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VINS Fusion support for Ubuntu 20.04 with Ceres Solver 2.0.0 #187

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b1b1160
feat: Require OpenCV v. 4
hobbeshunter Oct 8, 2020
a34c229
change c++ requirement to c++14
stevfeng Mar 12, 2022
7929989
Merge pull request #1 from stevenf7/opencv4
stevenf7 Mar 23, 2022
29a89d1
Update README.md
stevenf7 Mar 23, 2022
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6 changes: 3 additions & 3 deletions README.md
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Expand Up @@ -34,13 +34,13 @@ alt="VINS" width="320" height="240" border="10" /></a>

## 1. Prerequisites
### 1.1 **Ubuntu** and **ROS**
Ubuntu 64-bit 16.04 or 18.04.
ROS Kinetic or Melodic. [ROS Installation](http://wiki.ros.org/ROS/Installation)
Ubuntu 64-bit 16.04, 18.04, or 20.04.
ROS Kinetic, Melodic, Noetic. [ROS Installation](http://wiki.ros.org/ROS/Installation)


### 1.2. **Ceres Solver**
Follow [Ceres Installation](http://ceres-solver.org/installation.html).

Tested with version 2.0.0

## 2. Build VINS-Fusion
Clone the repository and catkin_make:
Expand Down
4 changes: 2 additions & 2 deletions camera_models/CMakeLists.txt
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Expand Up @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
project(camera_models)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS "-std=c++14")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC")

find_package(catkin REQUIRED COMPONENTS
Expand All @@ -13,7 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
find_package(Boost REQUIRED COMPONENTS filesystem program_options system)
include_directories(${Boost_INCLUDE_DIRS})

find_package(OpenCV REQUIRED)
find_package(OpenCV 4 REQUIRED)

# set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3")
find_package(Ceres REQUIRED)
Expand Down
8 changes: 4 additions & 4 deletions camera_models/src/calib/CameraCalibration.cc
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Expand Up @@ -232,7 +232,7 @@ CameraCalibration::drawResults(std::vector<cv::Mat>& images) const
cv::Mat& image = images.at(i);
if (image.channels() == 1)
{
cv::cvtColor(image, image, CV_GRAY2RGB);
cv::cvtColor(image, image, cv::COLOR_GRAY2RGB);
}

std::vector<cv::Point2f> estImagePoints;
Expand All @@ -250,12 +250,12 @@ CameraCalibration::drawResults(std::vector<cv::Mat>& images) const
cv::circle(image,
cv::Point(cvRound(pObs.x * drawMultiplier),
cvRound(pObs.y * drawMultiplier)),
5, green, 2, CV_AA, drawShiftBits);
5, green, 2, cv::LINE_AA, drawShiftBits);

cv::circle(image,
cv::Point(cvRound(pEst.x * drawMultiplier),
cvRound(pEst.y * drawMultiplier)),
5, red, 2, CV_AA, drawShiftBits);
5, red, 2, cv::LINE_AA, drawShiftBits);

float error = cv::norm(pObs - pEst);

Expand All @@ -272,7 +272,7 @@ CameraCalibration::drawResults(std::vector<cv::Mat>& images) const

cv::putText(image, oss.str(), cv::Point(10, image.rows - 10),
cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255, 255, 255),
1, CV_AA);
1, cv::LINE_AA);
}
}

Expand Down
44 changes: 22 additions & 22 deletions camera_models/src/chessboard/Chessboard.cc
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Expand Up @@ -17,24 +17,24 @@ Chessboard::Chessboard(cv::Size boardSize, cv::Mat& image)
{
if (image.channels() == 1)
{
cv::cvtColor(image, mSketch, CV_GRAY2BGR);
cv::cvtColor(image, mSketch, cv::COLOR_GRAY2BGR);
image.copyTo(mImage);
}
else
{
image.copyTo(mSketch);
cv::cvtColor(image, mImage, CV_BGR2GRAY);
cv::cvtColor(image, mImage, cv::COLOR_BGR2GRAY);
}
}

void
Chessboard::findCorners(bool useOpenCV)
{
mCornersFound = findChessboardCorners(mImage, mBoardSize, mCorners,
CV_CALIB_CB_ADAPTIVE_THRESH +
CV_CALIB_CB_NORMALIZE_IMAGE +
CV_CALIB_CB_FILTER_QUADS +
CV_CALIB_CB_FAST_CHECK,
cv::CALIB_CB_ADAPTIVE_THRESH +
cv::CALIB_CB_NORMALIZE_IMAGE +
cv::CALIB_CB_FILTER_QUADS +
cv::CALIB_CB_FAST_CHECK,
useOpenCV);

if (mCornersFound)
Expand Down Expand Up @@ -141,24 +141,24 @@ Chessboard::findChessboardCornersImproved(const cv::Mat& image,
// Image histogram normalization and
// BGR to Grayscale image conversion (if applicable)
// MARTIN: Set to "false"
if (image.channels() != 1 || (flags & CV_CALIB_CB_NORMALIZE_IMAGE))
if (image.channels() != 1 || (flags & cv::CALIB_CB_NORMALIZE_IMAGE))
{
cv::Mat norm_img(image.rows, image.cols, CV_8UC1);

if (image.channels() != 1)
{
cv::cvtColor(image, norm_img, CV_BGR2GRAY);
cv::cvtColor(image, norm_img, cv::COLOR_BGR2GRAY);
img = norm_img;
}

if (flags & CV_CALIB_CB_NORMALIZE_IMAGE)
if (flags & cv::CALIB_CB_NORMALIZE_IMAGE)
{
cv::equalizeHist(image, norm_img);
img = norm_img;
}
}

if (flags & CV_CALIB_CB_FAST_CHECK)
if (flags & cv::CALIB_CB_FAST_CHECK)
{
if (!checkChessboard(img, patternSize))
{
Expand Down Expand Up @@ -189,13 +189,13 @@ Chessboard::findChessboardCornersImproved(const cv::Mat& image,
cv::Mat thresh_img;

// convert the input grayscale image to binary (black-n-white)
if (flags & CV_CALIB_CB_ADAPTIVE_THRESH)
if (flags & cv::CALIB_CB_ADAPTIVE_THRESH)
{
int blockSize = lround(prevSqrSize == 0 ?
std::min(img.cols,img.rows)*(k%2 == 0 ? 0.2 : 0.1): prevSqrSize*2)|1;

// convert to binary
cv::adaptiveThreshold(img, thresh_img, 255, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, blockSize, (k/2)*5);
cv::adaptiveThreshold(img, thresh_img, 255, cv::ADAPTIVE_THRESH_MEAN_C, cv::THRESH_BINARY, blockSize, (k/2)*5);
}
else
{
Expand All @@ -204,16 +204,16 @@ Chessboard::findChessboardCornersImproved(const cv::Mat& image,
int thresh_level = lround(mean - 10);
thresh_level = std::max(thresh_level, 10);

cv::threshold(img, thresh_img, thresh_level, 255, CV_THRESH_BINARY);
cv::threshold(img, thresh_img, thresh_level, 255, cv::THRESH_BINARY);
}

// MARTIN's Code
// Use both a rectangular and a cross kernel. In this way, a more
// homogeneous dilation is performed, which is crucial for small,
// distorted checkers. Use the CROSS kernel first, since its action
// on the image is more subtle
cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
cv::Mat kernel2 = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(3,3), cv::Point(1,1));
cv::Mat kernel1 = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(3,3), cv::Point(1,1));
cv::Mat kernel2 = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3,3), cv::Point(1,1));

if (dilations >= 1)
cv::dilate(thresh_img, thresh_img, kernel1);
Expand Down Expand Up @@ -317,7 +317,7 @@ Chessboard::findChessboardCornersImproved(const cv::Mat& image,
}

cv::cornerSubPix(image, corners, cv::Size(11, 11), cv::Size(-1,-1),
cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30, 0.1));

return true;
}
Expand Down Expand Up @@ -1172,7 +1172,7 @@ Chessboard::generateQuads(std::vector<ChessboardQuadPtr>& quads,
std::vector<cv::Vec4i> hierarchy;

// Initialize contour retrieving routine
cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
cv::findContours(image, contours, hierarchy, cv::RETR_CCOMP, cv::CHAIN_APPROX_SIMPLE);

std::vector< std::vector<cv::Point> > quadContours;

Expand Down Expand Up @@ -1238,7 +1238,7 @@ Chessboard::generateQuads(std::vector<ChessboardQuadPtr>& quads,
dp = pt[1] - pt[2];
double d4 = sqrt(dp.dot(dp));

if (!(flags & CV_CALIB_CB_FILTER_QUADS) ||
if (!(flags & cv::CALIB_CB_FILTER_QUADS) ||
(d3*4 > d4 && d4*4 > d3 && d3*d4 < area*1.5 && area > minSize &&
d1 >= 0.15 * p && d2 >= 0.15 * p))
{
Expand Down Expand Up @@ -1583,20 +1583,20 @@ Chessboard::checkChessboard(const cv::Mat& image, cv::Size patternSize) const
bool result = false;
for (float threshLevel = blackLevel; threshLevel < whiteLevel && !result; threshLevel += 20.0f)
{
cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, CV_THRESH_BINARY);
cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, cv::THRESH_BINARY);

std::vector< std::vector<cv::Point> > contours;
std::vector<cv::Vec4i> hierarchy;

// Initialize contour retrieving routine
cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
cv::findContours(thresh, contours, hierarchy, cv::RETR_CCOMP, cv::CHAIN_APPROX_SIMPLE);

std::vector<std::pair<float, int> > quads;
getQuadrangleHypotheses(contours, quads, 1);

cv::threshold(black, thresh, threshLevel, 255, CV_THRESH_BINARY_INV);
cv::threshold(black, thresh, threshLevel, 255, cv::THRESH_BINARY_INV);

cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
cv::findContours(thresh, contours, hierarchy, cv::RETR_CCOMP, cv::CHAIN_APPROX_SIMPLE);
getQuadrangleHypotheses(contours, quads, 0);

const size_t min_quads_count = patternSize.width * patternSize.height / 2;
Expand Down
2 changes: 1 addition & 1 deletion camera_models/src/intrinsic_calib.cc
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Expand Up @@ -274,7 +274,7 @@ main( int argc, char** argv )
0.5,
cv::Scalar( 255, 255, 255 ),
1,
CV_AA );
cv::LINE_AA );
cv::imshow( "Image", cbImages.at( i ) );
cv::waitKey( 0 );
}
Expand Down
4 changes: 2 additions & 2 deletions global_fusion/CMakeLists.txt
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Expand Up @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
project(global_fusion)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS "-std=c++14")
#-DEIGEN_USE_MKL_ALL")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

Expand Down Expand Up @@ -30,4 +30,4 @@ add_executable(global_fusion_node
src/globalOptNode.cpp
src/globalOpt.cpp)

target_link_libraries(global_fusion_node ${catkin_LIBRARIES} ${CERES_LIBRARIES} libGeographiccc)
target_link_libraries(global_fusion_node ${catkin_LIBRARIES} ${CERES_LIBRARIES} libGeographiccc)
4 changes: 2 additions & 2 deletions loop_fusion/CMakeLists.txt
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Expand Up @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
project(loop_fusion)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS "-std=c++14")
#-DEIGEN_USE_MKL_ALL")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

Expand All @@ -15,7 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
roslib
)

find_package(OpenCV)
find_package(OpenCV 4)


find_package(Ceres REQUIRED)
Expand Down
2 changes: 1 addition & 1 deletion loop_fusion/src/ThirdParty/DVision/BRIEF.cpp
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Expand Up @@ -50,7 +50,7 @@ void BRIEF::compute(const cv::Mat &image,
cv::Mat aux;
if(image.depth() == 3)
{
cv::cvtColor(image, aux, CV_RGB2GRAY);
cv::cvtColor(image, aux, cv::COLOR_RGB2GRAY);
}
else
{
Expand Down
12 changes: 6 additions & 6 deletions loop_fusion/src/keyframe.cpp
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Expand Up @@ -289,7 +289,7 @@ bool KeyFrame::findConnection(KeyFrame* old_kf)
cv::Mat gray_img, loop_match_img;
cv::Mat old_img = old_kf->image;
cv::hconcat(image, old_img, gray_img);
cvtColor(gray_img, loop_match_img, CV_GRAY2RGB);
cvtColor(gray_img, loop_match_img, cv::COLOR_GRAY2RGB);
for(int i = 0; i< (int)point_2d_uv.size(); i++)
{
cv::Point2f cur_pt = point_2d_uv[i];
Expand Down Expand Up @@ -327,7 +327,7 @@ bool KeyFrame::findConnection(KeyFrame* old_kf)
cv::Mat old_img = old_kf->image;
cv::hconcat(image, gap_image, gap_image);
cv::hconcat(gap_image, old_img, gray_img);
cvtColor(gray_img, loop_match_img, CV_GRAY2RGB);
cvtColor(gray_img, loop_match_img, cv::COLOR_GRAY2RGB);
for(int i = 0; i< (int)matched_2d_cur.size(); i++)
{
cv::Point2f cur_pt = matched_2d_cur[i];
Expand Down Expand Up @@ -383,7 +383,7 @@ bool KeyFrame::findConnection(KeyFrame* old_kf)
cv::Mat old_img = old_kf->image;
cv::hconcat(image, gap_image, gap_image);
cv::hconcat(gap_image, old_img, gray_img);
cvtColor(gray_img, loop_match_img, CV_GRAY2RGB);
cvtColor(gray_img, loop_match_img, cv::COLOR_GRAY2RGB);
for(int i = 0; i< (int)matched_2d_cur.size(); i++)
{
cv::Point2f cur_pt = matched_2d_cur[i];
Expand Down Expand Up @@ -433,7 +433,7 @@ bool KeyFrame::findConnection(KeyFrame* old_kf)
cv::Mat old_img = old_kf->image;
cv::hconcat(image, gap_image, gap_image);
cv::hconcat(gap_image, old_img, gray_img);
cvtColor(gray_img, loop_match_img, CV_GRAY2RGB);
cvtColor(gray_img, loop_match_img, cv::COLOR_GRAY2RGB);
for(int i = 0; i< (int)matched_2d_cur.size(); i++)
{
cv::Point2f cur_pt = matched_2d_cur[i];
Expand All @@ -452,9 +452,9 @@ bool KeyFrame::findConnection(KeyFrame* old_kf)
cv::line(loop_match_img, matched_2d_cur[i], old_pt, cv::Scalar(0, 255, 0), 2, 8, 0);
}
cv::Mat notation(50, COL + gap + COL, CV_8UC3, cv::Scalar(255, 255, 255));
putText(notation, "current frame: " + to_string(index) + " sequence: " + to_string(sequence), cv::Point2f(20, 30), CV_FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 3);
putText(notation, "current frame: " + to_string(index) + " sequence: " + to_string(sequence), cv::Point2f(20, 30), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 3);

putText(notation, "previous frame: " + to_string(old_kf->index) + " sequence: " + to_string(old_kf->sequence), cv::Point2f(20 + COL + gap, 30), CV_FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 3);
putText(notation, "previous frame: " + to_string(old_kf->index) + " sequence: " + to_string(old_kf->sequence), cv::Point2f(20 + COL + gap, 30), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 3);
cv::vconcat(notation, loop_match_img, loop_match_img);

/*
Expand Down
10 changes: 5 additions & 5 deletions loop_fusion/src/pose_graph.cpp
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Expand Up @@ -340,7 +340,7 @@ int PoseGraph::detectLoop(KeyFrame* keyframe, int frame_index)
{
int feature_num = keyframe->keypoints.size();
cv::resize(keyframe->image, compressed_image, cv::Size(376, 240));
putText(compressed_image, "feature_num:" + to_string(feature_num), cv::Point2f(10, 10), CV_FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
putText(compressed_image, "feature_num:" + to_string(feature_num), cv::Point2f(10, 10), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
image_pool[frame_index] = compressed_image;
}
TicToc tmp_t;
Expand All @@ -361,7 +361,7 @@ int PoseGraph::detectLoop(KeyFrame* keyframe, int frame_index)
{
loop_result = compressed_image.clone();
if (ret.size() > 0)
putText(loop_result, "neighbour score:" + to_string(ret[0].Score), cv::Point2f(10, 50), CV_FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255));
putText(loop_result, "neighbour score:" + to_string(ret[0].Score), cv::Point2f(10, 50), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255));
}
// visual loop result
if (DEBUG_IMAGE)
Expand All @@ -371,7 +371,7 @@ int PoseGraph::detectLoop(KeyFrame* keyframe, int frame_index)
int tmp_index = ret[i].Id;
auto it = image_pool.find(tmp_index);
cv::Mat tmp_image = (it->second).clone();
putText(tmp_image, "index: " + to_string(tmp_index) + "loop score:" + to_string(ret[i].Score), cv::Point2f(10, 50), CV_FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255));
putText(tmp_image, "index: " + to_string(tmp_index) + "loop score:" + to_string(ret[i].Score), cv::Point2f(10, 50), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255));
cv::hconcat(loop_result, tmp_image, loop_result);
}
}
Expand All @@ -388,7 +388,7 @@ int PoseGraph::detectLoop(KeyFrame* keyframe, int frame_index)
{
auto it = image_pool.find(tmp_index);
cv::Mat tmp_image = (it->second).clone();
putText(tmp_image, "loop score:" + to_string(ret[i].Score), cv::Point2f(10, 50), CV_FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
putText(tmp_image, "loop score:" + to_string(ret[i].Score), cv::Point2f(10, 50), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
cv::hconcat(loop_result, tmp_image, loop_result);
}
}
Expand Down Expand Up @@ -424,7 +424,7 @@ void PoseGraph::addKeyFrameIntoVoc(KeyFrame* keyframe)
{
int feature_num = keyframe->keypoints.size();
cv::resize(keyframe->image, compressed_image, cv::Size(376, 240));
putText(compressed_image, "feature_num:" + to_string(feature_num), cv::Point2f(10, 10), CV_FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
putText(compressed_image, "feature_num:" + to_string(feature_num), cv::Point2f(10, 10), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
image_pool[keyframe->index] = compressed_image;
}

Expand Down
4 changes: 2 additions & 2 deletions vins_estimator/CMakeLists.txt
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Expand Up @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
project(vins)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS "-std=c++14")
#-DEIGEN_USE_MKL_ALL")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

Expand All @@ -16,7 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
camera_models
image_transport)

find_package(OpenCV REQUIRED)
find_package(OpenCV 4 REQUIRED)

# message(WARNING "OpenCV_VERSION: ${OpenCV_VERSION}")

Expand Down
4 changes: 2 additions & 2 deletions vins_estimator/src/KITTIGPSTest.cpp
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Expand Up @@ -119,8 +119,8 @@ int main(int argc, char** argv)
printf("%s\n", leftImagePath.c_str() );
printf("%s\n", rightImagePath.c_str() );

imLeft = cv::imread(leftImagePath, CV_LOAD_IMAGE_GRAYSCALE );
imRight = cv::imread(rightImagePath, CV_LOAD_IMAGE_GRAYSCALE );
imLeft = cv::imread(leftImagePath, cv::ImreadModes::IMREAD_GRAYSCALE );
imRight = cv::imread(rightImagePath, cv::ImreadModes::IMREAD_GRAYSCALE );

double imgTime = imageTimeList[i] - baseTime;

Expand Down
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