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Orbslam ubuntu20 diraneyya #840

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2887176
add examples
JustMohsen Nov 19, 2023
033bcc9
add parameters instead of arguments
JustMohsen Nov 19, 2023
a6388b5
fix a typo in the evaluation job
JustMohsen Nov 19, 2023
19eb7f9
update to list to use python3
JustMohsen Nov 19, 2023
403c42e
evaluate all dataset
JustMohsen Nov 19, 2023
a31835e
change save name
JustMohsen Nov 19, 2023
777084f
Update evaluate_ate_scale.py
JustMohsen Nov 19, 2023
fceacd3
Update System.cc
JustMohsen Nov 19, 2023
7fb6140
merge ground truth data
JustMohsen Nov 19, 2023
03c2180
fix a typo
JustMohsen Nov 19, 2023
f42ac11
add faster matching method
JustMohsen Nov 20, 2023
ab50506
Update evaluate_ate_scale.py
JustMohsen Nov 20, 2023
d3ad2f1
Revert "Update System.cc"
JustMohsen Nov 22, 2023
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10 changes: 5 additions & 5 deletions CMakeLists.txt
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Expand Up @@ -12,20 +12,20 @@ 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)
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6 changes: 3 additions & 3 deletions Examples/Monocular-Inertial/mono_inertial_euroc.cc
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Expand Up @@ -117,7 +117,7 @@ int main(int argc, char *argv[])
cout.precision(17);

// 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::IMU_MONOCULAR, true);
ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_MONOCULAR, false);
float imageScale = SLAM.GetImageScale();

double t_resize = 0.f;
Expand Down Expand Up @@ -235,8 +235,8 @@ int main(int argc, char *argv[])
// Save camera trajectory
if (bFileName)
{
const string kf_file = "kf_" + string(argv[argc-1]) + ".txt";
const string f_file = "f_" + string(argv[argc-1]) + ".txt";
const string kf_file = string(argv[argc-1]) + "_keyframes.txt";
const string f_file = string(argv[argc-1]) + "_frames.txt";
SLAM.SaveTrajectoryEuRoC(f_file);
SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);
}
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4 changes: 2 additions & 2 deletions Examples/Monocular-Inertial/mono_inertial_tum_vi.cc
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Expand Up @@ -253,8 +253,8 @@ int main(int argc, char **argv)

if (bFileName)
{
const string kf_file = "kf_" + string(argv[argc-1]) + ".txt";
const string f_file = "f_" + string(argv[argc-1]) + ".txt";
const string kf_file = string(argv[argc-1]) + "_keyframes.txt";
const string f_file = string(argv[argc-1]) + "_frames.txt";
SLAM.SaveTrajectoryEuRoC(f_file);
SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);
}
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4 changes: 2 additions & 2 deletions Examples/Monocular/mono_euroc.cc
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Expand Up @@ -189,8 +189,8 @@ int main(int argc, char **argv)
// Save camera trajectory
if (bFileName)
{
const string kf_file = "kf_" + string(argv[argc-1]) + ".txt";
const string f_file = "f_" + string(argv[argc-1]) + ".txt";
const string kf_file = string(argv[argc-1]) + "_keyframes.txt";
const string f_file = string(argv[argc-1]) + "_frames.txt";
SLAM.SaveTrajectoryEuRoC(f_file);
SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);
}
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4 changes: 2 additions & 2 deletions Examples/Monocular/mono_tum_vi.cc
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Expand Up @@ -201,8 +201,8 @@ int main(int argc, char **argv)

if (bFileName)
{
const string kf_file = "kf_" + string(argv[argc-1]) + ".txt";
const string f_file = "f_" + string(argv[argc-1]) + ".txt";
const string kf_file = string(argv[argc-1]) + "_keyframes.txt";
const string f_file = string(argv[argc-1]) + "_frames.txt";
SLAM.SaveTrajectoryEuRoC(f_file);
SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);
}
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4 changes: 2 additions & 2 deletions Examples/Stereo-Inertial/stereo_inertial_euroc.cc
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Expand Up @@ -226,8 +226,8 @@ int main(int argc, char **argv)
// Save camera trajectory
if (bFileName)
{
const string kf_file = "kf_" + string(argv[argc-1]) + ".txt";
const string f_file = "f_" + string(argv[argc-1]) + ".txt";
const string kf_file = string(argv[argc-1]) + "_keyframes.txt";
const string f_file = string(argv[argc-1]) + "_frames.txt";
SLAM.SaveTrajectoryEuRoC(f_file);
SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);
}
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4 changes: 2 additions & 2 deletions Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc
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Expand Up @@ -259,8 +259,8 @@ int main(int argc, char **argv)

if (bFileName)
{
const string kf_file = "kf_" + string(argv[argc-1]) + ".txt";
const string f_file = "f_" + string(argv[argc-1]) + ".txt";
const string kf_file = string(argv[argc-1]) + "_keyframes.txt";
const string f_file = string(argv[argc-1]) + "_frames.txt";
SLAM.SaveTrajectoryEuRoC(f_file);
SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);
}
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6 changes: 3 additions & 3 deletions Examples/Stereo/stereo_euroc.cc
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Expand Up @@ -88,7 +88,7 @@ int main(int argc, char **argv)
cout.precision(17);

// 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::STEREO, true);
ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::STEREO, false);

cv::Mat imLeft, imRight;
for (seq = 0; seq<num_seq; seq++)
Expand Down Expand Up @@ -171,8 +171,8 @@ int main(int argc, char **argv)
// Save camera trajectory
if (bFileName)
{
const string kf_file = "kf_" + string(argv[argc-1]) + ".txt";
const string f_file = "f_" + string(argv[argc-1]) + ".txt";
const string kf_file = string(argv[argc-1]) + "_keyframes.txt";
const string f_file = string(argv[argc-1]) + "_frames.txt";
SLAM.SaveTrajectoryEuRoC(f_file);
SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);
}
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4 changes: 2 additions & 2 deletions Examples/Stereo/stereo_tum_vi.cc
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Expand Up @@ -209,8 +209,8 @@ int main(int argc, char **argv)

if (bFileName)
{
const string kf_file = "kf_" + string(argv[argc-1]) + ".txt";
const string f_file = "f_" + string(argv[argc-1]) + ".txt";
const string kf_file = string(argv[argc-1]) + "_keyframes.txt";
const string f_file = string(argv[argc-1]) + "_frames.txt";
SLAM.SaveTrajectoryEuRoC(f_file);
SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);
}
Expand Down
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