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SlamDemo435i.cpp
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SlamDemo435i.cpp
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#include "D435iCamera.h"
#include "OkvisSLAMSystem.h"
#include <iostream>
#include <thread>
#include "glfwManager.h"
#include "Util.h"
using namespace ark;
int main(int argc, char **argv)
{
if (argc >4 ) {
std::cerr << "Usage: ./" << argv[0] << " configuration-yaml-file [vocabulary-file] [skip-first-seconds]" << std::endl
<<"Args given: " << argc << std::endl;
return -1;
}
const bool hideInactiveMaps = true;
google::InitGoogleLogging(argv[0]);
okvis::Duration deltaT(0.0);
if (argc == 4) {
deltaT = okvis::Duration(atof(argv[3]));
}
// read configuration file
std::string configFilename;
if (argc > 1) configFilename = argv[1];
else configFilename = util::resolveRootPath("config/d435i_intr.yaml");
std::string vocabFilename;
if (argc > 2) vocabFilename = argv[2];
else vocabFilename = util::resolveRootPath("config/brisk_vocab.bn");
OkvisSLAMSystem slam(vocabFilename, configFilename);
cv::FileStorage configFile(configFilename, cv::FileStorage::READ);
//setup display
if (!MyGUI::Manager::init())
{
fprintf(stdout, "Failed to initialize GLFW\n");
return -1;
}
printf("Camera initialization started...\n");
fflush(stdout);
CameraParameter cameraParameter;
if (configFile["emitterPower"].isReal()) {
configFile["emitterPower"] >> cameraParameter.emitterPower;
}
D435iCamera camera(cameraParameter);
camera.start();
printf("Camera-IMU initialization complete\n");
fflush(stdout);
//Window for displaying the path
MyGUI::CameraWindow traj_win("Traj Viewer", 150, 150);
MyGUI::ARCameraWindow ar_win("AR Viewer", 500, 500, GL_RGB, GL_UNSIGNED_BYTE, 6.16403320e+02, 6.16171021e+02, 3.18104584e+02, 2.33643127e+02,0.01,100);
traj_win.set_pos(640*2.5,100);
ar_win.set_pos(0,100);
std::map<int, MyGUI::Path *> pathMap;
MyGUI::Axis axis1("axis1", .1);
MyGUI::Axis axis2("axis2", 1);
MyGUI::Grid grid1("grid1", 10, 1);
traj_win.add_object(&axis1);
traj_win.add_object(&axis2);
traj_win.add_object(&grid1);
ar_win.add_object(&axis1);
std::vector<MyGUI::Object *> cubes;
std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> T_K_cubes;
std::vector<MapKeyFrame::Ptr, Eigen::aligned_allocator<MapKeyFrame::Ptr>> K_cubes;
printf("Window initialization complete\n");
int lastMapIndex_path = 0;
//Recieves output from SLAM system and displays to the screen
FrameAvailableHandler handler([&](MultiCameraFrame::Ptr frame) {
Eigen::Affine3d transform(frame->T_WC(3));
const auto mapIndex = slam.getActiveMapIndex();
if (pathMap.find(mapIndex) == pathMap.end()) {
string name = "path"+std::to_string(mapIndex);
pathMap[mapIndex] = new MyGUI::Path{name, Eigen::Vector3d(1, 0, 0)};
traj_win.add_object(pathMap[mapIndex]);
}
if (lastMapIndex_path != mapIndex) {
if (hideInactiveMaps) {
pathMap[lastMapIndex_path]->clear();
}
lastMapIndex_path = mapIndex;
}
pathMap[mapIndex]->add_node(transform.translation());
axis2.set_transform(transform);
ar_win.set_camera(transform);
ar_win.set_image(frame->images_[3]);
if (ar_win.clicked())
{
std::string cube_name = std::string("CubeNum") + std::to_string(cubes.size());
MyGUI::Object *obj = new MyGUI::Cube(cube_name, 0.1, 0.1, 0.1);
obj->set_transform(transform);
cubes.push_back(obj);
T_K_cubes.push_back(frame->T_KS_);
K_cubes.push_back(frame->keyframe_);
std::cout << "Adding cube " << cube_name << std::endl;
ar_win.add_object(obj); //NOTE: this is bad, should change objects to shared_ptr
}
});
slam.AddFrameAvailableHandler(handler, "mapping");
KeyFrameAvailableHandler kfHandler([](MultiCameraFrame::Ptr frame) {
frame->saveSimple("map_images/");
});
//slam.AddKeyFrameAvailableHandler(kfHandler, "saving");
LoopClosureDetectedHandler loopHandler([&](void) {
std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> traj;
slam.getTrajectory(traj);
const auto mapIndex = slam.getActiveMapIndex();
pathMap[mapIndex]->clear();
for (size_t i = 0; i < traj.size(); i++)
{
pathMap[mapIndex]->add_node(traj[i].block<3, 1>(0, 3));
}
std::cout << "Loop Trajectory: \n";
/*for (const auto &node: pathMap[mapIndex]->nodes) {
std::cout << node;
}*/
for (size_t i = 0; i < cubes.size(); i++)
{
if (K_cubes[i] != nullptr)
cubes[i]->set_transform(Eigen::Affine3d(K_cubes[i]->T_WS() * T_K_cubes[i]));
}
});
slam.AddLoopClosureDetectedHandler(loopHandler, "trajectoryUpdate");
SparseMapMergeHandler mergeHandler([&](int deletedIndex, int currentIndex) {
pathMap[deletedIndex]->clear();
std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> traj;
slam.getMap(currentIndex)->getTrajectory(traj);
pathMap[currentIndex]->clear();
for (size_t i = 0; i < traj.size(); i++) {
pathMap[currentIndex]->add_node(traj[i].block<3, 1>(0, 3));
}
});
slam.AddSparseMapMergeHandler(mergeHandler, "mergeUpdate");
//run until display is closed
okvis::Time start(0.0);
// camera.start();
int lastMapIndex = -1;
int frame_num = 0;
while (MyGUI::Manager::running())
{
//Update the display
MyGUI::Manager::update();
try
{
//Get current camera frame
MultiCameraFrame::Ptr frame = std::allocate_shared<MultiCameraFrame>(Eigen::aligned_allocator<MultiCameraFrame>());
camera.update(frame);
std::vector<ImuPair, Eigen::aligned_allocator<ImuPair>> imuData;
camera.getImuToTime(frame->timestamp_, imuData);
//Add data to SLAM system
slam.PushIMU(imuData);
slam.PushFrame(frame);
}
catch (const std::exception &e)
{
std::cerr << e.what() << '\n';
}
catch (...)
{
std::cout << "An exception caught.\n";
}
const auto isReset = slam.okvis_estimator_->isReset();
const auto mapIndex = slam.getActiveMapIndex();
if (mapIndex != lastMapIndex) {
lastMapIndex = mapIndex;
std::cout << "Mapnumber : " << mapIndex << "\n";
}
if (isReset) {
traj_win.msg_ = " *Reseting*";
} else {
traj_win.msg_ = " ";
}
int k = cv::waitKey(1);
if (k == 'q' || k == 'Q' || k == 27)
break; // 27 is ESC
std::cout << "frame " << frame_num++ << std::endl;
}
printf("\nTerminate...\n");
// Clean up
slam.ShutDown();
printf("\nExiting...\n");
return 0;
}