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Roger-Chuh / vins-fisheye-cubemap

a VINS algorithm with a combination of stereo fisheye images, cubemap, line features, dense mapping and loop closure
GNU General Public License v3.0
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cubemap dense-mapping fisheye line-feature loop-closure vins

readme

FYI

This code is modified from HKUST's original "VINS-Fisheye" verion, it now can only run on datasets recorded by intel realsense T265. EUROC or TUM dataset are not supported under this version. I have provided a sample ros bag down below, you can also create your own dataset with a calibrated T265.

The code was compiled under 18.04 Melodic.

in the terminal, type (change the paths accordingly)

1. roslaunch vins fisheye_node.launch config_file:=/home/roger/vins-fisheye2/src/VINS-Fisheye/config/t265/t265_cpu_165_55_bak.yaml
2. rosrun loop_fusion loop_fusion_node /home/roger/vins-fisheye2/src/VINS-Fisheye/config/t265/t265_cpu_165_55_bak.yaml  (optional with loop closure)
3. roslaunch vins vins_rviz.launch
4. rosbag play vio6.bag --clock -r 0.5  (if the pose drifts unexpectedly, lower the play rate of the bag)

references:

  1. https://github.com/HKUST-Aerial-Robotics/VINS-Fisheye
  2. https://github.com/nkwangyh/CubemapSLAM
  3. https://github.com/HeYijia/PL-VIO
  4. https://github.com/HKUST-Aerial-Robotics/DenseSurfelMapping

sample ros bag: 链接：https://pan.baidu.com/s/1efJd0ndCIxRMVlrKQceFaw 提取码：qm2v

Some Online Demos

Image of DEMO1 https://www.bilibili.com/video/BV1wT4y1C7hy/ (underground parking lot under highly dynamic illumination changes, total travelled length 500m, final drift 3m)

Image of DEMO2 https://www.bilibili.com/video/BV1wS4y1F7Wf/ (indoor localization with additional line features)

Image of DEMO3 https://www.bilibili.com/video/BV13Y411G7jg/ (dense mapping with loop correction)

VINS-Fisheye

This repository is a Fisheye version of VINS-Fusion with GPU and Visionworks acceleration. It can run on Nvidia TX2 in real-time, also provide depth estimation based on fisheye. This project stands as a part of Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarm. You may use it alone on any type of robot or as a part of Omni-swarm for swarm robots.

Only stereo visual-inertial-odometry is supported for fisheye cameras now. Loop closure module for fisheye camera will release later.

Image of PCL Drone path and RGB point cloud estimation

Image of fisheye Feature tracker for fisheye

Image of Disparity Disparity estimation for depth estimation

1. Prerequisites

The essential software environment is same as VINS-Fusion. Besides, it requires OpenCV cuda version.(Only test it on OpenCV 3.4.1). Visionworks: Optional

If you want to CUDA mode of this package, libSGM is required for depth estimation.

2. Usage

2.1 Change the opencv path in the CMakeLists

This package support CUDA mode and CPU mode with OpenMP enabled. If you are using on embedded device, I strongly recommend you to use this package with CUDA to achieve best performance.

By default, CUDA is automatically detected, however you can disable it by set

set(DETECT_CUDA false)

When using OpenCV, I recommend that you to compile and install opencv 3.4 with CUDA to /usr/local/

If your opencv with CUDA is installed in other localization, modify the

SET("OpenCV_DIR"  "/usr/local/share/OpenCV/")

If you don't have visionworks, please 

set(ENABLE_VWORKS false)

NVIDIA VisionWorks gives slightly better performance, however, the VisionWorks support for this package is not stable yet.

Fisheye usage

Term 1

#If use CUDA
roslaunch vins fisheye_split.launch config_file:=/home/your_name/your_ws/src/VINS-Fusion-Fisheye/config/fisheye_ptgrey_n3/fisheye_cuda.yaml
#If use CPU
roslaunch vins fisheye_split.launch config_file:=/home/your_name/your_ws/src/VINS-Fusion-Fisheye/config/fisheye_ptgrey_n3/fisheye_cpu.yaml

Term 2

rosbag play fishey_vins_2020-01-30-10-38-14.bag --clock -s 12

Term 3(for visuallization only)

roslaunch vins vins_rviz.launch

GPU is default enabled, if you are not using CUDA, disable it in yaml config file.

For rosbag, you can download from https://www.dropbox.com/s/kmakksca3ns6cav/fisheye_vins_2020-01-30-10-38-14.bag?dl=0

Parameters for fisheye

depth_config: "depth_cpu.yaml" # config path for depth estimation, depth_cpu.yaml uses opencv SGBM, depth.yaml uses visionworks SGM, you must install visionworks before use visionworks sgm
image_width: 600 # For fisheye, this indicate the flattened image width; min 100; 300 - 500 is good for vins
fisheye_fov: 235 # Your fisheye fov
enable_up_top: 1 #Choose direction you use
enable_down_top: 1
enable_up_side: 1
enable_down_side: 1
enable_rear_side: 1
thres_outlier : 5.0 # outlier thres for backend
tri_max_err: 3.0 #outlier thres for triangulate

depth_estimate_baseline: 0.05 # mini baseline for pts initialization
top_cnt: 30 #number of track point for top view
side_cnt: 30 #number of track point for side view
max_solve_cnt: 30 # Max Point for solve; highly influence performace
show_track: 0 # if display track
use_vxworks: 0 #use vision works for front-end; not as stable as CUDA now

enable_depth: 1 # If estimate depth cloud; only available for dual fisheye now
rgb_depth_cloud: 0 # -1: point no texture,  0 depth cloud will be gray, 1 depth cloud will be colored;
#Note that textured and colored depth cloud will slow down whole system
use_gpu: 1 # If using GPU
use_vworks: 0 # If using visionworks

Parameter for depth estimation

#choose the depth you want estimate
enable_front: 1
enable_left: 1
enable_right: 1
enable_rear: 0
#downsample ration
downsample_ratio: 0.5
#choose use cpu or visionworks
use_vworks: 0

#Publish cloud jump step
pub_cloud_step: 1
#If show dispartity
show_disparity: 0
#If publish depth map image
pub_depth_map: 1
#Publish cloud in radius
depth_cloud_radius: 10
#If publish all depth cloud in a topic
pub_cloud_all: 1
#If publish all depth cloud in every direction
pub_cloud_per_direction: 0

Related Paper

Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarm The VINS-Fisheye is a part of Omni-swarm. If you want use VIN-Fisheye as a part of your research project, please cite this paper.

See also

Autonomous aerial robot using dual‐fisheye cameras, Wenliang Gao, Kaixuan Wang, Wenchao Ding, Fei Gao, Tong Qin, Shaojie Shen, 2020 Journal of Field Robotics (JFR) for Fisheye camera navigation. The basic idea of this project is from this paper.

H. Xu, L. Wang, Y. Zhang and S. Shen. (2020) Decentralized visual-inertial-UWB fusion for relative state estimation of aerial swarm. in 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE. for swarm localization which is this project developed for.

VINS-Fusion

An optimization-based multi-sensor state estimator

VINS-Fusion is an optimization-based multi-sensor state estimator, which achieves accurate self-localization for autonomous applications (drones, cars, and AR/VR). VINS-Fusion is an extension of VINS-Mono, which supports multiple visual-inertial sensor types (mono camera + IMU, stereo cameras + IMU, even stereo cameras only). We also show a toy example of fusing VINS with GPS. Features:

We are the top open-sourced stereo algorithm on KITTI Odometry Benchmark (12.Jan.2019).

Authors: Tong Qin, Shaozu Cao, Jie Pan, Peiliang Li, and Shaojie Shen from the Aerial Robotics Group, HKUST

Videos:

<img src="http://img.youtube.com/vi/1qye82aW7nI/0.jpg" alt="VINS" width="320" height="240" border="10" />

Related Papers: (papers are not exactly same with code)

If you use VINS-Fusion for your academic research, please cite our related papers. bib

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation

1.2. Ceres Solver

Follow Ceres Installation.

2. Build VINS-Fusion

Clone the repository and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)

3. EuRoC Example

Download EuRoC MAV Dataset to YOUR_DATASET_FOLDER. Take MH_01 for example, you can run VINS-Fusion with three sensor types (monocular camera + IMU, stereo cameras + IMU and stereo cameras). Open four terminals, run vins odometry, visual loop closure(optional), rviz and play the bag file respectively. Green path is VIO odometry; red path is odometry under visual loop closure.

3.1 Monocualr camera + IMU

    roslaunch vins vins_rviz.launch
    rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml 
    (optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml 
    rosbag play YOUR_DATASET_FOLDER/MH_01_easy.bag

3.2 Stereo cameras + IMU

    roslaunch vins vins_rviz.launch
    rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml 
    (optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml 
    rosbag play YOUR_DATASET_FOLDER/MH_01_easy.bag

3.3 Stereo cameras

    roslaunch vins vins_rviz.launch
    rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml 
    (optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml 
    rosbag play YOUR_DATASET_FOLDER/MH_01_easy.bag

4. KITTI Example

4.1 KITTI Odometry (Stereo)

Download KITTI Odometry dataset to YOUR_DATASET_FOLDER. Take sequences 00 for example, Open two terminals, run vins and rviz respectively. (We evaluated odometry on KITTI benchmark without loop closure funtion)

    roslaunch vins vins_rviz.launch
    (optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/kitti_odom/kitti_config00-02.yaml
    rosrun vins kitti_odom_test ~/catkin_ws/src/VINS-Fusion/config/kitti_odom/kitti_config00-02.yaml YOUR_DATASET_FOLDER/sequences/00/

4.2 KITTI GPS Fusion (Stereo + GPS)

Download KITTI raw dataset to YOUR_DATASET_FOLDER. Take 2011_10_03_drive_0027_synced for example. Open three terminals, run vins, global fusion and rviz respectively. Green path is VIO odometry; blue path is odometry under GPS global fusion.

    roslaunch vins vins_rviz.launch
    rosrun vins kitti_gps_test ~/catkin_ws/src/VINS-Fusion/config/kitti_raw/kitti_10_03_config.yaml YOUR_DATASET_FOLDER/2011_10_03_drive_0027_sync/ 
    rosrun global_fusion global_fusion_node

5. VINS-Fusion on car demonstration

Download car bag to YOUR_DATASET_FOLDER. Open four terminals, run vins odometry, visual loop closure(optional), rviz and play the bag file respectively. Green path is VIO odometry; red path is odometry under visual loop closure.

    roslaunch vins vins_rviz.launch
    rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/vi_car/vi_car.yaml 
    (optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/vi_car/vi_car.yaml 
    rosbag play YOUR_DATASET_FOLDER/car.bag

6. Run with your devices

VIO is not only a software algorithm, it heavily relies on hardware quality. For beginners, we recommend you to run VIO with professional equipment, which contains global shutter cameras and hardware synchronization.

6.1 Configuration file

Write a config file for your device. You can take config files of EuRoC and KITTI as the example.

6.2 Camera calibration

VINS-Fusion support several camera models (pinhole, mei, equidistant). You can use camera model to calibrate your cameras. We put some example data under /camera_models/calibrationdata to tell you how to calibrate.

cd ~/catkin_ws/src/VINS-Fusion/camera_models/camera_calib_example/
rosrun camera_models Calibrations -w 12 -h 8 -s 80 -i calibrationdata --camera-model pinhole

7. Acknowledgements

We use ceres solver for non-linear optimization and DBoW2 for loop detection, a generic camera model and GeographicLib.

8. License

The source code is released under GPLv3 license.

We are still working on improving the code reliability. For any technical issues, please contact Tong Qin .

For commercial inquiries, please contact Shaojie Shen .