Paper | Video | Project Page
When using this project in academic work, please consider citing: @article{stumberg22dmvio, author = {L. von Stumberg and D. Cremers}, title = {{DM-VIO}: Delayed Marginalization Visual-Inertial Odometry}, journal = {{IEEE} Robotics and Automation Letters ({RA-L})}, year = {2022}, volume = {7}, number = {2}, pages = {1408-1415}, doi = {10.1109/LRA.2021.3140129} } ## New: ROS version and Live demo for Realsense cameras * **Update May 23, 2023**: The ROS wrapper now supports running DM-VIO directly on rosbags, see [here](https://github.com/lukasvst/dm-vio-ros#new-now-you-can-also-run-in-non-realtime-mode-on-rosbags). This will run in non-realtime mode, but in practice it is usually much faster than real-time. * **Update Jun 22, 2022**: There is a ROS wrapper for DM-VIO, available at https://github.com/lukasvst/dm-vio-ros * **Update Jun 15, 2022**: Now there is a live demo for Realsense cameras. See [doc/RealsenseLiveVersion.md](doc/RealsenseLiveVersion.md) for details. The page also contains interesting tips for improving performance on custom datasets. * Note that it's not possible anymore to pass IMU noise values with the `camchain.yaml`, you need to use the `settings.yaml` file or commandline args. ### 1. Related Papers * **[DM-VIO: Delayed Marginalization Visual-Inertial Odometry](https://vision.in.tum.de/dm-vio)**, L. von Stumberg and D. Cremers, In IEEE Robotics and Automation Letters (RA-L), volume 7, 2022 * **[Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization](https://vision.in.tum.de/vi-dso)**, L. von Stumberg, V. Usenko and D. Cremers, In International Conference on Robotics and Automation (ICRA), 2018 * **[Direct Sparse Odometry](https://vision.in.tum.de/dso)**, *J. Engel, V. Koltun, D. Cremers*, In TPAMI, vol. 40, 2018 ### 2. Installation git clone https://github.com/lukasvst/dm-vio.git The following instructions have been tested with Ubuntu 20.04. The system is also known to work well on Ubuntu 16.04, 18.04 and MacOS Big Sur (only Intel Macs have been tested so far). #### 2.1 Required Dependencies ##### Suitesparse, Eigen3, Boost, yaml-cpp (required). Required, install with sudo apt-get install cmake libsuitesparse-dev libeigen3-dev libboost-all-dev libyaml-cpp-dev On MacOS we recommend Homebrew to install the dependencies. It might be necessary to install boost@1.60 instead of the newest boost, in order for the used GTSAM version to work. ##### GTSAM (required). Build from source with sudo apt install libtbb-dev git clone https://github.com/borglab/gtsam.git cd gtsam git checkout 4.2a6 # newer gtsam versions might not work. mkdir build && cd build cmake -DGTSAM_POSE3_EXPMAP=ON -DGTSAM_ROT3_EXPMAP=ON -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF .. make -j sudo make install (Note: It seems like the keyframe operations are 2-3% slower with this GTSAM version compared to an older commit. To reproduce the realtime paper results you should use commit `a738529af9754c7a085903f90ae8559bbaa82e75` of GTSAM). ##### OpenCV. Used to read, write and display images. Install with sudo apt-get install libopencv-dev ##### Pangolin. Like for DSO, this is used for the GUI. You should install v0.6. Install from [https://github.com/stevenlovegrove/Pangolin](https://github.com/stevenlovegrove/Pangolin) sudo apt install libgl1-mesa-dev libglew-dev pkg-config libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols git clone https://github.com/stevenlovegrove/Pangolin.git cd Pangolin git checkout v0.6 mkdir build cd build cmake .. cmake --build . sudo make install #### 2.2 Recommended Dependencies ##### Librealsense This is necessary for the live demo for Realsense cameras. See [doc/RealsenseLiveVersion.md](doc/RealsenseLiveVersion.md) for details ##### GTest (optional). For running tests, install with `git submodule update --init`. ##### ziplib (optional). Used to read datasets with images as .zip. See [src/dso/README.md](src/dso/README.md) for instructions. ##### sse2neon (required for ARM builds). After cloning, run `git submodule update --init` to include this. #### 2.3 Build cd dm-vio mkdir build cd build cmake .. make -j This compiles `dmvio_dataset` to run DM-VIO on datasets (needs both OpenCV and Pangolin installed). It also compiles the library `libdmvio.a`, which other projects can link to. #### Trouble-Shooting The project is based on DSO and only has two additional dependencies with GTSAM and yaml-cpp. In case of problems with compilation we recommend trying to compile https://github.com/JakobEngel/dso first and seeing if it works. ### 3 Running Download a TUM-VI sequence (download in the format `Euroc / DSO 512x512`) at https://vision.in.tum.de/data/datasets/visual-inertial-dataset bin/dmvio_dataset files=XXXX/datasetXXXX/dso/cam0/images vignette=XXXX/datasetXXXX/dso/cam0/vignette.png imuFile=XXXX/datasetXXXX/dso/imu.txt gtFile=XXXX/datasetXXXX/dso/gt_imu.csv tsFile=XXXX/datasetXXXX/dso/cam0/times.txt calib=PATH_TO_DMVIO/configs/tumvi_calib/camera02.txt gamma=PATH_TO_DMVIO/configs/tumvi_calib/pcalib.txt imuCalib=PATH_TO_DMVIO/configs/tumvi_calib/camchain.yaml mode=0 use16Bit=1 preset=0 # use 1 for realtime nogui=0 # use 1 to enable GUI resultsPrefix=/PATH_TO_RESULTS/ settingsFile=PATH_TO_DMVIO/configs/tumvi.yaml start=2 Instead of typing this long command you can use the [python tools](https://github.com/lukasvst/dm-vio-python-tools). #### Running on EuRoC, 4Seasons, reproducing paper results, etc. We **strongly recommend** using the python-dm-vio tools published at: https://github.com/lukasvst/dm-vio-python-tools They can be used to * prepare the EuRoC and 4Seasons sequences for usage with DM-VIO. * run on all (or some) sequences of EuRoC, TUM-VI and 4Seasons and gather the results. * create a Python evaluation script for inspecting the results and generating the plots shown in the paper. #### Commandline arguments There are two types of commandline arguments: 1. Main arguments defined `in util/MainSettings.cpp` (see `parseArgument` and `registerArgs`). Most of these are derived from DSO, so you can read [src/dso/README.md](src/dso/README.md) for documentation on them. 2. Lots of additional settings are defined using the `SettingsUtil`. They can be set either using comandline or by placing them in the yaml file defined with the commandline argument `settingsFile`. All of them are printed to commandline when the program starts (and also into the file `usedSettingsdso.txt`). Most of these are documented in the header file they are defined in (see `src/IMU/IMUSettings.h`, `src/IMUInitialization/IMUInitSettings.h`). ### 4 Running the live demo See [doc/RealsenseLiveVersion.md](doc/RealsenseLiveVersion.md) ### 5 Running on your own datasets To run on your own dataset you need * to pass the folder containing files with `files=...` * an accurate camera calibration! For tips on calibration and the format of camera.txt see [src/dso/README.md](src/dso/README.md). * to set the `mode=1` unless you have a photometric calibration (vignette.png and pcalib.txt). * a file times.txt which contains **exactly** one timestamp for each image in the image folder, or specified through the `tsFile` parameter. Note that this file contains the timestamp twice, first in nanoseconds and then in seconds. When enabling IMU data you also need * IMU calibration (transformation between camera and IMU) as a `camchain.yaml`. Note that only the field `cam0/T_cam_imu` and optionally the noise values are read from this file. * a file containing synchronized IMU data. For each image it **must** contain an IMU 'measurement' with exactly the same timestamp. If the sensor does not output this, a fake measurement with this timestamp has to be interpolated in advance. The [DM-VIO python tools](https://github.com/lukasvst/dm-vio-python-tools) contain a script to do this (see Notes on IMU-camera synchronization below). * You should also set the IMU noise values (see `configs/tumvi.yaml`, `configs/euroc.yaml`, and `configs/4seasons.yaml`). You can read them from an Allan-Variance plot (either computed yourself or taken from datasheet of IMU). Note that often times these values are too small in practice and should be inflated by a large factor for optimal results. We recommend first trying the sample noise values (e.g. the one for TUM-VI) and only using your own if they improve the performance. **Notes on IMU-camera synchronization:** There are two "levels" of IMU-camera synchronization: * The first one is that IMU and camera timestamps are recorded with the same device or otherwise made consistent. This is a prerequisite for running DM-VIO. * The second level is that the IMU is triggered manually and always records an IMU sample exactly during the timestamp (middle of exposure) of each image. E.g. the VI-Sensor used in the EuRoC dataset does this, but most other visual-inertial sensors don't. For these sensors you can still run DM-VIO, but first you need to add a "fake IMU measurement" for each camera timestamp, by interpolating the neighboring IMU samples. You can do this by running python3 interpolate_imu_file --input imu.txt --times times.txt --output pass_this_imu_file_to_dmvio.txt You can first set `useimu=0` to try the visual-only system (basically DSO). If this does not work well for comparably slow motions, there is likely a problem with camera calibration which should be addressed first. **For adjusting your config you might also find the tips [given on this page](doc/RealsenseLiveVersion.md#adjusting-the-config-file) interesting.** ### 6 License DM-VIO is based on Direct Sparse Odometry (DSO), which was developed by Jakob Engel at the Technical University of Munich and Intel. Like DSO, DM-VIO is licensed under the GNU General Public License Version 3 (GPLv3).