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Ivan
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include/basalt/io/dataset_io_kitti.h
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include/basalt/io/dataset_io_kitti.h
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/**
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BSD 3-Clause License
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This file is part of the Basalt project.
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https://gitlab.com/VladyslavUsenko/basalt.git
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Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <basalt/io/dataset_io.h>
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#include <basalt/utils/filesystem.h>
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#include <opencv2/highgui/highgui.hpp>
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namespace basalt {
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class KittiVioDataset : public VioDataset {
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size_t num_cams;
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std::string path;
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std::vector<int64_t> image_timestamps;
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std::unordered_map<int64_t, std::string> image_path;
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// vector of images for every timestamp
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// assumes vectors size is num_cams for every timestamp with null pointers for
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// missing frames
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// std::unordered_map<int64_t, std::vector<ImageData>> image_data;
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Eigen::aligned_vector<AccelData> accel_data;
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Eigen::aligned_vector<GyroData> gyro_data;
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std::vector<int64_t> gt_timestamps; // ordered gt timestamps
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Eigen::aligned_vector<Sophus::SE3d>
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gt_pose_data; // TODO: change to eigen aligned
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int64_t mocap_to_imu_offset_ns;
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public:
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~KittiVioDataset(){};
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size_t get_num_cams() const { return num_cams; }
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std::vector<int64_t> &get_image_timestamps() { return image_timestamps; }
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const Eigen::aligned_vector<AccelData> &get_accel_data() const {
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return accel_data;
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}
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const Eigen::aligned_vector<GyroData> &get_gyro_data() const {
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return gyro_data;
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}
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const std::vector<int64_t> &get_gt_timestamps() const {
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return gt_timestamps;
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}
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const Eigen::aligned_vector<Sophus::SE3d> &get_gt_pose_data() const {
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return gt_pose_data;
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}
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int64_t get_mocap_to_imu_offset_ns() const { return mocap_to_imu_offset_ns; }
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std::vector<ImageData> get_image_data(int64_t t_ns) {
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std::vector<ImageData> res(num_cams);
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const std::vector<std::string> folder = {"/image_0/", "/image_1/"};
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for (size_t i = 0; i < num_cams; i++) {
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std::string full_image_path = path + folder[i] + image_path[t_ns];
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if (fs::exists(full_image_path)) {
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cv::Mat img = cv::imread(full_image_path, cv::IMREAD_UNCHANGED);
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if (img.type() == CV_8UC1) {
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res[i].img.reset(new ManagedImage<uint16_t>(img.cols, img.rows));
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const uint8_t *data_in = img.ptr();
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uint16_t *data_out = res[i].img->ptr;
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size_t full_size = img.cols * img.rows;
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for (size_t i = 0; i < full_size; i++) {
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int val = data_in[i];
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val = val << 8;
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data_out[i] = val;
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}
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} else {
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std::cerr << "img.fmt.bpp " << img.type() << std::endl;
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std::abort();
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}
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}
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}
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return res;
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}
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std::vector<cv::Mat> get_image_data_cv_mat(int64_t t_ns) {
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std::vector<cv::Mat> res(num_cams);
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const std::vector<std::string> folder = {"/image_0/", "/image_1/"};
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for (size_t i = 0; i < num_cams; i++) {
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std::string full_image_path =
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path + folder[i] + image_path[t_ns];
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if (fs::exists(full_image_path)) {
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cv::Mat img = cv::imread(full_image_path, cv::IMREAD_GRAYSCALE);
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res.push_back(img);
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// The rest of the body from get_image_data() was deleted.
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}
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}
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return res;
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}
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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friend class KittiIO;
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};
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class KittiIO : public DatasetIoInterface {
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public:
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KittiIO() {}
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void read(const std::string &path) {
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if (!fs::exists(path))
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std::cerr << "No dataset found in " << path << std::endl;
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data.reset(new KittiVioDataset);
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data->num_cams = 2;
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data->path = path;
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read_image_timestamps(path + "/times.txt");
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if (fs::exists(path + "/poses.txt")) {
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read_gt_data_pose(path + "/poses.txt");
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}
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}
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void reset() { data.reset(); }
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VioDatasetPtr get_data() { return data; }
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private:
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void read_image_timestamps(const std::string &path) {
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std::ifstream f(path);
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std::string line;
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while (std::getline(f, line)) {
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if (line[0] == '#') continue;
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std::stringstream ss(line);
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double t_s;
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ss >> t_s;
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int64_t t_ns = t_s * 1e9;
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std::stringstream ss1;
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ss1 << std::setfill('0') << std::setw(6) << data->image_timestamps.size()
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<< ".png";
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data->image_timestamps.emplace_back(t_ns);
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data->image_path[t_ns] = ss1.str();
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}
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}
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void read_gt_data_pose(const std::string &path) {
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data->gt_timestamps.clear();
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data->gt_pose_data.clear();
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int i = 0;
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std::ifstream f(path);
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std::string line;
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while (std::getline(f, line)) {
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if (line[0] == '#') continue;
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std::stringstream ss(line);
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Eigen::Matrix3d rot;
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Eigen::Vector3d pos;
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ss >> rot(0, 0) >> rot(0, 1) >> rot(0, 2) >> pos[0] >> rot(1, 0) >>
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rot(1, 1) >> rot(1, 2) >> pos[1] >> rot(2, 0) >> rot(2, 1) >>
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rot(2, 2) >> pos[2];
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data->gt_timestamps.emplace_back(data->image_timestamps[i]);
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data->gt_pose_data.emplace_back(Eigen::Quaterniond(rot), pos);
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i++;
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}
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}
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std::shared_ptr<KittiVioDataset> data;
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};
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} // namespace basalt
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