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first commit #756

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3bbf39b
fixed inliers threshold to function,
galh97 May 21, 2023
2a01615
fixed code
galh97 May 28, 2023
70c6d15
bug
galh97 Jun 11, 2023
b66a866
added dynamic iteration number, and fixed all bugs
galh97 Jun 16, 2023
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70 changes: 59 additions & 11 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,31 +12,31 @@ 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.")
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)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 4.4 not found.")
endif()
#find_package(OpenCV 4.4)
# if(NOT OpenCV_FOUND)
# message(FATAL_ERROR "OpenCV > 4.4 not found.")
# endif()

MESSAGE("OPENCV VERSION:")
MESSAGE(${OpenCV_VERSION})
#MESSAGE("OPENCV VERSION:")
#MESSAGE(${OpenCV_VERSION})

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
Expand Down Expand Up @@ -121,6 +121,54 @@ ${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
#/usr/local/lib/aarch64-linux-gnu/libopencv_core.so
/usr/local/lib/aarch64-linux-gnu/libopencv_aruco.so
/usr/local/lib/aarch64-linux-gnu/libopencv_bgsegm.so
/usr/local/lib/aarch64-linux-gnu/libopencv_bioinspired.so
/usr/local/lib/aarch64-linux-gnu/libopencv_calib3d.so
/usr/local/lib/aarch64-linux-gnu/libopencv_ccalib.so
/usr/local/lib/aarch64-linux-gnu/libopencv_core.so
/usr/local/lib/aarch64-linux-gnu/libopencv_datasets.so
/usr/local/lib/aarch64-linux-gnu/libopencv_dnn_objdetect.so
/usr/local/lib/aarch64-linux-gnu/libopencv_dnn.so
/usr/local/lib/aarch64-linux-gnu/libopencv_dpm.so
/usr/local/lib/aarch64-linux-gnu/libopencv_face.so
/usr/local/lib/aarch64-linux-gnu/libopencv_features2d.so
/usr/local/lib/aarch64-linux-gnu/libopencv_flann.so
/usr/local/lib/aarch64-linux-gnu/libopencv_freetype.so
/usr/local/lib/aarch64-linux-gnu/libopencv_fuzzy.so
/usr/local/lib/aarch64-linux-gnu/libopencv_hdf.so
/usr/local/lib/aarch64-linux-gnu/libopencv_hfs.so
/usr/local/lib/aarch64-linux-gnu/libopencv_highgui.so
/usr/local/lib/aarch64-linux-gnu/libopencv_imgcodecs.so
/usr/local/lib/aarch64-linux-gnu/libopencv_img_hash.so
/usr/local/lib/aarch64-linux-gnu/libopencv_imgproc.so
/usr/local/lib/aarch64-linux-gnu/libopencv_line_descriptor.so
/usr/local/lib/aarch64-linux-gnu/libopencv_ml.so
/usr/local/lib/aarch64-linux-gnu/libopencv_objdetect.so
/usr/local/lib/aarch64-linux-gnu/libopencv_optflow.so
/usr/local/lib/aarch64-linux-gnu/libopencv_phase_unwrapping.so
/usr/local/lib/aarch64-linux-gnu/libopencv_photo.so
/usr/local/lib/aarch64-linux-gnu/libopencv_plot.so
/usr/local/lib/aarch64-linux-gnu/libopencv_reg.so
/usr/local/lib/aarch64-linux-gnu/libopencv_rgbd.so
/usr/local/lib/aarch64-linux-gnu/libopencv_saliency.so
/usr/local/lib/aarch64-linux-gnu/libopencv_sfm.so
/usr/local/lib/aarch64-linux-gnu/libopencv_shape.so
/usr/local/lib/aarch64-linux-gnu/libopencv_stereo.so
/usr/local/lib/aarch64-linux-gnu/libopencv_stitching.so
/usr/local/lib/aarch64-linux-gnu/libopencv_structured_light.so
/usr/local/lib/aarch64-linux-gnu/libopencv_superres.so
/usr/local/lib/aarch64-linux-gnu/libopencv_surface_matching.so
/usr/local/lib/aarch64-linux-gnu/libopencv_text.so
/usr/local/lib/aarch64-linux-gnu/libopencv_tracking.so
/usr/local/lib/aarch64-linux-gnu/libopencv_videoio.so
/usr/local/lib/aarch64-linux-gnu/libopencv_video.so
/usr/local/lib/aarch64-linux-gnu/libopencv_videostab.so
/usr/local/lib/aarch64-linux-gnu/libopencv_xfeatures2d.so
/usr/local/lib/aarch64-linux-gnu/libopencv_ximgproc.so
/usr/local/lib/aarch64-linux-gnu/libopencv_xobjdetect.so
/usr/local/lib/aarch64-linux-gnu/libopencv_xphoto.so
-lboost_serialization
-lcrypto
)
Expand Down
2 changes: 1 addition & 1 deletion Examples/Monocular/mono_euroc.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ int main(int argc, char **argv)
int fps = 20;
float dT = 1.f/fps;
// Create SLAM system. It initializes all system threads and gets ready to process frames.
ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);
ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true);
float imageScale = SLAM.GetImageScale();

double t_resize = 0.f;
Expand Down
19 changes: 19 additions & 0 deletions Examples/euroc_eval_examples.sh
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Original file line number Diff line number Diff line change
@@ -0,0 +1,19 @@
#!/bin/bash
pathDatasetEuroc='~/Downloads/euroc_test'

# Single Session Example (Visual-Inertial)
echo "Launching V102 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Monocular-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_monoi
echo "------------------------------------"
echo "Evaluation of V102 trajectory with Monocular-Inertial sensor"
python ../evaluation/evaluate_ate_scale.py "$pathDatasetEuroc"/V102/mav0/state_groundtruth_estimate0/data.csv f_dataset-V102_monoi.txt --plot V102_monoi.pdf


# MultiSession Monocular Examples

echo "Launching Vicon Room 2 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Monocular-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_monoi
echo "------------------------------------"
echo "Evaluation of Vicon Room 2 trajectory with Stereo sensor"
python ../evaluation/evaluate_ate_scale.py ../evaluation/Ground_truth/EuRoC_imu/V2_GT.txt f_dataset-V201_to_V203_monoi.txt --plot V201_to_V203_monoi.pdf

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