Processtumvi

.gitmodules

@@ -69,4 +69,4 @@
 	url = [email protected]:ethz-asl/linter.git
 [submodule "dependencies/internal/maplab_msgs"]
 	path = dependencies/internal/maplab_msgs
-	url = [email protected]:ethz-asl/maplab_msgs.git
+	url = [email protected]:ethz-asl/maplab_msgs.git

Build.md

@@ -0,0 +1,27 @@
+# Connect to VPN so that github can be accessed from a terminal
+# download and build maplab in a catkin workspace, ubuntu 18 ROS melodic
+```
+catkin clean
+catkin config --merge-devel # for error 1
+
+catkin build maplab -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_BUILD_TYPE=Release
+```
+
+## Error 1
+```
+Errors     << aslam_cv_cameras:make /media/jhuai/docker/maplab2_ws/logs/aslam_cv_cameras/build.make.004.log                                                                                                
+In file included from /media/jhuai/docker/maplab2_ws/src/maplab/aslam_cv2/aslam_cv_common/include/aslam/common/unique-id.h:12:0,
+                 from /media/jhuai/docker/maplab2_ws/src/maplab/aslam_cv2/aslam_cv_common/include/aslam/common/sensor.h:7,
+                 from /media/jhuai/docker/maplab2_ws/src/maplab/aslam_cv2/aslam_cv_cameras/include/aslam/cameras/camera.h:16,
+                 from /media/jhuai/docker/maplab2_ws/src/maplab/aslam_cv2/aslam_cv_cameras/include/aslam/cameras/camera-unified-projection.h:4,
+                 from /media/jhuai/docker/maplab2_ws/src/maplab/aslam_cv2/aslam_cv_cameras/src/camera-unified-projection.cc:3:
+/media/jhuai/docker/maplab2_ws/src/maplab/aslam_cv2/aslam_cv_common/include/aslam/common/internal/unique-id.h:7:10: fatal error: aslam/common/id.pb.h: No such file or directory
+ #include "aslam/common/id.pb.h"
+          ^~~~~~~~~~~~~~~~~~~~~~
+compilation terminated.
+
+```
+solution: catkin config --merge-devel 
+
+source devel/setup.bash
+rosrun rovioli tutorial_euroc /home/jhuai/Desktop/temp/maplab2 /media/jhuai/BackupPlus/jhuai/data/euroc/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.bag

applications/maplab-node/src/ros-helpers.cc

@@ -28,7 +28,7 @@ DEFINE_int32(
     "CLAHE histogram equalization parameter: grid size.");
 
 DEFINE_double(
-    image_16_bit_to_8_bit_scale_factor, 1,
+    image_16_bit_to_8_bit_scale_factor, 255. / 65535.,
     "Scale factor applied to 16bit images when converting them to 8bit "
     "images.");
 DEFINE_double(

applications/rovioli/scripts/euroc.sh

@@ -0,0 +1,40 @@
+# visual inertial state estimation and feature tracking results generated by maplab2 on euroc sequences.
+
+eurocbags=(
+machine_hall/MH_01_easy/MH_01_easy.bag
+machine_hall/MH_02_easy/MH_02_easy.bag
+machine_hall/MH_03_medium/MH_03_medium.bag
+machine_hall/MH_04_difficult/MH_04_difficult.bag
+machine_hall/MH_05_difficult/MH_05_difficult.bag
+vicon_room1/V1_01_easy/V1_01_easy.bag
+vicon_room1/V1_02_medium/V1_02_medium.bag
+vicon_room1/V1_03_difficult/V1_03_difficult.bag
+vicon_room2/V2_01_easy/V2_01_easy.bag
+vicon_room2/V2_02_medium/V2_02_medium.bag
+vicon_room2/V2_03_difficult/V2_03_difficult.bag)
+
+eurocbags=(vicon_room2/V2_03_difficult/V2_03_difficult.bag)
+
+datadir=/media/jhuai/BackupPlus/jhuai/data/euroc/ijrr_euroc_mav_dataset
+
+resultdir=/home/jhuai/Desktop/temp/maplab2/euroc
+exportscript=/media/jhuai/docker/bsplines_ws/src/lie_splines/bsplines_ceres/test/data/vimap_export.yaml
+maplab_ws=/media/jhuai/docker/maplab2_ws
+source $maplab_ws/devel/setup.bash
+mkdir -p $resultdir
+counter=0
+
+for bag in ${eurocbags[@]}; do
+    bn=$(basename -- "$bag")
+    bn="${bn%.*}"
+    rm -r $resultdir/$bn
+    sed -i "/maplab2/c\  - $resultdir/$bn" $exportscript
+    cmd="rosrun rovioli tutorial_euroc $resultdir/$bn $datadir/$bag --vio_nframe_sync_max_output_frequency_hz=10"
+    echo $cmd
+    $cmd
+    rosrun maplab_console batch_runner --batch_control_file $exportscript
+    ((counter++))
+    # if [ $counter -gt 0 ]; then
+    #     break
+    # fi
+done

applications/rovioli/scripts/tumvi.sh

@@ -0,0 +1,54 @@
+# visual inertial state estimation and feature tracking results generated by maplab2 on TUMVI sequences.
+
+tumvibags=(room1
+room2
+room3
+room4
+room5
+room6
+slides1
+slides2
+slides3
+corridor1
+corridor2
+corridor3
+corridor4
+corridor5
+outdoors1
+outdoors2
+outdoors3
+outdoors4
+outdoors5
+outdoors6
+outdoors7
+outdoors8
+magistrale1
+magistrale2
+magistrale3
+magistrale4
+magistrale5
+magistrale6)
+
+datadir=/media/jhuai/BackupPlus/jhuai/data/tumvi/calibrated/512_16
+resultdir=/home/jhuai/Desktop/temp/maplab2/tumvi
+exportscript=/media/jhuai/docker/bsplines_ws/src/lie_splines/bsplines_ceres/test/data/vimap_export.yaml
+
+maplab_ws=/media/jhuai/docker/maplab2_ws
+source $maplab_ws/devel/setup.bash
+mkdir -p $resultdir
+counter=0
+for bag in ${tumvibags[@]}; do
+    bn=$(basename -- "$bag")
+    bn="${bn%.*}"
+    rm -r $resultdir/$bn
+    sed -i "/maplab2/c\  - $resultdir/$bn" $exportscript
+    cmd="rosrun rovioli tutorial_tumvi $resultdir/$bn $datadir/dataset-"$bag"_512_16.bag --vio_nframe_sync_max_output_frequency_hz=10"
+    echo $cmd
+    $cmd
+    rosrun maplab_console batch_runner --batch_control_file $exportscript
+    ((counter++))
+    # if [ $counter -gt 0 ]; then
+    #     break
+    # fi
+done
+

applications/rovioli/scripts/tutorials/tutorial_euroc

@@ -4,15 +4,13 @@
 
 LOCALIZATION_MAP_OUTPUT=$1
 ROSBAG=$2
-NCAMERA_CALIBRATION="$ROVIO_CONFIG_DIR/ncamera-euroc.yaml"
-IMU_PARAMETERS_MAPLAB="$ROVIO_CONFIG_DIR/imu-adis16488.yaml"
+SENSOR_CALIBRATION="$ROVIO_CONFIG_DIR/euroc-stereo.yaml"
 REST=$@
 
 rosrun rovioli rovioli \
   --alsologtostderr=1 \
   --v=2 \
-  --ncamera_calibration=$NCAMERA_CALIBRATION  \
-  --imu_parameters_maplab=$IMU_PARAMETERS_MAPLAB \
+  --sensor_calibration_file="$SENSOR_CALIBRATION" \
   --datasource_type="rosbag" \
   --save_map_folder="$LOCALIZATION_MAP_OUTPUT" \
   --optimize_map_to_localization_map=false \

applications/rovioli/scripts/tutorials/tutorial_tumvi

@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+# Script to run ROVIOLI from a TUMVI rosbag data source.
+# Usage: tutorial_tumvi <output save folder> <rosbag path> [<additional rovioli flags>]
+
+LOCALIZATION_MAP_OUTPUT=$1
+ROSBAG=$2
+SENSOR_CALIBRATION="$ROVIO_CONFIG_DIR/tumvi-stereo.yaml"
+REST=$@
+
+rosrun rovioli rovioli \
+  --alsologtostderr=1 \
+  --v=2 \
+  --sensor_calibration_file="$SENSOR_CALIBRATION" \
+  --datasource_type="rosbag" \
+  --save_map_folder="$LOCALIZATION_MAP_OUTPUT" \
+  --optimize_map_to_localization_map=false \
+  --map_builder_save_image_as_resources=false \
+  --datasource_rosbag=$ROSBAG $REST

applications/rovioli/scripts/vimap_export.yaml

@@ -0,0 +1,8 @@
+# Commands for exporting vi maps to csv files.
+# This script is passed as argument to batch-runner.
+# Yaml-format:
+vi_map_folder_paths:
+  - /home/jhuai/Desktop/temp/maplab2/euroc/V2_03_difficult
+commands:
+  - load --map_key dummy_vi --map_folder=<CURRENT_VIMAP_FOLDER>
+  - csv_export --csv_export_path <CURRENT_VIMAP_FOLDER>

applications/rovioli/scripts/vimap_singlesession_postproc.yaml

@@ -0,0 +1,16 @@
+# Commands for creating single session summary maps.
+# This script is passed as argument to batch-runner.
+# Yaml-format:
+vi_map_folder_paths:
+  - /home/jhuai/Desktop/temp/maplab2/euroc/MH_01_easy
+commands:
+  - load --map_key dummy_vi --map_folder=<CURRENT_VIMAP_FOLDER>
+  - csv_export --csv_export_path <CURRENT_VIMAP_FOLDER>
+  - v
+  - lc --feature_descriptor_type=brisk
+  - optvi --feature_descriptor_type=brisk
+  - lc --feature_descriptor_type=brisk
+  - optvi --feature_descriptor_type=brisk
+  - v
+  - csv_export --csv_export_path <CURRENT_VIMAP_FOLDER>_summary
+  - generate_summary_map_and_save_to_disk --summary_map_save_path <CURRENT_VIMAP_FOLDER>_summary --feature_descriptor_type=brisk

applications/rovioli/share/tumvi-stereo.yaml

@@ -0,0 +1,112 @@
+sensors:
+  - id: c63aecb41bfdfd6b7e1fac37c7cbe7bf
+    topic: /imu0
+    description: "Bosch IMU (BMI160)"
+    sensor_type: IMU
+    sigmas:
+      acc_noise_density: 1.4e-2  # Allan std * 5
+      acc_bias_random_walk_noise_density: 8.6e-3  # Allan std * 10
+      gyro_noise_density: 8.0e-4  # Allan std * 5
+      gyro_bias_random_walk_noise_density: 2.2e-4  # Allan std * 10
+    saturation_accel_max_mps2: 150.0
+    saturation_gyro_max_radps: 7.5
+    gravity_magnitude_mps2: 9.81
+
+  - id: 412eab8e4058621f7036b5e765dfe812
+    sensor_type: NCAMERA
+    description: "Two uEye UI-3241LE-M-GL with Lensagon BF2M2020S23 lenses"
+    topic: ""
+    cameras:
+      - camera:
+          topic: /cam0
+          id: 54812562fa109c40fe90b29a59dd7798
+          description: "cam0"
+          sensor_type: CAMERA
+          line-delay-nanoseconds: 0
+          image_height: 512
+          image_width: 512
+          type: pinhole
+          intrinsics:
+            cols: 1
+            rows: 4
+            data: [190.97847715128717, 190.9733070521226, 254.93170605935475, 256.8974428996504]
+          distortion:
+            type: equidistant
+            parameters:
+              cols: 1
+              rows: 4
+              data: [0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202, 0.00020293673591811182]
+        T_B_C:
+          cols: 4
+          rows: 4
+          data: [-0.999525037869675, 0.00750191850740521, -0.0298901303164331, 0.0455748356496981,
+                 0.0296153438858632, -0.0343973606139315, -0.998969345370176, -0.0711618018379971,
+                -0.00852232821165475, -0.999380079249884,  0.0341588512738562, -0.0446812541171444,
+                 0.0, 0.0, 0.0, 1.0]
+
+      - camera:
+          topic: /cam1
+          id: 54812562fa109c40fe90b29a59dd7723
+          description: "cam1"
+          sensor_type: CAMERA
+          line-delay-nanoseconds: 0
+          image_height: 512
+          image_width: 512
+          type: pinhole
+          intrinsics:
+            cols: 1
+            rows: 4
+            data: [190.44236969414825, 190.4344384721956, 252.59949716835982, 254.91723064636983]
+          distortion:
+            type: equidistant
+            parameters:
+              cols: 1
+              rows: 4
+              data: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606, 0.0003299517423931039]
+        T_B_C:
+          cols: 4
+          rows: 4
+          data: [ -0.999511048497858, 0.00810407926382252, -0.0301991362458914, -0.0554563391425955,
+                  0.0302991163766006, 0.0125116437201924, -0.999462566741855, -0.0692500216422477,
+                 -0.00772188302873336, -0.999888885162099, -0.0127510725739409, -0.0474528648075134,
+                0.0, 0.0, 0.0, 1.0]
+
+  - id: aabb23479caf7592b35518478a2fe08f
+    sensor_type: ODOMETRY_6DOF
+    description: "ROVIOLI in Odometry mode"
+    topic: /maplab_odom_T_M_I
+
+extrinsics:
+
+  - sensor_id: 412eab8e4058621f7036b5e765dfe812
+    base_sensor_id: c63aecb41bfdfd6b7e1fac37c7cbe7bf
+    T_B_S:
+      cols: 4
+      rows: 4
+      data:
+        - [1,0,0,0]
+        - [0,1,0,0]
+        - [0,0,1,0]
+        - [0,0,0,1]
+
+  - sensor_id: c63aecb41bfdfd6b7e1fac37c7cbe7bf
+    base_sensor_id: c63aecb41bfdfd6b7e1fac37c7cbe7bf
+    T_B_S:
+      rows: 4
+      cols: 4
+      data:
+        - [1,0,0,0]
+        - [0,1,0,0]
+        - [0,0,1,0]
+        - [0,0,0,1]
+
+  - sensor_id: aabb23479caf7592b35518478a2fe08f
+    base_sensor_id: c63aecb41bfdfd6b7e1fac37c7cbe7bf
+    T_B_S:
+      rows: 4
+      cols: 4
+      data:
+        - [1,0,0,0]
+        - [0,1,0,0]
+        - [0,0,1,0]
+        - [0,0,0,1]

applications/rovioli/src/ros-helpers.cc

@@ -26,8 +26,9 @@ DEFINE_int32(
     rovioli_image_clahe_grid_size, 8,
     "CLAHE histogram equalization parameter: grid size.");
 
+// see line 173 in http://docs.ros.org/en/diamondback/api/cv_bridge/html/c++/cv__bridge_8cpp_source.html
 DEFINE_double(
-    rovioli_image_16_bit_to_8_bit_scale_factor, 1,
+    rovioli_image_16_bit_to_8_bit_scale_factor, 255. / 65535.,
     "Scale factor applied to 16bit images when converting them to 8bit "
     "images.");
 DEFINE_double(