352 lines
13 KiB
C++
352 lines
13 KiB
C++
/**
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* This file is part of ORB-SLAM3
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*
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* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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*
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* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
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* License as published by the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
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* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include<iostream>
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#include<algorithm>
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#include<fstream>
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#include<chrono>
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#include <ctime>
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#include <sstream>
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#include<opencv2/core/core.hpp>
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#include<System.h>
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#include "ImuTypes.h"
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using namespace std;
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void LoadImages(const string &strImagePath, const string &strPathTimes,
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vector<string> &vstrImages, vector<double> &vTimeStamps);
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void LoadIMU(const string &strImuPath, vector<double> &vTimeStamps, vector<cv::Point3f> &vAcc, vector<cv::Point3f> &vGyro);
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double ttrack_tot = 0;
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int main(int argc, char **argv)
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{
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// 输出运行的序列数目
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const int num_seq = (argc-3)/3;
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cout << "num_seq = " << num_seq << endl;
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bool bFileName= ((argc % 3) == 1);
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string file_name;
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if (bFileName)
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file_name = string(argv[argc-1]);
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cout << "file name: " << file_name << endl;
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// 按照下面提示至少输入6个参数
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if(argc < 6)
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{
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cerr << endl << "Usage: ./mono_inertial_tum_vi path_to_vocabulary path_to_settings path_to_image_folder_1 path_to_times_file_1 path_to_imu_data_1 (path_to_image_folder_2 path_to_times_file_2 path_to_imu_data_2 ... path_to_image_folder_N path_to_times_file_N path_to_imu_data_N) (trajectory_file_name)" << endl;
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return 1;
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}
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// Load all sequences:
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// 准备加载所有序列的数据
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int seq;
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vector< vector<string> > vstrImageFilenames; //图像文件名
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vector< vector<double> > vTimestampsCam; //图像时间戳
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vector< vector<cv::Point3f> > vAcc, vGyro; //加速度计，陀螺仪
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vector< vector<double> > vTimestampsImu; //IMU时间戳
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vector<int> nImages;
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vector<int> nImu;
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vector<int> first_imu(num_seq,0);
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vstrImageFilenames.resize(num_seq);
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vTimestampsCam.resize(num_seq);
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vAcc.resize(num_seq);
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vGyro.resize(num_seq);
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vTimestampsImu.resize(num_seq);
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nImages.resize(num_seq);
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nImu.resize(num_seq);
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int tot_images = 0;
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// 遍历每个序列
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for (seq = 0; seq<num_seq; seq++)
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{
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// Step 1 加载图像名和对应的图像时间戳
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cout << "Loading images for sequence " << seq << "...";
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LoadImages(string(argv[3*(seq+1)]), string(argv[3*(seq+1)+1]), vstrImageFilenames[seq], vTimestampsCam[seq]);
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cout << "LOADED!" << endl;
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// Step 2 加载IMU数据
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cout << "Loading IMU for sequence " << seq << "...";
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LoadIMU(string(argv[3*(seq+1)+2]), vTimestampsImu[seq], vAcc[seq], vGyro[seq]);
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cout << "LOADED!" << endl;
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nImages[seq] = vstrImageFilenames[seq].size();
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tot_images += nImages[seq];
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nImu[seq] = vTimestampsImu[seq].size();
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//检查是否存在有效数目的图像和imu数据
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if((nImages[seq]<=0)||(nImu[seq]<=0))
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{
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cerr << "ERROR: Failed to load images or IMU for sequence" << seq << endl;
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return 1;
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}
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// Find first imu to be considered, supposing imu measurements start first
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// Step 3 默认IMU数据早于图像数据记录，找到和第一帧图像时间戳最接近的imu时间戳索引，记录在first_imu[seq]中
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while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][0]){
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first_imu[seq]++;
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cout << "first_imu[seq] = " << first_imu[seq] << endl;
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}
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// 因为上面退出while循环时IMU时间戳刚刚超过图像时间戳，所以这里需要再减一个索引
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first_imu[seq]--; // first imu measurement to be considered
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}
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// Vector for tracking time statistics
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vector<float> vTimesTrack;
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vTimesTrack.resize(tot_images);
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cout << endl << "-------" << endl;
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cout.precision(17);
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/*cout << "Start processing sequence ..." << endl;
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cout << "Images in the sequence: " << nImages << endl;
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cout << "IMU data in the sequence: " << nImu << endl << endl;*/
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// Create SLAM system. It initializes all system threads and gets ready to process frames.
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// Step 4 SLAM系统的初始化，包括读取配置文件、字典，创建跟踪、局部建图、闭环、显示线程
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ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_MONOCULAR, true, 0, file_name);
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//遍历所有数据
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int proccIm = 0;
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for (seq = 0; seq<num_seq; seq++)
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{
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// Main loop
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cv::Mat im;
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//存放imu数据容器,包含该加速度,角速度,时间戳
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vector<ORB_SLAM3::IMU::Point> vImuMeas;
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proccIm = 0;
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//直方图均衡化,直方图均衡化的思想就是这样的:
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//假设我有灰度级255的图像，但是都是属于［100，110］的灰度，图像对比度就很低，我应该尽可能拉到整个［0，255］
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cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(3.0, cv::Size(8, 8));
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for(int ni=0; ni<nImages[seq]; ni++, proccIm++)
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{
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// Read image from file
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// Step 5 读取每一帧图像并转换为灰度图存储在im,seq表示第几个数据集,ni表示这个数据集的第几个数据
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im = cv::imread(vstrImageFilenames[seq][ni],cv::IMREAD_GRAYSCALE);
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// clahe
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//直方图均衡化
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clahe->apply(im,im);
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// 取出对应的图像时间戳
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double tframe = vTimestampsCam[seq][ni];
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if(im.empty())
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{
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cerr << endl << "Failed to load image at: "
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<< vstrImageFilenames[seq][ni] << endl;
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return 1;
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}
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// Load imu measurements from previous frame
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//清空imu测量
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vImuMeas.clear();
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if(ni>0)
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{
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// cout << "t_cam " << tframe << endl;
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// Step 6 把上一图像帧和当前图像帧之间的imu信息存储在vImuMeas里
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// 注意第一个图像帧没有对应的imu数据 //?是否存在一帧,因为之前是从最接近图像第一帧的imu算起,可能无效
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while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
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{
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vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[seq][first_imu[seq]].x,vAcc[seq][first_imu[seq]].y,vAcc[seq][first_imu[seq]].z,
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vGyro[seq][first_imu[seq]].x,vGyro[seq][first_imu[seq]].y,vGyro[seq][first_imu[seq]].z,
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vTimestampsImu[seq][first_imu[seq]]));
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// cout << "t_imu = " << fixed << vImuMeas.back().t << endl;
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first_imu[seq]++;
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}
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}
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// cout << "first imu: " << first_imu[seq] << endl;
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/*cout << "first imu time: " << fixed << vTimestampsImu[first_imu] << endl;
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cout << "size vImu: " << vImuMeas.size() << endl;*/
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#ifdef COMPILEDWITHC11
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std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
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#else
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std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
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#endif
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// Pass the image to the SLAM system
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// cout << "tframe = " << tframe << endl;
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// Step 7 跟踪线程作为主线程运行
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SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial
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#ifdef COMPILEDWITHC11
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std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
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#else
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std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
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#endif
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double ttrack= std::chrono::duration_cast<std::chrono::duration<double> >(t2 - t1).count();
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ttrack_tot += ttrack;
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// std::cout << "ttrack: " << ttrack << std::endl;
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vTimesTrack[ni]=ttrack;
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// Wait to load the next frame
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// 等待读取下一帧
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double T=0;
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if(ni<nImages[seq]-1)
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T = vTimestampsCam[seq][ni+1]-tframe;
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else if(ni>0)
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T = tframe-vTimestampsCam[seq][ni-1];
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if(ttrack<T)
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usleep((T-ttrack)*1e6); // 1e6
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}
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if(seq < num_seq - 1)
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{
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cout << "Changing the dataset" << endl;
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// Step 8 更换数据集
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SLAM.ChangeDataset();
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}
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}
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// cout << "ttrack_tot = " << ttrack_tot << std::endl;
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// Stop all threads
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// Step 9 关闭SLAM中所有线程
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SLAM.Shutdown();
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// Tracking time statistics
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// Save camera trajectory
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// Step 10 保存相机位姿（轨迹）
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if (bFileName)
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{
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const string kf_file = "kf_" + string(argv[argc-1]) + ".txt";
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const string f_file = "f_" + string(argv[argc-1]) + ".txt";
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SLAM.SaveTrajectoryEuRoC(f_file);
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SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);
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}
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else
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{
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SLAM.SaveTrajectoryEuRoC("CameraTrajectory.txt");
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SLAM.SaveKeyFrameTrajectoryEuRoC("KeyFrameTrajectory.txt");
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}
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sort(vTimesTrack.begin(),vTimesTrack.end());
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float totaltime = 0;
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for(int ni=0; ni<nImages[0]; ni++)
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{
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totaltime+=vTimesTrack[ni];
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}
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cout << "-------" << endl << endl;
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cout << "median tracking time: " << vTimesTrack[nImages[0]/2] << endl;
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cout << "mean tracking time: " << totaltime/proccIm << endl;
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/*const string kf_file = "kf_" + ss.str() + ".txt";
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const string f_file = "f_" + ss.str() + ".txt";
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SLAM.SaveTrajectoryEuRoC(f_file);
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SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);*/
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return 0;
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}
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/**
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* @brief 加载图像及其时间戳
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*
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* @param[in] strImagePath 图像路径名称
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* @param[in] strPathTimes 图像时间戳文件名
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* @param[in] vstrImages 图像路径及名称
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* @param[in] vTimeStamps 图像时间戳和vstrImages一一对应
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*/
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void LoadImages(const string &strImagePath, const string &strPathTimes,
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vector<string> &vstrImages, vector<double> &vTimeStamps)
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{
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ifstream fTimes;
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cout << strImagePath << endl;
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cout << strPathTimes << endl;
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fTimes.open(strPathTimes.c_str());
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vTimeStamps.reserve(5000);
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vstrImages.reserve(5000);
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while(!fTimes.eof())
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{
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string s;
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getline(fTimes,s);
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if(!s.empty())
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{
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stringstream ss;
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ss << s;
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vstrImages.push_back(strImagePath + "/" + ss.str() + ".png");
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double t;
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ss >> t;
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vTimeStamps.push_back(t/1e9);
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}
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}
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}
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/**
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* @brief 加载IMU数据
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*
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* @param[in] strImuPath IMU文件路径
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* @param[in] vTimeStamps IMU时间戳
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* @param[in] vAcc 加速度计数据
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* @param[in] vGyro 陀螺仪数据
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*/
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void LoadIMU(const string &strImuPath, vector<double> &vTimeStamps, vector<cv::Point3f> &vAcc, vector<cv::Point3f> &vGyro)
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{
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ifstream fImu;
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fImu.open(strImuPath.c_str());
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// 预申请大小为5000的vector，不够可以再扩展
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vTimeStamps.reserve(5000);
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vAcc.reserve(5000);
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vGyro.reserve(5000);
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while(!fImu.eof())
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{
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string s;
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getline(fImu,s);
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// 跳过注释或无效数据
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if (s[0] == '#')
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continue;
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if(!s.empty())
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{
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string item;
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size_t pos = 0;
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double data[7];
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int count = 0;
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while ((pos = s.find(',')) != string::npos) {
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item = s.substr(0, pos);
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data[count++] = stod(item);
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s.erase(0, pos + 1);
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}
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item = s.substr(0, pos);
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data[6] = stod(item);
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// 注意这里的时间戳除以10的9次方转化为秒单位
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vTimeStamps.push_back(data[0]/1e9);
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vAcc.push_back(cv::Point3f(data[4],data[5],data[6]));
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vGyro.push_back(cv::Point3f(data[1],data[2],data[3]));
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}
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}
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}
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