cpp @@ -1,4 +1,4 @@ -#include "pose_local_parameterization.h" +#include "factor/pose_local_parameterization.h" bool PoseLocalParameterization::Plus(const double *x, const double *delta, double *x_plus_delta) const { diff --git a/vins_estimator/src/factor/projection_factor.cpp b/src/vins_estimator/src/factor/projection_factor.cpp similarity index 99% rename from vins_estimator/src/factor/projection_factor.cpp rename to src/vins_estimator/src/factor/projection_factor.cpp index 8653c3266..3e87e93d6 100644 --- a/vins_estimator/src/factor/projection_factor.cpp +++ b/src/vins_estimator/src/factor/projection_factor.cpp @@ -1,4 +1,4 @@ -#include "projection_factor.h" +#include "factor/projection_factor.h" Eigen::Matrix2d ProjectionFactor::sqrt_info; double ProjectionFactor::sum_t; diff --git a/vins_estimator/src/factor/projection_td_factor.cpp b/src/vins_estimator/src/factor/projection_td_factor.cpp similarity index 99% rename from vins_estimator/src/factor/projection_td_factor.cpp rename to src/vins_estimator/src/factor/projection_td_factor.cpp index 1b144f898..bfc64f7fa 100644 --- a/vins_estimator/src/factor/projection_td_factor.cpp +++ b/src/vins_estimator/src/factor/projection_td_factor.cpp @@ -1,4 +1,4 @@ -#include "projection_td_factor.h" +#include "factor/projection_td_factor.h" Eigen::Matrix2d ProjectionTdFactor::sqrt_info; double ProjectionTdFactor::sum_t; diff --git a/vins_estimator/src/feature_manager.cpp b/src/vins_estimator/src/feature_manager.cpp similarity index 90% rename from vins_estimator/src/feature_manager.cpp rename to src/vins_estimator/src/feature_manager.cpp index 7d5aed9d8..cb1b767da 100644 --- a/vins_estimator/src/feature_manager.cpp +++ b/src/vins_estimator/src/feature_manager.cpp @@ -44,8 +44,8 @@ int FeatureManager::getFeatureCount() bool FeatureManager::addFeatureCheckParallax(int frame_count, const map>>> &image, double td) { - ROS_DEBUG("input feature: %d", (int)image.size()); - ROS_DEBUG("num of feature: %d", getFeatureCount()); + RCLCPP_DEBUG(rclcpp::get_logger("feature_manager"), "input feature: %d", (int)image.size()); + RCLCPP_DEBUG(rclcpp::get_logger("feature_manager"), "num of feature: %d", getFeatureCount()); double parallax_sum = 0; int parallax_num = 0; last_track_num = 0; @@ -90,30 +90,30 @@ bool FeatureManager::addFeatureCheckParallax(int frame_count, const map= MIN_PARALLAX; } } void FeatureManager::debugShow() { - ROS_DEBUG("debug show"); + RCLCPP_DEBUG(rclcpp::get_logger("feature_manager"), "debug show"); for (auto &it : feature) { - ROS_ASSERT(it.feature_per_frame.size() != 0); - ROS_ASSERT(it.start_frame >= 0); - ROS_ASSERT(it.used_num >= 0); + assert(it.feature_per_frame.size() != 0); + assert(it.start_frame >= 0); + assert(it.used_num >= 0); - ROS_DEBUG("%d,%d,%d ", it.feature_id, it.used_num, it.start_frame); + RCLCPP_DEBUG(rclcpp::get_logger("feature_manager"), "%d,%d,%d ", it.feature_id, it.used_num, it.start_frame); int sum = 0; for (auto &j : it.feature_per_frame) { - ROS_DEBUG("%d,", int(j.is_used)); + RCLCPP_DEBUG(rclcpp::get_logger("feature_manager"), "%d,", int(j.is_used)); sum += j.is_used; printf("(%lf,%lf) ",j.point(0), j.point(1)); } - ROS_ASSERT(it.used_num == sum); + assert(it.used_num == sum); } } @@ -148,7 +148,7 @@ void FeatureManager::setDepth(const VectorXd &x) continue; it_per_id.estimated_depth = 1.0 / x(++feature_index); - //ROS_INFO("feature id %d , start_frame %d, depth %f ", it_per_id->feature_id, it_per_id-> start_frame, it_per_id->estimated_depth); + //RCLCPP_INFO(rclcpp::get_logger("feature_manager"), "feature id %d , start_frame %d, depth %f ", it_per_id->feature_id, it_per_id-> start_frame, it_per_id->estimated_depth); if (it_per_id.estimated_depth < 0) { it_per_id.solve_flag = 2; @@ -211,7 +211,7 @@ void FeatureManager::triangulate(Vector3d Ps[], Vector3d tic[], Matrix3d ric[]) continue; int imu_i = it_per_id.start_frame, imu_j = imu_i - 1; - ROS_ASSERT(NUM_OF_CAM == 1); + assert(NUM_OF_CAM == 1); Eigen::MatrixXd svd_A(2 * it_per_id.feature_per_frame.size(), 4); int svd_idx = 0; @@ -239,7 +239,7 @@ void FeatureManager::triangulate(Vector3d Ps[], Vector3d tic[], Matrix3d ric[]) if (imu_i == imu_j) continue; } - ROS_ASSERT(svd_idx == svd_A.rows()); + assert(svd_idx == svd_A.rows()); Eigen::Vector4d svd_V = Eigen::JacobiSVD(svd_A, Eigen::ComputeThinV).matrixV().rightCols<1>(); double svd_method = svd_V[2] / svd_V[3]; //it_per_id->estimated_depth = -b / A; @@ -258,7 +258,7 @@ void FeatureManager::triangulate(Vector3d Ps[], Vector3d tic[], Matrix3d ric[]) void FeatureManager::removeOutlier() { - ROS_BREAK(); + return; int i = -1; for (auto it = feature.begin(), it_next = feature.begin(); it != feature.end(); it = it_next) diff --git a/vins_estimator/src/initial/initial_aligment.cpp b/src/vins_estimator/src/initial/initial_aligment.cpp similarity index 93% rename from vins_estimator/src/initial/initial_aligment.cpp rename to src/vins_estimator/src/initial/initial_aligment.cpp index c2f287c9f..62178bd0a 100644 --- a/vins_estimator/src/initial/initial_aligment.cpp +++ b/src/vins_estimator/src/initial/initial_aligment.cpp @@ -1,4 +1,4 @@ -#include "initial_alignment.h" +#include "initial/initial_alignment.h" void solveGyroscopeBias(map &all_image_frame, Vector3d* Bgs) { @@ -24,8 +24,7 @@ void solveGyroscopeBias(map &all_image_frame, Vector3d* Bgs) } delta_bg = A.ldlt().solve(b); - ROS_WARN_STREAM("gyroscope bias initial calibration " << delta_bg.transpose()); - + RCLCPP_WARN_STREAM(rclcpp::get_logger("initial_aligment"), "gyroscope bias initial calibration" << delta_bg.transpose() ); for (int i = 0; i <= WINDOW_SIZE; i++) Bgs[i] += delta_bg; @@ -178,9 +177,9 @@ bool LinearAlignment(map &all_image_frame, Vector3d &g, Vect b = b * 1000.0; x = A.ldlt().solve(b); double s = x(n_state - 1) / 100.0; - ROS_DEBUG("estimated scale: %f", s); + RCLCPP_DEBUG(rclcpp::get_logger("initial_aligment"), "estimated scale: %f", s); g = x.segment<3>(n_state - 4); - ROS_DEBUG_STREAM(" result g " << g.norm() << " " << g.transpose()); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("initial_aligment"), " result g " << g.norm() << " " << g.transpose()); if(fabs(g.norm() - G.norm()) > 1.0 || s < 0) { return false; @@ -189,7 +188,7 @@ bool LinearAlignment(map &all_image_frame, Vector3d &g, Vect RefineGravity(all_image_frame, g, x); s = (x.tail<1>())(0) / 100.0; (x.tail<1>())(0) = s; - ROS_DEBUG_STREAM(" refine " << g.norm() << " " << g.transpose()); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("initial_aligment")," refine " << g.norm() << " " << g.transpose()); if(s < 0.0 ) return false; else diff --git a/vins_estimator/src/initial/initial_ex_rotation.cpp b/src/vins_estimator/src/initial/initial_ex_rotation.cpp similarity index 94% rename from vins_estimator/src/initial/initial_ex_rotation.cpp rename to src/vins_estimator/src/initial/initial_ex_rotation.cpp index dc99d1c4f..bfacd6deb 100644 --- a/vins_estimator/src/initial/initial_ex_rotation.cpp +++ b/src/vins_estimator/src/initial/initial_ex_rotation.cpp @@ -1,4 +1,4 @@ -#include "initial_ex_rotation.h" +#include "initial/initial_ex_rotation.h" InitialEXRotation::InitialEXRotation(){ frame_count = 0; @@ -24,8 +24,7 @@ bool InitialEXRotation::CalibrationExRotation(vector> c Quaterniond r2(Rc_g[i]); double angular_distance = 180 / M_PI * r1.angularDistance(r2); - ROS_DEBUG( - "%d %f", i, angular_distance); + RCLCPP_DEBUG(rclcpp::get_logger("initial_ex_rotation"),"%d %f", i, angular_distance); double huber = angular_distance > 5.0 ? 5.0 / angular_distance : 1.0; ++sum_ok; @@ -120,7 +119,7 @@ double InitialEXRotation::testTriangulation(const vector &l, if (p_3d_l(2) > 0 && p_3d_r(2) > 0) front_count++; } - ROS_DEBUG("MotionEstimator: %f", 1.0 * front_count / pointcloud.cols); + RCLCPP_DEBUG(rclcpp::get_logger("initial_ex_rotation"),"MotionEstimator: %f", 1.0 * front_count / pointcloud.cols); return 1.0 * front_count / pointcloud.cols; } diff --git a/vins_estimator/src/initial/initial_sfm.cpp b/src/vins_estimator/src/initial/initial_sfm.cpp similarity index 99% rename from vins_estimator/src/initial/initial_sfm.cpp rename to src/vins_estimator/src/initial/initial_sfm.cpp index 6fbcc17f2..c0c1c480d 100644 --- a/vins_estimator/src/initial/initial_sfm.cpp +++ b/src/vins_estimator/src/initial/initial_sfm.cpp @@ -1,4 +1,4 @@ -#include "initial_sfm.h" +#include "initial/initial_sfm.h" GlobalSFM::GlobalSFM(){} diff --git a/vins_estimator/src/initial/solve_5pts.cpp b/src/vins_estimator/src/initial/solve_5pts.cpp similarity index 99% rename from vins_estimator/src/initial/solve_5pts.cpp rename to src/vins_estimator/src/initial/solve_5pts.cpp index c37608d9f..9aba1b4c0 100644 --- a/vins_estimator/src/initial/solve_5pts.cpp +++ b/src/vins_estimator/src/initial/solve_5pts.cpp @@ -1,4 +1,4 @@ -#include "solve_5pts.h" +#include "initial/solve_5pts.h" namespace cv { diff --git a/vins_estimator/src/parameters.cpp b/src/vins_estimator/src/parameters.cpp similarity index 60% rename from vins_estimator/src/parameters.cpp rename to src/vins_estimator/src/parameters.cpp index 1885e84be..417018ce2 100644 --- a/vins_estimator/src/parameters.cpp +++ b/src/vins_estimator/src/parameters.cpp @@ -1,4 +1,6 @@ -#include "parameters.h" +#include "parameters_.h" +#define COLOR_YLW "\x1b[33m" +bool flag = true; double INIT_DEPTH; double MIN_PARALLAX; @@ -23,30 +25,14 @@ std::string IMU_TOPIC; double ROW, COL; double TD, TR; -template -T readParam(ros::NodeHandle &n, std::string name) -{ - T ans; - if (n.getParam(name, ans)) - { - ROS_INFO_STREAM("Loaded " << name << ": " << ans); - } - else - { - ROS_ERROR_STREAM("Failed to load " << name); - n.shutdown(); - } - return ans; -} -void readParameters(ros::NodeHandle &n) +void readParameters(std::string config_file) { - std::string config_file; - config_file = readParam(n, "config_file"); cv::FileStorage fsSettings(config_file, cv::FileStorage::READ); if(!fsSettings.isOpened()) { - std::cerr << "ERROR: Wrong path to settings" << std::endl; + RCLCPP_ERROR(rclcpp::get_logger("parameters"), + "ERROR: Wrong path to settings"); } fsSettings["imu_topic"] >> IMU_TOPIC; @@ -59,8 +45,6 @@ void readParameters(ros::NodeHandle &n) std::string OUTPUT_PATH; fsSettings["output_path"] >> OUTPUT_PATH; VINS_RESULT_PATH = OUTPUT_PATH + "/vins_result_no_loop.csv"; - std::cout << "result path " << VINS_RESULT_PATH << std::endl; - // create folder if not exists FileSystemHelper::createDirectoryIfNotExists(OUTPUT_PATH.c_str()); @@ -74,12 +58,25 @@ void readParameters(ros::NodeHandle &n) G.z() = fsSettings["g_norm"]; ROW = fsSettings["image_height"]; COL = fsSettings["image_width"]; - ROS_INFO("ROW: %f COL: %f ", ROW, COL); + + RCLCPP_INFO_STREAM(rclcpp::get_logger("parameters"), + COLOR_GRN + << "\n" << LINE + << "\n- COL: " << COL + << "\n- ROW: " << ROW + << "\n- IMU_TOPIC: " << IMU_TOPIC + << "\n- SOLVER_TIME: " << SOLVER_TIME + << "\n- MIN_PARALLAX: " << MIN_PARALLAX + << "\n- FOCAL_LENGTH: " << FOCAL_LENGTH + << "\n- NUM_ITERATIONS: " << NUM_ITERATIONS + << "\n- VINS_RESULT_PATH: " << VINS_RESULT_PATH + << "\n" << LINE + ); ESTIMATE_EXTRINSIC = fsSettings["estimate_extrinsic"]; if (ESTIMATE_EXTRINSIC == 2) { - ROS_WARN("have no prior about extrinsic param, calibrate extrinsic param"); + RCLCPP_WARN(rclcpp::get_logger("parameters"), "have no prior about extrinsic param, calibrate extrinsic param"); RIC.push_back(Eigen::Matrix3d::Identity()); TIC.push_back(Eigen::Vector3d::Zero()); EX_CALIB_RESULT_PATH = OUTPUT_PATH + "/extrinsic_parameter.csv"; @@ -89,11 +86,11 @@ void readParameters(ros::NodeHandle &n) { if ( ESTIMATE_EXTRINSIC == 1) { - ROS_WARN(" Optimize extrinsic param around initial guess!"); + RCLCPP_WARN(rclcpp::get_logger("parameters"), " Optimize extrinsic param around initial guess!"); EX_CALIB_RESULT_PATH = OUTPUT_PATH + "/extrinsic_parameter.csv"; } if (ESTIMATE_EXTRINSIC == 0) - ROS_WARN(" fix extrinsic param "); + RCLCPP_WARN(rclcpp::get_logger("parameters"), " fix extrinsic param "); cv::Mat cv_R, cv_T; fsSettings["extrinsicRotation"] >> cv_R; @@ -106,9 +103,10 @@ void readParameters(ros::NodeHandle &n) eigen_R = Q.normalized(); RIC.push_back(eigen_R); TIC.push_back(eigen_T); - ROS_INFO_STREAM("Extrinsic_R : " << std::endl << RIC[0]); - ROS_INFO_STREAM("Extrinsic_T : " << std::endl << TIC[0].transpose()); - + RCLCPP_INFO_STREAM(rclcpp::get_logger("parameters"), "\n\nExtrinsic_R : " + << std::endl << RIC[0] << "\nExtrinsic_T : " + << std::endl << TIC[0].transpose() << std::endl; + ); } INIT_DEPTH = 5.0; @@ -118,15 +116,15 @@ void readParameters(ros::NodeHandle &n) TD = fsSettings["td"]; ESTIMATE_TD = fsSettings["estimate_td"]; if (ESTIMATE_TD) - ROS_INFO_STREAM("Unsynchronized sensors, online estimate time offset, initial td: " << TD); + RCLCPP_INFO_STREAM(rclcpp::get_logger("parameters"), "Unsynchronized sensors, online estimate time offset, initial td: " << TD); else - ROS_INFO_STREAM("Synchronized sensors, fix time offset: " << TD); + RCLCPP_INFO_STREAM(rclcpp::get_logger("parameters"), "Synchronized sensors, fix time offset: " << TD); ROLLING_SHUTTER = fsSettings["rolling_shutter"]; if (ROLLING_SHUTTER) { TR = fsSettings["rolling_shutter_tr"]; - ROS_INFO_STREAM("rolling shutter camera, read out time per line: " << TR); + RCLCPP_INFO_STREAM(rclcpp::get_logger("parameters"), "rolling shutter camera, read out time per line: " << TR); } else { @@ -135,3 +133,8 @@ void readParameters(ros::NodeHandle &n) fsSettings.release(); } + + +double toSec(headerMsg header_time){ + return static_cast(header_time.stamp.sec + (header_time.stamp.nanosec / 1.0e9)); +} diff --git a/vins_estimator/src/utility/CameraPoseVisualization.cpp b/src/vins_estimator/src/utility/CameraPoseVisualization.cpp similarity index 84% rename from vins_estimator/src/utility/CameraPoseVisualization.cpp rename to src/vins_estimator/src/utility/CameraPoseVisualization.cpp index df97dbaf4..173f443df 100644 --- a/vins_estimator/src/utility/CameraPoseVisualization.cpp +++ b/src/vins_estimator/src/utility/CameraPoseVisualization.cpp @@ -1,4 +1,4 @@ -#include "CameraPoseVisualization.h" +#include "utility/CameraPoseVisualization.h" const Eigen::Vector3d CameraPoseVisualization::imlt = Eigen::Vector3d(-1.0, -0.5, 1.0); const Eigen::Vector3d CameraPoseVisualization::imrt = Eigen::Vector3d( 1.0, -0.5, 1.0); @@ -9,7 +9,7 @@ const Eigen::Vector3d CameraPoseVisualization::lt1 = Eigen::Vector3d(-0.7, -0.2, const Eigen::Vector3d CameraPoseVisualization::lt2 = Eigen::Vector3d(-1.0, -0.2, 1.0); const Eigen::Vector3d CameraPoseVisualization::oc = Eigen::Vector3d(0.0, 0.0, 0.0); -void Eigen2Point(const Eigen::Vector3d& v, geometry_msgs::Point& p) { +void Eigen2Point(const Eigen::Vector3d& v, geometry_msgs::msg::Point& p) { p.x = v.x(); p.y = v.y(); p.z = v.z(); @@ -48,18 +48,18 @@ void CameraPoseVisualization::setLineWidth(double width) { m_line_width = width; } void CameraPoseVisualization::add_edge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1){ - visualization_msgs::Marker marker; + visualization_msgs::msg::Marker marker; marker.ns = m_marker_ns; marker.id = m_markers.size() + 1; - marker.type = visualization_msgs::Marker::LINE_LIST; - marker.action = visualization_msgs::Marker::ADD; + marker.type = visualization_msgs::msg::Marker::LINE_LIST; + marker.action = visualization_msgs::msg::Marker::ADD; marker.scale.x = 0.005; marker.color.g = 1.0f; marker.color.a = 1.0; - geometry_msgs::Point point0, point1; + geometry_msgs::msg::Point point0, point1; Eigen2Point(p0, point0); Eigen2Point(p1, point1); @@ -71,12 +71,12 @@ void CameraPoseVisualization::add_edge(const Eigen::Vector3d& p0, const Eigen::V } void CameraPoseVisualization::add_loopedge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1){ - visualization_msgs::Marker marker; + visualization_msgs::msg::Marker marker; marker.ns = m_marker_ns; marker.id = m_markers.size() + 1; - marker.type = visualization_msgs::Marker::LINE_LIST; - marker.action = visualization_msgs::Marker::ADD; + marker.type = visualization_msgs::msg::Marker::LINE_LIST; + marker.action = visualization_msgs::msg::Marker::ADD; marker.scale.x = 0.04; //marker.scale.x = 0.3; @@ -84,7 +84,7 @@ void CameraPoseVisualization::add_loopedge(const Eigen::Vector3d& p0, const Eige marker.color.b = 1.0f; marker.color.a = 1.0; - geometry_msgs::Point point0, point1; + geometry_msgs::msg::Point point0, point1; Eigen2Point(p0, point0); Eigen2Point(p1, point1); @@ -97,12 +97,12 @@ void CameraPoseVisualization::add_loopedge(const Eigen::Vector3d& p0, const Eige void CameraPoseVisualization::add_pose(const Eigen::Vector3d& p, const Eigen::Quaterniond& q) { - visualization_msgs::Marker marker; + visualization_msgs::msg::Marker marker; marker.ns = m_marker_ns; marker.id = m_markers.size() + 1; - marker.type = visualization_msgs::Marker::LINE_STRIP; - marker.action = visualization_msgs::Marker::ADD; + marker.type = visualization_msgs::msg::Marker::LINE_STRIP; + marker.action = visualization_msgs::msg::Marker::ADD; marker.scale.x = m_line_width; marker.pose.position.x = 0.0; @@ -114,7 +114,7 @@ void CameraPoseVisualization::add_pose(const Eigen::Vector3d& p, const Eigen::Qu marker.pose.orientation.z = 0.0; - geometry_msgs::Point pt_lt, pt_lb, pt_rt, pt_rb, pt_oc, pt_lt0, pt_lt1, pt_lt2; + geometry_msgs::msg::Point pt_lt, pt_lb, pt_rt, pt_rb, pt_oc, pt_lt0, pt_lt1, pt_lt2; Eigen2Point(q * (m_scale *imlt) + p, pt_lt); Eigen2Point(q * (m_scale *imlb) + p, pt_lb); @@ -186,13 +186,14 @@ void CameraPoseVisualization::reset() { m_markers.clear(); } -void CameraPoseVisualization::publish_by( ros::Publisher &pub, const std_msgs::Header &header ) { - visualization_msgs::MarkerArray markerArray_msg; +void CameraPoseVisualization::publish_by(rclcpp::Publisher::SharedPtr pub, + const std_msgs::msg::Header &header ) { + markerArrayMsg markerArray_msg; for(auto& marker : m_markers) { marker.header = header; markerArray_msg.markers.push_back(marker); } - pub.publish(markerArray_msg); + pub->publish(markerArray_msg); } \ No newline at end of file diff --git a/vins_estimator/src/utility/utility.cpp b/src/vins_estimator/src/utility/utility.cpp similarity index 93% rename from vins_estimator/src/utility/utility.cpp rename to src/vins_estimator/src/utility/utility.cpp index d5bf02938..0860c66c1 100644 --- a/vins_estimator/src/utility/utility.cpp +++ b/src/vins_estimator/src/utility/utility.cpp @@ -1,4 +1,4 @@ -#include "utility.h" +#include "utility/utility.h" Eigen::Matrix3d Utility::g2R(const Eigen::Vector3d &g) { diff --git a/vins_estimator/src/utility/visualization.cpp b/src/vins_estimator/src/utility/visualization.cpp similarity index 64% rename from vins_estimator/src/utility/visualization.cpp rename to src/vins_estimator/src/utility/visualization.cpp index 167e91314..41e0d3541 100644 --- a/vins_estimator/src/utility/visualization.cpp +++ b/src/vins_estimator/src/utility/visualization.cpp @@ -1,52 +1,39 @@ -#include "visualization.h" +#include "utility/visualization.h" -using namespace ros; using namespace Eigen; -ros::Publisher pub_odometry, pub_latest_odometry; -ros::Publisher pub_path, pub_relo_path; -ros::Publisher pub_point_cloud, pub_margin_cloud; -ros::Publisher pub_key_poses; -ros::Publisher pub_relo_relative_pose; -ros::Publisher pub_camera_pose; -ros::Publisher pub_camera_pose_visual; -nav_msgs::Path path, relo_path; - -ros::Publisher pub_keyframe_pose; -ros::Publisher pub_keyframe_point; -ros::Publisher pub_extrinsic; + +rclcpp::Publisher::SharedPtr pub_odometry, pub_latest_odometry; +rclcpp::Publisher::SharedPtr pub_path, pub_relo_path; +rclcpp::Publisher::SharedPtr pub_point_cloud, pub_margin_cloud; +rclcpp::Publisher::SharedPtr pub_key_poses; +rclcpp::Publisher::SharedPtr pub_relo_relative_pose; +rclcpp::Publisher::SharedPtr pub_camera_pose; +rclcpp::Publisher::SharedPtr pub_camera_pose_visual; +nav_msgs::msg::Path path, relo_path; + +rclcpp::Publisher::SharedPtr pub_keyframe_pose; +rclcpp::Publisher::SharedPtr pub_keyframe_point; +rclcpp::Publisher::SharedPtr pub_extrinsic; CameraPoseVisualization cameraposevisual(0, 1, 0, 1); CameraPoseVisualization keyframebasevisual(0.0, 0.0, 1.0, 1.0); static double sum_of_path = 0; static Vector3d last_path(0.0, 0.0, 0.0); -void registerPub(ros::NodeHandle &n) +void registerPub() { - pub_latest_odometry = n.advertise("imu_propagate", 1000); - pub_path = n.advertise("path", 1000); - pub_relo_path = n.advertise("relocalization_path", 1000); - pub_odometry = n.advertise("odometry", 1000); - pub_point_cloud = n.advertise("point_cloud", 1000); - pub_margin_cloud = n.advertise("history_cloud", 1000); - pub_key_poses = n.advertise("key_poses", 1000); - pub_camera_pose = n.advertise("camera_pose", 1000); - pub_camera_pose_visual = n.advertise("camera_pose_visual", 1000); - pub_keyframe_pose = n.advertise("keyframe_pose", 1000); - pub_keyframe_point = n.advertise("keyframe_point", 1000); - pub_extrinsic = n.advertise("extrinsic", 1000); - pub_relo_relative_pose= n.advertise("relo_relative_pose", 1000); - cameraposevisual.setScale(1); cameraposevisual.setLineWidth(0.05); keyframebasevisual.setScale(0.1); keyframebasevisual.setLineWidth(0.01); } -void pubLatestOdometry(const Eigen::Vector3d &P, const Eigen::Quaterniond &Q, const Eigen::Vector3d &V, const std_msgs::Header &header) +void pubLatestOdometry(const Eigen::Vector3d &P, + const Eigen::Quaterniond &Q, const Eigen::Vector3d &V, const std_msgs::msg::Header &header) { Eigen::Quaterniond quadrotor_Q = Q ; - nav_msgs::Odometry odometry; + nav_msgs::msg::Odometry odometry; odometry.header = header; odometry.header.frame_id = "world"; odometry.pose.pose.position.x = P.x(); @@ -59,21 +46,25 @@ void pubLatestOdometry(const Eigen::Vector3d &P, const Eigen::Quaterniond &Q, co odometry.twist.twist.linear.x = V.x(); odometry.twist.twist.linear.y = V.y(); odometry.twist.twist.linear.z = V.z(); - pub_latest_odometry.publish(odometry); + pub_latest_odometry->publish(odometry); } void printStatistics(const Estimator &estimator, double t) { if (estimator.solver_flag != Estimator::SolverFlag::NON_LINEAR) return; - printf("position: %f, %f, %f\r", estimator.Ps[WINDOW_SIZE].x(), estimator.Ps[WINDOW_SIZE].y(), estimator.Ps[WINDOW_SIZE].z()); - ROS_DEBUG_STREAM("position: " << estimator.Ps[WINDOW_SIZE].transpose()); - ROS_DEBUG_STREAM("orientation: " << estimator.Vs[WINDOW_SIZE].transpose()); + printf("position: %.2f, %.2f, %.2f | orientation: %.2f, %.2f, %.2f \r", + estimator.Ps[WINDOW_SIZE].x(), estimator.Ps[WINDOW_SIZE].y(), estimator.Ps[WINDOW_SIZE].z(), + estimator.Vs[WINDOW_SIZE].x(), estimator.Vs[WINDOW_SIZE].y(), estimator.Vs[WINDOW_SIZE].z() + ); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("visualization"), "position: " << estimator.Ps[WINDOW_SIZE].transpose() << std::endl); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("visualization"), "orientation: " << estimator.Vs[WINDOW_SIZE].transpose() << std::endl); + for (int i = 0; i < NUM_OF_CAM; i++) { - //ROS_DEBUG("calibration result for camera %d", i); - ROS_DEBUG_STREAM("extirnsic tic: " << estimator.tic[i].transpose()); - ROS_DEBUG_STREAM("extrinsic ric: " << Utility::R2ypr(estimator.ric[i]).transpose()); + RCLCPP_DEBUG(rclcpp::get_logger("visualization"), "calibration result for camera %d", i); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("visualization"), "extirnsic tic: " << estimator.tic[i].transpose() << std::endl); + RCLCPP_DEBUG_STREAM(rclcpp::get_logger("visualization"), "extrinsic ric: " << Utility::R2ypr(estimator.ric[i]).transpose() << std::endl); if (ESTIMATE_EXTRINSIC) { cv::FileStorage fs(EX_CALIB_RESULT_PATH, cv::FileStorage::WRITE); @@ -93,21 +84,21 @@ void printStatistics(const Estimator &estimator, double t) static int sum_of_calculation = 0; sum_of_time += t; sum_of_calculation++; - ROS_DEBUG("vo solver costs: %f ms", t); - ROS_DEBUG("average of time %f ms", sum_of_time / sum_of_calculation); + RCLCPP_DEBUG(rclcpp::get_logger("visualization"), "vo solver costs: %f ms", t); + RCLCPP_DEBUG(rclcpp::get_logger("visualization"), "average of time %f ms", sum_of_time / sum_of_calculation); sum_of_path += (estimator.Ps[WINDOW_SIZE] - last_path).norm(); last_path = estimator.Ps[WINDOW_SIZE]; - ROS_DEBUG("sum of path %f", sum_of_path); + RCLCPP_DEBUG(rclcpp::get_logger("visualization"),"sum of path %f", sum_of_path); if (ESTIMATE_TD) - ROS_INFO("td %f", estimator.td); + RCLCPP_DEBUG(rclcpp::get_logger("visualization"),"td %f", estimator.td); } -void pubOdometry(const Estimator &estimator, const std_msgs::Header &header) +void pubOdometry(const Estimator &estimator, const std_msgs::msg::Header &header) { if (estimator.solver_flag == Estimator::SolverFlag::NON_LINEAR) { - nav_msgs::Odometry odometry; + nav_msgs::msg::Odometry odometry; odometry.header = header; odometry.header.frame_id = "world"; odometry.child_frame_id = "world"; @@ -123,16 +114,18 @@ void pubOdometry(const Estimator &estimator, const std_msgs::Header &header) odometry.twist.twist.linear.x = estimator.Vs[WINDOW_SIZE].x(); odometry.twist.twist.linear.y = estimator.Vs[WINDOW_SIZE].y(); odometry.twist.twist.linear.z = estimator.Vs[WINDOW_SIZE].z(); - pub_odometry.publish(odometry); + // RCLCPP_INFO(rclcpp::get_logger(""), "x: %f, y: %f, z: %f", odometry.pose.pose.position.x, + // odometry.pose.pose.position.y, odometry.pose.pose.position.z); + pub_odometry->publish(odometry); - geometry_msgs::PoseStamped pose_stamped; + geometry_msgs::msg::PoseStamped pose_stamped; pose_stamped.header = header; pose_stamped.header.frame_id = "world"; pose_stamped.pose = odometry.pose.pose; path.header = header; path.header.frame_id = "world"; path.poses.push_back(pose_stamped); - pub_path.publish(path); + pub_path->publish(path); Vector3d correct_t; Vector3d correct_v; @@ -151,13 +144,13 @@ void pubOdometry(const Estimator &estimator, const std_msgs::Header &header) relo_path.header = header; relo_path.header.frame_id = "world"; relo_path.poses.push_back(pose_stamped); - pub_relo_path.publish(relo_path); + pub_relo_path->publish(relo_path); // write result to file ofstream foutC(VINS_RESULT_PATH, ios::app); foutC.setf(ios::fixed, ios::floatfield); foutC.precision(0); - foutC << header.stamp.toSec() * 1e9 << ","; + foutC << toSec(header) * 1e9 << ","; foutC.precision(5); foutC << estimator.Ps[WINDOW_SIZE].x() << "," << estimator.Ps[WINDOW_SIZE].y() << "," @@ -173,18 +166,18 @@ void pubOdometry(const Estimator &estimator, const std_msgs::Header &header) } } -void pubKeyPoses(const Estimator &estimator, const std_msgs::Header &header) +void pubKeyPoses(const Estimator &estimator, const std_msgs::msg::Header &header) { if (estimator.key_poses.size() == 0) return; - visualization_msgs::Marker key_poses; + visualization_msgs::msg::Marker key_poses; key_poses.header = header; key_poses.header.frame_id = "world"; key_poses.ns = "key_poses"; - key_poses.type = visualization_msgs::Marker::SPHERE_LIST; - key_poses.action = visualization_msgs::Marker::ADD; + key_poses.type = visualization_msgs::msg::Marker::SPHERE_LIST; + key_poses.action = visualization_msgs::msg::Marker::ADD; key_poses.pose.orientation.w = 1.0; - key_poses.lifetime = ros::Duration(); + key_poses.lifetime = rclcpp::Duration(0, 0); //static int key_poses_id = 0; key_poses.id = 0; //key_poses_id++; @@ -196,7 +189,7 @@ void pubKeyPoses(const Estimator &estimator, const std_msgs::Header &header) for (int i = 0; i <= WINDOW_SIZE; i++) { - geometry_msgs::Point pose_marker; + geometry_msgs::msg::Point pose_marker; Vector3d correct_pose; correct_pose = estimator.key_poses[i]; pose_marker.x = correct_pose.x(); @@ -204,10 +197,10 @@ void pubKeyPoses(const Estimator &estimator, const std_msgs::Header &header) pose_marker.z = correct_pose.z(); key_poses.points.push_back(pose_marker); } - pub_key_poses.publish(key_poses); + pub_key_poses->publish(key_poses); } -void pubCameraPose(const Estimator &estimator, const std_msgs::Header &header) +void pubCameraPose(const Estimator &estimator, const std_msgs::msg::Header &header) { int idx2 = WINDOW_SIZE - 1; @@ -217,7 +210,7 @@ void pubCameraPose(const Estimator &estimator, const std_msgs::Header &header) Vector3d P = estimator.Ps[i] + estimator.Rs[i] * estimator.tic[0]; Quaterniond R = Quaterniond(estimator.Rs[i] * estimator.ric[0]); - nav_msgs::Odometry odometry; + nav_msgs::msg::Odometry odometry; odometry.header = header; odometry.header.frame_id = "world"; odometry.pose.pose.position.x = P.x(); @@ -228,7 +221,7 @@ void pubCameraPose(const Estimator &estimator, const std_msgs::Header &header) odometry.pose.pose.orientation.z = R.z(); odometry.pose.pose.orientation.w = R.w(); - pub_camera_pose.publish(odometry); + pub_camera_pose->publish(odometry); cameraposevisual.reset(); cameraposevisual.add_pose(P, R); @@ -237,9 +230,9 @@ void pubCameraPose(const Estimator &estimator, const std_msgs::Header &header) } -void pubPointCloud(const Estimator &estimator, const std_msgs::Header &header) +void pubPointCloud(const Estimator &estimator, const std_msgs::msg::Header &header) { - sensor_msgs::PointCloud point_cloud, loop_point_cloud; + sensor_msgs::msg::PointCloud point_cloud, loop_point_cloud; point_cloud.header = header; loop_point_cloud.header = header; @@ -256,17 +249,17 @@ void pubPointCloud(const Estimator &estimator, const std_msgs::Header &header) Vector3d pts_i = it_per_id.feature_per_frame[0].point * it_per_id.estimated_depth; Vector3d w_pts_i = estimator.Rs[imu_i] * (estimator.ric[0] * pts_i + estimator.tic[0]) + estimator.Ps[imu_i]; - geometry_msgs::Point32 p; + geometry_msgs::msg::Point32 p; p.x = w_pts_i(0); p.y = w_pts_i(1); p.z = w_pts_i(2); point_cloud.points.push_back(p); } - pub_point_cloud.publish(point_cloud); + pub_point_cloud->publish(point_cloud); // pub margined potin - sensor_msgs::PointCloud margin_cloud; + sensor_msgs::msg::PointCloud margin_cloud; margin_cloud.header = header; for (auto &it_per_id : estimator.f_manager.feature) @@ -275,7 +268,7 @@ void pubPointCloud(const Estimator &estimator, const std_msgs::Header &header) used_num = it_per_id.feature_per_frame.size(); if (!(used_num >= 2 && it_per_id.start_frame < WINDOW_SIZE - 2)) continue; - //if (it_per_id->start_frame > WINDOW_SIZE * 3.0 / 4.0 || it_per_id->solve_flag != 1) + // if (it_per_id->start_frame > WINDOW_SIZE * 3.0 / 4.0 || it_per_id->solve_flag != 1) // continue; if (it_per_id.start_frame == 0 && it_per_id.feature_per_frame.size() <= 2 @@ -285,64 +278,14 @@ void pubPointCloud(const Estimator &estimator, const std_msgs::Header &header) Vector3d pts_i = it_per_id.feature_per_frame[0].point * it_per_id.estimated_depth; Vector3d w_pts_i = estimator.Rs[imu_i] * (estimator.ric[0] * pts_i + estimator.tic[0]) + estimator.Ps[imu_i]; - geometry_msgs::Point32 p; + geometry_msgs::msg::Point32 p; p.x = w_pts_i(0); p.y = w_pts_i(1); p.z = w_pts_i(2); margin_cloud.points.push_back(p); } } - pub_margin_cloud.publish(margin_cloud); -} - - -void pubTF(const Estimator &estimator, const std_msgs::Header &header) -{ - if( estimator.solver_flag != Estimator::SolverFlag::NON_LINEAR) - return; - static tf::TransformBroadcaster br; - tf::Transform transform; - tf::Quaternion q; - // body frame - Vector3d correct_t; - Quaterniond correct_q; - correct_t = estimator.Ps[WINDOW_SIZE]; - correct_q = estimator.Rs[WINDOW_SIZE]; - - transform.setOrigin(tf::Vector3(correct_t(0), - correct_t(1), - correct_t(2))); - q.setW(correct_q.w()); - q.setX(correct_q.x()); - q.setY(correct_q.y()); - q.setZ(correct_q.z()); - transform.setRotation(q); - br.sendTransform(tf::StampedTransform(transform, header.stamp, "world", "body")); - - // camera frame - transform.setOrigin(tf::Vector3(estimator.tic[0].x(), - estimator.tic[0].y(), - estimator.tic[0].z())); - q.setW(Quaterniond(estimator.ric[0]).w()); - q.setX(Quaterniond(estimator.ric[0]).x()); - q.setY(Quaterniond(estimator.ric[0]).y()); - q.setZ(Quaterniond(estimator.ric[0]).z()); - transform.setRotation(q); - br.sendTransform(tf::StampedTransform(transform, header.stamp, "body", "camera")); - - nav_msgs::Odometry odometry; - odometry.header = header; - odometry.header.frame_id = "world"; - odometry.pose.pose.position.x = estimator.tic[0].x(); - odometry.pose.pose.position.y = estimator.tic[0].y(); - odometry.pose.pose.position.z = estimator.tic[0].z(); - Quaterniond tmp_q{estimator.ric[0]}; - odometry.pose.pose.orientation.x = tmp_q.x(); - odometry.pose.pose.orientation.y = tmp_q.y(); - odometry.pose.pose.orientation.z = tmp_q.z(); - odometry.pose.pose.orientation.w = tmp_q.w(); - pub_extrinsic.publish(odometry); - + pub_margin_cloud->publish(margin_cloud); } void pubKeyframe(const Estimator &estimator) @@ -355,7 +298,7 @@ void pubKeyframe(const Estimator &estimator) Vector3d P = estimator.Ps[i]; Quaterniond R = Quaterniond(estimator.Rs[i]); - nav_msgs::Odometry odometry; + nav_msgs::msg::Odometry odometry; odometry.header = estimator.Headers[WINDOW_SIZE - 2]; odometry.header.frame_id = "world"; odometry.pose.pose.position.x = P.x(); @@ -365,12 +308,12 @@ void pubKeyframe(const Estimator &estimator) odometry.pose.pose.orientation.y = R.y(); odometry.pose.pose.orientation.z = R.z(); odometry.pose.pose.orientation.w = R.w(); - //printf("time: %f t: %f %f %f r: %f %f %f %f\n", odometry.header.stamp.toSec(), P.x(), P.y(), P.z(), R.w(), R.x(), R.y(), R.z()); + //printf("time: %f t: %f %f %f r: %f %f %f %f\n", odometry.header.stamp.sec, P.x(), P.y(), P.z(), R.w(), R.x(), R.y(), R.z()); - pub_keyframe_pose.publish(odometry); + pub_keyframe_pose->publish(odometry); - sensor_msgs::PointCloud point_cloud; + sensor_msgs::msg::PointCloud point_cloud; point_cloud.header = estimator.Headers[WINDOW_SIZE - 2]; for (auto &it_per_id : estimator.f_manager.feature) { @@ -382,14 +325,14 @@ void pubKeyframe(const Estimator &estimator) Vector3d pts_i = it_per_id.feature_per_frame[0].point * it_per_id.estimated_depth; Vector3d w_pts_i = estimator.Rs[imu_i] * (estimator.ric[0] * pts_i + estimator.tic[0]) + estimator.Ps[imu_i]; - geometry_msgs::Point32 p; + geometry_msgs::msg::Point32 p; p.x = w_pts_i(0); p.y = w_pts_i(1); p.z = w_pts_i(2); point_cloud.points.push_back(p); int imu_j = WINDOW_SIZE - 2 - it_per_id.start_frame; - sensor_msgs::ChannelFloat32 p_2d; + sensor_msgs::msg::ChannelFloat32 p_2d; p_2d.values.push_back(it_per_id.feature_per_frame[imu_j].point.x()); p_2d.values.push_back(it_per_id.feature_per_frame[imu_j].point.y()); p_2d.values.push_back(it_per_id.feature_per_frame[imu_j].uv.x()); @@ -399,14 +342,16 @@ void pubKeyframe(const Estimator &estimator) } } - pub_keyframe_point.publish(point_cloud); + pub_keyframe_point->publish(point_cloud); } } void pubRelocalization(const Estimator &estimator) { - nav_msgs::Odometry odometry; - odometry.header.stamp = ros::Time(estimator.relo_frame_stamp); + nav_msgs::msg::Odometry odometry; + // odometry.header.stamp = rclcpp::Time(estimator.relo_frame_stamp); + odometry.header.stamp.sec = (uint32_t)floor(estimator.relo_frame_stamp); + odometry.header.stamp.nanosec = (uint32_t)round((estimator.relo_frame_stamp - odometry.header.stamp.sec) * 1e9); odometry.header.frame_id = "world"; odometry.pose.pose.position.x = estimator.relo_relative_t.x(); odometry.pose.pose.position.y = estimator.relo_relative_t.y(); @@ -418,5 +363,5 @@ void pubRelocalization(const Estimator &estimator) odometry.twist.twist.linear.x = estimator.relo_relative_yaw; odometry.twist.twist.linear.y = estimator.relo_frame_index; - pub_relo_relative_pose.publish(odometry); + pub_relo_relative_pose->publish(odometry); } \ No newline at end of file diff --git a/vins_estimator/CMakeLists.txt b/vins_estimator/CMakeLists.txt deleted file mode 100644 index 31bcca37d..000000000 --- a/vins_estimator/CMakeLists.txt +++ /dev/null @@ -1,57 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(vins_estimator) - -set(CMAKE_BUILD_TYPE "Release") -set(CMAKE_CXX_FLAGS "-std=c++11") -#-DEIGEN_USE_MKL_ALL") -set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") - -find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - geometry_msgs - nav_msgs - tf - cv_bridge - visualization_msgs - ) - -find_package(OpenCV REQUIRED) - -# message(WARNING "OpenCV_VERSION: ${OpenCV_VERSION}") - -find_package(Ceres REQUIRED) - -include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS}) - -set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) -find_package(Eigen3) -include_directories( - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} -) - -catkin_package() - -add_executable(vins_estimator - src/estimator_node.cpp - src/parameters.cpp - src/estimator.cpp - src/feature_manager.cpp - src/factor/pose_local_parameterization.cpp - src/factor/projection_factor.cpp - src/factor/projection_td_factor.cpp - src/factor/marginalization_factor.cpp - src/utility/utility.cpp - src/utility/visualization.cpp - src/utility/CameraPoseVisualization.cpp - src/initial/solve_5pts.cpp - src/initial/initial_aligment.cpp - src/initial/initial_sfm.cpp - src/initial/initial_ex_rotation.cpp - ) - - -target_link_libraries(vins_estimator ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) - - diff --git a/vins_estimator/cmake/FindEigen.cmake b/vins_estimator/cmake/FindEigen.cmake deleted file mode 100644 index cdeb30557..000000000 --- a/vins_estimator/cmake/FindEigen.cmake +++ /dev/null @@ -1,172 +0,0 @@ -# Ceres Solver - A fast non-linear least squares minimizer -# Copyright 2015 Google Inc. All rights reserved. -# http://ceres-solver.org/ -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# * Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# * Neither the name of Google Inc. nor the names of its contributors may be -# used to endorse or promote products derived from this software without -# specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -# Author: alexs.mac@gmail.com (Alex Stewart) -# - -# FindEigen.cmake - Find Eigen library, version >= 3. -# -# This module defines the following variables: -# -# EIGEN_FOUND: TRUE iff Eigen is found. -# EIGEN_INCLUDE_DIRS: Include directories for Eigen. -# -# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h -# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 -# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 -# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 -# -# The following variables control the behaviour of this module: -# -# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to -# search for eigen includes, e.g: /timbuktu/eigen3. -# -# The following variables are also defined by this module, but in line with -# CMake recommended FindPackage() module style should NOT be referenced directly -# by callers (use the plural variables detailed above instead). These variables -# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which -# are NOT re-called (i.e. search for library is not repeated) if these variables -# are set with valid values _in the CMake cache_. This means that if these -# variables are set directly in the cache, either by the user in the CMake GUI, -# or by the user passing -DVAR=VALUE directives to CMake when called (which -# explicitly defines a cache variable), then they will be used verbatim, -# bypassing the HINTS variables and other hard-coded search locations. -# -# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the -# include directory of any dependencies. - -# Called if we failed to find Eigen or any of it's required dependencies, -# unsets all public (designed to be used externally) variables and reports -# error message at priority depending upon [REQUIRED/QUIET/] argument. -macro(EIGEN_REPORT_NOT_FOUND REASON_MSG) - unset(EIGEN_FOUND) - unset(EIGEN_INCLUDE_DIRS) - # Make results of search visible in the CMake GUI if Eigen has not - # been found so that user does not have to toggle to advanced view. - mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR) - # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() - # use the camelcase library name, not uppercase. - if (Eigen_FIND_QUIETLY) - message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - elseif (Eigen_FIND_REQUIRED) - message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - else() - # Neither QUIETLY nor REQUIRED, use no priority which emits a message - # but continues configuration and allows generation. - message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - endif () - return() -endmacro(EIGEN_REPORT_NOT_FOUND) - -# Protect against any alternative find_package scripts for this library having -# been called previously (in a client project) which set EIGEN_FOUND, but not -# the other variables we require / set here which could cause the search logic -# here to fail. -unset(EIGEN_FOUND) - -# Search user-installed locations first, so that we prefer user installs -# to system installs where both exist. -list(APPEND EIGEN_CHECK_INCLUDE_DIRS - /usr/local/include - /usr/local/homebrew/include # Mac OS X - /opt/local/var/macports/software # Mac OS X. - /opt/local/include - /usr/include) -# Additional suffixes to try appending to each search path. -list(APPEND EIGEN_CHECK_PATH_SUFFIXES - eigen3 # Default root directory for Eigen. - Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3 - Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3 - -# Search supplied hint directories first if supplied. -find_path(EIGEN_INCLUDE_DIR - NAMES Eigen/Core - PATHS ${EIGEN_INCLUDE_DIR_HINTS} - ${EIGEN_CHECK_INCLUDE_DIRS} - PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES}) - -if (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - eigen_report_not_found( - "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " - "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") -endif (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - -# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets -# if called. -set(EIGEN_FOUND TRUE) - -# Extract Eigen version from Eigen/src/Core/util/Macros.h -if (EIGEN_INCLUDE_DIR) - set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) - if (NOT EXISTS ${EIGEN_VERSION_FILE}) - eigen_report_not_found( - "Could not find file: ${EIGEN_VERSION_FILE} " - "containing version information in Eigen install located at: " - "${EIGEN_INCLUDE_DIR}.") - else (NOT EXISTS ${EIGEN_VERSION_FILE}) - file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) - - string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" - EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" - EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") - - string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" - EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" - EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") - - string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" - EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" - EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") - - # This is on a single line s/t CMake does not interpret it as a list of - # elements and insert ';' separators which would result in 3.;2.;0 nonsense. - set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") - endif (NOT EXISTS ${EIGEN_VERSION_FILE}) -endif (EIGEN_INCLUDE_DIR) - -# Set standard CMake FindPackage variables if found. -if (EIGEN_FOUND) - set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) -endif (EIGEN_FOUND) - -# Handle REQUIRED / QUIET optional arguments and version. -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Eigen - REQUIRED_VARS EIGEN_INCLUDE_DIRS - VERSION_VAR EIGEN_VERSION) - -# Only mark internal variables as advanced if we found Eigen, otherwise -# leave it visible in the standard GUI for the user to set manually. -if (EIGEN_FOUND) - mark_as_advanced(FORCE EIGEN_INCLUDE_DIR) -endif (EIGEN_FOUND) diff --git a/vins_estimator/launch/3dm.launch b/vins_estimator/launch/3dm.launch deleted file mode 100644 index 5991b883d..000000000 --- a/vins_estimator/launch/3dm.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/vins_estimator/launch/black_box.launch b/vins_estimator/launch/black_box.launch deleted file mode 100644 index 879b25ecc..000000000 --- a/vins_estimator/launch/black_box.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/vins_estimator/launch/cla.launch b/vins_estimator/launch/cla.launch deleted file mode 100644 index 22c4ce7dd..000000000 --- a/vins_estimator/launch/cla.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/vins_estimator/launch/euroc.launch b/vins_estimator/launch/euroc.launch deleted file mode 100644 index 0d6695542..000000000 --- a/vins_estimator/launch/euroc.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/vins_estimator/launch/euroc_no_extrinsic_param.launch b/vins_estimator/launch/euroc_no_extrinsic_param.launch deleted file mode 100644 index c00d5349e..000000000 --- a/vins_estimator/launch/euroc_no_extrinsic_param.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/vins_estimator/launch/realsense_color.launch b/vins_estimator/launch/realsense_color.launch deleted file mode 100644 index b4ca394e5..000000000 --- a/vins_estimator/launch/realsense_color.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/vins_estimator/launch/realsense_fisheye.launch b/vins_estimator/launch/realsense_fisheye.launch deleted file mode 100644 index 15a1b9035..000000000 --- a/vins_estimator/launch/realsense_fisheye.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/vins_estimator/launch/tum.launch b/vins_estimator/launch/tum.launch deleted file mode 100644 index b67c0c29f..000000000 --- a/vins_estimator/launch/tum.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/vins_estimator/launch/vins_rviz.launch b/vins_estimator/launch/vins_rviz.launch deleted file mode 100644 index 69e46cbcd..000000000 --- a/vins_estimator/launch/vins_rviz.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/vins_estimator/package.xml b/vins_estimator/package.xml deleted file mode 100644 index 08e65625b..000000000 --- a/vins_estimator/package.xml +++ /dev/null @@ -1,55 +0,0 @@ - - - vins_estimator - 0.0.0 - The vins_estimator package - - - - - qintong - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - roscpp - - - - - - - - - - - diff --git a/vins_estimator/src/estimator_node.cpp b/vins_estimator/src/estimator_node.cpp deleted file mode 100644 index 1297936ad..000000000 --- a/vins_estimator/src/estimator_node.cpp +++ /dev/null @@ -1,364 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "estimator.h" -#include "parameters.h" -#include "utility/visualization.h" - - -Estimator estimator; - -std::condition_variable con; -double current_time = -1; -queue imu_buf; -queue feature_buf; -queue relo_buf; -int sum_of_wait = 0; - -std::mutex m_buf; -std::mutex m_state; -std::mutex i_buf; -std::mutex m_estimator; - -double latest_time; -Eigen::Vector3d tmp_P; -Eigen::Quaterniond tmp_Q; -Eigen::Vector3d tmp_V; -Eigen::Vector3d tmp_Ba; -Eigen::Vector3d tmp_Bg; -Eigen::Vector3d acc_0; -Eigen::Vector3d gyr_0; -bool init_feature = 0; -bool init_imu = 1; -double last_imu_t = 0; - -void predict(const sensor_msgs::ImuConstPtr &imu_msg) -{ - double t = imu_msg->header.stamp.toSec(); - if (init_imu) - { - latest_time = t; - init_imu = 0; - return; - } - double dt = t - latest_time; - latest_time = t; - - double dx = imu_msg->linear_acceleration.x; - double dy = imu_msg->linear_acceleration.y; - double dz = imu_msg->linear_acceleration.z; - Eigen::Vector3d linear_acceleration{dx, dy, dz}; - - double rx = imu_msg->angular_velocity.x; - double ry = imu_msg->angular_velocity.y; - double rz = imu_msg->angular_velocity.z; - Eigen::Vector3d angular_velocity{rx, ry, rz}; - - Eigen::Vector3d un_acc_0 = tmp_Q * (acc_0 - tmp_Ba) - estimator.g; - - Eigen::Vector3d un_gyr = 0.5 * (gyr_0 + angular_velocity) - tmp_Bg; - tmp_Q = tmp_Q * Utility::deltaQ(un_gyr * dt); - - Eigen::Vector3d un_acc_1 = tmp_Q * (linear_acceleration - tmp_Ba) - estimator.g; - - Eigen::Vector3d un_acc = 0.5 * (un_acc_0 + un_acc_1); - - tmp_P = tmp_P + dt * tmp_V + 0.5 * dt * dt * un_acc; - tmp_V = tmp_V + dt * un_acc; - - acc_0 = linear_acceleration; - gyr_0 = angular_velocity; -} - -void update() -{ - TicToc t_predict; - latest_time = current_time; - tmp_P = estimator.Ps[WINDOW_SIZE]; - tmp_Q = estimator.Rs[WINDOW_SIZE]; - tmp_V = estimator.Vs[WINDOW_SIZE]; - tmp_Ba = estimator.Bas[WINDOW_SIZE]; - tmp_Bg = estimator.Bgs[WINDOW_SIZE]; - acc_0 = estimator.acc_0; - gyr_0 = estimator.gyr_0; - - queue tmp_imu_buf = imu_buf; - for (sensor_msgs::ImuConstPtr tmp_imu_msg; !tmp_imu_buf.empty(); tmp_imu_buf.pop()) - predict(tmp_imu_buf.front()); - -} - -std::vector, sensor_msgs::PointCloudConstPtr>> -getMeasurements() -{ - std::vector, sensor_msgs::PointCloudConstPtr>> measurements; - - while (true) - { - if (imu_buf.empty() || feature_buf.empty()) - return measurements; - - if (!(imu_buf.back()->header.stamp.toSec() > feature_buf.front()->header.stamp.toSec() + estimator.td)) - { - //ROS_WARN("wait for imu, only should happen at the beginning"); - sum_of_wait++; - return measurements; - } - - if (!(imu_buf.front()->header.stamp.toSec() < feature_buf.front()->header.stamp.toSec() + estimator.td)) - { - ROS_WARN("throw img, only should happen at the beginning"); - feature_buf.pop(); - continue; - } - sensor_msgs::PointCloudConstPtr img_msg = feature_buf.front(); - feature_buf.pop(); - - std::vector IMUs; - while (imu_buf.front()->header.stamp.toSec() < img_msg->header.stamp.toSec() + estimator.td) - { - IMUs.emplace_back(imu_buf.front()); - imu_buf.pop(); - } - IMUs.emplace_back(imu_buf.front()); - if (IMUs.empty()) - ROS_WARN("no imu between two image"); - measurements.emplace_back(IMUs, img_msg); - } - return measurements; -} - -void imu_callback(const sensor_msgs::ImuConstPtr &imu_msg) -{ - if (imu_msg->header.stamp.toSec() <= last_imu_t) - { - ROS_WARN("imu message in disorder!"); - return; - } - last_imu_t = imu_msg->header.stamp.toSec(); - - m_buf.lock(); - imu_buf.push(imu_msg); - m_buf.unlock(); - con.notify_one(); - - last_imu_t = imu_msg->header.stamp.toSec(); - - { - std::lock_guard lg(m_state); - predict(imu_msg); - std_msgs::Header header = imu_msg->header; - header.frame_id = "world"; - if (estimator.solver_flag == Estimator::SolverFlag::NON_LINEAR) - pubLatestOdometry(tmp_P, tmp_Q, tmp_V, header); - } -} - - -void feature_callback(const sensor_msgs::PointCloudConstPtr &feature_msg) -{ - if (!init_feature) - { - //skip the first detected feature, which doesn't contain optical flow speed - init_feature = 1; - return; - } - m_buf.lock(); - feature_buf.push(feature_msg); - m_buf.unlock(); - con.notify_one(); -} - -void restart_callback(const std_msgs::BoolConstPtr &restart_msg) -{ - if (restart_msg->data == true) - { - ROS_WARN("restart the estimator!"); - m_buf.lock(); - while(!feature_buf.empty()) - feature_buf.pop(); - while(!imu_buf.empty()) - imu_buf.pop(); - m_buf.unlock(); - m_estimator.lock(); - estimator.clearState(); - estimator.setParameter(); - m_estimator.unlock(); - current_time = -1; - last_imu_t = 0; - } - return; -} - -void relocalization_callback(const sensor_msgs::PointCloudConstPtr &points_msg) -{ - //printf("relocalization callback! \n"); - m_buf.lock(); - relo_buf.push(points_msg); - m_buf.unlock(); -} - -// thread: visual-inertial odometry -void process() -{ - while (true) - { - std::vector, sensor_msgs::PointCloudConstPtr>> measurements; - std::unique_lock lk(m_buf); - con.wait(lk, [&] - { - return (measurements = getMeasurements()).size() != 0; - }); - lk.unlock(); - m_estimator.lock(); - for (auto &measurement : measurements) - { - auto img_msg = measurement.second; - double dx = 0, dy = 0, dz = 0, rx = 0, ry = 0, rz = 0; - for (auto &imu_msg : measurement.first) - { - double t = imu_msg->header.stamp.toSec(); - double img_t = img_msg->header.stamp.toSec() + estimator.td; - if (t <= img_t) - { - if (current_time < 0) - current_time = t; - double dt = t - current_time; - ROS_ASSERT(dt >= 0); - current_time = t; - dx = imu_msg->linear_acceleration.x; - dy = imu_msg->linear_acceleration.y; - dz = imu_msg->linear_acceleration.z; - rx = imu_msg->angular_velocity.x; - ry = imu_msg->angular_velocity.y; - rz = imu_msg->angular_velocity.z; - estimator.processIMU(dt, Vector3d(dx, dy, dz), Vector3d(rx, ry, rz)); - //printf("imu: dt:%f a: %f %f %f w: %f %f %f\n",dt, dx, dy, dz, rx, ry, rz); - - } - else - { - double dt_1 = img_t - current_time; - double dt_2 = t - img_t; - current_time = img_t; - ROS_ASSERT(dt_1 >= 0); - ROS_ASSERT(dt_2 >= 0); - ROS_ASSERT(dt_1 + dt_2 > 0); - double w1 = dt_2 / (dt_1 + dt_2); - double w2 = dt_1 / (dt_1 + dt_2); - dx = w1 * dx + w2 * imu_msg->linear_acceleration.x; - dy = w1 * dy + w2 * imu_msg->linear_acceleration.y; - dz = w1 * dz + w2 * imu_msg->linear_acceleration.z; - rx = w1 * rx + w2 * imu_msg->angular_velocity.x; - ry = w1 * ry + w2 * imu_msg->angular_velocity.y; - rz = w1 * rz + w2 * imu_msg->angular_velocity.z; - estimator.processIMU(dt_1, Vector3d(dx, dy, dz), Vector3d(rx, ry, rz)); - //printf("dimu: dt:%f a: %f %f %f w: %f %f %f\n",dt_1, dx, dy, dz, rx, ry, rz); - } - } - // set relocalization frame - sensor_msgs::PointCloudConstPtr relo_msg = NULL; - while (!relo_buf.empty()) - { - relo_msg = relo_buf.front(); - relo_buf.pop(); - } - if (relo_msg != NULL) - { - vector match_points; - double frame_stamp = relo_msg->header.stamp.toSec(); - for (unsigned int i = 0; i < relo_msg->points.size(); i++) - { - Vector3d u_v_id; - u_v_id.x() = relo_msg->points[i].x; - u_v_id.y() = relo_msg->points[i].y; - u_v_id.z() = relo_msg->points[i].z; - match_points.push_back(u_v_id); - } - Vector3d relo_t(relo_msg->channels[0].values[0], relo_msg->channels[0].values[1], relo_msg->channels[0].values[2]); - Quaterniond relo_q(relo_msg->channels[0].values[3], relo_msg->channels[0].values[4], relo_msg->channels[0].values[5], relo_msg->channels[0].values[6]); - Matrix3d relo_r = relo_q.toRotationMatrix(); - int frame_index; - frame_index = relo_msg->channels[0].values[7]; - estimator.setReloFrame(frame_stamp, frame_index, match_points, relo_t, relo_r); - } - - ROS_DEBUG("processing vision data with stamp %f \n", img_msg->header.stamp.toSec()); - - TicToc t_s; - map>>> image; - for (unsigned int i = 0; i < img_msg->points.size(); i++) - { - int v = img_msg->channels[0].values[i] + 0.5; - int feature_id = v / NUM_OF_CAM; - int camera_id = v % NUM_OF_CAM; - double x = img_msg->points[i].x; - double y = img_msg->points[i].y; - double z = img_msg->points[i].z; - double p_u = img_msg->channels[1].values[i]; - double p_v = img_msg->channels[2].values[i]; - double velocity_x = img_msg->channels[3].values[i]; - double velocity_y = img_msg->channels[4].values[i]; - ROS_ASSERT(z == 1); - Eigen::Matrix xyz_uv_velocity; - xyz_uv_velocity << x, y, z, p_u, p_v, velocity_x, velocity_y; - image[feature_id].emplace_back(camera_id, xyz_uv_velocity); - } - estimator.processImage(image, img_msg->header); - - double whole_t = t_s.toc(); - printStatistics(estimator, whole_t); - std_msgs::Header header = img_msg->header; - header.frame_id = "world"; - - pubOdometry(estimator, header); - pubKeyPoses(estimator, header); - pubCameraPose(estimator, header); - pubPointCloud(estimator, header); - pubTF(estimator, header); - pubKeyframe(estimator); - if (relo_msg != NULL) - pubRelocalization(estimator); - //ROS_ERROR("end: %f, at %f", img_msg->header.stamp.toSec(), ros::Time::now().toSec()); - } - m_estimator.unlock(); - m_buf.lock(); - m_state.lock(); - if (estimator.solver_flag == Estimator::SolverFlag::NON_LINEAR) - update(); - m_state.unlock(); - m_buf.unlock(); - } -} - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "vins_estimator"); - ros::NodeHandle n("~"); - ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info); - readParameters(n); - estimator.setParameter(); -#ifdef EIGEN_DONT_PARALLELIZE - ROS_DEBUG("EIGEN_DONT_PARALLELIZE"); -#endif - ROS_WARN("waiting for image and imu..."); - - registerPub(n); - - ros::Subscriber sub_imu = n.subscribe(IMU_TOPIC, 2000, imu_callback, ros::TransportHints().tcpNoDelay()); - ros::Subscriber sub_image = n.subscribe("/feature_tracker/feature", 2000, feature_callback); - ros::Subscriber sub_restart = n.subscribe("/feature_tracker/restart", 2000, restart_callback); - ros::Subscriber sub_relo_points = n.subscribe("/pose_graph/match_points", 2000, relocalization_callback); - - std::thread measurement_process{process}; - ros::spin(); - - return 0; -} diff --git a/vins_estimator/src/utility/visualization.h b/vins_estimator/src/utility/visualization.h deleted file mode 100644 index bf7d1d1f3..000000000 --- a/vins_estimator/src/utility/visualization.h +++ /dev/null @@ -1,52 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "CameraPoseVisualization.h" -#include -#include "../estimator.h" -#include "../parameters.h" -#include - -extern ros::Publisher pub_odometry; -extern ros::Publisher pub_path, pub_pose; -extern ros::Publisher pub_cloud, pub_map; -extern ros::Publisher pub_key_poses; -extern ros::Publisher pub_ref_pose, pub_cur_pose; -extern ros::Publisher pub_key; -extern nav_msgs::Path path; -extern ros::Publisher pub_pose_graph; -extern int IMAGE_ROW, IMAGE_COL; - -void registerPub(ros::NodeHandle &n); - -void pubLatestOdometry(const Eigen::Vector3d &P, const Eigen::Quaterniond &Q, const Eigen::Vector3d &V, const std_msgs::Header &header); - -void printStatistics(const Estimator &estimator, double t); - -void pubOdometry(const Estimator &estimator, const std_msgs::Header &header); - -void pubInitialGuess(const Estimator &estimator, const std_msgs::Header &header); - -void pubKeyPoses(const Estimator &estimator, const std_msgs::Header &header); - -void pubCameraPose(const Estimator &estimator, const std_msgs::Header &header); - -void pubPointCloud(const Estimator &estimator, const std_msgs::Header &header); - -void pubTF(const Estimator &estimator, const std_msgs::Header &header); - -void pubKeyframe(const Estimator &estimator); - -void pubRelocalization(const Estimator &estimator); \ No newline at end of file