void BenchmarkNode::runFromFolder()
{
for(int img_id = 2; img_id < 188; ++img_id)
{
// load image
std::stringstream ss;
ss << svo::test_utils::getDatasetDir() << "/sin2_tex2_h1_v8_d/img/frame_"
<< std::setw( 6 ) << std::setfill( '0' ) << img_id << "_0.png";
if(img_id == 2)
std::cout << "reading image " << ss.str() << std::endl;
cv::Mat img(cv::imread(ss.str().c_str(), 0));
assert(!img.empty());
// process frame
vo_->addImage(img, 0.01*img_id);
// display tracking quality
if(vo_->lastFrame() != NULL)
{
std::cout << "Frame-Id: " << vo_->lastFrame()->id_ << " \t"
<< "#Features: " << vo_->lastNumObservations() << " \t"
<< "Proc. Time: " << vo_->lastProcessingTime()*1000 << "ms \n";
// access the pose of the camera via vo_->lastFrame()->T_f_w_.
}
}
}
void VoNode::processUserActions()
{
char input = remote_input_.c_str()[0];
remote_input_ = "";
if(user_input_thread_ != NULL)
{
char console_input = user_input_thread_->getInput();
if(console_input != 0)
input = console_input;
}
switch(input)
{
case 'q':
quit_ = true;
printf("SVO user input: QUIT\n");
break;
case 'r':
vo_->reset();
printf("SVO user input: RESET\n");
break;
case 's':
vo_->start();
printf("SVO user input: START\n");
break;
default: ;
}
}
void BenchmarkNode::runFromFolder()
{
cv::line(*plot_, cv::Point(250,0), cv::Point(250,500), cv::Scalar(255,0,255));
cv::line(*plot_, cv::Point(0,250), cv::Point(500,250), cv::Scalar(255, 0, 255));
cv::Point origin = cv::Point(250,250);
cv::Point prevPoint1 = origin, curPoint1 = origin;
cv::Point prevPoint2 = origin, curPoint2 = origin;
for(int img_id = 2; img_id < 188; ++img_id)
{
// load image
std::stringstream ss;
ss << svo::test_utils::getDatasetDir() << "/sin2_tex2_h1_v8_d/img/frame_"
<< std::setw( 6 ) << std::setfill( '0' ) << img_id << "_0.png";
if(img_id == 2)
std::cout << "reading image " << ss.str() << std::endl;
cv::Mat img(cv::imread(ss.str().c_str(), 0));
assert(!img.empty());
// process frame
vo_->addImage(img, 0.01*img_id);
// display tracking quality
if(vo_->lastFrame() != NULL)
{
std::cout << "Frame-Id: " << vo_->lastFrame()->id_ << " \t"
<< "#Features: " << vo_->lastNumObservations() << " \t"
<< "Proc. Time: " << vo_->lastProcessingTime()*1000 << "ms \n";
// access the pose of the camera via vo_->lastFrame()->T_f_w_.
Vector3d pos = vo_->lastFrame()->T_f_w_.translation();
std::cout << "\tvo_->lastFrame()->pos() XPos: " << vo_->lastFrame()->pos().x() << " \t"
<< "YPos: " << vo_->lastFrame()->pos().y() << " \t"
<< "ZPos: " << vo_->lastFrame()->pos().z() << "\n";
std::cout << "\tlastFrame()->T_f_w.transation() XPos: " << pos.x() << " \t"
<< "YPos: " << pos.y() << " \t"
<< "ZPos: " << pos.z() << "\n";
curPoint2 = origin + cv::Point(pos.x() * 13, pos.y() * 13);
curPoint1 = origin + cv::Point(vo_->lastFrame()->pos().x() * 13, vo_->lastFrame()->pos().y() * 13);
cv::circle(*plot_, prevPoint1, 2, cv::Scalar(0,255,0));
cv::circle(*plot_, curPoint1, 2, cv::Scalar(0,255,0));
cv::circle(*plot_, prevPoint2, 2, cv::Scalar(0,0,255));
cv::circle(*plot_, curPoint2, 2, cv::Scalar(0,0,255));
// cv::line(*plot_, prevPoint1, curPoint1, cv::Scalar(0,255,0));
// cv::line(*plot_, prevPoint2, curPoint2, cv::Scalar(0,0,255));
prevPoint1 = curPoint1;
prevPoint2 = curPoint2;
cv::imshow("plot_", *plot_);
cv::waitKey(0);
}
}
}
void BenchmarkNode::runFromFolder(int start)
{
ofstream outfile;
outfile.open ("/home/worxli/Datasets/data/associate_unscaled.txt");
// outfile.open ("/home/worxli/data/test/associate_unscaled.txt");
for(int img_id = start;;++img_id)
{
// load image
std::stringstream ss;
ss << "/home/worxli/Datasets/data/img/color" << img_id << ".png";
// ss << "/home/worxli/data/test/img/color" << img_id << ".png";
std::cout << "reading image " << ss.str() << std::endl;
cv::Mat img(cv::imread(ss.str().c_str(), 0));
// end loop if no images left
if(img.empty())
break;
assert(!img.empty());
// process frame
vo_->addImage(img, img_id);
// display tracking quality
if(vo_->lastFrame() != NULL)
{
int id = vo_->lastFrame()->id_;
std::cout << "Frame-Id: " << id << " \t"
<< "#Features: " << vo_->lastNumObservations() << " \t"
<< "Proc. Time: " << vo_->lastProcessingTime()*1000 << "ms \n";
// access the pose of the camera via vo_->lastFrame()->T_f_w_.
//std::cout << vo_->lastFrame()->T_f_w_ << endl;
//std::count << vo_->lastFrame()->pos() << endl;
Quaterniond quat = vo_->lastFrame()->T_f_w_.unit_quaternion();
Vector3d trans = vo_->lastFrame()->T_f_w_.translation();
outfile << trans.x() << " "
<< trans.y() << " "
<< trans.z() << " "
<< quat.x() << " "
<< quat.y() << " "
<< quat.z() << " "
<< quat.w() << " "
<< "depth/mapped" << img_id << ".png "
<< "img/color" << img_id << ".png\n";
}
}
outfile.close();
}
bool VoNode::initCb(){
srv.request.timeA = time_first;
srv.request.timeB = time_second;
std::cout<<"\ntime_first:\n"<<(time_first)<<std::endl;
std::cout<<"\ntime_second:\n"<<(time_second)<<std::endl;
ROS_INFO("Calling service get_between_pose");
if (client.call(srv)){
ROS_INFO("Got inti pose from get_between_pose srv!");
geometry_msgs::Pose m = srv.response.A2B;;
Eigen::Affine3d e = Eigen::Translation3d(m.position.x,
m.position.y,
m.position.z) *
Eigen::Quaterniond(m.orientation.w,
m.orientation.x,
m.orientation.y,
m.orientation.z);
Eigen::Matrix3d rot = e.rotation();
Eigen::Vector3d trans = e.translation();
std::cout<<"Time diff in first and second:\n"<<(time_second-time_first)<<std::endl;
std::cout<<time_first<<std::endl<<time_second<<std::endl;
SE3 current_trans = SE3(rot,trans);
std::cout<<"trans:\n"<<trans<<std::endl;
std::cout<<"rot:\n"<<rot<<std::endl;
vo_->InitPose(current_trans);
our_scale_ = current_trans.matrix().block<3,1>(0,3).norm();
return true;
}
else{
ROS_ERROR("Failed to call service get_between_pose");
return false;
}
}
void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg)
{
// Dummy data as the real position for the system.
// static int old = msg->header.seq;
// if(msg->header.seq == old)
// filtered_pose.pose.position.z = 0;
// else{
// filtered_pose.pose.position.z += 10.0/70.0 * (msg->header.seq-old);
// }
// old = msg->header.seq;
ROS_INFO("Frame seq: %i", msg->header.seq);
#ifdef USE_ASE_IMU
tf::StampedTransform transform;
try{
listener_.lookupTransform("/camera", "/worldNED",
ros::Time(0), transform);
}
catch (tf::TransformException ex){
ROS_ERROR("%s",ex.what());
return;
}
#endif
cv::Mat img;
try {
img = cv_bridge::toCvShare(msg, "mono8")->image;
} catch (cv_bridge::Exception& e) {
ROS_ERROR("cv_bridge exception: %s", e.what());
}
processUserActions();
// Quaterniond quat(filtered_pose.pose.orientation.w,filtered_pose.pose.orientation.x,filtered_pose.pose.orientation.y, filtered_pose.pose.orientation.z);
// Matrix3d orient = quat.toRotationMatrix();
// Vector3d pos(filtered_pose.pose.position.x,filtered_pose.pose.position.y, filtered_pose.pose.position.z);
Quaterniond quat;
quat.setIdentity();
Vector3d pos;
pos.setZero();
Matrix3d orient = quat.toRotationMatrix();
#ifdef USE_ASE_IMU
tf::quaternionTFToEigen(transform.getRotation(), quat);
orient = quat.toRotationMatrix();
tf::vectorTFToEigen(transform.getOrigin(), pos);
#endif
vo_->addImage(img, msg->header.stamp.toSec(), orient, pos);
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec());
if(publish_markers_ && vo_->stage() != FrameHandlerBase::STAGE_PAUSED)
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map());
if(publish_dense_input_)
visualizer_.exportToDense(vo_->lastFrame());
if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED)
usleep(100000);
}
void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg)
{
cv::Mat img;
try {
img = cv_bridge::toCvShare(msg, "mono8")->image;
} catch (cv_bridge::Exception& e) {
ROS_ERROR("cv_bridge exception: %s", e.what());
}
processUserActions();
double diff1 = msg->header.stamp.toSec() - time_start.toSec();
// std::cout<<"diff1: "<< diff1 <<std::endl;
if((diff1 > time_window.toSec()) && state == SSTART){
vo_->reset();
vo_->start();
state = SGOT_KEY_1;
}
vo_->addImage(img, msg->header.stamp.toSec());
svo_scale_ = vo_->svo_scale_;
if((vo_->stage() == FrameHandlerMono::STAGE_SECOND_FRAME) && state == SGOT_KEY_1)
{ std::cout<<"the first frame at time: "<<msg->header.stamp.toSec()<<std::endl;
time_first = msg->header.stamp;
state = SGOT_KEY_2;
}
if((vo_->stage() == FrameHandlerMono::STAGE_DEFAULT_FRAME) && state == SGOT_KEY_2)
{ //std::cout<<"the second frame at time: "<<msg->header.stamp.toSec()<<std::endl;
time_second = msg->header.stamp;
state = SGETTING_SCALE;
}
double diff2 = msg->header.stamp.toSec() - time_second.toSec();
// std::cout<<"diff2: "<< diff2 <<std::endl;
// std::cout<<"state: "<< state <<std::endl;
if((diff2 > time_window.toSec()) && state == SGETTING_SCALE){
std::cout<<"time_first: "<< time_first <<std::endl;
std::cout<<"time_second: "<< time_second <<std::endl;
if(VoNode::initCb()){
state = SDEFAULT;
}
}
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, msg->header.stamp.toSec());
if(publish_markers_){
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map(), state == SDEFAULT, svo_scale_, our_scale_);
}
if(publish_dense_input_)
visualizer_.exportToDense(vo_->lastFrame());
if(vo_->stage() == FrameHandlerMono::STAGE_PAUSED)
usleep(100000);
}
