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Examples/Stereo/stereo_uzh-fpv.cc
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308
Examples/Stereo/stereo_uzh-fpv.cc
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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<iomanip>
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#include<chrono>
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#include <unistd.h>
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#include<opencv2/core/core.hpp>
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#include<System.h>
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using namespace std;
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void LoadImages(const string &strPath, const string &strPathTimesLeft, const string &strPathTimesRight,
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vector<string> &vstrImageLeft, vector<string> &vstrImageRight, vector<double> &vTimeStamps);
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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) % 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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if(argc < 6)
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{
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cerr << endl << "Usage: ./stereo_uzh-fpv path_to_vocabulary path_to_settings path_to_image_folder_1 path_to_times_file_left_1 path_to_times_file_right_1 (path_to_image_folder1_2 path_to_image_folder2_2 path_to_times_file_2 ... path_to_image_folder1_N path_to_image_folder2_N path_to_times_file_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> > vstrImageLeftFilenames;
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vector< vector<string> > vstrImageRightFilenames;
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vector< vector<double> > vTimestampsCam;
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vector<int> nImages;
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vstrImageLeftFilenames.resize(num_seq);
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vstrImageRightFilenames.resize(num_seq);
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vTimestampsCam.resize(num_seq);
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nImages.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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LoadImages(string(argv[3]), string(argv[4]), string(argv[5]), vstrImageLeftFilenames[seq], vstrImageRightFilenames[seq], vTimestampsCam[seq]);
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cout << "Total images: " << vstrImageLeftFilenames[seq].size() << endl;
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cout << "Total cam ts: " << vTimestampsCam[seq].size() << endl;
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cout << "first cam ts: " << vTimestampsCam[seq][0] << endl;
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cout << "LOADED!" << endl;
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nImages[seq] = vstrImageLeftFilenames[seq].size();
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tot_images += nImages[seq];
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if((nImages[seq]<=0))
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{
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cerr << "ERROR: Failed to load images for sequence" << seq << endl;
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return 1;
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}
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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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// 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::STEREO,true);
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float imageScale = SLAM.GetImageScale();
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cout << endl << "-------" << endl;
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cout.precision(17);
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cv::Mat imLeft, imRight;
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cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(3.0, cv::Size(8, 8));
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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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proccIm = 0;
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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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std::string imgPathLeft(vstrImageLeftFilenames[seq][ni].begin(), vstrImageLeftFilenames[seq][ni].end() - 1);
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std::string imgPathRight(vstrImageRightFilenames[seq][ni].begin(), vstrImageRightFilenames[seq][ni].end() - 1);
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// std::cout << "Reading the image at path: " << imgPath << std::endl;
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imLeft = cv::imread(imgPathLeft,cv::IMREAD_GRAYSCALE);
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imRight = cv::imread(imgPathRight,cv::IMREAD_GRAYSCALE);
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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 = imLeft.cols * imageScale;
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int height = imLeft.rows * imageScale;
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cv::resize(imLeft, imLeft, cv::Size(width, height));
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cv::resize(imRight, imRight, 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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// clahe
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clahe->apply(imLeft,imLeft);
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clahe->apply(imRight,imRight);
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double tframe = vTimestampsCam[seq][ni];
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if(imLeft.empty() || imRight.empty())
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{
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cerr << endl << "Failed to load image at: "
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<< vstrImageLeftFilenames[seq][ni] << endl;
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return 1;
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}
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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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SLAM.TrackStereo(imLeft,imRight,tframe);
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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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// 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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std::chrono::system_clock::time_point scNow = std::chrono::system_clock::now();
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std::time_t now = std::chrono::system_clock::to_time_t(scNow);
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std::stringstream ss;
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ss << now;
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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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return 0;
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}
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/*void LoadImages(const string &strPathLeft, const string &strPathRight, const string &strPathTimes,
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vector<string> &vstrImageLeft, vector<string> &vstrImageRight, vector<double> &vTimeStamps)
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{
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ifstream fTimes;
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cout << strPathLeft << endl;
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cout << strPathRight << 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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vstrImageLeft.reserve(5000);
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vstrImageRight.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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stringstream ss;
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ss << s;
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vstrImageLeft.push_back(strPathLeft + "/" + ss.str() + ".png");
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vstrImageRight.push_back(strPathRight + "/" + ss.str() + ".png");
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double t;
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ss >> t;
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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 LoadImages(const string &strPath, const string &strPathTimesLeft, const string &strPathTimesRight,
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vector<string> &vstrImageLeft, vector<string> &vstrImageRight, vector<double> &vTimeStamps)
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{
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ifstream fTimesLeft, fTimesRight;
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cout << strPath << endl;
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cout << strPathTimesRight << endl;
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cout << strPathTimesLeft << endl;
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fTimesLeft.open(strPathTimesLeft.c_str());
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fTimesRight.open(strPathTimesRight.c_str());
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vTimeStamps.reserve(5000);
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vstrImageLeft.reserve(5000);
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vstrImageRight.reserve(5000);
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while(!fTimesLeft.eof())
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{
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string sLeft, sRight;
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getline(fTimesLeft,sLeft);
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getline(fTimesRight, sRight);
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if(!sLeft.empty())
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{
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if (sLeft[0] == '#')
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continue;
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int pos = sLeft.find(' ');
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sLeft = sLeft.substr(pos+1, string::npos);
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sRight = sRight.substr(pos+1, string::npos);
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pos = sLeft.find(' ');
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string item = sLeft.substr(0, pos);
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string strImgLeft = sLeft.substr(pos+1, string::npos);
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// std::cout << "The resulting left filename string is: " << strImgLeft << std::endl;
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string strImgRight = sRight.substr(pos+1, string::npos);
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std::remove(strImgLeft.begin(), strImgLeft.end(), ' ');
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std::remove(strImgRight.begin(), strImgRight.end(), ' ');
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vstrImageLeft.push_back(strPath + "/" + strImgLeft);
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vstrImageRight.push_back(strPath + "/" + strImgRight);
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double t = stod(item);
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vTimeStamps.push_back(t);
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}
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}
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}
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