354 lines
12 KiB
C++
354 lines
12 KiB
C++
|
/**
|
||
|
|
* This file is part of ORB-SLAM3
|
||
|
|
*
|
||
|
|
* Copyright (C) 2017-2021 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
|
||
|
|
* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
|
||
|
|
*
|
||
|
|
* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
|
||
|
|
* License as published by the Free Software Foundation, either version 3 of the License, or
|
||
|
|
* (at your option) any later version.
|
||
|
|
*
|
||
|
|
* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
|
||
|
|
* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
* GNU General Public License for more details.
|
||
|
|
*
|
||
|
|
* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
|
||
|
|
* If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include<iostream>
|
||
|
|
#include<algorithm>
|
||
|
|
#include<fstream>
|
||
|
|
#include<chrono>
|
||
|
|
#include <ctime>
|
||
|
|
#include <sstream>
|
||
|
|
|
||
|
|
#include<opencv2/core/core.hpp>
|
||
|
|
|
||
|
|
#include<System.h>
|
||
|
|
#include "ImuTypes.h"
|
||
|
|
|
||
|
|
using namespace std;
|
||
|
|
|
||
|
|
void LoadImagesTUMVI(const string &strPathLeft, const string &strPathRight, const string &strPathTimes,
|
||
|
|
vector<string> &vstrImageLeft, vector<string> &vstrImageRight, vector<double> &vTimeStamps);
|
||
|
|
|
||
|
|
void LoadIMU(const string &strImuPath, vector<double> &vTimeStamps, vector<cv::Point3f> &vAcc, vector<cv::Point3f> &vGyro);
|
||
|
|
|
||
|
|
double ttrack_tot = 0;
|
||
|
|
int main(int argc, char **argv)
|
||
|
|
{
|
||
|
|
const int num_seq = (argc-3)/4;
|
||
|
|
cout << "num_seq = " << num_seq << endl;
|
||
|
|
bool bFileName= (((argc-3) % 4) == 1);
|
||
|
|
string file_name;
|
||
|
|
if (bFileName)
|
||
|
|
file_name = string(argv[argc-1]);
|
||
|
|
|
||
|
|
if(argc < 7)
|
||
|
|
{
|
||
|
|
cerr << endl << "Usage: ./stereo_inertial_tum_vi path_to_vocabulary path_to_settings path_to_image_folder_1 path_to_image_folder_2 path_to_times_file path_to_imu_data (trajectory_file_name)" << endl;
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// Load all sequences:
|
||
|
|
int seq;
|
||
|
|
vector< vector<string> > vstrImageLeftFilenames;
|
||
|
|
vector< vector<string> > vstrImageRightFilenames;
|
||
|
|
vector< vector<double> > vTimestampsCam;
|
||
|
|
vector< vector<cv::Point3f> > vAcc, vGyro;
|
||
|
|
vector< vector<double> > vTimestampsImu;
|
||
|
|
vector<int> nImages;
|
||
|
|
vector<int> nImu;
|
||
|
|
vector<int> first_imu(num_seq,0);
|
||
|
|
|
||
|
|
vstrImageLeftFilenames.resize(num_seq);
|
||
|
|
vstrImageRightFilenames.resize(num_seq);
|
||
|
|
vTimestampsCam.resize(num_seq);
|
||
|
|
vAcc.resize(num_seq);
|
||
|
|
vGyro.resize(num_seq);
|
||
|
|
vTimestampsImu.resize(num_seq);
|
||
|
|
nImages.resize(num_seq);
|
||
|
|
nImu.resize(num_seq);
|
||
|
|
|
||
|
|
int tot_images = 0;
|
||
|
|
for (seq = 0; seq<num_seq; seq++)
|
||
|
|
{
|
||
|
|
cout << "Loading images for sequence " << seq << "...";
|
||
|
|
LoadImagesTUMVI(string(argv[4*(seq+1)-1]), string(argv[4*(seq+1)]), string(argv[4*(seq+1)+1]), vstrImageLeftFilenames[seq], vstrImageRightFilenames[seq], vTimestampsCam[seq]);
|
||
|
|
cout << "Total images: " << vstrImageLeftFilenames[seq].size() << endl;
|
||
|
|
cout << "Total cam ts: " << vTimestampsCam[seq].size() << endl;
|
||
|
|
cout << "first cam ts: " << vTimestampsCam[seq][0] << endl;
|
||
|
|
|
||
|
|
cout << "LOADED!" << endl;
|
||
|
|
|
||
|
|
cout << "Loading IMU for sequence " << seq << "...";
|
||
|
|
LoadIMU(string(argv[4*(seq+1)+2]), vTimestampsImu[seq], vAcc[seq], vGyro[seq]);
|
||
|
|
cout << "Total IMU meas: " << vTimestampsImu[seq].size() << endl;
|
||
|
|
cout << "first IMU ts: " << vTimestampsImu[seq][0] << endl;
|
||
|
|
cout << "LOADED!" << endl;
|
||
|
|
|
||
|
|
nImages[seq] = vstrImageLeftFilenames[seq].size();
|
||
|
|
tot_images += nImages[seq];
|
||
|
|
nImu[seq] = vTimestampsImu[seq].size();
|
||
|
|
|
||
|
|
if((nImages[seq]<=0)||(nImu[seq]<=0))
|
||
|
|
{
|
||
|
|
cerr << "ERROR: Failed to load images or IMU for sequence" << seq << endl;
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Find first imu to be considered, supposing imu measurements start first
|
||
|
|
|
||
|
|
while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][0])
|
||
|
|
first_imu[seq]++;
|
||
|
|
first_imu[seq]--; // first imu measurement to be considered
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
// Vector for tracking time statistics
|
||
|
|
vector<float> vTimesTrack;
|
||
|
|
vTimesTrack.resize(tot_images);
|
||
|
|
|
||
|
|
cout << endl << "-------" << endl;
|
||
|
|
cout.precision(17);
|
||
|
|
|
||
|
|
/*cout << "Start processing sequence ..." << endl;
|
||
|
|
cout << "Images in the sequence: " << nImages << endl;
|
||
|
|
cout << "IMU data in the sequence: " << nImu << endl << endl;*/
|
||
|
|
|
||
|
|
// Create SLAM system. It initializes all system threads and gets ready to process frames.
|
||
|
|
ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_STEREO, true, 0, file_name);
|
||
|
|
float imageScale = SLAM.GetImageScale();
|
||
|
|
|
||
|
|
double t_resize = 0.f;
|
||
|
|
double t_track = 0.f;
|
||
|
|
|
||
|
|
int proccIm = 0;
|
||
|
|
for (seq = 0; seq<num_seq; seq++)
|
||
|
|
{
|
||
|
|
|
||
|
|
// Main loop
|
||
|
|
cv::Mat imLeft, imRight;
|
||
|
|
vector<ORB_SLAM3::IMU::Point> vImuMeas;
|
||
|
|
proccIm = 0;
|
||
|
|
cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(3.0, cv::Size(8, 8));
|
||
|
|
for(int ni=0; ni<nImages[seq]; ni++, proccIm++)
|
||
|
|
{
|
||
|
|
|
||
|
|
// Read image from file
|
||
|
|
imLeft = cv::imread(vstrImageLeftFilenames[seq][ni],cv::IMREAD_GRAYSCALE);
|
||
|
|
imRight = cv::imread(vstrImageRightFilenames[seq][ni],cv::IMREAD_GRAYSCALE);
|
||
|
|
|
||
|
|
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 = imLeft.cols * imageScale;
|
||
|
|
int height = imLeft.rows * imageScale;
|
||
|
|
cv::resize(imLeft, imLeft, cv::Size(width, height));
|
||
|
|
cv::resize(imRight, imRight, 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
|
||
|
|
}
|
||
|
|
|
||
|
|
// clahe
|
||
|
|
clahe->apply(imLeft,imLeft);
|
||
|
|
clahe->apply(imRight,imRight);
|
||
|
|
|
||
|
|
double tframe = vTimestampsCam[seq][ni];
|
||
|
|
|
||
|
|
if(imLeft.empty() || imRight.empty())
|
||
|
|
{
|
||
|
|
cerr << endl << "Failed to load image at: "
|
||
|
|
<< vstrImageLeftFilenames[seq][ni] << endl;
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// Load imu measurements from previous frame
|
||
|
|
vImuMeas.clear();
|
||
|
|
|
||
|
|
if(ni>0)
|
||
|
|
{
|
||
|
|
// cout << "t_cam " << tframe << endl;
|
||
|
|
|
||
|
|
while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
|
||
|
|
{
|
||
|
|
// vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[first_imu],vGyro[first_imu],vTimestampsImu[first_imu]));
|
||
|
|
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,
|
||
|
|
vGyro[seq][first_imu[seq]].x,vGyro[seq][first_imu[seq]].y,vGyro[seq][first_imu[seq]].z,
|
||
|
|
vTimestampsImu[seq][first_imu[seq]]));
|
||
|
|
// cout << "t_imu = " << fixed << vImuMeas.back().t << endl;
|
||
|
|
first_imu[seq]++;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/*cout << "first imu: " << first_imu[seq] << endl;
|
||
|
|
cout << "first imu time: " << fixed << vTimestampsImu[seq][0] << endl;
|
||
|
|
cout << "size vImu: " << vImuMeas.size() << endl;*/
|
||
|
|
|
||
|
|
#ifdef COMPILEDWITHC11
|
||
|
|
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
|
||
|
|
#else
|
||
|
|
std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// Pass the image to the SLAM system
|
||
|
|
SLAM.TrackStereo(imLeft,imRight,tframe,vImuMeas);
|
||
|
|
|
||
|
|
#ifdef COMPILEDWITHC11
|
||
|
|
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
|
||
|
|
#else
|
||
|
|
std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifdef REGISTER_TIMES
|
||
|
|
t_track = t_resize + std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t2 - t1).count();
|
||
|
|
SLAM.InsertTrackTime(t_track);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
double ttrack= std::chrono::duration_cast<std::chrono::duration<double> >(t2 - t1).count();
|
||
|
|
ttrack_tot += ttrack;
|
||
|
|
// std::cout << "ttrack: " << ttrack << std::endl;
|
||
|
|
|
||
|
|
vTimesTrack[ni]=ttrack;
|
||
|
|
|
||
|
|
// Wait to load the next frame
|
||
|
|
double T=0;
|
||
|
|
if(ni<nImages[seq]-1)
|
||
|
|
T = vTimestampsCam[seq][ni+1]-tframe;
|
||
|
|
else if(ni>0)
|
||
|
|
T = tframe-vTimestampsCam[seq][ni-1];
|
||
|
|
|
||
|
|
if(ttrack<T)
|
||
|
|
usleep((T-ttrack)*1e6); // 1e6
|
||
|
|
}
|
||
|
|
if(seq < num_seq - 1)
|
||
|
|
{
|
||
|
|
cout << "Changing the dataset" << endl;
|
||
|
|
|
||
|
|
SLAM.ChangeDataset();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// Stop all threads
|
||
|
|
SLAM.Shutdown();
|
||
|
|
|
||
|
|
// Tracking time statistics
|
||
|
|
|
||
|
|
// Save camera trajectory
|
||
|
|
std::chrono::system_clock::time_point scNow = std::chrono::system_clock::now();
|
||
|
|
std::time_t now = std::chrono::system_clock::to_time_t(scNow);
|
||
|
|
std::stringstream ss;
|
||
|
|
ss << now;
|
||
|
|
|
||
|
|
if (bFileName)
|
||
|
|
{
|
||
|
|
const string kf_file = "kf_" + string(argv[argc-1]) + ".txt";
|
||
|
|
const string f_file = "f_" + string(argv[argc-1]) + ".txt";
|
||
|
|
SLAM.SaveTrajectoryEuRoC(f_file);
|
||
|
|
SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
SLAM.SaveTrajectoryEuRoC("CameraTrajectory.txt");
|
||
|
|
SLAM.SaveKeyFrameTrajectoryEuRoC("KeyFrameTrajectory.txt");
|
||
|
|
}
|
||
|
|
|
||
|
|
sort(vTimesTrack.begin(),vTimesTrack.end());
|
||
|
|
float totaltime = 0;
|
||
|
|
for(int ni=0; ni<nImages[0]; ni++)
|
||
|
|
{
|
||
|
|
totaltime+=vTimesTrack[ni];
|
||
|
|
}
|
||
|
|
cout << "-------" << endl << endl;
|
||
|
|
cout << "median tracking time: " << vTimesTrack[nImages[0]/2] << endl;
|
||
|
|
cout << "mean tracking time: " << totaltime/proccIm << endl;
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
void LoadImagesTUMVI(const string &strPathLeft, const string &strPathRight, const string &strPathTimes,
|
||
|
|
vector<string> &vstrImageLeft, vector<string> &vstrImageRight, vector<double> &vTimeStamps)
|
||
|
|
{
|
||
|
|
ifstream fTimes;
|
||
|
|
cout << strPathLeft << endl;
|
||
|
|
cout << strPathRight << endl;
|
||
|
|
cout << strPathTimes << endl;
|
||
|
|
fTimes.open(strPathTimes.c_str());
|
||
|
|
vTimeStamps.reserve(5000);
|
||
|
|
vstrImageLeft.reserve(5000);
|
||
|
|
vstrImageRight.reserve(5000);
|
||
|
|
while(!fTimes.eof())
|
||
|
|
{
|
||
|
|
string s;
|
||
|
|
getline(fTimes,s);
|
||
|
|
|
||
|
|
if(!s.empty())
|
||
|
|
{
|
||
|
|
if (s[0] == '#')
|
||
|
|
continue;
|
||
|
|
|
||
|
|
int pos = s.find(' ');
|
||
|
|
string item = s.substr(0, pos);
|
||
|
|
|
||
|
|
vstrImageLeft.push_back(strPathLeft + "/" + item + ".png");
|
||
|
|
vstrImageRight.push_back(strPathRight + "/" + item + ".png");
|
||
|
|
|
||
|
|
double t = stod(item);
|
||
|
|
vTimeStamps.push_back(t/1e9);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void LoadIMU(const string &strImuPath, vector<double> &vTimeStamps, vector<cv::Point3f> &vAcc, vector<cv::Point3f> &vGyro)
|
||
|
|
{
|
||
|
|
ifstream fImu;
|
||
|
|
fImu.open(strImuPath.c_str());
|
||
|
|
vTimeStamps.reserve(5000);
|
||
|
|
vAcc.reserve(5000);
|
||
|
|
vGyro.reserve(5000);
|
||
|
|
|
||
|
|
while(!fImu.eof())
|
||
|
|
{
|
||
|
|
string s;
|
||
|
|
getline(fImu,s);
|
||
|
|
if (s[0] == '#')
|
||
|
|
continue;
|
||
|
|
|
||
|
|
if(!s.empty())
|
||
|
|
{
|
||
|
|
string item;
|
||
|
|
size_t pos = 0;
|
||
|
|
double data[7];
|
||
|
|
int count = 0;
|
||
|
|
while ((pos = s.find(',')) != string::npos) {
|
||
|
|
item = s.substr(0, pos);
|
||
|
|
data[count++] = stod(item);
|
||
|
|
s.erase(0, pos + 1);
|
||
|
|
}
|
||
|
|
item = s.substr(0, pos);
|
||
|
|
data[6] = stod(item);
|
||
|
|
|
||
|
|
vTimeStamps.push_back(data[0]/1e9);
|
||
|
|
vAcc.push_back(cv::Point3f(data[4],data[5],data[6]));
|
||
|
|
vGyro.push_back(cv::Point3f(data[1],data[2],data[3]));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|