Fix bugs in loop detection

.gitignore

@@ -71,6 +71,7 @@ lib/
 
 cmake_modules/
 cmake-build-debug/
+cmake-build-release/
 
 ExecMean.txt
 SessionInfo.txt

CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8)
 project(ORB_SLAM3)
 
 IF(NOT CMAKE_BUILD_TYPE)
-  SET(CMAKE_BUILD_TYPE Release)
+    SET(CMAKE_BUILD_TYPE Release)
 ENDIF()
 
 MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
@@ -12,28 +12,30 @@ set(CMAKE_CXX_FLAGS "${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
-include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-   add_definitions(-DCOMPILEDWITHC11)
-   message(STATUS "Using flag -std=c++11.")
-elseif(COMPILER_SUPPORTS_CXX0X)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-   add_definitions(-DCOMPILEDWITHC0X)
-   message(STATUS "Using flag -std=c++0x.")
-else()
-   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
-endif()
+set(CMAKE_CXX_STANDARD 14)
+add_definitions(-DCOMPILEDWITHC11)
+## Check C++11 or C++0x support
+#include(CheckCXXCompilerFlag)
+#CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+#CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+#if(COMPILER_SUPPORTS_CXX11)
+#   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+#   add_definitions(-DCOMPILEDWITHC11)
+#   message(STATUS "Using flag -std=c++11.")
+#elseif(COMPILER_SUPPORTS_CXX0X)
+#   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+#   add_definitions(-DCOMPILEDWITHC0X)
+#   message(STATUS "Using flag -std=c++0x.")
+#else()
+#   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+#endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
 find_package(OpenCV 4.4)
-   if(NOT OpenCV_FOUND)
-      message(FATAL_ERROR "OpenCV > 4.4 not found.")
-   endif()
+if(NOT OpenCV_FOUND)
+    message(FATAL_ERROR "OpenCV > 4.4 not found.")
+endif()
 
 MESSAGE("OPENCV VERSION:")
 MESSAGE(${OpenCV_VERSION})
@@ -43,12 +45,12 @@ find_package(Pangolin REQUIRED)
 find_package(realsense2)
 
 include_directories(
-${PROJECT_SOURCE_DIR}
-${PROJECT_SOURCE_DIR}/include
-${PROJECT_SOURCE_DIR}/include/CameraModels
-${PROJECT_SOURCE_DIR}/Thirdparty/Sophus
-${EIGEN3_INCLUDE_DIR}
-${Pangolin_INCLUDE_DIRS}
+        ${PROJECT_SOURCE_DIR}
+        ${PROJECT_SOURCE_DIR}/include
+        ${PROJECT_SOURCE_DIR}/include/CameraModels
+        ${PROJECT_SOURCE_DIR}/Thirdparty/Sophus
+        ${EIGEN3_INCLUDE_DIR}
+        ${Pangolin_INCLUDE_DIRS}
 )
 
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
@@ -125,41 +127,41 @@ ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
 -lcrypto
 )
 
-# If RealSense SDK is found the library is added and its examples compiled
-if(realsense2_FOUND)
-    include_directories(${PROJECT_NAME}
-    ${realsense_INCLUDE_DIR}
-    )
-    target_link_libraries(${PROJECT_NAME}
-    ${realsense2_LIBRARY}
-    )
-endif()
+## If RealSense SDK is found the library is added and its examples compiled
+#if(realsense2_FOUND)
+#    include_directories(${PROJECT_NAME}
+#    ${realsense_INCLUDE_DIR}
+#    )
+#    target_link_libraries(${PROJECT_NAME}
+#    ${realsense2_LIBRARY}
+#    )
+#endif()
 
 
 # Build examples
 
-# RGB-D examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
-
-add_executable(rgbd_tum
-        Examples/RGB-D/rgbd_tum.cc)
-target_link_libraries(rgbd_tum ${PROJECT_NAME})
-
-if(realsense2_FOUND)
-    add_executable(rgbd_realsense_D435i
-            Examples/RGB-D/rgbd_realsense_D435i.cc)
-    target_link_libraries(rgbd_realsense_D435i ${PROJECT_NAME})
-endif()
-
-
-# RGB-D inertial examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D-Inertial)
-
-if(realsense2_FOUND)
-    add_executable(rgbd_inertial_realsense_D435i
-            Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc)
-    target_link_libraries(rgbd_inertial_realsense_D435i ${PROJECT_NAME})
-endif()
+## RGB-D examples
+#set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
+#
+#add_executable(rgbd_tum
+#        Examples/RGB-D/rgbd_tum.cc)
+#target_link_libraries(rgbd_tum ${PROJECT_NAME})
+#
+#if(realsense2_FOUND)
+#    add_executable(rgbd_realsense_D435i
+#            Examples/RGB-D/rgbd_realsense_D435i.cc)
+#    target_link_libraries(rgbd_realsense_D435i ${PROJECT_NAME})
+#endif()
+
+
+## RGB-D inertial examples
+#set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D-Inertial)
+#
+#if(realsense2_FOUND)
+#    add_executable(rgbd_inertial_realsense_D435i
+#            Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc)
+#    target_link_libraries(rgbd_inertial_realsense_D435i ${PROJECT_NAME})
+#endif()
 
 #Stereo examples
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
@@ -176,15 +178,15 @@ add_executable(stereo_tum_vi
         Examples/Stereo/stereo_tum_vi.cc)
 target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
 
-if(realsense2_FOUND)
-    add_executable(stereo_realsense_t265
-            Examples/Stereo/stereo_realsense_t265.cc)
-    target_link_libraries(stereo_realsense_t265 ${PROJECT_NAME})
-
-    add_executable(stereo_realsense_D435i
-            Examples/Stereo/stereo_realsense_D435i.cc)
-    target_link_libraries(stereo_realsense_D435i ${PROJECT_NAME})
-endif()
+#if(realsense2_FOUND)
+#    add_executable(stereo_realsense_t265
+#            Examples/Stereo/stereo_realsense_t265.cc)
+#    target_link_libraries(stereo_realsense_t265 ${PROJECT_NAME})
+#
+#    add_executable(stereo_realsense_D435i
+#            Examples/Stereo/stereo_realsense_D435i.cc)
+#    target_link_libraries(stereo_realsense_D435i ${PROJECT_NAME})
+#endif()
 
 #Monocular examples
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
@@ -266,125 +268,4 @@ if(realsense2_FOUND)
     add_executable(recorder_realsense_T265
             Examples/Calibration/recorder_realsense_T265.cc)
     target_link_libraries(recorder_realsense_T265 ${PROJECT_NAME})
-endif()
-
-#Old examples
-
-# RGB-D examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D)
-
-add_executable(rgbd_tum_old
-        Examples_old/RGB-D/rgbd_tum.cc)
-target_link_libraries(rgbd_tum_old ${PROJECT_NAME})
-
-if(realsense2_FOUND)
-    add_executable(rgbd_realsense_D435i_old
-            Examples_old/RGB-D/rgbd_realsense_D435i.cc)
-    target_link_libraries(rgbd_realsense_D435i_old ${PROJECT_NAME})
-endif()
-
-
-# RGB-D inertial examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D-Inertial)
-
-if(realsense2_FOUND)
-    add_executable(rgbd_inertial_realsense_D435i_old
-            Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc)
-    target_link_libraries(rgbd_inertial_realsense_D435i_old ${PROJECT_NAME})
-endif()
-
-#Stereo examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo)
-
-add_executable(stereo_kitti_old
-        Examples_old/Stereo/stereo_kitti.cc)
-target_link_libraries(stereo_kitti_old ${PROJECT_NAME})
-
-add_executable(stereo_euroc_old
-        Examples_old/Stereo/stereo_euroc.cc)
-target_link_libraries(stereo_euroc_old ${PROJECT_NAME})
-
-add_executable(stereo_tum_vi_old
-        Examples_old/Stereo/stereo_tum_vi.cc)
-target_link_libraries(stereo_tum_vi_old ${PROJECT_NAME})
-
-if(realsense2_FOUND)
-    add_executable(stereo_realsense_t265_old
-            Examples_old/Stereo/stereo_realsense_t265.cc)
-    target_link_libraries(stereo_realsense_t265_old ${PROJECT_NAME})
-
-    add_executable(stereo_realsense_D435i_old
-            Examples_old/Stereo/stereo_realsense_D435i.cc)
-    target_link_libraries(stereo_realsense_D435i_old ${PROJECT_NAME})
-endif()
-
-#Monocular examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular)
-
-add_executable(mono_tum_old
-        Examples_old/Monocular/mono_tum.cc)
-target_link_libraries(mono_tum_old ${PROJECT_NAME})
-
-add_executable(mono_kitti_old
-        Examples_old/Monocular/mono_kitti.cc)
-target_link_libraries(mono_kitti_old ${PROJECT_NAME})
-
-add_executable(mono_euroc_old
-        Examples_old/Monocular/mono_euroc.cc)
-target_link_libraries(mono_euroc_old ${PROJECT_NAME})
-
-add_executable(mono_tum_vi_old
-        Examples_old/Monocular/mono_tum_vi.cc)
-target_link_libraries(mono_tum_vi_old ${PROJECT_NAME})
-
-if(realsense2_FOUND)
-    add_executable(mono_realsense_t265_old
-            Examples_old/Monocular/mono_realsense_t265.cc)
-    target_link_libraries(mono_realsense_t265_old ${PROJECT_NAME})
-
-    add_executable(mono_realsense_D435i_old
-            Examples_old/Monocular/mono_realsense_D435i.cc)
-    target_link_libraries(mono_realsense_D435i_old ${PROJECT_NAME})
-endif()
-
-#Monocular inertial examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular-Inertial)
-
-add_executable(mono_inertial_euroc_old
-        Examples_old/Monocular-Inertial/mono_inertial_euroc.cc)
-target_link_libraries(mono_inertial_euroc_old ${PROJECT_NAME})
-
-add_executable(mono_inertial_tum_vi_old
-        Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc)
-target_link_libraries(mono_inertial_tum_vi_old ${PROJECT_NAME})
-
-if(realsense2_FOUND)
-    add_executable(mono_inertial_realsense_t265_old
-            Examples_old/Monocular-Inertial/mono_inertial_realsense_t265.cc)
-    target_link_libraries(mono_inertial_realsense_t265_old ${PROJECT_NAME})
-
-    add_executable(mono_inertial_realsense_D435i_old
-            Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i.cc)
-    target_link_libraries(mono_inertial_realsense_D435i_old ${PROJECT_NAME})
-endif()
-
-#Stereo Inertial examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo-Inertial)
-
-add_executable(stereo_inertial_euroc_old
-        Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc)
-target_link_libraries(stereo_inertial_euroc_old ${PROJECT_NAME})
-
-add_executable(stereo_inertial_tum_vi_old
-        Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc)
-target_link_libraries(stereo_inertial_tum_vi_old ${PROJECT_NAME})
-
-if(realsense2_FOUND)
-    add_executable(stereo_inertial_realsense_t265_old
-            Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265.cc)
-    target_link_libraries(stereo_inertial_realsense_t265_old ${PROJECT_NAME})
-
-    add_executable(stereo_inertial_realsense_D435i_old
-            Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
-    target_link_libraries(stereo_inertial_realsense_D435i_old ${PROJECT_NAME})
-endif()
+endif()

Examples/Stereo/KITTI00-02.yaml

@@ -57,7 +57,7 @@ Viewer.PointSize: 2.0
 Viewer.CameraSize: 0.7
 Viewer.CameraLineWidth: 3.0
 Viewer.ViewpointX: 0.0
-Viewer.ViewpointY: -100
+Viewer.ViewpointY: -100.0
 Viewer.ViewpointZ: -0.1
 Viewer.ViewpointF: 2000.0
 

Examples/Stereo/stereo_kitti.cc

@@ -177,8 +177,8 @@ void LoadImages(const string &strPathToSequence, vector<string> &vstrImageLeft,
         }
     }
 
-    string strPrefixLeft = strPathToSequence + "/image_0/";
-    string strPrefixRight = strPathToSequence + "/image_1/";
+    string strPrefixLeft = strPathToSequence + "/image_2/";
+    string strPrefixRight = strPathToSequence + "/image_3/";
 
     const int nTimes = vTimestamps.size();
     vstrImageLeft.resize(nTimes);