removed device data

include/basalt/io/dataset_io.h

@@ -127,8 +127,6 @@ class VioDataset {
   virtual const Eigen::vector<GyroData> &get_gyro_data() const = 0;
   virtual const std::vector<int64_t> &get_gt_timestamps() const = 0;
   virtual const Eigen::vector<Sophus::SE3d> &get_gt_pose_data() const = 0;
-  virtual const std::vector<int64_t> &get_device_pose_timestamps() const = 0;
-  virtual const Eigen::vector<Sophus::SE3d> &get_device_pose_data() const = 0;
   virtual int64_t get_mocap_to_imu_offset_ns() const = 0;
   virtual std::vector<ImageData> get_image_data(int64_t t_ns) = 0;
 

include/basalt/io/dataset_io_euroc.h

@@ -63,10 +63,6 @@ class EurocVioDataset : public VioDataset {
   std::vector<int64_t> gt_timestamps;        // ordered gt timestamps
   Eigen::vector<Sophus::SE3d> gt_pose_data;  // TODO: change to eigen aligned
 
-  std::vector<int64_t> device_pose_timestamps;  // ordered gt timestamps
-  Eigen::vector<Sophus::SE3d>
-      device_pose_data;  // TODO: change to eigen aligned
-
   int64_t mocap_to_imu_offset_ns = 0;
 
   std::vector<std::unordered_map<int64_t, double>> exposure_times;
@@ -86,12 +82,7 @@ class EurocVioDataset : public VioDataset {
   const Eigen::vector<Sophus::SE3d> &get_gt_pose_data() const {
     return gt_pose_data;
   }
-  const std::vector<int64_t> &get_device_pose_timestamps() const {
+
-    return device_pose_timestamps;
-  }
-  const Eigen::vector<Sophus::SE3d> &get_device_pose_data() const {
-    return device_pose_data;
-  }
   int64_t get_mocap_to_imu_offset_ns() const { return mocap_to_imu_offset_ns; }
 
   std::vector<ImageData> get_image_data(int64_t t_ns) {
@@ -180,10 +171,6 @@ class EurocIO : public DatasetIoInterface {
       read_gt_data_pose(path + "/mav0/mocap0/");
     }
 
-    if (file_exists(path + "/mav0/realsense0/data.csv")) {
-      read_device_data_pose(path + "/mav0/realsense0/");
-    }
-
     data->exposure_times.resize(data->num_cams);
     if (file_exists(path + "/mav0/cam0/exposure.csv")) {
       std::cout << "Loading exposure times for cam0" << std::endl;
@@ -316,32 +303,8 @@ class EurocIO : public DatasetIoInterface {
     }
   }
 
-  void read_device_data_pose(const std::string &path) {
-    data->device_pose_timestamps.clear();
-    data->device_pose_data.clear();
-
-    std::ifstream f(path + "data.csv");
-    std::string line;
-    while (std::getline(f, line)) {
-      if (line[0] == '#') continue;
-
-      std::stringstream ss(line);
-
-      char tmp;
-      uint64_t timestamp;
-      Eigen::Quaterniond q;
-      Eigen::Vector3d pos;
-
-      ss >> timestamp >> tmp >> pos[0] >> tmp >> pos[1] >> tmp >> pos[2] >>
-          tmp >> q.w() >> tmp >> q.x() >> tmp >> q.y() >> tmp >> q.z();
-
-      data->device_pose_timestamps.emplace_back(timestamp);
-      data->device_pose_data.emplace_back(q, pos);
-    }
-  }
-
   std::shared_ptr<EurocVioDataset> data;
-};
+};  // namespace basalt
 
 }  // namespace basalt
 

include/basalt/io/dataset_io_rosbag.h

@@ -77,10 +77,6 @@ class RosbagVioDataset : public VioDataset {
   std::vector<int64_t> gt_timestamps;        // ordered gt timestamps
   Eigen::vector<Sophus::SE3d> gt_pose_data;  // TODO: change to eigen aligned
 
-  std::vector<int64_t> device_pose_timestamps;  // ordered gt timestamps
-  Eigen::vector<Sophus::SE3d>
-      device_pose_data;  // TODO: change to eigen aligned
-
   int64_t mocap_to_imu_offset_ns;
 
  public:
@@ -98,12 +94,7 @@ class RosbagVioDataset : public VioDataset {
   const Eigen::vector<Sophus::SE3d> &get_gt_pose_data() const {
     return gt_pose_data;
   }
-  const std::vector<int64_t> &get_device_pose_timestamps() const {
+
-    return device_pose_timestamps;
-  }
-  const Eigen::vector<Sophus::SE3d> &get_device_pose_data() const {
-    return device_pose_data;
-  }
   int64_t get_mocap_to_imu_offset_ns() const { return mocap_to_imu_offset_ns; }
 
   std::vector<ImageData> get_image_data(int64_t t_ns) {

include/basalt/io/dataset_io_uzh.h

@@ -64,10 +64,6 @@ class UzhVioDataset : public VioDataset {
   std::vector<int64_t> gt_timestamps;        // ordered gt timestamps
   Eigen::vector<Sophus::SE3d> gt_pose_data;  // TODO: change to eigen aligned
 
-  std::vector<int64_t> device_pose_timestamps;  // ordered gt timestamps
-  Eigen::vector<Sophus::SE3d>
-      device_pose_data;  // TODO: change to eigen aligned
-
   int64_t mocap_to_imu_offset_ns = 0;
 
   std::vector<std::unordered_map<int64_t, double>> exposure_times;
@@ -87,12 +83,7 @@ class UzhVioDataset : public VioDataset {
   const Eigen::vector<Sophus::SE3d> &get_gt_pose_data() const {
     return gt_pose_data;
   }
-  const std::vector<int64_t> &get_device_pose_timestamps() const {
+
-    return device_pose_timestamps;
-  }
-  const Eigen::vector<Sophus::SE3d> &get_device_pose_data() const {
-    return device_pose_data;
-  }
   int64_t get_mocap_to_imu_offset_ns() const { return mocap_to_imu_offset_ns; }
 
   std::vector<ImageData> get_image_data(int64_t t_ns) {

src/vio.cpp

@@ -101,7 +101,6 @@ pangolin::Var<bool> continue_btn("ui.continue", false, false, true);
 pangolin::Var<bool> continue_fast("ui.continue_fast", true, false, true);
 
 Button align_svd_btn("ui.align_svd", &alignButton);
-Button align_device_svd_btn("ui.align_device_svd", &alignDeviceButton);
 
 pangolin::Var<bool> follow("ui.follow", true, false, true);
 
@@ -117,9 +116,6 @@ Eigen::vector<Eigen::Vector3d> vio_t_w_i;
 std::vector<int64_t> gt_t_ns;
 Eigen::vector<Eigen::Vector3d> gt_t_w_i;
 
-std::vector<int64_t> device_pose_t_ns;
-Eigen::vector<Eigen::Vector3d> device_pose_t_w_i;
-
 std::string marg_data_path;
 size_t last_frame_processed = 0;
 
@@ -246,13 +242,6 @@ int main(int argc, char** argv) {
       gt_t_ns.push_back(vio_dataset->get_gt_timestamps()[i]);
       gt_t_w_i.push_back(vio_dataset->get_gt_pose_data()[i].translation());
     }
-
-    for (size_t i = 0; i < vio_dataset->get_device_pose_data().size(); i++) {
-      device_pose_t_ns.push_back(vio_dataset->get_device_pose_timestamps()[i]);
-      device_pose_t_w_i.push_back(
-          vio_dataset->get_device_pose_data()[i].translation());
-    }
-    std::cout << "Len " << device_pose_t_ns.size() << std::endl;
   }
 
   const int64_t start_t_ns = vio_dataset->get_image_timestamps().front();
@@ -577,10 +566,6 @@ void draw_scene() {
   glColor3ubv(gt_color);
   if (show_gt) pangolin::glDrawLineStrip(gt_t_w_i);
 
-  u_int8_t device_color[3]{150, 150, 0};
-  glColor3ubv(device_color);
-  if (show_device_gt) pangolin::glDrawLineStrip(device_pose_t_w_i);
-
   size_t frame_id = show_frame;
   int64_t t_ns = vio_dataset->get_image_timestamps()[frame_id];
   auto it = vis_map.find(t_ns);
@@ -689,6 +674,3 @@ void draw_plots() {
 }
 
 void alignButton() { basalt::alignSVD(vio_t_ns, vio_t_w_i, gt_t_ns, gt_t_w_i); }
-void alignDeviceButton() {
-  basalt::alignSVD(device_pose_t_ns, device_pose_t_w_i, gt_t_ns, gt_t_w_i);
-}