From c4610d209bd58bd7b7d4fd554f7ba46d60e1bd05 Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Thu, 22 Jan 2026 04:28:11 +0000 Subject: [PATCH 01/14] Added initial code for testing with Aquarium-in-Euroc-format data --- Examples/Aquarium/Taskfile.yml | 44 ++ Examples/Aquarium/aquarium.yaml | 154 +++++++ Examples/Aquarium/aquarium_resize.yaml | 149 +++++++ Examples/Aquarium/rosbag_convert_euroc.py | 520 ++++++++++++++++++++++ 4 files changed, 867 insertions(+) create mode 100644 Examples/Aquarium/Taskfile.yml create mode 100644 Examples/Aquarium/aquarium.yaml create mode 100644 Examples/Aquarium/aquarium_resize.yaml create mode 100755 Examples/Aquarium/rosbag_convert_euroc.py diff --git a/Examples/Aquarium/Taskfile.yml b/Examples/Aquarium/Taskfile.yml new file mode 100644 index 00000000000..586e2a14872 --- /dev/null +++ b/Examples/Aquarium/Taskfile.yml @@ -0,0 +1,44 @@ +version: '3' + +vars: + BAGFILES_PATH: /home/aaron/workspace/aquarium_nano_data/2025_05_23_aquarium_test + BAGFILES: [ 'rosbag2_2025_05_23-08_27_30', 'rosbag2_2025_05_23-08_50_46', 'rosbag2_2025_05_23-09_29_11' ] + + BUILD_TYPE: Debug + CONFIG_FILE: aquarium_resize.yaml + + BUILD_DIR: ../EuRoC + BUILD_PREFIX: euroc + + VOCAB_FILE: ../../Vocabulary/ORBvoc.txt + +tasks: + + # Run data in stereo mode + make_stereo_tasks: + internal: true + deps: + - for: + var: BAGFILES + task: stereo:{{.ITEM}} + + stereo:*: + vars: + BAG: '{{index .MATCH 0}}' + BINARY: '{{.BUILD_DIR}}/{{.BUILD_TYPE}}/stereo_{{.BUILD_PREFIX}}' + cmds: + - '{{.BINARY}} {{.CONFIG_FILE}} {{.VOCAB_FILE}} aquarium_data/{{.BAG}} aquarium_data/{{.BAG}}/mav0/cam0/data.csv 2>&1 | tee {{.BAG}}_stereo.txt' + + ## Convert aquarium ros2 bags to EuRoC format + convert: + deps: + - for: + var: BAGFILES + task: convert:{{.ITEM}} + + convert:*: + vars: + BAG: '{{index .MATCH 0}}' + cmds: + - echo Converting bagfile {{.BAG}} + - ./rosbag_convert_euroc.py -o aquarium_data {{.BAGFILES_PATH}}/{{.BAG}} diff --git a/Examples/Aquarium/aquarium.yaml b/Examples/Aquarium/aquarium.yaml new file mode 100644 index 00000000000..e16cffb26f4 --- /dev/null +++ b/Examples/Aquarium/aquarium.yaml @@ -0,0 +1,154 @@ +%YAML:1.0 + +# ORBSLAM3 settings file, passed to the node via the "path_yaml_settings" param +# +# Contains values specific to the odometry nano _in water_ +# + +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- +File.version: "1.0" + +#-------------------------------------------------------------------------------------------- +# PARAMETERS RETURNED BY MATLAB CALIBRATION HERE +Camera.type: "PinHole" + +Camera.width: 1440 +Camera.height: 1080 + +Camera1.fx: 1061.90838 +Camera1.fy: 1065.08245 +Camera1.cx: 778.19368 +Camera1.cy: 553.85699 + +Camera1.k1: -0.259389 +Camera1.k2: 0.203687 +Camera1.p1: 0.00066 +Camera1.p2: 0.003063 + +Camera2.fx: 1060.22456 +Camera2.fy: 1063.51251 +Camera2.cx: 782.09116 +Camera2.cy: 582.52751 + +Camera2.k1: -0.263264 +Camera2.k2: 0.215493 +Camera2.p1: -0.003977 +Camera2.p2: 0.000629 + +# Taken from Kalibr calibration _after_ aquarium but before APL pier test +# This is T_cn_cnm1 inverted +Stereo.T_c1_c2: !!opencv-matrix + rows: 4 + cols: 4 + dt: f + data: [ 9.99724649e-01, -1.97948923e-02, 1.26011608e-02,5.52256532e-02, + 2.02534145e-02, 9.99096454e-01, -3.73640900e-02, -5.09111677e-04, + -1.18501570e-02, 3.76090183e-02, 9.99222265e-01, 1.32659033e-03, + 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00] + + +# Stereo.T_c1_c2: !!opencv-matrix +# rows: 4 +# cols: 4 +# dt: f +# data: [0.9997246485823932, 0.020253414453953025, -0.011850156951119623, -0.055184415137663416, +# -0.019794892340568693, 0.9990964537932159, 0.03760901826749862, 0.001551945769490056, +# 0.012601160820934586, -0.03736408998993763, 0.9992222653269832, -0.0020404884227846246, +# 0.0, 0.0, 0.0, 1] + + +# END OF MATLAB PARAMETERS +#-------------------------------------------------------------------------------------------- + +# Distance in meters of the two cameras +Stereo.b: 0.0551 + +# Camera frames per second +Camera.fps: 10 + +# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) +Camera.RGB: 0 + +#-------------------------------------------------------------------------------------------- +# IMU Configuration +# +# These values can be calculated using Kalibr for the Odometry package +# as of the 05/2025 Aquarium test +#-------------------------------------------------------------------------------------------- + +IMU.NoiseGyro: 7.517733962919085e-05 +IMU.NoiseAcc: 0.0017589640490284241 + +IMU.GyroWalk: 1.4038949648227517e-06 +IMU.AccWalk: 0.00013163674505969203 + +IMU.Frequency: 200.0 + +# This should be "Relative pose between IMU andCamera1 +# (i.e. the transformation that takes a point from Camera1 to IMU)." +# +# In Kalibr this is T_ic +IMU.T_b_c1: !!opencv-matrix + rows: 4 + cols: 4 + dt: f + data: [ 0.00203293, 0.99981545, 0.01910319, -0.00115045, + -0.00217095, 0.0191076, -0.99981508, -0.12428361, + -0.99999558, 0.00199109, 0.00220939, 0.06095187, + 0.0, 0.0, 0.0, 1.0 ] + + # data: [ 0.00203293, -0.00217095, -0.99999558, 0.06068413, + # 0.99981545, 0.0191076, 0.00199109, 0.00340364, + # 0.01910319, -0.99981508, 0.00220939, -0.12437331, + # 0.0, 0.0, 0.0, 1.0 ] + + +IMU.InsertKFsWhenLost: 0 + + +#-------------------------------------------------------------------------------------------- +# Start to change values from here + +System.thFarPoints: 20.0 +System.loopClosing: 1 + +# Close/Far threshold. Baseline times. +Stereo.ThDepth: 5.0 + +# ORB Extractor: Number of features per image +ORBextractor.nFeatures: 4000 + +#-------------------------------------------------------------------------------------------- +# The changing of the following parameters should not infect the result too much +#-------------------------------------------------------------------------------------------- + +# ORB Extractor: Scale factor between levels in the scale pyramid +ORBextractor.scaleFactor: 1.2 + +# ORB Extractor: Number of levels in the scale pyramid +ORBextractor.nLevels: 9 + +# ORB Extractor: Fast threshold +# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. +# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST +# You can lower these values if your images have low contrast +ORBextractor.iniThFAST: 5 +ORBextractor.minThFAST: 2 + +#-------------------------------------------------------------------------------------------- +# Viewer Parameters +#-------------------------------------------------------------------------------------------- +Viewer.KeyFrameSize: 0.05 +Viewer.KeyFrameLineWidth: 1.0 +Viewer.GraphLineWidth: 0.9 +Viewer.PointSize: 2.0 +Viewer.CameraSize: 0.08 +Viewer.CameraLineWidth: 3.0 +Viewer.ViewpointX: 0.0 +Viewer.ViewpointY: -0.7 +Viewer.ViewpointZ: -3.5 +Viewer.ViewpointF: 500.0 + +Viewer.Enable: 1 diff --git a/Examples/Aquarium/aquarium_resize.yaml b/Examples/Aquarium/aquarium_resize.yaml new file mode 100644 index 00000000000..64134f26ae6 --- /dev/null +++ b/Examples/Aquarium/aquarium_resize.yaml @@ -0,0 +1,149 @@ +%YAML:1.0 + +# ORBSLAM3 settings file, passed to the node via the "path_yaml_settings" param +# +# Contains values specific to the odometry nano _in water_ +# + +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- +File.version: "1.0" + +#-------------------------------------------------------------------------------------------- +# PARAMETERS RETURNED BY MATLAB CALIBRATION HERE +Camera.type: "PinHole" + +Camera.width: 1440 +Camera.height: 1080 + +# This configuration file includes downsampling images by a factor of 2 +Camera.newWidth: 720 +Camera.newHeight: 540 + +Camera1.fx: 1061.90838 +Camera1.fy: 1065.08245 +Camera1.cx: 778.19368 +Camera1.cy: 553.85699 + +Camera1.k1: -0.259389 +Camera1.k2: 0.203687 +Camera1.p1: 0.00066 +Camera1.p2: 0.003063 + +Camera2.fx: 1060.22456 +Camera2.fy: 1063.51251 +Camera2.cx: 782.09116 +Camera2.cy: 582.52751 + +Camera2.k1: -0.263264 +Camera2.k2: 0.215493 +Camera2.p1: -0.003977 +Camera2.p2: 0.000629 + +# Taken from Kalibr calibration _after_ aquarium but before APL pier test +# This is T_cn_cnm1 inverted +Stereo.T_c1_c2: !!opencv-matrix + rows: 4 + cols: 4 + dt: f + data: [ 9.99724649e-01, -1.97948923e-02, 1.26011608e-02,5.52256532e-02, + 2.02534145e-02, 9.99096454e-01, -3.73640900e-02, -5.09111677e-04, + -1.18501570e-02, 3.76090183e-02, 9.99222265e-01, 1.32659033e-03, + 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00] + + + +# END OF MATLAB PARAMETERS +#-------------------------------------------------------------------------------------------- + +# Distance in meters of the two cameras +Stereo.b: 0.0551 + +# Camera frames per second +Camera.fps: 10 + +# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) +Camera.RGB: 0 + +#-------------------------------------------------------------------------------------------- +# IMU Configuration +# +# These values can be calculated using Kalibr for the Odometry package +# as of the 05/2025 Aquarium test +#-------------------------------------------------------------------------------------------- + +IMU.NoiseGyro: 7.517733962919085e-05 +IMU.NoiseAcc: 0.0017589640490284241 + +IMU.GyroWalk: 1.4038949648227517e-06 +IMU.AccWalk: 0.00013163674505969203 + +IMU.Frequency: 200.0 + +# This should be "Relative pose between IMU andCamera1 +# (i.e. the transformation that takes a point from Camera1 to IMU)." +# +# In Kalibr this is T_ic +IMU.T_b_c1: !!opencv-matrix + rows: 4 + cols: 4 + dt: f + data: [ 0.00203293, 0.99981545, 0.01910319, -0.00115045, + -0.00217095, 0.0191076, -0.99981508, -0.12428361, + -0.99999558, 0.00199109, 0.00220939, 0.06095187, + 0.0, 0.0, 0.0, 1.0 ] + + # data: [ 0.00203293, -0.00217095, -0.99999558, 0.06068413, + # 0.99981545, 0.0191076, 0.00199109, 0.00340364, + # 0.01910319, -0.99981508, 0.00220939, -0.12437331, + # 0.0, 0.0, 0.0, 1.0 ] + + +IMU.InsertKFsWhenLost: 0 + + +#-------------------------------------------------------------------------------------------- +# Start to change values from here + +System.thFarPoints: 20.0 +System.loopClosing: 1 + +# Close/Far threshold. Baseline times. +Stereo.ThDepth: 5.0 + +# ORB Extractor: Number of features per image +ORBextractor.nFeatures: 4000 + +#-------------------------------------------------------------------------------------------- +# The changing of the following parameters should not infect the result too much +#-------------------------------------------------------------------------------------------- + +# ORB Extractor: Scale factor between levels in the scale pyramid +ORBextractor.scaleFactor: 1.2 + +# ORB Extractor: Number of levels in the scale pyramid +ORBextractor.nLevels: 9 + +# ORB Extractor: Fast threshold +# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. +# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST +# You can lower these values if your images have low contrast +ORBextractor.iniThFAST: 5 +ORBextractor.minThFAST: 2 + +#-------------------------------------------------------------------------------------------- +# Viewer Parameters +#-------------------------------------------------------------------------------------------- +Viewer.KeyFrameSize: 0.05 +Viewer.KeyFrameLineWidth: 1.0 +Viewer.GraphLineWidth: 0.9 +Viewer.PointSize: 2.0 +Viewer.CameraSize: 0.08 +Viewer.CameraLineWidth: 3.0 +Viewer.ViewpointX: 0.0 +Viewer.ViewpointY: -0.7 +Viewer.ViewpointZ: -3.5 +Viewer.ViewpointF: 500.0 + +Viewer.Enable: 1 diff --git a/Examples/Aquarium/rosbag_convert_euroc.py b/Examples/Aquarium/rosbag_convert_euroc.py new file mode 100755 index 00000000000..7aa8677c826 --- /dev/null +++ b/Examples/Aquarium/rosbag_convert_euroc.py @@ -0,0 +1,520 @@ +#!/usr/bin/env python3 + +import os +import errno +import argparse +import yaml +import cv2 +import numpy as np +from collections import defaultdict + +from rosbag2_py import SequentialReader, StorageOptions, ConverterOptions +from sensor_msgs.msg import Image, Imu, CameraInfo +from rclpy.serialization import deserialize_message +from cv_bridge import CvBridge + +CAM_FOLDER_NAME = "cam" +IMU_FOLDER_NAME = "imu" +DATA_CSV = "data.csv" +SENSOR_YAML = "sensor.yaml" +BODY_YAML = "body.yaml" + +DEFAULT_IMU_SENSOR_YAML = dict( + sensor_type="imu", + comment="Default IMU", + T_BS=dict(cols=4, rows=4, data=[1.0] * 16), + rate_hz=200, + gyroscope_noise_density=1.6968e-04, + gyroscope_random_walk=1.9393e-05, + accelerometer_noise_density=2.0e-3, + accelerometer_random_walk=3.0e-3, +) + + +def mkdirs_without_exception(path): + try: + os.makedirs(path) + except OSError as e: + if e.errno != errno.EEXIST: + raise + + +def collect_camera_info(rosbag_path): + reader = SequentialReader() + storage_options = StorageOptions(uri=rosbag_path, storage_id="mcap") + converter_options = ConverterOptions("", "") + reader.open(storage_options, converter_options) + camera_info_dict = {} + + print("Collecting CameraInfo messages...") + while reader.has_next(): + topic, data, t = reader.read_next() + if "camera_info" in topic.lower(): + camera_info_dict[topic] = deserialize_message(data, CameraInfo) + print(f" Found CameraInfo: {topic}") + + return camera_info_dict + + +def auto_select_camera_topics(topic_types): + groups = defaultdict(list) + for topic, msg_type in topic_types.items(): + if msg_type == "sensor_msgs/msg/Image": + if "/left/" in topic.lower(): + groups["left"].append(topic) + elif "/right/" in topic.lower(): + groups["right"].append(topic) + else: + groups["other"].append(topic) + + selected = [] + for cam, topics in sorted(groups.items()): + # Prefer image_rect over image_raw + if any("image_rect" in t and "compressed" not in t.lower() for t in topics): + selected.append( + [ + t + for t in topics + if "image_rect" in t and "compressed" not in t.lower() + ][0] + ) + elif any("image_raw" in t for t in topics): + selected.append([t for t in topics if "image_raw" in t][0]) + elif topics: + selected.append(topics[0]) + + return selected + + +def setup_dataset_dirs( + camera_topics, imu_topics, camera_info_dict, output_path, rosbag_path +): + dirname = os.path.split(rosbag_path)[-1].split(".", 1)[0] + "/mav0" + base_path = os.path.join(output_path, dirname) + mkdirs_without_exception(base_path) + + # Map image topics to CameraInfo topics + cam_info_mapping = {} + for cam_topic in camera_topics: + # Try to find matching camera_info topic + potential_info_topic = cam_topic.replace("/image_raw", "/camera_info").replace( + "/image_rect", "/camera_info" + ) + if potential_info_topic in camera_info_dict: + cam_info_mapping[cam_topic] = potential_info_topic + else: + # Fallback to simple name matching + if "left" in cam_topic.lower(): + cam_info_mapping[cam_topic] = "/left/camera_info" + elif "right" in cam_topic.lower(): + cam_info_mapping[cam_topic] = "/right/camera_info" + else: + cam_info_mapping[cam_topic] = None + + print(f"\nCamera topic mapping:") + for img_topic, info_topic in cam_info_mapping.items(): + print(f" {img_topic} -> {info_topic}") + + # Create camera folders + cam_folder_paths = [] + for i, cam_topic in enumerate(camera_topics): + cam_folder = os.path.join(base_path, CAM_FOLDER_NAME + str(i)) + mkdirs_without_exception(cam_folder) + mkdirs_without_exception(os.path.join(cam_folder, "data")) + + with open(os.path.join(cam_folder, DATA_CSV), "w+") as f: + f.write("#timestamp [ns]") + + # Get camera info from CameraInfo message + msg = camera_info_dict.get(cam_info_mapping.get(cam_topic, None), None) + if msg: + intrinsics = [ + float(msg.k[0]), + float(msg.k[4]), + float(msg.k[2]), + float(msg.k[5]), + ] + resolution = [msg.width, msg.height] + distortion = list(msg.d) if msg.d else [0.0] * 4 + distortion_model = ( + msg.distortion_model if msg.distortion_model else "radtan" + ) + + cam_yaml = dict( + sensor_type="camera", + comment=f"{cam_topic}", + T_BS=dict(cols=4, rows=4, data=[1.0] * 16), + rate_hz=10, + resolution=resolution, + camera_model="pinhole", + intrinsics=intrinsics, + distortion_model=distortion_model, + distortion_coefficients=distortion, + ) + else: + print(f"WARNING: No CameraInfo for {cam_topic}, using minimal defaults") + cam_yaml = dict( + sensor_type="camera", + comment=f"{cam_topic} (no CameraInfo found)", + T_BS=dict(cols=4, rows=4, data=[1.0] * 16), + rate_hz=10, + resolution=[640, 480], + camera_model="pinhole", + intrinsics=[458.654, 457.296, 320.0, 240.0], + distortion_model="radtan", + distortion_coefficients=[0.0, 0.0, 0.0, 0.0], + ) + + with open(os.path.join(cam_folder, SENSOR_YAML), "w+") as f: + f.write("%YAML:1.0\n") + yaml.dump(cam_yaml, f, default_flow_style=True) + + print(f"\nCreated {cam_folder}/sensor.yaml:") + print(f" Resolution: {cam_yaml['resolution']}") + print(f" Intrinsics: {cam_yaml['intrinsics']}") + print(f" Distortion: {cam_yaml['distortion_coefficients']}") + + cam_folder_paths.append(cam_folder) + + # IMU folders + imu_folder_paths = [] + for i, imu_topic in enumerate(imu_topics): + imu_folder = os.path.join(base_path, IMU_FOLDER_NAME + str(i)) + mkdirs_without_exception(imu_folder) + with open(os.path.join(imu_folder, DATA_CSV), "w+") as f: + f.write( + "#timestamp [ns],w_RS_S_x [rad s^-1],w_RS_S_y [rad s^-1],w_RS_S_z [rad s^-1],a_RS_S_x [m s^-2],a_RS_S_y [m s^-2],a_RS_S_z [m s^-2]" + ) + imu_yaml = DEFAULT_IMU_SENSOR_YAML.copy() + imu_yaml["comment"] = imu_topic + with open(os.path.join(imu_folder, SENSOR_YAML), "w+") as f: + f.write("%YAML:1.0\n") + yaml.dump(imu_yaml, f, default_flow_style=True) + imu_folder_paths.append(imu_folder) + + # body.yaml + with open(os.path.join(base_path, BODY_YAML), "w+") as f: + f.write("%YAML:1.0\n") + body_yaml = dict( + comment=f"Automatically generated dataset using Rosbag2Euroc from rosbag: {rosbag_path}" + ) + yaml.dump(body_yaml, f, default_flow_style=True) + + return cam_folder_paths, imu_folder_paths, base_path + + +def rosbag2_to_euroc( + rosbag_path, + output_path, + camera_topics_arg=None, + imu_topics_arg=None, + auto_select=True, + sync_tolerance_ns=5000000, +): + if not os.path.exists(rosbag_path): + print(f"ERROR: {rosbag_path} does not exist.") + return + + print(f"\n{'=' * 60}") + print(f"ROS2 Bag to EuRoC Converter") + print(f"{'=' * 60}") + print(f"Input bag: {rosbag_path}") + print(f"Output path: {output_path}") + print(f"Sync tolerance: {sync_tolerance_ns}ns ({sync_tolerance_ns / 1e6:.1f}ms)") + print(f"{'=' * 60}\n") + + camera_info_dict = collect_camera_info(rosbag_path) + + reader = SequentialReader() + storage_options = StorageOptions(uri=rosbag_path, storage_id="mcap") + converter_options = ConverterOptions("", "") + reader.open(storage_options, converter_options) + + topic_types = {t.name: t.type for t in reader.get_all_topics_and_types()} + + # Select camera topics + if camera_topics_arg: + camera_topics = [t for t in camera_topics_arg if t in topic_types] + print(f"Using specified camera topics: {camera_topics}") + elif auto_select: + camera_topics = auto_select_camera_topics(topic_types) + print(f"Auto-selected camera topics: {camera_topics}") + else: + camera_topics = [ + t for t, ty in topic_types.items() if ty == "sensor_msgs/msg/Image" + ] + print(f"Using all image topics: {camera_topics}") + + # Select IMU topics + if imu_topics_arg: + imu_topics = [t for t in imu_topics_arg if t in topic_types] + else: + imu_topics = [t for t, ty in topic_types.items() if ty == "sensor_msgs/msg/Imu"] + + print(f"IMU topics: {imu_topics}\n") + + cam_folder_paths, imu_folder_paths, base_path = setup_dataset_dirs( + camera_topics, imu_topics, camera_info_dict, output_path, rosbag_path + ) + + bridge = CvBridge() + + # For stereo synchronization + if len(camera_topics) == 2: + print(f"\n{'=' * 60}") + print("Stereo Synchronization Mode") + print( + f"Sync tolerance: {sync_tolerance_ns}ns ({sync_tolerance_ns / 1e6:.1f}ms)" + ) + print(f"{'=' * 60}\n") + + # Collect all stereo pairs first + left_images = {} + right_images = {} + + print("Pass 1: Collecting all image messages...") + reader_pass1 = SequentialReader() + reader_pass1.open(storage_options, converter_options) + + while reader_pass1.has_next(): + topic, data, t = reader_pass1.read_next() + if topic == camera_topics[0]: # Left camera + msg = deserialize_message(data, Image) + timestamp_ns = ( + msg.header.stamp.sec * 1_000_000_000 + msg.header.stamp.nanosec + ) + left_images[timestamp_ns] = (msg, topic) + elif topic == camera_topics[1]: # Right camera + msg = deserialize_message(data, Image) + timestamp_ns = ( + msg.header.stamp.sec * 1_000_000_000 + msg.header.stamp.nanosec + ) + right_images[timestamp_ns] = (msg, topic) + + print(f" Found {len(left_images)} left images") + print(f" Found {len(right_images)} right images") + + # Match left and right images + print("\nPass 2: Matching stereo pairs...") + left_timestamps = sorted(left_images.keys()) + right_timestamps = sorted(right_images.keys()) + + matched_pairs = [] + + for left_ts in left_timestamps: + # Find closest right timestamp + closest_right_ts = min(right_timestamps, key=lambda x: abs(x - left_ts)) + time_diff = abs(closest_right_ts - left_ts) + + if time_diff <= sync_tolerance_ns: + matched_pairs.append( + ( + left_ts, + closest_right_ts, + left_images[left_ts], + right_images[closest_right_ts], + ) + ) + + print(f" Matched pairs: {len(matched_pairs)}") + if len(matched_pairs) > 0: + avg_diff = ( + sum([abs(l - r) for l, r, _, _ in matched_pairs]) + / len(matched_pairs) + / 1e6 + ) + print(f" Average time difference: {avg_diff:.2f}ms") + + # Process matched pairs + print(f"\nPass 3: Processing synchronized stereo pairs...") + + # Print first few timestamps for verification + if len(matched_pairs) > 0: + print(f"\nFirst 3 timestamps (for verification):") + for i in range(min(3, len(matched_pairs))): + left_ts, right_ts, _, _ = matched_pairs[i] + print( + f" Pair {i}: left={left_ts}ns, right={right_ts}ns, diff={abs(left_ts - right_ts) / 1e6:.2f}ms" + ) + + for idx, (left_ts, right_ts, left_data, right_data) in enumerate(matched_pairs): + left_msg, left_topic = left_data + right_msg, right_topic = right_data + + # Use left timestamp as reference + timestamp_ns = left_ts + filename = f"{timestamp_ns}.png" + + # Process left image + cv_image_left = bridge.imgmsg_to_cv2( + left_msg, desired_encoding="passthrough" + ) + # Convert to BGR if needed + if len(cv_image_left.shape) == 2: # Grayscale + cv_image_left = cv2.cvtColor(cv_image_left, cv2.COLOR_GRAY2BGR) + elif cv_image_left.shape[2] == 3 and left_msg.encoding == "rgb8": + cv_image_left = cv2.cvtColor(cv_image_left, cv2.COLOR_RGB2BGR) + + # Process right image + cv_image_right = bridge.imgmsg_to_cv2( + right_msg, desired_encoding="passthrough" + ) + # Convert to BGR if needed + if len(cv_image_right.shape) == 2: # Grayscale + cv_image_right = cv2.cvtColor(cv_image_right, cv2.COLOR_GRAY2BGR) + elif cv_image_right.shape[2] == 3 and right_msg.encoding == "rgb8": + cv_image_right = cv2.cvtColor(cv_image_right, cv2.COLOR_RGB2BGR) + + # Save both images with same timestamp + cv2.imwrite( + os.path.join(cam_folder_paths[0], "data", filename), cv_image_left + ) + cv2.imwrite( + os.path.join(cam_folder_paths[1], "data", filename), cv_image_right + ) + + # Write timestamp only (not filename) for ORB-SLAM3 compatibility + with open(os.path.join(cam_folder_paths[0], DATA_CSV), "a") as f: + f.write(f"\n{timestamp_ns}") + with open(os.path.join(cam_folder_paths[1], DATA_CSV), "a") as f: + f.write(f"\n{timestamp_ns}") + + if (idx + 1) % 100 == 0: + print(f" Processed {idx + 1}/{len(matched_pairs)} stereo pairs...") + + img_count = len(matched_pairs) * 2 + + # Process IMU separately + print("\nProcessing IMU data...") + reader_imu = SequentialReader() + reader_imu.open(storage_options, converter_options) + imu_count = 0 + + while reader_imu.has_next(): + topic, data, t = reader_imu.read_next() + if topic in imu_topics: + msg = deserialize_message(data, Imu) + imu_idx = imu_topics.index(topic) + timestamp_ns = ( + msg.header.stamp.sec * 1_000_000_000 + msg.header.stamp.nanosec + ) + with open(os.path.join(imu_folder_paths[imu_idx], DATA_CSV), "a") as f: + f.write( + f"\n{timestamp_ns},{msg.angular_velocity.x},{msg.angular_velocity.y},{msg.angular_velocity.z},{msg.linear_acceleration.x},{msg.linear_acceleration.y},{msg.linear_acceleration.z}" + ) + imu_count += 1 + + msg_count = img_count + imu_count + + else: + # Original non-synchronized processing for single camera or >2 cameras + msg_count = 0 + img_count = 0 + imu_count = 0 + + print(f"\n{'=' * 60}") + print("Processing messages...") + print(f"{'=' * 60}\n") + + while reader.has_next(): + topic, data, t = reader.read_next() + + if topic in camera_topics: + msg = deserialize_message(data, Image) + timestamp_ns = ( + msg.header.stamp.sec * 1_000_000_000 + msg.header.stamp.nanosec + ) + filename = f"{timestamp_ns}.png" + cam_idx = camera_topics.index(topic) + + cv_image = bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough") + + # Convert to BGR if needed + if len(cv_image.shape) == 2: # Grayscale + cv_image = cv2.cvtColor(cv_image, cv2.COLOR_GRAY2BGR) + elif cv_image.shape[2] == 3 and msg.encoding == "rgb8": + cv_image = cv2.cvtColor(cv_image, cv2.COLOR_RGB2BGR) + + cv2.imwrite( + os.path.join(cam_folder_paths[cam_idx], "data", filename), cv_image + ) + + # Write timestamp only (not filename) for ORB-SLAM3 compatibility + with open(os.path.join(cam_folder_paths[cam_idx], DATA_CSV), "a") as f: + f.write(f"\n{timestamp_ns}") + + img_count += 1 + msg_count += 1 + + if img_count % 100 == 0: + print(f" Processed {img_count} images...") + + elif topic in imu_topics: + msg = deserialize_message(data, Imu) + imu_idx = imu_topics.index(topic) + timestamp_ns = ( + msg.header.stamp.sec * 1_000_000_000 + msg.header.stamp.nanosec + ) + with open(os.path.join(imu_folder_paths[imu_idx], DATA_CSV), "a") as f: + f.write( + f"\n{timestamp_ns},{msg.angular_velocity.x},{msg.angular_velocity.y},{msg.angular_velocity.z},{msg.linear_acceleration.x},{msg.linear_acceleration.y},{msg.linear_acceleration.z}" + ) + + imu_count += 1 + msg_count += 1 + + print(f"\n{'=' * 60}") + print("Conversion Summary") + print(f"{'=' * 60}") + print(f"Total messages processed: {msg_count}") + print(f"Images saved: {img_count}") + print(f"IMU messages saved: {imu_count}") + print(f"Output directory: {base_path}") + print(f"{'=' * 60}\n") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + description="Convert ROS2 bag to EuRoC format.", + formatter_class=argparse.RawDescriptionHelpFormatter, + epilog=""" +Examples: + # Auto-select best topics + %(prog)s /path/to/bag + + # Specify camera topics + %(prog)s /path/to/bag --camera-topics /left/image_rect /right/image_rect + + # Custom sync tolerance for stereo + %(prog)s /path/to/bag --sync-tolerance 10 + """, + ) + parser.add_argument("rosbag_path", help="Path to ROS2 bag file") + parser.add_argument( + "-o", "--output_path", default="./", help="Output directory (default: ./)" + ) + parser.add_argument( + "--camera-topics", nargs="+", help="Specific camera topics to use" + ) + parser.add_argument("--imu-topics", nargs="+", help="Specific IMU topics to use") + parser.add_argument( + "--no-auto-select", + action="store_true", + help="Disable automatic topic selection", + ) + parser.add_argument( + "--sync-tolerance", + type=float, + default=5.0, + help="Stereo sync tolerance in milliseconds (default: 5ms)", + ) + args = parser.parse_args() + + rosbag2_to_euroc( + args.rosbag_path, + args.output_path, + camera_topics_arg=args.camera_topics, + imu_topics_arg=args.imu_topics, + auto_select=not args.no_auto_select, + sync_tolerance_ns=int(args.sync_tolerance * 1e6), + ) From 6597949a676bcbf3e53fd90f283e50c141f1cf6b Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Thu, 22 Jan 2026 05:03:34 +0000 Subject: [PATCH 02/14] Added Aquarium README and docs to Taskfile --- Examples/Aquarium/.gitignore | 1 + Examples/Aquarium/README.md | 40 ++++++++++++++++++++++++++++++++++ Examples/Aquarium/Taskfile.yml | 23 +++++++++---------- 3 files changed, 51 insertions(+), 13 deletions(-) create mode 100644 Examples/Aquarium/.gitignore create mode 100644 Examples/Aquarium/README.md diff --git a/Examples/Aquarium/.gitignore b/Examples/Aquarium/.gitignore new file mode 100644 index 00000000000..b8408b0a780 --- /dev/null +++ b/Examples/Aquarium/.gitignore @@ -0,0 +1 @@ +aquarium_data/ diff --git a/Examples/Aquarium/README.md b/Examples/Aquarium/README.md new file mode 100644 index 00000000000..b2216668cdc --- /dev/null +++ b/Examples/Aquarium/README.md @@ -0,0 +1,40 @@ +Code and configurations for processing the three `2025_05_23_aquarium_test/` ROS2 bags of data. + +This directory uses the `rosbag_convert_euroc.py` script to convert the contents of the ROS2 bags to a EuRoC-like format of left and right images, then uses the "standard" ORBSLAM3 EuRoC examples (e.g. `mono_euroc`, `stereo_euroc`) to process the data. + +For organization, I've tried bundling all of the tasks in to a ['Taskfile'](Taskfile.yml), to use it, install [`task`](https://taskfile.dev) + +General steps are as follows: + +1. Build ORBSLAM and the EuRoC binaries, go to `ORB_SLAM3/` and: + +``` +./install_apt_dependencies.sh +./build.sh +``` + +This will build `Release` binaries, which will appear in (for example), the `Examples/EuRoC/Release/` directory. To build `Debug` or `RelWithDebInfo` binaries: + +``` +BUILD_TYPE=Debug ./build.sh +``` + +2. Return to this directory. Update the [Taskfile](Taskfile.yml): + + * Update `BAGFILES_PATH` to point to the original ROS2 bags if you need to generate the Aquarium-as-EuRoC data sets + * Set `BUILT_TYPE` to the binaries to use. This should agree with the 'build.sh` above + * Set `CONFIG_FILE` to either `aquarium_resize.yaml` (for downsampling by a factor of two) or `aquarium.yaml` (for processing images at full size) + +3. Do the following, once: + +``` +task convert +``` + +Will generate the EuRoC datasets in the local directory from the Aquarium bagfiles. + +4. Run ORBSLAM3: + +``` +task stereo:rosbag2_2025_05_23-09_29_11 +``` diff --git a/Examples/Aquarium/Taskfile.yml b/Examples/Aquarium/Taskfile.yml index 586e2a14872..c6a4048d538 100644 --- a/Examples/Aquarium/Taskfile.yml +++ b/Examples/Aquarium/Taskfile.yml @@ -1,41 +1,38 @@ version: '3' vars: + # This needs to be updates before you run `task convert` BAGFILES_PATH: /home/aaron/workspace/aquarium_nano_data/2025_05_23_aquarium_test + BAGFILES: [ 'rosbag2_2025_05_23-08_27_30', 'rosbag2_2025_05_23-08_50_46', 'rosbag2_2025_05_23-09_29_11' ] - BUILD_TYPE: Debug + BUILD_TYPE: Release + CONFIG_FILE: aquarium_resize.yaml - BUILD_DIR: ../EuRoC - BUILD_PREFIX: euroc + BIN_DIR: ../EuRoC + BIN_SUFFIX: euroc VOCAB_FILE: ../../Vocabulary/ORBvoc.txt tasks: - # Run data in stereo mode - make_stereo_tasks: - internal: true - deps: - - for: - var: BAGFILES - task: stereo:{{.ITEM}} - + # Process one bag using stereo_euroc stereo:*: vars: BAG: '{{index .MATCH 0}}' - BINARY: '{{.BUILD_DIR}}/{{.BUILD_TYPE}}/stereo_{{.BUILD_PREFIX}}' + BINARY: '{{.BIN_DIR}}/{{.BUILD_TYPE}}/stereo_{{.BIN_SUFFIX}}' cmds: - '{{.BINARY}} {{.CONFIG_FILE}} {{.VOCAB_FILE}} aquarium_data/{{.BAG}} aquarium_data/{{.BAG}}/mav0/cam0/data.csv 2>&1 | tee {{.BAG}}_stereo.txt' - ## Convert aquarium ros2 bags to EuRoC format + # Convert all three aquarium ros2 bags to EuRoC format convert: deps: - for: var: BAGFILES task: convert:{{.ITEM}} + # Convert one bag to EuRoC format convert:*: vars: BAG: '{{index .MATCH 0}}' From e8740ffe042f07b6f83b78cfeb250b308f2c3b4e Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Mon, 2 Feb 2026 20:13:52 +0000 Subject: [PATCH 03/14] Updated default build to RelWithDebInfo --- Examples/Aquarium/Taskfile.yml | 2 +- Examples/Aquarium/justfile | 17 +++++++++++++++++ 2 files changed, 18 insertions(+), 1 deletion(-) create mode 100644 Examples/Aquarium/justfile diff --git a/Examples/Aquarium/Taskfile.yml b/Examples/Aquarium/Taskfile.yml index c6a4048d538..1bdca337464 100644 --- a/Examples/Aquarium/Taskfile.yml +++ b/Examples/Aquarium/Taskfile.yml @@ -6,7 +6,7 @@ vars: BAGFILES: [ 'rosbag2_2025_05_23-08_27_30', 'rosbag2_2025_05_23-08_50_46', 'rosbag2_2025_05_23-09_29_11' ] - BUILD_TYPE: Release + BUILD_TYPE: RelWithDebInfo CONFIG_FILE: aquarium_resize.yaml diff --git a/Examples/Aquarium/justfile b/Examples/Aquarium/justfile new file mode 100644 index 00000000000..dcb8e958514 --- /dev/null +++ b/Examples/Aquarium/justfile @@ -0,0 +1,17 @@ + +# This needs to be updates before you run `task convert` +BAGFILES_PATH:="/home/aaron/workspace/aquarium_nano_data/2025_05_23_aquarium_test" +BUILD_TYPE:='RelWithDebInfo' +CONFIG_FILE:='aquarium_resize.yaml' +BIN_DIR:="../EuRoC" +BIN_SUFFIX:='euroc' +VOCAB_FILE:="../../Vocabulary/ORBvoc.txt" + +stereo bagfile: + {{BIN_DIR}}/{{BUILD_TYPE}}/stereo_{{BIN_SUFFIX}} {{CONFIG_FILE}} {{VOCAB_FILE}} aquarium_data/{{bagfile}} aquarium_data/{{bagfile}}/mav0/cam0/data.csv 2>&1 | tee {{bagfile}}_stereo.txt + + + +convert bagfile: + echo Converting bagfile {{bagfile}} + ./rosbag_convert_euroc.py -o aquarium_data {{BAGFILES_PATH}}/{{bagfile}} From 28b81cb7d881f0b605159fa2f59078580f5bce26 Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Tue, 3 Feb 2026 05:24:15 +0000 Subject: [PATCH 04/14] Update stereo camera estimate --- Examples/Aquarium/aquarium.yaml | 15 ++++++++++----- Examples/Aquarium/aquarium_resize.yaml | 12 +++++------- 2 files changed, 15 insertions(+), 12 deletions(-) diff --git a/Examples/Aquarium/aquarium.yaml b/Examples/Aquarium/aquarium.yaml index e16cffb26f4..da496ad60d5 100644 --- a/Examples/Aquarium/aquarium.yaml +++ b/Examples/Aquarium/aquarium.yaml @@ -43,10 +43,15 @@ Stereo.T_c1_c2: !!opencv-matrix rows: 4 cols: 4 dt: f - data: [ 9.99724649e-01, -1.97948923e-02, 1.26011608e-02,5.52256532e-02, - 2.02534145e-02, 9.99096454e-01, -3.73640900e-02, -5.09111677e-04, - -1.18501570e-02, 3.76090183e-02, 9.99222265e-01, 1.32659033e-03, - 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00] + data: [0.999673, -0.016254, -0.019763, 0.054755, + 0.015567, 0.999286, -0.034431, -0.001173, + 0.020308, 0.034112, 0.999212, 0.002921, + 0.000000, 0.000000, 0.000000, 1.000000] + + #data: [ 9.99724649e-01, -1.97948923e-02, 1.26011608e-02,5.52256532e-02, + #2.02534145e-02, 9.99096454e-01, -3.73640900e-02, -5.09111677e-04, + #-1.18501570e-02, 3.76090183e-02, 9.99222265e-01, 1.32659033e-03, + #0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00] # Stereo.T_c1_c2: !!opencv-matrix @@ -151,4 +156,4 @@ Viewer.ViewpointY: -0.7 Viewer.ViewpointZ: -3.5 Viewer.ViewpointF: 500.0 -Viewer.Enable: 1 +Viewer.Enable: 0 diff --git a/Examples/Aquarium/aquarium_resize.yaml b/Examples/Aquarium/aquarium_resize.yaml index 64134f26ae6..915aed75553 100644 --- a/Examples/Aquarium/aquarium_resize.yaml +++ b/Examples/Aquarium/aquarium_resize.yaml @@ -47,12 +47,10 @@ Stereo.T_c1_c2: !!opencv-matrix rows: 4 cols: 4 dt: f - data: [ 9.99724649e-01, -1.97948923e-02, 1.26011608e-02,5.52256532e-02, - 2.02534145e-02, 9.99096454e-01, -3.73640900e-02, -5.09111677e-04, - -1.18501570e-02, 3.76090183e-02, 9.99222265e-01, 1.32659033e-03, - 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00] - - + data: [0.999673, -0.016254, -0.019763, 0.054755, + 0.015567, 0.999286, -0.034431, -0.001173, + 0.020308, 0.034112, 0.999212, 0.002921, + 0.000000, 0.000000, 0.000000, 1.000000] # END OF MATLAB PARAMETERS #-------------------------------------------------------------------------------------------- @@ -146,4 +144,4 @@ Viewer.ViewpointY: -0.7 Viewer.ViewpointZ: -3.5 Viewer.ViewpointF: 500.0 -Viewer.Enable: 1 +Viewer.Enable: 0 From 87d6404414a6079c0fde0edede0784a78ea5efb0 Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Tue, 3 Feb 2026 20:32:52 +0000 Subject: [PATCH 05/14] Add k3 distortion parameter for Aquarium example. --- Examples/Aquarium/aquarium.yaml | 2 ++ Examples/Aquarium/aquarium_resize.yaml | 2 ++ 2 files changed, 4 insertions(+) diff --git a/Examples/Aquarium/aquarium.yaml b/Examples/Aquarium/aquarium.yaml index da496ad60d5..95626f306c9 100644 --- a/Examples/Aquarium/aquarium.yaml +++ b/Examples/Aquarium/aquarium.yaml @@ -26,6 +26,7 @@ Camera1.k1: -0.259389 Camera1.k2: 0.203687 Camera1.p1: 0.00066 Camera1.p2: 0.003063 +Camera1.k3: -0.0845 Camera2.fx: 1060.22456 Camera2.fy: 1063.51251 @@ -36,6 +37,7 @@ Camera2.k1: -0.263264 Camera2.k2: 0.215493 Camera2.p1: -0.003977 Camera2.p2: 0.000629 +Camera2.k3: -0.0902 # Taken from Kalibr calibration _after_ aquarium but before APL pier test # This is T_cn_cnm1 inverted diff --git a/Examples/Aquarium/aquarium_resize.yaml b/Examples/Aquarium/aquarium_resize.yaml index 915aed75553..38a818cfa80 100644 --- a/Examples/Aquarium/aquarium_resize.yaml +++ b/Examples/Aquarium/aquarium_resize.yaml @@ -30,6 +30,7 @@ Camera1.k1: -0.259389 Camera1.k2: 0.203687 Camera1.p1: 0.00066 Camera1.p2: 0.003063 +Camera1.k3: -0.0845 Camera2.fx: 1060.22456 Camera2.fy: 1063.51251 @@ -40,6 +41,7 @@ Camera2.k1: -0.263264 Camera2.k2: 0.215493 Camera2.p1: -0.003977 Camera2.p2: 0.000629 +Camera2.k3: -0.0902 # Taken from Kalibr calibration _after_ aquarium but before APL pier test # This is T_cn_cnm1 inverted From ea91319a148ffa18c49abeb93d3e0a0baba6e474 Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Tue, 3 Feb 2026 20:49:45 +0000 Subject: [PATCH 06/14] Make Converter a namespace not a class --- include/Converter.h | 71 ++++++++++++++++++++++----------------------- src/Converter.cc | 62 +++++++++++++++++++++------------------ 2 files changed, 68 insertions(+), 65 deletions(-) diff --git a/include/Converter.h b/include/Converter.h index 1ed4ed4f897..d5b12d53b5c 100644 --- a/include/Converter.h +++ b/include/Converter.h @@ -32,48 +32,47 @@ namespace ORB_SLAM3 { -class Converter { - public: - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - static std::vector toDescriptorVector(const cv::Mat &Descriptors); +namespace Converter { - static g2o::SE3Quat toSE3Quat(const cv::Mat &cvT); - static g2o::SE3Quat toSE3Quat(const Sophus::SE3f &T); - static g2o::SE3Quat toSE3Quat(const g2o::Sim3 &gSim3); +std::vector toDescriptorVector(const cv::Mat &Descriptors); - // TODO templetize these functions - static cv::Mat toCvMat(const g2o::SE3Quat &SE3); - static cv::Mat toCvMat(const g2o::Sim3 &Sim3); - static cv::Mat toCvMat(const Eigen::Matrix &m); - static cv::Mat toCvMat(const Eigen::Matrix &m); - static cv::Mat toCvMat(const Eigen::Matrix &m); - static cv::Mat toCvMat(const Eigen::Matrix3d &m); - static cv::Mat toCvMat(const Eigen::Matrix &m); - static cv::Mat toCvMat(const Eigen::Matrix &m); - static cv::Mat toCvMat(const Eigen::Matrix &m); +g2o::SE3Quat toSE3Quat(const cv::Mat &cvT); +g2o::SE3Quat toSE3Quat(const Sophus::SE3f &T); +g2o::SE3Quat toSE3Quat(const g2o::Sim3 &gSim3); - static cv::Mat toCvMat(const Eigen::MatrixXf &m); - static cv::Mat toCvMat(const Eigen::MatrixXd &m); +// TODO templatize these functions +cv::Mat toCvMat(const g2o::SE3Quat &SE3); +cv::Mat toCvMat(const g2o::Sim3 &Sim3); +cv::Mat toCvMat(const Eigen::Matrix &m); +cv::Mat toCvMat(const Eigen::Matrix &m); +cv::Mat toCvMat(const Eigen::Matrix &m); +cv::Mat toCvMat(const Eigen::Matrix3d &m); +cv::Mat toCvMat(const Eigen::Matrix &m); +cv::Mat toCvMat(const Eigen::Matrix &m); +cv::Mat toCvMat(const Eigen::Matrix &m); - static cv::Mat toCvSE3(const Eigen::Matrix &R, - const Eigen::Matrix &t); - static cv::Mat tocvSkewMatrix(const cv::Mat &v); +cv::Mat toCvMat(const Eigen::MatrixXf &m); +cv::Mat toCvMat(const Eigen::MatrixXd &m); - static Eigen::Matrix toVector3d(const cv::Mat &cvVector); - static Eigen::Matrix toVector3f(const cv::Mat &cvVector); - static Eigen::Matrix toVector3d(const cv::Point3f &cvPoint); - static Eigen::Matrix toMatrix3d(const cv::Mat &cvMat3); - static Eigen::Matrix toMatrix4d(const cv::Mat &cvMat4); - static Eigen::Matrix toMatrix3f(const cv::Mat &cvMat3); - static Eigen::Matrix toMatrix4f(const cv::Mat &cvMat4); - static std::vector toQuaternion(const cv::Mat &M); +cv::Mat toCvSE3(const Eigen::Matrix &R, + const Eigen::Matrix &t); +cv::Mat tocvSkewMatrix(const cv::Mat &v); - static bool isRotationMatrix(const cv::Mat &R); - static std::vector toEuler(const cv::Mat &R); +Eigen::Matrix toVector3d(const cv::Mat &cvVector); +Eigen::Matrix toVector3f(const cv::Mat &cvVector); +Eigen::Matrix toVector3d(const cv::Point3f &cvPoint); +Eigen::Matrix toMatrix3d(const cv::Mat &cvMat3); +Eigen::Matrix toMatrix4d(const cv::Mat &cvMat4); +Eigen::Matrix toMatrix3f(const cv::Mat &cvMat3); +Eigen::Matrix toMatrix4f(const cv::Mat &cvMat4); +std::vector toQuaternion(const cv::Mat &M); - // TODO: Sophus migration, to be deleted in the future - static Sophus::SE3 toSophus(const cv::Mat &T); - static Sophus::Sim3f toSophus(const g2o::Sim3 &S); -}; +bool isRotationMatrix(const cv::Mat &R); +std::vector toEuler(const cv::Mat &R); + +// TODO: Sophus migration, to be deleted in the future +Sophus::SE3 toSophus(const cv::Mat &T); +Sophus::Sim3f toSophus(const g2o::Sim3 &S); +} // namespace Converter } // namespace ORB_SLAM3 diff --git a/src/Converter.cc b/src/Converter.cc index edc112bbb16..c265a783f6a 100644 --- a/src/Converter.cc +++ b/src/Converter.cc @@ -25,7 +25,9 @@ namespace ORB_SLAM3 { -std::vector Converter::toDescriptorVector(const cv::Mat &Descriptors) { +namespace Converter { + +std::vector toDescriptorVector(const cv::Mat &Descriptors) { std::vector vDesc; vDesc.reserve(Descriptors.rows); for (int j = 0; j < Descriptors.rows; j++) @@ -34,7 +36,7 @@ std::vector Converter::toDescriptorVector(const cv::Mat &Descriptors) { return vDesc; } -g2o::SE3Quat Converter::toSE3Quat(const cv::Mat &cvT) { +g2o::SE3Quat toSE3Quat(const cv::Mat &cvT) { Eigen::Matrix R; R << cvT.at(0, 0), cvT.at(0, 1), cvT.at(0, 2), cvT.at(1, 0), cvT.at(1, 1), cvT.at(1, 2), @@ -46,24 +48,24 @@ g2o::SE3Quat Converter::toSE3Quat(const cv::Mat &cvT) { return g2o::SE3Quat(R, t); } -g2o::SE3Quat Converter::toSE3Quat(const Sophus::SE3f &T) { +g2o::SE3Quat toSE3Quat(const Sophus::SE3f &T) { return g2o::SE3Quat(T.unit_quaternion().cast(), T.translation().cast()); } -cv::Mat Converter::toCvMat(const g2o::SE3Quat &SE3) { +cv::Mat toCvMat(const g2o::SE3Quat &SE3) { Eigen::Matrix eigMat = SE3.to_homogeneous_matrix(); return toCvMat(eigMat); } -cv::Mat Converter::toCvMat(const g2o::Sim3 &Sim3) { +cv::Mat toCvMat(const g2o::Sim3 &Sim3) { Eigen::Matrix3d eigR = Sim3.rotation().toRotationMatrix(); Eigen::Vector3d eigt = Sim3.translation(); double s = Sim3.scale(); return toCvSE3(s * eigR, eigt); } -cv::Mat Converter::toCvMat(const Eigen::Matrix &m) { +cv::Mat toCvMat(const Eigen::Matrix &m) { cv::Mat cvMat(4, 4, CV_32F); for (int i = 0; i < 4; i++) for (int j = 0; j < 4; j++) cvMat.at(i, j) = m(i, j); @@ -71,7 +73,7 @@ cv::Mat Converter::toCvMat(const Eigen::Matrix &m) { return cvMat.clone(); } -cv::Mat Converter::toCvMat(const Eigen::Matrix &m) { +cv::Mat toCvMat(const Eigen::Matrix &m) { cv::Mat cvMat(4, 4, CV_32F); for (int i = 0; i < 4; i++) for (int j = 0; j < 4; j++) cvMat.at(i, j) = m(i, j); @@ -79,7 +81,7 @@ cv::Mat Converter::toCvMat(const Eigen::Matrix &m) { return cvMat.clone(); } -cv::Mat Converter::toCvMat(const Eigen::Matrix &m) { +cv::Mat toCvMat(const Eigen::Matrix &m) { cv::Mat cvMat(3, 4, CV_32F); for (int i = 0; i < 3; i++) for (int j = 0; j < 4; j++) cvMat.at(i, j) = m(i, j); @@ -87,7 +89,7 @@ cv::Mat Converter::toCvMat(const Eigen::Matrix &m) { return cvMat.clone(); } -cv::Mat Converter::toCvMat(const Eigen::Matrix3d &m) { +cv::Mat toCvMat(const Eigen::Matrix3d &m) { cv::Mat cvMat(3, 3, CV_32F); for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) cvMat.at(i, j) = m(i, j); @@ -95,7 +97,7 @@ cv::Mat Converter::toCvMat(const Eigen::Matrix3d &m) { return cvMat.clone(); } -cv::Mat Converter::toCvMat(const Eigen::Matrix3f &m) { +cv::Mat toCvMat(const Eigen::Matrix3f &m) { cv::Mat cvMat(3, 3, CV_32F); for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) cvMat.at(i, j) = m(i, j); @@ -103,7 +105,7 @@ cv::Mat Converter::toCvMat(const Eigen::Matrix3f &m) { return cvMat.clone(); } -cv::Mat Converter::toCvMat(const Eigen::MatrixXf &m) { +cv::Mat toCvMat(const Eigen::MatrixXf &m) { cv::Mat cvMat(m.rows(), m.cols(), CV_32F); for (int i = 0; i < m.rows(); i++) for (int j = 0; j < m.cols(); j++) cvMat.at(i, j) = m(i, j); @@ -111,7 +113,7 @@ cv::Mat Converter::toCvMat(const Eigen::MatrixXf &m) { return cvMat.clone(); } -cv::Mat Converter::toCvMat(const Eigen::MatrixXd &m) { +cv::Mat toCvMat(const Eigen::MatrixXd &m) { cv::Mat cvMat(m.rows(), m.cols(), CV_32F); for (int i = 0; i < m.rows(); i++) for (int j = 0; j < m.cols(); j++) cvMat.at(i, j) = m(i, j); @@ -119,22 +121,22 @@ cv::Mat Converter::toCvMat(const Eigen::MatrixXd &m) { return cvMat.clone(); } -cv::Mat Converter::toCvMat(const Eigen::Matrix &m) { +cv::Mat toCvMat(const Eigen::Matrix &m) { cv::Mat cvMat(3, 1, CV_32F); for (int i = 0; i < 3; i++) cvMat.at(i) = m(i); return cvMat.clone(); } -cv::Mat Converter::toCvMat(const Eigen::Matrix &m) { +cv::Mat toCvMat(const Eigen::Matrix &m) { cv::Mat cvMat(3, 1, CV_32F); for (int i = 0; i < 3; i++) cvMat.at(i) = m(i); return cvMat.clone(); } -cv::Mat Converter::toCvSE3(const Eigen::Matrix &R, - const Eigen::Matrix &t) { +cv::Mat toCvSE3(const Eigen::Matrix &R, + const Eigen::Matrix &t) { cv::Mat cvMat = cv::Mat::eye(4, 4, CV_32F); for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { @@ -148,28 +150,28 @@ cv::Mat Converter::toCvSE3(const Eigen::Matrix &R, return cvMat.clone(); } -Eigen::Matrix Converter::toVector3d(const cv::Mat &cvVector) { +Eigen::Matrix toVector3d(const cv::Mat &cvVector) { Eigen::Matrix v; v << cvVector.at(0), cvVector.at(1), cvVector.at(2); return v; } -Eigen::Matrix Converter::toVector3f(const cv::Mat &cvVector) { +Eigen::Matrix toVector3f(const cv::Mat &cvVector) { Eigen::Matrix v; v << cvVector.at(0), cvVector.at(1), cvVector.at(2); return v; } -Eigen::Matrix Converter::toVector3d(const cv::Point3f &cvPoint) { +Eigen::Matrix toVector3d(const cv::Point3f &cvPoint) { Eigen::Matrix v; v << cvPoint.x, cvPoint.y, cvPoint.z; return v; } -Eigen::Matrix Converter::toMatrix3d(const cv::Mat &cvMat3) { +Eigen::Matrix toMatrix3d(const cv::Mat &cvMat3) { Eigen::Matrix M; M << cvMat3.at(0, 0), cvMat3.at(0, 1), cvMat3.at(0, 2), @@ -179,7 +181,7 @@ Eigen::Matrix Converter::toMatrix3d(const cv::Mat &cvMat3) { return M; } -Eigen::Matrix Converter::toMatrix4d(const cv::Mat &cvMat4) { +Eigen::Matrix toMatrix4d(const cv::Mat &cvMat4) { Eigen::Matrix M; M << cvMat4.at(0, 0), cvMat4.at(0, 1), cvMat4.at(0, 2), @@ -191,7 +193,7 @@ Eigen::Matrix Converter::toMatrix4d(const cv::Mat &cvMat4) { return M; } -Eigen::Matrix Converter::toMatrix3f(const cv::Mat &cvMat3) { +Eigen::Matrix toMatrix3f(const cv::Mat &cvMat3) { Eigen::Matrix M; M << cvMat3.at(0, 0), cvMat3.at(0, 1), cvMat3.at(0, 2), @@ -201,7 +203,7 @@ Eigen::Matrix Converter::toMatrix3f(const cv::Mat &cvMat3) { return M; } -Eigen::Matrix Converter::toMatrix4f(const cv::Mat &cvMat4) { +Eigen::Matrix toMatrix4f(const cv::Mat &cvMat4) { Eigen::Matrix M; M << cvMat4.at(0, 0), cvMat4.at(0, 1), cvMat4.at(0, 2), @@ -213,7 +215,7 @@ Eigen::Matrix Converter::toMatrix4f(const cv::Mat &cvMat4) { return M; } -std::vector Converter::toQuaternion(const cv::Mat &M) { +std::vector toQuaternion(const cv::Mat &M) { Eigen::Matrix eigMat = toMatrix3d(M); Eigen::Quaterniond q(eigMat); @@ -226,13 +228,13 @@ std::vector Converter::toQuaternion(const cv::Mat &M) { return v; } -cv::Mat Converter::tocvSkewMatrix(const cv::Mat &v) { +cv::Mat tocvSkewMatrix(const cv::Mat &v) { return (cv::Mat_(3, 3) << 0, -v.at(2), v.at(1), v.at(2), 0, -v.at(0), -v.at(1), v.at(0), 0); } -bool Converter::isRotationMatrix(const cv::Mat &R) { +bool isRotationMatrix(const cv::Mat &R) { cv::Mat Rt; cv::transpose(R, Rt); cv::Mat shouldBeIdentity = Rt * R; @@ -241,7 +243,7 @@ bool Converter::isRotationMatrix(const cv::Mat &R) { return cv::norm(I, shouldBeIdentity) < 1e-6; } -std::vector Converter::toEuler(const cv::Mat &R) { +std::vector toEuler(const cv::Mat &R) { assert(isRotationMatrix(R)); float sy = sqrt(R.at(0, 0) * R.at(0, 0) + R.at(1, 0) * R.at(1, 0)); @@ -267,7 +269,7 @@ std::vector Converter::toEuler(const cv::Mat &R) { return v_euler; } -Sophus::SE3 Converter::toSophus(const cv::Mat &T) { +Sophus::SE3 toSophus(const cv::Mat &T) { Eigen::Matrix eigMat = toMatrix3d(T.rowRange(0, 3).colRange(0, 3)); Eigen::Quaternionf q(eigMat.cast()); @@ -278,11 +280,13 @@ Sophus::SE3 Converter::toSophus(const cv::Mat &T) { return Sophus::SE3(q, t); } -Sophus::Sim3f Converter::toSophus(const g2o::Sim3 &S) { +Sophus::Sim3f toSophus(const g2o::Sim3 &S) { return Sophus::Sim3f( Sophus::RxSO3d(static_cast(S.scale()), S.rotation().matrix()) .cast(), S.translation().cast()); } +} // namespace Converter + } // namespace ORB_SLAM3 From 72a69604a8ddac93f28e29c16e34bb5cbbae570b Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Wed, 4 Feb 2026 19:14:59 +0000 Subject: [PATCH 07/14] Added groundtruth and eval --- .pre-commit-config.yaml | 1 + .../colmap_groundtruth/colmap_tum.csv | 5396 +++++++++++++++++ Examples/Aquarium/justfile | 6 + 3 files changed, 5403 insertions(+) create mode 100644 Examples/Aquarium/colmap_groundtruth/colmap_tum.csv diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 81ce4881dd7..979eee8a2e9 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -11,6 +11,7 @@ repos: rev: v5.0.0 hooks: - id: check-added-large-files + exclude: ^(Examples/Aquarium/colmap_groundtruth)/.* - id: check-json - id: check-merge-conflict - id: check-xml diff --git a/Examples/Aquarium/colmap_groundtruth/colmap_tum.csv b/Examples/Aquarium/colmap_groundtruth/colmap_tum.csv new file mode 100644 index 00000000000..b884a767413 --- /dev/null +++ b/Examples/Aquarium/colmap_groundtruth/colmap_tum.csv @@ -0,0 +1,5396 @@ +1748014051.1359491 -0.4712629206106445 -3.7487796485338274 0.04836149687471195 -0.03340569674416219 0.023290783815704447 -0.03904331065027409 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-0.8730700353047035 -0.4851001276928656 +1748017951.842406 -4.042600426911333 -2.886189484802063 -0.25862741758871155 -0.03105465472141822 -0.03798199260747117 -0.8732040127469245 -0.4848790867632553 diff --git a/Examples/Aquarium/justfile b/Examples/Aquarium/justfile index dcb8e958514..1cdc3d61b1b 100644 --- a/Examples/Aquarium/justfile +++ b/Examples/Aquarium/justfile @@ -10,6 +10,12 @@ VOCAB_FILE:="../../Vocabulary/ORBvoc.txt" stereo bagfile: {{BIN_DIR}}/{{BUILD_TYPE}}/stereo_{{BIN_SUFFIX}} {{CONFIG_FILE}} {{VOCAB_FILE}} aquarium_data/{{bagfile}} aquarium_data/{{bagfile}}/mav0/cam0/data.csv 2>&1 | tee {{bagfile}}_stereo.txt + just eval {{bagfile}} + +eval bagfile: + evo_ape tum --align --correct_scale colmap_groundtruth/colmap_tum.csv CameraTrajectory.txt + evo_rpe tum --align --correct_scale colmap_groundtruth/colmap_tum.csv CameraTrajectory.txt + evo_traj tum --align --correct_scale --sync --ref=colmap_groundtruth/colmap_tum.csv CameraTrajectory.txt convert bagfile: From e717c49228adc0487d6aebcd4e2a4dd8b77226c9 Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Wed, 4 Feb 2026 19:25:28 +0000 Subject: [PATCH 08/14] Minor update to YAML comments --- Examples/Aquarium/aquarium.yaml | 6 ++++++ Examples/Aquarium/aquarium_resize.yaml | 9 ++++++--- 2 files changed, 12 insertions(+), 3 deletions(-) diff --git a/Examples/Aquarium/aquarium.yaml b/Examples/Aquarium/aquarium.yaml index 95626f306c9..7fd79c69587 100644 --- a/Examples/Aquarium/aquarium.yaml +++ b/Examples/Aquarium/aquarium.yaml @@ -4,6 +4,12 @@ # # Contains values specific to the odometry nano _in water_ # +# The camera intrinsics and extrinsics are specific to the "2025_05_23_aquarium_test/" +# The calibration is taken from "2025_04_07_hh101_calibration/" +# +# This calibration _WILL NOT_ work for APL pier data +# +# !! This configuration file includes downsampling images by a factor of 2 #-------------------------------------------------------------------------------------------- # Camera Parameters. Adjust them! diff --git a/Examples/Aquarium/aquarium_resize.yaml b/Examples/Aquarium/aquarium_resize.yaml index 38a818cfa80..dc9d687acbf 100644 --- a/Examples/Aquarium/aquarium_resize.yaml +++ b/Examples/Aquarium/aquarium_resize.yaml @@ -4,6 +4,12 @@ # # Contains values specific to the odometry nano _in water_ # +# The camera intrinsics and extrinsics are specific to the "2025_05_23_aquarium_test/" +# The calibration is taken from "2025_04_07_hh101_calibration/" +# +# This calibration _WILL NOT_ work for APL pier data +# +# !! This configuration file includes downsampling images by a factor of 2 #-------------------------------------------------------------------------------------------- # Camera Parameters. Adjust them! @@ -17,7 +23,6 @@ Camera.type: "PinHole" Camera.width: 1440 Camera.height: 1080 -# This configuration file includes downsampling images by a factor of 2 Camera.newWidth: 720 Camera.newHeight: 540 @@ -43,8 +48,6 @@ Camera2.p1: -0.003977 Camera2.p2: 0.000629 Camera2.k3: -0.0902 -# Taken from Kalibr calibration _after_ aquarium but before APL pier test -# This is T_cn_cnm1 inverted Stereo.T_c1_c2: !!opencv-matrix rows: 4 cols: 4 From 7c8c70047630bdd1a619c78074aedc365ac59bb9 Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Wed, 4 Feb 2026 19:26:31 +0000 Subject: [PATCH 09/14] Update aquarium.yaml --- Examples/Aquarium/aquarium.yaml | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/Examples/Aquarium/aquarium.yaml b/Examples/Aquarium/aquarium.yaml index 7fd79c69587..c3b2818fe95 100644 --- a/Examples/Aquarium/aquarium.yaml +++ b/Examples/Aquarium/aquarium.yaml @@ -45,7 +45,6 @@ Camera2.p1: -0.003977 Camera2.p2: 0.000629 Camera2.k3: -0.0902 -# Taken from Kalibr calibration _after_ aquarium but before APL pier test # This is T_cn_cnm1 inverted Stereo.T_c1_c2: !!opencv-matrix rows: 4 @@ -56,22 +55,6 @@ Stereo.T_c1_c2: !!opencv-matrix 0.020308, 0.034112, 0.999212, 0.002921, 0.000000, 0.000000, 0.000000, 1.000000] - #data: [ 9.99724649e-01, -1.97948923e-02, 1.26011608e-02,5.52256532e-02, - #2.02534145e-02, 9.99096454e-01, -3.73640900e-02, -5.09111677e-04, - #-1.18501570e-02, 3.76090183e-02, 9.99222265e-01, 1.32659033e-03, - #0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00] - - -# Stereo.T_c1_c2: !!opencv-matrix -# rows: 4 -# cols: 4 -# dt: f -# data: [0.9997246485823932, 0.020253414453953025, -0.011850156951119623, -0.055184415137663416, -# -0.019794892340568693, 0.9990964537932159, 0.03760901826749862, 0.001551945769490056, -# 0.012601160820934586, -0.03736408998993763, 0.9992222653269832, -0.0020404884227846246, -# 0.0, 0.0, 0.0, 1] - - # END OF MATLAB PARAMETERS #-------------------------------------------------------------------------------------------- From 7d2bf5465a77ccd2e6a7536ef74f6fb0ac5c8d04 Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Sat, 1 Aug 2026 14:51:04 +0000 Subject: [PATCH 10/14] First cut externalizing BoW --- include/Atlas.h | 22 ++++-- include/KeyFrame.h | 14 ++-- include/KeyFrameDatabase.h | 33 +++++---- include/LoopClosing.h | 6 +- include/Map.h | 5 +- include/System.h | 8 +- include/Tracking.h | 6 +- include/VPRImplementation.h | 70 ++++++++++++++++++ src/Atlas.cc | 45 ++++++----- src/KeyFrame.cc | 12 +-- src/KeyFrameDatabase.cc | 144 +++--------------------------------- src/LoopClosing.cc | 22 +++--- src/Map.cc | 4 +- src/System.cc | 19 ++--- src/Tracking.cc | 2 +- 15 files changed, 193 insertions(+), 219 deletions(-) create mode 100644 include/VPRImplementation.h diff --git a/include/Atlas.h b/include/Atlas.h index 6bfae0e17e3..41397374139 100644 --- a/include/Atlas.h +++ b/include/Atlas.h @@ -76,6 +76,7 @@ class Atlas { Atlas(); explicit Atlas( + const std::shared_ptr &pSys, int initKFid); // When its initialization the first map is created ~Atlas(); @@ -133,11 +134,17 @@ class Atlas { map> GetAtlasKeyframes(); - void SetKeyFrameDababase(const std::shared_ptr &pKFDB); - std::shared_ptr GetKeyFrameDatabase(); + void SetSystem(const std::shared_ptr &pSys); + std::shared_ptr TheSystem() { + assert(mpSystem); + return mpSystem; + } + + // void SetVprImplementation(const std::shared_ptr &pKFDB); + // std::shared_ptr GetVprImplementation(); - void SetORBVocabulary(const std::shared_ptr &pORBVoc); - std::shared_ptr GetORBVocabulary(); + // void SetORBVocabulary(const std::shared_ptr &pORBVoc); + // std::shared_ptr GetORBVocabulary(); long unsigned int GetNumLivedKF(); @@ -156,11 +163,12 @@ class Atlas { unsigned long int mnLastInitKFidMap; - std::shared_ptr mpViewer; + std::shared_ptr mpSystem; + // std::shared_ptr mpViewer; // Class references for the map reconstruction from the save file - std::shared_ptr mpKeyFrameDB; - std::shared_ptr mpORBVocabulary; + // std::shared_ptr mpVprImpl; + // std::shared_ptr mpORBVocabulary; // Mutex std::mutex mMutexAtlas; diff --git a/include/KeyFrame.h b/include/KeyFrame.h index 7dc5cc98a7a..b8b5fc0c24a 100644 --- a/include/KeyFrame.h +++ b/include/KeyFrame.h @@ -39,7 +39,7 @@ #include "ImuTypes.h" #include "KeyFrameDatabase.h" #include "MapPoint.h" -#include "ORBVocabulary.h" +// #include "ORBVocabulary.h" #include "ORBextractor.h" #include "SerializationUtils.h" #include "Thirdparty/DBoW2/DBoW2/BowVector.h" @@ -50,7 +50,7 @@ namespace ORB_SLAM3 { class Map; class MapPoint; class Frame; -class KeyFrameDatabase; +class BoWKeyFrameDatabase; class GeometricCamera; @@ -130,8 +130,8 @@ class KeyFrame : public std::enable_shared_from_this { ar& const_cast&>(mvDepth); serializeMatrix(ar, mDescriptors, version); // BOW - ar & mBowVec; - ar & mFeatVec; + // ar & mBowVec; + // ar & mFeatVec; // Pose relative to parent serializeSophusSE3(ar, mTcp, version); // Scale @@ -200,7 +200,7 @@ class KeyFrame : public std::enable_shared_from_this { KeyFrame() = default; KeyFrame(const std::shared_ptr& F, const std::shared_ptr& pMap, - const std::shared_ptr& pKFDB); + const std::shared_ptr& pKFDB); // Pose functions void SetPose(const Sophus::SE3f& Tcw); @@ -310,7 +310,7 @@ class KeyFrame : public std::enable_shared_from_this { map>& mpCamId); void SetORBVocabulary(const std::shared_ptr& pORBVoc); - void SetKeyFrameDatabase(const std::shared_ptr& pKFDB); + void SetVprImplementation(const std::shared_ptr& pKFDB); bool bImu; @@ -460,7 +460,7 @@ class KeyFrame : public std::enable_shared_from_this { std::vector mvBackupMapPointsId; // BoW - std::shared_ptr mpKeyFrameDB; + std::shared_ptr mpVprImpl; std::shared_ptr mpORBvocabulary; // Grid over the image to speed up feature matching diff --git a/include/KeyFrameDatabase.h b/include/KeyFrameDatabase.h index 3d4799cc766..1f88ae30d33 100644 --- a/include/KeyFrameDatabase.h +++ b/include/KeyFrameDatabase.h @@ -34,6 +34,7 @@ #include "KeyFrame.h" #include "Map.h" #include "ORBVocabulary.h" +#include "VPRImplementation.h" namespace ORB_SLAM3 { @@ -41,7 +42,7 @@ class KeyFrame; class Frame; class Map; -class KeyFrameDatabase { +class BoWKeyFrameDatabase : public VPRImplementation { friend class boost::serialization::access; template @@ -52,36 +53,38 @@ class KeyFrameDatabase { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW - KeyFrameDatabase() = default; - explicit KeyFrameDatabase(const std::shared_ptr &voc); + BoWKeyFrameDatabase() = default; + explicit BoWKeyFrameDatabase(const std::shared_ptr &voc); - void add(const std::shared_ptr &pKF); + void add(const std::shared_ptr &pKF) override; - void erase(const std::shared_ptr &pKF); + void erase(const std::shared_ptr &pKF) override; - void clear(); - void clearMap(const std::shared_ptr &pMap); + void clear() override; + void clearMap(const std::shared_ptr &pMap) override; // Loop Detection(DEPRECATED) - std::vector> DetectLoopCandidates( - const std::shared_ptr &pKF, float minScore); + // std::vector> DetectLoopCandidates( + // const std::shared_ptr &pKF, float minScore); // Loop and Merge Detection - void DetectCandidates(const std::shared_ptr &pKF, float minScore, - vector> &vpLoopCand, - vector> &vpMergeCand); + void DetectCandidates( + const std::shared_ptr &pKF, float minScore, + vector> &vpLoopCand, + vector> &vpMergeCand) override; void DetectBestCandidates(const std::shared_ptr &pKF, vector> &vpLoopCand, vector> &vpMergeCand, - int nMinWords); + int nMinWords) override; void DetectNBestCandidates(const std::shared_ptr &pKF, vector> &vpLoopCand, vector> &vpMergeCand, - size_t nNumCandidates); + size_t nNumCandidates) override; // Relocalization std::vector> DetectRelocalizationCandidates( - const std::shared_ptr &F, const std::shared_ptr &pMap); + const std::shared_ptr &F, + const std::shared_ptr &pMap) override; void PreSave(); void PostLoad(map> mpKFid); diff --git a/include/LoopClosing.h b/include/LoopClosing.h index 2f3b5d22e9b..987828aca1d 100644 --- a/include/LoopClosing.h +++ b/include/LoopClosing.h @@ -45,7 +45,7 @@ namespace ORB_SLAM3 { class Tracking; class LocalMapping; -class KeyFrameDatabase; +class BoWKeyFrameDatabase; class Map; class LoopClosing : public enable_shared_from_this { @@ -62,7 +62,7 @@ class LoopClosing : public enable_shared_from_this { LoopClosing(const LoopClosing &) = delete; LoopClosing(const std::shared_ptr &pAtlas, - const std::shared_ptr &pDB, + const std::shared_ptr &pDB, const std::shared_ptr &pVoc, const bool bFixScale, const bool bActiveLC); @@ -186,7 +186,7 @@ class LoopClosing : public enable_shared_from_this { std::shared_ptr mpAtlas; std::shared_ptr mpTracker; - std::shared_ptr mpKeyFrameDB; + std::shared_ptr mpVprImplementation; std::shared_ptr mpORBVocabulary; std::shared_ptr mpLocalMapper; diff --git a/include/Map.h b/include/Map.h index 8fe3a3a93d0..3ab98dc4472 100644 --- a/include/Map.h +++ b/include/Map.h @@ -36,13 +36,14 @@ #include "KeyFrame.h" #include "MapPoint.h" +#include "VPRImplementation.h" namespace ORB_SLAM3 { class MapPoint; class KeyFrame; class Atlas; -class KeyFrameDatabase; +class BoWKeyFrameDatabase; class Map : public std::enable_shared_from_this { friend class boost::serialization::access; @@ -139,7 +140,7 @@ class Map : public std::enable_shared_from_this { void PreSave(std::set >& spCams); void PostLoad( - const std::shared_ptr& pKFDB, + const std::shared_ptr& pKFDB, const std::shared_ptr& pORBVoc /*, map& mpKeyFrameId*/, map >& mpCams); diff --git a/include/System.h b/include/System.h index 55857c4a26d..d3624c87ed7 100644 --- a/include/System.h +++ b/include/System.h @@ -199,6 +199,12 @@ class System : public std::enable_shared_from_this { void InsertTrackTime(double &time); #endif + // Member accessors + std::shared_ptr getVprImplementation() { + return mpVprImpl; + } + std::shared_ptr getORBVocabulary() { return mpVocabulary; } + protected: // Initialize the SLAM system. It launches the Local Mapping, Loop Closing and // Viewer threads. @@ -228,7 +234,7 @@ class System : public std::enable_shared_from_this { // KeyFrame database for place recognition (relocalization and loop // detection). - std::shared_ptr mpKeyFrameDatabase; + std::shared_ptr mpVprImpl; // Map structure that stores the pointers to all KeyFrames and MapPoints. // Map* mpMap; diff --git a/include/Tracking.h b/include/Tracking.h index 383574d0c02..f513824d9ef 100644 --- a/include/Tracking.h +++ b/include/Tracking.h @@ -35,7 +35,6 @@ #include "FrameDrawer.h" #include "GeometricCamera.h" #include "ImuTypes.h" -#include "KeyFrameDatabase.h" #include "LocalMapping.h" #include "LoopClosing.h" #include "MapDrawer.h" @@ -43,6 +42,7 @@ #include "ORBextractor.h" #include "Settings.h" #include "System.h" +#include "VPRImplementation.h" #include "Viewer.h" namespace ORB_SLAM3 { @@ -63,7 +63,7 @@ class Tracking : public std::enable_shared_from_this { const std::shared_ptr &pFrameDrawer, const std::shared_ptr &pMapDrawer, const std::shared_ptr &pAtlas, - const std::shared_ptr &pKFDB, + const std::shared_ptr &pKFDB, const std::shared_ptr &settings, const string &_nameSeq = std::string()); @@ -279,7 +279,7 @@ class Tracking : public std::enable_shared_from_this { // BoW std::shared_ptr mpORBVocabulary; - std::shared_ptr mpKeyFrameDB; + std::shared_ptr mpKeyFrameDB; // Initalization (only for monocular) bool mbReadyToInitializate; diff --git a/include/VPRImplementation.h b/include/VPRImplementation.h new file mode 100644 index 00000000000..079f5f2e546 --- /dev/null +++ b/include/VPRImplementation.h @@ -0,0 +1,70 @@ +/** + * This file is part of ORB-SLAM3 + * + * Copyright (C) 2017-2021 Carlos Campos, Richard Elvira, Juan J. Gómez + * Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. + * Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, + * University of Zaragoza. + * + * ORB-SLAM3 is free software: you can redistribute it and/or modify it under + * the terms of the GNU General Public License as published by the Free Software + * Foundation, either version 3 of the License, or (at your option) any later + * version. + * + * ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY + * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR + * A PARTICULAR PURPOSE. See the GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along with + * ORB-SLAM3. If not, see . + */ + +#pragma once + +#include +#include + +#include "Frame.h" +#include "KeyFrame.h" +#include "Map.h" +#include "ORBVocabulary.h" + +namespace ORB_SLAM3 { + +class Map; + +class VPRImplementation { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + VPRImplementation() = default; + + virtual void add(const std::shared_ptr &pKF) = 0; + virtual void erase(const std::shared_ptr &pKF) = 0; + + virtual void clear() = 0; + virtual void clearMap(const std::shared_ptr &pMap) = 0; + + // Loop and Merge Detection + virtual void DetectCandidates( + const std::shared_ptr &pKF, float minScore, + vector> &vpLoopCand, + vector> &vpMergeCand) = 0; + virtual void DetectBestCandidates( + const std::shared_ptr &pKF, + vector> &vpLoopCand, + vector> &vpMergeCand, int nMinWords) = 0; + virtual void DetectNBestCandidates( + const std::shared_ptr &pKF, + vector> &vpLoopCand, + vector> &vpMergeCand, + size_t nNumCandidates) = 0; + + // Relocalization + virtual std::vector> DetectRelocalizationCandidates( + const std::shared_ptr &F, const std::shared_ptr &pMap) = 0; + + protected: +}; + +} // namespace ORB_SLAM3 diff --git a/src/Atlas.cc b/src/Atlas.cc index 5e39be3c3ed..5c792724cba 100644 --- a/src/Atlas.cc +++ b/src/Atlas.cc @@ -34,10 +34,10 @@ namespace ORB_SLAM3 { -Atlas::Atlas() : mpCurrentMap(nullptr), mpViewer(nullptr) {} +Atlas::Atlas() : mpCurrentMap(nullptr), mpSystem(nullptr) {} -Atlas::Atlas(int initKFid) - : mnLastInitKFidMap(initKFid), mpCurrentMap(nullptr), mpViewer(nullptr) { +Atlas::Atlas(const std::shared_ptr &pSys, int initKFid) + : mnLastInitKFidMap(initKFid), mpCurrentMap(nullptr), mpSystem(pSys) { CreateNewMap(); } @@ -80,9 +80,9 @@ unsigned long int Atlas::GetLastInitKFid() { return mnLastInitKFidMap; } -void Atlas::SetViewer(const std::shared_ptr &pViewer) { - mpViewer = pViewer; -} +// void Atlas::SetViewer(const std::shared_ptr &pViewer) { +// mpViewer = pViewer; +// } void Atlas::AddKeyFrame(const std::shared_ptr &pKF) { std::shared_ptr pMapKF = pKF->GetMap(); @@ -254,6 +254,8 @@ void Atlas::PreSave() { } void Atlas::PostLoad() { + assert(mpSystem); + map> mpCams; for (auto pCam : mvpCameras) { mpCams[pCam->GetId()] = pCam; @@ -263,29 +265,32 @@ void Atlas::PostLoad() { unsigned long int numKF = 0, numMP = 0; for (auto pMi : mvpBackupMaps) { mspMaps.insert(pMi); - pMi->PostLoad(mpKeyFrameDB, mpORBVocabulary, mpCams); + pMi->PostLoad(TheSystem()->getVprImplementation(), + TheSystem()->getORBVocabulary(), mpCams); numKF += pMi->GetAllKeyFrames().size(); numMP += pMi->GetAllMapPoints().size(); } mvpBackupMaps.clear(); } -void Atlas::SetKeyFrameDababase( - const std::shared_ptr &pKFDB) { - mpKeyFrameDB = pKFDB; -} +void Atlas::SetSystem(const std::shared_ptr &pSys) { mpSystem = pSys; } -std::shared_ptr Atlas::GetKeyFrameDatabase() { - return mpKeyFrameDB; -} +// void Atlas::SetVprImplementation( +// const std::shared_ptr &pKFDB) { +// mpVprImpl = pKFDB; +// } -void Atlas::SetORBVocabulary(const std::shared_ptr &pORBVoc) { - mpORBVocabulary = pORBVoc; -} +// std::shared_ptr Atlas::GetVprImplementation() { +// return mpVprImpl; +// } -std::shared_ptr Atlas::GetORBVocabulary() { - return mpORBVocabulary; -} +// void Atlas::SetORBVocabulary(const std::shared_ptr &pORBVoc) { +// mpORBVocabulary = pORBVoc; +// } + +// std::shared_ptr Atlas::GetORBVocabulary() { +// return mpORBVocabulary; +// } long unsigned int Atlas::GetNumLivedKF() { unique_lock lock(mMutexAtlas); diff --git a/src/KeyFrame.cc b/src/KeyFrame.cc index 1b397e51c47..47d0795d59a 100644 --- a/src/KeyFrame.cc +++ b/src/KeyFrame.cc @@ -42,7 +42,7 @@ unsigned long int KeyFrame::nNextId = 0; KeyFrame::KeyFrame(const std::shared_ptr &F, const std::shared_ptr &pMap, - const std::shared_ptr &pKFDB) + const std::shared_ptr &pKFDB) : bImu(pMap->isImuInitialized()), mnFrameId(F->mnId), mTimeStamp(F->mTimeStamp), @@ -97,7 +97,7 @@ KeyFrame::KeyFrame(const std::shared_ptr &F, mpBackupImuPreintegrated(std::make_shared()), mImuCalib(F->mImuCalib), mvpMapPoints(F->mvpMapPoints), - mpKeyFrameDB(pKFDB), + mpVprImpl(pKFDB), mpORBvocabulary(F->mpORBvocabulary), mbFirstConnection(true), mpParent(NULL), @@ -674,7 +674,7 @@ void KeyFrame::SetBadFlag() { } mpMap->EraseKeyFrame(shared_from_this()); - mpKeyFrameDB->erase(shared_from_this()); + mpVprImpl->erase(shared_from_this()); } bool KeyFrame::isBad() { @@ -1128,9 +1128,9 @@ void KeyFrame::SetORBVocabulary(const std::shared_ptr &pORBVoc) { mpORBvocabulary = pORBVoc; } -void KeyFrame::SetKeyFrameDatabase( - const std::shared_ptr &pKFDB) { - mpKeyFrameDB = pKFDB; +void KeyFrame::SetVprImplementation( + const std::shared_ptr &pKFDB) { + mpVprImpl = pKFDB; } } // namespace ORB_SLAM3 diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc index a1326517630..0165be029f8 100644 --- a/src/KeyFrameDatabase.cc +++ b/src/KeyFrameDatabase.cc @@ -33,18 +33,19 @@ namespace ORB_SLAM3 { -KeyFrameDatabase::KeyFrameDatabase(const std::shared_ptr& voc) +BoWKeyFrameDatabase::BoWKeyFrameDatabase( + const std::shared_ptr& voc) : mpVoc(voc) { mvInvertedFile.resize(voc->size()); } -void KeyFrameDatabase::add(const std::shared_ptr& pKF) { +void BoWKeyFrameDatabase::add(const std::shared_ptr& pKF) { unique_lock lock(mMutex); for (auto const& vit : pKF->mBowVec) mvInvertedFile[vit.first].push_back(pKF); } -void KeyFrameDatabase::erase(const std::shared_ptr& pKF) { +void BoWKeyFrameDatabase::erase(const std::shared_ptr& pKF) { unique_lock lock(mMutex); // Erase elements in the Inverse File for the entry @@ -61,12 +62,12 @@ void KeyFrameDatabase::erase(const std::shared_ptr& pKF) { } } -void KeyFrameDatabase::clear() { +void BoWKeyFrameDatabase::clear() { mvInvertedFile.clear(); mvInvertedFile.resize(mpVoc->size()); } -void KeyFrameDatabase::clearMap(const std::shared_ptr& pMap) { +void BoWKeyFrameDatabase::clearMap(const std::shared_ptr& pMap) { unique_lock lock(mMutex); // Erase elements in the Inverse File for the entry @@ -84,130 +85,7 @@ void KeyFrameDatabase::clearMap(const std::shared_ptr& pMap) { } } -vector> KeyFrameDatabase::DetectLoopCandidates( - const std::shared_ptr& pKF, float minScore) { - set> spConnectedKeyFrames = - pKF->GetConnectedKeyFrames(); - list> lKFsSharingWords; - - // Search all keyframes that share a word with current keyframes - // Discard keyframes connected to the query keyframe - { - unique_lock lock(mMutex); - - for (auto const vit : pKF->mBowVec) { - auto const& lKFs = mvInvertedFile[vit.first]; - - for (auto pKFi : lKFs) { - // For consider a loop candidate it a candidate it must be in the same - // map - if (pKFi->GetMap() == pKF->GetMap()) { - if (pKFi->mnLoopQuery != pKF->mnId) { - pKFi->mnLoopWords = 0; - if (!spConnectedKeyFrames.count(pKFi)) { - pKFi->mnLoopQuery = pKF->mnId; - lKFsSharingWords.push_back(pKFi); - } - } - pKFi->mnLoopWords++; - } - } - } - } - - if (lKFsSharingWords.empty()) return vector>(); - - list>> lScoreAndMatch; - - // Only compare against those keyframes that share enough words - int maxCommonWords = 0; - for (list>::iterator lit = lKFsSharingWords.begin(), - lend = lKFsSharingWords.end(); - lit != lend; lit++) { - if ((*lit)->mnLoopWords > maxCommonWords) - maxCommonWords = (*lit)->mnLoopWords; - } - - int minCommonWords = maxCommonWords * 0.8f; - - int nscores = 0; - - // Compute similarity score. Retain the matches whose score is higher than - // minScore - for (list>::iterator lit = lKFsSharingWords.begin(), - lend = lKFsSharingWords.end(); - lit != lend; lit++) { - std::shared_ptr pKFi = *lit; - - if (pKFi->mnLoopWords > minCommonWords) { - nscores++; - - float si = mpVoc->score(pKF->mBowVec, pKFi->mBowVec); - - pKFi->mLoopScore = si; - if (si >= minScore) lScoreAndMatch.push_back(make_pair(si, pKFi)); - } - } - - if (lScoreAndMatch.empty()) return vector>(); - - list>> lAccScoreAndMatch; - float bestAccScore = minScore; - - // Lets now accumulate score by covisibility - for (list>>::iterator - it = lScoreAndMatch.begin(), - itend = lScoreAndMatch.end(); - it != itend; it++) { - std::shared_ptr pKFi = it->second; - vector> vpNeighs = - pKFi->GetBestCovisibilityKeyFrames(10); - - float bestScore = it->first; - float accScore = it->first; - std::shared_ptr pBestKF = pKFi; - for (vector>::iterator vit = vpNeighs.begin(), - vend = vpNeighs.end(); - vit != vend; vit++) { - std::shared_ptr pKF2 = *vit; - if (pKF2->mnLoopQuery == pKF->mnId && - pKF2->mnLoopWords > minCommonWords) { - accScore += pKF2->mLoopScore; - if (pKF2->mLoopScore > bestScore) { - pBestKF = pKF2; - bestScore = pKF2->mLoopScore; - } - } - } - - lAccScoreAndMatch.push_back(make_pair(accScore, pBestKF)); - if (accScore > bestAccScore) bestAccScore = accScore; - } - - // Return all those keyframes with a score higher than 0.75*bestScore - float minScoreToRetain = 0.75f * bestAccScore; - - set> spAlreadyAddedKF; - vector> vpLoopCandidates; - vpLoopCandidates.reserve(lAccScoreAndMatch.size()); - - for (list>>::iterator - it = lAccScoreAndMatch.begin(), - itend = lAccScoreAndMatch.end(); - it != itend; it++) { - if (it->first > minScoreToRetain) { - std::shared_ptr pKFi = it->second; - if (!spAlreadyAddedKF.count(pKFi)) { - vpLoopCandidates.push_back(pKFi); - spAlreadyAddedKF.insert(pKFi); - } - } - } - - return vpLoopCandidates; -} - -void KeyFrameDatabase::DetectCandidates( +void BoWKeyFrameDatabase::DetectCandidates( const std::shared_ptr& pKF, float minScore, vector>& vpLoopCand, vector>& vpMergeCand) { @@ -438,7 +316,7 @@ void KeyFrameDatabase::DetectCandidates( } } -void KeyFrameDatabase::DetectBestCandidates( +void BoWKeyFrameDatabase::DetectBestCandidates( const std::shared_ptr& pKF, vector>& vpLoopCand, vector>& vpMergeCand, int nMinWords) { @@ -568,7 +446,7 @@ bool compFirst(const pair>& a, return a.first > b.first; } -void KeyFrameDatabase::DetectNBestCandidates( +void BoWKeyFrameDatabase::DetectNBestCandidates( const std::shared_ptr& pKF, vector>& vpLoopCand, vector>& vpMergeCand, size_t nNumCandidates) { @@ -691,7 +569,7 @@ void KeyFrameDatabase::DetectNBestCandidates( } vector> -KeyFrameDatabase::DetectRelocalizationCandidates( +BoWKeyFrameDatabase::DetectRelocalizationCandidates( const std::shared_ptr& F, const std::shared_ptr& pMap) { list> lKFsSharingWords; @@ -797,7 +675,7 @@ KeyFrameDatabase::DetectRelocalizationCandidates( return vpRelocCandidates; } -void KeyFrameDatabase::SetORBVocabulary( +void BoWKeyFrameDatabase::SetORBVocabulary( const std::shared_ptr& pORBVoc) { // WTF? // ORBVocabulary** ptr; diff --git a/src/LoopClosing.cc b/src/LoopClosing.cc index 4ffb0771eee..609a8f6b46c 100644 --- a/src/LoopClosing.cc +++ b/src/LoopClosing.cc @@ -41,7 +41,7 @@ namespace ORB_SLAM3 { LoopClosing::LoopClosing(const std::shared_ptr& pAtlas, - const std::shared_ptr& pDB, + const std::shared_ptr& pDB, const std::shared_ptr& pVoc, const bool bFixScale, const bool bActiveLC) : mbResetRequested(false), @@ -49,7 +49,7 @@ LoopClosing::LoopClosing(const std::shared_ptr& pAtlas, mbFinishRequested(false), mbFinished(true), mpAtlas(pAtlas), - mpKeyFrameDB(pDB), + mpVprImplementation(pDB), mpORBVocabulary(pVoc), mpMatchedKF(NULL), mLastLoopKFid(0), @@ -369,7 +369,7 @@ bool LoopClosing::NewDetectCommonRegions() { } if (mpLastMap->IsInertial() && !mpLastMap->GetInertialBA2()) { - mpKeyFrameDB->add(mpCurrentKF); + mpVprImplementation->add(mpCurrentKF); mpCurrentKF->SetErase(); return false; } @@ -380,7 +380,7 @@ bool LoopClosing::NewDetectCommonRegions() { "[LoopClosing::NewDetectCommonRegions] Stereo KF inserted without " "check: {}", mpCurrentKF->mnId); - mpKeyFrameDB->add(mpCurrentKF); + mpVprImplementation->add(mpCurrentKF); mpCurrentKF->SetErase(); return false; } @@ -390,7 +390,7 @@ bool LoopClosing::NewDetectCommonRegions() { "[LoopClosing::NewDetectCommonRegions] Stereo KF inserted without " "check, map is small: {}", mpCurrentKF->mnId); - mpKeyFrameDB->add(mpCurrentKF); + mpVprImplementation->add(mpCurrentKF); mpCurrentKF->SetErase(); return false; } @@ -433,7 +433,7 @@ bool LoopClosing::NewDetectCommonRegions() { mnLoopNumNotFound = 0; if (!mbLoopDetected) { - oslog::info("PR: Loop detected with Reffine Sim3"); + oslog::info("PR: Loop detected with Refine Sim3"); } } else { bLoopDetectedInKF = false; @@ -504,7 +504,7 @@ bool LoopClosing::NewDetectCommonRegions() { #ifdef REGISTER_TIMES vdEstSim3_ms.push_back(timeEstSim3); #endif - mpKeyFrameDB->add(mpCurrentKF); + mpVprImplementation->add(mpCurrentKF); return true; } @@ -517,12 +517,14 @@ bool LoopClosing::NewDetectCommonRegions() { vector> vpMergeBowCand, vpLoopBowCand; if (!bMergeDetectedInKF || !bLoopDetectedInKF) { // Search in BoW + oslog::info("Trying to find overlapping images using BOW"); + #ifdef REGISTER_TIMES std::chrono::steady_clock::time_point time_StartQuery = std::chrono::steady_clock::now(); #endif - mpKeyFrameDB->DetectNBestCandidates(mpCurrentKF, vpLoopBowCand, - vpMergeBowCand, 3); + mpVprImplementation->DetectNBestCandidates(mpCurrentKF, vpLoopBowCand, + vpMergeBowCand, 3); #ifdef REGISTER_TIMES std::chrono::steady_clock::time_point time_EndQuery = std::chrono::steady_clock::now(); @@ -564,7 +566,7 @@ bool LoopClosing::NewDetectCommonRegions() { vdEstSim3_ms.push_back(timeEstSim3); #endif - mpKeyFrameDB->add(mpCurrentKF); + mpVprImplementation->add(mpCurrentKF); if (mbMergeDetected || mbLoopDetected) { return true; diff --git a/src/Map.cc b/src/Map.cc index 2079889524c..1b9d2657318 100644 --- a/src/Map.cc +++ b/src/Map.cc @@ -379,7 +379,7 @@ void Map::PreSave(std::set>& spCams) { } void Map::PostLoad( - const std::shared_ptr& pKFDB, + const std::shared_ptr& pKFDB, const std::shared_ptr& pORBVoc /*, map& mpKeyFrameId*/, map>& mpCams) { @@ -402,7 +402,7 @@ void Map::PostLoad( pKFi->UpdateMap(shared_from_this()); pKFi->SetORBVocabulary(pORBVoc); - pKFi->SetKeyFrameDatabase(pKFDB); + pKFi->SetVprImplementation(pKFDB); mpKeyFrameId[pKFi->mnId] = pKFi; } diff --git a/src/System.cc b/src/System.cc index f947c8caf60..9a6bcb705c1 100644 --- a/src/System.cc +++ b/src/System.cc @@ -152,12 +152,12 @@ bool System::initialize(bool initFr, const string &strSequence) { oslog::info("Vocabulary loaded!"); // Create KeyFrame Database - mpKeyFrameDatabase = std::make_shared(mpVocabulary); + mpVprImpl = std::make_shared(mpVocabulary); if (mStrLoadAtlasFromFile.empty()) { // Create the Atlas oslog::info("Initializing Atlas from scratch "); - mpAtlas = std::make_shared(0); + mpAtlas = std::make_shared(shared_from_this(), 0); } else { // Load the file with an earlier session // clock_t start = clock(); @@ -187,9 +187,9 @@ bool System::initialize(bool initFr, const string &strSequence) { // (it will live in the main thread of execution, the one that called this // constructor) oslog::info("Seq. Name: {}", strSequence); - mpTracker = std::make_shared( - shared_from_this(), mpVocabulary, mpFrameDrawer, mpMapDrawer, mpAtlas, - mpKeyFrameDatabase, settings_, strSequence); + mpTracker = std::make_shared(shared_from_this(), mpVocabulary, + mpFrameDrawer, mpMapDrawer, mpAtlas, + mpVprImpl, settings_, strSequence); // Initialize the Local Mapping thread and launch mpLocalMapper = std::make_shared( @@ -214,8 +214,8 @@ bool System::initialize(bool initFr, const string &strSequence) { // Initialize the Loop Closing thread and launch mpLoopCloser = std::make_shared( - mpAtlas, mpKeyFrameDatabase, mpVocabulary, - sensorType() != SensorType::MONOCULAR, activeLC); + mpAtlas, mpVprImpl, mpVocabulary, sensorType() != SensorType::MONOCULAR, + activeLC); mptLoopClosing = std::make_unique(&ORB_SLAM3::LoopClosing::Run, mpLoopCloser); @@ -1213,8 +1213,9 @@ bool System::LoadAtlas(int type) { return false; // Both are differents } - mpAtlas->SetKeyFrameDababase(mpKeyFrameDatabase); - mpAtlas->SetORBVocabulary(mpVocabulary); + mpAtlas->SetSystem(shared_from_this()); + // mpAtlas->SetVprImplementation(mpVprImpl); + // mpAtlas->SetORBVocabulary(mpVocabulary); mpAtlas->PostLoad(); return true; diff --git a/src/Tracking.cc b/src/Tracking.cc index 89fb6fb2549..7d884cf8029 100644 --- a/src/Tracking.cc +++ b/src/Tracking.cc @@ -52,7 +52,7 @@ Tracking::Tracking(const std::shared_ptr& pSys, const std::shared_ptr& pFrameDrawer, const std::shared_ptr& pMapDrawer, const std::shared_ptr& pAtlas, - const std::shared_ptr& pKFDB, + const std::shared_ptr& pKFDB, const std::shared_ptr& settings, const string& _nameSeq) : std::enable_shared_from_this(), From 223abc05c349d79c998b1c9a98d50edd3139d219 Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Sat, 1 Aug 2026 18:20:14 +0000 Subject: [PATCH 11/14] Implement SystemAccessor base class --- Examples/EuRoC/stereo_euroc.cc | 2 +- include/Atlas.h | 29 +- include/System.h | 14 +- include/SystemAccessor.h | 69 +++++ include/Tracking.h | 38 +-- include/Viewer.h | 12 +- src/Atlas.cc | 29 +- src/System.cc | 17 +- src/SystemAccessor.cc | 78 ++++++ src/Tracking.cc | 480 ++++++++++++++++----------------- src/Viewer.cc | 71 +++-- 11 files changed, 452 insertions(+), 387 deletions(-) create mode 100644 include/SystemAccessor.h create mode 100644 src/SystemAccessor.cc diff --git a/Examples/EuRoC/stereo_euroc.cc b/Examples/EuRoC/stereo_euroc.cc index 614b2ea68c8..af8384c4d6a 100644 --- a/Examples/EuRoC/stereo_euroc.cc +++ b/Examples/EuRoC/stereo_euroc.cc @@ -104,7 +104,7 @@ int main(int argc, char **argv) { int ni = 0; for (auto const &imgSet : seq.mvImageSets) { - spdlog::info("=== Processing image {} of {} at {:.9}", ni, seq.size(), + spdlog::info("=== Processing image {} of {} at {:.12f}", ni, seq.size(), imgSet.mTimestamp); // Read left and right images from file diff --git a/include/Atlas.h b/include/Atlas.h index 41397374139..eab3ac91b96 100644 --- a/include/Atlas.h +++ b/include/Atlas.h @@ -35,13 +35,11 @@ #include "Map.h" #include "MapPoint.h" #include "Pinhole.h" +#include "SystemAccessor.h" namespace ORB_SLAM3 { -class Viewer; -class Map; class MapPoint; class KeyFrame; -class KeyFrameDatabase; class Frame; class KannalaBrandt8; class Pinhole; @@ -49,7 +47,7 @@ class Pinhole; // BOOST_CLASS_EXPORT_GUID(Pinhole, "Pinhole") // BOOST_CLASS_EXPORT_GUID(KannalaBrandt8, "KannalaBrandt8") -class Atlas { +class Atlas : public SystemAccessor { friend class boost::serialization::access; template @@ -75,9 +73,11 @@ class Atlas { EIGEN_MAKE_ALIGNED_OPERATOR_NEW Atlas(); + explicit Atlas( const std::shared_ptr &pSys, int initKFid); // When its initialization the first map is created + ~Atlas(); void CreateNewMap(); @@ -85,8 +85,6 @@ class Atlas { unsigned long int GetLastInitKFid(); - void SetViewer(const std::shared_ptr &pViewer); - // Method for change components in the current map void AddKeyFrame(const std::shared_ptr &pKF); void AddMapPoint(MapPoint *pMP); @@ -134,18 +132,6 @@ class Atlas { map> GetAtlasKeyframes(); - void SetSystem(const std::shared_ptr &pSys); - std::shared_ptr TheSystem() { - assert(mpSystem); - return mpSystem; - } - - // void SetVprImplementation(const std::shared_ptr &pKFDB); - // std::shared_ptr GetVprImplementation(); - - // void SetORBVocabulary(const std::shared_ptr &pORBVoc); - // std::shared_ptr GetORBVocabulary(); - long unsigned int GetNumLivedKF(); long unsigned int GetNumLivedMP(); @@ -163,13 +149,6 @@ class Atlas { unsigned long int mnLastInitKFidMap; - std::shared_ptr mpSystem; - - // std::shared_ptr mpViewer; - // Class references for the map reconstruction from the save file - // std::shared_ptr mpVprImpl; - // std::shared_ptr mpORBVocabulary; - // Mutex std::mutex mMutexAtlas; }; // class Atlas diff --git a/include/System.h b/include/System.h index d3624c87ed7..7bddff0d55a 100644 --- a/include/System.h +++ b/include/System.h @@ -200,11 +200,24 @@ class System : public std::enable_shared_from_this { #endif // Member accessors + std::shared_ptr getAtlas() { return mpAtlas; } + std::shared_ptr getVprImplementation() { return mpVprImpl; } std::shared_ptr getORBVocabulary() { return mpVocabulary; } + std::shared_ptr getSettings() { return settings_; } + + std::shared_ptr getTracker() { return mpTracker; } + + std::shared_ptr getViewer() { return mpViewer; } + std::shared_ptr getFrameDrawer() { return mpFrameDrawer; } + std::shared_ptr getMapDrawer() { return mpMapDrawer; } + + std::shared_ptr getLocalMapping() { return mpLocalMapper; } + std::shared_ptr getLoopClosing() { return mpLoopCloser; } + protected: // Initialize the SLAM system. It launches the Local Mapping, Loop Closing and // Viewer threads. @@ -256,7 +269,6 @@ class System : public std::enable_shared_from_this { // The viewer draws the map and the current camera pose. It uses Pangolin. std::shared_ptr mpViewer; - std::shared_ptr mpFrameDrawer; std::shared_ptr mpMapDrawer; diff --git a/include/SystemAccessor.h b/include/SystemAccessor.h new file mode 100644 index 00000000000..404e45f1522 --- /dev/null +++ b/include/SystemAccessor.h @@ -0,0 +1,69 @@ +/** + * This file is part of ORB-SLAM3 + * + * Copytight (c) 2026 University of Washington + * Copyright (C) 2017-2021 Carlos Campos, Richard Elvira, Juan J. Gómez + * Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. + * Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, + * University of Zaragoza. + * + * ORB-SLAM3 is free software: you can redistribute it and/or modify it under + * the terms of the GNU General Public License as published by the Free Software + * Foundation, either version 3 of the License, or (at your option) any later + * version. + * + * ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY + * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR + * A PARTICULAR PURPOSE. See the GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along with + * ORB-SLAM3. If not, see . + */ + +#pragma once + +#include + +namespace ORB_SLAM3 { + +class Atlas; +class FrameDrawer; +class LocalMapping; +class LoopClosing; +class MapDrawer; +class Settings; +class System; +class Tracking; +class Viewer; + +class SystemAccessor { + public: + explicit SystemAccessor(const std::shared_ptr &pSys = nullptr); + + // For setting System after construction (when restoring using boost::archive) + void setSystem(const std::shared_ptr &pSys); + + protected: + // System + std::shared_ptr system(); + + std::shared_ptr getSettings(); + std::shared_ptr getLocalMapper(); + std::shared_ptr getLoopClosing(); + std::shared_ptr getTracker(); + + // Drawers + std::shared_ptr getViewer(); + + std::shared_ptr getFrameDrawer(); + std::shared_ptr getMapDrawer(); + + // Atlas + std::shared_ptr getAtlas(); + + private: + // System + std::shared_ptr mpSystem; +}; + +} // namespace ORB_SLAM3 diff --git a/include/Tracking.h b/include/Tracking.h index f513824d9ef..9701231327c 100644 --- a/include/Tracking.h +++ b/include/Tracking.h @@ -42,6 +42,7 @@ #include "ORBextractor.h" #include "Settings.h" #include "System.h" +#include "SystemAccessor.h" #include "VPRImplementation.h" #include "Viewer.h" @@ -55,16 +56,11 @@ class LoopClosing; class System; class Settings; -class Tracking : public std::enable_shared_from_this { +class Tracking : public SystemAccessor, + public std::enable_shared_from_this { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW Tracking(const std::shared_ptr &pSys, - const std::shared_ptr &pVoc, - const std::shared_ptr &pFrameDrawer, - const std::shared_ptr &pMapDrawer, - const std::shared_ptr &pAtlas, - const std::shared_ptr &pKFDB, - const std::shared_ptr &settings, const string &_nameSeq = std::string()); ~Tracking(); @@ -81,16 +77,6 @@ class Tracking : public std::enable_shared_from_this { void GrabImuData(const IMU::Point &imuMeasurement); - void SetLocalMapper(const std::shared_ptr &pLocalMapper) { - mpLocalMapper = pLocalMapper; - } - - void SetLoopClosing(const std::shared_ptr &pLoopClosing) { - mpLoopClosing = pLoopClosing; - } - - void SetViewer(const std::shared_ptr &pViewer) { mpViewer = pViewer; } - void SetStepByStep(bool bSet) { bStepByStep = bSet; } bool GetStepByStep() const { return bStepByStep; } @@ -269,18 +255,10 @@ class Tracking : public std::enable_shared_from_this { // localization to the map. bool mbVO; - // Other Thread Pointers - std::shared_ptr mpLocalMapper; - std::shared_ptr mpLoopClosing; - // ORB std::shared_ptr mpORBextractorLeft, mpORBextractorRight; std::shared_ptr mpIniORBextractor; - // BoW - std::shared_ptr mpORBVocabulary; - std::shared_ptr mpKeyFrameDB; - // Initalization (only for monocular) bool mbReadyToInitializate; bool mbSetInit; @@ -290,18 +268,8 @@ class Tracking : public std::enable_shared_from_this { std::vector> mvpLocalKeyFrames; std::vector mvpLocalMapPoints; - // System - std::shared_ptr mpSystem; - - // Drawers - std::shared_ptr mpViewer; - std::shared_ptr mpFrameDrawer; - std::shared_ptr mpMapDrawer; bool bStepByStep; - // Atlas - std::shared_ptr mpAtlas; - // Calibration matrix cv::Mat mK; Eigen::Matrix3f mK_; diff --git a/include/Viewer.h b/include/Viewer.h index 01f5ce0419f..4d736ff65a9 100644 --- a/include/Viewer.h +++ b/include/Viewer.h @@ -38,14 +38,11 @@ class MapDrawer; class System; class Settings; -class Viewer { +class Viewer : public SystemAccessor { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW - Viewer(System *pSystem, const std::shared_ptr &pFrameDrawer, - const std::shared_ptr &pMapDrawer, - const std::shared_ptr &pTracking, - const std::shared_ptr &settings); + explicit Viewer(const std::shared_ptr &pSystem); // Main thread function. Draw points, keyframes, the current camera pose and // the last processed frame. Drawing is refreshed according to the camera fps. @@ -71,11 +68,6 @@ class Viewer { private: bool Stop(); - System *mpSystem; - std::shared_ptr mpFrameDrawer; - std::shared_ptr mpMapDrawer; - std::shared_ptr mpTracker; - // 1/fps in ms double mT; float mImageWidth, mImageHeight; diff --git a/src/Atlas.cc b/src/Atlas.cc index 5c792724cba..18f16166c12 100644 --- a/src/Atlas.cc +++ b/src/Atlas.cc @@ -34,10 +34,10 @@ namespace ORB_SLAM3 { -Atlas::Atlas() : mpCurrentMap(nullptr), mpSystem(nullptr) {} +Atlas::Atlas() : mpCurrentMap(nullptr) {} Atlas::Atlas(const std::shared_ptr &pSys, int initKFid) - : mnLastInitKFidMap(initKFid), mpCurrentMap(nullptr), mpSystem(pSys) { + : SystemAccessor(pSys), mnLastInitKFidMap(initKFid), mpCurrentMap(nullptr) { CreateNewMap(); } @@ -254,8 +254,6 @@ void Atlas::PreSave() { } void Atlas::PostLoad() { - assert(mpSystem); - map> mpCams; for (auto pCam : mvpCameras) { mpCams[pCam->GetId()] = pCam; @@ -265,33 +263,14 @@ void Atlas::PostLoad() { unsigned long int numKF = 0, numMP = 0; for (auto pMi : mvpBackupMaps) { mspMaps.insert(pMi); - pMi->PostLoad(TheSystem()->getVprImplementation(), - TheSystem()->getORBVocabulary(), mpCams); + pMi->PostLoad(system()->getVprImplementation(), + system()->getORBVocabulary(), mpCams); numKF += pMi->GetAllKeyFrames().size(); numMP += pMi->GetAllMapPoints().size(); } mvpBackupMaps.clear(); } -void Atlas::SetSystem(const std::shared_ptr &pSys) { mpSystem = pSys; } - -// void Atlas::SetVprImplementation( -// const std::shared_ptr &pKFDB) { -// mpVprImpl = pKFDB; -// } - -// std::shared_ptr Atlas::GetVprImplementation() { -// return mpVprImpl; -// } - -// void Atlas::SetORBVocabulary(const std::shared_ptr &pORBVoc) { -// mpORBVocabulary = pORBVoc; -// } - -// std::shared_ptr Atlas::GetORBVocabulary() { -// return mpORBVocabulary; -// } - long unsigned int Atlas::GetNumLivedKF() { unique_lock lock(mMutexAtlas); long unsigned int num = 0; diff --git a/src/System.cc b/src/System.cc index 9a6bcb705c1..44a7fe06161 100644 --- a/src/System.cc +++ b/src/System.cc @@ -187,9 +187,7 @@ bool System::initialize(bool initFr, const string &strSequence) { // (it will live in the main thread of execution, the one that called this // constructor) oslog::info("Seq. Name: {}", strSequence); - mpTracker = std::make_shared(shared_from_this(), mpVocabulary, - mpFrameDrawer, mpMapDrawer, mpAtlas, - mpVprImpl, settings_, strSequence); + mpTracker = std::make_shared(shared_from_this(), strSequence); // Initialize the Local Mapping thread and launch mpLocalMapper = std::make_shared( @@ -220,8 +218,8 @@ bool System::initialize(bool initFr, const string &strSequence) { std::make_unique(&ORB_SLAM3::LoopClosing::Run, mpLoopCloser); // Set pointers between threads - mpTracker->SetLocalMapper(mpLocalMapper); - mpTracker->SetLoopClosing(mpLoopCloser); + // mpTracker->SetLocalMapper(mpLocalMapper); + // mpTracker->SetLoopClosing(mpLoopCloser); mpLocalMapper->SetTracker(mpTracker); mpLocalMapper->SetLoopCloser(mpLoopCloser); @@ -232,10 +230,9 @@ bool System::initialize(bool initFr, const string &strSequence) { // Initialize the Viewer thread and launch oslog::info("Viewer enabled: {}", settings_->useViewer_ ? "YES" : "NO"); if (settings_->useViewer_) { - mpViewer = std::make_shared(this, mpFrameDrawer, mpMapDrawer, - mpTracker, settings_); + mpViewer = std::make_shared(shared_from_this()); mptViewer = std::make_unique(&Viewer::Run, mpViewer); - mpTracker->SetViewer(mpViewer); + // mpTracker->SetViewer(mpViewer); mpLoopCloser->mpViewer = mpViewer; mpViewer->both = mpFrameDrawer->both; } @@ -1213,9 +1210,7 @@ bool System::LoadAtlas(int type) { return false; // Both are differents } - mpAtlas->SetSystem(shared_from_this()); - // mpAtlas->SetVprImplementation(mpVprImpl); - // mpAtlas->SetORBVocabulary(mpVocabulary); + mpAtlas->setSystem(shared_from_this()); mpAtlas->PostLoad(); return true; diff --git a/src/SystemAccessor.cc b/src/SystemAccessor.cc new file mode 100644 index 00000000000..ace87edf04d --- /dev/null +++ b/src/SystemAccessor.cc @@ -0,0 +1,78 @@ +/** + * This file is part of ORB-SLAM3 + * + * Copytight (c) 2026 University of Washington + * Copyright (C) 2017-2021 Carlos Campos, Richard Elvira, Juan J. Gómez + * Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. + * Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, + * University of Zaragoza. + * + * ORB-SLAM3 is free software: you can redistribute it and/or modify it under + * the terms of the GNU General Public License as published by the Free Software + * Foundation, either version 3 of the License, or (at your option) any later + * version. + * + * ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY + * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR + * A PARTICULAR PURPOSE. See the GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along with + * ORB-SLAM3. If not, see . + */ + +#include "SystemAccessor.h" + +#include +#include + +#include "Atlas.h" +#include "FrameDrawer.h" +#include "LocalMapping.h" +#include "LoopClosing.h" +#include "Settings.h" +#include "System.h" +#include "Tracking.h" + +namespace ORB_SLAM3 { + +SystemAccessor::SystemAccessor(const std::shared_ptr &pSys) + : mpSystem(pSys) {} + +void SystemAccessor::setSystem(const std::shared_ptr &pSys) { + mpSystem = pSys; +} + +std::shared_ptr SystemAccessor::system() { + assert(mpSystem); + return mpSystem; +} +std::shared_ptr SystemAccessor::getSettings() { + return system()->getSettings(); +} + +std::shared_ptr SystemAccessor::getTracker() { + return system()->getTracker(); +} + +std::shared_ptr SystemAccessor::getViewer() { + return system()->getViewer(); +} +std::shared_ptr SystemAccessor::getFrameDrawer() { + return system()->getFrameDrawer(); +} +std::shared_ptr SystemAccessor::getMapDrawer() { + return system()->getMapDrawer(); +} + +std::shared_ptr SystemAccessor::getAtlas() { + return system()->getAtlas(); +} + +std::shared_ptr SystemAccessor::getLocalMapper() { + return system()->getLocalMapping(); +} +std::shared_ptr SystemAccessor::getLoopClosing() { + return system()->getLoopClosing(); +} + +} // namespace ORB_SLAM3 diff --git a/src/Tracking.cc b/src/Tracking.cc index 7d884cf8029..8218503af08 100644 --- a/src/Tracking.cc +++ b/src/Tracking.cc @@ -47,31 +47,18 @@ namespace ORB_SLAM3 { -Tracking::Tracking(const std::shared_ptr& pSys, - const std::shared_ptr& pVoc, - const std::shared_ptr& pFrameDrawer, - const std::shared_ptr& pMapDrawer, - const std::shared_ptr& pAtlas, - const std::shared_ptr& pKFDB, - const std::shared_ptr& settings, - const string& _nameSeq) - : std::enable_shared_from_this(), +Tracking::Tracking(const std::shared_ptr& pSys, const string& _nameSeq) + : SystemAccessor(pSys), + std::enable_shared_from_this(), mState(NO_IMAGES_YET), - mSensor(settings->sensor_), + mSensor(pSys->getSettings()->sensor_), mTrackedFr(0), mbStep(false), mbOnlyTracking(false), mbMapUpdated(false), mbVO(false), - mpORBVocabulary(pVoc), - mpKeyFrameDB(pKFDB), mbReadyToInitializate(false), - mpSystem(pSys), - mpViewer(nullptr), bStepByStep(false), - mpFrameDrawer(pFrameDrawer), - mpMapDrawer(pMapDrawer), - mpAtlas(pAtlas), mnLastRelocFrameId(0), time_recently_lost(5.0), mnInitialFrameId(0), @@ -84,10 +71,11 @@ Tracking::Tracking(const std::shared_ptr& pSys, lastID(0), mbInitWith3KFs(false), mnNumDataset(0) { - newParameterLoader(settings); + newParameterLoader(system()->getSettings()); { - vector> vpCams = mpAtlas->GetAllCameras(); + vector> vpCams = + getAtlas()->GetAllCameras(); oslog::debug("There are {} cameras in the atlas", vpCams.size()); for (auto const& pCam : vpCams) { @@ -164,13 +152,13 @@ void Tracking::LocalMapStats2File() { f << "#Stereo rect[ms], MP culling[ms], MP creation[ms], LBA[ms], KF " "culling[ms], Total[ms]" << endl; - for (size_t i = 0; i < mpLocalMapper->vdLMTotal_ms.size(); ++i) { - f << mpLocalMapper->vdKFInsert_ms.at(i) << "," - << mpLocalMapper->vdMPCulling_ms.at(i) << "," - << mpLocalMapper->vdMPCreation_ms.at(i) << "," - << mpLocalMapper->vdLBASync_ms.at(i) << "," - << mpLocalMapper->vdKFCullingSync_ms.at(i) << "," - << mpLocalMapper->vdLMTotal_ms.at(i) << endl; + for (size_t i = 0; i < getLocalMapper()->vdLMTotal_ms.size(); ++i) { + f << getLocalMapper()->vdKFInsert_ms.at(i) << "," + << getLocalMapper()->vdMPCulling_ms.at(i) << "," + << getLocalMapper()->vdMPCreation_ms.at(i) << "," + << getLocalMapper()->vdLBASync_ms.at(i) << "," + << getLocalMapper()->vdKFCullingSync_ms.at(i) << "," + << getLocalMapper()->vdLMTotal_ms.at(i) << endl; f.close(); } @@ -184,12 +172,12 @@ void Tracking::LocalMapStats2File() { f.open("LBA_Stats.txt"); f << fixed << setprecision(6); f << "#LBA time[ms], KF opt[#], KF fixed[#], MP[#], Edges[#]" << endl; - for (size_t i = 0; i < mpLocalMapper->vdLBASync_ms.size(); ++i) { - f << mpLocalMapper->vdLBASync_ms.at(i) << "," - << mpLocalMapper->vnLBA_KFopt.at(i) << "," - << mpLocalMapper->vnLBA_KFfixed.at(i) << "," - << mpLocalMapper->vnLBA_MPs.at(i) << "," - << mpLocalMapper->vnLBA_edges.at(i) << endl; + for (size_t i = 0; i < getLocalMapper()->vdLBASync_ms.size(); ++i) { + f << getLocalMapper()->vdLBASync_ms.at(i) << "," + << getLocalMapper()->vnLBA_KFopt.at(i) << "," + << getLocalMapper()->vnLBA_KFfixed.at(i) << "," + << getLocalMapper()->vnLBA_MPs.at(i) << "," + << getLocalMapper()->vnLBA_edges.at(i) << endl; } f.close(); } catch (const std::out_of_range& ex) { @@ -203,8 +191,8 @@ void Tracking::TrackStats2File() { ofstream f; f.open("SessionInfo.txt"); f << fixed; - f << "Number of KFs: " << mpAtlas->GetAllKeyFrames().size() << endl; - f << "Number of MPs: " << mpAtlas->GetAllMapPoints().size() << endl; + f << "Number of KFs: " << getAtlas()->GetAllKeyFrames().size() << endl; + f << "Number of MPs: " << getAtlas()->GetAllMapPoints().size() << endl; f << "OpenCV version: " << CV_VERSION << endl; @@ -337,33 +325,33 @@ void Tracking::PrintTimeStats() { std::cout << "Local Mapping" << std::endl << std::endl; f << std::endl << "Local Mapping" << std::endl << std::endl; - average = calcAverage(mpLocalMapper->vdKFInsert_ms); - deviation = calcDeviation(mpLocalMapper->vdKFInsert_ms, average); + average = calcAverage(getLocalMapper()->vdKFInsert_ms); + deviation = calcDeviation(getLocalMapper()->vdKFInsert_ms, average); std::cout << "KF Insertion: " << average << " +/- " << deviation << std::endl; f << "KF Insertion: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLocalMapper->vdMPCulling_ms); - deviation = calcDeviation(mpLocalMapper->vdMPCulling_ms, average); + average = calcAverage(getLocalMapper()->vdMPCulling_ms); + deviation = calcDeviation(getLocalMapper()->vdMPCulling_ms, average); std::cout << "MP Culling: " << average << " +/- " << deviation << std::endl; f << "MP Culling: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLocalMapper->vdMPCreation_ms); - deviation = calcDeviation(mpLocalMapper->vdMPCreation_ms, average); + average = calcAverage(getLocalMapper()->vdMPCreation_ms); + deviation = calcDeviation(getLocalMapper()->vdMPCreation_ms, average); std::cout << "MP Creation: " << average << " +/- " << deviation << std::endl; f << "MP Creation: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLocalMapper->vdLBA_ms); - deviation = calcDeviation(mpLocalMapper->vdLBA_ms, average); + average = calcAverage(getLocalMapper()->vdLBA_ms); + deviation = calcDeviation(getLocalMapper()->vdLBA_ms, average); std::cout << "LBA: " << average << " +/- " << deviation << std::endl; f << "LBA: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLocalMapper->vdKFCulling_ms); - deviation = calcDeviation(mpLocalMapper->vdKFCulling_ms, average); + average = calcAverage(getLocalMapper()->vdKFCulling_ms); + deviation = calcDeviation(getLocalMapper()->vdKFCulling_ms, average); std::cout << "KF Culling: " << average << " +/- " << deviation << std::endl; f << "KF Culling: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLocalMapper->vdLMTotal_ms); - deviation = calcDeviation(mpLocalMapper->vdLMTotal_ms, average); + average = calcAverage(getLocalMapper()->vdLMTotal_ms); + deviation = calcDeviation(getLocalMapper()->vdLMTotal_ms, average); std::cout << "Total Local Mapping: " << average << " +/- " << deviation << std::endl; f << "Total Local Mapping: " << average << " +/- " << deviation << std::endl; @@ -374,42 +362,44 @@ void Tracking::PrintTimeStats() { f << "---------------------------" << std::endl; f << std::endl << "LBA complexity (mean +/- std)" << std::endl; - average = calcAverage(mpLocalMapper->vnLBA_edges); - deviation = calcDeviation(mpLocalMapper->vnLBA_edges, average); + average = calcAverage(getLocalMapper()->vnLBA_edges); + deviation = calcDeviation(getLocalMapper()->vnLBA_edges, average); std::cout << "LBA Edges: " << average << " +/- " << deviation << std::endl; f << "LBA Edges: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLocalMapper->vnLBA_KFopt); - deviation = calcDeviation(mpLocalMapper->vnLBA_KFopt, average); + average = calcAverage(getLocalMapper()->vnLBA_KFopt); + deviation = calcDeviation(getLocalMapper()->vnLBA_KFopt, average); std::cout << "LBA KF optimized: " << average << " +/- " << deviation << std::endl; f << "LBA KF optimized: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLocalMapper->vnLBA_KFfixed); - deviation = calcDeviation(mpLocalMapper->vnLBA_KFfixed, average); + average = calcAverage(getLocalMapper()->vnLBA_KFfixed); + deviation = calcDeviation(getLocalMapper()->vnLBA_KFfixed, average); std::cout << "LBA KF fixed: " << average << " +/- " << deviation << std::endl; f << "LBA KF fixed: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLocalMapper->vnLBA_MPs); - deviation = calcDeviation(mpLocalMapper->vnLBA_MPs, average); + average = calcAverage(getLocalMapper()->vnLBA_MPs); + deviation = calcDeviation(getLocalMapper()->vnLBA_MPs, average); std::cout << "LBA MP: " << average << " +/- " << deviation << std::endl << std::endl; f << "LBA MP: " << average << " +/- " << deviation << std::endl << std::endl; - std::cout << "LBA executions: " << mpLocalMapper->nLBA_exec << std::endl; - std::cout << "LBA aborts: " << mpLocalMapper->nLBA_abort << std::endl; - f << "LBA executions: " << mpLocalMapper->nLBA_exec << std::endl; - f << "LBA aborts: " << mpLocalMapper->nLBA_abort << std::endl; + std::cout << "LBA executions: " << getLocalMapper()->nLBA_exec << std::endl; + std::cout << "LBA aborts: " << getLocalMapper()->nLBA_abort << std::endl; + f << "LBA executions: " << getLocalMapper()->nLBA_exec << std::endl; + f << "LBA aborts: " << getLocalMapper()->nLBA_abort << std::endl; // Map complexity std::cout << "---------------------------" << std::endl; std::cout << std::endl << "Map complexity" << std::endl; - std::cout << "Num maps : " << mpAtlas->CountMaps() << std::endl; - std::cout << "KFs in map: " << mpAtlas->GetAllKeyFrames().size() << std::endl; - std::cout << "MPs in map: " << mpAtlas->GetAllMapPoints().size() << std::endl; + std::cout << "Num maps : " << getAtlas()->CountMaps() << std::endl; + std::cout << "KFs in map: " << getAtlas()->GetAllKeyFrames().size() + << std::endl; + std::cout << "MPs in map: " << getAtlas()->GetAllMapPoints().size() + << std::endl; f << "---------------------------" << std::endl; f << std::endl << "Map complexity" << std::endl; - vector> vpMaps = mpAtlas->GetAllMaps(); + vector> vpMaps = getAtlas()->GetAllMaps(); std::shared_ptr pBestMap = vpMaps[0]; for (int i = 1; i < vpMaps.size(); ++i) { if (pBestMap->GetAllKeyFrames().size() < @@ -425,18 +415,18 @@ void Tracking::PrintTimeStats() { f << std::endl << "## Place Recognition (mean +/- std)" << std::endl; std::cout << "---------------------------" << std::endl; std::cout << std::endl << "## Place Recognition (mean +/- std)" << std::endl; - average = calcAverage(mpLoopClosing->vdDataQuery_ms); - deviation = calcDeviation(mpLoopClosing->vdDataQuery_ms, average); + average = calcAverage(getLoopClosing()->vdDataQuery_ms); + deviation = calcDeviation(getLoopClosing()->vdDataQuery_ms, average); f << "Database Query: " << average << " +/- " << deviation << std::endl; std::cout << "Database Query: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLoopClosing->vdEstSim3_ms); - deviation = calcDeviation(mpLoopClosing->vdEstSim3_ms, average); + average = calcAverage(getLoopClosing()->vdEstSim3_ms); + deviation = calcDeviation(getLoopClosing()->vdEstSim3_ms, average); f << "SE3 estimation: " << average << " +/- " << deviation << std::endl; std::cout << "SE3 estimation: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLoopClosing->vdPRTotal_ms); - deviation = calcDeviation(mpLoopClosing->vdPRTotal_ms, average); + average = calcAverage(getLoopClosing()->vdPRTotal_ms); + deviation = calcDeviation(getLoopClosing()->vdPRTotal_ms, average); f << "Total Place Recognition: " << average << " +/- " << deviation << std::endl << std::endl; @@ -446,96 +436,96 @@ void Tracking::PrintTimeStats() { f << std::endl << "## Loop Closing (mean +/- std)" << std::endl; std::cout << std::endl << "## Loop Closing (mean +/- std)" << std::endl; - average = calcAverage(mpLoopClosing->vdLoopFusion_ms); - deviation = calcDeviation(mpLoopClosing->vdLoopFusion_ms, average); + average = calcAverage(getLoopClosing()->vdLoopFusion_ms); + deviation = calcDeviation(getLoopClosing()->vdLoopFusion_ms, average); f << "Loop Fusion: " << average << " +/- " << deviation << std::endl; std::cout << "Loop Fusion: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLoopClosing->vdLoopOptEss_ms); - deviation = calcDeviation(mpLoopClosing->vdLoopOptEss_ms, average); + average = calcAverage(getLoopClosing()->vdLoopOptEss_ms); + deviation = calcDeviation(getLoopClosing()->vdLoopOptEss_ms, average); f << "Essential Graph: " << average << " +/- " << deviation << std::endl; std::cout << "Essential Graph: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLoopClosing->vdLoopTotal_ms); - deviation = calcDeviation(mpLoopClosing->vdLoopTotal_ms, average); + average = calcAverage(getLoopClosing()->vdLoopTotal_ms); + deviation = calcDeviation(getLoopClosing()->vdLoopTotal_ms, average); f << "Total Loop Closing: " << average << " +/- " << deviation << std::endl << std::endl; std::cout << "Total Loop Closing: " << average << " +/- " << deviation << std::endl << std::endl; - f << "Num exec: " << mpLoopClosing->nLoop << std::endl; - std::cout << "Num exec: " << mpLoopClosing->nLoop << std::endl; - average = calcAverage(mpLoopClosing->vnLoopKFs); - deviation = calcDeviation(mpLoopClosing->vnLoopKFs, average); + f << "Num exec: " << getLoopClosing()->nLoop << std::endl; + std::cout << "Num exec: " << getLoopClosing()->nLoop << std::endl; + average = calcAverage(getLoopClosing()->vnLoopKFs); + deviation = calcDeviation(getLoopClosing()->vnLoopKFs, average); f << "Number of KFs: " << average << " +/- " << deviation << std::endl; std::cout << "Number of KFs: " << average << " +/- " << deviation << std::endl; f << std::endl << "## Map Merging (mean +/- std)" << std::endl; std::cout << std::endl << "## Map Merging (mean +/- std)" << std::endl; - average = calcAverage(mpLoopClosing->vdMergeMaps_ms); - deviation = calcDeviation(mpLoopClosing->vdMergeMaps_ms, average); + average = calcAverage(getLoopClosing()->vdMergeMaps_ms); + deviation = calcDeviation(getLoopClosing()->vdMergeMaps_ms, average); f << "Merge Maps: " << average << " +/- " << deviation << std::endl; std::cout << "Merge Maps: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLoopClosing->vdWeldingBA_ms); - deviation = calcDeviation(mpLoopClosing->vdWeldingBA_ms, average); + average = calcAverage(getLoopClosing()->vdWeldingBA_ms); + deviation = calcDeviation(getLoopClosing()->vdWeldingBA_ms, average); f << "Welding BA: " << average << " +/- " << deviation << std::endl; std::cout << "Welding BA: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLoopClosing->vdMergeOptEss_ms); - deviation = calcDeviation(mpLoopClosing->vdMergeOptEss_ms, average); + average = calcAverage(getLoopClosing()->vdMergeOptEss_ms); + deviation = calcDeviation(getLoopClosing()->vdMergeOptEss_ms, average); f << "Optimization Ess.: " << average << " +/- " << deviation << std::endl; std::cout << "Optimization Ess.: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLoopClosing->vdMergeTotal_ms); - deviation = calcDeviation(mpLoopClosing->vdMergeTotal_ms, average); + average = calcAverage(getLoopClosing()->vdMergeTotal_ms); + deviation = calcDeviation(getLoopClosing()->vdMergeTotal_ms, average); f << "Total Map Merging: " << average << " +/- " << deviation << std::endl << std::endl; std::cout << "Total Map Merging: " << average << " +/- " << deviation << std::endl << std::endl; - f << "Num exec: " << mpLoopClosing->nMerges << std::endl; - std::cout << "Num exec: " << mpLoopClosing->nMerges << std::endl; - average = calcAverage(mpLoopClosing->vnMergeKFs); - deviation = calcDeviation(mpLoopClosing->vnMergeKFs, average); + f << "Num exec: " << getLoopClosing()->nMerges << std::endl; + std::cout << "Num exec: " << getLoopClosing()->nMerges << std::endl; + average = calcAverage(getLoopClosing()->vnMergeKFs); + deviation = calcDeviation(getLoopClosing()->vnMergeKFs, average); f << "Number of KFs: " << average << " +/- " << deviation << std::endl; std::cout << "Number of KFs: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLoopClosing->vnMergeMPs); - deviation = calcDeviation(mpLoopClosing->vnMergeMPs, average); + average = calcAverage(getLoopClosing()->vnMergeMPs); + deviation = calcDeviation(getLoopClosing()->vnMergeMPs, average); f << "Number of MPs: " << average << " +/- " << deviation << std::endl; std::cout << "Number of MPs: " << average << " +/- " << deviation << std::endl; f << std::endl << "## Full GBA (mean +/- std)" << std::endl; std::cout << std::endl << "## Full GBA (mean +/- std)" << std::endl; - average = calcAverage(mpLoopClosing->vdGBA_ms); - deviation = calcDeviation(mpLoopClosing->vdGBA_ms, average); + average = calcAverage(getLoopClosing()->vdGBA_ms); + deviation = calcDeviation(getLoopClosing()->vdGBA_ms, average); f << "GBA: " << average << " +/- " << deviation << std::endl; std::cout << "GBA: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLoopClosing->vdUpdateMap_ms); - deviation = calcDeviation(mpLoopClosing->vdUpdateMap_ms, average); + average = calcAverage(getLoopClosing()->vdUpdateMap_ms); + deviation = calcDeviation(getLoopClosing()->vdUpdateMap_ms, average); f << "Map Update: " << average << " +/- " << deviation << std::endl; std::cout << "Map Update: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLoopClosing->vdFGBATotal_ms); - deviation = calcDeviation(mpLoopClosing->vdFGBATotal_ms, average); + average = calcAverage(getLoopClosing()->vdFGBATotal_ms); + deviation = calcDeviation(getLoopClosing()->vdFGBATotal_ms, average); f << "Total Full GBA: " << average << " +/- " << deviation << std::endl << std::endl; std::cout << "Total Full GBA: " << average << " +/- " << deviation << std::endl << std::endl; - f << "Num exec: " << mpLoopClosing->nFGBA_exec << std::endl; - std::cout << "Num exec: " << mpLoopClosing->nFGBA_exec << std::endl; - f << "Num abort: " << mpLoopClosing->nFGBA_abort << std::endl; - std::cout << "Num abort: " << mpLoopClosing->nFGBA_abort << std::endl; - average = calcAverage(mpLoopClosing->vnGBAKFs); - deviation = calcDeviation(mpLoopClosing->vnGBAKFs, average); + f << "Num exec: " << getLoopClosing()->nFGBA_exec << std::endl; + std::cout << "Num exec: " << getLoopClosing()->nFGBA_exec << std::endl; + f << "Num abort: " << getLoopClosing()->nFGBA_abort << std::endl; + std::cout << "Num abort: " << getLoopClosing()->nFGBA_abort << std::endl; + average = calcAverage(getLoopClosing()->vnGBAKFs); + deviation = calcDeviation(getLoopClosing()->vnGBAKFs, average); f << "Number of KFs: " << average << " +/- " << deviation << std::endl; std::cout << "Number of KFs: " << average << " +/- " << deviation << std::endl; - average = calcAverage(mpLoopClosing->vnGBAMPs); - deviation = calcDeviation(mpLoopClosing->vnGBAMPs, average); + average = calcAverage(getLoopClosing()->vnGBAMPs); + deviation = calcDeviation(getLoopClosing()->vnGBAMPs, average); f << "Number of MPs: " << average << " +/- " << deviation << std::endl; std::cout << "Number of MPs: " << average << " +/- " << deviation << std::endl; @@ -551,7 +541,7 @@ Tracking::~Tracking() { void Tracking::newParameterLoader(const std::shared_ptr& settings) { mpCamera = settings->camera1(); - mpCamera = mpAtlas->AddCamera(mpCamera); + mpCamera = getAtlas()->AddCamera(mpCamera); if (settings->needToUndistort()) { mDistCoef = settings->camera1DistortionCoef(); @@ -580,11 +570,11 @@ void Tracking::newParameterLoader(const std::shared_ptr& settings) { mSensor == SensorType::IMU_RGBD) && settings->cameraType() == Settings::KannalaBrandt) { mpCamera2 = settings->camera2(); - mpCamera2 = mpAtlas->AddCamera(mpCamera2); + mpCamera2 = getAtlas()->AddCamera(mpCamera2); mTlr = settings->Tlr(); - mpFrameDrawer->both = true; + getFrameDrawer()->both = true; } if (mSensor.isStereo() || mSensor.isRGBD()) { @@ -679,23 +669,23 @@ Sophus::SE3f Tracking::GrabImageStereo(const cv::Mat& imRectLeft, if (mSensor == SensorType::STEREO && !mpCamera2) mCurrentFrame = std::make_shared( mImGray, imGrayRight, timestamp, mpORBextractorLeft, - mpORBextractorRight, mpORBVocabulary, mK, mDistCoef, mbf, mThDepth, - mpCamera); + mpORBextractorRight, system()->getORBVocabulary(), mK, mDistCoef, mbf, + mThDepth, mpCamera); else if (mSensor == SensorType::STEREO && mpCamera2) mCurrentFrame = std::make_shared( mImGray, imGrayRight, timestamp, mpORBextractorLeft, - mpORBextractorRight, mpORBVocabulary, mK, mDistCoef, mbf, mThDepth, - mpCamera, mpCamera2, mTlr); + mpORBextractorRight, system()->getORBVocabulary(), mK, mDistCoef, mbf, + mThDepth, mpCamera, mpCamera2, mTlr); else if (mSensor == SensorType::IMU_STEREO && !mpCamera2) mCurrentFrame = std::make_shared( mImGray, imGrayRight, timestamp, mpORBextractorLeft, - mpORBextractorRight, mpORBVocabulary, mK, mDistCoef, mbf, mThDepth, - mpCamera, mLastFrame, mImuCalib); + mpORBextractorRight, system()->getORBVocabulary(), mK, mDistCoef, mbf, + mThDepth, mpCamera, mLastFrame, mImuCalib); else if (mSensor == SensorType::IMU_STEREO && mpCamera2) mCurrentFrame = std::make_shared( mImGray, imGrayRight, timestamp, mpORBextractorLeft, - mpORBextractorRight, mpORBVocabulary, mK, mDistCoef, mbf, mThDepth, - mpCamera, mpCamera2, mTlr, mLastFrame, mImuCalib); + mpORBextractorRight, system()->getORBVocabulary(), mK, mDistCoef, mbf, + mThDepth, mpCamera, mpCamera2, mTlr, mLastFrame, mImuCalib); std::chrono::steady_clock::time_point t_post_frame_creation = std::chrono::steady_clock::now(); @@ -751,12 +741,13 @@ Sophus::SE3f Tracking::GrabImageRGBD(const cv::Mat& imRGB, const cv::Mat& imD, if (mSensor == SensorType::RGBD) mCurrentFrame = std::make_shared( - mImGray, imDepth, timestamp, mpORBextractorLeft, mpORBVocabulary, mK, - mDistCoef, mbf, mThDepth, mpCamera); + mImGray, imDepth, timestamp, mpORBextractorLeft, + system()->getORBVocabulary(), mK, mDistCoef, mbf, mThDepth, mpCamera); else if (mSensor == SensorType::IMU_RGBD) - mCurrentFrame = std::make_shared( - mImGray, imDepth, timestamp, mpORBextractorLeft, mpORBVocabulary, mK, - mDistCoef, mbf, mThDepth, mpCamera, mLastFrame, mImuCalib); + mCurrentFrame = + std::make_shared(mImGray, imDepth, timestamp, mpORBextractorLeft, + system()->getORBVocabulary(), mK, mDistCoef, + mbf, mThDepth, mpCamera, mLastFrame, mImuCalib); mCurrentFrame->mNameFile = filename; mCurrentFrame->mnDataset = mnNumDataset; @@ -790,22 +781,22 @@ Sophus::SE3f Tracking::GrabImageMonocular(const cv::Mat& im, if (mState == NOT_INITIALIZED || mState == NO_IMAGES_YET || (lastID - initID) < mMaxFrames) { mCurrentFrame = std::make_shared( - mImGray, timestamp, mpIniORBextractor, mpORBVocabulary, mpCamera, - mDistCoef, mbf, mThDepth); + mImGray, timestamp, mpIniORBextractor, system()->getORBVocabulary(), + mpCamera, mDistCoef, mbf, mThDepth); } else { mCurrentFrame = std::make_shared( - mImGray, timestamp, mpORBextractorLeft, mpORBVocabulary, mpCamera, - mDistCoef, mbf, mThDepth); + mImGray, timestamp, mpORBextractorLeft, system()->getORBVocabulary(), + mpCamera, mDistCoef, mbf, mThDepth); } } else if (mSensor == SensorType::IMU_MONOCULAR) { if (mState == NOT_INITIALIZED || mState == NO_IMAGES_YET) { mCurrentFrame = std::make_shared( - mImGray, timestamp, mpIniORBextractor, mpORBVocabulary, mpCamera, - mDistCoef, mbf, mThDepth, mLastFrame, mImuCalib); + mImGray, timestamp, mpIniORBextractor, system()->getORBVocabulary(), + mpCamera, mDistCoef, mbf, mThDepth, mLastFrame, mImuCalib); } else { mCurrentFrame = std::make_shared( - mImGray, timestamp, mpORBextractorLeft, mpORBVocabulary, mpCamera, - mDistCoef, mbf, mThDepth, mLastFrame, mImuCalib); + mImGray, timestamp, mpORBextractorLeft, system()->getORBVocabulary(), + mpCamera, mDistCoef, mbf, mThDepth, mLastFrame, mImuCalib); } } @@ -1001,7 +992,7 @@ void Tracking::Track() { std::chrono::steady_clock::time_point t_start = std::chrono::steady_clock::now(); - mMaxFrames = mpSystem->fps(); + mMaxFrames = system()->fps(); mnFramesToResetIMU = mMaxFrames; if (bStepByStep) { @@ -1010,13 +1001,13 @@ void Tracking::Track() { mbStep = false; } - if (mpLocalMapper->mbBadImu) { + if (getLocalMapper()->mbBadImu) { oslog::info("TRACK: Reset map because local mapper set the bad imu flag "); - mpSystem->ResetActiveMap(); + system()->ResetActiveMap(); return; } - auto pCurrentMap = mpAtlas->GetCurrentMap(); + auto pCurrentMap = getAtlas()->GetCurrentMap(); if (!pCurrentMap) { oslog::error("ERROR: There is not an active map in the atlas"); } @@ -1033,14 +1024,14 @@ void Tracking::Track() { // cout << mCurrentFrame->mTimeStamp << ", " << mLastFrame->mTimeStamp << // endl; cout << "id last: " << mLastFrame->mnId << " id curr: " << // mCurrentFrame->mnId << endl; - if (mpAtlas->isInertial()) { - if (mpAtlas->isImuInitialized()) { + if (getAtlas()->isInertial()) { + if (getAtlas()->isImuInitialized()) { oslog::warn( "Timestamp jump detected. State set to LOST. resetting IMU " "integration..."); if (!pCurrentMap->GetInertialBA2()) { - mpSystem->ResetActiveMap(); + system()->ResetActiveMap(); } else { CreateMapInAtlas(); } @@ -1048,7 +1039,7 @@ void Tracking::Track() { oslog::warn( "Timestamp jump detected, before IMU initialization. " "resetting..."); - mpSystem->ResetActiveMap(); + system()->ResetActiveMap(); } return; } @@ -1103,7 +1094,7 @@ void Tracking::Track() { MonocularInitialization(); } - if (mpFrameDrawer) mpFrameDrawer->Update(shared_from_this()); + if (getFrameDrawer()) getFrameDrawer()->Update(shared_from_this()); // If rightly initialized, mState=OK if (mState != OK) { @@ -1111,7 +1102,7 @@ void Tracking::Track() { return; } - if (mpAtlas->GetAllMaps().size() == 1) { + if (getAtlas()->GetAllMaps().size() == 1) { mnFirstFrameId = mCurrentFrame->mnId; } } else { @@ -1197,7 +1188,7 @@ void Tracking::Track() { oslog::info("A new map is started..."); if (pCurrentMap->KeyFramesInMap() < 10) { - mpSystem->ResetActiveMap(); + system()->ResetActiveMap(); oslog::info("resetting current map..."); } else { CreateMapInAtlas(); @@ -1340,7 +1331,7 @@ void Tracking::Track() { !pCurrentMap->GetInertialBA2()) { oslog::info( "IMU is not or recently initialized. resetting active map..."); - mpSystem->ResetActiveMap(); + system()->ResetActiveMap(); } mState = RECENTLY_LOST; @@ -1398,9 +1389,9 @@ void Tracking::Track() { #endif // Update drawer - if (mpFrameDrawer) mpFrameDrawer->Update(shared_from_this()); - if (mCurrentFrame->isSet() && mpMapDrawer) - mpMapDrawer->SetCurrentCameraPose(mCurrentFrame->GetPose()); + if (getFrameDrawer()) getFrameDrawer()->Update(shared_from_this()); + if (mCurrentFrame->isSet() && getMapDrawer()) + getMapDrawer()->SetCurrentCameraPose(mCurrentFrame->GetPose()); if (bOK || mState == RECENTLY_LOST) { // Update motion model @@ -1413,7 +1404,7 @@ void Tracking::Track() { } if (mSensor.isImu()) - mpMapDrawer->SetCurrentCameraPose(mCurrentFrame->GetPose()); + getMapDrawer()->SetCurrentCameraPose(mCurrentFrame->GetPose()); // Clean VO matches for (int i = 0; i < mCurrentFrame->N; i++) { @@ -1472,14 +1463,14 @@ void Tracking::Track() { // Reset if the camera get lost soon after initialization if (mState == LOST) { if (pCurrentMap->KeyFramesInMap() <= 10) { - mpSystem->ResetActiveMap(); + system()->ResetActiveMap(); return; } if (mSensor.isImu()) { if (!pCurrentMap->isImuInitialized()) { oslog::warn("Track lost before IMU initialisation, resetting..."); - mpSystem->ResetActiveMap(); + system()->ResetActiveMap(); return; } } @@ -1562,11 +1553,12 @@ void Tracking::StereoInitialization() { } // Create KeyFrame - std::shared_ptr pKFini = std::make_shared( - mCurrentFrame, mpAtlas->GetCurrentMap(), mpKeyFrameDB); + std::shared_ptr pKFini = + std::make_shared(mCurrentFrame, getAtlas()->GetCurrentMap(), + system()->getVprImplementation()); // Insert KeyFrame in the map - mpAtlas->AddKeyFrame(pKFini); + getAtlas()->AddKeyFrame(pKFini); // Create MapPoints and asscoiate to KeyFrame if (!mpCamera2) { @@ -1580,12 +1572,12 @@ void Tracking::StereoInitialization() { Eigen::Vector3f x3D; mCurrentFrame->UnprojectStereo(i, x3D); MapPoint* pNewMP = - new MapPoint(x3D, pKFini, mpAtlas->GetCurrentMap()); + new MapPoint(x3D, pKFini, getAtlas()->GetCurrentMap()); pNewMP->AddObservation(pKFini, i); pKFini->AddMapPoint(pNewMP, i); pNewMP->ComputeDistinctiveDescriptors(); pNewMP->UpdateNormalAndDepth(); - mpAtlas->AddMapPoint(pNewMP); + getAtlas()->AddMapPoint(pNewMP); mCurrentFrame->mvpMapPoints[i] = pNewMP; } @@ -1601,7 +1593,7 @@ void Tracking::StereoInitialization() { Eigen::Vector3f x3D = mCurrentFrame->mvStereo3Dpoints[i]; MapPoint* pNewMP = - new MapPoint(x3D, pKFini, mpAtlas->GetCurrentMap()); + new MapPoint(x3D, pKFini, getAtlas()->GetCurrentMap()); pNewMP->AddObservation(pKFini, i); pNewMP->AddObservation(pKFini, rightIndex + mCurrentFrame->Nleft); @@ -1611,7 +1603,7 @@ void Tracking::StereoInitialization() { pNewMP->ComputeDistinctiveDescriptors(); pNewMP->UpdateNormalAndDepth(); - mpAtlas->AddMapPoint(pNewMP); + getAtlas()->AddMapPoint(pNewMP); mCurrentFrame->mvpMapPoints[i] = pNewMP; mCurrentFrame->mvpMapPoints[rightIndex + mCurrentFrame->Nleft] = @@ -1622,12 +1614,12 @@ void Tracking::StereoInitialization() { Verbose::PrintMess( "[Tracking::StereoInitialization] New Map created with " + - to_string(mpAtlas->MapPointsInMap()) + " points", + to_string(getAtlas()->MapPointsInMap()) + " points", Verbose::VERBOSITY_QUIET); - // cout << "Active map: " << mpAtlas->GetCurrentMap()->GetId() << endl; + // cout << "Active map: " << getAtlas()->GetCurrentMap()->GetId() << endl; - mpLocalMapper->InsertKeyFrame(pKFini); + getLocalMapper()->InsertKeyFrame(pKFini); mLastFrame = std::shared_ptr(mCurrentFrame); mnLastKeyFrameId = mCurrentFrame->mnId; @@ -1635,15 +1627,15 @@ void Tracking::StereoInitialization() { // mnLastRelocFrameId = mCurrentFrame->mnId; mvpLocalKeyFrames.push_back(pKFini); - mvpLocalMapPoints = mpAtlas->GetAllMapPoints(); + mvpLocalMapPoints = getAtlas()->GetAllMapPoints(); mpReferenceKF = pKFini; mCurrentFrame->mpReferenceKF = pKFini; - mpAtlas->SetReferenceMapPoints(mvpLocalMapPoints); + getAtlas()->SetReferenceMapPoints(mvpLocalMapPoints); - mpAtlas->GetCurrentMap()->mvpKeyFrameOrigins.push_back(pKFini); + getAtlas()->GetCurrentMap()->mvpKeyFrameOrigins.push_back(pKFini); - mpMapDrawer->SetCurrentCameraPose(mCurrentFrame->GetPose()); + getMapDrawer()->SetCurrentCameraPose(mCurrentFrame->GetPose()); mState = OK; } else { @@ -1720,10 +1712,12 @@ void Tracking::MonocularInitialization() { void Tracking::CreateInitialMapMonocular() { // Create KeyFrames - std::shared_ptr pKFini = std::make_shared( - mInitialFrame, mpAtlas->GetCurrentMap(), mpKeyFrameDB); - std::shared_ptr pKFcur = std::make_shared( - mCurrentFrame, mpAtlas->GetCurrentMap(), mpKeyFrameDB); + std::shared_ptr pKFini = + std::make_shared(mInitialFrame, getAtlas()->GetCurrentMap(), + system()->getVprImplementation()); + std::shared_ptr pKFcur = + std::make_shared(mCurrentFrame, getAtlas()->GetCurrentMap(), + system()->getVprImplementation()); if (mSensor == SensorType::IMU_MONOCULAR) pKFini->mpImuPreintegrated.reset(); @@ -1731,8 +1725,8 @@ void Tracking::CreateInitialMapMonocular() { pKFcur->ComputeBoW(); // Insert KFs in the map - mpAtlas->AddKeyFrame(pKFini); - mpAtlas->AddKeyFrame(pKFcur); + getAtlas()->AddKeyFrame(pKFini); + getAtlas()->AddKeyFrame(pKFcur); for (size_t i = 0; i < mvIniMatches.size(); i++) { if (mvIniMatches[i] < 0) continue; @@ -1740,7 +1734,7 @@ void Tracking::CreateInitialMapMonocular() { // Create MapPoint. Eigen::Vector3f worldPos; worldPos << mvIniP3D[i].x, mvIniP3D[i].y, mvIniP3D[i].z; - MapPoint* pMP = new MapPoint(worldPos, pKFcur, mpAtlas->GetCurrentMap()); + MapPoint* pMP = new MapPoint(worldPos, pKFcur, getAtlas()->GetCurrentMap()); pKFini->AddMapPoint(pMP, i); pKFcur->AddMapPoint(pMP, mvIniMatches[i]); @@ -1756,7 +1750,7 @@ void Tracking::CreateInitialMapMonocular() { mCurrentFrame->mvbOutlier[mvIniMatches[i]] = false; // Add to Map - mpAtlas->AddMapPoint(pMP); + getAtlas()->AddMapPoint(pMP); } // Update Connections @@ -1768,9 +1762,9 @@ void Tracking::CreateInitialMapMonocular() { // Bundle Adjustment Verbose::PrintMess("New Map created with " + - to_string(mpAtlas->MapPointsInMap()) + " points", + to_string(getAtlas()->MapPointsInMap()) + " points", Verbose::VERBOSITY_QUIET); - Optimizer::GlobalBundleAdjustemnt(mpAtlas->GetCurrentMap(), 20); + Optimizer::GlobalBundleAdjustemnt(getAtlas()->GetCurrentMap(), 20); float medianDepth = pKFini->ComputeSceneMedianDepth(2); float invMedianDepth; @@ -1783,7 +1777,7 @@ void Tracking::CreateInitialMapMonocular() { if (medianDepth < 0 || pKFcur->TrackedMapPoints(1) < 50) { Verbose::PrintMess("Wrong initialization, resetting...", Verbose::VERBOSITY_QUIET); - mpSystem->ResetActiveMap(); + system()->ResetActiveMap(); return; } @@ -1811,9 +1805,9 @@ void Tracking::CreateInitialMapMonocular() { pKFcur->mpImuPreintegrated->GetUpdatedBias(), pKFcur->mImuCalib); } - mpLocalMapper->InsertKeyFrame(pKFini); - mpLocalMapper->InsertKeyFrame(pKFcur); - mpLocalMapper->mFirstTs = pKFcur->mTimeStamp; + getLocalMapper()->InsertKeyFrame(pKFini); + getLocalMapper()->InsertKeyFrame(pKFcur); + getLocalMapper()->mFirstTs = pKFcur->mTimeStamp; mCurrentFrame->SetPose(pKFcur->GetPose()); mnLastKeyFrameId = mCurrentFrame->mnId; @@ -1822,12 +1816,12 @@ void Tracking::CreateInitialMapMonocular() { mvpLocalKeyFrames.push_back(pKFcur); mvpLocalKeyFrames.push_back(pKFini); - mvpLocalMapPoints = mpAtlas->GetAllMapPoints(); + mvpLocalMapPoints = getAtlas()->GetAllMapPoints(); mpReferenceKF = pKFcur; mCurrentFrame->mpReferenceKF = pKFcur; // Compute here initial velocity - auto vKFs = mpAtlas->GetAllKeyFrames(); + auto vKFs = getAtlas()->GetAllKeyFrames(); Sophus::SE3f deltaT = vKFs.back()->GetPose() * vKFs.front()->GetPoseInverse(); mbVelocity = false; @@ -1839,11 +1833,11 @@ void Tracking::CreateInitialMapMonocular() { mLastFrame = std::make_shared(*mCurrentFrame); - mpAtlas->SetReferenceMapPoints(mvpLocalMapPoints); + getAtlas()->SetReferenceMapPoints(mvpLocalMapPoints); - mpMapDrawer->SetCurrentCameraPose(pKFcur->GetPose()); + getMapDrawer()->SetCurrentCameraPose(pKFcur->GetPose()); - mpAtlas->GetCurrentMap()->mvpKeyFrameOrigins.push_back(pKFini); + getAtlas()->GetCurrentMap()->mvpKeyFrameOrigins.push_back(pKFini); mState = OK; @@ -1852,8 +1846,8 @@ void Tracking::CreateInitialMapMonocular() { void Tracking::CreateMapInAtlas() { mnLastInitFrameId = mCurrentFrame->mnId; - mpAtlas->CreateNewMap(); - if (mSensor.isImu()) mpAtlas->SetInertialSensor(); + getAtlas()->CreateNewMap(); + if (mSensor.isImu()) getAtlas()->SetInertialSensor(); mbSetInit = false; mnInitialFrameId = mCurrentFrame->mnId + 1; @@ -2006,7 +2000,7 @@ void Tracking::UpdateLastFrame() { } MapPoint* pNewMP = - new MapPoint(x3D, mpAtlas->GetCurrentMap(), mLastFrame, i); + new MapPoint(x3D, getAtlas()->GetCurrentMap(), mLastFrame, i); mLastFrame->mvpMapPoints[i] = pNewMP; mlpTemporalPoints.push_back(pNewMP); @@ -2029,7 +2023,7 @@ bool Tracking::TrackWithMotionModel() { // Create "visual odometry" points if in Localization Mode UpdateLastFrame(); - if (mpAtlas->isImuInitialized() && + if (getAtlas()->isImuInitialized() && (mCurrentFrame->mnId > mnLastRelocFrameId + mnFramesToResetIMU)) { // Predict state with IMU if it is initialized and it doesnt need reset PredictStateIMU(); @@ -2163,7 +2157,7 @@ bool Tracking::TrackLocalMap() { oslog::info("Before optimization, {} map points, {} outliers", aux1, aux2); int inliers; - if (!mpAtlas->isImuInitialized()) { + if (!getAtlas()->isImuInitialized()) { oslog::trace("[Tracking::TrackLocalMap] No IMU, conventional optimization"); Optimizer::PoseOptimization(mCurrentFrame); } else { @@ -2251,7 +2245,7 @@ bool Tracking::TrackLocalMap() { // Decide if the tracking was succesful // More restrictive if there was a relocalization recently - mpLocalMapper->mnMatchesInliers = mnMatchesInliers; + getLocalMapper()->mnMatchesInliers = mnMatchesInliers; if (mCurrentFrame->mnId < mnLastRelocFrameId + mMaxFrames && mnMatchesInliers < 50) return false; @@ -2259,8 +2253,8 @@ bool Tracking::TrackLocalMap() { if ((mnMatchesInliers > 10) && (mState == RECENTLY_LOST)) return true; if (mSensor == SensorType::IMU_MONOCULAR) { - if ((mnMatchesInliers < 15 && mpAtlas->isImuInitialized()) || - (mnMatchesInliers < 50 && !mpAtlas->isImuInitialized())) + if ((mnMatchesInliers < 15 && getAtlas()->isImuInitialized()) || + (mnMatchesInliers < 50 && !getAtlas()->isImuInitialized())) return false; else return true; @@ -2279,7 +2273,7 @@ bool Tracking::TrackLocalMap() { } bool Tracking::NeedNewKeyFrame() { - if (mSensor.isImu() && !mpAtlas->GetCurrentMap()->isImuInitialized()) { + if (mSensor.isImu() && !getAtlas()->GetCurrentMap()->isImuInitialized()) { if (mSensor == SensorType::IMU_MONOCULAR && (mCurrentFrame->mTimeStamp - mpLastKeyFrame->mTimeStamp) >= 0.25) return true; @@ -2294,7 +2288,7 @@ bool Tracking::NeedNewKeyFrame() { if (mbOnlyTracking) return false; // If Local Mapping is freezed by a Loop Closure do not insert keyframes - if (mpLocalMapper->isStopped() || mpLocalMapper->stopRequested()) { + if (getLocalMapper()->isStopped() || getLocalMapper()->stopRequested()) { /*if(mSensor == SensorType::MONOCULAR) {*/ oslog::info( @@ -2304,7 +2298,7 @@ bool Tracking::NeedNewKeyFrame() { return false; } - const int nKFs = mpAtlas->KeyFramesInMap(); + const int nKFs = getAtlas()->KeyFramesInMap(); // Do not insert keyframes if not enough frames have passed from last // relocalisation @@ -2320,7 +2314,7 @@ bool Tracking::NeedNewKeyFrame() { int nRefMatches = mpReferenceKF->TrackedMapPoints(nMinObs); // Local Mapping accept keyframes? - bool bLocalMappingIdle = mpLocalMapper->AcceptKeyFrames(); + bool bLocalMappingIdle = getLocalMapper()->AcceptKeyFrames(); // Check how many "close" points are being tracked and how many could be // potentially created. @@ -2383,7 +2377,7 @@ bool Tracking::NeedNewKeyFrame() { // Condition 1b: More than "MinFrames" have passed and Local Mapping is idle const bool c1b = ((mCurrentFrame->mnId >= mnLastKeyFrameId + mMinFrames) && - bLocalMappingIdle); // mpLocalMapper->KeyframesInQueue() < 2); + bLocalMappingIdle); // getLocalMapper()->KeyframesInQueue() < 2); // Condition 1c: tracking is weak const bool c1c = mSensor != SensorType::MONOCULAR && @@ -2429,17 +2423,17 @@ bool Tracking::NeedNewKeyFrame() { if (((c1a || c1b || c1c) && c2) || c3 || c4) { // If the mapping accepts keyframes, insert keyframe. // Otherwise send a signal to interrupt BA - if (bLocalMappingIdle || mpLocalMapper->IsInitializing()) { + if (bLocalMappingIdle || getLocalMapper()->IsInitializing()) { oslog::info("[Tracking::NeedNewKeyFrame] !!! Create a new keyframe!"); return true; } else { oslog::info( "[Tracking::NeedNewKeyFrame] !!! Want to create a new keyframe, " "interrupting BA"); - mpLocalMapper->InterruptBA(); + getLocalMapper()->InterruptBA(); if (mSensor != SensorType::MONOCULAR && mSensor != SensorType::IMU_MONOCULAR) { - if (mpLocalMapper->KeyframesInQueue() < 3) + if (getLocalMapper()->KeyframesInQueue() < 3) return true; else return false; @@ -2455,14 +2449,17 @@ bool Tracking::NeedNewKeyFrame() { } void Tracking::CreateNewKeyFrame() { - if (mpLocalMapper->IsInitializing() && !mpAtlas->isImuInitialized()) return; + if (getLocalMapper()->IsInitializing() && !getAtlas()->isImuInitialized()) + return; - if (!mpLocalMapper->SetNotStop(true)) return; + if (!getLocalMapper()->SetNotStop(true)) return; - std::shared_ptr pKF = std::make_shared( - mCurrentFrame, mpAtlas->GetCurrentMap(), mpKeyFrameDB); + std::shared_ptr pKF = + std::make_shared(mCurrentFrame, getAtlas()->GetCurrentMap(), + system()->getVprImplementation()); - if (mpAtlas->isImuInitialized()) // || mpLocalMapper->IsInitializing()) + if (getAtlas() + ->isImuInitialized()) // || getLocalMapper()->IsInitializing()) pKF->bImu = true; pKF->SetNewBias(mCurrentFrame->mImuBias); @@ -2528,7 +2525,8 @@ void Tracking::CreateNewKeyFrame() { x3D = mCurrentFrame->UnprojectStereoFishEye(i); } - MapPoint* pNewMP = new MapPoint(x3D, pKF, mpAtlas->GetCurrentMap()); + MapPoint* pNewMP = + new MapPoint(x3D, pKF, getAtlas()->GetCurrentMap()); pNewMP->AddObservation(pKF, i); // Check if it is a stereo observation in order to not @@ -2548,7 +2546,7 @@ void Tracking::CreateNewKeyFrame() { pKF->AddMapPoint(pNewMP, i); pNewMP->ComputeDistinctiveDescriptors(); pNewMP->UpdateNormalAndDepth(); - mpAtlas->AddMapPoint(pNewMP); + getAtlas()->AddMapPoint(pNewMP); mCurrentFrame->mvpMapPoints[i] = pNewMP; nPoints++; @@ -2565,9 +2563,9 @@ void Tracking::CreateNewKeyFrame() { } } - mpLocalMapper->InsertKeyFrame(pKF); + getLocalMapper()->InsertKeyFrame(pKF); - mpLocalMapper->SetNotStop(false); + getLocalMapper()->SetNotStop(false); mnLastKeyFrameId = mCurrentFrame->mnId; mpLastKeyFrame = pKF; @@ -2616,12 +2614,12 @@ void Tracking::SearchLocalPoints() { ORBmatcher matcher(0.8); int th = 1; if (mSensor == SensorType::RGBD || mSensor == SensorType::IMU_RGBD) th = 3; - if (mpAtlas->isImuInitialized()) { - if (mpAtlas->GetCurrentMap()->GetInertialBA2()) + if (getAtlas()->isImuInitialized()) { + if (getAtlas()->GetCurrentMap()->GetInertialBA2()) th = 2; else th = 6; - } else if (!mpAtlas->isImuInitialized() && mSensor.isImu()) { + } else if (!getAtlas()->isImuInitialized() && mSensor.isImu()) { th = 10; } @@ -2633,14 +2631,14 @@ void Tracking::SearchLocalPoints() { th = 15; // 15 int matches = matcher.SearchByProjection(mCurrentFrame, mvpLocalMapPoints, - th, mpLocalMapper->mbFarPoints, - mpLocalMapper->mThFarPoints); + th, getLocalMapper()->mbFarPoints, + getLocalMapper()->mThFarPoints); } } void Tracking::UpdateLocalMap() { // This is for visualization - mpAtlas->SetReferenceMapPoints(mvpLocalMapPoints); + getAtlas()->SetReferenceMapPoints(mvpLocalMapPoints); // Update UpdateLocalKeyFrames(); @@ -2671,7 +2669,7 @@ void Tracking::UpdateLocalKeyFrames() { // Each map point vote for the keyframes in which it has been observed map, int> keyframeCounter; - if (!mpAtlas->isImuInitialized() || + if (!getAtlas()->isImuInitialized() || (mCurrentFrame->mnId < mnLastRelocFrameId + 2)) { for (size_t i = 0; i < mCurrentFrame->N; i++) { MapPoint* pMP = mCurrentFrame->mvpMapPoints[i]; @@ -2798,8 +2796,9 @@ bool Tracking::Relocalization() { // Relocalization is performed when tracking is lost // Track Lost: Query KeyFrame Database for keyframe candidates for // relocalisation - auto vpCandidateKFs = mpKeyFrameDB->DetectRelocalizationCandidates( - mCurrentFrame, mpAtlas->GetCurrentMap()); + auto vpCandidateKFs = + system()->getVprImplementation()->DetectRelocalizationCandidates( + mCurrentFrame, getAtlas()->GetCurrentMap()); if (vpCandidateKFs.empty()) { oslog::warn("[Tracking::Relocalization] There are no candidates keyframes"); @@ -2959,29 +2958,29 @@ bool Tracking::Relocalization() { void Tracking::Reset(bool bLocMap) { oslog::info("[Tracking::Reset] System resetting"); - if (mpViewer) { - mpViewer->RequestStop(); - while (!mpViewer->isStopped()) usleep(3000); + if (getViewer()) { + getViewer()->RequestStop(); + while (!getViewer()->isStopped()) usleep(3000); } // Reset Local Mapping if (!bLocMap) { oslog::debug("[Tracking::Reset] !! resetting Local Mapper..."); - mpLocalMapper->RequestReset(); + getLocalMapper()->RequestReset(); } // Reset Loop Closing oslog::debug("[Tracking::Reset] !! resetting Loop Closing..."); - mpLoopClosing->RequestReset(); + getLoopClosing()->RequestReset(); // Clear BoW Database oslog::debug("[Tracking::Reset] !! resetting Database..."); - mpKeyFrameDB->clear(); + system()->getVprImplementation()->clear(); // Clear Map (this erase MapPoints and KeyFrames) - mpAtlas->clearAtlas(); - mpAtlas->CreateNewMap(); - if (mSensor.isImu()) mpAtlas->SetInertialSensor(); + getAtlas()->clearAtlas(); + getAtlas()->CreateNewMap(); + if (mSensor.isImu()) getAtlas()->SetInertialSensor(); mnInitialFrameId = 0; KeyFrame::nNextId = 0; @@ -3002,37 +3001,38 @@ void Tracking::Reset(bool bLocMap) { mpLastKeyFrame.reset(); mvIniMatches.clear(); - if (mpViewer) mpViewer->Release(); + if (getViewer()) getViewer()->Release(); oslog::info("[Tracking::Reset] !! End resetting!"); } void Tracking::ResetActiveMap(bool bLocMap) { oslog::info("[Tracking::ResetActiveMap] !! Active map resetting"); - if (mpViewer) { - mpViewer->RequestStop(); - while (!mpViewer->isStopped()) usleep(3000); + if (getViewer()) { + getViewer()->RequestStop(); + while (!getViewer()->isStopped()) usleep(3000); } - std::shared_ptr pMap(mpAtlas->GetCurrentMap()); + std::shared_ptr pMap(getAtlas()->GetCurrentMap()); if (!bLocMap) { oslog::info("[Tracking::ResetActiveMap] !! resetting Local Mapper..."); - mpLocalMapper->RequestResetActiveMap(pMap); + getLocalMapper()->RequestResetActiveMap(pMap); } // Reset Loop Closing oslog::info("[Tracking::ResetActiveMap] !! resetting Loop Closing..."); - mpLoopClosing->RequestResetActiveMap(pMap); + getLoopClosing()->RequestResetActiveMap(pMap); // Clear BoW Database oslog::info("[Tracking::ResetActiveMap] !! resetting Database"); - mpKeyFrameDB->clearMap(pMap); // Only clear the active map references + system()->getVprImplementation()->clearMap( + pMap); // Only clear the active map references // Clear Map (this erase MapPoints and KeyFrames) - mpAtlas->clearMap(); + getAtlas()->clearMap(); - // KeyFrame::nNextId = mpAtlas->GetLastInitKFid(); + // KeyFrame::nNextId = getAtlas()->GetLastInitKFid(); // Frame::nNextId = mnLastInitFrameId; mnLastInitFrameId = Frame::nNextId; // mnLastRelocFrameId = mnLastInitFrameId; @@ -3043,7 +3043,7 @@ void Tracking::ResetActiveMap(bool bLocMap) { list lbLost; // lbLost.reserve(mlbLost.size()); unsigned int index = mnFirstFrameId; - for (auto const& pMap : mpAtlas->GetAllMaps()) { + for (auto const& pMap : getAtlas()->GetAllMaps()) { if (pMap->GetAllKeyFrames().size() > 0) { if (index > pMap->GetLowerKFID()) index = pMap->GetLowerKFID(); } @@ -3077,7 +3077,7 @@ void Tracking::ResetActiveMap(bool bLocMap) { mbVelocity = false; - if (mpViewer) mpViewer->Release(); + if (getViewer()) getViewer()->Release(); oslog::warn("[Tracking::ResetActiveMap] !! End resetting!"); } @@ -3210,16 +3210,16 @@ int Tracking::GetMatchesInliers() { return mnMatchesInliers; } void Tracking::SaveSubTrajectory(string strNameFile_frames, string strNameFile_kf, string strFolder) { - mpSystem->SaveTrajectoryEuRoC(strFolder + strNameFile_frames); - // mpSystem->SaveKeyFrameTrajectoryEuRoC(strFolder + strNameFile_kf); + system()->SaveTrajectoryEuRoC(strFolder + strNameFile_frames); + // system()->SaveKeyFrameTrajectoryEuRoC(strFolder + strNameFile_kf); } void Tracking::SaveSubTrajectory(string strNameFile_frames, string strNameFile_kf, const std::shared_ptr& pMap) { - mpSystem->SaveTrajectoryEuRoC(strNameFile_frames, pMap); + system()->SaveTrajectoryEuRoC(strNameFile_frames, pMap); if (!strNameFile_kf.empty()) - mpSystem->SaveKeyFrameTrajectoryEuRoC(strNameFile_kf, pMap); + system()->SaveKeyFrameTrajectoryEuRoC(strNameFile_kf, pMap); } float Tracking::GetImageScale() { return mImageScale; } diff --git a/src/Viewer.cc b/src/Viewer.cc index bac99d49fa8..a2ff28bfe95 100644 --- a/src/Viewer.cc +++ b/src/Viewer.cc @@ -29,16 +29,9 @@ namespace ORB_SLAM3 { -Viewer::Viewer(System *pSystem, - const std::shared_ptr &pFrameDrawer, - const std::shared_ptr &pMapDrawer, - const std::shared_ptr &pTracking, - const std::shared_ptr &settings) - : both(false), - mpSystem(pSystem), - mpFrameDrawer(pFrameDrawer), - mpMapDrawer(pMapDrawer), - mpTracker(pTracking), +Viewer::Viewer(const std::shared_ptr &pSystem) + : SystemAccessor(pSystem), + both(false), mbFinishRequested(false), mbFinished(true), mbStopped(true), @@ -48,15 +41,15 @@ Viewer::Viewer(System *pSystem, mT = 1e3 / 30; - cv::Size imSize = settings->newImSize(); + cv::Size imSize = getSettings()->newImSize(); mImageHeight = imSize.height; mImageWidth = imSize.width; - mImageViewerScale = settings->imageViewerScale(); - mViewpointX = settings->viewPointX(); - mViewpointY = settings->viewPointY(); - mViewpointZ = settings->viewPointZ(); - mViewpointF = settings->viewPointF(); + mImageViewerScale = getSettings()->imageViewerScale(); + mViewpointX = getSettings()->viewPointX(); + mViewpointY = getSettings()->viewPointY(); + mViewpointZ = getSettings()->viewPointZ(); + mViewpointF = getSettings()->viewPointF(); } void Viewer::Run() { @@ -116,19 +109,19 @@ void Viewer::Run() { bool bStepByStep = false; bool bCameraView = true; - if (mpTracker->mSensor == SensorType::MONOCULAR || - mpTracker->mSensor == SensorType::STEREO || - mpTracker->mSensor == SensorType::RGBD) { + if (getTracker()->mSensor == SensorType::MONOCULAR || + getTracker()->mSensor == SensorType::STEREO || + getTracker()->mSensor == SensorType::RGBD) { menuShowGraph = true; } - float trackedImageScale = mpTracker->GetImageScale(); + float trackedImageScale = getTracker()->GetImageScale(); cout << "Starting the Viewer" << endl; while (1) { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - mpMapDrawer->GetCurrentOpenGLCameraMatrix(Twc, Ow); + getMapDrawer()->GetCurrentOpenGLCameraMatrix(Twc, Ow); if (mbStopTrack) { menuStepByStep = true; @@ -169,7 +162,7 @@ void Viewer::Run() { s_cam.Follow(Twc); } - if (menuTopView && mpMapDrawer->mpAtlas->isImuInitialized()) { + if (menuTopView && getAtlas()->isImuInitialized()) { menuTopView = false; bCameraView = false; s_cam.SetProjectionMatrix(pangolin::ProjectionMatrix( @@ -180,43 +173,43 @@ void Viewer::Run() { } if (menuLocalizationMode && !bLocalizationMode) { - mpSystem->ActivateLocalizationMode(); + system()->ActivateLocalizationMode(); bLocalizationMode = true; } else if (!menuLocalizationMode && bLocalizationMode) { - mpSystem->DeactivateLocalizationMode(); + system()->DeactivateLocalizationMode(); bLocalizationMode = false; } if (menuStepByStep && !bStepByStep) { // cout << "Viewer: step by step" << endl; - mpTracker->SetStepByStep(true); + getTracker()->SetStepByStep(true); bStepByStep = true; } else if (!menuStepByStep && bStepByStep) { - mpTracker->SetStepByStep(false); + getTracker()->SetStepByStep(false); bStepByStep = false; } if (menuStep) { - mpTracker->mbStep = true; + getTracker()->mbStep = true; menuStep = false; } d_cam.Activate(s_cam); glClearColor(1.0f, 1.0f, 1.0f, 1.0f); - mpMapDrawer->DrawCurrentCamera(Twc); + getMapDrawer()->DrawCurrentCamera(Twc); if (menuShowKeyFrames || menuShowGraph || menuShowInertialGraph || menuShowOptLba) - mpMapDrawer->DrawKeyFrames(menuShowKeyFrames, menuShowGraph, - menuShowInertialGraph, menuShowOptLba); - if (menuShowPoints) mpMapDrawer->DrawMapPoints(); + getMapDrawer()->DrawKeyFrames(menuShowKeyFrames, menuShowGraph, + menuShowInertialGraph, menuShowOptLba); + if (menuShowPoints) getMapDrawer()->DrawMapPoints(); pangolin::FinishFrame(); cv::Mat toShow; - cv::Mat im = mpFrameDrawer->DrawFrame(trackedImageScale); + cv::Mat im = getFrameDrawer()->DrawFrame(trackedImageScale); if (both) { - cv::Mat imRight = mpFrameDrawer->DrawRightFrame(trackedImageScale); + cv::Mat imRight = getFrameDrawer()->DrawRightFrame(trackedImageScale); cv::hconcat(im, imRight, toShow); } else { toShow = im; @@ -237,23 +230,23 @@ void Viewer::Run() { menuShowKeyFrames = true; menuShowPoints = true; menuLocalizationMode = false; - if (bLocalizationMode) mpSystem->DeactivateLocalizationMode(); + if (bLocalizationMode) system()->DeactivateLocalizationMode(); bLocalizationMode = false; bFollow = true; menuFollowCamera = true; - mpSystem->ResetActiveMap(); + system()->ResetActiveMap(); menuReset = false; } if (menuStop) { - if (bLocalizationMode) mpSystem->DeactivateLocalizationMode(); + if (bLocalizationMode) system()->DeactivateLocalizationMode(); // Stop all threads - mpSystem->Shutdown(); + system()->Shutdown(); // Save camera trajectory - mpSystem->SaveTrajectoryEuRoC("CameraTrajectory.txt"); - mpSystem->SaveKeyFrameTrajectoryEuRoC("KeyFrameTrajectory.txt"); + system()->SaveTrajectoryEuRoC("CameraTrajectory.txt"); + system()->SaveKeyFrameTrajectoryEuRoC("KeyFrameTrajectory.txt"); menuStop = false; } From 6ffe49e74993303a41e5a34da134c014c45ee178 Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Wed, 5 Aug 2026 20:13:10 +0000 Subject: [PATCH 12/14] Further work on VprImplementation --- include/Atlas.h | 12 +- include/KeyFrameDatabase.h | 19 +- include/LocalMapping.h | 37 +- include/LoopClosing.h | 22 +- include/MapDrawer.h | 13 +- include/Settings.h | 86 ++--- include/System.h | 15 +- include/SystemAccessor.h | 12 + include/VPRImplementation.h | 19 +- src/Atlas.cc | 40 +- src/KeyFrameDatabase.cc | 745 ++++++++++++++++++------------------ src/LocalMapping.cc | 96 +++-- src/LoopClosing.cc | 148 ++++--- src/MapDrawer.cc | 15 +- src/System.cc | 24 +- src/SystemAccessor.cc | 23 ++ src/Tracking.cc | 44 +-- 17 files changed, 686 insertions(+), 684 deletions(-) diff --git a/include/Atlas.h b/include/Atlas.h index eab3ac91b96..7f072bdd890 100644 --- a/include/Atlas.h +++ b/include/Atlas.h @@ -59,8 +59,8 @@ class Atlas : public SystemAccessor { // for ubuntu 16.04, a vector is serializated // ar & mspMaps; ar & mvpBackupMaps; - ar & mvpCameras; - // Need to save/load the static Id from Frame, KeyFrame, MapPoint and Map + // ar & mvpCameras; + // Need to save/load the static Id from Frame, KeyFrame, MapPoint and Map ar &Map::nNextId; ar &Frame::nNextId; ar &KeyFrame::nNextId; @@ -91,9 +91,9 @@ class Atlas : public SystemAccessor { // void EraseMapPoint(MapPoint* pMP); // void EraseKeyFrame(KeyFrame* pKF); - std::shared_ptr AddCamera( - const std::shared_ptr &pCam); - std::vector> GetAllCameras(); + // std::shared_ptr AddCamera( + // const std::shared_ptr &pCam); + // std::vector> GetAllCameras(); /* All methods without Map pointer work on current map */ void SetReferenceMapPoints(const std::vector &vpMPs); @@ -145,7 +145,7 @@ class Atlas : public SystemAccessor { std::shared_ptr mpCurrentMap; - std::vector> mvpCameras; + // std::vector> mvpCameras; unsigned long int mnLastInitKFidMap; diff --git a/include/KeyFrameDatabase.h b/include/KeyFrameDatabase.h index 1f88ae30d33..76fa8dad4e1 100644 --- a/include/KeyFrameDatabase.h +++ b/include/KeyFrameDatabase.h @@ -68,14 +68,15 @@ class BoWKeyFrameDatabase : public VPRImplementation { // const std::shared_ptr &pKF, float minScore); // Loop and Merge Detection - void DetectCandidates( - const std::shared_ptr &pKF, float minScore, - vector> &vpLoopCand, - vector> &vpMergeCand) override; - void DetectBestCandidates(const std::shared_ptr &pKF, - vector> &vpLoopCand, - vector> &vpMergeCand, - int nMinWords) override; + // void DetectCandidates( + // const std::shared_ptr &pKF, float minScore, + // vector> &vpLoopCand, + // vector> &vpMergeCand) override; + // void DetectBestCandidates(const std::shared_ptr &pKF, + // vector> &vpLoopCand, + // vector> &vpMergeCand, + // int nMinWords) override; + void DetectNBestCandidates(const std::shared_ptr &pKF, vector> &vpLoopCand, vector> &vpMergeCand, @@ -88,7 +89,7 @@ class BoWKeyFrameDatabase : public VPRImplementation { void PreSave(); void PostLoad(map> mpKFid); - void SetORBVocabulary(const std::shared_ptr &pORBVoc); + // void SetORBVocabulary(const std::shared_ptr &pORBVoc); protected: // Associated vocabulary diff --git a/include/LocalMapping.h b/include/LocalMapping.h index ae2e6c8b2bd..6f35aba9e05 100644 --- a/include/LocalMapping.h +++ b/include/LocalMapping.h @@ -21,36 +21,32 @@ #pragma once +#include +#include #include #include #include #include #include -#include "Atlas.h" -#include "KeyFrame.h" -#include "KeyFrameDatabase.h" -#include "LoopClosing.h" -#include "Settings.h" -#include "Tracking.h" +#include "SystemAccessor.h" namespace ORB_SLAM3 { -class System; -class Tracking; -class LoopClosing; -class Atlas; +class KeyFrame; +class Map; +class MapPoint; -class LocalMapping { +using std::ofstream; +using std::string; +using std::unique_lock; +using std::vector; + +class LocalMapping : public SystemAccessor { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW LocalMapping(const std::shared_ptr &pSys, - const std::shared_ptr &pAtlas, const float bMonocular, - bool bInertial, const string &_strSeqName = std::string()); - - void SetLoopCloser(const std::shared_ptr &pLoopCloser); - - void SetTracker(const std::shared_ptr &pTracker); + const string &_strSeqName = std::string()); // Main function void Run(); @@ -142,8 +138,6 @@ class LocalMapping { void SearchInNeighbors(); void KeyFrameCulling(); - std::shared_ptr mpSystem; - bool mbMonocular; bool mbInertial; @@ -159,11 +153,6 @@ class LocalMapping { bool mbFinished; std::mutex mMutexFinish; - std::shared_ptr mpAtlas; - - std::shared_ptr mpLoopCloser; - std::shared_ptr mpTracker; - std::list> mlNewKeyFrames; std::shared_ptr mpCurrentKeyFrame; diff --git a/include/LoopClosing.h b/include/LoopClosing.h index 987828aca1d..1164bf2e209 100644 --- a/include/LoopClosing.h +++ b/include/LoopClosing.h @@ -48,7 +48,8 @@ class LocalMapping; class BoWKeyFrameDatabase; class Map; -class LoopClosing : public enable_shared_from_this { +class LoopClosing : public SystemAccessor, + public enable_shared_from_this { public: typedef pair >, int> ConsistentGroup; typedef map, g2o::Sim3, @@ -61,15 +62,9 @@ class LoopClosing : public enable_shared_from_this { LoopClosing() = delete; LoopClosing(const LoopClosing &) = delete; - LoopClosing(const std::shared_ptr &pAtlas, - const std::shared_ptr &pDB, - const std::shared_ptr &pVoc, const bool bFixScale, + LoopClosing(const std::shared_ptr &pSys, const bool bFixScale, const bool bActiveLC); - void SetTracker(const std::shared_ptr &pTracker); - - void SetLocalMapper(const std::shared_ptr &pLocalMapper); - // Main function void Run(); @@ -95,9 +90,6 @@ class LoopClosing : public enable_shared_from_this { bool isFinished(); - // \amm Unused? - std::shared_ptr mpViewer; - #ifdef REGISTER_TIMES vector vdDataQuery_ms; @@ -183,14 +175,6 @@ class LoopClosing : public enable_shared_from_this { bool mbFinished; std::mutex mMutexFinish; - std::shared_ptr mpAtlas; - std::shared_ptr mpTracker; - - std::shared_ptr mpVprImplementation; - std::shared_ptr mpORBVocabulary; - - std::shared_ptr mpLocalMapper; - std::list > mlpLoopKeyFrameQueue; std::mutex mMutexLoopQueue; diff --git a/include/MapDrawer.h b/include/MapDrawer.h index f226a5ef993..9b6d961da4e 100644 --- a/include/MapDrawer.h +++ b/include/MapDrawer.h @@ -27,21 +27,16 @@ #include #include "Atlas.h" -#include "KeyFrame.h" #include "MapPoint.h" -#include "Settings.h" +#include "SystemAccessor.h" namespace ORB_SLAM3 { -class Settings; - -class MapDrawer { +class MapDrawer : public SystemAccessor { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW - MapDrawer(const std::shared_ptr &pAtlas, - const std::shared_ptr &settings); - std::shared_ptr mpAtlas; + explicit MapDrawer(const std::shared_ptr &pSys); void DrawMapPoints(); void DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph, @@ -53,8 +48,6 @@ class MapDrawer { pangolin::OpenGlMatrix &MOw); private: - void newParameterLoader(const std::shared_ptr &ssettings); - float mKeyFrameSize; float mKeyFrameLineWidth; float mGraphLineWidth; diff --git a/include/Settings.h b/include/Settings.h index db0a2bd70f1..34e37f70415 100644 --- a/include/Settings.h +++ b/include/Settings.h @@ -133,56 +133,56 @@ class Settings { vPinHoleDistorsion2_.data()); } - Sophus::SE3f Tlr() { return Tlr_; } - float bf() { return bf_; } - float b() { return b_; } - float thDepth() { return thDepth_; } - - bool needToUndistort() { return bNeedToUndistort_; } - - cv::Size newImSize() { return newImSize_; } - bool rgb() { return bRGB_; } - bool needToResize() { return bNeedToResize1_; } - bool needToRectify() { return bNeedToRectify_; } - - float noiseGyro() { return noiseGyro_; } - float noiseAcc() { return noiseAcc_; } - float gyroWalk() { return gyroWalk_; } - float accWalk() { return accWalk_; } - float imuFrequency() { return imuFrequency_; } - Sophus::SE3f Tbc() { return Tbc_; } - bool insertKFsWhenLost() { return insertKFsWhenLost_; } - - float depthMapFactor() { return depthMapFactor_; } - - int nFeatures() { return nFeatures_; } - int nLevels() { return nLevels_; } - float initThFAST() { return initThFAST_; } - float minThFAST() { return minThFAST_; } - float scaleFactor() { return scaleFactor_; } + Sophus::SE3f Tlr() const { return Tlr_; } + float bf() const { return bf_; } + float b() const { return b_; } + float thDepth() const { return thDepth_; } + + bool needToUndistort() const { return bNeedToUndistort_; } + + cv::Size newImSize() const { return newImSize_; } + bool rgb() const { return bRGB_; } + bool needToResize() const { return bNeedToResize1_; } + bool needToRectify() const { return bNeedToRectify_; } + + float noiseGyro() const { return noiseGyro_; } + float noiseAcc() const { return noiseAcc_; } + float gyroWalk() const { return gyroWalk_; } + float accWalk() const { return accWalk_; } + float imuFrequency() const { return imuFrequency_; } + Sophus::SE3f Tbc() const { return Tbc_; } + bool insertKFsWhenLost() const { return insertKFsWhenLost_; } + + float depthMapFactor() const { return depthMapFactor_; } + + int nFeatures() const { return nFeatures_; } + int nLevels() const { return nLevels_; } + float initThFAST() const { return initThFAST_; } + float minThFAST() const { return minThFAST_; } + float scaleFactor() const { return scaleFactor_; } bool useViewer() const { return useViewer_; } - float keyFrameSize() { return keyFrameSize_; } - float keyFrameLineWidth() { return keyFrameLineWidth_; } - float graphLineWidth() { return graphLineWidth_; } - float pointSize() { return pointSize_; } - float cameraSize() { return cameraSize_; } - float cameraLineWidth() { return cameraLineWidth_; } - float viewPointX() { return viewPointX_; } - float viewPointY() { return viewPointY_; } - float viewPointZ() { return viewPointZ_; } - float viewPointF() { return viewPointF_; } - float imageViewerScale() { return imageViewerScale_; } + float keyFrameSize() const { return keyFrameSize_; } + float keyFrameLineWidth() const { return keyFrameLineWidth_; } + float graphLineWidth() const { return graphLineWidth_; } + float pointSize() const { return pointSize_; } + float cameraSize() const { return cameraSize_; } + float cameraLineWidth() const { return cameraLineWidth_; } + float viewPointX() const { return viewPointX_; } + float viewPointY() const { return viewPointY_; } + float viewPointZ() const { return viewPointZ_; } + float viewPointF() const { return viewPointF_; } + float imageViewerScale() const { return imageViewerScale_; } std::string atlasLoadFile() { return sLoadFrom_; } std::string atlasSaveFile() { return sSaveto_; } - float thFarPoints() { return thFarPoints_; } + float thFarPoints() const { return thFarPoints_; } - cv::Mat M1l() { return M1l_; } - cv::Mat M2l() { return M2l_; } - cv::Mat M1r() { return M1r_; } - cv::Mat M2r() { return M2r_; } + cv::Mat M1l() const { return M1l_; } + cv::Mat M2l() const { return M2l_; } + cv::Mat M1r() const { return M1r_; } + cv::Mat M2r() const { return M2r_; } // For PinHole, k = {fx, fy, cx, cy}, and dist can be 0, 4 or 5 params // For Rectified, k = {fx, fy, cx, cy} and dist is ignored diff --git a/include/System.h b/include/System.h index 7bddff0d55a..874870c0d65 100644 --- a/include/System.h +++ b/include/System.h @@ -177,9 +177,6 @@ class System : public std::enable_shared_from_this { std::vector GetTrackedMapPoints(); std::vector GetTrackedKeyPointsUn(); - std::shared_ptr frameDrawer() { return mpFrameDrawer; } - std::shared_ptr mapDrawer() { return mpMapDrawer; } - const SensorType sensorType() const { return settings_->sensor_; } // For debugging @@ -202,7 +199,12 @@ class System : public std::enable_shared_from_this { // Member accessors std::shared_ptr getAtlas() { return mpAtlas; } - std::shared_ptr getVprImplementation() { + // Assume this is called at startup, who knows what happens if you call it + // mid-stream + void setVPRImplementation(const std::shared_ptr &vpr) { + mpVprImpl = vpr; + } + std::shared_ptr getVPRImplementation() { return mpVprImpl; } std::shared_ptr getORBVocabulary() { return mpVocabulary; } @@ -218,6 +220,9 @@ class System : public std::enable_shared_from_this { std::shared_ptr getLocalMapping() { return mpLocalMapper; } std::shared_ptr getLoopClosing() { return mpLoopCloser; } + std::shared_ptr getPrimaryCamera() { return mpPriCamera; } + std::shared_ptr getSecondaryCamera() { return mpSecCamera; } + protected: // Initialize the SLAM system. It launches the Local Mapping, Loop Closing and // Viewer threads. @@ -279,6 +284,8 @@ class System : public std::enable_shared_from_this { std::unique_ptr mptLoopClosing; std::unique_ptr mptViewer; + std::shared_ptr mpPriCamera, mpSecCamera; + // Reset flag std::mutex mMutexReset; bool mbReset; diff --git a/include/SystemAccessor.h b/include/SystemAccessor.h index 404e45f1522..392bc12a829 100644 --- a/include/SystemAccessor.h +++ b/include/SystemAccessor.h @@ -24,16 +24,20 @@ #include +#include "Types.h" + namespace ORB_SLAM3 { class Atlas; class FrameDrawer; +class GeometricCamera; class LocalMapping; class LoopClosing; class MapDrawer; class Settings; class System; class Tracking; +class VPRImplementation; class Viewer; class SystemAccessor { @@ -47,10 +51,15 @@ class SystemAccessor { // System std::shared_ptr system(); + const std::shared_ptr system() const; + + const SensorType sensorType() const; + std::shared_ptr getSettings(); std::shared_ptr getLocalMapper(); std::shared_ptr getLoopClosing(); std::shared_ptr getTracker(); + std::shared_ptr getVPRImplementation(); // Drawers std::shared_ptr getViewer(); @@ -61,6 +70,9 @@ class SystemAccessor { // Atlas std::shared_ptr getAtlas(); + std::shared_ptr getPrimaryCamera(); + std::shared_ptr getSecondaryCamera(); + private: // System std::shared_ptr mpSystem; diff --git a/include/VPRImplementation.h b/include/VPRImplementation.h index 079f5f2e546..ff9255500fe 100644 --- a/include/VPRImplementation.h +++ b/include/VPRImplementation.h @@ -46,14 +46,17 @@ class VPRImplementation { virtual void clearMap(const std::shared_ptr &pMap) = 0; // Loop and Merge Detection - virtual void DetectCandidates( - const std::shared_ptr &pKF, float minScore, - vector> &vpLoopCand, - vector> &vpMergeCand) = 0; - virtual void DetectBestCandidates( - const std::shared_ptr &pKF, - vector> &vpLoopCand, - vector> &vpMergeCand, int nMinWords) = 0; + // These aren't used? + // + // virtual void DetectCandidates( + // const std::shared_ptr &pKF, float minScore, + // vector> &vpLoopCand, + // vector> &vpMergeCand) = 0; + // virtual void DetectBestCandidates( + // const std::shared_ptr &pKF, + // vector> &vpLoopCand, + // vector> &vpMergeCand, int nMinWords) = 0; + virtual void DetectNBestCandidates( const std::shared_ptr &pKF, vector> &vpLoopCand, diff --git a/src/Atlas.cc b/src/Atlas.cc index 18f16166c12..a1bbb07a7d7 100644 --- a/src/Atlas.cc +++ b/src/Atlas.cc @@ -94,20 +94,20 @@ void Atlas::AddMapPoint(MapPoint *pMP) { pMapMP->AddMapPoint(pMP); } -std::shared_ptr Atlas::AddCamera( - const std::shared_ptr &pCam) { - auto const it = std::find(mvpCameras.begin(), mvpCameras.end(), pCam); - if (it != mvpCameras.end()) { - return *it; - } - - mvpCameras.push_back(pCam); - return pCam; -} +// std::shared_ptr Atlas::AddCamera( +// const std::shared_ptr &pCam) { +// auto const it = std::find(mvpCameras.begin(), mvpCameras.end(), pCam); +// if (it != mvpCameras.end()) { +// return *it; +// } + +// mvpCameras.push_back(pCam); +// return pCam; +// } -std::vector> Atlas::GetAllCameras() { - return mvpCameras; -} +// std::vector> Atlas::GetAllCameras() { +// return mvpCameras; +// } void Atlas::SetReferenceMapPoints(const std::vector &vpMPs) { unique_lock lock(mMutexAtlas); @@ -238,8 +238,10 @@ void Atlas::PreSave() { std::copy(mspMaps.begin(), mspMaps.end(), std::back_inserter(mvpBackupMaps)); sort(mvpBackupMaps.begin(), mvpBackupMaps.end(), compFunctor()); - std::set> spCams(mvpCameras.begin(), - mvpCameras.end()); + // std::set> spCams(mvpCameras.begin(), + // mvpCameras.end()); + std::set> spCams; + for (auto pMi : mvpBackupMaps) { if (!pMi || pMi->IsBad()) continue; @@ -255,15 +257,15 @@ void Atlas::PreSave() { void Atlas::PostLoad() { map> mpCams; - for (auto pCam : mvpCameras) { - mpCams[pCam->GetId()] = pCam; - } + // for (auto pCam : mvpCameras) { + // mpCams[pCam->GetId()] = pCam; + // } mspMaps.clear(); unsigned long int numKF = 0, numMP = 0; for (auto pMi : mvpBackupMaps) { mspMaps.insert(pMi); - pMi->PostLoad(system()->getVprImplementation(), + pMi->PostLoad(system()->getVPRImplementation(), system()->getORBVocabulary(), mpCams); numKF += pMi->GetAllKeyFrames().size(); numMP += pMi->GetAllMapPoints().size(); diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc index 0165be029f8..992acc3b98b 100644 --- a/src/KeyFrameDatabase.cc +++ b/src/KeyFrameDatabase.cc @@ -85,361 +85,374 @@ void BoWKeyFrameDatabase::clearMap(const std::shared_ptr& pMap) { } } -void BoWKeyFrameDatabase::DetectCandidates( - const std::shared_ptr& pKF, float minScore, - vector>& vpLoopCand, - vector>& vpMergeCand) { - auto spConnectedKeyFrames = pKF->GetConnectedKeyFrames(); - list> lKFsSharingWordsLoop, lKFsSharingWordsMerge; - - // Search all keyframes that share a word with current keyframes - // Discard keyframes connected to the query keyframe - { - unique_lock lock(mMutex); - - for (DBoW2::BowVector::const_iterator vit = pKF->mBowVec.begin(), - vend = pKF->mBowVec.end(); - vit != vend; vit++) { - list>& lKFs = mvInvertedFile[vit->first]; - - for (auto pKFi : lKFs) { - // For consider a loop candidate it a candidate it must be in the same - // map - if (pKFi->GetMap() == pKF->GetMap()) { - if (pKFi->mnLoopQuery != pKF->mnId) { - pKFi->mnLoopWords = 0; - if (!spConnectedKeyFrames.count(pKFi)) { - pKFi->mnLoopQuery = pKF->mnId; - lKFsSharingWordsLoop.push_back(pKFi); - } - } - pKFi->mnLoopWords++; - } else if (!pKFi->GetMap()->IsBad()) { - if (pKFi->mnMergeQuery != pKF->mnId) { - pKFi->mnMergeWords = 0; - if (!spConnectedKeyFrames.count(pKFi)) { - pKFi->mnMergeQuery = pKF->mnId; - lKFsSharingWordsMerge.push_back(pKFi); - } - } - pKFi->mnMergeWords++; - } - } - } - } - - if (lKFsSharingWordsLoop.empty() && lKFsSharingWordsMerge.empty()) return; - - if (!lKFsSharingWordsLoop.empty()) { - list>> lScoreAndMatch; - - // Only compare against those keyframes that share enough words - int maxCommonWords = 0; - for (auto lit = lKFsSharingWordsLoop.begin(), - lend = lKFsSharingWordsLoop.end(); - lit != lend; lit++) { - if ((*lit)->mnLoopWords > maxCommonWords) - maxCommonWords = (*lit)->mnLoopWords; - } - - int minCommonWords = maxCommonWords * 0.8f; - - int nscores = 0; - - // Compute similarity score. Retain the matches whose score is higher than - // minScore - for (auto lit = lKFsSharingWordsLoop.begin(), - lend = lKFsSharingWordsLoop.end(); - lit != lend; lit++) { - std::shared_ptr pKFi = *lit; - - if (pKFi->mnLoopWords > minCommonWords) { - nscores++; - - float si = mpVoc->score(pKF->mBowVec, pKFi->mBowVec); - - pKFi->mLoopScore = si; - if (si >= minScore) lScoreAndMatch.push_back(make_pair(si, pKFi)); - } - } - - if (!lScoreAndMatch.empty()) { - list>> lAccScoreAndMatch; - float bestAccScore = minScore; - - // Lets now accumulate score by covisibility - for (list>>::iterator - it = lScoreAndMatch.begin(), - itend = lScoreAndMatch.end(); - it != itend; it++) { - std::shared_ptr pKFi = it->second; - vector> vpNeighs = - pKFi->GetBestCovisibilityKeyFrames(10); - - float bestScore = it->first; - float accScore = it->first; - std::shared_ptr pBestKF = pKFi; - for (vector>::iterator vit = vpNeighs.begin(), - vend = vpNeighs.end(); - vit != vend; vit++) { - std::shared_ptr pKF2 = *vit; - if (pKF2->mnLoopQuery == pKF->mnId && - pKF2->mnLoopWords > minCommonWords) { - accScore += pKF2->mLoopScore; - if (pKF2->mLoopScore > bestScore) { - pBestKF = pKF2; - bestScore = pKF2->mLoopScore; - } - } - } - - lAccScoreAndMatch.push_back(make_pair(accScore, pBestKF)); - if (accScore > bestAccScore) bestAccScore = accScore; - } - - // Return all those keyframes with a score higher than 0.75*bestScore - float minScoreToRetain = 0.75f * bestAccScore; - - set> spAlreadyAddedKF; - vpLoopCand.reserve(lAccScoreAndMatch.size()); - - for (auto it = lAccScoreAndMatch.begin(), itend = lAccScoreAndMatch.end(); - it != itend; it++) { - if (it->first > minScoreToRetain) { - std::shared_ptr pKFi = it->second; - if (!spAlreadyAddedKF.count(pKFi)) { - vpLoopCand.push_back(pKFi); - spAlreadyAddedKF.insert(pKFi); - } - } - } - } - } - - if (!lKFsSharingWordsMerge.empty()) { - list>> lScoreAndMatch; - - // Only compare against those keyframes that share enough words - int maxCommonWords = 0; - for (list>::iterator - lit = lKFsSharingWordsMerge.begin(), - lend = lKFsSharingWordsMerge.end(); - lit != lend; lit++) { - if ((*lit)->mnMergeWords > maxCommonWords) - maxCommonWords = (*lit)->mnMergeWords; - } - - int minCommonWords = maxCommonWords * 0.8f; - - int nscores = 0; - - // Compute similarity score. Retain the matches whose score is higher than - // minScore - for (list>::iterator - lit = lKFsSharingWordsMerge.begin(), - lend = lKFsSharingWordsMerge.end(); - lit != lend; lit++) { - std::shared_ptr pKFi = *lit; - - if (pKFi->mnMergeWords > minCommonWords) { - nscores++; - - float si = mpVoc->score(pKF->mBowVec, pKFi->mBowVec); - - pKFi->mMergeScore = si; - if (si >= minScore) lScoreAndMatch.push_back(make_pair(si, pKFi)); - } - } - - if (!lScoreAndMatch.empty()) { - list>> lAccScoreAndMatch; - float bestAccScore = minScore; - - // Lets now accumulate score by covisibility - for (auto it = lScoreAndMatch.begin(), itend = lScoreAndMatch.end(); - it != itend; it++) { - std::shared_ptr pKFi = it->second; - vector> vpNeighs = - pKFi->GetBestCovisibilityKeyFrames(10); - - float bestScore = it->first; - float accScore = it->first; - std::shared_ptr pBestKF = pKFi; - for (vector>::iterator vit = vpNeighs.begin(), - vend = vpNeighs.end(); - vit != vend; vit++) { - std::shared_ptr pKF2 = *vit; - if (pKF2->mnMergeQuery == pKF->mnId && - pKF2->mnMergeWords > minCommonWords) { - accScore += pKF2->mMergeScore; - if (pKF2->mMergeScore > bestScore) { - pBestKF = pKF2; - bestScore = pKF2->mMergeScore; - } - } - } - - lAccScoreAndMatch.push_back(make_pair(accScore, pBestKF)); - if (accScore > bestAccScore) bestAccScore = accScore; - } - - // Return all those keyframes with a score higher than 0.75*bestScore - float minScoreToRetain = 0.75f * bestAccScore; - - set> spAlreadyAddedKF; - vpMergeCand.reserve(lAccScoreAndMatch.size()); - - for (list>>::iterator - it = lAccScoreAndMatch.begin(), - itend = lAccScoreAndMatch.end(); - it != itend; it++) { - if (it->first > minScoreToRetain) { - std::shared_ptr pKFi = it->second; - if (!spAlreadyAddedKF.count(pKFi)) { - vpMergeCand.push_back(pKFi); - spAlreadyAddedKF.insert(pKFi); - } - } - } - } - } - - for (DBoW2::BowVector::const_iterator vit = pKF->mBowVec.begin(), - vend = pKF->mBowVec.end(); - vit != vend; vit++) { - list>& lKFs = mvInvertedFile[vit->first]; - - for (auto pKFi : lKFs) { - pKFi->mnLoopQuery = -1; - pKFi->mnMergeQuery = -1; - } - } -} - -void BoWKeyFrameDatabase::DetectBestCandidates( - const std::shared_ptr& pKF, - vector>& vpLoopCand, - vector>& vpMergeCand, int nMinWords) { - list> lKFsSharingWords; - set> spConnectedKF; - - // Search all keyframes that share a word with current frame - { - unique_lock lock(mMutex); - - spConnectedKF = pKF->GetConnectedKeyFrames(); - - for (DBoW2::BowVector::const_iterator vit = pKF->mBowVec.begin(), - vend = pKF->mBowVec.end(); - vit != vend; vit++) { - list>& lKFs = mvInvertedFile[vit->first]; - - for (list>::iterator lit = lKFs.begin(), - lend = lKFs.end(); - lit != lend; lit++) { - std::shared_ptr pKFi = *lit; - if (spConnectedKF.find(pKFi) != spConnectedKF.end()) { - continue; - } - if (pKFi->mnPlaceRecognitionQuery != pKF->mnId) { - pKFi->mnPlaceRecognitionWords = 0; - pKFi->mnPlaceRecognitionQuery = pKF->mnId; - lKFsSharingWords.push_back(pKFi); - } - pKFi->mnPlaceRecognitionWords++; - } - } - } - if (lKFsSharingWords.empty()) return; - - // Only compare against those keyframes that share enough words - int maxCommonWords = 0; - for (list>::iterator lit = lKFsSharingWords.begin(), - lend = lKFsSharingWords.end(); - lit != lend; lit++) { - if ((*lit)->mnPlaceRecognitionWords > maxCommonWords) - maxCommonWords = (*lit)->mnPlaceRecognitionWords; - } - - int minCommonWords = maxCommonWords * 0.8f; - - if (minCommonWords < nMinWords) { - minCommonWords = nMinWords; - } - - list>> lScoreAndMatch; - - int nscores = 0; - - // Compute similarity score. - for (list>::iterator lit = lKFsSharingWords.begin(), - lend = lKFsSharingWords.end(); - lit != lend; lit++) { - std::shared_ptr pKFi = *lit; - - if (pKFi->mnPlaceRecognitionWords > minCommonWords) { - nscores++; - float si = mpVoc->score(pKF->mBowVec, pKFi->mBowVec); - pKFi->mPlaceRecognitionScore = si; - lScoreAndMatch.push_back(make_pair(si, pKFi)); - } - } - - if (lScoreAndMatch.empty()) return; - - list>> lAccScoreAndMatch; - float bestAccScore = 0; - - // Lets now accumulate score by covisibility - for (list>>::iterator - it = lScoreAndMatch.begin(), - itend = lScoreAndMatch.end(); - it != itend; it++) { - std::shared_ptr pKFi = it->second; - auto vpNeighs = pKFi->GetBestCovisibilityKeyFrames(10); - - float bestScore = it->first; - float accScore = bestScore; - auto pBestKF = pKFi; - for (vector>::iterator vit = vpNeighs.begin(), - vend = vpNeighs.end(); - vit != vend; vit++) { - auto pKF2 = *vit; - if (pKF2->mnPlaceRecognitionQuery != pKF->mnId) continue; - - accScore += pKF2->mPlaceRecognitionScore; - if (pKF2->mPlaceRecognitionScore > bestScore) { - pBestKF = pKF2; - bestScore = pKF2->mPlaceRecognitionScore; - } - } - lAccScoreAndMatch.push_back(make_pair(accScore, pBestKF)); - if (accScore > bestAccScore) bestAccScore = accScore; - } - - // Return all those keyframes with a score higher than 0.75*bestScore - float minScoreToRetain = 0.75f * bestAccScore; - set> spAlreadyAddedKF; - vpLoopCand.reserve(lAccScoreAndMatch.size()); - vpMergeCand.reserve(lAccScoreAndMatch.size()); - for (list>>::iterator - it = lAccScoreAndMatch.begin(), - itend = lAccScoreAndMatch.end(); - it != itend; it++) { - const float& si = it->first; - if (si > minScoreToRetain) { - std::shared_ptr pKFi = it->second; - if (!spAlreadyAddedKF.count(pKFi)) { - if (pKF->GetMap() == pKFi->GetMap()) { - vpLoopCand.push_back(pKFi); - } else { - vpMergeCand.push_back(pKFi); - } - spAlreadyAddedKF.insert(pKFi); - } - } - } -} +// void BoWKeyFrameDatabase::DetectCandidates( +// const std::shared_ptr& pKF, float minScore, +// vector>& vpLoopCand, +// vector>& vpMergeCand) { +// auto spConnectedKeyFrames = pKF->GetConnectedKeyFrames(); +// list> lKFsSharingWordsLoop, +// lKFsSharingWordsMerge; + +// // Search all keyframes that share a word with current keyframes +// // Discard keyframes connected to the query keyframe +// { +// unique_lock lock(mMutex); + +// for (DBoW2::BowVector::const_iterator vit = pKF->mBowVec.begin(), +// vend = pKF->mBowVec.end(); +// vit != vend; vit++) { +// list>& lKFs = mvInvertedFile[vit->first]; + +// for (auto pKFi : lKFs) { +// // For consider a loop candidate it a candidate it must be in the +// same +// // map +// if (pKFi->GetMap() == pKF->GetMap()) { +// if (pKFi->mnLoopQuery != pKF->mnId) { +// pKFi->mnLoopWords = 0; +// if (!spConnectedKeyFrames.count(pKFi)) { +// pKFi->mnLoopQuery = pKF->mnId; +// lKFsSharingWordsLoop.push_back(pKFi); +// } +// } +// pKFi->mnLoopWords++; +// } else if (!pKFi->GetMap()->IsBad()) { +// if (pKFi->mnMergeQuery != pKF->mnId) { +// pKFi->mnMergeWords = 0; +// if (!spConnectedKeyFrames.count(pKFi)) { +// pKFi->mnMergeQuery = pKF->mnId; +// lKFsSharingWordsMerge.push_back(pKFi); +// } +// } +// pKFi->mnMergeWords++; +// } +// } +// } +// } + +// if (lKFsSharingWordsLoop.empty() && lKFsSharingWordsMerge.empty()) return; + +// if (!lKFsSharingWordsLoop.empty()) { +// list>> lScoreAndMatch; + +// // Only compare against those keyframes that share enough words +// int maxCommonWords = 0; +// for (auto lit = lKFsSharingWordsLoop.begin(), +// lend = lKFsSharingWordsLoop.end(); +// lit != lend; lit++) { +// if ((*lit)->mnLoopWords > maxCommonWords) +// maxCommonWords = (*lit)->mnLoopWords; +// } + +// int minCommonWords = maxCommonWords * 0.8f; + +// int nscores = 0; + +// // Compute similarity score. Retain the matches whose score is higher +// than +// // minScore +// for (auto lit = lKFsSharingWordsLoop.begin(), +// lend = lKFsSharingWordsLoop.end(); +// lit != lend; lit++) { +// std::shared_ptr pKFi = *lit; + +// if (pKFi->mnLoopWords > minCommonWords) { +// nscores++; + +// float si = mpVoc->score(pKF->mBowVec, pKFi->mBowVec); + +// pKFi->mLoopScore = si; +// if (si >= minScore) lScoreAndMatch.push_back(make_pair(si, pKFi)); +// } +// } + +// if (!lScoreAndMatch.empty()) { +// list>> lAccScoreAndMatch; +// float bestAccScore = minScore; + +// // Lets now accumulate score by covisibility +// for (list>>::iterator +// it = lScoreAndMatch.begin(), +// itend = lScoreAndMatch.end(); +// it != itend; it++) { +// std::shared_ptr pKFi = it->second; +// vector> vpNeighs = +// pKFi->GetBestCovisibilityKeyFrames(10); + +// float bestScore = it->first; +// float accScore = it->first; +// std::shared_ptr pBestKF = pKFi; +// for (vector>::iterator vit = +// vpNeighs.begin(), +// vend = +// vpNeighs.end(); +// vit != vend; vit++) { +// std::shared_ptr pKF2 = *vit; +// if (pKF2->mnLoopQuery == pKF->mnId && +// pKF2->mnLoopWords > minCommonWords) { +// accScore += pKF2->mLoopScore; +// if (pKF2->mLoopScore > bestScore) { +// pBestKF = pKF2; +// bestScore = pKF2->mLoopScore; +// } +// } +// } + +// lAccScoreAndMatch.push_back(make_pair(accScore, pBestKF)); +// if (accScore > bestAccScore) bestAccScore = accScore; +// } + +// // Return all those keyframes with a score higher than 0.75*bestScore +// float minScoreToRetain = 0.75f * bestAccScore; + +// set> spAlreadyAddedKF; +// vpLoopCand.reserve(lAccScoreAndMatch.size()); + +// for (auto it = lAccScoreAndMatch.begin(), itend = +// lAccScoreAndMatch.end(); +// it != itend; it++) { +// if (it->first > minScoreToRetain) { +// std::shared_ptr pKFi = it->second; +// if (!spAlreadyAddedKF.count(pKFi)) { +// vpLoopCand.push_back(pKFi); +// spAlreadyAddedKF.insert(pKFi); +// } +// } +// } +// } +// } + +// if (!lKFsSharingWordsMerge.empty()) { +// list>> lScoreAndMatch; + +// // Only compare against those keyframes that share enough words +// int maxCommonWords = 0; +// for (list>::iterator +// lit = lKFsSharingWordsMerge.begin(), +// lend = lKFsSharingWordsMerge.end(); +// lit != lend; lit++) { +// if ((*lit)->mnMergeWords > maxCommonWords) +// maxCommonWords = (*lit)->mnMergeWords; +// } + +// int minCommonWords = maxCommonWords * 0.8f; + +// int nscores = 0; + +// // Compute similarity score. Retain the matches whose score is higher +// than +// // minScore +// for (list>::iterator +// lit = lKFsSharingWordsMerge.begin(), +// lend = lKFsSharingWordsMerge.end(); +// lit != lend; lit++) { +// std::shared_ptr pKFi = *lit; + +// if (pKFi->mnMergeWords > minCommonWords) { +// nscores++; + +// float si = mpVoc->score(pKF->mBowVec, pKFi->mBowVec); + +// pKFi->mMergeScore = si; +// if (si >= minScore) lScoreAndMatch.push_back(make_pair(si, pKFi)); +// } +// } + +// if (!lScoreAndMatch.empty()) { +// list>> lAccScoreAndMatch; +// float bestAccScore = minScore; + +// // Lets now accumulate score by covisibility +// for (auto it = lScoreAndMatch.begin(), itend = lScoreAndMatch.end(); +// it != itend; it++) { +// std::shared_ptr pKFi = it->second; +// vector> vpNeighs = +// pKFi->GetBestCovisibilityKeyFrames(10); + +// float bestScore = it->first; +// float accScore = it->first; +// std::shared_ptr pBestKF = pKFi; +// for (vector>::iterator vit = +// vpNeighs.begin(), +// vend = +// vpNeighs.end(); +// vit != vend; vit++) { +// std::shared_ptr pKF2 = *vit; +// if (pKF2->mnMergeQuery == pKF->mnId && +// pKF2->mnMergeWords > minCommonWords) { +// accScore += pKF2->mMergeScore; +// if (pKF2->mMergeScore > bestScore) { +// pBestKF = pKF2; +// bestScore = pKF2->mMergeScore; +// } +// } +// } + +// lAccScoreAndMatch.push_back(make_pair(accScore, pBestKF)); +// if (accScore > bestAccScore) bestAccScore = accScore; +// } + +// // Return all those keyframes with a score higher than 0.75*bestScore +// float minScoreToRetain = 0.75f * bestAccScore; + +// set> spAlreadyAddedKF; +// vpMergeCand.reserve(lAccScoreAndMatch.size()); + +// for (list>>::iterator +// it = lAccScoreAndMatch.begin(), +// itend = lAccScoreAndMatch.end(); +// it != itend; it++) { +// if (it->first > minScoreToRetain) { +// std::shared_ptr pKFi = it->second; +// if (!spAlreadyAddedKF.count(pKFi)) { +// vpMergeCand.push_back(pKFi); +// spAlreadyAddedKF.insert(pKFi); +// } +// } +// } +// } +// } + +// for (DBoW2::BowVector::const_iterator vit = pKF->mBowVec.begin(), +// vend = pKF->mBowVec.end(); +// vit != vend; vit++) { +// list>& lKFs = mvInvertedFile[vit->first]; + +// for (auto pKFi : lKFs) { +// pKFi->mnLoopQuery = -1; +// pKFi->mnMergeQuery = -1; +// } +// } +// } + +// void BoWKeyFrameDatabase::DetectBestCandidates( +// const std::shared_ptr& pKF, +// vector>& vpLoopCand, +// vector>& vpMergeCand, int nMinWords) { +// list> lKFsSharingWords; +// set> spConnectedKF; + +// // Search all keyframes that share a word with current frame +// { +// unique_lock lock(mMutex); + +// spConnectedKF = pKF->GetConnectedKeyFrames(); + +// for (DBoW2::BowVector::const_iterator vit = pKF->mBowVec.begin(), +// vend = pKF->mBowVec.end(); +// vit != vend; vit++) { +// list>& lKFs = mvInvertedFile[vit->first]; + +// for (list>::iterator lit = lKFs.begin(), +// lend = lKFs.end(); +// lit != lend; lit++) { +// std::shared_ptr pKFi = *lit; +// if (spConnectedKF.find(pKFi) != spConnectedKF.end()) { +// continue; +// } +// if (pKFi->mnPlaceRecognitionQuery != pKF->mnId) { +// pKFi->mnPlaceRecognitionWords = 0; +// pKFi->mnPlaceRecognitionQuery = pKF->mnId; +// lKFsSharingWords.push_back(pKFi); +// } +// pKFi->mnPlaceRecognitionWords++; +// } +// } +// } +// if (lKFsSharingWords.empty()) return; + +// // Only compare against those keyframes that share enough words +// int maxCommonWords = 0; +// for (list>::iterator lit = +// lKFsSharingWords.begin(), +// lend = +// lKFsSharingWords.end(); +// lit != lend; lit++) { +// if ((*lit)->mnPlaceRecognitionWords > maxCommonWords) +// maxCommonWords = (*lit)->mnPlaceRecognitionWords; +// } + +// int minCommonWords = maxCommonWords * 0.8f; + +// if (minCommonWords < nMinWords) { +// minCommonWords = nMinWords; +// } + +// list>> lScoreAndMatch; + +// int nscores = 0; + +// // Compute similarity score. +// for (list>::iterator lit = +// lKFsSharingWords.begin(), +// lend = +// lKFsSharingWords.end(); +// lit != lend; lit++) { +// std::shared_ptr pKFi = *lit; + +// if (pKFi->mnPlaceRecognitionWords > minCommonWords) { +// nscores++; +// float si = mpVoc->score(pKF->mBowVec, pKFi->mBowVec); +// pKFi->mPlaceRecognitionScore = si; +// lScoreAndMatch.push_back(make_pair(si, pKFi)); +// } +// } + +// if (lScoreAndMatch.empty()) return; + +// list>> lAccScoreAndMatch; +// float bestAccScore = 0; + +// // Lets now accumulate score by covisibility +// for (list>>::iterator +// it = lScoreAndMatch.begin(), +// itend = lScoreAndMatch.end(); +// it != itend; it++) { +// std::shared_ptr pKFi = it->second; +// auto vpNeighs = pKFi->GetBestCovisibilityKeyFrames(10); + +// float bestScore = it->first; +// float accScore = bestScore; +// auto pBestKF = pKFi; +// for (vector>::iterator vit = vpNeighs.begin(), +// vend = vpNeighs.end(); +// vit != vend; vit++) { +// auto pKF2 = *vit; +// if (pKF2->mnPlaceRecognitionQuery != pKF->mnId) continue; + +// accScore += pKF2->mPlaceRecognitionScore; +// if (pKF2->mPlaceRecognitionScore > bestScore) { +// pBestKF = pKF2; +// bestScore = pKF2->mPlaceRecognitionScore; +// } +// } +// lAccScoreAndMatch.push_back(make_pair(accScore, pBestKF)); +// if (accScore > bestAccScore) bestAccScore = accScore; +// } + +// // Return all those keyframes with a score higher than 0.75*bestScore +// float minScoreToRetain = 0.75f * bestAccScore; +// set> spAlreadyAddedKF; +// vpLoopCand.reserve(lAccScoreAndMatch.size()); +// vpMergeCand.reserve(lAccScoreAndMatch.size()); +// for (list>>::iterator +// it = lAccScoreAndMatch.begin(), +// itend = lAccScoreAndMatch.end(); +// it != itend; it++) { +// const float& si = it->first; +// if (si > minScoreToRetain) { +// std::shared_ptr pKFi = it->second; +// if (!spAlreadyAddedKF.count(pKFi)) { +// if (pKF->GetMap() == pKFi->GetMap()) { +// vpLoopCand.push_back(pKFi); +// } else { +// vpMergeCand.push_back(pKFi); +// } +// spAlreadyAddedKF.insert(pKFi); +// } +// } +// } +// } bool compFirst(const pair>& a, const pair>& b) { @@ -675,16 +688,16 @@ BoWKeyFrameDatabase::DetectRelocalizationCandidates( return vpRelocCandidates; } -void BoWKeyFrameDatabase::SetORBVocabulary( - const std::shared_ptr& pORBVoc) { - // WTF? - // ORBVocabulary** ptr; - // ptr = (ORBVocabulary**)( &mpVoc ); - // *ptr = pORBVoc; - mpVoc = pORBVoc; - - mvInvertedFile.clear(); - mvInvertedFile.resize(mpVoc->size()); -} +// void BoWKeyFrameDatabase::SetORBVocabulary( +// const std::shared_ptr& pORBVoc) { +// // WTF? +// // ORBVocabulary** ptr; +// // ptr = (ORBVocabulary**)( &mpVoc ); +// // *ptr = pORBVoc; +// mpVoc = pORBVoc; + +// mvInvertedFile.clear(); +// mvInvertedFile.resize(mpVoc->size()); +// } } // namespace ORB_SLAM3 diff --git a/src/LocalMapping.cc b/src/LocalMapping.cc index 1e420a5a3fe..beefe5b4c37 100644 --- a/src/LocalMapping.cc +++ b/src/LocalMapping.cc @@ -42,17 +42,14 @@ namespace ORB_SLAM3 { LocalMapping::LocalMapping(const std::shared_ptr &pSys, - const std::shared_ptr &pAtlas, - const float bMonocular, bool bInertial, const string &_strSeqName) - : mpSystem(pSys), - mbMonocular(bMonocular), - mbInertial(bInertial), + : SystemAccessor(pSys), + mbMonocular(sensorType().isMonocular()), + mbInertial(sensorType().isImu()), mbResetRequested(false), mbResetRequestedActiveMap(false), mbFinishRequested(false), mbFinished(true), - mpAtlas(pAtlas), bInitializing(false), mbAbortBA(false), mbStopped(false), @@ -81,15 +78,6 @@ LocalMapping::LocalMapping(const std::shared_ptr &pSys, #endif } -void LocalMapping::SetLoopCloser( - const std::shared_ptr &pLoopCloser) { - mpLoopCloser = pLoopCloser; -} - -void LocalMapping::SetTracker(const std::shared_ptr &pTracker) { - mpTracker = pTracker; -} - void LocalMapping::Run() { mbFinished = false; @@ -162,7 +150,7 @@ void LocalMapping::Run() { int num_edges_BA = 0; if (!CheckNewKeyFrames() && !stopRequested()) { - if (mpAtlas->KeyFramesInMap() > 2) { + if (getAtlas()->KeyFramesInMap() > 2) { if (mbInertial && mpCurrentKeyFrame->GetMap()->isImuInitialized()) { float dist = (mpCurrentKeyFrame->mPrevKF->GetCameraCenter() - @@ -187,8 +175,8 @@ void LocalMapping::Run() { } bool bLarge = - ((mpTracker->GetMatchesInliers() > 75) && mbMonocular) || - ((mpTracker->GetMatchesInliers() > 100) && !mbMonocular); + ((getTracker()->GetMatchesInliers() > 75) && mbMonocular) || + ((getTracker()->GetMatchesInliers() > 100) && !mbMonocular); Optimizer::LocalInertialBA( mpCurrentKeyFrame, &mbAbortBA, mpCurrentKeyFrame->GetMap(), num_FixedKF_BA, num_OptKF_BA, num_MPs_BA, num_edges_BA, bLarge, @@ -249,7 +237,7 @@ void LocalMapping::Run() { if ((mTinit < 50.0f) && mbInertial) { // Enter here everytime local-mapping is called if (mpCurrentKeyFrame->GetMap()->isImuInitialized() && - mpTracker->mState == Tracking::OK) { + getTracker()->mState == Tracking::OK) { if (!mpCurrentKeyFrame->GetMap()->GetInertialBA1()) { if (mTinit > 5.0f) { cout << "start VIBA 1" << endl; @@ -275,7 +263,7 @@ void LocalMapping::Run() { } // scale refinement - if (((mpAtlas->KeyFramesInMap()) <= 200) && + if (((getAtlas()->KeyFramesInMap()) <= 200) && ((mTinit > 25.0f && mTinit < 25.5f) || (mTinit > 35.0f && mTinit < 35.5f) || (mTinit > 45.0f && mTinit < 45.5f) || @@ -293,7 +281,7 @@ void LocalMapping::Run() { vdKFCullingSync_ms.push_back(timeKFCulling_ms); #endif - mpLoopCloser->InsertKeyFrame(mpCurrentKeyFrame); + getLoopClosing()->InsertKeyFrame(mpCurrentKeyFrame); #ifdef REGISTER_TIMES std::chrono::steady_clock::time_point time_EndLocalMap = @@ -372,7 +360,7 @@ void LocalMapping::ProcessNewKeyFrame() { mpCurrentKeyFrame->UpdateConnections(); // Insert Keyframe in Map - mpAtlas->AddKeyFrame(mpCurrentKeyFrame); + getAtlas()->AddKeyFrame(mpCurrentKeyFrame); } void LocalMapping::EmptyQueue() { @@ -481,7 +469,8 @@ void LocalMapping::CreateNewMapPoints() { // Search matches that fullfil epipolar constraint vector> vMatchedIndices; - bool bCoarse = mbInertial && mpTracker->mState == Tracking::RECENTLY_LOST && + bool bCoarse = mbInertial && + getTracker()->mState == Tracking::RECENTLY_LOST && mpCurrentKeyFrame->GetMap()->GetInertialBA2(); matcher.SearchForTriangulation(mpCurrentKeyFrame, pKF2, vMatchedIndices, @@ -702,7 +691,7 @@ void LocalMapping::CreateNewMapPoints() { // Triangulation is succesfull MapPoint *pMP = - new MapPoint(x3D, mpCurrentKeyFrame, mpAtlas->GetCurrentMap()); + new MapPoint(x3D, mpCurrentKeyFrame, getAtlas()->GetCurrentMap()); if (bPointStereo) countStereo++; pMP->AddObservation(mpCurrentKeyFrame, idx1); @@ -715,7 +704,7 @@ void LocalMapping::CreateNewMapPoints() { pMP->UpdateNormalAndDepth(); - mpAtlas->AddMapPoint(pMP); + getAtlas()->AddMapPoint(pMP); mlpRecentAddedMapPoints.push_back(pMP); } } @@ -903,7 +892,7 @@ void LocalMapping::KeyFrameCulling() { else redundant_th = 0.5; - const bool bInitImu = mpAtlas->isImuInitialized(); + const bool bInitImu = getAtlas()->isImuInitialized(); int count = 0; // Compoute last KF from optimizable window: @@ -982,7 +971,7 @@ void LocalMapping::KeyFrameCulling() { if (nRedundantObservations > redundant_th * nMPs) { if (mbInertial) { - if (mpAtlas->KeyFramesInMap() <= Nd) continue; + if (getAtlas()->KeyFramesInMap() <= Nd) continue; if (pKF->mnId > (mpCurrentKeyFrame->mnId - 2)) continue; @@ -1136,7 +1125,7 @@ void LocalMapping::InitializeIMU(float priorG, float priorA, bool bFIBA) { nMinKF = 10; } - if (mpAtlas->KeyFramesInMap() < nMinKF) return; + if (getAtlas()->KeyFramesInMap() < nMinKF) return; // Retrieve all keyframe in temporal order list> lpKF; @@ -1201,12 +1190,12 @@ void LocalMapping::InitializeIMU(float priorG, float priorA, bool bFIBA) { mScale = 1.0; - mInitTime = mpTracker->mLastFrame->mTimeStamp - vpKF.front()->mTimeStamp; + mInitTime = getTracker()->mLastFrame->mTimeStamp - vpKF.front()->mTimeStamp; std::chrono::steady_clock::time_point t0 = std::chrono::steady_clock::now(); - Optimizer::InertialOptimization(mpAtlas->GetCurrentMap(), mRwg, mScale, mbg, - mba, mbMonocular, infoInertial, false, false, - priorG, priorA); + Optimizer::InertialOptimization(getAtlas()->GetCurrentMap(), mRwg, mScale, + mbg, mba, mbMonocular, infoInertial, false, + false, priorG, priorA); std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); @@ -1218,16 +1207,16 @@ void LocalMapping::InitializeIMU(float priorG, float priorA, bool bFIBA) { // Before this line we are not changing the map { - unique_lock lock(mpAtlas->GetCurrentMap()->mMutexMapUpdate); + unique_lock lock(getAtlas()->GetCurrentMap()->mMutexMapUpdate); if ((fabs(mScale - 1.f) > 0.00001) || !mbMonocular) { Sophus::SE3f Twg(mRwg.cast().transpose(), Eigen::Vector3f::Zero()); - mpAtlas->GetCurrentMap()->ApplyScaledRotation(Twg, mScale, true); - mpTracker->UpdateFrameIMU(mScale, vpKF[0]->GetImuBias(), - mpCurrentKeyFrame); + getAtlas()->GetCurrentMap()->ApplyScaledRotation(Twg, mScale, true); + getTracker()->UpdateFrameIMU(mScale, vpKF[0]->GetImuBias(), + mpCurrentKeyFrame); } // Check if initialization OK - if (!mpAtlas->isImuInitialized()) { + if (!getAtlas()->isImuInitialized()) { for (int i = 0; i < N; i++) { std::shared_ptr pKF2(vpKF[i]); pKF2->bImu = true; @@ -1235,21 +1224,21 @@ void LocalMapping::InitializeIMU(float priorG, float priorA, bool bFIBA) { } } - mpTracker->UpdateFrameIMU(1.0, vpKF[0]->GetImuBias(), mpCurrentKeyFrame); - if (!mpAtlas->isImuInitialized()) { - mpAtlas->SetImuInitialized(); - mpTracker->t0IMU = mpTracker->mCurrentFrame->mTimeStamp; + getTracker()->UpdateFrameIMU(1.0, vpKF[0]->GetImuBias(), mpCurrentKeyFrame); + if (!getAtlas()->isImuInitialized()) { + getAtlas()->SetImuInitialized(); + getTracker()->t0IMU = getTracker()->mCurrentFrame->mTimeStamp; mpCurrentKeyFrame->bImu = true; } std::chrono::steady_clock::time_point t4 = std::chrono::steady_clock::now(); if (bFIBA) { if (priorA != 0.f) - Optimizer::FullInertialBA(mpAtlas->GetCurrentMap(), 100, false, + Optimizer::FullInertialBA(getAtlas()->GetCurrentMap(), 100, false, mpCurrentKeyFrame->mnId, NULL, true, priorG, priorA); else - Optimizer::FullInertialBA(mpAtlas->GetCurrentMap(), 100, false, + Optimizer::FullInertialBA(getAtlas()->GetCurrentMap(), 100, false, mpCurrentKeyFrame->mnId, NULL, false); } @@ -1259,7 +1248,7 @@ void LocalMapping::InitializeIMU(float priorG, float priorA, bool bFIBA) { Verbose::VERBOSITY_NORMAL); // Get Map Mutex - unique_lock lock(mpAtlas->GetCurrentMap()->mMutexMapUpdate); + unique_lock lock(getAtlas()->GetCurrentMap()->mMutexMapUpdate); unsigned long GBAid = mpCurrentKeyFrame->mnId; @@ -1272,8 +1261,8 @@ void LocalMapping::InitializeIMU(float priorG, float priorA, bool bFIBA) { // Correct keyframes starting at map first keyframe list> lpKFtoCheck( - mpAtlas->GetCurrentMap()->mvpKeyFrameOrigins.begin(), - mpAtlas->GetCurrentMap()->mvpKeyFrameOrigins.end()); + getAtlas()->GetCurrentMap()->mvpKeyFrameOrigins.begin(), + getAtlas()->GetCurrentMap()->mvpKeyFrameOrigins.end()); while (!lpKFtoCheck.empty()) { auto pKF = lpKFtoCheck.front(); @@ -1317,7 +1306,8 @@ void LocalMapping::InitializeIMU(float priorG, float priorA, bool bFIBA) { } // Correct MapPoints - const vector vpMPs = mpAtlas->GetCurrentMap()->GetAllMapPoints(); + const vector vpMPs = + getAtlas()->GetCurrentMap()->GetAllMapPoints(); for (size_t i = 0; i < vpMPs.size(); i++) { MapPoint *pMP = vpMPs[i]; @@ -1352,7 +1342,7 @@ void LocalMapping::InitializeIMU(float priorG, float priorA, bool bFIBA) { } mlNewKeyFrames.clear(); - mpTracker->mState = Tracking::OK; + getTracker()->mState = Tracking::OK; bInitializing = false; mpCurrentKeyFrame->GetMap()->IncreaseChangeIndex(); @@ -1389,7 +1379,7 @@ void LocalMapping::ScaleRefinement() { mScale = 1.0; std::chrono::steady_clock::time_point t0 = std::chrono::steady_clock::now(); - Optimizer::InertialOptimization(mpAtlas->GetCurrentMap(), mRwg, mScale); + Optimizer::InertialOptimization(getAtlas()->GetCurrentMap(), mRwg, mScale); std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); if (mScale < 1e-1) { @@ -1400,13 +1390,13 @@ void LocalMapping::ScaleRefinement() { Sophus::SO3d so3wg(mRwg); // Before this line we are not changing the map - unique_lock lock(mpAtlas->GetCurrentMap()->mMutexMapUpdate); + unique_lock lock(getAtlas()->GetCurrentMap()->mMutexMapUpdate); std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); if ((fabs(mScale - 1.f) > 0.002) || !mbMonocular) { Sophus::SE3f Tgw(mRwg.cast().transpose(), Eigen::Vector3f::Zero()); - mpAtlas->GetCurrentMap()->ApplyScaledRotation(Tgw, mScale, true); - mpTracker->UpdateFrameIMU(mScale, mpCurrentKeyFrame->GetImuBias(), - mpCurrentKeyFrame); + getAtlas()->GetCurrentMap()->ApplyScaledRotation(Tgw, mScale, true); + getTracker()->UpdateFrameIMU(mScale, mpCurrentKeyFrame->GetImuBias(), + mpCurrentKeyFrame); } std::chrono::steady_clock::time_point t3 = std::chrono::steady_clock::now(); diff --git a/src/LoopClosing.cc b/src/LoopClosing.cc index 609a8f6b46c..556488e6d09 100644 --- a/src/LoopClosing.cc +++ b/src/LoopClosing.cc @@ -40,17 +40,13 @@ namespace ORB_SLAM3 { -LoopClosing::LoopClosing(const std::shared_ptr& pAtlas, - const std::shared_ptr& pDB, - const std::shared_ptr& pVoc, +LoopClosing::LoopClosing(const std::shared_ptr& pSys, const bool bFixScale, const bool bActiveLC) - : mbResetRequested(false), + : SystemAccessor(pSys), + mbResetRequested(false), mbResetActiveMapRequested(false), mbFinishRequested(false), mbFinished(true), - mpAtlas(pAtlas), - mpVprImplementation(pDB), - mpORBVocabulary(pVoc), mpMatchedKF(NULL), mLastLoopKFid(0), mbRunningGBA(false), @@ -104,15 +100,6 @@ LoopClosing::LoopClosing(const std::shared_ptr& pAtlas, mnCorrectionGBA = 0; } -void LoopClosing::SetTracker(const std::shared_ptr& pTracker) { - mpTracker = pTracker; -} - -void LoopClosing::SetLocalMapper( - const std::shared_ptr& pLocalMapper) { - mpLocalMapper = pLocalMapper; -} - void LoopClosing::Run() { mbFinished = false; @@ -147,7 +134,7 @@ void LoopClosing::Run() { #endif if (bFindedRegion) { if (mbMergeDetected) { - if ((mpTracker->mSensor.isImu()) && + if ((sensorType().isImu()) && (!mpCurrentKF->GetMap()->isImuInitialized())) { cout << "IMU is not initilized, merge is aborted" << endl; } else { @@ -176,7 +163,7 @@ void LoopClosing::Run() { continue; } // If inertial, force only yaw - if ((mpTracker->mSensor.isImu()) && + if ((sensorType().isImu()) && mpCurrentKF->GetMap()->GetInertialBA1()) { Eigen::Vector3d phi = LogSO3(mSold_new.rotation().toRotationMatrix()); @@ -191,7 +178,7 @@ void LoopClosing::Run() { mg2oMergeScw = mg2oMergeSlw; - // mpTracker->SetStepByStep(true); + // getTracker()->SetStepByStep(true); Verbose::PrintMess("*Merge detected", Verbose::VERBOSITY_QUIET); @@ -202,7 +189,7 @@ void LoopClosing::Run() { nMerges += 1; #endif // TODO UNCOMMENT - if (mpTracker->mSensor.isImu()) + if (sensorType().isImu()) MergeLocal2(); else MergeLocal(); @@ -268,7 +255,7 @@ void LoopClosing::Run() { fabs(phi(2)) < 0.349f) { if (mpCurrentKF->GetMap()->IsInertial()) { // If inertial, force only yaw - if ((mpTracker->mSensor.isImu()) && + if ((sensorType().isImu()) && mpCurrentKF->GetMap()->GetInertialBA2()) { phi(0) = 0; phi(1) = 0; @@ -369,18 +356,18 @@ bool LoopClosing::NewDetectCommonRegions() { } if (mpLastMap->IsInertial() && !mpLastMap->GetInertialBA2()) { - mpVprImplementation->add(mpCurrentKF); + getVPRImplementation()->add(mpCurrentKF); mpCurrentKF->SetErase(); return false; } - if (mpTracker->mSensor == SensorType::STEREO && + if (sensorType() == SensorType::STEREO && mpLastMap->GetAllKeyFrames().size() < 5) { oslog::info( "[LoopClosing::NewDetectCommonRegions] Stereo KF inserted without " "check: {}", mpCurrentKF->mnId); - mpVprImplementation->add(mpCurrentKF); + getVPRImplementation()->add(mpCurrentKF); mpCurrentKF->SetErase(); return false; } @@ -390,7 +377,7 @@ bool LoopClosing::NewDetectCommonRegions() { "[LoopClosing::NewDetectCommonRegions] Stereo KF inserted without " "check, map is small: {}", mpCurrentKF->mnId); - mpVprImplementation->add(mpCurrentKF); + getVPRImplementation()->add(mpCurrentKF); mpCurrentKF->SetErase(); return false; } @@ -504,7 +491,7 @@ bool LoopClosing::NewDetectCommonRegions() { #ifdef REGISTER_TIMES vdEstSim3_ms.push_back(timeEstSim3); #endif - mpVprImplementation->add(mpCurrentKF); + getVPRImplementation()->add(mpCurrentKF); return true; } @@ -523,8 +510,8 @@ bool LoopClosing::NewDetectCommonRegions() { std::chrono::steady_clock::time_point time_StartQuery = std::chrono::steady_clock::now(); #endif - mpVprImplementation->DetectNBestCandidates(mpCurrentKF, vpLoopBowCand, - vpMergeBowCand, 3); + getVPRImplementation()->DetectNBestCandidates(mpCurrentKF, vpLoopBowCand, + vpMergeBowCand, 3); #ifdef REGISTER_TIMES std::chrono::steady_clock::time_point time_EndQuery = std::chrono::steady_clock::now(); @@ -566,7 +553,7 @@ bool LoopClosing::NewDetectCommonRegions() { vdEstSim3_ms.push_back(timeEstSim3); #endif - mpVprImplementation->add(mpCurrentKF); + getVPRImplementation()->add(mpCurrentKF); if (mbMergeDetected || mbLoopDetected) { return true; @@ -602,7 +589,7 @@ bool LoopClosing::DetectAndReffineSim3FromLastKF( bool bFixedScale = mbFixScale; // TODO CHECK; Solo para el monocular inertial - if (mpTracker->mSensor == SensorType::IMU_MONOCULAR && + if (sensorType() == SensorType::IMU_MONOCULAR && !pCurrentKF->GetMap()->GetInertialBA2()) bFixedScale = false; int numOptMatches = @@ -745,7 +732,7 @@ bool LoopClosing::DetectCommonRegionsFromBoW( if (numBoWMatches >= nBoWMatches) { // Geometric validation bool bFixedScale = mbFixScale; - if (mpTracker->mSensor == SensorType::IMU_MONOCULAR && + if (sensorType() == SensorType::IMU_MONOCULAR && !mpCurrentKF->GetMap()->GetInertialBA2()) bFixedScale = false; @@ -827,7 +814,7 @@ bool LoopClosing::DetectCommonRegionsFromBoW( Eigen::Matrix mHessian7x7; // bool bFixedScale = mbFixScale; - // if (mpTracker->mSensor == SensorType::IMU_MONOCULAR && + // if (sensorType() == SensorType::IMU_MONOCULAR && // !mpCurrentKF->GetMap()->GetInertialBA2()) { // bFixedScale = false; } @@ -1040,8 +1027,8 @@ void LoopClosing::CorrectLoop() { // Send a stop signal to Local Mapping // Avoid new keyframes are inserted while correcting the loop - mpLocalMapper->RequestStop(); - mpLocalMapper->EmptyQueue(); // Proccess keyframes in the queue + getLocalMapper()->RequestStop(); + getLocalMapper()->EmptyQueue(); // Proccess keyframes in the queue // If a Global Bundle Adjustment is running, abort it if (isRunningGBA()) { @@ -1059,7 +1046,7 @@ void LoopClosing::CorrectLoop() { } // Wait until Local Mapping has effectively stopped - while (!mpLocalMapper->isStopped()) { + while (!getLocalMapper()->isStopped()) { usleep(1000); } @@ -1179,7 +1166,7 @@ void LoopClosing::CorrectLoop() { pKFi->UpdateConnections(); } // TODO Check this index increasement - mpAtlas->GetCurrentMap()->IncreaseChangeIndex(); + getAtlas()->GetCurrentMap()->IncreaseChangeIndex(); // Start Loop Fusion // Update matched map points and replace if duplicated @@ -1226,7 +1213,7 @@ void LoopClosing::CorrectLoop() { // Optimize graph bool bFixedScale = mbFixScale; // TODO CHECK; Solo para el monocular inertial - if (mpTracker->mSensor == SensorType::IMU_MONOCULAR && + if (sensorType() == SensorType::IMU_MONOCULAR && !mpCurrentKF->GetMap()->GetInertialBA2()) bFixedScale = false; @@ -1262,7 +1249,7 @@ void LoopClosing::CorrectLoop() { vdLoopOptEss_ms.push_back(timeOptEss); #endif - mpAtlas->InformNewBigChange(); + getAtlas()->InformNewBigChange(); // Add loop edge mpLoopMatchedKF->AddLoopEdge(mpCurrentKF); @@ -1271,7 +1258,7 @@ void LoopClosing::CorrectLoop() { // Launch a new thread to perform Global Bundle Adjustment (Only if few // keyframes, if not it would take too much time) if (!pLoopMap->isImuInitialized() || - (pLoopMap->KeyFramesInMap() < 200 && mpAtlas->CountMaps() == 1)) { + (pLoopMap->KeyFramesInMap() < 200 && getAtlas()->CountMaps() == 1)) { mbRunningGBA = true; mbFinishedGBA = false; mbStopGBA = false; @@ -1282,7 +1269,7 @@ void LoopClosing::CorrectLoop() { } // Loop closed. Release Local Mapping. - mpLocalMapper->Release(); + getLocalMapper()->Release(); mLastLoopKFid = mpCurrentKF @@ -1323,14 +1310,14 @@ void LoopClosing::MergeLocal() { // Verbose::PrintMess("MERGE-VISUAL: Request Stop Local Mapping", // Verbose::VERBOSITY_DEBUG); cout << "Request Stop Local Mapping" << endl; - mpLocalMapper->RequestStop(); + getLocalMapper()->RequestStop(); // Wait until Local Mapping has effectively stopped - while (!mpLocalMapper->isStopped()) { + while (!getLocalMapper()->isStopped()) { usleep(1000); } // cout << "Local Map stopped" << endl; - mpLocalMapper->EmptyQueue(); + getLocalMapper()->EmptyQueue(); // Merge map will become in the new active map with the local window of KFs // and MPs from the current map. Later, the elements of the current map will @@ -1616,8 +1603,8 @@ void LoopClosing::MergeLocal() { pCurrentMap->EraseMapPoint(pMPi); } - mpAtlas->ChangeMap(pMergeMap); - mpAtlas->SetMapBad(pCurrentMap); + getAtlas()->ChangeMap(pMergeMap); + getAtlas()->SetMapBad(pCurrentMap); pMergeMap->IncreaseChangeIndex(); // TODO for debug pMergeMap->ChangeId(pCurrentMap->GetId()); @@ -1693,7 +1680,7 @@ void LoopClosing::MergeLocal() { std::back_inserter(vpLocalCurrentWindowKFs)); std::copy(spMergeConnectedKFs.begin(), spMergeConnectedKFs.end(), std::back_inserter(vpMergeConnectedKFs)); - if (mpTracker->mSensor.isImu()) { + if (sensorType().isImu()) { Optimizer::MergeInertialBA(mpCurrentKF, mpMergeMatchedKF, &bStop, pCurrentMap, vCorrectedSim3); } else { @@ -1714,7 +1701,7 @@ void LoopClosing::MergeLocal() { // std::cout << "[Merge]: Welding bundle adjustment finished" << std::endl; // Loop closed. Release Local Mapping. - mpLocalMapper->Release(); + getLocalMapper()->Release(); // Update the non critical area from the current map to the merged map auto vpCurrentMapKFs = pCurrentMap->GetAllKeyFrames(); @@ -1722,7 +1709,7 @@ void LoopClosing::MergeLocal() { if (vpCurrentMapKFs.size() == 0) { } else { - if (mpTracker->mSensor == SensorType::MONOCULAR) { + if (sensorType() == SensorType::MONOCULAR) { unique_lock currentLock( pCurrentMap->mMutexMapUpdate); // We update the current map with the // Merge information @@ -1783,15 +1770,15 @@ void LoopClosing::MergeLocal() { } } - mpLocalMapper->RequestStop(); + getLocalMapper()->RequestStop(); // Wait until Local Mapping has effectively stopped - while (!mpLocalMapper->isStopped()) { + while (!getLocalMapper()->isStopped()) { usleep(1000); } // Optimize graph (and update the loop position for each element form the // begining to the end) - if (mpTracker->mSensor != SensorType::MONOCULAR) { + if (sensorType() != SensorType::MONOCULAR) { Optimizer::OptimizeEssentialGraph(mpCurrentKF, vpMergeConnectedKFs, vpLocalCurrentWindowKFs, vpCurrentMapKFs, vpCurrentMapMPs); @@ -1841,11 +1828,11 @@ void LoopClosing::MergeLocal() { vdMergeOptEss_ms.push_back(timeOptEss); #endif - mpLocalMapper->Release(); + getLocalMapper()->Release(); if (bRelaunchBA && (!pCurrentMap->isImuInitialized() || - (pCurrentMap->KeyFramesInMap() < 200 && mpAtlas->CountMaps() == 1))) { + (pCurrentMap->KeyFramesInMap() < 200 && getAtlas()->CountMaps() == 1))) { // Launch a new thread to perform Global Bundle Adjustment mbRunningGBA = true; mbFinishedGBA = false; @@ -1860,7 +1847,7 @@ void LoopClosing::MergeLocal() { pCurrentMap->IncreaseChangeIndex(); pMergeMap->IncreaseChangeIndex(); - mpAtlas->RemoveBadMaps(); + getAtlas()->RemoveBadMaps(); } void LoopClosing::MergeLocal2() { @@ -1900,9 +1887,9 @@ void LoopClosing::MergeLocal2() { } // cout << "Request Stop Local Mapping" << endl; - mpLocalMapper->RequestStop(); + getLocalMapper()->RequestStop(); // Wait until Local Mapping has effectively stopped - while (!mpLocalMapper->isStopped()) { + while (!getLocalMapper()->isStopped()) { usleep(1000); } // cout << "Local Map stopped" << endl; @@ -1915,39 +1902,40 @@ void LoopClosing::MergeLocal2() { Sophus::SE3f T_on(mSold_new.rotation().cast(), mSold_new.translation().cast()); - unique_lock lock(mpAtlas->GetCurrentMap()->mMutexMapUpdate); + unique_lock lock(getAtlas()->GetCurrentMap()->mMutexMapUpdate); // cout << "KFs before empty: " << - // mpAtlas->GetCurrentMap()->KeyFramesInMap() << endl; - mpLocalMapper->EmptyQueue(); - // cout << "KFs after empty: " << mpAtlas->GetCurrentMap()->KeyFramesInMap() + // getAtlas()->GetCurrentMap()->KeyFramesInMap() << endl; + getLocalMapper()->EmptyQueue(); + // cout << "KFs after empty: " << + // getAtlas()->GetCurrentMap()->KeyFramesInMap() // << endl; std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); // cout << "updating active map to merge reference" << endl; // cout << "curr merge KF id: " << mpCurrentKF->mnId << endl; - // cout << "curr tracking KF id: " << mpTracker->GetLastKeyFrame()->mnId << - // endl; + // cout << "curr tracking KF id: " << getTracker()->GetLastKeyFrame()->mnId + // << endl; bool bScaleVel = false; if (s_on != 1) bScaleVel = true; - mpAtlas->GetCurrentMap()->ApplyScaledRotation(T_on, s_on, bScaleVel); - mpTracker->UpdateFrameIMU(s_on, mpCurrentKF->GetImuBias(), - mpTracker->GetLastKeyFrame()); + getAtlas()->GetCurrentMap()->ApplyScaledRotation(T_on, s_on, bScaleVel); + getTracker()->UpdateFrameIMU(s_on, mpCurrentKF->GetImuBias(), + getTracker()->GetLastKeyFrame()); std::chrono::steady_clock::time_point t3 = std::chrono::steady_clock::now(); } const int numKFnew = pCurrentMap->KeyFramesInMap(); - if ((mpTracker->mSensor.isImu()) && !pCurrentMap->GetInertialBA2()) { + if ((sensorType().isImu()) && !pCurrentMap->GetInertialBA2()) { // Map is not completly initialized Eigen::Vector3d bg, ba; bg << 0., 0., 0.; ba << 0., 0., 0.; Optimizer::InertialOptimization(pCurrentMap, bg, ba); IMU::Bias b(ba[0], ba[1], ba[2], bg[0], bg[1], bg[2]); - unique_lock lock(mpAtlas->GetCurrentMap()->mMutexMapUpdate); - mpTracker->UpdateFrameIMU(1.0f, b, mpTracker->GetLastKeyFrame()); + unique_lock lock(getAtlas()->GetCurrentMap()->mMutexMapUpdate); + getTracker()->UpdateFrameIMU(1.0f, b, getTracker()->GetLastKeyFrame()); // Set map initialized pCurrentMap->SetInertialBA2(); @@ -2125,7 +2113,7 @@ void LoopClosing::MergeLocal2() { // TODO Check: If new map is too small, we suppose that not informaiton can be // propagated from new to old map if (numKFnew < 10) { - mpLocalMapper->Release(); + getLocalMapper()->Release(); return; } @@ -2135,7 +2123,7 @@ void LoopClosing::MergeLocal2() { // Perform BA bool bStopFlag = false; - auto pCurrKF = mpTracker->GetLastKeyFrame(); + auto pCurrKF = getTracker()->GetLastKeyFrame(); // cout << "start MergeInertialBA" << endl; Optimizer::MergeInertialBA(pCurrKF, mpMergeMatchedKF, &bStopFlag, pCurrentMap, CorrectedSim3); @@ -2146,7 +2134,7 @@ void LoopClosing::MergeLocal2() { cout << "BAD ESSENTIAL GRAPH 6!!" << endl;*/ // Release Local Mapping. - mpLocalMapper->Release(); + getLocalMapper()->Release(); return; } @@ -2324,8 +2312,9 @@ void LoopClosing::ResetIfRequested() { } } - mLastLoopKFid = mpAtlas->GetLastInitKFid(); // TODO old variable, it is not - // use in the new algorithm + mLastLoopKFid = + getAtlas()->GetLastInitKFid(); // TODO old variable, it is not + // use in the new algorithm mbResetActiveMapRequested = false; } } @@ -2387,10 +2376,11 @@ void LoopClosing::RunGlobalBundleAdjustment( Verbose::VERBOSITY_NORMAL); Verbose::PrintMess("Updating map ...", Verbose::VERBOSITY_NORMAL); - mpLocalMapper->RequestStop(); + getLocalMapper()->RequestStop(); // Wait until Local Mapping has effectively stopped - while (!mpLocalMapper->isStopped() && !mpLocalMapper->isFinished()) { + while (!getLocalMapper()->isStopped() && + !getLocalMapper()->isFinished()) { usleep(1000); } @@ -2554,11 +2544,11 @@ void LoopClosing::RunGlobalBundleAdjustment( pActiveMap->IncreaseChangeIndex(); // TODO Check this update - // mpTracker->UpdateFrameIMU(1.0f, - // mpTracker->GetLastKeyFrame()->GetImuBias(), - // mpTracker->GetLastKeyFrame()); + // getTracker()->UpdateFrameIMU(1.0f, + // getTracker()->GetLastKeyFrame()->GetImuBias(), + // getTracker()->GetLastKeyFrame()); - mpLocalMapper->Release(); + getLocalMapper()->Release(); #ifdef REGISTER_TIMES std::chrono::steady_clock::time_point time_EndUpdateMap = diff --git a/src/MapDrawer.cc b/src/MapDrawer.cc index 2e0207f7ee8..dcacc09ce7a 100644 --- a/src/MapDrawer.cc +++ b/src/MapDrawer.cc @@ -33,13 +33,10 @@ namespace ORB_SLAM3 { -MapDrawer::MapDrawer(const std::shared_ptr &pAtlas, - const std::shared_ptr &settings) - : mpAtlas(pAtlas) { - newParameterLoader(settings); -} +MapDrawer::MapDrawer(const std::shared_ptr &pSys) + : SystemAccessor(pSys) { + auto const settings = getSettings(); -void MapDrawer::newParameterLoader(const std::shared_ptr &settings) { mKeyFrameSize = settings->keyFrameSize(); mKeyFrameLineWidth = settings->keyFrameLineWidth(); mGraphLineWidth = settings->graphLineWidth(); @@ -49,7 +46,7 @@ void MapDrawer::newParameterLoader(const std::shared_ptr &settings) { } void MapDrawer::DrawMapPoints() { - std::shared_ptr pActiveMap = mpAtlas->GetCurrentMap(); + std::shared_ptr pActiveMap = getAtlas()->GetCurrentMap(); if (!pActiveMap) return; const vector &vpMPs = pActiveMap->GetAllMapPoints(); @@ -91,7 +88,7 @@ void MapDrawer::DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph, const float h = w * 0.75; const float z = w * 0.6; - std::shared_ptr pActiveMap = mpAtlas->GetCurrentMap(); + std::shared_ptr pActiveMap = getAtlas()->GetCurrentMap(); // DEBUG LBA std::set sOptKFs = pActiveMap->msOptKFs; std::set sFixedKFs = pActiveMap->msFixedKFs; @@ -219,7 +216,7 @@ void MapDrawer::DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph, glEnd(); } - vector> vpMaps = mpAtlas->GetAllMaps(); + vector> vpMaps = getAtlas()->GetAllMaps(); if (bDrawKF) { for (auto pMap : vpMaps) { diff --git a/src/System.cc b/src/System.cc index 44a7fe06161..6fd40c088c6 100644 --- a/src/System.cc +++ b/src/System.cc @@ -176,12 +176,12 @@ bool System::initialize(bool initFr, const string &strSequence) { if (sensorType().isImu()) mpAtlas->SetInertialSensor(); - // Only draw right image in stereo modes - const bool frame_drawer_both = sensorType().isStereo(); + mpPriCamera = getSettings()->camera1(); // Create Drawers. These are used by the Viewer + const bool frame_drawer_both = sensorType().isStereo(); mpFrameDrawer = std::make_shared(mpAtlas, frame_drawer_both); - mpMapDrawer = std::make_shared(mpAtlas, settings_); + mpMapDrawer = std::make_shared(shared_from_this()); // Initialize the Tracking thread // (it will live in the main thread of execution, the one that called this @@ -190,9 +190,8 @@ bool System::initialize(bool initFr, const string &strSequence) { mpTracker = std::make_shared(shared_from_this(), strSequence); // Initialize the Local Mapping thread and launch - mpLocalMapper = std::make_shared( - shared_from_this(), mpAtlas, sensorType().isMonocular(), - sensorType().isImu(), strSequence); + mpLocalMapper = + std::make_shared(shared_from_this(), strSequence); mpLocalMapper->mInitFr = initFr; mpLocalMapper->mThFarPoints = settings_->thFarPoints(); @@ -212,8 +211,7 @@ bool System::initialize(bool initFr, const string &strSequence) { // Initialize the Loop Closing thread and launch mpLoopCloser = std::make_shared( - mpAtlas, mpVprImpl, mpVocabulary, sensorType() != SensorType::MONOCULAR, - activeLC); + shared_from_this(), sensorType() != SensorType::MONOCULAR, activeLC); mptLoopClosing = std::make_unique(&ORB_SLAM3::LoopClosing::Run, mpLoopCloser); @@ -221,11 +219,11 @@ bool System::initialize(bool initFr, const string &strSequence) { // mpTracker->SetLocalMapper(mpLocalMapper); // mpTracker->SetLoopClosing(mpLoopCloser); - mpLocalMapper->SetTracker(mpTracker); - mpLocalMapper->SetLoopCloser(mpLoopCloser); + // mpLocalMapper->SetTracker(mpTracker); + // mpLocalMapper->SetLoopCloser(mpLoopCloser); - mpLoopCloser->SetTracker(mpTracker); - mpLoopCloser->SetLocalMapper(mpLocalMapper); + // mpLoopCloser->SetTracker(mpTracker); + // mpLoopCloser->SetLocalMapper(mpLocalMapper); // Initialize the Viewer thread and launch oslog::info("Viewer enabled: {}", settings_->useViewer_ ? "YES" : "NO"); @@ -233,7 +231,7 @@ bool System::initialize(bool initFr, const string &strSequence) { mpViewer = std::make_shared(shared_from_this()); mptViewer = std::make_unique(&Viewer::Run, mpViewer); // mpTracker->SetViewer(mpViewer); - mpLoopCloser->mpViewer = mpViewer; + // mpLoopCloser->mpViewer = mpViewer; mpViewer->both = mpFrameDrawer->both; } diff --git a/src/SystemAccessor.cc b/src/SystemAccessor.cc index ace87edf04d..f432bdf783b 100644 --- a/src/SystemAccessor.cc +++ b/src/SystemAccessor.cc @@ -27,6 +27,7 @@ #include "Atlas.h" #include "FrameDrawer.h" +#include "GeometricCamera.h" #include "LocalMapping.h" #include "LoopClosing.h" #include "Settings.h" @@ -46,6 +47,16 @@ std::shared_ptr SystemAccessor::system() { assert(mpSystem); return mpSystem; } + +const std::shared_ptr SystemAccessor::system() const { + assert(mpSystem); + return mpSystem; +} + +const SensorType SystemAccessor::sensorType() const { + return system()->sensorType(); +} + std::shared_ptr SystemAccessor::getSettings() { return system()->getSettings(); } @@ -75,4 +86,16 @@ std::shared_ptr SystemAccessor::getLoopClosing() { return system()->getLoopClosing(); } +std::shared_ptr SystemAccessor::getVPRImplementation() { + return system()->getVPRImplementation(); +} + +std::shared_ptr SystemAccessor::getPrimaryCamera() { + return system()->getPrimaryCamera(); +} + +std::shared_ptr SystemAccessor::getSecondaryCamera() { + return system()->getSecondaryCamera(); +} + } // namespace ORB_SLAM3 diff --git a/src/Tracking.cc b/src/Tracking.cc index 8218503af08..5b752f7ddb6 100644 --- a/src/Tracking.cc +++ b/src/Tracking.cc @@ -74,19 +74,19 @@ Tracking::Tracking(const std::shared_ptr& pSys, const string& _nameSeq) newParameterLoader(system()->getSettings()); { - vector> vpCams = - getAtlas()->GetAllCameras(); - oslog::debug("There are {} cameras in the atlas", vpCams.size()); - - for (auto const& pCam : vpCams) { - if (pCam->GetType() == GeometricCamera::CAM_PINHOLE) { - oslog::debug("Camera {} is pinhole", pCam->GetId()); - } else if (pCam->GetType() == GeometricCamera::CAM_FISHEYE) { - oslog::debug("Camera {} is fisheye", pCam->GetId()); - } else { - oslog::debug("Camera {} is unknown", pCam->GetId()); - } - } + // vector> vpCams = + // getAtlas()->GetAllCameras(); + // oslog::debug("There are {} cameras in the atlas", vpCams.size()); + + // for (auto const& pCam : vpCams) { + // if (pCam->GetType() == GeometricCamera::CAM_PINHOLE) { + // oslog::debug("Camera {} is pinhole", pCam->GetId()); + // } else if (pCam->GetType() == GeometricCamera::CAM_FISHEYE) { + // oslog::debug("Camera {} is fisheye", pCam->GetId()); + // } else { + // oslog::debug("Camera {} is unknown", pCam->GetId()); + // } + // } } #ifdef REGISTER_TIMES @@ -541,7 +541,7 @@ Tracking::~Tracking() { void Tracking::newParameterLoader(const std::shared_ptr& settings) { mpCamera = settings->camera1(); - mpCamera = getAtlas()->AddCamera(mpCamera); + // mpCamera = getAtlas()->AddCamera(mpCamera); if (settings->needToUndistort()) { mDistCoef = settings->camera1DistortionCoef(); @@ -570,7 +570,7 @@ void Tracking::newParameterLoader(const std::shared_ptr& settings) { mSensor == SensorType::IMU_RGBD) && settings->cameraType() == Settings::KannalaBrandt) { mpCamera2 = settings->camera2(); - mpCamera2 = getAtlas()->AddCamera(mpCamera2); + // mpCamera2 = getAtlas()->AddCamera(mpCamera2); mTlr = settings->Tlr(); @@ -1555,7 +1555,7 @@ void Tracking::StereoInitialization() { // Create KeyFrame std::shared_ptr pKFini = std::make_shared(mCurrentFrame, getAtlas()->GetCurrentMap(), - system()->getVprImplementation()); + system()->getVPRImplementation()); // Insert KeyFrame in the map getAtlas()->AddKeyFrame(pKFini); @@ -1714,10 +1714,10 @@ void Tracking::CreateInitialMapMonocular() { // Create KeyFrames std::shared_ptr pKFini = std::make_shared(mInitialFrame, getAtlas()->GetCurrentMap(), - system()->getVprImplementation()); + system()->getVPRImplementation()); std::shared_ptr pKFcur = std::make_shared(mCurrentFrame, getAtlas()->GetCurrentMap(), - system()->getVprImplementation()); + system()->getVPRImplementation()); if (mSensor == SensorType::IMU_MONOCULAR) pKFini->mpImuPreintegrated.reset(); @@ -2456,7 +2456,7 @@ void Tracking::CreateNewKeyFrame() { std::shared_ptr pKF = std::make_shared(mCurrentFrame, getAtlas()->GetCurrentMap(), - system()->getVprImplementation()); + system()->getVPRImplementation()); if (getAtlas() ->isImuInitialized()) // || getLocalMapper()->IsInitializing()) @@ -2797,7 +2797,7 @@ bool Tracking::Relocalization() { // Track Lost: Query KeyFrame Database for keyframe candidates for // relocalisation auto vpCandidateKFs = - system()->getVprImplementation()->DetectRelocalizationCandidates( + system()->getVPRImplementation()->DetectRelocalizationCandidates( mCurrentFrame, getAtlas()->GetCurrentMap()); if (vpCandidateKFs.empty()) { @@ -2975,7 +2975,7 @@ void Tracking::Reset(bool bLocMap) { // Clear BoW Database oslog::debug("[Tracking::Reset] !! resetting Database..."); - system()->getVprImplementation()->clear(); + system()->getVPRImplementation()->clear(); // Clear Map (this erase MapPoints and KeyFrames) getAtlas()->clearAtlas(); @@ -3026,7 +3026,7 @@ void Tracking::ResetActiveMap(bool bLocMap) { // Clear BoW Database oslog::info("[Tracking::ResetActiveMap] !! resetting Database"); - system()->getVprImplementation()->clearMap( + system()->getVPRImplementation()->clearMap( pMap); // Only clear the active map references // Clear Map (this erase MapPoints and KeyFrames) From 68588bec4383595a9c020d697d9ec4aaf01f8adc Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Wed, 5 Aug 2026 23:28:01 +0000 Subject: [PATCH 13/14] Minor update to comment. --- include/SystemAccessor.h | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/include/SystemAccessor.h b/include/SystemAccessor.h index 392bc12a829..9f2e6d25da5 100644 --- a/include/SystemAccessor.h +++ b/include/SystemAccessor.h @@ -41,6 +41,14 @@ class VPRImplementation; class Viewer; class SystemAccessor { + /// Defines a base class which holds a shared_ptr to System and can + /// call up the singleton instances (e.g. Settings, Atlas). + /// + /// Though not every class needs to access every singleton, there's + /// some merit to centralizing this interface. Makes it easier to catch + /// bad accesses. + /// + public: explicit SystemAccessor(const std::shared_ptr &pSys = nullptr); From 9a933205ded5a083b22fd8fe33f8d301c6f42ee7 Mon Sep 17 00:00:00 2001 From: Aaron Marburg Date: Fri, 7 Aug 2026 21:31:30 +0000 Subject: [PATCH 14/14] Swap a few more loops to C++20 style --- src/KeyFrameDatabase.cc | 41 ++++++++++++++--------------------------- 1 file changed, 14 insertions(+), 27 deletions(-) diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc index 992acc3b98b..28282a4d17b 100644 --- a/src/KeyFrameDatabase.cc +++ b/src/KeyFrameDatabase.cc @@ -85,6 +85,10 @@ void BoWKeyFrameDatabase::clearMap(const std::shared_ptr& pMap) { } } +// +// These aren't even used? +// + // void BoWKeyFrameDatabase::DetectCandidates( // const std::shared_ptr& pKF, float minScore, // vector>& vpLoopCand, @@ -472,16 +476,10 @@ void BoWKeyFrameDatabase::DetectNBestCandidates( spConnectedKF = pKF->GetConnectedKeyFrames(); - for (DBoW2::BowVector::const_iterator vit = pKF->mBowVec.begin(), - vend = pKF->mBowVec.end(); - vit != vend; vit++) { - auto& lKFs = mvInvertedFile[vit->first]; - - for (list>::iterator lit = lKFs.begin(), - lend = lKFs.end(); - lit != lend; lit++) { - std::shared_ptr pKFi = *lit; + for (const auto& [key, value] : pKF->mBowVec) { + auto& lKFs = mvInvertedFile[key]; + for (auto pKFi : lKFs) { if (pKFi->mnPlaceRecognitionQuery != pKF->mnId) { pKFi->mnPlaceRecognitionWords = 0; if (!spConnectedKF.count(pKFi)) { @@ -509,11 +507,7 @@ void BoWKeyFrameDatabase::DetectNBestCandidates( int nscores = 0; // Compute similarity score. - for (list>::iterator lit = lKFsSharingWords.begin(), - lend = lKFsSharingWords.end(); - lit != lend; lit++) { - std::shared_ptr pKFi = *lit; - + for (auto pKFi : lKFsSharingWords) { if (pKFi->mnPlaceRecognitionWords > minCommonWords) { nscores++; float si = mpVoc->score(pKF->mBowVec, pKFi->mBowVec); @@ -590,15 +584,10 @@ BoWKeyFrameDatabase::DetectRelocalizationCandidates( { unique_lock lock(mMutex); - for (DBoW2::BowVector::const_iterator vit = F->mBowVec.begin(), - vend = F->mBowVec.end(); - vit != vend; vit++) { - list>& lKFs = mvInvertedFile[vit->first]; + for (auto const& [key, value] : F->mBowVec) { + list>& lKFs = mvInvertedFile[key]; - for (list>::iterator lit = lKFs.begin(), - lend = lKFs.end(); - lit != lend; lit++) { - std::shared_ptr pKFi = *lit; + for (auto pKFi : lKFs) { if (pKFi->mnRelocQuery != F->mnId) { pKFi->mnRelocWords = 0; pKFi->mnRelocQuery = F->mnId; @@ -608,15 +597,13 @@ BoWKeyFrameDatabase::DetectRelocalizationCandidates( } } } + if (lKFsSharingWords.empty()) return vector>(); // Only compare against those keyframes that share enough words int maxCommonWords = 0; - for (list>::iterator lit = lKFsSharingWords.begin(), - lend = lKFsSharingWords.end(); - lit != lend; lit++) { - if ((*lit)->mnRelocWords > maxCommonWords) - maxCommonWords = (*lit)->mnRelocWords; + for (auto lit : lKFsSharingWords) { + if (lit->mnRelocWords > maxCommonWords) maxCommonWords = lit->mnRelocWords; } int minCommonWords = maxCommonWords * 0.8f;