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Refactor #844

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Refactor #844

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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
b3e6bc9
add uzh dataset
JustMohsen Nov 28, 2023
c2b5e89
refactor
JustMohsen Nov 28, 2023
7951f24
run pixel 6 pro data
JustMohsen Dec 1, 2023
79bf266
reformat imu file
JustMohsen Dec 1, 2023
952b74f
update
JustMohsen Dec 16, 2023
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8 changes: 4 additions & 4 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -16,25 +16,25 @@ Examples/RGB-D/rgbd_realsense_D435i
Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i

Examples/Monocular/mono_realsense_D435i
Examples/Monocular/mono_euroc
Run_Examples/euroc_run/mono_euroc
Examples/Monocular/mono_kitti
Examples/Monocular/mono_tum
Examples/Monocular/mono_tum_vi
Examples/Monocular/mono_realsense_t265

Examples/Stereo/stereo_euroc
Run_Examples/euroc_run/stereo_euroc
Examples/Stereo/stereo_kitti
Examples/Stereo/stereo_tum_vi
Examples/Stereo/stereo_realsense_t265
Examples/Stereo/stereo_realsense_D435i

Examples/Monocular-Inertial/mono_inertial_euroc
Run_Examples/euroc_run/mono_inertial_euroc
Examples/Monocular-Inertial/mono_inertial_tum_vi
Examples/Monocular-Inertial/mono_inertial_realsense_t265
Examples/Monocular-Inertial/mono_inertial_realsense_D435i
Examples/Monocular-Inertial/mono_inertial_realsense_D435i_2

Examples/Stereo-Inertial/stereo_inertial_euroc
Run_Examples/euroc_run/stereo_inertial_euroc
Examples/Stereo-Inertial/stereo_inertial_tum_vi
Examples/Stereo-Inertial/stereo_inertial_realsense_t265
Examples/Stereo-Inertial/stereo_inertial_realsense_D435i
Expand Down
79 changes: 57 additions & 22 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
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)
Expand Down Expand Up @@ -111,7 +111,8 @@ include/GeometricTools.h
include/TwoViewReconstruction.h
include/SerializationUtils.h
include/Config.h
include/Settings.h)
include/Settings.h
Run_Examples/pixel6pro/mono_pixel_debug.cc)

add_subdirectory(Thirdparty/g2o)

Expand Down Expand Up @@ -168,10 +169,6 @@ add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})

add_executable(stereo_tum_vi
Examples/Stereo/stereo_tum_vi.cc)
target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
Expand All @@ -197,10 +194,6 @@ add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

add_executable(mono_tum_vi
Examples/Monocular/mono_tum_vi.cc)
target_link_libraries(mono_tum_vi ${PROJECT_NAME})
Expand All @@ -218,10 +211,6 @@ endif()
#Monocular inertial examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial)

add_executable(mono_inertial_euroc
Examples/Monocular-Inertial/mono_inertial_euroc.cc)
target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})

add_executable(mono_inertial_tum_vi
Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})
Expand All @@ -239,10 +228,6 @@ endif()
#Stereo Inertial examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial)

add_executable(stereo_inertial_euroc
Examples/Stereo-Inertial/stereo_inertial_euroc.cc)
target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})

add_executable(stereo_inertial_tum_vi
Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})
Expand Down Expand Up @@ -388,3 +373,53 @@ if(realsense2_FOUND)
Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
target_link_libraries(stereo_inertial_realsense_D435i_old ${PROJECT_NAME})
endif()

#EuRoC Dataset
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Run_Examples/EuRoC)


add_executable(stereo_inertial_euroc
Run_Examples/EuRoC/stereo_inertial_euroc.cc)
target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})

add_executable(mono_inertial_euroc
Run_Examples/EuRoC/mono_inertial_euroc.cc)
target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})

add_executable(mono_euroc
Run_Examples/EuRoC/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

add_executable(stereo_euroc
Run_Examples/EuRoC/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})

#UZH Dataset
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Run_Examples/UZH)

add_executable(mono_UZH_trial
Run_Examples/UZH/mono_UZH_trial.cc)
target_link_libraries(mono_UZH_trial ${PROJECT_NAME})

add_executable(mono_UZH_trial_run
Run_Examples/UZH/mono_UZH_trial_run.cc)
target_link_libraries(mono_UZH_trial_run ${PROJECT_NAME})

add_executable(mono_inertial_UZH_trial
Run_Examples/UZH/mono_inertial_UZH_trial.cc)
target_link_libraries(mono_inertial_UZH_trial ${PROJECT_NAME})

#Pixel 6 Pro Phone Data
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Run_Examples/pixel6pro)

add_executable(mono_pixel
Run_Examples/pixel6pro/mono_pixel.cc)
target_link_libraries(mono_pixel ${PROJECT_NAME})

add_executable(mono_inertial_pixel
Run_Examples/pixel6pro/mono_inertial_pixel.cc)
target_link_libraries(mono_inertial_pixel ${PROJECT_NAME})

add_executable(mono_pixel_debug
Run_Examples/pixel6pro/mono_pixel_debug.cc)
target_link_libraries(mono_pixel_debug ${PROJECT_NAME})
4 changes: 2 additions & 2 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 @@ -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);
}
Expand Down
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