fixed gitignore

.gitignore

@@ -41,3 +41,8 @@ simulatorDataSets/
 
 **/**/build/
 slamMaps/
+
+build/
+exe/
+CMakeFiles/
+*.csv

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:
 

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})
@@ -40,20 +40,20 @@ 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})
 
 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)
+target_link_libraries(test_exitRoomAlgo exitRoom)

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);

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,