285 lines
8.3 KiB
C++
285 lines
8.3 KiB
C++
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file KITTItoBALConverter.cpp
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* @brief Program for reading KITTI files and convert these ones to BAL format
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* @date October, 2013
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* @author Pablo F. Alcantarilla
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*/
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// Both relative poses and recovered trajectory poses will be stored as Pose3 objects
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Cal3DS2.h>
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// Each variable in the system (poses and landmarks) must be identified with a unique key.
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// We can either use simple integer keys (1, 2, 3, ...) or symbols (X1, X2, L1).
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// Here we will use Symbols
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#include <gtsam/inference/Symbol.h>
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// We want to use iSAM2 to solve the range-SLAM problem incrementally
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#include <gtsam/nonlinear/ISAM2.h>
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// iSAM2 requires as input a set set of new factors to be added stored in a factor graph,
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// and initial guesses for any new variables used in the added factors
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/Values.h>
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// We will use a non-liear solver to batch-inituialize from the first 150 frames
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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// In GTSAM, measurement functions are represented as 'factors'. Several common factors
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// have been provided with the library for solving robotics SLAM problems.
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/slam/ProjectionFactor.h>
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// We need to use SFM_data to save it to BAL format
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#include <gtsam/slam/dataset.h>
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// Standard headers, added last, so we know headers above work on their own
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#include <boost/foreach.hpp>
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#include <boost/assign.hpp>
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#include <boost/assign/std/vector.hpp>
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#include <fstream>
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#include <iostream>
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using namespace std;
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using namespace gtsam;
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using namespace boost::assign;
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namespace NM = gtsam::noiseModel;
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using symbol_shorthand::X;
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using symbol_shorthand::L;
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typedef PriorFactor<Pose3> Pose3Prior;
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/* ************************************************************************* */
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//// Helper functions taken from VO code
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// Loaded all pose values into list
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Values::shared_ptr loadPoseValues(const string& filename) {
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Values::shared_ptr values(new Values());
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bool addNoise = false;
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Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.5,0.1,0.3));
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// read in camera poses
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string full_filename = filename;
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ifstream fin;
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fin.open(full_filename.c_str());
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int pose_id;
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while (fin >> pose_id) {
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double pose_matrix[16];
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for (int i = 0; i < 16; i++) {
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fin >> pose_matrix[i];
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}
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if (addNoise) {
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values->insert(Symbol('x',pose_id), Pose3(Matrix_(4, 4, pose_matrix)).compose(noise_pose));
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} else {
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values->insert(Symbol('x',pose_id), Pose3(Matrix_(4, 4, pose_matrix)));
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}
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}
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fin.close();
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return values;
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}
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/* ************************************************************************* */
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// Loaded specific pose values that are in key list
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Values::shared_ptr loadPoseValues(const string& filename, list<Key> keys) {
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Values::shared_ptr values(new Values());
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std::list<Key>::iterator kit;
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// read in camera poses
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string full_filename = filename;
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ifstream fin;
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fin.open(full_filename.c_str());
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int pose_id;
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while (fin >> pose_id) {
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double pose_matrix[16];
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for (int i = 0; i < 16; i++) {
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fin >> pose_matrix[i];
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}
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kit = find (keys.begin(), keys.end(), X(pose_id));
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if (kit != keys.end()) {
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cout << " Adding " << X(pose_id) << endl;
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values->insert(Symbol('x',pose_id), Pose3(Matrix_(4, 4, pose_matrix)));
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}
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}
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fin.close();
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return values;
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}
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/* ************************************************************************* */
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// Load calibration info
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Cal3_S2::shared_ptr loadCalibration(const string& filename) {
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string full_filename = filename;
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ifstream fin;
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fin.open(full_filename.c_str());
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// try loading from parent directory as backup
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if(!fin) {
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cerr << "Could not load " << full_filename;
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exit(1);
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}
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double fx, fy, s, u, v, b;
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fin >> fx >> fy >> s >> u >> v >> b;
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fin.close();
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Cal3_S2::shared_ptr K(new Cal3_S2(fx, fy, s, u, v));
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return K;
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}
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/* ************************************************************************* */
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void writeValues(string directory_, const Values& values){
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string filename = directory_ + "camera_poses.txt";
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ofstream fout;
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fout.open(filename.c_str());
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fout.precision(20);
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// write out camera poses
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BOOST_FOREACH(Values::ConstFiltered<Pose3>::value_type key_value, values.filter<Pose3>()) {
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fout << Symbol(key_value.key).index();
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const gtsam::Matrix& matrix= key_value.value.matrix();
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for (size_t row=0; row < 4; ++row) {
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for (size_t col=0; col < 4; ++col) {
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fout << " " << matrix(row, col);
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}
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}
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fout << endl;
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}
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fout.close();
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if(values.filter<Point3>().size() > 0) {
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// write landmarks
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filename = directory_ + "landmarks.txt";
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fout.open(filename.c_str());
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BOOST_FOREACH(Values::ConstFiltered<Point3>::value_type key_value, values.filter<Point3>()) {
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fout << Symbol(key_value.key).index();
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fout << " " << key_value.value.x();
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fout << " " << key_value.value.y();
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fout << " " << key_value.value.z();
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fout << endl;
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}
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fout.close();
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}
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}
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/* ************************************************************************* */
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int main(int argc, char** argv) {
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SfM_data kitti_sfm;
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int ncameras = 0, npoints = 0, nobservations = 0;
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bool debug = false;
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// Minimum number of views of a landmark before it is added to the graph (SmartProjectionFactor case only)
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unsigned int minimumNumViews = 1;
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string HOME = getenv("HOME");
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string input_dir = HOME + "/data/kitti/loop_closures_merged/";
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string output_file = HOME + "/data/kitti/loop_closures_merged/loop_closures_merged_bal.txt";
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typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> ProjectionFactor;
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NonlinearFactorGraph graph;
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// Load calibration
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boost::shared_ptr<Cal3_S2> K = loadCalibration(input_dir+"calibration.txt");
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Cal3Bundler Kd(K->fx(),0,0,K->px(),K->py());
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K->print("Calibration");
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// Load values from VO camera poses output
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gtsam::Values::shared_ptr loaded_values = loadPoseValues(input_dir+"camera_poses.txt");
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// Load camera poses
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BOOST_FOREACH(Values::ConstFiltered<Pose3>::value_type key_value, loaded_values->filter<Pose3>()) {
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Pose3 pose = key_value.value;
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kitti_sfm.cameras.push_back(SfM_Camera(pose,Kd));
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ncameras++;
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}
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// Read in kitti dataset
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ifstream fin;
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fin.open((input_dir+"stereo_factors.txt").c_str());
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if(!fin) {
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cerr << "Could not open stereo_factors.txt" << endl;
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exit(1);
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}
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// Read all measurements tracked by VO stereo
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cout << "Loading stereo_factors.txt" << endl;
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Key r, l, currentLandmark = 0;
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std::list<Key> allViews;
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std::vector<Key> views;
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std::vector<Point2> measurements;
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Values values;
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float uL, uR, v, x, y, z;
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while (fin >> r >> l >> uL >> uR >> v >> x >> y >> z){
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if (debug) cout << "CurrentLandmark " << currentLandmark << " Landmark " << l << std::endl;
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if (loaded_values->exists<Point3>(L(l)) == boost::none) {
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Pose3 camera = loaded_values->at<Pose3>(X(r));
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Point3 worldPoint = camera.transform_from(Point3(x, y, z));
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loaded_values->insert(L(l), worldPoint); // add point;
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npoints++;
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// Create a track without observations
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SfM_Track track;
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track.p = worldPoint;
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track.r = .4;
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track.g = .4;
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track.b = .4;
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kitti_sfm.tracks.push_back(track);
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}
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nobservations++;
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}
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fin.close();
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// Open again the file to store the measurements
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fin.open((input_dir+"sorted_contiguous_stereo_factors.txt").c_str());
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if(!fin) {
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cerr << "Could not open sorted_contiguous_stereo_factors.txt" << endl;
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exit(1);
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}
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while (fin >> r >> l >> uL >> uR >> v >> x >> y >> z){
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SfM_Measurement observation = make_pair(r,Point2(uL,v));
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kitti_sfm.tracks[l].measurements.push_back(observation);
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}
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fin.close();
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cout << "ncameras " << ncameras << " npoints " << npoints << endl;
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cout << "nobservations " << nobservations << endl;
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writeBAL(output_file,kitti_sfm);
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exit(0);
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}
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