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ORB_SLAM3.sublime-workspace
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"contents": "/**\n* This file is part of ORB-SLAM3\n*\n* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.\n* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.\n*\n* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public\n* License as published by the Free Software Foundation, either version 3 of the License, or\n* (at your option) any later version.\n*\n* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even\n* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n* GNU General Public License for more details.\n*\n* You should have received a copy of the GNU General Public License along with ORB-SLAM3.\n* If not, see <http://www.gnu.org/licenses/>.\n*/\n\n\n\n#include \"System.h\"\n#include \"Converter.h\"\n#include <thread>\n#include <pangolin/pangolin.h>\n#include <iomanip>\n#include <openssl/md5.h>\n#include <boost/serialization/base_object.hpp>\n#include <boost/serialization/string.hpp>\n#include <boost/archive/text_iarchive.hpp>\n#include <boost/archive/text_oarchive.hpp>\n#include <boost/archive/binary_iarchive.hpp>\n#include <boost/archive/binary_oarchive.hpp>\n#include <boost/archive/xml_iarchive.hpp>\n#include <boost/archive/xml_oarchive.hpp>\n\nnamespace ORB_SLAM3\n{\n\nVerbose::eLevel Verbose::th = Verbose::VERBOSITY_NORMAL;\n\n// 1.确定mSensor类型\n// 2.加载ORB词典\n// 3.初始化KeyFrameDatabase\n// 4.初始化Atlas\n// 5.分别初始化Tracking，LocalMapping，LoopClosing线程\nSystem::System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor,\n const bool bUseViewer, const int initFr, const string &strSequence, const string &strLoadingFile):\n mSensor(sensor), mpViewer(static_cast<Viewer*>(NULL)), mbReset(false), mbResetActiveMap(false),\n mbActivateLocalizationMode(false), mbDeactivateLocalizationMode(false)\n{\n // Output welcome message\n cout << endl <<\n \"ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.\" << endl <<\n \"ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.\" << endl <<\n \"This program comes with ABSOLUTELY NO WARRANTY;\" << endl <<\n \"This is free software, and you are welcome to redistribute it\" << endl <<\n \"under certain conditions. See LICENSE.txt.\" << endl << endl;\n\n cout << \"Input sensor was set to: \";\n\n if(mSensor==MONOCULAR)\n cout << \"Monocular\" << endl;\n else if(mSensor==STEREO)\n cout << \"Stereo\" << endl;\n else if(mSensor==RGBD)\n cout << \"RGB-D\" << endl;\n else if(mSensor==IMU_MONOCULAR)\n cout << \"Monocular-Inertial\" << endl;\n else if(mSensor==IMU_STEREO)\n cout << \"Stereo-Inertial\" << endl;\n\n //Check settings file\n cv::FileStorage fsSettings(strSettingsFile.c_str(), cv::FileStorage::READ);\n if(!fsSettings.isOpened())\n {\n cerr << \"Failed to open settings file at: \" << strSettingsFile << endl;\n exit(-1);\n }\n\n bool loadedAtlas = false;\n\n //----\n //Load ORB Vocabulary\n cout << endl << \"Loading ORB Vocabulary. This could take a while...\" << endl;\n\n mpVocabulary = new ORBVocabulary();\n bool bVocLoad = mpVocabulary->loadFromTextFile(strVocFile);\n if(!bVocLoad)\n {\n cerr << \"Wrong path to vocabulary. \" << endl;\n cerr << \"Falied to open at: \" << strVocFile << endl;\n exit(-1);\n }\n cout << \"Vocabulary loaded!\" << endl << endl;\n\n //Create KeyFrame Database\n mpKeyFrameDatabase = new KeyFrameDatabase(*mpVocabulary);\n\n //Create the Atlas\n //mpMap = new Map();\n mpAtlas = new Atlas(0);\n //----\n\n /*if(strLoadingFile.empty())\n {\n //Load ORB Vocabulary\n cout << endl << \"Loading ORB Vocabulary. This could take a while...\" << endl;\n\n mpVocabulary = new ORBVocabulary();\n bool bVocLoad = mpVocabulary->loadFromTextFile(strVocFile);\n if(!bVocLoad)\n {\n cerr << \"Wrong path to vocabulary. \" << endl;\n cerr << \"Falied to open at: \" << strVocFile << endl;\n exit(-1);\n }\n cout << \"Vocabulary loaded!\" << endl << endl;\n\n //Create KeyFrame Database\n mpKeyFrameDatabase = new KeyFrameDatabase(*mpVocabulary);\n\n //Create the Atlas\n //mpMap = new Map();\n mpAtlas = new Atlas(0);\n }\n else\n {\n //Load ORB Vocabulary\n cout << endl << \"Loading ORB Vocabulary. This could take a while...\" << endl;\n\n mpVocabulary = new ORBVocabulary();\n bool bVocLoad = mpVocabulary->loadFromTextFile(strVocFile);\n if(!bVocLoad)\n {\n cerr << \"Wrong path to vocabulary. \" << endl;\n cerr << \"Falied to open at: \" << strVocFile << endl;\n exit(-1);\n }\n cout << \"Vocabulary loaded!\" << endl << endl;\n\n cout << \"Load File\" << endl;\n\n // Load the file with an earlier session\n //clock_t start = clock();\n bool isRead = LoadAtlas(strLoadingFile,BINARY_FILE);\n\n if(!isRead)\n {\n cout << \"Error to load the file, please try with other session file or vocabulary file\" << endl;\n exit(-1);\n }\n mpKeyFrameDatabase = new KeyFrameDatabase(*mpVocabulary);\n\n mpAtlas->SetKeyFrameDababase(mpKeyFrameDatabase);\n mpAtlas->SetORBVocabulary(mpVocabulary);\n mpAtlas->PostLoad();\n //cout << \"KF in DB: \" << mpKeyFrameDatabase->mnNumKFs << \"; words: \" << mpKeyFrameDatabase->mnNumWords << endl;\n\n loadedAtlas = true;\n\n mpAtlas->CreateNewMap();\n\n //clock_t timeElapsed = clock() - start;\n //unsigned msElapsed = timeElapsed / (CLOCKS_PER_SEC / 1000);\n //cout << \"Binary file read in \" << msElapsed << \" ms\" << endl;\n\n //usleep(10*1000*1000);\n }*/\n\n\n if (mSensor==IMU_STEREO || mSensor==IMU_MONOCULAR)\n mpAtlas->SetInertialSensor();\n\n //Create Drawers. These are used by the Viewer\n mpFrameDrawer = new FrameDrawer(mpAtlas);\n mpMapDrawer = new MapDrawer(mpAtlas, strSettingsFile);\n\n //Initialize the Tracking thread\n //(it will live in the main thread of execution, the one that called this constructor)\n cout << \"Seq. Name: \" << strSequence << endl;\n mpTracker = new Tracking(this, mpVocabulary, mpFrameDrawer, mpMapDrawer,\n mpAtlas, mpKeyFrameDatabase, strSettingsFile, mSensor, strSequence);\n\n //Initialize the Local Mapping thread and launch\n mpLocalMapper = new LocalMapping(this, mpAtlas, mSensor==MONOCULAR || mSensor==IMU_MONOCULAR, mSensor==IMU_MONOCULAR || mSensor==IMU_STEREO, strSequence);\n mptLocalMapping = new thread(&ORB_SLAM3::LocalMapping::Run,mpLocalMapper);\n mpLocalMapper->mInitFr = initFr; // 没有使用\n mpLocalMapper->mThFarPoints = fsSettings[\"thFarPoints\"];\n if(mpLocalMapper->mThFarPoints!=0)\n {\n cout << \"Discard points further than \" << mpLocalMapper->mThFarPoints << \" m from current camera\" << endl;\n mpLocalMapper->mbFarPoints = true;\n }\n else\n mpLocalMapper->mbFarPoints = false;\n\n //Initialize the Loop Closing thread and launch\n // mSensor!=MONOCULAR && mSensor!=IMU_MONOCULAR\n mpLoopCloser = new LoopClosing(mpAtlas, mpKeyFrameDatabase, mpVocabulary, mSensor!=MONOCULAR); // mSensor!=MONOCULAR);\n mptLoopClosing = new thread(&ORB_SLAM3::LoopClosing::Run, mpLoopCloser);\n\n //Initialize the Viewer thread and launch\n if(bUseViewer)\n {\n mpViewer = new Viewer(this, mpFrameDrawer,mpMapDrawer,mpTracker,strSettingsFile);\n mptViewer = new thread(&Viewer::Run, mpViewer);\n mpTracker->SetViewer(mpViewer);\n mpLoopCloser->mpViewer = mpViewer;\n mpViewer->both = mpFrameDrawer->both;\n }\n\n //Set pointers between threads\n mpTracker->SetLocalMapper(mpLocalMapper);\n mpTracker->SetLoopClosing(mpLoopCloser);\n\n mpLocalMapper->SetTracker(mpTracker);\n mpLocalMapper->SetLoopCloser(mpLoopCloser);\n\n mpLoopCloser->SetTracker(mpTracker);\n mpLoopCloser->SetLocalMapper(mpLocalMapper);\n\n // Fix verbosity\n Verbose::SetTh(Verbose::VERBOSITY_QUIET);\n\n}\n\ncv::Mat System::TrackStereo(const cv::Mat &imLeft, const cv::Mat &imRight, const double ×tamp, const vector<IMU::Point>& vImuMeas, string filename)\n{\n if(mSensor!=STEREO && mSensor!=IMU_STEREO)\n {\n cerr << \"ERROR: you called TrackStereo but input sensor was not set to Stereo nor Stereo-Inertial.\" << endl;\n exit(-1);\n } \n\n // Check mode change\n {\n unique_lock<mutex> lock(mMutexMode);\n // 如果激活定位模式\n if(mbActivateLocalizationMode)\n {\n mpLocalMapper->RequestStop();\n\n // Wait until Local Mapping has effectively stopped\n while(!mpLocalMapper->isStopped())\n {\n usleep(1000);\n }\n\n mpTracker->InformOnlyTracking(true);\n mbActivateLocalizationMode = false;\n }\n if(mbDeactivateLocalizationMode)\n {\n mpTracker->InformOnlyTracking(false);\n mpLocalMapper->Release();\n mbDeactivateLocalizationMode = false;\n }\n }\n\n // Check reset\n {\n unique_lock<mutex> lock(mMutexReset);\n if(mbReset)\n {\n mpTracker->Reset();\n cout << \"Reset stereo...\" << endl;\n mbReset = false;\n mbResetActiveMap = false;\n }\n else if(mbResetActiveMap)\n {\n mpTracker->ResetActiveMap();\n mbResetActiveMap = false;\n }\n }\n\n if (mSensor == System::IMU_STEREO)\n for(size_t i_imu = 0; i_imu < vImuMeas.size(); i_imu++)\n mpTracker->GrabImuData(vImuMeas[i_imu]);\n\n // std::cout << \"start GrabImageStereo\" << std::endl;\n cv::Mat Tcw = mpTracker->GrabImageStereo(imLeft,imRight,timestamp,filename);\n\n // std::cout << \"out grabber\" << std::endl;\n\n unique_lock<mutex> lock2(mMutexState);\n mTrackingState = mpTracker->mState;\n mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints;\n mTrackedKeyPointsUn = mpTracker->mCurrentFrame.mvKeysUn;\n\n return Tcw;\n}\n\ncv::Mat System::TrackRGBD(const cv::Mat &im, const cv::Mat &depthmap, const double ×tamp, string filename)\n{\n if(mSensor!=RGBD)\n {\n cerr << \"ERROR: you called TrackRGBD but input sensor was not set to RGBD.\" << endl;\n exit(-1);\n } \n\n // Check mode change\n {\n unique_lock<mutex> lock(mMutexMode);\n if(mbActivateLocalizationMode)\n {\n mpLocalMapper->RequestStop();\n\n // Wait until Local Mapping has effectively stopped\n while(!mpLocalMapper->isStopped())\n {\n usleep(1000);\n }\n\n mpTracker->InformOnlyTracking(true);\n mbActivateLocalizationMode = false;\n }\n if(mbDeactivateLocalizationMode)\n {\n mpTracker->InformOnlyTracking(false);\n mpLocalMapper->Release();\n mbDeactivateLocalizationMode = false;\n }\n }\n\n // Check reset\n {\n unique_lock<mutex> lock(mMutexReset);\n if(mbReset)\n {\n mpTracker->Reset();\n mbReset = false;\n mbResetActiveMap = false;\n }\n else if(mbResetActiveMap)\n {\n mpTracker->ResetActiveMap();\n mbResetActiveMap = false;\n }\n }\n\n\n cv::Mat Tcw = mpTracker->GrabImageRGBD(im,depthmap,timestamp,filename);\n\n unique_lock<mutex> lock2(mMutexState);\n mTrackingState = mpTracker->mState;\n mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints;\n mTrackedKeyPointsUn = mpTracker->mCurrentFrame.mvKeysUn;\n return Tcw;\n}\n\ncv::Mat System::TrackMonocular(const cv::Mat &im, const double ×tamp, const vector<IMU::Point>& vImuMeas, string filename)\n{\n if(mSensor!=MONOCULAR && mSensor!=IMU_MONOCULAR)\n {\n cerr << \"ERROR: you called TrackMonocular but input sensor was not set to Monocular nor Monocular-Inertial.\" << endl;\n exit(-1);\n }\n\n // Check mode change\n {\n unique_lock<mutex> lock(mMutexMode);\n if(mbActivateLocalizationMode)\n {\n mpLocalMapper->RequestStop();\n\n // Wait until Local Mapping has effectively stopped\n while(!mpLocalMapper->isStopped())\n {\n usleep(1000);\n }\n\n mpTracker->InformOnlyTracking(true);\n mbActivateLocalizationMode = false;\n }\n if(mbDeactivateLocalizationMode)\n {\n mpTracker->InformOnlyTracking(false);\n mpLocalMapper->Release();\n mbDeactivateLocalizationMode = false;\n }\n }\n\n // Check reset\n {\n unique_lock<mutex> lock(mMutexReset);\n if(mbReset)\n {\n mpTracker->Reset();\n mbReset = false;\n mbResetActiveMap = false;\n }\n else if(mbResetActiveMap)\n {\n cout << \"SYSTEM-> Reseting active map in monocular case\" << endl;\n mpTracker->ResetActiveMap();\n mbResetActiveMap = false;\n }\n }\n\n if (mSensor == System::IMU_MONOCULAR)\n for(size_t i_imu = 0; i_imu < vImuMeas.size(); i_imu++)\n mpTracker->GrabImuData(vImuMeas[i_imu]);\n\n cv::Mat Tcw = mpTracker->GrabImageMonocular(im,timestamp,filename);\n\n unique_lock<mutex> lock2(mMutexState);\n mTrackingState = mpTracker->mState;\n mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints;\n mTrackedKeyPointsUn = mpTracker->mCurrentFrame.mvKeysUn;\n\n return Tcw;\n}\n\n\n\nvoid System::ActivateLocalizationMode()\n{\n unique_lock<mutex> lock(mMutexMode);\n mbActivateLocalizationMode = true;\n}\n\nvoid System::DeactivateLocalizationMode()\n{\n unique_lock<mutex> lock(mMutexMode);\n mbDeactivateLocalizationMode = true;\n}\n\nbool System::MapChanged()\n{\n static int n=0;\n int curn = mpAtlas->GetLastBigChangeIdx();\n if(n<curn)\n {\n n=curn;\n return true;\n }\n else\n return false;\n}\n\nvoid System::Reset()\n{\n unique_lock<mutex> lock(mMutexReset);\n mbReset = true;\n}\n\nvoid System::ResetActiveMap()\n{\n unique_lock<mutex> lock(mMutexReset);\n mbResetActiveMap = true;\n}\n\nvoid System::Shutdown()\n{\n mpLocalMapper->RequestFinish();\n mpLoopCloser->RequestFinish();\n if(mpViewer)\n {\n mpViewer->RequestFinish();\n while(!mpViewer->isFinished())\n usleep(5000);\n }\n\n // Wait until all thread have effectively stopped\n while(!mpLocalMapper->isFinished() || !mpLoopCloser->isFinished() || mpLoopCloser->isRunningGBA())\n {\n if(!mpLocalMapper->isFinished())\n cout << \"mpLocalMapper is not finished\" << endl;\n if(!mpLoopCloser->isFinished())\n cout << \"mpLoopCloser is not finished\" << endl;\n if(mpLoopCloser->isRunningGBA()){\n cout << \"mpLoopCloser is running GBA\" << endl;\n cout << \"break anyway...\" << endl;\n break;\n }\n usleep(5000);\n }\n\n if(mpViewer)\n pangolin::BindToContext(\"ORB-SLAM2: Map Viewer\");\n}\n\n\n\nvoid System::SaveTrajectoryTUM(const string &filename)\n{\n cout << endl << \"Saving camera trajectory to \" << filename << \" ...\" << endl;\n if(mSensor==MONOCULAR)\n {\n cerr << \"ERROR: SaveTrajectoryTUM cannot be used for monocular.\" << endl;\n return;\n }\n\n vector<KeyFrame*> vpKFs = mpAtlas->GetAllKeyFrames();\n sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);\n\n // Transform all keyframes so that the first keyframe is at the origin.\n // After a loop closure the first keyframe might not be at the origin.\n cv::Mat Two = vpKFs[0]->GetPoseInverse();\n\n ofstream f;\n f.open(filename.c_str());\n f << fixed;\n\n // Frame pose is stored relative to its reference keyframe (which is optimized by BA and pose graph).\n // We need to get first the keyframe pose and then concatenate the relative transformation.\n // Frames not localized (tracking failure) are not saved.\n\n // For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag\n // which is true when tracking failed (lbL).\n list<ORB_SLAM3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();\n list<double>::iterator lT = mpTracker->mlFrameTimes.begin();\n list<bool>::iterator lbL = mpTracker->mlbLost.begin();\n for(list<cv::Mat>::iterator lit=mpTracker->mlRelativeFramePoses.begin(),\n lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++, lbL++)\n {\n if(*lbL)\n continue;\n\n KeyFrame* pKF = *lRit;\n\n cv::Mat Trw = cv::Mat::eye(4,4,CV_32F);\n\n // If the reference keyframe was culled, traverse the spanning tree to get a suitable keyframe.\n while(pKF->isBad())\n {\n Trw = Trw*pKF->mTcp;\n pKF = pKF->GetParent();\n }\n\n Trw = Trw*pKF->GetPose()*Two;\n\n cv::Mat Tcw = (*lit)*Trw;\n cv::Mat Rwc = Tcw.rowRange(0,3).colRange(0,3).t();\n cv::Mat twc = -Rwc*Tcw.rowRange(0,3).col(3);\n\n vector<float> q = Converter::toQuaternion(Rwc);\n\n f << setprecision(6) << *lT << \" \" << setprecision(9) << twc.at<float>(0) << \" \" << twc.at<float>(1) << \" \" << twc.at<float>(2) << \" \" << q[0] << \" \" << q[1] << \" \" << q[2] << \" \" << q[3] << endl;\n }\n f.close();\n // cout << endl << \"trajectory saved!\" << endl;\n}\n\nvoid System::SaveKeyFrameTrajectoryTUM(const string &filename)\n{\n cout << endl << \"Saving keyframe trajectory to \" << filename << \" ...\" << endl;\n\n vector<KeyFrame*> vpKFs = mpAtlas->GetAllKeyFrames();\n sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);\n\n // Transform all keyframes so that the first keyframe is at the origin.\n // After a loop closure the first keyframe might not be at the origin.\n ofstream f;\n f.open(filename.c_str());\n f << fixed;\n\n for(size_t i=0; i<vpKFs.size(); i++)\n {\n KeyFrame* pKF = vpKFs[i];\n\n // pKF->SetPose(pKF->GetPose()*Two);\n\n if(pKF->isBad())\n continue;\n\n cv::Mat R = pKF->GetRotation().t();\n vector<float> q = Converter::toQuaternion(R);\n cv::Mat t = pKF->GetCameraCenter();\n f << setprecision(6) << pKF->mTimeStamp << setprecision(7) << \" \" << t.at<float>(0) << \" \" << t.at<float>(1) << \" \" << t.at<float>(2)\n << \" \" << q[0] << \" \" << q[1] << \" \" << q[2] << \" \" << q[3] << endl;\n\n }\n\n f.close();\n}\n\nvoid System::SaveTrajectoryEuRoC(const string &filename)\n{\n\n cout << endl << \"Saving trajectory to \" << filename << \" ...\" << endl;\n /*if(mSensor==MONOCULAR)\n {\n cerr << \"ERROR: SaveTrajectoryEuRoC cannot be used for monocular.\" << endl;\n return;\n }*/\n\n vector<Map*> vpMaps = mpAtlas->GetAllMaps();\n Map* pBiggerMap;\n int numMaxKFs = 0;\n for(Map* pMap :vpMaps)\n {\n if(pMap->GetAllKeyFrames().size() > numMaxKFs)\n {\n numMaxKFs = pMap->GetAllKeyFrames().size();\n pBiggerMap = pMap;\n }\n }\n\n vector<KeyFrame*> vpKFs = pBiggerMap->GetAllKeyFrames();\n sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);\n\n // Transform all keyframes so that the first keyframe is at the origin.\n // After a loop closure the first keyframe might not be at the origin.\n cv::Mat Twb; // Can be word to cam0 or world to b dependingo on IMU or not.\n if (mSensor==IMU_MONOCULAR || mSensor==IMU_STEREO)\n Twb = vpKFs[0]->GetImuPose();\n else\n Twb = vpKFs[0]->GetPoseInverse();\n\n ofstream f;\n f.open(filename.c_str());\n // cout << \"file open\" << endl;\n f << fixed;\n\n // Frame pose is stored relative to its reference keyframe (which is optimized by BA and pose graph).\n // We need to get first the keyframe pose and then concatenate the relative transformation.\n // Frames not localized (tracking failure) are not saved.\n\n // For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag\n // which is true when tracking failed (lbL).\n list<ORB_SLAM3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();\n list<double>::iterator lT = mpTracker->mlFrameTimes.begin();\n list<bool>::iterator lbL = mpTracker->mlbLost.begin();\n\n //cout << \"size mlpReferences: \" << mpTracker->mlpReferences.size() << endl;\n //cout << \"size mlRelativeFramePoses: \" << mpTracker->mlRelativeFramePoses.size() << endl;\n //cout << \"size mpTracker->mlFrameTimes: \" << mpTracker->mlFrameTimes.size() << endl;\n //cout << \"size mpTracker->mlbLost: \" << mpTracker->mlbLost.size() << endl;\n\n\n for(list<cv::Mat>::iterator lit=mpTracker->mlRelativeFramePoses.begin(),\n lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++, lbL++)\n {\n //cout << \"1\" << endl;\n if(*lbL)\n continue;\n\n\n KeyFrame* pKF = *lRit;\n //cout << \"KF: \" << pKF->mnId << endl;\n\n cv::Mat Trw = cv::Mat::eye(4,4,CV_32F);\n\n /*cout << \"2\" << endl;\n cout << \"KF id: \" << pKF->mnId << endl;*/\n\n // If the reference keyframe was culled, traverse the spanning tree to get a suitable keyframe.\n if (!pKF)\n continue;\n\n //cout << \"2.5\" << endl;\n\n while(pKF->isBad())\n {\n //cout << \" 2.bad\" << endl;\n Trw = Trw*pKF->mTcp;\n pKF = pKF->GetParent();\n //cout << \"--Parent KF: \" << pKF->mnId << endl;\n }\n\n if(!pKF || pKF->GetMap() != pBiggerMap)\n {\n //cout << \"--Parent KF is from another map\" << endl;\n /*if(pKF)\n cout << \"--Parent KF \" << pKF->mnId << \" is from another map \" << pKF->GetMap()->GetId() << endl;*/\n continue;\n }\n\n //cout << \"3\" << endl;\n\n Trw = Trw*pKF->GetPose()*Twb; // Tcp*Tpw*Twb0=Tcb0 where b0 is the new world reference\n\n // cout << \"4\" << endl;\n\n if (mSensor == IMU_MONOCULAR || mSensor == IMU_STEREO)\n {\n cv::Mat Tbw = pKF->mImuCalib.Tbc*(*lit)*Trw;\n cv::Mat Rwb = Tbw.rowRange(0,3).colRange(0,3).t();\n cv::Mat twb = -Rwb*Tbw.rowRange(0,3).col(3);\n vector<float> q = Converter::toQuaternion(Rwb);\n f << setprecision(6) << 1e9*(*lT) << \" \" << setprecision(9) << twb.at<float>(0) << \" \" << twb.at<float>(1) << \" \" << twb.at<float>(2) << \" \" << q[0] << \" \" << q[1] << \" \" << q[2] << \" \" << q[3] << endl;\n }\n else\n {\n cv::Mat Tcw = (*lit)*Trw;\n cv::Mat Rwc = Tcw.rowRange(0,3).colRange(0,3).t();\n cv::Mat twc = -Rwc*Tcw.rowRange(0,3).col(3);\n vector<float> q = Converter::toQuaternion(Rwc);\n f << setprecision(6) << 1e9*(*lT) << \" \" << setprecision(9) << twc.at<float>(0) << \" \" << twc.at<float>(1) << \" \" << twc.at<float>(2) << \" \" << q[0] << \" \" << q[1] << \" \" << q[2] << \" \" << q[3] << endl;\n }\n\n // cout << \"5\" << endl;\n }\n //cout << \"end saving trajectory\" << endl;\n f.close();\n cout << endl << \"End of saving trajectory to \" << filename << \" ...\" << endl;\n}\n\n\nvoid System::SaveKeyFrameTrajectoryEuRoC(const string &filename)\n{\n cout << endl << \"Saving keyframe trajectory to \" << filename << \" ...\" << endl;\n\n vector<Map*> vpMaps = mpAtlas->GetAllMaps();\n Map* pBiggerMap;\n int numMaxKFs = 0;\n for(Map* pMap :vpMaps)\n {\n if(pMap->GetAllKeyFrames().size() > numMaxKFs)\n {\n numMaxKFs = pMap->GetAllKeyFrames().size();\n pBiggerMap = pMap;\n }\n }\n\n vector<KeyFrame*> vpKFs = pBiggerMap->GetAllKeyFrames();\n sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);\n\n // Transform all keyframes so that the first keyframe is at the origin.\n // After a loop closure the first keyframe might not be at the origin.\n ofstream f;\n f.open(filename.c_str());\n f << fixed;\n\n for(size_t i=0; i<vpKFs.size(); i++)\n {\n KeyFrame* pKF = vpKFs[i];\n\n // pKF->SetPose(pKF->GetPose()*Two);\n\n if(pKF->isBad())\n continue;\n if (mSensor == IMU_MONOCULAR || mSensor == IMU_STEREO)\n {\n cv::Mat R = pKF->GetImuRotation().t();\n vector<float> q = Converter::toQuaternion(R);\n cv::Mat twb = pKF->GetImuPosition();\n f << setprecision(6) << 1e9*pKF->mTimeStamp << \" \" << setprecision(9) << twb.at<float>(0) << \" \" << twb.at<float>(1) << \" \" << twb.at<float>(2) << \" \" << q[0] << \" \" << q[1] << \" \" << q[2] << \" \" << q[3] << endl;\n\n }\n else\n {\n cv::Mat R = pKF->GetRotation();\n vector<float> q = Converter::toQuaternion(R);\n cv::Mat t = pKF->GetCameraCenter();\n f << setprecision(6) << 1e9*pKF->mTimeStamp << \" \" << setprecision(9) << t.at<float>(0) << \" \" << t.at<float>(1) << \" \" << t.at<float>(2) << \" \" << q[0] << \" \" << q[1] << \" \" << q[2] << \" \" << q[3] << endl;\n }\n }\n f.close();\n}\n\nvoid System::SaveTrajectoryKITTI(const string &filename)\n{\n cout << endl << \"Saving camera trajectory to \" << filename << \" ...\" << endl;\n if(mSensor==MONOCULAR)\n {\n cerr << \"ERROR: SaveTrajectoryKITTI cannot be used for monocular.\" << endl;\n return;\n }\n\n vector<KeyFrame*> vpKFs = mpAtlas->GetAllKeyFrames();\n sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId);\n\n // Transform all keyframes so that the first keyframe is at the origin.\n // After a loop closure the first keyframe might not be at the origin.\n cv::Mat Two = vpKFs[0]->GetPoseInverse();\n\n ofstream f;\n f.open(filename.c_str());\n f << fixed;\n\n // Frame pose is stored relative to its reference keyframe (which is optimized by BA and pose graph).\n // We need to get first the keyframe pose and then concatenate the relative transformation.\n // Frames not localized (tracking failure) are not saved.\n\n // For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag\n // which is true when tracking failed (lbL).\n list<ORB_SLAM3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();\n list<double>::iterator lT = mpTracker->mlFrameTimes.begin();\n for(list<cv::Mat>::iterator lit=mpTracker->mlRelativeFramePoses.begin(), lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++)\n {\n ORB_SLAM3::KeyFrame* pKF = *lRit;\n\n cv::Mat Trw = cv::Mat::eye(4,4,CV_32F);\n\n while(pKF->isBad())\n {\n Trw = Trw*pKF->mTcp;\n pKF = pKF->GetParent();\n }\n\n Trw = Trw*pKF->GetPose()*Two;\n\n cv::Mat Tcw = (*lit)*Trw;\n cv::Mat Rwc = Tcw.rowRange(0,3).colRange(0,3).t();\n cv::Mat twc = -Rwc*Tcw.rowRange(0,3).col(3);\n\n f << setprecision(9) << Rwc.at<float>(0,0) << \" \" << Rwc.at<float>(0,1) << \" \" << Rwc.at<float>(0,2) << \" \" << twc.at<float>(0) << \" \" <<\n Rwc.at<float>(1,0) << \" \" << Rwc.at<float>(1,1) << \" \" << Rwc.at<float>(1,2) << \" \" << twc.at<float>(1) << \" \" <<\n Rwc.at<float>(2,0) << \" \" << Rwc.at<float>(2,1) << \" \" << Rwc.at<float>(2,2) << \" \" << twc.at<float>(2) << endl;\n }\n f.close();\n}\n\n\nvoid System::SaveDebugData(const int &initIdx)\n{\n // 0. Save initialization trajectory\n SaveTrajectoryEuRoC(\"init_FrameTrajectoy_\" +to_string(mpLocalMapper->mInitSect)+ \"_\" + to_string(initIdx)+\".txt\");\n\n // 1. Save scale\n ofstream f;\n f.open(\"init_Scale_\" + to_string(mpLocalMapper->mInitSect) + \".txt\", ios_base::app);\n f << fixed;\n f << mpLocalMapper->mScale << endl;\n f.close();\n\n // 2. Save gravity direction\n f.open(\"init_GDir_\" +to_string(mpLocalMapper->mInitSect)+ \".txt\", ios_base::app);\n f << fixed;\n f << mpLocalMapper->mRwg(0,0) << \",\" << mpLocalMapper->mRwg(0,1) << \",\" << mpLocalMapper->mRwg(0,2) << endl;\n f << mpLocalMapper->mRwg(1,0) << \",\" << mpLocalMapper->mRwg(1,1) << \",\" << mpLocalMapper->mRwg(1,2) << endl;\n f << mpLocalMapper->mRwg(2,0) << \",\" << mpLocalMapper->mRwg(2,1) << \",\" << mpLocalMapper->mRwg(2,2) << endl;\n f.close();\n\n // 3. Save computational cost\n f.open(\"init_CompCost_\" +to_string(mpLocalMapper->mInitSect)+ \".txt\", ios_base::app);\n f << fixed;\n f << mpLocalMapper->mCostTime << endl;\n f.close();\n\n // 4. Save biases\n f.open(\"init_Biases_\" +to_string(mpLocalMapper->mInitSect)+ \".txt\", ios_base::app);\n f << fixed;\n f << mpLocalMapper->mbg(0) << \",\" << mpLocalMapper->mbg(1) << \",\" << mpLocalMapper->mbg(2) << endl;\n f << mpLocalMapper->mba(0) << \",\" << mpLocalMapper->mba(1) << \",\" << mpLocalMapper->mba(2) << endl;\n f.close();\n\n // 5. Save covariance matrix\n f.open(\"init_CovMatrix_\" +to_string(mpLocalMapper->mInitSect)+ \"_\" +to_string(initIdx)+\".txt\", ios_base::app);\n f << fixed;\n for(int i=0; i<mpLocalMapper->mcovInertial.rows(); i++)\n {\n for(int j=0; j<mpLocalMapper->mcovInertial.cols(); j++)\n {\n if(j!=0)\n f << \",\";\n f << setprecision(15) << mpLocalMapper->mcovInertial(i,j);\n }\n f << endl;\n }\n f.close();\n\n // 6. Save initialization time\n f.open(\"init_Time_\" +to_string(mpLocalMapper->mInitSect)+ \".txt\", ios_base::app);\n f << fixed;\n f << mpLocalMapper->mInitTime << endl;\n f.close();\n}\n\n\nint System::GetTrackingState()\n{\n unique_lock<mutex> lock(mMutexState);\n return mTrackingState;\n}\n\nvector<MapPoint*> System::GetTrackedMapPoints()\n{\n unique_lock<mutex> lock(mMutexState);\n return mTrackedMapPoints;\n}\n\nvector<cv::KeyPoint> System::GetTrackedKeyPointsUn()\n{\n unique_lock<mutex> lock(mMutexState);\n return mTrackedKeyPointsUn;\n}\n\ndouble System::GetTimeFromIMUInit()\n{\n double aux = mpLocalMapper->GetCurrKFTime()-mpLocalMapper->mFirstTs;\n if ((aux>0.) && mpAtlas->isImuInitialized())\n return mpLocalMapper->GetCurrKFTime()-mpLocalMapper->mFirstTs;\n else\n return 0.f;\n}\n\nbool System::isLost()\n{\n if (!mpAtlas->isImuInitialized())\n return false;\n else\n {\n if ((mpTracker->mState==Tracking::LOST)) //||(mpTracker->mState==Tracking::RECENTLY_LOST))\n return true;\n else\n return false;\n }\n}\n\n\nbool System::isFinished()\n{\n return (GetTimeFromIMUInit()>0.1);\n}\n\nvoid System::ChangeDataset()\n{\n if(mpAtlas->GetCurrentMap()->KeyFramesInMap() < 12)\n {\n mpTracker->ResetActiveMap();\n }\n else\n {\n mpTracker->CreateMapInAtlas();\n }\n\n mpTracker->NewDataset();\n}\n\n/*void System::SaveAtlas(int type){\n cout << endl << \"Enter the name of the file if you want to save the current Atlas session. To exit press ENTER: \";\n string saveFileName;\n getline(cin,saveFileName);\n if(!saveFileName.empty())\n {\n //clock_t start = clock();\n\n // Save the current session\n mpAtlas->PreSave();\n mpKeyFrameDatabase->PreSave();\n\n string pathSaveFileName = \"./\";\n pathSaveFileName = pathSaveFileName.append(saveFileName);\n pathSaveFileName = pathSaveFileName.append(\".osa\");\n\n string strVocabularyChecksum = CalculateCheckSum(mStrVocabularyFilePath,TEXT_FILE);\n std::size_t found = mStrVocabularyFilePath.find_last_of(\"/\\\\\");\n string strVocabularyName = mStrVocabularyFilePath.substr(found+1);\n\n if(type == TEXT_FILE) // File text\n {\n cout << \"Starting to write the save text file \" << endl;\n std::remove(pathSaveFileName.c_str());\n std::ofstream ofs(pathSaveFileName, std::ios::binary);\n boost::archive::text_oarchive oa(ofs);\n\n oa << strVocabularyName;\n oa << strVocabularyChecksum;\n oa << mpAtlas;\n oa << mpKeyFrameDatabase;\n cout << \"End to write the save text file\" << endl;\n }\n else if(type == BINARY_FILE) // File binary\n {\n cout << \"Starting to write the save binary file\" << endl;\n std::remove(pathSaveFileName.c_str());\n std::ofstream ofs(pathSaveFileName, std::ios::binary);\n boost::archive::binary_oarchive oa(ofs);\n oa << strVocabularyName;\n oa << strVocabularyChecksum;\n oa << mpAtlas;\n oa << mpKeyFrameDatabase;\n cout << \"End to write save binary file\" << endl;\n }\n\n //clock_t timeElapsed = clock() - start;\n //unsigned msElapsed = timeElapsed / (CLOCKS_PER_SEC / 1000);\n //cout << \"Binary file saved in \" << msElapsed << \" ms\" << endl;\n }\n}\n\nbool System::LoadAtlas(string filename, int type)\n{\n string strFileVoc, strVocChecksum;\n bool isRead = false;\n\n if(type == TEXT_FILE) // File text\n {\n cout << \"Starting to read the save text file \" << endl;\n std::ifstream ifs(filename, std::ios::binary);\n if(!ifs.good())\n {\n cout << \"Load file not found\" << endl;\n return false;\n }\n boost::archive::text_iarchive ia(ifs);\n ia >> strFileVoc;\n ia >> strVocChecksum;\n ia >> mpAtlas;\n //ia >> mpKeyFrameDatabase;\n cout << \"End to load the save text file \" << endl;\n isRead = true;\n }\n else if(type == BINARY_FILE) // File binary\n {\n cout << \"Starting to read the save binary file\" << endl;\n std::ifstream ifs(filename, std::ios::binary);\n if(!ifs.good())\n {\n cout << \"Load file not found\" << endl;\n return false;\n }\n boost::archive::binary_iarchive ia(ifs);\n ia >> strFileVoc;\n ia >> strVocChecksum;\n ia >> mpAtlas;\n //ia >> mpKeyFrameDatabase;\n cout << \"End to load the save binary file\" << endl;\n isRead = true;\n }\n\n if(isRead)\n {\n //Check if the vocabulary is the same\n string strInputVocabularyChecksum = CalculateCheckSum(mStrVocabularyFilePath,TEXT_FILE);\n\n if(strInputVocabularyChecksum.compare(strVocChecksum) != 0)\n {\n cout << \"The vocabulary load isn't the same which the load session was created \" << endl;\n cout << \"-Vocabulary name: \" << strFileVoc << endl;\n return false; // Both are differents\n }\n\n return true;\n }\n return false;\n}\n\nstring System::CalculateCheckSum(string filename, int type)\n{\n string checksum = \"\";\n\n unsigned char c[MD5_DIGEST_LENGTH];\n\n std::ios_base::openmode flags = std::ios::in;\n if(type == BINARY_FILE) // Binary file\n flags = std::ios::in | std::ios::binary;\n\n ifstream f(filename.c_str(), flags);\n if ( !f.is_open() )\n {\n cout << \"[E] Unable to open the in file \" << filename << \" for Md5 hash.\" << endl;\n return checksum;\n }\n\n MD5_CTX md5Context;\n char buffer[1024];\n\n MD5_Init (&md5Context);\n while ( int count = f.readsome(buffer, sizeof(buffer)))\n {\n MD5_Update(&md5Context, buffer, count);\n }\n\n f.close();\n\n MD5_Final(c, &md5Context );\n\n for(int i = 0; i < MD5_DIGEST_LENGTH; i++)\n {\n char aux[10];\n sprintf(aux,\"%02x\", c[i]);\n checksum = checksum + aux;\n }\n\n return checksum;\n}*/\n\n} //namespace ORB_SLAM\n\n\n",
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