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fix std::map error on high version GCC/G++ #10

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896b37e
fix std::map bugs
DreamWaterFound Jul 26, 2020
5a07ca0
update kittiXX.yaml
DreamWaterFound Jul 29, 2020
dabb2a5
fix mono&stereo&RGB_D mode on Kitti&TUM RGBD
DreamWaterFound Jul 29, 2020
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3 changes: 3 additions & 0 deletions .vscode/settings.json
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@@ -0,0 +1,3 @@
{
"C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools"
}
2 changes: 2 additions & 0 deletions Examples/Monocular/KITTI00-02.yaml
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Expand Up @@ -4,6 +4,8 @@
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 718.856
Camera.fy: 718.856
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2 changes: 2 additions & 0 deletions Examples/Monocular/KITTI03.yaml
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Expand Up @@ -4,6 +4,8 @@
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 721.5377
Camera.fy: 721.5377
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2 changes: 2 additions & 0 deletions Examples/Monocular/KITTI04-12.yaml
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Expand Up @@ -4,6 +4,8 @@
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 707.0912
Camera.fy: 707.0912
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2 changes: 2 additions & 0 deletions Examples/Monocular/TUM1.yaml
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Expand Up @@ -4,6 +4,8 @@
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 517.306408
Camera.fy: 516.469215
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2 changes: 2 additions & 0 deletions Examples/Monocular/TUM2.yaml
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Expand Up @@ -4,6 +4,8 @@
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 520.908620
Camera.fy: 521.007327
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2 changes: 2 additions & 0 deletions Examples/Monocular/TUM3.yaml
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Expand Up @@ -4,6 +4,8 @@
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 535.4
Camera.fy: 539.2
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3 changes: 3 additions & 0 deletions Examples/RGB-D/TUM1.yaml
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Expand Up @@ -4,6 +4,9 @@
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"


# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 517.306408
Camera.fy: 516.469215
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3 changes: 3 additions & 0 deletions Examples/RGB-D/TUM2.yaml
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Expand Up @@ -4,6 +4,9 @@
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"


# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 520.908620
Camera.fy: 521.007327
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3 changes: 3 additions & 0 deletions Examples/RGB-D/TUM3.yaml
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# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"


# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 535.4
Camera.fy: 539.2
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51 changes: 51 additions & 0 deletions Examples/Stereo/KITTI00-02.yaml
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# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 718.856
Camera.fy: 718.856
Expand Down Expand Up @@ -32,6 +34,55 @@ Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 35

# Opencv format

LEFT.height: 1241
LEFT.width: 376
LEFT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [0.0, 0.0, 0.0, 0.0, 0.0]
LEFT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [718.856, 0.0, 607.1928, 0.0, 718.856, 185.2157, 0.0, 0.0, 1.0]
LEFT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
LEFT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [7.188560000000e+02, 0.000000000000e+00, 6.071928000000e+02, 0.000000000000e+00, 0.000000000000e+00, 7.188560000000e+02, 1.852157000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]

RIGHT.height: 1241
RIGHT.width: 376
RIGHT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [0.0, 0.0, 0.0, 0.0, 0.0]
RIGHT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [718.856, 0.0, 607.1928, 0.0, 718.856, 185.2157, 0.0, 0.0, 1.0]
RIGHT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
RIGHT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [7.188560000000e+02, 0.000000000000e+00, 6.071928000000e+02, -3.861448000000e+02, 0.000000000000e+00, 7.188560000000e+02, 1.852157000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]


#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
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52 changes: 52 additions & 0 deletions Examples/Stereo/KITTI03.yaml
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Expand Up @@ -4,6 +4,8 @@
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 721.5377
Camera.fy: 721.5377
Expand Down Expand Up @@ -32,6 +34,56 @@ Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 40


# Opencv format

LEFT.height: 1241
LEFT.width: 376
LEFT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [0.0, 0.0, 0.0, 0.0, 0.0]
LEFT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [721.5377, 0.0, 609.5593, 0.0, 721.5377, 172.854, 0.0, 0.0, 1.0]
LEFT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
LEFT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [7.215377000000e+02, 0.000000000000e+00, 6.095593000000e+02, 0.000000000000e+00, 0.000000000000e+00, 7.215377000000e+02, 1.728540000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]

RIGHT.height: 1241
RIGHT.width: 376
RIGHT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [0.0, 0.0, 0.0, 0.0, 0.0]
RIGHT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [721.5377, 0.0, 609.5593, 0.0, 721.5377, 172.854, 0.0, 0.0, 1.0]
RIGHT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
RIGHT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [7.215377000000e+02, 0.000000000000e+00, 6.095593000000e+02, -3.875744000000e+02, 0.000000000000e+00, 7.215377000000e+02, 1.728540000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]


#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
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52 changes: 52 additions & 0 deletions Examples/Stereo/KITTI04-12.yaml
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Expand Up @@ -4,6 +4,8 @@
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 707.0912
Camera.fy: 707.0912
Expand Down Expand Up @@ -32,6 +34,56 @@ Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 40


# Opencv format

LEFT.height: 1241
LEFT.width: 376
LEFT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [0.0, 0.0, 0.0, 0.0, 0.0]
LEFT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [707.0912, 0.0, 601.8873, 0.0, 707.0912, 183.1104, 0.0, 0.0, 1.0]
LEFT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
LEFT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [7.070912000000e+02, 0.000000000000e+00, 6.018873000000e+02, 0.000000000000e+00, 0.000000000000e+00, 7.070912000000e+02, 1.831104000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]

RIGHT.height: 1241
RIGHT.width: 376
RIGHT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [0.0, 0.0, 0.0, 0.0, 0.0]
RIGHT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [707.0912, 0.0, 601.8873, 0.0, 707.0912, 183.1104, 0.0, 0.0, 1.0]
RIGHT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
RIGHT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [7.070912000000e+02, 0.000000000000e+00, 6.018873000000e+02, -3.798145000000e+02, 0.000000000000e+00, 7.070912000000e+02, 1.831104000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]


#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
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2 changes: 1 addition & 1 deletion include/Frame.h
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Expand Up @@ -56,7 +56,7 @@ class Frame
Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeStamp, ORBextractor* extractorLeft, ORBextractor* extractorRight, ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera,Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());

// Constructor for RGB-D cameras.
Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());
Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera, Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());

// Constructor for Monocular cameras.
Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, GeometricCamera* pCamera, cv::Mat &distCoef, const float &bf, const float &thDepth, Frame* pPrevF = static_cast<Frame*>(NULL), const IMU::Calib &ImuCalib = IMU::Calib());
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2 changes: 1 addition & 1 deletion include/LoopClosing.h
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Expand Up @@ -48,7 +48,7 @@ class LoopClosing

typedef pair<set<KeyFrame*>,int> ConsistentGroup;
typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3> > > KeyFrameAndPose;

public:

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12 changes: 6 additions & 6 deletions src/Frame.cc
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Expand Up @@ -189,11 +189,11 @@ Frame::Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeSt
monoRight = -1;
}

Frame::Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, Frame* pPrevF, const IMU::Calib &ImuCalib)
Frame::Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera* pCamera, Frame* pPrevF, const IMU::Calib &ImuCalib)
:mpcpi(NULL),mpORBvocabulary(voc),mpORBextractorLeft(extractor),mpORBextractorRight(static_cast<ORBextractor*>(NULL)),
mTimeStamp(timeStamp), mK(K.clone()),mDistCoef(distCoef.clone()), mbf(bf), mThDepth(thDepth),
mImuCalib(ImuCalib), mpImuPreintegrated(NULL), mpPrevFrame(pPrevF), mpImuPreintegratedFrame(NULL), mpReferenceKF(static_cast<KeyFrame*>(NULL)), mbImuPreintegrated(false),
mpCamera2(nullptr), mTimeStereoMatch(0), mTimeORB_Ext(0)
mpCamera(pCamera), mpCamera2(nullptr), mTimeStereoMatch(0), mTimeORB_Ext(0)
{
// Frame ID
mnId=nNextId++;
Expand Down Expand Up @@ -255,10 +255,6 @@ Frame::Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeSt

mb = mbf/fx;

AssignFeaturesToGrid();

mpMutexImu = new std::mutex();

//Set no stereo fisheye information
Nleft = -1;
Nright = -1;
Expand All @@ -269,6 +265,10 @@ Frame::Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeSt
mvStereo3Dpoints = vector<cv::Mat>(0);
monoLeft = -1;
monoRight = -1;

AssignFeaturesToGrid();

mpMutexImu = new std::mutex();
}


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2 changes: 1 addition & 1 deletion src/Tracking.cc
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Expand Up @@ -441,7 +441,7 @@ cv::Mat Tracking::GrabImageRGBD(const cv::Mat &imRGB,const cv::Mat &imD, const d
imDepth.convertTo(imDepth,CV_32F,mDepthMapFactor);

std::chrono::steady_clock::time_point t0 = std::chrono::steady_clock::now();
mCurrentFrame = Frame(mImGray,imDepth,timestamp,mpORBextractorLeft,mpORBVocabulary,mK,mDistCoef,mbf,mThDepth);
mCurrentFrame = Frame(mImGray,imDepth,timestamp,mpORBextractorLeft,mpORBVocabulary,mK,mDistCoef,mbf,mThDepth, mpCamera);

mCurrentFrame.mNameFile = filename;
mCurrentFrame.mnDataset = mnNumDataset;
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