commit 6ccbbaf3863f67a7044b3f8d2f2774a05561c91a Author: Xi Xu Date: Tue Jun 3 17:44:00 2025 +0800 Initial commit diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..638b9b9 --- /dev/null +++ b/.clang-format @@ -0,0 +1,39 @@ +AccessModifierOffset: -4 +AlignAfterOpenBracket: DontAlign +AllowShortBlocksOnASingleLine: true +AllowShortFunctionsOnASingleLine: All +BasedOnStyle: LLVM +BraceWrapping: + AfterClass: false + AfterControlStatement: false + AfterEnum: false + AfterFunction: false + AfterNamespace: false + AfterStruct: false + AfterUnion: false + BeforeCatch: true + BeforeElse: true + IndentBraces: false + SplitEmptyFunction: true + SplitEmptyRecord: true +BreakBeforeBraces: Custom +ColumnLimit: 0 +Cpp11BracedListStyle: false +FixNamespaceComments: false +IndentCaseLabels: false +IndentPPDirectives: None +IndentWidth: 4 +MaxEmptyLinesToKeep: 1 +NamespaceIndentation: All +PointerAlignment: Right +SortIncludes: false +SortUsingDeclarations: false +SpaceAfterCStyleCast: false +SpaceBeforeAssignmentOperators: true +SpaceBeforeParens: ControlStatements +SpaceInEmptyParentheses: false +SpacesInCStyleCastParentheses: false +SpacesInParentheses: false +SpacesInSquareBrackets: false +TabWidth: 4 +UseTab: true diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..259148f --- /dev/null +++ b/.gitignore @@ -0,0 +1,32 @@ +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..7fcef98 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,47 @@ +cmake_minimum_required(VERSION 3.5) +project(MY_SLAM) + +# Specify C++ standard +set(CMAKE_CXX_FLAGS "-std=c++23 -g -O0") +set(CMAKE_BUILD_TYPE Debug) + + +# Find required packages +find_package(OpenCV REQUIRED) +find_package(Pangolin REQUIRED) +find_package(Eigen3 REQUIRED) + +# Include header directories +include_directories( + ${OpenCV_INCLUDE_DIRS} + ${Pangolin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} + "./include" +) + +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/out/bin) +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/out/libs) + +# Recursively find all .cpp files in src directory and its subdirectories +file(GLOB_RECURSE LIB_SOURCES "src/*.cpp") +file(GLOB_RECURSE MAIN_SOURCES "Main/*.cpp") + + + +add_library(SLAM_LIB_S STATIC ${LIB_SOURCES}) +add_library(SLAM_LIB SHARED ${LIB_SOURCES}) +# Generate executable +add_executable(slam_app ${MAIN_SOURCES}) +# Link libraries +target_link_libraries(SLAM_LIB + ${OpenCV_LIBS} + ${Pangolin_LIBRARIES} + pthread # For multithreading +) +target_link_libraries(SLAM_LIB_S + ${OpenCV_LIBS} + ${Pangolin_LIBRARIES} + pthread # For multithreading +) + +target_link_libraries(slam_app SLAM_LIB) diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..e62ec04 --- /dev/null +++ b/LICENSE @@ -0,0 +1,674 @@ +GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + This program 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. + + This program 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 this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/Main/main.cpp b/Main/main.cpp new file mode 100644 index 0000000..c20c4e2 --- /dev/null +++ b/Main/main.cpp @@ -0,0 +1,17 @@ +#include +#include +#include + +// Main function +int main(int argc, char **argv) { + // freopen("./log.log", "w", stdout); + string configFileList = "./config.yaml"; + if (argc > 1) { + configFileList = argv[1]; + } + + auto vo = make_unique(); + vo->init(configFileList); + vo->applictionStart(); + return 0; +} \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..83e65f9 --- /dev/null +++ b/README.md @@ -0,0 +1,323 @@ +# RGB-D SLAM + +A real-time Simultaneous Localization and Mapping (SLAM) system using RGB-D camera data, implemented in C++ with visual odometry and 3D visualization. + +## 🎯 Overview + +This project implements a visual SLAM system that processes RGB-D (color + depth) image sequences to estimate camera motion and build a 3D map of the environment. The system uses feature-based visual odometry with ORB features and PnP pose estimation, providing real-time 3D visualization using Pangolin. + +## 🚀 Features + +- **Real-time RGB-D SLAM** processing +- **Visual Odometry** using ORB feature detection and matching +- **Pose Estimation** via PnP RANSAC algorithm +- **3D Map Building** with colored point clouds +- **Interactive Visualization** using Pangolin with GUI controls +- **Multi-threaded Architecture** for optimal performance +- **TUM RGB-D Dataset** compatibility +- **Configurable Parameters** via YAML configuration + +## 🛠️ Dependencies + +### Required Libraries + +- **OpenCV** (≥ 4.0) - Computer vision and image processing +- **Pangolin** - 3D visualization and GUI +- **Eigen3** - Linear algebra operations +- **CMake** (≥ 3.5) - Build system + +### System Requirements + +- **C++23** compatible compiler +- **Linux/WSL2** (tested on Ubuntu) +- **OpenGL** support for visualization + +## 📦 Installation + +### 1. Install Dependencies + +#### Ubuntu/WSL2 + +```bash +# Update package list +sudo apt update + +# Install OpenCV +sudo apt install libopencv-dev + +# Install Eigen3 +sudo apt install libeigen3-dev + +# Install Pangolin dependencies +sudo apt install libgl1-mesa-dev libglew-dev cmake +sudo apt install libpython2.7-dev pkg-config + +# Build and install Pangolin +git clone https://github.com/stevenlovegrove/Pangolin.git +cd Pangolin +mkdir build && cd build +cmake .. +make -j4 +sudo make install +``` + +### 2. Clone and Build Project + +```bash +# Clone repository +git clone https://github.com/xixu-me/RGB-D_SLAM.git +cd RGB-D_SLAM + +# Create build directory +mkdir build && cd build + +# Configure and build +cmake .. +make -j4 +``` + +### 3. Setup Dataset + +Download the TUM RGB-D dataset: + +```bash +# Create dataset directory +mkdir -p dataset + +# Download sample dataset (freiburg1_xyz) +wget https://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_xyz.tgz +tar -xzf rgbd_dataset_freiburg1_xyz.tgz -C dataset/ + +# Generate association file +cd dataset/rgbd_dataset_freiburg1_xyz +python ../../associate.py rgb.txt depth.txt > associate.txt +cd ../.. +``` + +## 🚀 Usage + +### Quick Start + +```bash +# Run with default configuration +./out/bin/slam_app config.yaml + +# Or use the automated script +chmod +x compile_and_run.sh +./compile_and_run.sh +``` + +### Configuration + +Edit `config.yaml` to customize parameters: + +```yaml +%YAML:1.0 + +# Dataset path +dataset_dir: ./dataset/rgbd_dataset_freiburg1_xyz + +# Visualization settings +pointSizeCur: 3.15 # Current frame point size +pointSizeHis: 2.75 # Historical point size +waitTime: 1 # Display delay (ms) + +# Dense mapping (0=sparse, 1=dense) +dense: 0 +``` + +### GUI Controls + +The Pangolin visualization provides interactive controls: + +- **Follow Camera**: Toggle camera following mode +- **Show Points**: Toggle 3D point cloud display +- **Show KeyFrames**: Toggle camera trajectory display +- **Only CurFrames**: Show only current frame or full trajectory + +### Camera Controls + +- **Left Click + Drag**: Rotate view +- **Right Click + Drag**: Pan view +- **Scroll Wheel**: Zoom in/out +- **Middle Click**: Reset view + +## 🏗️ Architecture + +### Core Components + +``` +├── Vo (Visual Odometry) +│ ├── Feature Extraction (ORB) +│ ├── Feature Matching (BF Matcher) +│ ├── Pose Estimation (PnP RANSAC) +│ └── Map Point Management +├── Config (Configuration Manager) +├── Frame (Data Structure) +├── MapPoint (3D Point Representation) +└── Visualization (Pangolin Thread) +``` + +### Data Flow + +1. **Frame Loading**: Read RGB and depth images from dataset +2. **Feature Extraction**: Detect ORB keypoints and compute descriptors +3. **Feature Matching**: Match features between consecutive frames +4. **Pose Estimation**: Estimate camera motion using PnP RANSAC +5. **Map Update**: Add new 3D points to the map +6. **Visualization**: Render trajectory and point cloud in real-time + +### Multi-threading + +- **Main Thread**: Pangolin visualization and GUI +- **Worker Thread**: Data processing and SLAM computation +- **Synchronization**: Condition variables and mutexes for thread safety + +## 📊 Algorithm Details + +### Feature Detection + +- **ORB Features**: Fast and rotation-invariant +- **2600 keypoints** per frame for robust matching +- **Binary descriptors** for efficient matching + +### Pose Estimation + +- **PnP RANSAC**: Robust pose estimation from 3D-2D correspondences +- **Camera intrinsics**: Fixed parameters for TUM dataset +- **Depth integration**: Convert 2D features to 3D using depth information + +### Map Building + +- **Sparse mapping**: Feature-based 3D reconstruction +- **Point cloud**: Colored 3D points from RGB-D data +- **Memory management**: Optional point removal for efficiency + +## 🎮 WSL2 GUI Setup + +For WSL2 users, GUI applications require X server setup: + +### Option 1: Windows 11 with WSLg (Recommended) + +- Automatic GUI support - no additional setup needed + +### Option 2: External X Server + +Install an X server on Windows: + +- **VcXsrv** (free): +- **X410** (paid): Microsoft Store +- **Xming** (free): + +Set display variable: + +```bash +export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0.0 +# OR +export DISPLAY=:0 +``` + +## 📝 File Structure + +``` +RGB-D_SLAM/ +├── CMakeLists.txt # Build configuration +├── config.yaml # Runtime configuration +├── compile_and_run.sh # Automated build script +├── include/ # Header files +│ ├── common_include.h # Common includes and utilities +│ ├── config.hpp # Configuration management +│ ├── DS.h # Data structures +│ ├── utils.h # Utility functions +│ └── Vo.h # Visual odometry class +├── src/ # Source files +│ ├── utils.cpp # Utility implementations +│ └── Vo.cpp # Main SLAM implementation +├── Main/ # Application entry point +│ └── main.cpp # Main function +├── dataset/ # Dataset directory +│ └── rgbd_dataset_freiburg1_xyz/ +└── out/ # Build outputs + ├── bin/ # Executables + └── libs/ # Libraries +``` + +## 🔧 Troubleshooting + +### Common Issues + +**OpenGL/Pangolin errors:** + +```bash +# Install missing OpenGL libraries +sudo apt install mesa-utils +# Test OpenGL +glxinfo | grep OpenGL +``` + +**Missing dataset:** + +- Ensure `associate.txt` exists in dataset directory +- Check file paths in `config.yaml` +- Verify dataset format matches TUM RGB-D specification + +**Build errors:** + +- Check C++23 compiler support +- Verify all dependencies are installed +- Clear build directory and rebuild + +### Performance Tips + +- Reduce `pointSizeCur` and `pointSizeHis` for better performance +- Set `dense: 0` for sparse mapping (faster) +- Increase `waitTime` to slow down processing +- Close other applications to free system resources + +## 📚 Dataset Format + +The system expects TUM RGB-D dataset format: + +``` +dataset/rgbd_dataset_freiburg1_xyz/ +├── rgb/ # RGB images +│ ├── 1305031102.160407.png +│ └── ... +├── depth/ # Depth images +│ ├── 1305031102.160407.png +│ └── ... +├── rgb.txt # RGB timestamps +├── depth.txt # Depth timestamps +├── associate.txt # Associated RGB-Depth pairs +├── groundtruth.txt # Camera poses (optional) +└── accelerometer.txt # IMU data (optional) +``` + +## 🤝 Contributing + +1. Fork the repository +2. Create a feature branch (`git checkout -b feature/AmazingFeature`) +3. Commit your changes (`git commit -m 'Add some AmazingFeature'`) +4. Push to the branch (`git push origin feature/AmazingFeature`) +5. Open a Pull Request + +## 🙏 Acknowledgments + +- **TUM RGB-D Dataset**: Technical University of Munich for providing the dataset +- **Pangolin**: Steven Lovegrove for the visualization library +- **OpenCV**: Computer vision community for the comprehensive library +- **Eigen**: Linear algebra template library + +## 📞 Support + +For questions and issues: + +1. Check the troubleshooting section +2. Review existing issues in the repository +3. Create a new issue with detailed description + +## License + +Copyright © [Xi Xu](https://xi-xu.me). All rights reserved. + +Licensed under the [GPL-3.0](LICENSE) license. diff --git a/README_CN.md b/README_CN.md new file mode 100644 index 0000000..f3f33d5 --- /dev/null +++ b/README_CN.md @@ -0,0 +1,323 @@ +# RGB-D SLAM + +一个使用 RGB-D 相机数据的实时同步定位与地图构建 (SLAM) 系统，采用 C++ 实现，具备视觉里程计和 3D 可视化功能。 + +## 🎯 项目概述 + +本项目实现了一个视觉 SLAM 系统，能够处理 RGB-D（彩色 + 深度）图像序列来估计相机运动并构建环境的 3D 地图。系统采用基于特征的视觉里程计，使用 ORB 特征和 PnP 位姿估计，通过 Pangolin 提供实时 3D 可视化。 + +## 🚀 主要特性 + +- **实时 RGB-D SLAM** 处理 +- **视觉里程计**，使用 ORB 特征检测和匹配 +- **位姿估计**，通过 PnP RANSAC 算法 +- **3D 地图构建**，带有彩色点云 +- **交互式可视化**，使用 Pangolin 与 GUI 控制 +- **多线程架构**，实现最佳性能 +- **TUM RGB-D 数据集**兼容性 +- **可配置参数**，通过 YAML 配置文件 + +## 🛠️ 依赖项 + +### 必需库 + +- **OpenCV** (≥ 4.0) - 计算机视觉和图像处理 +- **Pangolin** - 3D 可视化和 GUI +- **Eigen3** - 线性代数运算 +- **CMake** (≥ 3.5) - 构建系统 + +### 系统要求 + +- **C++23** 兼容编译器 +- **Linux/WSL2**（在 Ubuntu 上测试） +- **OpenGL** 可视化支持 + +## 📦 安装说明 + +### 1. 安装依赖项 + +#### Ubuntu/WSL2 + +```bash +# 更新包列表 +sudo apt update + +# 安装 OpenCV +sudo apt install libopencv-dev + +# 安装 Eigen3 +sudo apt install libeigen3-dev + +# 安装 Pangolin 依赖项 +sudo apt install libgl1-mesa-dev libglew-dev cmake +sudo apt install libpython2.7-dev pkg-config + +# 构建并安装 Pangolin +git clone https://github.com/stevenlovegrove/Pangolin.git +cd Pangolin +mkdir build && cd build +cmake .. +make -j4 +sudo make install +``` + +### 2. 克隆并构建项目 + +```bash +# 克隆仓库 +git clone https://github.com/xixu-me/RGB-D_SLAM.git +cd RGB-D_SLAM + +# 创建构建目录 +mkdir build && cd build + +# 配置并构建 +cmake .. +make -j4 +``` + +### 3. 设置数据集 + +下载 TUM RGB-D 数据集： + +```bash +# 创建数据集目录 +mkdir -p dataset + +# 下载示例数据集 (freiburg1_xyz) +wget https://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_xyz.tgz +tar -xzf rgbd_dataset_freiburg1_xyz.tgz -C dataset/ + +# 生成关联文件 +cd dataset/rgbd_dataset_freiburg1_xyz +python ../../associate.py rgb.txt depth.txt > associate.txt +cd ../.. +``` + +## 🚀 使用方法 + +### 快速开始 + +```bash +# 使用默认配置运行 +./out/bin/slam_app config.yaml + +# 或使用自动化脚本 +chmod +x compile_and_run.sh +./compile_and_run.sh +``` + +### 配置设置 + +编辑 `config.yaml` 来自定义参数： + +```yaml +%YAML:1.0 + +# 数据集路径 +dataset_dir: ./dataset/rgbd_dataset_freiburg1_xyz + +# 可视化设置 +pointSizeCur: 3.15 # 当前帧点大小 +pointSizeHis: 2.75 # 历史点大小 +waitTime: 1 # 显示延迟 (ms) + +# 密集建图 (0=稀疏, 1=密集) +dense: 0 +``` + +### GUI 控制 + +Pangolin 可视化提供交互式控制： + +- **Follow Camera**: 切换相机跟随模式 +- **Show Points**: 切换 3D 点云显示 +- **Show KeyFrames**: 切换相机轨迹显示 +- **Only CurFrames**: 仅显示当前帧或完整轨迹 + +### 相机控制 + +- **左键 + 拖拽**: 旋转视图 +- **右键 + 拖拽**: 平移视图 +- **滚轮**: 缩放 +- **中键**: 重置视图 + +## 🏗️ 系统架构 + +### 核心组件 + +``` +├── Vo (视觉里程计) +│ ├── 特征提取 (ORB) +│ ├── 特征匹配 (BF Matcher) +│ ├── 位姿估计 (PnP RANSAC) +│ └── 地图点管理 +├── Config (配置管理器) +├── Frame (数据结构) +├── MapPoint (3D 点表示) +└── Visualization (Pangolin 线程) +``` + +### 数据流 + +1. **帧加载**: 从数据集读取 RGB 和深度图像 +2. **特征提取**: 检测 ORB 关键点并计算描述符 +3. **特征匹配**: 匹配连续帧之间的特征 +4. **位姿估计**: 使用 PnP RANSAC 估计相机运动 +5. **地图更新**: 向地图添加新的 3D 点 +6. **可视化**: 实时渲染轨迹和点云 + +### 多线程 + +- **主线程**: Pangolin 可视化和 GUI +- **工作线程**: 数据处理和 SLAM 计算 +- **同步**: 条件变量和互斥锁确保线程安全 + +## 📊 算法细节 + +### 特征检测 + +- **ORB 特征**: 快速且旋转不变 +- **每帧 2600 个关键点**，确保鲁棒匹配 +- **二进制描述符**，实现高效匹配 + +### 位姿估计 + +- **PnP RANSAC**: 从 3D-2D 对应关系进行鲁棒位姿估计 +- **相机内参**: TUM 数据集的固定参数 +- **深度集成**: 使用深度信息将 2D 特征转换为 3D + +### 地图构建 + +- **稀疏建图**: 基于特征的 3D 重建 +- **点云**: 来自 RGB-D 数据的彩色 3D 点 +- **内存管理**: 可选择移除点以提高效率 + +## 🎮 WSL2 GUI 设置 + +对于 WSL2 用户，GUI 应用程序需要 X 服务器设置： + +### 选项 1: Windows 11 与 WSLg（推荐） + +- 自动 GUI 支持 - 无需额外设置 + +### 选项 2: 外部 X 服务器 + +在 Windows 上安装 X 服务器： + +- **VcXsrv**（免费）: +- **X410**（付费）: Microsoft Store +- **Xming**（免费）: + +设置显示变量： + +```bash +export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0.0 +# 或 +export DISPLAY=:0 +``` + +## 📝 文件结构 + +``` +RGB-D_SLAM/ +├── CMakeLists.txt # 构建配置 +├── config.yaml # 运行时配置 +├── compile_and_run.sh # 自动化构建脚本 +├── include/ # 头文件 +│ ├── common_include.h # 通用包含和工具 +│ ├── config.hpp # 配置管理 +│ ├── DS.h # 数据结构 +│ ├── utils.h # 工具函数 +│ └── Vo.h # 视觉里程计类 +├── src/ # 源文件 +│ ├── utils.cpp # 工具实现 +│ └── Vo.cpp # 主要 SLAM 实现 +├── Main/ # 应用程序入口点 +│ └── main.cpp # 主函数 +├── dataset/ # 数据集目录 +│ └── rgbd_dataset_freiburg1_xyz/ +└── out/ # 构建输出 + ├── bin/ # 可执行文件 + └── libs/ # 库文件 +``` + +## 🔧 故障排除 + +### 常见问题 + +**OpenGL/Pangolin 错误:** + +```bash +# 安装缺失的 OpenGL 库 +sudo apt install mesa-utils +# 测试 OpenGL +glxinfo | grep OpenGL +``` + +**缺失数据集:** + +- 确保数据集目录中存在 `associate.txt` +- 检查 `config.yaml` 中的文件路径 +- 验证数据集格式符合 TUM RGB-D 规范 + +**构建错误:** + +- 检查 C++23 编译器支持 +- 验证所有依赖项已安装 +- 清除构建目录并重新构建 + +### 性能提示 + +- 减少 `pointSizeCur` 和 `pointSizeHis` 以获得更好性能 +- 设置 `dense: 0` 进行稀疏建图（更快） +- 增加 `waitTime` 以减慢处理速度 +- 关闭其他应用程序以释放系统资源 + +## 📚 数据集格式 + +系统期望 TUM RGB-D 数据集格式： + +``` +dataset/rgbd_dataset_freiburg1_xyz/ +├── rgb/ # RGB 图像 +│ ├── 1305031102.160407.png +│ └── ... +├── depth/ # 深度图像 +│ ├── 1305031102.160407.png +│ └── ... +├── rgb.txt # RGB 时间戳 +├── depth.txt # 深度时间戳 +├── associate.txt # 关联的 RGB-深度对 +├── groundtruth.txt # 相机位姿（可选） +└── accelerometer.txt # IMU 数据（可选） +``` + +## 🤝 贡献指南 + +1. Fork 仓库 +2. 创建特性分支 (`git checkout -b feature/AmazingFeature`) +3. 提交更改 (`git commit -m 'Add some AmazingFeature'`) +4. 推送到分支 (`git push origin feature/AmazingFeature`) +5. 开启 Pull Request + +## 🙏 致谢 + +- **TUM RGB-D 数据集**: 慕尼黑工业大学提供数据集 +- **Pangolin**: Steven Lovegrove 开发的可视化库 +- **OpenCV**: 计算机视觉社区提供的综合库 +- **Eigen**: 线性代数模板库 + +## 📞 技术支持 + +如有问题和疑问： + +1. 查看故障排除部分 +2. 查阅仓库中的现有问题 +3. 创建新的 issue 并提供详细描述 + +## 许可证 + +版权所有 © [Xi Xu](https://xi-xu.me)。保留所有权利。 + +根据 [GPL-3.0](LICENSE) 许可证授权。 diff --git a/associate.py b/associate.py new file mode 100644 index 0000000..5ea7c7b --- /dev/null +++ b/associate.py @@ -0,0 +1,106 @@ +#!/usr/bin/env python3 +""" +Associate RGB and depth images based on timestamps. +This script is adapted from the TUM RGB-D dataset tools. +""" + +import argparse + + +def read_file_list(filename): + """ + Reads a trajectory from a text file. + + File format: + The file format is "timestamp filename" + """ + file = open(filename) + data = file.read() + lines = data.replace(",", " ").replace("\t", " ").split("\n") + list = [ + [v.strip() for v in line.split(" ") if v.strip() != ""] + for line in lines + if len(line) > 0 and line[0] != "#" + ] + list = [(float(l[0]), l[1]) for l in list if len(l) > 1] + return dict(list) + + +def associate(first_list, second_list, offset, max_difference): + """ + Associate two dictionaries of (stamp,data). As the time stamps never match exactly, we aim + to find the closest match for every input tuple. + + Input: + first_list -- first dictionary of (stamp,data) tuples + second_list -- second dictionary of (stamp,data) tuples + offset -- time offset between both dictionaries (e.g., to model the delay between the sensors) + max_difference -- search radius for candidate generation + + Output: + matches -- list of matched tuples ((stamp1,data1),(stamp2,data2)) + + """ + first_keys = list(first_list.keys()) + second_keys = list(second_list.keys()) + potential_matches = [ + (abs(a - (b + offset)), a, b) + for a in first_keys + for b in second_keys + if abs(a - (b + offset)) < max_difference + ] + potential_matches.sort() + matches = [] + for diff, a, b in potential_matches: + if a in first_keys and b in second_keys: + first_keys.remove(a) + second_keys.remove(b) + matches.append((a, b)) + + matches.sort() + return matches + + +if __name__ == "__main__": + # Parse command line arguments + parser = argparse.ArgumentParser( + description=""" + This script takes two data files with timestamps and associates them + """ + ) + parser.add_argument( + "first_file", help="first text file (format: timestamp filename)" + ) + parser.add_argument( + "second_file", help="second text file (format: timestamp filename)" + ) + parser.add_argument( + "--first_only", + help="only output associated lines from first file", + action="store_true", + ) + parser.add_argument( + "--offset", + help="time offset added to the timestamps of the second file (default: 0.0)", + default=0.0, + ) + parser.add_argument( + "--max_difference", + help="maximally allowed time difference for matching entries (default: 0.02)", + default=0.02, + ) + args = parser.parse_args() + + first_list = read_file_list(args.first_file) + second_list = read_file_list(args.second_file) + + matches = associate( + first_list, second_list, float(args.offset), float(args.max_difference) + ) + + if args.first_only: + for a, b in matches: + print("%f %s" % (a, first_list[a])) + else: + for a, b in matches: + print("%f %s %f %s" % (a, first_list[a], b, second_list[b])) diff --git a/compile_and_run.sh b/compile_and_run.sh new file mode 100644 index 0000000..4f3bc2e --- /dev/null +++ b/compile_and_run.sh @@ -0,0 +1,222 @@ +#!/bin/bash + +# ============================================================================= +# Compile and Run Script for tiny_slam_rgbd C++ Project +# For Ubuntu 24.04 LTS in WSL2 with GUI support +# ============================================================================= + +set -e # Exit immediately if a command exits with a non-zero status + +echo "=== tiny_slam_rgbd Compilation and Setup Script ===" +echo "Starting setup for Ubuntu 24.04 LTS WSL2..." +echo "This script will install dependencies, compile Pangolin from source," +echo "and build the SLAM application. This may take 5-15 minutes." +echo "" + +# ============================================================================= +# 1. Update and Upgrade System Packages +# ============================================================================= +echo "Step 1: Updating and upgrading system packages..." +sudo apt update && sudo apt upgrade -y + +# ============================================================================= +# 2. Install Essential Build Tools and Dependencies +# ============================================================================= +echo "Step 2: Installing essential build tools and dependencies..." + +# Install basic build tools +sudo apt install -y build-essential git cmake + +# Install Python3 (needed for associate.py script) +echo "Installing Python3..." +sudo apt install -y python3 + +# Install OpenCV development libraries +echo "Installing OpenCV development libraries..." +sudo apt install -y libopencv-dev + +# Install Eigen3 development libraries +echo "Installing Eigen3 development libraries..." +sudo apt install -y libeigen3-dev + +# Install OpenGL and X11 dependencies for Pangolin +echo "Installing OpenGL, X11, and related dependencies..." +sudo apt install -y \ + libglew-dev \ + libgl1-mesa-dev \ + libglu1-mesa-dev \ + freeglut3-dev \ + libx11-dev \ + libxmu-dev \ + libxi-dev \ + libxrandr-dev \ + libepoxy-dev \ + python3-dev + +# ============================================================================= +# 3. Install Pangolin from Source (required dependency) +# ============================================================================= +echo "Step 3: Installing Pangolin library from source..." + +# Create temporary directory for Pangolin build +TEMP_DIR="/tmp/pangolin_build" +mkdir -p "$TEMP_DIR" +cd "$TEMP_DIR" + +# Clone Pangolin repository +echo "Cloning Pangolin repository..." +git clone --recursive https://github.com/stevenlovegrove/Pangolin.git +cd Pangolin + +# Create build directory and compile +echo "Compiling Pangolin..." +mkdir -p build +cd build +cmake .. +make -j$(nproc) + +# Install Pangolin +echo "Installing Pangolin..." +sudo make install + +# Update library cache +sudo ldconfig + +# Clean up temporary directory +cd / +rm -rf "$TEMP_DIR" + +echo "Pangolin installation completed." + +# ============================================================================= +# 4. Project Directory and Compilation +# ============================================================================= +echo "Step 4: Compiling tiny_slam_rgbd project..." + +# Ensure we're in the project root directory +PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +cd "$PROJECT_ROOT" + +echo "Project directory: $PROJECT_ROOT" + +# Create build directory +echo "Creating build directory..." +mkdir -p build +cd build + +# Configure with CMake +echo "Configuring project with CMake..." +cmake .. + +# Compile the project +echo "Compiling project..." +make -j$(nproc) + +# Return to project root +cd "$PROJECT_ROOT" + +# ============================================================================= +# 5. Generate Associate File if Missing +# ============================================================================= +echo "Step 5: Checking and generating associate.txt file..." + +DATASET_DIR="dataset/rgbd_dataset_freiburg1_xyz" +ASSOCIATE_FILE="$DATASET_DIR/associate.txt" + +if [ ! -f "$ASSOCIATE_FILE" ]; then + echo "Associate file not found. Generating from rgb.txt and depth.txt..." + + if [ ! -f "$DATASET_DIR/rgb.txt" ] || [ ! -f "$DATASET_DIR/depth.txt" ]; then + echo "✗ Error: rgb.txt or depth.txt not found in $DATASET_DIR" + echo "Please ensure the TUM RGB-D dataset is properly extracted in the dataset directory." + exit 1 + fi + + # Make associate.py executable + chmod +x associate.py + + # Generate associate.txt file + python3 associate.py "$DATASET_DIR/rgb.txt" "$DATASET_DIR/depth.txt" >"$ASSOCIATE_FILE" + + if [ -f "$ASSOCIATE_FILE" ]; then + echo "✓ Associate file generated successfully: $ASSOCIATE_FILE" + else + echo "✗ Failed to generate associate file" + exit 1 + fi +else + echo "✓ Associate file already exists: $ASSOCIATE_FILE" +fi + +# ============================================================================= +# 6. Post-Compilation Check +# ============================================================================= +echo "Step 6: Verifying compilation..." + +if [ -f "out/bin/slam_app" ]; then + echo "✓ Compilation successful! Executable created at: out/bin/slam_app" + + # Check if dataset exists + if [ -d "$DATASET_DIR" ]; then + echo "✓ Dataset directory found: $DATASET_DIR" + else + echo "⚠ Warning: Dataset directory not found: $DATASET_DIR" + echo " Please ensure you have the TUM RGB-D dataset extracted in the correct location." + fi + + # Check if config file exists + if [ -f "config.yaml" ]; then + echo "✓ Configuration file found: config.yaml" + else + echo "⚠ Warning: Configuration file not found: config.yaml" + fi + +else + echo "✗ Compilation failed! Executable not found." + echo "Check the build output above for error messages." + exit 1 +fi + +# ============================================================================= +# 7. WSL2 GUI Setup Instructions and Execution Guide +# ============================================================================= +echo "" +echo "=== Setup Complete! ===" +echo "" +echo "To run the SLAM application:" +echo " ./out/bin/slam_app config.yaml" +echo "" +echo "=== WSL2 GUI Requirements ===" +echo "For GUI applications like Pangolin to work in WSL2, ensure you have:" +echo "" +echo "1. Windows 11 with WSLg (recommended - automatic GUI support)" +echo " OR" +echo "2. An X server running on your Windows host:" +echo " - VcXsrv (free): https://sourceforge.net/projects/vcxsrv/" +echo " - X410 (paid): Microsoft Store" +echo " - Xming (free): https://sourceforge.net/projects/xming/" +echo "" +echo "If using an external X server, you may need to set DISPLAY manually:" +echo " export DISPLAY=\$(cat /etc/resolv.conf | grep nameserver | awk '{print \$2}'):0.0" +echo " # OR simply:" +echo " export DISPLAY=:0" +echo "" +echo "=== Dataset Configuration ===" +echo "The config.yaml file is pre-configured to use the dataset at:" +echo " ./dataset/rgbd_dataset_freiburg1_xyz" +echo "" +echo "Make sure this dataset exists in the correct location before running." +echo "" +echo "=== Running the Application ===" +echo "From the project root directory, execute:" +echo " ./out/bin/slam_app config.yaml" +echo "" +echo "The application will:" +echo "- Load RGB-D data from the configured dataset" +echo "- Perform real-time SLAM processing" +echo "- Display 3D visualization using Pangolin" +echo "- Show progress and transformation estimates" +echo "" +echo "Press Ctrl+C to stop the application when needed." +echo "" +echo "Setup script completed successfully!" diff --git a/config.yaml b/config.yaml new file mode 100644 index 0000000..7b97751 --- /dev/null +++ b/config.yaml @@ -0,0 +1,10 @@ +%YAML:1.0 + +# data +dataset_dir: ./dataset/rgbd_dataset_freiburg1_xyz +pointSizeCur: 3.15 +pointSizeHis: 2.75 +waitTime: 1 + +# 0 no 1 yes +dense: 0 diff --git a/dataset/rgbd_dataset_freiburg1_xyz/accelerometer.txt b/dataset/rgbd_dataset_freiburg1_xyz/accelerometer.txt new file mode 100644 index 0000000..d780cb7 --- /dev/null +++ b/dataset/rgbd_dataset_freiburg1_xyz/accelerometer.txt @@ -0,0 +1,15161 @@ +# accelerometer data +# file: 'rgbd_dataset_freiburg1_xyz.bag' +# timestamp ax ay az +1305031098.382263 -0.478957 8.010560 -4.166928 +1305031098.385267 -0.574749 8.202143 -4.166928 +1305031098.386375 -0.574749 8.202143 -4.166928 +1305031098.387879 -0.574749 8.202143 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b/dataset/rgbd_dataset_freiburg1_xyz/groundtruth.txt new file mode 100644 index 0000000..a010bc9 --- /dev/null +++ b/dataset/rgbd_dataset_freiburg1_xyz/groundtruth.txt @@ -0,0 +1,3003 @@ +# ground truth trajectory +# file: 'rgbd_dataset_freiburg1_xyz.bag' +# timestamp tx ty tz qx qy qz qw +1305031098.6659 1.3563 0.6305 1.6380 0.6132 0.5962 -0.3311 -0.3986 +1305031098.6758 1.3543 0.6306 1.6360 0.6129 0.5966 -0.3316 -0.3980 +1305031098.6858 1.3525 0.6306 1.6339 0.6136 0.5971 -0.3312 -0.3966 +1305031098.6959 1.3502 0.6306 1.6318 0.6139 0.5972 -0.3312 -0.3959 +1305031098.7058 1.3482 0.6308 1.6298 0.6148 0.5978 -0.3301 -0.3945 +1305031098.7158 1.3462 0.6308 1.6275 0.6148 0.5976 -0.3307 -0.3943 +1305031098.7258 1.3439 0.6308 1.6253 0.6151 0.5977 -0.3309 -0.3935 +1305031098.7359 1.3417 0.6308 1.6231 0.6155 0.5985 -0.3302 -0.3923 +1305031098.7459 1.3397 0.6307 1.6210 0.6152 0.5993 -0.3300 -0.3918 +1305031098.7559 1.3375 0.6306 1.6187 0.6148 0.5993 -0.3306 -0.3919 +1305031098.7658 1.3349 0.6304 1.6164 0.6143 0.5998 -0.3311 -0.3915 +1305031098.7758 1.3328 0.6303 1.6138 0.6141 0.6010 -0.3305 -0.3905 +1305031098.7858 1.3302 0.6299 1.6112 0.6139 0.6018 -0.3303 -0.3896 +1305031098.7959 1.3278 0.6296 1.6087 0.6139 0.6023 -0.3298 -0.3894 +1305031098.8058 1.3258 0.6295 1.6062 0.6154 0.6029 -0.3274 -0.3882 +1305031098.8158 1.3228 0.6291 1.6034 0.6142 0.6036 -0.3283 -0.3880 +1305031098.8258 1.3208 0.6289 1.6008 0.6149 0.6046 -0.3265 -0.3869 +1305031098.8358 1.3179 0.6286 1.5979 0.6145 0.6051 -0.3269 -0.3865 +1305031098.8458 1.3150 0.6284 1.5950 0.6140 0.6064 -0.3270 -0.3852 +1305031098.8558 1.3118 0.6278 1.5920 0.6132 0.6072 -0.3282 -0.3842 +1305031098.8658 1.3098 0.6274 1.5890 0.6140 0.6086 -0.3267 -0.3819 +1305031098.8759 1.3066 0.6269 1.5857 0.6139 0.6095 -0.3271 -0.3803 +1305031098.8860 1.3034 0.6265 1.5825 0.6133 0.6107 -0.3277 -0.3788 +1305031098.8958 1.3007 0.6262 1.5792 0.6145 0.6116 -0.3259 -0.3769 +1305031098.9058 1.2977 0.6259 1.5761 0.6146 0.6124 -0.3258 -0.3757 +1305031098.9158 1.2943 0.6252 1.5726 0.6147 0.6134 -0.3261 -0.3736 +1305031098.9259 1.2913 0.6248 1.5691 0.6153 0.6148 -0.3255 -0.3707 +1305031098.9359 1.2886 0.6245 1.5658 0.6161 0.6167 -0.3244 -0.3672 +1305031098.9459 1.2856 0.6241 1.5621 0.6171 0.6181 -0.3232 -0.3643 +1305031098.9559 1.2817 0.6235 1.5583 0.6164 0.6174 -0.3261 -0.3641 +1305031098.9659 1.2790 0.6233 1.5548 0.6180 0.6197 -0.3228 -0.3604 +1305031098.9758 1.2755 0.6228 1.5511 0.6181 0.6200 -0.3231 -0.3594 +1305031098.9858 1.2726 0.6226 1.5474 0.6193 0.6205 -0.3218 -0.3576 +1305031098.9958 1.2693 0.6222 1.5437 0.6195 0.6209 -0.3218 -0.3566 +1305031099.0059 1.2661 0.6220 1.5401 0.6194 0.6215 -0.3217 -0.3558 +1305031099.0159 1.2632 0.6220 1.5367 0.6200 0.6221 -0.3204 -0.3550 +1305031099.0259 1.2597 0.6215 1.5328 0.6200 0.6217 -0.3217 -0.3545 +1305031099.0359 1.2567 0.6216 1.5292 0.6212 0.6228 -0.3193 -0.3526 +1305031099.0459 1.2533 0.6213 1.5253 0.6217 0.6226 -0.3191 -0.3522 +1305031099.0559 1.2502 0.6212 1.5217 0.6226 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index 0000000..5f27258 --- /dev/null +++ b/include/DS.h @@ -0,0 +1,26 @@ + +#pragma once + +#include + +// Data structure definitions +struct Frame { + cv::Mat rgbImgCv; + cv::Mat depthImgCv; + std::vector keypoints; + cv::Mat descriptors; + Eigen::Isometry3d pose = Eigen::Isometry3d::Identity(); +}; + +struct MapPoint { + Eigen::Vector3d position; + cv::Mat descriptor; +}; + +struct FileInfo { + double timeStamp; + string fileName; +}; + +using Files = vector; +using AssociateList = tuple; \ No newline at end of file diff --git a/include/Vo.h b/include/Vo.h new file mode 100644 index 0000000..6371f35 --- /dev/null +++ b/include/Vo.h @@ -0,0 +1,62 @@ +#pragma once + +#include +#include +#include +class Vo { +public: + ~Vo() = default; + Vo() = default; + unique_ptr cfgPtr; + Frame preFrame; // Previous frame + bool hasPreFrame = false; // Whether there is a previous frame + + vector mapPoints; // 3D points + decltype(mapPoints)::iterator currMapPointsIter; + Eigen::Isometry3d cumulaPos = Eigen::Isometry3d::Identity(); // Cumulative pose + vector cameraPoses; // Container for saving camera poses + cv::Mat K; // Camera intrinsic parameters + + // Ensure thread synchronization + atomic atmVersion; + condition_variable conVar; + mutex mtx; + atomic isRun; + bool followCamera = true; + bool showPoints = true; + bool showKeyframes = true; + bool onlyshowCurframes = true; + unique_ptr> guiFollowCameraPtr; + unique_ptr> guiShowKeyPointsPtr; + unique_ptr> guiShowKeyFramesPtr; + unique_ptr> guiOnlyShowCurFramesPtr; + Files rgbData, depthData; + + unique_ptr sCamera; + pangolin::View* dCamera; + + // Initialize + void init(const string &configFileList); + // Entry point + void applictionStart(); + // Computation thread + void processData(); + // Visualization thread (main thread) + void runPangoLin(); + + // Extract features from one frame + void extractFeatures(Frame &frame); + // Match features between consecutive frames + vector matchFeatures(const Frame &fPrev, const Frame &fCur); + + // Estimate camera pose + Eigen::Isometry3d estimatePose( + const Frame &framePrev, const Frame &frame2, + const vector &matches); + + // Add map points + void addFrame(const Frame &frame); + + // Draw camera position + void drawKeyFrame(const Eigen::Vector3d &pos, const array &colors, double size = 0.1); +}; diff --git a/include/common_include.h b/include/common_include.h new file mode 100644 index 0000000..09d9d3d --- /dev/null +++ b/include/common_include.h @@ -0,0 +1,34 @@ +#pragma once + +#include +#include + +#include + +#include +#include +#include +#include +#include + +// Simple println implementation using std::vformat +template +void println(const std::string &fmt, Args &&...args) { + try { + std::string formatted = std::vformat(fmt, std::make_format_args(args...)); + std::cout << formatted << std::endl; + } + catch (...) { + std::cout << fmt << std::endl; + } +} + +// Overload for no arguments +inline void println(const std::string &msg) { + std::cout << msg << std::endl; +} + +// Display window name constant +inline constexpr auto WIN_NAME = "SLAM RGB-D Image"; + +using namespace std; diff --git a/include/config.hpp b/include/config.hpp new file mode 100644 index 0000000..25b4121 --- /dev/null +++ b/include/config.hpp @@ -0,0 +1,24 @@ +#pragma once +#include + +class Config { +public: + // Create FileStorage object and open YAML file + cv::FileStorage fs; + double pointSizeCur; + double pointSizeHis; + string DATASET_ROOT; + int WK_TIME; + bool isDense; + Config(const string &fileName) : fs(fileName, cv::FileStorage::READ) { + fs["dataset_dir"] >> DATASET_ROOT; + fs["waitTime"] >> WK_TIME; + fs["pointSizeCur"] >> pointSizeCur; + fs["pointSizeHis"] >> pointSizeHis; + fs["dense"] >> isDense; + println("Read data: {}, dense={}", DATASET_ROOT, isDense); + } + ~Config() { + fs.release(); + } +}; \ No newline at end of file diff --git a/include/utils.h b/include/utils.h new file mode 100644 index 0000000..b23234b --- /dev/null +++ b/include/utils.h @@ -0,0 +1,18 @@ +#pragma once + +#include + +AssociateList readAssociationFile(const string &fileName); + +// Remove elements at even indices from vector +template +void removeIndexElements(vector &vec) { + size_t j = 0; + for (size_t i = 0; i < vec.size(); ++i) { + if (i % 2 != 0) { // Keep element only when index i is odd + vec[j] = vec[i]; + ++j; + } + } + vec.resize(j); // Resize vector to remove excess elements at the end +} \ No newline at end of file diff --git a/out/bin/slam_app b/out/bin/slam_app new file mode 100644 index 0000000..8b61262 Binary files /dev/null and b/out/bin/slam_app differ diff --git a/src/Vo.cpp b/src/Vo.cpp new file mode 100644 index 0000000..7bd8f5a --- /dev/null +++ b/src/Vo.cpp @@ -0,0 +1,330 @@ +#include +#include +#include +void Vo::init(const string &configFileList) { + this->atmVersion = 0; + this->isRun = true; + this->cfgPtr = make_unique(configFileList); + K = (cv::Mat_(3, 3) << 525.0, 0, 319.5, 0, 525.0, 239.5, 0, 0, 1); + auto [rgb, depth] = readAssociationFile(format("{}/associate.txt", cfgPtr->DATASET_ROOT)); + rgbData = move(rgb); + depthData = move(depth); + pangolin::CreateWindowAndBind("SLAM-RGBD Rebuilt", 1024, 768); + glEnable(GL_DEPTH_TEST); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + // Set window background to gray + glClearColor(0.6f, 0.6f, 0.6f, 0.9f); + // Create a panel for adding GUI controls + pangolin::CreatePanel("ui").SetBounds(0.0, 1.0, 0.0, pangolin::Attach::Pix(175)); + // Add checkbox controls + guiFollowCameraPtr = make_unique>("ui.Follow Camera", followCamera, true); + guiShowKeyPointsPtr = make_unique>("ui.Show Points", showPoints, true); + guiShowKeyFramesPtr = make_unique>("ui.Show KeyFrames", showKeyframes, true); + guiOnlyShowCurFramesPtr = make_unique>("ui.Only CurFrames", showKeyframes, true); + sCamera = make_unique( + pangolin::ProjectionMatrix(640, 480, 500, 500, 320, 240, 0.1, 1000), + pangolin::ModelViewLookAt(0, 1, 1, 0, 0, -1, pangolin::AxisY)); // Set camera pose to window center + dCamera = &pangolin::CreateDisplay() + .SetBounds(0.0, 1.0, pangolin::Attach::Pix(175), 1.0, -640.0f / 480.0f) + .SetHandler(new pangolin::Handler3D(ref(*sCamera))); +} + +void Vo::processData() { + + cv::namedWindow(WIN_NAME); + println("Starting to read data"); + for (int i = 0; i < rgbData.size(); ++i) { + Frame frame; + unique_lock lock(mtx); + println("========================Current: {:.{}}%========================", (i * 1.0 / rgbData.size()) * 100, 4); + conVar.wait(lock, [&]() { return atmVersion < 1; }); // After pangolin consumption + + frame.rgbImgCv = cv::imread(format("{}/{}", cfgPtr->DATASET_ROOT, rgbData[i].fileName), cv::IMREAD_UNCHANGED); + frame.depthImgCv = cv::imread(format("{}/{}", cfgPtr->DATASET_ROOT, depthData[i].fileName), cv::IMREAD_UNCHANGED); + if (frame.rgbImgCv.empty() || frame.depthImgCv.empty()) { + continue; + } + vector matchesList; + extractFeatures(frame); + if (hasPreFrame) { + matchesList = matchFeatures(preFrame, frame); + println("Number of matches: {}", matchesList.size()); + auto prehepsPose = estimatePose(preFrame, frame, matchesList); + this->cumulaPos = this->cumulaPos * (prehepsPose.inverse()); + cameraPoses.push_back(cumulaPos); // Add to cumulative pos + this->addFrame(frame); + } + preFrame = frame; + hasPreFrame = true; + cv::Mat rgbWKPoints; // RGB image with key points + cv::drawKeypoints(frame.rgbImgCv, frame.keypoints, rgbWKPoints); + + // Mark matched feature points as red + for (auto &match : matchesList) { + cv::circle(rgbWKPoints, frame.keypoints[match.trainIdx].pt, 3, + cv::Scalar(0, 0, 255), -1); + } + // Mark unmatched feature points as blue + for (const auto &kp : frame.keypoints) { + bool isMatched = false; + for (auto &match : matchesList) { + if (match.trainIdx == &kp - &frame.keypoints[0]) { + isMatched = true; + break; + } + } + if (!isMatched) { + cv::circle(rgbWKPoints, kp.pt, 3, cv::Scalar(235, 205, 0), -1); + } + } + + cv::imshow(WIN_NAME, rgbWKPoints); + atmVersion++; + conVar.notify_one(); + cv::waitKey(cfgPtr->WK_TIME); + println("*****Loop {} finish******", i); + } + isRun = false; + // Properly close OpenCV window in the same thread that created it + cv::destroyWindow(WIN_NAME); + cv::destroyAllWindows(); +} + +void Vo::runPangoLin() { + unique_lock lock(mtx); + conVar.wait(lock, [&]() { return atmVersion > 0 || !isRun; }); + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + dCamera->Activate(ref(*sCamera)); + // Get camera pose parameters + if (hasPreFrame) // When there is data from the previous frame + { + if (*guiFollowCameraPtr) { + Eigen::Matrix4d _Twc = cumulaPos.matrix(); + cout << "twc estimate:"; + cout << _Twc << endl; + + Eigen::Matrix4d Twc = cumulaPos.matrix(); + pangolin::OpenGlMatrix M; + for (int i = 0; i < 4; i++) { + M.m[4 * i] = Twc(0, i); + M.m[4 * i + 1] = Twc(1, i); + M.m[4 * i + 2] = Twc(2, i); + M.m[4 * i + 3] = Twc(3, i); + } + sCamera->Follow(M); + } + + if (int i = 0; *guiShowKeyFramesPtr) { + if (*guiOnlyShowCurFramesPtr && cameraPoses.size() > 0) { + auto v = *prev(cameraPoses.end()); + drawKeyFrame(v.translation(), { 0.0, 0.0, 1.0 }, 0.2); // The last one + } + else { + for (auto pose : cameraPoses) { + // Translation part + Eigen::Vector3d posEiV3d = pose.translation(); + if (i < cameraPoses.size() - 1) // Not only drawing current + { + drawKeyFrame(posEiV3d, { 0.5, 0.45, 0.0 }); + } + else { + drawKeyFrame(posEiV3d, { 0.0, 0.0, 1.0 }, 0.2); // The last one + } + i++; + } + } + } + + if (*guiShowKeyPointsPtr) { + for (auto it = mapPoints.begin(); it != mapPoints.end(); ++it) { + Eigen::Vector3d world_point = it->position; + + if (it < currMapPointsIter) // Historical map points + { + glColor3f(0.0, 1.0, 0.0); // Draw map point color + glPointSize(cfgPtr->pointSizeHis); + } + else // Current + { + glColor3f(1.0, 0.0, 0.0); // Draw map point color + glPointSize(cfgPtr->pointSizeCur); + } + // Negate the coordinates of the map point + glBegin(GL_POINTS); + glVertex3d(world_point[0], -world_point[1], -world_point[2]); + } + glEnd(); + } + } + atmVersion--; + conVar.notify_one(); + pangolin::FinishFrame(); +} +void Vo::applictionStart() { + + println("\nStarting execution!"); + + thread th1([&]() { this->processData(); }); + + while (!pangolin::ShouldQuit() && isRun) { + runPangoLin(); + } + + // Do a final pangolin frame to ensure proper state before cleanup + if (!pangolin::ShouldQuit()) { + pangolin::FinishFrame(); + } + + // Wait for worker thread to complete + th1.join(); + println("Worker thread joined successfully"); + + // Clear large data containers before cleanup + println("Clearing data containers..."); + try { + mapPoints.clear(); + cameraPoses.clear(); + rgbData.clear(); + depthData.clear(); + println("Data containers cleared"); + } + catch (const std::exception &e) { + println("Exception during container cleanup: {}", e.what()); + } + + // Proper cleanup sequence for Pangolin resources + println("Starting cleanup..."); + + try { + // Clear OpenGL state + println("Clearing OpenGL state..."); + glFinish(); + + // Release smart pointers to GUI variables first + println("Releasing GUI variables..."); + guiFollowCameraPtr.reset(); + guiShowKeyPointsPtr.reset(); + guiShowKeyFramesPtr.reset(); + guiOnlyShowCurFramesPtr.reset(); + println("GUI variables released"); + + // Release camera objects + println("Releasing camera objects..."); + // Note: dCamera is a raw pointer to Pangolin-managed display, don't delete it + dCamera = nullptr; + println("dCamera pointer cleared"); + this->sCamera.reset(); + println("sCamera released"); + + // Signal Pangolin to quit gracefully + println("Requesting Pangolin shutdown..."); + pangolin::Quit(); + println("Pangolin Quit() completed"); + } + catch (const std::exception &e) { + println("Exception during cleanup: {}", e.what()); + } + + println("Execution finished"); + println("All cleanup completed successfully"); +} + +// Feature extraction function +void Vo::extractFeatures(Frame &frame) { + cv::Ptr orb = cv::ORB::create(2600); + orb->detectAndCompute(frame.rgbImgCv, cv::noArray(), frame.keypoints, frame.descriptors); +} + +// Feature matching function +vector Vo::matchFeatures(const Frame &fPrev, const Frame &fCur) { + cv::BFMatcher matcher(cv::NORM_HAMMING); + std::vector matches; + matcher.match(fPrev.descriptors, fCur.descriptors, matches); + return matches; +} + +// Pose estimation algorithm +Eigen::Isometry3d Vo::estimatePose(const Frame &framePrev, const Frame &frame2, const std::vector &matches) { + + // 3D->2D PnP + std::vector pts3d; + std::vector pts2d; + + for (const auto &match : matches) { + ushort d = framePrev.depthImgCv.at(framePrev.keypoints[match.queryIdx].pt.y, framePrev.keypoints[match.queryIdx].pt.x); + if (d == 0) + continue; // Skip invalid depth values + + float dd = d / 5000.0; + cv::Point2f p = framePrev.keypoints[match.queryIdx].pt; + pts3d.push_back(cv::Point3f((p.x - K.at(0, 2)) * dd / K.at(0, 0), (p.y - K.at(1, 2)) * dd / K.at(1, 1), dd)); + pts2d.push_back(frame2.keypoints[match.trainIdx].pt); + } + + cv::Mat rvec, tvec; + cv::solvePnPRansac(pts3d, pts2d, K, cv::Mat(), rvec, tvec); + + cv::Mat R; + cv::Rodrigues(rvec, R); + Eigen::Matrix3d rotation; + cv::cv2eigen(R, rotation); + Eigen::Vector3d translation; + cv::cv2eigen(tvec, translation); + + Eigen::Isometry3d pose = Eigen::Isometry3d::Identity(); + pose.rotate(rotation); + pose.pretranslate(translation); + + return pose; +} + +// Update map points +void Vo::addFrame(const Frame &frame) { + static bool b = true; + if (!cfgPtr->isDense && b) { + removeIndexElements(mapPoints); + } + b = !b; + currMapPointsIter = mapPoints.end(); + for (const auto &kp : frame.keypoints) { + ushort d = frame.depthImgCv.at(kp.pt.y, kp.pt.x); + if (d == 0) + continue; // Prevent undefined behavior + float dd = d / 5000.0; + Eigen::Vector3d point((kp.pt.x - K.at(0, 2)) * dd / K.at(0, 0), + (kp.pt.y - K.at(1, 2)) * dd / K.at(1, 1), dd); + point = frame.pose * point; // Transform to world coordinate system + if (&kp - &frame.keypoints[0] < frame.descriptors.rows) { + mapPoints.emplace_back(MapPoint{ point, frame.descriptors.row(&kp - &frame.keypoints[0]) }); + } + } +} + +void Vo::drawKeyFrame(const Eigen::Vector3d &pos, const array &colors, double size) { + glColor3f(colors[0], colors[1], colors[2]); + if (!abs(size - 0.1) < 1e-6) // Current frame + { + // Start drawing the four edges of the rectangle + glBegin(GL_LINE_LOOP); + glVertex3d(pos[0] - size, -pos[1] - size, -pos[2] - size); // Bottom left corner + glVertex3d(pos[0] + size, -pos[1] - size, -pos[2] - size); // Bottom right corner + glVertex3d(pos[0] + size, -pos[1] + size, -pos[2] - size); // Top right corner + glVertex3d(pos[0] - size, -pos[1] + size, -pos[2] - size); // Top left corner + glEnd(); // End drawing four edges + // Start drawing diagonal lines + glBegin(GL_LINES); + glVertex3d(pos[0] - size, -pos[1] - size, -pos[2] - size); // Bottom left corner + glVertex3d(pos[0] + size, -pos[1] + size, -pos[2] - size); // Top right corner + glVertex3d(pos[0] + size, -pos[1] - size, -pos[2] - size); // Bottom right corner + glVertex3d(pos[0] - size, -pos[1] + size, -pos[2] - size); // Top left corner + } + + else { + glBegin(GL_LINE_LOOP); + glVertex3d(pos[0] - size, -pos[1] - size, -pos[2] - size); // Bottom left corner + glVertex3d(pos[0] + size, -pos[1] - size, -pos[2] - size); // Bottom right corner + glVertex3d(pos[0] + size, -pos[1] + size, -pos[2] - size); // Top right corner + glVertex3d(pos[0] - size, -pos[1] + size, -pos[2] - size); // Top left corner + } + glEnd(); +} diff --git a/src/utils.cpp b/src/utils.cpp new file mode 100644 index 0000000..c714c66 --- /dev/null +++ b/src/utils.cpp @@ -0,0 +1,23 @@ +#include +#include +#include + +// Read association file +AssociateList readAssociationFile(const string &fileName) { + println("Reading file: {}", fileName); + Files dRgb, dDepth; + ifstream file(fileName); + if (!file.is_open()) { + println("Cannot open file"); + exit(-1); + } + string line; + while (getline(file, line)) { + istringstream ss(line); + FileInfo rgb, _depth; + ss >> rgb.timeStamp >> rgb.fileName >> _depth.timeStamp >> _depth.fileName; + dRgb.emplace_back(move(rgb)); + dDepth.emplace_back(move(_depth)); + } + return { dRgb, dDepth }; +}