350 lines
11 KiB
C++
350 lines
11 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<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<opencv2/core/core.hpp>
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#include<System.h>
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#include "ImuTypes.h"
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using namespace std;
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void LoadImagesTUMVI(const string &strImagePath, const string &strPathTimes,
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vector<string> &vstrImages, vector<double> &vTimeStamps);
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void LoadIMU(const string &strImuPath, vector<double> &vTimeStamps, vector<cv::Point3f> &vAcc, vector<cv::Point3f> &vGyro);
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double ttrack_tot = 0;
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int main(int argc, char **argv)
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{
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const int num_seq = (argc-3)/3;
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cout << "num_seq = " << num_seq << endl;
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bool bFileName= ((argc % 3) == 1);
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string file_name;
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if (bFileName)
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file_name = string(argv[argc-1]);
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cout << "file name: " << file_name << endl;
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if(argc < 6)
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{
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cerr << endl << "Usage: ./mono_inertial_tum_vi path_to_vocabulary path_to_settings path_to_image_folder_1 path_to_times_file_1 path_to_imu_data_1 (path_to_image_folder_2 path_to_times_file_2 path_to_imu_data_2 ... path_to_image_folder_N path_to_times_file_N path_to_imu_data_N) (trajectory_file_name)" << endl;
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return 1;
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}
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// Load all sequences:
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int seq;
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vector< vector<string> > vstrImageFilenames;
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vector< vector<double> > vTimestampsCam;
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vector< vector<cv::Point3f> > vAcc, vGyro;
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vector< vector<double> > vTimestampsImu;
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vector<int> nImages;
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vector<int> nImu;
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vector<int> first_imu(num_seq,0);
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vstrImageFilenames.resize(num_seq);
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vTimestampsCam.resize(num_seq);
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vAcc.resize(num_seq);
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vGyro.resize(num_seq);
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vTimestampsImu.resize(num_seq);
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nImages.resize(num_seq);
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nImu.resize(num_seq);
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int tot_images = 0;
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for (seq = 0; seq<num_seq; seq++)
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{
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cout << "Loading images for sequence " << seq << "...";
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LoadImagesTUMVI(string(argv[3*(seq+1)]), string(argv[3*(seq+1)+1]), vstrImageFilenames[seq], vTimestampsCam[seq]);
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cout << "LOADED!" << endl;
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cout << "Loading IMU for sequence " << seq << "...";
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LoadIMU(string(argv[3*(seq+1)+2]), vTimestampsImu[seq], vAcc[seq], vGyro[seq]);
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cout << "LOADED!" << endl;
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nImages[seq] = vstrImageFilenames[seq].size();
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tot_images += nImages[seq];
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nImu[seq] = vTimestampsImu[seq].size();
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if((nImages[seq]<=0)||(nImu[seq]<=0))
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{
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cerr << "ERROR: Failed to load images or IMU for sequence" << seq << endl;
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return 1;
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}
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// Find first imu to be considered, supposing imu measurements start first
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while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][0])
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first_imu[seq]++;
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first_imu[seq]--; // first imu measurement to be considered
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}
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// Vector for tracking time statistics
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vector<float> vTimesTrack;
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vTimesTrack.resize(tot_images);
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cout << endl << "-------" << endl;
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cout.precision(17);
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/*cout << "Start processing sequence ..." << endl;
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cout << "Images in the sequence: " << nImages << endl;
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cout << "IMU data in the sequence: " << nImu << endl << 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 t_resize = 0.f;
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double t_track = 0.f;
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int proccIm = 0;
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for (seq = 0; seq<num_seq; seq++)
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{
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// Main loop
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cv::Mat im;
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vector<ORB_SLAM3::IMU::Point> vImuMeas;
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proccIm = 0;
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cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(3.0, cv::Size(8, 8));
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for(int ni=0; ni<nImages[seq]; ni++, proccIm++)
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{
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// Read image from file
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im = cv::imread(vstrImageFilenames[seq][ni],cv::IMREAD_GRAYSCALE); //,cv::IMREAD_GRAYSCALE);
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// clahe
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clahe->apply(im,im);
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// cout << "mat type: " << im.type() << endl;
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double tframe = vTimestampsCam[seq][ni];
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if(im.empty())
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{
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cerr << endl << "Failed to load image at: "
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<< vstrImageFilenames[seq][ni] << endl;
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return 1;
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}
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// Load imu measurements from previous frame
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vImuMeas.clear();
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if(ni>0)
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{
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// cout << "t_cam " << tframe << endl;
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while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
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{
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vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[seq][first_imu[seq]].x,vAcc[seq][first_imu[seq]].y,vAcc[seq][first_imu[seq]].z,
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vGyro[seq][first_imu[seq]].x,vGyro[seq][first_imu[seq]].y,vGyro[seq][first_imu[seq]].z,
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vTimestampsImu[seq][first_imu[seq]]));
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// cout << "t_imu = " << fixed << vImuMeas.back().t << endl;
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first_imu[seq]++;
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}
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}
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if(imageScale != 1.f)
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{
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#ifdef REGISTER_TIMES
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#ifdef COMPILEDWITHC11
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std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
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#else
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std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
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#endif
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#endif
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int width = im.cols * imageScale;
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int height = im.rows * imageScale;
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cv::resize(im, im, cv::Size(width, height));
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#ifdef REGISTER_TIMES
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#ifdef COMPILEDWITHC11
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std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
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#else
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std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
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#endif
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t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
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SLAM.InsertResizeTime(t_resize);
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#endif
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}
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// cout << "first imu: " << first_imu[seq] << endl;
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/*cout << "first imu time: " << fixed << vTimestampsImu[first_imu] << endl;
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cout << "size vImu: " << vImuMeas.size() << endl;*/
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#ifdef COMPILEDWITHC11
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std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
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#else
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std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
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#endif
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// Pass the image to the SLAM system
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// cout << "tframe = " << tframe << endl;
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SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial
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#ifdef COMPILEDWITHC11
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std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
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#else
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std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
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#endif
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#ifdef REGISTER_TIMES
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t_track = t_resize + std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t2 - t1).count();
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SLAM.InsertTrackTime(t_track);
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#endif
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double ttrack= std::chrono::duration_cast<std::chrono::duration<double> >(t2 - t1).count();
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ttrack_tot += ttrack;
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// std::cout << "ttrack: " << ttrack << std::endl;
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vTimesTrack[ni]=ttrack;
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// Wait to load the next frame
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double T=0;
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if(ni<nImages[seq]-1)
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T = vTimestampsCam[seq][ni+1]-tframe;
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else if(ni>0)
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T = tframe-vTimestampsCam[seq][ni-1];
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if(ttrack<T)
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usleep((T-ttrack)*1e6); // 1e6
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}
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if(seq < num_seq - 1)
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{
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cout << "Changing the dataset" << endl;
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SLAM.ChangeDataset();
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}
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}
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// cout << "ttrack_tot = " << ttrack_tot << std::endl;
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// Stop all threads
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SLAM.Shutdown();
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// Tracking time statistics
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// Save camera trajectory
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if (bFileName)
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{
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const string kf_file = "kf_" + string(argv[argc-1]) + ".txt";
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const string f_file = "f_" + string(argv[argc-1]) + ".txt";
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SLAM.SaveTrajectoryEuRoC(f_file);
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SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);
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}
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else
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{
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SLAM.SaveTrajectoryEuRoC("CameraTrajectory.txt");
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SLAM.SaveKeyFrameTrajectoryEuRoC("KeyFrameTrajectory.txt");
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}
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sort(vTimesTrack.begin(),vTimesTrack.end());
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float totaltime = 0;
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for(int ni=0; ni<nImages[0]; ni++)
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{
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totaltime+=vTimesTrack[ni];
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}
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cout << "-------" << endl << endl;
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cout << "median tracking time: " << vTimesTrack[nImages[0]/2] << endl;
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cout << "mean tracking time: " << totaltime/proccIm << endl;
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/*const string kf_file = "kf_" + ss.str() + ".txt";
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const string f_file = "f_" + ss.str() + ".txt";
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SLAM.SaveTrajectoryEuRoC(f_file);
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SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);*/
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return 0;
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}
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void LoadImagesTUMVI(const string &strImagePath, const string &strPathTimes,
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vector<string> &vstrImages, vector<double> &vTimeStamps)
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{
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ifstream fTimes;
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cout << strImagePath << endl;
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cout << strPathTimes << endl;
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fTimes.open(strPathTimes.c_str());
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vTimeStamps.reserve(5000);
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vstrImages.reserve(5000);
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while(!fTimes.eof())
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{
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string s;
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getline(fTimes,s);
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if(!s.empty())
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{
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if (s[0] == '#')
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continue;
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int pos = s.find(' ');
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string item = s.substr(0, pos);
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vstrImages.push_back(strImagePath + "/" + item + ".png");
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double t = stod(item);
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vTimeStamps.push_back(t/1e9);
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}
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}
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}
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void LoadIMU(const string &strImuPath, vector<double> &vTimeStamps, vector<cv::Point3f> &vAcc, vector<cv::Point3f> &vGyro)
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{
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ifstream fImu;
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fImu.open(strImuPath.c_str());
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vTimeStamps.reserve(5000);
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vAcc.reserve(5000);
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vGyro.reserve(5000);
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while(!fImu.eof())
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{
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string s;
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getline(fImu,s);
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if (s[0] == '#')
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continue;
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if(!s.empty())
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{
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string item;
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size_t pos = 0;
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double data[7];
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int count = 0;
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while ((pos = s.find(',')) != string::npos) {
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item = s.substr(0, pos);
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data[count++] = stod(item);
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s.erase(0, pos + 1);
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}
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item = s.substr(0, pos);
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data[6] = stod(item);
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vTimeStamps.push_back(data[0]/1e9);
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vAcc.push_back(cv::Point3f(data[4],data[5],data[6]));
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vGyro.push_back(cv::Point3f(data[1],data[2],data[3]));
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}
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}
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}
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