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System.cc
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/**
* 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 "System.h"
#include "Converter.h"
#include <thread>
#include <pangolin/pangolin.h>
#include <iomanip>
#include <openssl/md5.h>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/string.hpp>
#include <boost/archive/text_iarchive.hpp>
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/binary_iarchive.hpp>
#include <boost/archive/binary_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/archive/xml_oarchive.hpp>
namespace ORB_SLAM3
{
Verbose::eLevel Verbose::th = Verbose::VERBOSITY_NORMAL;
System::System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor,
const bool bUseViewer, const int initFr, const string &strSequence):
mSensor(sensor), mpViewer(static_cast<Viewer*>(NULL)), mbReset(false), mbResetActiveMap(false),
mbActivateLocalizationMode(false), mbDeactivateLocalizationMode(false), mbShutDown(false)
{
// Output welcome message
cout << endl <<
"ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza." << endl <<
"ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza." << endl <<
"This program comes with ABSOLUTELY NO WARRANTY;" << endl <<
"This is free software, and you are welcome to redistribute it" << endl <<
"under certain conditions. See LICENSE.txt." << endl << endl;
cout << "Input sensor was set to: ";
if(mSensor==MONOCULAR)
cout << "Monocular" << endl;
else if(mSensor==STEREO)
cout << "Stereo" << endl;
else if(mSensor==RGBD)
cout << "RGB-D" << endl;
else if(mSensor==IMU_MONOCULAR)
cout << "Monocular-Inertial" << endl;
else if(mSensor==IMU_STEREO)
cout << "Stereo-Inertial" << endl;
else if(mSensor==IMU_RGBD)
cout << "RGB-D-Inertial" << endl;
//Check settings file
cv::FileStorage fsSettings(strSettingsFile.c_str(), cv::FileStorage::READ);
if(!fsSettings.isOpened())
{
cerr << "Failed to open settings file at: " << strSettingsFile << endl;
exit(-1);
}
cv::FileNode node = fsSettings["File.version"];
if(!node.empty() && node.isString() && node.string() == "1.0"){
settings_ = new Settings(strSettingsFile,mSensor);
mStrLoadAtlasFromFile = settings_->atlasLoadFile();
mStrSaveAtlasToFile = settings_->atlasSaveFile();
cout << (*settings_) << endl;
}
else{
settings_ = nullptr;
cv::FileNode node = fsSettings["System.LoadAtlasFromFile"];
if(!node.empty() && node.isString())
{
mStrLoadAtlasFromFile = (string)node;
}
node = fsSettings["System.SaveAtlasToFile"];
if(!node.empty() && node.isString())
{
mStrSaveAtlasToFile = (string)node;
}
}
node = fsSettings["loopClosing"];
bool activeLC = true;
if(!node.empty())
{
activeLC = static_cast<int>(fsSettings["loopClosing"]) != 0;
}
mStrVocabularyFilePath = strVocFile;
bool loadedAtlas = false;
if(mStrLoadAtlasFromFile.empty())
{
//Load ORB Vocabulary
cout << endl << "Loading ORB Vocabulary. This could take a while..." << endl;
mpVocabulary = new ORBVocabulary();
bool bVocLoad = mpVocabulary->loadFromTextFile(strVocFile);
if(!bVocLoad)
{
cerr << "Wrong path to vocabulary. " << endl;
cerr << "Falied to open at: " << strVocFile << endl;
exit(-1);
}
cout << "Vocabulary loaded!" << endl << endl;
//Create KeyFrame Database
mpKeyFrameDatabase = new KeyFrameDatabase(*mpVocabulary);
//Create the Atlas
cout << "Initialization of Atlas from scratch " << endl;
mpAtlas = new Atlas(0);
}
else
{
//Load ORB Vocabulary
cout << endl << "Loading ORB Vocabulary. This could take a while..." << endl;
mpVocabulary = new ORBVocabulary();
bool bVocLoad = mpVocabulary->loadFromTextFile(strVocFile);
if(!bVocLoad)
{
cerr << "Wrong path to vocabulary. " << endl;
cerr << "Falied to open at: " << strVocFile << endl;
exit(-1);
}
cout << "Vocabulary loaded!" << endl << endl;
//Create KeyFrame Database
mpKeyFrameDatabase = new KeyFrameDatabase(*mpVocabulary);
cout << "Load File" << endl;
// Load the file with an earlier session
//clock_t start = clock();
cout << "Initialization of Atlas from file: " << mStrLoadAtlasFromFile << endl;
bool isRead = LoadAtlas(FileType::BINARY_FILE);
if(!isRead)
{
cout << "Error to load the file, please try with other session file or vocabulary file" << endl;
exit(-1);
}
//mpKeyFrameDatabase = new KeyFrameDatabase(*mpVocabulary);
//cout << "KF in DB: " << mpKeyFrameDatabase->mnNumKFs << "; words: " << mpKeyFrameDatabase->mnNumWords << endl;
loadedAtlas = true;
mpAtlas->CreateNewMap();
//clock_t timeElapsed = clock() - start;
//unsigned msElapsed = timeElapsed / (CLOCKS_PER_SEC / 1000);
//cout << "Binary file read in " << msElapsed << " ms" << endl;
//usleep(10*1000*1000);
}
if (mSensor==IMU_STEREO || mSensor==IMU_MONOCULAR || mSensor==IMU_RGBD)
mpAtlas->SetInertialSensor();
//Create Drawers. These are used by the Viewer
mpFrameDrawer = new FrameDrawer(mpAtlas);
mpMapDrawer = new MapDrawer(mpAtlas, strSettingsFile, settings_);
//Initialize the Tracking thread
//(it will live in the main thread of execution, the one that called this constructor)
cout << "Seq. Name: " << strSequence << endl;
mpTracker = new Tracking(this, mpVocabulary, mpFrameDrawer, mpMapDrawer,
mpAtlas, mpKeyFrameDatabase, strSettingsFile, mSensor, settings_, strSequence);
//Initialize the Local Mapping thread and launch
mpLocalMapper = new LocalMapping(this, mpAtlas, mSensor==MONOCULAR || mSensor==IMU_MONOCULAR,
mSensor==IMU_MONOCULAR || mSensor==IMU_STEREO || mSensor==IMU_RGBD, strSequence);
mptLocalMapping = new thread(&ORB_SLAM3::LocalMapping::Run,mpLocalMapper);
mpLocalMapper->mInitFr = initFr;
if(settings_)
mpLocalMapper->mThFarPoints = settings_->thFarPoints();
else
mpLocalMapper->mThFarPoints = fsSettings["thFarPoints"];
if(mpLocalMapper->mThFarPoints!=0)
{
cout << "Discard points further than " << mpLocalMapper->mThFarPoints << " m from current camera" << endl;
mpLocalMapper->mbFarPoints = true;
}
else
mpLocalMapper->mbFarPoints = false;
//Initialize the Loop Closing thread and launch
// mSensor!=MONOCULAR && mSensor!=IMU_MONOCULAR
bool bLoopClosing = static_cast<int>(fsSettings["System.LoopClosing"]) != 0;
if (bLoopClosing)
{
cout << "Loop Closure On" << endl;
mpLoopCloser = new LoopClosing(mpAtlas, mpKeyFrameDatabase, mpVocabulary, mSensor!=MONOCULAR, activeLC); // mSensor!=MONOCULAR);
mptLoopClosing = new thread(&ORB_SLAM3::LoopClosing::Run, mpLoopCloser);
}
else
{
cout << "Loop Closure Off" << endl;
mpLoopCloser = nullptr;
mptLoopClosing = nullptr;
}
//Set pointers between threads
mpTracker->SetLocalMapper(mpLocalMapper);
mpTracker->SetLoopClosing(mpLoopCloser);
mpLocalMapper->SetTracker(mpTracker);
mpLocalMapper->SetLoopCloser(mpLoopCloser);
if (mpLoopCloser) {
mpLoopCloser->SetTracker(mpTracker);
mpLoopCloser->SetLocalMapper(mpLocalMapper);
}
//usleep(10*1000*1000);
//Initialize the Viewer thread and launch
if(bUseViewer)
//if(false) // TODO
{
mpViewer = new Viewer(this, mpFrameDrawer,mpMapDrawer,mpTracker,strSettingsFile,settings_);
mptViewer = new thread(&Viewer::Run, mpViewer);
mpTracker->SetViewer(mpViewer);
if (mpLoopCloser) {
mpLoopCloser->mpViewer = mpViewer;
}
mpViewer->both = mpFrameDrawer->both;
}
// Fix verbosity
Verbose::SetTh(Verbose::VERBOSITY_QUIET);
}
Sophus::SE3f System::TrackStereo(const cv::Mat &imLeft, const cv::Mat &imRight, const double ×tamp, const vector<IMU::Point>& vImuMeas, string filename)
{
if(mSensor!=STEREO && mSensor!=IMU_STEREO)
{
cerr << "ERROR: you called TrackStereo but input sensor was not set to Stereo nor Stereo-Inertial." << endl;
exit(-1);
}
cv::Mat imLeftToFeed, imRightToFeed;
if(settings_ && settings_->needToRectify()){
cv::Mat M1l = settings_->M1l();
cv::Mat M2l = settings_->M2l();
cv::Mat M1r = settings_->M1r();
cv::Mat M2r = settings_->M2r();
cv::remap(imLeft, imLeftToFeed, M1l, M2l, cv::INTER_LINEAR);
cv::remap(imRight, imRightToFeed, M1r, M2r, cv::INTER_LINEAR);
}
else if(settings_ && settings_->needToResize()){
cv::resize(imLeft,imLeftToFeed,settings_->newImSize());
cv::resize(imRight,imRightToFeed,settings_->newImSize());
}
else{
imLeftToFeed = imLeft.clone();
imRightToFeed = imRight.clone();
}
// Check mode change
{
unique_lock<mutex> lock(mMutexMode);
if(mbActivateLocalizationMode)
{
mpLocalMapper->RequestStop();
// Wait until Local Mapping has effectively stopped
while(!mpLocalMapper->isStopped())
{
usleep(1000);
}
mpTracker->InformOnlyTracking(true);
mbActivateLocalizationMode = false;
}
if(mbDeactivateLocalizationMode)
{
mpTracker->InformOnlyTracking(false);
mpLocalMapper->Release();
mbDeactivateLocalizationMode = false;
}
}
// Check reset
{
unique_lock<mutex> lock(mMutexReset);
if(mbReset)
{
mpTracker->Reset();
mbReset = false;
mbResetActiveMap = false;
}
else if(mbResetActiveMap)
{
mpTracker->ResetActiveMap();
mbResetActiveMap = false;
}
}
if (mSensor == System::IMU_STEREO)
for(size_t i_imu = 0; i_imu < vImuMeas.size(); i_imu++)
mpTracker->GrabImuData(vImuMeas[i_imu]);
// std::cout << "start GrabImageStereo" << std::endl;
Sophus::SE3f Tcw = mpTracker->GrabImageStereo(imLeftToFeed,imRightToFeed,timestamp,filename);
// std::cout << "out grabber" << std::endl;
unique_lock<mutex> lock2(mMutexState);
mTrackingState = mpTracker->mState;
mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints;
mTrackedKeyPointsUn = mpTracker->mCurrentFrame.mvKeysUn;
return Tcw;
}
Sophus::SE3f System::TrackRGBD(const cv::Mat &im, const cv::Mat &depthmap, const double ×tamp, const vector<IMU::Point>& vImuMeas, string filename)
{
if(mSensor!=RGBD && mSensor!=IMU_RGBD)
{
cerr << "ERROR: you called TrackRGBD but input sensor was not set to RGBD." << endl;
exit(-1);
}
cv::Mat imToFeed = im.clone();
cv::Mat imDepthToFeed = depthmap.clone();
if(settings_ && settings_->needToResize()){
cv::Mat resizedIm;
cv::resize(im,resizedIm,settings_->newImSize());
imToFeed = resizedIm;
cv::resize(depthmap,imDepthToFeed,settings_->newImSize());
}
// Check mode change
{
unique_lock<mutex> lock(mMutexMode);
if(mbActivateLocalizationMode)
{
mpLocalMapper->RequestStop();
// Wait until Local Mapping has effectively stopped
while(!mpLocalMapper->isStopped())
{
usleep(1000);
}
mpTracker->InformOnlyTracking(true);
mbActivateLocalizationMode = false;
}
if(mbDeactivateLocalizationMode)
{
mpTracker->InformOnlyTracking(false);
mpLocalMapper->Release();
mbDeactivateLocalizationMode = false;
}
}
// Check reset
{
unique_lock<mutex> lock(mMutexReset);
if(mbReset)
{
mpTracker->Reset();
mbReset = false;
mbResetActiveMap = false;
}
else if(mbResetActiveMap)
{
mpTracker->ResetActiveMap();
mbResetActiveMap = false;
}
}
if (mSensor == System::IMU_RGBD)
for(size_t i_imu = 0; i_imu < vImuMeas.size(); i_imu++)
mpTracker->GrabImuData(vImuMeas[i_imu]);
Sophus::SE3f Tcw = mpTracker->GrabImageRGBD(imToFeed,imDepthToFeed,timestamp,filename);
unique_lock<mutex> lock2(mMutexState);
mTrackingState = mpTracker->mState;
mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints;
mTrackedKeyPointsUn = mpTracker->mCurrentFrame.mvKeysUn;
return Tcw;
}
Sophus::SE3f System::TrackMonocular(const cv::Mat &im, const double ×tamp, const vector<IMU::Point>& vImuMeas, string filename)
{
{
unique_lock<mutex> lock(mMutexReset);
if(mbShutDown)
return Sophus::SE3f();
}
if(mSensor!=MONOCULAR && mSensor!=IMU_MONOCULAR)
{
cerr << "ERROR: you called TrackMonocular but input sensor was not set to Monocular nor Monocular-Inertial." << endl;
exit(-1);
}
cv::Mat imToFeed = im.clone();
if(settings_ && settings_->needToResize()){
cv::Mat resizedIm;
cv::resize(im,resizedIm,settings_->newImSize());
imToFeed = resizedIm;
}
// Check mode change
{
unique_lock<mutex> lock(mMutexMode);
if(mbActivateLocalizationMode)
{
mpLocalMapper->RequestStop();
// Wait until Local Mapping has effectively stopped
while(!mpLocalMapper->isStopped())
{
usleep(1000);
}
mpTracker->InformOnlyTracking(true);
mbActivateLocalizationMode = false;
}
if(mbDeactivateLocalizationMode)
{
mpTracker->InformOnlyTracking(false);
mpLocalMapper->Release();
mbDeactivateLocalizationMode = false;
}
}
// Check reset
{
unique_lock<mutex> lock(mMutexReset);
if(mbReset)
{
mpTracker->Reset();
mbReset = false;
mbResetActiveMap = false;
}
else if(mbResetActiveMap)
{
cout << "SYSTEM-> Reseting active map in monocular case" << endl;
mpTracker->ResetActiveMap();
mbResetActiveMap = false;
}
}
if (mSensor == System::IMU_MONOCULAR)
for(size_t i_imu = 0; i_imu < vImuMeas.size(); i_imu++)
mpTracker->GrabImuData(vImuMeas[i_imu]);
Sophus::SE3f Tcw = mpTracker->GrabImageMonocular(imToFeed,timestamp,filename);
unique_lock<mutex> lock2(mMutexState);
mTrackingState = mpTracker->mState;
mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints;
mTrackedKeyPointsUn = mpTracker->mCurrentFrame.mvKeysUn;
return Tcw;
}
void System::ActivateLocalizationMode()
{
unique_lock<mutex> lock(mMutexMode);
mbActivateLocalizationMode = true;
}
void System::DeactivateLocalizationMode()
{
unique_lock<mutex> lock(mMutexMode);
mbDeactivateLocalizationMode = true;
}
bool System::MapChanged()
{
static int n=0;
int curn = mpAtlas->GetLastBigChangeIdx();
if(n<curn)
{
n=curn;
return true;
}
else
return false;
}
void System::Reset()
{
unique_lock<mutex> lock(mMutexReset);
mbReset = true;
}
void System::ResetActiveMap()
{
unique_lock<mutex> lock(mMutexReset);
mbResetActiveMap = true;
}
void System::Shutdown()
{
{
unique_lock<mutex> lock(mMutexReset);
mbShutDown = true;
}
cout << "Shutdown" << endl;
mpLocalMapper->RequestFinish();
if (mpLoopCloser) {
mpLoopCloser->RequestFinish();
}
/*if(mpViewer)
{
mpViewer->RequestFinish();
while(!mpViewer->isFinished())
usleep(5000);
}*/
// Wait until all thread have effectively stopped
/*while(!mpLocalMapper->isFinished() || !mpLoopCloser->isFinished() || mpLoopCloser->isRunningGBA())
{
if(!mpLocalMapper->isFinished())
cout << "mpLocalMapper is not finished" << endl;*/
/*if(!mpLoopCloser->isFinished())
cout << "mpLoopCloser is not finished" << endl;
if(mpLoopCloser->isRunningGBA()){
cout << "mpLoopCloser is running GBA" << endl;
cout << "break anyway..." << endl;
break;
}*/
/*usleep(5000);
}*/
if(!mStrSaveAtlasToFile.empty())
{
Verbose::PrintMess("Atlas saving to file " + mStrSaveAtlasToFile, Verbose::VERBOSITY_NORMAL);
SaveAtlas(FileType::BINARY_FILE);
}
/*if(mpViewer)
pangolin::BindToContext("ORB-SLAM2: Map Viewer");*/
#ifdef REGISTER_TIMES
mpTracker->PrintTimeStats();
#endif
}
bool System::isShutDown() {
unique_lock<mutex> lock(mMutexReset);
return mbShutDown;
}
void System::SaveTrajectoryTUM(const string &filename)
{
cout << endl << "Saving camera trajectory to " << filename << " ..." << endl;
if(mSensor==MONOCULAR)
{
cerr << "ERROR: SaveTrajectoryTUM cannot be used for monocular." << endl;
return;
}
vector<KeyFrame*> vpKFs = mpAtlas->GetAllKeyFrames();
sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);
// Transform all keyframes so that the first keyframe is at the origin.
// After a loop closure the first keyframe might not be at the origin.
Sophus::SE3f Two = vpKFs[0]->GetPoseInverse();
ofstream f;
f.open(filename.c_str());
f << fixed;
// Frame pose is stored relative to its reference keyframe (which is optimized by BA and pose graph).
// We need to get first the keyframe pose and then concatenate the relative transformation.
// Frames not localized (tracking failure) are not saved.
// For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag
// which is true when tracking failed (lbL).
list<ORB_SLAM3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
list<double>::iterator lT = mpTracker->mlFrameTimes.begin();
list<bool>::iterator lbL = mpTracker->mlbLost.begin();
for(list<Sophus::SE3f>::iterator lit=mpTracker->mlRelativeFramePoses.begin(),
lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++, lbL++)
{
if(*lbL)
continue;
KeyFrame* pKF = *lRit;
Sophus::SE3f Trw;
// If the reference keyframe was culled, traverse the spanning tree to get a suitable keyframe.
while(pKF->isBad())
{
Trw = Trw * pKF->mTcp;
pKF = pKF->GetParent();
}
Trw = Trw * pKF->GetPose() * Two;
Sophus::SE3f Tcw = (*lit) * Trw;
Sophus::SE3f Twc = Tcw.inverse();
Eigen::Vector3f twc = Twc.translation();
Eigen::Quaternionf q = Twc.unit_quaternion();
f << setprecision(6) << *lT << " " << setprecision(9) << twc(0) << " " << twc(1) << " " << twc(2) << " " << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl;
}
f.close();
// cout << endl << "trajectory saved!" << endl;
}
void System::SaveKeyFrameTrajectoryTUM(const string &filename)
{
cout << endl << "Saving keyframe trajectory to " << filename << " ..." << endl;
vector<KeyFrame*> vpKFs = mpAtlas->GetAllKeyFrames();
sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);
// Transform all keyframes so that the first keyframe is at the origin.
// After a loop closure the first keyframe might not be at the origin.
ofstream f;
f.open(filename.c_str());
f << fixed;
for(size_t i=0; i<vpKFs.size(); i++)
{
KeyFrame* pKF = vpKFs[i];
// pKF->SetPose(pKF->GetPose()*Two);
if(pKF->isBad())
continue;
Sophus::SE3f Twc = pKF->GetPoseInverse();
Eigen::Quaternionf q = Twc.unit_quaternion();
Eigen::Vector3f t = Twc.translation();
f << setprecision(6) << pKF->mTimeStamp << setprecision(7) << " " << t(0) << " " << t(1) << " " << t(2)
<< " " << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl;
}
f.close();
}
void System::SaveTrajectoryEuRoC(const string &filename)
{
cout << endl << "Saving trajectory to " << filename << " ..." << endl;
/*if(mSensor==MONOCULAR)
{
cerr << "ERROR: SaveTrajectoryEuRoC cannot be used for monocular." << endl;
return;
}*/
vector<Map*> vpMaps = mpAtlas->GetAllMaps();
int numMaxKFs = 0;
Map* pBiggerMap;
std::cout << "There are " << std::to_string(vpMaps.size()) << " maps in the atlas" << std::endl;
for(Map* pMap :vpMaps)
{
std::cout << " Map " << std::to_string(pMap->GetId()) << " has " << std::to_string(pMap->GetAllKeyFrames().size()) << " KFs" << std::endl;
if(pMap->GetAllKeyFrames().size() > numMaxKFs)
{
numMaxKFs = pMap->GetAllKeyFrames().size();
pBiggerMap = pMap;
}
}
vector<KeyFrame*> vpKFs = pBiggerMap->GetAllKeyFrames();
sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);
// Transform all keyframes so that the first keyframe is at the origin.
// After a loop closure the first keyframe might not be at the origin.
Sophus::SE3f Twb; // Can be word to cam0 or world to b depending on IMU or not.
if (mSensor==IMU_MONOCULAR || mSensor==IMU_STEREO || mSensor==IMU_RGBD)
Twb = vpKFs[0]->GetImuPose();
else
Twb = vpKFs[0]->GetPoseInverse();
ofstream f;
f.open(filename.c_str());
// cout << "file open" << endl;
f << fixed;
// Frame pose is stored relative to its reference keyframe (which is optimized by BA and pose graph).
// We need to get first the keyframe pose and then concatenate the relative transformation.
// Frames not localized (tracking failure) are not saved.
// For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag
// which is true when tracking failed (lbL).
list<ORB_SLAM3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
list<double>::iterator lT = mpTracker->mlFrameTimes.begin();
list<bool>::iterator lbL = mpTracker->mlbLost.begin();
//cout << "size mlpReferences: " << mpTracker->mlpReferences.size() << endl;
//cout << "size mlRelativeFramePoses: " << mpTracker->mlRelativeFramePoses.size() << endl;
//cout << "size mpTracker->mlFrameTimes: " << mpTracker->mlFrameTimes.size() << endl;
//cout << "size mpTracker->mlbLost: " << mpTracker->mlbLost.size() << endl;
for(auto lit=mpTracker->mlRelativeFramePoses.begin(),
lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++, lbL++)
{
//cout << "1" << endl;
if(*lbL)
continue;
KeyFrame* pKF = *lRit;
//cout << "KF: " << pKF->mnId << endl;
Sophus::SE3f Trw;
// If the reference keyframe was culled, traverse the spanning tree to get a suitable keyframe.
if (!pKF)
continue;
//cout << "2.5" << endl;
while(pKF->isBad())
{
//cout << " 2.bad" << endl;
Trw = Trw * pKF->mTcp;
pKF = pKF->GetParent();
//cout << "--Parent KF: " << pKF->mnId << endl;
}
if(!pKF || pKF->GetMap() != pBiggerMap)
{
//cout << "--Parent KF is from another map" << endl;
continue;
}
//cout << "3" << endl;
Trw = Trw * pKF->GetPose()*Twb; // Tcp*Tpw*Twb0=Tcb0 where b0 is the new world reference
// cout << "4" << endl;
if (mSensor == IMU_MONOCULAR || mSensor == IMU_STEREO || mSensor==IMU_RGBD)
{
Sophus::SE3f Twb = (pKF->mImuCalib.mTbc * (*lit) * Trw).inverse();
Eigen::Quaternionf q = Twb.unit_quaternion();
Eigen::Vector3f twb = Twb.translation();
f << setprecision(6) << 1e9*(*lT) << " " << setprecision(9) << twb(0) << " " << twb(1) << " " << twb(2) << " " << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl;
}
else
{
Sophus::SE3f Twc = ((*lit)*Trw).inverse();
Eigen::Quaternionf q = Twc.unit_quaternion();
Eigen::Vector3f twc = Twc.translation();
f << setprecision(6) << 1e9*(*lT) << " " << setprecision(9) << twc(0) << " " << twc(1) << " " << twc(2) << " " << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl;
}
// cout << "5" << endl;
}
//cout << "end saving trajectory" << endl;
f.close();
cout << endl << "End of saving trajectory to " << filename << " ..." << endl;
}
void System::SaveTrajectoryEuRoC(const string &filename, Map* pMap)
{
cout << endl << "Saving trajectory of map " << pMap->GetId() << " to " << filename << " ..." << endl;
/*if(mSensor==MONOCULAR)
{
cerr << "ERROR: SaveTrajectoryEuRoC cannot be used for monocular." << endl;
return;
}*/
int numMaxKFs = 0;
vector<KeyFrame*> vpKFs = pMap->GetAllKeyFrames();
sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);
// Transform all keyframes so that the first keyframe is at the origin.
// After a loop closure the first keyframe might not be at the origin.
Sophus::SE3f Twb; // Can be word to cam0 or world to b dependingo on IMU or not.
if (mSensor==IMU_MONOCULAR || mSensor==IMU_STEREO || mSensor==IMU_RGBD)
Twb = vpKFs[0]->GetImuPose();
else
Twb = vpKFs[0]->GetPoseInverse();
ofstream f;
f.open(filename.c_str());
// cout << "file open" << endl;
f << fixed;
// Frame pose is stored relative to its reference keyframe (which is optimized by BA and pose graph).
// We need to get first the keyframe pose and then concatenate the relative transformation.
// Frames not localized (tracking failure) are not saved.
// For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag
// which is true when tracking failed (lbL).
list<ORB_SLAM3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
list<double>::iterator lT = mpTracker->mlFrameTimes.begin();
list<bool>::iterator lbL = mpTracker->mlbLost.begin();
//cout << "size mlpReferences: " << mpTracker->mlpReferences.size() << endl;
//cout << "size mlRelativeFramePoses: " << mpTracker->mlRelativeFramePoses.size() << endl;
//cout << "size mpTracker->mlFrameTimes: " << mpTracker->mlFrameTimes.size() << endl;
//cout << "size mpTracker->mlbLost: " << mpTracker->mlbLost.size() << endl;
for(auto lit=mpTracker->mlRelativeFramePoses.begin(),
lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++, lbL++)
{
//cout << "1" << endl;
if(*lbL)
continue;
KeyFrame* pKF = *lRit;
//cout << "KF: " << pKF->mnId << endl;
Sophus::SE3f Trw;
// If the reference keyframe was culled, traverse the spanning tree to get a suitable keyframe.
if (!pKF)
continue;
//cout << "2.5" << endl;
while(pKF->isBad())
{
//cout << " 2.bad" << endl;
Trw = Trw * pKF->mTcp;
pKF = pKF->GetParent();
//cout << "--Parent KF: " << pKF->mnId << endl;
}
if(!pKF || pKF->GetMap() != pMap)
{
//cout << "--Parent KF is from another map" << endl;
continue;
}
//cout << "3" << endl;
Trw = Trw * pKF->GetPose()*Twb; // Tcp*Tpw*Twb0=Tcb0 where b0 is the new world reference
// cout << "4" << endl;
if (mSensor == IMU_MONOCULAR || mSensor == IMU_STEREO || mSensor==IMU_RGBD)
{
Sophus::SE3f Twb = (pKF->mImuCalib.mTbc * (*lit) * Trw).inverse();
Eigen::Quaternionf q = Twb.unit_quaternion();
Eigen::Vector3f twb = Twb.translation();
f << setprecision(6) << 1e9*(*lT) << " " << setprecision(9) << twb(0) << " " << twb(1) << " " << twb(2) << " " << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl;
}
else
{
Sophus::SE3f Twc = ((*lit)*Trw).inverse();
Eigen::Quaternionf q = Twc.unit_quaternion();
Eigen::Vector3f twc = Twc.translation();
f << setprecision(6) << 1e9*(*lT) << " " << setprecision(9) << twc(0) << " " << twc(1) << " " << twc(2) << " " << q.x() << " " << q.y() << " " << q.z() << " " << q.w() << endl;
}
// cout << "5" << endl;
}
//cout << "end saving trajectory" << endl;
f.close();
cout << endl << "End of saving trajectory to " << filename << " ..." << endl;
}
/*void System::SaveTrajectoryEuRoC(const string &filename)
{
cout << endl << "Saving trajectory to " << filename << " ..." << endl;
if(mSensor==MONOCULAR)
{
cerr << "ERROR: SaveTrajectoryEuRoC cannot be used for monocular." << endl;
return;
}
vector<Map*> vpMaps = mpAtlas->GetAllMaps();
Map* pBiggerMap;
int numMaxKFs = 0;
for(Map* pMap :vpMaps)
{
if(pMap->GetAllKeyFrames().size() > numMaxKFs)
{
numMaxKFs = pMap->GetAllKeyFrames().size();
pBiggerMap = pMap;
}
}
vector<KeyFrame*> vpKFs = pBiggerMap->GetAllKeyFrames();
sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);
// Transform all keyframes so that the first keyframe is at the origin.
// After a loop closure the first keyframe might not be at the origin.
Sophus::SE3f Twb; // Can be word to cam0 or world to b dependingo on IMU or not.
if (mSensor==IMU_MONOCULAR || mSensor==IMU_STEREO || mSensor==IMU_RGBD)
Twb = vpKFs[0]->GetImuPose_();
else
Twb = vpKFs[0]->GetPoseInverse_();
ofstream f;
f.open(filename.c_str());
// cout << "file open" << endl;
f << fixed;
// Frame pose is stored relative to its reference keyframe (which is optimized by BA and pose graph).
// We need to get first the keyframe pose and then concatenate the relative transformation.
// Frames not localized (tracking failure) are not saved.
// For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag
// which is true when tracking failed (lbL).
list<ORB_SLAM3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
list<double>::iterator lT = mpTracker->mlFrameTimes.begin();
list<bool>::iterator lbL = mpTracker->mlbLost.begin();
//cout << "size mlpReferences: " << mpTracker->mlpReferences.size() << endl;
//cout << "size mlRelativeFramePoses: " << mpTracker->mlRelativeFramePoses.size() << endl;
//cout << "size mpTracker->mlFrameTimes: " << mpTracker->mlFrameTimes.size() << endl;
//cout << "size mpTracker->mlbLost: " << mpTracker->mlbLost.size() << endl;
for(list<Sophus::SE3f>::iterator lit=mpTracker->mlRelativeFramePoses.begin(),
lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++, lbL++)
{
//cout << "1" << endl;
if(*lbL)
continue;
KeyFrame* pKF = *lRit;
//cout << "KF: " << pKF->mnId << endl;
Sophus::SE3f Trw;
// If the reference keyframe was culled, traverse the spanning tree to get a suitable keyframe.
if (!pKF)
continue;
//cout << "2.5" << endl;
while(pKF->isBad())
{
//cout << " 2.bad" << endl;
Trw = Trw * pKF->mTcp;
pKF = pKF->GetParent();
//cout << "--Parent KF: " << pKF->mnId << endl;
}
if(!pKF || pKF->GetMap() != pBiggerMap)
{
//cout << "--Parent KF is from another map" << endl;
continue;
}
//cout << "3" << endl;
Trw = Trw * pKF->GetPose()*Twb; // Tcp*Tpw*Twb0=Tcb0 where b0 is the new world reference
// cout << "4" << endl;
if (mSensor == IMU_MONOCULAR || mSensor == IMU_STEREO || mSensor==IMU_RGBD)
{
Sophus::SE3f Tbw = pKF->mImuCalib.Tbc_ * (*lit) * Trw;
Sophus::SE3f Twb = Tbw.inverse();