Add device pose data to vio analysis
This commit is contained in:
Michael Loipfuehrer
Vladyslav Usenko
parent
547ed06a13
commit
85872d5219
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@ -247,6 +247,9 @@ target_link_libraries(basalt_opt_flow basalt pangolin)
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add_executable(basalt_vio src/vio.cpp)
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target_link_libraries(basalt_vio basalt pangolin)
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add_executable(basalt_time_alignment src/time_alignment.cpp)
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target_link_libraries(basalt_time_alignment basalt pangolin)
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find_package(realsense2 QUIET)
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if(realsense2_FOUND)
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add_executable(basalt_rs_t265_record src/rs_t265_record.cpp src/device/rs_t265.cpp)
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@ -127,6 +127,8 @@ class VioDataset {
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virtual const Eigen::vector<GyroData> &get_gyro_data() const = 0;
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virtual const std::vector<int64_t> &get_gt_timestamps() const = 0;
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virtual const Eigen::vector<Sophus::SE3d> &get_gt_pose_data() const = 0;
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virtual const std::vector<int64_t> &get_device_pose_timestamps() const = 0;
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virtual const Eigen::vector<Sophus::SE3d> &get_device_pose_data() const = 0;
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virtual int64_t get_mocap_to_imu_offset_ns() const = 0;
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virtual std::vector<ImageData> get_image_data(int64_t t_ns) = 0;
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@ -63,6 +63,10 @@ class EurocVioDataset : public VioDataset {
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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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@ -82,6 +86,12 @@ class EurocVioDataset : public VioDataset {
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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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@ -164,10 +174,16 @@ class EurocIO : public DatasetIoInterface {
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if (file_exists(path + "/mav0/state_groundtruth_estimate0/data.csv")) {
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read_gt_data_state(path + "/mav0/state_groundtruth_estimate0/");
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} else if (file_exists(path + "/mav0/gt/data.csv")) {
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read_gt_data_pose(path + "/mav0/gt/");
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} else if (file_exists(path + "/mav0/mocap0/data.csv")) {
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read_gt_data_pose(path + "/mav0/mocap0/");
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}
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if (file_exists(path + "/mav0/realsense0/data.csv")) {
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read_device_data_pose(path + "/mav0/realsense0/");
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}
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data->exposure_times.resize(data->num_cams);
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if (file_exists(path + "/mav0/cam0/exposure.csv")) {
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std::cout << "Loading exposure times for cam0" << std::endl;
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@ -300,6 +316,30 @@ class EurocIO : public DatasetIoInterface {
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}
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}
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void read_device_data_pose(const std::string &path) {
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data->device_pose_timestamps.clear();
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data->device_pose_data.clear();
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std::ifstream f(path + "data.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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uint64_t timestamp;
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Eigen::Quaterniond q;
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Eigen::Vector3d pos;
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ss >> timestamp >> tmp >> pos[0] >> tmp >> pos[1] >> tmp >> pos[2] >>
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tmp >> q.w() >> tmp >> q.x() >> tmp >> q.y() >> tmp >> q.z();
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data->device_pose_timestamps.emplace_back(timestamp);
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data->device_pose_data.emplace_back(q, pos);
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}
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}
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std::shared_ptr<EurocVioDataset> data;
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};
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@ -76,6 +76,10 @@ class RosbagVioDataset : public VioDataset {
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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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public:
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@ -93,6 +97,12 @@ class RosbagVioDataset : public VioDataset {
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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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@ -0,0 +1,468 @@
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#include <pangolin/display/image_view.h>
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#include <pangolin/gl/gldraw.h>
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#include <pangolin/image/image.h>
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#include <pangolin/image/image_io.h>
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#include <pangolin/image/typed_image.h>
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#include <pangolin/pangolin.h>
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#include <basalt/io/dataset_io.h>
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#include <basalt/serialization/headers_serialization.h>
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#include <basalt/calibration/calibration.hpp>
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#include <experimental/filesystem>
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#include <tbb/tbb.h>
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#include <CLI/CLI.hpp>
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namespace fs = std::experimental::filesystem;
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basalt::Calibration<double> calib;
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basalt::MocapCalibration<double> mocap_calib;
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// Linear time version
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double compute_error(int64_t offset,
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const std::vector<int64_t> &gyro_timestamps,
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const Eigen::vector<Eigen::Vector3d> &gyro_data,
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const std::vector<int64_t> &mocap_rot_vel_timestamps,
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const Eigen::vector<Eigen::Vector3d> &mocap_rot_vel_data) {
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double error = 0;
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int num_points = 0;
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size_t j = 0;
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for (size_t i = 0; i < mocap_rot_vel_timestamps.size(); i++) {
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int64_t corrected_time = mocap_rot_vel_timestamps[i] + offset;
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while (gyro_timestamps[j] < corrected_time) j++;
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if (j >= gyro_timestamps.size()) break;
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int64_t dist_j = gyro_timestamps[j] - corrected_time;
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int64_t dist_j_m1 = corrected_time - gyro_timestamps[j - 1];
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BASALT_ASSERT(dist_j >= 0);
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BASALT_ASSERT(dist_j_m1 >= 0);
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int idx = dist_j < dist_j_m1 ? j : j - 1;
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if (std::min(dist_j, dist_j_m1) > 1e9 / 120) continue;
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error += (gyro_data[idx] - mocap_rot_vel_data[i]).norm();
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num_points++;
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}
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return error / num_points;
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}
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int main(int argc, char **argv) {
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tbb::task_scheduler_init init(
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tbb::task_scheduler_init::default_num_threads());
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std::string dataset_path;
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std::string calibration_path;
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std::string mocap_calibration_path;
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std::string dataset_type;
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std::string output_path;
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std::string output_error_path;
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std::string output_gyro_path;
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std::string output_mocap_path;
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bool show_gui = false;
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CLI::App app{"Calibrate time offset"};
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app.add_option("-d,--dataset-path", dataset_path, "Path to dataset")
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->required();
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app.add_option("--calibration", calibration_path, "Path to calibration file")
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->required();
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app.add_option("--mocap-calibration", mocap_calibration_path,
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"Path to mocap calibration file")
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->required();
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app.add_option("--dataset-type", dataset_type, "Dataset type <euroc, bag>.")
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->required();
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app.add_option("--output", output_path,
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"Path to output file with time-offset result");
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app.add_option("--output-error", output_error_path,
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"Path to output file with error time-series for plotting");
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app.add_option(
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"--output-gyro", output_gyro_path,
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"Path to output file with gyro rotational velocities for plotting");
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app.add_option(
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"--output-mocap", output_mocap_path,
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"Path to output file with mocap rotational velocities for plotting");
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app.add_flag("--show-gui", show_gui, "Show GUI for debugging");
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try {
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app.parse(argc, argv);
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} catch (const CLI::ParseError &e) {
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return app.exit(e);
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}
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basalt::VioDatasetPtr vio_dataset;
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std::ifstream is(calibration_path);
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if (is.good()) {
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cereal::JSONInputArchive archive(is);
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archive(calib);
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std::cout << "Loaded calibration from: " << calibration_path << std::endl;
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} else {
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std::cerr << "No calibration found" << std::endl;
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std::abort();
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}
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std::ifstream mocap_is(mocap_calibration_path);
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if (mocap_is.good()) {
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cereal::JSONInputArchive archive(mocap_is);
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archive(mocap_calib);
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std::cout << "Loaded mocap calibration from: " << mocap_calibration_path
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<< std::endl;
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} else {
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std::cerr << "No mocap calibration found" << std::endl;
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std::abort();
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}
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basalt::DatasetIoInterfacePtr dataset_io =
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basalt::DatasetIoFactory::getDatasetIo(dataset_type);
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dataset_io->read(dataset_path);
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vio_dataset = dataset_io->get_data();
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std::vector<int64_t> gyro_timestamps;
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Eigen::vector<Eigen::Vector3d> gyro_data;
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std::vector<int64_t> mocap_rot_vel_timestamps;
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Eigen::vector<Eigen::Vector3d> mocap_rot_vel_data;
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// Apply calibration to gyro
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{
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int saturation_count = 0;
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for (size_t i = 0; i < vio_dataset->get_gyro_data().size(); i++) {
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if (vio_dataset->get_gyro_data()[i].data.array().abs().maxCoeff() >
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499.0 * M_PI / 180) {
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++saturation_count;
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continue;
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}
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gyro_timestamps.push_back(vio_dataset->get_gyro_data()[i].timestamp_ns);
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Eigen::Vector3d measurement = vio_dataset->get_gyro_data()[i].data;
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gyro_data.push_back(calib.calib_gyro_bias.getCalibrated(measurement));
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}
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std::cout << "saturated gyro measurement count: " << saturation_count
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<< std::endl;
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}
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// compute rotational velocity from mocap data
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{
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Sophus::SE3d T_mark_i = mocap_calib.T_i_mark.inverse();
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int saturation_count = 0;
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for (size_t i = 1; i < vio_dataset->get_gt_timestamps().size() - 1; i++) {
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Sophus::SE3d p0, p1;
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// compute central differences, to have no timestamp bias
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p0 = vio_dataset->get_gt_pose_data()[i - 1] * T_mark_i;
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p1 = vio_dataset->get_gt_pose_data()[i + 1] * T_mark_i;
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double dt = (vio_dataset->get_gt_timestamps()[i + 1] -
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vio_dataset->get_gt_timestamps()[i - 1]) *
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1e-9;
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// only compute difference, if measurements are really 2 consecutive
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// measurements apart (assuming 120 Hz data)
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if (dt > 2.5 / 120) continue;
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Eigen::Vector3d rot_vel = (p0.so3().inverse() * p1.so3()).log() / dt;
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// Filter outliers
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if (rot_vel.array().abs().maxCoeff() > 500 * M_PI / 180) {
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++saturation_count;
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continue;
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}
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mocap_rot_vel_timestamps.push_back(vio_dataset->get_gt_timestamps()[i]);
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mocap_rot_vel_data.push_back(rot_vel);
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}
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std::cout << "outlier mocap rotation velocity count: " << saturation_count
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<< std::endl;
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}
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std::cout << "gyro_data.size() " << gyro_data.size() << std::endl;
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std::cout << "mocap_rot_vel_data.size() " << mocap_rot_vel_data.size()
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<< std::endl;
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std::vector<double> offsets_vec;
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std::vector<double> errors_vec;
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int best_offset_ns = 0;
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double best_error = std::numeric_limits<double>::max();
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int best_error_idx = -1;
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int64_t max_offset_ns = 10000000000;
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int64_t offset_inc_ns = 100000;
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for (int64_t offset_ns = -max_offset_ns; offset_ns <= max_offset_ns;
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offset_ns += offset_inc_ns) {
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double error = compute_error(offset_ns, gyro_timestamps, gyro_data,
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mocap_rot_vel_timestamps, mocap_rot_vel_data);
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offsets_vec.push_back(offset_ns * 1e-6);
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errors_vec.push_back(error);
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if (error < best_error) {
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best_error = error;
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best_offset_ns = offset_ns;
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best_error_idx = errors_vec.size() - 1;
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}
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}
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std::cout << "Best error: " << best_error << std::endl;
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std::cout << "Best error idx : " << best_error_idx << std::endl;
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std::cout << "Best offset: " << best_offset_ns << std::endl;
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pangolin::DataLog error_log;
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int best_offset_refined_ns = best_offset_ns;
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// Subpixel accuracy
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Eigen::Vector3d coeff(0, 0, 0);
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{
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const static int SAMPLE_INTERVAL = 10;
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if (best_error_idx - SAMPLE_INTERVAL >= 0 &&
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best_error_idx + SAMPLE_INTERVAL < int(errors_vec.size())) {
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Eigen::MatrixXd pol(2 * SAMPLE_INTERVAL + 1, 3);
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Eigen::VectorXd err(2 * SAMPLE_INTERVAL + 1);
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for (int i = 0; i < 2 * SAMPLE_INTERVAL + 1; i++) {
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int idx = i - SAMPLE_INTERVAL;
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pol(i, 0) = idx * idx;
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pol(i, 1) = idx;
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pol(i, 2) = 1;
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err(i) = errors_vec[best_error_idx + idx];
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}
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coeff =
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pol.jacobiSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(err);
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double a = coeff[0];
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double b = coeff[1];
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if (a > 1e-9) {
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best_offset_refined_ns -= offset_inc_ns * b / (2 * a);
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}
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}
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for (size_t i = 0; i < errors_vec.size(); i++) {
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const double idx =
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static_cast<double>(static_cast<int>(i) - best_error_idx);
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const Eigen::Vector3d pol(idx * idx, idx, 1);
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error_log.Log(offsets_vec[i], errors_vec[i], pol.transpose() * coeff);
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}
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}
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std::cout << "Best error refined: "
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<< compute_error(best_offset_refined_ns, gyro_timestamps, gyro_data,
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mocap_rot_vel_timestamps, mocap_rot_vel_data)
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<< std::endl;
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std::cout << "Best offset refined: " << best_offset_refined_ns << std::endl;
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std::cout << "Total mocap offset: "
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<< vio_dataset->get_mocap_to_imu_offset_ns() +
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best_offset_refined_ns
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<< std::endl;
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if (output_path != "") {
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std::ofstream os(output_path);
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cereal::JSONOutputArchive archive(os);
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archive(cereal::make_nvp("mocap_to_imu_initial_offset_ns",
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vio_dataset->get_mocap_to_imu_offset_ns()));
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archive(cereal::make_nvp("mocap_to_imu_additional_offset_refined_ns",
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best_offset_refined_ns));
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archive(cereal::make_nvp(
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"mocap_to_imu_total_offset_ns",
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vio_dataset->get_mocap_to_imu_offset_ns() + best_offset_refined_ns));
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}
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if (output_error_path != "") {
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std::cout << "Writing error time series to '" << output_error_path << "'"
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<< std::endl;
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std::ofstream os(output_error_path);
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os << "#TIME_MS,ERROR,ERROR_FITTED" << std::endl;
|
||||
os << "# best_offset_ms: " << best_offset_ns * 1e-6
|
||||
<< ", best_offset_refined_ms: " << best_offset_refined_ns * 1e-6
|
||||
<< std::endl;
|
||||
|
||||
for (size_t i = 0; i < errors_vec.size(); ++i) {
|
||||
const double idx =
|
||||
static_cast<double>(static_cast<int>(i) - best_error_idx);
|
||||
const Eigen::Vector3d pol(idx * idx, idx, 1);
|
||||
const double fitted = pol.transpose() * coeff;
|
||||
os << offsets_vec[i] << "," << errors_vec[i] << "," << fitted
|
||||
<< std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
int64_t min_time = vio_dataset->get_gyro_data().front().timestamp_ns;
|
||||
int64_t max_time = vio_dataset->get_gyro_data().back().timestamp_ns;
|
||||
|
||||
if (output_gyro_path != "") {
|
||||
std::cout << "Writing gyro values to '" << output_gyro_path << "'"
|
||||
<< std::endl;
|
||||
|
||||
std::ofstream os(output_gyro_path);
|
||||
os << "#TIME_M, GX, GY, GZ" << std::endl;
|
||||
|
||||
for (size_t i = 0; i < gyro_timestamps.size(); ++i) {
|
||||
os << (gyro_timestamps[i] - min_time) * 1e-9 << " "
|
||||
<< gyro_data[i].transpose() << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
if (output_mocap_path != "") {
|
||||
std::cout << "Writing mocap rotational velocity values to '"
|
||||
<< output_mocap_path << "'" << std::endl;
|
||||
|
||||
std::ofstream os(output_mocap_path);
|
||||
os << "#TIME_M, GX, GY, GZ" << std::endl;
|
||||
|
||||
for (size_t i = 0; i < gyro_timestamps.size(); ++i) {
|
||||
os << (mocap_rot_vel_timestamps[i] + best_offset_ns - min_time) * 1e-9
|
||||
<< " " << mocap_rot_vel_data[i].transpose() << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
if (show_gui) {
|
||||
static constexpr int UI_WIDTH = 280;
|
||||
|
||||
pangolin::CreateWindowAndBind("Main", 1280, 800);
|
||||
|
||||
pangolin::Plotter *plotter;
|
||||
|
||||
pangolin::DataLog data_log, mocap_log;
|
||||
|
||||
pangolin::View &plot_display = pangolin::CreateDisplay().SetBounds(
|
||||
0.0, 1.0, pangolin::Attach::Pix(UI_WIDTH), 1.0);
|
||||
|
||||
pangolin::CreatePanel("ui").SetBounds(0.0, 1.0, 0.0,
|
||||
pangolin::Attach::Pix(UI_WIDTH));
|
||||
|
||||
plotter = new pangolin::Plotter(&data_log, 0, (max_time - min_time) * 1e-9,
|
||||
-10.0, 10.0, 0.01, 0.01);
|
||||
|
||||
plot_display.AddDisplay(*plotter);
|
||||
pangolin::Var<bool> show_gyro("ui.show_gyro", true, false, true);
|
||||
pangolin::Var<bool> show_mocap_rot_vel("ui.show_mocap_rot_vel", true, false,
|
||||
true);
|
||||
|
||||
pangolin::Var<bool> show_error("ui.show_error", false, false, true);
|
||||
|
||||
pangolin::Var<std::function<void(void)>> save_aligned_dataset(
|
||||
"ui.save_aligned_dataset", [&]() {
|
||||
if (fs::exists(fs::path(dataset_path + "mav0/gt/data.csv"))) {
|
||||
std::cout << "Aligned grount truth data already exists, skipping."
|
||||
<< std::endl;
|
||||
return;
|
||||
}
|
||||
std::cout << "Saving aligned dataset in "
|
||||
<< dataset_path + "mav0/gt/data.csv" << std::endl;
|
||||
// output corrected mocap data
|
||||
Sophus::SE3d T_mark_i = mocap_calib.T_i_mark.inverse();
|
||||
fs::create_directory(dataset_path + "mav0/gt/");
|
||||
std::ofstream gt_out_stream;
|
||||
gt_out_stream.open(dataset_path + "mav0/gt/data.csv");
|
||||
gt_out_stream
|
||||
<< "#timestamp [ns], p_RS_R_x [m], p_RS_R_y [m], p_RS_R_z [m], "
|
||||
"q_RS_w [], q_RS_x [], q_RS_y [], q_RS_z []\n";
|
||||
|
||||
for (size_t i = 0; i < vio_dataset->get_gt_timestamps().size(); i++) {
|
||||
gt_out_stream << vio_dataset->get_gt_timestamps()[i] +
|
||||
best_offset_refined_ns
|
||||
<< ",";
|
||||
Sophus::SE3d pose_corrected =
|
||||
vio_dataset->get_gt_pose_data()[i] * T_mark_i;
|
||||
gt_out_stream << pose_corrected.translation().x() << ","
|
||||
<< pose_corrected.translation().y() << ","
|
||||
<< pose_corrected.translation().z() << ","
|
||||
<< pose_corrected.unit_quaternion().w() << ","
|
||||
<< pose_corrected.unit_quaternion().x() << ","
|
||||
<< pose_corrected.unit_quaternion().y() << ","
|
||||
<< pose_corrected.unit_quaternion().z() << std::endl;
|
||||
}
|
||||
gt_out_stream.close();
|
||||
});
|
||||
|
||||
auto recompute_logs = [&]() {
|
||||
data_log.Clear();
|
||||
mocap_log.Clear();
|
||||
|
||||
for (size_t i = 0; i < gyro_timestamps.size(); i++) {
|
||||
data_log.Log((gyro_timestamps[i] - min_time) * 1e-9, gyro_data[i][0],
|
||||
gyro_data[i][1], gyro_data[i][2]);
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < mocap_rot_vel_timestamps.size(); i++) {
|
||||
mocap_log.Log(
|
||||
(mocap_rot_vel_timestamps[i] + best_offset_ns - min_time) * 1e-9,
|
||||
mocap_rot_vel_data[i][0], mocap_rot_vel_data[i][1],
|
||||
mocap_rot_vel_data[i][2]);
|
||||
}
|
||||
};
|
||||
|
||||
auto drawPlots = [&]() {
|
||||
plotter->ClearSeries();
|
||||
plotter->ClearMarkers();
|
||||
|
||||
if (show_gyro) {
|
||||
plotter->AddSeries("$0", "$1", pangolin::DrawingModeLine,
|
||||
pangolin::Colour::Red(), "g x");
|
||||
plotter->AddSeries("$0", "$2", pangolin::DrawingModeLine,
|
||||
pangolin::Colour::Green(), "g y");
|
||||
plotter->AddSeries("$0", "$3", pangolin::DrawingModeLine,
|
||||
pangolin::Colour::Blue(), "g z");
|
||||
}
|
||||
|
||||
if (show_mocap_rot_vel) {
|
||||
plotter->AddSeries("$0", "$1", pangolin::DrawingModeLine,
|
||||
pangolin::Colour(1, 1, 0), "pv x", &mocap_log);
|
||||
plotter->AddSeries("$0", "$2", pangolin::DrawingModeLine,
|
||||
pangolin::Colour(1, 0, 1), "pv y", &mocap_log);
|
||||
plotter->AddSeries("$0", "$3", pangolin::DrawingModeLine,
|
||||
pangolin::Colour(0, 1, 1), "pv z", &mocap_log);
|
||||
}
|
||||
|
||||
if (show_error) {
|
||||
plotter->AddSeries("$0", "$1", pangolin::DrawingModeLine,
|
||||
pangolin::Colour(1, 1, 1), "error", &error_log);
|
||||
plotter->AddSeries("$0", "$2", pangolin::DrawingModeLine,
|
||||
pangolin::Colour(0.3, 1, 0.8), "fitted error",
|
||||
&error_log);
|
||||
plotter->AddMarker(pangolin::Marker::Vertical,
|
||||
best_offset_refined_ns * 1e-6,
|
||||
pangolin::Marker::Equal, pangolin::Colour(1, 0, 0));
|
||||
}
|
||||
};
|
||||
|
||||
recompute_logs();
|
||||
drawPlots();
|
||||
|
||||
while (!pangolin::ShouldQuit()) {
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
if (show_gyro.GuiChanged() || show_mocap_rot_vel.GuiChanged() ||
|
||||
show_error.GuiChanged()) {
|
||||
drawPlots();
|
||||
}
|
||||
|
||||
pangolin::FinishFrame();
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
26
src/vio.cpp
26
src/vio.cpp
|
|
@ -71,6 +71,7 @@ bool next_step();
|
|||
bool prev_step();
|
||||
void draw_plots();
|
||||
void alignButton();
|
||||
void alignDeviceButton();
|
||||
|
||||
// Pangolin variables
|
||||
constexpr int UI_WIDTH = 200;
|
||||
|
|
@ -91,6 +92,7 @@ pangolin::Var<bool> show_est_bg("ui.show_est_bg", false, false, true);
|
|||
pangolin::Var<bool> show_est_ba("ui.show_est_ba", false, false, true);
|
||||
|
||||
pangolin::Var<bool> show_gt("ui.show_gt", true, false, true);
|
||||
pangolin::Var<bool> show_device_gt("ui.show_device_gt", true, false, true);
|
||||
|
||||
Button next_step_btn("ui.next_step", &next_step);
|
||||
Button prev_step_btn("ui.prev_step", &prev_step);
|
||||
|
|
@ -99,6 +101,7 @@ 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);
|
||||
|
||||
|
|
@ -114,6 +117,9 @@ 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;
|
||||
|
||||
|
|
@ -173,6 +179,7 @@ void feed_imu() {
|
|||
int main(int argc, char** argv) {
|
||||
bool show_gui = true;
|
||||
bool print_queue = false;
|
||||
bool terminate = false;
|
||||
std::string cam_calib_path;
|
||||
std::string dataset_path;
|
||||
std::string dataset_type;
|
||||
|
|
@ -239,6 +246,13 @@ 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();
|
||||
|
|
@ -335,7 +349,7 @@ int main(int argc, char** argv) {
|
|||
|
||||
if (print_queue) {
|
||||
t5.reset(new std::thread([&]() {
|
||||
while (true) {
|
||||
while (!terminate) {
|
||||
std::cout << "opt_flow_ptr->input_queue "
|
||||
<< opt_flow_ptr->input_queue.size()
|
||||
<< " opt_flow_ptr->output_queue "
|
||||
|
|
@ -464,10 +478,13 @@ int main(int argc, char** argv) {
|
|||
}
|
||||
}
|
||||
|
||||
terminate = true;
|
||||
|
||||
t1.join();
|
||||
t2.join();
|
||||
if (t3.get()) t3->join();
|
||||
t4.join();
|
||||
if (t5.get()) t5->join();
|
||||
|
||||
if (!result_path.empty()) {
|
||||
double error = basalt::alignSVD(vio_t_ns, vio_t_w_i, gt_t_ns, gt_t_w_i);
|
||||
|
|
@ -545,6 +562,10 @@ 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);
|
||||
|
|
@ -653,3 +674,6 @@ 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);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue