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main.cpp
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main.cpp
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#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#include <vector>
#include <algorithm>
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "highgui.h"
#include "opencv2/opencv.hpp"
#include <string>
#include <fstream>
#include "includes/helperfunctions.h"
// DLoopDetector and DBoW2
#include <DBoW2/DBoW2.h> // defines Surf64Vocabulary
#include "DLoopDetector.h" // defines Surf64LoopDetector
#include <DUtilsCV/DUtilsCV.h> // defines macros CVXX
// OpenCV
#include <opencv2/core.hpp>
#include <opencv2/xfeatures2d/nonfree.hpp>
// Demo
#include "includes/demoDetector.h"
using namespace DLoopDetector;
using namespace DBoW2;
using namespace std;
using namespace cv;
#define PI 3.14159265
Matrix aboutX = Matrix::rotMatX(-PI,4);
Matrix new_tr;
Matrix new_tr_global;
double valx;
double valz;
string IMG_DIR1 = "/home/iiith/Downloads/newrun/loop2";
string IMG_DIR2 = "/home/iiith/Downloads/newrun/loop3";
static const string VOC_FILE = "./resources/iiit_voc.voc.gz"; //
//static const string IMAGE_DIR = + "left";
static const int IMAGE_W = 1280; // image size
static const int IMAGE_H = 720;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//void my_dloop(std::vector<int> &index1, std::vector<int> &index2,string file, string img_dir, int a, int b);
void my_dloop(std::vector<loops> &loop, string VOC_FILE1,string IMAGE_DIR1,string IMAGE_DIR2, int IMAGE_W1, int IMAGE_H1);
/// This functor extracts SURF64 descriptors in the required format
class SurfExtractor: public FeatureExtractor<FSurf64::TDescriptor>
{
public:
/**
* Extracts features from an image
* @param im image
* @param keys keypoints extracted
* @param descriptors descriptors extracted
*/
virtual void operator()(const cv::Mat &im,
vector<cv::KeyPoint> &keys, vector<vector<float> > &descriptors) const;
};
//
struct Quat{
double w,x,y,z;
};
Quat CalculateRotation(Matrix a) {
Quat q;
float trace = a.getData(0,0) + a.getData(1,1) + a.getData(2,2); // I removed + 1.0f; see discussion with Ethan
if( trace > 0 ) {// I changed M_EPSILON to 0
float s = 0.5f / sqrtf(trace+ 1.0f);
q.w = 0.25f / s;
q.x = ( a.getData(2,1) - a.getData(1,2) ) * s;
q.y = ( a.getData(0,2) - a.getData(2,0) ) * s;
q.z = ( a.getData(1,0) - a.getData(0,1) ) * s;
} else {
if ( a.getData(0,0) > a.getData(1,1) && a.getData(0,0) > a.getData(2,2) ) {
float s = 2.0f * sqrtf( 1.0f + a.getData(0,0) - a.getData(1,1) - a.getData(2,2));
q.w = (a.getData(2,1) - a.getData(1,2) ) / s;
q.x = 0.25f * s;
q.y = (a.getData(0,1) + a.getData(1,0) ) / s;
q.z = (a.getData(0,2) + a.getData(2,0) ) / s;
} else if (a.getData(1,1) > a.getData(2,2)) {
float s = 2.0f * sqrtf( 1.0f + a.getData(1,1) - a.getData(0,0) - a.getData(2,2));
q.w = (a.getData(0,2) - a.getData(2,0) ) / s;
q.x = (a.getData(0,1) + a.getData(1,0) ) / s;
q.y = 0.25f * s;
q.z = (a.getData(1,2) + a.getData(2,1) ) / s;
} else {
float s = 2.0f * sqrtf( 1.0f + a.getData(2,2) - a.getData(0,0) - a.getData(1,1) );
q.w = (a.getData(1,0) - a.getData(0,1) ) / s;
q.x = (a.getData(0,2) + a.getData(2,0) ) / s;
q.y = (a.getData(1,2) + a.getData(2,1) ) / s;
q.z = 0.25f * s;
}
}
return q;
}
// For single loop
int main()
{
ofstream traj_local, traj_global, for_plot, for_g2o_traj, for_g2o_traj_with_loops,for_g2o_traj_with_loops_quat;
traj_local.open("data/loop1/Tr_local_1.txt");
traj_global.open("data/loop1/Tr_global_1.txt");
for_plot.open("data/loop1/2d_coords_1.txt");
for_g2o_traj.open("data/loop1/traj1.g2o");
for_g2o_traj_with_loops.open("data/merging/traj1_traj2_with_inliers.g2o");
for_g2o_traj_with_loops_quat.open("data/merging/traj1_traj2_quat.g2o");
int numImages1 =0, numImages2 =0;
std::string path1 = IMG_DIR1 + "/left";
char * dst1 = new char[path1.length() + 1];
std::strcpy(dst1,path1.c_str());
std::string path2 = IMG_DIR2 + "/left";
char * dst2 = new char[path2.length() + 1];
std::strcpy(dst2,path2.c_str());
numImages1 = listdir(dst1);
numImages2 = listdir(dst2);
std::vector<Matrix> Tr_local;
std::vector<Matrix> Tr_global;
my_libviso2(Tr_local,Tr_global,IMG_DIR1,numImages1);
for_g2o_traj_with_loops << "VERTEX3 1 0 0 0 0 0 0 1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
for_g2o_traj_with_loops_quat << "VERTEX_SE3:QUAT 1 0 0 0 0 0 0 1 1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
for (int i=0; i<Tr_global.size(); i++){
new_tr_global=Tr_global[i];
double dx = new_tr_global.getData(0,3);
double dy = new_tr_global.getData(1,3);
double dz = new_tr_global.getData(2,3);
Matrix rot = new_tr_global.getMat(0,0,2,2);
Quat q = CalculateRotation(rot);
double thetay = atan2(new_tr_global.getData(0,2), sqrt(new_tr_global.getData(0,0)*new_tr_global.getData(0,0) + new_tr_global.getData(0,1)*new_tr_global.getData(0,1)));
double thetax = atan2(-new_tr_global.getData(1,2), new_tr_global.getData(2,2));
double thetaz = atan2(-new_tr_global.getData(0,1), new_tr_global.getData(0,0));
for_g2o_traj_with_loops << "VERTEX3 " << i+2 <<' '<< dx <<' '<< dy << ' ' << dz <<' '<< thetax<<' '<<thetay <<' '<<thetaz<<' '<< "1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
for_g2o_traj_with_loops_quat << "VERTEX_SE3:QUAT " << i+2 <<' '<< dx <<' '<< dy << ' ' << dz <<' '<<q.x<<' '<<q.y <<' '<<q.z<<' '<< q.w<<' '<< "1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
}
for (int i=0; i<Tr_global.size(); i++)
{
traj_local << "frame: " << i+1 << endl << Tr_local[i] << endl << endl;
traj_global << "frame: " << i+1 << endl << Tr_global[i] << endl << endl;
valx = Tr_global[i].getData(0,3);
valz = Tr_global[i].getData(2,3);
for_plot << valx << '\t' << valz << endl;
new_tr = Tr_local[i];//aboutX*Tr_local[i];
double dx = new_tr.getData(0,3);
double dy = new_tr.getData(1,3);
double dz = new_tr.getData(2,3);
double thetay = atan2(new_tr.getData(0,2), sqrt(new_tr.getData(0,0)*new_tr.getData(0,0) + new_tr.getData(0,1)*new_tr.getData(0,1)));
double thetax = atan2(-new_tr.getData(1,2), new_tr.getData(2,2));
double thetaz = atan2(-new_tr.getData(0,1), new_tr.getData(0,0));
Matrix rot = new_tr.getMat(0,0,2,2);
Quat q = CalculateRotation(rot);
//double thetay = atan2(-new_tr.getData(2,0), sqrt(new_tr.getData(2,1)*new_tr.getData(2,1) + new_tr.getData(2,2)*new_tr.getData(2,2)));
for_g2o_traj << "EDGE_SE2 " << i+1 <<' '<< i+2 <<' '<< -dz <<' '<< -dx <<' '<< thetay <<' '<< "1000 0 0 1000 0 10000" << endl;
//for_g2o_traj_with_loops << "EDGE_SE2 " << i+1 <<' '<< i+2 <<' '<< -dz <<' '<< -dx <<' '<< thetay <<' '<< "1000 0 0 1000 0 10000" << endl;
for_g2o_traj_with_loops << "EDGE3 " << i+1 <<' '<< i+2 <<' '<< dx <<' '<< dy << ' ' << dz <<' '<< thetax<<' '<<thetay <<' '<<thetaz<<' '<< "1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
for_g2o_traj_with_loops_quat << "EDGE_SE3:QUAT " << i+1 <<' ' << i+2<<' '<< dx <<' '<< dy << ' ' << dz <<' '<<q.x<<' '<<q.y <<' '<<q.z<<' '<< q.w<<' '<< "1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
}
traj_local.close();
traj_global.close();
for_plot.close();
for_g2o_traj.close();
for_g2o_traj_with_loops << endl;
for_g2o_traj_with_loops_quat << endl;
Tr_local.clear();
Tr_global.clear();
if(Tr_local.empty() && Tr_global.empty())
my_libviso2(Tr_local,Tr_global,IMG_DIR2,numImages2);
traj_local.open("data/loop2/Tr_local_2.txt");
traj_global.open("data/loop2/Tr_global_2.txt");
for_plot.open("data/loop2/2d_coords_2.txt");
for_g2o_traj.open("data/loop2/traj2.g2o");
for_g2o_traj_with_loops << "VERTEX3 " << 2+numImages1 <<" 0 0 0 0 0 0 1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
for_g2o_traj_with_loops_quat << "VERTEX_SE3:QUAT " << 2+numImages1 <<" 0 0 0 0 0 0 1 1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
for (int i=0; i<Tr_global.size(); i++){
new_tr_global = Tr_global[i];//aboutX*Tr_local[i];
double dx = new_tr_global.getData(0,3);
double dy = new_tr_global.getData(1,3);
double dz = new_tr_global.getData(2,3);
Matrix rot = new_tr_global.getMat(0,0,2,2);
Quat q = CalculateRotation(rot);
double thetay = atan2(new_tr_global.getData(0,2), sqrt(new_tr_global.getData(0,0)*new_tr_global.getData(0,0) + new_tr_global.getData(0,1)*new_tr_global.getData(0,1)));
double thetax = atan2(-new_tr_global.getData(1,2), new_tr_global.getData(2,2));
double thetaz = atan2(-new_tr_global.getData(0,1), new_tr_global.getData(0,0));
for_g2o_traj_with_loops << "VERTEX3 " << i+3+numImages1 <<' '<< dx <<' '<< dy << ' ' << dz <<' '<< thetax<<' '<<thetay <<' '<<thetaz<<' '<< "1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
for_g2o_traj_with_loops_quat << "VERTEX_SE3:QUAT " << i+3+numImages1 <<' '<< dx <<' '<< dy << ' ' << dz <<' '<<q.x<<' '<<q.y <<' '<<q.z<<' '<< q.w<<' '<< "1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
}
for (int i=0; i<Tr_global.size(); i++)
{
traj_local << "frame: " << i+1 << endl << Tr_local[i] << endl << endl;
traj_global << "frame: " << i+1 << endl << Tr_global[i] << endl << endl;
valx = Tr_global[i].getData(0,3);
valz = Tr_global[i].getData(2,3);
for_plot << valx << '\t' << valz << endl;
new_tr = Tr_local[i];//aboutX*Tr_local[i];
double dx = new_tr.getData(0,3);
double dy = new_tr.getData(1,3);
double dz = new_tr.getData(2,3);
Matrix rot = new_tr.getMat(0,0,2,2);
Quat q = CalculateRotation(rot);
double thetay = atan2(new_tr.getData(0,2), sqrt(new_tr.getData(0,0)*new_tr.getData(0,0) + new_tr.getData(0,1)*new_tr.getData(0,1)));
double thetax = atan2(-new_tr.getData(1,2), new_tr.getData(2,2));
double thetaz = atan2(-new_tr.getData(0,1), new_tr.getData(0,0));
//double thetay = atan2(-new_tr.getData(2,0), sqrt(new_tr.getData(2,1)*new_tr.getData(2,1) + new_tr.getData(2,2)*new_tr.getData(2,2)));
for_g2o_traj << "EDGE_SE2 " << i+1 <<' '<< i+2 <<' '<< -dz <<' '<< -dx <<' '<< thetay <<' '<< "1000 0 0 1000 0 10000" << endl;
//for_g2o_traj_with_loops << "EDGE_SE2 " << i+1+numImages1 <<' '<< i+2+numImages1 <<' '<< -dz <<' '<< -dx <<' '<< thetay <<' '<< "1000 0 0 1000 0 10000" << endl;
for_g2o_traj_with_loops << "EDGE3 " << i+2+numImages1 <<' '<< i+3+numImages1 <<' '<< dx <<' '<< dy << ' ' << dz <<' '<< thetax<<' '<<thetay <<' '<<thetaz<<' '<< "1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
for_g2o_traj_with_loops_quat << "EDGE_SE3:QUAT " << i+2+numImages1 <<' '<< i+3+numImages1<<' '<< dx <<' '<< dy << ' ' << dz <<' '<<q.x<<' '<<q.y <<' '<<q.z<<' '<< q.w<<' '<< "1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
}
traj_local.close();
traj_global.close();
for_plot.close();
for_g2o_traj.close();
for_g2o_traj_with_loops << endl;
for_g2o_traj_with_loops_quat << endl;
// Detecting Loops
loops l;
std::vector<loops> loop;
my_dloop(loop,VOC_FILE,(IMG_DIR1+"/left"),(IMG_DIR2+"/left"),IMAGE_W,IMAGE_H);
// loops l1;
// for (int j = 0; j < loop.size(); j++)
// {
// l1 = loop[j];
// cout << "index1: " << l1.idx1 << " index2: " << l1.idx2 << " val1: " << l1.val1 << " val2: " << l1.val2 << endl;
// }
// waitKey(0);
// cout << "loop_size: " << loop.size();
// Finding merging pairs
std::vector<Tr_relative> relative;
// waitKey(0);
my_libviso2_relative(relative,loop, IMG_DIR1,IMG_DIR2,numImages1);
//cout << "size Tr: " << relative.size() << endl;
// traj_local.open("my_complete_data_2/loop1.txt");
// traj_global.open("my_complete_data_2/edges1.g2o");
cout << "writing merging loops ..." << endl;
for (int i = 0; i < relative.size(); i++)
{
Tr_relative t = relative[i];
Matrix m = t.transform;
//traj_local << t.frame1 << '\t' << t.frame2 << endl;
valx = m.getData(0,3);
valz = m.getData(2,3);
new_tr = m;//aboutX*m;
double dx = new_tr.getData(0,3);
double dy = new_tr.getData(1,3);
double dz = new_tr.getData(2,3);
Matrix rot = new_tr.getMat(0,0,2,2);
Quat q = CalculateRotation(rot);
double thetay = atan2(new_tr.getData(0,2), sqrt(new_tr.getData(0,0)*new_tr.getData(0,0) + new_tr.getData(0,1)*new_tr.getData(0,1)));
double thetax = atan2(-new_tr.getData(1,2), new_tr.getData(2,2));
double thetaz = atan2(-new_tr.getData(0,1), new_tr.getData(0,0));
//double thetay = atan2(-new_tr.getData(2,0), sqrt(new_tr.getData(2,1)*new_tr.getData(2,1) + new_tr.getData(2,2)*new_tr.getData(2,2)));
//if(i<Tr_global.size()-1)
//traj_global << "EDGE_SE2 " << t.frame1 <<' '<< t.frame2 <<' '<< -dz <<' '<< -dx <<' '<< thetay <<' '<< "1000 0 0 1000 0 10000" << endl;
//for_g2o_traj_with_loops << "EDGE_SE2 " << t.frame1 <<' '<< t.frame2 <<' '<< -dz <<' '<< -dx <<' '<< thetay <<' '<< "1000 0 0 1000 0 10000" << endl;
for_g2o_traj_with_loops << "EDGE3 " << t.frame1 <<' '<< t.frame2 <<' '<< dx <<' '<< dy << ' ' << dz <<' '<< thetax<<' '<<thetay <<' '<<thetaz<<' '<< "1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
for_g2o_traj_with_loops_quat << "EDGE_SE3:QUAT " << t.frame1 <<' '<< t.frame2<<' '<< dx <<' '<< dy << ' ' << dz <<' '<<q.x<<' '<<q.y <<' '<<q.z<<' '<< q.w<<' '<< "1000 0 0 0 0 0 1000 0 0 0 0 1000 0 0 0 1000 0 0 1000 0 1000" << endl;
//cout << t.transform << endl;
}
// // cout << "size of relative: " << relative.size() << endl;
// // cout << "size of index1: " << index1.size() << endl;
// // cout << "size of index2: " << index2.size() << endl;
// traj_local.close();
// traj_global.close();
for_g2o_traj_with_loops << endl << endl << "FIX 1";
for_g2o_traj_with_loops.close();
for_g2o_traj_with_loops_quat << endl << endl << "FIX 1";
for_g2o_traj_with_loops_quat.close();
// //Run Dloop here
//output vec1 vec2 containing loop pairs
// traj_local.open("edges.g2o");
// for (int i = 0; i < relative.size(); i++)
// {
// Tr_relative tr = relative[i];
// int index1_loop = tr.frame1;
// int index2_loop = tr.frame2;
// Matrix Tr = aboutX*tr.transfom;
// double dx = Tr.getData(0,3);
// double dz = Tr.getData(2,3);
// double thetay = atan2(-Tr.getData(2,0), sqrt(Tr.getData(2,1)*Tr.getData(2,1) + Tr.getData(2,2)*Tr.getData(2,2)));
// traj_local << "EDGE_SE2 " << index1_loop <<' '<< index2 <<' '<< -dz <<' '<< -dx <<' '<< thetay <<' '<< "1000 0 0 1000 0 10000" << endl;
// }
// traj_local.close();
// for (int i = 0; i < vec1.size(); i++)
// {
// }
//Read loop.txt pairs
//matlab formatting in cpp for extracting loop pairs
//run libviso2 on loop pairs
//store edge transformations and concat with entire trajectory
//cout << "size " << myvec.size() << endl;
// //cout << "last " << myvec[numImages1-1] << endl;
string writtenfile="data/merging/traj1_traj2_with_inliers.g2o";
batch3d(writtenfile);
return 0;
}
// ----------------------------------------------------------------------------
void SurfExtractor::operator() (const cv::Mat &im,
vector<cv::KeyPoint> &keys, vector<vector<float> > &descriptors) const
{
// extract surfs with opencv
static cv::Ptr<cv::xfeatures2d::SURF> surf_detector =
cv::xfeatures2d::SURF::create(400);
surf_detector->setExtended(false);
keys.clear(); // opencv 2.4 does not clear the vector
vector<float> plain;
surf_detector->detectAndCompute(im, cv::Mat(), keys, plain);
// change descriptor format
const int L = surf_detector->descriptorSize();
descriptors.resize(plain.size() / L);
unsigned int j = 0;
for(unsigned int i = 0; i < plain.size(); i += L, ++j)
{
descriptors[j].resize(L);
std::copy(plain.begin() + i, plain.begin() + i + L, descriptors[j].begin());
}
}
// ----------------------------------------------------------------------------
// void my_dloop(std::vector<int> &index1, std::vector<int> &index2,string VOC_FILE1,string IMAGE_DIR1, int IMAGE_W1, int IMAGE_H1)
// {
// demoDetector<Surf64Vocabulary, Surf64LoopDetector, FSurf64::TDescriptor>
// demo(VOC_FILE1, IMAGE_DIR1, IMAGE_W1, IMAGE_H1);
// try
// {
// // run the demo with the given functor to extract features
// SurfExtractor extractor;
// demo.run(index1,index2,"SURF64", extractor);
// }
// catch(const std::string &ex)
// {
// cout << "Error: " << ex << endl;
// }
// }
void my_dloop(std::vector<loops> &loop, string VOC_FILE1,string IMAGE_DIR1,string IMAGE_DIR2, int IMAGE_W1, int IMAGE_H1)
{
demoDetector<Surf64Vocabulary, Surf64LoopDetector, FSurf64::TDescriptor>
demo(VOC_FILE1, IMAGE_DIR1,IMAGE_DIR2, IMAGE_W1, IMAGE_H1);
try
{
// run the demo with the given functor to extract features
SurfExtractor extractor;
demo.run(loop,"SURF64", extractor);
}
catch(const std::string &ex)
{
cout << "Error: " << ex << endl;
}
}