Added Aqualoc dataset example for monocular SLAM

.vscode/settings.json

@@ -0,0 +1,7 @@
+{
+    "files.associations": {
+        "iostream": "cpp",
+        "ostream": "cpp",
+        "filesystem": "cpp"
+    }
+}

CMakeLists.txt

@@ -12,25 +12,30 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3")
 set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
 set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
 
-# Check C++11 or C++0x support
+# Check C++14 or C++0x support
 include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11)
 CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
 if(COMPILER_SUPPORTS_CXX11)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
    add_definitions(-DCOMPILEDWITHC11)
-   message(STATUS "Using flag -std=c++11.")
+   message(STATUS "Using flag -std=c++14.")
 elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
    add_definitions(-DCOMPILEDWITHC0X)
    message(STATUS "Using flag -std=c++0x.")
+elseif(COMPILER_SUPPORTS_CXX14)
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+	add_definitions(-DCOMPILEDWITHC11) #code seems to have macros which need this
+	add_definitions(-DCOMPILEDWITHC14)
+	message(STATUS "Using flag -std=c++14.")
 else()
-   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
 endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
-find_package(OpenCV 4.4)
+find_package(OpenCV)
    if(NOT OpenCV_FOUND)
       message(FATAL_ERROR "OpenCV > 4.4 not found.")
    endif()
@@ -205,6 +210,18 @@ add_executable(mono_tum_vi
         Examples/Monocular/mono_tum_vi.cc)
 target_link_libraries(mono_tum_vi ${PROJECT_NAME})
 
+add_executable(mono_aqualoc
+        Examples/Monocular/mono_aqualoc.cc)
+target_link_libraries(mono_aqualoc ${PROJECT_NAME})
+
+add_executable(mono_mimir
+        Examples/Monocular/mono_mimir.cc)
+target_link_libraries(mono_mimir ${PROJECT_NAME})
+
+add_executable(mono_subpipe
+        Examples/Monocular/mono_subpipe.cc)
+target_link_libraries(mono_subpipe ${PROJECT_NAME})
+
 if(realsense2_FOUND)
     add_executable(mono_realsense_t265
             Examples/Monocular/mono_realsense_t265.cc)
@@ -222,6 +239,10 @@ add_executable(mono_inertial_euroc
         Examples/Monocular-Inertial/mono_inertial_euroc.cc)
 target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})
 
+add_executable(mono_inertial_subpipe
+        Examples/Monocular-Inertial/mono_inertial_subpipe.cc)
+target_link_libraries(mono_inertial_subpipe ${PROJECT_NAME})
+
 add_executable(mono_inertial_tum_vi
         Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
 target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})
@@ -243,6 +264,10 @@ add_executable(stereo_inertial_euroc
         Examples/Stereo-Inertial/stereo_inertial_euroc.cc)
 target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})
 
+add_executable(stereo_mimir
+        Examples/Stereo/stereo_mimir.cc)
+target_link_libraries(stereo_mimir ${PROJECT_NAME})
+
 add_executable(stereo_inertial_tum_vi
         Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
 target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})

Examples/Monocular-Inertial/MIMIR.yaml

@@ -0,0 +1,91 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera1.fx: 252.07470703125
+Camera1.fy: 252.07470703125
+Camera1.cx: 360.0
+Camera1.cy: 270.0
+
+Camera1.k1: 0.0
+Camera1.k2: 0.0
+Camera1.p1: 0.0
+Camera1.p2: 0.0
+
+Camera.width: 720
+Camera.height: 540
+
+Camera.newWidth: 720
+Camera.newHeight: 540
+
+# Camera frames per second 
+Camera.fps: 30
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Transformation from camera to body-frame (imu)
+IMU.T_b_c1: !!opencv-matrix
+   rows: 4
+   cols: 4
+   dt: f
+   data: [0.9659258262890682, -0.0, -0.25881904510252074, 0.45,
+          0.0, 1.0, -0.0, -0.06,
+          0.25881904510252074, 0.0, 0.9659258262890682, 0.0,
+          0.0, 0.0, 0.0, 1.0]
+
+#      "rate_hz": 210,
+#     "angular_random_walk": 0.3,
+#     "giro_bias_stability_tau": 500,
+#     "giro_bias_stability": 4.6,
+#     "velocity_random_walk": 0.24,
+#     "accel_bias_stability": 36,
+#     "accel_bias_stability_tau": 800
+
+# IMU noise
+IMU.NoiseGyro: 1.7e-4 #1.6968e-04
+IMU.NoiseAcc: 2.0000e-3 #2.0e-3
+IMU.GyroWalk: 1.9393e-05 
+IMU.AccWalk: 3.0000e-03 # 3e-03
+IMU.Frequency: 210.0
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000 # 1000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid 	
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid	
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast			
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -3.5 # -1.8
+Viewer.ViewpointF: 500.0
+