diff --git a/.gitignore b/.gitignore index 7227515c0a..d055352309 100644 --- a/.gitignore +++ b/.gitignore @@ -16,25 +16,25 @@ Examples/RGB-D/rgbd_realsense_D435i Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i Examples/Monocular/mono_realsense_D435i -Examples/Monocular/mono_euroc +Run_Examples/euroc_run/mono_euroc Examples/Monocular/mono_kitti Examples/Monocular/mono_tum Examples/Monocular/mono_tum_vi Examples/Monocular/mono_realsense_t265 -Examples/Stereo/stereo_euroc +Run_Examples/euroc_run/stereo_euroc Examples/Stereo/stereo_kitti Examples/Stereo/stereo_tum_vi Examples/Stereo/stereo_realsense_t265 Examples/Stereo/stereo_realsense_D435i -Examples/Monocular-Inertial/mono_inertial_euroc +Run_Examples/euroc_run/mono_inertial_euroc Examples/Monocular-Inertial/mono_inertial_tum_vi Examples/Monocular-Inertial/mono_inertial_realsense_t265 Examples/Monocular-Inertial/mono_inertial_realsense_D435i Examples/Monocular-Inertial/mono_inertial_realsense_D435i_2 -Examples/Stereo-Inertial/stereo_inertial_euroc +Run_Examples/euroc_run/stereo_inertial_euroc Examples/Stereo-Inertial/stereo_inertial_tum_vi Examples/Stereo-Inertial/stereo_inertial_realsense_t265 Examples/Stereo-Inertial/stereo_inertial_realsense_D435i diff --git a/CMakeLists.txt b/CMakeLists.txt index 016e74354d..9e57b8c2ed 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -12,20 +12,20 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3") set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native") set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native") -# Check C++11 or C++0x support +# Check C++14 or C++0x support include(CheckCXXCompilerFlag) -CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) +CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11) CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) if(COMPILER_SUPPORTS_CXX11) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") add_definitions(-DCOMPILEDWITHC11) - message(STATUS "Using flag -std=c++11.") + message(STATUS "Using flag -std=c++14.") elseif(COMPILER_SUPPORTS_CXX0X) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") add_definitions(-DCOMPILEDWITHC0X) message(STATUS "Using flag -std=c++0x.") else() - message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") + message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.") endif() LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules) @@ -111,7 +111,8 @@ include/GeometricTools.h include/TwoViewReconstruction.h include/SerializationUtils.h include/Config.h -include/Settings.h) +include/Settings.h +Run_Examples/pixel6pro/mono_pixel_debug.cc) add_subdirectory(Thirdparty/g2o) @@ -168,10 +169,6 @@ add_executable(stereo_kitti Examples/Stereo/stereo_kitti.cc) target_link_libraries(stereo_kitti ${PROJECT_NAME}) -add_executable(stereo_euroc - Examples/Stereo/stereo_euroc.cc) -target_link_libraries(stereo_euroc ${PROJECT_NAME}) - add_executable(stereo_tum_vi Examples/Stereo/stereo_tum_vi.cc) target_link_libraries(stereo_tum_vi ${PROJECT_NAME}) @@ -197,10 +194,6 @@ add_executable(mono_kitti Examples/Monocular/mono_kitti.cc) target_link_libraries(mono_kitti ${PROJECT_NAME}) -add_executable(mono_euroc - Examples/Monocular/mono_euroc.cc) -target_link_libraries(mono_euroc ${PROJECT_NAME}) - add_executable(mono_tum_vi Examples/Monocular/mono_tum_vi.cc) target_link_libraries(mono_tum_vi ${PROJECT_NAME}) @@ -218,10 +211,6 @@ endif() #Monocular inertial examples set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial) -add_executable(mono_inertial_euroc - Examples/Monocular-Inertial/mono_inertial_euroc.cc) -target_link_libraries(mono_inertial_euroc ${PROJECT_NAME}) - add_executable(mono_inertial_tum_vi Examples/Monocular-Inertial/mono_inertial_tum_vi.cc) target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME}) @@ -239,10 +228,6 @@ endif() #Stereo Inertial examples set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial) -add_executable(stereo_inertial_euroc - Examples/Stereo-Inertial/stereo_inertial_euroc.cc) -target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME}) - add_executable(stereo_inertial_tum_vi Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc) target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME}) @@ -388,3 +373,53 @@ if(realsense2_FOUND) Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc) target_link_libraries(stereo_inertial_realsense_D435i_old ${PROJECT_NAME}) endif() + +#EuRoC Dataset +set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Run_Examples/EuRoC) + + +add_executable(stereo_inertial_euroc + Run_Examples/EuRoC/stereo_inertial_euroc.cc) +target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME}) + +add_executable(mono_inertial_euroc + Run_Examples/EuRoC/mono_inertial_euroc.cc) +target_link_libraries(mono_inertial_euroc ${PROJECT_NAME}) + +add_executable(mono_euroc + Run_Examples/EuRoC/mono_euroc.cc) +target_link_libraries(mono_euroc ${PROJECT_NAME}) + +add_executable(stereo_euroc + Run_Examples/EuRoC/stereo_euroc.cc) +target_link_libraries(stereo_euroc ${PROJECT_NAME}) + +#UZH Dataset +set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Run_Examples/UZH) + +add_executable(mono_UZH_trial + Run_Examples/UZH/mono_UZH_trial.cc) +target_link_libraries(mono_UZH_trial ${PROJECT_NAME}) + +add_executable(mono_UZH_trial_run + Run_Examples/UZH/mono_UZH_trial_run.cc) +target_link_libraries(mono_UZH_trial_run ${PROJECT_NAME}) + +add_executable(mono_inertial_UZH_trial + Run_Examples/UZH/mono_inertial_UZH_trial.cc) +target_link_libraries(mono_inertial_UZH_trial ${PROJECT_NAME}) + +#Pixel 6 Pro Phone Data +set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Run_Examples/pixel6pro) + +add_executable(mono_pixel + Run_Examples/pixel6pro/mono_pixel.cc) +target_link_libraries(mono_pixel ${PROJECT_NAME}) + +add_executable(mono_inertial_pixel + Run_Examples/pixel6pro/mono_inertial_pixel.cc) +target_link_libraries(mono_inertial_pixel ${PROJECT_NAME}) + +add_executable(mono_pixel_debug + Run_Examples/pixel6pro/mono_pixel_debug.cc) +target_link_libraries(mono_pixel_debug ${PROJECT_NAME}) diff --git a/Examples/Monocular-Inertial/mono_inertial_tum_vi.cc b/Examples/Monocular-Inertial/mono_inertial_tum_vi.cc index bd84ce0012..56d8df468e 100644 --- a/Examples/Monocular-Inertial/mono_inertial_tum_vi.cc +++ b/Examples/Monocular-Inertial/mono_inertial_tum_vi.cc @@ -253,8 +253,8 @@ int main(int argc, char **argv) if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples/Monocular/EuRoC_TimeStamps/MH01.txt b/Examples/Monocular/EuRoC_TimeStamps/MH01.txt deleted file mode 100644 index 9c67b0be68..0000000000 --- a/Examples/Monocular/EuRoC_TimeStamps/MH01.txt +++ /dev/null @@ -1,3682 +0,0 @@ -1403636579763555584 -1403636579813555456 -1403636579863555584 -1403636579913555456 -1403636579963555584 -1403636580013555456 -1403636580063555584 -1403636580113555456 -1403636580163555584 -1403636580213555456 -1403636580263555584 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string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples/Stereo-Inertial/EuRoC_IMU/MH01.txt b/Examples/Stereo-Inertial/EuRoC_IMU/MH01.txt deleted file mode 100755 index 8aa8cdfcdc..0000000000 --- a/Examples/Stereo-Inertial/EuRoC_IMU/MH01.txt +++ /dev/null @@ -1,36821 +0,0 @@ -#timestamp [ns],w_RS_S_x [rad s^-1],w_RS_S_y [rad s^-1],w_RS_S_z [rad s^-1],a_RS_S_x [m s^-2],a_RS_S_y [m s^-2],a_RS_S_z [m s^-2] -1403636579758555392,-0.099134701513277898,0.14730578886832138,0.02722713633111154,8.1476917083333333,-0.37592158333333331,-2.4026292499999999 -1403636579763555584,-0.099134701513277898,0.14032447186034408,0.029321531433504733,8.033280791666666,-0.40861041666666664,-2.4026292499999999 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"_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples/Stereo/EuRoC_TimeStamps/MH01.txt b/Examples/Stereo/EuRoC_TimeStamps/MH01.txt deleted file mode 100644 index 9c67b0be68..0000000000 --- a/Examples/Stereo/EuRoC_TimeStamps/MH01.txt +++ /dev/null @@ -1,3682 +0,0 @@ -1403636579763555584 -1403636579813555456 -1403636579863555584 -1403636579913555456 -1403636579963555584 -1403636580013555456 -1403636580063555584 -1403636580113555456 -1403636580163555584 -1403636580213555456 -1403636580263555584 -1403636580313555456 -1403636580363555584 -1403636580413555456 -1403636580463555584 -1403636580513555456 -1403636580563555584 -1403636580613555456 -1403636580663555584 -1403636580713555456 -1403636580763555584 -1403636580813555456 -1403636580863555584 -1403636580913555456 -1403636580963555584 -1403636581013555456 -1403636581063555584 -1403636581113555456 -1403636581163555584 -1403636581213555456 -1403636581263555584 -1403636581313555456 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-1413394997805760512 -1413394997905760512 -1413394998005760512 -1413394998105760512 -1413394998205760512 -1413394998305760512 diff --git a/Examples/Stereo/stereo_tum_vi.cc b/Examples/Stereo/stereo_tum_vi.cc index 20a3ecf72d..806b418516 100644 --- a/Examples/Stereo/stereo_tum_vi.cc +++ b/Examples/Stereo/stereo_tum_vi.cc @@ -209,8 +209,8 @@ int main(int argc, char **argv) if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc b/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc index ea1dceb805..9b17b9d587 100644 --- a/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc +++ b/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc @@ -234,8 +234,8 @@ int main(int argc, char *argv[]) // Save camera trajectory if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc b/Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc index bd84ce0012..56d8df468e 100644 --- a/Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc +++ b/Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc @@ -253,8 +253,8 @@ int main(int argc, char **argv) if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples_old/Monocular/mono_euroc.cc b/Examples_old/Monocular/mono_euroc.cc index 3a233129be..92f587a516 100644 --- a/Examples_old/Monocular/mono_euroc.cc +++ b/Examples_old/Monocular/mono_euroc.cc @@ -189,8 +189,8 @@ int main(int argc, char **argv) // Save camera trajectory if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples_old/Monocular/mono_tum_vi.cc b/Examples_old/Monocular/mono_tum_vi.cc index 2805c92522..b0e6e89674 100644 --- a/Examples_old/Monocular/mono_tum_vi.cc +++ b/Examples_old/Monocular/mono_tum_vi.cc @@ -201,8 +201,8 @@ int main(int argc, char **argv) if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples_old/ROS/ORB_SLAM3/src/ros_mono.cc b/Examples_old/ROS/ORB_SLAM3/src/ros_mono.cc index 7e1adb3009..885a4be9fd 100644 --- a/Examples_old/ROS/ORB_SLAM3/src/ros_mono.cc +++ b/Examples_old/ROS/ORB_SLAM3/src/ros_mono.cc @@ -59,7 +59,7 @@ int main(int argc, char **argv) ImageGrabber igb(&SLAM); ros::NodeHandle nodeHandler; - ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb); + ros::Subscriber sub = nodeHandler.subscribe("/usb_cam/image_raw", 1, &ImageGrabber::GrabImage,&igb); ros::spin(); diff --git a/Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc b/Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc index 25dbf3cf2b..b5a5506980 100644 --- a/Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc +++ b/Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc @@ -303,8 +303,8 @@ int main(int argc, char **argv) // Save camera trajectory if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc b/Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc index 2abe61472b..24d100200a 100644 --- a/Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc +++ b/Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc @@ -259,8 +259,8 @@ int main(int argc, char **argv) if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples_old/Stereo/stereo_euroc.cc b/Examples_old/Stereo/stereo_euroc.cc index 08a59e4272..6e1fe0c041 100644 --- a/Examples_old/Stereo/stereo_euroc.cc +++ b/Examples_old/Stereo/stereo_euroc.cc @@ -258,8 +258,8 @@ int main(int argc, char **argv) // Save camera trajectory if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples_old/Stereo/stereo_tum_vi.cc b/Examples_old/Stereo/stereo_tum_vi.cc index 3e296f6d21..e6f76dd824 100644 --- a/Examples_old/Stereo/stereo_tum_vi.cc +++ b/Examples_old/Stereo/stereo_tum_vi.cc @@ -210,8 +210,8 @@ int main(int argc, char **argv) if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples/Monocular-Inertial/EuRoC_IMU/MH01.txt b/Run_Examples/EuRoC/EuRoC_IMU/MH01.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_IMU/MH01.txt rename to Run_Examples/EuRoC/EuRoC_IMU/MH01.txt diff --git a/Examples/Monocular-Inertial/EuRoC_IMU/MH02.txt b/Run_Examples/EuRoC/EuRoC_IMU/MH02.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_IMU/MH02.txt rename to Run_Examples/EuRoC/EuRoC_IMU/MH02.txt diff --git a/Examples/Monocular-Inertial/EuRoC_IMU/MH03.txt b/Run_Examples/EuRoC/EuRoC_IMU/MH03.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_IMU/MH03.txt rename to Run_Examples/EuRoC/EuRoC_IMU/MH03.txt diff --git a/Examples/Monocular-Inertial/EuRoC_IMU/MH04.txt b/Run_Examples/EuRoC/EuRoC_IMU/MH04.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_IMU/MH04.txt rename to Run_Examples/EuRoC/EuRoC_IMU/MH04.txt diff --git a/Examples/Monocular-Inertial/EuRoC_IMU/MH05.txt b/Run_Examples/EuRoC/EuRoC_IMU/MH05.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_IMU/MH05.txt rename to Run_Examples/EuRoC/EuRoC_IMU/MH05.txt diff --git a/Examples/Monocular-Inertial/EuRoC_IMU/V101.txt b/Run_Examples/EuRoC/EuRoC_IMU/V101.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_IMU/V101.txt rename to Run_Examples/EuRoC/EuRoC_IMU/V101.txt diff --git a/Examples/Monocular-Inertial/EuRoC_IMU/V102.txt b/Run_Examples/EuRoC/EuRoC_IMU/V102.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_IMU/V102.txt rename to Run_Examples/EuRoC/EuRoC_IMU/V102.txt diff --git a/Examples/Monocular-Inertial/EuRoC_IMU/V103.txt b/Run_Examples/EuRoC/EuRoC_IMU/V103.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_IMU/V103.txt rename to Run_Examples/EuRoC/EuRoC_IMU/V103.txt diff --git a/Examples/Monocular-Inertial/EuRoC_IMU/V201.txt b/Run_Examples/EuRoC/EuRoC_IMU/V201.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_IMU/V201.txt rename to Run_Examples/EuRoC/EuRoC_IMU/V201.txt diff --git a/Examples/Monocular-Inertial/EuRoC_IMU/V202.txt b/Run_Examples/EuRoC/EuRoC_IMU/V202.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_IMU/V202.txt rename to Run_Examples/EuRoC/EuRoC_IMU/V202.txt diff --git a/Examples/Monocular-Inertial/EuRoC_IMU/V203.txt b/Run_Examples/EuRoC/EuRoC_IMU/V203.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_IMU/V203.txt rename to Run_Examples/EuRoC/EuRoC_IMU/V203.txt diff --git a/Examples/Monocular-Inertial/EuRoC.yaml b/Run_Examples/EuRoC/EuRoC_Mono_Inertial.yaml similarity index 100% rename from Examples/Monocular-Inertial/EuRoC.yaml rename to Run_Examples/EuRoC/EuRoC_Mono_Inertial.yaml diff --git a/Examples/Stereo/EuRoC.yaml b/Run_Examples/EuRoC/EuRoC_Stereo.yaml similarity index 100% rename from Examples/Stereo/EuRoC.yaml rename to Run_Examples/EuRoC/EuRoC_Stereo.yaml diff --git a/Examples/Stereo-Inertial/EuRoC.yaml b/Run_Examples/EuRoC/EuRoC_Stereo_Inertial.yaml similarity index 100% rename from Examples/Stereo-Inertial/EuRoC.yaml rename to Run_Examples/EuRoC/EuRoC_Stereo_Inertial.yaml diff --git a/Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt b/Run_Examples/EuRoC/EuRoC_TimeStamps/MH01.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt rename to Run_Examples/EuRoC/EuRoC_TimeStamps/MH01.txt diff --git a/Examples/Monocular-Inertial/EuRoC_TimeStamps/MH02.txt b/Run_Examples/EuRoC/EuRoC_TimeStamps/MH02.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_TimeStamps/MH02.txt rename to Run_Examples/EuRoC/EuRoC_TimeStamps/MH02.txt diff --git a/Examples/Monocular-Inertial/EuRoC_TimeStamps/MH03.txt b/Run_Examples/EuRoC/EuRoC_TimeStamps/MH03.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_TimeStamps/MH03.txt rename to Run_Examples/EuRoC/EuRoC_TimeStamps/MH03.txt diff --git a/Examples/Monocular-Inertial/EuRoC_TimeStamps/MH04.txt b/Run_Examples/EuRoC/EuRoC_TimeStamps/MH04.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_TimeStamps/MH04.txt rename to Run_Examples/EuRoC/EuRoC_TimeStamps/MH04.txt diff --git a/Examples/Monocular-Inertial/EuRoC_TimeStamps/MH05.txt b/Run_Examples/EuRoC/EuRoC_TimeStamps/MH05.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_TimeStamps/MH05.txt rename to Run_Examples/EuRoC/EuRoC_TimeStamps/MH05.txt diff --git a/Examples/Monocular-Inertial/EuRoC_TimeStamps/V101.txt b/Run_Examples/EuRoC/EuRoC_TimeStamps/V101.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_TimeStamps/V101.txt rename to Run_Examples/EuRoC/EuRoC_TimeStamps/V101.txt diff --git a/Examples/Monocular-Inertial/EuRoC_TimeStamps/V102.txt b/Run_Examples/EuRoC/EuRoC_TimeStamps/V102.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_TimeStamps/V102.txt rename to Run_Examples/EuRoC/EuRoC_TimeStamps/V102.txt diff --git a/Examples/Monocular-Inertial/EuRoC_TimeStamps/V103.txt b/Run_Examples/EuRoC/EuRoC_TimeStamps/V103.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_TimeStamps/V103.txt rename to Run_Examples/EuRoC/EuRoC_TimeStamps/V103.txt diff --git a/Examples/Monocular-Inertial/EuRoC_TimeStamps/V201.txt b/Run_Examples/EuRoC/EuRoC_TimeStamps/V201.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_TimeStamps/V201.txt rename to Run_Examples/EuRoC/EuRoC_TimeStamps/V201.txt diff --git a/Examples/Monocular-Inertial/EuRoC_TimeStamps/V202.txt b/Run_Examples/EuRoC/EuRoC_TimeStamps/V202.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_TimeStamps/V202.txt rename to Run_Examples/EuRoC/EuRoC_TimeStamps/V202.txt diff --git a/Examples/Monocular-Inertial/EuRoC_TimeStamps/V203.txt b/Run_Examples/EuRoC/EuRoC_TimeStamps/V203.txt similarity index 100% rename from Examples/Monocular-Inertial/EuRoC_TimeStamps/V203.txt rename to Run_Examples/EuRoC/EuRoC_TimeStamps/V203.txt diff --git a/Examples/Monocular/EuRoC.yaml b/Run_Examples/EuRoC/EuRoC_mono.yaml similarity index 100% rename from Examples/Monocular/EuRoC.yaml rename to Run_Examples/EuRoC/EuRoC_mono.yaml diff --git a/Run_Examples/EuRoC/euroc_examples.sh b/Run_Examples/EuRoC/euroc_examples.sh new file mode 100644 index 0000000000..6ed5c8d5fb --- /dev/null +++ b/Run_Examples/EuRoC/euroc_examples.sh @@ -0,0 +1,182 @@ +#!/bin/bash +pathDatasetEuroc='/home/justmohsen/Documents/SLAM/Datasets/EuRoc' #Example, it is necesary to change it by the dataset path + +#------------------------------------ +# Monocular Examples +echo "Launching MH01 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono + +echo "Launching MH02 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Monocular/EuRoC_TimeStamps/MH02.txt dataset-MH02_mono + +echo "Launching MH03 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Monocular/EuRoC_TimeStamps/MH03.txt dataset-MH03_mono + +echo "Launching MH04 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Monocular/EuRoC_TimeStamps/MH04.txt dataset-MH04_mono + +echo "Launching MH05 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Monocular/EuRoC_TimeStamps/MH05.txt dataset-MH05_mono + +echo "Launching V101 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular/EuRoC_TimeStamps/V101.txt dataset-V101_mono + +echo "Launching V102 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Monocular/EuRoC_TimeStamps/V102.txt dataset-V102_mono + +echo "Launching V103 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Monocular/EuRoC_TimeStamps/V103.txt dataset-V103_mono + +echo "Launching V201 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular/EuRoC_TimeStamps/V201.txt dataset-V201_mono + +echo "Launching V202 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Monocular/EuRoC_TimeStamps/V202.txt dataset-V202_mono + +echo "Launching V203 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Monocular/EuRoC_TimeStamps/V203.txt dataset-V203_mono + +# MultiSession Monocular Examples +echo "Launching Machine Hall with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Monocular/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Monocular/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Monocular/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Monocular/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_mono + +echo "Launching Vicon Room 1 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Monocular/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Monocular/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_mono + +echo "Launching Vicon Room 2 with Monocular sensor" +./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Monocular/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Monocular/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_mono + +#------------------------------------ +# Stereo Examples +echo "Launching MH01 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo + +echo "Launching MH02 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Stereo/EuRoC_TimeStamps/MH02.txt dataset-MH02_stereo + +echo "Launching MH03 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Stereo/EuRoC_TimeStamps/MH03.txt dataset-MH03_stereo + +echo "Launching MH04 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Stereo/EuRoC_TimeStamps/MH04.txt dataset-MH04_stereo + +echo "Launching MH05 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Stereo/EuRoC_TimeStamps/MH05.txt dataset-MH05_stereo + +echo "Launching V101 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo/EuRoC_TimeStamps/V101.txt dataset-V101_stereo + +echo "Launching V102 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Stereo/EuRoC_TimeStamps/V102.txt dataset-V102_stereo + +echo "Launching V103 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Stereo/EuRoC_TimeStamps/V103.txt dataset-V103_stereo + +echo "Launching V201 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo/EuRoC_TimeStamps/V201.txt dataset-V201_stereo + +echo "Launching V202 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Stereo/EuRoC_TimeStamps/V202.txt dataset-V202_stereo + +echo "Launching V203 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Stereo/EuRoC_TimeStamps/V203.txt dataset-V203_stereo + +# MultiSession Stereo Examples +echo "Launching Machine Hall with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Stereo/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Stereo/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Stereo/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Stereo/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereo + +echo "Launching Vicon Room 1 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Stereo/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Stereo/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_stereo + +echo "Launching Vicon Room 2 with Stereo sensor" +./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Stereo/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Stereo/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_stereo + +#------------------------------------ +# Monocular-Inertial Examples +echo "Launching MH01 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_monoi + +echo "Launching MH02 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Monocular-Inertial/EuRoC_TimeStamps/MH02.txt dataset-MH02_monoi + +echo "Launching MH03 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Monocular-Inertial/EuRoC_TimeStamps/MH03.txt dataset-MH03_monoi + +echo "Launching MH04 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Monocular-Inertial/EuRoC_TimeStamps/MH04.txt dataset-MH04_monoi + +echo "Launching MH05 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Monocular-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH05_monoi + +echo "Launching V101 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular-Inertial/EuRoC_TimeStamps/V101.txt dataset-V101_monoi + +echo "Launching V102 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Monocular-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_monoi + +echo "Launching V103 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Monocular-Inertial/EuRoC_TimeStamps/V103.txt dataset-V103_monoi + +echo "Launching V201 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular-Inertial/EuRoC_TimeStamps/V201.txt dataset-V201_monoi + +echo "Launching V202 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Monocular-Inertial/EuRoC_TimeStamps/V202.txt dataset-V202_monoi + +echo "Launching V203 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V203_monoi + +# MultiSession Monocular Examples +echo "Launching Machine Hall with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Monocular-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Monocular-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Monocular-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Monocular-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_monoi + +echo "Launching Vicon Room 1 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Monocular-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Monocular-Inertial/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_monoi + +echo "Launching Vicon Room 2 with Monocular-Inertial sensor" +./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Monocular-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_monoi + +#------------------------------------ +# Stereo-Inertial Examples +echo "Launching MH01 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereoi + +echo "Launching MH02 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Stereo-Inertial/EuRoC_TimeStamps/MH02.txt dataset-MH02_stereoi + +echo "Launching MH03 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Stereo-Inertial/EuRoC_TimeStamps/MH03.txt dataset-MH03_stereoi + +echo "Launching MH04 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Stereo-Inertial/EuRoC_TimeStamps/MH04.txt dataset-MH04_stereoi + +echo "Launching MH05 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Stereo-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH05_stereoi + +echo "Launching V101 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo-Inertial/EuRoC_TimeStamps/V101.txt dataset-V101_stereoi + +echo "Launching V102 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Stereo-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_stereoi + +echo "Launching V103 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Stereo-Inertial/EuRoC_TimeStamps/V103.txt dataset-V103_stereoi + +echo "Launching V201 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo-Inertial/EuRoC_TimeStamps/V201.txt dataset-V201_stereoi + +echo "Launching V202 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Stereo-Inertial/EuRoC_TimeStamps/V202.txt dataset-V202_stereoi + +echo "Launching V203 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Stereo-Inertial/EuRoC_TimeStamps/V203.txt dataset-V203_stereoi + +# MultiSession Stereo-Inertial Examples +echo "Launching Machine Hall with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Stereo-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Stereo-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Stereo-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Stereo-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereoi + +echo "Launching Vicon Room 1 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Stereo-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Stereo-Inertial/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_stereoi + +echo "Launching Vicon Room 2 with Stereo-Inertial sensor" +./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Stereo-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Stereo-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_stereoi diff --git a/Run_Examples/EuRoC/evaluate_ate_scale.py b/Run_Examples/EuRoC/evaluate_ate_scale.py new file mode 100644 index 0000000000..cd5e3e7f4c --- /dev/null +++ b/Run_Examples/EuRoC/evaluate_ate_scale.py @@ -0,0 +1,341 @@ +# Modified by Raul Mur-Artal +# Automatically compute the optimal scale factor for monocular VO/SLAM. + +# Software License Agreement (BSD License) +# +# Copyright (c) 2013, Juergen Sturm, TUM +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of TUM nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +""" +This script computes the absolute trajectory error from the ground truth +trajectory and the estimated trajectory. +""" + +import sys +import numpy as np +import evaluation.associate as associate +import pandas +import matplotlib +import matplotlib.pyplot as plt +import os +from scipy.spatial.transform import Rotation as scipy_rotation +from mpl_toolkits.mplot3d import Axes3D + +matplotlib.use('TkAgg') + + +def align(model, data): + """Align two trajectories using the method of Horn (closed-form). + + Input: + model -- first trajectory (3xn) + data -- second trajectory (3xn) + + Output: + rot -- rotation matrix (3x3) + trans -- translation vector (3x1) + trans_error -- translational error per point (1xn) + """ + + np.set_printoptions(precision=3, suppress=True) + model_zerocentered = model - model.mean(1) + data_zerocentered = data - data.mean(1) + + W = np.zeros((3, 3)) + for column in range(model.shape[1]): + W += np.outer(model_zerocentered[:, column], data_zerocentered[:, column]) + U, d, Vh = np.linalg.linalg.svd(W.transpose()) + S = np.matrix(np.identity(3)) + if (np.linalg.det(U) * np.linalg.det(Vh) < 0): + S[2, 2] = -1 + rot = U * S * Vh + + rotmodel = rot * model_zerocentered + dots = 0.0 + norms = 0.0 + + for column in range(data_zerocentered.shape[1]): + dots += np.dot(data_zerocentered[:, column].transpose(), rotmodel[:, column]) + normi = np.linalg.norm(model_zerocentered[:, column]) + norms += normi * normi + + s = float(dots / norms) + trans = data.mean(1) - s * rot * model.mean(1) + model_aligned = s * rot * model + trans + alignment_error = model_aligned - data + trans_error = np.sqrt(np.sum(np.multiply(alignment_error, alignment_error), 0)).A[0] + + return rot, trans, trans_error, s + + +def plot_traj(ax, stamps, traj, style, color, label): + """ + Plot a trajectory using matplotlib. + + Input: + ax -- the plot + stamps -- time stamps (1xn) + traj -- trajectory (3xn) + style -- line style + color -- line color + label -- plot legend + + """ + stamps.sort() + interval = np.median([s - t for s, t in zip(stamps[1:], stamps[:-1])]) + x = [] + y = [] + z = [] + last = stamps[0] + for i in range(len(stamps)): + if stamps[i] - last < 2 * interval: + x.append(traj[i][0]) + y.append(traj[i][1]) + z.append(traj[i][2]) + elif len(x) > 0: + ax.plot(x, y, z, style, color=color, label=label) + label = "" + x = [] + y = [] + z = [] + last = stamps[i] + if len(x) > 0: + ax.plot(x, y, z, style, color=color, label=label) + + +if __name__ == "__main__": + # print all evaluation data (otherwise, only the RMSE absolute translational error in meters after alignment will be printed) + is_verbose = False + plot_orientation_error_euler_angles = False + # save all evaluation data (otherwise, only the RMSE absolute translational error in meters after alignment will be printed) + is_save_verbose = True + # save associated first and aligned second trajectory to disk (format: stamp1 x1 y1 z1 stamp2 x2 y2 z2) + is_save_associations = True + # save aligned second trajectory to disk (format: stamp2 x2 y2 z2) + is_save = True + # plot the first and the aligned second trajectory to an image (format: png) + is_plot = True + # maximally allowed time difference for matching entries (default: 10000000 ns) + max_time_difference_ns = 10000000 + # time offset added to the timestamps of the second file (default: 0.0) + time_offset = 0 + # scaling factor for the second trajectory (default: 1.0) + scale_factor = 1.0 + # Dataset path + dataset_path = '/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/' + results_path = 'ORBSLAM3_Run/' + orb_results_path = '/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular/MH01/results_frames.txt' + ground_truth_path = '/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/MH01/mav0/state_groundtruth_estimate0/data.csv' + evaluation_results_path = '/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/mono/MH01' + # Evaluation Job + first_file = ground_truth_path + second_file = orb_results_path + # create the output directory if it doesn't exist + if not os.path.exists(evaluation_results_path): + os.makedirs(evaluation_results_path) + print('new directory is created for output') + # save evaluation output + poses_associations_output_file = evaluation_results_path + '/poses_associations_frames.txt' + time_associations_output_file = evaluation_results_path + '/time_associations_frames.txt' + estimation_error_summary_output_file = evaluation_results_path + '/evaluation_error_frames.txt' + plot_results_output_file = evaluation_results_path + '/trajectory_output_frames.png' + plot_error_hist_output_file = evaluation_results_path + '/error_histogram_frames.png' + plot_error_rot_hist_output_file = evaluation_results_path + '/error_histogram_rotation_frames.png' + plot_results_output_file_x = evaluation_results_path + '/trajectory_output_frames_location.png' + plot_results_output_file_euler = evaluation_results_path + '/trajectory_output_frames_euler.png' + + first_list = associate.read_file_list(first_file, False) + second_list = associate.read_file_list(second_file, False) + + matches = associate.associate(first_list, second_list, float(time_offset), float(max_time_difference_ns)) + if len(matches) < 2: + sys.exit( + "Couldn't find matching timestamp pairs between groundtruth and estimated trajectory! Did you choose the correct sequence?") + first_xyz = np.matrix([[float(value) for value in first_list[a][0:3]] for a, b in matches]).transpose() + second_xyz = np.matrix( + [[float(value) * float(scale_factor) for value in second_list[b][0:3]] for a, b in matches]).transpose() + dictionary_items = second_list.items() + sorted_second_list = sorted(dictionary_items) + + second_xyz_full = np.matrix( + [[float(value) * float(scale_factor) for value in sorted_second_list[i][1][0:3]] for i in + range(len(sorted_second_list))]).transpose() # sorted_second_list.keys()]).transpose() + rot, trans, trans_error, scale = align(second_xyz, first_xyz) + + second_xyz_aligned = scale * rot * second_xyz + trans + first_stamps = list(first_list.keys()) + first_stamps.sort() + first_xyz_full = np.matrix( + [[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose() + + second_stamps = list(second_list.keys()) + second_stamps.sort() + second_xyz_full = np.matrix( + [[float(value) * float(scale_factor) for value in second_list[b][0:3]] for b in + second_stamps]).transpose() + second_xyz_full_aligned = rot * second_xyz_full + trans + + # Orientation + quaternion_order_1 = [3, 4, 5, 6] + quaternion_order_2 = [4, 5, 6, 3] + first_orientation_matrices = np.array([scipy_rotation.from_quat(first_list[a][quaternion_order_2]).as_matrix() for a, _ in matches]) + second_orientation_matrices = np.array([scipy_rotation.from_quat(second_list[b][quaternion_order_1]).as_matrix() for _, b in matches]) + second_orientation_matrices_aligned = np.array([rot * second_orientation_matrices[i] for i in range(len(second_orientation_matrices))]) + orientation_difference_matrices = np.array([np.matmul(np.transpose(first_orientation_matrices[i]), second_orientation_matrices_aligned[i]) for i in range(len(second_orientation_matrices_aligned))]) + reference_rotation_difference_matrix = np.mean(orientation_difference_matrices, axis=0) + second_orientation_matrices_aligned = np.array([rot * second_orientation_matrices[i] * np.transpose(reference_rotation_difference_matrix) for i in range(len(second_orientation_matrices))]) + orientation_error_matrices = np.array([np.matmul(np.transpose(first_orientation_matrices[i]), second_orientation_matrices_aligned[i]) for i in range(len(second_orientation_matrices_aligned))]) + orientation_error_euler = np.array([scipy_rotation.from_matrix(orientation_error_matrices[i]).as_euler('zyx', degrees= True) for i in range(len(first_orientation_matrices))]) + orientation_error_axis_angle = np.array([scipy_rotation.from_matrix(orientation_error_matrices[i]).as_rotvec(degrees=True) for i in range(len(first_orientation_matrices))]) + orientation_diff = np.array([np.matmul(np.matmul(np.transpose(rot), first_orientation_matrices[i]), np.transpose(second_orientation_matrices[i])) for i in range(len(second_orientation_matrices_aligned))]) + euler_rmse = np.sqrt(np.mean(orientation_error_euler**2, axis=0)) + angle_error = np.array([np.linalg.norm(orientation_error_axis_angle[i]) for i in range(len(first_orientation_matrices))]) + angle_rmse = np.sqrt(np.mean(angle_error**2)) + + + first_orientation_euler = np.array( + [scipy_rotation.from_matrix(first_orientation_matrices[i]).as_euler('zyx', degrees=True) for i in range(len(first_orientation_matrices))]) + second_orientation_euler = np.array( + [scipy_rotation.from_matrix(second_orientation_matrices[i]).as_euler('zyx', degrees=True) for i in range(len(second_orientation_matrices_aligned))]) + second_orientation_euler_aligned = np.array( + [scipy_rotation.from_matrix(second_orientation_matrices_aligned[i]).as_euler('zyx', degrees=True) for i in range(len(second_orientation_matrices_aligned))]) + orientation_error_euler = np.array( + [scipy_rotation.from_matrix(orientation_error_matrices[i]).as_euler('zyx', degrees=True) for i in range(len(orientation_error_matrices))]) + + + if plot_orientation_error_euler_angles: + first_orientation_euler_y = np.array([scipy_rotation.from_matrix(first_orientation_matrices[i]).as_euler('zyx', degrees=True)[2] for i in range(len(first_orientation_matrices))]) + second_orientation_euler_y = np.array([scipy_rotation.from_matrix(second_orientation_matrices[i]).as_euler('zyx', degrees=True)[2] for i in range(len(second_orientation_matrices_aligned))]) + second_orientation_euler_y_aligned = np.array([scipy_rotation.from_matrix(second_orientation_matrices_aligned[i]).as_euler('zyx', degrees=True)[2] for i in range(len(second_orientation_matrices_aligned))]) + orientation_error_euler_y = np.array([scipy_rotation.from_matrix(orientation_error_matrices[i]).as_euler('zyx', degrees=True)[2] for i in range(len(orientation_error_matrices))]) + plt.plot(first_orientation_euler_y, label='first') + plt.plot(second_orientation_euler_y, label='second') + plt.plot(second_orientation_euler_y_aligned, label='second aligned') + plt.plot(orientation_error_euler_y, label='error') + plt.legend() + plt.show() + + if is_verbose: + print(f"compared_pose_pairs %d pairs" % (len(trans_error))) + print(f"absolute_translational_error.rmse %f m" % np.sqrt( + np.dot(trans_error, trans_error) / len(trans_error))) + print(f"absolute_translational_error.mean %f m" % np.mean(trans_error)) + print(f"absolute_translational_error.median %f m" % np.median(trans_error)) + print(f"absolute_translational_error.std %f m" % np.std(trans_error)) + print(f"absolute_translational_error.min %f m" % np.min(trans_error)) + print(f"absolute_translational_error.max %f m" % np.max(trans_error)) + print(f"absolute_rotational_angle_degrees_error.rmse %f m" % angle_rmse) + print(f"max idx: %i" % np.argmax(trans_error)) + + if is_save_verbose: + headers = ["# pose paired compared", "rmse of absolute_translational_error", + "rmse of orientation error rotational angle in axis-angle", + "mean of absolute_translational_error", "median of absolute_translational_error", + "std of absolute_translational_error", "min of absolute_translational_error", + "max of absolute_translational_error"] + output_df = pandas.DataFrame( + [len(trans_error), np.sqrt(np.dot(trans_error, trans_error) / len(trans_error)), angle_rmse, + np.mean(trans_error), np.median(trans_error), np.std(trans_error), np.min(trans_error), + np.max(trans_error)]) + output_df.index = headers + output_df.to_csv(estimation_error_summary_output_file) + + if is_save_associations: + file = open(poses_associations_output_file, "w") + file.write("\n".join( + ["%f %f %f %f %f %f %f %f" % (a, x1, y1, z1, b, x2, y2, z2) for (a, b), (x1, y1, z1), (x2, y2, z2) + in zip(matches, first_xyz.transpose().A, second_xyz_aligned.transpose().A)])) + file.close() + + if is_save: + file = open(time_associations_output_file, "w") + file.write("\n".join(["%f " % stamp + " ".join(["%f" % d for d in line]) for stamp, line in + zip(second_stamps, second_xyz_aligned.transpose().A)])) + file.close() + + if is_plot: + fig = plt.figure() + ax = fig.add_subplot() + ax.plot(np.array(first_stamps) / 1000000000, np.array(first_xyz_full[0, :]).flatten(), label="ground truth x") + ax.plot(np.array(first_stamps) / 1000000000, np.array(first_xyz_full[1, :]).flatten(), label="ground truth y") + ax.plot(np.array(first_stamps) / 1000000000, np.array(first_xyz_full[2, :]).flatten(), label="ground truth z") + ax.plot(np.array(second_stamps) / 1000000000, np.array(second_xyz_full_aligned[0, :]).flatten(), label="estimated x") + ax.plot(np.array(second_stamps) / 1000000000, np.array(second_xyz_full_aligned[1, :]).flatten(), label="estimated y") + ax.plot(np.array(second_stamps) / 1000000000, np.array(second_xyz_full_aligned[2, :]).flatten(), label="estimated z") + ax.legend() + ax.set_xlabel('time [sec]') + ax.set_ylabel('x [m]') + plt.savefig(plot_results_output_file_x, format="png") + plt.close() + plt.clf() + fig = plt.figure() + ax = fig.add_subplot() + ax.plot(np.array(first_orientation_euler[:, 0]).flatten(), label="ground truth x") + ax.plot(np.array(first_orientation_euler[:, 1]).flatten(), label="ground truth y") + ax.plot(np.array(first_orientation_euler[:, 2]).flatten(), label="ground truth z") + ax.plot(np.array(second_orientation_euler_aligned[:, 0]).flatten(), label="estimated x") + ax.plot(np.array(second_orientation_euler_aligned[:, 1]).flatten(), label="estimated y") + ax.plot(np.array(second_orientation_euler_aligned[:, 2]).flatten(), label="estimated z") + ax.legend() + ax.set_xlabel('time [sec]') + ax.set_ylabel('x [m]') + plt.savefig(plot_results_output_file_euler, format="png") + plt.close() + plt.clf() + fig = plt.figure() + ax = fig.add_subplot(projection='3d') + plot_traj(ax, first_stamps, first_xyz_full.transpose().A, '-', "black", "ground truth") + plot_traj(ax, second_stamps, second_xyz_full_aligned.transpose().A, '-', "blue", "estimated") + ax.legend() + ax.set_xlabel('x [m]') + ax.set_ylabel('y [m]') + plt.savefig(plot_results_output_file, format="png") + plt.close() + position_error = first_xyz - second_xyz_aligned + plt.clf() + fig, ax = plt.subplots(3) + fig.suptitle('Translational Error Histograms') + ax[0].hist(np.array(position_error[0, :]).flatten(), label='error in x', bins=100, color='blue') + ax[1].hist(np.array(position_error[1, :]).flatten(), label='error in y', bins=100, color='green') + ax[2].hist(np.array(position_error[2, :]).flatten(), label='error in z', bins=100, color='red') + ax[2].set_xlabel('error [m]') + fig.legend() + plt.savefig(plot_error_hist_output_file, format="png") + plt.close() + plt.clf() + fig, ax = plt.subplots(3) + fig.suptitle('Rotational Error Histograms') + ax[0].hist(np.array(orientation_error_euler[:, 0]).flatten(), label='error in euler x', bins=100, color='blue') + ax[1].hist(np.array(orientation_error_euler[:, 1]).flatten(), label='error in euler y', bins=100, color='green') + ax[2].hist(np.array(orientation_error_euler[:, 2]).flatten(), label='error in euler z', bins=100, color='red') + ax[2].set_xlabel('error [degrees]') + fig.legend() + plt.savefig(plot_error_rot_hist_output_file, format="png") + plt.close() diff --git a/Examples/Monocular/mono_euroc.cc b/Run_Examples/EuRoC/mono_euroc.cc similarity index 97% rename from Examples/Monocular/mono_euroc.cc rename to Run_Examples/EuRoC/mono_euroc.cc index 3a233129be..3633e0c8dc 100644 --- a/Examples/Monocular/mono_euroc.cc +++ b/Run_Examples/EuRoC/mono_euroc.cc @@ -23,7 +23,7 @@ #include -#include +#include"include/System.h" using namespace std; @@ -80,7 +80,7 @@ int main(int argc, char **argv) int fps = 20; float dT = 1.f/fps; // Create SLAM system. It initializes all system threads and gets ready to process frames. - ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false); + ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true); float imageScale = SLAM.GetImageScale(); double t_resize = 0.f; @@ -189,8 +189,8 @@ int main(int argc, char **argv) // Save camera trajectory if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Examples/Monocular-Inertial/mono_inertial_euroc.cc b/Run_Examples/EuRoC/mono_inertial_euroc.cc similarity index 98% rename from Examples/Monocular-Inertial/mono_inertial_euroc.cc rename to Run_Examples/EuRoC/mono_inertial_euroc.cc index b9f320fd76..27bfa1ab2a 100644 --- a/Examples/Monocular-Inertial/mono_inertial_euroc.cc +++ b/Run_Examples/EuRoC/mono_inertial_euroc.cc @@ -26,7 +26,7 @@ #include -#include +#include"include/System.h" #include "ImuTypes.h" using namespace std; @@ -117,7 +117,7 @@ int main(int argc, char *argv[]) cout.precision(17); // Create SLAM system. It initializes all system threads and gets ready to process frames. - ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_MONOCULAR, true); + ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_MONOCULAR, false); float imageScale = SLAM.GetImageScale(); double t_resize = 0.f; @@ -235,8 +235,8 @@ int main(int argc, char *argv[]) // Save camera trajectory if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Run_Examples/EuRoC/run_orbslam3_euroc_mh.sh b/Run_Examples/EuRoC/run_orbslam3_euroc_mh.sh new file mode 100755 index 0000000000..5a1cdbacd3 --- /dev/null +++ b/Run_Examples/EuRoC/run_orbslam3_euroc_mh.sh @@ -0,0 +1,119 @@ +#!/bin/bash +# Set paths +pathVocabulary='/home/justmohsen/Documents/SLAM/ORBSLAM/Vocabulary/ORBvoc.txt' +pathDatasetEuroc='/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall' +pathEurocRun='/home/justmohsen/Documents/SLAM/ORBSLAM/Run_Examples/EuRoC' +pathMonocularResults='/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular' +pathStereoResults='/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo' +pathMonocularInertialResults='/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular-inertial' +pathStereoInertialResults='/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo-inertial' +# Create directories +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular/MH01 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular/MH02 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular/MH03 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular/MH04 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular/MH05 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular/MH01_to_MH05 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo/MH01 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo/MH02 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo/MH03 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo/MH04 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo/MH05 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo/MH01_to_MH05 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular-inertial/MH01 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular-inertial/MH02 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular-inertial/MH03 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular-inertial/MH04 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular-inertial/MH05 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular-inertial/MH01_to_MH05 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo-inertial/MH01 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo-inertial/MH02 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo-inertial/MH03 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo-inertial/MH04 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo-inertial/MH05 +mkdir /home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/stereo-inertial/MH01_to_MH05 + +#------------------------------------ +# Monocular Examples +echo "Launching MH01 with Monocular sensor" +mkdir +"$pathEurocRun"/mono_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_mono.yaml "$pathDatasetEuroc"/MH01 "$pathEurocRun"/EuRoC_TimeStamps/MH01.txt "$pathMonocularResults"/MH01/results + +echo "Launching MH02 with Monocular sensor" +"$pathEurocRun"/mono_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_mono.yaml "$pathDatasetEuroc"/MH02 "$pathEurocRun"/EuRoC_TimeStamps/MH02.txt "$pathMonocularResults"/MH02/results + +echo "Launching MH03 with Monocular sensor" +"$pathEurocRun"/mono_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_mono.yaml "$pathDatasetEuroc"/MH03 "$pathEurocRun"/EuRoC_TimeStamps/MH03.txt "$pathMonocularResults"/MH03/results + +echo "Launching MH04 with Monocular sensor" +"$pathEurocRun"/mono_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_mono.yaml "$pathDatasetEuroc"/MH04 "$pathEurocRun"/EuRoC_TimeStamps/MH04.txt "$pathMonocularResults"/MH04/results + +echo "Launching MH05 with Monocular sensor" +"$pathEurocRun"/mono_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_mono.yaml "$pathDatasetEuroc"/MH05 "$pathEurocRun"/EuRoC_TimeStamps/MH05.txt "$pathMonocularResults"/MH05/results + +# MultiSession Monocular Examples +echo "Launching Machine Hall with Monocular sensor" +"$pathEurocRun"/mono_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_mono.yaml "$pathDatasetEuroc"/MH01 "$pathEurocRun"/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 "$pathEurocRun"/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 "$pathEurocRun"/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 "$pathEurocRun"/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 "$pathEurocRun"/EuRoC_TimeStamps/MH05.txt "$pathMonocularResults"/MH01_to_MH05/results + +#------------------------------------ +# Stereo Examples +echo "Launching MH01 with Stereo sensor" +"$pathEurocRun"/stereo_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Stereo.yaml "$pathDatasetEuroc"/MH01 "$pathEurocRun"/EuRoC_TimeStamps/MH01.txt "$pathStereoResults"/MH01/results + +echo "Launching MH02 with Stereo sensor" +"$pathEurocRun"/stereo_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Stereo.yaml "$pathDatasetEuroc"/MH02 "$pathEurocRun"/EuRoC_TimeStamps/MH02.txt "$pathStereoResults"/MH02/results + +echo "Launching MH03 with Stereo sensor" +"$pathEurocRun"/stereo_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Stereo.yaml "$pathDatasetEuroc"/MH03 "$pathEurocRun"/EuRoC_TimeStamps/MH03.txt "$pathStereoResults"/MH03/results + +echo "Launching MH04 with Stereo sensor" +"$pathEurocRun"/stereo_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Stereo.yaml "$pathDatasetEuroc"/MH04 "$pathEurocRun"/EuRoC_TimeStamps/MH04.txt "$pathStereoResults"/MH04/results + +echo "Launching MH05 with Stereo sensor" +"$pathEurocRun"/stereo_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Stereo.yaml "$pathDatasetEuroc"/MH05 "$pathEurocRun"/EuRoC_TimeStamps/MH05.txt "$pathStereoResults"/MH05/results + +# MultiSession Stereo Examples +echo "Launching Machine Hall with Stereo sensor" +"$pathEurocRun"/stereo_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Stereo.yaml "$pathDatasetEuroc"/MH01 "$pathEurocRun"/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 "$pathEurocRun"/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 "$pathEurocRun"/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 "$pathEurocRun"/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 "$pathEurocRun"/EuRoC_TimeStamps/MH05.txt "$pathStereoResults"/MH01_to_MH05/results + +#------------------------------------ +# Monocular-Inertial Examples +echo "Launching MH01 with Monocular-Inertial sensor" +"$pathEurocRun"/mono_inertial_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Mono_Inertial.yaml "$pathDatasetEuroc"/MH01 "$pathEurocRun"/EuRoC_TimeStamps/MH01.txt "$pathMonocularInertialResults"/MH01/results + +echo "Launching MH02 with Monocular-Inertial sensor" +"$pathEurocRun"/mono_inertial_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Mono_Inertial.yaml "$pathDatasetEuroc"/MH02 "$pathEurocRun"/EuRoC_TimeStamps/MH02.txt "$pathMonocularInertialResults"/MH02/results + +echo "Launching MH03 with Monocular-Inertial sensor" +"$pathEurocRun"/mono_inertial_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Mono_Inertial.yaml "$pathDatasetEuroc"/MH03 "$pathEurocRun"/EuRoC_TimeStamps/MH03.txt "$pathMonocularInertialResults"/MH03/results + +echo "Launching MH04 with Monocular-Inertial sensor" +"$pathEurocRun"/mono_inertial_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Mono_Inertial.yaml "$pathDatasetEuroc"/MH04 "$pathEurocRun"/EuRoC_TimeStamps/MH04.txt "$pathMonocularInertialResults"/MH04/results + +echo "Launching MH05 with Monocular-Inertial sensor" +"$pathEurocRun"/mono_inertial_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Mono_Inertial.yaml "$pathDatasetEuroc"/MH05 "$pathEurocRun"/EuRoC_TimeStamps/MH05.txt "$pathMonocularInertialResults"/MH05/results + +# MultiSession Monocular Examples +echo "Launching Machine Hall with Monocular-Inertial sensor" +"$pathEurocRun"/mono_inertial_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Mono_Inertial.yaml "$pathDatasetEuroc"/MH01 "$pathEurocRun"/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 "$pathEurocRun"/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 "$pathEurocRun"/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 "$pathEurocRun"/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 "$pathEurocRun"/EuRoC_TimeStamps/MH05.txt "$pathMonocularInertialResults"/MH01_to_MH05/results + +#------------------------------------ +# Stereo-Inertial Examples +echo "Launching MH01 with Stereo-Inertial sensor" +"$pathEurocRun"/stereo_inertial_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Stereo_Inertial.yaml "$pathDatasetEuroc"/MH01 "$pathEurocRun"/EuRoC_TimeStamps/MH01.txt "$pathStereoInertialResults"/MH01/results + +echo "Launching MH02 with Stereo-Inertial sensor" +"$pathEurocRun"/stereo_inertial_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Stereo_Inertial.yaml "$pathDatasetEuroc"/MH02 "$pathEurocRun"/EuRoC_TimeStamps/MH02.txt "$pathStereoInertialResults"/MH02/results + +echo "Launching MH03 with Stereo-Inertial sensor" +"$pathEurocRun"/stereo_inertial_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Stereo_Inertial.yaml "$pathDatasetEuroc"/MH03 "$pathEurocRun"/EuRoC_TimeStamps/MH03.txt "$pathStereoInertialResults"/MH03/results + +echo "Launching MH04 with Stereo-Inertial sensor" +"$pathEurocRun"/stereo_inertial_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Stereo_Inertial.yaml "$pathDatasetEuroc"/MH04 "$pathEurocRun"/EuRoC_TimeStamps/MH04.txt "$pathStereoInertialResults"/MH04/results + +echo "Launching MH05 with Stereo-Inertial sensor" +"$pathEurocRun"/stereo_inertial_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Stereo_Inertial.yaml "$pathDatasetEuroc"/MH05 "$pathEurocRun"/EuRoC_TimeStamps/MH05.txt "$pathStereoInertialResults"/MH05/results + +# MultiSession Stereo-Inertial Examples +echo "Launching Machine Hall with Stereo-Inertial sensor" +"$pathEurocRun"/stereo_inertial_euroc "$pathVocabulary" "$pathEurocRun"/EuRoC_Stereo_Inertial.yaml "$pathDatasetEuroc"/MH01 "$pathEurocRun"/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 "$pathEurocRun"/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 "$pathEurocRun"/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 "$pathEurocRun"/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 "$pathEurocRun"/EuRoC_TimeStamps/MH05.txt "$pathStereoInertialResults"/MH01_to_MH05/results diff --git a/Examples/Stereo/stereo_euroc.cc b/Run_Examples/EuRoC/stereo_euroc.cc similarity index 97% rename from Examples/Stereo/stereo_euroc.cc rename to Run_Examples/EuRoC/stereo_euroc.cc index 1250f2ee3c..ee19ba06d1 100644 --- a/Examples/Stereo/stereo_euroc.cc +++ b/Run_Examples/EuRoC/stereo_euroc.cc @@ -24,7 +24,7 @@ #include -#include +#include"include/System.h" using namespace std; @@ -88,7 +88,7 @@ int main(int argc, char **argv) cout.precision(17); // Create SLAM system. It initializes all system threads and gets ready to process frames. - ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::STEREO, true); + ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::STEREO, false); cv::Mat imLeft, imRight; for (seq = 0; seq -#include +#include"include/System.h" #include "ImuTypes.h" #include "Optimizer.h" @@ -226,8 +226,8 @@ int main(int argc, char **argv) // Save camera trajectory if (bFileName) { - const string kf_file = "kf_" + string(argv[argc-1]) + ".txt"; - const string f_file = "f_" + string(argv[argc-1]) + ".txt"; + const string kf_file = string(argv[argc-1]) + "_keyframes.txt"; + const string f_file = string(argv[argc-1]) + "_frames.txt"; SLAM.SaveTrajectoryEuRoC(f_file); SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file); } diff --git a/Run_Examples/UZH/UZH_ORB_SLAM3_run.sh b/Run_Examples/UZH/UZH_ORB_SLAM3_run.sh new file mode 100644 index 0000000000..b791f963aa --- /dev/null +++ b/Run_Examples/UZH/UZH_ORB_SLAM3_run.sh @@ -0,0 +1,20 @@ +#!/bin/bash +excutablePathUZH='./ORBSLAM/Run_Examples/UZH' #Example, it is necessary to change it by the dataset path/ +pathDatasetUZH='./Datasets/UZH' #Example, it is necessary to change it by the dataset path/ +vocabularyPath='./ORBSLAM/Vocabulary/ORBvoc.txt' + +#------------------------------------ +# Monocular Examples +echo "Launching indoor_forward_3 with Monocular SNAP" +"$excutablePathUZH"/mono_UZH_trial "$vocabularyPath" "$excutablePathUZH"/UZH_SNAP_mono.yaml "$pathDatasetUZH"/indoor_forward_3_snapdragon "$pathDatasetUZH"/indoor_forward_3_snapdragon/left_images.txt "$pathDatasetUZH"/indoor_forward_3_snapdragon_results/mono + +#------------------------------------ +# Stereo Examples + +#------------------------------------ +# Monocular-Inertial Examples +echo "Launching indoor_forward_3 with Monocular-Inertial sensor SNAP" +"$excutablePathUZH"/mono_inertial_UZH_trial "$vocabularyPath" "$excutablePathUZH"/UZH_SNAP_mono_inertial.yaml "$pathDatasetUZH"/indoor_forward_3_snapdragon "$pathDatasetUZH"/indoor_forward_3_snapdragon/left_images.txt "$pathDatasetUZH"/indoor_forward_3_snapdragon_results/mono_inertial + +#------------------------------------ +# Stereo-Inertial Examples diff --git a/Run_Examples/UZH/UZH_SMAP_stereo_inertial.yaml b/Run_Examples/UZH/UZH_SMAP_stereo_inertial.yaml new file mode 100644 index 0000000000..22a4911c84 --- /dev/null +++ b/Run_Examples/UZH/UZH_SMAP_stereo_inertial.yaml @@ -0,0 +1,154 @@ + %YAML:1.0 + + #-------------------------------------------------------------------------------------------- + # System config + #-------------------------------------------------------------------------------------------- + + # When the variables are commented, the system doesn't load a previous session or not store the current one + + # If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch + #System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Stereo60_Pseudo" + + # The store file is created from the current session, if a file with the same name exists it is deleted + #System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Stereo60_Pseudo" + + #-------------------------------------------------------------------------------------------- + # Camera Parameters. Adjust them! + #-------------------------------------------------------------------------------------------- + File.version: "1.0" + + Camera.type: "PinHole" + + # Camera calibration and distortion parameters (OpenCV) + Camera1.fx: 278.6672 + Camera1.fy: 278.4899 + Camera1.cx: 319.7522 + Camera1.cy: 241.9686 + + Camera1.k1: -0.013721808247486035 + Camera1.k2: 0.020727425669427896 + Camera1.p1: -0.012786476702685545 + Camera1.p2: 0.0025242267320687625 + + Camera2.fx: 277.61640629770613 + Camera2.fy: 277.63749695723294 + Camera2.cx: 314.8944703346039 + Camera2.cy: 236.04310050462587 + + Camera2.k1: -0.008456929295619607 + Camera2.k2: 0.011407590938612062 + Camera2.p1: -0.006951788325762078 + Camera2.p2: 0.0015368127092821786 + + Camera.width: 640 + Camera.height: 480 + + # Camera frames per second + Camera.fps: 30 + + # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) + Camera.RGB: 1 + + # Close/Far threshold. Baseline times. + Stereo.ThDepth: 60.0 + Stereo.T_c1_c2: !!opencv-matrix + rows: 4 + cols: 4 + dt: f + # data: [0.9998053017199768, 0.011197738450911482, 0.016247132245484134, -0.07961594300469246, + # -0.011147758116323998, 0.9999328574031366, -0.0031635699090552883, 0.0007443452072558462, + # -0.016281466199246437, 0.00298183486707869, 0.9998630018753666, 0.0004425529195268342, + # 0.0, 0.0, 0.0, 1.0] + #orig + + data: [0.999805301719986, -0.011147758116324, -0.016281466199247, 0.079615945108254, + 0.011197738450912, 0.999932857403145, 0.002981834867079, 0.000145903656578, + 0.016247132245484,-0.003163569909055, 0.999863001875375, 0.000853393252339, + 0, 0, 0, 1.000000000000000] + #inversed + + # Transformation from camera 0 to body-frame (imu) + IMU.T_b_c1: !!opencv-matrix + rows: 4 + cols: 4 + dt: f + #orig transformation + # data: [-0.028228787368606456, -0.999601488301944, 1.2175294828553618e-05, 0.02172388268966517, + # 0.014401251861751119, -0.00041887083271471837, -0.9998962088597202, -6.605455433829172e-05, + # 0.999497743623523, -0.028225682131089447, 0.014407337010089172, -0.00048817563004522853, + # 0.0, 0.0, 0.0, 1.0] + + + #inversed works? + # data: [-0.028228787368606, 0.014401251861751, 0.999497743623522, 0.001102120574263, + # -0.999601488301943, -0.000418870832715, -0.028225682131089, 0.021701418709802, + # 0.000012175294829, -0.999896208859719, 0.014407337010089, -0.000059278882315, + # 0.0, 0.0, 0.0, 1.000000000000000] + # + # data: [-0.028228787368606456, -0.999601488301944, 1.2175294828553618e-05, 0.02172388268966517, + # 0.014401251861751119, -0.00041887083271471837, 0.9998962088597202, -6.605455433829172e-05, + # 0.999497743623523, -0.028225682131089447, 0.014407337010089172, -0.00048817563004522853, + # 0.0, 0.0, 0.0, 1.0] + # works? + # data: [0,-1,0,0, + # 0,0,1,0, + # 1,0,0,0, + # 0,0,0,1] + + ###############################other one orig + # data: [-0.011823057800830705, -0.9998701444077991, -0.010950325390841398, -0.057904961033265645, + # 0.011552991631909482, 0.01081376681432078, -0.9998747875767439, 0.00043766687615362694, + # 0.9998633625093938, -0.011948086424720228, 0.011423639621249038, -0.00039944945687402214, + # 0.0, 0.0, 0.0, 1.0] + #other one inversed works? + data: [-0.011823057800831, 0.011552991631910, 0.999863362509394, -0.000290275185906, + -0.999870144407799, 0.010813766814321, -0.011948086424720, -0.057906947234433, + -0.010950325390841, -0.999874787576744, 0.011423639621249, -0.000191902923593, + 0, 0, 0, 1.000000000000000] + #multiply of the two inverted works? + # data: [-0.017080173899602, 0.030682893760813, 0.999383223638475, 0.080476894082098, + # -0.999850434735220, -0.003239106635964, -0.016988712370281, 0.021858029774866, + # 0.002715845974768, -0.999523920783625, 0.030733629170304, 0.000743374834626, + # 0, 0, 0, 1.000000000000000] + + # IMU noise + IMU.NoiseGyro: 0.05 #0.05 + IMU.NoiseAcc: 0.1 #0.1 + IMU.GyroWalk: 4.0e-05 #4.0e-05 + IMU.AccWalk: 0.002 #0.002 + IMU.Frequency: 500.0 + + #-------------------------------------------------------------------------------------------- + # ORB Parameters + #-------------------------------------------------------------------------------------------- + + # ORB Extractor: Number of features per image + ORBextractor.nFeatures: 1200 + + # ORB Extractor: Scale factor between levels in the scale pyramid + ORBextractor.scaleFactor: 1.2 + + # ORB Extractor: Number of levels in the scale pyramid + ORBextractor.nLevels: 8 + + # ORB Extractor: Fast threshold + # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. + # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST + # You can lower these values if your images have low contrast + ORBextractor.iniThFAST: 20 + ORBextractor.minThFAST: 7 + + #-------------------------------------------------------------------------------------------- + # Viewer Parameters + #-------------------------------------------------------------------------------------------- + Viewer.KeyFrameSize: 0.05 + Viewer.KeyFrameLineWidth: 1.0 + Viewer.GraphLineWidth: 0.9 + Viewer.PointSize: 2.0 + Viewer.CameraSize: 0.08 + Viewer.CameraLineWidth: 3.0 + Viewer.ViewpointX: 0.0 + Viewer.ViewpointY: -0.7 + Viewer.ViewpointZ: -1.8 + Viewer.ViewpointF: 500.0 + Viewer.imageViewScale: 1.0 diff --git a/Run_Examples/UZH/UZH_SNAP_mono.yaml b/Run_Examples/UZH/UZH_SNAP_mono.yaml new file mode 100644 index 0000000000..a6317aed19 --- /dev/null +++ b/Run_Examples/UZH/UZH_SNAP_mono.yaml @@ -0,0 +1,67 @@ +%YAML:1.0 + +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- +File.version: "1.0" + +Camera.type: "PinHole" + +# Camera calibration and distortion parameters (OpenCV) +Camera1.fx: 278.6672 +Camera1.fy: 278.4899 +Camera1.cx: 319.7522 +Camera1.cy: 241.9686 + +Camera1.k1: -0.013721808247486035 +Camera1.k2: 0.020727425669427896 +Camera1.p1: -0.012786476702685545 +Camera1.p2: 0.0025242267320687625 + +# Camera resolution +Camera.width: 640 +Camera.height: 480 + +# Camera frames per second +Camera.fps: 30 + +# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) +Camera.RGB: 1 +#-------------------------------------------------------------------------------------------- +# ORB Parameters +#-------------------------------------------------------------------------------------------- + +# ORB Extractor: Number of features per image +ORBextractor.nFeatures: 2000 # 1000 + +# ORB Extractor: Scale factor between levels in the scale pyramid +ORBextractor.scaleFactor: 1.4 + +# ORB Extractor: Number of levels in the scale pyramid +ORBextractor.nLevels: 20 + +# ORB Extractor: Fast threshold +# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. +# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST +# You can lower these values if your images have low contrast +ORBextractor.iniThFAST: 20 +ORBextractor.minThFAST: 7 + +#-------------------------------------------------------------------------------------------- +# Viewer Parameters +#-------------------------------------------------------------------------------------------- +Viewer.KeyFrameSize: 0.05 +Viewer.KeyFrameLineWidth: 1.0 +Viewer.GraphLineWidth: 0.9 +Viewer.PointSize: 2.0 +Viewer.CameraSize: 0.08 +Viewer.CameraLineWidth: 3.0 +Viewer.ViewpointX: 0.0 +Viewer.ViewpointY: -0.7 +Viewer.ViewpointZ: -3.5 # -1.8 +Viewer.ViewpointF: 500.0 + +#-------------------------------------------------------------------------------------------- +# System Parameters +#-------------------------------------------------------------------------------------------- +System.thFarPoints: 50.0 diff --git a/Run_Examples/UZH/UZH_SNAP_mono_inertial.yaml b/Run_Examples/UZH/UZH_SNAP_mono_inertial.yaml new file mode 100644 index 0000000000..3342b94b6f --- /dev/null +++ b/Run_Examples/UZH/UZH_SNAP_mono_inertial.yaml @@ -0,0 +1,88 @@ +%YAML:1.0 + +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- +File.version: "1.0" + +Camera.type: "PinHole" + +# Camera calibration and distortion parameters (OpenCV) +Camera1.fx: 278.6672 +Camera1.fy: 278.4899 +Camera1.cx: 319.7522 +Camera1.cy: 241.9686 + +Camera1.k1: -0.013721808247486035 +Camera1.k2: 0.020727425669427896 +Camera1.p1: -0.012786476702685545 +Camera1.p2: 0.0025242267320687625 + +# Camera resolution +Camera.width: 640 +Camera.height: 480 + +# Camera frames per second +Camera.fps: 30 + +# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) +Camera.RGB: 1 + +# Transformation from camera to body-frame (imu) +IMU.T_b_c1: !!opencv-matrix + rows: 4 + cols: 4 + dt: f + + data: [1.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, + 0.0, -1.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1.0] + +# IMU noise +IMU.NoiseGyro: 0.05 #0.05 +IMU.NoiseAcc: 0.1 #0.1 +IMU.GyroWalk: 0.0e-05 #4.0e-05 +IMU.AccWalk: 0.002 #0.002 +IMU.Frequency: 500.0 + +#-------------------------------------------------------------------------------------------- +# ORB Parameters +#-------------------------------------------------------------------------------------------- + +# ORB Extractor: Number of features per image +ORBextractor.nFeatures: 1500 # 1000 + +# ORB Extractor: Scale factor between levels in the scale pyramid +ORBextractor.scaleFactor: 1.4 + +# ORB Extractor: Number of levels in the scale pyramid +ORBextractor.nLevels: 10 + +# ORB Extractor: Fast threshold +# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. +# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST +# You can lower these values if your images have low contrast +ORBextractor.iniThFAST: 20 +ORBextractor.minThFAST: 7 + +#-------------------------------------------------------------------------------------------- +# Viewer Parameters +#-------------------------------------------------------------------------------------------- +Viewer.KeyFrameSize: 0.05 +Viewer.KeyFrameLineWidth: 1.0 +Viewer.GraphLineWidth: 0.9 +Viewer.PointSize: 2.0 +Viewer.CameraSize: 0.08 +Viewer.CameraLineWidth: 3.0 +Viewer.ViewpointX: 0.0 +Viewer.ViewpointY: -0.7 +Viewer.ViewpointZ: -3.5 # -1.8 +Viewer.ViewpointF: 500.0 + + + +#-------------------------------------------------------------------------------------------- +# System Parameters +#-------------------------------------------------------------------------------------------- +System.thFarPoints: 50.0 \ No newline at end of file diff --git a/Run_Examples/UZH/evaluate_ate_scale.py b/Run_Examples/UZH/evaluate_ate_scale.py new file mode 100644 index 0000000000..a931723908 --- /dev/null +++ b/Run_Examples/UZH/evaluate_ate_scale.py @@ -0,0 +1,332 @@ +# Modified by Raul Mur-Artal +# Automatically compute the optimal scale factor for monocular VO/SLAM. + +# Software License Agreement (BSD License) +# +# Copyright (c) 2013, Juergen Sturm, TUM +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of TUM nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +""" +This script computes the absolute trajectory error from the ground truth +trajectory and the estimated trajectory. +""" + +import sys +import numpy as np +import evaluation.associate as associate +import pandas +import matplotlib +import matplotlib.pyplot as plt +import os +from scipy.spatial.transform import Rotation as scipy_rotation +from mpl_toolkits.mplot3d import Axes3D + +matplotlib.use('TkAgg') + + +def align(model, data): + """Align two trajectories using the method of Horn (closed-form). + + Input: + model -- first trajectory (3xn) + data -- second trajectory (3xn) + + Output: + rot -- rotation matrix (3x3) + trans -- translation vector (3x1) + trans_error -- translational error per point (1xn) + """ + + np.set_printoptions(precision=3, suppress=True) + model_zerocentered = model - model.mean(1) + data_zerocentered = data - data.mean(1) + + W = np.zeros((3, 3)) + for column in range(model.shape[1]): + W += np.outer(model_zerocentered[:, column], data_zerocentered[:, column]) + U, d, Vh = np.linalg.linalg.svd(W.transpose()) + S = np.matrix(np.identity(3)) + if (np.linalg.det(U) * np.linalg.det(Vh) < 0): + S[2, 2] = -1 + rot = U * S * Vh + + rotmodel = rot * model_zerocentered + dots = 0.0 + norms = 0.0 + + for column in range(data_zerocentered.shape[1]): + dots += np.dot(data_zerocentered[:, column].transpose(), rotmodel[:, column]) + normi = np.linalg.norm(model_zerocentered[:, column]) + norms += normi * normi + + s = float(dots / norms) + trans = data.mean(1) - s * rot * model.mean(1) + model_aligned = s * rot * model + trans + alignment_error = model_aligned - data + trans_error = np.sqrt(np.sum(np.multiply(alignment_error, alignment_error), 0)).A[0] + + return rot, trans, trans_error, s + + +def plot_traj(ax, stamps, traj, style, color, label): + """ + Plot a trajectory using matplotlib. + + Input: + ax -- the plot + stamps -- time stamps (1xn) + traj -- trajectory (3xn) + style -- line style + color -- line color + label -- plot legend + + """ + stamps.sort() + interval = np.median([s - t for s, t in zip(stamps[1:], stamps[:-1])]) + x = [] + y = [] + z = [] + last = stamps[0] + for i in range(len(stamps)): + if stamps[i] - last < 2 * interval: + x.append(traj[i][0]) + y.append(traj[i][1]) + z.append(traj[i][2]) + elif len(x) > 0: + ax.plot(x, y, z, style, color=color, label=label) + label = "" + x = [] + y = [] + z = [] + last = stamps[i] + if len(x) > 0: + ax.plot(x, y, z, style, color=color, label=label) + + +if __name__ == "__main__": + # print all evaluation data (otherwise, only the RMSE absolute translational error in meters after alignment will be printed) + is_verbose = False + plot_orientation_error_euler_angles = False + # save all evaluation data (otherwise, only the RMSE absolute translational error in meters after alignment will be printed) + is_save_verbose = True + # save associated first and aligned second trajectory to disk (format: stamp1 x1 y1 z1 stamp2 x2 y2 z2) + is_save_associations = True + # save aligned second trajectory to disk (format: stamp2 x2 y2 z2) + is_save = True + # plot the first and the aligned second trajectory to an image (format: png) + is_plot = True + # maximally allowed time difference for matching entries (default: 10000000 ns) + max_time_difference_ns = 10000000 + # time offset added to the timestamps of the second file (default: 0.0) + time_offset = 0 + # scaling factor for the second trajectory (default: 1.0) + scale_factor = 1.0 + # Dataset path + orb_results_path = '/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon_results/mono_frames.txt' + ground_truth_path = '/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon/groundtruth.txt' + evaluation_results_path = '/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon_results/mono_results' + # Evaluation Job + first_file = ground_truth_path + second_file = orb_results_path + # create the output directory if it doesn't exist + if not os.path.exists(evaluation_results_path): + os.makedirs(evaluation_results_path) + print('new directory is created for output') + # save evaluation output + poses_associations_output_file = evaluation_results_path + '/poses_associations_frames.txt' + time_associations_output_file = evaluation_results_path + '/time_associations_frames.txt' + estimation_error_summary_output_file = evaluation_results_path + '/evaluation_error_frames.txt' + plot_results_output_file = evaluation_results_path + '/trajectory_output_frames.png' + plot_results_output_file_x = evaluation_results_path + '/trajectory_output_frames_location.png' + plot_results_output_file_euler = evaluation_results_path + '/trajectory_output_frames_euler.png' + plot_error_hist_output_file = evaluation_results_path + '/error_histogram_frames.png' + plot_error_rot_hist_output_file = evaluation_results_path + '/error_histogram_rotation_frames.png' + + first_list = associate.read_file_list(first_file, False, 1000000000) + second_list = associate.read_file_list(second_file, False, 1) + + matches = associate.associate(first_list, second_list, float(time_offset), float(max_time_difference_ns)) + if len(matches) < 2: + sys.exit( + "Couldn't find matching timestamp pairs between groundtruth and estimated trajectory! Did you choose the correct sequence?") + first_xyz = np.matrix([[float(value) for value in first_list[a][0:3]] for a, b in matches]).transpose() + first_timestamp = np.array([a for a, _ in matches]) + second_timestamp = np.array([b for _, b in matches]) + second_xyz = np.matrix( + [[float(value) * float(scale_factor) for value in second_list[b][0:3]] for a, b in matches]).transpose() + dictionary_items = second_list.items() + sorted_second_list = sorted(dictionary_items) + + second_xyz_full = np.matrix( + [[float(value) * float(scale_factor) for value in sorted_second_list[i][1][0:3]] for i in + range(len(sorted_second_list))]).transpose() # sorted_second_list.keys()]).transpose() + rot, trans, trans_error, scale = align(second_xyz, first_xyz) + + second_xyz_aligned = scale * rot * second_xyz + trans + first_stamps = list(first_list.keys()) + first_stamps.sort() + first_xyz_full = np.matrix( + [[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose() + + second_stamps = list(second_list.keys()) + second_stamps.sort() + second_xyz_full = np.matrix( + [[float(value) * float(scale_factor) for value in second_list[b][0:3]] for b in + second_stamps]).transpose() + second_xyz_full_aligned = scale * rot * second_xyz_full + trans + + # Orientation + quaternion_order_1 = [3, 4, 5, 6] + quaternion_order_2 = [4, 5, 6, 3] + first_orientation_matrices = np.array([scipy_rotation.from_quat(first_list[a][quaternion_order_2]).as_matrix() for a, _ in matches]) + second_orientation_matrices = np.array([scipy_rotation.from_quat(second_list[b][quaternion_order_1]).as_matrix() for _, b in matches]) + second_orientation_matrices_aligned = np.array([rot * second_orientation_matrices[i] for i in range(len(second_orientation_matrices))]) + orientation_difference_matrices = np.array( + [np.matmul(np.transpose(first_orientation_matrices[i]), second_orientation_matrices_aligned[i]) for i in range(len(second_orientation_matrices_aligned))]) + reference_rotation_difference_matrix = np.mean(orientation_difference_matrices, axis=0) + second_orientation_matrices_aligned = np.array( + [rot * second_orientation_matrices[i] * np.transpose(reference_rotation_difference_matrix) for i in range(len(second_orientation_matrices))]) + orientation_error_matrices = np.array( + [np.matmul(np.transpose(first_orientation_matrices[i]), second_orientation_matrices_aligned[i]) for i in range(len(second_orientation_matrices_aligned))]) + orientation_error_euler = np.array([scipy_rotation.from_matrix(orientation_error_matrices[i]).as_euler('zyx', degrees=True) for i in range(len(first_orientation_matrices))]) + orientation_error_axis_angle = np.array([scipy_rotation.from_matrix(orientation_error_matrices[i]).as_rotvec(degrees=True) for i in range(len(first_orientation_matrices))]) + orientation_diff = np.array([np.matmul(np.matmul(np.transpose(rot), first_orientation_matrices[i]), np.transpose(second_orientation_matrices[i])) for i in + range(len(second_orientation_matrices_aligned))]) + euler_rmse = np.sqrt(np.mean(orientation_error_euler ** 2, axis=0)) + angle_error = np.array([np.linalg.norm(orientation_error_axis_angle[i]) for i in range(len(first_orientation_matrices))]) + angle_rmse = np.sqrt(np.mean(angle_error ** 2)) + + + first_orientation_euler = np.array( + [scipy_rotation.from_matrix(first_orientation_matrices[i]).as_euler('xyz', degrees=True) for i in range(len(first_orientation_matrices))]) + second_orientation_euler = np.array( + [scipy_rotation.from_matrix(second_orientation_matrices[i]).as_euler('xyz', degrees=True) for i in range(len(second_orientation_matrices_aligned))]) + second_orientation_euler_aligned = np.array( + [scipy_rotation.from_matrix(second_orientation_matrices_aligned[i]).as_euler('xyz', degrees=True) for i in range(len(second_orientation_matrices_aligned))]) + orientation_error_euler = np.array( + [scipy_rotation.from_matrix(orientation_error_matrices[i]).as_euler('xyz', degrees=True) for i in range(len(orientation_error_matrices))]) + + if is_verbose: + print(f"compared_pose_pairs %d pairs" % (len(trans_error))) + print(f"absolute_translational_error.rmse %f m" % np.sqrt( + np.dot(trans_error, trans_error) / len(trans_error))) + print(f"absolute_translational_error.mean %f m" % np.mean(trans_error)) + print(f"absolute_translational_error.median %f m" % np.median(trans_error)) + print(f"absolute_translational_error.std %f m" % np.std(trans_error)) + print(f"absolute_translational_error.min %f m" % np.min(trans_error)) + print(f"absolute_translational_error.max %f m" % np.max(trans_error)) + print(f"absolute_rotational_angle_degrees_error.rmse %f m" % angle_rmse) + print(f"max idx: %i" % np.argmax(trans_error)) + + if is_save_verbose: + headers = ["# pose paired compared", "rmse of absolute_translational_error", + "rmse of orientation error rotational angle in axis-angle", + "mean of absolute_translational_error", "median of absolute_translational_error", + "std of absolute_translational_error", "min of absolute_translational_error", + "max of absolute_translational_error"] + output_df = pandas.DataFrame( + [len(trans_error), np.sqrt(np.dot(trans_error, trans_error) / len(trans_error)), angle_rmse, + np.mean(trans_error), np.median(trans_error), np.std(trans_error), np.min(trans_error), + np.max(trans_error)]) + output_df.index = headers + output_df.to_csv(estimation_error_summary_output_file) + + if is_save_associations: + file = open(poses_associations_output_file, "w") + file.write("\n".join( + ["%f %f %f %f %f %f %f %f" % (a, x1, y1, z1, b, x2, y2, z2) for (a, b), (x1, y1, z1), (x2, y2, z2) + in zip(matches, first_xyz.transpose().A, second_xyz_aligned.transpose().A)])) + file.close() + + if is_save: + file = open(time_associations_output_file, "w") + file.write("\n".join(["%f " % stamp + " ".join(["%f" % d for d in line]) for stamp, line in + zip(second_stamps, second_xyz_aligned.transpose().A)])) + file.close() + + if is_plot: + fig = plt.figure() + ax = fig.add_subplot() + ax.plot(np.array(first_stamps) / 1000000000, np.array(first_xyz_full[0, :]).flatten(), label="ground truth x") + ax.plot(np.array(first_stamps) / 1000000000, np.array(first_xyz_full[1, :]).flatten(), label="ground truth y") + ax.plot(np.array(first_stamps) / 1000000000, np.array(first_xyz_full[2, :]).flatten(), label="ground truth z") + ax.plot(np.array(second_stamps) / 1000000000, np.array(second_xyz_full_aligned[0, :]).flatten(), label="estimated x") + ax.plot(np.array(second_stamps) / 1000000000, np.array(second_xyz_full_aligned[1, :]).flatten(), label="estimated y") + ax.plot(np.array(second_stamps) / 1000000000, np.array(second_xyz_full_aligned[2, :]).flatten(), label="estimated z") + ax.legend() + ax.set_xlabel('time [sec]') + ax.set_ylabel('x [m]') + plt.savefig(plot_results_output_file_x, format="png") + plt.close() + plt.clf() + fig = plt.figure() + ax = fig.add_subplot() + ax.plot(first_timestamp, np.array(first_orientation_euler[:, 0]).flatten(), label="ground truth x") + ax.plot(first_timestamp, np.array(first_orientation_euler[:, 1]).flatten(), label="ground truth y") + ax.plot(first_timestamp, np.array(first_orientation_euler[:, 2]).flatten(), label="ground truth z") + #ax.plot(np.array(second_orientation_euler_aligned[:, 0]).flatten(), label="estimated x") + #ax.plot(np.array(second_orientation_euler_aligned[:, 1]).flatten(), label="estimated y") + #ax.plot(np.array(second_orientation_euler_aligned[:, 2]).flatten(), label="estimated z") + ax.legend() + ax.set_xlabel('time [sec]') + ax.set_ylabel('euler angles [deg]') + plt.savefig(plot_results_output_file_euler, format="png") + plt.close() + plt.clf() + fig = plt.figure() + ax = fig.add_subplot(projection='3d') + plot_traj(ax, first_stamps, first_xyz_full.transpose().A, '-', "black", "ground truth") + plot_traj(ax, second_stamps, second_xyz_full_aligned.transpose().A, '-', "blue", "estimated") + ax.legend() + ax.set_xlabel('x [m]') + ax.set_ylabel('y [m]') + plt.savefig(plot_results_output_file, format="png") + plt.close() + position_error = first_xyz - second_xyz_aligned + plt.clf() + fig, ax = plt.subplots(3) + fig.suptitle('Translational Error Histograms') + ax[0].hist(np.array(position_error[0, :]).flatten(), label='error in x', bins=100, color='blue') + ax[1].hist(np.array(position_error[1, :]).flatten(), label='error in y', bins=100, color='green') + ax[2].hist(np.array(position_error[2, :]).flatten(), label='error in z', bins=100, color='red') + ax[2].set_xlabel('error [m]') + fig.legend() + plt.savefig(plot_error_hist_output_file, format="png") + plt.close() + plt.clf() + fig, ax = plt.subplots(3) + fig.suptitle('Rotational Error Histograms') + ax[0].hist(np.array(orientation_error_euler[:, 0]).flatten(), label='error in euler x', bins=100, color='blue') + ax[1].hist(np.array(orientation_error_euler[:, 1]).flatten(), label='error in euler y', bins=100, color='green') + ax[2].hist(np.array(orientation_error_euler[:, 2]).flatten(), label='error in euler z', bins=100, color='red') + ax[2].set_xlabel('error [degrees]') + fig.legend() + plt.savefig(plot_error_rot_hist_output_file, format="png") + plt.close() diff --git a/Run_Examples/UZH/format_camera_images.py b/Run_Examples/UZH/format_camera_images.py new file mode 100644 index 0000000000..d199a31ced --- /dev/null +++ b/Run_Examples/UZH/format_camera_images.py @@ -0,0 +1,137 @@ +import cv2 +import pandas as pd +import numpy as np +import matplotlib.pyplot as plt +from ahrs.filters import Mahony +from scipy.spatial.transform import Rotation + +if __name__ == "__main__": + + imu_read_path = '/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon/imu.txt' + imu_save_path = '/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon/imu_reformatted.csv' + # now combine imu + raw_imu = pd.read_csv(imu_read_path, delim_whitespace=True) + raw_imu.timestamp = raw_imu.timestamp * 1e9 + #raw_imu.ang_vel_x = raw_imu.ang_vel_x * np.pi / 180 + #raw_imu.ang_vel_y = raw_imu.ang_vel_y * np.pi / 180 + #raw_imu.ang_vel_z = raw_imu.ang_vel_z * np.pi / 180 + + raw_imu.ang_vel_x = raw_imu.ang_vel_x - np.mean(raw_imu.ang_vel_x[0:4000]) + raw_imu.ang_vel_y = raw_imu.ang_vel_y - np.mean(raw_imu.ang_vel_y[0:4000]) + raw_imu.ang_vel_z = raw_imu.ang_vel_z - np.mean(raw_imu.ang_vel_z[0:4000]) + + raw_imu = raw_imu.rename(columns={"timestamp": "#timestamp [ns]", "ang_vel_x": "w_RS_S_x [rad s^-1]", "ang_vel_y": "w_RS_S_y [rad s^-1]", "ang_vel_z": "w_RS_S_z [rad s^-1]", "lin_acc_x": "a_RS_S_x [m s^-2]", "lin_acc_y": "a_RS_S_y [m s^-2]", "lin_acc_z": "a_RS_S_z [m s^-2]"}) + + raw_imu = raw_imu.loc[:, + ['#timestamp [ns]', 'w_RS_S_x [rad s^-1]', 'w_RS_S_y [rad s^-1]', 'w_RS_S_z [rad s^-1]', 'a_RS_S_x [m s^-2]', 'a_RS_S_y [m s^-2]', 'a_RS_S_z [m s^-2]']] + raw_imu.to_csv(imu_save_path, header=True, index=False) + print(f'Done reformatting imu file') + + raw_imu = pd.read_csv(imu_read_path, delim_whitespace=True) + imu_euroc_read_path = '/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/MH01/mav0/imu0/data.csv' + raw_imu_euroc = pd.read_csv(imu_euroc_read_path) + acc_x_euroc = raw_imu_euroc.loc[:,'a_RS_S_x [m s^-2]'] + acc_y_euroc = raw_imu_euroc.loc[:,'a_RS_S_y [m s^-2]'] + acc_z_euroc = raw_imu_euroc.loc[:,'a_RS_S_z [m s^-2]'] + acc_x_uzh = raw_imu.lin_acc_x + acc_y_uzh = raw_imu.lin_acc_y + acc_z_uzh = raw_imu.lin_acc_z + w_x_euroc = raw_imu_euroc.loc[:,'w_RS_S_x [rad s^-1]'] + w_y_euroc = raw_imu_euroc.loc[:,'w_RS_S_y [rad s^-1]'] + w_z_euroc = raw_imu_euroc.loc[:,'w_RS_S_z [rad s^-1]'] + w_x_uzh = raw_imu.ang_vel_x + w_y_uzh = raw_imu.ang_vel_y + w_z_uzh = raw_imu.ang_vel_z + + w_x_uzh = w_x_uzh - np.mean(w_x_uzh[0:4000]) + w_y_uzh = w_y_uzh - np.mean(w_y_uzh[0:4000]) + w_z_uzh = w_z_uzh - np.mean(w_z_uzh[0:4000]) + + + print(np.mean(np.abs(acc_x_euroc))) + print(np.mean(np.abs(acc_y_euroc))) + print(np.mean(np.abs(acc_z_euroc))) + print(np.mean(np.abs(acc_x_uzh))) + print(np.mean(np.abs(acc_y_uzh))) + print(np.mean(np.abs(acc_z_uzh))) + + print(np.mean(np.abs(w_x_euroc))) + print(np.mean(np.abs(w_y_euroc))) + print(np.mean(np.abs(w_z_euroc))) + print(np.mean(np.abs(w_x_uzh))) + print(np.mean(np.abs(w_y_uzh))) + print(np.mean(np.abs(w_z_uzh))) + + print(np.max(np.abs(acc_x_euroc))) + print(np.max(np.abs(acc_y_euroc))) + print(np.max(np.abs(acc_z_euroc))) + print(np.max(np.abs(acc_x_uzh))) + print(np.max(np.abs(acc_y_uzh))) + print(np.max(np.abs(acc_z_uzh))) + + print(np.max(np.abs(w_x_euroc))) + print(np.max(np.abs(w_y_euroc))) + print(np.max(np.abs(w_z_euroc))) + print(np.max(np.abs(w_x_uzh))) + print(np.max(np.abs(w_y_uzh))) + print(np.max(np.abs(w_z_uzh))) + + frames = list(range(1, 100)) + #frames = list(range(1, len(acc_x_euroc))) + plt.plot(acc_x_euroc[frames], label='EuRoC Acc X') + plt.plot(acc_y_euroc[frames], label='EuRoC Acc Y') + plt.plot(acc_y_euroc[frames], label='EuRoC Acc Z') + plt.plot(acc_x_uzh[frames], label='UZH Acc X') + plt.plot(acc_y_uzh[frames], label='UZH Acc Y') + plt.plot(acc_z_uzh[frames], label='UZH Acc Z') + plt.legend() + plt.title('Acceleration Values for Euroc vs UZH datasets') + plt.show() + + frames = list(range(20000, 20100)) + frames = list(range(1, len(acc_x_euroc))) + plt.plot(w_x_euroc[frames], label='EuRoC w X') + plt.plot(w_y_euroc[frames], label='EuRoC w Y') + plt.plot(w_y_euroc[frames], label='EuRoC w Z') + plt.plot(w_x_uzh[frames], label='UZH w X') + plt.plot(w_y_uzh[frames], label='UZH w Y') + plt.plot(w_z_uzh[frames], label='UZH w Z') + plt.legend() + plt.title('Angular Velocity Values for Euroc vs UZH datasets') + plt.show() + + orientation_euroc = Mahony(gyr=np.array([w_x_euroc, w_y_euroc, w_z_euroc]).transpose(), acc=np.array([acc_x_euroc, acc_y_euroc, acc_z_euroc]).transpose(), frequency=200.0) + orientation_uzh = Mahony(gyr=np.array([w_x_uzh, w_y_uzh, w_z_uzh]).transpose(), acc=np.array([acc_x_uzh, acc_y_uzh, acc_z_uzh]).transpose(), frequency=500.0) + + #frames = list(range(20000, 21000)) + frames = list(range(1, len(acc_x_euroc))) + plt.plot(orientation_euroc.Q[frames,0], label='EuRoC q X') + plt.plot(orientation_euroc.Q[frames,1], label='EuRoC q Y') + plt.plot(orientation_euroc.Q[frames,2], label='EuRoC q Z') + plt.plot(orientation_euroc.Q[frames,3], label='EuRoC q W') + plt.plot(orientation_uzh.Q[frames,0], label='UZH q X') + plt.plot(orientation_uzh.Q[frames,1], label='UZH q Y') + plt.plot(orientation_uzh.Q[frames,2], label='UZH q Z') + plt.plot(orientation_uzh.Q[frames,3], label='UZH q W') + plt.legend() + plt.title('Quaternions Values for Euroc vs UZH datasets') + plt.show() + + rot = Rotation.from_quat(orientation_euroc.Q) + rot_euler = rot.as_euler('xyz', degrees=True) + euler_euroc = pd.DataFrame(data=rot_euler, columns=['x', 'y', 'z']) + rot = Rotation.from_quat(orientation_uzh.Q) + rot_euler = rot.as_euler('xyz', degrees=True) + euler_uzh = pd.DataFrame(data=rot_euler, columns=['x', 'y', 'z']) + + frames = list(range(1, len(acc_x_euroc))) + plt.plot(euler_euroc.x[frames], label='EuRoC euler X') + plt.plot(euler_euroc.y[frames], label='EuRoC euler Y') + plt.plot(euler_euroc.z[frames], label='EuRoC euler Z') + plt.plot(euler_uzh.x[frames], label='UZH euler X') + plt.plot(euler_uzh.y[frames], label='UZH euler Y') + plt.plot(euler_uzh.z[frames], label='UZH euler Z') + plt.legend() + plt.title('Quaternions Values for Euroc vs UZH datasets') + plt.show() + diff --git a/Run_Examples/UZH/format_imu_file.py b/Run_Examples/UZH/format_imu_file.py new file mode 100644 index 0000000000..e57fc718c4 --- /dev/null +++ b/Run_Examples/UZH/format_imu_file.py @@ -0,0 +1,138 @@ +import cv2 +import pandas as pd +import numpy as np +import matplotlib.pyplot as plt +from ahrs.filters import Mahony +from scipy.spatial.transform import Rotation + +if __name__ == "__main__": + + imu_read_path = '/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon/imu.txt' + imu_save_path = '/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon/imu_reformatted.csv' + # now combine imu + raw_imu = pd.read_csv(imu_read_path, delim_whitespace=True) + raw_imu.timestamp = raw_imu.timestamp * 1e9 + #raw_imu.ang_vel_x = raw_imu.ang_vel_x * np.pi / 180 + #raw_imu.ang_vel_y = raw_imu.ang_vel_y * np.pi / 180 + #raw_imu.ang_vel_z = raw_imu.ang_vel_z * np.pi / 180 + + raw_imu.ang_vel_x = raw_imu.ang_vel_x - np.mean(raw_imu.ang_vel_x[0:4000]) + raw_imu.ang_vel_y = raw_imu.ang_vel_y - np.mean(raw_imu.ang_vel_y[0:4000]) + raw_imu.ang_vel_z = raw_imu.ang_vel_z - np.mean(raw_imu.ang_vel_z[0:4000]) + + raw_imu = raw_imu.rename(columns={"timestamp": "#timestamp [ns]", "ang_vel_x": "w_RS_S_x [rad s^-1]", "ang_vel_y": "w_RS_S_y [rad s^-1]", "ang_vel_z": "w_RS_S_z [rad s^-1]", "lin_acc_x": "a_RS_S_x [m s^-2]", "lin_acc_y": "a_RS_S_y [m s^-2]", "lin_acc_z": "a_RS_S_z [m s^-2]"}) + + raw_imu = raw_imu.loc[:, + ['#timestamp [ns]', 'w_RS_S_x [rad s^-1]', 'w_RS_S_y [rad s^-1]', 'w_RS_S_z [rad s^-1]', 'a_RS_S_x [m s^-2]', 'a_RS_S_y [m s^-2]', 'a_RS_S_z [m s^-2]']] + raw_imu.to_csv(imu_save_path, header=True, index=False) + print(f'Done reformatting imu file') + + raw_imu = pd.read_csv(imu_read_path, delim_whitespace=True) + imu_euroc_read_path = '/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/MH01/mav0/imu0/data.csv' + raw_imu_euroc = pd.read_csv(imu_euroc_read_path) + acc_x_euroc = raw_imu_euroc.loc[:,'a_RS_S_x [m s^-2]'] + acc_y_euroc = raw_imu_euroc.loc[:,'a_RS_S_y [m s^-2]'] + acc_z_euroc = raw_imu_euroc.loc[:,'a_RS_S_z [m s^-2]'] + acc_x_uzh = raw_imu.lin_acc_x + acc_y_uzh = raw_imu.lin_acc_y + acc_z_uzh = raw_imu.lin_acc_z + w_x_euroc = raw_imu_euroc.loc[:,'w_RS_S_x [rad s^-1]'] + w_y_euroc = raw_imu_euroc.loc[:,'w_RS_S_y [rad s^-1]'] + w_z_euroc = raw_imu_euroc.loc[:,'w_RS_S_z [rad s^-1]'] + w_x_uzh = raw_imu.ang_vel_x + w_y_uzh = raw_imu.ang_vel_y + w_z_uzh = raw_imu.ang_vel_z + + w_x_uzh = w_x_uzh - np.mean(w_x_uzh[0:4000]) + w_y_uzh = w_y_uzh - np.mean(w_y_uzh[0:4000]) + w_z_uzh = w_z_uzh - np.mean(w_z_uzh[0:4000]) + + + print(np.mean(np.abs(acc_x_euroc))) + print(np.mean(np.abs(acc_y_euroc))) + print(np.mean(np.abs(acc_z_euroc))) + print(np.mean(np.abs(acc_x_uzh))) + print(np.mean(np.abs(acc_y_uzh))) + print(np.mean(np.abs(acc_z_uzh))) + + print(np.mean(np.abs(w_x_euroc))) + print(np.mean(np.abs(w_y_euroc))) + print(np.mean(np.abs(w_z_euroc))) + print(np.mean(np.abs(w_x_uzh))) + print(np.mean(np.abs(w_y_uzh))) + print(np.mean(np.abs(w_z_uzh))) + + print(np.max(np.abs(acc_x_euroc))) + print(np.max(np.abs(acc_y_euroc))) + print(np.max(np.abs(acc_z_euroc))) + print(np.max(np.abs(acc_x_uzh))) + print(np.max(np.abs(acc_y_uzh))) + print(np.max(np.abs(acc_z_uzh))) + + print(np.max(np.abs(w_x_euroc))) + print(np.max(np.abs(w_y_euroc))) + print(np.max(np.abs(w_z_euroc))) + print(np.max(np.abs(w_x_uzh))) + print(np.max(np.abs(w_y_uzh))) + print(np.max(np.abs(w_z_uzh))) + + frames = list(range(1, 100)) + #frames = list(range(1, len(acc_x_euroc))) + plt.plot(acc_x_euroc[frames], label='EuRoC Acc X') + plt.plot(acc_y_euroc[frames], label='EuRoC Acc Y') + plt.plot(acc_y_euroc[frames], label='EuRoC Acc Z') + plt.plot(acc_x_uzh[frames], label='UZH Acc X') + plt.plot(acc_y_uzh[frames], label='UZH Acc Y') + plt.plot(acc_z_uzh[frames], label='UZH Acc Z') + plt.legend() + plt.title('Acceleration Values for Euroc vs UZH datasets') + plt.show() + + frames = list(range(20000, 20100)) + frames = list(range(1, len(acc_x_euroc))) + plt.plot(w_x_euroc[frames], label='EuRoC w X') + plt.plot(w_y_euroc[frames], label='EuRoC w Y') + plt.plot(w_y_euroc[frames], label='EuRoC w Z') + plt.plot(w_x_uzh[frames], label='UZH w X') + plt.plot(w_y_uzh[frames], label='UZH w Y') + plt.plot(w_z_uzh[frames], label='UZH w Z') + plt.legend() + plt.title('Angular Velocity Values for Euroc vs UZH datasets') + plt.show() + + orientation_euroc = Mahony(gyr=np.array([w_x_euroc, w_y_euroc, w_z_euroc]).transpose(), acc=np.array([acc_x_euroc, acc_y_euroc, acc_z_euroc]).transpose(), frequency=200.0) + orientation_uzh = Mahony(gyr=np.array([w_x_uzh, w_y_uzh, w_z_uzh]).transpose(), acc=np.array([acc_x_uzh, acc_y_uzh, acc_z_uzh]).transpose(), frequency=500.0) + + #frames = list(range(20000, 21000)) + frames = list(range(1, len(acc_x_euroc))) + plt.plot(orientation_euroc.Q[frames,0], label='EuRoC q X') + plt.plot(orientation_euroc.Q[frames,1], label='EuRoC q Y') + plt.plot(orientation_euroc.Q[frames,2], label='EuRoC q Z') + plt.plot(orientation_euroc.Q[frames,3], label='EuRoC q W') + plt.plot(orientation_uzh.Q[frames,0], label='UZH q X') + plt.plot(orientation_uzh.Q[frames,1], label='UZH q Y') + plt.plot(orientation_uzh.Q[frames,2], label='UZH q Z') + plt.plot(orientation_uzh.Q[frames,3], label='UZH q W') + plt.legend() + plt.title('Quaternions Values for Euroc vs UZH datasets') + plt.show() + + rot = Rotation.from_quat(orientation_euroc.Q) + rot_euler = rot.as_euler('xyz', degrees=True) + euler_euroc = pd.DataFrame(data=rot_euler, columns=['x', 'y', 'z']) + rot = Rotation.from_quat(orientation_uzh.Q) + rot_euler = rot.as_euler('xyz', degrees=True) + euler_uzh = pd.DataFrame(data=rot_euler, columns=['x', 'y', 'z']) + + frames = list(range(1, len(acc_x_euroc))) + plt.clf() + #plt.plot(euler_euroc.x[frames], label='EuRoC euler X') + #plt.plot(euler_euroc.y[frames], label='EuRoC euler Y') + #plt.plot(euler_euroc.z[frames], label='EuRoC euler Z') + plt.plot(raw_imu.timestamp.to_numpy(), euler_uzh.x.to_numpy(), label='UZH euler X') + plt.plot(raw_imu.timestamp.to_numpy(), euler_uzh.y.to_numpy(), label='UZH euler Y') + plt.plot(raw_imu.timestamp.to_numpy(), euler_uzh.z.to_numpy(), label='UZH euler Z') + plt.legend() + plt.title('Euler Angles Calculated from UZH dataset IMU Single Alone') + plt.show() + diff --git a/Run_Examples/UZH/mono_UZH_trial.cc b/Run_Examples/UZH/mono_UZH_trial.cc new file mode 100644 index 0000000000..89aaaaeb21 --- /dev/null +++ b/Run_Examples/UZH/mono_UZH_trial.cc @@ -0,0 +1,261 @@ +/** +* 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 . +*/ + +#include +#include +#include +#include + +#include + +#include"include/System.h" + +using namespace std; + +void LoadImages(const string &strImagePath, const string &strPathTimes, + vector &ImagesPathsVector, vector &vTimeStamps); + +int main(int argc, char **argv) +{ + if(argc < 5) + { + cerr << endl << "Usage: ./mono_euroc path_to_vocabulary path_to_settings path_to_sequence_folder_1 path_to_times_file_1 (path_to_image_folder_2 path_to_times_file_2 ... path_to_image_folder_N path_to_times_file_N) (trajectory_file_name)" << endl; + return 1; + } + + const int num_seq = (argc-3)/2; + cout << "num_seq = " << num_seq << endl; + bool bFileName= (((argc-3) % 2) == 1); + string file_name; + if (bFileName) + { + file_name = string(argv[argc-1]); + cout << "file name: " << file_name << endl; + } + + // Load all sequences: + int seq; + vector< vector > vstrImageFilenames; + vector< vector > vTimestampsCam; + vector nImages; + + vstrImageFilenames.resize(num_seq); + vTimestampsCam.resize(num_seq); + nImages.resize(num_seq); + + int tot_images = 0; + for (seq = 0; seq vTimesTrack; + vTimesTrack.resize(tot_images); + + cout << endl << "-------" << endl; + cout.precision(17); + + + int fps = 30; + float dT = 1.f/fps; + // Create SLAM system. It initializes all system threads and gets ready to process frames. + ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true); + float imageScale = SLAM.GetImageScale(); + + double t_resize = 0.f; + double t_track = 0.f; + + for (seq = 0; seq >(t_End_Resize - t_Start_Resize).count(); + SLAM.InsertResizeTime(t_resize); +#endif + } + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now(); + #endif + + // Pass the image to the SLAM system + // cout << "tframe = " << tframe << endl; + SLAM.TrackMonocular(im,tframe); + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now(); + #endif + +#ifdef REGISTER_TIMES + t_track = t_resize + std::chrono::duration_cast >(t2 - t1).count(); + SLAM.InsertTrackTime(t_track); +#endif + + double ttrack= std::chrono::duration_cast >(t2 - t1).count(); + + vTimesTrack[ni]=ttrack; + + // Wait to load the next frame + double T=0; + if(ni0) + T = tframe-vTimestampsCam[seq][ni-1]; + + //std::cout << "T: " << T << std::endl; + //std::cout << "ttrack: " << ttrack << std::endl; + + if(ttrack &vstrImages, vector &vTimeStamps) +{ + ifstream fTimes; + fTimes.open(strPathTimes.c_str()); + vTimeStamps.reserve(5000); + vstrImages.reserve(5000); + string dummyLine; + getline(fTimes, dummyLine); // dummy line + // cout << "test pt 2" << endl; + while(!fTimes.eof()) + { + // cout << "test pt 3" << endl; + string s; + getline(fTimes,s); + if(!s.empty()) + { + string itemz; + size_t posz = 0; + double dataz[3]; + int count = 0; + while((posz = s.find(' ')) != string::npos){ + // cout << "test pt 4" << endl; + itemz = s.substr(0, posz); + dataz[count++] = stod(itemz); + s.erase(0, posz + 1); + // cout << "test pt 5: " << s << ":end"<< endl; + if (count==2){ + break; + } + } + // itemz = s.substr(0, posz); + itemz=s; + itemz.erase(itemz.find_last_not_of(' ')+1); + // dataz[2] = itemz; + // cout <<"itemz: " <> t; + double t=dataz[1]; + vTimeStamps.push_back(t); + // cout << "t: " << t << endl; + + + } + } +} diff --git a/Run_Examples/UZH/mono_UZH_trial_run.cc b/Run_Examples/UZH/mono_UZH_trial_run.cc new file mode 100644 index 0000000000..839cbe8445 --- /dev/null +++ b/Run_Examples/UZH/mono_UZH_trial_run.cc @@ -0,0 +1,216 @@ +/** +* 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 . +*/ + +#include +#include +#include + +#include + +#include"include/System.h" + +using namespace std; + +void LoadImages(const string &strImagePath, const string &strPathTimes, + vector &ImagesPathsVector, vector &vTimeStamps); + +int main() +{ + string file_name; + file_name = string("/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon_results/mono"); + cout << "file name: " << file_name << endl; + + // Load all sequences: + vector ImagesPathsVector; + vector vTimestampsCam; + int nImages; + string pathSeq("/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon"); + string pathTimeStamps("/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon/left_images.txt"); + string pathImu = "/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon/imu.txt"; + cout << "test pt 1" << pathTimeStamps << endl; + LoadImages(pathSeq, pathTimeStamps, ImagesPathsVector, vTimestampsCam); + cout << "LOADED!" << endl; + + nImages = ImagesPathsVector.size(); + + cout << endl << "-------" << endl; + cout.precision(17); + + string vocabularyPath="/home/justmohsen/Documents/SLAM/ORB_SLAM3/Vocabulary/ORBvoc.txt"; + string SettingsPath="/home/justmohsen/Documents/SLAM/ORB_SLAM3/UZH_Run/UZH_SNAP_mono.yaml"; + // Create SLAM system. It initializes all system threads and gets ready to process frames. + ORB_SLAM3::System SLAM(vocabularyPath,SettingsPath,ORB_SLAM3::System::MONOCULAR, false); + float imageScale = SLAM.GetImageScale(); + + { + + // Main loop + cv::Mat im; + int processImage = 0; + for(int ni=0; ni >(t_End_Resize - t_Start_Resize).count(); + SLAM.InsertResizeTime(t_resize); +#endif + } + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now(); + #endif + + // Pass the image to the SLAM system + SLAM.TrackMonocular(im,tframe); + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now(); + #endif + +#ifdef REGISTER_TIMES + t_track = t_resize + std::chrono::duration_cast >(t2 - t1).count(); + SLAM.InsertTrackTime(t_track); +#endif + + double ttrack= std::chrono::duration_cast >(t2 - t1).count(); + + // Wait to load the next frame + double T=0; + if(ni0) + T = tframe-vTimestampsCam[ni-1]; + + if(ttrack &ImagesPathsVector, vector &vTimeStamps) +{ + ifstream fTimes; + fTimes.open(strPathTimes.c_str()); + vTimeStamps.reserve(5000); + ImagesPathsVector.reserve(5000); + string dummyLine; + getline(fTimes, dummyLine); // dummy line + // cout << "test pt 2" << endl; + while(!fTimes.eof()) + { + string s; + getline(fTimes,s); + if(!s.empty()) + { + string itemz; + size_t posz = 0; + double dataz[3]; + int count = 0; + while((posz = s.find(' ')) != string::npos) + { + itemz = s.substr(0, posz); + dataz[count++] = stod(itemz); + s.erase(0, posz + 1); + if (count==2){ + break; + } + } + itemz=s; + itemz.erase(itemz.find_last_not_of(' ')+1); + ImagesPathsVector.push_back(strImagePath + "/" + itemz); + double t=dataz[1]; + vTimeStamps.push_back(t); + } + } +} + +void LoadImages2(const string &strImagePath, const string &strPathTimes, + vector &ImagesPathsVector, vector &vTimeStamps, int numOfImages) +{ + ifstream fTimes; + fTimes.open(strPathTimes.c_str()); + vTimeStamps.reserve(numOfImages); + ImagesPathsVector.reserve(numOfImages); + string current_line; + getline(fTimes, current_line); + + while(!fTimes.eof()) + { + vector line_value; + string current_line2; + getline(fTimes, current_line2); + if(!current_line2.empty()) + { + line_value.emplace_back(current_line.c_str()); + } + string current_line3; + getline(fTimes, current_line3, ' '); + + // found in the original string + while (getline(fTimes, current_line, ' ')) { + // store token string in the vector + line_value.emplace_back(current_line.c_str()); + } + + vTimeStamps.push_back(stod(line_value[1])); + ImagesPathsVector.push_back(strImagePath + "/" + line_value[2]); + } +} diff --git a/Run_Examples/UZH/mono_inertial_UZH_trial.cc b/Run_Examples/UZH/mono_inertial_UZH_trial.cc new file mode 100755 index 0000000000..cdfcb62c5d --- /dev/null +++ b/Run_Examples/UZH/mono_inertial_UZH_trial.cc @@ -0,0 +1,277 @@ +/** +* 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 . +*/ + +#include +#include +#include + +#include + +#include"include/System.h" + +using namespace std; + +void LoadImages(const string &strImagePath, const string &strPathTimes, + vector &ImagesPathsVector, vector &vTimeStamps); + +void LoadIMU(const string &strImuPath, vector &vTimeStamps, vector &vAcc, vector &vGyro); + +int main() +{ + string file_name; + file_name = string("/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon_results/mono_inertial"); + cout << "file name: " << file_name << endl; + + // Load all sequences: + vector ImagesPathsVector; + vector vTimestampsCam; + vector vTimestampsImu; + vector vAcc, vGyro; + int nImages; + int nImu; + int first_imu = 0; + string pathSeq("/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon"); + string pathTimeStamps("/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon/left_images.txt"); + string pathImu = "/home/justmohsen/Documents/SLAM/Datasets/UZH/indoor_forward_3_snapdragon/imu_reformatted.csv"; + + cout << "test pt 1" << pathTimeStamps << endl; + LoadImages(pathSeq, pathTimeStamps, ImagesPathsVector, vTimestampsCam); + cout << "LOADED!" << endl; + + cout << "Loading IMU for sequence " << endl; + LoadIMU(pathImu, vTimestampsImu, vAcc, vGyro); + cout << "LOADED!" << endl; + + nImages = ImagesPathsVector.size(); + nImu = vTimestampsImu.size(); + + if((nImages<=0)||(nImu<=0)) + { + cerr << "ERROR: Failed to load images or IMU for sequence" << endl; + return 1; + } + + // Find first imu to be considered, supposing imu measurements start first + cout << vTimestampsImu[0] << endl; + cout << vTimestampsCam[0] << endl; + while(vTimestampsImu[first_imu]<=vTimestampsCam[0]) + first_imu++; + first_imu--; // first imu measurement to be considered + + + cout << endl << "-------" << endl; + vector vTimesTrack; + vTimesTrack.resize(nImages); + + cout.precision(17); + + string vocabularyPath="/home/justmohsen/Documents/SLAM/ORBSLAM/Vocabulary/ORBvoc.txt"; + string SettingsPath="/home/justmohsen/Documents/SLAM/ORBSLAM/Run_Examples/UZH/UZH_SNAP_mono_inertial.yaml"; + // Create SLAM system. It initializes all system threads and gets ready to process frames. + ORB_SLAM3::System SLAM(vocabularyPath,SettingsPath,ORB_SLAM3::System::IMU_MONOCULAR, true); + float imageScale = SLAM.GetImageScale(); + + { + // Main loop + cv::Mat im; + vector vImuMeas; + int processImage = 0; + for(int ni=0; ni >(t_End_Resize - t_Start_Resize).count(); + SLAM.InsertResizeTime(t_resize); +#endif + } + + // Load imu measurements from previous frame + vImuMeas.clear(); + + if(ni>0) + { + // cout << "t_cam " << tframe << endl; + + while(vTimestampsImu[first_imu]<=vTimestampsCam[ni]) + { + vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[first_imu].x,vAcc[first_imu].y,vAcc[first_imu].z, + vGyro[first_imu].x,vGyro[first_imu].y,vGyro[first_imu].z, + vTimestampsImu[first_imu])); + first_imu++; + } + } + +#ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); +#else + std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now(); +#endif + + // Pass the image to the SLAM system + SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial + +#ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); +#else + std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now(); +#endif + +#ifdef REGISTER_TIMES + t_track = t_resize + std::chrono::duration_cast >(t2 - t1).count(); + SLAM.InsertTrackTime(t_track); +#endif + + double ttrack= std::chrono::duration_cast >(t2 - t1).count(); + + // Wait to load the next frame + double T=0; + if(ni0) + T = tframe-vTimestampsCam[ni-1]; + + if(ttrack &vstrImages, vector &vTimeStamps) +{ + ifstream fTimes; + fTimes.open(strPathTimes.c_str()); + vTimeStamps.reserve(5000); + vstrImages.reserve(5000); + string dummyLine; + getline(fTimes, dummyLine); // dummy line + //cout << "test pt 2" << endl; + while(!fTimes.eof()) + { + string s; + getline(fTimes,s); + //cout << s << endl; + if(!s.empty()) + { + string itemz; + size_t posz = 0; + double dataz[3]; + int count = 0; + while((posz = s.find(' ')) != string::npos){ + // cout << "test pt 4" << endl; + itemz = s.substr(0, posz); + dataz[count++] = stod(itemz); + s.erase(0, posz + 1); + // cout << "test pt 5: " << s << ":end"<< endl; + if (count==2){ + break; + } + } + // itemz = s.substr(0, posz); + itemz=s; + itemz.erase(itemz.find_last_not_of(' ')+1); + // dataz[2] = itemz; + // cout <<"itemz: " <> t; + double t=dataz[1]; + vTimeStamps.push_back(t); + //cout << "t: " << t << endl; + + + } + } +} + +void LoadIMU(const string &strImuPath, vector &vTimeStamps, vector &vAcc, vector &vGyro) +{ + ifstream fImu; + fImu.open(strImuPath.c_str()); + vTimeStamps.reserve(5000); + vAcc.reserve(5000); + vGyro.reserve(5000); + + while(!fImu.eof()) + { + string s; + getline(fImu,s); + if (s[0] == '#') + continue; + + if(!s.empty()) + { + string item; + size_t pos = 0; + double data[7]; + int count = 0; + while ((pos = s.find(',')) != string::npos) { + item = s.substr(0, pos); + data[count++] = stod(item); + s.erase(0, pos + 1); + } + item = s.substr(0, pos); + data[6] = stod(item); + + vTimeStamps.push_back(data[0]/1e9); + vAcc.push_back(cv::Point3f(data[4],data[5],data[6])); + vGyro.push_back(cv::Point3f(data[1],data[2],data[3])); + } + } +} + diff --git a/Run_Examples/UZH/stereo_UZH_trial.cc b/Run_Examples/UZH/stereo_UZH_trial.cc new file mode 100644 index 0000000000..ee19ba06d1 --- /dev/null +++ b/Run_Examples/UZH/stereo_UZH_trial.cc @@ -0,0 +1,212 @@ +/** +* 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 . +*/ + +#include +#include +#include +#include +#include + +#include + +#include"include/System.h" + +using namespace std; + +void LoadImages(const string &strPathLeft, const string &strPathRight, const string &strPathTimes, + vector &vstrImageLeft, vector &vstrImageRight, vector &vTimeStamps); + +int main(int argc, char **argv) +{ + if(argc < 5) + { + cerr << endl << "Usage: ./stereo_euroc path_to_vocabulary path_to_settings path_to_sequence_folder_1 path_to_times_file_1 (path_to_image_folder_2 path_to_times_file_2 ... path_to_image_folder_N path_to_times_file_N) (trajectory_file_name)" << endl; + + return 1; + } + + const int num_seq = (argc-3)/2; + cout << "num_seq = " << num_seq << endl; + bool bFileName= (((argc-3) % 2) == 1); + string file_name; + if (bFileName) + { + file_name = string(argv[argc-1]); + cout << "file name: " << file_name << endl; + } + + // Load all sequences: + int seq; + vector< vector > vstrImageLeft; + vector< vector > vstrImageRight; + vector< vector > vTimestampsCam; + vector nImages; + + vstrImageLeft.resize(num_seq); + vstrImageRight.resize(num_seq); + vTimestampsCam.resize(num_seq); + nImages.resize(num_seq); + + int tot_images = 0; + for (seq = 0; seq vTimesTrack; + vTimesTrack.resize(tot_images); + + cout << endl << "-------" << endl; + cout.precision(17); + + // Create SLAM system. It initializes all system threads and gets ready to process frames. + ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::STEREO, false); + + cv::Mat imLeft, imRight; + for (seq = 0; seq(), vstrImageLeft[seq][ni]); + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now(); + #endif + +#ifdef REGISTER_TIMES + t_track = t_resize + t_rect + std::chrono::duration_cast >(t2 - t1).count(); + SLAM.InsertTrackTime(t_track); +#endif + + double ttrack= std::chrono::duration_cast >(t2 - t1).count(); + + vTimesTrack[ni]=ttrack; + + // Wait to load the next frame + double T=0; + if(ni0) + T = tframe-vTimestampsCam[seq][ni-1]; + + if(ttrack &vstrImageLeft, vector &vstrImageRight, vector &vTimeStamps) +{ + ifstream fTimes; + fTimes.open(strPathTimes.c_str()); + vTimeStamps.reserve(5000); + vstrImageLeft.reserve(5000); + vstrImageRight.reserve(5000); + while(!fTimes.eof()) + { + string s; + getline(fTimes,s); + if(!s.empty()) + { + stringstream ss; + ss << s; + vstrImageLeft.push_back(strPathLeft + "/" + ss.str() + ".png"); + vstrImageRight.push_back(strPathRight + "/" + ss.str() + ".png"); + double t; + ss >> t; + vTimeStamps.push_back(t/1e9); + + } + } +} diff --git a/Run_Examples/UZH/stereo_inertial_UZH_trial.cc b/Run_Examples/UZH/stereo_inertial_UZH_trial.cc new file mode 100644 index 0000000000..9f209bcce3 --- /dev/null +++ b/Run_Examples/UZH/stereo_inertial_UZH_trial.cc @@ -0,0 +1,318 @@ +/** +* 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 . +*/ + +#include +#include +#include +#include +#include +#include +#include + +#include + + +#include"include/System.h" +#include "ImuTypes.h" +#include "Optimizer.h" + +using namespace std; + +void LoadImages(const string &strImagePath, const string &strPathTimes, + vector &ImagesPathsVector, vector &vTimeStamps); + +void LoadIMU(const string &strImuPath, vector &vTimeStamps, vector &vAcc, vector &vGyro); + + +int main() +{ + if(argc < 5) + { + cerr << endl << "Usage: ./stereo_inertial_euroc path_to_vocabulary path_to_settings path_to_sequence_folder_1 path_to_times_file_1 (path_to_image_folder_2 path_to_times_file_2 ... path_to_image_folder_N path_to_times_file_N) " << endl; + return 1; + } + + const int num_seq = (argc-3)/2; + cout << "num_seq = " << num_seq << endl; + bool bFileName= (((argc-3) % 2) == 1); + string file_name; + if (bFileName) + { + file_name = string(argv[argc-1]); + cout << "file name: " << file_name << endl; + } + + // Load all sequences: + int seq; + vector< vector > vstrImageLeft; + vector< vector > vstrImageRight; + vector< vector > vTimestampsCam; + vector< vector > vAcc, vGyro; + vector< vector > vTimestampsImu; + vector nImages; + vector nImu; + vector first_imu(num_seq,0); + + vstrImageLeft.resize(num_seq); + vstrImageRight.resize(num_seq); + vTimestampsCam.resize(num_seq); + vAcc.resize(num_seq); + vGyro.resize(num_seq); + vTimestampsImu.resize(num_seq); + nImages.resize(num_seq); + nImu.resize(num_seq); + + int tot_images = 0; + for (seq = 0; seq vTimesTrack; + vTimesTrack.resize(tot_images); + + cout << endl << "-------" << endl; + cout.precision(17); + + // Create SLAM system. It initializes all system threads and gets ready to process frames. + ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_STEREO, false); + + cv::Mat imLeft, imRight; + for (seq = 0; seq vImuMeas; + double t_rect = 0.f; + double t_resize = 0.f; + double t_track = 0.f; + int num_rect = 0; + int proccIm = 0; + for(int ni=0; ni0) + while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni]) // while(vTimestampsImu[first_imu]<=vTimestampsCam[ni]) + { + 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, + vGyro[seq][first_imu[seq]].x,vGyro[seq][first_imu[seq]].y,vGyro[seq][first_imu[seq]].z, + vTimestampsImu[seq][first_imu[seq]])); + first_imu[seq]++; + } + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now(); + #endif + + // Pass the images to the SLAM system + SLAM.TrackStereo(imLeft,imRight,tframe,vImuMeas); + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now(); + #endif + +#ifdef REGISTER_TIMES + t_track = t_rect + t_resize + std::chrono::duration_cast >(t2 - t1).count(); + SLAM.InsertTrackTime(t_track); +#endif + + double ttrack= std::chrono::duration_cast >(t2 - t1).count(); + + vTimesTrack[ni]=ttrack; + + // Wait to load the next frame + double T=0; + if(ni0) + T = tframe-vTimestampsCam[seq][ni-1]; + + if(ttrack &vstrImages, vector &vTimeStamps) +{ + ifstream fTimes; + fTimes.open(strPathTimes.c_str()); + vTimeStamps.reserve(5000); + vstrImages.reserve(5000); + string dummyLine; + getline(fTimes, dummyLine); // dummy line + //cout << "test pt 2" << endl; + while(!fTimes.eof()) + { + string s; + getline(fTimes,s); + //cout << s << endl; + if(!s.empty()) + { + string itemz; + size_t posz = 0; + double dataz[3]; + int count = 0; + while((posz = s.find(' ')) != string::npos){ + // cout << "test pt 4" << endl; + itemz = s.substr(0, posz); + dataz[count++] = stod(itemz); + s.erase(0, posz + 1); + // cout << "test pt 5: " << s << ":end"<< endl; + if (count==2){ + break; + } + } + // itemz = s.substr(0, posz); + itemz=s; + itemz.erase(itemz.find_last_not_of(' ')+1); + // dataz[2] = itemz; + // cout <<"itemz: " <> t; + double t=dataz[1]; + vTimeStamps.push_back(t); + //cout << "t: " << t << endl; + + + } + } +} + +void LoadIMU(const string &strImuPath, vector &vTimeStamps, vector &vAcc, vector &vGyro) +{ + ifstream fImu; + fImu.open(strImuPath.c_str()); + vTimeStamps.reserve(5000); + vAcc.reserve(5000); + vGyro.reserve(5000); + + while(!fImu.eof()) + { + string s; + getline(fImu,s); + if (s[0] == '#') + continue; + + if(!s.empty()) + { + string item; + size_t pos = 0; + double data[7]; + int count = 0; + while ((pos = s.find(',')) != string::npos) { + item = s.substr(0, pos); + data[count++] = stod(item); + s.erase(0, pos + 1); + } + item = s.substr(0, pos); + data[6] = stod(item); + + vTimeStamps.push_back(data[0]/1e9); + vAcc.push_back(cv::Point3f(data[4],data[5],data[6])); + vGyro.push_back(cv::Point3f(data[1],data[2],data[3])); + } + } +} diff --git a/Run_Examples/pixel6pro/Pixel_Mono_Inertial.yaml b/Run_Examples/pixel6pro/Pixel_Mono_Inertial.yaml new file mode 100644 index 0000000000..9660dacfdc --- /dev/null +++ b/Run_Examples/pixel6pro/Pixel_Mono_Inertial.yaml @@ -0,0 +1,87 @@ +%YAML:1.0 + +#-------------------------------------------------------------------------------------------- +# System config +#-------------------------------------------------------------------------------------------- + +# When the variables are commented, the system doesn't load a previous session or not store the current one + +# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch +#System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Mono" + +# The store file is created from the current session, if a file with the same name exists it is deleted +#System.SaveAtlasToFile: 'Datasets/Pixel6/HomeFlying/Concorde_Place-2023-11-30_03-42-23/ORBSLAM_Results/monocular_inertial_atlas' + +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- +File.version: "1.0" + +Camera.type: "PinHole" + +# Camera calibration and distortion parameters (OpenCV) +Camera1.fx: 360.0 +Camera1.fy: 360.0 +Camera1.cx: 240.0 +Camera1.cy: 360.0 + +Camera.width: 480 +Camera.height: 720 + +# Camera frames per second +Camera.fps: 30 + +# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) +Camera.RGB: 1 + +# Transformation from camera to body-frame (imu) +IMU.T_b_c1: !!opencv-matrix + rows: 4 + cols: 4 + dt: f + data: [1.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, + 0.0, 0.0, 0.0, 1.0] + +# IMU noise +IMU.NoiseGyro: 1.7e-4 #1.6968e-04 +IMU.NoiseAcc: 2.0000e-3 #2.0e-3 +IMU.GyroWalk: 1.9393e-05 +IMU.AccWalk: 3.0000e-03 # 3e-03 +IMU.Frequency: 500.0 + +#-------------------------------------------------------------------------------------------- +# ORB Parameters +#-------------------------------------------------------------------------------------------- + +# ORB Extractor: Number of features per image +ORBextractor.nFeatures: 1000 # 1000 + +# ORB Extractor: Scale factor between levels in the scale pyramid +ORBextractor.scaleFactor: 1.2 + +# ORB Extractor: Number of levels in the scale pyramid +ORBextractor.nLevels: 8 + +# ORB Extractor: Fast threshold +# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. +# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST +# You can lower these values if your images have low contrast +ORBextractor.iniThFAST: 20 +ORBextractor.minThFAST: 7 + +#-------------------------------------------------------------------------------------------- +# Viewer Parameters +#-------------------------------------------------------------------------------------------- +Viewer.KeyFrameSize: 0.05 +Viewer.KeyFrameLineWidth: 1.0 +Viewer.GraphLineWidth: 0.9 +Viewer.PointSize: 2.0 +Viewer.CameraSize: 0.08 +Viewer.CameraLineWidth: 3.0 +Viewer.ViewpointX: 0.0 +Viewer.ViewpointY: -0.7 +Viewer.ViewpointZ: -3.5 # -1.8 +Viewer.ViewpointF: 500.0 + diff --git a/Run_Examples/pixel6pro/Pixel_mono.yaml b/Run_Examples/pixel6pro/Pixel_mono.yaml new file mode 100644 index 0000000000..a4bee92063 --- /dev/null +++ b/Run_Examples/pixel6pro/Pixel_mono.yaml @@ -0,0 +1,69 @@ +%YAML:1.0 + +#-------------------------------------------------------------------------------------------- +# System config +#-------------------------------------------------------------------------------------------- + +# When the variables are commented, the system doesn't load a previous session or not store the current one + +# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch +#System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Mono" + +# The store file is created from the current session, if a file with the same name exists it is deleted +System.SaveAtlasToFile: 'Datasets/Pixel6/HomeFlying/Concorde_Place-2023-11-30_03-42-23/ORBSLAM_Results/monocular_atlas.osa' + +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- +File.version: "1.0" + +Camera.type: "PinHole" + +# Camera calibration and distortion parameters (OpenCV) +Camera1.fx: 360.0 +Camera1.fy: 360.0 +Camera1.cx: 240.0 +Camera1.cy: 360.0 + +Camera.width: 480 +Camera.height: 720 + +# Camera frames per second +Camera.fps: 30 + +# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) +Camera.RGB: 1 + +#-------------------------------------------------------------------------------------------- +# ORB Parameters +#-------------------------------------------------------------------------------------------- + +# ORB Extractor: Number of features per image +ORBextractor.nFeatures: 5000 + +# ORB Extractor: Scale factor between levels in the scale pyramid +ORBextractor.scaleFactor: 1.1 + +# ORB Extractor: Number of levels in the scale pyramid +ORBextractor.nLevels: 20 + +# ORB Extractor: Fast threshold +# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. +# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST +# You can lower these values if your images have low contrast +ORBextractor.iniThFAST: 20 +ORBextractor.minThFAST: 7 + +#-------------------------------------------------------------------------------------------- +# Viewer Parameters +#--------------------------------------------------------------------------------------------- +Viewer.KeyFrameSize: 0.05 +Viewer.KeyFrameLineWidth: 1.0 +Viewer.GraphLineWidth: 0.9 +Viewer.PointSize: 2.0 +Viewer.CameraSize: 0.08 +Viewer.CameraLineWidth: 3.0 +Viewer.ViewpointX: 0.0 +Viewer.ViewpointY: -0.7 +Viewer.ViewpointZ: -1.8 +Viewer.ViewpointF: 500.0 diff --git a/Run_Examples/pixel6pro/mono_inertial_pixel.cc b/Run_Examples/pixel6pro/mono_inertial_pixel.cc new file mode 100644 index 0000000000..2ff22b7c08 --- /dev/null +++ b/Run_Examples/pixel6pro/mono_inertial_pixel.cc @@ -0,0 +1,316 @@ +/** +* 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 . +*/ + + +#include +#include +#include +#include +#include +#include + +#include + +#include"include/System.h" +#include "ImuTypes.h" + +using namespace std; + +void LoadImages(const string &strImagePath, const string &strPathTimes, + vector &vstrImages, vector &vTimeStamps); + +void LoadIMU(const string &strImuPath, vector &vTimeStamps, vector &vAcc, vector &vGyro); + +double ttrack_tot = 0; +int main(int argc, char *argv[]) +{ + + if(argc < 5) + { + cerr << endl << "Usage: ./mono_inertial_euroc path_to_vocabulary path_to_settings path_to_sequence_folder_1 path_to_times_file_1 (path_to_image_folder_2 path_to_times_file_2 ... path_to_image_folder_N path_to_times_file_N) " << endl; + return 1; + } + + const int num_seq = (argc-3)/2; + cout << "num_seq = " << num_seq << endl; + bool bFileName= (((argc-3) % 2) == 1); + string file_name; + if (bFileName) + { + file_name = string(argv[argc-1]); + cout << "file name: " << file_name << endl; + } + + // Load all sequences: + int seq; + vector< vector > vstrImageFilenames; + vector< vector > vTimestampsCam; + vector< vector > vAcc, vGyro; + vector< vector > vTimestampsImu; + vector nImages; + vector nImu; + vector first_imu(num_seq,0); + + vstrImageFilenames.resize(num_seq); + vTimestampsCam.resize(num_seq); + vAcc.resize(num_seq); + vGyro.resize(num_seq); + vTimestampsImu.resize(num_seq); + nImages.resize(num_seq); + nImu.resize(num_seq); + + int tot_images = 0; + for (seq = 0; seq(first_imu[seq]) << endl; + // Vector for tracking time statistics + vector vTimesTrack; + vTimesTrack.resize(tot_images); + + cout.precision(17); + + cout << "Initializing ORB Slam system " << endl; + // Create SLAM system. It initializes all system threads and gets ready to process frames. + ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_MONOCULAR, true); + float imageScale = SLAM.GetImageScale(); + + double t_resize = 0.f; + double t_track = 0.f; + + int proccIm=0; + for (seq = 0; seq vImuMeas; + proccIm = 0; + for(int ni=0; ni >(t_End_Resize - t_Start_Resize).count(); + SLAM.InsertResizeTime(t_resize); +#endif + } + + // Load imu measurements from previous frame + vImuMeas.clear(); + + if(ni>0) + { + // cout << "t_cam " << tframe << endl; + + while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni]) + { + 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, + vGyro[seq][first_imu[seq]].x,vGyro[seq][first_imu[seq]].y,vGyro[seq][first_imu[seq]].z, + vTimestampsImu[seq][first_imu[seq]])); + first_imu[seq]++; + } + } + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now(); + #endif + + // Pass the image to the SLAM system + // cout << "tframe = " << tframe << endl; + SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now(); + #endif + +#ifdef REGISTER_TIMES + t_track = t_resize + std::chrono::duration_cast >(t2 - t1).count(); + SLAM.InsertTrackTime(t_track); +#endif + + double ttrack= std::chrono::duration_cast >(t2 - t1).count(); + ttrack_tot += ttrack; + // std::cout << "ttrack: " << ttrack << std::endl; + + vTimesTrack[ni]=ttrack; + + // Wait to load the next frame + double T=0; + if(ni0) + T = tframe-vTimestampsCam[seq][ni-1]; + + if(ttrack &vstrImages, vector &vTimeStamps) +{ + ifstream fTimes; + fTimes.open(strPathTimes.c_str()); + vTimeStamps.reserve(5000); + vstrImages.reserve(5000); + while(!fTimes.eof()) + { + string s; + getline(fTimes,s); + if(!s.empty()) + { + stringstream ss; + ss << s; + vstrImages.push_back(strImagePath + "/" + ss.str() + ".jpg"); + double t; + ss >> t; + vTimeStamps.push_back(t/1e9); + + } + } +} + +void LoadIMU(const string &strImuPath, vector &vTimeStamps, vector &vAcc, vector &vGyro) +{ + ifstream fImu; + fImu.open(strImuPath.c_str()); + vTimeStamps.reserve(5000); + vAcc.reserve(5000); + vGyro.reserve(5000); + + while(!fImu.eof()) + { + string s; + getline(fImu,s); + if (s[0] == '#') + continue; + + if(!s.empty()) + { + string item; + size_t pos = 0; + double data[7]; + int count = 0; + while ((pos = s.find(',')) != string::npos) { + item = s.substr(0, pos); + data[count++] = stod(item); + s.erase(0, pos + 1); + } + item = s.substr(0, pos); + data[6] = stod(item); + + vTimeStamps.push_back(data[0]/1e9); + vAcc.push_back(cv::Point3f(data[4],data[5],data[6])); + vGyro.push_back(cv::Point3f(data[1],data[2],data[3])); + } + } +} diff --git a/Run_Examples/pixel6pro/mono_pixel.cc b/Run_Examples/pixel6pro/mono_pixel.cc new file mode 100644 index 0000000000..ef47c69165 --- /dev/null +++ b/Run_Examples/pixel6pro/mono_pixel.cc @@ -0,0 +1,227 @@ +/** +* 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 . +*/ + +#include +#include +#include +#include + +#include + +#include"include/System.h" + +using namespace std; + +void LoadImages(const string &strImagePath, const string &strPathTimes, + vector &vstrImages, vector &vTimeStamps); + +int main(int argc, char **argv) +{ + if(argc < 5) + { + cerr << endl << "Usage: ./mono_euroc path_to_vocabulary path_to_settings path_to_sequence_folder_1 path_to_times_file_1 (path_to_image_folder_2 path_to_times_file_2 ... path_to_image_folder_N path_to_times_file_N) (trajectory_file_name)" << endl; + return 1; + } + + const int num_seq = (argc-3)/2; + cout << "num_seq = " << num_seq << endl; + bool bFileName= (((argc-3) % 2) == 1); + string file_name; + if (bFileName) + { + file_name = string(argv[argc-1]); + cout << "file name: " << file_name << endl; + } + + // Load all sequences: + int seq; + vector< vector > vstrImageFilenames; + vector< vector > vTimestampsCam; + vector nImages; + + vstrImageFilenames.resize(num_seq); + vTimestampsCam.resize(num_seq); + nImages.resize(num_seq); + + int tot_images = 0; + for (seq = 0; seq vTimesTrack; + vTimesTrack.resize(tot_images); + + cout << endl << "-------" << endl; + cout.precision(17); + + + int fps = 20; + float dT = 1.f/fps; + // Create SLAM system. It initializes all system threads and gets ready to process frames. + ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true); + float imageScale = SLAM.GetImageScale(); + + double t_resize = 0.f; + double t_track = 0.f; + + for (seq = 0; seq >(t_End_Resize - t_Start_Resize).count(); + SLAM.InsertResizeTime(t_resize); +#endif + } + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now(); + #endif + + // Pass the image to the SLAM system + // cout << "tframe = " << tframe << endl; + SLAM.TrackMonocular(im,tframe); // TODO change to monocular_inertial + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now(); + #endif + +#ifdef REGISTER_TIMES + t_track = t_resize + std::chrono::duration_cast >(t2 - t1).count(); + SLAM.InsertTrackTime(t_track); +#endif + + double ttrack= std::chrono::duration_cast >(t2 - t1).count(); + + vTimesTrack[ni]=ttrack; + + // Wait to load the next frame + double T=0; + if(ni0) + T = tframe-vTimestampsCam[seq][ni-1]; + + //std::cout << "T: " << T << std::endl; + //std::cout << "ttrack: " << ttrack << std::endl; + + if(ttrack &vstrImages, vector &vTimeStamps) +{ + ifstream fTimes; + fTimes.open(strPathTimes.c_str()); + vTimeStamps.reserve(5000); + vstrImages.reserve(5000); + while(!fTimes.eof()) + { + string s; + getline(fTimes,s); + if(!s.empty()) + { + stringstream ss; + ss << s; + vstrImages.push_back(strImagePath + "/" + ss.str() + ".jpg"); + double t; + ss >> t; + vTimeStamps.push_back(t*1e-9); + + } + } +} diff --git a/Run_Examples/pixel6pro/mono_pixel_debug.cc b/Run_Examples/pixel6pro/mono_pixel_debug.cc new file mode 100644 index 0000000000..f2ea195d5a --- /dev/null +++ b/Run_Examples/pixel6pro/mono_pixel_debug.cc @@ -0,0 +1,169 @@ +/** +* 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 . +*/ + +#include +#include +#include + +#include + +#include"include/System.h" + +using namespace std; + +void LoadImages(const string &strImagePath, const string &strPathTimes, + vector &ImagesPathsVector, vector &vTimeStamps); + +int main() +{ + string file_name; + file_name = string("/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-11-30_03-42-23/ORBSLAM_Results/monocular"); + cout << "file name: " << file_name << endl; + + // Load all sequences: + vector ImagesPathsVector; + vector vTimestampsCam; + int nImages; + string pathSeq("/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-11-30_03-42-23/Camera/Camera0"); + string pathTimeStamps("/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-11-30_03-42-23/Camera/Camera0.txt"); + string pathImu = "/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-11-30_03-42-23/joinedRawIMU.csv"; + cout << "test pt 1" << pathTimeStamps << endl; + LoadImages(pathSeq, pathTimeStamps, ImagesPathsVector, vTimestampsCam); + cout << "LOADED!" << endl; + + nImages = ImagesPathsVector.size(); + + cout << endl << "-------" << endl; + cout.precision(17); + + string vocabularyPath="/home/justmohsen/Documents/SLAM/ORBSLAM/Vocabulary/ORBvoc.txt"; + string SettingsPath="/home/justmohsen/Documents/SLAM/ORBSLAM/Run_Examples/pixel6pro/Pixel_mono.yaml"; + // Create SLAM system. It initializes all system threads and gets ready to process frames. + ORB_SLAM3::System SLAM(vocabularyPath,SettingsPath,ORB_SLAM3::System::MONOCULAR, true); + float imageScale = SLAM.GetImageScale(); + + { + + // Main loop + cv::Mat im; + int processImage = 0; + for(int ni=0; ni >(t_End_Resize - t_Start_Resize).count(); + SLAM.InsertResizeTime(t_resize); +#endif + } + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now(); + #endif + + // Pass the image to the SLAM system + SLAM.TrackMonocular(im,tframe); + + #ifdef COMPILEDWITHC11 + std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); + #else + std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now(); + #endif + +#ifdef REGISTER_TIMES + t_track = t_resize + std::chrono::duration_cast >(t2 - t1).count(); + SLAM.InsertTrackTime(t_track); +#endif + + double ttrack= std::chrono::duration_cast >(t2 - t1).count(); + + // Wait to load the next frame + double T=0; + if(ni0) + T = tframe-vTimestampsCam[ni-1]; + + if(ttrack &vstrImages, vector &vTimeStamps) +{ + ifstream fTimes; + fTimes.open(strPathTimes.c_str()); + vTimeStamps.reserve(5000); + vstrImages.reserve(5000); + while(!fTimes.eof()) + { + string s; + getline(fTimes,s); + if(!s.empty()) + { + stringstream ss; + ss << s; + vstrImages.push_back(strImagePath + "/" + ss.str() + ".jpg"); + double t; + ss >> t; + vTimeStamps.push_back(t*1e-9); + + } + } +} diff --git a/Run_Examples/pixel6pro/process_pixel_sensor_data.py b/Run_Examples/pixel6pro/process_pixel_sensor_data.py new file mode 100644 index 0000000000..4ae776787a --- /dev/null +++ b/Run_Examples/pixel6pro/process_pixel_sensor_data.py @@ -0,0 +1,48 @@ +import cv2 +import pandas as pd + +if __name__ == "__main__": + + video_path = '/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-12-01_15-11-25/Camera/1701443485827.mp4' + images_save_directory = '/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-12-01_15-11-25/Camera/Camera0/' + raw_acceleration_path = '/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-12-01_15-11-25/AccelerometerUncalibrated.csv' + raw_gyro_path = '/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-12-01_15-11-25/GyroscopeUncalibrated.csv' + images_timestamp_path = '/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-12-01_15-11-25/Camera/Camera0.txt' + images_timestamp_names_path = '/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-12-01_15-11-25/Camera/Camera0.csv' + joined_imu_path = '/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-12-01_15-11-25/joinedRawIMU.csv' + video_clip = cv2.VideoCapture(video_path) + fps = video_clip.get(cv2.CAP_PROP_FPS) + success, image = video_clip.read() + count = 0 + initial_timestamp = 1701443485827000000 + time_elapsed = 0 + image_timestamp = [] + image_names = [] + + while success: + timestamp_str = str(initial_timestamp + round(time_elapsed)) + name = timestamp_str + ".jpg" + cv2.imwrite(images_save_directory + name, image) + image_timestamp.append(timestamp_str) + image_names.append(name) + success, image = video_clip.read() + count += 1 + time_elapsed += 1e9 / fps + + images_names_timestamp = pd.DataFrame(columns=['image_timestamp', 'image_names']) + images_names_timestamp.image_timestamp = image_timestamp + images_names_timestamp.image_names = image_names + images_names_timestamp.to_csv(images_timestamp_names_path, header=False, index=False, float_format='%d') + images_timestamp = pd.DataFrame(columns=['image_timestamp']) + images_timestamp.image_timestamp = image_timestamp + images_timestamp.to_csv(images_timestamp_path, header=False, index=False) + # now combine imu + raw_gyro = pd.read_csv(raw_gyro_path) + raw_gyro = raw_gyro.rename(columns={"time": "#timestamp [ns]", "x": "w_RS_S_x [rad s^-1]", "y": "w_RS_S_y [rad s^-1]", "z": "w_RS_S_z [rad s^-1]"}) + raw_acceleration = pd.read_csv(raw_acceleration_path) + raw_acceleration = raw_acceleration.rename(columns={"time": "#timestamp [ns]", "x": "a_RS_S_x [m s^-2]", "y": "a_RS_S_y [m s^-2]", "z": "a_RS_S_z [m s^-2]"}) + raw_imu = raw_gyro.merge(raw_acceleration, left_on='#timestamp [ns]', right_on='#timestamp [ns]', how='inner') + raw_imu = raw_imu.loc[:, + ['#timestamp [ns]', 'w_RS_S_x [rad s^-1]', 'w_RS_S_y [rad s^-1]', 'w_RS_S_z [rad s^-1]', 'a_RS_S_x [m s^-2]', 'a_RS_S_y [m s^-2]', 'a_RS_S_z [m s^-2]']] + raw_imu.to_csv(joined_imu_path, header=True, index=False) + print(f'Done reading and writing {count} images') diff --git a/Run_Examples/pixel6pro/run_orbslam3_pixel_6pro.sh b/Run_Examples/pixel6pro/run_orbslam3_pixel_6pro.sh new file mode 100755 index 0000000000..47a350dcc5 --- /dev/null +++ b/Run_Examples/pixel6pro/run_orbslam3_pixel_6pro.sh @@ -0,0 +1,17 @@ +#!/bin/bash +# Set paths +pathVocabulary='/home/justmohsen/Documents/SLAM/ORBSLAM/Vocabulary/ORBvoc.txt' +pathDatasetPixel='/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-11-30_03-42-23' +cameraTimestamp='/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-11-30_03-42-23/Camera/Camera0.txt' +pathPixelRun='/home/justmohsen/Documents/SLAM/ORBSLAM/Run_Examples/pixel6pro' +pathMonocularResults='/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-11-30_03-42-23/ORBSLAM_Results/monocular' +pathMonocularInertialResults='/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-11-30_03-42-23/ORBSLAM_Results/monocular-inertial' + +#------------------------------------ +# Monocular Examples +echo "Launching Monocular SLAM" +"$pathPixelRun"/mono_pixel "$pathVocabulary" "$pathPixelRun"/Pixel_mono.yaml "$pathDatasetPixel" "$cameraTimestamp" "$pathMonocularResults" +#------------------------------------ +# Monocular-Inertial Examples +echo "Launching Monocular-Inertial SLAM" +"$pathPixelRun"/mono_inertial_pixel "$pathVocabulary" "$pathPixelRun"/Pixel_Mono_Inertial.yaml "$pathDatasetPixel" "$cameraTimestamp" "$pathMonocularInertialResults" diff --git a/evaluation/Orientation_Filter.py b/evaluation/Orientation_Filter.py new file mode 100644 index 0000000000..a35f7bde1a --- /dev/null +++ b/evaluation/Orientation_Filter.py @@ -0,0 +1,71 @@ + +import numpy as np +from scipy.signal import filtfilt, butter +from quaternion import quaternion, from_rotation_vector, rotate_vectors + + +def estimate_orientation(a, w, t, alpha=0.9, g_ref=(0., 0., 1.), + theta_min=1e-6, highpass=.01, lowpass=.05): + """ Estimate orientation with a complementary filter. + Fuse linear acceleration and angular velocity measurements to obtain an + estimate of orientation using a complementary filter as described in + `Wetzstein 2017: 3-DOF Orientation Tracking with IMUs`_ + .. _Wetzstein 2017: 3-DOF Orientation Tracking with IMUs: + https://pdfs.semanticscholar.org/5568/e2100cab0b573599accd2c77debd05ccf3b1.pdf + Parameters + ---------- + a : array-like, shape (N, 3) + Acceleration measurements (in arbitrary units). + w : array-like, shape (N, 3) + Angular velocity measurements (in rad/s). + t : array-like, shape (N,) + Timestamps of the measurements (in s). + alpha : float, default 0.9 + Weight of the angular velocity measurements in the estimate. + g_ref : tuple, len 3, default (0., 0., 1.) + Unit vector denoting direction of gravity. + theta_min : float, default 1e-6 + Minimal angular velocity after filtering. Values smaller than this + will be considered noise and are not used for the estimate. + highpass : float, default .01 + Cutoff frequency of the high-pass filter for the angular velocity as + fraction of Nyquist frequency. + lowpass : float, default .05 + Cutoff frequency of the low-pass filter for the linear acceleration as + fraction of Nyquist frequency. + Returns + ------- + q : array of quaternions, shape (N,) + The estimated orientation for each measurement. + """ + + # initialize some things + N = len(t) + dt = np.diff(t) + g_ref = np.array(g_ref) + q = np.ones(N, dtype=quaternion) + + # get high-passed angular velocity + w = filtfilt(*butter(5, highpass, btype='high'), w, axis=0) + w[np.linalg.norm(w, axis=1) < theta_min] = 0 + q_delta = from_rotation_vector(w[1:] * dt[:, None]) + + # get low-passed linear acceleration + a = filtfilt(*butter(5, lowpass, btype='low'), a, axis=0) + + for i in range(1, N): + + # get rotation estimate from gyroscope + q_w = q[i - 1] * q_delta[i - 1] + + # get rotation estimate from accelerometer + v_world = rotate_vectors(q_w, a[i]) + n = np.cross(v_world, g_ref) + phi = np.arccos(np.dot(v_world / np.linalg.norm(v_world), g_ref)) + q_a = from_rotation_vector( + (1 - alpha) * phi * n[None, :] / np.linalg.norm(n))[0] + + # fuse both estimates + q[i] = q_a * q_w + + return q \ No newline at end of file diff --git a/evaluation/associate.py b/evaluation/associate.py index 222b7c8c10..32957b8bae 100644 --- a/evaluation/associate.py +++ b/evaluation/associate.py @@ -44,9 +44,10 @@ import sys import os import numpy +import numpy as np -def read_file_list(filename,remove_bounds): +def read_file_list(filename, remove_bounds, time_scale=1): """ Reads a trajectory from a text file. @@ -66,9 +67,9 @@ def read_file_list(filename,remove_bounds): lines = data.replace(","," ").replace("\t"," ").split("\n") if remove_bounds: lines = lines[100:-100] - list = [[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"] - list = [(float(l[0]),l[1:]) for l in list if len(l)>1] - return dict(list) + lines_list = [[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"] + lines_list = [(time_scale * float(l[0]), np.array(l[1:])) for l in lines_list if len(l)>1] + return dict(lines_list) def associate(first_list, second_list,offset,max_difference): """ @@ -85,8 +86,8 @@ def associate(first_list, second_list,offset,max_difference): matches -- list of matched tuples ((stamp1,data1),(stamp2,data2)) """ - first_keys = first_list.keys() - second_keys = second_list.keys() + first_keys = list(np.array(list(first_list.keys()))) + second_keys = list(second_list.keys()) potential_matches = [(abs(a - (b + offset)), a, b) for a in first_keys for b in second_keys @@ -102,6 +103,24 @@ def associate(first_list, second_list,offset,max_difference): matches.sort() return matches +def associate2(first_time_list, second_time_list, offset, max_difference): + """ + Associate two timestamp by finding the closest element in the second list to each element in the first list given some restirction max_difference + + Output: + matches -- list of matched tuples ((stamp1,data1),(stamp2,data2)) + + """ + first_time_list_numpy = numpy.array(first_time_list) + second_time_list_numpy = numpy.array(second_time_list) + match_first_indicies = numpy.array(list(range(len(first_time_list)))) + match_second_indicies = numpy.array([numpy.argmin(abs(a - (second_time_list_numpy + offset))) for a in first_time_list]) + match_time_diff = numpy.abs(first_time_list_numpy[match_first_indicies] - (second_time_list_numpy[match_second_indicies] + offset)) + match_time_first_list = list(first_time_list_numpy[match_first_indicies[numpy.where(match_time_diff < max_difference)[0]]]) + match_time_second_list = list(second_time_list_numpy[match_second_indicies[numpy.where(match_time_diff < max_difference)[0]]]) + + return match_time_first_list, match_time_second_list + if __name__ == '__main__': # parse command line diff --git a/evaluation/evaluate_ate_scale.py b/evaluation/evaluate_ate_scale.py index 3eb73ebcf7..dd7adea56f 100644 --- a/evaluation/evaluate_ate_scale.py +++ b/evaluation/evaluate_ate_scale.py @@ -32,9 +32,6 @@ # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. -# -# Requirements: -# sudo apt-get install python-argparse """ This script computes the absolute trajectory error from the ground truth @@ -42,11 +39,19 @@ """ import sys -import numpy -import argparse +import numpy as np import associate +import pandas +import matplotlib +from mpl_toolkits.mplot3d import Axes3D +import matplotlib.pyplot as plt +import os +from scipy.spatial.transform import Rotation as scipy_rotation + +matplotlib.use('TkAgg') -def align(model,data): + +def align(model, data): """Align two trajectories using the method of Horn (closed-form). Input: @@ -59,46 +64,38 @@ def align(model,data): trans_error -- translational error per point (1xn) """ - - numpy.set_printoptions(precision=3,suppress=True) + np.set_printoptions(precision=3, suppress=True) model_zerocentered = model - model.mean(1) data_zerocentered = data - data.mean(1) - - W = numpy.zeros( (3,3) ) + + W = np.zeros((3, 3)) for column in range(model.shape[1]): - W += numpy.outer(model_zerocentered[:,column],data_zerocentered[:,column]) - U,d,Vh = numpy.linalg.linalg.svd(W.transpose()) - S = numpy.matrix(numpy.identity( 3 )) - if(numpy.linalg.det(U) * numpy.linalg.det(Vh)<0): - S[2,2] = -1 - rot = U*S*Vh - - rotmodel = rot*model_zerocentered + W += np.outer(model_zerocentered[:, column], data_zerocentered[:, column]) + U, d, Vh = np.linalg.linalg.svd(W.transpose()) + S = np.matrix(np.identity(3)) + if (np.linalg.det(U) * np.linalg.det(Vh) < 0): + S[2, 2] = -1 + rot = U * S * Vh + + rotmodel = rot * model_zerocentered dots = 0.0 norms = 0.0 for column in range(data_zerocentered.shape[1]): - dots += numpy.dot(data_zerocentered[:,column].transpose(),rotmodel[:,column]) - normi = numpy.linalg.norm(model_zerocentered[:,column]) - norms += normi*normi + dots += np.dot(data_zerocentered[:, column].transpose(), rotmodel[:, column]) + normi = np.linalg.norm(model_zerocentered[:, column]) + norms += normi * normi - s = float(dots/norms) - - transGT = data.mean(1) - s*rot * model.mean(1) - trans = data.mean(1) - rot * model.mean(1) - - model_alignedGT = s*rot * model + transGT - model_aligned = rot * model + trans - - alignment_errorGT = model_alignedGT - data + s = float(dots / norms) + trans = data.mean(1) - s * rot * model.mean(1) + model_aligned = s * rot * model + trans alignment_error = model_aligned - data + trans_error = np.sqrt(np.sum(np.multiply(alignment_error, alignment_error), 0)).A[0] + + return rot, trans, trans_error, s - trans_errorGT = numpy.sqrt(numpy.sum(numpy.multiply(alignment_errorGT,alignment_errorGT),0)).A[0] - trans_error = numpy.sqrt(numpy.sum(numpy.multiply(alignment_error,alignment_error),0)).A[0] - - return rot,transGT,trans_errorGT,trans,trans_error, s -def plot_traj(ax,stamps,traj,style,color,label): +def plot_traj(ax, stamps, traj, style, color, label): """ Plot a trajectory using matplotlib. @@ -112,118 +109,192 @@ def plot_traj(ax,stamps,traj,style,color,label): """ stamps.sort() - interval = numpy.median([s-t for s,t in zip(stamps[1:],stamps[:-1])]) + interval = np.median([s - t for s, t in zip(stamps[1:], stamps[:-1])]) x = [] y = [] + z = [] last = stamps[0] for i in range(len(stamps)): - if stamps[i]-last < 2*interval: + if stamps[i] - last < 2 * interval: x.append(traj[i][0]) y.append(traj[i][1]) - elif len(x)>0: - ax.plot(x,y,style,color=color,label=label) - label="" - x=[] - y=[] - last= stamps[i] - if len(x)>0: - ax.plot(x,y,style,color=color,label=label) - - -if __name__=="__main__": - # parse command line - parser = argparse.ArgumentParser(description=''' - This script computes the absolute trajectory error from the ground truth trajectory and the estimated trajectory. - ''') - parser.add_argument('first_file', help='ground truth trajectory (format: timestamp tx ty tz qx qy qz qw)') - parser.add_argument('second_file', help='estimated trajectory (format: timestamp tx ty tz qx qy qz qw)') - parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0) - parser.add_argument('--scale', help='scaling factor for the second trajectory (default: 1.0)',default=1.0) - parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 10000000 ns)',default=20000000) - parser.add_argument('--save', help='save aligned second trajectory to disk (format: stamp2 x2 y2 z2)') - parser.add_argument('--save_associations', help='save associated first and aligned second trajectory to disk (format: stamp1 x1 y1 z1 stamp2 x2 y2 z2)') - parser.add_argument('--plot', help='plot the first and the aligned second trajectory to an image (format: png)') - parser.add_argument('--verbose', help='print all evaluation data (otherwise, only the RMSE absolute translational error in meters after alignment will be printed)', action='store_true') - parser.add_argument('--verbose2', help='print scale eror and RMSE absolute translational error in meters after alignment with and without scale correction', action='store_true') - args = parser.parse_args() - - first_list = associate.read_file_list(args.first_file, False) - second_list = associate.read_file_list(args.second_file, False) - - matches = associate.associate(first_list, second_list,float(args.offset),float(args.max_difference)) - if len(matches)<2: - sys.exit("Couldn't find matching timestamp pairs between groundtruth and estimated trajectory! Did you choose the correct sequence?") - first_xyz = numpy.matrix([[float(value) for value in first_list[a][0:3]] for a,b in matches]).transpose() - second_xyz = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for a,b in matches]).transpose() + z.append(traj[i][2]) + elif len(x) > 0: + ax.plot(x, y, z, style, color=color, label=label) + label = "" + x = [] + y = [] + z = [] + last = stamps[i] + if len(x) > 0: + ax.plot(x, y, z, style, color=color, label=label) + + +if __name__ == "__main__": + # print all evaluation data (otherwise, only the RMSE absolute translational error in meters after alignment will be printed) + is_verbose = False + plot_orientation_error_euler_angles = False + # save all evaluation data (otherwise, only the RMSE absolute translational error in meters after alignment will be printed) + is_save_verbose = True + # save associated first and aligned second trajectory to disk (format: stamp1 x1 y1 z1 stamp2 x2 y2 z2) + is_save_associations = True + # save aligned second trajectory to disk (format: stamp2 x2 y2 z2) + is_save = True + # plot the first and the aligned second trajectory to an image (format: png) + is_plot = True + # maximally allowed time difference for matching entries (default: 10000000 ns) + max_time_difference_ns = 10000000 + # time offset added to the timestamps of the second file (default: 0.0) + time_offset = 0 + # scaling factor for the second trajectory (default: 1.0) + scale_factor = 1.0 + # Dataset path + dataset_path = '/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/' + results_path = 'ORBSLAM3_Run/' + orb_results_path = '/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular/MH01/results_frames.txt' + ground_truth_path = '/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/MH01/mav0/state_groundtruth_estimate0/data.csv' + evaluation_results_path = '/home/justmohsen/Documents/SLAM/Datasets/euroc/MachineHall/ORBSLAM3_Run/monocular/MH01' + # Evaluation Job + first_file = ground_truth_path + second_file = orb_results_path + # create the output directory if it doesn't exist + if not os.path.exists(evaluation_results_path): + os.makedirs(evaluation_results_path) + print('new directory is created for output') + # save evaluation output + poses_associations_output_file = evaluation_results_path + '/poses_associations_frames.txt' + time_associations_output_file = evaluation_results_path + '/time_associations_frames.txt' + estimation_error_summary_output_file = evaluation_results_path + '/evaluation_error_frames.txt' + plot_results_output_file = evaluation_results_path + '/trajectory_output_frames.png' + plot_error_hist_output_file = evaluation_results_path + '/error_histogram_frames.png' + plot_error_rot_hist_output_file = evaluation_results_path + '/error_histogram_rotation_frames.png' + + first_list = associate.read_file_list(first_file, False) + second_list = associate.read_file_list(second_file, False) + + matches = associate.associate(first_list, second_list, float(time_offset), float(max_time_difference_ns)) + if len(matches) < 2: + sys.exit( + "Couldn't find matching timestamp pairs between groundtruth and estimated trajectory! Did you choose the correct sequence?") + first_xyz = np.matrix([[float(value) for value in first_list[a][0:3]] for a, b in matches]).transpose() + second_xyz = np.matrix( + [[float(value) * float(scale_factor) for value in second_list[b][0:3]] for a, b in matches]).transpose() dictionary_items = second_list.items() sorted_second_list = sorted(dictionary_items) - second_xyz_full = numpy.matrix([[float(value)*float(args.scale) for value in sorted_second_list[i][1][0:3]] for i in range(len(sorted_second_list))]).transpose() # sorted_second_list.keys()]).transpose() - rot,transGT,trans_errorGT,trans,trans_error, scale = align(second_xyz,first_xyz) - + second_xyz_full = np.matrix( + [[float(value) * float(scale_factor) for value in sorted_second_list[i][1][0:3]] for i in + range(len(sorted_second_list))]).transpose() # sorted_second_list.keys()]).transpose() + rot, trans, trans_error, scale = align(second_xyz, first_xyz) + second_xyz_aligned = scale * rot * second_xyz + trans - second_xyz_notscaled = rot * second_xyz + trans - second_xyz_notscaled_full = rot * second_xyz_full + trans - first_stamps = first_list.keys() + first_stamps = list(first_list.keys()) first_stamps.sort() - first_xyz_full = numpy.matrix([[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose() - - second_stamps = second_list.keys() + first_xyz_full = np.matrix( + [[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose() + + second_stamps = list(second_list.keys()) second_stamps.sort() - second_xyz_full = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for b in second_stamps]).transpose() + second_xyz_full = np.matrix( + [[float(value) * float(scale_factor) for value in second_list[b][0:3]] for b in + second_stamps]).transpose() second_xyz_full_aligned = scale * rot * second_xyz_full + trans - - if args.verbose: - print "compared_pose_pairs %d pairs"%(len(trans_error)) - - print "absolute_translational_error.rmse %f m"%numpy.sqrt(numpy.dot(trans_error,trans_error) / len(trans_error)) - print "absolute_translational_error.mean %f m"%numpy.mean(trans_error) - print "absolute_translational_error.median %f m"%numpy.median(trans_error) - print "absolute_translational_error.std %f m"%numpy.std(trans_error) - print "absolute_translational_error.min %f m"%numpy.min(trans_error) - print "absolute_translational_error.max %f m"%numpy.max(trans_error) - print "max idx: %i" %numpy.argmax(trans_error) - else: - # print "%f, %f " % (numpy.sqrt(numpy.dot(trans_error,trans_error) / len(trans_error)), scale) - # print "%f,%f" % (numpy.sqrt(numpy.dot(trans_error,trans_error) / len(trans_error)), scale) - print "%f,%f,%f" % (numpy.sqrt(numpy.dot(trans_error,trans_error) / len(trans_error)), scale, numpy.sqrt(numpy.dot(trans_errorGT,trans_errorGT) / len(trans_errorGT))) - # print "%f" % len(trans_error) - if args.verbose2: - print "compared_pose_pairs %d pairs"%(len(trans_error)) - print "absolute_translational_error.rmse %f m"%numpy.sqrt(numpy.dot(trans_error,trans_error) / len(trans_error)) - print "absolute_translational_errorGT.rmse %f m"%numpy.sqrt(numpy.dot(trans_errorGT,trans_errorGT) / len(trans_errorGT)) - - if args.save_associations: - file = open(args.save_associations,"w") - file.write("\n".join(["%f %f %f %f %f %f %f %f"%(a,x1,y1,z1,b,x2,y2,z2) for (a,b),(x1,y1,z1),(x2,y2,z2) in zip(matches,first_xyz.transpose().A,second_xyz_aligned.transpose().A)])) + + # Orientation + quaternion_order_1 = [3, 4, 5, 6] + quaternion_order_2 = [4, 5, 6, 3] + first_orientation_matrices = np.array([scipy_rotation.from_quat(first_list[a][quaternion_order_2]).as_matrix() for a, _ in matches]) + second_orientation_matrices = np.array([scipy_rotation.from_quat(second_list[b][quaternion_order_1]).as_matrix() for _, b in matches]) + second_orientation_matrices_aligned = np.array([rot * second_orientation_matrices[i] for i in range(len(second_orientation_matrices))]) + orientation_difference_matrices = np.array([np.matmul(np.transpose(first_orientation_matrices[i]), second_orientation_matrices_aligned[i]) for i in range(len(second_orientation_matrices_aligned))]) + reference_rotation_difference_matrix = np.mean(orientation_difference_matrices, axis=0) + second_orientation_matrices_aligned = np.array([rot * second_orientation_matrices[i] * np.transpose(reference_rotation_difference_matrix) for i in range(len(second_orientation_matrices))]) + orientation_error_matrices = np.array([np.matmul(np.transpose(first_orientation_matrices[i]), second_orientation_matrices_aligned[i]) for i in range(len(second_orientation_matrices_aligned))]) + orientation_error_euler = np.array([scipy_rotation.from_matrix(orientation_error_matrices[i]).as_euler('zyx', degrees= True) for i in range(len(first_orientation_matrices))]) + orientation_error_axis_angle = np.array([scipy_rotation.from_matrix(orientation_error_matrices[i]).as_rotvec(degrees=True) for i in range(len(first_orientation_matrices))]) + orientation_diff = np.array([np.matmul(np.matmul(np.transpose(rot), first_orientation_matrices[i]), np.transpose(second_orientation_matrices[i])) for i in range(len(second_orientation_matrices_aligned))]) + euler_rmse = np.sqrt(np.mean(orientation_error_euler**2, axis=0)) + angle_error = np.array([np.linalg.norm(orientation_error_axis_angle[i]) for i in range(len(first_orientation_matrices))]) + angle_rmse = np.sqrt(np.mean(angle_error**2)) + + if plot_orientation_error_euler_angles: + first_orientation_euler_y = np.array([scipy_rotation.from_matrix(first_orientation_matrices[i]).as_euler('zyx', degrees=True)[2] for i in range(len(first_orientation_matrices))]) + second_orientation_euler_y = np.array([scipy_rotation.from_matrix(second_orientation_matrices[i]).as_euler('zyx', degrees=True)[2] for i in range(len(second_orientation_matrices_aligned))]) + second_orientation_euler_y_aligned = np.array([scipy_rotation.from_matrix(second_orientation_matrices_aligned[i]).as_euler('zyx', degrees=True)[2] for i in range(len(second_orientation_matrices_aligned))]) + orientation_error_euler_y = np.array([scipy_rotation.from_matrix(orientation_error_matrices[i]).as_euler('zyx', degrees=True)[2] for i in range(len(orientation_error_matrices))]) + plt.plot(first_orientation_euler_y, label='first') + plt.plot(second_orientation_euler_y, label='second') + plt.plot(second_orientation_euler_y_aligned, label='second aligned') + plt.plot(orientation_error_euler_y, label='error') + plt.legend() + plt.show() + + if is_verbose: + print(f"compared_pose_pairs %d pairs" % (len(trans_error))) + print(f"absolute_translational_error.rmse %f m" % np.sqrt( + np.dot(trans_error, trans_error) / len(trans_error))) + print(f"absolute_translational_error.mean %f m" % np.mean(trans_error)) + print(f"absolute_translational_error.median %f m" % np.median(trans_error)) + print(f"absolute_translational_error.std %f m" % np.std(trans_error)) + print(f"absolute_translational_error.min %f m" % np.min(trans_error)) + print(f"absolute_translational_error.max %f m" % np.max(trans_error)) + print(f"absolute_rotational_angle_degrees_error.rmse %f m" % angle_rmse) + print(f"max idx: %i" % np.argmax(trans_error)) + + if is_save_verbose: + headers = ["# pose paired compared", "rmse of absolute_translational_error", + "rmse of orientation error rotational angle in axis-angle", + "mean of absolute_translational_error", "median of absolute_translational_error", + "std of absolute_translational_error", "min of absolute_translational_error", + "max of absolute_translational_error"] + output_df = pandas.DataFrame( + [len(trans_error), np.sqrt(np.dot(trans_error, trans_error) / len(trans_error)), angle_rmse, + np.mean(trans_error), np.median(trans_error), np.std(trans_error), np.min(trans_error), + np.max(trans_error)]) + output_df.index = headers + output_df.to_csv(estimation_error_summary_output_file) + + if is_save_associations: + file = open(poses_associations_output_file, "w") + file.write("\n".join( + ["%f %f %f %f %f %f %f %f" % (a, x1, y1, z1, b, x2, y2, z2) for (a, b), (x1, y1, z1), (x2, y2, z2) + in zip(matches, first_xyz.transpose().A, second_xyz_aligned.transpose().A)])) file.close() - - if args.save: - file = open(args.save,"w") - file.write("\n".join(["%f "%stamp+" ".join(["%f"%d for d in line]) for stamp,line in zip(second_stamps,second_xyz_notscaled_full.transpose().A)])) + + if is_save: + file = open(time_associations_output_file, "w") + file.write("\n".join(["%f " % stamp + " ".join(["%f" % d for d in line]) for stamp, line in + zip(second_stamps, second_xyz_aligned.transpose().A)])) file.close() - if args.plot: - import matplotlib - matplotlib.use('Agg') - import matplotlib.pyplot as plt - import matplotlib.pylab as pylab - from matplotlib.patches import Ellipse + if is_plot: fig = plt.figure() - ax = fig.add_subplot(111) - plot_traj(ax,first_stamps,first_xyz_full.transpose().A,'-',"black","ground truth") - plot_traj(ax,second_stamps,second_xyz_full_aligned.transpose().A,'-',"blue","estimated") - label="difference" - for (a,b),(x1,y1,z1),(x2,y2,z2) in zip(matches,first_xyz.transpose().A,second_xyz_aligned.transpose().A): - ax.plot([x1,x2],[y1,y2],'-',color="red",label=label) - label="" - + ax = fig.add_subplot(projection='3d') + plot_traj(ax, first_stamps, first_xyz_full.transpose().A, '-', "black", "ground truth") + plot_traj(ax, second_stamps, second_xyz_full_aligned.transpose().A, '-', "blue", "estimated") ax.legend() - ax.set_xlabel('x [m]') ax.set_ylabel('y [m]') - plt.axis('equal') - plt.savefig(args.plot,format="pdf") - - - + plt.savefig(plot_results_output_file, format="png") + plt.close() + position_error = first_xyz - second_xyz_aligned + plt.clf() + fig, ax = plt.subplots(3) + fig.suptitle('Translational Error Histograms') + ax[0].hist(np.array(position_error[0, :]).flatten(), label='error in x', bins=100, color='blue') + ax[1].hist(np.array(position_error[1, :]).flatten(), label='error in y', bins=100, color='green') + ax[2].hist(np.array(position_error[2, :]).flatten(), label='error in z', bins=100, color='red') + ax[2].set_xlabel('error [m]') + fig.legend() + plt.savefig(plot_error_hist_output_file, format="png") + plt.close() + plt.clf() + fig, ax = plt.subplots(3) + fig.suptitle('Rotational Error Histograms') + ax[0].hist(np.array(orientation_error_euler[:, 0]).flatten(), label='error in euler x', bins=100, color='blue') + ax[1].hist(np.array(orientation_error_euler[:, 1]).flatten(), label='error in euler y', bins=100, color='green') + ax[2].hist(np.array(orientation_error_euler[:, 2]).flatten(), label='error in euler z', bins=100, color='red') + ax[2].set_xlabel('error [degrees]') + fig.legend() + plt.savefig(plot_error_rot_hist_output_file, format="png") + plt.close() diff --git a/evaluation/merge_ground_truth.py b/evaluation/merge_ground_truth.py new file mode 100644 index 0000000000..ea8c078fc8 --- /dev/null +++ b/evaluation/merge_ground_truth.py @@ -0,0 +1,14 @@ +import pandas as pd + +sub_datasets = ['MH01', 'MH02', 'MH03', 'MH04', 'MH05'] +ground_truth_paths = [f'Datasets/euroc/MachineHall/{i}/mav0/state_groundtruth_estimate0/data.csv' for i in sub_datasets] +ground_truth_columns = ['timestamp', 'p_RS_R_x [m]', 'p_RS_R_y [m]', 'p_RS_R_z [m]', 'q_RS_w []', 'q_RS_x []', 'q_RS_y []', 'q_RS_z []', 'v_RS_R_x [m s^-1]', 'v_RS_R_y [m s^-1]', 'v_RS_R_z [m s^-1]', 'b_w_RS_S_x [rad s^-1]', 'b_w_RS_S_y [rad s^-1]', 'b_w_RS_S_z [rad s^-1]', 'b_a_RS_S_x [m s^-2]', 'b_a_RS_S_y [m s^-2]', 'b_a_RS_S_z [m s^-2]'] +file_ground_truth_df_list = [] + +for file in ground_truth_paths: + file_ground_truth_df = pd.read_csv(file) + file_ground_truth_df_list.append(file_ground_truth_df) + +df = pd.concat(file_ground_truth_df_list) +output_dir = 'Datasets/euroc/MachineHall/MH01_to_MH05/mav0/state_groundtruth_estimate0/data.csv' +df.to_csv(output_dir, index=False) \ No newline at end of file diff --git a/evaluation/plot_results_with_no_GT.py b/evaluation/plot_results_with_no_GT.py new file mode 100644 index 0000000000..c138426d5e --- /dev/null +++ b/evaluation/plot_results_with_no_GT.py @@ -0,0 +1,182 @@ +# Modified by Raul Mur-Artal +# Automatically compute the optimal scale factor for monocular VO/SLAM. + +# Software License Agreement (BSD License) +# +# Copyright (c) 2013, Juergen Sturm, TUM +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of TUM nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +""" +This script computes the absolute trajectory error from the ground truth +trajectory and the estimated trajectory. +""" + +import sys +import numpy as np +import associate +import pandas +import matplotlib +from mpl_toolkits.mplot3d import Axes3D +import matplotlib.pyplot as plt +import os +from scipy.spatial.transform import Rotation as scipy_rotation + +matplotlib.use('TkAgg') + + +def align(model, data): + """Align two trajectories using the method of Horn (closed-form). + + Input: + model -- first trajectory (3xn) + data -- second trajectory (3xn) + + Output: + rot -- rotation matrix (3x3) + trans -- translation vector (3x1) + trans_error -- translational error per point (1xn) + """ + + np.set_printoptions(precision=3, suppress=True) + model_zerocentered = model - model.mean(1) + data_zerocentered = data - data.mean(1) + + W = np.zeros((3, 3)) + for column in range(model.shape[1]): + W += np.outer(model_zerocentered[:, column], data_zerocentered[:, column]) + U, d, Vh = np.linalg.linalg.svd(W.transpose()) + S = np.matrix(np.identity(3)) + if (np.linalg.det(U) * np.linalg.det(Vh) < 0): + S[2, 2] = -1 + rot = U * S * Vh + + rotmodel = rot * model_zerocentered + dots = 0.0 + norms = 0.0 + + for column in range(data_zerocentered.shape[1]): + dots += np.dot(data_zerocentered[:, column].transpose(), rotmodel[:, column]) + normi = np.linalg.norm(model_zerocentered[:, column]) + norms += normi * normi + + s = float(dots / norms) + trans = data.mean(1) - s * rot * model.mean(1) + model_aligned = s * rot * model + trans + alignment_error = model_aligned - data + trans_error = np.sqrt(np.sum(np.multiply(alignment_error, alignment_error), 0)).A[0] + + return rot, trans, trans_error, s + + +def plot_traj(ax, stamps, traj, style, color, label): + """ + Plot a trajectory using matplotlib. + + Input: + ax -- the plot + stamps -- time stamps (1xn) + traj -- trajectory (3xn) + style -- line style + color -- line color + label -- plot legend + + """ + stamps.sort() + interval = np.median([s - t for s, t in zip(stamps[1:], stamps[:-1])]) + x = [] + y = [] + z = [] + last = stamps[0] + for i in range(len(stamps)): + if stamps[i] - last < 2 * interval: + x.append(traj[i][0]) + y.append(traj[i][1]) + z.append(traj[i][2]) + elif len(x) > 0: + ax.plot(x, y, z, style, color=color, label=label) + label = "" + x = [] + y = [] + z = [] + last = stamps[i] + if len(x) > 0: + ax.plot(x, y, z, style, color=color, label=label) + + +if __name__ == "__main__": + # Dataset path + orb_results_path = '/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-12-01_15-11-25/ORBSLAM_Results/monocular_frames.txt' + evaluation_results_path = '/home/justmohsen/Documents/SLAM/Datasets/Pixel6/HomeFlying/Concorde_Place-2023-12-01_15-11-25/ORBSLAM_Results/Monocular' + quaternion_order = [4, 5, 6, 3] + # save evaluation output + plot_results_output_file = evaluation_results_path + '_trajectory_output_frames.png' + plot_results_output_file_2d = evaluation_results_path + '_trajectory_output_frames_2d.png' + plot_results_output_file_orientation = evaluation_results_path + '_trajectory_output_frames_orientation.png' + + results_list = associate.read_file_list(orb_results_path, False) + time_stamp = list(results_list.keys()) + time_stamp = (np.array(time_stamp) - time_stamp[0]) * 1e-9 + results_xyz = np.array([[float(value) for value in results_list[key][0:3]] for key in list(results_list.keys())]) + results_orientation_quaternions = np.array([[float(value) for value in results_list[key][quaternion_order]] for key in list(results_list.keys())]) + results_orientation_euler = np.array([scipy_rotation.from_quat(results_orientation_quaternions[i]).as_euler('zyx', degrees=True).flatten() for i in range(len(results_orientation_quaternions))]) + + + + fig = plt.figure() + ax = fig.add_subplot() + ax.plot(time_stamp, np.array(results_xyz[:, 0]).flatten(), c="black", label="estimation x") + ax.plot(time_stamp, np.array(results_xyz[:, 1]).flatten(), c="black", label="estimation y") + ax.plot(time_stamp, np.array(results_xyz[:, 2]).flatten(), c="black", label="estimation z") + ax.legend() + ax.set_xlabel('time [sec]') + ax.set_ylabel('x, y, z [m]') + plt.savefig(plot_results_output_file_2d, format="png") + plt.close() + plt.clf() + fig = plt.figure() + ax = fig.add_subplot() + ax.plot(time_stamp, np.array(results_orientation_euler[:, 0]).flatten(), c="black", label="estimation euler x") + ax.plot(time_stamp, np.array(results_orientation_euler[:, 1]).flatten(), c="black", label="estimation euler y") + ax.plot(time_stamp, np.array(results_orientation_euler[:, 2]).flatten(), c="black", label="estimation euler z") + ax.legend() + ax.set_xlabel('time [sec]') + ax.set_ylabel('euler x, y, z [rad]') + plt.savefig(plot_results_output_file_orientation, format="png") + plt.close() + plt.clf() + fig = plt.figure() + ax = fig.add_subplot(projection='3d') + plot_traj(ax, time_stamp, results_xyz, '-', "blue", "estimated") + ax.legend() + ax.set_xlabel('x [m]') + ax.set_ylabel('y [m]') + plt.savefig(plot_results_output_file, format="png") + plt.close() + plt.clf() diff --git a/src/Map.cc b/src/Map.cc index f1f8cd041c..0f15337078 100644 --- a/src/Map.cc +++ b/src/Map.cc @@ -359,7 +359,11 @@ void Map::SetLastMapChange(int currentChangeId) void Map::PreSave(std::set &spCams) { int nMPWithoutObs = 0; - for(MapPoint* pMPi : mspMapPoints) + + std::set tmp_mspMapPoints1; + tmp_mspMapPoints1.insert(mspMapPoints.begin(), mspMapPoints.end()); + + for(MapPoint* pMPi : tmp_mspMapPoints1) { if(!pMPi || pMPi->isBad()) continue; @@ -390,7 +394,11 @@ void Map::PreSave(std::set &spCams) // Backup of MapPoints mvpBackupMapPoints.clear(); - for(MapPoint* pMPi : mspMapPoints) + + std::set tmp_mspMapPoints2; + tmp_mspMapPoints2.insert(mspMapPoints.begin(), mspMapPoints.end()); + + for(MapPoint* pMPi : tmp_mspMapPoints2) { if(!pMPi || pMPi->isBad()) continue; diff --git a/src/MapPoint.cc b/src/MapPoint.cc index 1cf802c233..0a600913be 100644 --- a/src/MapPoint.cc +++ b/src/MapPoint.cc @@ -578,7 +578,10 @@ void MapPoint::PreSave(set& spKF,set& spMP) mBackupObservationsId1.clear(); mBackupObservationsId2.clear(); // Save the id and position in each KF who view it - for(std::map >::const_iterator it = mObservations.begin(), end = mObservations.end(); it != end; ++it) + std::map > tmp_mObservations; + tmp_mObservations.insert(mObservations.begin(), mObservations.end()); + + for(std::map >::const_iterator it = tmp_mObservations.begin(), end = tmp_mObservations.end(); it != end; ++it) { KeyFrame* pKFi = it->first; if(spKF.find(pKFi) != spKF.end()) @@ -599,6 +602,7 @@ void MapPoint::PreSave(set& spKF,set& spMP) } } + void MapPoint::PostLoad(map& mpKFid, map& mpMPid) { mpRefKF = mpKFid[mBackupRefKFId]; diff --git a/src/Tracking.cc b/src/Tracking.cc index 5191451a81..8632a4e2cc 100644 --- a/src/Tracking.cc +++ b/src/Tracking.cc @@ -2003,7 +2003,7 @@ void Tracking::Track() bOK = Relocalization(); //std::cout << "mCurrentFrame.mTimeStamp:" << to_string(mCurrentFrame.mTimeStamp) << std::endl; //std::cout << "mTimeStampLost:" << to_string(mTimeStampLost) << std::endl; - if(mCurrentFrame.mTimeStamp-mTimeStampLost>3.0f && !bOK) + if(mCurrentFrame.mTimeStamp-mTimeStampLost>4.0f && !bOK) { mState = LOST; Verbose::PrintMess("Track Lost...", Verbose::VERBOSITY_NORMAL); @@ -3721,7 +3721,7 @@ bool Tracking::Relocalization() mCurrentFrame.mvpMapPoints[io]=static_cast(NULL); // If few inliers, search by projection in a coarse window and optimize again - if(nGood<50) + if(nGood<30) { int nadditional =matcher2.SearchByProjection(mCurrentFrame,vpCandidateKFs[i],sFound,10,100); @@ -3731,7 +3731,7 @@ bool Tracking::Relocalization() // If many inliers but still not enough, search by projection again in a narrower window // the camera has been already optimized with many points - if(nGood>30 && nGood<50) + if(nGood>10 && nGood<30) { sFound.clear(); for(int ip =0; ip=50) + if(nGood+nadditional>=30) { nGood = Optimizer::PoseOptimization(&mCurrentFrame); @@ -3754,7 +3754,7 @@ bool Tracking::Relocalization() // If the pose is supported by enough inliers stop ransacs and continue - if(nGood>=50) + if(nGood>=30) { bMatch = true; break;