fix monocular run bug

shanpenghui · Apr 11, 2022 · ae3725c · ae3725c
1 parent b690d29
commit ae3725c
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Showing 24 changed files with 11 additions and 32 deletions.
diff --git a/Examples/Monocular/mono_euroc.cc b/Examples/Monocular/mono_euroc.cc
@@ -80,7 +80,7 @@ int main(int argc, char **argv)
     int fps = 20;
     float dT = 1.f/fps;
     // 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, false);
+    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true, 0, string(argv[3]));
     float imageScale = SLAM.GetImageScale();
 
     double t_resize = 0.f;

diff --git a/Examples_old/Monocular-Inertial/mono_inertial_euroc_old b/Examples_old/Monocular-Inertial/mono_inertial_euroc_old
diff --git a/Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i_old b/Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i_old
diff --git a/Examples_old/Monocular-Inertial/mono_inertial_realsense_t265_old b/Examples_old/Monocular-Inertial/mono_inertial_realsense_t265_old
diff --git a/Examples_old/Monocular-Inertial/mono_inertial_tum_vi_old b/Examples_old/Monocular-Inertial/mono_inertial_tum_vi_old
diff --git a/Examples_old/Monocular/mono_euroc_old b/Examples_old/Monocular/mono_euroc_old
diff --git a/Examples_old/Monocular/mono_kitti_old b/Examples_old/Monocular/mono_kitti_old
diff --git a/Examples_old/Monocular/mono_realsense_D435i_old b/Examples_old/Monocular/mono_realsense_D435i_old
diff --git a/Examples_old/Monocular/mono_realsense_t265_old b/Examples_old/Monocular/mono_realsense_t265_old
diff --git a/Examples_old/Monocular/mono_tum_old b/Examples_old/Monocular/mono_tum_old
diff --git a/Examples_old/Monocular/mono_tum_vi_old b/Examples_old/Monocular/mono_tum_vi_old
diff --git a/Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i_old b/Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i_old
diff --git a/Examples_old/RGB-D/rgbd_realsense_D435i_old b/Examples_old/RGB-D/rgbd_realsense_D435i_old
diff --git a/Examples_old/RGB-D/rgbd_tum_old b/Examples_old/RGB-D/rgbd_tum_old
diff --git a/Examples_old/Stereo-Inertial/stereo_inertial_euroc_old b/Examples_old/Stereo-Inertial/stereo_inertial_euroc_old
diff --git a/Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i_old b/Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i_old
diff --git a/Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265_old b/Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265_old
diff --git a/Examples_old/Stereo-Inertial/stereo_inertial_tum_vi_old b/Examples_old/Stereo-Inertial/stereo_inertial_tum_vi_old
diff --git a/Examples_old/Stereo/stereo_euroc_old b/Examples_old/Stereo/stereo_euroc_old
diff --git a/Examples_old/Stereo/stereo_kitti_old b/Examples_old/Stereo/stereo_kitti_old
diff --git a/Examples_old/Stereo/stereo_realsense_D435i_old b/Examples_old/Stereo/stereo_realsense_D435i_old
diff --git a/Examples_old/Stereo/stereo_realsense_t265_old b/Examples_old/Stereo/stereo_realsense_t265_old
diff --git a/Examples_old/Stereo/stereo_tum_vi_old b/Examples_old/Stereo/stereo_tum_vi_old
diff --git a/shells/euroc.sh b/shells/euroc.sh
@@ -1,9 +1,11 @@
 #!/bin/bash
 cd ..
 currentDir=$(pwd)
-runType=Monocular-Inertial
+runType=Monocular
+datasetType=MH_01_easy
+timestampType=MH01
 
-pathDatasetEuroc='/home/shanph/disk/dataset/EuRoC' #Example, it is necesary to change it by the dataset path
+pathDatasetEuroc='/EuRoC' #Example, it is necesary to change it by the dataset path
 if  [ -d "$pathDatasetEuroc" ];then
   echo  ""
 else
@@ -23,16 +25,16 @@ else
   echo  "该文件不存在 $currentDir/Examples/$runType/EuRoC.yaml "
   exit 1
 fi
-if  [ -d ""$pathDatasetEuroc"/MH_01_easy" ];then
+if  [ -d $pathDatasetEuroc/$datasetType ];then
   echo  ""
 else
-  echo  "该文件夹不存在 "$pathDatasetEuroc"/MH_01_easy "
+  echo  "该文件夹不存在 $pathDatasetEuroc/$datasetType "
   exit 1
 fi
-if  [ -f "$currentDir/Examples/$runType/EuRoC_TimeStamps/MH01.txt" ];then
+if  [ -f "$currentDir/Examples/$runType/EuRoC_TimeStamps/$timestampType.txt" ];then
   echo  ""
 else
-  echo  "该文件不存在 $currentDir/Examples/$runType/EuRoC_TimeStamps/MH01.txt "
+  echo  "该文件不存在 $currentDir/Examples/$runType/EuRoC_TimeStamps/$timestampType.txt "
   exit 1
 fi
 if  [ -d "logs" ];then
@@ -44,28 +46,5 @@ fi
 
 #------------------------------------
 # Monocular Examples
-echo "Launching MH01 with $runType sensor"
-./Examples/"$runType"/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/"$runType"/EuRoC.yaml "$pathDatasetEuroc"/MH_01_easy ./Examples/"$runType"/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono
-
-#------------------------------------
-# Stereo Examples
-#echo "Launching MH01 with Stereo sensor"
-#./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo
-
-#------------------------------------
-# Monocular-Inertial Examples
-#echo "Launching MH01 with $runType sensor"
-#./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH_01_easy ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_monoi
-
-# MultiSession Monocular Examples
-#echo "Launching Machine Hall with Monocular-Inertial sensor"
-#./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_monoi
-
-#------------------------------------
-# Stereo-Inertial Examples
-#echo "Launching MH01 with Stereo-Inertial sensor"
-#./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereoi
-
-# MultiSession Stereo-Inertial Examples
-#echo "Launching Machine Hall with Stereo-Inertial sensor"
-#./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereoi
+echo "Launching $timestampType with $runType sensor"
+./Examples/$runType/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/$runType/EuRoC.yaml $pathDatasetEuroc/$datasetType ./Examples/$runType/EuRoC_TimeStamps/$timestampType.txt "$datasetType_$runType"