Large tranche of cleanup and changes while testing against EuRoC

.gitignore

@@ -92,3 +92,4 @@ my_settings.txt
 borrar/*
 
 */ExecMean.txt
+vcpkg_installed/

CMakeLists.txt

@@ -1,46 +1,65 @@
 cmake_minimum_required(VERSION 3.28)
 project(ORB_SLAM3)
 
-IF(NOT CMAKE_BUILD_TYPE)
-  SET(CMAKE_BUILD_TYPE Release)
+IF(NOT CONFIG)
+  SET(CONFIG Release)
 ENDIF()
 
-MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
+MESSAGE("Build type: " ${CONFIG})
 
-# Squelch "reorder" warnings, there are many
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall -Wno-reorder")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-reorder")
-set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native -O3")
-set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native -O3")
+add_compile_options(
+        "$<$<CONFIG:Debug>:-g;-Wall;-Wno-reorder>"
+        "$<$<CONFIG:RelWithDebInfo>:-O3;-g;-UNDEBUG>"
+        "$<$<CONFIG:Release>:-march=native;-O3>"
+)
+
+add_link_options(
+        -fsanitize=address -fno-omit-frame-pointer -fsanitize=undefined
+)
+if(DO_SANITIZE)
+        add_compile_options(
+                "$<$<CONFIG:Debug>:-fsanitize=address;-fno-omit-frame-pointer;-fsanitize=undefined>"
+                "$<$<CONFIG:RelWithDebInfo>:-fsanitize=address;-fno-omit-frame-pointer;-fsanitize=undefined>"
+                "$<$<CONFIG:Release>:-fsanitize=address;-fno-omit-frame-pointer;-fsanitize=undefined>"
+        )
+
+        add_link_options(
+                -fsanitize=address -fno-omit-frame-pointer -fsanitize=undefined
+        )
+endif()
+
+#add_compile_definitions(EIGEN_DONT_VECTORIZE EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
 
 set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
 
 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()
+if(NOT OpenCV_FOUND)
+message(FATAL_ERROR "OpenCV > 4.4 not found.")
+endif()
 
 MESSAGE("OPENCV VERSION:")
 MESSAGE(${OpenCV_VERSION})
 
-find_package(Eigen3 REQUIRED)
+find_package(Eigen3 CONFIG REQUIRED)
 find_package(Pangolin CONFIG REQUIRED)
 find_package(Sophus CONFIG REQUIRED)
-find_package(g2o REQUIRED)
+find_package(g2o CONFIG REQUIRED)
 find_package(fmt REQUIRED)
 find_package(spdlog REQUIRED)
+find_package(OpenSSL REQUIRED)
 find_package(Boost REQUIRED COMPONENTS serialization)
 
 add_subdirectory(Thirdparty/DBoW2)
 
 include_directories(
-        ${PROJECT_SOURCE_DIR}
-        ${PROJECT_SOURCE_DIR}/include
-        ${PROJECT_SOURCE_DIR}/include/CameraModels
-        ${EIGEN3_INCLUDE_DIR}
-        ${Pangolin_INCLUDE_DIRS}
+${PROJECT_SOURCE_DIR}
+${PROJECT_SOURCE_DIR}/include
+${PROJECT_SOURCE_DIR}/include/CameraModels
+${EIGEN3_INCLUDE_DIR}
+${Pangolin_INCLUDE_DIRS}
 )
 
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
@@ -52,7 +71,8 @@ add_library(${PROJECT_NAME} SHARED
         src/Converter.cc
         src/Frame.cc
         src/FrameDrawer.cc
-        src/G2oTypes.cc
+        src/G2OTypes/Edges.cc
+        src/G2OTypes/Vertices.cc
         src/GeometricTools.cc
         src/ImuTypes.cc
         src/KeyFrame.cc
@@ -63,7 +83,12 @@ add_library(${PROJECT_NAME} SHARED
         src/MapDrawer.cc
         src/MapPoint.cc
         src/MLPnPsolver.cpp
-        src/OptimizableTypes.cpp
+        src/OptimizableTypes/edge_se3_project_xyz_only_pose.cpp
+        src/OptimizableTypes/edge_se3_project_xyz_only_pose_to_body.cpp
+        src/OptimizableTypes/edge_se3_project_xyz.cpp
+        src/OptimizableTypes/edge_se3_project_xyz_to_body.cpp
+        src/OptimizableTypes/edge_sim3_project_xyz.cpp
+        src/OptimizableTypes/vertex_sim3_expmap.cpp
         src/Optimizer.cc
         src/ORBextractor.cc
         src/ORBmatcher.cc
@@ -78,82 +103,91 @@ add_library(${PROJECT_NAME} SHARED
 target_compile_definitions(${PROJECT_NAME} PUBLIC REGISTER_TIMES)
 
 target_link_libraries(${PROJECT_NAME}
-        ${OpenCV_LIBS}
-        Eigen3::Eigen
-        Sophus::Sophus
+        PUBLIC
+        opencv_core
+        opencv_imgproc
         ${Pangolin_LIBRARIES}
         DBoW2
         fmt::fmt
-        g2o::core
-        g2o::types_sim3
-        g2o::types_slam3d
         spdlog::spdlog
         Boost::boost
         Boost::serialization
-        -lcrypto
+        PRIVATE
+        OpenSSL::Crypto
+        Eigen3::Eigen
+        Sophus::Sophus
+        g2o::core
+        g2o::types_sim3
+        g2o::types_slam3d
 )
 
 # Build examples
 
-# RGB-D examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
+# ===============================================
+# EuRoC examples
+# ===============================================
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/EuRoC)
 
-add_executable(rgbd_tum
-        Examples/RGB-D/rgbd_tum.cc)
-target_link_libraries(rgbd_tum ${PROJECT_NAME})
+add_executable(stereo_euroc
+        Examples/EuRoC/stereo_euroc.cc
+        Examples/EuRoC/euroc_common.cc)
+target_link_libraries(stereo_euroc ${PROJECT_NAME})
+
+# Not ported yet...
+# add_executable(stereo_inertial_euroc
+#         Examples/EuRoC/stereo_inertial_euroc.cc
+#         Examples/EuRoC/euroc_common.cc)
+# target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})
+
+add_executable(mono_euroc
+        Examples/EuRoC/mono_euroc.cc
+        Examples/EuRoC/euroc_common.cc)
+target_link_libraries(mono_euroc ${PROJECT_NAME})
+
+add_executable(mono_inertial_euroc
+        Examples/EuRoC/mono_inertial_euroc.cc
+        Examples/EuRoC/euroc_common.cc)
+target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})
 
-#Stereo examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
+# ===============================================
+# KITTI examples
+# ===============================================
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Kitti)
 
 add_executable(stereo_kitti
-        Examples/Stereo/stereo_kitti.cc)
+        Examples/Kitti/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(mono_kitti
+        Examples/Kitti/mono_kitti.cc)
+target_link_libraries(mono_kitti ${PROJECT_NAME})
 
-add_executable(stereo_tum_vi
-        Examples/Stereo/stereo_tum_vi.cc)
-target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
+# ===============================================
+# TUM examples
+# ===============================================
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/TUM)
+
+add_executable(rgbd_tum
+        Examples/TUM/rgbd_tum.cc)
+target_link_libraries(rgbd_tum ${PROJECT_NAME})
 
-#Monocular examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
 
 add_executable(mono_tum
-        Examples/Monocular/mono_tum.cc)
+        Examples/TUM/mono_tum.cc)
 target_link_libraries(mono_tum ${PROJECT_NAME})
 
-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(stereo_tum_vi
+        Examples/TUM/stereo_tum_vi.cc)
+target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
 
 add_executable(mono_tum_vi
-        Examples/Monocular/mono_tum_vi.cc)
+        Examples/TUM/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
-        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)
+        Examples/TUM/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)
+        Examples/TUM/stereo_inertial_tum_vi.cc)
 target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})

CMakePresets.json

@@ -12,19 +12,38 @@
       "description": "Configure with vcpkg toolchain and generate Ninja project files for all configurations",
       "binaryDir": "${sourceDir}/builds/${presetName}",
       "generator": "Ninja Multi-Config",
-      "toolchainFile": "${sourceDir}/vcpkg/scripts/buildsystems/vcpkg.cmake"
+      "toolchainFile": "${sourceDir}/vcpkg/scripts/buildsystems/vcpkg.cmake",
+      "cacheVariables": {}
+    },
+    {
+      "name": "ninja-multi-vcpkg-dynamic",
+      "displayName": "Ninja Multi-Config with Dynamic Libraries",
+      "description": "Configure with vcpkg toolchain and generate Ninja project files for all configurations",
+      "binaryDir": "${sourceDir}/builds/${presetName}",
+      "generator": "Ninja Multi-Config",
+      "toolchainFile": "${sourceDir}/vcpkg/scripts/buildsystems/vcpkg.cmake",
+      "cacheVariables": {
+        "VCPKG_TARGET_TRIPLET": "x64-linux-dynamic"
+      }
     }
   ],
   "buildPresets": [
     {
-      "name": "ninja-vcpkg-debug",
+      "name": "ninja-vcpkg-Debug",
       "configurePreset": "ninja-multi-vcpkg",
       "displayName": "Build (Debug)",
       "description": "Build with Ninja/vcpkg (Debug)",
       "configuration": "Debug"
     },
     {
-      "name": "ninja-vcpkg-release",
+      "name": "ninja-vcpkg-RelWithDebInfo",
+      "configurePreset": "ninja-multi-vcpkg",
+      "displayName": "Build (RelWithDebInfo)",
+      "description": "Build with Ninja/vcpkg (RelWithDebInfo)",
+      "configuration": "RelWithDebInfo"
+    },
+    {
+      "name": "ninja-vcpkg-Release",
       "configurePreset": "ninja-multi-vcpkg",
       "displayName": "Build (Release)",
       "description": "Build with Ninja/vcpkg (Release)",

Dependencies.md

@@ -1,17 +1,13 @@
-##List of Known Dependencies
-###ORB-SLAM3 v1.0
+# List of Known Dependencies
 
-In this document we list all the pieces of code included  by ORB-SLAM3 and linked libraries which are not property of the authors of ORB-SLAM3.
+## ORB-SLAM3 v1.0
 
+In this document we list all the pieces of code included by ORB-SLAM3 and linked libraries which are not property of the authors of ORB-SLAM3.
 
-#####Code in **src** and **include** folders
+### Code in **src** and **include** folders
 
 * *ORBextractor.cc*.
-This is a modified version of orb.cpp of OpenCV library. The original code is BSD licensed.
-
-* *PnPsolver.h, PnPsolver.cc*.
-This is a modified version of the epnp.h and epnp.cc of Vincent Lepetit.
-This code can be found in popular BSD licensed computer vision libraries as [OpenCV](https://github.com/Itseez/opencv/blob/master/modules/calib3d/src/epnp.cpp) and [OpenGV](https://github.com/laurentkneip/opengv/blob/master/src/absolute_pose/modules/Epnp.cpp). The original code is FreeBSD.
+This is a modified version of `orb.cpp` of OpenCV library. The original code is BSD licensed.
 
 * *MLPnPsolver.h, MLPnPsolver.cc*.
 This is a modified version of the MLPnP of Steffen Urban from [here](https://github.com/urbste/opengv).
@@ -25,23 +21,3 @@ The code is in the public domain.
 
 * All code in **DBoW2** folder.
 This is a modified version of [DBoW2](https://github.com/dorian3d/DBoW2) and [DLib](https://github.com/dorian3d/DLib) library. All files included are BSD licensed.
-
-* All code in **g2o** folder.
-This is a modified version of [g2o](https://github.com/RainerKuemmerle/g2o). All files included are BSD licensed.
-
-* All code in **Sophus** folder.
-This is a modified version of [Sophus](https://github.com/strasdat/Sophus). [MIT license](https://en.wikipedia.org/wiki/MIT_License).
-
-#####Library dependencies
-
-* **Pangolin (visualization and user interface)**.
-[MIT license](https://en.wikipedia.org/wiki/MIT_License).
-
-* **OpenCV**.
-BSD license.
-
-* **Eigen3**.
-For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3.
-
-* **ROS (Optional, only if you build Examples/ROS)**.
-BSD license. In the manifest.xml the only declared package dependencies are roscpp, tf, sensor_msgs, image_transport, cv_bridge, which are all BSD licensed.

Examples/EuRoC/.gitignore

@@ -0,0 +1 @@
+EuRoC_datasets/

Examples/Stereo/EuRoC.yaml → Examples/EuRoC/EuRoC_atlas.yaml

@@ -93,3 +93,8 @@ Viewer.ViewpointY: -0.7
 Viewer.ViewpointZ: -1.8
 Viewer.ViewpointF: 500.0
 Viewer.imageViewScale: 1.0
+Viewer.Enable: 0
+
+System.LoadAtlasFromFile: ../stereo_mh01/euroc.atlas
+System.SaveAtlasToFile: euroc_second.atlas
+System.loopClosing: 1