Neta branch

.gitignore

@@ -91,3 +91,7 @@ my_settings.txt
 borrar/*
 
 */ExecMean.txt
+
+#Neta's added ignores
+Dependencies.md
+cmake-build-release/

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: " ${CMAKE_BUILD_TYPE})
@@ -12,127 +12,176 @@ set(CMAKE_CXX_FLAGS "${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 "${CMAKE_CXX_FLAGS} -std=c++11")
- add_definitions(-DCOMPILEDWITHC11)
- message(STATUS "Using flag -std=c++11.")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+  add_definitions(-DCOMPILEDWITHC11)
+  message(STATUS "Using flag -std=c++14.")
 elseif(COMPILER_SUPPORTS_CXX0X)
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
- add_definitions(-DCOMPILEDWITHC0X)
- message(STATUS "Using flag -std=c++0x.")
+  set(CMAKE_CXX_FLAGS "${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)
 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)
 
 add_library(${PROJECT_NAME} SHARED
-src/System.cc
-src/Tracking.cc
-src/LocalMapping.cc
-src/LoopClosing.cc
-src/ORBextractor.cc
-src/ORBmatcher.cc
-src/FrameDrawer.cc
-src/Converter.cc
-src/MapPoint.cc
-src/KeyFrame.cc
-src/Atlas.cc
-src/Map.cc
-src/MapDrawer.cc
-src/Optimizer.cc
-src/Frame.cc
-src/KeyFrameDatabase.cc
-src/Sim3Solver.cc
-src/Viewer.cc
-src/ImuTypes.cc
-src/G2oTypes.cc
-src/CameraModels/Pinhole.cpp
-src/CameraModels/KannalaBrandt8.cpp
-src/OptimizableTypes.cpp
-src/MLPnPsolver.cpp
-src/GeometricTools.cc
-src/TwoViewReconstruction.cc
-src/Config.cc
-src/Settings.cc
-include/System.h
-include/Tracking.h
-include/LocalMapping.h
-include/LoopClosing.h
-include/ORBextractor.h
-include/ORBmatcher.h
-include/FrameDrawer.h
-include/Converter.h
-include/MapPoint.h
-include/KeyFrame.h
-include/Atlas.h
-include/Map.h
-include/MapDrawer.h
-include/Optimizer.h
-include/Frame.h
-include/KeyFrameDatabase.h
-include/Sim3Solver.h
-include/Viewer.h
-include/ImuTypes.h
-include/G2oTypes.h
-include/CameraModels/GeometricCamera.h
-include/CameraModels/Pinhole.h
-include/CameraModels/KannalaBrandt8.h
-include/OptimizableTypes.h
-include/MLPnPsolver.h
-include/GeometricTools.h
-include/TwoViewReconstruction.h
-include/SerializationUtils.h
-include/Config.h
-include/Settings.h)
+ src/System.cc
+ src/Tracking.cc
+ src/LocalMapping.cc
+ src/LoopClosing.cc
+ src/ORBextractor.cc
+ src/ORBmatcher.cc
+ src/FrameDrawer.cc
+ src/Converter.cc
+ src/MapPoint.cc
+ src/KeyFrame.cc
+ src/Atlas.cc
+ src/Map.cc
+ src/MapDrawer.cc
+ src/Optimizer.cc
+ src/Frame.cc
+ src/KeyFrameDatabase.cc
+ src/Sim3Solver.cc
+ src/Viewer.cc
+ src/ImuTypes.cc
+ src/G2oTypes.cc
+ src/CameraModels/Pinhole.cpp
+ src/CameraModels/KannalaBrandt8.cpp
+ src/OptimizableTypes.cpp
+ src/MLPnPsolver.cpp
+ src/GeometricTools.cc
+ src/TwoViewReconstruction.cc
+ src/Config.cc
+ src/Settings.cc
+ src/test.cpp
+ include/System.h
+ include/Tracking.h
+ include/LocalMapping.h
+ include/LoopClosing.h
+ include/ORBextractor.h
+ include/ORBmatcher.h
+ include/FrameDrawer.h
+ include/Converter.h
+ include/MapPoint.h
+ include/KeyFrame.h
+ include/Atlas.h
+ include/Map.h
+ include/MapDrawer.h
+ include/Optimizer.h
+ include/Frame.h
+ include/KeyFrameDatabase.h
+ include/Sim3Solver.h
+ include/Viewer.h
+ include/ImuTypes.h
+ include/G2oTypes.h
+ include/CameraModels/GeometricCamera.h
+ include/CameraModels/Pinhole.h
+ include/CameraModels/KannalaBrandt8.h
+ include/OptimizableTypes.h
+ include/MLPnPsolver.h
+ include/GeometricTools.h
+ include/TwoViewReconstruction.h
+ include/SerializationUtils.h
+ include/Config.h
+ include/Settings.h)
 
 add_subdirectory(Thirdparty/g2o)
 
 target_link_libraries(${PROJECT_NAME}
-${OpenCV_LIBS}
-${EIGEN3_LIBS}
-${Pangolin_LIBRARIES}
-${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
--lboost_serialization
--lcrypto
-)
+ ${OpenCV_LIBS}
+ ${EIGEN3_LIBS}
+ ${Pangolin_LIBRARIES}
+ ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
+ ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
+ #/usr/local/lib/arm-linux-gnueabihf/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
+ )
 
 # If RealSense SDK is found the library is added and its examples compiled
 if(realsense2_FOUND)
  include_directories(${PROJECT_NAME}
- ${realsense_INCLUDE_DIR}
- )
+  ${realsense_INCLUDE_DIR}
+  )
  target_link_libraries(${PROJECT_NAME}
- ${realsense2_LIBRARY}
- )
+  ${realsense2_LIBRARY}
+  )
 endif()
 
 
@@ -388,3 +437,6 @@ if(realsense2_FOUND)
  Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
  target_link_libraries(stereo_inertial_realsense_D435i_old ${PROJECT_NAME})
 endif()
+
+
+

Examples/Monocular/mono_euroc.cc

@@ -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;

build.sh

@@ -4,7 +4,7 @@ cd Thirdparty/DBoW2
 mkdir build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j
+make
 
 cd ../../g2o
 
@@ -13,7 +13,7 @@ echo "Configuring and building Thirdparty/g2o ..."
 mkdir build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j
+make
 
 cd ../../Sophus
 
@@ -22,7 +22,7 @@ echo "Configuring and building Thirdparty/Sophus ..."
 mkdir build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j
+make
 
 cd ../../../
 
@@ -37,4 +37,4 @@ echo "Configuring and building ORB_SLAM3 ..."
 mkdir build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j4
+make

include/MLPnPsolver.h

@@ -71,6 +71,10 @@ namespace ORB_SLAM3{
 
  bool iterate(int nIterations, bool &bNoMore, vector<bool> &vbInliers, int &nInliers, Eigen::Matrix4f &Tout);
 
+ int calc_covariance(arr1, arr2);
+ float covariance(float arr1[], float arr2[], int n);
+ float mean(float arr[], int n);
+
  //Type definitions needed by the original code
 
  /** A 3-vector of unit length used to describe landmark observations/bearings
@@ -247,6 +251,8 @@ namespace ORB_SLAM3{
  vector<float> mvMaxError;
 
  GeometricCamera* mpCamera;
+
+ Eigen::Matrix3d K;
  };
 
 }