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Update CMakeLists.txt #48

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a49c5ef
Update CMakeLists.txt
Nanashi1Kuro Oct 23, 2023
5b05da1
Update CMakeLists.txt
Nanashi1Kuro Oct 23, 2023
b2753fd
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Nanashi1Kuro Oct 28, 2023
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5 changes: 3 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -130,7 +130,6 @@ include_directories(
${GTSAM_INCLUDE_DIR}
)


# decide if we have pangolin
if (Pangolin_FOUND)
message("--- found PANGOLIN, compiling with pangolin library.")
Expand Down Expand Up @@ -197,11 +196,13 @@ if (OpenCV_FOUND AND Pangolin_FOUND)
message("--- compiling dmvio_t265.")
set(dmvio_t265_SOURCE_FILES ${PROJECT_SOURCE_DIR}/src/live/RealsenseT265.cpp)
add_executable(dmvio_t265 ${PROJECT_SOURCE_DIR}/src/main_dmvio_t265.cpp ${dmvio_t265_SOURCE_FILES})
target_link_libraries(dmvio_t265 dmvio ${DMVIO_LINKED_LIBRARIES} realsense2::realsense2)
target_link_libraries(dmvio_t265 dmvio ${DMVIO_LINKED_LIBRARIES} realsense2::realsense2)
endif()

else()
message("--- not building dmvio_dataset, since either don't have openCV or Pangolin.")
endif()


#add_definitions(${PCL_DEFINITIONS})
add_subdirectory(test)
83 changes: 81 additions & 2 deletions src/dso/IOWrapper/OutputWrapper/SampleOutputWrapper.h
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Expand Up @@ -48,11 +48,22 @@ class SampleOutputWrapper : public Output3DWrapper
public:
inline SampleOutputWrapper()
{
numPCL = 0;
isSavePCL = true;
isPCLfileClose = false;

pclFile.open(strTmpFileName);

printf("OUT: Created SampleOutputWrapper\n");
}

virtual ~SampleOutputWrapper()
{

if (pclFile.is_open())
{
pclFile.close();
}
printf("OUT: Destroyed SampleOutputWrapper\n");
}

Expand All @@ -76,7 +87,7 @@ class SampleOutputWrapper : public Output3DWrapper

virtual void publishKeyframes( std::vector<FrameHessian*> &frames, bool final, CalibHessian* HCalib) override
{
for(FrameHessian* f : frames)
/*for(FrameHessian* f : frames)
{
printf("OUT: KF %d (%s) (id %d, tme %f): %d active, %d marginalized, %d immature points. CameraToWorld:\n",
f->frameID,
Expand All @@ -96,6 +107,74 @@ class SampleOutputWrapper : public Output3DWrapper
if(maxWrite==0) break;
}
}
*/
float fx, fy, cx, cy;
float fxi, fyi, cxi, cyi;
//float colorIntensity = 1.0f;
fx = HCalib->fxl();
fy = HCalib->fyl();
cx = HCalib->cxl();
cy = HCalib->cyl();
fxi = 1 / fx;
fyi = 1 / fy;
cxi = -cx / fx;
cyi = -cy / fy;

if (final)
{
for (FrameHessian* f : frames)
{
if (f->shell->poseValid)
{
auto const& m = f->shell->camToWorld.matrix3x4();

// use only marginalized points.
auto const& points = f->pointHessiansMarginalized;

for (auto const* p : points)
{
float depth = 1.0f / p->idepth;
auto const x = (p->u * fxi + cxi) * depth;
auto const y = (p->v * fyi + cyi) * depth;
auto const z = depth * (1 + 2 * fxi);

Eigen::Vector4d camPoint(x, y, z, 1.f);
Eigen::Vector3d worldPoint = m * camPoint;

if (isSavePCL && pclFile.is_open())
{
isWritePCL = true;

pclFile << worldPoint[0] << " " << worldPoint[1] << " " << worldPoint[2] << "\n";

printf("[%d] Point Cloud Coordinate> X: %.2f, Y: %.2f, Z: %.2f\n",
numPCL,
worldPoint[0],
worldPoint[1],
worldPoint[2]);

numPCL++;
isWritePCL = false;
}
else
{
if (!isPCLfileClose)
{
if (pclFile.is_open())
{
pclFile.flush();
pclFile.close();
isPCLfileClose = true;
}
}
}


}
}
}
}

}

virtual void publishCamPose(FrameShell* frame, CalibHessian* HCalib) override
Expand Down Expand Up @@ -145,7 +224,7 @@ class SampleOutputWrapper : public Output3DWrapper
if(maxWrite==0) break;
}
}

std::ofstream pclFile;

};

Expand Down
9 changes: 3 additions & 6 deletions src/dso/IOWrapper/Pangolin/KeyFrameDisplay.cpp
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Expand Up @@ -186,8 +186,10 @@ void KeyFrameDisplay::setFromKF(FrameHessian* fh, CalibHessian* HCalib)

KeyFrameDisplay::~KeyFrameDisplay()
{

if(originalInputSparse != 0)
delete[] originalInputSparse;

}

bool KeyFrameDisplay::refreshPC(bool canRefresh, float scaledTH, float absTH, int mode, float minBS, int sparsity)
Expand Down Expand Up @@ -220,7 +222,7 @@ bool KeyFrameDisplay::refreshPC(bool canRefresh, float scaledTH, float absTH, in
Vec3f* tmpVertexBuffer = new Vec3f[numSparsePoints*patternNum];
Vec3b* tmpColorBuffer = new Vec3b[numSparsePoints*patternNum];
int vertexBufferNumPoints=0;

for(int i=0;i<numSparsePoints;i++)
{
/* display modes:
Expand Down Expand Up @@ -262,8 +264,6 @@ bool KeyFrameDisplay::refreshPC(bool canRefresh, float scaledTH, float absTH, in
tmpVertexBuffer[vertexBufferNumPoints][1] = ((originalInputSparse[i].v+dy)*fyi + cyi) * depth;
tmpVertexBuffer[vertexBufferNumPoints][2] = depth*(1 + 2*fxi * (rand()/(float)RAND_MAX-0.5f));



if(my_displayMode==0)
{
if(originalInputSparse[i].status==0)
Expand Down Expand Up @@ -331,12 +331,9 @@ bool KeyFrameDisplay::refreshPC(bool canRefresh, float scaledTH, float absTH, in
delete[] tmpColorBuffer;
delete[] tmpVertexBuffer;


return true;
}



void KeyFrameDisplay::drawCam(float lineWidth, float* color, float sizeFactor)
{
if(width == 0)
Expand Down
1 change: 1 addition & 0 deletions src/dso/IOWrapper/Pangolin/KeyFrameDisplay.h
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Expand Up @@ -67,6 +67,7 @@ class KeyFrameDisplay
{

public:

EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
KeyFrameDisplay();
~KeyFrameDisplay();
Expand Down
56 changes: 56 additions & 0 deletions src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp
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Expand Up @@ -158,6 +158,7 @@ void PangolinDSOViewer::run()

pangolin::Var<bool> settings_resetButton("ui.Reset",false,false);

pangolin::Var<bool> settings_savePCButton("ui.savePointCloud",false,false);

pangolin::Var<int> settings_nPts("ui.activePoints",setting_desiredPointDensity, 50,5000, false);
pangolin::Var<int> settings_nCandidates("ui.pointCandidates",setting_desiredImmatureDensity, 50,5000, false);
Expand Down Expand Up @@ -344,6 +345,61 @@ void PangolinDSOViewer::run()
setting_fullResetRequested = true;
}

if(settings_savePCButton.Get())
{
printf("Saving [%d] Point Cloud Data....\n", numPCL);
settings_savePCButton.Reset();

while (1)
{
if (!isWritePCL)
{
isSavePCL = false;
break;
}

boost::this_thread::sleep_for(boost::chrono::milliseconds(100));
}


while (1)
{
if (isPCLfileClose)
{
std::ofstream finalFile(strSaveFileName);
finalFile << std::string("# .PCD v.6 - Point Cloud Data file format\n");
finalFile << std::string("FIELDS x y z\n");
finalFile << std::string("SIZE 4 4 4\n");
finalFile << std::string("TYPE F F F\n");
finalFile << std::string("COUNT 1 1 1\n");
finalFile << std::string("WIDTH ") << numPCL << std::string("\n");
finalFile << std::string("HEIGHT 1\n");
finalFile << std::string("#VIEWPOINT 0 0 0 1 0 0 0\n");
finalFile << std::string("POINTS ") << numPCL << std::string("\n");
finalFile << std::string("DATA ascii\n");

std::ifstream savedFile(strTmpFileName);

while (!savedFile.eof())
{
finalFile.put(savedFile.get());
}

finalFile.close();
savedFile.close();

printf("PCL File for 'pcl_data.pcd' is saved.\n");

break;
}

boost::this_thread::sleep_for(boost::chrono::milliseconds(100));
}


}


// Swap frames and Process Events
pangolin::FinishFrame();

Expand Down
7 changes: 7 additions & 0 deletions src/dso/util/settings.cpp
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Expand Up @@ -231,6 +231,13 @@ bool setting_debugout_runquiet = false;

int sparsityFactor = 5; // not actually a setting, only some legacy stuff for coarse initializer.

int numPCL = 0;
bool isSavePCL = true;
bool isWritePCL = false;
bool isPCLfileClose = false;
std::string strTmpFileName = "pcl_data_tmp.pcd";
std::string strSaveFileName = "pcl_data.pcd";


void handleKey(char k)
{
Expand Down
7 changes: 6 additions & 1 deletion src/dso/util/settings.h
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Expand Up @@ -216,7 +216,12 @@ extern int staticPattern[10][40][2];
extern int staticPatternNum[10];
extern int staticPatternPadding[10];


extern bool isSavePCL;
extern bool isPCLfileClose;
extern int numPCL;
extern std::string strTmpFileName;
extern std::string strSaveFileName;
extern bool isWritePCL;


//#define patternNum staticPatternNum[setting_pattern]
Expand Down
8 changes: 8 additions & 0 deletions src/main_dmvio_dataset.cpp
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Expand Up @@ -330,6 +330,14 @@ void run(ImageFolderReader* reader, IOWrap::PangolinDSOViewer* viewer)
tmlog.close();
}

if (!isPCLfileClose)
{
((IOWrap::SampleOutputWrapper*)fullSystem->outputWrapper[1])->pclFile.flush();
((IOWrap::SampleOutputWrapper*)fullSystem->outputWrapper[1])->pclFile.close();
isPCLfileClose = true;
printf("pcl tmp file is auto closed.\n");
}

for(IOWrap::Output3DWrapper* ow : fullSystem->outputWrapper)
{
ow->join();
Expand Down