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Dbow3 integration #784

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Dbow3 integration #784

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06a4284
Just checking git
mlaetvayn Mar 18, 2023
a588008
Testing the pull request
mlaetvayn Mar 18, 2023
769515f
Changes for compiling the src
mlaetvayn Mar 24, 2023
7704f80
Merge pull request #2 from lematan/for_compilation
Mar 24, 2023
d80b12f
change boolean to run viewer
mlaetvayn Apr 14, 2023
06a9b9d
Merge pull request #3 from lematan/run_viewer
Apr 16, 2023
e7cf7fd
Adding benchmark script
mlaetvayn May 18, 2023
b6b8359
Merge pull request #4 from lematan/benchmark_script
yinonb4 May 18, 2023
89a008d
Adding socre and room to benchmark file (was missing)
mlaetvayn May 18, 2023
49426f4
Merge pull request #5 from lematan/benchmark_bug
yinonb4 May 18, 2023
e805585
Integration of DBoW3
mlaetvayn Jun 11, 2023
3a5759d
minor fixes to cmake and includes of Dutils, compiles with these changes
yinonb4 Jun 12, 2023
3c07ee4
fix typo
yinonb4 Jun 12, 2023
6bc5154
change voc load to not crash
yinonb4 Jun 26, 2023
2fd8387
final changes for dbow3 integration
yinonb4 Jul 19, 2023
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18 changes: 9 additions & 9 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,25 +12,25 @@ 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_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 4.4)
find_package(OpenCV)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 4.4 not found.")
endif()
Expand Down Expand Up @@ -119,7 +119,7 @@ target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW3.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
-lboost_serialization
-lcrypto
Expand Down
8 changes: 4 additions & 4 deletions Examples/Monocular-Inertial/mono_inertial_euroc.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -148,7 +148,7 @@ int main(int argc, char *argv[])
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -158,7 +158,7 @@ int main(int argc, char *argv[])
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -184,7 +184,7 @@ int main(int argc, char *argv[])
}
}

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
Expand All @@ -194,7 +194,7 @@ int main(int argc, char *argv[])
// cout << "tframe = " << tframe << endl;
SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
Expand Down
10 changes: 5 additions & 5 deletions Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -314,7 +314,7 @@ int main(int argc, char **argv) {
if(!image_ready)
cond_image_rec.wait(lk);

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
Expand Down Expand Up @@ -365,7 +365,7 @@ int main(int argc, char **argv) {
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -375,7 +375,7 @@ int main(int argc, char **argv) {
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -386,7 +386,7 @@ int main(int argc, char **argv) {
}

#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
Expand All @@ -395,7 +395,7 @@ int main(int argc, char **argv) {
// Pass the image to the SLAM system
SLAM.TrackMonocular(im, timestamp, vImuMeas);
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
Expand Down
10 changes: 5 additions & 5 deletions Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -230,7 +230,7 @@ int main(int argc, char **argv)
while(!image_ready)
cond_image_rec.wait(lk);

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
Expand All @@ -257,7 +257,7 @@ int main(int argc, char **argv)
else
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -267,7 +267,7 @@ int main(int argc, char **argv)
int height = imCV.rows * imageScale;
cv::resize(imCV, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand Down Expand Up @@ -308,15 +308,15 @@ int main(int argc, char **argv)
}
}

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
#endif
// Pass the image to the SLAM system
SLAM.TrackMonocular(im, timestamp, vImuMeas);

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
Expand Down
8 changes: 4 additions & 4 deletions Examples/Monocular-Inertial/mono_inertial_tum_vi.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -172,7 +172,7 @@ int main(int argc, char **argv)
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -182,7 +182,7 @@ int main(int argc, char **argv)
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -195,7 +195,7 @@ int main(int argc, char **argv)
// cout << "first imu: " << first_imu[seq] << endl;
/*cout << "first imu time: " << fixed << vTimestampsImu[first_imu] << endl;
cout << "size vImu: " << vImuMeas.size() << endl;*/
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
Expand All @@ -205,7 +205,7 @@ int main(int argc, char **argv)
// cout << "tframe = " << tframe << endl;
SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
Expand Down
10 changes: 5 additions & 5 deletions 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 Expand Up @@ -109,7 +109,7 @@ int main(int argc, char **argv)
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -119,7 +119,7 @@ int main(int argc, char **argv)
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -129,7 +129,7 @@ int main(int argc, char **argv)
#endif
}

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
Expand All @@ -139,7 +139,7 @@ int main(int argc, char **argv)
// cout << "tframe = " << tframe << endl;
SLAM.TrackMonocular(im,tframe); // TODO change to monocular_inertial

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
Expand Down
8 changes: 4 additions & 4 deletions Examples/Monocular/mono_kitti.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ int main(int argc, char **argv)
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -88,7 +88,7 @@ int main(int argc, char **argv)
int height = im.rows * imageScale;
cv::resize(im, im, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -98,7 +98,7 @@ int main(int argc, char **argv)
#endif
}

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
Expand All @@ -107,7 +107,7 @@ int main(int argc, char **argv)
// Pass the image to the SLAM system
SLAM.TrackMonocular(im,tframe,vector<ORB_SLAM3::IMU::Point>(), vstrImageFilenames[ni]);

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
Expand Down
10 changes: 5 additions & 5 deletions Examples/Monocular/mono_realsense_D435i.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -228,7 +228,7 @@ int main(int argc, char **argv) {
if(!image_ready)
cond_image_rec.wait(lk);

#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
Expand All @@ -247,7 +247,7 @@ int main(int argc, char **argv) {
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -258,7 +258,7 @@ int main(int argc, char **argv) {
cv::resize(im, im, cv::Size(width, height));

#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -269,7 +269,7 @@ int main(int argc, char **argv) {
}

#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
Expand All @@ -278,7 +278,7 @@ int main(int argc, char **argv) {
// Stereo images are already rectified.
SLAM.TrackMonocular(im, timestamp);
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
Expand Down
8 changes: 4 additions & 4 deletions Examples/Monocular/mono_realsense_t265.cc
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,7 @@ int main(int argc, char **argv)
if(imageScale != 1.f)
{
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -126,7 +126,7 @@ int main(int argc, char **argv)
int height = imCV.rows * imageScale;
cv::resize(imCV, imCV, cv::Size(width, height));
#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
Expand All @@ -141,7 +141,7 @@ int main(int argc, char **argv)
//clahe->apply(imRight,imRight);

#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
Expand All @@ -152,7 +152,7 @@ int main(int argc, char **argv)
SLAM.TrackMonocular(imCV, timestamp_ms);

#ifdef REGISTER_TIMES
#ifdef COMPILEDWITHC11
#ifdef COMPILEDWITHC14
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
#else
std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
Expand Down
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