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odometry.cpp
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odometry.cpp
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#include <omp.h>
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>
#include "tf2_ros/transform_broadcaster.h"
#include <nav_msgs/Odometry.h>
#include "radar_loader.hpp"
#include "radar_utils.hpp"
#include "association.hpp"
#include "visualization.hpp"
#include "solver/nonminimal_solver.hpp"
#include "SE2posemanager.hpp"
#include "ORORA.hpp"
void signalCallbackHandler(int signum) {
std::cout << "Caught Ctrl + C!" << std::endl;
// Terminate program
exit(signum);
}
void pubTF(const Eigen::Matrix4d &latest_pose, const string odom_frame,
const string child_frame) {
static tf2_ros::TransformBroadcaster br;
geometry_msgs::TransformStamped alias_transform_msg;
Eigen::Quaterniond q(latest_pose.block<3, 3>(0, 0));
alias_transform_msg.header.stamp = ros::Time::now();
alias_transform_msg.transform.translation.x = latest_pose(0, 3);
alias_transform_msg.transform.translation.y = latest_pose(1, 3);
alias_transform_msg.transform.translation.z = latest_pose(2, 3);
alias_transform_msg.transform.rotation.x = q.x();
alias_transform_msg.transform.rotation.y = q.y();
alias_transform_msg.transform.rotation.z = q.z();
alias_transform_msg.transform.rotation.w = q.w();
alias_transform_msg.header.frame_id = odom_frame;
alias_transform_msg.child_frame_id = child_frame;
br.sendTransform(alias_transform_msg);
}
using namespace orora;
Eigen::Matrix4d curr_odom;
Eigen::Matrix4d curr_gt;
float CORR_INLIER_DIST = 0.5;
int end_idx = -1; // radar_files.size() - 1;
// modified for MulRan dataset batch evaluation
int main(int argc, char *argv[]) {
ros::init(argc, argv, "orora", ros::init_options::AnonymousName);
ros::NodeHandle nh;
omp_set_num_threads(16);
curr_odom = Eigen::Matrix4d::Identity(4, 4); // initial pose is I
curr_gt = Eigen::Matrix4d::Identity(4, 4); // initial pose is I
ros::Publisher PubGT = nh.advertise<nav_msgs::Odometry>("/orora/gt", 100);
ros::Publisher PubOdom = nh.advertise<nav_msgs::Odometry>("/orora/odom", 100);
ros::Publisher PubLaserCloudLocal = nh.advertise<sensor_msgs::PointCloud2>("/orora/cloud_local", 100, true);
ros::Publisher PubLaserCloudGlobal = nh.advertise<sensor_msgs::PointCloud2>("/orora/cloud_global", 100, true);
ros::Publisher PubPrevFeat = nh.advertise<sensor_msgs::PointCloud2>("/orora/prev/feat", 100, true);
ros::Publisher PubPrevCompensated = nh.advertise<sensor_msgs::PointCloud2>("/orora/prev/compensated", 100, true);
ros::Publisher PubCurrFeat = nh.advertise<sensor_msgs::PointCloud2>("/orora/curr/feat", 100, true);
ros::Publisher PubCurrCompensated = nh.advertise<sensor_msgs::PointCloud2>("/orora/curr/compensated", 100, true);
image_transport::ImageTransport it(nh);
image_transport::Publisher PubImg = it.advertise("orora/matched_img", 100);
bool do_slam, viz_extraction, viz_matching, stop_each_frame;
std::string seq_dir, algorithm, dataset;
std::string keypoint_extraction; // "cen2018", "cen2019", "orb"
string odom_frame = "odom";
string child_frame = "radar_base";
double frame_rate = 4.0; // 4 Hz
nh.param<std::string>("seq_dir", seq_dir, "");
nh.param<std::string>("algorithm", algorithm, "");
nh.param<std::string>("dataset", dataset, "");
nh.param<std::string>("keypoint_extraction", keypoint_extraction, "cen2019");
nh.param<std::string>("odom_frame", odom_frame, "odom");
nh.param<std::string>("child_frame", child_frame, "radar_base");
nh.param<int>("end_idx", end_idx, -1);
nh.param<bool>("do_slam", do_slam, false);
nh.param<bool>("viz_extraction", viz_extraction, false);
nh.param<bool>("viz_matching", viz_matching, false);
nh.param<bool>("stop_each_frame", stop_each_frame, false);
nh.param<double>("frame_rate", frame_rate, 4.0);
std::cout << "\033[1;32mTarget dataset: " << dataset << " \033[0m" << std::endl;
std::cout << "\033[1;32mTarget algorithm: " << algorithm << " \033[0m" << std::endl;
/*** Below options are for ORORA ***/
// ORORA parameters
bool estimating_scale;
int num_max_iter;
double noise_bound, noise_bound_radial, noise_bound_tangential;
double noise_bound_coeff, gnc_factor, rot_cost_diff_thr, voxel_size;
nh.param<bool>("/ORORA/estimating_scale", estimating_scale, false);
nh.param<double>("/ORORA/noise_bound", noise_bound, 0.5);
nh.param<double>("/ORORA/noise_bound_radial", noise_bound_radial, 0.3536);
nh.param<double>("/ORORA/noise_bound_tangential", noise_bound_tangential, 9.0);
nh.param<double>("/ORORA/noise_bound_coeff", noise_bound_coeff, 1.0);
nh.param<double>("/ORORA/rotation/gnc_factor", gnc_factor, 1.39);
nh.param<double>("/ORORA/rotation/rot_cost_diff_thr", rot_cost_diff_thr, 0.0001);
nh.param<int>("/ORORA/rotation/num_max_iter", num_max_iter, 50);
// DOPPLER
double beta = 0.049;
// Implementation details: check stop motion
bool check_stop_motion;
int num_feat_thr_for_stop_motion;
nh.param<bool>("/ORORA/stop_motion/check_stop_motion", check_stop_motion, true);
nh.param<int>("/ORORA/stop_motion/num_feat_thr_for_stop_motion", num_feat_thr_for_stop_motion, 600);
// Options for feature matching
bool use_voxelization, use_doppler_compensation, use_deskewing;
std::string deskewing_target;
nh.param<double>("/ORORA/voxel_size", voxel_size, 0.5);
nh.param<bool>("/ORORA/use_voxelization", use_voxelization, false);
nh.param<bool>("/ORORA/use_doppler_compensation", use_doppler_compensation, false);
nh.param<bool>("/ORORA/use_deskewing", use_deskewing, false);
nh.param<std::string>("/ORORA/deskewing_target", deskewing_target, "rot"); // "rot" or "tf"
if (deskewing_target != "rot" && deskewing_target != "tf")
throw std::invalid_argument("Wrong deskewing target is comming");
std::string print_status = use_voxelization ? "Yes" : "No";
std::cout << "\033[1;32m[ORORA] Voxelization on?: " << print_status << std::endl;
std::cout << "[ORORA] Noise bound: " << noise_bound << std::endl;
std::cout << "[ORORA] Radial noise bound: " << noise_bound_radial << std::endl;
std::cout << "[ORORA] Tangential noise bound: " << noise_bound_tangential << " deg\033[0m" << std::endl;
noise_bound_tangential = DEG2RAD(noise_bound_tangential);
NonMinimalSolver::Params params;
setParams(noise_bound, noise_bound_coeff,
estimating_scale, num_max_iter, gnc_factor, rot_cost_diff_thr, params);
ORORA orora_estimator(dataset, deskewing_target, use_doppler_compensation,
use_deskewing, check_stop_motion, num_feat_thr_for_stop_motion,
beta, noise_bound_radial, noise_bound_tangential);
// Get file names of the radar images
std::vector<std::string> radar_files;
std::string datadir = seq_dir + "/polar_oxford_form/";
get_file_names(datadir, radar_files);
SE2PoseManager PoseManager(seq_dir, dataset, algorithm, keypoint_extraction, voxel_size, noise_bound,
noise_bound_radial, noise_bound_tangential);
RadarLoader Loader(dataset, keypoint_extraction, voxel_size, use_voxelization, viz_extraction);
double time_unit_denominator = Loader.getTimeDenominator();
RadarFeature prev_feat, curr_feat;
int start_idx = 0;
if (end_idx < 0) end_idx = radar_files.size() - 1;
for (uint i = start_idx; i < end_idx; ++i) {
signal(SIGINT, signalCallbackHandler);
std::cout << "\033[1;34m" << i << "/" << radar_files.size() << " of " + seq_dir << "\033[0m" << std::endl;
if (stop_each_frame) {
std::cout << "Press any button!" << std::endl;
cin.ignore();
}
if (i > start_idx) {
prev_feat = curr_feat;
}
curr_feat = Loader.extractFeature(datadir, radar_files[i]);
if (i == start_idx)
continue;
auto [prev_matched, curr_matched] = Loader.matchFeatures(prev_feat, curr_feat);
std::vector<std::string> parts;
/**
* [NOTE] The criteria of the timestamp of poses between the Oxford and MulRan dataset is different!
* i.e. the t-th radar scan of the Oxford -> Data are captured during t ~ t + 1
* the t-th radar scan of the MulRan -> Data are captured during t - 1 ~ t
*/
boost::split(parts, radar_files[i - 1], boost::is_any_of("."));
int64 time0 = std::stoll(parts[0]);
boost::split(parts, radar_files[i], boost::is_any_of("."));
int64 time1 = std::stoll(parts[0]);
boost::split(parts, radar_files[i + 1], boost::is_any_of("."));
int64 time2 = std::stoll(parts[0]);
/**
* [NOTE] Because the unit of timestamp of pose between Oxford and MulRan dataset is different
* Oxford: microsecond, whereas MulRan: nanosecond
* Solution: Just parameterize delta t by `frame rate`
*/
const double delta_t = 1.0 / frame_rate;
pcl::PointCloud<PointType> src_mc, tgt_mc;
pcl::PointCloud<PointType> src_inliers, src_inliers_tf, tgt_inliers;
Eigen::MatrixXd T, Tmd, Tmd2;
Eigen::Matrix4d Test = Eigen::Matrix4d::Identity();
Eigen::Matrix4d Tgt = Eigen::Matrix4d::Identity();
int time_taken;
auto start = chrono::steady_clock::now();
if (algorithm == "RANSAC") {
// v1: Compute the transformation using RANSAC
std::cout << "RANSAC" << std::endl;
Ransac ransac(curr_matched.feat_in_cart_, prev_matched.feat_in_cart_, association::ransac_threshold,
association::inlier_ratio,
association::max_iterations);
srand(i);
ransac.computeModel();
ransac.getTransform(T);
Test.block<2, 2>(0, 0) = T.block<2, 2>(0, 0);
Test(0, 3) = T(0, 2);
Test(1, 3) = T(1, 2);
} else if (algorithm == "mdRANSAC") {
// v2: Compute the transformation using motion-distorted RANSAC
MotionDistortedRansac mdransac(curr_matched.feat_in_cart_, prev_matched.feat_in_cart_,
curr_matched.t_, prev_matched.t_,
curr_matched.time_unit_denominator_,
association::md_threshold,
association::inlier_ratio, association::max_iterations);
mdransac.setMaxGNIterations(association::max_gn_iterations);
mdransac.correctForDoppler(false);
srand(i);
mdransac.computeModel();
mdransac.getTransform(delta_t, Tmd);
Tmd = Tmd.inverse();
// Eigen::VectorXd wbar;
// mdransac.getMotion(wbar);
Test = Tmd;
} else if (algorithm == "mdRANSACDoppler") {
// v3: MDRANSAC + Doppler
MotionDistortedRansac mdransac(curr_matched.feat_in_cart_, prev_matched.feat_in_cart_,
curr_matched.t_, prev_matched.t_,
curr_matched.time_unit_denominator_,
association::md_threshold,
association::inlier_ratio,
association::max_iterations);
mdransac.setMaxGNIterations(association::max_gn_iterations);
mdransac.correctForDoppler(true);
mdransac.setDopplerParameter(beta);
srand(i);
mdransac.computeModel();
Tmd2 = Eigen::MatrixXd::Zero(4, 4);
mdransac.getTransform(delta_t, Tmd2);
Tmd2 = Tmd2.inverse();
Test = Tmd2;
} else if (algorithm == "ORORA") {
// ORORA: Outlier-RObust RAdar odometry
Test = orora_estimator.calcTransform(params, delta_t, prev_matched, curr_matched);
} else {
throw std::invalid_argument("Algorithm mode is wrong! Please check the param. `algorithm`.");
}
auto end = chrono::steady_clock::now();
time_taken = chrono::duration_cast<chrono::microseconds>(end - start).count();
cout << "\033[1;32mElapsed time: " << static_cast<float>(time_taken) / 1000.0 << " ms\033[0m\n";
std::vector<float> xyyaw_rel;
if (dataset == "oxford") xyyaw_rel = PoseManager.getXYYawPose(time1, time2);
else if (dataset == "mulran") xyyaw_rel = PoseManager.getXYYawPose(time1);
float curr_gt_yaw = xyyaw_rel[2];
Eigen::Matrix4d TgtTmp = Eigen::Matrix4d::Identity();
PoseManager.XYYaw2SE2(xyyaw_rel, TgtTmp);
Tgt = TgtTmp;
/**
* Ego-motion is estimated!!!
*/
// curuent state
curr_gt = curr_gt * Tgt;
curr_odom = curr_odom * Test;
Eigen::Matrix3d curr_odomRot = curr_odom.block(0, 0, 3, 3);
Eigen::Vector3d curr_odomEuler = curr_odomRot.eulerAngles(0, 1, 2);
// Eigen::Vector3d currEulerVec = curr_odomRot.eulerAngles(2, 1, 0);
// float curr_yaw = asin(-1 * curr_odom(0, 1));
// float curr_yaw = currEulerVec(3);
float curr_yaw = float(curr_odomEuler(2));
// std::cout << "curr_odomEuler: " << curr_odomEuler(0) << ", " << curr_odomEuler(1) << ", " << curr_odomEuler(2) << std::endl;
auto time_now = ros::Time::now();
/**
* Save relative pose error
*/
// std::cout << "Trans.: " << Test(0, 3) << ", " << Test(1, 3) << std::endl;
vector<double> rel_error = PoseManager.writePose(Tgt, Test);
PoseManager.writePose(Tgt, Test, time1, time2, time_unit_denominator);
PoseManager.writeTraj(curr_odom, PoseManager.est_traj_path_);
PoseManager.writeTraj(curr_gt, PoseManager.gt_traj_path_);
PoseManager.writeTimeTaken(time_taken, Tgt);
/**
* Below codes are just for visualization
*/
auto set_odom_msg = [&](const Eigen::Matrix4d &pose, const double yaw) {
nav_msgs::Odometry odom;
odom.header.frame_id = odom_frame;
odom.child_frame_id = child_frame;
odom.header.stamp = time_now;
odom.pose.pose.position.x = pose(0, 3);
odom.pose.pose.position.y = pose(1, 3);
odom.pose.pose.position.z = pose(2, 3);
odom.pose.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0.0, 0.0, yaw);
return odom;
};
PubOdom.publish(set_odom_msg(curr_odom, curr_yaw)); // last pose
PubGT.publish(set_odom_msg(curr_gt, curr_gt_yaw)); // last pose
cout << "Complete to publish pose! " << endl;
// for scan context (in this naive case, we can say we will use binary scan context).
const float constant_z_nonzero = 1.0;
pcl::PointCloud<PointType>::Ptr laserCloudLocal(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr laserCloudGlobal(new pcl::PointCloud<PointType>());
eigen2pcl(curr_feat.feat_in_cart_, *laserCloudLocal, true);
pcl::transformPointCloud(*laserCloudLocal, *laserCloudGlobal, curr_odom.cast<float>());
for_each(std::execution::par_unseq, laserCloudLocal->points.begin(), laserCloudLocal->points.end(),
[&](PointType &pt) {
pt.z += constant_z_nonzero;
});
PubLaserCloudLocal.publish(cloud2msg(*laserCloudLocal, child_frame));
PubLaserCloudGlobal.publish(cloud2msg(*laserCloudGlobal, odom_frame));
pubTF(curr_odom, odom_frame, child_frame);
cout << "Complete to publish cloud! " << endl;
/***********************************************/
/*** * Feature visualization */
// PubPrevFeat.publish(cloud2msg(eigenxy2pcl(prev_feat.feat_in_cart_), child_frame));
// PubCurrFeat.publish(cloud2msg(eigenxy2pcl(curr_feat.feat_in_cart_), child_frame));
// PubPrevCompensated.publish(cloud2msg(eigenxy2pcl(prev_feat.feat_compensated_), child_frame));
// PubCurrCompensated.publish(cloud2msg(eigenxy2pcl(prev_feat.feat_compensated_), child_frame));
if (viz_matching && algorithm == "ORORA") {
int margin_size = 50;
cv::Mat white_margin(prev_feat.img_.rows, margin_size, CV_8UC1, cv::Scalar(255, 255, 255));
cv::Mat img_tmp, img_concat, img_concat_bgr;
// 1. Concatenate two images
cv::hconcat(prev_feat.img_, white_margin, img_tmp);
cv::hconcat(img_tmp, curr_feat.img_, img_concat);
cv::cvtColor(img_concat, img_concat_bgr, cv::COLOR_GRAY2BGR);
// 2. Check whether the match is an inlier or outlier
pcl::PointCloud<PointType> curr_feat_tf;
auto prev_feat_pcl = eigenxy2pcl(prev_matched.feat_compensated_);
pcl::transformPointCloud(eigenxy2pcl(curr_matched.feat_compensated_), curr_feat_tf, Test.cast<float>());
assert(curr_feat_tf.size() == prev_feat.feat_compens);
int N = curr_feat_tf.points.size();
std::vector<bool> is_inliers;
is_inliers.reserve(N);
int num_inliers = 0;
for (int ll = 0; ll < N; ++ll) {
const auto &sp = curr_feat_tf[ll];
const auto &tp = prev_feat_pcl[ll];
float corr_dist = sqrt(pow(sp.x - tp.x, 2) + pow(sp.y - tp.y, 2));
if (corr_dist < CORR_INLIER_DIST) {
is_inliers.push_back(true);
++num_inliers;
} else is_inliers.push_back(false);
}
draw_matches_concat(img_concat_bgr, prev_matched.kp_, curr_matched.kp_, is_inliers,
margin_size + prev_feat.img_.cols);
std::string inlier_ratio_txt = std::to_string(static_cast<int>(static_cast<double>(num_inliers) * 100 / N));
cv::Point text_xy;
text_xy.y = 150;
text_xy.x = img_concat_bgr.cols - 380;
std::string text_in_fig = std::string(2 - inlier_ratio_txt.length(), ' ') + inlier_ratio_txt + "%";
cv::putText(img_concat_bgr, text_in_fig, text_xy, 1, 10, cv::Scalar(0, 128, 255), 8);
sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", img_concat_bgr).toImageMsg();
PubImg.publish(msg);
// If you want to save some images
// std::string count_str = std::to_string(i);
// std::string count_str_padded = std::string(4 - count_str.length(), '0') + count_str + "inlier_ratio_" + inlier_ratio_txt;
// std::string output_filename = "/home/shapelim/match_viz/" + count_str_padded + ".png";
// cv::imwrite(output_filename, img_concat_bgr);
// If you want to visualize matched results by OpenCV.
// cv::Mat resize_down;
// resize(img_concat_bgr, resize_down,
// cv::Size(img_concat_bgr.cols / 2, img_concat_bgr.rows / 2), cv::INTER_LINEAR);
// cv::imshow("Feature matching results", resize_down);
// cv::waitKey(20);
}
// make sure under 10hz, to privde enough time for following PGO module
if (do_slam) {
std::this_thread::sleep_for(std::chrono::milliseconds(100));
} else {
std::this_thread::sleep_for(std::chrono::milliseconds(20));
}
}
ros::spinOnce();
return 0;
}