Add raw and clahe compare result

Add Mars dataset and related papers

Examples/Monocular/MARS_mono.yaml

@@ -0,0 +1,65 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 1801.440275
+Camera.fy: 1601.385742
+Camera.cx: 1293.584094
+Camera.cy: 1035.925738
+
+
+Camera.k1: -0.3210619122068458
+Camera.k2: 0.1162390609735827
+Camera.p1: 0.00068
+Camera.p2: -0.000449
+
+
+# Camera frames per second
+Camera.fps: 10
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Camera resolution
+Camera.width: 2248
+Camera.height: 2048
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+#ORBextractor.nFeatures: 1000
+ORBextractor.nFeatures: 2000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid 	
+ORBextractor.scaleFactor: 1.6
+
+# ORB Extractor: Number of levels in the scale pyramid	
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast			
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#---------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize:2
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500
+

Examples/Monocular/mono_tum_vi.cc

@@ -111,7 +111,7 @@ int main(int argc, char **argv)
             im = cv::imread(vstrImageFilenames[seq][ni],cv::IMREAD_GRAYSCALE);
 
             // clahe
-            clahe->apply(im,im);
+//            clahe->apply(im,im);
 
 
             // cout << "mat type: " << im.type() << endl;

Examples/ROS/ORB_SLAM3/launch/MARS-bag_play_mono.launch

@@ -0,0 +1,10 @@
+<launch>
+
+    <param name = "use_sim_time" value = "true"/>
+
+    <node name="republishsterer" type="republish" pkg="image_transport" respawn="true"  output="screen"
+          args="compressed in:=/camera_front_l/image_raw
+    raw out:=/camera/image_raw"/>
+
+
+</launch>

results/process_dataset_gt.py

@@ -3,7 +3,7 @@
 import csv
 import os
 
-dataset_path = 'dataset-corridor1_512_16/gt'
+dataset_path = 'dataset-corridor2_512_16/gt'
 gt_name = 'data.csv'
 input_file_name = dataset_path + '/' + gt_name
 

results/process_orbslam_result.py

@@ -3,11 +3,11 @@
 import csv
 import os
 
-dataset_path = 'dataset-corridor1_512_16/clahe'
+dataset_path = 'dataset-corridor2_512_16/raw'
 file_name = 'f_.txt'
 input_file_name = dataset_path + '/' + file_name
 
-output_name = 'clahe.csv'
+output_name = 'raw.csv'
 output_file_name = dataset_path + '/' + output_name
 
 with open(input_file_name, 'r') as f:

shells/tum_vi.sh

@@ -2,8 +2,8 @@
 cd ..
 currentDir=$(pwd)
 runType=Monocular
-datasetType=dataset-corridor1_512_16
-timestampType=dataset-corridor1_512
+datasetType=dataset-corridor2_512_16
+timestampType=dataset-corridor2_512
 
 pathDatasetTUM_VI='/home/sph/Downloads/dataset/TUM' #Example, it is necesary to change it by the dataset path
 if  [ -d "$pathDatasetTUM_VI" ];then