Beispiel #1
0
  void ViewerState::polishOldThings(){
    if(drawableFrameVector.size() > 40) {
      pwnGMW->viewer_3d->drawableList().erase(pwnGMW->viewer_3d->drawableList().begin());
      DrawableFrame* firstDrawableFrame = drawableFrameVector.front();
      if (0 && firstDrawableFrame->frame()){
	delete firstDrawableFrame->frame();
      }
      delete firstDrawableFrame;
      drawableFrameVector.erase(drawableFrameVector.begin());
    }
  }
Beispiel #2
0
  void ViewerState::optimizeSelected(){
      DrawableFrame* current = drawableFrameVector.back();
      DrawableFrame* reference = drawableFrameVector[drawableFrameVector.size()-2];
      cerr << "optimizing" << endl;
      cerr << "current=" << current->frame() << endl;
      cerr << "reference= " << reference->frame() << endl;


      

      // cerr computing initial guess based on the frame positions, just for convenience
      Eigen::Isometry3d delta = reference->_vertex->estimate().inverse()*current->_vertex->estimate();
      for(int c=0; c<4; c++)
	for(int r=0; r<3; r++)
	  initialGuess.matrix()(r,c) = delta.matrix()(r,c);


      Eigen::Isometry3f odometryMean;
      Matrix6f odometryInfo;
      bool hasOdometry = extractRelativePrior(odometryMean, odometryInfo, reference, current);
      if (hasOdometry)
	initialGuess=odometryMean;

      Eigen::Isometry3f imuMean;
      Matrix6f imuInfo;
      bool hasImu = extractAbsolutePrior(imuMean, imuInfo, current);

      initialGuess.matrix().row(3) << 0,0,0,1;
      
      if(!wasInitialGuess) {
	aligner->clearPriors();
	aligner->setOuterIterations(al_outerIterations);
	aligner->setReferenceFrame(reference->frame());
	aligner->setCurrentFrame(current->frame());
	aligner->setInitialGuess(initialGuess);
	aligner->setSensorOffset(sensorOffset);
	if (hasOdometry)
	  aligner->addRelativePrior(odometryMean, odometryInfo);
	if (hasImu)
	  aligner->addAbsolutePrior(reference->transformation(), imuMean, imuInfo);
	aligner->align();
      }

      Eigen::Isometry3f localTransformation =aligner->T();
      if (aligner->inliers()<1000 || aligner->error()/aligner->inliers()>10){
	cerr << "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!" << endl;
	cerr << "aligner: monster failure: inliers = " << aligner->inliers() << endl;
	cerr << "aligner: monster failure: error/inliers = " << aligner->error()/aligner->inliers() << endl;
	cerr  << "Local transformation: " << t2v(aligner->T()).transpose() << endl;
      	localTransformation = initialGuess;
	sleep(1);
      }
      cout << "Local transformation: " << t2v(aligner->T()).transpose() << endl;
      
      globalT = reference->transformation()*aligner->T();
      
      // Update cloud drawing position.
      current->setTransformation(globalT);
      current->setLocalTransformation(aligner->T());

      // Show zBuffers.
      refScn->clear();
      currScn->clear();
      QImage refQImage;
      QImage currQImage;
      DepthImageView div;
      div.computeColorMap(300, 2000, 128);
      div.convertToQImage(refQImage, aligner->correspondenceFinder()->referenceDepthImage());
      div.convertToQImage(currQImage, aligner->correspondenceFinder()->currentDepthImage());
      refScn->addPixmap((QPixmap::fromImage(refQImage)).scaled(QSize((int)refQImage.width()/(ng_scale*3), (int)(refQImage.height()/(ng_scale*3)))));
      currScn->addPixmap((QPixmap::fromImage(currQImage)).scaled(QSize((int)currQImage.width()/(ng_scale*3), (int)(currQImage.height()/(ng_scale*3)))));
      pwnGMW->graphicsView1_2d->show();
      pwnGMW->graphicsView2_2d->show();
      
      wasInitialGuess = false;
      newCloudAdded = false;
      *initialGuessViewer = 0;
      *optimizeViewer = 0;
  }
int main (int argc, char** argv) {
  // Handle input
  int vz_applyTransform, vz_pointStep;
  int pwn_chunkStep;
  float vz_pointSize, vz_alpha;
  float pwn_scaleFactor, pwn_scale;

  string pwn_configFilename, pwn_logFilename, pwn_sensorType;
  string oc_benchmarkFilename, oc_trajectoryFilename, oc_groundTruthFilename, oc_associationsFilename;

  string directory;

  g2o::CommandArgs arg;
  arg.param("vz_pointSize", vz_pointSize, 1.0f, "Size value of the points to visualize");
  arg.param("vz_transform", vz_applyTransform, 1, "Apply absolute transform to the point clouds");
  arg.param("vz_alpha", vz_alpha, 1.0f, "Alpha channel value of the points to visualize");
  arg.param("vz_pointStep", vz_pointStep, 1, "Step value at which points are drawn");
  
  arg.param("pwn_chunkStep", pwn_chunkStep, 30, "Number of cloud composing a registered scene");
  arg.param("pwn_scaleFactor", pwn_scaleFactor, 0.001f, "Scale factor at which the depth images were saved");
  arg.param("pwn_scale", pwn_scale, 4.0f, "Scale factor the depth images are loaded");
  arg.param("pwn_configFilename", pwn_configFilename, "pwn.conf", "Specify the name of the file that contains the parameter configurations of the pwn structures");
  arg.param("pwn_logFilename", pwn_logFilename, "pwn.log", "Specify the name of the file that will contain the trajectory computed in boss format");
  arg.param("pwn_sensorType", pwn_sensorType, "kinect", "Sensor type: xtion640/xtion320/kinect/kinectFreiburg1/kinectFreiburg2/kinectFreiburg3");  
  arg.param("oc_benchmarkFilename", oc_benchmarkFilename, "gicp_benchmark.txt", "Specify the name of the file that will contain the results of the benchmark");
  arg.param("oc_trajectoryFilename", oc_trajectoryFilename, "gicp_trajectory.txt", "Specify the name of the file that will contain the trajectory computed");
  arg.param("oc_associationsFilename", oc_associationsFilename, "gicp_associations.txt", "Specify the name of the file that contains the images associations");
  arg.param("oc_groundTruthFilename", oc_groundTruthFilename, "groundtruth.txt", "Specify the name of the file that contains the ground truth trajectory");

  arg.paramLeftOver("directory", directory, ".", "Directory where the program will find the input needed files and the subfolders depth and rgb containing the images", true);

  arg.parseArgs(argc, argv);
  
  // Create GUI
  QApplication application(argc,argv);
  QWidget* mainWindow = new QWidget();
  mainWindow->setWindowTitle("GICP Odometry ");
  QHBoxLayout* hlayout = new QHBoxLayout();
  mainWindow->setLayout(hlayout);
  PWNQGLViewer* viewer = new PWNQGLViewer(mainWindow);
  hlayout->addWidget(viewer);
  viewer->init();
  viewer->setAxisIsDrawn(true);
  viewer->show();
  mainWindow->showMaximized();
  mainWindow->show();
  
  // Init odometry controller
  GICPOdometryController *gicpOdometryController = new GICPOdometryController(pwn_configFilename.c_str(), pwn_logFilename.c_str());
  gicpOdometryController->fileInitialization(oc_groundTruthFilename.c_str(), oc_associationsFilename.c_str(),
						      oc_trajectoryFilename.c_str(), oc_benchmarkFilename.c_str());
  gicpOdometryController->setScaleFactor(pwn_scaleFactor);
  gicpOdometryController->setScale(pwn_scale);
  gicpOdometryController->setSensorType(pwn_sensorType);
  gicpOdometryController->setChunkStep(pwn_chunkStep);


  // Compute odometry
  bool sceneHasChanged = false;
  Frame *frame = 0, *groundTruthReferenceFrame = 0;
  Isometry3f groundTruthPose;	
  GLParameterTrajectory *groundTruthTrajectoryParam = new GLParameterTrajectory(0.02f, Vector4f(0.0f, 1.0f, 0.0f, 0.6f));
  GLParameterTrajectory *trajectoryParam = new GLParameterTrajectory(0.02f, Vector4f(1.0f, 0.0f, 0.0f, 0.6f));
  std::vector<Isometry3f> trajectory, groundTruthTrajectory;
  std::vector<Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > trajectoryColors, groundTruthTrajectoryColors;
  DrawableTrajectory *drawableGroundTruthTrajectory = new DrawableTrajectory(Isometry3f::Identity(), 
									    groundTruthTrajectoryParam, 
									    &groundTruthTrajectory, 
									    &groundTruthTrajectoryColors);
  DrawableTrajectory *drawableTrajectory = new DrawableTrajectory(Isometry3f::Identity(), 
								 trajectoryParam, 
								 &trajectory, 
								 &trajectoryColors);
  viewer->addDrawable(drawableGroundTruthTrajectory);
  viewer->addDrawable(drawableTrajectory);
  bool finished = false;
  while (mainWindow->isVisible()) {
    sceneHasChanged = false;
    if (sceneHasChanged)
      viewer->updateGL();
    application.processEvents();

    if (finished) {
      continue;
    }
    
    if (gicpOdometryController->loadFrame(frame)) {
    
      if(gicpOdometryController->counter() == 1) {
	gicpOdometryController->getGroundTruthPose(groundTruthPose, atof(gicpOdometryController->timestamp().c_str()));
	// Add first frame to draw
	groundTruthReferenceFrame = new Frame();
	*groundTruthReferenceFrame = *frame;
	GLParameterFrame *groundTruthReferenceFrameParams = new GLParameterFrame();
	groundTruthReferenceFrameParams->setStep(vz_pointStep);
	groundTruthReferenceFrameParams->setShow(true);	
	groundTruthReferenceFrameParams->parameterPoints()->setColor(Vector4f(1.0f, 0.0f, 1.0f, vz_alpha));
	DrawableFrame *drawableGroundTruthReferenceFrame = new DrawableFrame(groundTruthPose, groundTruthReferenceFrameParams, groundTruthReferenceFrame);
	GLParameterFrame *frameParams = new GLParameterFrame();
	frameParams->setStep(vz_pointStep);
	frameParams->setShow(true);	
	DrawableFrame *drawableFrame = new DrawableFrame(gicpOdometryController->globalPose(), frameParams, frame);
	viewer->addDrawable(drawableGroundTruthReferenceFrame);
	viewer->addDrawable(drawableFrame);

	sceneHasChanged = true;
      }
      // Compute current transformation
      if (gicpOdometryController->processFrame()) {
	gicpOdometryController->getGroundTruthPose(groundTruthPose, atof(gicpOdometryController->timestamp().c_str()));	
	
	// Add frame to draw
	GLParameterFrame *frameParams = new GLParameterFrame();
	frameParams->setStep(vz_pointStep);
	frameParams->setShow(true);	
	DrawableFrame *drawableFrame = new DrawableFrame(gicpOdometryController->globalPose(), frameParams, frame);
	viewer->addDrawable(drawableFrame);
	
	// Add trajectory pose
	groundTruthTrajectory.push_back(groundTruthPose);
	groundTruthTrajectoryColors.push_back(Vector4f(0.0f, 1.0f, 0.0f, 0.6f));
	trajectory.push_back(gicpOdometryController->globalPose());
	trajectoryColors.push_back(Vector4f(1.0f, 0.0f, 0.0f, 0.6f));
	drawableGroundTruthTrajectory->updateTrajectoryDrawList();
	drawableTrajectory->updateTrajectoryDrawList();
      
	// Write results
	gicpOdometryController->writeResults();
      
	sceneHasChanged = true;
      }
 
      // Remove old frames
      if (viewer->drawableList().size() > 23) {
	DrawableFrame *d = dynamic_cast<DrawableFrame*>(viewer->drawableList()[3]);
	if (d) {
	  Frame *f = d->frame();
	  if (gicpOdometryController->referenceFrame() != f &&
	      gicpOdometryController->currentFrame() != f) {
	    viewer->erase(3);
	    delete d;
	    delete f; 
	  }
	}
      }

      frame = 0;
    }
    else {
      finished = true;
    }
  }

  return 0;
}