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FLVIS-gpu
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FLVIS-gpu
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# FLVIS-gpu This repository is a GPU-accelerated version FLVIS. If you want to achieve best performance on your machine, we recommend you to use it without hesitation. ### 1. Prerequisite The dependency is almost the same as original FLVIS. Besides, you need a cuda version OpenCV. We only test it under OpenCV 4.5.1 ### 2. How to Compile Set the correct path of your OpenCV in ````CMakeLists.txt````: ```` find_package(OpenCV 4 REQUIRED PATHS your_path) ```` ### 3. How to Use Turn on ````use_gpu```` in ````/launch/d435i/sn943222072828_depth.yaml```` to enable fast detector and optical flow tracking. ### 4. Result <br> | Jetson Tx2 | Feature detect | LK optical flow tracking | |:-----------------------------------:|:---------------------------:|:-------------------------------------:| | CPU version | 15ms | 15ms | | GPU support | 8ms | 11ms | <br> # FLVIS ## Feedback Loop Based Visual Inertial SLAM ### 1-Video <a href="https://www.youtube.com/embed/U1GmOICc1Ac" target="_blank"><img src="http://img.youtube.com/vi/ljZWb2x6CRQ/0.jpg" alt="cla" width="480" height="300" border="1" /></a> | EuRoC DataSet MH_05 | Handheld Test in Lab | FlVIS on UAV Platform | | ---------------------- | ---------------------- |---------------------- | | <img src="others/mh05_gif.gif" width="250"> | <img src="others/lab_gif.gif" width="250"> | <img src="others/uav_gif.gif" width="250"> | ### 2-Relevent Publication: Under Review, a pre-print version can be found [here](https://arxiv.org/abs/2007.02250) ### 3-Support Hardware/Dataset: Intel RealSense D435i Camera <br /> EuRoC MAV Dataset ### 4-Build The Project We have tested in the following environment: <br /> Ubuntu 16.04 + ROS Kinetic <br /> Ubuntu 18.04 + ROS melodic <br /> Clone the repository to the catkin work space eg. /catkin_ws/src ```` git clone https://github.com/HKPolyU-UAV/FLVIS.git ```` Install 3rd Part library ```` cd catkin_ws/src/FLVIS/3rdPartLib/ ./install3rdPartLib.sh ```` Compile ```` cd ~/catkin_ws catkin_make ```` ### 5-Verification Support Platform D435i(Depth/Stereo Mode), EuRoC Dataset, KITTI Dataset #### 5.1 D435i Camera Depth Mode ##### 5.1.1 Use our recorded rosbag Download the dataset [Link-melab_sn943222072828.bag](https://drive.google.com/file/d/1kfOkQTt-i-Hd2M0FZa8Dia4_BweE-ttf/view?usp=sharing) to /bag folder <br /> Decompress the rosbag: ```` rosbag decompress melab_sn943222072828.bag ```` run the following launch files: ```` roslaunch flvis rviz_bag.launch roslaunch flvis flvis_bag.launch ```` ##### 5.1.2 Use your own camera: Install the [realsense driver](https://github.com/IntelRealSense/librealsense) and its [ros wrapper](https://github.com/IntelRealSense/realsense-ros) <br /> Boot the d435i camera and echo the camera infomation ```` roslaunch flvis d435i_depth.launch rostopic echo /camera/infra1/camera_info ```` You will get the camera infomation like: <img src="others/camera_info.png"> As shown, where the resolution is 640x480 and fx=384.16455078125; fy=384.16455078125; cx=320.2144470214844;cy=238.94403076171875. <br /> Edit these information in the config yaml file (say: ````/launch/d435i/sn943222072828_depth.yaml````): ```yaml image_width: 640 image_height: 480 cam0_intrinsics: [384.16455078125, 384.16455078125, 320.2144470214844, 238.94403076171875]#fx fy cx cy cam0_distortion_coeffs: [0.0, 0.0, 0.0, 0.0]#k1 k2 r1 r2 ``` In the launch file "flvis_d435i.launch", make sure "/yamlconfigfile" is point to the edited config file ```` <param name="/yamlconfigfile" type="string" value="$(find flvis)/launch/d435i/sn943222072828_depth.yaml"/> ```` run the following launch files: ```` roslaunch flvis rviz_bag.launch roslaunch flvis flvis_d435i_depth.launch ```` #### 5.2 D435i Camera Stero Mode Like what we did in 5.1.2, we need to config the ````/launch/d435i/sn943222072828_stereo.yaml```` <br /> Note that, by default the two camera share the same intrinsic parameters, and the baseline length is 0.05m: ```yaml cam0_intrinsics: [384.16455078125, 384.16455078125, 320.2144470214844, 238.94403076171875]#fx fy cx cy cam0_distortion_coeffs: [0.0, 0.0, 0.0, 0.0]#k1 k2 r1 r2 cam1_intrinsics: [384.16455078125, 384.16455078125, 320.2144470214844, 238.94403076171875]#fx fy cx cy cam1_distortion_coeffs: [0.0, 0.0, 0.0, 0.0]#k1 k2 r1 r2 T_cam0_cam1: [ 1.0, 0.0, 0.0, 0.05, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0] ``` #### 5.3 EuRoC MAV Dataset Download the dataset(say MH_05_difficult) into the bag folder: ```` roscd flvis/bag/ wget http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_05_difficult/MH_05_difficult.bag ```` Edit the corresponding bag name in flvis_euroc_mav.launch file: ```` <node pkg="rosbag" type="play" name="rosbag" args="$(find flvis)/bag/MH_05_difficult.bag"/> ```` run the following launch files: ```` roslaunch flvis rviz_euroc.launch roslaunch flvis flvis_euroc_mav.launch ```` #### 5.4 KITTI Dataset Download the dataset into the bag folder: <img src="https://github.com/Ttoto/img_bed/blob/main/FLVIS/kitti_sc.png" width="250"> Edit the corresponding bag name in flvis_kitti.launch file: ```` <param name="/publish_gt" type="bool" value="true" /> <param name="/dataset_folder_path" type="string" value="$(find flvis)/bag/KITTI/dataset/sequences/00/" /> <param name="/dataset_gt_file" type="string" value="$(find flvis)/bag/KITTI/dataset/poses/00.txt" /> ```` run the following launch files: ```` roslaunch flvis rviz_kitti.launch roslaunch flvis flvis_kitti.launch ```` ### Maintainer: [Shengyang Chen](https://www.polyu.edu.hk/researchgrp/cywen/index.php/en/people/researchstudent.html)(Dept.ME,PolyU): shengyang.chen@connect.polyu.hk <br /> Yajing Zou(Dept.LSGI,PolyU):rick.zou@connect.polyu.hk
