diff --git a/CMakeLists.txt b/CMakeLists.txt index d89030a8..a06ebd38 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -46,6 +46,7 @@ find_package(Boost COMPONENTS filesystem REQUIRED) find_package(pcl_conversions) find_package(pcl_ros) find_package(SuiteSparse) +find_package(TBB REQUIRED) #find_package(darknet_ros_msgs) #find_package(catkin REQUIRED COMPONENTS darknet_ros_msgs) @@ -70,6 +71,7 @@ set(LIBS gflags cv_bridge amrl_shared_lib + TBB::tbb ${CERES_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES} diff --git a/README.md b/README.md index 754f9bac..e54e243b 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,7 @@ # ObVi-SLAM ObVi-SLAM is a joint object-visual SLAM approach aimed at long-term multi-session robot deployments. -[[Paper](https://arxiv.org/abs/2309.15268)] [[Video](https://youtu.be/quJOgnEdaZ0)] +[[Paper with added appendix](https://arxiv.org/abs/2309.15268)] [[Video](https://youtu.be/quJOgnEdaZ0)] Offline execution instructions coming soon. ROS implementation coming late 2023/early 2024. @@ -12,11 +12,6 @@ Please email amanda.adkins4242@gmail.com with any questions! ## Evaluation For information on how to set up and run the comparison algorithms, see our [evaluation repo](https://github.com/ut-amrl/ObVi-SLAM-Evaluation). - -## Extended Results -See the [version of our paper](https://drive.google.com/file/d/1Cf6QfheKa09mJO8oqgUqdTUC3y12JXRN/view?usp=share_link) with an appendix containing extended results and the full ablation study details. - - ## Installation Instructions diff --git a/config/base4_analytic2.json b/config/base4_analytic2.json new file mode 100644 index 00000000..77330682 --- /dev/null +++ b/config/base4_analytic2.json @@ -0,0 +1,462 @@ +{ + "config": { + "config_schema_version": 11, + "config_version_id": "base4", + "visual_feature_params": { + "reprojection_error_std_dev": 2.0, + "min_visual_feature_parallax_pixel_requirement": 5.0, + "min_visual_feature_parallax_robot_transl_requirement": 1.0000000000000001e-01, + "min_visual_feature_parallax_robot_orient_requirement": 5.0000000000000003e-02, + "enforce_min_pixel_parallax_requirement": 1, + "enforce_min_robot_pose_parallax_requirement": 0, + "inlier_epipolar_err_thresh": 8.0, + "check_past_n_frames_for_epipolar_err": 5, + "enforce_epipolar_error_requirement_": 1 + }, + "local_ba_iteration_params": { + "allow_reversion_after_detecting_jumps": 1, + "consecutive_pose_transl_tol": 1.0, + "consecutive_pose_orient_tol": 3.1415926535897931e+00, + "feature_outlier_percentage": 1.0000000000000001e-01, + "phase_one_opt_params": { + "max_num_iterations": 50, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-04, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + }, + "phase_two_opt_params": { + "max_num_iterations": 100, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-05, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + } + }, + "global_ba_iteration_params": { + "allow_reversion_after_detecting_jumps": 1, + "consecutive_pose_transl_tol": 1.0, + "consecutive_pose_orient_tol": 3.1415926535897931e+00, + "feature_outlier_percentage": 1.0000000000000001e-01, + "phase_one_opt_params": { + "max_num_iterations": 250, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + }, + "phase_two_opt_params": { + "max_num_iterations": 250, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + 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1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + } + }, + "ltm_tunable_params": { + "far_feature_threshold": 75.0, + "min_col_norm": 5.0000000000000001e-05 + }, + "ltm_solver_residual_params": { + "object_residual_params": { + "object_observation_huber_loss_param": 5.0000000000000000e-01, + "shape_dim_prior_factor_huber_loss_param": 10.0, + "invalid_ellipsoid_error_val": 1000.0 + }, + "visual_residual_params": { + "reprojection_error_huber_loss_param": 1.0 + }, + "long_term_map_params": { + "pair_huber_loss_param": 1.0 + }, + "relative_pose_factor_huber_loss": 1.0, + "relative_pose_cov_params": { + "transl_error_mult_for_transl_error": 0.0, + "transl_error_mult_for_rot_error": 0.0, + "rot_error_mult_for_transl_error": 6.9245860980687362e-310, + "rot_error_mult_for_rot_error": -4.4579057385799811e+204 + } + }, + "ltm_solver_params": { + "max_num_iterations": 300, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 10000.0, + "max_trust_region_radius": 1.0000000000000000e+16 + }, + "shape_dimension_priors": { + "dimension_prior_label": [ + { + "semantic_class": "chair", + "obj_dim_mean": { + "Rows": 3, + "Cols": 1, + "Data": [ + 6.2000000000000000e-01, + 6.2000000000000000e-01, + 9.7499999999999998e-01 + ] + }, + "dim_covariance": { + "Rows": 3, + "Cols": 3, + "Data": [ + 2.5000000000000005e-03, + 0.0, + 0.0, + 0.0, + 2.5000000000000005e-03, + 0.0, + 0.0, + 0.0, + 2.5000000000000005e-03 + ] + } + }, + { + "semantic_class": "bench", + "obj_dim_mean": { + "Rows": 3, + "Cols": 1, + "Data": [ + 1.0, + 2.5000000000000000e+00, + 1.5000000000000000e+00 + ] + }, + "dim_covariance": { + "Rows": 3, + "Cols": 3, + "Data": [ + 2.2500000000000000e+00, + 0.0, + 0.0, + 0.0, + 4.0, + 0.0, + 0.0, + 0.0, + 2.2500000000000000e+00 + ] + } + }, + { + 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0.0, + 0.0, + 0.0, + 9.0 + ] + } + }, + { + "semantic_class": "trashcan", + "obj_dim_mean": { + "Rows": 3, + "Cols": 1, + "Data": [ + 1.0, + 1.0, + 1.5000000000000000e+00 + ] + }, + "dim_covariance": { + "Rows": 3, + "Cols": 3, + "Data": [ + 1.0, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 2.2500000000000000e+00 + ] + } + } + ] + }, + "camera_info": { + "camera_topic_to_camera_id": [ + { + "camera_topic": "/zed/zed_node/right/image_rect_color", + "camera_id": "2" + }, + { + "camera_topic": "/zed/zed_node/right/image_rect_color/compressed", + "camera_id": "2" + }, + { + "camera_topic": "/zed2i/zed_node/right/image_rect_color", + "camera_id": "2" + }, + { + "camera_topic": "/zed2i/zed_node/right/image_rect_color/compressed", + "camera_id": "2" + }, + { + "camera_topic": "/zed/zed_node/left/image_rect_color", + "camera_id": "1" + }, + { + "camera_topic": "/zed/zed_node/left/image_rect_color/compressed", + "camera_id": "1" + }, + { + "camera_topic": "/zed2i/zed_node/left/image_rect_color", + "camera_id": "1" + }, + { + "camera_topic": "/zed2i/zed_node/left/image_rect_color/compressed", + "camera_id": "1" + } + ] + }, + "bounding_box_front_end_params": { + "geometric_similarity_scorer_params": { + "max_merge_distance": 4.0 + }, + "feature_based_bb_association_params": { + "min_observations_for_local_est": 3, + "min_observations": 10, + "discard_candidate_after_num_frames": "40", + "min_bb_confidence": 2.0000000000000001e-01, + "required_min_conf_for_initialization": 0.0, + "min_overlapping_features_for_match": 3.0, + "feature_validity_window": "20", + "pending_obj_estimator_params": { + "object_residual_params": { + "object_observation_huber_loss_param": 5.0000000000000000e-01, + "shape_dim_prior_factor_huber_loss_param": 10.0, + "invalid_ellipsoid_error_val": 1000.0 + }, + "solver_params": { + "max_num_iterations": 500, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 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"poses_prior_to_window_to_keep_constant": 5, + "min_object_observations": 10, + "min_low_level_feature_observations": 5, + "use_pose_graph_on_global_ba": 1, + "use_visual_features_on_global_ba": 0, + "use_pose_graph_on_final_global_ba": 1, + "use_visual_features_on_final_global_ba": 1 + }, + "object_visual_pose_graph_residual_params": { + "object_residual_params": { + "object_observation_huber_loss_param": 5.0000000000000000e-01, + "shape_dim_prior_factor_huber_loss_param": 10.0, + "invalid_ellipsoid_error_val": 1000.0 + }, + "visual_residual_params": { + "reprojection_error_huber_loss_param": 1.0 + }, + "long_term_map_params": { + "pair_huber_loss_param": 1.0 + }, + "relative_pose_factor_huber_loss": 1.0, + "relative_pose_cov_params": { + "transl_error_mult_for_transl_error": 2.5000000000000001e-02, + "transl_error_mult_for_rot_error": 2.5000000000000001e-02, + "rot_error_mult_for_transl_error": 2.5000000000000001e-02, + "rot_error_mult_for_rot_error": 2.5000000000000001e-02 + } + }, + "limit_traj_eval_params": { + "should_limit_trajectory_evaluation": 0, + "max_frame_id": 1 + }, + "sparsifier_params": { + "max_pose_inc_threshold_transl": 2.0000000000000001e-01, + "max_pose_inc_threshold_rot": 1.0000000000000001e-01 + } + } +} \ No newline at end of file diff --git a/config/base4_analytic3.json b/config/base4_analytic3.json new file mode 100644 index 00000000..77330682 --- /dev/null +++ b/config/base4_analytic3.json @@ -0,0 +1,462 @@ +{ + "config": { + "config_schema_version": 11, + "config_version_id": "base4", + "visual_feature_params": { + "reprojection_error_std_dev": 2.0, + "min_visual_feature_parallax_pixel_requirement": 5.0, + "min_visual_feature_parallax_robot_transl_requirement": 1.0000000000000001e-01, + "min_visual_feature_parallax_robot_orient_requirement": 5.0000000000000003e-02, + "enforce_min_pixel_parallax_requirement": 1, + "enforce_min_robot_pose_parallax_requirement": 0, + "inlier_epipolar_err_thresh": 8.0, + "check_past_n_frames_for_epipolar_err": 5, + "enforce_epipolar_error_requirement_": 1 + }, + "local_ba_iteration_params": { + "allow_reversion_after_detecting_jumps": 1, + "consecutive_pose_transl_tol": 1.0, + "consecutive_pose_orient_tol": 3.1415926535897931e+00, + "feature_outlier_percentage": 1.0000000000000001e-01, + "phase_one_opt_params": { + "max_num_iterations": 50, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-04, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + }, + "phase_two_opt_params": { + "max_num_iterations": 100, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-05, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + } + }, + "global_ba_iteration_params": { + "allow_reversion_after_detecting_jumps": 1, + "consecutive_pose_transl_tol": 1.0, + "consecutive_pose_orient_tol": 3.1415926535897931e+00, + "feature_outlier_percentage": 1.0000000000000001e-01, + "phase_one_opt_params": { + "max_num_iterations": 250, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + }, + "phase_two_opt_params": { + "max_num_iterations": 250, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + } + }, + "final_ba_iteration_params": { + "allow_reversion_after_detecting_jumps": 1, + "consecutive_pose_transl_tol": 1.0, + "consecutive_pose_orient_tol": 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"object_residual_params": { + "object_observation_huber_loss_param": 5.0000000000000000e-01, + "shape_dim_prior_factor_huber_loss_param": 10.0, + "invalid_ellipsoid_error_val": 1000.0 + }, + "visual_residual_params": { + "reprojection_error_huber_loss_param": 1.0 + }, + "long_term_map_params": { + "pair_huber_loss_param": 1.0 + }, + "relative_pose_factor_huber_loss": 1.0, + "relative_pose_cov_params": { + "transl_error_mult_for_transl_error": 0.0, + "transl_error_mult_for_rot_error": 0.0, + "rot_error_mult_for_transl_error": 6.9245860980687362e-310, + "rot_error_mult_for_rot_error": -4.4579057385799811e+204 + } + }, + "ltm_solver_params": { + "max_num_iterations": 300, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 10000.0, + "max_trust_region_radius": 1.0000000000000000e+16 + }, + "shape_dimension_priors": { + 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a/config/no_shape_prior_base7a_2_fallback_c_2.json b/config/no_shape_prior_base7a_2_fallback_c_2.json new file mode 100644 index 00000000..f6e99ed0 --- /dev/null +++ b/config/no_shape_prior_base7a_2_fallback_c_2.json @@ -0,0 +1,465 @@ +{ + "config": { + "config_schema_version": 12, + "config_version_id": "base7a_2_fallback_c_2", + "visual_feature_params": { + "reprojection_error_std_dev": 1.5, + "min_visual_feature_parallax_pixel_requirement": 5.0, + "min_visual_feature_parallax_robot_transl_requirement": 1.0000000000000001e-01, + "min_visual_feature_parallax_robot_orient_requirement": 5.0000000000000003e-02, + "enforce_min_pixel_parallax_requirement": 1, + "enforce_min_robot_pose_parallax_requirement": 0, + "inlier_epipolar_err_thresh": 8.0, + "check_past_n_frames_for_epipolar_err": 5, + "enforce_epipolar_error_requirement_": 1 + }, + "local_ba_iteration_params": { + "allow_reversion_after_detecting_jumps": 1, + "consecutive_pose_transl_tol": 1.0, + "consecutive_pose_orient_tol": 3.1415926535897931e+00, + "feature_outlier_percentage": 1.0000000000000001e-01, + "phase_one_opt_params": { + "max_num_iterations": 50, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-04, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + }, + "phase_two_opt_params": { + "max_num_iterations": 100, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-05, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + } + }, + "global_ba_iteration_params": { + "allow_reversion_after_detecting_jumps": 1, + "consecutive_pose_transl_tol": 1.0, + "consecutive_pose_orient_tol": 3.1415926535897931e+00, + "feature_outlier_percentage": 1.0000000000000001e-01, + "phase_one_opt_params": { + "max_num_iterations": 250, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + }, + "phase_two_opt_params": { + "max_num_iterations": 250, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + } + }, + "final_ba_iteration_params": { + "allow_reversion_after_detecting_jumps": 1, + "consecutive_pose_transl_tol": 1.0, + "consecutive_pose_orient_tol": 3.1415926535897931e+00, + "feature_outlier_percentage": 1.0000000000000001e-01, + "phase_one_opt_params": { + "max_num_iterations": 300, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + }, + "phase_two_opt_params": { + "max_num_iterations": 300, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + } + }, + "pgo_solver_params": { + "relative_pose_factor_huber_loss": 5.0, + "enable_visual_feats_only_opt_post_pgo": 1, + "enable_visual_non_opt_feature_adjustment_post_pgo": 1, + "relative_pose_cov_params": { + "transl_error_mult_for_transl_error": 1.0000000000000001e-01, + "transl_error_mult_for_rot_error": 1.0000000000000001e-01, + "rot_error_mult_for_transl_error": 5.0000000000000001e-01, + "rot_error_mult_for_rot_error": 5.0000000000000001e-01 + }, + "pgo_optimization_solver_params": { + "max_num_iterations": 250, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + }, + "final_pgo_optimization_solver_params": { + "max_num_iterations": 300, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 100.0, + "max_trust_region_radius": 10000.0 + } + }, + "ltm_tunable_params": { + "far_feature_threshold": 75.0, + "min_col_norm": 5.0000000000000001e-04, + "fallback_to_prev_for_failed_extraction": 1 + }, + "ltm_solver_residual_params": { + "object_residual_params": { + "object_observation_huber_loss_param": 5.0000000000000000e-01, + "shape_dim_prior_factor_huber_loss_param": 10.0, + "invalid_ellipsoid_error_val": 1000.0 + }, + "visual_residual_params": { + "reprojection_error_huber_loss_param": 1.0 + }, + "long_term_map_params": { + "pair_huber_loss_param": 1.0 + }, + "relative_pose_factor_huber_loss": 1.0, + "relative_pose_cov_params": { + "transl_error_mult_for_transl_error": 0.0, + "transl_error_mult_for_rot_error": 0.0, + "rot_error_mult_for_transl_error": 6.9245860980687362e-310, + "rot_error_mult_for_rot_error": -4.4579057385799811e+204 + } + }, + "ltm_solver_params": { + "max_num_iterations": 300, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 10000.0, + "max_trust_region_radius": 1.0000000000000000e+16 + }, + "shape_dimension_priors": { + "dimension_prior_label": [ + { + "semantic_class": "chair", + "obj_dim_mean": { + "Rows": 3, + "Cols": 1, + "Data": [ + 6.2000000000000000e-01, + 6.2000000000000000e-01, + 9.7499999999999998e-01 + ] + }, + "dim_covariance": { + "Rows": 3, + "Cols": 3, + "Data": [ + 2.5000000000000005e-03, + 0.0, + 0.0, + 0.0, + 2.5000000000000005e-03, + 0.0, + 0.0, + 0.0, + 2.5000000000000005e-03 + ] + } + }, + { + "semantic_class": "bench", + "obj_dim_mean": { + "Rows": 3, + "Cols": 1, + "Data": [ + 1.0, + 2.5000000000000000e+00, + 1.5000000000000000e+00 + ] + }, + "dim_covariance": { + "Rows": 3, + "Cols": 3, + "Data": [ + 2.2500000000000000e+00, + 0.0, + 0.0, + 0.0, + 4.0, + 0.0, + 0.0, + 0.0, + 2.2500000000000000e+00 + ] + } + }, + { + "semantic_class": "roadblock", + "obj_dim_mean": { + "Rows": 3, + "Cols": 1, + "Data": [ + 2.8999999999999998e-01, + 2.8999999999999998e-01, + 4.7999999999999998e-01 + ] + }, + "dim_covariance": { + "Rows": 3, + "Cols": 3, + "Data": [ + 9.9999999999999995e-07, + 0.0, + 0.0, + 0.0, + 9.9999999999999995e-07, + 0.0, + 0.0, + 0.0, + 1.0000000000000000e-04 + ] + } + }, + { + "semantic_class": "treetrunk", + "obj_dim_mean": { + "Rows": 3, + "Cols": 1, + "Data": [ + 4.0000000000000002e-01, + 4.0000000000000002e-01, + 2.0 + ] + }, + "dim_covariance": { + "Rows": 3, + "Cols": 3, + "Data": [ + 4.0000000000000008e-02, + 0.0, + 0.0, + 0.0, + 4.0000000000000008e-02, + 0.0, + 0.0, + 0.0, + 9.0 + ] + } + }, + { + "semantic_class": "lamppost", + "obj_dim_mean": { + "Rows": 3, + "Cols": 1, + "Data": [ + 2.9999999999999999e-01, + 2.9999999999999999e-01, + 4.0 + ] + }, + "dim_covariance": { + "Rows": 3, + "Cols": 3, + "Data": [ + 2.2499999999999999e-02, + 0.0, + 0.0, + 0.0, + 2.2499999999999999e-02, + 0.0, + 0.0, + 0.0, + 9.0 + ] + } + }, + { + "semantic_class": "trashcan", + "obj_dim_mean": { + "Rows": 3, + "Cols": 1, + "Data": [ + 1.0, + 1.0, + 1.5000000000000000e+00 + ] + }, + "dim_covariance": { + "Rows": 3, + "Cols": 3, + "Data": [ + 1.0, + 0.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 2.2500000000000000e+00 + ] + } + } + ] + }, + "camera_info": { + "camera_topic_to_camera_id": [ + { + "camera_topic": "/zed/zed_node/right/image_rect_color", + "camera_id": "2" + }, + { + "camera_topic": "/zed/zed_node/right/image_rect_color/compressed", + "camera_id": "2" + }, + { + "camera_topic": "/zed2i/zed_node/right/image_rect_color", + "camera_id": "2" + }, + { + "camera_topic": "/zed2i/zed_node/right/image_rect_color/compressed", + "camera_id": "2" + }, + { + "camera_topic": "/zed/zed_node/left/image_rect_color", + "camera_id": "1" + }, + { + "camera_topic": "/zed/zed_node/left/image_rect_color/compressed", + "camera_id": "1" + }, + { + "camera_topic": "/zed2i/zed_node/left/image_rect_color", + "camera_id": "1" + }, + { + "camera_topic": "/zed2i/zed_node/left/image_rect_color/compressed", + "camera_id": "1" + } + ] + }, + "bounding_box_front_end_params": { + "geometric_similarity_scorer_params": { + "max_merge_distance": 4.0, + "x_y_only_merge": 1 + }, + "feature_based_bb_association_params": { + "min_observations_for_local_est": 3, + "min_observations": 10, + "discard_candidate_after_num_frames": "40", + "min_bb_confidence": 2.0000000000000001e-01, + "required_min_conf_for_initialization": 0.0, + "min_overlapping_features_for_match": 3.0, + "feature_validity_window": "20", + "pending_obj_estimator_params": { + "object_residual_params": { + "object_observation_huber_loss_param": 5.0000000000000000e-01, + "shape_dim_prior_factor_huber_loss_param": 10.0, + "invalid_ellipsoid_error_val": 1000.0 + }, + "solver_params": { + "max_num_iterations": 500, + "allow_non_monotonic_steps": 1, + "function_tolerance": 9.9999999999999995e-07, + "gradient_tolerance": 1.0000000000000000e-10, + "parameter_tolerance": 1.0000000000000000e-08, + "initial_trust_region_radius": 10000.0, + "max_trust_region_radius": 1.0000000000000000e+16 + } + }, + "bounding_box_inflation_size": 10.0 + }, + "post_session_object_merge_params": { + "max_merge_distance": 4.0, + "x_y_only_merge": 1 + } + }, + "bounding_box_covariance_generator_params": { + "bounding_box_cov": { + "Rows": 4, + "Cols": 4, + "Data": [ + 900.0, + 0.0, + 0.0, + 0.0, + 0.0, + 900.0, + 0.0, + 0.0, + 0.0, + 0.0, + 900.0, + 0.0, + 0.0, + 0.0, + 0.0, + 900.0 + ] + }, + "near_edge_threshold": 25.0, + "image_boundary_variance": 40000.0 + }, + "sliding_window_params": { + "global_ba_frequency": "30", + "local_ba_window_size": "50" + }, + "optimization_factors_enabled_params": { + "min_low_level_feature_observations_per_frame": 50, + "include_object_factors": 1, + "include_visual_factors": 1, + "fix_poses": 0, + "fix_objects": 0, + "fix_visual_features": 0, + "fix_ltm_objects": 0, + "use_pom": 0, + "poses_prior_to_window_to_keep_constant": 5, + "min_object_observations": 10, + "min_low_level_feature_observations": 5, + "use_pose_graph_on_global_ba": 1, + "use_visual_features_on_global_ba": 0, + "use_pose_graph_on_final_global_ba": 1, + "use_visual_features_on_final_global_ba": 1 + }, + "object_visual_pose_graph_residual_params": { + "object_residual_params": { + "object_observation_huber_loss_param": 5.0000000000000000e-01, + "shape_dim_prior_factor_huber_loss_param": 10.0, + "invalid_ellipsoid_error_val": 1000.0 + }, + "visual_residual_params": { + "reprojection_error_huber_loss_param": 1.0 + }, + "long_term_map_params": { + "pair_huber_loss_param": 1.0 + }, + "relative_pose_factor_huber_loss": 1.0, + "relative_pose_cov_params": { + "transl_error_mult_for_transl_error": 2.5000000000000001e-02, + "transl_error_mult_for_rot_error": 2.5000000000000001e-02, + "rot_error_mult_for_transl_error": 2.5000000000000001e-02, + "rot_error_mult_for_rot_error": 2.5000000000000001e-02 + } + }, + "limit_traj_eval_params": { + "should_limit_trajectory_evaluation": 0, + "max_frame_id": 1 + }, + "sparsifier_params": { + "max_pose_inc_threshold_transl": 2.0000000000000001e-01, + "max_pose_inc_threshold_rot": 1.0000000000000001e-01 + } + } +} \ No newline at end of file diff --git a/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/orbslam3_sequence_executor.sh b/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/orbslam3_sequence_executor.sh index e9227a80..3381d930 100755 --- a/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/orbslam3_sequence_executor.sh +++ b/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/orbslam3_sequence_executor.sh @@ -11,6 +11,15 @@ orb_slam_3_out_root_dir=${root_data_dir}orb_slam_3_out/ #sequence_file_base_name="20230218_1a_4a" sequence_file_base_name="evaluation_2023_07_v1" + +(rosrun image_transport republish compressed in:=/zed2i/zed_node/left/image_rect_color raw out:=/camera/left/image_raw) & +left_republish_pid=$! + +(rosrun image_transport republish compressed in:=/zed2i/zed_node/right/image_rect_color raw out:=/camera/right/image_raw) & +right_republish_pid=$! + +sleep 5 + python3 src/evaluation/run_multi_session_orb_slam_3.py \ --orb_slam_configuration_file=${orb_slam_configuration_file} \ --orb_slam_vocabulary_file=${orb_slam_vocabulary_file} \ @@ -18,4 +27,7 @@ python3 src/evaluation/run_multi_session_orb_slam_3.py \ --rosbag_file_directory ${rosbag_file_directory} \ --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ --sequence_file_base_name ${sequence_file_base_name} \ -# --generate_map_file \ No newline at end of file + --generate_map_file + +kill -9 $left_republish_pid +kill -9 $right_republish_pid diff --git a/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/trajectory_sequence_executor.sh b/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/trajectory_sequence_executor.sh index 52e67850..ceba79d2 100755 --- a/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/trajectory_sequence_executor.sh +++ b/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/trajectory_sequence_executor.sh @@ -17,35 +17,44 @@ trajectory_sequence_file_directory=${SLAM_DIR}sequences/ lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ bounding_box_post_process_base_directory=${root_data_dir}bounding_box_data/ -cd $YOLO_DIR -(python3 detect_ros.py --weights $yolo_weight --img 960 --conf 0.01 --device 4) & -yolo_pid=$! -sleep 5 +#cd $YOLO_DIR +#(python3 detect_ros.py --weights $yolo_weight --img 960 --conf 0.01 --device 5) & +#yolo_pid=$! +#sleep 5 odometry_topic="/jackal_velocity_controller/odom" #sequence_file_base_name="end_of_may_demo_v1" -sequence_file_base_name="amazon_0523_v0" +#sequence_file_base_name="amazon_0523_v0" +sequence_file_base_name="evaluation_2023_07_v1" #config_file_base_name="tentative_11" #config_file_base_name="tentative_11_wider_trees_lamps" -config_file_base_name="base4" +#config_file_base_name="no_vis_feats_base7a_2_fallback_c_2" cd $SLAM_DIR -python3 src/evaluation/ltm_trajectory_sequence_executor.py \ - --config_file_directory ${config_file_directory} \ - --orb_slam_out_directory ${orb_slam_out_directory} \ - --rosbag_file_directory ${rosbag_file_directory} \ - --orb_post_process_base_directory ${orb_post_process_base_directory} \ - --calibration_file_directory ${calibration_file_directory} \ - --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ - --results_root_directory ${results_root_directory} \ - --config_file_base_name ${config_file_base_name} \ - --sequence_file_base_name ${sequence_file_base_name} \ - --lego_loam_out_root_dir ${lego_loam_out_root_dir} \ - --odometry_topic ${odometry_topic} \ - --bounding_box_post_process_base_directory ${bounding_box_post_process_base_directory} \ - --output_ellipsoid_debug --output_jacobian_debug --output_bb_assoc --record_viz_rosbag --log_to_file \ - --output_checkpoints --disable_log_to_stderr - -kill -9 $yolo_pid \ No newline at end of file +#config_file_strings=("base7a_1_fallback_a_2_fix_bb_vis_1" "base7a_1_fallback_a_2_fix_bb_vis_2" "base7a_1_fallback_a_2_fix_bb_vis_3" "base7a_1_fallback_a_2_fix_bb_vis_4") +config_file_strings=("base7a_1_fallback_a_2_short_phase1") + +for config_file_base_name in ${config_file_strings[@]}; do + echo ${config_file_base_name} + python3 src/evaluation/ltm_trajectory_sequence_executor.py \ + --config_file_directory ${config_file_directory} \ + --orb_slam_out_directory ${orb_slam_out_directory} \ + --rosbag_file_directory ${rosbag_file_directory} \ + --orb_post_process_base_directory ${orb_post_process_base_directory} \ + --calibration_file_directory ${calibration_file_directory} \ + --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ + --results_root_directory ${results_root_directory} \ + --config_file_base_name ${config_file_base_name} \ + --sequence_file_base_name ${sequence_file_base_name} \ + --lego_loam_out_root_dir ${lego_loam_out_root_dir} \ + --odometry_topic ${odometry_topic} \ + --bounding_box_post_process_base_directory ${bounding_box_post_process_base_directory} \ + --output_jacobian_debug --output_bb_assoc --record_viz_rosbag --log_to_file \ + --output_checkpoints --disable_log_to_stderr \ + --record_viz_rosbag \ + # --output_ellipsoid_debug +done + +#kill -9 $yolo_pid diff --git a/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/ut_vslam_metrics_generator.sh b/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/ut_vslam_metrics_generator.sh index 3695685b..3a745b28 100755 --- a/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/ut_vslam_metrics_generator.sh +++ b/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/ut_vslam_metrics_generator.sh @@ -12,19 +12,27 @@ lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ odometry_topic="/jackal_velocity_controller/odom" -config_file_base_name="base4" -sequence_file_base_name="amazon_0523_v0" - -make && python3 src/evaluation/compute_metrics_for_ut_vslam.py \ - --rosbag_file_directory=${rosbag_file_directory} \ - --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ - --sequence_file_base_name=${sequence_file_base_name} \ - --lego_loam_out_root_dir=${lego_loam_out_root_dir} \ - --calibration_file_directory=${calibration_file_directory} \ - --orb_post_process_base_directory=${orb_post_process_base_directory} \ - --config_file_base_name=${config_file_base_name} \ - --results_root_directory=${results_root_directory} \ - --odometry_topic ${odometry_topic} \ -# --force_rerun_interpolator \ -# --force_rerun_metrics_generator \ -# --force_rerun_trajectory_formatter \ No newline at end of file +#config_file_base_name="base7_fallback_enabled_v2" +sequence_file_base_name="evaluation_2023_07_v1" + +#config_file_strings=("base7a_1_fallback_a_2_v2" "base7a_1_fallback_b_2_v2" "base7a_1_fallback_c_2_v2" "base7a_2_fallback_a_2" "base7a_2_fallback_b_1" "base7a_2_fallback_b_2_v2" "base7a_2_fallback_b_3" "base7a_2_fallback_c_2_v2") + +config_file_strings=("no_ltm_base7a_1_fallback_a_2" "no_ltm_base7a_2_fallback_b_2" "no_ltm_base7a_2_fallback_c_2" "no_shape_prior_base7a_1_fallback_a_2" "no_shape_prior_base7a_2_fallback_b_2" "no_shape_prior_base7a_2_fallback_c_2" "no_vis_feats_base7a_1_fallback_a_2" "no_vis_feats_base7a_2_fallback_b_2" "no_vis_feats_base7a_2_fallback_c_2") + +for config_file_base_name in ${config_file_strings[@]}; do + echo ${config_file_base_name} + + make && python3 src/evaluation/compute_metrics_for_ut_vslam.py \ + --rosbag_file_directory=${rosbag_file_directory} \ + --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ + --sequence_file_base_name=${sequence_file_base_name} \ + --lego_loam_out_root_dir=${lego_loam_out_root_dir} \ + --calibration_file_directory=${calibration_file_directory} \ + --orb_post_process_base_directory=${orb_post_process_base_directory} \ + --config_file_base_name=${config_file_base_name} \ + --results_root_directory=${results_root_directory} \ + --odometry_topic ${odometry_topic} \ + # --force_rerun_interpolator \ + # --force_rerun_metrics_generator \ + # --force_rerun_trajectory_formatter + done diff --git a/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/ut_vslam_object_metrics_generator.sh b/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/ut_vslam_object_metrics_generator.sh new file mode 100755 index 00000000..4cb68ee1 --- /dev/null +++ b/convenience_scripts/experiments/amanda_robofleet/eer_jackal_ouster/ut_vslam_object_metrics_generator.sh @@ -0,0 +1,40 @@ +#!/bin/bash + +SLAM_DIR=/root/LTOV-SLAM-Evaluation/ut_vslam/ + +root_data_dir=/root/LTOV-SLAM-Evaluation/data/ +calibration_file_directory=${root_data_dir}calibration/ +rosbag_file_directory=${root_data_dir}original_data/ +trajectory_sequence_file_directory=${SLAM_DIR}sequences/ +ut_vslam_out_root_dir=${root_data_dir}orb_slam_3_out/ +lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ +results_root_directory=${root_data_dir}ut_vslam_results/ + + +# Best one I think.... +#config_file_base_name=base7a_1_fallback_a_2 +gt_ellipsoids_file=${rosbag_file_directory}readable_labeling__2023_05_12_10_40_16.csv + +sequence_file_base_name="evaluation_2023_07_v1" + +#config_file_strings=("no_ltm_base7a_1_fallback_a_2" "no_ltm_base7a_2_fallback_b_2" "no_ltm_base7a_2_fallback_c_2" "no_shape_prior_base7a_1_fallback_a_2" "no_shape_prior_base7a_2_fallback_b_2" "no_shape_prior_base7a_2_fallback_c_2" "no_vis_feats_base7a_1_fallback_a_2" "no_vis_feats_base7a_2_fallback_b_2" "no_vis_feats_base7a_2_fallback_c_2") +#config_file_strings=("no_shape_prior_base7a_1_fallback_a_2" "no_shape_prior_base7a_2_fallback_b_2" "no_shape_prior_base7a_2_fallback_c_2" "no_vis_feats_base7a_1_fallback_a_2" "no_vis_feats_base7a_2_fallback_b_2" "no_vis_feats_base7a_2_fallback_c_2") +#config_file_strings=("no_shape_prior_base7a_2_fallback_b_2" "no_shape_prior_base7a_2_fallback_c_2" "no_vis_feats_base7a_1_fallback_a_2" "no_vis_feats_base7a_2_fallback_b_2" "no_vis_feats_base7a_2_fallback_c_2") +#config_file_strings=("no_shape_prior_base7a_1_fallback_a_2" "no_shape_prior_base7a_2_fallback_b_2" "no_shape_prior_base7a_2_fallback_c_2") +#config_file_strings=("no_vis_feats_base7a_1_fallback_a_2" "no_vis_feats_base7a_2_fallback_b_2" "no_vis_feats_base7a_2_fallback_c_2") + +#config_file_strings=("base7a_1_fallback_a_2" "no_vis_feats_base7a_1_fallback_a_2" "no_shape_prior_base7a_1_fallback_a_2" "no_ltm_base7a_1_fallback_a_2") +config_file_strings=("no_shape_prior_base7a_1_fallback_a_2") + +for config_file_base_name in ${config_file_strings[@]}; do + echo ${config_file_base_name} + make && python3 src/evaluation/compute_object_metrics_for_ut_vslam.py \ + --gt_ellipsoids_file=${gt_ellipsoids_file} \ + --results_root_directory=${results_root_directory} \ + --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ + --sequence_file_base_name=${sequence_file_base_name} \ + --calibration_file_directory=${calibration_file_directory} \ + --config_file_base_name=${config_file_base_name} \ + --force_rerun_metrics_generator +done + diff --git a/include/refactoring/offline/offline_problem_data.h b/include/refactoring/offline/offline_problem_data.h index 0d605895..e9fac0cd 100644 --- a/include/refactoring/offline/offline_problem_data.h +++ b/include/refactoring/offline/offline_problem_data.h @@ -7,6 +7,7 @@ #include #include +#include namespace vslam_types_refactor { @@ -65,6 +66,14 @@ struct VisionFeatureTrack { const std::unordered_map& feature_observations = std::unordered_map()) : feature_id_(feature_id), feature_observations_(feature_observations){}; + + std::unordered_set getFramesForFeat() const { + std::unordered_set frames_for_feat; + for (const auto& feat_obs : feature_observations_) { + frames_for_feat.insert(feat_obs.first); + } + return frames_for_feat; + } }; /** @@ -91,6 +100,10 @@ struct StructuredVisionFeatureTrack { StructuredVisionFeatureTrack(const Position3d& feature_pos, const VisionFeatureTrack& feature_track) : feature_pos_(feature_pos), feature_track(feature_track){}; + + std::unordered_set getFramesForFeat() const { + return feature_track.getFramesForFeat(); + } }; template @@ -114,7 +127,21 @@ class AbstractOfflineProblemData { robot_poses_(robot_poses), mean_and_cov_by_semantic_class_(mean_and_cov_by_semantic_class), max_frame_id_(getMaxFrame(robot_poses)), - long_term_obj_map_(long_term_obj_map) {} + long_term_obj_map_(long_term_obj_map) { + for (const auto& robot_pose : robot_poses_) { + robot_poses_affine_[robot_pose.first] = + convertToAffine(robot_pose.second); + } + + for (const auto& feat_track : visual_features_) { + for (const auto& frame_id : feat_track.second.getFramesForFeat()) { + if (features_for_frame_.find(frame_id) == features_for_frame_.end()) { + features_for_frame_[frame_id] = std::unordered_set(); + } + features_for_frame_.at(frame_id).insert(feat_track.first); + } + } + } virtual ~AbstractOfflineProblemData() = default; virtual FrameId getMaxFrameId() const { return max_frame_id_; } @@ -141,6 +168,11 @@ class AbstractOfflineProblemData { return robot_poses_; } + virtual std::unordered_map + getRobotPoseEstimatesAffine() const { + return robot_poses_affine_; + } + virtual bool getRobotPoseEstimateForFrame(const FrameId& frame_id, Pose3D& est_out) const { if (robot_poses_.find(frame_id) == robot_poses_.end()) { @@ -150,6 +182,15 @@ class AbstractOfflineProblemData { return true; } + virtual bool getRobotPoseEstimateForFrameAffine( + const FrameId& frame_id, Eigen::Affine3d& est_out) const { + if (robot_poses_affine_.find(frame_id) == robot_poses_affine_.end()) { + return false; + } + est_out = robot_poses_affine_.at(frame_id); + return true; + } + // TODO figure out some intermediate storage so that we can store this at // least sort of by frame id virtual std::unordered_map getVisualFeatures() @@ -157,6 +198,28 @@ class AbstractOfflineProblemData { return visual_features_; }; + virtual std::unordered_set getVisualFeatureIdsForFrame( + const FrameId& frame_id) const { + if (features_for_frame_.find(frame_id) == features_for_frame_.end()) { + return {}; + } + return features_for_frame_.at(frame_id); + } + + virtual std::unordered_map + getVisualFeaturesForFrame(const FrameId& frame_id) const { + std::unordered_map tracks; + + for (const auto& feat_id : getVisualFeatureIdsForFrame(frame_id)) { + if (visual_features_.find(feat_id) == visual_features_.end()) { + LOG(ERROR) << "Couldn't find feature track for feature id " << feat_id; + } else { + tracks[feat_id] = visual_features_.at(feat_id); + } + } + return tracks; + }; + virtual std::unordered_map< FrameId, std::unordered_map>> @@ -172,7 +235,10 @@ class AbstractOfflineProblemData { std::unordered_map> camera_extrinsics_by_camera_; std::unordered_map visual_features_; + std::unordered_map> + features_for_frame_; std::unordered_map> robot_poses_; + std::unordered_map robot_poses_affine_; std::unordered_map, Covariance>> mean_and_cov_by_semantic_class_; diff --git a/include/refactoring/optimization/low_level_feature_pose_graph.h b/include/refactoring/optimization/low_level_feature_pose_graph.h index 328e1a40..5ef0d53c 100644 --- a/include/refactoring/optimization/low_level_feature_pose_graph.h +++ b/include/refactoring/optimization/low_level_feature_pose_graph.h @@ -273,6 +273,11 @@ class LowLevelFeaturePoseGraph { return false; } + virtual std::unordered_map> + getAllExtrinsics() { + return camera_extrinsics_by_camera_; + } + virtual bool getIntrinsicsForCamera( const CameraId &camera_id, CameraIntrinsicsMat &intrinsics_return) { @@ -284,6 +289,11 @@ class LowLevelFeaturePoseGraph { return false; } + virtual std::unordered_map> + getAllIntrinsics() { + return camera_intrinsics_by_camera_; + } + virtual bool getFeaturePointers(const FeatureId &feature_id, double **feature_ptr) { return false; diff --git a/include/refactoring/visual_feature_frontend/visual_feature_front_end.h b/include/refactoring/visual_feature_frontend/visual_feature_front_end.h index d8e5189f..b8a561c4 100644 --- a/include/refactoring/visual_feature_frontend/visual_feature_front_end.h +++ b/include/refactoring/visual_feature_frontend/visual_feature_front_end.h @@ -8,6 +8,9 @@ #include #include +#include +#include + namespace vslam_types_refactor { // double getNormalizedEpipolarError( @@ -47,42 +50,69 @@ namespace vslam_types_refactor { Eigen::Vector2d getNormalizedEpipolarErrorVec( const CameraIntrinsicsMat &intrinsics1, const CameraIntrinsicsMat &intrinsics2, - const CameraExtrinsics &extrinsics1, - const CameraExtrinsics &extrinsics2, + const Eigen::Affine3d &cam_to_robot_tf_1, + const Eigen::Affine3d &cam_to_robot_tf_2, const PixelCoord &feature_pixel1, const PixelCoord &feature_pixel2, - const Pose3D &pose1, - const Pose3D &pose2, + const Eigen::Affine3d &robot_current_to_world_1, + const Eigen::Affine3d &robot_current_to_world_2, Eigen::Vector2d *epipole_ptr = nullptr, Eigen::Vector2d *x1_in2_2d_ptr = nullptr) { - Eigen::Affine3d cam_to_robot_tf_1 = - Eigen::Translation3d(extrinsics1.transl_) * extrinsics1.orientation_; - Eigen::Affine3d cam_to_robot_tf_2 = - Eigen::Translation3d(extrinsics2.transl_) * extrinsics2.orientation_; - Eigen::Affine3d robot_current_to_world_1 = convertToAffine(pose1); - Eigen::Affine3d robot_current_to_world_2 = convertToAffine(pose2); - Eigen::Affine3d cam_current_to_world_1 = - robot_current_to_world_1 * cam_to_robot_tf_1; - Eigen::Affine3d cam_current_to_world_2 = - robot_current_to_world_2 * cam_to_robot_tf_2; - // not using getPose2RelativeToPose1 to avoid redundant type conversion - // overhead; world_to_cam2 * cam1_to_world = cam1_to_cam2 + // Eigen::Affine3d cam_current_to_world_1 = + // robot_current_to_world_1 * cam_to_robot_tf_1; + // Eigen::Affine3d cam_current_to_world_2 = + // robot_current_to_world_2 * cam_to_robot_tf_2; + // // not using getPose2RelativeToPose1 to avoid redundant type conversion + // // overhead; world_to_cam2 * cam1_to_world = cam1_to_cam2 + // Eigen::Affine3d cam1_to_cam2 = + // cam_current_to_world_2.inverse() * cam_current_to_world_1; + // + // Eigen::Vector3d c1_in1_3d(0, 0, 0); + // Eigen::Vector3d c1_in2_3d = cam1_to_cam2 * c1_in1_3d; + // Eigen::Vector3d homogeneous_epipole = intrinsics2 * c1_in2_3d; + // Eigen::Vector2d epipole(homogeneous_epipole.x() / homogeneous_epipole.z(), + // homogeneous_epipole.y() / + // homogeneous_epipole.z()); + // + // Eigen::Vector3d normalized_x1 = + // intrinsics1.inverse() * pixelToHomogeneous(feature_pixel1); + // Eigen::Vector3d x1_in2_3d = cam1_to_cam2 * normalized_x1; + // Eigen::Vector3d homogeneous_x1_in2_2d = intrinsics2 * x1_in2_3d; + // Eigen::Vector2d x1_in2_2d( + // homogeneous_x1_in2_2d.x() / homogeneous_x1_in2_2d.z(), + // homogeneous_x1_in2_2d.y() / homogeneous_x1_in2_2d.z()); + // + // // Unit vector of the epipolar line + // Eigen::Vector2d u_hat = (x1_in2_2d - epipole).normalized(); + // + // // Find the projection vector of feature_pixel2 on the epipolar line + // Eigen::Vector2d x2_epipolar_projection = + // epipole + (feature_pixel2 - epipole).dot(u_hat) * u_hat; + // // Eigen::Vector2d x2_epipolar_projection = epipole + u_hat; + // + // if (epipole_ptr != nullptr) { + // *epipole_ptr = epipole; + // } + // if (x1_in2_2d_ptr != nullptr) { + // *x1_in2_2d_ptr = x1_in2_2d; + // } + // + // return x2_epipolar_projection - feature_pixel2; + Eigen::Affine3d cam1_to_cam2 = - cam_current_to_world_2.inverse() * cam_current_to_world_1; - - Eigen::Vector3d c1_in1_3d(0, 0, 0); - Eigen::Vector3d c1_in2_3d = cam1_to_cam2 * c1_in1_3d; - Eigen::Vector3d homogeneous_epipole = intrinsics2 * c1_in2_3d; - Eigen::Vector2d epipole(homogeneous_epipole.x() / homogeneous_epipole.z(), - homogeneous_epipole.y() / homogeneous_epipole.z()); - - Eigen::Vector3d normalized_x1 = - intrinsics1.inverse() * pixelToHomogeneous(feature_pixel1); - Eigen::Vector3d x1_in2_3d = cam1_to_cam2 * normalized_x1; - Eigen::Vector3d homogeneous_x1_in2_2d = intrinsics2 * x1_in2_3d; - Eigen::Vector2d x1_in2_2d( - homogeneous_x1_in2_2d.x() / homogeneous_x1_in2_2d.z(), - homogeneous_x1_in2_2d.y() / homogeneous_x1_in2_2d.z()); + (robot_current_to_world_2 * cam_to_robot_tf_2).inverse() * + robot_current_to_world_1 * cam_to_robot_tf_1; + + Eigen::Vector3d homogeneous_epipole = + intrinsics2 * cam1_to_cam2 * Eigen::Vector3d::Zero(); + Eigen::Vector2d epipole = + homogeneous_epipole.topRows(2) / homogeneous_epipole.z(); + + Eigen::Vector3d homogeneous_x1_in2_2d = intrinsics2 * cam1_to_cam2 * + intrinsics1.inverse() * + pixelToHomogeneous(feature_pixel1); + Eigen::Vector2d x1_in2_2d = + homogeneous_x1_in2_2d.topRows(2) / homogeneous_x1_in2_2d.z(); // Unit vector of the epipolar line Eigen::Vector2d u_hat = (x1_in2_2d - epipole).normalized(); @@ -102,6 +132,37 @@ Eigen::Vector2d getNormalizedEpipolarErrorVec( return x2_epipolar_projection - feature_pixel2; } +Eigen::Vector2d getNormalizedEpipolarErrorVec( + const CameraIntrinsicsMat &intrinsics1, + const CameraIntrinsicsMat &intrinsics2, + const CameraExtrinsics &extrinsics1, + const CameraExtrinsics &extrinsics2, + const PixelCoord &feature_pixel1, + const PixelCoord &feature_pixel2, + const Pose3D &pose1, + const Pose3D &pose2, + Eigen::Vector2d *epipole_ptr = nullptr, + Eigen::Vector2d *x1_in2_2d_ptr = nullptr) { + Eigen::Affine3d cam_to_robot_tf_1 = + Eigen::Translation3d(extrinsics1.transl_) * extrinsics1.orientation_; + Eigen::Affine3d cam_to_robot_tf_2 = + Eigen::Translation3d(extrinsics2.transl_) * extrinsics2.orientation_; + + Eigen::Affine3d robot_current_to_world_1 = convertToAffine(pose1); + Eigen::Affine3d robot_current_to_world_2 = convertToAffine(pose2); + + return getNormalizedEpipolarErrorVec(intrinsics1, + intrinsics2, + cam_to_robot_tf_1, + cam_to_robot_tf_2, + feature_pixel1, + feature_pixel2, + robot_current_to_world_1, + robot_current_to_world_2, + epipole_ptr, + x1_in2_2d_ptr); +} + // TODO need to change ReprojectionErrorFactor to shared_ptrs to avoid redundant // data copies struct VisualFeatureCachedInfo { @@ -199,22 +260,24 @@ class VisualFeatureFrontend { const std::shared_ptr &pose_graph, const FrameId &min_frame_id, const FrameId &max_frame_id) { + std::unordered_map - visual_features = input_problem_data.getVisualFeatures(); + visual_features = input_problem_data.getVisualFeaturesForFrame( + max_frame_id); + + std::unordered_map extrinsics_as_affine; + for (const auto &camera_extrinsics : pose_graph->getAllExtrinsics()) { + Eigen::Affine3d cam_to_robot_tf = + Eigen::Translation3d(camera_extrinsics.second.transl_) * + camera_extrinsics.second.orientation_; + extrinsics_as_affine[camera_extrinsics.first] = cam_to_robot_tf; + } for (const auto &feat_id_to_track : visual_features) { FeatureId feature_id = feat_id_to_track.first; StructuredVisionFeatureTrack feature_track = feat_id_to_track.second; - if (feature_track.feature_track.feature_observations_.find( - max_frame_id) == - feature_track.feature_track.feature_observations_.end()) { - continue; - } VisionFeature feature = feature_track.feature_track.feature_observations_.at(max_frame_id); - if (feature.frame_id_ != max_frame_id) { - continue; - } bool is_feature_added_to_pose_graph = false; if (added_feature_ids_.find(feature_id) != added_feature_ids_.end()) { is_feature_added_to_pose_graph = true; @@ -255,6 +318,7 @@ class VisualFeatureFrontend { if (is_initialized_feature_in_pending_cache) { addFactorsAndRobotPoseToCache_( input_problem_data, + extrinsics_as_affine, pose_graph, max_frame_id, reprojection_error_factors, @@ -283,6 +347,7 @@ class VisualFeatureFrontend { frame_ids_and_factors; if (isReprojectionErrorFactorInlierInPoseGraph_( input_problem_data, + extrinsics_as_affine, pose_graph, vis_factor, frame_ids_and_factors)) { @@ -300,6 +365,7 @@ class VisualFeatureFrontend { } addFactorsAndRobotPoseToCache_( input_problem_data, + extrinsics_as_affine, pose_graph, max_frame_id, reprojection_error_factors, @@ -309,12 +375,13 @@ class VisualFeatureFrontend { } } } else { - // add reprojection factors and initial poses to pendding list + // add reprojection factors and initial poses to pending list if (pending_feature_factors_.find(feature_id) == pending_feature_factors_.end()) { pending_feature_factors_[feature_id] = VisualFeatureCachedInfo(); } addFactorsAndRobotPoseToCache_(input_problem_data, + extrinsics_as_affine, pose_graph, max_frame_id, reprojection_error_factors, @@ -347,6 +414,8 @@ class VisualFeatureFrontend { } } if (gba_checker_(max_frame_id)) { + std::unordered_map + full_visual_features = input_problem_data.getVisualFeatures(); std::unordered_set feat_ids_to_change; for (const auto &feat_id_and_cache : pending_feature_factors_) { const FeatureId &feature_id = feat_id_and_cache.first; @@ -358,7 +427,7 @@ class VisualFeatureFrontend { input_problem_data, pose_graph, feature_id, - visual_features.at(feature_id).feature_pos_, + full_visual_features.at(feature_id).feature_pos_, initial_position); pose_graph->addFeature(feature_id, initial_position); for (const auto &frame_id_and_factors : @@ -406,6 +475,8 @@ class VisualFeatureFrontend { size_t check_pase_n_frames_for_epipolar_err_ = 5; bool enforce_epipolar_error_requirement_ = true; + const double inlier_majority_percentage_ = 0.5; + private: void getFactorsByFeatureIdFromPoseGraph_( const std::shared_ptr &pose_graph, @@ -432,14 +503,17 @@ class VisualFeatureFrontend { } } - bool isReprojectionErrorFacotrInlier_( + bool isReprojectionErrorFactorInlier( const ProblemDataType &input_problem_data, + const std::unordered_map + &extrinsics_as_affine, // Can get from pose graph, but preconverting + // for efficiency const std::shared_ptr &pose_graph, const ReprojectionErrorFactor &candidate_factor, const std::map> &frame_ids_and_factors) { - double votes = 0.0; - double n_voters = 0.0; + uint64_t votes = 0; + uint64_t n_voters = 0; CameraIntrinsicsMat candidate_intrinsics; if (!pose_graph->getIntrinsicsForCamera(candidate_factor.camera_id_, @@ -448,16 +522,18 @@ class VisualFeatureFrontend { << candidate_factor.camera_id_; return false; } - CameraExtrinsics candidate_extrinsics; - if (!pose_graph->getExtrinsicsForCamera(candidate_factor.camera_id_, - candidate_extrinsics)) { + + if (extrinsics_as_affine.find(candidate_factor.camera_id_) == + extrinsics_as_affine.end()) { LOG(WARNING) << "Failed to find camera extrinsics for camera " << candidate_factor.camera_id_; return false; } - Pose3D candidate_pose; - if (!input_problem_data.getRobotPoseEstimateForFrame( - candidate_factor.frame_id_, candidate_pose)) { + const Eigen::Affine3d &candidate_extrinsics_tf = + extrinsics_as_affine.at(candidate_factor.camera_id_); + Eigen::Affine3d candidate_pose_affine; + if (!input_problem_data.getRobotPoseEstimateForFrameAffine( + candidate_factor.frame_id_, candidate_pose_affine)) { LOG(WARNING) << "Could not find initial pose estimate " "for robot for frame " << candidate_factor.frame_id_; @@ -466,7 +542,7 @@ class VisualFeatureFrontend { const PixelCoord &candidate_pixel_obs = candidate_factor.feature_pos_; - for (const auto frame_id_and_factors : frame_ids_and_factors) { + for (const auto &frame_id_and_factors : frame_ids_and_factors) { for (const auto &ref_factor : frame_id_and_factors.second) { if (ref_factor.shouldBeTheSame(candidate_factor)) { continue; @@ -478,44 +554,48 @@ class VisualFeatureFrontend { << ref_factor.camera_id_; return false; } - CameraExtrinsics ref_extrinsics; - if (!pose_graph->getExtrinsicsForCamera(ref_factor.camera_id_, - ref_extrinsics)) { + if (extrinsics_as_affine.find(ref_factor.camera_id_) == + extrinsics_as_affine.end()) { LOG(WARNING) << "Failed to find camera extrinsics for camera " << ref_factor.camera_id_; return false; } - Pose3D ref_pose; - if (!input_problem_data.getRobotPoseEstimateForFrame( - ref_factor.frame_id_, ref_pose)) { + + Eigen::Affine3d ref_pose_affine; + if (!input_problem_data.getRobotPoseEstimateForFrameAffine( + ref_factor.frame_id_, ref_pose_affine)) { LOG(WARNING) << "Could not find initial pose estimate " "for robot for frame " << ref_factor.frame_id_; return false; } + Eigen::Affine3d ref_pose_tf; const PixelCoord &ref_pixel_obs = ref_factor.feature_pos_; - Eigen::Vector2d epipolar_err_vec = - getNormalizedEpipolarErrorVec(ref_intrinsics, - candidate_intrinsics, - ref_extrinsics, - candidate_extrinsics, - ref_pixel_obs, - candidate_pixel_obs, - ref_pose, - candidate_pose); + Eigen::Vector2d epipolar_err_vec = getNormalizedEpipolarErrorVec( + ref_intrinsics, + candidate_intrinsics, + extrinsics_as_affine.at(ref_factor.camera_id_), + candidate_extrinsics_tf, + ref_pixel_obs, + candidate_pixel_obs, + ref_pose_affine, + candidate_pose_affine); if (epipolar_err_vec.norm() < inlier_epipolar_err_thresh_) { - votes += 1.0; + votes++; } - n_voters += 1.0; + n_voters++; } // TODO maybe add this to configuration as well - const double inlier_majority_percentage = 0.5; - return (votes / n_voters) > inlier_majority_percentage; + + return (((double)votes) / n_voters) > inlier_majority_percentage_; } } bool isReprojectionErrorFactorInlierInPoseGraph_( const ProblemDataType &input_problem_data, + const std::unordered_map + &extrinsics_as_affine, // Can get from pose graph, but preconverting + // for efficiency const std::shared_ptr &pose_graph, const ReprojectionErrorFactor &candidate_factor, std::map> @@ -525,21 +605,26 @@ class VisualFeatureFrontend { candidate_factor.frame_id_, frame_ids_and_factors); if (!frame_ids_and_factors.empty()) { - return isReprojectionErrorFacotrInlier_(input_problem_data, - pose_graph, - candidate_factor, - frame_ids_and_factors); + return isReprojectionErrorFactorInlier(input_problem_data, + extrinsics_as_affine, + pose_graph, + candidate_factor, + frame_ids_and_factors); } return false; } bool isReprojectionErrorFacotrInlierInCache_( const ProblemDataType &input_problem_data, + const std::unordered_map + &extrinsics_as_affine, // Can get from pose graph, but preconverting + // for efficiency const std::shared_ptr &pose_graph, const ReprojectionErrorFactor &candidate_factor, const VisualFeatureCachedInfo &cache_info) { - return isReprojectionErrorFacotrInlier_( + return isReprojectionErrorFactorInlier( input_problem_data, + extrinsics_as_affine, pose_graph, candidate_factor, cache_info.frame_ids_and_reprojection_err_factors_); @@ -549,6 +634,9 @@ class VisualFeatureFrontend { // adding to cache void addFactorsAndRobotPoseToCache_( const ProblemDataType &input_problem_data, + const std::unordered_map + &extrinsics_as_affine, // Can get from pose graph, but preconverting + // for efficiency const std::shared_ptr &pose_graph, const FrameId &frame_id, const std::vector &reprojection_err_factors, @@ -564,8 +652,11 @@ class VisualFeatureFrontend { if (cache_info.is_cache_cleaned_) { std::vector factors_to_add; for (const auto &factor : reprojection_err_factors) { - if (isReprojectionErrorFacotrInlierInCache_( - input_problem_data, pose_graph, factor, cache_info)) { + if (isReprojectionErrorFacotrInlierInCache_(input_problem_data, + extrinsics_as_affine, + pose_graph, + factor, + cache_info)) { factors_to_add.push_back(factor); } } @@ -579,10 +670,13 @@ class VisualFeatureFrontend { cleaned_frame_ids_and_factors; for (const auto &frame_id_and_factors : cache_info.frame_ids_and_reprojection_err_factors_) { - const FrameId frame_id = frame_id_and_factors.first; + const FrameId &frame_id = frame_id_and_factors.first; for (const auto &factor : frame_id_and_factors.second) { - if (isReprojectionErrorFacotrInlierInCache_( - input_problem_data, pose_graph, factor, cache_info)) { + if (isReprojectionErrorFacotrInlierInCache_(input_problem_data, + extrinsics_as_affine, + pose_graph, + factor, + cache_info)) { cleaned_frame_ids_and_factors[frame_id].push_back(factor); } } diff --git a/src/evaluation/ltm_trajectory_sequence_executor.py b/src/evaluation/ltm_trajectory_sequence_executor.py index b81d5ffd..1216c95f 100644 --- a/src/evaluation/ltm_trajectory_sequence_executor.py +++ b/src/evaluation/ltm_trajectory_sequence_executor.py @@ -51,35 +51,35 @@ def runTrajectorySequence(sequenceExecutionConfig): bagName = sequenceEntry[0] waypointInfo = sequenceEntry[1] bagPrefix = str(idx) + "_" - # if (idx != 0): - trajectoryExecutionConfig = SingleTrajectoryExecutionConfig( - configFileDirectory=sequenceExecutionConfig.configFileDirectory, - orbSlamOutDirectory=sequenceExecutionConfig.orbSlamOutDirectory, - rosbagDirectory=sequenceExecutionConfig.rosbagDirectory, - orbPostProcessBaseDirectory=sequenceExecutionConfig.orbPostProcessBaseDirectory, - calibrationFileDirectory=sequenceExecutionConfig.calibrationFileDirectory, - resultsRootDirectory=sequenceExecutionConfig.resultsRootDirectory, - configFileBaseName=sequenceExecutionConfig.configFileBaseName, - sequenceFileBaseName=sequenceExecutionConfig.sequenceFileBaseName, - rosbagBaseName=bagName, - waypointFileBaseName=waypointInfo, - resultsForBagDirPrefix=bagPrefix, - longTermMapBagDir=prevTrajectoryIdentifier, - lego_loam_root_dir=sequenceExecutionConfig.lego_loam_root_dir, - odometryTopic=sequenceExecutionConfig.odometryTopic, - forceRunOrbSlamPostProcess=sequenceExecutionConfig.forceRunOrbSlamPostProcess, - outputEllipsoidDebugInfo=sequenceExecutionConfig.outputEllipsoidDebugInfo, - outputJacobianDebugInfo=sequenceExecutionConfig.outputJacobianDebugInfo, - outputBbAssocInfo=sequenceExecutionConfig.outputBbAssocInfo, - runRviz=sequenceExecutionConfig.runRviz, - recordVisualizationRosbag=sequenceExecutionConfig.recordVisualizationRosbag, - logToFile=sequenceExecutionConfig.logToFile, - forceRerunInterpolator=sequenceExecutionConfig.forceRerunInterpolator, - outputCheckpoints=sequenceExecutionConfig.outputCheckpoints, - readCheckpoints=sequenceExecutionConfig.readCheckpoints, - disableLogToStdErr=sequenceExecutionConfig.disableLogToStdErr, - boundingBoxesPostProcessBaseDirectory=sequenceExecutionConfig.boundingBoxesPostProcessBaseDirectory) - runSingleTrajectory(trajectoryExecutionConfig) + if (idx >= 0): + trajectoryExecutionConfig = SingleTrajectoryExecutionConfig( + configFileDirectory=sequenceExecutionConfig.configFileDirectory, + orbSlamOutDirectory=sequenceExecutionConfig.orbSlamOutDirectory, + rosbagDirectory=sequenceExecutionConfig.rosbagDirectory, + orbPostProcessBaseDirectory=sequenceExecutionConfig.orbPostProcessBaseDirectory, + calibrationFileDirectory=sequenceExecutionConfig.calibrationFileDirectory, + resultsRootDirectory=sequenceExecutionConfig.resultsRootDirectory, + configFileBaseName=sequenceExecutionConfig.configFileBaseName, + sequenceFileBaseName=sequenceExecutionConfig.sequenceFileBaseName, + rosbagBaseName=bagName, + waypointFileBaseName=waypointInfo, + resultsForBagDirPrefix=bagPrefix, + longTermMapBagDir=prevTrajectoryIdentifier, + lego_loam_root_dir=sequenceExecutionConfig.lego_loam_root_dir, + odometryTopic=sequenceExecutionConfig.odometryTopic, + forceRunOrbSlamPostProcess=sequenceExecutionConfig.forceRunOrbSlamPostProcess, + outputEllipsoidDebugInfo=sequenceExecutionConfig.outputEllipsoidDebugInfo, + outputJacobianDebugInfo=sequenceExecutionConfig.outputJacobianDebugInfo, + outputBbAssocInfo=sequenceExecutionConfig.outputBbAssocInfo, + runRviz=sequenceExecutionConfig.runRviz, + recordVisualizationRosbag=sequenceExecutionConfig.recordVisualizationRosbag, + logToFile=sequenceExecutionConfig.logToFile, + forceRerunInterpolator=sequenceExecutionConfig.forceRerunInterpolator, + outputCheckpoints=sequenceExecutionConfig.outputCheckpoints, + readCheckpoints=sequenceExecutionConfig.readCheckpoints, + disableLogToStdErr=sequenceExecutionConfig.disableLogToStdErr, + boundingBoxesPostProcessBaseDirectory=sequenceExecutionConfig.boundingBoxesPostProcessBaseDirectory) + runSingleTrajectory(trajectoryExecutionConfig) prevTrajectoryIdentifier = bagPrefix + bagName