hongbowei / scale_optimization

Extend DSO to a stereo system by scale optimization

We extend DSO to a stereo system using scale optimization

Copyright (c) <2019> <Jiawei Mo, Junaed Sattar>

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Dependencies

DSO

Installation

export DSO_PATH=[PATH_TO_DSO]/dso

cd ~/catkin_ws/src
git clone https://github.com/jiawei-mo/scale_optimization.git
cd ~/catkin_ws
catkin_make

Usage

• Calibrate stereo cameras, format of cams. Refer to DSO for more details of intrisic parameters.

• Create a launch file by the format of sample.launch.

roslaunch so_dso [YOUR_LAUNCH_FILE]

• Ctrl-C to terminate and the output files will be written to .ros folder.

Output files

• poses.txt: poses of all frame, using the TUM RGB-D / TUM monoVO format ([timestamp x y z qx qy qz qw] of the cameraToWorld transformation).

Time logs:

• fps_time.txt: runtime of each frame.
• scale_time.txt: runtime of scale optimization.
• ba_time.txt: runtime of bundle adjustment.

Parameters

The only extra parameter of this work over DSO is the scale_accept_th, which is the threshold to accept a result from scaler optimizer. Usually, it is around 10-15.