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| /** | ||
| * This file is part of ORB-SLAM2. | ||
| * | ||
| * Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza) | ||
| * For more information see <https://github.com/raulmur/ORB_SLAM2> | ||
| * | ||
| * ORB-SLAM2 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-SLAM2 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-SLAM2. If not, see <http://www.gnu.org/licenses/>. | ||
| */ | ||
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| #include<iostream> | ||
| #include<algorithm> | ||
| #include<fstream> | ||
| #include<chrono> | ||
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| #include<System.h> | ||
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| using namespace std; | ||
| void LoadImages(const string &strFile, vector<string> &vstrImageFilenames, | ||
| vector<double> &vTimestamps); | ||
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| int main(int argc, char **argv) | ||
| { | ||
| if(argc != 4) | ||
| { | ||
| cerr << endl << "Usage: ./odom_mono_nv path_to_vocabulary path_to_settings path_to_sequence" << endl; | ||
| return 1; | ||
| } | ||
| string orbBinFile = argv[1]; | ||
| string settingFile = argv[2]; | ||
| string dataPath = argv[3]; | ||
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| // Create SLAM system. It initializes all system threads and gets ready to process frames. | ||
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| ORB_SLAM2::System SLAM(orbBinFile, settingFile, ORB_SLAM2::System::MONOCULAR,true); | ||
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| cv::FileStorage fsSettings(argv[2], cv::FileStorage::READ); | ||
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| // Number of images | ||
| int nImages = (int)fsSettings["Images.Number"]; | ||
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| // Between-frame duration | ||
| double T = (double)fsSettings["Images.FrameDuration"]; | ||
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| // Camera parameters for pre-process of undistortion | ||
| cv::Mat preK, preD; | ||
| fsSettings["Camera.Pre.K"] >> preK; | ||
| fsSettings["Camera.Pre.D"] >> preD; | ||
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| cout << endl << "-------" << endl; | ||
| cout << "Start processing sequence ..." << endl; | ||
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| string fullOdomName = dataPath + "/odo_raw.txt"; | ||
| ifstream odomFile(fullOdomName); | ||
| float x, y, theta; | ||
| string odomLine; | ||
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| // Vector for tracking time statistics | ||
| vector<float> vTimesTrack; | ||
| vTimesTrack.resize(nImages); | ||
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| // Main loop | ||
| cv::Mat im, imraw; | ||
| for(int ni=0; ni<nImages; ni++) | ||
| { | ||
| // Read image from file | ||
| string fullImgName = dataPath + "/image/" + to_string(ni) + ".bmp"; | ||
| imraw = cv::imread(fullImgName, CV_LOAD_IMAGE_GRAYSCALE); | ||
| cv::undistort(imraw, im, preK, preD); | ||
| if(im.empty()) | ||
| { | ||
| cerr << endl << "Failed to load image at: " | ||
| << fullImgName << endl; | ||
| return 1; | ||
| } | ||
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| // Read odometry data | ||
| getline(odomFile, odomLine); | ||
| istringstream iss(odomLine); | ||
| iss >> x >> y >> theta; | ||
| Se2 odom(x, y, theta); | ||
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| double tframe = 0; | ||
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| #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 | ||
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| SLAM.TrackOdomMono(im, odom, tframe); | ||
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| #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 | ||
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| double ttrack= std::chrono::duration_cast<std::chrono::duration<double> >(t2 - t1).count(); | ||
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| vTimesTrack[ni]=ttrack; | ||
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| // Wait to load the next frame | ||
| if(ttrack<T) | ||
| usleep((T-ttrack)*1e6); | ||
| } | ||
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| // Stop all threads | ||
| SLAM.Shutdown(); | ||
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| // Tracking time statistics | ||
| sort(vTimesTrack.begin(),vTimesTrack.end()); | ||
| float totaltime = 0; | ||
| for(int ni=0; ni<nImages; ni++) | ||
| { | ||
| totaltime+=vTimesTrack[ni]; | ||
| } | ||
| cout << "-------" << endl << endl; | ||
| cout << "median tracking time: " << vTimesTrack[nImages/2] << endl; | ||
| cout << "mean tracking time: " << totaltime/nImages << endl; | ||
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| // Save camera trajectory | ||
| SLAM.SaveKeyFrameTrajectoryVN("KeyFrameTrajectory.txt"); | ||
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| return 0; | ||
| } | ||
| void LoadImages(const string &strFile, vector<string> &vstrImageFilenames, vector<double> &vTimestamps) | ||
| { | ||
| ifstream f; | ||
| f.open(strFile.c_str()); | ||
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| // skip first three lines | ||
| string s0; | ||
| getline(f,s0); | ||
| getline(f,s0); | ||
| getline(f,s0); | ||
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| while(!f.eof()) | ||
| { | ||
| string s; | ||
| getline(f,s); | ||
| if(!s.empty()) | ||
| { | ||
| stringstream ss; | ||
| ss << s; | ||
| double t; | ||
| string sRGB; | ||
| ss >> t; | ||
| vTimestamps.push_back(t); | ||
| ss >> sRGB; | ||
| vstrImageFilenames.push_back(sRGB); | ||
| } | ||
| } | ||
| } |
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| %YAML:1.0 | ||
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| #-------------------------------------------------------------------------------------------- | ||
| # Camera Parameters. Adjust them! | ||
| #-------------------------------------------------------------------------------------------- | ||
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| # Camera calibration and distortion parameters (OpenCV) | ||
| Camera.fx: 231.976033627644090 | ||
| Camera.fy: 232.157224036901510 | ||
| Camera.cx: 326.92392097053931 | ||
| Camera.cy: 227.83848839534838 | ||
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| Camera.k1: 0 | ||
| Camera.k2: 0 | ||
| Camera.p1: 0 | ||
| Camera.p2: 0 | ||
| Camera.k3: 0 | ||
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| Camera.Pre.D: !!opencv-matrix | ||
| rows: 5 | ||
| cols: 1 | ||
| dt: f | ||
| data: [ -0.207406506100898 , 0.032194071349429 , 0.001120166051888 , 0.000859411522110 , 0.000000000000000 ] | ||
| Camera.Pre.K: !!opencv-matrix | ||
| rows: 3 | ||
| cols: 3 | ||
| dt: f | ||
| data: [ 231.976033627644090, 0., 326.923920970539310, 0., | ||
| 232.157224036901510, 227.838488395348380, 0., 0., 1. ] | ||
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| # Camera frames per second | ||
| Camera.fps: 30.0 | ||
|
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| # Camera extrinsics | ||
| Tbc.tbc.x: 123.91 | ||
| Tbc.tbc.y: 399.1023 | ||
| Tbc.tbc.z: 0.0 | ||
| Tbc.rbc.x: -0.0121 | ||
| Tbc.rbc.y: 0.0362 | ||
| Tbc.rbc.z: -1.6077 | ||
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| # | ||
| Images.Number: 3106 | ||
| Images.FrameDuration: 0.03 | ||
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| # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) | ||
| Camera.RGB: 1 | ||
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| #-------------------------------------------------------------------------------------------- | ||
| # ORB Parameters | ||
| #-------------------------------------------------------------------------------------------- | ||
|
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| # ORB Extractor: Number of features per image | ||
| ORBextractor.nFeatures: 1000 | ||
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| # ORB Extractor: Scale factor between levels in the scale pyramid | ||
| ORBextractor.scaleFactor: 1.2 | ||
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| # ORB Extractor: Number of levels in the scale pyramid | ||
| ORBextractor.nLevels: 8 | ||
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| # ORB Extractor: Fast threshold | ||
| # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. | ||
| # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST | ||
| # You can lower these values if your images have low contrast | ||
| ORBextractor.iniThFAST: 20 | ||
| ORBextractor.minThFAST: 7 | ||
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| #-------------------------------------------------------------------------------------------- | ||
| # Viewer Parameters | ||
| #-------------------------------------------------------------------------------------------- | ||
| Viewer.KeyFrameSize: 0.05 | ||
| Viewer.KeyFrameLineWidth: 1 | ||
| Viewer.GraphLineWidth: 0.9 | ||
| Viewer.PointSize: 2 | ||
| Viewer.CameraSize: 0.08 | ||
| Viewer.CameraLineWidth: 3 | ||
| Viewer.ViewpointX: 0 | ||
| Viewer.ViewpointY: -0.7 | ||
| Viewer.ViewpointZ: -1.8 | ||
| Viewer.ViewpointF: 500 | ||
| # Visual.KeyFrameSize: 0.4 | ||
| # Visual.KeyFrameLineWidth: 1 | ||
| # Visual.GraphLineWidth: 0.9 | ||
| # Visual.PointSize: 2 | ||
| # Visual.CameraSize: 0.6 | ||
| # Visual.CameraLineWidth: 3 | ||
| # Visual.ViewpointX: 0 | ||
| # Visual.ViewpointY: -0.7 | ||
| # Visual.ViewpointZ: -1.8 | ||
| # Visual.ViewpointF: 500 | ||
| Visual.Ratio: 0.002 |
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