From 0fc381ea313ad660d2c5e00e9430bf494a6a748f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=98=D0=B2=D0=B0=D0=BD=20=D0=9F=D0=BE=D0=B4=D0=BC=D0=BE?= =?UTF-8?q?=D0=B3=D0=B8=D0=BB=D1=8C=D0=BD=D1=8B=D0=B9?= Date: Sat, 3 Sep 2022 13:13:37 +0300 Subject: [PATCH 1/8] Update 'README.md' --- README.md | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index 362af3a..8fd4a6a 100644 --- a/README.md +++ b/README.md @@ -1,12 +1,6 @@ # ORB-SLAM3 for linux Redmine issue: https://redmine.drivecast.tech/issues/335 -## Build ORB-SLAM3 -Скачайте и установите все необходимые ниже перечисленные библиотеки, затем в папке ORB-SLAM3. -1. `mkdir build && cd build` -2. `cmake ..` -3. `make` - ## mono-kitti examples. 1. Скомпилируйте файл папке **Examples/Stereo/stereo-kitti.cc** и запустите бинарник с параметрами: путь к словарю, путь к файлу с настройками, путь к папке с изображениями. Пример: `stereo-kitti /home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Vocabulary/ORBvoc.txt /home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Examples/Stereo/KITTI04-12.yaml /home/ivan/ivan/git/work_drivecast2/SLAM/datasets/mono-kitti/sequences/06` 2. Бинарник создаст файлы `CameraTrajectory.txt` и `RealtimeCameraTrajectory.txt`, они практически идентичные. Первый файл выдаёт чуть более точную траекторию, но она недоступна в режиме "онлайн", когда позиция камеры в моменте. @@ -14,4 +8,10 @@ Redmine issue: https://redmine.drivecast.tech/issues/335 ## Installation -Please refer to the original repository on the installation procedure: https://github.com/UZ-SLAMLab/ORB_SLAM3 \ No newline at end of file +Please refer to the original repository on the details of the installation procedure: https://github.com/UZ-SLAMLab/ORB_SLAM3 + +You can use the script to install the Thirdparty libraries and ORB-SLAM3 core and the examples. But make sure you have installed all the required packages (You may need to change the paths to the packages in your CMakeLists.txt): + +`cd ORB-SLA3_Linux` +`chmod +x build.sh` +`./build.sh` \ No newline at end of file From c76a477ce9b499ca08014f56a0dc9a8703211f50 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=98=D0=B2=D0=B0=D0=BD=20=D0=9F=D0=BE=D0=B4=D0=BC=D0=BE?= =?UTF-8?q?=D0=B3=D0=B8=D0=BB=D1=8C=D0=BD=D1=8B=D0=B9?= Date: Sat, 3 Sep 2022 13:14:04 +0300 Subject: [PATCH 2/8] Update 'README.md' --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 8fd4a6a..39b4046 100644 --- a/README.md +++ b/README.md @@ -12,6 +12,6 @@ Please refer to the original repository on the details of the installation proce You can use the script to install the Thirdparty libraries and ORB-SLAM3 core and the examples. But make sure you have installed all the required packages (You may need to change the paths to the packages in your CMakeLists.txt): -`cd ORB-SLA3_Linux` -`chmod +x build.sh` -`./build.sh` \ No newline at end of file +`cd ORB-SLA3_Linux +chmod +x build.sh +./build.sh` \ No newline at end of file From 72780b4da31a538bc8a2e5f1a116dd31e614b6a5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=98=D0=B2=D0=B0=D0=BD=20=D0=9F=D0=BE=D0=B4=D0=BC=D0=BE?= =?UTF-8?q?=D0=B3=D0=B8=D0=BB=D1=8C=D0=BD=D1=8B=D0=B9?= Date: Sat, 3 Sep 2022 13:14:23 +0300 Subject: [PATCH 3/8] Update 'README.md' --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 39b4046..b1697ae 100644 --- a/README.md +++ b/README.md @@ -12,6 +12,6 @@ Please refer to the original repository on the details of the installation proce You can use the script to install the Thirdparty libraries and ORB-SLAM3 core and the examples. But make sure you have installed all the required packages (You may need to change the paths to the packages in your CMakeLists.txt): -`cd ORB-SLA3_Linux -chmod +x build.sh +`cd ORB-SLA3_Linux +chmod +x build.sh ./build.sh` \ No newline at end of file From c85c6bdc4eca48812f0f6c8365d4b6897cf4d4a0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=98=D0=B2=D0=B0=D0=BD=20=D0=9F=D0=BE=D0=B4=D0=BC=D0=BE?= =?UTF-8?q?=D0=B3=D0=B8=D0=BB=D1=8C=D0=BD=D1=8B=D0=B9?= Date: Sat, 3 Sep 2022 13:14:57 +0300 Subject: [PATCH 4/8] Update 'README.md' --- README.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index b1697ae..9e0eda4 100644 --- a/README.md +++ b/README.md @@ -12,6 +12,8 @@ Please refer to the original repository on the details of the installation proce You can use the script to install the Thirdparty libraries and ORB-SLAM3 core and the examples. But make sure you have installed all the required packages (You may need to change the paths to the packages in your CMakeLists.txt): -`cd ORB-SLA3_Linux +``` +cd ORB-SLA3_Linux chmod +x build.sh -./build.sh` \ No newline at end of file +./build.sh +``` \ No newline at end of file From 6a68f7e87c671f66569fa9cde9ddd543bc99aa4f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=98=D0=B2=D0=B0=D0=BD=20=D0=9F=D0=BE=D0=B4=D0=BC=D0=BE?= =?UTF-8?q?=D0=B3=D0=B8=D0=BB=D1=8C=D0=BD=D1=8B=D0=B9?= Date: Sat, 3 Sep 2022 13:15:31 +0300 Subject: [PATCH 5/8] Update 'README.md' --- README.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 9e0eda4..f26a5a6 100644 --- a/README.md +++ b/README.md @@ -2,7 +2,10 @@ Redmine issue: https://redmine.drivecast.tech/issues/335 ## mono-kitti examples. -1. Скомпилируйте файл папке **Examples/Stereo/stereo-kitti.cc** и запустите бинарник с параметрами: путь к словарю, путь к файлу с настройками, путь к папке с изображениями. Пример: `stereo-kitti /home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Vocabulary/ORBvoc.txt /home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Examples/Stereo/KITTI04-12.yaml /home/ivan/ivan/git/work_drivecast2/SLAM/datasets/mono-kitti/sequences/06` +1. Скомпилируйте файл папке **Examples/Stereo/stereo-kitti.cc** и запустите бинарник с параметрами: путь к словарю, путь к файлу с настройками, путь к папке с изображениями. Пример: +``` +stereo-kitti /home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Vocabulary/ORBvoc.txt /home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Examples/Stereo/KITTI04-12.yaml /home/ivan/ivan/git/work_drivecast2/SLAM/datasets/mono-kitti/sequences/06 +``` 2. Бинарник создаст файлы `CameraTrajectory.txt` и `RealtimeCameraTrajectory.txt`, они практически идентичные. Первый файл выдаёт чуть более точную траекторию, но она недоступна в режиме "онлайн", когда позиция камеры в моменте. 3. Используйте данные файлы далее в репозитории [ue_demo](https://git.drivecast.tech/pi/ue_demo) From afda4925bf79e03645e0df9100566e5f6f898dc3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=98=D0=B2=D0=B0=D0=BD=20=D0=9F=D0=BE=D0=B4=D0=BC=D0=BE?= =?UTF-8?q?=D0=B3=D0=B8=D0=BB=D1=8C=D0=BD=D1=8B=D0=B9?= Date: Sat, 3 Sep 2022 13:21:53 +0300 Subject: [PATCH 6/8] Update 'README.md' --- README.md | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index f26a5a6..8c11b3b 100644 --- a/README.md +++ b/README.md @@ -19,4 +19,16 @@ You can use the script to install the Thirdparty libraries and ORB-SLAM3 core an cd ORB-SLA3_Linux chmod +x build.sh ./build.sh -``` \ No newline at end of file +``` + +## Running +Besides all the examples listed in ORB-SLAM3 original repository you can also run uzh-fpv and kaist urban examples: +For stereo examples change the paths to your dataset files in the scripts (Examples/Stereo/run_stereo_uzh_fpv.sh). +Download uzh-fpv dataset from here: https://fpv.ifi.uzh.ch/ +Download complex-urban dataset from here: https://sites.google.com/view/complex-urban-dataset/system +NOTE: The download of the complex-urban dataset may take a while because you need to send an email to them to ask the permission. You can use the downloaded sequence from `/mnt/disk-small/podmivan/datasets/complex-urban` folder in the DriveCast server. + +``` +cd Examples/Stereo/ +./run_stereo_uzh_fpv.sh +``` From 197d62182003cbbf77e5925af64917060dfe9174 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=98=D0=B2=D0=B0=D0=BD=20=D0=9F=D0=BE=D0=B4=D0=BC=D0=BE?= =?UTF-8?q?=D0=B3=D0=B8=D0=BB=D1=8C=D0=BD=D1=8B=D0=B9?= Date: Sat, 3 Sep 2022 13:22:39 +0300 Subject: [PATCH 7/8] Update 'README.md' --- README.md | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 8c11b3b..8145ecd 100644 --- a/README.md +++ b/README.md @@ -22,10 +22,14 @@ chmod +x build.sh ``` ## Running -Besides all the examples listed in ORB-SLAM3 original repository you can also run uzh-fpv and kaist urban examples: +Besides all the examples listed in ORB-SLAM3 original repository you can also run uzh-fpv and kaist urban examples: + For stereo examples change the paths to your dataset files in the scripts (Examples/Stereo/run_stereo_uzh_fpv.sh). -Download uzh-fpv dataset from here: https://fpv.ifi.uzh.ch/ -Download complex-urban dataset from here: https://sites.google.com/view/complex-urban-dataset/system + +### Datasets +1. Download uzh-fpv dataset from here: https://fpv.ifi.uzh.ch/ +2. Download complex-urban dataset from here: https://sites.google.com/view/complex-urban-dataset/system + NOTE: The download of the complex-urban dataset may take a while because you need to send an email to them to ask the permission. You can use the downloaded sequence from `/mnt/disk-small/podmivan/datasets/complex-urban` folder in the DriveCast server. ``` From 2fa220ababd1d8001fb04b95253072bd5d5910fc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=98=D0=B2=D0=B0=D0=BD=20=D0=9F=D0=BE=D0=B4=D0=BC=D0=BE?= =?UTF-8?q?=D0=B3=D0=B8=D0=BB=D1=8C=D0=BD=D1=8B=D0=B9?= Date: Sat, 3 Sep 2022 13:23:05 +0300 Subject: [PATCH 8/8] Update 'README.md' --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 8145ecd..fef51f1 100644 --- a/README.md +++ b/README.md @@ -27,8 +27,8 @@ Besides all the examples listed in ORB-SLAM3 original repository you can also ru For stereo examples change the paths to your dataset files in the scripts (Examples/Stereo/run_stereo_uzh_fpv.sh). ### Datasets -1. Download uzh-fpv dataset from here: https://fpv.ifi.uzh.ch/ -2. Download complex-urban dataset from here: https://sites.google.com/view/complex-urban-dataset/system +- Download uzh-fpv dataset from here: https://fpv.ifi.uzh.ch/ +- Download complex-urban dataset from here: https://sites.google.com/view/complex-urban-dataset/system NOTE: The download of the complex-urban dataset may take a while because you need to send an email to them to ask the permission. You can use the downloaded sequence from `/mnt/disk-small/podmivan/datasets/complex-urban` folder in the DriveCast server.