├── .clang-format ├── .github └── ISSUE_TEMPLATE │ ├── error-report.md │ ├── feature_request.md │ └── question-about-a-concept.md ├── .gitignore ├── .gitmodules ├── .linterconfig.yaml ├── .patches └── fix_vocab.patch ├── CMakeLists.txt ├── Dockerfile_20_04 ├── Jenkinsfile ├── LICENSE.BSD ├── README.md ├── cmake ├── FindGflags.cmake ├── FindGlog.cmake ├── VerifyGtsamConfig.cmake ├── gtest.cmake ├── kimera_vioConfig.cmake.in └── tests │ └── gtsam_uses_feature.cpp.in ├── docs ├── developer_guide.md ├── faq.md ├── gflags_parameters.md ├── kimera_vio_debug_evaluation.md ├── kimera_vio_install.md ├── linter_install.md ├── media │ ├── kimera_chart_23.jpeg │ ├── kimeravio_ROS_mesh.gif │ ├── kimeravio_chart.png │ ├── kimeravio_logo.png │ ├── kimeravio_release.gif │ ├── mit.png │ └── sparklab_logo.png ├── tips_development.md └── tips_usage.md ├── examples └── KimeraVIO.cpp ├── include └── kimera-vio │ ├── backend │ ├── CMakeLists.txt │ ├── RegularVioBackend-definitions.h │ ├── RegularVioBackend.h │ ├── RegularVioBackendParams.h │ ├── VioBackend-definitions.h │ ├── VioBackend.h │ ├── VioBackendFactory.h │ ├── VioBackendModule.h │ └── VioBackendParams.h │ ├── common │ ├── CMakeLists.txt │ ├── VioNavState.h │ └── vio_types.h │ ├── dataprovider │ ├── CMakeLists.txt │ ├── DataProviderInterface-definitions.h │ ├── DataProviderInterface.h │ ├── DataProviderModule.h │ ├── EurocDataProvider.h │ ├── KittiDataProvider.h │ ├── MonoDataProviderModule.h │ ├── RgbdDataProviderModule.h │ └── StereoDataProviderModule.h │ ├── factors │ ├── CMakeLists.txt │ ├── ParallelPlaneRegularFactor.h │ └── PointPlaneFactor.h │ ├── frontend │ ├── CMakeLists.txt │ ├── Camera.h │ ├── CameraParams.h │ ├── DepthFrame.h │ ├── Frame.h │ ├── FrontendInputPacketBase.h │ ├── FrontendOutputPacketBase.h │ ├── FrontendType.h │ ├── MonoImuSyncPacket.h │ ├── MonoVisionImuFrontend-definitions.h │ ├── MonoVisionImuFrontend.h │ ├── OdometryParams.h │ ├── RgbdCamera.h │ ├── RgbdFrame.h │ ├── RgbdImuSyncPacket.h │ ├── RgbdVisionImuFrontend-definitions.h │ ├── RgbdVisionImuFrontend.h │ ├── StereoCamera.h │ ├── StereoFrame-definitions.h │ ├── StereoFrame.h │ ├── StereoImuSyncPacket.h │ ├── StereoMatcher.h │ ├── StereoMatchingParams.h │ ├── StereoVisionImuFrontend-definitions.h │ ├── StereoVisionImuFrontend.h │ ├── Tracker-definitions.h │ ├── Tracker.h │ ├── UndistorterRectifier.h │ ├── VisionImuFrontend-definitions.h │ ├── VisionImuFrontend.h │ ├── VisionImuFrontendFactory.h │ ├── VisionImuFrontendModule.h │ ├── VisionImuFrontendParams.h │ ├── VisionImuTrackerParams.h │ ├── feature-detector │ │ ├── CMakeLists.txt │ │ ├── FeatureDetector-definitions.h │ │ ├── FeatureDetector.h │ │ ├── FeatureDetectorParams.h │ │ ├── NonMaximumSuppression.h │ │ └── anms │ │ │ ├── CMakeLists.txt │ │ │ ├── LICENSE │ │ │ ├── anms.h │ │ │ ├── nanoflann.hpp │ │ │ └── range-tree │ │ │ ├── lrtypes.h │ │ │ └── ranget.h │ └── optical-flow │ │ ├── CMakeLists.txt │ │ ├── OpticalFlowPredictor-definitions.h │ │ ├── OpticalFlowPredictor.h │ │ ├── OpticalFlowPredictorFactory.h │ │ └── OpticalFlowVisualizer.h │ ├── imu-frontend │ ├── CMakeLists.txt │ ├── ImuFrontend-definitions.h │ ├── ImuFrontend.h │ └── ImuFrontendParams.h │ ├── initial │ ├── CMakeLists.txt │ ├── CrossCorrTimeAligner.h │ ├── InitializationBackend-definitions.h │ ├── InitializationBackend.h │ ├── InitializationFromImu.h │ ├── OnlineGravityAlignment-definitions.h │ ├── OnlineGravityAlignment.h │ ├── RingBuffer.h │ └── TimeAlignerBase.h │ ├── logging │ ├── CMakeLists.txt │ └── Logger.h │ ├── loopclosure │ ├── CMakeLists.txt │ ├── FrameCache.h │ ├── LcdFactory.h │ ├── LcdModule.h │ ├── LcdOutputPacket.h │ ├── LcdThirdPartyWrapper.h │ ├── LoopClosureDetector-definitions.h │ ├── LoopClosureDetector.h │ └── LoopClosureDetectorParams.h │ ├── mesh │ ├── CMakeLists.txt │ ├── Mesh.h │ ├── MeshOptimization-definitions.h │ ├── MeshOptimization.h │ ├── MeshUtils.h │ ├── Mesher-definitions.h │ ├── Mesher.h │ ├── MesherFactory.h │ ├── MesherModule.h │ └── Mesher_cgal.h │ ├── pipeline │ ├── CMakeLists.txt │ ├── MonoImuPipeline.h │ ├── Pipeline-definitions.h │ ├── Pipeline.h │ ├── PipelineModule.h │ ├── PipelineParams.h │ ├── PipelinePayload.h │ ├── QueueSynchronizer.h │ ├── RgbdImuPipeline.h │ └── StereoImuPipeline.h │ ├── playground │ ├── CMakeLists.txt │ └── EurocPlayground.h │ ├── utils │ ├── Accumulator.h │ ├── CMakeLists.txt │ ├── FilesystemUtils.h │ ├── GtsamPrinting.h │ ├── Histogram.h │ ├── Macros.h │ ├── Statistics.h │ ├── ThreadsafeImuBuffer-inl.h │ ├── ThreadsafeImuBuffer.h │ ├── ThreadsafeOdometryBuffer.h │ ├── ThreadsafeQueue.h │ ├── ThreadsafeTemporalBuffer-inl.h │ ├── ThreadsafeTemporalBuffer.h │ ├── Timer.h │ ├── UtilsGTSAM.h │ ├── UtilsGeometry.h │ ├── UtilsNumerical.h │ ├── UtilsOpenCV.h │ └── YamlParser.h │ └── visualizer │ ├── CMakeLists.txt │ ├── Display-definitions.h │ ├── Display.h │ ├── DisplayFactory.h │ ├── DisplayModule.h │ ├── DisplayParams.h │ ├── OpenCvDisplay.h │ ├── OpenCvDisplayParams.h │ ├── OpenCvVisualizer3D.h │ ├── PangolinDisplay.h │ ├── Visualizer3D-definitions.h │ ├── Visualizer3D.h │ ├── Visualizer3DFactory.h │ └── Visualizer3DModule.h ├── output_logs └── .gitignore ├── package.xml ├── params ├── D455 │ ├── BackendParams.yaml │ ├── DisplayParams.yaml │ ├── ExternalOdometryParams.yaml │ ├── FrontendParams.yaml │ ├── ImuParams.yaml │ ├── LcdParams.yaml │ ├── LeftCameraParams.yaml │ ├── PipelineParams.yaml │ ├── RightCameraParams.yaml │ └── flags │ │ ├── Mesher.flags │ │ ├── RegularVioBackend.flags │ │ ├── VioBackend.flags │ │ ├── Visualizer3D.flags │ │ └── stereoVIOEuroc.flags ├── Euroc │ ├── BackendParams.yaml │ ├── DisplayParams.yaml │ ├── FrontendParams.yaml │ ├── ImuParams.yaml │ ├── LcdParams.yaml │ ├── LeftCameraParams.yaml │ ├── PipelineParams.yaml │ ├── RightCameraParams.yaml │ └── flags │ │ ├── Mesher.flags │ │ ├── RegularVioBackend.flags │ │ ├── VioBackend.flags │ │ ├── Visualizer3D.flags │ │ └── stereoVIOEuroc.flags ├── EurocMono │ ├── BackendParams.yaml │ ├── DisplayParams.yaml │ ├── FrontendParams.yaml │ ├── ImuParams.yaml │ ├── LcdParams.yaml │ ├── LeftCameraParams.yaml │ ├── PipelineParams.yaml │ ├── RightCameraParams.yaml │ └── flags │ │ ├── Mesher.flags │ │ ├── RegularVioBackend.flags │ │ ├── VioBackend.flags │ │ ├── Visualizer3D.flags │ │ └── stereoVIOEuroc.flags ├── KinectAzure │ ├── BackendParams.yaml │ ├── DisplayParams.yaml │ ├── FrontendParams.yaml │ ├── ImuParams.yaml │ ├── LcdParams.yaml │ ├── LeftCameraParams.yaml │ ├── PipelineParams.yaml │ └── flags │ │ ├── Mesher.flags │ │ ├── Pipeline.flags │ │ ├── RegularVioBackend.flags │ │ ├── VioBackend.flags │ │ └── Visualizer3D.flags ├── RealSenseIR │ ├── BackendParams.yaml │ ├── DisplayParams.yaml │ ├── FrontendParams.yaml │ ├── ImuParams.yaml │ ├── LcdParams.yaml │ ├── LeftCameraParams.yaml │ ├── PipelineParams.yaml │ ├── RightCameraParams.yaml │ └── flags │ │ ├── Mesher.flags │ │ ├── RegularVioBackend.flags │ │ ├── VioBackend.flags │ │ ├── Visualizer3D.flags │ │ └── stereoVIOEuroc.flags ├── uHumans1 │ ├── BackendParams.yaml │ ├── DisplayParams.yaml │ ├── FrontendParams.yaml │ ├── ImuParams.yaml │ ├── LcdParams.yaml │ ├── LeftCameraParams.yaml │ ├── PipelineParams.yaml │ ├── RightCameraParams.yaml │ └── flags │ │ ├── Mesher.flags │ │ ├── RegularVioBackend.flags │ │ ├── VioBackend.flags │ │ ├── Visualizer3D.flags │ │ └── stereoVIOEuroc.flags └── uHumans2 │ ├── BackendParams.yaml │ ├── DisplayParams.yaml │ ├── ExternalOdometryParams.yaml │ ├── FrontendParams.yaml │ ├── ImuParams.yaml │ ├── LcdParams.yaml │ ├── LeftCameraParams.yaml │ ├── PipelineParams.yaml │ ├── RightCameraParams.yaml │ └── flags │ ├── Mesher.flags │ ├── RegularVioBackend.flags │ ├── VioBackend.flags │ ├── Visualizer3D.flags │ └── stereoVIOEuroc.flags ├── scripts ├── docker │ ├── Dockerfile │ └── kimera_vio_docker.bash ├── euroc │ └── yamelize.bash ├── kalibr │ ├── .gitignore │ ├── kalibr_params_to_kimera_vio_params.py │ ├── requirements.txt │ └── templates │ │ ├── camera.yaml │ │ └── imu.yaml ├── ros │ └── run_gtest.py └── stereoVIOEuroc.bash ├── src ├── backend │ ├── CMakeLists.txt │ ├── FactorGraphManagement.cpp │ ├── RegularVioBackend.cpp │ ├── RegularVioBackendParams.cpp │ ├── VioBackend.cpp │ ├── VioBackendModule.cpp │ └── VioBackendParams.cpp ├── common │ ├── CMakeLists.txt │ └── VioNavState.cpp ├── dataprovider │ ├── CMakeLists.txt │ ├── DataProviderInterface-definitions.cpp │ ├── DataProviderInterface.cpp │ ├── DataProviderModule.cpp │ ├── EurocDataProvider.cpp │ ├── KittiDataProvider.cpp │ ├── MonoDataProviderModule.cpp │ ├── RgbdDataProviderModule.cpp │ └── StereoDataProviderModule.cpp ├── factors │ ├── CMakeLists.txt │ ├── ParallelPlaneRegularFactor.cpp │ └── PointPlaneFactor.cpp ├── frontend │ ├── CMakeLists.txt │ ├── Camera.cpp │ ├── CameraParams.cpp │ ├── DepthFrame.cpp │ ├── MonoImuSyncPacket.cpp │ ├── MonoVisionImuFrontend.cpp │ ├── OdometryParams.cpp │ ├── RgbdCamera.cpp │ ├── RgbdFrame.cpp │ ├── RgbdImuSyncPacket.cpp │ ├── RgbdVisionImuFrontend.cpp │ ├── StereoCamera.cpp │ ├── StereoFrame.cpp │ ├── StereoImuSyncPacket.cpp │ ├── StereoMatcher.cpp │ ├── StereoMatchingParams.cpp │ ├── StereoVisionImuFrontend.cpp │ ├── Tracker.cpp │ ├── UndistorterRectifier.cpp │ ├── VisionImuFrontend.cpp │ ├── VisionImuFrontendModule.cpp │ ├── VisionImuFrontendParams.cpp │ ├── VisionImuTrackerParams.cpp │ ├── feature-detector │ │ ├── CMakeLists.txt │ │ ├── FeatureDetector.cpp │ │ ├── FeatureDetectorParams.cpp │ │ ├── NonMaximumSuppression.cpp │ │ └── anms │ │ │ ├── CMakeLists.txt │ │ │ ├── LICENSE │ │ │ └── anms.cpp │ └── optical-flow │ │ ├── CMakeLists.txt │ │ └── OpticalFlowPredictor.cpp ├── imu-frontend │ ├── CMakeLists.txt │ ├── ImuFrontend.cpp │ └── ImuFrontendParams.cpp ├── initial │ ├── CMakeLists.txt │ ├── CrossCorrTimeAligner.cpp │ ├── InitializationBackend.cpp │ ├── InitializationFromImu.cpp │ ├── OnlineGravityAlignment.cpp │ └── TimeAlignerBase.cpp ├── logging │ ├── CMakeLists.txt │ └── Logger.cpp ├── loopclosure │ ├── CMakeLists.txt │ ├── FrameCache.cpp │ ├── LcdModule.cpp │ ├── LcdOutputPacket.cpp │ ├── LcdThirdPartyWrapper.cpp │ ├── LoopClosureDetector.cpp │ └── LoopClosureDetectorParams.cpp ├── mesh │ ├── CMakeLists.txt │ ├── Mesh.cpp │ ├── MeshOptimization.cpp │ ├── Mesher.cpp │ ├── MesherFactory.cpp │ └── MesherModule.cpp ├── pipeline │ ├── CMakeLists.txt │ ├── MonoImuPipeline.cpp │ ├── Pipeline-definitions.cpp │ ├── Pipeline.cpp │ ├── PipelineModule.cpp │ ├── PipelineParams.cpp │ ├── PipelinePayload.cpp │ ├── QueueSynchronizer.cpp │ ├── RgbdImuPipeline.cpp │ └── StereoImuPipeline.cpp ├── playground │ ├── CMakeLists.txt │ └── EurocPlayground.cpp ├── utils │ ├── CMakeLists.txt │ ├── FilesystemUtils.cpp │ ├── GtsamPrinting.cpp │ ├── Histogram.cpp │ ├── Statistics.cpp │ ├── ThreadsafeImuBuffer.cpp │ ├── ThreadsafeOdometryBuffer.cpp │ ├── UtilsGeometry.cpp │ ├── UtilsNumerical.cpp │ └── UtilsOpenCV.cpp └── visualizer │ ├── CMakeLists.txt │ ├── Display-definitions.cpp │ ├── Display.cpp │ ├── DisplayFactory.cpp │ ├── DisplayModule.cpp │ ├── DisplayParams.cpp │ ├── OpenCvDisplay.cpp │ ├── OpenCvDisplayParams.cpp │ ├── OpenCvVisualizer3D.cpp │ ├── PangolinDisplay.cpp │ ├── Visualizer3D.cpp │ ├── Visualizer3DFactory.cpp │ └── Visualizer3DModule.cpp ├── tests ├── data │ ├── .gitignore │ ├── AlternateTestParams │ │ └── ImuParams.yaml │ ├── EurocParams │ │ ├── BackendParams.yaml │ │ ├── DisplayParams.yaml │ │ ├── FrontendParams.yaml │ │ ├── ImuParams.yaml │ │ ├── LcdParams.yaml │ │ ├── LeftCameraParams.yaml │ │ ├── OdometryParams.yaml │ │ ├── PipelineParams.yaml │ │ ├── RightCameraParams.yaml │ │ └── flags │ │ │ ├── Mesher.flags │ │ │ ├── RegularVioBackEnd.flags │ │ │ ├── VioBackEnd.flags │ │ │ ├── Visualizer3D.flags │ │ │ └── stereoVIOEuroc.flags │ ├── ForFeatureDetector │ │ ├── frontendParams-NMS-Binning.yaml │ │ ├── frontendParams-NMS-Binning2.yaml │ │ ├── frontendParams-NMS-TopN.yaml │ │ └── frontendParams-noNMS.yaml │ ├── ForKittiData │ │ ├── calib_cam_to_cam.txt │ │ ├── calib_imu_to_velo.txt │ │ └── calib_velo_to_cam.txt │ ├── ForLogger │ │ ├── backend_output │ │ │ └── .gitignore │ │ ├── frontend_output │ │ │ └── .gitignore │ │ └── loopclosure_output │ │ │ └── .gitignore │ ├── ForLoopClosureDetector │ │ ├── FrontendParams.yaml │ │ ├── left_img_0.png │ │ ├── left_img_1.png │ │ ├── left_img_2.png │ │ ├── left_img_3.png │ │ ├── right_img_0.png │ │ ├── right_img_1.png │ │ ├── right_img_2.png │ │ ├── right_img_3.png │ │ ├── sensorLeft.yaml │ │ ├── sensorRight.yaml │ │ ├── small_voc.yml.gz │ │ └── testLCDParameters.yaml │ ├── ForMeshUtils │ │ ├── ray_triangle_barycentric.jpg │ │ └── ray_triangle_color.jpg │ ├── ForOmniCamera │ │ └── OmniCamParams.yaml │ ├── ForOnlineAlignment │ │ ├── alignment │ │ │ └── mav0 │ │ │ │ ├── gt0 │ │ │ │ ├── data.csv │ │ │ │ └── sensor.yaml │ │ │ │ └── imu0 │ │ │ │ └── data.csv │ │ ├── gyro_bias │ │ │ └── mav0 │ │ │ │ ├── gt0 │ │ │ │ ├── data.csv │ │ │ │ └── sensor.yaml │ │ │ │ └── imu0 │ │ │ │ └── data.csv │ │ ├── mav0 │ │ │ ├── gt0 │ │ │ │ ├── data.csv │ │ │ │ └── sensor.yaml │ │ │ └── imu0 │ │ │ │ ├── .~lock.data.csv# │ │ │ │ └── data.csv │ │ └── real_data │ │ │ └── mav0 │ │ │ ├── gt0 │ │ │ ├── data.csv │ │ │ └── sensor.yaml │ │ │ └── imu0 │ │ │ └── data.csv │ ├── ForRgbd │ │ ├── depth_img_0.tiff │ │ ├── depth_img_1.tiff │ │ ├── left_img_0.png │ │ ├── left_img_1.png │ │ └── sensorLeft.yaml │ ├── ForStereoFrame │ │ ├── archive │ │ │ └── .gitignore │ │ ├── left_fisheye_img_0.png │ │ ├── left_img_0.png │ │ ├── left_img_1.png │ │ ├── left_ref_img_0.png │ │ ├── left_sensor_fisheye.yaml │ │ ├── right_fisheye_img_0.png │ │ ├── right_img_0.png │ │ ├── right_img_1.png │ │ ├── right_sensor_fisheye.yaml │ │ ├── sensorLeft.yaml │ │ ├── sensorRight.yaml │ │ └── sidebyside_ref_img_0.png │ ├── ForStereoTracker │ │ ├── camLeft.yaml │ │ ├── camLeftEuroc.yaml │ │ ├── camRight.yaml │ │ ├── camRightEuroc.yaml │ │ ├── corners_normal_left.txt │ │ ├── corners_normal_right.txt │ │ ├── corners_undistort_left.txt │ │ ├── corners_undistort_right.txt │ │ ├── depth_left.txt │ │ ├── img_distort_left.png │ │ ├── img_distort_right.png │ │ ├── img_undistort_left.png │ │ ├── img_undistort_right.png │ │ ├── left_frame0000.jpg │ │ ├── left_frame0001.jpg │ │ ├── left_frame0008.jpg │ │ ├── right_frame0000.jpg │ │ ├── right_frame0001.jpg │ │ └── right_frame0008.jpg │ ├── ForTracker │ │ └── trackerParameters.yaml │ ├── ForVIO │ │ ├── regularVioParameters.yaml │ │ └── vioParameters.yaml │ ├── MicroEurocDataset │ │ ├── LICENSE.md │ │ └── mav0 │ │ │ ├── body.yaml │ │ │ ├── cam0 │ │ │ ├── data.csv │ │ │ ├── data │ │ │ │ ├── 1403715273262142976.png │ │ │ │ ├── 1403715273312143104.png │ │ │ │ ├── 1403715273362142976.png │ │ │ │ ├── 1403715273412143104.png │ │ │ │ ├── 1403715273462142976.png │ │ │ │ ├── 1403715273512143104.png │ │ │ │ ├── 1403715273562142976.png │ │ │ │ ├── 1403715273612143104.png │ │ │ │ ├── 1403715273662142976.png │ │ │ │ ├── 1403715273712143104.png │ │ │ │ ├── 1403715273762142976.png │ │ │ │ ├── 1403715273812143104.png │ │ │ │ ├── 1403715273862142976.png │ │ │ │ ├── 1403715273912143104.png │ │ │ │ ├── 1403715273962142976.png │ │ │ │ ├── 1403715274012143104.png │ │ │ │ ├── 1403715274062142976.png │ │ │ │ ├── 1403715274112143104.png │ │ │ │ ├── 1403715274162142976.png │ │ │ │ ├── 1403715274212143104.png │ │ │ │ ├── 1403715274262142976.png │ │ │ │ ├── 1403715274312143104.png │ │ │ │ ├── 1403715274362142976.png │ │ │ │ ├── 1403715274412143104.png │ │ │ │ ├── 1403715274462142976.png │ │ │ │ ├── 1403715274512143104.png │ │ │ │ ├── 1403715274562142976.png │ │ │ │ ├── 1403715274612143104.png │ │ │ │ ├── 1403715274662142976.png │ │ │ │ ├── 1403715274712143104.png │ │ │ │ ├── 1403715274762142976.png │ │ │ │ ├── 1403715274812143104.png │ │ │ │ ├── 1403715274862142976.png │ │ │ │ ├── 1403715274912143104.png │ │ │ │ ├── 1403715274962142976.png │ │ │ │ ├── 1403715275012143104.png │ │ │ │ ├── 1403715275062142976.png │ │ │ │ ├── 1403715275112143104.png │ │ │ │ ├── 1403715275162142976.png │ │ │ │ ├── 1403715275212143104.png │ │ │ │ ├── 1403715275262142976.png │ │ │ │ ├── 1403715275312143104.png │ │ │ │ ├── 1403715275362142976.png │ │ │ │ ├── 1403715275412143104.png │ │ │ │ ├── 1403715275462142976.png │ │ │ │ ├── 1403715275512143104.png │ │ │ │ ├── 1403715275562142976.png │ │ │ │ ├── 1403715275612143104.png │ │ │ │ ├── 1403715275662142976.png │ │ │ │ ├── 1403715275712143104.png │ │ │ │ ├── 1403715275762142976.png │ │ │ │ ├── 1403715275812143104.png │ │ │ │ ├── 1403715275862142976.png │ │ │ │ ├── 1403715275912143104.png │ │ │ │ ├── 1403715275962142976.png │ │ │ │ ├── 1403715276012143104.png │ │ │ │ ├── 1403715276062142976.png │ │ │ │ ├── 1403715276112143104.png │ │ │ │ ├── 1403715276162142976.png │ │ │ │ ├── 1403715276212143104.png │ │ │ │ ├── 1403715276262142976.png │ │ │ │ ├── 1403715276312143104.png │ │ │ │ ├── 1403715276362142976.png │ │ │ │ ├── 1403715276412143104.png │ │ │ │ ├── 1403715276462142976.png │ │ │ │ ├── 1403715276512143104.png │ │ │ │ ├── 1403715276562142976.png │ │ │ │ ├── 1403715276612143104.png │ │ │ │ ├── 1403715276662142976.png │ │ │ │ ├── 1403715276712143104.png │ │ │ │ ├── 1403715276762142976.png │ │ │ │ ├── 1403715276812143104.png │ │ │ │ ├── 1403715276862142976.png │ │ │ │ ├── 1403715276912143104.png │ │ │ │ ├── 1403715276962142976.png │ │ │ │ ├── 1403715277012143104.png │ │ │ │ ├── 1403715277062142976.png │ │ │ │ ├── 1403715277112143104.png │ │ │ │ ├── 1403715277162142976.png │ │ │ │ ├── 1403715277212143104.png │ │ │ │ ├── 1403715277262142976.png │ │ │ │ ├── 1403715277312143104.png │ │ │ │ ├── 1403715277362142976.png │ │ │ │ ├── 1403715277412143104.png │ │ │ │ ├── 1403715277462142976.png │ │ │ │ ├── 1403715277512143104.png │ │ │ │ ├── 1403715277562142976.png │ │ │ │ ├── 1403715277612143104.png │ │ │ │ ├── 1403715277662142976.png │ │ │ │ ├── 1403715277712143104.png │ │ │ │ ├── 1403715277762142976.png │ │ │ │ ├── 1403715277812143104.png │ │ │ │ ├── 1403715277862142976.png │ │ │ │ ├── 1403715277912143104.png │ │ │ │ └── 1403715277962142976.png │ │ │ └── sensor.yaml │ │ │ ├── cam1 │ │ │ ├── data.csv │ │ │ ├── data │ │ │ │ ├── 1403715273262142976.png │ │ │ │ ├── 1403715273312143104.png │ │ │ │ ├── 1403715273362142976.png │ │ │ │ ├── 1403715273412143104.png │ │ │ │ ├── 1403715273462142976.png │ │ │ │ ├── 1403715273512143104.png │ │ │ │ ├── 1403715273562142976.png │ │ │ │ ├── 1403715273612143104.png │ │ │ │ ├── 1403715273662142976.png │ │ │ │ ├── 1403715273712143104.png │ │ │ │ ├── 1403715273762142976.png │ │ │ │ ├── 1403715273812143104.png │ │ │ │ ├── 1403715273862142976.png │ │ │ │ ├── 1403715273912143104.png │ │ │ │ ├── 1403715273962142976.png │ │ │ │ ├── 1403715274012143104.png │ │ │ │ ├── 1403715274062142976.png │ │ │ │ ├── 1403715274112143104.png │ │ │ │ ├── 1403715274162142976.png │ │ │ │ ├── 1403715274212143104.png │ │ │ │ ├── 1403715274262142976.png │ │ │ │ ├── 1403715274312143104.png │ │ │ │ ├── 1403715274362142976.png │ │ │ │ ├── 1403715274412143104.png │ │ │ │ ├── 1403715274462142976.png │ │ │ │ ├── 1403715274512143104.png │ │ │ │ ├── 1403715274562142976.png │ │ │ │ ├── 1403715274612143104.png │ │ │ │ ├── 1403715274662142976.png │ │ │ │ ├── 1403715274712143104.png │ │ │ │ ├── 1403715274762142976.png │ │ │ │ ├── 1403715274812143104.png │ │ │ │ ├── 1403715274862142976.png │ │ │ │ ├── 1403715274912143104.png │ │ │ │ ├── 1403715274962142976.png │ │ │ │ ├── 1403715275012143104.png │ │ │ │ ├── 1403715275062142976.png │ │ │ │ ├── 1403715275112143104.png │ │ │ │ ├── 1403715275162142976.png │ │ │ │ ├── 1403715275212143104.png │ │ │ │ ├── 1403715275262142976.png │ │ │ │ ├── 1403715275312143104.png │ │ │ │ ├── 1403715275362142976.png │ │ │ │ ├── 1403715275412143104.png │ │ │ │ ├── 1403715275462142976.png │ │ │ │ ├── 1403715275512143104.png │ │ │ │ ├── 1403715275562142976.png │ │ │ │ ├── 1403715275612143104.png │ │ │ │ ├── 1403715275662142976.png │ │ │ │ ├── 1403715275712143104.png │ │ │ │ ├── 1403715275762142976.png │ │ │ │ ├── 1403715275812143104.png │ │ │ │ ├── 1403715275862142976.png │ │ │ │ ├── 1403715275912143104.png │ │ │ │ ├── 1403715275962142976.png │ │ │ │ ├── 1403715276012143104.png │ │ │ │ ├── 1403715276062142976.png │ │ │ │ ├── 1403715276112143104.png │ │ │ │ ├── 1403715276162142976.png │ │ │ │ ├── 1403715276212143104.png │ │ │ │ ├── 1403715276262142976.png │ │ │ │ ├── 1403715276312143104.png │ │ │ │ ├── 1403715276362142976.png │ │ │ │ ├── 1403715276412143104.png │ │ │ │ ├── 1403715276462142976.png │ │ │ │ ├── 1403715276512143104.png │ │ │ │ ├── 1403715276562142976.png │ │ │ │ ├── 1403715276612143104.png │ │ │ │ ├── 1403715276662142976.png │ │ │ │ ├── 1403715276712143104.png │ │ │ │ ├── 1403715276762142976.png │ │ │ │ ├── 1403715276812143104.png │ │ │ │ ├── 1403715276862142976.png │ │ │ │ ├── 1403715276912143104.png │ │ │ │ ├── 1403715276962142976.png │ │ │ │ ├── 1403715277012143104.png │ │ │ │ ├── 1403715277062142976.png │ │ │ │ ├── 1403715277112143104.png │ │ │ │ ├── 1403715277162142976.png │ │ │ │ ├── 1403715277212143104.png │ │ │ │ ├── 1403715277262142976.png │ │ │ │ ├── 1403715277312143104.png │ │ │ │ ├── 1403715277362142976.png │ │ │ │ ├── 1403715277412143104.png │ │ │ │ ├── 1403715277462142976.png │ │ │ │ ├── 1403715277512143104.png │ │ │ │ ├── 1403715277562142976.png │ │ │ │ ├── 1403715277612143104.png │ │ │ │ ├── 1403715277662142976.png │ │ │ │ ├── 1403715277712143104.png │ │ │ │ ├── 1403715277762142976.png │ │ │ │ ├── 1403715277812143104.png │ │ │ │ ├── 1403715277862142976.png │ │ │ │ ├── 1403715277912143104.png │ │ │ │ └── 1403715277962142976.png │ │ │ └── sensor.yaml │ │ │ ├── imu0 │ │ │ ├── data.csv │ │ │ └── sensor.yaml │ │ │ └── state_groundtruth_estimate0 │ │ │ ├── data.csv │ │ │ └── sensor.yaml │ ├── chessboard.png │ ├── chessboard_small.png │ ├── lena.png │ ├── realImage.png │ ├── sensor.yaml │ ├── testImage │ └── whitewall.png ├── include │ └── kimera-vio │ │ └── test │ │ └── EvaluateFactor.h ├── testCamera.cpp ├── testCameraParams.cpp ├── testCodesignIdeas.cpp ├── testCrossCorrelation.cpp ├── testDepthFrame.cpp ├── testEurocPlayground.cpp ├── testExternalOdometryFrontend.cpp ├── testFeatureDetector.cpp ├── testFeatureDetectorParams.cpp ├── testFrame.cpp ├── testFrameCache.cpp ├── testGeneralParallelPlaneRegularBasicFactor.cpp ├── testGeneralParallelPlaneRegularTangentSpaceFactor.cpp ├── testImuFrontend.cpp ├── testImuParams.cpp ├── testInitializationFromImu.cpp ├── testKimeraVIO.cpp ├── testKittiDataProvider.cpp ├── testLogger.cpp ├── testLoopClosureDetector.cpp ├── testMesh.cpp ├── testMeshOptimization.cpp ├── testMeshUtils.cpp ├── testMesher.cpp ├── testMonoProvider.cpp ├── testOdomParams.cpp ├── testOnlineAlignment.cpp ├── testOpticalFlowPredictor.cpp ├── testParallelMonoProvider.cpp ├── testParallelPlaneRegularBasicFactor.cpp ├── testParallelPlaneRegularTangentSpaceFactor.cpp ├── testParallelStereoProvider.cpp ├── testPointPlaneFactor.cpp ├── testRegularVioBackend.cpp ├── testRegularVioBackendParams.cpp ├── testRgbdCamera.cpp ├── testRgbdFrame.cpp ├── testRgbdVisionImuFrontend.cpp ├── testStereoCamera.cpp ├── testStereoFrame.cpp ├── testStereoImuPipeline.cpp ├── testStereoMatcher.cpp ├── testStereoProvider.cpp ├── testStereoVisionImuFrontend.cpp ├── testTemporalCalibration.cpp ├── testThreadsafeImuBuffer.cpp ├── testThreadsafeOdometryBuffer.cpp ├── testThreadsafeQueue.cpp ├── testThreadsafeTemporalBuffer.cpp ├── testTimer.cpp ├── testTracker.cpp ├── testUndistortRectifier.cpp ├── testUtilsNumerical.cpp ├── testUtilsOpenCV.cpp ├── testVioBackend.cpp ├── testVioBackendParams.cpp ├── testVioParams.cpp ├── testVisionImuFrontendParams.cpp └── testVisualizer3D.cpp └── third_party ├── CMakeLists.txt └── triangle ├── CMakeLists.txt ├── include └── triangle │ └── triangle.h └── src └── triangle.c /.github/ISSUE_TEMPLATE/error-report.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Error report 3 | about: Fill this out and upload your data (!!) 4 | 5 | --- 6 | 7 | **Description:** 8 | 9 | 10 | **Command:** 11 | ``` 12 | # replace this line with the command(s) you used 13 | ``` 14 | 15 | **Console output:** 16 | ``` 17 | 18 | # remove this line and paste your console output HERE - no screenshots please 19 | 20 | ``` 21 | 22 | **Additional files:** 23 | Please attach all the files needed to reproduce the error. 24 | 25 | Please give also the following information: 26 | * Kimera-Vio branch, tag or commit used 27 | * GTSAM version used: 28 | * OpenGV version used: 29 | * OpenCV version used: type `opencv_version` 30 | * Operating system and version (e.g. Ubuntu 16.04 or Windows 10): 31 | * Did you change the source code? (yes / no): 32 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/feature_request.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Feature request 3 | about: Suggest an idea for this project 4 | 5 | --- 6 | 7 | **Is your feature request related to a problem? Please describe.** 8 | A clear and concise description of what the problem is. 9 | Ex. I'm always frustrated when [...] 10 | 11 | **Describe the solution you'd like** 12 | A clear and concise description of what you want to happen. 13 | 14 | **Describe alternatives you've considered** 15 | A clear and concise description of any alternative solutions or features you've considered. 16 | 17 | **Additional context** 18 | Add any other context or screenshots about the feature request here. 19 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/question-about-a-concept.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Question about a concept 3 | about: Ask a question about theory, API, etc. 4 | 5 | --- 6 | 7 | 8 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | /build/ 2 | /data-sets/ 3 | /.settings/ 4 | /matlab/result-* 5 | /scripts/**/*.txt 6 | /*/*.csv 7 | *.ipynb_checkpoints 8 | *.autosave 9 | 10 | % Ignore VS code settings 11 | *.vscode 12 | 13 | % Ignore logged mesh ply 14 | *.ply 15 | 16 | % Ignore Mac stuff 17 | *.DS_Store 18 | 19 | % Remove recovery files from matlab. 20 | *~ 21 | % Ignore media files 22 | *.png 23 | *.mp4 24 | 25 | /scripts/*.yaml 26 | 27 | % Ignore large vocabulary files 28 | /vocabulary/* 29 | 30 | % Ignore python bytecode 31 | *.pyc 32 | 33 | *compile_commands.json 34 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "dev_tools/linter"] 2 | path = dev_tools/linter 3 | url = https://github.com/MIT-SPARK/linter.git 4 | -------------------------------------------------------------------------------- /.linterconfig.yaml: -------------------------------------------------------------------------------- 1 | # Turn the components of the linter individualy on / off. 2 | use_clangformat: on 3 | use_cpplint: on 4 | use_yapf: on 5 | use_pylint: on 6 | 7 | # If on, the linter blocks commits after detecting an error. Otherwise, the 8 | # user is asked whether to proceed with the commit. 9 | block_commits: off 10 | 11 | # If this whitelist block is present, the linter only operates on the files and 12 | # directories listed in this whitelist. 13 | whitelist: 14 | -------------------------------------------------------------------------------- /LICENSE.BSD: -------------------------------------------------------------------------------- 1 | Copyright 2019 Massachusetts Institute of Technology. 2 | 3 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 4 | 5 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 6 | 7 | 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 8 | 9 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 10 | -------------------------------------------------------------------------------- /cmake/gtest.cmake: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.2) 2 | 3 | project(googletest-download NONE) 4 | 5 | include(ExternalProject) 6 | ExternalProject_Add(googletest 7 | GIT_REPOSITORY https://github.com/google/googletest.git 8 | GIT_TAG v1.10.x # Last working version 9 | SOURCE_DIR "${CMAKE_BINARY_DIR}/external/googletest-src" 10 | BINARY_DIR "${CMAKE_BINARY_DIR}/external/googletest-build" 11 | CONFIGURE_COMMAND "" 12 | BUILD_COMMAND "" 13 | INSTALL_COMMAND "" 14 | TEST_COMMAND "" 15 | ) 16 | -------------------------------------------------------------------------------- /cmake/kimera_vioConfig.cmake.in: -------------------------------------------------------------------------------- 1 | get_filename_component(KimeraVIO_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) 2 | include(CMakeFindDependencyMacro) 3 | 4 | list(APPEND CMAKE_MODULE_PATH ${KimeraVIO_CMAKE_DIR}) 5 | 6 | find_dependency(DBoW2 REQUIRED) 7 | find_dependency(Gflags REQUIRED) 8 | find_dependency(Glog REQUIRED) 9 | find_dependency(GTSAM REQUIRED) 10 | find_dependency(GTSAM_UNSTABLE REQUIRED) 11 | find_dependency(OpenCV REQUIRED) 12 | find_dependency(opengv REQUIRED) 13 | 14 | list(REMOVE_AT CMAKE_MODULE_PATH -1) 15 | 16 | if(NOT TARGET kimera_vio) 17 | include("${KimeraVIO_CMAKE_DIR}/kimera_vioTargets.cmake") 18 | endif() 19 | -------------------------------------------------------------------------------- /cmake/tests/gtsam_uses_feature.cpp.in: -------------------------------------------------------------------------------- 1 | #include <@GTSAM_CONFIG_FILE@> 2 | 3 | #ifndef @GTSAM_CONFIG_SYMBOL@ 4 | #error "@GTSAM_CONFIG_SYMBOL@ not detected" 5 | #endif 6 | 7 | int main() { return 0; } // required for a valid c program 8 | -------------------------------------------------------------------------------- /docs/linter_install.md: -------------------------------------------------------------------------------- 1 | ## Linter Installation 2 | 3 | ### Linter Dependencies 4 | 5 | * `pip install requests pyline yapf` 6 | * **clang-format**: Compatible with `clang-format-3.8 - 6.0` 7 | * Ubuntu: 8 | ```bash 9 | sudo apt install clang-format-${VERSION} 10 | ``` 11 | 12 | * macOS: 13 | ```bash 14 | brew install clang-format 15 | ln -s /usr/local/share/clang/clang-format-diff.py /usr/local/bin/clang-format-diff 16 | ``` 17 | 18 | ### Install Linter 19 | 20 | ```bash 21 | cd SparkVIO 22 | git submodule update --init 23 | echo "source $(realpath ./dev_tools/linter/setup_linter.sh)" >> ~/.bashrc 24 | # Or the matching file for your shell 25 | bash 26 | ``` 27 | 28 | Finally, initialize linter: 29 | ```bash 30 | cd SparkVIO 31 | init_linter_git_hooks 32 | ``` 33 | 34 | > For more information about the linter, check [here](https://github.com/MIT-SPARK/linter). 35 | 36 | Go back to [Readme](../README.md). -------------------------------------------------------------------------------- /docs/media/kimera_chart_23.jpeg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/docs/media/kimera_chart_23.jpeg -------------------------------------------------------------------------------- /docs/media/kimeravio_ROS_mesh.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/docs/media/kimeravio_ROS_mesh.gif -------------------------------------------------------------------------------- /docs/media/kimeravio_chart.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/docs/media/kimeravio_chart.png -------------------------------------------------------------------------------- /docs/media/kimeravio_logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/docs/media/kimeravio_logo.png -------------------------------------------------------------------------------- /docs/media/kimeravio_release.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/docs/media/kimeravio_release.gif -------------------------------------------------------------------------------- /docs/media/mit.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/docs/media/mit.png -------------------------------------------------------------------------------- /docs/media/sparklab_logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/docs/media/sparklab_logo.png -------------------------------------------------------------------------------- /docs/tips_development.md: -------------------------------------------------------------------------------- 1 | Tips for development 2 | ---------------------- 3 | - To make the pipeline deterministic: 4 | - Disable TBB in GTSAM (go to build folder in gtsam, use cmake-gui to unset ```GTSAM_WITH_TBB```). 5 | - Change ```ransac_randomize``` flag in ```params/trackerParameters.yaml``` to 0, to disable ransac randomization. 6 | 7 | > Note: these changes are not sufficient to make the output repeatable between different machines. 8 | 9 | > Note: remember that we are using ```-march=native``` compiler flag, which will be a problem if we ever want to distribute binaries of this code. 10 | -------------------------------------------------------------------------------- /include/kimera-vio/backend/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code just for IDEs 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/RegularVioBackend-definitions.h" 4 | "${CMAKE_CURRENT_LIST_DIR}/RegularVioBackend.h" 5 | "${CMAKE_CURRENT_LIST_DIR}/RegularVioBackendParams.h" 6 | "${CMAKE_CURRENT_LIST_DIR}/VioBackend-definitions.h" 7 | "${CMAKE_CURRENT_LIST_DIR}/VioBackend.h" 8 | "${CMAKE_CURRENT_LIST_DIR}/VioBackendParams.h" 9 | "${CMAKE_CURRENT_LIST_DIR}/VioBackendModule.h" 10 | "${CMAKE_CURRENT_LIST_DIR}/VioBackendFactory.h" 11 | ) 12 | -------------------------------------------------------------------------------- /include/kimera-vio/common/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code just for IDEs 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/vio_types.h" 5 | "${CMAKE_CURRENT_LIST_DIR}/VioNavState.h" 6 | ) 7 | -------------------------------------------------------------------------------- /include/kimera-vio/dataprovider/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for IDEs 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/DataProviderInterface-definitions.h" 4 | "${CMAKE_CURRENT_LIST_DIR}/DataProviderModule.h" 5 | "${CMAKE_CURRENT_LIST_DIR}/StereoDataProviderModule.h" 6 | "${CMAKE_CURRENT_LIST_DIR}/RgbdDataProviderModule.h" 7 | "${CMAKE_CURRENT_LIST_DIR}/DataProviderInterface.h" 8 | "${CMAKE_CURRENT_LIST_DIR}/EurocDataProvider.h" 9 | # "${CMAKE_CURRENT_LIST_DIR}/KittiDataProvider.h" 10 | ) 11 | -------------------------------------------------------------------------------- /include/kimera-vio/factors/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for IDEs 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/ParallelPlaneRegularFactor.h" 4 | "${CMAKE_CURRENT_LIST_DIR}/PointPlaneFactor.h" 5 | ) 6 | -------------------------------------------------------------------------------- /include/kimera-vio/frontend/FrontendType.h: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file FrontendType 11 | * @brief Frontend type enum definition 12 | * @author Marcus Abate 13 | */ 14 | 15 | #pragma once 16 | 17 | namespace VIO { 18 | 19 | enum class FrontendType { 20 | //! Frontend that works with Mono camera and Imu 21 | kMonoImu = 0, 22 | //! Frontend that works with Stereo camera and Imu 23 | kStereoImu = 1, 24 | //! Frontend that works with RGB + Depth camera and Imu 25 | kRgbdImu = 2, 26 | //! Placeholder for parsing 27 | kUnknown = 3, 28 | }; 29 | 30 | } // namespace VIO 31 | -------------------------------------------------------------------------------- /include/kimera-vio/frontend/RgbdImuSyncPacket.h: -------------------------------------------------------------------------------- 1 | /** 2 | * @file RgbdImuSyncPacket.h 3 | * @brief Class describing the minimum input for VIO to run 4 | * Contains a RGB Frame + a Depth Frame with Imu data synchronized from last 5 | * Keyframe timestamp to the current stereo frame timestamp. 6 | * @author Antoni Rosinol 7 | */ 8 | 9 | #pragma once 10 | 11 | #include "kimera-vio/frontend/FrontendInputPacketBase.h" 12 | #include "kimera-vio/frontend/Tracker-definitions.h" 13 | #include "kimera-vio/frontend/RgbdFrame.h" 14 | #include "kimera-vio/utils/Macros.h" 15 | 16 | #include 17 | 18 | namespace VIO { 19 | 20 | class RgbdImuSyncPacket : public FrontendInputPacketBase { 21 | public: 22 | KIMERA_POINTER_TYPEDEFS(RgbdImuSyncPacket); 23 | KIMERA_DELETE_COPY_CONSTRUCTORS(RgbdImuSyncPacket); 24 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW 25 | RgbdImuSyncPacket( 26 | const Timestamp& timestamp, 27 | RgbdFrame::UniquePtr rgbd_frame, 28 | const ImuStampS& imu_stamps, 29 | const ImuAccGyrS& imu_accgyr, 30 | std::optional external_odometry = std::nullopt); 31 | virtual ~RgbdImuSyncPacket() = default; 32 | 33 | void print() const; 34 | 35 | public: 36 | RgbdFrame::UniquePtr rgbd_frame_; 37 | }; 38 | 39 | } // namespace VIO 40 | -------------------------------------------------------------------------------- /include/kimera-vio/frontend/VisionImuFrontend-definitions.h: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file VisionImuFrontend-definitions.h 11 | * @brief Definitions for VisionImuFrontend 12 | * @author Marcus Abate 13 | */ 14 | 15 | #pragma once 16 | 17 | #include 18 | 19 | #include "kimera-vio/common/vio_types.h" 20 | #include "kimera-vio/frontend/FrontendType.h" 21 | 22 | namespace VIO { 23 | 24 | // TODO(marcus): this could probably move somewhere else once refactor happens 25 | struct ExternalOdomMeasurement { 26 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW 27 | 28 | ExternalOdomMeasurement() = default; 29 | 30 | ExternalOdomMeasurement(const Timestamp& timestamp, 31 | const gtsam::NavState& odom_data) 32 | : timestamp_(timestamp), odom_data_(odom_data) {} 33 | 34 | Timestamp timestamp_; 35 | gtsam::NavState odom_data_; 36 | }; 37 | 38 | } // namespace VIO 39 | -------------------------------------------------------------------------------- /include/kimera-vio/frontend/feature-detector/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for IDEs 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/FeatureDetector.h" 4 | "${CMAKE_CURRENT_LIST_DIR}/FeatureDetectorParams.h" 5 | "${CMAKE_CURRENT_LIST_DIR}/FeatureDetector-definitions.h" 6 | "${CMAKE_CURRENT_LIST_DIR}/NonMaximumSuppression.h" 7 | ) 8 | 9 | add_subdirectory(anms) 10 | -------------------------------------------------------------------------------- /include/kimera-vio/frontend/feature-detector/FeatureDetector-definitions.h: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file FeatureDetector-definitions.h 11 | * @brief Definitions for feature detection. 12 | * @author Antoni Rosinol 13 | */ 14 | 15 | #pragma once 16 | 17 | #include "kimera-vio/frontend/feature-detector/anms/anms.h" // REMOVE 18 | 19 | namespace VIO { 20 | 21 | // GFTT is goodFeaturesToTrack detector. 22 | enum class FeatureDetectorType { FAST = 0, ORB = 1, AGAST = 2, GFTT = 3 }; 23 | 24 | } // namespace VIO 25 | -------------------------------------------------------------------------------- /include/kimera-vio/frontend/feature-detector/anms/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for IDEs 2 | 3 | target_sources(kimera_vio 4 | PRIVATE 5 | "${CMAKE_CURRENT_LIST_DIR}/nanoflann.hpp" 6 | "${CMAKE_CURRENT_LIST_DIR}/range-tree/lrtypes.h" 7 | "${CMAKE_CURRENT_LIST_DIR}/range-tree/ranget.h" 8 | "${CMAKE_CURRENT_LIST_DIR}/anms.h" 9 | ) 10 | -------------------------------------------------------------------------------- /include/kimera-vio/frontend/feature-detector/anms/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 Oleksandr Bailo 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /include/kimera-vio/frontend/feature-detector/anms/range-tree/lrtypes.h: -------------------------------------------------------------------------------- 1 | #ifndef LRT_TYPES_H 2 | #define LRT_TYPES_H 3 | 4 | #include 5 | 6 | typedef uint64_t u64; 7 | typedef uint32_t u32; 8 | typedef uint16_t u16; 9 | typedef uint8_t u8; 10 | 11 | typedef int64_t s64; 12 | typedef int32_t s32; 13 | typedef int16_t s16; 14 | typedef int8_t s8; 15 | 16 | #endif 17 | -------------------------------------------------------------------------------- /include/kimera-vio/frontend/optical-flow/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for IDEs 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/OpticalFlowPredictor.h" 4 | "${CMAKE_CURRENT_LIST_DIR}/OpticalFlowPredictorFactory.h" 5 | "${CMAKE_CURRENT_LIST_DIR}/OpticalFlowPredictor-definitions.h" 6 | "${CMAKE_CURRENT_LIST_DIR}/OpticalFlowVisualizer.h" 7 | ) 8 | -------------------------------------------------------------------------------- /include/kimera-vio/frontend/optical-flow/OpticalFlowPredictor-definitions.h: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file OpticalFlowPredictor.h 11 | * @brief Useful definitions for the optical flow predictor class. 12 | * @author Antoni Rosinol 13 | */ 14 | 15 | #pragma once 16 | 17 | namespace VIO { 18 | 19 | enum class OpticalFlowPredictorType { 20 | kNoPrediction = 0, 21 | kRotational = 1, 22 | }; 23 | 24 | } // namespace VIO 25 | -------------------------------------------------------------------------------- /include/kimera-vio/imu-frontend/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for kimera_vio 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/ImuFrontend-definitions.h" 4 | "${CMAKE_CURRENT_LIST_DIR}/ImuFrontend.h" 5 | "${CMAKE_CURRENT_LIST_DIR}/ImuFrontendParams.h" 6 | ) 7 | -------------------------------------------------------------------------------- /include/kimera-vio/initial/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/InitializationBackend-definitions.h" 4 | "${CMAKE_CURRENT_LIST_DIR}/InitializationBackend.h" 5 | "${CMAKE_CURRENT_LIST_DIR}/InitializationFromImu.h" 6 | "${CMAKE_CURRENT_LIST_DIR}/OnlineGravityAlignment-definitions.h" 7 | "${CMAKE_CURRENT_LIST_DIR}/OnlineGravityAlignment.h" 8 | ) 9 | -------------------------------------------------------------------------------- /include/kimera-vio/logging/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/Logger.h" 4 | ) 5 | 6 | -------------------------------------------------------------------------------- /include/kimera-vio/loopclosure/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for LoopClosureDetector 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/LcdThirdPartyWrapper.h" 4 | "${CMAKE_CURRENT_LIST_DIR}/LcdModule.h" 5 | "${CMAKE_CURRENT_LIST_DIR}/LcdFactory.h" 6 | "${CMAKE_CURRENT_LIST_DIR}/LoopClosureDetector-definitions.h" 7 | "${CMAKE_CURRENT_LIST_DIR}/LoopClosureDetector.h" 8 | "${CMAKE_CURRENT_LIST_DIR}/LoopClosureDetectorParams.h" 9 | ) 10 | -------------------------------------------------------------------------------- /include/kimera-vio/mesh/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/Mesh.h" 4 | "${CMAKE_CURRENT_LIST_DIR}/MeshUtils.h" 5 | "${CMAKE_CURRENT_LIST_DIR}/Mesher.h" 6 | "${CMAKE_CURRENT_LIST_DIR}/MesherModule.h" 7 | "${CMAKE_CURRENT_LIST_DIR}/MesherFactory.h" 8 | "${CMAKE_CURRENT_LIST_DIR}/Mesher-definitions.h" 9 | "${CMAKE_CURRENT_LIST_DIR}/MeshOptimization.h" 10 | "${CMAKE_CURRENT_LIST_DIR}/MeshOptimization-definitions.h" 11 | "${CMAKE_CURRENT_LIST_DIR}/Mesher_cgal.h" 12 | ) 13 | -------------------------------------------------------------------------------- /include/kimera-vio/mesh/MesherFactory.h: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file MesherFactory.h 11 | * @brief Build a Mesher 12 | * @author Antoni Rosinol 13 | */ 14 | 15 | #pragma once 16 | 17 | #include "kimera-vio/mesh/Mesher-definitions.h" 18 | #include "kimera-vio/mesh/Mesher.h" 19 | #include "kimera-vio/utils/Macros.h" 20 | 21 | namespace VIO { 22 | 23 | class MesherFactory { 24 | public: 25 | KIMERA_POINTER_TYPEDEFS(MesherFactory); 26 | KIMERA_DELETE_COPY_CONSTRUCTORS(MesherFactory); 27 | MesherFactory() = delete; 28 | virtual ~MesherFactory() = default; 29 | static Mesher::UniquePtr createMesher(const MesherType& mesher_type, 30 | const MesherParams& mesher_params); 31 | }; 32 | 33 | } // namespace VIO 34 | -------------------------------------------------------------------------------- /include/kimera-vio/pipeline/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/MonoImuPipeline.h" 4 | "${CMAKE_CURRENT_LIST_DIR}/Pipeline.h" 5 | "${CMAKE_CURRENT_LIST_DIR}/Pipeline-definitions.h" 6 | "${CMAKE_CURRENT_LIST_DIR}/PipelinePayload.h" 7 | "${CMAKE_CURRENT_LIST_DIR}/PipelineModule.h" 8 | "${CMAKE_CURRENT_LIST_DIR}/PipelineParams.h" 9 | "${CMAKE_CURRENT_LIST_DIR}/QueueSynchronizer.h" 10 | "${CMAKE_CURRENT_LIST_DIR}/StereoImuPipeline.h" 11 | ) 12 | -------------------------------------------------------------------------------- /include/kimera-vio/pipeline/PipelinePayload.h: -------------------------------------------------------------------------------- 1 | /** 2 | * @file PipelinePayload.h 3 | * @brief Base class for the payloads shared between pipeline modules. 4 | * @author Antoni Rosinol 5 | */ 6 | 7 | #pragma once 8 | 9 | #include "kimera-vio/common/vio_types.h" 10 | #include "kimera-vio/utils/Macros.h" 11 | 12 | namespace VIO { 13 | 14 | struct PipelinePayload { 15 | KIMERA_POINTER_TYPEDEFS(PipelinePayload); 16 | KIMERA_DELETE_COPY_CONSTRUCTORS(PipelinePayload); 17 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW 18 | explicit PipelinePayload(const Timestamp& timestamp); 19 | virtual ~PipelinePayload() = default; 20 | 21 | // Untouchable timestamp of the payload. 22 | const Timestamp timestamp_; 23 | }; 24 | 25 | /** 26 | * @brief The NullPipelinePayload is an empty payload, used for those modules 27 | * that do not return a payload, such as the display module, which only 28 | * displays images and returns nothing. 29 | */ 30 | struct NullPipelinePayload : public PipelinePayload { 31 | KIMERA_POINTER_TYPEDEFS(NullPipelinePayload); 32 | KIMERA_DELETE_COPY_CONSTRUCTORS(NullPipelinePayload); 33 | explicit NullPipelinePayload() : PipelinePayload(Timestamp()) {} 34 | virtual ~NullPipelinePayload() = default; 35 | }; 36 | 37 | } // namespace VIO 38 | -------------------------------------------------------------------------------- /include/kimera-vio/playground/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for IDEs 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/EurocPlayground.h" 4 | ) 5 | -------------------------------------------------------------------------------- /include/kimera-vio/utils/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add includes for stereoVIO 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/Accumulator.h" 5 | "${CMAKE_CURRENT_LIST_DIR}/Histogram.h" 6 | "${CMAKE_CURRENT_LIST_DIR}/Macros.h" 7 | "${CMAKE_CURRENT_LIST_DIR}/Statistics.h" 8 | "${CMAKE_CURRENT_LIST_DIR}/ThreadsafeImuBuffer.h" 9 | "${CMAKE_CURRENT_LIST_DIR}/ThreadsafeImuBuffer-inl.h" 10 | "${CMAKE_CURRENT_LIST_DIR}/ThreadsafeOdometryBuffer.h" 11 | "${CMAKE_CURRENT_LIST_DIR}/ThreadsafeQueue.h" 12 | "${CMAKE_CURRENT_LIST_DIR}/ThreadsafeTemporalBuffer.h" 13 | "${CMAKE_CURRENT_LIST_DIR}/ThreadsafeTemporalBuffer-inl.h" 14 | "${CMAKE_CURRENT_LIST_DIR}/Timer.h" 15 | "${CMAKE_CURRENT_LIST_DIR}/UtilsGeometry.h" 16 | "${CMAKE_CURRENT_LIST_DIR}/UtilsGTSAM.h" 17 | "${CMAKE_CURRENT_LIST_DIR}/UtilsOpenCV.h" 18 | "${CMAKE_CURRENT_LIST_DIR}/UtilsNumerical.h" 19 | "${CMAKE_CURRENT_LIST_DIR}/YamlParser.h" 20 | "${CMAKE_CURRENT_LIST_DIR}/FilesystemUtils.h" 21 | ) 22 | -------------------------------------------------------------------------------- /include/kimera-vio/utils/FilesystemUtils.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include 3 | 4 | namespace VIO { 5 | namespace common { 6 | 7 | std::string pathAppend(const std::string& p1, const std::string& p2); 8 | 9 | bool createDirectory(const std::string& dir_path, 10 | const std::string& dir_name, 11 | bool override_if_exists = false); 12 | 13 | } // namespace common 14 | } // namespace VIO 15 | -------------------------------------------------------------------------------- /include/kimera-vio/utils/Macros.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | // These macros were inspired mainly on Maplab's macros 6 | // https://github.com/ethz-asl/maplab 7 | 8 | #define KIMERA_POINTER_TYPEDEFS(TypeName) \ 9 | typedef std::shared_ptr Ptr; \ 10 | typedef std::shared_ptr ConstPtr; \ 11 | typedef std::unique_ptr UniquePtr; \ 12 | typedef std::unique_ptr ConstUniquePtr; \ 13 | typedef std::weak_ptr WeakPtr; \ 14 | typedef std::weak_ptr WeakConstPtr; \ 15 | void definePointerTypedefs##__FILE__##__LINE__(void) 16 | 17 | #define KIMERA_DELETE_COPY_CONSTRUCTORS(TypeName) \ 18 | TypeName(const TypeName&) = delete; \ 19 | void operator=(const TypeName&) = delete 20 | -------------------------------------------------------------------------------- /include/kimera-vio/utils/Timer.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | 6 | namespace VIO { 7 | namespace utils { 8 | 9 | class Timer { 10 | public: 11 | static std::chrono::high_resolution_clock::time_point tic() { 12 | return std::chrono::high_resolution_clock::now(); 13 | } 14 | 15 | // Stop timer and report duration in given time. 16 | // Returns duration in milliseconds by default. 17 | // call .count() on returned duration to have number of ticks. 18 | template 19 | static T toc(const std::chrono::high_resolution_clock::time_point& start) { 20 | return std::chrono::duration_cast( 21 | std::chrono::high_resolution_clock::now() - start); 22 | } 23 | }; 24 | 25 | // Usage: measure<>::execution(function, arguments) 26 | template 27 | struct Measure { 28 | template 29 | static typename T::rep execution(F&& func, Args&&... args) { 30 | auto start = std::chrono::steady_clock::now(); 31 | std::forward(func)(std::forward(args)...); 32 | auto duration = 33 | std::chrono::duration_cast(std::chrono::steady_clock::now() - start); 34 | return duration.count(); 35 | } 36 | }; 37 | 38 | } // namespace utils 39 | } // namespace VIO 40 | -------------------------------------------------------------------------------- /include/kimera-vio/utils/UtilsGeometry.h: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file UtilsGeometry.h 11 | * @brief Utilities to compute geometric quantities 12 | * @author Luca Carlone, Antoni Rosinol 13 | */ 14 | 15 | #ifndef UtilsGeometry_H_ 16 | #define UtilsGeometry_H_ 17 | 18 | #include 19 | #include 20 | 21 | namespace VIO { 22 | 23 | class UtilsGeometry { 24 | public: 25 | /* ------------------------------------------------------------------------ */ 26 | // Open files with name output_filename, and checks that it is valid. 27 | static double getRatioBetweenTangentialAndRadialDisplacement( 28 | const std::vector& points); 29 | }; 30 | 31 | } // namespace VIO 32 | 33 | #endif /* UtilsGeometry_H_ */ 34 | -------------------------------------------------------------------------------- /include/kimera-vio/visualizer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add includes 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/Visualizer3D-definitions.h" 4 | "${CMAKE_CURRENT_LIST_DIR}/Visualizer3DModule.h" 5 | "${CMAKE_CURRENT_LIST_DIR}/Visualizer3DFactory.h" 6 | "${CMAKE_CURRENT_LIST_DIR}/Visualizer3D.h" 7 | "${CMAKE_CURRENT_LIST_DIR}/OpenCvVisualizer3D.h" 8 | "${CMAKE_CURRENT_LIST_DIR}/DisplayParams.h" 9 | "${CMAKE_CURRENT_LIST_DIR}/Display-definitions.h" 10 | "${CMAKE_CURRENT_LIST_DIR}/DisplayModule.h" 11 | "${CMAKE_CURRENT_LIST_DIR}/DisplayFactory.h" 12 | "${CMAKE_CURRENT_LIST_DIR}/Display.h" 13 | "${CMAKE_CURRENT_LIST_DIR}/OpenCvDisplay.h" 14 | "${CMAKE_CURRENT_LIST_DIR}/OpenCvDisplayParams.h" 15 | ) 16 | 17 | if(Pangolin_FOUND) 18 | target_sources(kimera_vio PRIVATE 19 | "${CMAKE_CURRENT_LIST_DIR}/PangolinDisplay.h" 20 | ) 21 | endif(Pangolin_FOUND) 22 | -------------------------------------------------------------------------------- /include/kimera-vio/visualizer/Visualizer3DFactory.h: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file Visualizer3DFactory.h 11 | * @brief Factory class for 3D Visualizers 12 | * @author Antoni Rosinol 13 | */ 14 | 15 | #pragma once 16 | 17 | #include 18 | 19 | #include "kimera-vio/backend/VioBackend-definitions.h" 20 | #include "kimera-vio/utils/Macros.h" 21 | #include "kimera-vio/visualizer/Visualizer3D-definitions.h" 22 | #include "kimera-vio/visualizer/Visualizer3D.h" 23 | 24 | namespace VIO { 25 | 26 | class VisualizerFactory { 27 | public: 28 | KIMERA_POINTER_TYPEDEFS(VisualizerFactory); 29 | KIMERA_DELETE_COPY_CONSTRUCTORS(VisualizerFactory); 30 | VisualizerFactory() = delete; 31 | virtual ~VisualizerFactory() = default; 32 | 33 | static Visualizer3D::UniquePtr createVisualizer( 34 | const VisualizerType visualizer_type, 35 | const VisualizationType& viz_type, 36 | const BackendType& backend_type); 37 | }; 38 | 39 | } // namespace VIO 40 | -------------------------------------------------------------------------------- /output_logs/.gitignore: -------------------------------------------------------------------------------- 1 | # Ignore all pipeline results, but not this folder 2 | # We will store all output logs in this folder 3 | * 4 | */ 5 | !.gitignore 6 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | kimera_vio 4 | 0.0.1 5 | KimeraVIO 6 | 7 | Antoni Rosinol 8 | BSD 9 | 10 | cmake 11 | 12 | dbow2_catkin 13 | gtsam 14 | kimera_rpgo 15 | libgflags-dev 16 | libgoogle-glog-dev 17 | 19 | opencv3_catkin 20 | opengv_catkin 21 | 22 | 23 | cmake 24 | 25 | 26 | -------------------------------------------------------------------------------- /params/D455/DisplayParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | # OpenCV Display params. 4 | 5 | # Whether to hold the display for user input 6 | hold_2d_display: 0 7 | hold_3d_display: 0 8 | -------------------------------------------------------------------------------- /params/D455/ExternalOdometryParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of odometry sensor: 3 | 4 | # Sensor extrinsics wrt. the body-frame. 5 | T_BS: 6 | cols: 4 7 | rows: 4 8 | data: [1.0, 0.0, 0.0, 0.0, 9 | 0.0, 1.0, 0.0, 0.0, 10 | 0.0, 0.0, 1.0, 0.0, 11 | 0.0, 0.0, 0.0, 1.0] 12 | rate_hz: 200 13 | 14 | # odometry sensor noise model parameters (static) 15 | odomPositionPrecision: 1000 16 | odomRotationPrecision: 1.0e-2 17 | odomVelPrecision: 0 18 | odomTimeShift: 0.0 19 | # Extra parameters -------------------------------------------------------------------------------- /params/D455/ImuParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of IMU preintegration: 3 | # 0: CombinedImuFactor 4 | # 1: ImuFactor 5 | imu_preintegration_type: 1 6 | 7 | # These are Euroc Dataset parameters 8 | # Sensor extrinsics wrt. the body-frame. 9 | T_BS: 10 | cols: 4 11 | rows: 4 12 | data: [1.0, 0.0, 0.0, 0.0, 13 | 0.0, 1.0, 0.0, 0.0, 14 | 0.0, 0.0, 1.0, 0.0, 15 | 0.0, 0.0, 0.0, 1.0] 16 | rate_hz: 400 17 | 18 | # inertial sensor parameters 19 | gyroscope_noise_density: 0.187 # [rad/s/sqrt(Hz)] (gyro "white noise") 20 | gyroscope_random_walk: 0.0266 # [rad/s^2/sqrt(Hz)] (gyro bias diffusion) 21 | accelerometer_noise_density: 0.186 # [m/s^2/sqrt(Hz)] (accel "white noise") 22 | accelerometer_random_walk: 0.0433 # [m/s^3/sqrt(Hz)] (accel bias diffusion) 23 | 24 | # other parameters 25 | do_imu_rate_time_alignment: 0 26 | time_alignment_window_size_s: 10.0 27 | time_alignment_variance_threshold_scaling: 0.0 28 | imu_integration_sigma: 1e-08 29 | imu_time_shift: 0.0 # in seconds 30 | n_gravity: [0.00000000, 0.00000000, -9.81000000] # [m/s^2] (gravity vectory in "world" frame) -------------------------------------------------------------------------------- /params/D455/LeftCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: left_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.99985945, -0.01443721, 0.00852319, -0.02647408, 10 | 0.01453776, 0.99982404, -0.01185494, 0.00914898, 11 | -0.00835054, 0.01197718, 0.99989340, 0.02575617, 12 | 0.00000000, 0.00000000, 0.00000000, 1.00000000] 13 | 14 | # Camera specific definitions 15 | rate_hz: 20 16 | resolution: [640, 480] # [width, height] 17 | camera_model: pinhole 18 | intrinsics: [377.229220831, 377.486565843, 326.351864976, 239.659665361] # [fu, fv, cu, cv] 19 | distortion_model: radtan 20 | distortion_coefficients: [-0.00439906, -0.00467669, 0.00017386, 0.00324217] # model dependent -------------------------------------------------------------------------------- /params/D455/PipelineParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of VIO Frontend to use 3 | # 0: MonoImu 4 | # 1: StereoImu 5 | frontend_type: 1 6 | 7 | # Type of vioBackend to use: 8 | # 0: VioBackend 9 | # 1: RegularVioBackend 10 | backend_type: 1 11 | 12 | # Type of Displayer to use: 13 | # 0: OpenCV 14 | # 1: Pangolin 15 | display_type: 0 16 | 17 | # Run VIO parallel or sequential 18 | # 0: Sequential 19 | # 1: Parallel 20 | parallel_run: 1 21 | -------------------------------------------------------------------------------- /params/D455/RightCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: right_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.99982121, -0.01427648, 0.01239860, 0.06845528, 10 | 0.01439878, 0.99984800, -0.00983129, 0.01070672, 11 | -0.01225636, 0.01000806, 0.99987480, 0.02565437, 12 | 0.00000000, 0.00000000, 0.00000000, 1.00000000] 13 | 14 | # Camera specific definitions 15 | rate_hz: 20 16 | resolution: [640, 480] # [width, height] 17 | camera_model: pinhole 18 | intrinsics: [377.535257164, 377.209841379, 328.193371286, 240.426878936] # [fu, fv, cu, cv] 19 | distortion_model: radtan 20 | distortion_coefficients: [-0.00335524, -0.00555376, 0.00064889, 0.00272202] # model dependent -------------------------------------------------------------------------------- /params/D455/flags/RegularVioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # RegularVioBackend parameters. 3 | --min_num_of_observations=2 4 | --max_parallax=150 5 | --min_num_obs_for_proj_factor=4 6 | --convert_extra_smart_factors_to_proj_factors=false 7 | --remove_old_reg_factors=true 8 | --min_num_of_plane_constraints_to_add_factors=40 9 | --min_num_of_plane_constraints_to_remove_factors=25 10 | --use_unstable_plane_removal=false 11 | --min_num_of_plane_constraints_to_avoid_seg_fault=10 12 | --prior_noise_sigma_normal=0.1 13 | --prior_noise_sigma_distance=0.1 14 | -------------------------------------------------------------------------------- /params/D455/flags/VioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --debug_graph_before_opt=false 3 | --process_cheirality=true 4 | --max_number_of_cheirality_exceptions=5 5 | -------------------------------------------------------------------------------- /params/D455/flags/Visualizer3D.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Visualizer 3D parameters. 3 | --mesh_shading=0 4 | --mesh_representation=1 5 | --set_mesh_lighting=true 6 | --set_mesh_ambient=false 7 | --log_mesh=false 8 | --log_accumulated_mesh=false 9 | --displayed_trajectory_length=-1 10 | -------------------------------------------------------------------------------- /params/D455/flags/stereoVIOEuroc.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --log_output=false 3 | --backend_type=1 4 | --regular_vio_backend_modality=0 5 | --deterministic_random_number_generator=true 6 | 7 | # 2D Visualization 8 | --visualize_feature_predictions=false 9 | --visualize_feature_tracks=true 10 | 11 | # 3D Visualization 12 | --visualize=true 13 | --visualize_lmk_type=false 14 | --visualize_mesh=true 15 | --visualize_mesh_2d=false 16 | --visualize_mesh_with_colored_polygon_clusters=false 17 | --visualize_point_cloud=true 18 | --visualize_convex_hull=false 19 | --visualize_plane_constraints=false 20 | --visualize_planes=false 21 | --visualize_plane_label=false 22 | --visualize_semantic_mesh=false 23 | --visualize_mesh_in_frustum=false 24 | #--visualize_load_mesh_filename=/home/tonirv/datasets/euroc/V1_01_easy/mav0/pointcloud0/data.ply 25 | # Type of 3D Visualization: 26 | # 0: mesh 3d 27 | # 1: pointcloud 28 | # 2: none 29 | --viz_type=1 30 | --min_num_obs_for_mesher_points=3 31 | --extract_planes_from_the_scene=false 32 | 33 | # For displaying/saving Frontend images: 34 | --visualize_frontend_images=false 35 | --save_frontend_images=false 36 | --log_feature_tracks=false 37 | --log_mono_tracking_images=false 38 | --log_stereo_matching_images=false 39 | -------------------------------------------------------------------------------- /params/Euroc/DisplayParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | # OpenCV Display params. 4 | 5 | # Whether to hold the display for user input 6 | hold_2d_display: 0 7 | hold_3d_display: 0 8 | -------------------------------------------------------------------------------- /params/Euroc/ImuParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of IMU preintegration: 3 | # 0: CombinedImuFactor 4 | # 1: ImuFactor 5 | imu_preintegration_type: 1 6 | 7 | # These are Euroc Dataset parameters 8 | # Sensor extrinsics wrt. the body-frame. 9 | T_BS: 10 | cols: 4 11 | rows: 4 12 | data: [1.0, 0.0, 0.0, 0.0, 13 | 0.0, 1.0, 0.0, 0.0, 14 | 0.0, 0.0, 1.0, 0.0, 15 | 0.0, 0.0, 0.0, 1.0] 16 | rate_hz: 200 17 | 18 | # inertial sensor noise model parameters (static) 19 | imu_bias_init_sigma: 1e-3 20 | gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) 21 | gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) 22 | accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) 23 | accelerometer_random_walk: 3.0000e-2 # [ m / s^3 / sqrt(Hz) ] ( accel bias diffusion ) Default in Euroc: 3.0000e-3 24 | 25 | # Extra parameters 26 | do_imu_rate_time_alignment: 1 27 | time_alignment_window_size_s: 10.0 28 | time_alignment_variance_threshold_scaling: 30.0 29 | imu_integration_sigma: 1.0e-8 30 | imu_time_shift: 0.0 31 | n_gravity: [0.0, 0.0, -9.81] 32 | -------------------------------------------------------------------------------- /params/Euroc/LeftCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: left_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 10 | 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, 11 | -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05] 21 | 22 | -------------------------------------------------------------------------------- /params/Euroc/PipelineParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of VIO Frontend to use 3 | # 0: MonoImu 4 | # 1: StereoImu 5 | frontend_type: 1 6 | 7 | # Type of vioBackend to use: 8 | # 0: VioBackend 9 | # 1: RegularVioBackend 10 | backend_type: 1 11 | 12 | # Type of Displayer to use: 13 | # 0: OpenCV 14 | # 1: Pangolin 15 | display_type: 0 16 | 17 | # Run VIO parallel or sequential 18 | # 0: Sequential 19 | # 1: Parallel 20 | parallel_run: 1 21 | -------------------------------------------------------------------------------- /params/Euroc/RightCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: right_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, 10 | 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, 11 | -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28368365, 0.07451284, -0.00010473, -3.55590700e-05] 21 | -------------------------------------------------------------------------------- /params/Euroc/flags/RegularVioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # RegularVioBackend parameters. 3 | --min_num_of_observations=2 4 | --max_parallax=150 5 | --min_num_obs_for_proj_factor=4 6 | --convert_extra_smart_factors_to_proj_factors=false 7 | --remove_old_reg_factors=true 8 | --min_num_of_plane_constraints_to_add_factors=40 9 | --min_num_of_plane_constraints_to_remove_factors=25 10 | --use_unstable_plane_removal=false 11 | --min_num_of_plane_constraints_to_avoid_seg_fault=10 12 | --prior_noise_sigma_normal=0.1 13 | --prior_noise_sigma_distance=0.1 14 | -------------------------------------------------------------------------------- /params/Euroc/flags/VioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --debug_graph_before_opt=false 3 | --process_cheirality=true 4 | --max_number_of_cheirality_exceptions=5 5 | -------------------------------------------------------------------------------- /params/Euroc/flags/Visualizer3D.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Visualizer 3D parameters. 3 | --mesh_shading=0 4 | --mesh_representation=1 5 | --set_mesh_lighting=true 6 | --set_mesh_ambient=false 7 | --log_mesh=false 8 | --log_accumulated_mesh=false 9 | --displayed_trajectory_length=-1 10 | -------------------------------------------------------------------------------- /params/Euroc/flags/stereoVIOEuroc.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --log_output=false 3 | --backend_type=1 4 | --regular_vio_backend_modality=0 5 | --deterministic_random_number_generator=true 6 | 7 | # 2D Visualization 8 | --visualize_feature_predictions=false 9 | --visualize_feature_tracks=true 10 | 11 | # 3D Visualization 12 | --visualize=true 13 | --visualize_lmk_type=false 14 | --visualize_mesh=true 15 | --visualize_mesh_2d=false 16 | --visualize_mesh_with_colored_polygon_clusters=false 17 | --visualize_point_cloud=true 18 | --visualize_convex_hull=false 19 | --visualize_plane_constraints=false 20 | --visualize_planes=false 21 | --visualize_plane_label=false 22 | --visualize_semantic_mesh=false 23 | --visualize_mesh_in_frustum=false 24 | #--visualize_load_mesh_filename=/home/tonirv/datasets/euroc/V1_01_easy/mav0/pointcloud0/data.ply 25 | # Type of 3D Visualization: 26 | # 0: mesh 3d 27 | # 1: pointcloud 28 | # 2: none 29 | --viz_type=0 30 | --min_num_obs_for_mesher_points=3 31 | --extract_planes_from_the_scene=false 32 | 33 | # For displaying/saving Frontend images: 34 | --visualize_frontend_images=false 35 | --save_frontend_images=false 36 | --log_feature_tracks=false 37 | --log_mono_tracking_images=false 38 | --log_stereo_matching_images=false 39 | -------------------------------------------------------------------------------- /params/EurocMono/DisplayParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | # OpenCV Display params. 4 | 5 | # Whether to hold the display for user input 6 | hold_2d_display: 0 7 | hold_3d_display: 0 8 | -------------------------------------------------------------------------------- /params/EurocMono/ImuParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of IMU preintegration: 3 | # 0: CombinedImuFactor 4 | # 1: ImuFactor 5 | imu_preintegration_type: 1 6 | 7 | # These are Euroc Dataset parameters 8 | # Sensor extrinsics wrt. the body-frame. 9 | T_BS: 10 | cols: 4 11 | rows: 4 12 | data: [1.0, 0.0, 0.0, 0.0, 13 | 0.0, 1.0, 0.0, 0.0, 14 | 0.0, 0.0, 1.0, 0.0, 15 | 0.0, 0.0, 0.0, 1.0] 16 | rate_hz: 200 17 | 18 | # inertial sensor noise model parameters (static) 19 | imu_bias_init_sigma: 1e-3 20 | gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) 21 | gyroscope_random_walk: 0.5e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) 22 | accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) 23 | accelerometer_random_walk: 3.0000e-2 # [ m / s^3 / sqrt(Hz) ] ( accel bias diffusion ) Default in Euroc: 3.0000e-3 24 | 25 | # Extra parameters 26 | do_imu_rate_time_alignment: 1 27 | time_alignment_window_size_s: 10.0 28 | time_alignment_variance_threshold_scaling: 30.0 29 | imu_integration_sigma: 1.0e-8 30 | imu_time_shift: 0.0 31 | n_gravity: [0.0, 0.0, -9.81] 32 | -------------------------------------------------------------------------------- /params/EurocMono/LeftCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: left_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 10 | 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, 11 | -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05] 21 | 22 | -------------------------------------------------------------------------------- /params/EurocMono/PipelineParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of VIO Frontend to use 3 | # 0: MonoImu 4 | # 1: StereoImu 5 | frontend_type: 0 6 | 7 | # Type of vioBackend to use: 8 | # 0: VioBackend 9 | # 1: RegularVioBackend 10 | backend_type: 1 11 | 12 | # Type of Displayer to use: 13 | # 0: OpenCV 14 | # 1: Pangolin 15 | display_type: 0 16 | 17 | # Run VIO parallel or sequential 18 | # 0: Sequential 19 | # 1: Parallel 20 | parallel_run: 1 21 | -------------------------------------------------------------------------------- /params/EurocMono/RightCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: right_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, 10 | 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, 11 | -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28368365, 0.07451284, -0.00010473, -3.55590700e-05] 21 | -------------------------------------------------------------------------------- /params/EurocMono/flags/RegularVioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # RegularVioBackend parameters. 3 | --min_num_of_observations=2 4 | --max_parallax=150 5 | --min_num_obs_for_proj_factor=4 6 | --convert_extra_smart_factors_to_proj_factors=false 7 | --remove_old_reg_factors=true 8 | --min_num_of_plane_constraints_to_add_factors=40 9 | --min_num_of_plane_constraints_to_remove_factors=25 10 | --use_unstable_plane_removal=false 11 | --min_num_of_plane_constraints_to_avoid_seg_fault=10 12 | --prior_noise_sigma_normal=0.1 13 | --prior_noise_sigma_distance=0.1 14 | -------------------------------------------------------------------------------- /params/EurocMono/flags/VioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --debug_graph_before_opt=false 3 | --process_cheirality=true 4 | --max_number_of_cheirality_exceptions=5 5 | -------------------------------------------------------------------------------- /params/EurocMono/flags/Visualizer3D.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Visualizer 3D parameters. 3 | --mesh_shading=0 4 | --mesh_representation=1 5 | --set_mesh_lighting=true 6 | --set_mesh_ambient=false 7 | --log_mesh=false 8 | --log_accumulated_mesh=false 9 | --displayed_trajectory_length=-1 10 | -------------------------------------------------------------------------------- /params/EurocMono/flags/stereoVIOEuroc.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --log_output=false 3 | --backend_type=1 4 | --regular_vio_backend_modality=0 5 | --deterministic_random_number_generator=true 6 | 7 | # 2D Visualization 8 | --visualize_feature_predictions=false 9 | --visualize_feature_tracks=true 10 | 11 | # 3D Visualization 12 | --visualize=true 13 | --visualize_lmk_type=false 14 | --visualize_mesh=true 15 | --visualize_mesh_2d=false 16 | --visualize_mesh_with_colored_polygon_clusters=false 17 | --visualize_point_cloud=true 18 | --visualize_convex_hull=false 19 | --visualize_plane_constraints=false 20 | --visualize_planes=false 21 | --visualize_plane_label=false 22 | --visualize_semantic_mesh=false 23 | --visualize_mesh_in_frustum=false 24 | #--visualize_load_mesh_filename=/home/tonirv/datasets/euroc/V1_01_easy/mav0/pointcloud0/data.ply 25 | # Type of 3D Visualization: 26 | # 0: mesh 3d 27 | # 1: pointcloud 28 | # 2: none 29 | --viz_type=1 30 | --min_num_obs_for_mesher_points=3 31 | --extract_planes_from_the_scene=false 32 | 33 | # For displaying/saving Frontend images: 34 | --visualize_frontend_images=false 35 | --save_frontend_images=false 36 | --log_feature_tracks=false 37 | --log_mono_tracking_images=false 38 | --log_stereo_matching_images=false 39 | -------------------------------------------------------------------------------- /params/KinectAzure/DisplayParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | # OpenCV Display params. 4 | 5 | # Whether to hold the display for user input 6 | hold_2d_display: 0 7 | hold_3d_display: 0 8 | -------------------------------------------------------------------------------- /params/KinectAzure/LeftCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | ################################################################################ 4 | # Created by: YC # 5 | # Created on: 2021-11-15T09:11:52.289804 # 6 | ################################################################################ 7 | 8 | # General sensor definitions 9 | camera_id: left_cam 10 | 11 | # Sensor extrinsics wrt. the body-frame 12 | T_BS: 13 | cols: 4 14 | rows: 4 15 | data: [0.00431007, 0.02530577, -0.99967047, 0.00012095, 16 | -0.99975994, 0.02158447, -0.00376407, -0.00084380, 17 | 0.02148211, 0.99944671, 0.02539273, 0.00026236, 18 | 0.00000000, 0.00000000, 0.00000000, 1.00000000] 19 | 20 | # Camera specific definitions 21 | rate_hz: 20 22 | resolution: [640, 360] # [width, height] 23 | camera_model: pinhole 24 | intrinsics: [292.450703472, 292.153474955, 322.341962521, 190.20545595] # [fu, fv, cu, cv] 25 | distortion_model: radtan 26 | distortion_coefficients: [0.06807911, -0.02809412, 0.00466678, 0.00043785] # model dependent 27 | 28 | # Depth specific parameters 29 | virtual_baseline: 0.3 30 | min_depth: 0.0 31 | depth_to_meters: 1.0 32 | max_depth: 10.0 33 | is_registered: 1 34 | -------------------------------------------------------------------------------- /params/KinectAzure/PipelineParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of VIO Frontend to use 3 | # 0: MonoImu 4 | # 1: StereoImu 5 | # 2: RgbdImu 6 | frontend_type: 2 7 | 8 | # Type of vioBackEnd to use: 9 | # 0: VioBackEnd 10 | # 1: RegularVioBackEnd 11 | backend_type: 0 12 | 13 | # Type of Displayer to use: 14 | # 0: OpenCV 15 | # 1: Pangolin 16 | display_type: 0 17 | 18 | # Run VIO parallel or sequential 19 | parallel_run: 1 20 | -------------------------------------------------------------------------------- /params/KinectAzure/flags/Pipeline.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --log_output=false 3 | --backend_type=1 4 | --regular_vio_backend_modality=0 5 | --deterministic_random_number_generator=true 6 | 7 | # 2D Visualization 8 | --visualize_feature_predictions=false 9 | --visualize_feature_tracks=true 10 | 11 | # 3D Visualization 12 | --visualize=true 13 | --visualize_lmk_type=false 14 | --visualize_mesh=true 15 | --visualize_mesh_2d=false 16 | --visualize_mesh_with_colored_polygon_clusters=false 17 | --visualize_point_cloud=true 18 | --visualize_convex_hull=false 19 | --visualize_plane_constraints=false 20 | --visualize_planes=false 21 | --visualize_plane_label=false 22 | --visualize_semantic_mesh=false 23 | --visualize_mesh_in_frustum=false 24 | --min_num_obs_for_mesher_points=3 25 | --extract_planes_from_the_scene=false 26 | 27 | # For displaying/saving frontend images: 28 | --visualize_frontend_images=false 29 | --save_frontend_images=false 30 | --log_feature_tracks=false 31 | --log_mono_tracking_images=false 32 | --log_rgbd_tracking_images=false 33 | -------------------------------------------------------------------------------- /params/KinectAzure/flags/RegularVioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # RegularVioBackEnd parameters. 3 | --min_num_of_observations=2 4 | --max_parallax=150 5 | --min_num_obs_for_proj_factor=4 6 | --convert_extra_smart_factors_to_proj_factors=false 7 | --remove_old_reg_factors=true 8 | --min_num_of_plane_constraints_to_add_factors=40 9 | --min_num_of_plane_constraints_to_remove_factors=25 10 | --use_unstable_plane_removal=false 11 | --min_num_of_plane_constraints_to_avoid_seg_fault=10 12 | --prior_noise_sigma_normal=0.1 13 | --prior_noise_sigma_distance=0.1 14 | -------------------------------------------------------------------------------- /params/KinectAzure/flags/VioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --debug_graph_before_opt=true 3 | --process_cheirality=true 4 | --max_number_of_cheirality_exceptions=5 5 | -------------------------------------------------------------------------------- /params/KinectAzure/flags/Visualizer3D.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Visualizer 3D parameters. 3 | --mesh_shading=0 4 | --mesh_representation=1 5 | --set_mesh_lighting=true 6 | --set_mesh_ambient=false 7 | --log_mesh=false 8 | --log_accumulated_mesh=false 9 | --displayed_trajectory_length=-1 10 | -------------------------------------------------------------------------------- /params/RealSenseIR/DisplayParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | # OpenCV Display params. 4 | 5 | # Whether to hold the display for user input 6 | hold_2d_display: 0 7 | hold_3d_display: 0 8 | -------------------------------------------------------------------------------- /params/RealSenseIR/ImuParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of IMU preintegration: 3 | # 0: CombinedImuFactor 4 | # 1: ImuFactor 5 | imu_preintegration_type: 1 6 | 7 | # Collected by Andrew Violette on 02/19/20 8 | # Sensor extrinsics wrt. the body-frame. 9 | T_BS: 10 | cols: 4 11 | rows: 4 12 | data: [1.0, 0.0, 0.0, 0.0, 13 | 0.0, 1.0, 0.0, 0.0, 14 | 0.0, 0.0, 1.0, 0.0, 15 | 0.0, 0.0, 0.0, 1.0] 16 | rate_hz: 400 17 | 18 | # inertial sensor noise model parameters (static) 19 | imu_bias_init_sigma: 1e-3 20 | gyroscope_noise_density: 0.000488 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) 21 | gyroscope_random_walk: 4.88e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) 22 | accelerometer_noise_density: 0.00147 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) 23 | accelerometer_random_walk: 0.00147 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) 24 | 25 | # Extra parameters 26 | do_imu_rate_time_alignment: 1 27 | time_alignment_window_size_s: 10.0 28 | time_alignment_variance_threshold_scaling: 30.0 29 | imu_integration_sigma: 1.0e-8 30 | imu_time_shift: 0.0 31 | n_gravity: [0.0, 0.0, -9.81] 32 | -------------------------------------------------------------------------------- /params/RealSenseIR/LeftCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: left_cam 4 | 5 | 6 | # Sensor extrinsics wrt. the body-frame. 7 | T_BS: 8 | cols: 4 9 | rows: 4 10 | data: [0.99998939, -0.00459402, 0.00032586, -0.00107491, 11 | 0.0045972, 0.99993382, -0.01054608, 0.00339225, 12 | -0.00027739, 0.01054747, 0.99994434, 0.02843741, 13 | 0.0, 0.0, 0.0, 1.0] 14 | 15 | # Camera specific definitions. 16 | rate_hz: 30 17 | resolution: [640, 480] 18 | camera_model: pinhole 19 | intrinsics: [384.5697007030446, 385.6469026594307, 324.92457920979194, 239.78003927789618] #fu, fv, cu, cv 20 | distortion_model: equidistant 21 | distortion_coefficients: [0.34610989806637954, 0.11497394690333039, 0.09283198659020588, 0.011326272488628174] 22 | -------------------------------------------------------------------------------- /params/RealSenseIR/PipelineParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of VIO Frontend to use 3 | # 0: MonoImu 4 | # 1: StereoImu 5 | frontend_type: 1 6 | 7 | # Type of vioBackend to use: 8 | # 0: VioBackend 9 | # 1: RegularVioBackend 10 | backend_type: 1 11 | 12 | # Type of Displayer to use: 13 | # 0: OpenCV 14 | # 1: Pangolin 15 | display_type: 0 16 | 17 | # Run VIO parallel or sequential 18 | # 0: Sequential 19 | # 1: Parallel 20 | parallel_run: 1 21 | -------------------------------------------------------------------------------- /params/RealSenseIR/RightCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: right_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.99998642, -0.00456824, -0.00250874, 0.04882315, 10 | 0.00454183, 0.99993527, -0.01043246, 0.00363688, 11 | 0.00255624, 0.01042092, 0.99994243, 0.02863922, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 30 16 | resolution: [640, 480] 17 | camera_model: pinhole 18 | intrinsics: [384.6517877875679, 385.80743823947375, 323.0940939324028, 239.4007620255053] #fu, fv, cu, cv 19 | distortion_model: equidistant 20 | distortion_coefficients: [0.33272557213785425, 0.20855196388908398, -0.14436817873485477, 0.2040126459333023] 21 | -------------------------------------------------------------------------------- /params/RealSenseIR/flags/RegularVioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # RegularVioBackend parameters. 3 | --min_num_of_observations=2 4 | --max_parallax=150 5 | --min_num_obs_for_proj_factor=4 6 | --convert_extra_smart_factors_to_proj_factors=false 7 | --remove_old_reg_factors=true 8 | --min_num_of_plane_constraints_to_add_factors=40 9 | --min_num_of_plane_constraints_to_remove_factors=25 10 | --use_unstable_plane_removal=false 11 | --min_num_of_plane_constraints_to_avoid_seg_fault=10 12 | --prior_noise_sigma_normal=0.1 13 | --prior_noise_sigma_distance=0.1 14 | -------------------------------------------------------------------------------- /params/RealSenseIR/flags/VioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --debug_graph_before_opt=true 3 | --process_cheirality=true 4 | --max_number_of_cheirality_exceptions=5 5 | -------------------------------------------------------------------------------- /params/RealSenseIR/flags/Visualizer3D.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Visualizer 3D parameters. 3 | --mesh_shading=0 4 | --mesh_representation=1 5 | --set_mesh_lighting=true 6 | --set_mesh_ambient=false 7 | --log_mesh=false 8 | --log_accumulated_mesh=false 9 | --displayed_trajectory_length=-1 10 | -------------------------------------------------------------------------------- /params/RealSenseIR/flags/stereoVIOEuroc.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --log_output=false 3 | --backend_type=1 4 | --regular_vio_backend_modality=0 5 | --deterministic_random_number_generator=true 6 | 7 | # 2D Visualization 8 | --visualize_feature_predictions=false 9 | --visualize_feature_tracks=true 10 | 11 | # 3D Visualization 12 | --visualize=true 13 | --visualize_lmk_type=false 14 | --visualize_mesh=true 15 | --visualize_mesh_2d=false 16 | --visualize_mesh_with_colored_polygon_clusters=false 17 | --visualize_point_cloud=true 18 | --visualize_convex_hull=false 19 | --visualize_plane_constraints=false 20 | --visualize_planes=false 21 | --visualize_plane_label=false 22 | --visualize_semantic_mesh=false 23 | --visualize_mesh_in_frustum=false 24 | #--visualize_load_mesh_filename=/home/tonirv/datasets/euroc/V1_01_easy/mav0/pointcloud0/data.ply 25 | # Type of 3D Visualization: 26 | # 0: mesh 3d 27 | # 1: pointcloud 28 | # 2: none 29 | --viz_type=1 30 | --min_num_obs_for_mesher_points=3 31 | --extract_planes_from_the_scene=false 32 | 33 | # For displaying/saving Frontend images: 34 | --visualize_frontend_images=false 35 | --save_frontend_images=false 36 | --log_feature_tracks=true 37 | --log_mono_tracking_images=false 38 | --log_stereo_matching_images=false 39 | -------------------------------------------------------------------------------- /params/uHumans1/DisplayParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | # OpenCV Display params. 4 | 5 | # Whether to hold the display for user input 6 | hold_2d_display: 0 7 | hold_3d_display: 0 8 | -------------------------------------------------------------------------------- /params/uHumans1/ImuParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of IMU preintegration: 3 | # 0: CombinedImuFactor 4 | # 1: ImuFactor 5 | imu_preintegration_type: 1 6 | 7 | # These are Euroc Dataset parameters 8 | # Sensor extrinsics wrt. the body-frame. 9 | T_BS: 10 | cols: 4 11 | rows: 4 12 | data: [1.0, 0.0, 0.0, 0.0, 13 | 0.0, 1.0, 0.0, 0.0, 14 | 0.0, 0.0, 1.0, 0.0, 15 | 0.0, 0.0, 0.0, 1.0] 16 | rate_hz: 200 17 | 18 | # inertial sensor noise model parameters (static) 19 | imu_bias_init_sigma: 1e-3 20 | gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) 21 | gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) 22 | accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) 23 | accelerometer_random_walk: 3.0000e-3 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) 24 | 25 | # Extra parameters 26 | do_imu_rate_time_alignment: 1 27 | time_alignment_window_size_s: 10.0 28 | time_alignment_variance_threshold_scaling: 30.0 29 | imu_integration_sigma: 1.0e-8 30 | imu_time_shift: 0.0 31 | n_gravity: [0.0, 0.0, -9.81] 32 | -------------------------------------------------------------------------------- /params/uHumans1/LeftCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: left_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [1.0, 0.0, 0.0, -0.05, 10 | 0.0, 1.0, 0.0, 0.0, 11 | 0.0, 0.0, 1.0, 0.0, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [720, 480] 17 | camera_model: pinhole 18 | intrinsics: [415.69219381653056, 415.69219381653056, 360.0, 240.0] 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [0.0, 0.0, 0.0, 0.0] 21 | -------------------------------------------------------------------------------- /params/uHumans1/PipelineParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of VIO Frontend to use 3 | # 0: MonoImu 4 | # 1: StereoImu 5 | frontend_type: 1 6 | 7 | # Type of vioBackend to use: 8 | # 0: VioBackend 9 | # 1: RegularVioBackend 10 | backend_type: 1 11 | 12 | # Type of Displayer to use: 13 | # 0: OpenCV 14 | # 1: Pangolin 15 | display_type: 0 16 | 17 | # Run VIO parallel or sequential 18 | # 0: Sequential 19 | # 1: Parallel 20 | parallel_run: 1 21 | -------------------------------------------------------------------------------- /params/uHumans1/RightCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: right_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [1.0, 0.0, 0.0, 0.05, 10 | 0.0, 1.0, 0.0, 0.0, 11 | 0.0, 0.0, 1.0, 0.0, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [720, 480] 17 | camera_model: pinhole 18 | intrinsics: [415.69219381653056, 415.69219381653056, 360.0, 240.0] 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [0.0, 0.0, 0.0, 0.0] 21 | -------------------------------------------------------------------------------- /params/uHumans1/flags/RegularVioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # RegularVioBackend parameters. 3 | --min_num_of_observations=2 4 | --max_parallax=150 5 | --min_num_obs_for_proj_factor=4 6 | --convert_extra_smart_factors_to_proj_factors=false 7 | --remove_old_reg_factors=true 8 | --min_num_of_plane_constraints_to_add_factors=40 9 | --min_num_of_plane_constraints_to_remove_factors=25 10 | --use_unstable_plane_removal=false 11 | --min_num_of_plane_constraints_to_avoid_seg_fault=10 12 | --prior_noise_sigma_normal=0.1 13 | --prior_noise_sigma_distance=0.1 14 | -------------------------------------------------------------------------------- /params/uHumans1/flags/VioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --debug_graph_before_opt=true 3 | --process_cheirality=true 4 | --max_number_of_cheirality_exceptions=5 5 | -------------------------------------------------------------------------------- /params/uHumans1/flags/Visualizer3D.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Visualizer 3D parameters. 3 | --mesh_shading=0 4 | --mesh_representation=1 5 | --set_mesh_lighting=true 6 | --set_mesh_ambient=false 7 | --log_mesh=false 8 | --log_accumulated_mesh=false 9 | --displayed_trajectory_length=-1 10 | -------------------------------------------------------------------------------- /params/uHumans1/flags/stereoVIOEuroc.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --log_output=false 3 | --backend_type=1 4 | --regular_vio_backend_modality=0 5 | --deterministic_random_number_generator=true 6 | 7 | # 2D Visualization 8 | --visualize_feature_predictions=false 9 | --visualize_feature_tracks=true 10 | 11 | # 3D Visualization 12 | --visualize=true 13 | --visualize_lmk_type=false 14 | --visualize_mesh=true 15 | --visualize_mesh_2d=false 16 | --visualize_mesh_with_colored_polygon_clusters=false 17 | --visualize_point_cloud=true 18 | --visualize_convex_hull=false 19 | --visualize_plane_constraints=false 20 | --visualize_planes=false 21 | --visualize_plane_label=false 22 | --visualize_semantic_mesh=false 23 | --visualize_mesh_in_frustum=false 24 | #--visualize_load_mesh_filename=/home/tonirv/datasets/euroc/V1_01_easy/mav0/pointcloud0/data.ply 25 | # Type of 3D Visualization: 26 | # 0: mesh 3d 27 | # 1: pointcloud 28 | # 2: none 29 | --viz_type=1 30 | --min_num_obs_for_mesher_points=3 31 | --extract_planes_from_the_scene=false 32 | 33 | # For displaying/saving Frontend images: 34 | --visualize_frontend_images=false 35 | --save_frontend_images=false 36 | --log_feature_tracks=true 37 | --log_mono_tracking_images=false 38 | --log_stereo_matching_images=false 39 | -------------------------------------------------------------------------------- /params/uHumans2/DisplayParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | # OpenCV Display params. 4 | 5 | # Whether to hold the display for user input 6 | hold_2d_display: 0 7 | hold_3d_display: 0 8 | -------------------------------------------------------------------------------- /params/uHumans2/ExternalOdometryParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of odometry sensor: 3 | 4 | # Sensor extrinsics wrt. the body-frame. 5 | T_BS: 6 | cols: 4 7 | rows: 4 8 | data: [1.0, 0.0, 0.0, 0.0, 9 | 0.0, 1.0, 0.0, 0.0, 10 | 0.0, 0.0, 1.0, 0.0, 11 | 0.0, 0.0, 0.0, 1.0] 12 | rate_hz: 200 13 | 14 | # odometry sensor noise model parameters (static) 15 | odomPositionPrecision: 1.0e-3 16 | odomRotationPrecision: 1.0e-4 17 | odomVelPrecision: 1.0e-2 18 | 19 | # Extra parameters 20 | -------------------------------------------------------------------------------- /params/uHumans2/ImuParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of IMU preintegration: 3 | # 0: CombinedImuFactor 4 | # 1: ImuFactor 5 | imu_preintegration_type: 1 6 | 7 | # These are Euroc Dataset parameters 8 | # Sensor extrinsics wrt. the body-frame. 9 | T_BS: 10 | cols: 4 11 | rows: 4 12 | data: [1.0, 0.0, 0.0, 0.0, 13 | 0.0, 1.0, 0.0, 0.0, 14 | 0.0, 0.0, 1.0, 0.0, 15 | 0.0, 0.0, 0.0, 1.0] 16 | rate_hz: 200 17 | 18 | # inertial sensor noise model parameters (static) 19 | imu_bias_init_sigma: 1e-3 20 | gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) 21 | gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) 22 | accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) 23 | accelerometer_random_walk: 3.0000e-3 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) 24 | 25 | # Extra parameters 26 | do_imu_rate_time_alignment: 1 27 | time_alignment_window_size_s: 10.0 28 | time_alignment_variance_threshold_scaling: 30.0 29 | imu_integration_sigma: 1.0e-8 30 | imu_time_shift: 0.0 31 | n_gravity: [0.0, 0.0, -9.81] 32 | -------------------------------------------------------------------------------- /params/uHumans2/LeftCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: left_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [ 0.0, 0.0, 1.0, 0.0, 10 | -1.0, 0.0, 0.0, 0.05, 11 | 0.0, -1.0, 0.0, 0.0, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [720, 480] 17 | camera_model: pinhole 18 | intrinsics: [415.69219381653056, 415.69219381653056, 360.0, 240.0] 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [0.0, 0.0, 0.0, 0.0] 21 | -------------------------------------------------------------------------------- /params/uHumans2/PipelineParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # frontend_type 3 | # Type of VIO Frontend to use 4 | # 0: MonoImu 5 | # 1: StereoImu 6 | frontend_type: 1 7 | 8 | # Type of vioBackend to use: 9 | # 0: VioBackend 10 | # 1: RegularVioBackend 11 | backend_type: 1 12 | 13 | # Type of Displayer to use: 14 | # 0: OpenCV 15 | # 1: Pangolin 16 | display_type: 0 17 | 18 | # Run VIO parallel or sequential 19 | # 0: Sequential 20 | # 1: Parallel 21 | parallel_run: 1 22 | -------------------------------------------------------------------------------- /params/uHumans2/RightCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: right_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [ 0.0, 0.0, 1.0, 0.0, 10 | -1.0, 0.0, 0.0, -0.05, 11 | 0.0, -1.0, 0.0, 0.0, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [720, 480] 17 | camera_model: pinhole 18 | intrinsics: [415.69219381653056, 415.69219381653056, 360.0, 240.0] 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [0.0, 0.0, 0.0, 0.0] 21 | -------------------------------------------------------------------------------- /params/uHumans2/flags/RegularVioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # RegularVioBackend parameters. 3 | --min_num_of_observations=2 4 | --max_parallax=150 5 | --min_num_obs_for_proj_factor=4 6 | --convert_extra_smart_factors_to_proj_factors=false 7 | --remove_old_reg_factors=true 8 | --min_num_of_plane_constraints_to_add_factors=40 9 | --min_num_of_plane_constraints_to_remove_factors=25 10 | --use_unstable_plane_removal=false 11 | --min_num_of_plane_constraints_to_avoid_seg_fault=10 12 | --prior_noise_sigma_normal=0.1 13 | --prior_noise_sigma_distance=0.1 14 | -------------------------------------------------------------------------------- /params/uHumans2/flags/VioBackend.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --debug_graph_before_opt=true 3 | --process_cheirality=true 4 | --max_number_of_cheirality_exceptions=5 5 | -------------------------------------------------------------------------------- /params/uHumans2/flags/Visualizer3D.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Visualizer 3D parameters. 3 | --mesh_shading=0 4 | --mesh_representation=1 5 | --set_mesh_lighting=true 6 | --set_mesh_ambient=false 7 | --log_mesh=false 8 | --log_accumulated_mesh=false 9 | --displayed_trajectory_length=-1 10 | -------------------------------------------------------------------------------- /params/uHumans2/flags/stereoVIOEuroc.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --log_output=false 3 | --backend_type=1 4 | --regular_vio_backend_modality=0 5 | --deterministic_random_number_generator=true 6 | 7 | # 2D Visualization 8 | --visualize_feature_predictions=false 9 | --visualize_feature_tracks=true 10 | 11 | # 3D Visualization 12 | --visualize=true 13 | --visualize_lmk_type=false 14 | --visualize_mesh=true 15 | --visualize_mesh_2d=false 16 | --visualize_mesh_with_colored_polygon_clusters=false 17 | --visualize_point_cloud=true 18 | --visualize_convex_hull=false 19 | --visualize_plane_constraints=false 20 | --visualize_planes=false 21 | --visualize_plane_label=false 22 | --visualize_semantic_mesh=false 23 | --visualize_mesh_in_frustum=false 24 | #--visualize_load_mesh_filename=/home/tonirv/datasets/euroc/V1_01_easy/mav0/pointcloud0/data.ply 25 | # Type of 3D Visualization: 26 | # 0: mesh 3d 27 | # 1: pointcloud 28 | # 2: none 29 | --viz_type=1 30 | --min_num_obs_for_mesher_points=3 31 | --extract_planes_from_the_scene=false 32 | 33 | # For displaying/saving Frontend images: 34 | --visualize_frontend_images=false 35 | --save_frontend_images=false 36 | --log_feature_tracks=true 37 | --log_mono_tracking_images=false 38 | --log_stereo_matching_images=false 39 | -------------------------------------------------------------------------------- /scripts/docker/kimera_vio_docker.bash: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | # Allow X server connection 4 | xhost +local:root 5 | docker run -it --rm \ 6 | --env="DISPLAY" \ 7 | --env="QT_X11_NO_MITSHM=1" \ 8 | --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \ 9 | kimera_vio 10 | # Disallow X server connection 11 | xhost -local:root 12 | -------------------------------------------------------------------------------- /scripts/kalibr/.gitignore: -------------------------------------------------------------------------------- 1 | !requirements.txt 2 | -------------------------------------------------------------------------------- /scripts/kalibr/requirements.txt: -------------------------------------------------------------------------------- 1 | numpy 2 | jinja2 3 | pyyaml 4 | -------------------------------------------------------------------------------- /scripts/kalibr/templates/camera.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | {{ metadata | make_header }} 4 | 5 | # General sensor definitions 6 | camera_id: {{ camera_id }} 7 | 8 | # Sensor extrinsics wrt. the body-frame 9 | T_BS: 10 | cols: 4 11 | rows: 4 12 | data: {{ T_BS | numpy_display(false) | indent(9) }} 13 | 14 | # Camera specific definitions 15 | rate_hz: {{ rate_hz }} 16 | resolution: [{{ camera_width }}, {{ camera_height }}] # [width, height] 17 | camera_model: {{ camera_model }} 18 | intrinsics: [{{ u_focal_length }}, {{ v_focal_length }}, {{ u_principal_point }}, {{ v_principal_point }}] # [fu, fv, cu, cv] 19 | distortion_model: {{ distortion_model }} 20 | distortion_coefficients: {{ distortion_coefficients | numpy_display }} # model dependent 21 | -------------------------------------------------------------------------------- /scripts/kalibr/templates/imu.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | {{ metadata | make_header }} 4 | 5 | # Type of IMU preintegration 6 | # 0: CombinedImuFactor 7 | # 1: ImuFactor 8 | imu_preintegration_type: 1 9 | 10 | # Sensor extrinsics wrt. the body-frame 11 | T_BS: 12 | cols: 4 13 | rows: 4 14 | data: {{ T_BS | numpy_display(false) | indent(9) }} 15 | 16 | # inertial sensor parameters 17 | imu_bias_init_sigma: {{ imu_bias_init_sigma }} 18 | rate_hz: {{ rate_hz }} 19 | gyroscope_noise_density: {{ gyroscope_noise_density }} # [rad/s/sqrt(Hz)] (gyro "white noise") 20 | gyroscope_random_walk: {{ gyroscope_random_walk }} # [rad/s^2/sqrt(Hz)] (gyro bias diffusion) 21 | accelerometer_noise_density: {{ accelerometer_noise_density }} # [m/s^2/sqrt(Hz)] (accel "white noise") 22 | accelerometer_random_walk: {{ accelerometer_random_walk }} # [m/s^3/sqrt(Hz)] (accel bias diffusion) 23 | 24 | # other parameters 25 | do_imu_rate_time_alignment: 1 26 | time_alignment_window_size_s: 10.0 27 | time_alignment_variance_threshold_scaling: 30.0 28 | imu_integration_sigma: {{ imu_integration_sigma }} 29 | imu_time_shift: {{ imu_time_shift}} # in seconds 30 | n_gravity: {{ n_gravity | numpy_display }} # [m/s^2] (gravity vectory in "world" frame) 31 | -------------------------------------------------------------------------------- /src/backend/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/VioBackendModule.cpp" 4 | "${CMAKE_CURRENT_LIST_DIR}/VioBackend.cpp" 5 | "${CMAKE_CURRENT_LIST_DIR}/VioBackendParams.cpp" 6 | "${CMAKE_CURRENT_LIST_DIR}/RegularVioBackend.cpp" 7 | "${CMAKE_CURRENT_LIST_DIR}/RegularVioBackendParams.cpp" 8 | ) 9 | -------------------------------------------------------------------------------- /src/backend/FactorGraphManagement.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/src/backend/FactorGraphManagement.cpp -------------------------------------------------------------------------------- /src/common/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/VioNavState.cpp" 5 | ) 6 | -------------------------------------------------------------------------------- /src/dataprovider/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/DataProviderInterface-definitions.cpp" 5 | "${CMAKE_CURRENT_LIST_DIR}/DataProviderInterface.cpp" 6 | "${CMAKE_CURRENT_LIST_DIR}/DataProviderModule.cpp" 7 | "${CMAKE_CURRENT_LIST_DIR}/MonoDataProviderModule.cpp" 8 | "${CMAKE_CURRENT_LIST_DIR}/RgbdDataProviderModule.cpp" 9 | "${CMAKE_CURRENT_LIST_DIR}/StereoDataProviderModule.cpp" 10 | "${CMAKE_CURRENT_LIST_DIR}/EurocDataProvider.cpp" 11 | "${CMAKE_CURRENT_LIST_DIR}/KittiDataProvider.cpp" 12 | ) 13 | -------------------------------------------------------------------------------- /src/factors/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/ParallelPlaneRegularFactor.cpp" 5 | "${CMAKE_CURRENT_LIST_DIR}/PointPlaneFactor.cpp" 6 | ) 7 | 8 | -------------------------------------------------------------------------------- /src/factors/ParallelPlaneRegularFactor.cpp: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /* 10 | * ParallelPlaneRegularFactor.cpp 11 | * 12 | * Created on: Feb 20, 2018 13 | * Author: Antoni Rosinol 14 | */ 15 | 16 | #include "kimera-vio/factors/ParallelPlaneRegularFactor.h" 17 | 18 | namespace gtsam { 19 | 20 | //*************************************************************************** 21 | void ParallelPlaneRegularFactor::print(const std::string& s, 22 | const KeyFormatter& keyFormatter) const { 23 | std::cout << "ParallelPlaneRegularFactor of type " << this->factor_type_ 24 | << " acting on plane " << plane1Key_ << ", and plane " << plane2Key_ 25 | << "\n"; 26 | this->noiseModel_->print(" noise model: "); 27 | } 28 | 29 | } // namespace gtsam 30 | -------------------------------------------------------------------------------- /src/frontend/RgbdImuSyncPacket.cpp: -------------------------------------------------------------------------------- 1 | /** 2 | * @file RgbdImuSyncPacket.h 3 | * @brief Class describing the minimum input for VIO to run 4 | * Contains a RGB Frame + a Depth Frame with Imu data synchronized from last 5 | * Keyframe timestamp to the current stereo frame timestamp. 6 | * @author Antoni Rosinol 7 | */ 8 | 9 | #include "kimera-vio/frontend/RgbdImuSyncPacket.h" 10 | 11 | namespace VIO { 12 | 13 | using OptOdom = std::optional; 14 | 15 | RgbdImuSyncPacket::RgbdImuSyncPacket(const Timestamp& timestamp, 16 | RgbdFrame::UniquePtr rgbd_frame, 17 | const ImuStampS& imu_stamps, 18 | const ImuAccGyrS& imu_accgyr, 19 | OptOdom external_odometry) 20 | : FrontendInputPacketBase(rgbd_frame->timestamp_, 21 | imu_stamps, 22 | imu_accgyr, 23 | external_odometry), 24 | rgbd_frame_(std::move(rgbd_frame)) {} 25 | 26 | void RgbdImuSyncPacket::print() const { 27 | // TODO 28 | } 29 | 30 | } // namespace VIO 31 | -------------------------------------------------------------------------------- /src/frontend/VisionImuFrontendModule.cpp: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file VisionImuFrontendModule.cpp 11 | * @brief 12 | * @author Antoni Rosinol 13 | */ 14 | 15 | #include "kimera-vio/frontend/VisionImuFrontendModule.h" 16 | 17 | namespace VIO { 18 | 19 | VisionImuFrontendModule::VisionImuFrontendModule( 20 | InputQueue* input_queue, 21 | bool parallel_run, 22 | VisionImuFrontend::UniquePtr vio_frontend) 23 | : SIMO(input_queue, "VioFrontend", parallel_run), 24 | vio_frontend_(std::move(vio_frontend)) { 25 | CHECK(vio_frontend_); 26 | } 27 | 28 | FrontendOutputPacketBase::UniquePtr VisionImuFrontendModule::spinOnce( 29 | FrontendInputPacketBase::UniquePtr input) { 30 | CHECK(input); 31 | return vio_frontend_->spinOnce(std::move(input)); 32 | } 33 | 34 | } // namespace VIO 35 | -------------------------------------------------------------------------------- /src/frontend/feature-detector/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/FeatureDetectorParams.cpp" 5 | "${CMAKE_CURRENT_LIST_DIR}/FeatureDetector.cpp" 6 | "${CMAKE_CURRENT_LIST_DIR}/NonMaximumSuppression.cpp" 7 | ) 8 | 9 | add_subdirectory(anms) 10 | -------------------------------------------------------------------------------- /src/frontend/feature-detector/anms/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for IDEs 2 | 3 | target_sources(kimera_vio 4 | PRIVATE 5 | "${CMAKE_CURRENT_LIST_DIR}/anms.cpp" 6 | ) 7 | -------------------------------------------------------------------------------- /src/frontend/feature-detector/anms/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 Oleksandr Bailo 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /src/frontend/optical-flow/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for IDEs 2 | target_sources(kimera_vio PRIVATE 3 | "${CMAKE_CURRENT_LIST_DIR}/OpticalFlowPredictor.cpp" 4 | ) 5 | -------------------------------------------------------------------------------- /src/imu-frontend/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for kimera_vio 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/ImuFrontend.cpp" 5 | "${CMAKE_CURRENT_LIST_DIR}/ImuFrontendParams.cpp" 6 | ) 7 | 8 | -------------------------------------------------------------------------------- /src/initial/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/InitializationFromImu.cpp" 5 | "${CMAKE_CURRENT_LIST_DIR}/InitializationBackend.cpp" 6 | "${CMAKE_CURRENT_LIST_DIR}/OnlineGravityAlignment.cpp" 7 | "${CMAKE_CURRENT_LIST_DIR}/CrossCorrTimeAligner.cpp" 8 | "${CMAKE_CURRENT_LIST_DIR}/TimeAlignerBase.cpp" 9 | ) 10 | -------------------------------------------------------------------------------- /src/logging/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/Logger.cpp" 5 | ) 6 | 7 | -------------------------------------------------------------------------------- /src/loopclosure/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for LoopClosureDetector 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/FrameCache.cpp" 5 | "${CMAKE_CURRENT_LIST_DIR}/LcdThirdPartyWrapper.cpp" 6 | "${CMAKE_CURRENT_LIST_DIR}/LcdModule.cpp" 7 | "${CMAKE_CURRENT_LIST_DIR}/LcdOutputPacket.cpp" 8 | "${CMAKE_CURRENT_LIST_DIR}/LoopClosureDetector.cpp" 9 | "${CMAKE_CURRENT_LIST_DIR}/LoopClosureDetectorParams.cpp" 10 | ) 11 | -------------------------------------------------------------------------------- /src/mesh/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/Mesh.cpp" 5 | "${CMAKE_CURRENT_LIST_DIR}/Mesher.cpp" 6 | "${CMAKE_CURRENT_LIST_DIR}/MesherModule.cpp" 7 | "${CMAKE_CURRENT_LIST_DIR}/MesherFactory.cpp" 8 | "${CMAKE_CURRENT_LIST_DIR}/MeshOptimization.cpp" 9 | ) 10 | -------------------------------------------------------------------------------- /src/mesh/MesherFactory.cpp: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file MesherFactory.h 11 | * @brief Build a Mesher 12 | * @author Antoni Rosinol 13 | */ 14 | 15 | #include "kimera-vio/mesh/MesherFactory.h" 16 | 17 | // If you want to serialize to a file to be able to later load that mesh. 18 | DEFINE_bool(serialize_mesh_2d3d, false, "Serialize 2D/3D Mesh to file."); 19 | 20 | namespace VIO { 21 | 22 | Mesher::UniquePtr MesherFactory::createMesher( 23 | const MesherType& mesher_type, 24 | const MesherParams& mesher_params) { 25 | switch (mesher_type) { 26 | case MesherType::PROJECTIVE: { 27 | return std::make_unique(mesher_params, FLAGS_serialize_mesh_2d3d); 28 | } 29 | default: { 30 | LOG(FATAL) << "Requested mesher type is not supported.\n" 31 | << static_cast(mesher_type); 32 | } 33 | } 34 | } 35 | 36 | } // namespace VIO 37 | -------------------------------------------------------------------------------- /src/pipeline/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/MonoImuPipeline.cpp" 5 | "${CMAKE_CURRENT_LIST_DIR}/PipelineModule.cpp" 6 | "${CMAKE_CURRENT_LIST_DIR}/PipelinePayload.cpp" 7 | "${CMAKE_CURRENT_LIST_DIR}/PipelineParams.cpp" 8 | "${CMAKE_CURRENT_LIST_DIR}/Pipeline.cpp" 9 | "${CMAKE_CURRENT_LIST_DIR}/Pipeline-definitions.cpp" 10 | "${CMAKE_CURRENT_LIST_DIR}/QueueSynchronizer.cpp" 11 | "${CMAKE_CURRENT_LIST_DIR}/RgbdImuPipeline.cpp" 12 | "${CMAKE_CURRENT_LIST_DIR}/StereoImuPipeline.cpp" 13 | ) 14 | -------------------------------------------------------------------------------- /src/pipeline/PipelineModule.cpp: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file PipelineModule.cpp 11 | * @brief Implements a VIO pipeline module. 12 | * @author Antoni Rosinol 13 | */ 14 | 15 | #include "kimera-vio/pipeline/PipelineModule.h" 16 | 17 | namespace VIO {} // namespace VIO 18 | -------------------------------------------------------------------------------- /src/pipeline/PipelineParams.cpp: -------------------------------------------------------------------------------- 1 | #include "kimera-vio/pipeline/PipelineParams.h" 2 | 3 | namespace VIO { 4 | PipelineParams::PipelineParams(const std::string& name) : name_(name) { 5 | CHECK_EQ(kTotalWidth, kNameWidth + kValueWidth) 6 | << "Make sure these are consistent for pretty printing."; 7 | } 8 | 9 | } // namespace VIO 10 | -------------------------------------------------------------------------------- /src/pipeline/PipelinePayload.cpp: -------------------------------------------------------------------------------- 1 | #include "kimera-vio/pipeline/PipelinePayload.h" 2 | 3 | namespace VIO { 4 | 5 | PipelinePayload::PipelinePayload(const Timestamp& timestamp) 6 | : timestamp_(timestamp){}; 7 | 8 | } // namespace VIO 9 | -------------------------------------------------------------------------------- /src/pipeline/QueueSynchronizer.cpp: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file QueueSynchronizer.cpp 11 | * @brief Implements temporal synchronization of queues. 12 | * @author Antoni Rosinol 13 | */ 14 | 15 | #include "kimera-vio/pipeline/QueueSynchronizer.h" 16 | 17 | #include // for numeric_limits 18 | #include 19 | 20 | #include "kimera-vio/common/vio_types.h" 21 | #include "kimera-vio/pipeline/PipelinePayload.h" 22 | 23 | namespace VIO {} // namespace VIO 24 | -------------------------------------------------------------------------------- /src/playground/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/EurocPlayground.cpp" 5 | ) 6 | -------------------------------------------------------------------------------- /src/utils/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code for stereoVIO 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/FilesystemUtils.cpp" 5 | "${CMAKE_CURRENT_LIST_DIR}/GtsamPrinting.cpp" 6 | "${CMAKE_CURRENT_LIST_DIR}/Histogram.cpp" 7 | "${CMAKE_CURRENT_LIST_DIR}/Statistics.cpp" 8 | "${CMAKE_CURRENT_LIST_DIR}/ThreadsafeImuBuffer.cpp" 9 | "${CMAKE_CURRENT_LIST_DIR}/ThreadsafeOdometryBuffer.cpp" 10 | "${CMAKE_CURRENT_LIST_DIR}/UtilsGeometry.cpp" 11 | "${CMAKE_CURRENT_LIST_DIR}/UtilsNumerical.cpp" 12 | "${CMAKE_CURRENT_LIST_DIR}/UtilsOpenCV.cpp" 13 | ) 14 | -------------------------------------------------------------------------------- /src/utils/FilesystemUtils.cpp: -------------------------------------------------------------------------------- 1 | #include "kimera-vio/utils/FilesystemUtils.h" 2 | 3 | #include 4 | #include 5 | #include 6 | 7 | namespace VIO { 8 | namespace common { 9 | 10 | std::string pathAppend(const std::string& p1, const std::string& p2) { 11 | char sep = '/'; 12 | std::string tmp = p1; 13 | if (p1[p1.length()] != sep) { // Need to add a 14 | tmp += sep; // path separator 15 | return (tmp + p2); 16 | } else { 17 | return (p1 + p2); 18 | } 19 | } 20 | 21 | bool createDirectory(const std::string& dir_path, 22 | const std::string& dir_name, 23 | bool override_if_exists) { 24 | std::string path = pathAppend(dir_path, dir_name); 25 | // Give Read/write/search permissions for owner. 26 | int status = mkdir(path.c_str(), S_IRWXU); 27 | if (status == 0) { 28 | LOG(INFO) << "Directory created: " << path; 29 | return true; 30 | } else { 31 | LOG(ERROR) << "Directory creation failed for: " << path << '\n' 32 | << "Error code: " << strerror(errno); 33 | return false; 34 | } 35 | } 36 | 37 | } // namespace common 38 | } // namespace VIO 39 | -------------------------------------------------------------------------------- /src/visualizer/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | ### Add source code 2 | target_sources(kimera_vio 3 | PRIVATE 4 | "${CMAKE_CURRENT_LIST_DIR}/Visualizer3D.cpp" 5 | "${CMAKE_CURRENT_LIST_DIR}/Visualizer3DModule.cpp" 6 | "${CMAKE_CURRENT_LIST_DIR}/Visualizer3DFactory.cpp" 7 | "${CMAKE_CURRENT_LIST_DIR}/OpenCvVisualizer3D.cpp" 8 | "${CMAKE_CURRENT_LIST_DIR}/OpenCvDisplay.cpp" 9 | "${CMAKE_CURRENT_LIST_DIR}/OpenCvDisplayParams.cpp" 10 | "${CMAKE_CURRENT_LIST_DIR}/DisplayParams.cpp" 11 | "${CMAKE_CURRENT_LIST_DIR}/Display-definitions.cpp" 12 | "${CMAKE_CURRENT_LIST_DIR}/Display.cpp" 13 | "${CMAKE_CURRENT_LIST_DIR}/DisplayModule.cpp" 14 | "${CMAKE_CURRENT_LIST_DIR}/DisplayFactory.cpp" 15 | ) 16 | 17 | if(Pangolin_FOUND) 18 | target_sources(kimera_vio PRIVATE 19 | "${CMAKE_CURRENT_LIST_DIR}/PangolinDisplay.cpp" 20 | ) 21 | endif(Pangolin_FOUND) 22 | 23 | -------------------------------------------------------------------------------- /src/visualizer/Display.cpp: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file Display.cpp 11 | * @brief Class to display visualizer output 12 | * @author Antoni Rosinol 13 | */ 14 | 15 | #include "kimera-vio/visualizer/Display.h" 16 | 17 | #include "kimera-vio/visualizer/DisplayParams.h" 18 | 19 | namespace VIO { 20 | 21 | DisplayBase::DisplayBase(const DisplayType& display_type) 22 | : display_type_(display_type) {} 23 | 24 | } // namespace VIO 25 | -------------------------------------------------------------------------------- /src/visualizer/DisplayFactory.cpp: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file DisplayFactory.cpp 11 | * @brief 12 | * @author Antoni Rosinol 13 | */ 14 | 15 | #include "kimera-vio/visualizer/DisplayFactory.h" 16 | 17 | namespace VIO { 18 | 19 | } // namespace VIO 20 | -------------------------------------------------------------------------------- /src/visualizer/Visualizer3D.cpp: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file Visualizer.cpp 11 | * @brief Build and visualize 3D data: 2D mesh from Frame for example. 12 | * @author Antoni Rosinol 13 | */ 14 | 15 | #include "kimera-vio/visualizer/Visualizer3D.h" 16 | 17 | namespace VIO { 18 | 19 | Visualizer3D::Visualizer3D(const VisualizationType& viz_type) 20 | : visualization_type_(viz_type) {} 21 | 22 | } // namespace VIO 23 | -------------------------------------------------------------------------------- /tests/data/.gitignore: -------------------------------------------------------------------------------- 1 | % Don't ignore png files in the testing directory, they are used for unit tests 2 | 3 | !*.png 4 | -------------------------------------------------------------------------------- /tests/data/AlternateTestParams/ImuParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of IMU preintegration: 3 | # 0: CombinedImuFactor 4 | # 1: ImuFactor 5 | imu_preintegration_type: 1 6 | 7 | # These are Euroc Dataset parameters 8 | # Sensor extrinsics wrt. the body-frame. 9 | T_BS: 10 | cols: 4 11 | rows: 4 12 | data: [1.0, 0.0, 0.0, 0.0, 13 | 0.0, 1.0, 0.0, 0.0, 14 | 0.0, 0.0, 1.0, 0.0, 15 | 0.0, 0.0, 0.0, 1.0] 16 | rate_hz: 200 17 | 18 | # inertial sensor noise model parameters (static) 19 | imu_bias_init_sigma: 1e-3 20 | gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) 21 | gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) 22 | accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) 23 | accelerometer_random_walk: 3.0000e-3 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) 24 | 25 | # Extra parameters 26 | do_imu_rate_time_alignment: 0 27 | time_alignment_window_size_s: 20.0 28 | time_alignment_variance_threshold_scaling: 300.0 29 | imu_integration_sigma: 1.0e-8 30 | imu_time_shift: 0.0 31 | n_gravity: [0.0, 0.0, -9.81] 32 | -------------------------------------------------------------------------------- /tests/data/EurocParams/DisplayParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | # OpenCV Display params. 4 | 5 | # Whether to hold the display for user input 6 | hold_2d_display: 0 7 | hold_3d_display: 1 8 | -------------------------------------------------------------------------------- /tests/data/EurocParams/ImuParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Type of IMU preintegration: 3 | # 0: CombinedImuFactor 4 | # 1: ImuFactor 5 | imu_preintegration_type: 1 6 | 7 | # These are Euroc Dataset parameters 8 | # Sensor extrinsics wrt. the body-frame. 9 | T_BS: 10 | cols: 4 11 | rows: 4 12 | data: [1.0, 0.0, 0.0, 0.0, 13 | 0.0, 1.0, 0.0, 0.0, 14 | 0.0, 0.0, 1.0, 0.0, 15 | 0.0, 0.0, 0.0, 1.0] 16 | rate_hz: 200 17 | 18 | # inertial sensor noise model parameters (static) 19 | imu_bias_init_sigma: 1e-3 20 | gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) 21 | gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) 22 | accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) 23 | accelerometer_random_walk: 3.0000e-3 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) 24 | 25 | # Extra parameters 26 | do_imu_rate_time_alignment: 1 27 | time_alignment_window_size_s: 10.0 28 | time_alignment_variance_threshold_scaling: 30.0 29 | imu_integration_sigma: 1.0e-8 30 | imu_time_shift: 0.0 31 | n_gravity: [0.0, 0.0, -9.81] 32 | -------------------------------------------------------------------------------- /tests/data/EurocParams/LeftCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: left_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 10 | 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, 11 | -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05] 21 | 22 | -------------------------------------------------------------------------------- /tests/data/EurocParams/OdometryParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | T_BS: 3 | cols: 4 4 | rows: 4 5 | data: [1.0, 0.0, 0.0, 1.0, 6 | 0.0, 1.0, 0.0, 2.0, 7 | 0.0, 0.0, 1.0, 3.0, 8 | 0.0, 0.0, 0.0, 1.0] 9 | 10 | 11 | odomRotationPrecision: 1.0 12 | odomPositionPrecision: 2.0 13 | odomVelPrecision: 3.0 14 | odomTimeShift: 0.0 15 | rate_hz: 4.0 16 | -------------------------------------------------------------------------------- /tests/data/EurocParams/PipelineParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # frontend_type 3 | # Type of VIO Frontend to use 4 | # 0: MonoImu 5 | # 1: StereoImu 6 | frontend_type: 1 7 | 8 | # Type of vioBackend to use: 9 | # 0: VioBackend 10 | # 1: RegularVioBackend 11 | backend_type: 1 12 | 13 | # Type of displayer 14 | # 0: OpenCV 15 | # 1: Pangolin 16 | display_type: 0 17 | 18 | # Run VIO parallel or sequential 19 | parallel_run: 1 20 | -------------------------------------------------------------------------------- /tests/data/EurocParams/RightCameraParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: right_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, 10 | 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, 11 | -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28368365, 0.07451284, -0.00010473, -3.55590700e-05] 21 | -------------------------------------------------------------------------------- /tests/data/EurocParams/flags/RegularVioBackEnd.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # RegularVioBackend parameters. 3 | --min_num_of_observations=2 4 | --max_parallax=150 5 | --min_num_obs_for_proj_factor=4 6 | --convert_extra_smart_factors_to_proj_factors=false 7 | --remove_old_reg_factors=true 8 | --min_num_of_plane_constraints_to_add_factors=40 9 | --min_num_of_plane_constraints_to_remove_factors=25 10 | --use_unstable_plane_removal=false 11 | --min_num_of_plane_constraints_to_avoid_seg_fault=10 12 | --prior_noise_sigma_normal=0.1 13 | --prior_noise_sigma_distance=0.1 14 | -------------------------------------------------------------------------------- /tests/data/EurocParams/flags/VioBackEnd.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --debug_graph_before_opt=true 3 | --process_cheirality=true 4 | --max_number_of_cheirality_exceptions=5 5 | -------------------------------------------------------------------------------- /tests/data/EurocParams/flags/Visualizer3D.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | # Visualizer 3D parameters. 3 | --mesh_shading=0 4 | --mesh_representation=1 5 | --set_mesh_lighting=true 6 | --set_mesh_ambient=false 7 | --log_mesh=false 8 | --log_accumulated_mesh=false 9 | --displayed_trajectory_length=-1 10 | -------------------------------------------------------------------------------- /tests/data/EurocParams/flags/stereoVIOEuroc.flags: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | --log_output=false 3 | --backend_type=1 4 | --regular_vio_backend_modality=0 5 | --deterministic_random_number_generator=true 6 | --visualize=true 7 | --visualize_lmk_type=false 8 | --visualize_mesh=true 9 | --visualize_mesh_with_colored_polygon_clusters=false 10 | --visualize_point_cloud=true 11 | --visualize_convex_hull=false 12 | --visualize_plane_constraints=false 13 | --visualize_planes=false 14 | --visualize_plane_label=false 15 | --visualize_semantic_mesh=false 16 | --visualize_mesh_in_frustum=true 17 | #--visualize_load_mesh_filename=/home/tonirv/datasets/euroc/V1_01_easy/mav0/pointcloud0/data.ply 18 | --viz_type=0 19 | --min_num_obs_for_mesher_points=3 20 | --extract_planes_from_the_scene=false 21 | 22 | # For displaying/saving Frontend images: 23 | --visualize_frontend_images=false 24 | --save_frontend_images=false 25 | --log_feature_tracks=true 26 | --log_mono_tracking_images=false 27 | --log_stereo_matching_images=false 28 | -------------------------------------------------------------------------------- /tests/data/ForKittiData/calib_imu_to_velo.txt: -------------------------------------------------------------------------------- 1 | calib_time: 25-May-2012 16:47:16 2 | R: 9.999976e-01 7.553071e-04 -2.035826e-03 -7.854027e-04 9.998898e-01 -1.482298e-02 2.024406e-03 1.482454e-02 9.998881e-01 3 | T: -8.086759e-01 3.195559e-01 -7.997231e-01 4 | -------------------------------------------------------------------------------- /tests/data/ForKittiData/calib_velo_to_cam.txt: -------------------------------------------------------------------------------- 1 | calib_time: 15-Mar-2012 11:37:16 2 | R: 7.533745e-03 -9.999714e-01 -6.166020e-04 1.480249e-02 7.280733e-04 -9.998902e-01 9.998621e-01 7.523790e-03 1.480755e-02 3 | T: -4.069766e-03 -7.631618e-02 -2.717806e-01 4 | delta_f: 0.000000e+00 0.000000e+00 5 | delta_c: 0.000000e+00 0.000000e+00 6 | -------------------------------------------------------------------------------- /tests/data/ForLogger/backend_output/.gitignore: -------------------------------------------------------------------------------- 1 | # Ignore all pipeline results, but not this folder 2 | # We will store all output logs for testing in this folder 3 | * 4 | */ 5 | !.gitignore 6 | -------------------------------------------------------------------------------- /tests/data/ForLogger/frontend_output/.gitignore: -------------------------------------------------------------------------------- 1 | # Ignore all pipeline results, but not this folder 2 | # We will store all output logs for testing in this folder 3 | * 4 | */ 5 | !.gitignore 6 | -------------------------------------------------------------------------------- /tests/data/ForLogger/loopclosure_output/.gitignore: -------------------------------------------------------------------------------- 1 | # Ignore all pipeline results, but not this folder 2 | # We will store all output logs for testing in this folder 3 | * 4 | */ 5 | !.gitignore 6 | -------------------------------------------------------------------------------- /tests/data/ForLoopClosureDetector/left_img_0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForLoopClosureDetector/left_img_0.png -------------------------------------------------------------------------------- /tests/data/ForLoopClosureDetector/left_img_1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForLoopClosureDetector/left_img_1.png -------------------------------------------------------------------------------- /tests/data/ForLoopClosureDetector/left_img_2.png: 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https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForLoopClosureDetector/right_img_3.png -------------------------------------------------------------------------------- /tests/data/ForLoopClosureDetector/sensorLeft.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: camera 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 10 | 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, 11 | -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05] 21 | -------------------------------------------------------------------------------- /tests/data/ForLoopClosureDetector/sensorRight.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: camera 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, 10 | 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, 11 | -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28368365, 0.07451284, -0.00010473, -3.55590700e-05] 21 | -------------------------------------------------------------------------------- /tests/data/ForLoopClosureDetector/small_voc.yml.gz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForLoopClosureDetector/small_voc.yml.gz -------------------------------------------------------------------------------- /tests/data/ForMeshUtils/ray_triangle_barycentric.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForMeshUtils/ray_triangle_barycentric.jpg -------------------------------------------------------------------------------- /tests/data/ForMeshUtils/ray_triangle_color.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForMeshUtils/ray_triangle_color.jpg -------------------------------------------------------------------------------- /tests/data/ForOmniCamera/OmniCamParams.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: left_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 10 | 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, 11 | -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [2000, 1500] 17 | camera_model: omni 18 | intrinsics: [] # must be empty for omni 19 | distortion_model: omni 20 | distortion_coefficients: [875.074642516832, 0.0, -0.00030379174233022, -4.81892212543229e-08, 1.71277628064668e-11] 21 | omni_pol_inv: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 22 | omni_affine: [0.0, 0.0, 1.0] 23 | omni_distortion_center: [1005.817454205254, 743.034296906609] 24 | -------------------------------------------------------------------------------- /tests/data/ForOnlineAlignment/alignment/mav0/gt0/sensor.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Trivial pose for sensor 3 | T_BS: 4 | cols: 4 5 | rows: 4 6 | data: [1.0, 0.0, 0.0, 0.0, 7 | 0.0, 1.0, 0.0, 0.0, 8 | 0.0, 0.0, 1.0, 0.0, 9 | 0.0, 0.0, 0.0, 1.0] 10 | 11 | -------------------------------------------------------------------------------- /tests/data/ForOnlineAlignment/gyro_bias/mav0/gt0/data.csv: -------------------------------------------------------------------------------- 1 | #timestamp, p_RS_R_x [m], p_RS_R_y [m], p_RS_R_z [m], q_RS_w [], q_RS_x [], q_RS_y [], q_RS_z [], v_RS_R_x [m s^-1], v_RS_R_y [m s^-1], v_RS_R_z [m s^-1], b_w_RS_S_x [rad s^-1], b_w_RS_S_y [rad s^-1], b_w_RS_S_z [rad s^-1], b_a_RS_S_x [m s^-2], b_a_RS_S_y [m s^-2], b_a_RS_S_z [m s^-2] 2 | 251410000000,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0 3 | 251510000000,0,0,0,0.7071,0.7071,0,0,0,0,0,0,0,0,0,0,0 4 | 251610000000,0,0,0,0.5,0.5,-0.5,0.5,0,0,0,0,0,0,0,0,0 5 | 251710000000,0,0,0,0,0.7071,0,0.7071,0,0,0,0,0,0,0,0,0 6 | 251810000000,0,0,0,0.5,0.5,0.5,0.5,0,0,0,0,0,0,0,0,0 7 | 251910000000,0,0,0,0.2706,0.2706,0.6533,0.6533,0,0,0,0,0,0,0,0,0 8 | -------------------------------------------------------------------------------- /tests/data/ForOnlineAlignment/gyro_bias/mav0/gt0/sensor.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | # Trivial pose for sensor 4 | T_BS: 5 | cols: 4 6 | rows: 4 7 | data: [1.0, 0.0, 0.0, 0.0, 8 | 0.0, 1.0, 0.0, 0.0, 9 | 0.0, 0.0, 1.0, 0.0, 10 | 0.0, 0.0, 0.0, 1.0] 11 | 12 | -------------------------------------------------------------------------------- /tests/data/ForOnlineAlignment/mav0/gt0/sensor.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | # Trivial pose for sensor 4 | T_BS: 5 | cols: 4 6 | rows: 4 7 | data: [1.0, 0.0, 0.0, 0.0, 8 | 0.0, 1.0, 0.0, 0.0, 9 | 0.0, 0.0, 1.0, 0.0, 10 | 0.0, 0.0, 0.0, 1.0] 11 | 12 | -------------------------------------------------------------------------------- /tests/data/ForOnlineAlignment/mav0/imu0/.~lock.data.csv#: -------------------------------------------------------------------------------- 1 | ,sb,sandroberchier,20.06.2019 18:28,file:///home/sb/.config/libreoffice/4; -------------------------------------------------------------------------------- /tests/data/ForOnlineAlignment/real_data/mav0/gt0/sensor.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # Trivial pose for sensor 3 | T_BS: 4 | cols: 4 5 | rows: 4 6 | data: [1.0, 0.0, 0.0, 0.0, 7 | 0.0, 1.0, 0.0, 0.0, 8 | 0.0, 0.0, 1.0, 0.0, 9 | 0.0, 0.0, 0.0, 1.0] 10 | 11 | -------------------------------------------------------------------------------- /tests/data/ForRgbd/depth_img_0.tiff: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForRgbd/depth_img_0.tiff -------------------------------------------------------------------------------- /tests/data/ForRgbd/depth_img_1.tiff: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForRgbd/depth_img_1.tiff -------------------------------------------------------------------------------- /tests/data/ForRgbd/left_img_0.png: -------------------------------------------------------------------------------- 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[720, 480] 17 | camera_model: pinhole 18 | intrinsics: [415.69219381653056, 415.69219381653056, 360.0, 240.0] 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [0.0, 0.0, 0.0, 0.0] 21 | 22 | # Depth specific parameters 23 | virtual_baseline: 0.3 24 | min_depth: 0.0 25 | depth_to_meters: 1.0 26 | max_depth: 10.0 27 | is_registered: 0 28 | T_color_depth: 29 | cols: 4 30 | rows: 4 31 | data: [ 1.0, 0.0, 0.0, 0.0, 32 | 0.0, 1.0, 0.0, 0.0, 33 | 0.0, 0.0, 1.0, 0.0, 34 | 0.0, 0.0, 0.0, 1.0] 35 | depth_intrinsics: [415.69219381653056, 415.69219381653056, 360.0, 240.0] 36 | -------------------------------------------------------------------------------- /tests/data/ForStereoFrame/archive/.gitignore: -------------------------------------------------------------------------------- 1 | /keypoints_3d.txt 2 | /keypoints_depth.txt 3 | /left_sensor_radtan.yaml 4 | /right_sensor_radtan.yaml 5 | -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /tests/data/ForStereoFrame/left_ref_img_0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForStereoFrame/left_ref_img_0.png -------------------------------------------------------------------------------- /tests/data/ForStereoFrame/left_sensor_fisheye.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: MyntEye S - JPL 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [-0.002506617, -0.999975268, 0.006571120, -0.003087790, 10 | 0.999995111, -0.002494275, 0.001885736, 0.001692289, 11 | -0.001869299, 0.006575815, 0.999976632, -0.000023275, 12 | 0.000000000, 0.000000000, 0.000000000, 1.000000000] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 25 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [366.163,365.631,380.573,225.950] #fu, fv, cu, cv 19 | distortion_model: equidistant 20 | distortion_coefficients: [-0.020476443,-0.007108226,0.002180580,-0.001192386] 21 | 22 | -------------------------------------------------------------------------------- /tests/data/ForStereoFrame/right_fisheye_img_0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForStereoFrame/right_fisheye_img_0.png -------------------------------------------------------------------------------- /tests/data/ForStereoFrame/right_img_0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForStereoFrame/right_img_0.png 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15 | rate_hz: 25 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [367.032,366.632,379.304,236.659] #fu, fv, cu, cv 19 | distortion_model: equidistant 20 | distortion_coefficients: [-0.019659843,-0.005079736,-0.001357391,0.000419038] 21 | 22 | -------------------------------------------------------------------------------- /tests/data/ForStereoFrame/sensorLeft.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: camera 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 10 | 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, 11 | -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05] 21 | 22 | -------------------------------------------------------------------------------- /tests/data/ForStereoFrame/sensorRight.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: camera 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, 10 | 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, 11 | -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28368365, 0.07451284, -0.00010473, -3.55590700e-05] 21 | -------------------------------------------------------------------------------- /tests/data/ForStereoFrame/sidebyside_ref_img_0.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForStereoFrame/sidebyside_ref_img_0.png -------------------------------------------------------------------------------- /tests/data/ForStereoTracker/camLeft.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: camera 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.939693, 0.342020, 0.000000, 240.000000, 10 | -0.342020, 0.939693, 0.000000, 160.000000, 11 | 0.000000, 0.000000, 1.000000, -480.000000, 12 | 0.0, 0.0, 0.0, 1.0] 13 | rate_hz: 20 14 | resolution: [752, 480] 15 | camera_model: pinhole 16 | intrinsics: [458.654000, 457.296000, 367.215000, 248.375000] 17 | distortion_model: radial-tangential 18 | distortion_coefficients: [-0.283408, 0.073959, 0.000194, 0.000018] 19 | -------------------------------------------------------------------------------- /tests/data/ForStereoTracker/camLeftEuroc.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: left_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 10 | 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, 11 | -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05] -------------------------------------------------------------------------------- /tests/data/ForStereoTracker/camRight.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: camera 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.939693, 0.342020, 0.000000, 330.210492, 10 | -0.342020, 0.939693, 0.000000, 127.166066, 11 | 0.000000, 0.000000, 1.000000, -480.000000, 12 | 0.0, 0.0, 0.0, 1.0] 13 | rate_hz: 20 14 | resolution: [752, 480] 15 | camera_model: pinhole 16 | intrinsics: [458.654000, 457.296000, 367.215000, 248.375000] 17 | distortion_model: radial-tangential 18 | distortion_coefficients: [-0.283684, 0.074513, -0.000105, -0.000036] 19 | -------------------------------------------------------------------------------- /tests/data/ForStereoTracker/camRightEuroc.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: right_cam 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, 10 | 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, 11 | -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28368365, 0.07451284, -0.00010473, -3.55590700e-05] -------------------------------------------------------------------------------- /tests/data/ForStereoTracker/corners_normal_left.txt: -------------------------------------------------------------------------------- 1 | 35 2 | 219.978617 48.072049 3 | 192.517363 110.023609 4 | 166.799238 175.831028 5 | 144.001781 242.733119 6 | 125.007888 307.858301 7 | 282.042058 65.139620 8 | 254.925605 129.788606 9 | 228.702073 198.265066 10 | 204.588940 267.543897 11 | 183.607422 334.525305 12 | 349.148439 85.987427 13 | 322.968575 152.635031 14 | 296.670078 222.911391 15 | 271.474554 293.625581 16 | 248.505734 361.547685 17 | 418.614082 109.977275 18 | 393.868345 177.723161 19 | 367.929454 248.764457 20 | 341.987338 319.842504 21 | 317.232431 387.695353 22 | 487.332165 136.094545 23 | 464.388030 203.934944 24 | 439.211638 274.638479 25 | 412.925432 344.976848 26 | 386.750741 411.754166 27 | 552.264628 163.126710 28 | 531.323703 230.052508 29 | 507.245217 299.345943 30 | 481.048319 367.907162 31 | 453.949426 432.704431 32 | 610.934092 189.841841 33 | 591.996307 254.936671 34 | 569.247839 321.876116 35 | 543.568736 387.786864 36 | 516.134692 449.899422 37 | -------------------------------------------------------------------------------- /tests/data/ForStereoTracker/corners_normal_right.txt: -------------------------------------------------------------------------------- 1 | 35 2 | 146.779733 56.701464 3 | 120.561436 116.949138 4 | 97.212223 179.898575 5 | 77.675870 243.086253 6 | 62.413502 304.099671 7 | 201.056893 70.727863 8 | 174.210600 134.217696 9 | 149.707610 200.460809 10 | 128.613299 266.631113 11 | 111.609510 329.989509 12 | 262.560502 88.446523 13 | 235.635327 154.730284 14 | 210.238542 223.647235 15 | 187.521046 292.107546 16 | 168.349324 357.144346 17 | 329.649863 109.732458 18 | 303.181323 178.062207 19 | 277.236248 248.769417 20 | 253.014982 318.599344 21 | 231.532576 384.456169 22 | 399.684309 133.919205 23 | 374.158250 203.346113 24 | 348.059835 274.795088 25 | 322.602780 344.945293 26 | 298.914623 410.670789 27 | 469.518799 159.978660 28 | 445.335316 229.451841 29 | 419.491882 300.527995 30 | 393.179507 369.919020 31 | 367.602142 434.567682 32 | 535.999513 186.700939 33 | 513.436875 255.166271 34 | 488.234037 324.787753 35 | 461.523224 392.408845 36 | 434.548724 455.139841 37 | -------------------------------------------------------------------------------- /tests/data/ForStereoTracker/corners_undistort_left.txt: -------------------------------------------------------------------------------- 1 | 35 2 | 204.722199 27.323009 3 | 178.577381 98.942622 4 | 152.432564 170.562234 5 | 126.287746 242.181847 6 | 100.142928 313.801460 7 | 276.554496 53.390416 8 | 250.409678 125.010029 9 | 224.264860 196.629642 10 | 198.120042 268.249254 11 | 171.975225 339.868867 12 | 348.386792 79.457823 13 | 322.241975 151.077436 14 | 296.097157 222.697049 15 | 269.952339 294.316662 16 | 243.807521 365.936274 17 | 420.219089 105.525231 18 | 394.074271 177.144843 19 | 367.929453 248.764456 20 | 341.784635 320.384069 21 | 315.639818 392.003682 22 | 492.051385 131.592638 23 | 465.906568 203.212251 24 | 439.761750 274.831863 25 | 413.616932 346.451476 26 | 387.472114 418.071089 27 | 563.883682 157.660045 28 | 537.738864 229.279658 29 | 511.594046 300.899271 30 | 485.449229 372.518883 31 | 459.304411 444.138496 32 | 635.715979 183.727452 33 | 609.571161 255.347065 34 | 583.426343 326.966678 35 | 557.281525 398.586291 36 | 531.136707 470.205903 37 | -------------------------------------------------------------------------------- /tests/data/ForStereoTracker/corners_undistort_right.txt: -------------------------------------------------------------------------------- 1 | 35 2 | 112.991399 27.323009 3 | 86.846581 98.942622 4 | 60.701764 170.562234 5 | 34.556946 242.181847 6 | 8.412128 313.801460 7 | 184.823696 53.390416 8 | 158.678878 125.010029 9 | 132.534060 196.629642 10 | 106.389242 268.249254 11 | 80.244425 339.868867 12 | 256.655992 79.457823 13 | 230.511175 151.077436 14 | 204.366357 222.697049 15 | 178.221539 294.316662 16 | 152.076721 365.936274 17 | 328.488289 105.525231 18 | 302.343471 177.144843 19 | 276.198653 248.764456 20 | 250.053835 320.384069 21 | 223.909018 392.003682 22 | 400.320585 131.592638 23 | 374.175768 203.212251 24 | 348.030950 274.831863 25 | 321.886132 346.451476 26 | 295.741314 418.071089 27 | 472.152882 157.660045 28 | 446.008064 229.279658 29 | 419.863246 300.899271 30 | 393.718429 372.518883 31 | 367.573611 444.138496 32 | 543.985179 183.727452 33 | 517.840361 255.347065 34 | 491.695543 326.966678 35 | 465.550725 398.586291 36 | 439.405907 470.205903 37 | -------------------------------------------------------------------------------- /tests/data/ForStereoTracker/depth_left.txt: -------------------------------------------------------------------------------- 1 | 35 2 | 480.000000 3 | 480.000000 4 | 480.000000 5 | 480.000000 6 | 480.000000 7 | 480.000000 8 | 480.000000 9 | 480.000000 10 | 480.000000 11 | 480.000000 12 | 480.000000 13 | 480.000000 14 | 480.000000 15 | 480.000000 16 | 480.000000 17 | 480.000000 18 | 480.000000 19 | 480.000000 20 | 480.000000 21 | 480.000000 22 | 480.000000 23 | 480.000000 24 | 480.000000 25 | 480.000000 26 | 480.000000 27 | 480.000000 28 | 480.000000 29 | 480.000000 30 | 480.000000 31 | 480.000000 32 | 480.000000 33 | 480.000000 34 | 480.000000 35 | 480.000000 36 | 480.000000 37 | -------------------------------------------------------------------------------- /tests/data/ForStereoTracker/img_distort_left.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/ForStereoTracker/img_distort_left.png -------------------------------------------------------------------------------- /tests/data/ForStereoTracker/img_distort_right.png: -------------------------------------------------------------------------------- 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#OPTIMIZATION PARAMETERS 24 | relinearizeSkip: 12 25 | zero_velocity_precision: 1.1 26 | no_motion_position_precision: 1.2 27 | no_motion_rotation_precision: 1.3 28 | constant_vel_precision: 1.4 29 | numOptimize: 0 30 | nr_states: 2 # number of nodes in horizon. 31 | wildfire_threshold: 0.001 32 | useDogLeg: 1 33 | 34 | # Method used to generate the initial guess for the pose of the keyframe 35 | pose_guess_source: 0 36 | mono_translation_scale_factor: 0.1 37 | -------------------------------------------------------------------------------- /tests/data/MicroEurocDataset/LICENSE.md: -------------------------------------------------------------------------------- 1 | Dataset belongs to ASL/ETHZ: https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets 2 | -------------------------------------------------------------------------------- /tests/data/MicroEurocDataset/mav0/body.yaml: -------------------------------------------------------------------------------- 1 | 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the body-frame. 7 | T_BS: 8 | cols: 4 9 | rows: 4 10 | data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 11 | 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, 12 | -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 13 | 0.0, 0.0, 0.0, 1.0] 14 | 15 | # Camera specific definitions. 16 | rate_hz: 20 17 | resolution: [752, 480] 18 | camera_model: pinhole 19 | intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv 20 | distortion_model: radial-tangential 21 | distortion_coefficients: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05] 22 | 23 | -------------------------------------------------------------------------------- /tests/data/MicroEurocDataset/mav0/cam1/data/1403715273262142976.png: -------------------------------------------------------------------------------- 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0.999517347078, 0.00786212447038, 13 | 0.0, 0.0, 0.0, 1.0] 14 | 15 | # Camera specific definitions. 16 | rate_hz: 20 17 | resolution: [752, 480] 18 | camera_model: pinhole 19 | intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv 20 | distortion_model: radial-tangential 21 | distortion_coefficients: [-0.28368365, 0.07451284, -0.00010473, -3.55590700e-05] 22 | -------------------------------------------------------------------------------- /tests/data/MicroEurocDataset/mav0/imu0/sensor.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | #Default imu sensor yaml file 3 | sensor_type: imu 4 | comment: VI-Sensor IMU (ADIS16448) 5 | 6 | # Sensor extrinsics wrt. the body-frame. 7 | T_BS: 8 | cols: 4 9 | rows: 4 10 | data: [1.0, 0.0, 0.0, 0.0, 11 | 0.0, 1.0, 0.0, 0.0, 12 | 0.0, 0.0, 1.0, 0.0, 13 | 0.0, 0.0, 0.0, 1.0] 14 | rate_hz: 200 15 | 16 | # inertial sensor noise model parameters (static) 17 | gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" ) 18 | gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion ) 19 | accelerometer_noise_density: 2.0000e-3 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" ) 20 | accelerometer_random_walk: 3.0000e-3 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion ) 21 | 22 | -------------------------------------------------------------------------------- /tests/data/MicroEurocDataset/mav0/state_groundtruth_estimate0/sensor.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | sensor_type: visual-inertial 4 | comment: The nonlinear least-squares batch solution over the Vicon pose and IMU measurements including time offset estimation. 5 | 6 | # Sensor extrinsics wrt. the body-frame. This is the transformation of the 7 | # tracking prima to the body frame. 8 | T_BS: 9 | cols: 4 10 | rows: 4 11 | data: [1.0, 0.0, 0.0, 0.0, 12 | 0.0, 1.0, 0.0, 0.0, 13 | 0.0, 0.0, 1.0, 0.0, 14 | 0.0, 0.0, 0.0, 1.0] 15 | -------------------------------------------------------------------------------- /tests/data/chessboard.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/chessboard.png -------------------------------------------------------------------------------- /tests/data/chessboard_small.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/chessboard_small.png -------------------------------------------------------------------------------- /tests/data/lena.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/lena.png -------------------------------------------------------------------------------- /tests/data/realImage.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/realImage.png -------------------------------------------------------------------------------- /tests/data/sensor.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | # General sensor definitions. 3 | camera_id: camera 4 | 5 | # Sensor extrinsics wrt. the body-frame. 6 | T_BS: 7 | cols: 4 8 | rows: 4 9 | data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 10 | 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, 11 | -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 12 | 0.0, 0.0, 0.0, 1.0] 13 | 14 | # Camera specific definitions. 15 | rate_hz: 20 16 | resolution: [752, 480] 17 | camera_model: pinhole 18 | intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv 19 | distortion_model: radial-tangential 20 | distortion_coefficients: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05] 21 | -------------------------------------------------------------------------------- /tests/data/testImage: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/testImage -------------------------------------------------------------------------------- /tests/data/whitewall.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MIT-SPARK/Kimera-VIO/ce8c59b7b273ab5ac29db7e5572e1623760e19c7/tests/data/whitewall.png -------------------------------------------------------------------------------- /tests/testKimeraVIO.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | DEFINE_string(test_data_path, "../tests/data", "Path to data for unit tests."); 6 | 7 | DEFINE_bool(display, false, "Display test results."); 8 | 9 | int main(int argc, char** argv) { 10 | // Initialize Google's testing library. 11 | ::testing::InitGoogleTest(&argc, argv); 12 | // Initialize Google's flags library. 13 | google::ParseCommandLineFlags(&argc, &argv, true); 14 | // Initialize Google's logging library. 15 | google::InitGoogleLogging(argv[0]); 16 | FLAGS_logtostderr = 1; 17 | FLAGS_colorlogtostderr = 1; 18 | return RUN_ALL_TESTS(); 19 | } 20 | -------------------------------------------------------------------------------- /tests/testKittiDataProvider.cpp: -------------------------------------------------------------------------------- 1 | /* ---------------------------------------------------------------------------- 2 | * Copyright 2017, Massachusetts Institute of Technology, 3 | * Cambridge, MA 02139 4 | * All Rights Reserved 5 | * Authors: Luca Carlone, et al. (see THANKS for the full author list) 6 | * See LICENSE for the license information 7 | * -------------------------------------------------------------------------- */ 8 | 9 | /** 10 | * @file testKittiDataProvider.cpp 11 | * @brief test Kitti data parser 12 | * @author Yun Chang 13 | */ 14 | 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | 21 | #include 22 | #include 23 | #include 24 | 25 | #include "kimera-vio/visualizer/Visualizer3D.h" 26 | 27 | DECLARE_string(test_data_path); 28 | 29 | using namespace std; 30 | using namespace VIO; 31 | using namespace cv; 32 | 33 | // TODO(Yun) 34 | TEST(testFrame, KittiDataProvider) { 35 | // TODO: test kitti data provider Check image lists and also imu data parsing 36 | // Construct a frame from image name. 37 | } 38 | -------------------------------------------------------------------------------- /third_party/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(triangle) 2 | -------------------------------------------------------------------------------- /third_party/triangle/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required (VERSION 3.5) 2 | project(triangle VERSION 0.1.6 LANGUAGES CXX C) 3 | 4 | add_library(triangle STATIC "${CMAKE_CURRENT_LIST_DIR}/src/triangle.c") 5 | target_include_directories(triangle PUBLIC 6 | $ 7 | $) 8 | set_target_properties(triangle PROPERTIES POSITION_INDEPENDENT_CODE ON) 9 | #TODO(someone) consider removing march=native here 10 | target_compile_options(triangle PRIVATE -march=native -Wno-format) 11 | 12 | add_library(triangle::triangle ALIAS triangle) 13 | 14 | install(TARGETS triangle EXPORT kimera_vio-export 15 | ARCHIVE DESTINATION lib 16 | LIBRARY DESTINATION lib 17 | COMPONENT library 18 | ) 19 | --------------------------------------------------------------------------------