前言
实战系列很久没有更新了。近期拿到了一台不错的Thinkpad和Kinect v2,前两天orbslam2又放出,于是想要在kinect2下尝试一下orb slam。整个过程没有特别多的技术含量,读者可以把它当成一个实验步骤的总结。
ORB-slam
orb-slam是15年出的一个单目SLAM,也可以说是单目中做的非常好的一个实现。另一方面,他的代码也极其清爽,编译十分贴心,十分注重我等程序员的用户体验,受到了广大欢迎。前几天,orb-slam作者推出了orb-slam2,在原来的单目基础上增加了双目和RGBD的接口,尽管地图还是单目常见的稀疏特征点图。于是我们就能通过各种传感器来玩orb-slam啦!这里正巧我手上有一个Kinectv2,咱们就拿它做个实验吧!
博主的系统就不多说了,ubuntu14.04, Thinkpad T450。Kinect2 for xbox.
编译Kinect v2
要在ubuntu下使用Kinect V2,需要做两件事。一是编译Kinectv2的开源驱动libfreenect2,二是使用kinect2_bridge在ROS下采集它的图像。这两者在hitcm的博客中已经说的很清楚了,咱就不罗嗦了。
请参照hitcm的博客安装好libfreenect2和iai_kinect2系列软件:
http://www.cnblogs.com/hitcm/p/5118196.html
iai_kinect2中含有四个模块。我们主要用它的bridge进行图像间的转换。此外,还要使用kinect2_registration进行标定。没标定过的kinect2,深度图和彩色图之间是不保证一一对应的,在做slam时就会出错。所以请务必做好它的标定。好在作者十分良心地写了标定的详细过程,即使像博主这样的小白也能顺利完成标定啦!
kinect2_calibration模块,有详细的标定过程解释:
https://github.com/code-iai/iai_kinect2/tree/master/kinect2_calibration
标定之后呢,会得到kinect2彩色头、深度头、红外头的内参和外参,它们都以(万恶的)yaml模式存储在你的机器内。kinect2_bridge会自动检测你的标定文件,对深度图进行校正。之后slam过程主要使用彩色头的内参哦!同时,你也可以使用kinect2_viewer模块来看获取的点云和kinect2的图像哦!
编译orb-slam2
orb-slam2的github位于:https://github.com/raulmur/ORB_SLAM2 直接clone到本地即可。
这版的orb-slam可以脱离ros编译,不需要事先安装ros。(但是由于我们要用kinect2还是装了ros)它的主要依赖项是opencv2.4, eigen3, dbow2和g2o,另外还有一些我没怎么听说过的UI库:pangolin。其中Dbow2和g2o已经包含在它的Thirdparty文件夹中,不需要另外下载啦!opencv的安装方式参见一起做第一篇。(g2o版本问题一直是个坑) 所以,只需要去下载pangolin即可。
pangolin的github: https://github.com/stevenlovegrove/Pangolin 它是一个cmake工程,没什么特别的依赖项,直接下载编译安装即可。
随后,进入orb-slam2的文件夹。作者很贴心的为我们准备了 build.sh 文件,直接运行这个文件即可完成编译。
但愿你也顺利编译成功了。orb-slam作者为我们提供了几个example,包括kitti的双目和tum的单目/rgbd。我们可以参照着它去写自己的输入。如果你只想把orb-slam2作为一个整体的模块,可以直接调用include/System.h文件里定义的SLAM System哦。现在我们就把Kinect2丢给它试试。
在Kinect2上运行orb-slam2
Kinect2的topic一共有三种,含不同的分辨率。其中hd是1920的,qhd是四分之一的960的,而sd是最小的。博主发现sd的效果不理想,而hd的图像又太大了,建议大家使用qhd的920大小啦!在调用orb-slam时,需要把相机参数通过一个yaml来告诉它,所以需要简单写一下你的kinect参数喽。比如像这样:
%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 529.97
Camera.fy: 526.97
Camera.cx: 477.44
Camera.cy: 261.87
Camera.k1: 0.05627
Camera.k2: -0.0742
Camera.p1: 0.00142
Camera.p2: -0.00169
Camera.k3: 0.0241
Camera.width: 960
Camera.height: 540
# Camera frames per second
Camera.fps: 30.0
# IR projector baseline times fx (aprox.)
Camera.bf: 40.0
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 50.0
# Deptmap values factor
DepthMapFactor: 1000.0
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000
# ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
# ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7
#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize:2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500
ORB部分的参数我们就不用动啦。然后,对kinect2_viewer进行一定程度的改写,加入ORBSLAM,就可以跑起来喽:
#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <sstream>
#include <string>
#include <vector>
#include <cmath>
#include <mutex>
#include <thread>
#include <chrono>
#include <ros/ros.h>
#include <ros/spinner.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <kinect2_bridge/kinect2_definitions.h>
#include "orbslam2/System.h"
class Receiver
{
public:
enum Mode
{
IMAGE = 0,
CLOUD,
BOTH
};
private:
std::mutex lock;
const std::string topicColor, topicDepth;
const bool useExact, useCompressed;
bool updateImage, updateCloud;
bool save;
bool running;
size_t frame;
const size_t queueSize;
cv::Mat color, depth;
cv::Mat cameraMatrixColor, cameraMatrixDepth;
cv::Mat lookupX, lookupY;
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> ExactSyncPolicy;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> ApproximateSyncPolicy;
ros::NodeHandle nh;
ros::AsyncSpinner spinner;
image_transport::ImageTransport it;
image_transport::SubscriberFilter *subImageColor, *subImageDepth;
message_filters::Subscriber<sensor_msgs::CameraInfo> *subCameraInfoColor, *subCameraInfoDepth;
message_filters::Synchronizer<ExactSyncPolicy> *syncExact;
message_filters::Synchronizer<ApproximateSyncPolicy> *syncApproximate;
std::thread imageViewerThread;
Mode mode;
std::ostringstream oss;
std::vector<int> params;
//RGBDSLAM slam; //the slam object
ORB_SLAM2::System* orbslam =nullptr;
public:
Receiver(const std::string &topicColor, const std::string &topicDepth, const bool useExact, const bool useCompressed)
: topicColor(topicColor), topicDepth(topicDepth), useExact(useExact), useCompressed(useCompressed),
updateImage(false), updateCloud(false), save(false), running(false), frame(0), queueSize(5),
nh("~"), spinner(0), it(nh), mode(CLOUD)
{
cameraMatrixColor = cv::Mat::zeros(3, 3, CV_64F);
cameraMatrixDepth = cv::Mat::zeros(3, 3, CV_64F);
params.push_back(cv::IMWRITE_JPEG_QUALITY);
params.push_back(100);
params.push_back(cv::IMWRITE_PNG_COMPRESSION);
params.push_back(1);
params.push_back(cv::IMWRITE_PNG_STRATEGY);
params.push_back(cv::IMWRITE_PNG_STRATEGY_RLE);
params.push_back(0);
string orbVocFile = "/home/xiang/catkin_ws/src/walle/config/ORBvoc.txt";
string orbSetiingsFile = "/home/xiang/catkin_ws/src/walle/config/kinect2_sd.yaml";
orbslam = new ORB_SLAM2::System( orbVocFile, orbSetiingsFile ,ORB_SLAM2::System::RGBD, true );
}
~Receiver()
{
if (orbslam)
{
orbslam->Shutdown();
delete orbslam;
}
}
void run(const Mode mode)
{
start(mode);
stop();
}
void finish()
{
}
private:
void start(const Mode mode)
{
this->mode = mode;
running = true;
std::string topicCameraInfoColor = topicColor.substr(0, topicColor.rfind('/')) + "/camera_info";
std::string topicCameraInfoDepth = topicDepth.substr(0, topicDepth.rfind('/')) + "/camera_info";
image_transport::TransportHints hints(useCompressed ? "compressed" : "raw");
subImageColor = new image_transport::SubscriberFilter(it, topicColor, queueSize, hints);
subImageDepth = new image_transport::SubscriberFilter(it, topicDepth, queueSize, hints);
subCameraInfoColor = new message_filters::Subscriber<sensor_msgs::CameraInfo>(nh, topicCameraInfoColor, queueSize);
subCameraInfoDepth = new message_filters::Subscriber<sensor_msgs::CameraInfo>(nh, topicCameraInfoDepth, queueSize);
if(useExact)
{
syncExact = new message_filters::Synchronizer<ExactSyncPolicy>(ExactSyncPolicy(queueSize), *subImageColor, *subImageDepth, *subCameraInfoColor, *subCameraInfoDepth);
syncExact->registerCallback(boost::bind(&Receiver::callback, this, _1, _2, _3, _4));
}
else
{
syncApproximate = new message_filters::Synchronizer<ApproximateSyncPolicy>(ApproximateSyncPolicy(queueSize), *subImageColor, *subImageDepth, *subCameraInfoColor, *subCameraInfoDepth);
syncApproximate->registerCallback(boost::bind(&Receiver::callback, this, _1, _2, _3, _4));
}
spinner.start();
std::chrono::milliseconds duration(1);
while(!updateImage || !updateCloud)
{
if(!ros::ok())
{
return;
}
std::this_thread::sleep_for(duration);
}
createLookup(this->color.cols, this->color.rows);
switch(mode)
{
case IMAGE:
imageViewer();
break;
case BOTH:
imageViewerThread = std::thread(&Receiver::imageViewer, this);
break;
}
}
void stop()
{
spinner.stop();
if(useExact)
{
delete syncExact;
}
else
{
delete syncApproximate;
}
delete subImageColor;
delete subImageDepth;
delete subCameraInfoColor;
delete subCameraInfoDepth;
running = false;
if(mode == BOTH)
{
imageViewerThread.join();
}
}
void callback(const sensor_msgs::Image::ConstPtr imageColor, const sensor_msgs::Image::ConstPtr imageDepth,
const sensor_msgs::CameraInfo::ConstPtr cameraInfoColor, const sensor_msgs::CameraInfo::ConstPtr cameraInfoDepth)
{
cv::Mat color, depth;
readCameraInfo(cameraInfoColor, cameraMatrixColor);
readCameraInfo(cameraInfoDepth, cameraMatrixDepth);
readImage(imageColor, color);
readImage(imageDepth, depth);
// IR image input
if(color.type() == CV_16U)
{
cv::Mat tmp;
color.convertTo(tmp, CV_8U, 0.02);
cv::cvtColor(tmp, color, CV_GRAY2BGR);
}
lock.lock();
this->color = color;
this->depth = depth;
updateImage = true;
updateCloud = true;
lock.unlock();
}
void imageViewer()
{
cv::Mat color, depth;
for(; running && ros::ok();)
{
if(updateImage)
{
lock.lock();
color = this->color;
depth = this->depth;
updateImage = false;
lock.unlock();
if (orbslam)
{
orbslam->TrackRGBD( color, depth, ros::Time::now().toSec() );
}
}
}
cv::destroyAllWindows();
cv::waitKey(100);
}
void readImage(const sensor_msgs::Image::ConstPtr msgImage, cv::Mat &image) const
{
cv_bridge::CvImageConstPtr pCvImage;
pCvImage = cv_bridge::toCvShare(msgImage, msgImage->encoding);
pCvImage->image.copyTo(image);
}
void readCameraInfo(const sensor_msgs::CameraInfo::ConstPtr cameraInfo, cv::Mat &cameraMatrix) const
{
double *itC = cameraMatrix.ptr<double>(0, 0);
for(size_t i = 0; i < 9; ++i, ++itC)
{
*itC = cameraInfo->K[i];
}
}
void dispDepth(const cv::Mat &in, cv::Mat &out, const float maxValue)
{
cv::Mat tmp = cv::Mat(in.rows, in.cols, CV_8U);
const uint32_t maxInt = 255;
#pragma omp parallel for
for(int r = 0; r < in.rows; ++r)
{
const uint16_t *itI = in.ptr<uint16_t>(r);
uint8_t *itO = tmp.ptr<uint8_t>(r);
for(int c = 0; c < in.cols; ++c, ++itI, ++itO)
{
*itO = (uint8_t)std::min((*itI * maxInt / maxValue), 255.0f);
}
}
cv::applyColorMap(tmp, out, cv::COLORMAP_JET);
}
void combine(const cv::Mat &inC, const cv::Mat &inD, cv::Mat &out)
{
out = cv::Mat(inC.rows, inC.cols, CV_8UC3);
#pragma omp parallel for
for(int r = 0; r < inC.rows; ++r)
{
const cv::Vec3b
*itC = inC.ptr<cv::Vec3b>(r),
*itD = inD.ptr<cv::Vec3b>(r);
cv::Vec3b *itO = out.ptr<cv::Vec3b>(r);
for(int c = 0; c < inC.cols; ++c, ++itC, ++itD, ++itO)
{
itO->val[0] = (itC->val[0] + itD->val[0]) >> 1;
itO->val[1] = (itC->val[1] + itD->val[1]) >> 1;
itO->val[2] = (itC->val[2] + itD->val[2]) >> 1;
}
}
}
void createLookup(size_t width, size_t height)
{
const float fx = 1.0f / cameraMatrixColor.at<double>(0, 0);
const float fy = 1.0f / cameraMatrixColor.at<double>(1, 1);
const float cx = cameraMatrixColor.at<double>(0, 2);
const float cy = cameraMatrixColor.at<double>(1, 2);
float *it;
lookupY = cv::Mat(1, height, CV_32F);
it = lookupY.ptr<float>();
for(size_t r = 0; r < height; ++r, ++it)
{
*it = (r - cy) * fy;
}
lookupX = cv::Mat(1, width, CV_32F);
it = lookupX.ptr<float>();
for(size_t c = 0; c < width; ++c, ++it)
{
*it = (c - cx) * fx;
}
}
};
int main(int argc, char **argv)
{
ros::init(argc, argv, "kinect2_slam", ros::init_options::AnonymousName);
if(!ros::ok())
{
return 0;
}
std::string topicColor = "/kinect2/sd/image_color_rect";
std::string topicDepth = "/kinect2/sd/image_depth_rect";
bool useExact = true;
bool useCompressed = false;
Receiver::Mode mode = Receiver::IMAGE;
// 初始化receiver
Receiver receiver(topicColor, topicDepth, useExact, useCompressed);
//OUT_INFO("starting receiver...");
receiver.run(mode);
receiver.finish();
ros::shutdown();
return 0;
}
编译方面,只要在CMakeLists.txt中加入orb-slam的头文件和库,告诉cmake你想链接它即可。甚至你可以把整个orb-slam放到你的代码目录中一块儿编译,不过我还是简单地把liborb_slam2.so文件和头文件拷了过来而已。
实际的手持kinect2运行效果(由于博客园无法传视频,暂时把百度云当播放器使一使):http://pan.baidu.com/s/1eRcyW1s (感谢也冬同学友情出演……)
一起做rgbd slam的数据集上效果:http://pan.baidu.com/s/1bocx5s
大体上还是挺理想的。
小结
本文主要展现了orbslam2在Kinect2下的表现,大致是令人满意的。读者在使用时,请务必注意kinect2的标定,否则很可能出错。