Dev/externalize bow

.pre-commit-config.yaml

@@ -11,6 +11,7 @@ repos:
     rev: v5.0.0
     hooks:
     -   id: check-added-large-files
+        exclude: ^(Examples/Aquarium/colmap_groundtruth)/.*
     -   id: check-json
     -   id: check-merge-conflict
     -   id: check-xml

Examples/Aquarium/.gitignore

@@ -0,0 +1 @@
+aquarium_data/

Examples/Aquarium/README.md

@@ -0,0 +1,40 @@
+Code and configurations for processing the three `2025_05_23_aquarium_test/` ROS2 bags of data.
+
+This directory uses the `rosbag_convert_euroc.py` script to convert the contents of the ROS2 bags to a EuRoC-like format of left and right images, then uses the "standard" ORBSLAM3 EuRoC examples (e.g. `mono_euroc`, `stereo_euroc`) to process the data.
+
+For organization, I've tried bundling all of the tasks in to a ['Taskfile'](Taskfile.yml), to use it, install [`task`](https://taskfile.dev)
+
+General steps are as follows:
+
+1. Build ORBSLAM and the EuRoC binaries, go to `ORB_SLAM3/` and:
+
+```
+./install_apt_dependencies.sh
+./build.sh
+```
+
+This will build `Release` binaries, which will appear in (for example), the `Examples/EuRoC/Release/` directory.  To build `Debug` or `RelWithDebInfo` binaries:
+
+```
+BUILD_TYPE=Debug ./build.sh
+```
+
+2. Return to this directory.  Update the [Taskfile](Taskfile.yml):
+
+  * Update `BAGFILES_PATH` to point to the original ROS2 bags if you need to generate the Aquarium-as-EuRoC data sets
+  * Set `BUILT_TYPE` to the binaries to use.  This should agree with the 'build.sh` above
+  * Set `CONFIG_FILE` to either `aquarium_resize.yaml` (for downsampling by a factor of two) or `aquarium.yaml` (for processing images at full size)
+
+3. Do the following, once:
+
+```
+task convert
+```
+
+Will generate the EuRoC datasets in the local directory from the Aquarium bagfiles.
+
+4. Run ORBSLAM3:
+
+```
+task stereo:rosbag2_2025_05_23-09_29_11
+```

Examples/Aquarium/Taskfile.yml

@@ -0,0 +1,41 @@
+version: '3'
+
+vars:
+  # This needs to be updates before you run `task convert`
+  BAGFILES_PATH: /home/aaron/workspace/aquarium_nano_data/2025_05_23_aquarium_test
+
+  BAGFILES: [ 'rosbag2_2025_05_23-08_27_30', 'rosbag2_2025_05_23-08_50_46', 'rosbag2_2025_05_23-09_29_11' ]
+
+  BUILD_TYPE: RelWithDebInfo
+
+  CONFIG_FILE: aquarium_resize.yaml
+
+  BIN_DIR: ../EuRoC
+  BIN_SUFFIX: euroc
+
+  VOCAB_FILE: ../../Vocabulary/ORBvoc.txt
+
+tasks:
+
+  # Process one bag using stereo_euroc
+  stereo:*:
+    vars:
+      BAG: '{{index .MATCH 0}}'
+      BINARY: '{{.BIN_DIR}}/{{.BUILD_TYPE}}/stereo_{{.BIN_SUFFIX}}'
+    cmds:
+      - '{{.BINARY}} {{.CONFIG_FILE}} {{.VOCAB_FILE}} aquarium_data/{{.BAG}} aquarium_data/{{.BAG}}/mav0/cam0/data.csv 2>&1 | tee {{.BAG}}_stereo.txt'
+
+  # Convert all three aquarium ros2 bags to EuRoC format
+  convert:
+    deps:
+      - for:
+          var: BAGFILES
+        task: convert:{{.ITEM}}
+
+  # Convert one bag to EuRoC format
+  convert:*:
+    vars:
+      BAG: '{{index .MATCH 0}}'
+    cmds:
+      - echo Converting bagfile {{.BAG}}
+      - ./rosbag_convert_euroc.py -o aquarium_data {{.BAGFILES_PATH}}/{{.BAG}}

Examples/Aquarium/aquarium.yaml

@@ -0,0 +1,150 @@
+%YAML:1.0
+
+# ORBSLAM3 settings file, passed to the node via the "path_yaml_settings" param
+#
+# Contains values specific to the odometry nano _in water_
+#
+# The camera intrinsics and extrinsics are specific to the "2025_05_23_aquarium_test/"
+# The calibration is taken from  "2025_04_07_hh101_calibration/"
+#
+# This calibration _WILL NOT_ work for APL pier data
+#
+# !! This configuration file includes downsampling images by a factor of 2
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+#--------------------------------------------------------------------------------------------
+# PARAMETERS RETURNED BY MATLAB CALIBRATION HERE
+Camera.type: "PinHole"
+
+Camera.width: 1440
+Camera.height: 1080
+
+Camera1.fx: 1061.90838
+Camera1.fy: 1065.08245
+Camera1.cx: 778.19368
+Camera1.cy: 553.85699
+
+Camera1.k1: -0.259389
+Camera1.k2: 0.203687
+Camera1.p1: 0.00066
+Camera1.p2: 0.003063
+Camera1.k3: -0.0845
+
+Camera2.fx: 1060.22456
+Camera2.fy: 1063.51251
+Camera2.cx: 782.09116
+Camera2.cy: 582.52751
+
+Camera2.k1: -0.263264
+Camera2.k2: 0.215493
+Camera2.p1: -0.003977
+Camera2.p2: 0.000629
+Camera2.k3: -0.0902
+
+#   This is T_cn_cnm1 inverted
+Stereo.T_c1_c2: !!opencv-matrix
+  rows: 4
+  cols: 4
+  dt: f
+  data: [0.999673, -0.016254, -0.019763, 0.054755,
+                0.015567, 0.999286, -0.034431, -0.001173,
+                0.020308, 0.034112, 0.999212, 0.002921,
+                0.000000, 0.000000, 0.000000, 1.000000]
+
+# END OF MATLAB PARAMETERS
+#--------------------------------------------------------------------------------------------
+
+# Distance in meters of the two cameras
+Stereo.b: 0.0551
+
+# Camera frames per second
+Camera.fps: 10
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 0
+
+#--------------------------------------------------------------------------------------------
+# IMU Configuration
+#
+# These values can be calculated using Kalibr for the Odometry package
+# as of the 05/2025 Aquarium test
+#--------------------------------------------------------------------------------------------
+
+IMU.NoiseGyro: 7.517733962919085e-05
+IMU.NoiseAcc: 0.0017589640490284241
+
+IMU.GyroWalk: 1.4038949648227517e-06
+IMU.AccWalk:  0.00013163674505969203
+
+IMU.Frequency: 200.0
+
+# This should be "Relative pose between IMU andCamera1
+# (i.e. the transformation that takes a point from Camera1 to IMU)."
+#
+# In Kalibr this is T_ic
+IMU.T_b_c1: !!opencv-matrix
+  rows: 4
+  cols: 4
+  dt: f
+  data: [ 0.00203293,  0.99981545,  0.01910319, -0.00115045,
+         -0.00217095,  0.0191076,  -0.99981508, -0.12428361,
+        -0.99999558,  0.00199109,  0.00220939,  0.06095187,
+        0.0,         0.0,          0.0,          1.0        ]
+
+    # data: [ 0.00203293, -0.00217095, -0.99999558,  0.06068413,
+    #     0.99981545,  0.0191076,   0.00199109,  0.00340364,
+    #     0.01910319, -0.99981508,  0.00220939, -0.12437331,
+    #     0.0,          0.0,          0.0,         1.0 ]
+
+
+IMU.InsertKFsWhenLost: 0
+
+
+#--------------------------------------------------------------------------------------------
+# Start to change values from here
+
+System.thFarPoints: 20.0
+System.loopClosing: 1
+
+# Close/Far threshold. Baseline times.
+Stereo.ThDepth: 5.0
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 4000
+
+#--------------------------------------------------------------------------------------------
+# The changing of the following parameters should not infect the result too much
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Scale factor between levels in the scale pyramid
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid
+ORBextractor.nLevels: 9
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast
+ORBextractor.iniThFAST: 5
+ORBextractor.minThFAST: 2
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -3.5
+Viewer.ViewpointF: 500.0
+
+Viewer.Enable: 0

Examples/Aquarium/aquarium_resize.yaml

@@ -0,0 +1,152 @@
+%YAML:1.0
+
+# ORBSLAM3 settings file, passed to the node via the "path_yaml_settings" param
+#
+# Contains values specific to the odometry nano _in water_
+#
+# The camera intrinsics and extrinsics are specific to the "2025_05_23_aquarium_test/"
+# The calibration is taken from  "2025_04_07_hh101_calibration/"
+#
+# This calibration _WILL NOT_ work for APL pier data
+#
+# !! This configuration file includes downsampling images by a factor of 2
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+#--------------------------------------------------------------------------------------------
+# PARAMETERS RETURNED BY MATLAB CALIBRATION HERE
+Camera.type: "PinHole"
+
+Camera.width: 1440
+Camera.height: 1080
+
+Camera.newWidth: 720
+Camera.newHeight: 540
+
+Camera1.fx: 1061.90838
+Camera1.fy: 1065.08245
+Camera1.cx: 778.19368
+Camera1.cy: 553.85699
+
+Camera1.k1: -0.259389
+Camera1.k2: 0.203687
+Camera1.p1: 0.00066
+Camera1.p2: 0.003063
+Camera1.k3: -0.0845
+
+Camera2.fx: 1060.22456
+Camera2.fy: 1063.51251
+Camera2.cx: 782.09116
+Camera2.cy: 582.52751
+
+Camera2.k1: -0.263264
+Camera2.k2: 0.215493
+Camera2.p1: -0.003977
+Camera2.p2: 0.000629
+Camera2.k3: -0.0902
+
+Stereo.T_c1_c2: !!opencv-matrix
+  rows: 4
+  cols: 4
+  dt: f
+  data: [0.999673, -0.016254, -0.019763, 0.054755,
+                0.015567, 0.999286, -0.034431, -0.001173,
+                0.020308, 0.034112, 0.999212, 0.002921,
+                0.000000, 0.000000, 0.000000, 1.000000]
+
+# END OF MATLAB PARAMETERS
+#--------------------------------------------------------------------------------------------
+
+# Distance in meters of the two cameras
+Stereo.b: 0.0551
+
+# Camera frames per second
+Camera.fps: 10
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 0
+
+#--------------------------------------------------------------------------------------------
+# IMU Configuration
+#
+# These values can be calculated using Kalibr for the Odometry package
+# as of the 05/2025 Aquarium test
+#--------------------------------------------------------------------------------------------
+
+IMU.NoiseGyro: 7.517733962919085e-05
+IMU.NoiseAcc: 0.0017589640490284241
+
+IMU.GyroWalk: 1.4038949648227517e-06
+IMU.AccWalk:  0.00013163674505969203
+
+IMU.Frequency: 200.0
+
+# This should be "Relative pose between IMU andCamera1
+# (i.e. the transformation that takes a point from Camera1 to IMU)."
+#
+# In Kalibr this is T_ic
+IMU.T_b_c1: !!opencv-matrix
+  rows: 4
+  cols: 4
+  dt: f
+  data: [ 0.00203293,  0.99981545,  0.01910319, -0.00115045,
+         -0.00217095,  0.0191076,  -0.99981508, -0.12428361,
+        -0.99999558,  0.00199109,  0.00220939,  0.06095187,
+        0.0,         0.0,          0.0,          1.0        ]
+
+    # data: [ 0.00203293, -0.00217095, -0.99999558,  0.06068413,
+    #     0.99981545,  0.0191076,   0.00199109,  0.00340364,
+    #     0.01910319, -0.99981508,  0.00220939, -0.12437331,
+    #     0.0,          0.0,          0.0,         1.0 ]
+
+
+IMU.InsertKFsWhenLost: 0
+
+
+#--------------------------------------------------------------------------------------------
+# Start to change values from here
+
+System.thFarPoints: 20.0
+System.loopClosing: 1
+
+# Close/Far threshold. Baseline times.
+Stereo.ThDepth: 5.0
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 4000
+
+#--------------------------------------------------------------------------------------------
+# The changing of the following parameters should not infect the result too much
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Scale factor between levels in the scale pyramid
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid
+ORBextractor.nLevels: 9
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast
+ORBextractor.iniThFAST: 5
+ORBextractor.minThFAST: 2
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -3.5
+Viewer.ViewpointF: 500.0
+
+Viewer.Enable: 0