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SlamRecording.cpp
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SlamRecording.cpp
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#include <ctime>
#include <cstdlib>
#include <cstdio>
#include <string>
#include <vector>
#include <memory>
#include <algorithm>
#include <Eigen/Dense>
#include <opencv2/core.hpp>
#include "opencv2/imgcodecs.hpp"
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <ceres/ceres.h>
#include <nanoflann.hpp>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <boost/archive/text_oarchive.hpp>
// OpenARK Libraries
#include "Version.h"
#include "D435iCamera.h"
#include "Util.h"
#include "Core.h"
#include "Visualizer.h"
using namespace ark;
using boost::filesystem::path;
std::string getTimeTag()
{
std::ostringstream oss;
auto t = std::time(nullptr);
auto tm = *std::localtime(&t);
oss << std::put_time(&tm, "%d-%m-%Y %H-%M-%S");
return oss.str();
}
void saveImg(int id, const cv::Mat &img, const path imgDir)
{
std::stringstream fileName;
fileName << std::setw(5) << std::setfill('0') << std::to_string(id) << ".png";
const std::string dst = (imgDir / fileName.str()).string();
std::vector<int> compression_params;
compression_params.push_back(CV_IMWRITE_PNG_COMPRESSION);
compression_params.push_back(0);
compression_params.push_back(CV_IMWRITE_PNG_STRATEGY);
compression_params.push_back(CV_IMWRITE_PNG_STRATEGY_HUFFMAN_ONLY);
cv::imwrite(dst, img, compression_params);
}
int main(int argc, char **argv)
{
printf("Welcome to OpenARK v %s Slam Recording Tool\n\n", VERSION);
printf("CONTROLS:\nQ or ESC to stop recording and begin writing dataset to disk,\nSPACE to start/pause"
"(warning: if pausing in the middle, may mess up timestamps)\n\n");
const path directory_path =
argc > 1 ? argv[1] : std::string("./data_path_") + getTimeTag(); // modify this
const std::string configFilename = argc > 2 ? argv[2] : util::resolveRootPath("config/d435i_intr.yaml");
path depth_path = directory_path / "depth/";
path infrared_path = directory_path / "infrared/";
path infrared2_path = directory_path / "infrared2/";
path rgb_path = directory_path / "rgb/";
path timestamp_path = directory_path / "timestamp.txt";
path meta_path = directory_path / "meta.txt";
path imu_path = directory_path / "imu.txt";
std::vector<path> pathList{directory_path, depth_path, infrared_path, infrared2_path, rgb_path};
for (const auto &p : pathList)
{
if (!boost::filesystem::exists(p))
{
boost::filesystem::create_directories(p);
}
}
std::vector<MultiCameraFrame> frameList;
std::vector<ImuPair, Eigen::aligned_allocator<ImuPair>> imuList;
cv::FileStorage configFile(configFilename, cv::FileStorage::READ);
CameraParameter cameraParameter;
if (configFile["emitterPower"].isReal()) {
configFile["emitterPower"] >> cameraParameter.emitterPower;
}
D435iCamera camera(cameraParameter);
camera.start();
std::vector<ImuPair, Eigen::aligned_allocator<ImuPair>> imuBuffer;
std::vector<ImuPair, Eigen::aligned_allocator<ImuPair>> imuDispose;
std::atomic_bool paused = {true};
std::atomic_bool quit = {false};
single_consumer_queue<std::shared_ptr<MultiCameraFrame>> img_queue;
std::thread writingThread([&]() {
std::ofstream imu_ofs(imu_path.string());
std::ofstream timestamp_ofs(timestamp_path.string());
{
std::ofstream meta_ofs(meta_path.string());
meta_ofs << "depth " << camera.getDepthScale();
}
auto frame = std::make_shared<MultiCameraFrame>();
auto lastImuTs = -1.0;
const auto timeGapReportThreshold = 1e7;
while (true)
{
if (!img_queue.try_dequeue(&frame))
{
if(quit)
break;
// boost::this_thread::sleep_for(boost::chrono::milliseconds(10));
continue;
}
const auto frameId = frame->frameId_;
const auto &infrared = frame->images_[0];
const auto &infrared2 = frame->images_[1];
const auto &depth = frame->images_[4];
const auto &rgb = frame->images_[3];
saveImg(frameId, infrared, infrared_path);
saveImg(frameId, infrared2, infrared2_path);
saveImg(frameId, depth, depth_path);
saveImg(frameId, rgb, rgb_path);
timestamp_ofs << frameId << " " << std::setprecision(15) << frame->timestamp_ << "\n";
if(!quit)
cout << "Writing frame: " << frameId << endl;
else
cout << "Writing leftover frame: " << frameId << endl;
imuBuffer.clear();
camera.getImuToTime(frame->timestamp_, imuBuffer);
for (const auto &imuPair : imuBuffer)
{
auto ts = imuPair.timestamp;
if ((ts - lastImuTs) > timeGapReportThreshold) {
cout << "Timestamp gap in imu: " << (ts - lastImuTs) << " at time: " << ts << "\n";
}
lastImuTs = ts;
imu_ofs << "ts " << std::setprecision(15) << ts << "\n"
<< "gy " << imuPair.gyro[0] << " " << imuPair.gyro[1] << " " << imuPair.gyro[2] << "\n"
<< "ac " << imuPair.accel[0] << " " << imuPair.accel[1] << " " << imuPair.accel[2] << "\n";
}
}
imu_ofs.close();
});
while (true)
{
// 0: infrared
// 1: infrared2
// 2: depth(point cloud)
// 3: rgb
// 4: depth raw
auto frame = std::make_shared<MultiCameraFrame>();
camera.update(frame);
const auto rgb = frame->images_[3].clone();
const auto ir1 = frame->images_[0].clone();
cv::cvtColor(rgb, rgb, CV_RGB2BGR);
cv::imshow(camera.getModelName() + " IR", ir1);
if (paused)
{
// clear the imu data in camera?
// extract all imu data ever since pause??
camera.getImuToTime(frame->timestamp_, imuDispose);
imuDispose.clear();
const std::string NO_SIGNAL_STR = "PAUSED";
const cv::Scalar RECT_COLOR = cv::Scalar(0, 160, 255);
const int RECT_WID = 120, RECT_HI = 40;
for (auto &img : frame->images_)
{
const cv::Point STR_POS(img.cols / 2 - 50, img.rows / 2 + 7);
cv::Rect rect(img.cols / 2 - RECT_WID / 2,
img.rows / 2 - RECT_HI / 2,
RECT_WID, RECT_HI);
cv::rectangle(img, rect, RECT_COLOR, -1);
cv::putText(img, NO_SIGNAL_STR, STR_POS, 0, 0.8, cv::Scalar(255, 255, 255), 1, cv::LINE_AA);
}
}
else
{
img_queue.enqueue(frame);
}
// visualize results
int k = cv::waitKey(1);
if (k == 'q' || k == 'Q' || k == 27)
{
// 27 is ESC
quit = true;
break;
}
else if (k == ' ')
{
paused = !paused;
}
}
writingThread.join();
return 0;
}