Added UZH dataset reader
This commit is contained in:
Vladyslav Usenko
parent
6dc66d3569
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1e2fcb4ce9
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/**
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BSD 3-Clause License
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This file is part of the Basalt project.
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https://gitlab.com/VladyslavUsenko/basalt.git
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Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <basalt/io/dataset_io.h>
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#include <experimental/filesystem>
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namespace fs = std::experimental::filesystem;
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#include <opencv2/highgui/highgui.hpp>
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namespace basalt {
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class UzhVioDataset : public VioDataset {
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size_t num_cams;
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std::string path;
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std::vector<int64_t> image_timestamps;
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std::unordered_map<int64_t, std::string> left_image_path;
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std::unordered_map<int64_t, std::string> right_image_path;
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// vector of images for every timestamp
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// assumes vectors size is num_cams for every timestamp with null pointers for
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// missing frames
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// std::unordered_map<int64_t, std::vector<ImageData>> image_data;
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Eigen::vector<AccelData> accel_data;
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Eigen::vector<GyroData> gyro_data;
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std::vector<int64_t> gt_timestamps; // ordered gt timestamps
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Eigen::vector<Sophus::SE3d> gt_pose_data; // TODO: change to eigen aligned
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std::vector<int64_t> device_pose_timestamps; // ordered gt timestamps
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Eigen::vector<Sophus::SE3d>
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device_pose_data; // TODO: change to eigen aligned
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int64_t mocap_to_imu_offset_ns;
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std::vector<std::unordered_map<int64_t, double>> exposure_times;
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public:
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~UzhVioDataset(){};
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size_t get_num_cams() const { return num_cams; }
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std::vector<int64_t> &get_image_timestamps() { return image_timestamps; }
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const Eigen::vector<AccelData> &get_accel_data() const { return accel_data; }
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const Eigen::vector<GyroData> &get_gyro_data() const { return gyro_data; }
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const std::vector<int64_t> &get_gt_timestamps() const {
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return gt_timestamps;
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}
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const Eigen::vector<Sophus::SE3d> &get_gt_pose_data() const {
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return gt_pose_data;
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}
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const std::vector<int64_t> &get_device_pose_timestamps() const {
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return device_pose_timestamps;
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}
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const Eigen::vector<Sophus::SE3d> &get_device_pose_data() const {
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return device_pose_data;
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}
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int64_t get_mocap_to_imu_offset_ns() const { return mocap_to_imu_offset_ns; }
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std::vector<ImageData> get_image_data(int64_t t_ns) {
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std::vector<ImageData> res(num_cams);
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for (size_t i = 0; i < num_cams; i++) {
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std::string full_image_path =
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path + "/" +
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(i == 0 ? left_image_path.at(t_ns) : right_image_path.at(t_ns));
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if (file_exists(full_image_path)) {
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cv::Mat img = cv::imread(full_image_path, cv::IMREAD_UNCHANGED);
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if (img.type() == CV_8UC1) {
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res[i].img.reset(new ManagedImage<uint16_t>(img.cols, img.rows));
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const uint8_t *data_in = img.ptr();
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uint16_t *data_out = res[i].img->ptr;
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size_t full_size = img.cols * img.rows;
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for (size_t i = 0; i < full_size; i++) {
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int val = data_in[i];
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val = val << 8;
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data_out[i] = val;
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}
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} else if (img.type() == CV_8UC3) {
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res[i].img.reset(new ManagedImage<uint16_t>(img.cols, img.rows));
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const uint8_t *data_in = img.ptr();
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uint16_t *data_out = res[i].img->ptr;
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size_t full_size = img.cols * img.rows;
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for (size_t i = 0; i < full_size; i++) {
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int val = data_in[i * 3];
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val = val << 8;
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data_out[i] = val;
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}
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} else if (img.type() == CV_16UC1) {
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res[i].img.reset(new ManagedImage<uint16_t>(img.cols, img.rows));
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std::memcpy(res[i].img->ptr, img.ptr(),
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img.cols * img.rows * sizeof(uint16_t));
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} else {
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std::cerr << "img.fmt.bpp " << img.type() << std::endl;
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std::abort();
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}
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auto exp_it = exposure_times[i].find(t_ns);
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if (exp_it != exposure_times[i].end()) {
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res[i].exposure = exp_it->second;
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}
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}
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}
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return res;
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}
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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friend class UzhIO;
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};
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class UzhIO : public DatasetIoInterface {
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public:
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UzhIO() {}
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void read(const std::string &path) {
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if (!fs::exists(path))
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std::cerr << "No dataset found in " << path << std::endl;
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data.reset(new UzhVioDataset);
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data->num_cams = 2;
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data->path = path;
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read_image_timestamps(path);
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std::cout << "Loaded " << data->get_image_timestamps().size()
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<< " timestamps, " << data->left_image_path.size()
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<< " left images and " << data->right_image_path.size()
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<< std::endl;
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{
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int64_t t_ns = data->get_image_timestamps()[0];
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std::cout << t_ns << " " << data->left_image_path.at(t_ns) << " "
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<< data->right_image_path.at(t_ns) << std::endl;
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}
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read_imu_data(path + "/imu.txt");
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std::cout << "Loaded " << data->get_gyro_data().size() << " imu msgs."
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<< std::endl;
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{}
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if (file_exists(path + "/groundtruth.txt")) {
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read_gt_data_pose(path + "/groundtruth.txt");
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}
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data->exposure_times.resize(data->num_cams);
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}
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void reset() { data.reset(); }
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VioDatasetPtr get_data() { return data; }
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private:
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void read_exposure(const std::string &path,
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std::unordered_map<int64_t, double> &exposure_data) {
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exposure_data.clear();
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std::ifstream f(path + "exposure.csv");
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std::string line;
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while (std::getline(f, line)) {
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if (line[0] == '#') continue;
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std::stringstream ss(line);
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char tmp;
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int64_t timestamp, exposure_int;
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Eigen::Vector3d gyro, accel;
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ss >> timestamp >> tmp >> exposure_int;
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exposure_data[timestamp] = exposure_int * 1e-9;
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}
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}
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void read_image_timestamps(const std::string &path) {
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{
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std::ifstream f(path + "/left_images.txt");
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std::string line;
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while (std::getline(f, line)) {
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if (line[0] == '#') continue;
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std::stringstream ss(line);
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int tmp;
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double t_s;
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std::string path;
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ss >> tmp >> t_s >> path;
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int64_t t_ns = t_s * 1e9;
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data->image_timestamps.emplace_back(t_ns);
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data->left_image_path[t_ns] = path;
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}
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}
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{
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std::ifstream f(path + "/right_images.txt");
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std::string line;
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while (std::getline(f, line)) {
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if (line[0] == '#') continue;
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std::stringstream ss(line);
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int tmp;
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double t_s;
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std::string path;
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ss >> tmp >> t_s >> path;
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int64_t t_ns = t_s * 1e9;
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data->right_image_path[t_ns] = path;
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}
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}
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}
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void read_imu_data(const std::string &path) {
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data->accel_data.clear();
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data->gyro_data.clear();
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std::ifstream f(path);
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std::string line;
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while (std::getline(f, line)) {
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if (line[0] == '#') continue;
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std::stringstream ss(line);
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int tmp;
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double timestamp;
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Eigen::Vector3d gyro, accel;
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ss >> tmp >> timestamp >> gyro[0] >> gyro[1] >> gyro[2] >> accel[0] >>
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accel[1] >> accel[2];
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int64_t t_ns = timestamp * 1e9;
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data->accel_data.emplace_back();
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data->accel_data.back().timestamp_ns = t_ns;
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data->accel_data.back().data = accel;
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data->gyro_data.emplace_back();
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data->gyro_data.back().timestamp_ns = t_ns;
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data->gyro_data.back().data = gyro;
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}
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}
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void read_gt_data_pose(const std::string &path) {
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data->gt_timestamps.clear();
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data->gt_pose_data.clear();
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std::ifstream f(path);
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std::string line;
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while (std::getline(f, line)) {
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if (line[0] == '#') continue;
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std::stringstream ss(line);
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int tmp;
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double timestamp;
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Eigen::Quaterniond q;
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Eigen::Vector3d pos;
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ss >> tmp >> timestamp >> pos[0] >> pos[1] >> pos[2] >> q.x() >> q.y() >>
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q.z() >> q.w();
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data->gt_timestamps.emplace_back(timestamp * 1e9);
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data->gt_pose_data.emplace_back(q, pos);
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}
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}
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std::shared_ptr<UzhVioDataset> data;
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};
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} // namespace basalt
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@ -36,6 +36,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <basalt/io/dataset_io.h>
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#include <basalt/io/dataset_io_euroc.h>
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#include <basalt/io/dataset_io_rosbag.h>
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#include <basalt/io/dataset_io_uzh.h>
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namespace basalt {
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@ -46,6 +47,8 @@ DatasetIoInterfacePtr DatasetIoFactory::getDatasetIo(
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return DatasetIoInterfacePtr(new EurocIO);
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} else if (dataset_type == "bag") {
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return DatasetIoInterfacePtr(new RosbagIO(with_images));
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} else if (dataset_type == "uzh") {
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return DatasetIoInterfacePtr(new UzhIO);
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} else {
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std::cerr << "Dataset type " << dataset_type << " is not supported"
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<< std::endl;
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