Authors: Yanyan Li, Liang Zhao and Federico Tombari
A simulator is a super important tool for testing SLAM modules, especially for newly proposed ideas, as it is easy to check the validity of your ideas in a controlled environment.
Venom Simulator is released under GNU General Public License v3.0. The closed-source version of Venom used in SLAM systems for commercial purposes, please contact the authors: @Yanyan or @Federico. If you use this work in your academic work, please cite:
@article{li2022graph,
title={E-Graph: Minimal Solution for Rigid Rotation with Extensibility Graphs},
author={Li, Yanyan and Tombari, Federico},
journal={arXiv preprint arXiv:2207.10008 (ECCV2022)},
year={2022}
}
We have tested the library in Ubuntu 18.04, but it should be easy to compile in other platforms.
We use the new thread and chrono functionalities of C++11.
We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.
We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. Required at leat 3.0. Tested with OpenCV 3.2.0 and 4.4.0.
Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.
Clone the repo, and it is easy to build your own image and container based on the dockerfile proposed in the Docker folder. The proposed docker environment contains the following libs: Pangolin, OpenCV, Eigen and minor supported libraries.
Choices for optimization:
Popular optimization libraries including ceres, gtsam and g2o can be selected here based on your particular preferences. Optimization libraries are not installed in advance, but suggestions for installing can be found here.
Clone the repository:
git clone https://github.com/yanyan-li/VENOM.git
After making sure you have the environment with all required dependencies (see section 2), the following commands are used to build the system.
cd venom
mkdir build
cd build
cmake ..
make
../bin/main_entrance
Then you will see libVenomSimulator.so at lib folder as well as the following software interface.
To help users build environments more conveniently, the interface is made to design your synthetic environment in a super simple way. First, you could select the numbers of camera frames, points and lines in the environment via several swipe and click actions as shown in this figure.
After determining those parameters, please click the "Build&Fix Environment" button to initialize the system. You will then see your own environment by clicking the "Show Camera & Environment" button. Specifically, red points and lines are ground truth landmarks, and green cameras are ground truth poses.
Figure. x-axis: frame_id; y-axis: measurements detected by each frame. (Left: mappoints; Right: maplines.)
Measurements. When we reproject environment information into camera frames, we can obtain ground truth measurements for simulating detected features (yellow color) by adding noise.
Extensibility Graph (E-Graph) is proposed by our paper. The idea of the E-Graph is very simple, which aims to connect frames without overlaps.
As shown, the blue cameras were used to mark anchors because they first detected non-parallel direction vectors (here called venom). Edges between an anchor and other frames mean that the same venom was detected by those frames.
Rotation between two remote frames that maybe have no overlaps based on Venom.
After the process, you will find "estimation.txt" and "ground_truth.txt" in the build folder. Then, the estimated rotation based on venom can be evaluated via EVO.
