From 966ac5e218820248f353b86fa4406d530a9e9585 Mon Sep 17 00:00:00 2001 From: aaronxavier Date: Wed, 11 Mar 2020 11:36:36 +0530 Subject: [PATCH 1/9] Updated missing headers "unistd.h" --- Examples/Monocular/mono_euroc.cc | 1 + Examples/Monocular/mono_kitti.cc | 1 + Examples/Monocular/mono_tum.cc | 1 + Examples/RGB-D/rgbd_tum.cc | 1 + Examples/Stereo/stereo_euroc.cc | 1 + Examples/Stereo/stereo_kitti.cc | 1 + src/Converter.cc | 2 +- src/Frame.cc | 1 + src/FrameDrawer.cc | 1 + src/Initializer.cc | 1 + src/KeyFrame.cc | 1 + src/KeyFrameDatabase.cc | 1 + src/LocalMapping.cc | 1 + src/LoopClosing.cc | 1 + src/Map.cc | 1 + src/MapDrawer.cc | 1 + src/MapPoint.cc | 1 + src/ORBextractor.cc | 1 + src/ORBmatcher.cc | 1 + src/Optimizer.cc | 1 + src/PnPsolver.cc | 1 + src/Sim3Solver.cc | 1 + src/System.cc | 1 + src/Tracking.cc | 1 + src/Viewer.cc | 1 + 25 files changed, 25 insertions(+), 1 deletion(-) diff --git a/Examples/Monocular/mono_euroc.cc b/Examples/Monocular/mono_euroc.cc index 4bcb90f170..c1c1c521ac 100644 --- a/Examples/Monocular/mono_euroc.cc +++ b/Examples/Monocular/mono_euroc.cc @@ -23,6 +23,7 @@ #include #include #include +#include "unistd.h" #include diff --git a/Examples/Monocular/mono_kitti.cc b/Examples/Monocular/mono_kitti.cc index f2f7b3ebfd..24e9c5ce19 100644 --- a/Examples/Monocular/mono_kitti.cc +++ b/Examples/Monocular/mono_kitti.cc @@ -24,6 +24,7 @@ #include #include #include +#include "unistd.h" #include diff --git a/Examples/Monocular/mono_tum.cc b/Examples/Monocular/mono_tum.cc index 09a2afc4b7..ea4a773fed 100644 --- a/Examples/Monocular/mono_tum.cc +++ b/Examples/Monocular/mono_tum.cc @@ -23,6 +23,7 @@ #include #include #include +#include "unistd.h" #include diff --git a/Examples/RGB-D/rgbd_tum.cc b/Examples/RGB-D/rgbd_tum.cc index 001199d1aa..ca770e98a9 100644 --- a/Examples/RGB-D/rgbd_tum.cc +++ b/Examples/RGB-D/rgbd_tum.cc @@ -23,6 +23,7 @@ #include #include #include +#include "unistd.h" #include diff --git a/Examples/Stereo/stereo_euroc.cc b/Examples/Stereo/stereo_euroc.cc index 6bc09c50be..d1432fcf73 100644 --- a/Examples/Stereo/stereo_euroc.cc +++ b/Examples/Stereo/stereo_euroc.cc @@ -24,6 +24,7 @@ #include #include #include +#include "unistd.h" #include diff --git a/Examples/Stereo/stereo_kitti.cc b/Examples/Stereo/stereo_kitti.cc index cb8bc4096e..aef6279d3f 100644 --- a/Examples/Stereo/stereo_kitti.cc +++ b/Examples/Stereo/stereo_kitti.cc @@ -24,6 +24,7 @@ #include #include #include +#include "unistd.h" #include diff --git a/src/Converter.cc b/src/Converter.cc index 00ea8ee597..3e151e8406 100644 --- a/src/Converter.cc +++ b/src/Converter.cc @@ -20,7 +20,7 @@ #include "Converter.h" - +#include "unistd.h" namespace ORB_SLAM2 { diff --git a/src/Frame.cc b/src/Frame.cc index 0e37d49335..ff41f7464f 100644 --- a/src/Frame.cc +++ b/src/Frame.cc @@ -22,6 +22,7 @@ #include "Converter.h" #include "ORBmatcher.h" #include +#include "unistd.h" namespace ORB_SLAM2 { diff --git a/src/FrameDrawer.cc b/src/FrameDrawer.cc index e23b86c207..fa2d2d2851 100644 --- a/src/FrameDrawer.cc +++ b/src/FrameDrawer.cc @@ -20,6 +20,7 @@ #include "FrameDrawer.h" #include "Tracking.h" +#include "unistd.h" #include #include diff --git a/src/Initializer.cc b/src/Initializer.cc index 6094b8f51b..ec5aa37fab 100644 --- a/src/Initializer.cc +++ b/src/Initializer.cc @@ -19,6 +19,7 @@ */ #include "Initializer.h" +#include "unistd.h" #include "Thirdparty/DBoW2/DUtils/Random.h" diff --git a/src/KeyFrame.cc b/src/KeyFrame.cc index 4ef1e78e0f..262a5b0f59 100644 --- a/src/KeyFrame.cc +++ b/src/KeyFrame.cc @@ -22,6 +22,7 @@ #include "Converter.h" #include "ORBmatcher.h" #include +#include "unistd.h" namespace ORB_SLAM2 { diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc index 826860cab9..b4e47bb238 100644 --- a/src/KeyFrameDatabase.cc +++ b/src/KeyFrameDatabase.cc @@ -22,6 +22,7 @@ #include "KeyFrame.h" #include "Thirdparty/DBoW2/DBoW2/BowVector.h" +#include "unistd.h" #include diff --git a/src/LocalMapping.cc b/src/LocalMapping.cc index 6c87a6e55a..963155043e 100644 --- a/src/LocalMapping.cc +++ b/src/LocalMapping.cc @@ -22,6 +22,7 @@ #include "LoopClosing.h" #include "ORBmatcher.h" #include "Optimizer.h" +#include "unistd.h" #include diff --git a/src/LoopClosing.cc b/src/LoopClosing.cc index 5e317dd420..827a88edf6 100644 --- a/src/LoopClosing.cc +++ b/src/LoopClosing.cc @@ -23,6 +23,7 @@ #include "Sim3Solver.h" #include "Converter.h" +#include "unistd.h" #include "Optimizer.h" diff --git a/src/Map.cc b/src/Map.cc index 15fcd86914..c3d70d3074 100644 --- a/src/Map.cc +++ b/src/Map.cc @@ -21,6 +21,7 @@ #include "Map.h" #include +#include "unistd.h" namespace ORB_SLAM2 { diff --git a/src/MapDrawer.cc b/src/MapDrawer.cc index 4d9990bc8a..d7b6b45dc8 100644 --- a/src/MapDrawer.cc +++ b/src/MapDrawer.cc @@ -23,6 +23,7 @@ #include "KeyFrame.h" #include #include +#include "unistd.h" namespace ORB_SLAM2 { diff --git a/src/MapPoint.cc b/src/MapPoint.cc index 3b2921197b..ac81fcdc2a 100644 --- a/src/MapPoint.cc +++ b/src/MapPoint.cc @@ -22,6 +22,7 @@ #include "ORBmatcher.h" #include +#include "unistd.h" namespace ORB_SLAM2 { diff --git a/src/ORBextractor.cc b/src/ORBextractor.cc index 14be2efae5..878ba8cb84 100644 --- a/src/ORBextractor.cc +++ b/src/ORBextractor.cc @@ -59,6 +59,7 @@ #include #include #include +#include "unistd.h" #include "ORBextractor.h" diff --git a/src/ORBmatcher.cc b/src/ORBmatcher.cc index 56bf279d0f..9e52f739fc 100644 --- a/src/ORBmatcher.cc +++ b/src/ORBmatcher.cc @@ -24,6 +24,7 @@ #include #include +#include "unistd.h" #include "Thirdparty/DBoW2/DBoW2/FeatureVector.h" diff --git a/src/Optimizer.cc b/src/Optimizer.cc index 83d9264546..ec813bdc6e 100644 --- a/src/Optimizer.cc +++ b/src/Optimizer.cc @@ -27,6 +27,7 @@ #include "Thirdparty/g2o/g2o/core/robust_kernel_impl.h" #include "Thirdparty/g2o/g2o/solvers/linear_solver_dense.h" #include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h" +#include "unistd.h" #include diff --git a/src/PnPsolver.cc b/src/PnPsolver.cc index af3511b165..3741ecc2be 100644 --- a/src/PnPsolver.cc +++ b/src/PnPsolver.cc @@ -51,6 +51,7 @@ #include #include "PnPsolver.h" +#include "unistd.h" #include #include diff --git a/src/Sim3Solver.cc b/src/Sim3Solver.cc index 4ad44ff0de..efe1051354 100644 --- a/src/Sim3Solver.cc +++ b/src/Sim3Solver.cc @@ -24,6 +24,7 @@ #include #include #include +#include "unistd.h" #include "KeyFrame.h" #include "ORBmatcher.h" diff --git a/src/System.cc b/src/System.cc index 8df4157095..46b3c8466f 100644 --- a/src/System.cc +++ b/src/System.cc @@ -25,6 +25,7 @@ #include #include #include +#include "unistd.h" namespace ORB_SLAM2 { diff --git a/src/Tracking.cc b/src/Tracking.cc index 2273b2ce48..0c1320b8ea 100644 --- a/src/Tracking.cc +++ b/src/Tracking.cc @@ -29,6 +29,7 @@ #include"Converter.h" #include"Map.h" #include"Initializer.h" +#include "unistd.h" #include"Optimizer.h" #include"PnPsolver.h" diff --git a/src/Viewer.cc b/src/Viewer.cc index dec3204f53..5fff887c67 100644 --- a/src/Viewer.cc +++ b/src/Viewer.cc @@ -20,6 +20,7 @@ #include "Viewer.h" #include +#include "unistd.h" #include From d402b2fd7df418c468dc83f70bcf3cc338e84be8 Mon Sep 17 00:00:00 2001 From: aaronxavier Date: Thu, 12 Mar 2020 10:25:02 +0530 Subject: [PATCH 2/9] Added headers --- Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc | 1 + Examples/ROS/ORB_SLAM2/src/AR/ros_mono_ar.cc | 1 + Examples/ROS/ORB_SLAM2/src/ros_mono.cc | 1 + Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc | 1 + Examples/ROS/ORB_SLAM2/src/ros_stereo.cc | 1 + roscpp/.rosinstall | 5 +++++ 6 files changed, 10 insertions(+) create mode 100644 roscpp/.rosinstall diff --git a/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc b/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc index 9c548e87d1..b76844d58f 100644 --- a/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc +++ b/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc @@ -19,6 +19,7 @@ */ #include "ViewerAR.h" +#include "unistd.h" #include diff --git a/Examples/ROS/ORB_SLAM2/src/AR/ros_mono_ar.cc b/Examples/ROS/ORB_SLAM2/src/AR/ros_mono_ar.cc index 58d204a0f7..704338c51a 100644 --- a/Examples/ROS/ORB_SLAM2/src/AR/ros_mono_ar.cc +++ b/Examples/ROS/ORB_SLAM2/src/AR/ros_mono_ar.cc @@ -23,6 +23,7 @@ #include #include #include +#include "unistd.h" #include #include diff --git a/Examples/ROS/ORB_SLAM2/src/ros_mono.cc b/Examples/ROS/ORB_SLAM2/src/ros_mono.cc index 2913525bfc..912cf4aa95 100644 --- a/Examples/ROS/ORB_SLAM2/src/ros_mono.cc +++ b/Examples/ROS/ORB_SLAM2/src/ros_mono.cc @@ -23,6 +23,7 @@ #include #include #include +#include "unistd.h" #include #include diff --git a/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc b/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc index afa567dc9b..c631704be7 100644 --- a/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc +++ b/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc @@ -23,6 +23,7 @@ #include #include #include +#include "unistd.h" #include #include diff --git a/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc b/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc index 9a0f9acc35..702c10b37b 100644 --- a/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc +++ b/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc @@ -23,6 +23,7 @@ #include #include #include +#include "unistd.h" #include #include diff --git a/roscpp/.rosinstall b/roscpp/.rosinstall new file mode 100644 index 0000000000..6f4d5d047c --- /dev/null +++ b/roscpp/.rosinstall @@ -0,0 +1,5 @@ +# IT IS UNLIKELY YOU WANT TO EDIT THIS FILE BY HAND, +# UNLESS FOR REMOVING ENTRIES. +# IF YOU WANT TO CHANGE THE ROS ENVIRONMENT VARIABLES +# USE THE rosinstall TOOL INSTEAD. +# IF YOU CHANGE IT, USE rosinstall FOR THE CHANGES TO TAKE EFFECT From 9eaf2fd3d6824999b5167408a2f92dd8c1b3f006 Mon Sep 17 00:00:00 2001 From: aaronxavier Date: Thu, 12 Mar 2020 14:52:02 +0530 Subject: [PATCH 3/9] Resolving boost issues --- Examples/ROS/ORB_SLAM2/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/Examples/ROS/ORB_SLAM2/CMakeLists.txt b/Examples/ROS/ORB_SLAM2/CMakeLists.txt index 7cbf71c199..572ad96b4d 100644 --- a/Examples/ROS/ORB_SLAM2/CMakeLists.txt +++ b/Examples/ROS/ORB_SLAM2/CMakeLists.txt @@ -55,6 +55,7 @@ ${Pangolin_LIBRARIES} ${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so ${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so +-lboost_system ) # Node for monocular camera From 5c51c9f5146ef15a4706b447f3443de42e5387f7 Mon Sep 17 00:00:00 2001 From: aaronxavier Date: Mon, 16 Mar 2020 16:31:42 +0530 Subject: [PATCH 4/9] .. --- 2020-03-12-15_30_49.log | 0 2020-03-12-15_31_25.log | 0 2020-03-12-15_32_36.log | 0 Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc | 11 +++++++---- Examples/ROS/ORB_SLAM2/src/ros_stereo.cc | 2 ++ 5 files changed, 9 insertions(+), 4 deletions(-) create mode 100644 2020-03-12-15_30_49.log create mode 100644 2020-03-12-15_31_25.log create mode 100644 2020-03-12-15_32_36.log diff --git a/2020-03-12-15_30_49.log b/2020-03-12-15_30_49.log new file mode 100644 index 0000000000..e69de29bb2 diff --git a/2020-03-12-15_31_25.log b/2020-03-12-15_31_25.log new file mode 100644 index 0000000000..e69de29bb2 diff --git a/2020-03-12-15_32_36.log b/2020-03-12-15_32_36.log new file mode 100644 index 0000000000..e69de29bb2 diff --git a/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc b/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc index c631704be7..acf3e19591 100644 --- a/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc +++ b/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc @@ -24,7 +24,6 @@ #include #include #include "unistd.h" - #include #include #include @@ -66,8 +65,10 @@ int main(int argc, char **argv) ros::NodeHandle nh; - message_filters::Subscriber rgb_sub(nh, "/camera/rgb/image_raw", 1); - message_filters::Subscriber depth_sub(nh, "camera/depth_registered/image_raw", 1); + //message_filters::Subscriber rgb_sub(nh, "/camera/rgb/image_raw", 1); + //message_filters::Subscriber depth_sub(nh, "camera/depth_registered/image_raw", 1); + message_filters::Subscriber rgb_sub(nh, "/camera/color/image_raw", 1); + message_filters::Subscriber depth_sub(nh, "/camera/aligned_depth_to_color/image_raw", 1); typedef message_filters::sync_policies::ApproximateTime sync_pol; message_filters::Synchronizer sync(sync_pol(10), rgb_sub,depth_sub); sync.registerCallback(boost::bind(&ImageGrabber::GrabRGBD,&igb,_1,_2)); @@ -109,7 +110,9 @@ void ImageGrabber::GrabRGBD(const sensor_msgs::ImageConstPtr& msgRGB,const senso ROS_ERROR("cv_bridge exception: %s", e.what()); return; } - + //< remap from="/camera/aligned_depth_to_color/image_raw"to="/camera/depth_registered/image_raw" /> + //< remap from="/camera/color/image_raw" to="/camera/rgb/image_raw" /> + mpSLAM->TrackRGBD(cv_ptrRGB->image,cv_ptrD->image,cv_ptrRGB->header.stamp.toSec()); } diff --git a/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc b/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc index 702c10b37b..b93c39f597 100644 --- a/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc +++ b/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc @@ -112,6 +112,8 @@ int main(int argc, char **argv) message_filters::Subscriber left_sub(nh, "/camera/left/image_raw", 1); message_filters::Subscriber right_sub(nh, "camera/right/image_raw", 1); + //message_filters::Subscriber left_sub(nh, "/camera/infra1/image_rect_raw", 1); + //message_filters::Subscriber right_sub(nh, "/camera/infra2/image_rect_raw", 1); typedef message_filters::sync_policies::ApproximateTime sync_pol; message_filters::Synchronizer sync(sync_pol(10), left_sub,right_sub); sync.registerCallback(boost::bind(&ImageGrabber::GrabStereo,&igb,_1,_2)); From 4fd7f27e59c1c91f4486f539497b74e40f90fbf1 Mon Sep 17 00:00:00 2001 From: aaronxavier Date: Wed, 1 Apr 2020 16:20:57 +0530 Subject: [PATCH 5/9] For RealSenseD435 --- Examples/ROS/ORB_SLAM2/src/ros_mono.cc | 4 +- Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc | 2 +- Examples/ROS/ORB_SLAM2/src/ros_stereo.cc | 8 +- FrameTrajectory_KITTI_Format.txt | 430 +++++++++++++++++++++++ FrameTrajectory_TUM_Format.txt | 250 +++++++++++++ KeyFrameTrajectory_TUM_Format.txt | 168 +++++++++ 6 files changed, 855 insertions(+), 7 deletions(-) create mode 100644 FrameTrajectory_KITTI_Format.txt create mode 100644 FrameTrajectory_TUM_Format.txt create mode 100644 KeyFrameTrajectory_TUM_Format.txt diff --git a/Examples/ROS/ORB_SLAM2/src/ros_mono.cc b/Examples/ROS/ORB_SLAM2/src/ros_mono.cc index 912cf4aa95..fb4d117bf9 100644 --- a/Examples/ROS/ORB_SLAM2/src/ros_mono.cc +++ b/Examples/ROS/ORB_SLAM2/src/ros_mono.cc @@ -23,7 +23,7 @@ #include #include #include -#include "unistd.h" +#include "unistd.h" //<- Added later #include #include @@ -62,7 +62,7 @@ int main(int argc, char **argv) ImageGrabber igb(&SLAM); ros::NodeHandle nodeHandler; - ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb); + ros::Subscriber sub = nodeHandler.subscribe("/camera/infra1/image_rect_raw", 1, &ImageGrabber::GrabImage,&igb); ros::spin(); diff --git a/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc b/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc index acf3e19591..0be49b59ce 100644 --- a/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc +++ b/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc @@ -68,7 +68,7 @@ int main(int argc, char **argv) //message_filters::Subscriber rgb_sub(nh, "/camera/rgb/image_raw", 1); //message_filters::Subscriber depth_sub(nh, "camera/depth_registered/image_raw", 1); message_filters::Subscriber rgb_sub(nh, "/camera/color/image_raw", 1); - message_filters::Subscriber depth_sub(nh, "/camera/aligned_depth_to_color/image_raw", 1); + message_filters::Subscriber depth_sub(nh, "/camera/depth/image_rect_raw", 1); typedef message_filters::sync_policies::ApproximateTime sync_pol; message_filters::Synchronizer sync(sync_pol(10), rgb_sub,depth_sub); sync.registerCallback(boost::bind(&ImageGrabber::GrabRGBD,&igb,_1,_2)); diff --git a/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc b/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc index b93c39f597..008ceaadea 100644 --- a/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc +++ b/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc @@ -110,10 +110,10 @@ int main(int argc, char **argv) ros::NodeHandle nh; - message_filters::Subscriber left_sub(nh, "/camera/left/image_raw", 1); - message_filters::Subscriber right_sub(nh, "camera/right/image_raw", 1); - //message_filters::Subscriber left_sub(nh, "/camera/infra1/image_rect_raw", 1); - //message_filters::Subscriber right_sub(nh, "/camera/infra2/image_rect_raw", 1); + //message_filters::Subscriber left_sub(nh, "/camera/left/image_raw", 1); + //message_filters::Subscriber right_sub(nh, "camera/right/image_raw", 1); + message_filters::Subscriber left_sub(nh, "/camera/infra1/image_rect_raw", 1); + message_filters::Subscriber right_sub(nh, "/camera/infra2/image_rect_raw", 1); typedef message_filters::sync_policies::ApproximateTime sync_pol; message_filters::Synchronizer sync(sync_pol(10), left_sub,right_sub); sync.registerCallback(boost::bind(&ImageGrabber::GrabStereo,&igb,_1,_2)); diff --git a/FrameTrajectory_KITTI_Format.txt b/FrameTrajectory_KITTI_Format.txt new file mode 100644 index 0000000000..21f93648c9 --- /dev/null +++ b/FrameTrajectory_KITTI_Format.txt @@ -0,0 +1,430 @@ +1.000000000 0.000000000 0.000000000 0.000000000 0.000000000 1.000000000 0.000000000 0.000000000 0.000000000 0.000000000 1.000000000 0.000000000 +1.000000000 -0.000128522 -0.000008196 0.000150231 0.000128523 1.000000000 0.000163302 -0.000236717 0.000008175 -0.000163303 1.000000000 -0.000514628 +1.000000000 -0.000117110 -0.000016055 0.000137962 0.000117113 1.000000000 0.000196037 -0.000297290 0.000016032 -0.000196039 1.000000000 -0.000479680 +1.000000000 -0.000039640 -0.000011950 0.000061611 0.000039639 1.000000000 -0.000025658 0.000018007 0.000011951 0.000025657 1.000000000 0.000038534 +1.000000000 -0.000129412 -0.000007029 0.000071815 0.000129412 1.000000000 0.000069354 -0.000126653 0.000007020 -0.000069355 1.000000000 -0.000178670 +1.000000000 0.000024460 0.000001166 0.000015987 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-0.0430925 0.9942552 +1585556776.927839 0.0531759 -0.1268444 0.1651847 -0.0533194 0.0763887 -0.0415320 0.9947848 +1585556776.994668 0.0957481 -0.1263917 0.1592217 -0.0523852 0.0649290 -0.0410848 0.9956666 +1585556777.028084 0.1180539 -0.1236382 0.1557632 -0.0511218 0.0586709 -0.0402530 0.9961546 +1585556777.061499 0.1252094 -0.1338305 0.1534685 -0.0540988 0.0567679 -0.0409092 0.9960809 +1585556777.128226 0.1306800 -0.1165577 0.1576474 -0.0508344 0.0611974 -0.0551534 0.9953034 +1585556777.194724 0.1764565 -0.1085397 0.1577268 -0.0480626 0.0491472 -0.0568530 0.9960132 +1585556777.227958 0.1784811 -0.1106523 0.1572824 -0.0486629 0.0485839 -0.0568220 0.9960135 +1585556777.294425 0.1437252 -0.1135859 0.1350978 -0.0483204 0.0602355 -0.0613156 0.9951267 +1585556777.327657 0.1440087 -0.1133008 0.1363192 -0.0480051 0.0603751 -0.0622872 0.9950732 +1585556777.360888 0.1441336 -0.1135568 0.1371506 -0.0482706 0.0601249 -0.0617068 0.9951116 +1585556777.427349 0.1375367 -0.1146760 0.1011723 -0.0471928 0.0652723 -0.0676107 0.9944552 +1585556777.460579 0.1376846 -0.1152128 0.1011383 -0.0474176 0.0651655 -0.0675198 0.9944577 +1585556777.527036 0.1374006 -0.1153898 0.1023514 -0.0474663 0.0652211 -0.0674713 0.9944550 +1585556777.626718 0.1398035 -0.1150092 0.1022266 -0.0473493 0.0645373 -0.0673776 0.9945115 +1585556777.726395 0.1375366 -0.1142025 0.1043968 -0.0472175 0.0649080 -0.0671020 0.9945123 +1585556777.759619 0.1382468 -0.1159023 0.1051817 -0.0478783 0.0647631 -0.0671073 0.9944898 +1585556777.792843 0.1514933 -0.1118471 0.1049243 -0.0463435 0.0608654 -0.0669243 0.9948210 +1585556777.859287 0.1846332 -0.1098443 0.1080279 -0.0454416 0.0504147 -0.0640660 0.9956350 +1585556777.892509 0.1903201 -0.1168838 0.1075674 -0.0475020 0.0486743 -0.0639933 0.9956301 +1585556777.925730 0.1990952 -0.1204299 0.1052129 -0.0482473 0.0462715 -0.0641309 0.9956999 +1585556777.992170 0.2208257 -0.1212310 0.1049263 -0.0481856 0.0394748 -0.0630655 0.9960636 +1585556778.091826 0.2204444 -0.1212465 0.1058586 -0.0483346 0.0395577 -0.0631790 0.9960458 +1585556778.125044 0.2174074 -0.1222203 0.1051012 -0.0486840 0.0405315 -0.0633934 0.9959761 +1585556778.158370 0.2196475 -0.1210059 0.1063143 -0.0482352 0.0397179 -0.0633975 0.9960304 +1585556778.225078 0.2265599 -0.1171416 0.1097708 -0.0471941 0.0372984 -0.0622697 0.9962450 +1585556778.291785 0.2357799 -0.1146791 0.1021569 -0.0462404 0.0353228 -0.0622317 0.9963641 +1585556778.391756 0.2405896 -0.1156321 0.1024457 -0.0465360 0.0338627 -0.0625371 0.9963819 +1585556778.491761 0.2366812 -0.1110348 0.1043884 -0.0450197 0.0347847 -0.0612973 0.9964968 +1585556778.525096 0.2096995 -0.1174648 0.1067656 -0.0471987 0.0427792 -0.0638335 0.9959254 +1585556778.591765 0.2288759 -0.1243233 0.1071995 -0.0489841 0.0369389 -0.0642577 0.9960457 +1585556778.625100 0.1891363 -0.0914147 0.1219703 -0.0402117 0.0481129 -0.0599264 0.9962314 +1585556778.691769 0.2502750 -0.0627136 0.1164598 -0.0303919 0.0301606 -0.0557315 0.9975273 +1585556778.725104 0.2662295 -0.1164051 0.1283714 -0.0471330 0.0234860 -0.0599216 0.9968131 +1585556778.791772 0.2859926 -0.1105987 0.1289586 -0.0454379 0.0183346 -0.0585926 0.9970788 +1585556778.825107 0.2757226 -0.1273287 0.1281814 -0.0505937 0.0211029 -0.0599711 0.9966937 +1585556778.891776 0.2953022 -0.0871849 0.1330170 -0.0386363 0.0163168 -0.0580158 0.9974343 +1585556778.925111 0.2949943 -0.0974859 0.1321396 -0.0414910 0.0163038 -0.0577703 0.9973341 +1585556778.958445 0.2909761 -0.0993690 0.1342144 -0.0424135 0.0176570 -0.0579256 0.9972633 From d499a51ffed385e1e2b19dd7886dc884a4053a9a Mon Sep 17 00:00:00 2001 From: Aaron Xavier Date: Tue, 14 Mar 2023 17:12:37 +0100 Subject: [PATCH 6/9] Adding compatibility for OpenCV4 --- .gitignore | 2 +- CMakeLists.txt | 14 +++++++------- Examples/Monocular/mono_euroc.cc | 2 +- Examples/Monocular/mono_kitti.cc | 2 +- Examples/Monocular/mono_tum.cc | 2 +- Examples/RGB-D/rgbd_tum.cc | 4 ++-- Examples/Stereo/stereo_euroc.cc | 4 ++-- Examples/Stereo/stereo_kitti.cc | 4 ++-- Thirdparty/DBoW2/CMakeLists.txt | 2 +- include/LoopClosing.h | 2 +- include/ORBextractor.h | 2 +- include/PnPsolver.h | 4 ++++ include/Sim3Solver.h | 3 +++ include/System.h | 3 +++ src/FrameDrawer.cc | 4 +++- src/LoopClosing.cc | 4 +++- src/Optimizer.cc | 3 +++ src/Sim3Solver.cc | 1 + src/Tracking.cc | 4 +++- 19 files changed, 43 insertions(+), 23 deletions(-) diff --git a/.gitignore b/.gitignore index 611b5adb2c..d5b8c78eed 100644 --- a/.gitignore +++ b/.gitignore @@ -21,4 +21,4 @@ Vocabulary/ORBvoc.txt build/ *~ lib/ - +Datasets/* diff --git a/CMakeLists.txt b/CMakeLists.txt index 08a8af468e..f24cf0fee4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,25 +10,25 @@ MESSAGE("Build type: " ${CMAKE_BUILD_TYPE}) set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native") -# Check C++11 or C++0x support +# Check C++14 or C++0x support include(CheckCXXCompilerFlag) -CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) +CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11) CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) if(COMPILER_SUPPORTS_CXX11) - set(CMAKE_CXX_FLAGS "${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 3.0 QUIET) +find_package(OpenCV 4.0 QUIET) if(NOT OpenCV_FOUND) find_package(OpenCV 2.4.3 QUIET) if(NOT OpenCV_FOUND) @@ -36,7 +36,7 @@ if(NOT OpenCV_FOUND) endif() endif() -find_package(Eigen3 3.1.0 REQUIRED) +find_package(Eigen3 3.1.0 REQUIRED NO_MODULE) find_package(Pangolin REQUIRED) include_directories( diff --git a/Examples/Monocular/mono_euroc.cc b/Examples/Monocular/mono_euroc.cc index c1c1c521ac..55d6888d1a 100644 --- a/Examples/Monocular/mono_euroc.cc +++ b/Examples/Monocular/mono_euroc.cc @@ -71,7 +71,7 @@ int main(int argc, char **argv) for(int ni=0; ni,int> ConsistentGroup; typedef map, - Eigen::aligned_allocator > > KeyFrameAndPose; + Eigen::aligned_allocator > > KeyFrameAndPose; public: diff --git a/include/ORBextractor.h b/include/ORBextractor.h index 66e8e7a547..268148a1ee 100644 --- a/include/ORBextractor.h +++ b/include/ORBextractor.h @@ -23,7 +23,7 @@ #include #include -#include +#include namespace ORB_SLAM2 diff --git a/include/PnPsolver.h b/include/PnPsolver.h index f92544fc8f..0873dfde7a 100644 --- a/include/PnPsolver.h +++ b/include/PnPsolver.h @@ -52,6 +52,10 @@ #define PNPSOLVER_H #include +#include +#include +using namespace cv; + #include "MapPoint.h" #include "Frame.h" diff --git a/include/Sim3Solver.h b/include/Sim3Solver.h index 9af66cb26f..b69d1291a2 100644 --- a/include/Sim3Solver.h +++ b/include/Sim3Solver.h @@ -24,6 +24,9 @@ #include #include +#include +#include +using namespace cv; #include "KeyFrame.h" diff --git a/include/System.h b/include/System.h index b377b453d1..571a2c6f5b 100644 --- a/include/System.h +++ b/include/System.h @@ -25,6 +25,9 @@ #include #include #include +#include +#include +using namespace cv; #include "Tracking.h" #include "FrameDrawer.h" diff --git a/src/FrameDrawer.cc b/src/FrameDrawer.cc index fa2d2d2851..ff72fd8b26 100644 --- a/src/FrameDrawer.cc +++ b/src/FrameDrawer.cc @@ -26,7 +26,9 @@ #include #include - +#include +#include +using namespace cv; namespace ORB_SLAM2 { diff --git a/src/LoopClosing.cc b/src/LoopClosing.cc index 827a88edf6..ecaaddea2a 100644 --- a/src/LoopClosing.cc +++ b/src/LoopClosing.cc @@ -31,7 +31,9 @@ #include #include - +#include +#include +using namespace cv; namespace ORB_SLAM2 { diff --git a/src/Optimizer.cc b/src/Optimizer.cc index ec813bdc6e..f8a960e102 100644 --- a/src/Optimizer.cc +++ b/src/Optimizer.cc @@ -34,6 +34,9 @@ #include "Converter.h" #include +#include +#include +using namespace cv; namespace ORB_SLAM2 { diff --git a/src/Sim3Solver.cc b/src/Sim3Solver.cc index efe1051354..baa6ca1c9c 100644 --- a/src/Sim3Solver.cc +++ b/src/Sim3Solver.cc @@ -24,6 +24,7 @@ #include #include #include +#include #include "unistd.h" #include "KeyFrame.h" diff --git a/src/Tracking.cc b/src/Tracking.cc index 0c1320b8ea..a1ca138dd4 100644 --- a/src/Tracking.cc +++ b/src/Tracking.cc @@ -37,7 +37,9 @@ #include #include - +#include +#include +using namespace cv; using namespace std; From 7756949f7ceb7a9fc076defdd14cafea3f38410f Mon Sep 17 00:00:00 2001 From: Aaron Xavier Date: Fri, 17 Mar 2023 17:16:51 +0100 Subject: [PATCH 7/9] Switched to C++14 --- Examples/ROS/ORB_SLAM2/CMakeLists.txt | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/Examples/ROS/ORB_SLAM2/CMakeLists.txt b/Examples/ROS/ORB_SLAM2/CMakeLists.txt index 572ad96b4d..234d355c8e 100644 --- a/Examples/ROS/ORB_SLAM2/CMakeLists.txt +++ b/Examples/ROS/ORB_SLAM2/CMakeLists.txt @@ -12,25 +12,25 @@ MESSAGE("Build type: " ${ROS_BUILD_TYPE}) set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native") -# Check C++11 or C++0x support +# Check C++14 or C++0x support include(CheckCXXCompilerFlag) -CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) +CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14) CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) -if(COMPILER_SUPPORTS_CXX11) - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") - add_definitions(-DCOMPILEDWITHC11) - message(STATUS "Using flag -std=c++11.") +if(COMPILER_SUPPORTS_CXX14) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") + add_definitions(-DCOMPILEDWITHC14) + message(STATUS "Using flag -std=c++14.") elseif(COMPILER_SUPPORTS_CXX0X) set(CMAKE_CXX_FLAGS "${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 3.0 QUIET) +find_package(OpenCV 4.0 QUIET) if(NOT OpenCV_FOUND) find_package(OpenCV 2.4.3 QUIET) if(NOT OpenCV_FOUND) @@ -38,7 +38,7 @@ if(NOT OpenCV_FOUND) endif() endif() -find_package(Eigen3 3.1.0 REQUIRED) +find_package(Eigen3 3.1.0 REQUIRED NO_MODULE) find_package(Pangolin REQUIRED) include_directories( From 79560258fdb31fcd0c16bd424c6476b9fd05b5db Mon Sep 17 00:00:00 2001 From: Aaron Xavier Date: Fri, 17 Mar 2023 17:17:22 +0100 Subject: [PATCH 8/9] Switched out topics for Zed2 support --- Examples/ROS/ORB_SLAM2/src/ros_mono.cc | 2 +- Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc | 4 ++-- Examples/ROS/ORB_SLAM2/src/ros_stereo.cc | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/Examples/ROS/ORB_SLAM2/src/ros_mono.cc b/Examples/ROS/ORB_SLAM2/src/ros_mono.cc index fb4d117bf9..d45fd0124b 100644 --- a/Examples/ROS/ORB_SLAM2/src/ros_mono.cc +++ b/Examples/ROS/ORB_SLAM2/src/ros_mono.cc @@ -62,7 +62,7 @@ int main(int argc, char **argv) ImageGrabber igb(&SLAM); ros::NodeHandle nodeHandler; - ros::Subscriber sub = nodeHandler.subscribe("/camera/infra1/image_rect_raw", 1, &ImageGrabber::GrabImage,&igb); + ros::Subscriber sub = nodeHandler.subscribe("/zed2/zed_node/rgb/image_rect_color", 1, &ImageGrabber::GrabImage,&igb); ros::spin(); diff --git a/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc b/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc index 0be49b59ce..0d1d73b9a7 100644 --- a/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc +++ b/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc @@ -67,8 +67,8 @@ int main(int argc, char **argv) //message_filters::Subscriber rgb_sub(nh, "/camera/rgb/image_raw", 1); //message_filters::Subscriber depth_sub(nh, "camera/depth_registered/image_raw", 1); - message_filters::Subscriber rgb_sub(nh, "/camera/color/image_raw", 1); - message_filters::Subscriber depth_sub(nh, "/camera/depth/image_rect_raw", 1); + message_filters::Subscriber rgb_sub(nh, "/zed2/zed_node/rgb/image_rect_color", 1); + message_filters::Subscriber depth_sub(nh, "/zed2/zed_node/depth/depth_registered", 1); typedef message_filters::sync_policies::ApproximateTime sync_pol; message_filters::Synchronizer sync(sync_pol(10), rgb_sub,depth_sub); sync.registerCallback(boost::bind(&ImageGrabber::GrabRGBD,&igb,_1,_2)); diff --git a/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc b/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc index 008ceaadea..ff9360b14c 100644 --- a/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc +++ b/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc @@ -112,8 +112,8 @@ int main(int argc, char **argv) //message_filters::Subscriber left_sub(nh, "/camera/left/image_raw", 1); //message_filters::Subscriber right_sub(nh, "camera/right/image_raw", 1); - message_filters::Subscriber left_sub(nh, "/camera/infra1/image_rect_raw", 1); - message_filters::Subscriber right_sub(nh, "/camera/infra2/image_rect_raw", 1); + message_filters::Subscriber left_sub(nh, "/zed2/zed_node/left/image_rect_color", 1); + message_filters::Subscriber right_sub(nh, "/zed2/zed_node/right/image_rect_color", 1); typedef message_filters::sync_policies::ApproximateTime sync_pol; message_filters::Synchronizer sync(sync_pol(10), left_sub,right_sub); sync.registerCallback(boost::bind(&ImageGrabber::GrabStereo,&igb,_1,_2)); From d97cd79bf337b089e4680b2fab94c42fa594e9b0 Mon Sep 17 00:00:00 2001 From: Aaron Xavier Date: Fri, 17 Mar 2023 17:18:07 +0100 Subject: [PATCH 9/9] Updated .gitignore --- .gitignore | 6 + FrameTrajectory_KITTI_Format.txt | 758 +++++++++++++----------------- FrameTrajectory_TUM_Format.txt | 527 +++++++++++---------- KeyFrameTrajectory_TUM_Format.txt | 209 ++------ 4 files changed, 653 insertions(+), 847 deletions(-) diff --git a/.gitignore b/.gitignore index d5b8c78eed..11e25e0db4 100644 --- a/.gitignore +++ b/.gitignore @@ -22,3 +22,9 @@ build/ *~ lib/ Datasets/* + +FrameTrajectory_KITTI_Format.txt + +FrameTrajectory_TUM_Format.txt + +KeyFrameTrajectory_TUM_Format.txt diff --git a/FrameTrajectory_KITTI_Format.txt b/FrameTrajectory_KITTI_Format.txt index 21f93648c9..f576e77701 100644 --- a/FrameTrajectory_KITTI_Format.txt +++ b/FrameTrajectory_KITTI_Format.txt @@ -1,430 +1,330 @@ 1.000000000 0.000000000 0.000000000 0.000000000 0.000000000 1.000000000 0.000000000 0.000000000 0.000000000 0.000000000 1.000000000 0.000000000 -1.000000000 -0.000128522 -0.000008196 0.000150231 0.000128523 1.000000000 0.000163302 -0.000236717 0.000008175 -0.000163303 1.000000000 -0.000514628 -1.000000000 -0.000117110 -0.000016055 0.000137962 0.000117113 1.000000000 0.000196037 -0.000297290 0.000016032 -0.000196039 1.000000000 -0.000479680 -1.000000000 -0.000039640 -0.000011950 0.000061611 0.000039639 1.000000000 -0.000025658 0.000018007 0.000011951 0.000025657 1.000000000 0.000038534 -1.000000000 -0.000129412 -0.000007029 0.000071815 0.000129412 1.000000000 0.000069354 -0.000126653 0.000007020 -0.000069355 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