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rslam.cpp
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#include "rslam.h"
int Rslam::initialize(int width, int height, int fps) {
viewer = new Viewer();
this->width = width;
this->height = height;
this->fps = fps;
// Gamma adjustment
double gammaAdj = 0.5;
lookUpTable = cv::Mat(1, 256, CV_8U);
uchar* p = lookUpTable.ptr();
for (int i = 0; i < 256; ++i) {
p[i] = cv::saturate_cast<uchar>(pow(i / 255.0, gammaAdj) * 255.0);
}
try {
ctx = new rs2::context();
//pipe = new rs2::pipeline(*ctx);
//pipelines = new std::vector<rs2::pipeline*>();
auto dev = ctx->query_devices();
for (auto&& devfound : dev) {
const char * serialNo = devfound.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
std::cout << "Found device: " << serialNo << std::endl;
// Create pipeline for device0
if (isThisDevice(serialNo, device0.serialNo)) {
device0.pipe = new rs2::pipeline(*ctx);
}
if (isThisDevice(serialNo, device1.serialNo)) {
device1.pipe = new rs2::pipeline(*ctx);
}
if (isThisDevice(serialNo, device0.serialNo) || isThisDevice(serialNo, device1.serialNo)) {
std::cout << "Configuring " << serialNo << std::endl;
// Turn off emitter
auto depth_sensor = devfound.first<rs2::depth_sensor>();
if (depth_sensor.supports(RS2_OPTION_EMITTER_ENABLED))
{
depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f); // Disable emitter
}
//rs2::config cfg;
if (isThisDevice(serialNo, device0.serialNo)){// || (std::strcmp(serialNo, this->device1SN.c_str()) == 0)) {
device0.cfg.enable_device(devfound.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
device0.cfg.enable_stream(RS2_STREAM_DEPTH, this->width, this->height, rs2_format::RS2_FORMAT_Z16, this->fps);
device0.cfg.enable_stream(RS2_STREAM_COLOR, this->width, this->height, RS2_FORMAT_BGR8, 60);
device0.cfg.enable_stream(RS2_STREAM_INFRARED, 1, this->width, this->height, RS2_FORMAT_Y8, this->fps);
device0.cfg.enable_stream(RS2_STREAM_INFRARED, 2, this->width, this->height, RS2_FORMAT_Y8, this->fps);
device0.cfg.enable_stream(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F, 250);
device0.cfg.enable_stream(RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F, 400);
}
if (isThisDevice(serialNo, device1.serialNo)) {// || (std::strcmp(serialNo, this->device1SN.c_str()) == 0)) {
device1.cfg.enable_device(devfound.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
device1.cfg.enable_stream(RS2_STREAM_DEPTH, this->width, this->height, rs2_format::RS2_FORMAT_Z16, this->fps);
device1.cfg.enable_stream(RS2_STREAM_COLOR, this->width, this->height, RS2_FORMAT_BGR8, 60);
device1.cfg.enable_stream(RS2_STREAM_INFRARED, 1, this->width, this->height, RS2_FORMAT_Y8, this->fps);
device1.cfg.enable_stream(RS2_STREAM_INFRARED, 2, this->width, this->height, RS2_FORMAT_Y8, this->fps);
//device1.cfg.enable_stream(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F, 250);
//device1.cfg.enable_stream(RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F, 400);
}
//pipe->start(cfg);
//pipelines.emplace_back(pipe);
if (isThisDevice(serialNo, device0.serialNo)) {
device0.pipe->start(device0.cfg);
device0.depthScale = device0.pipe->get_active_profile().get_device()
.query_sensors().front().as<rs2::depth_sensor>().get_depth_scale();
device0.id = "device0";
device0.isFound = true;
}
else if (isThisDevice(serialNo, device1.serialNo)) {
device1.pipe->start(device1.cfg);
device1.depthScale = device1.pipe->get_active_profile().get_device()
.query_sensors().front().as<rs2::depth_sensor>().get_depth_scale();
//device1.pipe = pipe;
device1.id = "device1";
device1.isFound = true;
}
std::cout << "Pipe created from: " << serialNo << std::endl;
}
}
//std::cout << dev.size() << std::endl;
//std::cout << "Found: " << dev[0].get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) << std::endl;
//std::cout << "Found: " << dev[1].get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) << std::endl;
}
catch (const rs2::error & e)
{
std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception& e)
{
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}
alignToColor = rs2::align(RS2_STREAM_COLOR);
/*camerapose = new CameraPose();
double intrinsicData[9] = { fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0 };
intrinsic = cv::Mat(3, 3, CV_64F, intrinsicData).clone();
camerapose->initialize(intrinsic);*/
// Utilities
gyroDisp = cv::Mat::zeros(200, 600, CV_8UC3);
accelDisp = cv::Mat::zeros(200, 600, CV_8UC3);
// SLAM
if (featMethod == SURF) {
minHessian = 10000;
surf = cv::cuda::SURF_CUDA(this->minHessian);
surf.hessianThreshold = minHessian;
matcher = cv::cuda::DescriptorMatcher::createBFMatcher(); //for surf
}
else if (featMethod == ORB){
matcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_HAMMING); //for orb
orb = cv::cuda::ORB::create(200, 2.0f, 1);// , 10, 0, 2, 0, 10);
orb->setBlurForDescriptor(true);
//orb = cv::cuda::ORB::create(200, 2.0f, 3, 10, 0, 2, 0, 10);
}
if (device0.isFound) initContainers(device0);
if (device1.isFound) initContainers(device1);
// Depth upsampling
upsampling = new lup::Upsampling(32, 12, 32);
int maxIter = 50;
float beta = 9.0f;
float gamma = 0.85f;
float alpha0 = 17.0f;
float alpha1 = 1.2f;
float timeStepLambda = 1.0f;
float lambdaTgvl2 = 5.0f;
float maxDepth = 100.0f;
this->maxDepth = maxDepth;
upsampling->initialize(width, height, maxIter, beta, gamma, alpha0, alpha1, timeStepLambda, lambdaTgvl2, maxDepth);
return EXIT_SUCCESS;
}
int Rslam::initializeFromFile(const char* filename0, const char* filenameImu) {
viewer = new Viewer();
setIntrinsics(device0, 320.729, 181.862, 321.902, 321.902);
setIntrinsics(device1, 320.729, 181.862, 321.902, 321.902);
this->width = 640;
this->height = 360;
this->fps = 90;
this->featMethod = ORB;
double gammaAdj = 0.5;
lookUpTable = cv::Mat(1, 256, CV_8U);
uchar* p = lookUpTable.ptr();
for (int i = 0; i < 256; ++i) {
p[i] = cv::saturate_cast<uchar>(pow(i / 255.0, gammaAdj) * 255.0);
}
try {
device0.pipe = new rs2::pipeline();
device0.cfg.enable_device_from_file(filename0, false);
rs2::pipeline_profile profiled435i = device0.pipe->start(device0.cfg);
rs2::device deviced435i = profiled435i.get_device();
auto playbackd435i = deviced435i.as<rs2::playback>();
playbackd435i.set_real_time(false);
externalImu.pipe = new rs2::pipeline();
externalImu.cfg.enable_device_from_file(filenameImu, false);
externalImu.cfg.enable_stream(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F, 62);
externalImu.cfg.enable_stream(RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F, 200);
rs2::pipeline_profile profilet265 = externalImu.pipe->start(externalImu.cfg);
rs2::device devicet265 = profilet265.get_device();
auto playbackt265 = devicet265.as<rs2::playback>();
playbackt265.set_real_time(false);
device0.depthScale = device0.pipe->get_active_profile().get_device()
.query_sensors().front().as<rs2::depth_sensor>().get_depth_scale();
std::cout << "Depth scale: " << device0.depthScale << std::endl;
std::cout << "Pipes started." << std::endl;
}
catch (const rs2::error & e)
{
std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception& e)
{
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}
// Utilities
gyroDisp = cv::Mat::zeros(200, 600, CV_8UC3);
accelDisp = cv::Mat::zeros(200, 600, CV_8UC3);
// SLAM
if (featMethod == SURF) {
minHessian = 10000;
surf = cv::cuda::SURF_CUDA(this->minHessian);
surf.hessianThreshold = minHessian;
matcher = cv::cuda::DescriptorMatcher::createBFMatcher(); //for surf
}
else if (featMethod == ORB) {
matcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_HAMMING); //for orb
orb = cv::cuda::ORB::create(2000, 2.0f, 2);// , 10, 0, 2, 0, 10);
orb->setBlurForDescriptor(true);
//orb = cv::cuda::ORB::create(200, 2.0f, 3, 10, 0, 2, 0, 10);
}
initContainers(device0);
// Depth upsampling
upsampling = new lup::Upsampling(32, 12, 32);
int maxIter = 200;
float beta = 9.0f;
float gamma = 0.85f;
float alpha0 = 17.0f;
float alpha1 = 1.2f;
float timeStepLambda = 1.0f;
float lambdaTgvl2 = 5.0f;
float maxDepth = 100.0f;
this->maxDepth = maxDepth;
upsampling->initialize(width, height, maxIter, beta, gamma, alpha0, alpha1, timeStepLambda, lambdaTgvl2, maxDepth);
return EXIT_SUCCESS;
}
bool Rslam::isThisDevice(std::string serialNo, std::string queryNo) {
if (std::strcmp(serialNo.c_str(), queryNo.c_str()) == 0) {
return true;
}
else return false;
}
int Rslam::initialize(Settings settings, FeatureDetectionMethod featMethod, std::string device0SN, std::string device1SN) {
this->featMethod = featMethod;
//this->device0SN = device0SN;
//this->device1SN = device1SN;
this->device0.serialNo = device0SN;
this->device1.serialNo = device1SN;
return initialize(settings);
}
int Rslam::initialize(Settings settings) {
int width, height, fps;
double cx, cy, fx, fy;
if (settings == T265) {
fx = 285.722;
fy = 286.759;
cx = 420.135;
cy = 403.394;
width = 640;
height = 480;
fps = 60;
}
else if (settings == D435I_640_480_60) {
fx = 614.122;
fy = 614.365;
cx = 323.388;
cy = 238.478;
width = 640;
height = 480;
fps = 60;
}
else if (settings == D435I_848_480_60) {
fx = 614.122;
fy = 614.365;
cx = 427.388;
cy = 238.478;
width = 640;
height = 480;
fps = 60;
}
else if (settings == D435I_IR_640_360_90) {
setIntrinsics(device0, 320.729, 181.862, 321.902, 321.902);
setIntrinsics(device1, 320.729, 181.862, 321.902, 321.902);
/*fx = 321.902;
fy = 321.902;
cx = 320.729;
cy = 181.862;*/
width = 640;
height = 360;
fps = 90;
}
else { //load default
fx = 614.122;
fy = 614.365;
cx = 427.388;
cy = 238.478;
width = 640;
height = 480;
fps = 60;
}
return initialize(width, height, fps);
}
int Rslam::setIntrinsics(Device &device, double cx, double cy, double fx, double fy) {
device.cx = cx;
device.cy = cy;
device.fx = fx;
device.fy = fy;
double intrinsicData[9] = { fx, 0, cx, 0, fy, cy, 0, 0 , 1 };
device.intrinsic = cv::Mat(3, 3, CV_64F, intrinsicData).clone();
device.distCoeffs = cv::Mat(4, 1, CV_64F);
device.distCoeffs.at<double>(0) = 0;
device.distCoeffs.at<double>(1) = 0;
device.distCoeffs.at<double>(2) = 0;
device.distCoeffs.at<double>(3) = 0;
device.Rvec = cv::Mat::zeros(3, 1, CV_64F);
device.t = cv::Mat::zeros(3, 1, CV_64F);
return 0;
}
int Rslam::initContainers(Device &device) {
device.depth = cv::Mat(this->height, this->width, CV_16U);
device.mask = cv::Mat(this->height, this->width, CV_8U);
device.depth32f = cv::Mat(this->height, this->width, CV_32F);
device.depthVis = cv::Mat(this->height, this->width, CV_8UC3);
device.color = cv::Mat(this->height, this->width, CV_8UC3);
device.infrared1 = cv::Mat(this->height, this->width, CV_8UC1);
device.infrared2 = cv::Mat(this->height, this->width, CV_8UC1);
device.infrared132f = cv::Mat(this->height, this->width, CV_32F);
device.infrared232f = cv::Mat(this->height, this->width, CV_32F);
return 0;
}
// Thread calls
int Rslam::run() {
//std::thread t1(&Rslam::visualizePose, this);
//std::thread t2(&Rslam::poseSolver, this);
//std::thread t2(&Rslam::poseSolverDefaultStereo, this);
std::thread t0(&Rslam::fetchFrames, this);
std::thread t1(&Rslam::imuPoseSolver, this);
//std::thread t2(&Rslam::poseSolverDefaultStereoMulti, this);
std::thread t2(&Rslam::cameraPoseSolver, this);
std::thread t3(&Rslam::visualizePose, this);
t0.join();
t1.join();
t2.join();
t3.join();
}
int Rslam::runFromRecording() {
std::thread t1(&Rslam::singleThread, this);
std::thread t3(&Rslam::visualizePose, this);
t1.join();
t3.join();
}
// Main loop for pose estimation
int Rslam::singleThread() {
cv::Mat im = cv::Mat::zeros(100, 400, CV_8UC3);
cv::putText(im, "Main fetch thread.", cv::Point(0, 30), cv::FONT_HERSHEY_PLAIN, 2, CV_RGB(255, 255, 255));
cv::imshow("Main", im);
bool isImuSettled = false;
bool dropFirstTimestamp = false;
device0.currentKeyframe = new Keyframe();
device0.keyframeExist = false;
device0.currentKeyframe->R = cv::Mat::zeros(3, 1, CV_64F);
device0.currentKeyframe->t = cv::Mat::zeros(3, 1, CV_64F);
device0.currentKeyframe->currentRelativeR = cv::Mat::zeros(3, 1, CV_64F);
device0.currentKeyframe->currentRelativeT = cv::Mat::zeros(3, 1, CV_64F);
device1.currentKeyframe = new Keyframe();
device1.keyframeExist = false;
device1.currentKeyframe->R = cv::Mat::zeros(3, 1, CV_64F);
device1.currentKeyframe->t = cv::Mat::zeros(3, 1, CV_64F);
device1.currentKeyframe->currentRelativeR = cv::Mat::zeros(3, 1, CV_64F);
device1.currentKeyframe->currentRelativeT = cv::Mat::zeros(3, 1, CV_64F);
while (true) {
char pressed = cv::waitKey(10);
if (pressed == 27) break;
// Poll framesets multi-camera (when any is available)
//if (!mutex.try_lock()) continue;
bool pollSuccess = (device0.pipe->poll_for_frames(&device0.frameset));
//mutex.unlock();
if (!pollSuccess) continue;
auto gyroFrame = device0.frameset.first_or_default(RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F).as<rs2::motion_frame>();
auto accelFrame = device0.frameset.first_or_default(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F).as<rs2::motion_frame>();
auto depthData = device0.frameset.get_depth_frame();
auto infrared1Data = device0.frameset.get_infrared_frame(1);
//auto infrared2Data = device0.frameset.get_infrared_frame(2);
device0.gyroQueue.enqueue(gyroFrame);
device0.accelQueue.enqueue(accelFrame);
/*device0.depthQueue.enqueue(depthData);
device0.infrared1Queue.enqueue(infrared1Data);
device0.infrared2Queue.enqueue(infrared2Data);*/
device0.depth = cv::Mat(cv::Size(width, height), CV_16U, (void*)depthData.get_data(), cv::Mat::AUTO_STEP);
device0.infrared1 = cv::Mat(cv::Size(width, height), CV_8UC1, (void*)infrared1Data.get_data(), cv::Mat::AUTO_STEP);
// Adjust gamma
//adjustGamma(device0);
device0.infrared1.convertTo(device0.infrared132f, CV_32F, 1 / 256.0f);
// Let IMU settle first
if (!isImuSettled) {
if (!dropFirstTimestamp) {
if (processGyro(device0) && processAccel(device0)) {
// Compute initial imu orientation from accelerometer. set yaw to zero.
std::cout << device0.accel.x << " " << device0.accel.y << " " << device0.accel.z << std::endl;
//MALI TO!
float g = sqrtf(device0.accel.x * device0.accel.x + device0.accel.y * device0.accel.y + device0.accel.z*device0.accel.z);
float a_x = device0.accel.x / g;
float a_y = device0.accel.y / g;
float a_z = device0.accel.z / g;
float thetax = std::atan2f(a_y, a_z);
float thetaz = std::atan2f(a_y, a_x);
std::cout << thetax << " " << thetaz << std::endl;
glm::quat q(glm::vec3(thetax, 0.0f, -thetaz));
device0.ImuRotation = Quaternion(q.x, q.y, q.z, q.w);
dropFirstTimestamp = true;
}
}
else {
processGyro(device0);
processAccel(device0);
std::cout << "Settling" << std::endl;
if (settleImu(device0))
isImuSettled = true;
}
}
else {
if (!(processGyro(device0) && processAccel(device0)))
{
continue;
}
solveImuPose(device0);
updateViewerImuPose(device0);
}
if (pressed == 'r') {
device0.keyframeExist = false; // change this to automatic keyframing
device1.keyframeExist = false;
}
//if (!(processDepth(device0) && processIr(device0))) continue;
upsampleDepth(device0);
visualizeDepth(device0);
createDepthThresholdMask(device0, 2.0f);
detectAndComputeOrb(device0);
//detectAndComputeOrb(device0.infrared1, device0.d_ir1, device0.keypointsIr1, device0.d_descriptorsIr1);
//detectAndComputeOrb(device1.infrared1, device1.d_ir1, device1.keypointsIr1, device1.d_descriptorsIr1);
// Match with keyframe
matchAndPose(device0);
//matchAndPose(device1);
visualizeRelativeKeypoints(device0.currentKeyframe, device0.infrared1, "dev0");
//visualizeRelativeKeypoints(device1.currentKeyframe, device1.infrared1, "dev1");
Device viewDevice = device0;
viewDevice.Rvec = viewDevice.currentKeyframe->currentRelativeR;
viewDevice.t = viewDevice.currentKeyframe->currentRelativeT;
this->Rvec = viewDevice.Rvec;
this->t = viewDevice.t;
cv::Mat im = cv::Mat::zeros(100, 300, CV_8UC3);
im.setTo(cv::Scalar(50, 50, 50));
overlayMatrix("pose", im, this->Rvec, this->t);
updateViewerCameraPose(device0);
}
return 0;
}
int Rslam::fetchFrames() {
cv::Mat im = cv::Mat::zeros(100, 400, CV_8UC3);
cv::putText(im, "Main fetch thread.", cv::Point(0, 30), cv::FONT_HERSHEY_PLAIN, 2, CV_RGB(255, 255, 255));
cv::imshow("Main", im);
while (true) {
char pressed = cv::waitKey(10);
if (pressed == 27) break;
// Poll framesets multi-camera (when any is available)
//if (!mutex.try_lock()) continue;
bool pollSuccess = (device0.pipe->poll_for_frames(&device0.frameset));
//mutex.unlock();
//device0.frameset = device0.pipe->wait_for_frames();
if (!pollSuccess) continue;
auto gyroFrame = device0.frameset.first_or_default(RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F).as<rs2::motion_frame>();
auto accelFrame = device0.frameset.first_or_default(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F).as<rs2::motion_frame>();
auto depthData = device0.frameset.get_depth_frame();
auto infrared1Data = device0.frameset.get_infrared_frame(1);
//auto infrared2Data = device0.frameset.get_infrared_frame(2);
device0.gyroQueue.enqueue(gyroFrame);
device0.accelQueue.enqueue(accelFrame);
//device0.depthQueue.enqueue(depthData);
//device0.infrared1Queue.enqueue(infrared1Data);
//device0.infrared2Queue.enqueue(infrared2Data);
/*rs2_vector gv = gyroFrame.as<rs2::motion_frame>().get_motion_data();
device0.gyro.ts = gyroFrame.get_timestamp();
device0.gyro.dt = (device0.gyro.ts - device0.gyro.lastTs) / 1000.0;
device0.gyro.x = gv.x - GYRO_BIAS_X;
device0.gyro.y = gv.y - GYRO_BIAS_Y;
device0.gyro.z = gv.z - GYRO_BIAS_Z;
rs2_vector av = accelFrame.as<rs2::motion_frame>().get_motion_data();
device0.accel.ts = accelFrame.get_timestamp();
device0.accel.dt = (device0.accel.ts - device0.accel.lastTs) / 1000.0;
device0.accel.x = av.x;
device0.accel.y = av.y;
device0.accel.z = av.z;*/
device0.depth = cv::Mat(cv::Size(width, height), CV_16U, (void*)depthData.get_data(), cv::Mat::AUTO_STEP);
device0.infrared1 = cv::Mat(cv::Size(width, height), CV_8UC1, (void*)infrared1Data.get_data(), cv::Mat::AUTO_STEP);
//adjustGamma(device0);
device0.infrared1.convertTo(device0.infrared132f, CV_32F, 1 / 256.0f);
}
return 0;
}
int Rslam::imuPoseSolver() {
bool isImuSettled = false;
bool dropFirstTimestamp = false;
cv::Mat im = cv::Mat::zeros(100, 400, CV_8UC3);
cv::putText(im, "IMU pose thread.", cv::Point(0, 30), cv::FONT_HERSHEY_PLAIN, 2, CV_RGB(255, 255, 255));
cv::imshow("IMU", im);
while (true) {
char pressed = cv::waitKey(10);
if (pressed == 27) break;
// Let IMU settle first
if (!isImuSettled) {
if (!dropFirstTimestamp) {
if (processGyro(device0) && processAccel(device0)) {
// Compute initial imu orientation from accelerometer. set yaw to zero.
std::cout << device0.accel.x << " " << device0.accel.y << " " << device0.accel.z << std::endl;
//MALI TO!
float g = sqrtf(device0.accel.x * device0.accel.x + device0.accel.y * device0.accel.y + device0.accel.z*device0.accel.z);
float a_x = device0.accel.x / g;
float a_y = device0.accel.y / g;
float a_z = device0.accel.z / g;
float thetax = std::atan2f(a_y, a_z);
float thetaz = std::atan2f(a_y, a_x);
std::cout << thetax << " " << thetaz << std::endl;
glm::quat q(glm::vec3(thetax, 0.0f, -thetaz));
device0.ImuRotation = Quaternion(q.x, q.y, q.z, q.w);
dropFirstTimestamp = true;
}
}
else {
processGyro(device0);
processAccel(device0);
std::cout << "Settling" << std::endl;
if (settleImu(device0))
isImuSettled = true;
}
}
else {
if (!(processGyro(device0) && processAccel(device0)))
{
continue;
}
solveImuPose(device0);
updateViewerImuPose(device0);
}
}
return 0;
}
int Rslam::cameraPoseSolver() {
device0.currentKeyframe = new Keyframe();
device0.keyframeExist = false;
device0.currentKeyframe->R = cv::Mat::zeros(3, 1, CV_64F);
device0.currentKeyframe->t = cv::Mat::zeros(3, 1, CV_64F);
device0.currentKeyframe->currentRelativeR = cv::Mat::zeros(3, 1, CV_64F);
device0.currentKeyframe->currentRelativeT = cv::Mat::zeros(3, 1, CV_64F);
device1.currentKeyframe = new Keyframe();
device1.keyframeExist = false;
device1.currentKeyframe->R = cv::Mat::zeros(3, 1, CV_64F);
device1.currentKeyframe->t = cv::Mat::zeros(3, 1, CV_64F);
device1.currentKeyframe->currentRelativeR = cv::Mat::zeros(3, 1, CV_64F);
device1.currentKeyframe->currentRelativeT = cv::Mat::zeros(3, 1, CV_64F);
while (true) {
char pressed = cv::waitKey(10);
if (pressed == 27) break;
if (pressed == 'r') {
device0.keyframeExist = false; // change this to automatic keyframing
device1.keyframeExist = false;
}
//if (!(processDepth(device0) && processIr(device0))) continue;
upsampleDepth(device0);
visualizeDepth(device0);
createDepthThresholdMask(device0, 2.0f);
detectAndComputeOrb(device0.infrared1, device0.d_ir1, device0.keypointsIr1, device0.d_descriptorsIr1);
//detectAndComputeOrb(device1.infrared1, device1.d_ir1, device1.keypointsIr1, device1.d_descriptorsIr1);
// Match with keyframe
matchAndPose(device0);
//matchAndPose(device1);
visualizeRelativeKeypoints(device0.currentKeyframe, device0.infrared1, "dev0");
//visualizeRelativeKeypoints(device1.currentKeyframe, device1.infrared1, "dev1");
Device viewDevice = device0;
viewDevice.Rvec = viewDevice.currentKeyframe->currentRelativeR;
viewDevice.t = viewDevice.currentKeyframe->currentRelativeT;
this->Rvec = viewDevice.Rvec;
this->t = viewDevice.t;
cv::Mat im = cv::Mat::zeros(100, 300, CV_8UC3);
im.setTo(cv::Scalar(50, 50, 50));
overlayMatrix("pose", im, this->Rvec, this->t);
updateViewerCameraPose(device0);
}
return 0;
}
int Rslam::poseRefinement() {
// Get current keyframe
// Align depths with previous known keyframe
}
bool Rslam::settleImu(Device &device) {
solveImuPose(device);
return true;
}
int Rslam::solveImuPose(Device &device) {
//float gyroMeasErrorX = GYRO_BIAS_X;
//float gyroMeasErrorY = GYRO_BIAS_Y;
//float gyroMeasErrorZ = GYRO_BIAS_Z;
//float betax = 5.0f * gyroMeasErrorX;
//float betay = 5.0f * gyroMeasErrorY;
//float betax = 0.01f;
float gyroMeasError = 3.14159265358979f * (5.0f / 180.0f);
float betaw = 0.8f * gyroMeasError;
float SEq_1 = device.ImuRotation.w;
float SEq_2 = device.ImuRotation.x;
float SEq_3 = device.ImuRotation.y;
float SEq_4 = device.ImuRotation.z;
float a_x = device.accel.x;
float a_y = device.accel.y;
float a_z = device.accel.z;
float w_x = device.gyro.x;
float w_y = device.gyro.y;
float w_z = device.gyro.z;
float norm;
float SEqDot_omega_1, SEqDot_omega_2, SEqDot_omega_3, SEqDot_omega_4;
float f_1, f_2, f_3;
float J_11or24, J_12or23, J_13or22, J_14or21, J_32, J_33; // objective function Jacobian element
float SEqHatDot_1, SEqHatDot_2, SEqHatDot_3, SEqHatDot_4;
float halfSEq_1 = 0.5f * SEq_1;
float halfSEq_2 = 0.5f * SEq_2;
float halfSEq_3 = 0.5f * SEq_3;
float halfSEq_4 = 0.5f * SEq_4;
float twoSEq_1 = 2.0f * SEq_1;
float twoSEq_2 = 2.0f * SEq_2;
float twoSEq_3 = 2.0f * SEq_3;
norm = sqrt(a_x * a_x + a_y * a_y + a_z * a_z);
a_x /= norm;
a_y /= norm;
a_z /= norm;
f_1 = twoSEq_2 * SEq_4 - twoSEq_1 * SEq_3 - a_x;
f_2 = twoSEq_1 * SEq_2 + twoSEq_3 * SEq_4 - a_y;
f_3 = 1.0f - twoSEq_2 * SEq_2 - twoSEq_3 * SEq_3 - a_z;
J_11or24 = twoSEq_3; // J_11 negated in matrix multiplication
J_12or23 = 2.0f * SEq_4;
J_13or22 = twoSEq_1; // J_12 negated in matrix multiplication
J_14or21 = twoSEq_2;
J_32 = 2.0f * J_14or21; // negated in matrix multiplication
J_33 = 2.0f * J_11or24; // negated in matrix multiplication
// Compute the gradient (matrix multiplication)
SEqHatDot_1 = J_14or21 * f_2 - J_11or24 * f_1;
SEqHatDot_2 = J_12or23 * f_1 + J_13or22 * f_2 - J_32 * f_3;
SEqHatDot_3 = J_12or23 * f_2 - J_33 * f_3 - J_13or22 * f_1;
SEqHatDot_4 = J_14or21 * f_1 + J_11or24 * f_2;
// Normalise the gradient
norm = sqrt(SEqHatDot_1 * SEqHatDot_1 + SEqHatDot_2 * SEqHatDot_2 + SEqHatDot_3 * SEqHatDot_3 + SEqHatDot_4 * SEqHatDot_4);
SEqHatDot_1 /= norm;
SEqHatDot_2 /= norm;
SEqHatDot_3 /= norm;
SEqHatDot_4 /= norm;
// Compute the quaternion derrivative measured by gyroscopes
SEqDot_omega_1 = -halfSEq_2 * w_x - halfSEq_3 * w_y - halfSEq_4 * w_z;
SEqDot_omega_2 = halfSEq_1 * w_x + halfSEq_3 * w_z - halfSEq_4 * w_y;
SEqDot_omega_3 = halfSEq_1 * w_y - halfSEq_2 * w_z + halfSEq_4 * w_x;
SEqDot_omega_4 = halfSEq_1 * w_z + halfSEq_2 * w_y - halfSEq_3 * w_x;
// Compute then integrate the estimated quaternion derrivative
SEq_1 += (SEqDot_omega_1 - (betaw * SEqHatDot_1)) * (float)device.gyro.dt;
SEq_2 += (SEqDot_omega_2 - (betaw * SEqHatDot_2)) * (float)device.gyro.dt;
SEq_3 += (SEqDot_omega_3 - (betaw * SEqHatDot_3)) * (float)device.gyro.dt;
SEq_4 += (SEqDot_omega_4 - (betaw * SEqHatDot_4)) * (float)device.gyro.dt;
// Normalise quaternion
norm = sqrt(SEq_1 * SEq_1 + SEq_2 * SEq_2 + SEq_3 * SEq_3 + SEq_4 * SEq_4);
SEq_1 /= norm;
SEq_2 /= norm;
SEq_3 /= norm;
SEq_4 /= norm;
device.ImuRotation.w = SEq_1;
device.ImuRotation.x = SEq_2;
device.ImuRotation.y = SEq_3;
device.ImuRotation.z = SEq_4;
/*device.ImuTranslation.x = device.ImuTranslation.x + device.ImuVelocity.x * (float)device.accel.dt;
device.ImuTranslation.y = device.ImuTranslation.y + device.ImuVelocity.y * (float)device.accel.dt;
device.ImuTranslation.z = device.ImuTranslation.z + device.ImuVelocity.z * (float)device.accel.dt;
device.ImuVelocity.x = device.ImuVelocity.x + device.accel.x * (float)device.accel.dt;
device.ImuVelocity.y = device.ImuVelocity.y + (device.accel.y + 9.81f) * (float)device.accel.dt;
device.ImuVelocity.z = device.ImuVelocity.z + device.accel.z * (float)device.accel.dt;
std::cout << device.accel.y << std::endl;*/
//std::cout << SEq_1 << " " << SEq_2 << " " << SEq_3 << " " << SEq_4 << std::endl;
//std::cout << device.gyro.x << " " << device.gyro.y << " " << device.gyro.z << std::endl;
return 0;
}
int Rslam::matchAndPose(Device& device) {
if (!device.keyframeExist) {
device.currentKeyframe->im = device.infrared1.clone();
device.currentKeyframe->d_im.upload(device.currentKeyframe->im);
device.currentKeyframe->keypoints = device.keypointsIr1;
device.currentKeyframe->d_descriptors = device.d_descriptorsIr1.clone();
device.keyframeExist = true;
}
else {
relativeMatchingDefaultStereo(device, device.currentKeyframe, device.infrared1);
solveRelativePose(device, device.currentKeyframe);
}
return 0;
}
int Rslam::detectAndComputeOrb(cv::Mat im, cv::cuda::GpuMat &d_im, std::vector<cv::KeyPoint> &keypoints, cv::cuda::GpuMat &descriptors) {
d_im.upload(im);
orb->detectAndCompute(d_im, cv::cuda::GpuMat(), keypoints, descriptors);
//orb->compute(d_ir1, keypoints, descriptors);
return 0;
}
int Rslam::detectAndComputeOrb(Device& device) {
device.d_ir1.upload(device.infrared1);
device.d_mask.upload(device.mask);
orb->detectAndCompute(device.d_ir1, device.d_mask, device.keypointsIr1, device.d_descriptorsIr1);
//orb->compute(d_ir1, keypoints, descriptors);
return 0;
}
int Rslam::relativeMatchingDefaultStereo(Device &device, Keyframe *keyframe, cv::Mat currentFrame) {
if ((device.keypointsIr1.empty() || keyframe->keypoints.empty()) || (device.d_descriptorsIr1.cols <= 1) || (keyframe->d_descriptors.cols <= 1)) {
std::cout << "No keypoints found." << std::endl;
}
else {
matcher->knnMatch(keyframe->d_descriptors, device.d_descriptorsIr1, device.matches, 2);
if (!device.matches.empty()) {
//std::cout << "Matches: " << matches.size() << std::endl;
keyframe->matchedKeypoints = std::vector< cv::KeyPoint >();
keyframe->matchedKeypointsSrc = std::vector< cv::KeyPoint >();
keyframe->matchedKeypoints.clear();
keyframe->matchedKeypointsSrc.clear();
keyframe->matchedPoints = std::vector<cv::Point2f>();
keyframe->matchedPointsSrc = std::vector<cv::Point2f>();
keyframe->matchedPoints.clear();
keyframe->matchedPointsSrc.clear();
keyframe->matchedDistances = std::vector< float >();
keyframe->matchedDistances.clear();
keyframe->objectPointsSrc = std::vector<cv::Point3f>();
keyframe->objectPointsSrc.clear();
for (int k = 0; k < (int)device.matches.size(); k++)
{
if ((device.matches[k][0].distance < 0.6*(device.matches[k][1].distance)) && ((int)device.matches[k].size() <= 2 && (int)device.matches[k].size() > 0))
{
// Get corresponding 3D point
cv::Point2f srcPt = device.keypointsIr1[device.matches[k][0].trainIdx].pt;
double z = ((double)device.depth.at<short>(srcPt)) / 256.0;
// Remove distant objects
/*if ((z > 0.0 ) && (z < 50.0)) {*/
// Solve 3D point
cv::Point3f src3dpt;
src3dpt.x = (float)(((double)srcPt.x - device.cx) * z / device.fx);
src3dpt.y = (float)(((double)srcPt.y - device.cy) * z / device.fy);
src3dpt.z = (float)z;
keyframe->objectPointsSrc.push_back(src3dpt);
keyframe->matchedKeypoints.push_back(keyframe->keypoints[device.matches[k][0].queryIdx]);
keyframe->matchedKeypointsSrc.push_back(device.keypointsIr1[device.matches[k][0].trainIdx]);
keyframe->matchedPoints.push_back(keyframe->keypoints[device.matches[k][0].queryIdx].pt);
//keyframe->matchedPointsSrc.push_back(keypointsIr1[matches[k][0].trainIdx].pt);
keyframe->matchedPointsSrc.push_back(srcPt);
keyframe->matchedDistances.push_back(device.matches[k][0].distance);
//}
}
}
}
else {
std::cout << "No relative matches found. " << std::endl;
}
}
return 0;
}
int Rslam::solveRelativePose(Device &device, Keyframe *keyframe) {
//std::cout << this->intrinsic << std::endl;
// Solve pose of keyframe wrt to current frame
if (keyframe->matchedPoints.size() >= 15) {
cv::solvePnPRansac(keyframe->objectPointsSrc, keyframe->matchedPoints,
device.intrinsic, device.distCoeffs,
keyframe->currentRelativeR, keyframe->currentRelativeT);
//cv::solvePnP(keyframe->objectPointsSrc, keyframe->matchedPoints, this->intrinsic, this->distCoeffs, keyframe->R, keyframe->t, false);
}
// Convert R and t to the current frame
return 0;
}
int Rslam::createDepthThresholdMask(Device& device, float maxDepth) {
//std::cout << device.depth32f.at<float>(320, 10) << std::endl;
cv::threshold(device.depth32f, device.mask, (double)maxDepth, 255, cv::THRESH_BINARY_INV);
device.mask.convertTo(device.mask, CV_8U);
//std::cout << device.mask.type() << " " << CV_8U << " " << CV_8UC1 << std::endl;
cv::imshow("thresh", device.mask);
//std::cout << device.depth32f.at<float>(100, 100) << std::endl;
return 0;
}
// Process Frames
bool Rslam::processGyro(Device &device) {
device.gyro.lastTs = device.gyro.ts;
rs2::frame gyroFrame;
if (device.gyroQueue.poll_for_frame(&gyroFrame)) {
rs2_vector gv = gyroFrame.as<rs2::motion_frame>().get_motion_data();
device.gyro.ts = gyroFrame.get_timestamp();
device.gyro.dt = (device.gyro.ts - device.gyro.lastTs) / 1000.0;
device.gyro.x = gv.x - GYRO_BIAS_X;
device.gyro.y = gv.y - GYRO_BIAS_Y;
device.gyro.z = gv.z - GYRO_BIAS_Z;
//std::cout << std::fixed
// << device.gyro.ts << " " << device.gyro.lastTs << " "
// << device.gyro.dt << ": ("
// << device.gyro.x << ","
// << device.gyro.y << ","
// << device.gyro.z << " )"
// /*<< device.accel.dt << ": ("
// << device.accel.x << " "
// << device.accel.y << " "
// << device.accel.z << ")"*/
// << std::endl;
return true;
}
else return false;
}
bool Rslam::processAccel(Device &device) {
device.accel.lastTs = device.accel.ts;
rs2::frame accelFrame;
if (device.accelQueue.poll_for_frame(&accelFrame)) {
rs2_vector av = accelFrame.as<rs2::motion_frame>().get_motion_data();
device.accel.ts = accelFrame.get_timestamp();
device.accel.dt = (device.accel.ts - device.accel.lastTs) / 1000.0;
device.accel.x = av.x;
device.accel.y = av.y;
device.accel.z = av.z;
return true;
}
else return false;
}
bool Rslam::processDepth(Device &device) {
rs2::frame depthData;
if (device.depthQueue.poll_for_frame(&depthData)) {
device.depth = cv::Mat(cv::Size(width, height), CV_16U, (void*)depthData.get_data(), cv::Mat::AUTO_STEP);
//cv::imshow("just converted", device.depth);
return true;
}
else return false;
}
bool Rslam::processIr(Device &device) {
bool result1 = false;
bool result2 = false;
rs2::frame infrared1Data;
if (device.infrared1Queue.poll_for_frame(&infrared1Data)) {
device.infrared1 = cv::Mat(cv::Size(width, height), CV_8UC1, (void*)infrared1Data.get_data(), cv::Mat::AUTO_STEP);
device.infrared1.convertTo(device.infrared132f, CV_32F, 1 / 256.0f);
result1 = true;
}
return result1;
/*rs2::frame infrared2Data;
if (device.infrared2Queue.poll_for_frame(&infrared2Data)) {
device.infrared2 = cv::Mat(cv::Size(width, height), CV_8UC1, (void*)infrared2Data.get_data(), cv::Mat::AUTO_STEP);
device.infrared2.convertTo(device.infrared232f, CV_32F, 1 / 256.0f);
result2 = true;
}
return result1 & result2;*/
}
int Rslam::extractColor(Device &device) {
auto colorData = device.frameset.get_color_frame();
device.color = cv::Mat(cv::Size(width, height), CV_8UC3, (void*)colorData.get_data(), cv::Mat::AUTO_STEP);
return 0;
}
int Rslam::upsampleDepth(Device &device) {
device.depth.convertTo(device.depth32f, CV_32F, (double)device.depthScale);
//std::cout << device.depth32f.at<float>(320, 160) << std::endl;
upsampling->copyImagesToDevice(device.infrared132f, device.depth32f);
upsampling->propagateColorOnly(10);
//upsampling->solve();
upsampling->copyImagesToHost(device.depth32f);
device.depth32f = device.depth32f * this->maxDepth;
//std::cout << device.depth32f.at<float>(320, 160) << std::endl;
//device.depth32f.convertTo(device.depth, CV_16U, 1.0 / (double)device.depthScale);
return 0;
}
int Rslam::adjustGamma(Device &device) {
cv::Mat res = device.infrared1.clone();
cv::LUT(device.infrared1, lookUpTable, device.infrared1);
cv::imshow("gamma adjust", device.infrared1);
return 0;
}
// Utilities
void Rslam::visualizeImu(Device &device) {
std::ostringstream gyroValx, gyroValy, gyroValz;
gyroValx << std::fixed << parseDecimal(device.gyro.x);
gyroValy << std::fixed << parseDecimal(device.gyro.y);
gyroValz << std::fixed << parseDecimal(device.gyro.z);
//gyroDisp.setTo(cv::Scalar((gyro.x + 10) * 20, (gyro.y + 10) * 20, (gyro.z + 10) * 20));
gyroDisp.setTo(cv::Scalar(50, 50, 50));
cv::circle(gyroDisp, cv::Point(100, 100), (int)abs(10.0*device.gyro.x), cv::Scalar(0, 0, 255), -1);
cv::circle(gyroDisp, cv::Point(300, 100), (int)abs(10.0*device.gyro.y), cv::Scalar(0, 255, 0), -1);
cv::circle(gyroDisp, cv::Point(500, 100), (int)abs(10.0*device.gyro.z), cv::Scalar(255, 0, 0), -1);
cv::putText(gyroDisp, gyroValx.str(), cv::Point(0, 10), cv::FONT_HERSHEY_PLAIN, 1, CV_RGB(255, 255, 255));
cv::putText(gyroDisp, gyroValy.str(), cv::Point(200, 10), cv::FONT_HERSHEY_PLAIN, 1, CV_RGB(255, 255, 255));
cv::putText(gyroDisp, gyroValz.str(), cv::Point(400, 10), cv::FONT_HERSHEY_PLAIN, 1, CV_RGB(255, 255, 255));
cv::imshow("gyro", gyroDisp);
std::ostringstream accelValx, accelValy, accelValz;
accelValx << std::fixed << parseDecimal(device.accel.x);
accelValy << std::fixed << parseDecimal(device.accel.y);
accelValz << std::fixed << parseDecimal(device.accel.z);
//gyroDisp.setTo(cv::Scalar((gyro.x + 10) * 20, (gyro.y + 10) * 20, (gyro.z + 10) * 20));
accelDisp.setTo(cv::Scalar(50, 50, 50));
cv::circle(accelDisp, cv::Point(100, 100), (int)abs(5.0*device.accel.x), cv::Scalar(0, 0, 255), -1);
cv::circle(accelDisp, cv::Point(300, 100), (int)abs(5.0*device.accel.y), cv::Scalar(0, 255, 0), -1);
cv::circle(accelDisp, cv::Point(500, 100), (int)abs(5.0*device.accel.z), cv::Scalar(255, 0, 0), -1);
cv::putText(accelDisp, accelValx.str(), cv::Point(0, 10), cv::FONT_HERSHEY_PLAIN, 1, CV_RGB(255, 255, 255));
cv::putText(accelDisp, accelValy.str(), cv::Point(200, 10), cv::FONT_HERSHEY_PLAIN, 1, CV_RGB(255, 255, 255));
cv::putText(accelDisp, accelValz.str(), cv::Point(400, 10), cv::FONT_HERSHEY_PLAIN, 1, CV_RGB(255, 255, 255));
cv::imshow("accel", accelDisp);