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ReadMe.md
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# OpenVINS with the additional features for AR tasks.
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# open_vins for AR.
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Please refer to Redmine page: https://redmine.drivecast.tech/issues/375 for now to track the history and understand the feature set.
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# OpenVINS
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# Features
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1. GPS loosely coupled sensor fusion taken from VINS-Fusion.
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2. AR visualizations in ROS Rviz.
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3. Ability to save the image sequnece of the camera with rendered AR directly in Rviz.
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[](https://github.com/rpng/open_vins/actions/workflows/build_ros1.yml)
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## Redmine
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[](https://github.com/rpng/open_vins/actions/workflows/build_ros2.yml)
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Please visit the Redmine notes of the following tasks to see the more detailed overview and the detailed developing process:
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[](https://github.com/rpng/open_vins/actions/workflows/build.yml)
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https://redmine.drivecast.tech/issues/376
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https://redmine.drivecast.tech/issues/375
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https://redmine.drivecast.tech/issues/374
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Welcome to the OpenVINS project!
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## Installation
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The OpenVINS project houses some core computer vision code along with a state-of-the art filter-based visual-inertial
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estimator. The core filter is an [Extended Kalman filter](https://en.wikipedia.org/wiki/Extended_Kalman_filter) which
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fuses inertial information with sparse visual feature tracks. These visual feature tracks are fused leveraging
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the [Multi-State Constraint Kalman Filter (MSCKF)](https://ieeexplore.ieee.org/document/4209642) sliding window
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formulation which allows for 3D features to update the state estimate without directly estimating the feature states in
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the filter. Inspired by graph-based optimization systems, the included filter has modularity allowing for convenient
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covariance management with a proper type-based state system. Please take a look at the feature list below for full
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details on what the system supports.
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* Github project page - https://github.com/rpng/open_vins
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### Requirements
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* Documentation - https://docs.openvins.com/
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1. Ubuntu 20.04
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* Getting started guide - https://docs.openvins.com/getting-started.html
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2. OpenCV 3 with contrib and libgdal included: https://docs.opencv.org/4.x/d7/d9f/tutorial_linux_install.html. If catkin buld will be complaining that OpenCV is not found, please set the variable in CMakeLists.txt for each package: set(OpenCV_DIR "path_to_opencv_build_directory")
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* Publication reference - http://udel.edu/~pgeneva/downloads/papers/c10.pdf
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3. ROS noetic, install only ROS fromm this guide (do not install open_vins): https://docs.openvins.com/gs-installing.html
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4. KAIST Urban dataset. On the server: /mnt/disk-small
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## News / Events
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### Building
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1. `mkdir -p ~/workspace/catkin_ws_ov/src/ && cd ~/workspace/catkin_ws_ov/src`
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2. `git clone https://git.drivecast.tech/pi/openvins_linux.git`
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3. `cd ../`
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4. `catkin build`
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* **March 14, 2022** - Initial dynamic initialization open sourcing, asynchronous subscription to inertial readings and publishing of odometry, support for lower frequency feature tracking. See v2.6 [PR#232](https://github.com/rpng/open_vins/pull/232) for details.
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### Running
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* **December 13, 2021** - New YAML configuration system, ROS2 support, Docker images, robust static initialization based on disparity, internal logging system to reduce verbosity, image transport publishers, dynamic number of features support, and other small fixes. See
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1. from terminal in `~/workspace/catkin_ws_ov/` directory `source devel/setup.bash` and then `roslaunch ov_msckf subscribe.launch config:=kaist`
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v2.5 [PR#209](https://github.com/rpng/open_vins/pull/209) for details.
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2. from second terminal in same directory `source devel/setup.bash` and then `roslaunch global_fusion global_fusion.launch`
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* **July 19, 2021** - Camera classes, masking support, alignment utility, and other small fixes. See
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3. from 3d terminal in same directory `source devel/setup.bash` and then `rviz`, and open the open_vins/ov_msckf/launch/display.rviz configuration file.
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v2.4 [PR#117](https://github.com/rpng/open_vins/pull/186) for details.
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4. from 4th terminal in same directory `source devel/setup.bash` and then `rviz`, and open the openv_vins/global_fusion/launch/display.rviz` file.
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* **December 1, 2020** - Released improved memory management, active feature pointcloud publishing, limiting number of
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features in update to bound compute, and other small fixes. See
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v2.3 [PR#117](https://github.com/rpng/open_vins/pull/117) for details.
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* **November 18, 2020** - Released groundtruth generation utility package, [vicon2gt](https://github.com/rpng/vicon2gt)
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to enable creation of groundtruth trajectories in a motion capture room for evaulating VIO methods.
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* **July 7, 2020** - Released zero velocity update for vehicle applications and direct initialization when standing
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still. See [PR#79](https://github.com/rpng/open_vins/pull/79) for details.
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* **May 18, 2020** - Released secondary pose graph example
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repository [ov_secondary](https://github.com/rpng/ov_secondary) based
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on [VINS-Fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion). OpenVINS now publishes marginalized feature
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track, feature 3d position, and first camera intrinsics and extrinsics.
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See [PR#66](https://github.com/rpng/open_vins/pull/66) for details and discussion.
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* **April 3, 2020** - Released [v2.0](https://github.com/rpng/open_vins/releases/tag/v2.0) update to the codebase with
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some key refactoring, ros-free building, improved dataset support, and single inverse depth feature representation.
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Please check out the [release page](https://github.com/rpng/open_vins/releases/tag/v2.0) for details.
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* **January 21, 2020** - Our paper has been accepted for presentation in [ICRA 2020](https://www.icra2020.org/). We look
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forward to seeing everybody there! We have also added links to a few videos of the system running on different
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datasets.
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* **October 23, 2019** - OpenVINS placed first in the [IROS 2019 FPV Drone Racing VIO Competition
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](http://rpg.ifi.uzh.ch/uzh-fpv.html). We will be giving a short presentation at
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the [workshop](https://wp.nyu.edu/workshopiros2019mav/) at 12:45pm in Macau on November 8th.
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* **October 1, 2019** - We will be presenting at the [Visual-Inertial Navigation: Challenges and Applications
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](http://udel.edu/~ghuang/iros19-vins-workshop/index.html) workshop at [IROS 2019](https://www.iros2019.org/). The
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submitted workshop paper can be found at [this](http://udel.edu/~ghuang/iros19-vins-workshop/papers/06.pdf) link.
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* **August 21, 2019** - Open sourced [ov_maplab](https://github.com/rpng/ov_maplab) for interfacing OpenVINS with
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the [maplab](https://github.com/ethz-asl/maplab) library.
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* **August 15, 2019** - Initial release of OpenVINS repository and documentation website!
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## Project Features
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* Sliding window visual-inertial MSCKF
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* Modular covariance type system
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* Comprehensive documentation and derivations
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* Extendable visual-inertial simulator
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* On manifold SE(3) b-spline
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* Arbitrary number of cameras
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* Arbitrary sensor rate
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* Automatic feature generation
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* Five different feature representations
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1. Global XYZ
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2. Global inverse depth
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3. Anchored XYZ
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4. Anchored inverse depth
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5. Anchored MSCKF inverse depth
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6. Anchored single inverse depth
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* Calibration of sensor intrinsics and extrinsics
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* Camera to IMU transform
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* Camera to IMU time offset
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* Camera intrinsics
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* Environmental SLAM feature
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* OpenCV ARUCO tag SLAM features
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* Sparse feature SLAM features
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* Visual tracking support
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* Monocular camera
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* Stereo camera
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* Binocular (synchronized) cameras
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* KLT or descriptor based
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* Masked tracking
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* Static and dynamic state initialization
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* Zero velocity detection and updates
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* Out of the box evaluation on EurocMav, TUM-VI, UZH-FPV, KAIST Urban and VIO datasets
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* Extensive evaluation suite (ATE, RPE, NEES, RMSE, etc..)
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## Codebase Extensions
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* **[vicon2gt](https://github.com/rpng/vicon2gt)** - This utility was created to generate groundtruth trajectories using
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a motion capture system (e.g. Vicon or OptiTrack) for use in evaluating visual-inertial estimation systems.
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Specifically we calculate the inertial IMU state (full 15 dof) at camera frequency rate and generate a groundtruth
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trajectory similar to those provided by the EurocMav datasets. Performs fusion of inertial and motion capture
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information and estimates all unknown spacial-temporal calibrations between the two sensors.
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* **[ov_maplab](https://github.com/rpng/ov_maplab)** - This codebase contains the interface wrapper for exporting
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visual-inertial runs from [OpenVINS](https://github.com/rpng/open_vins) into the ViMap structure taken
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by [maplab](https://github.com/ethz-asl/maplab). The state estimates and raw images are appended to the ViMap as
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OpenVINS runs through a dataset. After completion of the dataset, features are re-extract and triangulate with
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maplab's feature system. This can be used to merge multi-session maps, or to perform a batch optimization after first
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running the data through OpenVINS. Some example have been provided along with a helper script to export trajectories
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into the standard groundtruth format.
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* **[ov_secondary](https://github.com/rpng/ov_secondary)** - This is an example secondary thread which provides loop
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closure in a loosely coupled manner for [OpenVINS](https://github.com/rpng/open_vins). This is a modification of the
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code originally developed by the HKUST aerial robotics group and can be found in
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their [VINS-Fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion) repository. Here we stress that this is a
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loosely coupled method, thus no information is returned to the estimator to improve the underlying OpenVINS odometry.
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This codebase has been modified in a few key areas including: exposing more loop closure parameters, subscribing to
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camera intrinsics, simplifying configuration such that only topics need to be supplied, and some tweaks to the loop
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closure detection to improve frequency.
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## Demo Videos
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<a href="http://www.youtube.com/watch?v=KCX51GvYGss">
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<img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/KCX51GvYGss.jpg" width="120" height="90" />
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</a>
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<a href="http://www.youtube.com/watch?v=Lc7VQHngSuQ">
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<img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/Lc7VQHngSuQ.jpg" width="120" height="90" />
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</a>
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<a href="http://www.youtube.com/watch?v=vaia7iPaRW8">
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<img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/vaia7iPaRW8.jpg" width="120" height="90" />
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</a>
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<a href="http://www.youtube.com/watch?v=MCzTF9ye2zw">
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<img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/MCzTF9ye2zw.jpg" width="120" height="90"/>
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</a>
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<a href="http://www.youtube.com/watch?v=eSQLWcNrx_I">
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<img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/eSQLWcNrx_I.jpg" width="120" height="90" />
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</a>
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<br/>
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<a href="http://www.youtube.com/watch?v=187AXuuGNNw">
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<img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/187AXuuGNNw.jpg" width="120" height="90" />
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</a>
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<a href="http://www.youtube.com/watch?v=oUoLlrFryk0">
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<img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/oUoLlrFryk0.jpg" width="120" height="90" />
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</a>
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<a href="http://www.youtube.com/watch?v=ExPIGwORm4E">
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<img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/ExPIGwORm4E.jpg" width="120" height="90" />
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</a>
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<a href="http://www.youtube.com/watch?v=lXHl-qgLGl8">
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<img src="https://raw.githubusercontent.com/rpng/open_vins/master/docs/youtube/lXHl-qgLGl8.jpg" width="120" height="90" />
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</a>
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## Credit / Licensing
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This code was written by the [Robot Perception and Navigation Group (RPNG)](https://sites.udel.edu/robot/) at the
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University of Delaware. If you have any issues with the code please open an issue on our github page with relevant
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implementation details and references. For researchers that have leveraged or compared to this work, please cite the
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following:
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```txt
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@Conference{Geneva2020ICRA,
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Title = {{OpenVINS}: A Research Platform for Visual-Inertial Estimation},
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Author = {Patrick Geneva and Kevin Eckenhoff and Woosik Lee and Yulin Yang and Guoquan Huang},
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Booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
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Year = {2020},
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Address = {Paris, France},
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Url = {\url{https://github.com/rpng/open_vins}}
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}
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```
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The codebase and documentation is licensed under the [GNU General Public License v3 (GPL-3)](https://www.gnu.org/licenses/gpl-3.0.txt).
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You must preserve the copyright and license notices in your derivative work and make available the complete source code with modifications under the same license ([see this](https://choosealicense.com/licenses/gpl-3.0/); this is not legal advice).
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There is a problem with publishing the cubes to two different topics: to the VIO and to the GPS-VIO frames. I have to find the workaround for this problem. For now you can see the AR cubes in the rviz which shows VIO (from ov_msckf directory)
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### Saving the rendered AR to image sequnece
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1. Turn on the CameraPub (TODO: Change the Camera Info Topic in CameraPub to /ov_msckf/cam0_info and save the .rviz config file))
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Reference in New Issue
Block a user