453 lines
16 KiB
C++
453 lines
16 KiB
C++
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/**
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* This file is part of ORB-SLAM3
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*
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* Copyright (C) 2017-2021 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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*
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* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
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* License as published by the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
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* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <signal.h>
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#include <stdlib.h>
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#include <iostream>
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#include <algorithm>
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#include <fstream>
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#include <chrono>
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#include <ctime>
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#include <sstream>
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#include <condition_variable>
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#include <opencv2/core/core.hpp>
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#include <librealsense2/rs.hpp>
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#include "librealsense2/rsutil.h"
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#include <System.h>
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using namespace std;
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bool b_continue_session;
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void exit_loop_handler(int s){
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cout << "Finishing session" << endl;
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b_continue_session = false;
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}
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void interpolateData(const std::vector<double> &vBase_times,
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std::vector<rs2_vector> &vInterp_data, std::vector<double> &vInterp_times,
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const rs2_vector &prev_data, const double &prev_time);
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rs2_vector interpolateMeasure(const double target_time,
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const rs2_vector current_data, const double current_time,
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const rs2_vector prev_data, const double prev_time);
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static rs2_option get_sensor_option(const rs2::sensor& sensor)
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{
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// Sensors usually have several options to control their properties
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// such as Exposure, Brightness etc.
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std::cout << "Sensor supports the following options:\n" << std::endl;
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// The following loop shows how to iterate over all available options
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// Starting from 0 until RS2_OPTION_COUNT (exclusive)
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for (int i = 0; i < static_cast<int>(RS2_OPTION_COUNT); i++)
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{
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rs2_option option_type = static_cast<rs2_option>(i);
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//SDK enum types can be streamed to get a string that represents them
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std::cout << " " << i << ": " << option_type;
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// To control an option, use the following api:
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// First, verify that the sensor actually supports this option
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if (sensor.supports(option_type))
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{
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std::cout << std::endl;
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// Get a human readable description of the option
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const char* description = sensor.get_option_description(option_type);
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std::cout << " Description : " << description << std::endl;
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// Get the current value of the option
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float current_value = sensor.get_option(option_type);
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std::cout << " Current Value : " << current_value << std::endl;
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//To change the value of an option, please follow the change_sensor_option() function
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}
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else
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{
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std::cout << " is not supported" << std::endl;
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}
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}
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uint32_t selected_sensor_option = 0;
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return static_cast<rs2_option>(selected_sensor_option);
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}
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int main(int argc, char **argv) {
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if (argc < 3 || argc > 4) {
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cerr << endl
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<< "Usage: ./mono_inertial_realsense_D435i path_to_vocabulary path_to_settings (trajectory_file_name)"
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<< endl;
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return 1;
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}
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string file_name;
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if (argc == 4) {
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file_name = string(argv[argc - 1]);
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}
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struct sigaction sigIntHandler;
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sigIntHandler.sa_handler = exit_loop_handler;
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sigemptyset(&sigIntHandler.sa_mask);
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sigIntHandler.sa_flags = 0;
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sigaction(SIGINT, &sigIntHandler, NULL);
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b_continue_session = true;
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double offset = 0; // ms
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rs2::context ctx;
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rs2::device_list devices = ctx.query_devices();
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rs2::device selected_device;
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if (devices.size() == 0)
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{
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std::cerr << "No device connected, please connect a RealSense device" << std::endl;
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return 0;
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}
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else
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selected_device = devices[0];
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std::vector<rs2::sensor> sensors = selected_device.query_sensors();
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int index = 0;
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// We can now iterate the sensors and print their names
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for (rs2::sensor sensor : sensors)
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if (sensor.supports(RS2_CAMERA_INFO_NAME)) {
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++index;
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if (index == 1) {
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sensor.set_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE, 1);
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sensor.set_option(RS2_OPTION_AUTO_EXPOSURE_LIMIT,5000);
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sensor.set_option(RS2_OPTION_EMITTER_ENABLED, 0); // switch off emitter
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}
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// std::cout << " " << index << " : " << sensor.get_info(RS2_CAMERA_INFO_NAME) << std::endl;
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get_sensor_option(sensor);
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if (index == 2){
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// RGB camera (not used here...)
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sensor.set_option(RS2_OPTION_EXPOSURE,100.f);
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}
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if (index == 3){
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sensor.set_option(RS2_OPTION_ENABLE_MOTION_CORRECTION,0);
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}
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}
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// Declare RealSense pipeline, encapsulating the actual device and sensors
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rs2::pipeline pipe;
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// Create a configuration for configuring the pipeline with a non default profile
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rs2::config cfg;
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cfg.enable_stream(RS2_STREAM_INFRARED, 1, 640, 480, RS2_FORMAT_Y8, 30);
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cfg.enable_stream(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F);
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cfg.enable_stream(RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F);
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// IMU callback
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std::mutex imu_mutex;
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std::condition_variable cond_image_rec;
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vector<double> v_accel_timestamp;
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vector<rs2_vector> v_accel_data;
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vector<double> v_gyro_timestamp;
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vector<rs2_vector> v_gyro_data;
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double prev_accel_timestamp = 0;
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rs2_vector prev_accel_data;
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double current_accel_timestamp = 0;
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rs2_vector current_accel_data;
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vector<double> v_accel_timestamp_sync;
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vector<rs2_vector> v_accel_data_sync;
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cv::Mat imCV;
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int width_img, height_img;
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double timestamp_image = -1.0;
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bool image_ready = false;
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int count_im_buffer = 0; // count dropped frames
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auto imu_callback = [&](const rs2::frame& frame)
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{
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std::unique_lock<std::mutex> lock(imu_mutex);
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if(rs2::frameset fs = frame.as<rs2::frameset>())
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{
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count_im_buffer++;
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double new_timestamp_image = fs.get_timestamp()*1e-3;
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if(abs(timestamp_image-new_timestamp_image)<0.001){
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// cout << "Two frames with the same timeStamp!!!\n";
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count_im_buffer--;
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return;
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}
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rs2::video_frame color_frame = fs.get_infrared_frame();
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imCV = cv::Mat(cv::Size(width_img, height_img), CV_8U, (void*)(color_frame.get_data()), cv::Mat::AUTO_STEP);
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timestamp_image = fs.get_timestamp()*1e-3;
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image_ready = true;
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while(v_gyro_timestamp.size() > v_accel_timestamp_sync.size())
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{
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int index = v_accel_timestamp_sync.size();
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double target_time = v_gyro_timestamp[index];
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v_accel_data_sync.push_back(current_accel_data);
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v_accel_timestamp_sync.push_back(target_time);
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}
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lock.unlock();
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cond_image_rec.notify_all();
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}
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else if (rs2::motion_frame m_frame = frame.as<rs2::motion_frame>())
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{
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if (m_frame.get_profile().stream_name() == "Gyro")
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{
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// It runs at 200Hz
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v_gyro_data.push_back(m_frame.get_motion_data());
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v_gyro_timestamp.push_back((m_frame.get_timestamp()+offset)*1e-3);
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//rs2_vector gyro_sample = m_frame.get_motion_data();
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//std::cout << "Gyro:" << gyro_sample.x << ", " << gyro_sample.y << ", " << gyro_sample.z << std::endl;
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}
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else if (m_frame.get_profile().stream_name() == "Accel")
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{
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// It runs at 60Hz
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prev_accel_timestamp = current_accel_timestamp;
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prev_accel_data = current_accel_data;
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current_accel_data = m_frame.get_motion_data();
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current_accel_timestamp = (m_frame.get_timestamp()+offset)*1e-3;
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while(v_gyro_timestamp.size() > v_accel_timestamp_sync.size())
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{
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int index = v_accel_timestamp_sync.size();
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double target_time = v_gyro_timestamp[index];
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rs2_vector interp_data = interpolateMeasure(target_time, current_accel_data, current_accel_timestamp,
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prev_accel_data, prev_accel_timestamp);
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v_accel_data_sync.push_back(interp_data);
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v_accel_timestamp_sync.push_back(target_time);
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}
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// std::cout << "Accel:" << current_accel_data.x << ", " << current_accel_data.y << ", " << current_accel_data.z << std::endl;
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}
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}
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};
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rs2::pipeline_profile pipe_profile = pipe.start(cfg, imu_callback);
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vector<ORB_SLAM3::IMU::Point> vImuMeas;
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rs2::stream_profile cam_stream = pipe_profile.get_stream(RS2_STREAM_INFRARED, 1);
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rs2::stream_profile imu_stream = pipe_profile.get_stream(RS2_STREAM_GYRO);
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float* Rbc = cam_stream.get_extrinsics_to(imu_stream).rotation;
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float* tbc = cam_stream.get_extrinsics_to(imu_stream).translation;
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std::cout << "Tbc = " << std::endl;
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for(int i = 0; i<3; i++){
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for(int j = 0; j<3; j++)
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std::cout << Rbc[i*3 + j] << ", ";
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std::cout << tbc[i] << "\n";
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}
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rs2_intrinsics intrinsics_cam = cam_stream.as<rs2::video_stream_profile>().get_intrinsics();
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width_img = intrinsics_cam.width;
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height_img = intrinsics_cam.height;
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std::cout << " fx = " << intrinsics_cam.fx << std::endl;
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std::cout << " fy = " << intrinsics_cam.fy << std::endl;
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std::cout << " cx = " << intrinsics_cam.ppx << std::endl;
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std::cout << " cy = " << intrinsics_cam.ppy << std::endl;
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std::cout << " height = " << intrinsics_cam.height << std::endl;
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std::cout << " width = " << intrinsics_cam.width << std::endl;
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std::cout << " Coeff = " << intrinsics_cam.coeffs[0] << ", " << intrinsics_cam.coeffs[1] << ", " <<
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intrinsics_cam.coeffs[2] << ", " << intrinsics_cam.coeffs[3] << ", " << intrinsics_cam.coeffs[4] << ", " << std::endl;
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std::cout << " Model = " << intrinsics_cam.model << std::endl;
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// Create SLAM system. It initializes all system threads and gets ready to process frames.
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ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_MONOCULAR, true, 0, file_name);
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float imageScale = SLAM.GetImageScale();
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double timestamp;
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cv::Mat im;
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// Clear IMU vectors
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v_gyro_data.clear();
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v_gyro_timestamp.clear();
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v_accel_data_sync.clear();
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v_accel_timestamp_sync.clear();
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double t_resize = 0.f;
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double t_track = 0.f;
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while (!SLAM.isShutDown())
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{
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std::vector<rs2_vector> vGyro;
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std::vector<double> vGyro_times;
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std::vector<rs2_vector> vAccel;
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std::vector<double> vAccel_times;
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{
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std::unique_lock<std::mutex> lk(imu_mutex);
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if(!image_ready)
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cond_image_rec.wait(lk);
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#ifdef COMPILEDWITHC11
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std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
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#else
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std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
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#endif
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if(count_im_buffer>1)
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cout << count_im_buffer -1 << " dropped frs\n";
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count_im_buffer = 0;
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while(v_gyro_timestamp.size() > v_accel_timestamp_sync.size())
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{
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int index = v_accel_timestamp_sync.size();
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double target_time = v_gyro_timestamp[index];
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rs2_vector interp_data = interpolateMeasure(target_time, current_accel_data, current_accel_timestamp, prev_accel_data, prev_accel_timestamp);
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v_accel_data_sync.push_back(interp_data);
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// v_accel_data_sync.push_back(current_accel_data); // 0 interpolation
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v_accel_timestamp_sync.push_back(target_time);
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}
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// Copy the IMU data
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vGyro = v_gyro_data;
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vGyro_times = v_gyro_timestamp;
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vAccel = v_accel_data_sync;
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vAccel_times = v_accel_timestamp_sync;
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||
|
|
timestamp = timestamp_image;
|
||
|
|
im = imCV.clone();
|
||
|
|
|
||
|
|
// Clear IMU vectors
|
||
|
|
v_gyro_data.clear();
|
||
|
|
v_gyro_timestamp.clear();
|
||
|
|
v_accel_data_sync.clear();
|
||
|
|
v_accel_timestamp_sync.clear();
|
||
|
|
|
||
|
|
image_ready = false;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
for(int i=0; i<vGyro.size(); ++i)
|
||
|
|
{
|
||
|
|
ORB_SLAM3::IMU::Point lastPoint(vAccel[i].x, vAccel[i].y, vAccel[i].z,
|
||
|
|
vGyro[i].x, vGyro[i].y, vGyro[i].z,
|
||
|
|
vGyro_times[i]);
|
||
|
|
vImuMeas.push_back(lastPoint);
|
||
|
|
}
|
||
|
|
|
||
|
|
if(imageScale != 1.f)
|
||
|
|
{
|
||
|
|
#ifdef REGISTER_TIMES
|
||
|
|
#ifdef COMPILEDWITHC11
|
||
|
|
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
|
||
|
|
#else
|
||
|
|
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
int width = im.cols * imageScale;
|
||
|
|
int height = im.rows * imageScale;
|
||
|
|
cv::resize(im, im, cv::Size(width, height));
|
||
|
|
#ifdef REGISTER_TIMES
|
||
|
|
#ifdef COMPILEDWITHC11
|
||
|
|
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
|
||
|
|
#else
|
||
|
|
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
|
||
|
|
#endif
|
||
|
|
t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
|
||
|
|
SLAM.InsertResizeTime(t_resize);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef REGISTER_TIMES
|
||
|
|
#ifdef COMPILEDWITHC11
|
||
|
|
std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
|
||
|
|
#else
|
||
|
|
std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
// Pass the image to the SLAM system
|
||
|
|
SLAM.TrackMonocular(im, timestamp, vImuMeas);
|
||
|
|
#ifdef REGISTER_TIMES
|
||
|
|
#ifdef COMPILEDWITHC11
|
||
|
|
std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
|
||
|
|
#else
|
||
|
|
std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
|
||
|
|
#endif
|
||
|
|
t_track = t_resize + std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Track - t_Start_Track).count();
|
||
|
|
SLAM.InsertTrackTime(t_track);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
// Clear the previous IMU measurements to load the new ones
|
||
|
|
vImuMeas.clear();
|
||
|
|
}
|
||
|
|
cout << "System shutdown!\n";
|
||
|
|
}
|
||
|
|
|
||
|
|
rs2_vector interpolateMeasure(const double target_time,
|
||
|
|
const rs2_vector current_data, const double current_time,
|
||
|
|
const rs2_vector prev_data, const double prev_time)
|
||
|
|
{
|
||
|
|
|
||
|
|
// If there are not previous information, the current data is propagated
|
||
|
|
if(prev_time == 0)
|
||
|
|
{
|
||
|
|
return current_data;
|
||
|
|
}
|
||
|
|
|
||
|
|
rs2_vector increment;
|
||
|
|
rs2_vector value_interp;
|
||
|
|
|
||
|
|
if(target_time > current_time) {
|
||
|
|
value_interp = current_data;
|
||
|
|
}
|
||
|
|
else if(target_time > prev_time)
|
||
|
|
{
|
||
|
|
increment.x = current_data.x - prev_data.x;
|
||
|
|
increment.y = current_data.y - prev_data.y;
|
||
|
|
increment.z = current_data.z - prev_data.z;
|
||
|
|
|
||
|
|
double factor = (target_time - prev_time) / (current_time - prev_time);
|
||
|
|
|
||
|
|
value_interp.x = prev_data.x + increment.x * factor;
|
||
|
|
value_interp.y = prev_data.y + increment.y * factor;
|
||
|
|
value_interp.z = prev_data.z + increment.z * factor;
|
||
|
|
|
||
|
|
// zero interpolation
|
||
|
|
value_interp = current_data;
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
value_interp = prev_data;
|
||
|
|
}
|
||
|
|
|
||
|
|
return value_interp;
|
||
|
|
}
|