From d5cde18f9b8742eeeb666c11b3fd846356775174 Mon Sep 17 00:00:00 2001 From: Jerryaa98 <82344133+Jerryaa98@users.noreply.github.com> Date: Wed, 19 Jul 2023 18:31:07 +0300 Subject: [PATCH 1/7] Update README.md --- README.md | 22 ++++++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 717f39de..74db8682 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,24 @@ -For running simulator: +# RBD-Simulator +lab simulator for virtually running and testing algorithms without the need for hardware. -Start with ./install.sh +## Project State +need to check and fix memory leaks, merge windows and make it more user friendly. + +## Current Assignments +merge windows for openc, opengl and orbslam + +## Dependencies + +1. [Eigen](https://eigen.tuxfamily.org/) < 3.4.0 - Linear Algebra +2. OpenCV +3. [Boost](https://www.boost.org/) - Used for thread-safe camera streaming + +# Compilation +For running simulator on linux: + +1) clone the repository and change into it using the terminal + +2) run ./install.sh After we installed the program we want to run it, this is the flow: From d5e5ea135ea033e987e00f0e9cfdcf6b42c04c45 Mon Sep 17 00:00:00 2001 From: Jerry Abu Ayoub Date: Thu, 20 Jul 2023 19:54:44 +0300 Subject: [PATCH 2/7] fixed gitignore --- .gitignore | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.gitignore b/.gitignore index 11558a21..b6d96f8f 100644 --- a/.gitignore +++ b/.gitignore @@ -41,3 +41,6 @@ simulatorDataSets/ **/**/build/ slamMaps/ + +build/ +*.csv \ No newline at end of file From 8367e0f497d52c62684e031856633120cae58ca4 Mon Sep 17 00:00:00 2001 From: Jerryaa98 <82344133+Jerryaa98@users.noreply.github.com> Date: Thu, 20 Jul 2023 20:01:03 +0300 Subject: [PATCH 3/7] Update .gitignore --- .gitignore | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.gitignore b/.gitignore index 11558a21..47b24ea7 100644 --- a/.gitignore +++ b/.gitignore @@ -41,3 +41,6 @@ simulatorDataSets/ **/**/build/ slamMaps/ + +build/ +*.csv From 5d4959ecf4259e63a7a9c6a1e0c4d3d8b986a98a Mon Sep 17 00:00:00 2001 From: Jerryaa98 <82344133+Jerryaa98@users.noreply.github.com> Date: Thu, 20 Jul 2023 20:05:01 +0300 Subject: [PATCH 4/7] Update .gitignore --- .gitignore | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.gitignore b/.gitignore index 47b24ea7..d6957150 100644 --- a/.gitignore +++ b/.gitignore @@ -43,4 +43,6 @@ simulatorDataSets/ slamMaps/ build/ +exe/ +CMakeFiles/ *.csv From 6438acc5a14a181462cf76505ae6c84c9e8db160 Mon Sep 17 00:00:00 2001 From: Jerryaa98 <82344133+Jerryaa98@users.noreply.github.com> Date: Thu, 20 Jul 2023 20:05:59 +0300 Subject: [PATCH 5/7] Update .gitignore --- .gitignore | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index b6d96f8f..d6957150 100644 --- a/.gitignore +++ b/.gitignore @@ -43,4 +43,6 @@ simulatorDataSets/ slamMaps/ build/ -*.csv \ No newline at end of file +exe/ +CMakeFiles/ +*.csv From cdea7c81d61e5f3317bedf9fd373fbc314ace6b5 Mon Sep 17 00:00:00 2001 From: tzuk Date: Wed, 19 Jul 2023 21:17:10 +0300 Subject: [PATCH 6/7] removed the dependency in ctello and spdlog --- CMakeLists.txt | 2 +- opencv3.4.16Install.sh | 1 - vcpkg.json | 2 -- 3 files changed, 1 insertion(+), 4 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 5e30a8cf..680d3dce 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -96,7 +96,7 @@ target_link_libraries(${PROJECT_NAME} ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so ${PCL_LIBRARIES} - -lpthread ctello spdlog ${PYTHON_LIBRARIES} -lbluetooth + -lpthread ${PYTHON_LIBRARIES} -lboost_serialization -lboost_system ) diff --git a/opencv3.4.16Install.sh b/opencv3.4.16Install.sh index 8c8cdba8..1f226410 100644 --- a/opencv3.4.16Install.sh +++ b/opencv3.4.16Install.sh @@ -33,7 +33,6 @@ cmake -D CMAKE_BUILD_TYPE=RELEASE \ -D INSTALL_C_EXAMPLES=ON \ -D INSTALL_PYTHON_EXAMPLES=ON \ -D OPENCV_GENERATE_PKGCONFIG=ON \ - -D WITH_TBB=ON \ -D WITH_V4L=ON \ -D WITH_QT=ON \ -D WITH_OPENGL=ON \ diff --git a/vcpkg.json b/vcpkg.json index d8cd3894..6f20894f 100644 --- a/vcpkg.json +++ b/vcpkg.json @@ -18,8 +18,6 @@ "boost", "boost-serialization", "suitesparse", - "qt5", - "lapack-reference", "ceres", "openblas", "ffmpeg" From 3534950d40cc7812cc6245712e1c47ce3e13465d Mon Sep 17 00:00:00 2001 From: Jerry Abu Ayoub Date: Thu, 20 Jul 2023 20:07:52 +0300 Subject: [PATCH 7/7] changed files --- CMakeLists.txt | 2 +- exe/CMakeLists.txt | 18 +++++++++--------- exe/offline_orb_slam.cc | 4 ++-- generalSettings.json | 10 +++++----- opencv3.4.16Install.sh | 0 5 files changed, 17 insertions(+), 17 deletions(-) mode change 100644 => 100755 opencv3.4.16Install.sh diff --git a/CMakeLists.txt b/CMakeLists.txt index 680d3dce..5e30a8cf 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -96,7 +96,7 @@ target_link_libraries(${PROJECT_NAME} ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so ${PCL_LIBRARIES} - -lpthread ${PYTHON_LIBRARIES} + -lpthread ctello spdlog ${PYTHON_LIBRARIES} -lbluetooth -lboost_serialization -lboost_system ) diff --git a/exe/CMakeLists.txt b/exe/CMakeLists.txt index 24c5ce16..e27f8837 100644 --- a/exe/CMakeLists.txt +++ b/exe/CMakeLists.txt @@ -22,8 +22,8 @@ target_link_libraries(unused_points_seen_by_camera_by_frame ${PROJECT_NAME}) add_executable(unused_points_seen_by_camera_by_frame_second unused/points_seen_by_camera_by_frame_second.cc) target_link_libraries(unused_points_seen_by_camera_by_frame_second ${PROJECT_NAME}) -add_executable(get_points_from_frame_orb_slam get_points_from_frame_orb_slam.cc) -target_link_libraries(get_points_from_frame_orb_slam ${PROJECT_NAME}) +#add_executable(get_points_from_frame_orb_slam get_points_from_frame_orb_slam.cc) +#target_link_libraries(get_points_from_frame_orb_slam ${PROJECT_NAME}) add_executable(unused_get_points_from_camera_third unused/get_points_from_camera_third.cc) target_link_libraries(unused_get_points_from_camera_third ${PROJECT_NAME}) @@ -40,8 +40,8 @@ target_link_libraries(points_seen_by_frames ${PROJECT_NAME}) add_executable(points_seen_by_pos points_seen_by_pos.cc) target_link_libraries(points_seen_by_pos ${PROJECT_NAME}) -add_executable(mapping mapping.cc) -target_link_libraries(mapping ${PROJECT_NAME}) +#add_executable(mapping mapping.cc) +#target_link_libraries(mapping ${PROJECT_NAME}) #add_executable(simulator simulator.cc) #target_link_libraries(simulator ${PROJECT_NAME}) @@ -49,11 +49,11 @@ target_link_libraries(mapping ${PROJECT_NAME}) add_executable(run_model run_model.cc) target_link_libraries(run_model ${PROJECT_NAME}) -add_executable(get_pos_from_frame_orb_slam get_pos_from_frame_orb_slam.cc) -target_link_libraries(get_pos_from_frame_orb_slam ${PROJECT_NAME}) +#add_executable(get_pos_from_frame_orb_slam get_pos_from_frame_orb_slam.cc) +#target_link_libraries(get_pos_from_frame_orb_slam ${PROJECT_NAME}) -add_executable(check_matches check_matches.cc) -target_link_libraries(check_matches ${PROJECT_NAME}) +#add_executable(check_matches check_matches.cc) +#target_link_libraries(check_matches ${PROJECT_NAME}) add_executable(icp_model_orbs_slam icp_model_orbs_slam.cc) target_link_libraries(icp_model_orbs_slam ${PROJECT_NAME}) @@ -102,4 +102,4 @@ target_link_libraries(run_model_with_orbs_and_orb_slam_map ${PROJECT_NAME}) add_executable(mono_tum mono_tum.cpp) target_link_libraries(mono_tum ${PROJECT_NAME}) add_executable(test_exitRoomAlgo test_exitRoomAlgo.cpp) -target_link_libraries(test_exitRoomAlgo exitRoom) \ No newline at end of file +target_link_libraries(test_exitRoomAlgo exitRoom) diff --git a/exe/offline_orb_slam.cc b/exe/offline_orb_slam.cc index c61afb03..c571fcc3 100644 --- a/exe/offline_orb_slam.cc +++ b/exe/offline_orb_slam.cc @@ -114,8 +114,8 @@ int main() { signal(SIGSEGV, stopProgramHandler); std::string settingPath = Auxiliary::GetGeneralSettingsPath(); std::ifstream programData(settingPath); - nlohmann::json data; - programData >> data; + nlohmann::json data = nlohmann::json::parse(programData); + // programData >> data; programData.close(); char currentDirPath[256]; getcwd(currentDirPath, 256); diff --git a/generalSettings.json b/generalSettings.json index b724206d..7e274264 100644 --- a/generalSettings.json +++ b/generalSettings.json @@ -1,14 +1,14 @@ { - "VocabularyPath": "/home/tzuk/simulatorMapping/Vocabulary/ORBvoc.txt", - "DroneYamlPathSlam": "/home/tzuk/simulatorMapping/config/tello_9F5EC2_640.yaml", - "offlineVideoTestPath": "/home/tzuk/Downloads/mapping.avi", + "VocabularyPath": "/home/jerry-ubuntu/simulatorMapping/Vocabulary/ORBvoc.txt", + "DroneYamlPathSlam": "/home/jerry-ubuntu/simulatorMapping/config/tello_9F5EC2_640.yaml", + "offlineVideoTestPath": "/home/jerry-ubuntu/Videos", "onlineVideoPath": "udp://0.0.0.0:11111?overrun_nonfatal=1&fifo_size=1000", "loadMap": false, "loadMapPath": "/home/tzuk/slamMaps/HaifaLab.bin", "saveMap": true, - "simulatorOutputDir": "/home/tzuk/slamMaps/", + "simulatorOutputDir": "/home/jerry-ubuntu/Videos", "modelTextureNameToAlignTo": "floor", - "mapInputDir": "/home/tzuk/slamMaps/example_mapping11/", + "mapInputDir": "/home/jerry-ubuntu/slamMaps/", "getPointDataCsv": "/home/liam/example.csv", "frameToCheck": 1, "amount": 0.1, diff --git a/opencv3.4.16Install.sh b/opencv3.4.16Install.sh old mode 100644 new mode 100755