V0.4: Beta version, 21 April 2021

- Changed OpenCV dynamic matrices to static matrices to speed up the code.

- Capability to measure running time of the system threads.

- Compatibility with OpenCV 4.0 (Requires at least OpenCV 3.0)

- Fixed minor bugs.

Author: richard-elvira

CMakeLists.txt

@@ -33,19 +33,20 @@ endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
-find_package(OpenCV 3)
+find_package(OpenCV 4.0)
 if(NOT OpenCV_FOUND)
-   find_package(OpenCV 2.4.3 QUIET)
-   if(NOT OpenCV_FOUND)
-      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
-   endif()
+  find_package(OpenCV 3.0)
+  if(NOT OpenCV_FOUND)
+    message(FATAL_ERROR "OpenCV > 3.0 not found.")
+  endif()
 endif()
 
 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}
@@ -72,7 +73,6 @@ src/Atlas.cc
 src/Map.cc
 src/MapDrawer.cc
 src/Optimizer.cc
-src/PnPsolver.cc
 src/Frame.cc
 src/KeyFrameDatabase.cc
 src/Sim3Solver.cc
@@ -84,6 +84,7 @@ src/CameraModels/Pinhole.cpp
 src/CameraModels/KannalaBrandt8.cpp
 src/OptimizableTypes.cpp
 src/MLPnPsolver.cpp
+src/TwoViewReconstruction.cc
 include/System.h
 include/Tracking.h
 include/LocalMapping.h
@@ -98,7 +99,6 @@ include/Atlas.h
 include/Map.h
 include/MapDrawer.h
 include/Optimizer.h
-include/PnPsolver.h
 include/Frame.h
 include/KeyFrameDatabase.h
 include/Sim3Solver.h
@@ -112,7 +112,8 @@ include/CameraModels/KannalaBrandt8.h
 include/OptimizableTypes.h
 include/MLPnPsolver.h
 include/TwoViewReconstruction.h
-src/TwoViewReconstruction.cc)
+include/Config.h
+)
 
 add_subdirectory(Thirdparty/g2o)
 
@@ -127,14 +128,17 @@ ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
 )
 
 
-# Build examples
+### Build examples
 
+# RGB-D examples
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
+
 add_executable(rgbd_tum
 Examples/RGB-D/rgbd_tum.cc)
 target_link_libraries(rgbd_tum ${PROJECT_NAME})
 
 
+# Stereo examples
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
 
 add_executable(stereo_kitti
@@ -149,7 +153,7 @@ add_executable(stereo_tum_vi
 Examples/Stereo/stereo_tum_vi.cc)
 target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
 
-
+# Monocular examples
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
 
 add_executable(mono_tum
@@ -168,7 +172,7 @@ add_executable(mono_tum_vi
 Examples/Monocular/mono_tum_vi.cc)
 target_link_libraries(mono_tum_vi ${PROJECT_NAME})
 
-
+# Monocular-Inertial examples
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial)
 
 add_executable(mono_inertial_euroc
@@ -179,16 +183,14 @@ add_executable(mono_inertial_tum_vi
 Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
 target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})
 
-
+# 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})
 
-

Changelog.md

@@ -1,15 +1,26 @@
 # ORB-SLAM3
 Details of changes between the different versions.
 
+### V0.4: Beta version, 21 April 2021
+
+- Changed OpenCV dynamic matrices to static matrices to speed up the code.
+
+- Capability to measure running time of the system threads.
+
+- Compatibility with OpenCV 4.0 (Requires at least OpenCV 3.0) 
+
+- Fixed minor bugs.
+
+
 ### V0.3: Beta version, 4 Sep 2020
 
-- RGB-D compatibility, the RGB-D examples had been adapted to the new version.
+- RGB-D compatibility, the RGB-D examples have been adapted to the new version.
 
-- Kitti and TUM dataset compatibility, these examples had been adapted to the new version.
+- Kitti and TUM dataset compatibility, these examples have been adapted to the new version.
 
-- ROS compatibility, It had been updated the old references in the code to work with this version.
+- ROS compatibility, updated the old references in the code to work with this version.
 
-- Config file parser, the YAML file contains the session configuration, a wrong parametrization may break the execution without any information to solve it. This version parses the file to read all the fields and give a proper answer if one of the fields have been wrong deffined or don't exist.
+- Config file parser, the YAML file contains the session configuration, a wrong parametrization may break the execution without any information to solve it. This version parses the file to read all the fields and give a proper answer if one of the fields have been wrongly deffined or does not exist.
 
 - Fixed minor bugs.
 
@@ -19,7 +30,7 @@ Initial release. It has these capabilities:
 
 - Multiple-Maps capabilities, it is able to handle multiple maps in the same session and merge them when a common area is detected with a seamless fussion.
 
-- Inertial sensor, the IMU initialization takes a 2 seconds to achieve a scale error less than 5\% and it is reffined in the next 10 seconds until is around 1\%. Inertial measures are integrated at frame rate to estimate the scale, gravity and velocity in order to improve the visual features detection and make the system robust to temporal occlusions.
+- Inertial sensor, the IMU initialization takes 2 seconds to achieve a scale error less than 5\% and it is reffined in the next 10 seconds until it is around 1\%. Inertial measures are integrated at frame rate to estimate the scale, gravity and velocity in order to improve the visual features detection and make the system robust to temporal occlusions.
 
 - Fisheye sensor, the fisheye sensors are now fully supported in monocular and stereo. 
 

Examples/Monocular-Inertial/mono_inertial_euroc.cc

@@ -116,25 +116,19 @@ int main(int argc, char *argv[])
 
     cout.precision(17);
 
-    /*cout << "Start processing sequence ..." << endl;
-    cout << "Images in the sequence: " << nImages << endl;
-    cout << "IMU data in the sequence: " << nImu << endl << endl;*/
-
     // 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);
 
     int proccIm=0;
     for (seq = 0; seq<num_seq; seq++)
     {
-
-        // Main loop
         cv::Mat im;
         vector<ORB_SLAM3::IMU::Point> vImuMeas;
         proccIm = 0;
         for(int ni=0; ni<nImages[seq]; ni++, proccIm++)
         {
             // Read image from file
-            im = cv::imread(vstrImageFilenames[seq][ni],CV_LOAD_IMAGE_UNCHANGED);
+            im = cv::imread(vstrImageFilenames[seq][ni],cv::IMREAD_UNCHANGED);
 
             double tframe = vTimestampsCam[seq][ni];
 
@@ -150,8 +144,6 @@ int main(int argc, char *argv[])
 
             if(ni>0)
             {
-                // cout << "t_cam " << tframe << endl;
-
                 while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
                 {
                     vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[seq][first_imu[seq]].x,vAcc[seq][first_imu[seq]].y,vAcc[seq][first_imu[seq]].z,
@@ -161,28 +153,29 @@ int main(int argc, char *argv[])
                 }
             }
 
-            /*cout << "first imu: " << first_imu << endl;
-            cout << "first imu time: " << fixed << vTimestampsImu[first_imu] << endl;
-            cout << "size vImu: " << vImuMeas.size() << endl;*/
+
     #ifdef COMPILEDWITHC11
             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();
     #endif
 
             // Pass the image to the SLAM system
-            // cout << "tframe = " << tframe << endl;
-            SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial
+            SLAM.TrackMonocular(im,tframe,vImuMeas);
 
     #ifdef COMPILEDWITHC11
             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();
     #endif
 
+#ifdef REGISTER_TIMES
+            double t_track = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t2 - t1).count();
+            SLAM.InsertTrackTime(t_track);
+#endif
+
             double ttrack= std::chrono::duration_cast<std::chrono::duration<double> >(t2 - t1).count();
             ttrack_tot += ttrack;
-            // std::cout << "ttrack: " << ttrack << std::endl;
 
             vTimesTrack[ni]=ttrack;
 
@@ -194,7 +187,7 @@ int main(int argc, char *argv[])
                 T = tframe-vTimestampsCam[seq][ni-1];
 
             if(ttrack<T)
-                usleep((T-ttrack)*1e6); // 1e6
+                usleep((T-ttrack)*1e6);
         }
         if(seq < num_seq - 1)
         {

Examples/Monocular-Inertial/mono_inertial_tum_vi.cc

@@ -110,10 +110,6 @@ int main(int argc, char **argv)
     cout << endl << "-------" << endl;
     cout.precision(17);
 
-    /*cout << "Start processing sequence ..." << endl;
-    cout << "Images in the sequence: " << nImages << endl;
-    cout << "IMU data in the sequence: " << nImu << endl << endl;*/
-
     // 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, 0, file_name);
 
@@ -135,8 +131,6 @@ int main(int argc, char **argv)
             // clahe
             clahe->apply(im,im);
 
-
-            // cout << "mat type: " << im.type() << endl;
             double tframe = vTimestampsCam[seq][ni];
 
             if(im.empty())
@@ -152,30 +146,24 @@ int main(int argc, char **argv)
 
             if(ni>0)
             {
-                // cout << "t_cam " << tframe << endl;
 
                 while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
                 {
                     vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[seq][first_imu[seq]].x,vAcc[seq][first_imu[seq]].y,vAcc[seq][first_imu[seq]].z,
                                                              vGyro[seq][first_imu[seq]].x,vGyro[seq][first_imu[seq]].y,vGyro[seq][first_imu[seq]].z,
                                                              vTimestampsImu[seq][first_imu[seq]]));
-                    // cout << "t_imu = " << fixed << vImuMeas.back().t << endl;
                     first_imu[seq]++;
                 }
             }
 
-            // cout << "first imu: " << first_imu[seq] << endl;
-            /*cout << "first imu time: " << fixed << vTimestampsImu[first_imu] << endl;
-            cout << "size vImu: " << vImuMeas.size() << endl;*/
     #ifdef COMPILEDWITHC11
             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();
     #endif
 
             // Pass the image to the SLAM system
-            // cout << "tframe = " << tframe << endl;
-            SLAM.TrackMonocular(im,tframe,vImuMeas); // TODO change to monocular_inertial
+            SLAM.TrackMonocular(im,tframe,vImuMeas);
 
     #ifdef COMPILEDWITHC11
             std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
@@ -185,7 +173,6 @@ int main(int argc, char **argv)
 
             double ttrack= std::chrono::duration_cast<std::chrono::duration<double> >(t2 - t1).count();
             ttrack_tot += ttrack;
-            // std::cout << "ttrack: " << ttrack << std::endl;
 
             vTimesTrack[ni]=ttrack;
 
@@ -197,7 +184,7 @@ int main(int argc, char **argv)
                 T = tframe-vTimestampsCam[seq][ni-1];
 
             if(ttrack<T)
-                usleep((T-ttrack)*1e6); // 1e6
+                usleep((T-ttrack)*1e6);
 
         }
         if(seq < num_seq - 1)
@@ -209,13 +196,9 @@ int main(int argc, char **argv)
 
     }
 
-    // cout << "ttrack_tot = " << ttrack_tot << std::endl;
     // Stop all threads
     SLAM.Shutdown();
 
-
-    // Tracking time statistics
-
     // Save camera trajectory
 
     if (bFileName)
@@ -241,12 +224,6 @@ int main(int argc, char **argv)
     cout << "median tracking time: " << vTimesTrack[nImages[0]/2] << endl;
     cout << "mean tracking time: " << totaltime/proccIm << endl;
 
-    /*const string kf_file =  "kf_" + ss.str() + ".txt";
-    const string f_file =  "f_" + ss.str() + ".txt";
-
-    SLAM.SaveTrajectoryEuRoC(f_file);
-    SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);*/
-
     return 0;
 }
 

Examples/Monocular/mono_euroc.cc

@@ -91,7 +91,7 @@ int main(int argc, char **argv)
         {
 
             // Read image from file
-            im = cv::imread(vstrImageFilenames[seq][ni],CV_LOAD_IMAGE_UNCHANGED);
+            im = cv::imread(vstrImageFilenames[seq][ni],cv::IMREAD_UNCHANGED);
             double tframe = vTimestampsCam[seq][ni];
 
             if(im.empty())
@@ -108,15 +108,19 @@ int main(int argc, char **argv)
     #endif
 
             // Pass the image to the SLAM system
-            // cout << "tframe = " << tframe << endl;
-            SLAM.TrackMonocular(im,tframe); // TODO change to monocular_inertial
+            SLAM.TrackMonocular(im,tframe);
 
     #ifdef COMPILEDWITHC11
             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();
     #endif
 
+#ifdef REGISTER_TIMES
+            double t_track = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t2 - t1).count();
+            SLAM.InsertTrackTime(t_track);
+#endif
+
             double ttrack= std::chrono::duration_cast<std::chrono::duration<double> >(t2 - t1).count();
 
             vTimesTrack[ni]=ttrack;
@@ -129,7 +133,7 @@ int main(int argc, char **argv)
                 T = tframe-vTimestampsCam[seq][ni-1];
 
             if(ttrack<T)
-                usleep((T-ttrack)*1e6); // 1e6
+                usleep((T-ttrack)*1e6);
         }
 
         if(seq < num_seq - 1)

Examples/Monocular/mono_kitti.cc

@@ -53,10 +53,6 @@ int main(int argc, char **argv)
     vector<float> vTimesTrack;
     vTimesTrack.resize(nImages);
 
-    cout << endl << "-------" << endl;
-    cout << "Start processing sequence ..." << endl;
-    cout << "Images in the sequence: " << nImages << endl << endl;
-
     // Main loop
     cv::Mat im;
     for(int ni=0; ni<nImages; ni++)

Examples/Monocular/mono_tum.cc

@@ -55,10 +55,6 @@ int main(int argc, char **argv)
     vector<float> vTimesTrack;
     vTimesTrack.resize(nImages);
 
-    cout << endl << "-------" << endl;
-    cout << "Start processing sequence ..." << endl;
-    cout << "Images in the sequence: " << nImages << endl << endl;
-
     // Main loop
     cv::Mat im;
     for(int ni=0; ni<nImages; ni++)