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feat:更改为ros启动

master
邱棚 2024-07-04 17:24:09 +08:00
parent 0c3c948156
commit efb5505fe2
38 changed files with 1082352 additions and 182 deletions
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16
.gitignore vendored
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@ -18,15 +18,15 @@ Examples/Monocular-Inertial/mono_inertial_tum_vi
Examples/Stereo-Inertial/stereo_inertial_euroc
Examples/Stereo-Inertial/stereo_inertial_tum_vi
Examples/ROS/ORB_SLAM3/Mono
Examples/ROS/ORB_SLAM3/Mono_Inertial
Examples/ROS/ORB_SLAM3/MonoAR
Examples/ROS/ORB_SLAM3/RGBD
Examples/ROS/ORB_SLAM3/Stereo
Examples/ROS/ORB_SLAM3/Stereo_Inertial
Examples/ROS/orb_slam3/Mono
Examples/ROS/orb_slam3/Mono_Inertial
Examples/ROS/orb_slam3/MonoAR
Examples/ROS/orb_slam3/RGBD
Examples/ROS/orb_slam3/Stereo
Examples/ROS/orb_slam3/Stereo_Inertial
Examples/ROS/ORB_SLAM3/CMakeLists.txt.user
Examples/ROS/ORB_SLAM3/build/
Examples/ROS/orb_slam3/CMakeLists.txt.user
Examples/ROS/orb_slam3/build/
Examples_old/RGB-D/rgbd_tum_old

3
CMakeLists.txt
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@ -109,7 +109,8 @@ include/GeometricTools.h
include/TwoViewReconstruction.h
include/SerializationUtils.h
include/Config.h
include/Settings.h)
include/Settings.h
)
add_subdirectory(Thirdparty/g2o)

94
Examples/ROS/ORB_SLAM3/src/ros_mono.cc
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@ -1,94 +0,0 @@
/**
* This file is part of ORB-SLAM3
*
* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
*
* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
* License as published by the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
* If not, see <http://www.gnu.org/licenses/>.
*/
#include<iostream>
#include<algorithm>
#include<fstream>
#include<chrono>
#include<ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include<opencv2/core/core.hpp>
#include"../../../include/System.h"
using namespace std;
class ImageGrabber
{
public:
ImageGrabber(ORB_SLAM3::System* pSLAM):mpSLAM(pSLAM){}
void GrabImage(const sensor_msgs::ImageConstPtr& msg);
ORB_SLAM3::System* mpSLAM;
};
int main(int argc, char **argv)
{
ros::init(argc, argv, "Mono");
ros::start();
if(argc != 3)
{
cerr << endl << "Usage: rosrun ORB_SLAM3 Mono path_to_vocabulary path_to_settings" << endl;
ros::shutdown();
return 1;
}
// 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,true);
ImageGrabber igb(&SLAM);
ros::NodeHandle nodeHandler;
ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb);
ros::spin();
// Stop all threads
SLAM.Shutdown();
// Save camera trajectory
SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt");
ros::shutdown();
return 0;
}
void ImageGrabber::GrabImage(const sensor_msgs::ImageConstPtr& msg)
{
// Copy the ros image message to cv::Mat.
cv_bridge::CvImageConstPtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvShare(msg);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
}

121
Examples/ROS/ORB_SLAM3/CMakeLists.txt → Examples/ROS/orb_slam3/CMakeLists.txt
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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 2.4.6)
cmake_minimum_required(VERSION 3.15)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
rosbuild_init()
@ -11,25 +11,26 @@ MESSAGE("Build type: " ${ROS_BUILD_TYPE})
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
add_definitions(-w)
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX14)
set(CMAKE_CXX_FLAGS "${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.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)
find_package(catkin REQUIRED COMPONENTS
roscpp
cv_bridge
image_transport
)
# 要保证整个工程的opencv版本一致，包括dbow，源码以及ros相关的
# 3 4 都可以正常运行
find_package(OpenCV 4.2)
@ -40,13 +41,22 @@ find_package(OpenCV 4.2)
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS roscpp cv_bridge image_transport
DEPENDS OpenCV EIGEN3 Pangolin
)
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${PROJECT_SOURCE_DIR}/../../../include/CameraModels
${PROJECT_SOURCE_DIR}/../../../Thirdparty/Sophus
${Pangolin_INCLUDE_DIRS}
include
${catkin_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${PROJECT_SOURCE_DIR}/../../../include/CameraModels
${PROJECT_SOURCE_DIR}/../../../Thirdparty/Sophus
${Pangolin_INCLUDE_DIRS}
)
set(LIBS
@ -60,13 +70,20 @@ ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM3.so
)
# Node for monocular camera
rosbuild_add_executable(Mono
src/ros_mono.cc
add_executable(Mono src/ros_mono.cc)
target_link_libraries(Mono
${LIBS}
${catkin_LIBRARIES}
)
target_link_libraries(Mono
${LIBS}
)
## Node for monocular camera
#rosbuild_add_executable(Mono
#src/ros_mono.cc
#)
#
#target_link_libraries(Mono
#${LIBS}
#)
# Node for monocular camera (Augmented Reality Demo)
# 由于里面代码没有将cv::mat 改成 SOPUS的暂时注释掉，不然会报错
@ -81,37 +98,37 @@ ${LIBS}
# )
# Node for stereo camera
rosbuild_add_executable(Stereo
src/ros_stereo.cc
)
target_link_libraries(Stereo
${LIBS}
)
# Node for RGB-D camera
rosbuild_add_executable(RGBD
src/ros_rgbd.cc
)
target_link_libraries(RGBD
${LIBS}
)
# Node for monocular-inertial camera
rosbuild_add_executable(Mono_Inertial
src/ros_mono_inertial.cc
)
target_link_libraries(Mono_Inertial
${LIBS}
)
# Node for stereo-inertial camera
rosbuild_add_executable(Stereo_Inertial
src/ros_stereo_inertial.cc
)
target_link_libraries(Stereo_Inertial
${LIBS}
)
#rosbuild_add_executable(Stereo
#src/ros_stereo.cc
#)
#
#target_link_libraries(Stereo
#${LIBS}
#)
#
## Node for RGB-D camera
#rosbuild_add_executable(RGBD
#src/ros_rgbd.cc
#)
#
#target_link_libraries(RGBD
#${LIBS}
#)
#
## Node for monocular-inertial camera
#rosbuild_add_executable(Mono_Inertial
#src/ros_mono_inertial.cc
#)
#
#target_link_libraries(Mono_Inertial
#${LIBS}
#)
#
## Node for stereo-inertial camera
#rosbuild_add_executable(Stereo_Inertial
#src/ros_stereo_inertial.cc
#)
#
#target_link_libraries(Stereo_Inertial
#${LIBS}
#)

1082073
Examples/ROS/orb_slam3/Vocabulary/ORBvoc.txt Normal file
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0
Examples/ROS/ORB_SLAM3/Asus.yaml → Examples/ROS/orb_slam3/config/Asus.yaml
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0
Examples/ROS/ORB_SLAM3/camera1280.yaml → Examples/ROS/orb_slam3/config/camera1280.yaml
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0
Examples/ROS/ORB_SLAM3/camera1920.yaml → Examples/ROS/orb_slam3/config/camera1920.yaml
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32
Examples/ROS/orb_slam3/include/ros_mono.h Normal file
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@ -0,0 +1,32 @@
// 确保只包含一次头文件
#pragma once
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include "../../../../include/System.h" // 确保路径正确
namespace autolabor
{
class ImageGrabber
{
public:
ImageGrabber(ORB_SLAM3::System* pSLAM);
void GrabImage(const sensor_msgs::ImageConstPtr& msg);
private:
ORB_SLAM3::System* mpSLAM;
};
class OrbSlam3Node
{
public:
OrbSlam3Node();
~OrbSlam3Node();
void run();
private:
std::string vocabulary_path_, settings_path_, image_topic_, traj_file_;
};
}

25
Examples/ROS/orb_slam3/launch/orb_slam3_1280.launch Normal file
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@ -0,0 +1,25 @@
<launch>
<!-- 相机节点 -->
<node pkg="cv_camera" type="cv_camera_node" name="camera" output="screen">
<param name="flip_image" value="false" />
<param name="device_path" value="/dev/v4l/by-path/platform-3610000.xhci-usb-0:2.3:1.0-video-index0" />
<param name="image_width" value="1280" />
<param name="image_height" value="720" />
<param name="rate" value="30"/>
<param name="camera_info_url" value="file://$(find cv_camera)/calibrationdata/1280x720.yaml"/>
<param name="rescale_camera_info" value="false"/>
</node>
<!-- ORBSLAM3节点 -->
<node name="orb_slam3_mono" pkg="orb_slam3" type="Mono" output="screen">
<param name="image_topic" value="/camera/image_raw"/> <!-- 定义相机话题 -->
<param name="config_file" value="$(find orb_slam3)/config/camera1280.yaml"/> <!-- 定义ORB_SLAM3的配置文件路径 -->
<param name="vocab_file" value="$(find orb_slam3)/Vocabulary/ORBvoc.txt"/> <!-- 定义ORB_SLAM3的词典文件路径 -->
<param name="traj_file" value="KeyFrameTrajectory.txt"/> <!-- 定义轨迹文件路径 -->
</node>
</launch>

4
Examples/ROS/ORB_SLAM3/manifest.xml → Examples/ROS/orb_slam3/manifest.xml
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@ -1,6 +1,6 @@
<package>
<description brief="ORB_SLAM3">
ORB_SLAM3
<description brief="orb_slam3">
orb_slam3
</description>
<author>Carlos Campos, Richard Elvira, Juan J. Gomez, Jose M.M. Montiel, Juan D. Tardos</author>
<license>GPLv3</license>

22
Examples/ROS/orb_slam3/package.xml Normal file
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@ -0,0 +1,22 @@
<package format="2">
<name>orb_slam3</name>
<version>0.0.1</version>
<description>The description of my package</description>
<maintainer email="autolabor@autolabor.com.cn">Autolabor</maintainer>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roscpp</depend>
<depend>std_msgs</depend>
<depend>sensor_msgs</depend>
<depend>cv_bridge</depend>
<depend>image_transport</depend>
<depend>eigen_conversions</depend>
<depend>tf</depend>
<export>
<!-- Other tools can go here -->
</export>
</package>

0
Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.cc → Examples/ROS/orb_slam3/src/AR/ViewerAR.cc
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0
Examples/ROS/ORB_SLAM3/src/AR/ViewerAR.h → Examples/ROS/orb_slam3/src/AR/ViewerAR.h
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2
Examples/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc → Examples/ROS/orb_slam3/src/AR/ros_mono_ar.cc
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@ -59,7 +59,7 @@ int main(int argc, char **argv)
if(argc != 3)
{
cerr << endl << "Usage: rosrun ORB_SLAM3 Mono path_to_vocabulary path_to_settings" << endl;
cerr << endl << "Usage: rosrun orb_slam3 Mono path_to_vocabulary path_to_settings" << endl;
ros::shutdown();
return 1;
}

94
Examples/ROS/orb_slam3/src/ros_mono.cc Normal file
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@ -0,0 +1,94 @@
/**
* This file is part of ORB-SLAM3
*
* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
*
* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
* License as published by the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
* If not, see <http://www.gnu.org/licenses/>.
*/
#include "ros_mono.h"
#include <iostream>
#include <fstream>
#include <chrono>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/core/core.hpp>
using namespace std;
namespace autolabor
{
ImageGrabber::ImageGrabber(ORB_SLAM3::System* pSLAM) : mpSLAM(pSLAM) {}
void ImageGrabber::GrabImage(const sensor_msgs::ImageConstPtr& msg)
{
// Copy the ros image message to cv::Mat.
cv_bridge::CvImageConstPtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvShare(msg);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
}
OrbSlam3Node::OrbSlam3Node() {
ROS_INFO("ORBSLAM3 is running...");
}
OrbSlam3Node::~OrbSlam3Node(){}
void OrbSlam3Node::run()
{
ros::NodeHandle nh;
ros::NodeHandle private_nh("~");
private_nh.param<std::string>("vocab_file", vocabulary_path_, "");
private_nh.param<std::string>("config_file", settings_path_, "");
private_nh.param<std::string>("image_topic", image_topic_, "/camera/image_raw");
private_nh.param<std::string>("traj_file", traj_file_, "KeyFrameTrajectory.txt");
if (vocabulary_path_.empty() || settings_path_.empty())
{
ROS_ERROR("Missing vocab_file or config_file parameters.");
ros::shutdown();
return;
}
ORB_SLAM3::System SLAM(vocabulary_path_, settings_path_, ORB_SLAM3::System::MONOCULAR, true);
ImageGrabber igb(&SLAM);
ros::Subscriber sub = nh.subscribe(image_topic_, 1, &ImageGrabber::GrabImage, &igb);
ros::spin();
SLAM.Shutdown();
SLAM.SaveKeyFrameTrajectoryTUM(traj_file_);
ros::shutdown();
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "orb_slam3");
autolabor::OrbSlam3Node node;
node.run();
return 0;
}

2
Examples/ROS/ORB_SLAM3/src/ros_mono_inertial.cc → Examples/ROS/orb_slam3/src/ros_mono_inertial.cc
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@ -75,7 +75,7 @@ int main(int argc, char **argv)
bool bEqual = false;
if(argc < 3 || argc > 4)
{
cerr << endl << "Usage: rosrun ORB_SLAM3 Mono_Inertial path_to_vocabulary path_to_settings [do_equalize]" << endl;
cerr << endl << "Usage: rosrun orb_slam3 Mono_Inertial path_to_vocabulary path_to_settings [do_equalize]" << endl;
ros::shutdown();
return 1;
}

2
Examples/ROS/ORB_SLAM3/src/ros_rgbd.cc → Examples/ROS/orb_slam3/src/ros_rgbd.cc
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@ -51,7 +51,7 @@ int main(int argc, char **argv)
if(argc != 3)
{
cerr << endl << "Usage: rosrun ORB_SLAM3 RGBD path_to_vocabulary path_to_settings" << endl;
cerr << endl << "Usage: rosrun orb_slam3 RGBD path_to_vocabulary path_to_settings" << endl;
ros::shutdown();
return 1;
}

2
Examples/ROS/ORB_SLAM3/src/ros_stereo.cc → Examples/ROS/orb_slam3/src/ros_stereo.cc
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@ -53,7 +53,7 @@ int main(int argc, char **argv)
if(argc != 4)
{
cerr << endl << "Usage: rosrun ORB_SLAM3 Stereo path_to_vocabulary path_to_settings do_rectify" << endl;
cerr << endl << "Usage: rosrun orb_slam3 Stereo path_to_vocabulary path_to_settings do_rectify" << endl;
ros::shutdown();
return 1;
}

2
Examples/ROS/ORB_SLAM3/src/ros_stereo_inertial.cc → Examples/ROS/orb_slam3/src/ros_stereo_inertial.cc
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@ -79,7 +79,7 @@ int main(int argc, char **argv)
bool bEqual = false;
if(argc < 4 || argc > 5)
{
cerr << endl << "Usage: rosrun ORB_SLAM3 Stereo_Inertial path_to_vocabulary path_to_settings do_rectify [do_equalize]" << endl;
cerr << endl << "Usage: rosrun orb_slam3 Stereo_Inertial path_to_vocabulary path_to_settings do_rectify [do_equalize]" << endl;
ros::shutdown();
return 1;
}

2
Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc
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@ -188,7 +188,7 @@ int main(int argc, char **argv)
while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
{
// vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[first_imu],vGyro[first_imu],vTimestampsImu[first_imu]));
// vImuMeas.push_back(orb_slam3::IMU::Point(vAcc[first_imu],vGyro[first_imu],vTimestampsImu[first_imu]));
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]]));

2
Examples_old/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc
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@ -59,7 +59,7 @@ int main(int argc, char **argv)
if(argc != 3)
{
cerr << endl << "Usage: rosrun ORB_SLAM3 Mono path_to_vocabulary path_to_settings" << endl;
cerr << endl << "Usage: rosrun orb_slam3 Mono path_to_vocabulary path_to_settings" << endl;
ros::shutdown();
return 1;
}

2
Examples_old/ROS/ORB_SLAM3/src/ros_mono.cc
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@ -48,7 +48,7 @@ int main(int argc, char **argv)
if(argc != 3)
{
cerr << endl << "Usage: rosrun ORB_SLAM3 Mono path_to_vocabulary path_to_settings" << endl;
cerr << endl << "Usage: rosrun orb_slam3 Mono path_to_vocabulary path_to_settings" << endl;
ros::shutdown();
return 1;
}

2
Examples_old/ROS/ORB_SLAM3/src/ros_mono_inertial.cc
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@ -75,7 +75,7 @@ int main(int argc, char **argv)
bool bEqual = false;
if(argc < 3 || argc > 4)
{
cerr << endl << "Usage: rosrun ORB_SLAM3 Mono_Inertial path_to_vocabulary path_to_settings [do_equalize]" << endl;
cerr << endl << "Usage: rosrun orb_slam3 Mono_Inertial path_to_vocabulary path_to_settings [do_equalize]" << endl;
ros::shutdown();
return 1;
}

2
Examples_old/ROS/ORB_SLAM3/src/ros_rgbd.cc
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@ -51,7 +51,7 @@ int main(int argc, char **argv)
if(argc != 3)
{
cerr << endl << "Usage: rosrun ORB_SLAM3 RGBD path_to_vocabulary path_to_settings" << endl;
cerr << endl << "Usage: rosrun orb_slam3 RGBD path_to_vocabulary path_to_settings" << endl;
ros::shutdown();
return 1;
}

2
Examples_old/ROS/ORB_SLAM3/src/ros_stereo.cc
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@ -53,7 +53,7 @@ int main(int argc, char **argv)
if(argc != 4)
{
cerr << endl << "Usage: rosrun ORB_SLAM3 Stereo path_to_vocabulary path_to_settings do_rectify" << endl;
cerr << endl << "Usage: rosrun orb_slam3 Stereo path_to_vocabulary path_to_settings do_rectify" << endl;
ros::shutdown();
return 1;
}

2
Examples_old/ROS/ORB_SLAM3/src/ros_stereo_inertial.cc
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@ -79,7 +79,7 @@ int main(int argc, char **argv)
bool bEqual = false;
if(argc < 4 || argc > 5)
{
cerr << endl << "Usage: rosrun ORB_SLAM3 Stereo_Inertial path_to_vocabulary path_to_settings do_rectify [do_equalize]" << endl;
cerr << endl << "Usage: rosrun orb_slam3 Stereo_Inertial path_to_vocabulary path_to_settings do_rectify [do_equalize]" << endl;
ros::shutdown();
return 1;
}

2
Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc
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@ -188,7 +188,7 @@ int main(int argc, char **argv)
while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
{
// vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[first_imu],vGyro[first_imu],vTimestampsImu[first_imu]));
// vImuMeas.push_back(orb_slam3::IMU::Point(vAcc[first_imu],vGyro[first_imu],vTimestampsImu[first_imu]));
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]]));

2
include/Atlas.h
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@ -169,6 +169,6 @@ protected:
}; // class Atlas
} // namespace ORB_SLAM3
} // namespace orb_slam3
#endif // ATLAS_H

2
include/Map.h
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@ -203,6 +203,6 @@ protected:
};
} //namespace ORB_SLAM3
} //namespace orb_slam3
#endif // MAP_H

2
include/Optimizer.h
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@ -101,6 +101,6 @@ public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
};
} //namespace ORB_SLAM3
} //namespace orb_slam3
#endif // OPTIMIZER_H

2
include/SerializationUtils.h
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@ -161,6 +161,6 @@ void serializeVectorKeyPoints(Archive& ar, const std::vector<cv::KeyPoint>& vKP,
}
}
} // namespace ORB_SLAM3
} // namespace orb_slam3
#endif // SERIALIZATION_UTILS_H

2
src/Atlas.cc
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@ -452,4 +452,4 @@ map<long unsigned int, KeyFrame *> Atlas::GetAtlasKeyframes()
return mpIdKFs;
}
} // namespace ORB_SLAM3
} // namespace orb_slam3

2
src/CameraModels/KannalaBrandt8.cpp
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@ -20,7 +20,7 @@
#include <boost/serialization/export.hpp>
// BOOST_CLASS_EXPORT_IMPLEMENT(ORB_SLAM3::KannalaBrandt8)
// BOOST_CLASS_EXPORT_IMPLEMENT(orb_slam3::KannalaBrandt8)
namespace ORB_SLAM3
{

2
src/CameraModels/Pinhole.cpp
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@ -20,7 +20,7 @@
#include <boost/serialization/export.hpp>
// BOOST_CLASS_EXPORT_IMPLEMENT(ORB_SLAM3::Pinhole)
// BOOST_CLASS_EXPORT_IMPLEMENT(orb_slam3::Pinhole)
namespace ORB_SLAM3
{

2
src/MLPnPsolver.cpp
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@ -1742,4 +1742,4 @@ void MLPnPsolver::mlpnpJacs(const point_t &pt, const Eigen::Vector3d &nullspace_
jacs(1, 4) = s2 * t65 - t14 * t101 * t167 * t212 * (1.0 / 2.0);
jacs(1, 5) = s3 * t65 - t14 * t101 * t167 * t216 * (1.0 / 2.0);
}
} // End namespace ORB_SLAM3
} // End namespace orb_slam3

2
src/Map.cc
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@ -541,4 +541,4 @@ void Map::PostLoad(KeyFrameDatabase *pKFDB, ORBVocabulary *pORBVoc /*, map<long
mvpBackupMapPoints.clear();
}
} // namespace ORB_SLAM3
} // namespace orb_slam3

6
src/System.cc
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@ -984,7 +984,7 @@ void System::SaveTrajectoryEuRoC(const string &filename, Map* pMap)
// For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag
// which is true when tracking failed (lbL).
list<ORB_SLAM3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
list<orb_slam3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
list<double>::iterator lT = mpTracker->mlFrameTimes.begin();
list<bool>::iterator lbL = mpTracker->mlbLost.begin();
@ -1235,11 +1235,11 @@ void System::SaveKeyFrameTrajectoryEuRoC(const string &filename, Map* pMap)
// For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag
// which is true when tracking failed (lbL).
list<ORB_SLAM3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
list<orb_slam3::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
list<double>::iterator lT = mpTracker->mlFrameTimes.begin();
for(list<cv::Mat>::iterator lit=mpTracker->mlRelativeFramePoses.begin(), lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++)
{
ORB_SLAM3::KeyFrame* pKF = *lRit;
orb_slam3::KeyFrame* pKF = *lRit;
cv::Mat Trw = cv::Mat::eye(4,4,CV_32F);