diff --git a/README.md b/README.md index 8e7ad1e..cd613cb 100644 --- a/README.md +++ b/README.md @@ -2,8 +2,8 @@ Run: ``` -./build.sh -./tum_vi.sh +./shells/build.sh +./shells/tum_vi.sh ``` 要注意的是,目前只有单目带IMU的被激活,里面的配置需要自己对应自己的电脑更新 diff --git a/______1.docx b/______1.docx deleted file mode 100644 index a39f12c..0000000 Binary files a/______1.docx and /dev/null differ diff --git a/______2.docx b/______2.docx deleted file mode 100644 index d6459b9..0000000 Binary files a/______2.docx and /dev/null differ diff --git a/______3.docx b/______3.docx deleted file mode 100644 index e7c55eb..0000000 Binary files a/______3.docx and /dev/null differ diff --git a/process.xlsx b/notes/process.xlsx similarity index 100% rename from process.xlsx rename to notes/process.xlsx diff --git "a/\347\254\224\350\256\2601.docx" "b/notes/\347\254\224\350\256\2601.docx" similarity index 100% rename from "\347\254\224\350\256\2601.docx" rename to "notes/\347\254\224\350\256\2601.docx" diff --git "a/\347\254\224\350\256\2602.docx" "b/notes/\347\254\224\350\256\2602.docx" similarity index 100% rename from "\347\254\224\350\256\2602.docx" rename to "notes/\347\254\224\350\256\2602.docx" diff --git "a/\347\254\224\350\256\2603.docx" "b/notes/\347\254\224\350\256\2603.docx" similarity index 100% rename from "\347\254\224\350\256\2603.docx" rename to "notes/\347\254\224\350\256\2603.docx" diff --git a/Bags of Binary Words for Fast Place Recognition in Image Sequences.pdf b/reference/Bags of Binary Words for Fast Place Recognition in Image Sequences.pdf similarity index 100% rename from Bags of Binary Words for Fast Place Recognition in Image Sequences.pdf rename to reference/Bags of Binary Words for Fast Place Recognition in Image Sequences.pdf diff --git a/ORB-SLAM A Versatile and Accurate Monocular SLAM System.pdf b/reference/ORB-SLAM A Versatile and Accurate Monocular SLAM System.pdf similarity index 100% rename from ORB-SLAM A Versatile and Accurate Monocular SLAM System.pdf rename to reference/ORB-SLAM A Versatile and Accurate Monocular SLAM System.pdf diff --git a/ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras.pdf b/reference/ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras.pdf similarity index 100% rename from ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras.pdf rename to reference/ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras.pdf diff --git "a/ORB\357\274\232An Efficient Alternative to SIFT or SURF.pdf" "b/reference/ORB\357\274\232An Efficient Alternative to SIFT or SURF.pdf" similarity index 100% rename from "ORB\357\274\232An Efficient Alternative to SIFT or SURF.pdf" rename to "reference/ORB\357\274\232An Efficient Alternative to SIFT or SURF.pdf" diff --git a/reference/RPi-Camera-UserManual.pdf b/reference/RPi-Camera-UserManual.pdf new file mode 100644 index 0000000..637409a Binary files /dev/null and b/reference/RPi-Camera-UserManual.pdf differ diff --git a/build.sh b/shells/build.sh similarity index 82% rename from build.sh rename to shells/build.sh index f4f7b43..e97a4b3 100755 --- a/build.sh +++ b/shells/build.sh @@ -1,6 +1,7 @@ echo "Configuring and building Thirdparty/DBoW2 ..." -cd Thirdparty/DBoW2 +cd ../Thirdparty/DBoW2 +#rm -rf build lib mkdir build cd build cmake .. -DCMAKE_BUILD_TYPE=Release @@ -9,22 +10,20 @@ make -j 32 cd ../../g2o echo "Configuring and building Thirdparty/g2o ..." - +#rm -rf build lib mkdir build cd build cmake .. -DCMAKE_BUILD_TYPE=Release make -j 32 -cd ../../../ - echo "Uncompress vocabulary ..." -cd Vocabulary +cd ../../../Vocabulary tar -xf ORBvoc.txt.tar.gz cd .. echo "Configuring and building ORB_SLAM3 ..." - +#rm -rf build mkdir build cd build cmake .. -DCMAKE_BUILD_TYPE=Release diff --git a/build_ros.sh b/shells/build_ros.sh similarity index 100% rename from build_ros.sh rename to shells/build_ros.sh diff --git a/euroc.sh b/shells/euroc.sh similarity index 100% rename from euroc.sh rename to shells/euroc.sh diff --git a/euroc_eval_examples.sh b/shells/euroc_eval_examples.sh similarity index 100% rename from euroc_eval_examples.sh rename to shells/euroc_eval_examples.sh diff --git a/euroc_examples.sh b/shells/euroc_examples.sh similarity index 100% rename from euroc_examples.sh rename to shells/euroc_examples.sh diff --git a/tum_vi.sh b/shells/tum_vi.sh similarity index 80% rename from tum_vi.sh rename to shells/tum_vi.sh index 637ead4..622203a 100755 --- a/tum_vi.sh +++ b/shells/tum_vi.sh @@ -1,5 +1,12 @@ #!/bin/bash +currentDir=$(pwd) + pathDatasetTUM_VI='/media/sph/TOSHIBA EXT/dataset' #Example, it is necesary to change it by the dataset path +if [ -d "$pathDatasetTUM_VI" ];then + echo "" +else + echo "该文件夹不存在 ${pathDatasetTUM_VI} " +fi #------------------------------------ # Monocular Examples @@ -14,6 +21,29 @@ pathDatasetTUM_VI='/media/sph/TOSHIBA EXT/dataset' #Example, it is necesary to c #------------------------------------ # Monocular-Inertial Examples echo "Launching Room 4 with Monocular-Inertial sensor" +if [ -f "$currentDir/Vocabulary/ORBvoc.txt" ];then + echo "" +else + echo "该文件不存在 $currentDir/Vocabulary/ORBvoc.txt " +fi +if [ -f "$currentDir/Examples/Monocular-Inertial/TUM_512.yaml" ];then + echo "" +else + echo "该文件不存在 $currentDir/Examples/Monocular-Inertial/TUM_512.yaml " +fi +# 这里有个问题是我实际的路径是/media/sph/TOSHIBA EXT/dataset/dataset-corridor4_512_16/dataset-corridor4_512_16/mav0/cam0/data +# 而代码中看到的是/media/sph/TOSHIBA EXT/dataset/dataset-corridor4_512_16/mav0/cam0/data, 少了一层dataset-corridor4_512_16 +# TODO: 要确认一下是代码bug还是什么问题 +if [ -d ""$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data" ];then + echo "" +else + echo "该文件夹不存在 "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data " +fi +if [ -f "$currentDir/Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room4_512.txt" ];then + echo "" +else + echo "该文件不存在 $currentDir/Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room4_512.txt " +fi ./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room4_512.txt dataset-room4_512_monoi # MultiSession Monocular Examples diff --git a/tum_vi_eval_examples.sh b/shells/tum_vi_eval_examples.sh similarity index 100% rename from tum_vi_eval_examples.sh rename to shells/tum_vi_eval_examples.sh diff --git a/tum_vi_examples.sh b/shells/tum_vi_examples.sh similarity index 100% rename from tum_vi_examples.sh rename to shells/tum_vi_examples.sh