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//============================================================================
// Name : main.cpp
// Author : Tzutalin
// Version :
// Copyright : Tzutalin
// Description : Demo Opencv-RgbdOdometry(http://docs.opencv.org/3.2.0/df/ddc/classcv_1_1rgbd_1_1Odometry.html)
//============================================================================
#include <fstream>
#include <iostream>
#include <memory>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv_odometry/rgbd.hpp>
#include <sstream>
#include <string>
#include <vector>
using namespace std;
using namespace cv;
using namespace std;
// This is for Kinect or Xtion
#define FOCUS_LENGTH 525.0
#define CX 319.5
#define CY 239.5
const float MIN_DEPTH = 0.8f; // in meters
const float MAX_DEPTH = 4.0f; // in meters
const float MAX_DEPTH_DIFF = 0.08f; // in meters
const float MAX_POINTS_PART = 0.09f;
// This is for TUM dataset
const float PIXEL_TO_METER_SCALEFACTOR = 0.0002;
// Visualize trajectroy
const float WINDOW_SIZE = 800;
const float VISUALIZATION_SCALE_FACTOR = 60.0f;
using namespace cv;
using namespace std;
bool testRGBD(const std::vector<std::string>& inputRGBPaths,
const std::vector<std::string>& inputDepthPaths) {
namedWindow("RGBD Color", WINDOW_AUTOSIZE);
namedWindow("Normalized RGBD Depth", WINDOW_AUTOSIZE);
namedWindow("RGBD Trajectory", WINDOW_AUTOSIZE);
Mat traj = Mat::zeros(WINDOW_SIZE, WINDOW_SIZE, CV_8UC3);
std::shared_ptr<rgbd::Odometry> odom;
char text[100];
int fontFace = FONT_HERSHEY_PLAIN;
double fontScale = 1;
int thickness = 1;
cv::Point textOrg(10, 50);
Mat rotationMatrix, tranlslationMatrix;
float vals[] = {FOCUS_LENGTH, 0., CX, 0., FOCUS_LENGTH, CY, 0., 0., 1.};
const Mat cameraMatrix = Mat(3, 3, CV_32FC1, vals);
bool isFirst = true;
for (int i = 0; i != inputRGBPaths.size() - 1; i++) {
std::string rgb0Path = inputRGBPaths[i];
std::string depth0Path = inputDepthPaths[i];
std::string rgb1Path = inputRGBPaths[i + 1];
std::string depth1Path = inputDepthPaths[i + 1];
// Read images start
Mat colorImage0 = imread(rgb0Path);
Mat depth0 = imread(depth0Path, IMREAD_UNCHANGED);
Mat colorImage1 = imread(rgb1Path);
Mat depth1 = imread(depth1Path, IMREAD_UNCHANGED);
if (colorImage0.empty() || depth0.empty() || colorImage1.empty() ||
depth1.empty()) {
std::cerr << "Not correct RGB-D images";
return -1;
}
Mat grayImage0, grayImage1, depthFlt0, depthFlt1 /*in meters*/;
cvtColor(colorImage0, grayImage0, COLOR_BGR2GRAY);
cvtColor(colorImage1, grayImage1, COLOR_BGR2GRAY);
depth0.convertTo(depthFlt0, CV_32FC1, PIXEL_TO_METER_SCALEFACTOR);
depth1.convertTo(depthFlt1, CV_32FC1, PIXEL_TO_METER_SCALEFACTOR);
// Read images end
Mat rigidTransform;
if (!odom) {
vector<int> iterCounts(4);
iterCounts[0] = 7;
iterCounts[1] = 7;
iterCounts[2] = 7;
iterCounts[3] = 10;
vector<float> minGradMagnitudes(4);
minGradMagnitudes[0] = 12;
minGradMagnitudes[1] = 5;
minGradMagnitudes[2] = 3;
minGradMagnitudes[3] = 1;
odom = std::make_shared<rgbd::RgbdOdometry>(
cameraMatrix, MIN_DEPTH, MAX_DEPTH, MAX_DEPTH_DIFF, iterCounts,
minGradMagnitudes, MAX_POINTS_PART,
rgbd::Odometry::RIGID_BODY_MOTION);
std::cerr << "Init tracker" << std::endl;
}
bool isSuccess = odom->compute(grayImage0, depthFlt0, Mat(), grayImage1,
depthFlt1, Mat(), rigidTransform);
Mat rotationMat = rigidTransform(cv::Rect(0, 0, 3, 3)).clone();
Mat translateMat = rigidTransform(cv::Rect(3, 0, 1, 3)).clone();
// If compute successfully, then update rotationMatrix and tranlslationMatrix
if (isSuccess == true) {
if (isFirst == true) {
rotationMatrix = rotationMat.clone();
tranlslationMatrix = translateMat.clone();
isFirst = false;
continue;
}
// Update Rt
tranlslationMatrix = tranlslationMatrix + (rotationMatrix * translateMat);
rotationMatrix = rotationMat * rotationMatrix;
}
// Visualize traj
if (isFirst == false) {
int x =
int(VISUALIZATION_SCALE_FACTOR * tranlslationMatrix.at<double>(0)) +
WINDOW_SIZE / 2;
int y =
int(VISUALIZATION_SCALE_FACTOR * tranlslationMatrix.at<double>(2)) +
WINDOW_SIZE / 2;
circle(traj, Point(x, y), 1, CV_RGB(255, 0, 0), 2);
rectangle(traj, Point(10, 30), Point(550, 50), CV_RGB(0, 0, 0),
CV_FILLED);
if (isSuccess == true) {
sprintf(text, "Coordinates: x = %04fm y = %04fm z = %04fm",
tranlslationMatrix.at<double>(0),
tranlslationMatrix.at<double>(1),
tranlslationMatrix.at<double>(2));
} else {
sprintf(text, "Fail to compute odometry");
}
putText(traj, text, textOrg, fontFace, fontScale, Scalar::all(255),
thickness, 8);
}
imshow("RGBD Trajectory", traj);
imshow("RGBD Color", grayImage1);
cv::Mat normalizeDepth;
depthFlt1.convertTo(normalizeDepth, CV_8UC1, 255.0 / MAX_DEPTH);
imshow("Normalized RGBD Depth", normalizeDepth);
const Mat distCoeff(1, 5, CV_32FC1, Scalar(0));
cv::waitKey(1);
}
return true;
}
void readAssocTextfile(std::string filename,
std::vector<std::string>& inputRGBPaths,
std::vector<std::string>& inputDepthPaths) {
std::string line;
std::ifstream in_stream(filename.c_str());
while (!in_stream.eof()) {
std::getline(in_stream, line);
stringstream ss(line);
std::string buf;
int count = 0;
while (ss >> buf) {
count++;
if (count == 2) {
inputRGBPaths.push_back(buf);
} else if (count == 4) {
inputDepthPaths.push_back(buf);
}
}
}
in_stream.close();
}
int main(int argc, char** argv) {
std::cerr << "test opencv rgbd, start loading assoc.txt" << std::endl;
std::vector<std::string> inputRGBPaths, inputDepthPaths;
readAssocTextfile("assoc.txt", inputRGBPaths, inputDepthPaths);
std::cerr << "test opencv rgbd, end loading assoc.txt" << std::endl;
if (testRGBD(inputRGBPaths, inputDepthPaths)) {
return 0;
}
return -1;
}