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kitti.cpp
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kitti.cpp
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#include <vector>
#include <iostream>
#include <opencv2/opencv.hpp>
#include <Eigen/Dense>
#include <fstream>
#include <string>
#include <sstream>
#include <iomanip>
//#include <opencv2/features2d.hpp>
//#include <opencv2/imgcodecs.hpp>
//#include <opencv2/core/core.hpp>
//#include <opencv2/highgui/highgui.hpp>
//#include <opencv2/imgproc/imgproc.hpp>
//#include "jac_Rt_gen_.cpp"
using namespace std;
using namespace cv;
using namespace Eigen;
template<typename M>
M load_csv (const std::string & path) {
std::ifstream indata;
indata.open(path);
std::string line;
std::vector<double> values;
uint rows = 0;
while (std::getline(indata, line)) {
std::stringstream lineStream(line);
std::string cell;
while (std::getline(lineStream, cell, ' ')) {
values.push_back(std::stod(cell));
}
++rows;
}
return Map<const Matrix<typename M::Scalar, M::RowsAtCompileTime, M::ColsAtCompileTime, RowMajor>>(values.data(), rows, values.size()/rows);
}
int main(){
Mat cam = (Mat_<float>(3,3) << 718.8560, 0.0, 607.1928,
0.0, 718.8560, 185.2157,
0.0, 0.0, 1.0);
MatrixXd cam_(3, 3);
cam_ << 718.8560, 0.0, 607.1928,
0.0, 718.8560, 185.2157,
0.0, 0.0, 1.0;
cam_ = cam_.inverse();
MatrixXd poses = load_csv<MatrixXd>("/home/ronnypetson/dataset/poses/06.txt");
vector<MatrixXd> X;
vector<int> limits;
string src_fn, tgt_fn;
string base_img = "/home/ronnypetson/dataset/sequences/06/image_0/";
for(int i = 0; i < 900; i++){
cout << i << " ";
src_fn = base_img;
tgt_fn = base_img;
stringstream ss0, ss1;
ss0 << setw(6) << setfill('0') << i;
ss1 << setw(6) << setfill('0') << i + 1;
src_fn += ss0.str() + ".png";
tgt_fn += ss1.str() + ".png";
Mat src = imread(src_fn, IMREAD_GRAYSCALE);
Mat tgt = imread(tgt_fn, IMREAD_GRAYSCALE);
//cout << " Image size :" << src.rows << " " << src.cols << "\n";
//cout << " Image size :" << tgt.rows << " " << tgt.cols << "\n";
vector<KeyPoint> kp0, kp_; // kp1,
Ptr<FastFeatureDetector> detector=FastFeatureDetector::create();
vector<Mat> descriptor;
detector->detect(src, kp0, Mat());
//detector->detect(tgt, kp1, Mat());
vector<Point2f> pt0, pt1_;
cv::KeyPoint::convert(kp0, pt0);
vector<uchar> status;
vector<float> err;
calcOpticalFlowPyrLK(src,
tgt,
pt0,
pt1_,
status,
err);
vector<Point2f> _cpt0, _cpt1_;
for(int j = 0; j < status.size(); j++){
if((int)status[j] == 1){
_cpt0.push_back(pt0[j]);
_cpt1_.push_back(pt1_[j]);
}
}
vector<uchar> mask_ess;
Mat ess = findEssentialMat(_cpt0,
_cpt1_,
cam,
RANSAC,
0.99,
1.0,
mask_ess);
vector<Point2f> cpt0, cpt1_;
for(int j = 0; j < mask_ess.size(); j++){
if((int)mask_ess[j] == 1){
cpt0.push_back(_cpt0[j]);
cpt1_.push_back(_cpt1_[j]);
}
}
//cout << status.size() << endl;
//cout << cpt0.size() << " " << cpt1_.size() << endl;
MatrixXd R(3, 3), t(3, 1);
MatrixXd T = MatrixXd::Identity(4, 4);
MatrixXd pT = MatrixXd::Identity(4, 4);
MatrixXd _pT = poses.row(i);
MatrixXd _T = poses.row(i + 1);
_pT.resize(4, 3);
_T.resize(4, 3);
T.block<3, 4>(0, 0) = _T.transpose();
pT.block<3, 4>(0, 0) = _pT.transpose();
MatrixXd dT = pT.inverse() * T;
dT = dT.inverse();
R = dT.block<3, 3>(0, 0);
t = dT.block<3, 1>(0, 3);
MatrixXd p_(2, 3), p(3, 1), x_;
MatrixXd A, B, cp(3, 1), cp_(3, 1);
double d;
limits.push_back(X.size());
for(int j = 0; j < cpt0.size(); j++){
cp_ << cpt1_[j].x, cpt1_[j].y, 1.0;
cp << cpt0[j].x, cpt0[j].y, 1.0;
cp_ = cam_ * cp_;
cp = cam_ * cp;
p_ << 1.0, 0.0, -cp_(0, 0), 0.0, 1.0, -cp_(1, 0);
A = p_ * t;
B = p_ * R * cp;
if(B.norm() > 1E-2){
d = A.norm() / B.norm();
x_ = pT.block<3, 3>(0, 0) * (d * cp)
+ pT.block<3, 1>(0, 3); // debug
X.push_back(x_);
}
}
}
ofstream pt_cloud, lims;
pt_cloud.open("pts.cld");
for(int i = 0; i < X.size(); i++){
pt_cloud << X[i].transpose() << "\n\n";
}
pt_cloud.close();
lims.open("lims");
for(int i = 0; i < limits.size(); i++){
lims << limits[i] << " ";
}
lims.close();
//Mat ess = findEssentialMat(cpt0, cpt1_, cam);
//Mat rot, tr;
//recoverPose(ess, cpt0, cpt1_, cam, rot, tr);
//cout << rot << endl << endl;
//cout << tr << endl << endl;
//drawKeypoints(src, keypointsD, src);
//drawKeypoints(tgt, keypointsD2, tgt);
//imshow("keypoints", src);
//waitKey();
//imshow("keypoints", tgt);
//waitKey();
}