-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Add support GLES, it can run on i.MX8 Series Soc
- Loading branch information
Showing
19 changed files
with
595 additions
and
35 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| { | ||
| // Use IntelliSense to learn about possible attributes. | ||
| // Hover to view descriptions of existing attributes. | ||
| // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 | ||
| "version": "0.2.0", | ||
| "configurations": [ | ||
| { | ||
| "name": "(gdb) Launch", | ||
| "type": "cppdbg", | ||
| "request": "launch", | ||
| "program": "${workspaceFolder}/Examples/Monocular/mono_tum", | ||
| "args": [], | ||
| "stopAtEntry": false, | ||
| "cwd": "${workspaceFolder}", | ||
| "environment": [], | ||
| "externalConsole": false, | ||
| "MIMode": "gdb", | ||
| "setupCommands": [ | ||
| { | ||
| "description": "Enable pretty-printing for gdb", | ||
| "text": "-enable-pretty-printing", | ||
| "ignoreFailures": true | ||
| } | ||
| ], | ||
| "miDebuggerPath": "/opt/fsl-imx-xwayland/5.4-zeus/sysroots/x86_64-pokysdk-linux/usr/bin/aarch64-poky-linux/aarch64-poky-linux-gdb", | ||
| "miDebuggerServerAddress": "10.193.101.104:1234" | ||
| } | ||
| ] | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
| { | ||
| "files.associations": { | ||
| "mutex": "cpp", | ||
| "array": "cpp", | ||
| "*.tcc": "cpp", | ||
| "bitset": "cpp", | ||
| "cctype": "cpp", | ||
| "chrono": "cpp", | ||
| "clocale": "cpp", | ||
| "cmath": "cpp", | ||
| "cstdarg": "cpp", | ||
| "cstddef": "cpp", | ||
| "cstdint": "cpp", | ||
| "cstdio": "cpp", | ||
| "cstdlib": "cpp", | ||
| "cstring": "cpp", | ||
| "ctime": "cpp", | ||
| "cwchar": "cpp", | ||
| "cwctype": "cpp", | ||
| "deque": "cpp", | ||
| "list": "cpp", | ||
| "unordered_map": "cpp", | ||
| "vector": "cpp", | ||
| "exception": "cpp", | ||
| "algorithm": "cpp", | ||
| "functional": "cpp", | ||
| "ratio": "cpp", | ||
| "system_error": "cpp", | ||
| "tuple": "cpp", | ||
| "type_traits": "cpp", | ||
| "fstream": "cpp", | ||
| "initializer_list": "cpp", | ||
| "iomanip": "cpp", | ||
| "iosfwd": "cpp", | ||
| "iostream": "cpp", | ||
| "istream": "cpp", | ||
| "limits": "cpp", | ||
| "memory": "cpp", | ||
| "new": "cpp", | ||
| "ostream": "cpp", | ||
| "numeric": "cpp", | ||
| "sstream": "cpp", | ||
| "stdexcept": "cpp", | ||
| "streambuf": "cpp", | ||
| "thread": "cpp", | ||
| "utility": "cpp", | ||
| "typeinfo": "cpp", | ||
| "string_view": "cpp" | ||
| } | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,155 @@ | ||
| /** | ||
| * This file is part of ORB-SLAM2. | ||
| * | ||
| * Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza) | ||
| * For more information see <https://github.com/raulmur/ORB_SLAM2> | ||
| * | ||
| * ORB-SLAM2 is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * ORB-SLAM2 is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>. | ||
| */ | ||
|
|
||
|
|
||
| #include<iostream> | ||
| #include<algorithm> | ||
| #include<fstream> | ||
| #include<chrono> | ||
|
|
||
| #include<opencv2/core/core.hpp> | ||
|
|
||
| #include<System.h> | ||
|
|
||
| using namespace std; | ||
|
|
||
| void LoadImages(const string &strFile, vector<string> &vstrImageFilenames, | ||
| vector<double> &vTimestamps); | ||
|
|
||
| int main(int argc, char **argv) | ||
| { | ||
| if(argc != 4) | ||
| { | ||
| cerr << endl << "Usage: ./mono_tum path_to_vocabulary path_to_settings path_to_sequence" << endl; | ||
| return 1; | ||
| } | ||
|
|
||
| // Retrieve paths to images | ||
| vector<string> vstrImageFilenames; | ||
| vector<double> vTimestamps; | ||
| string strFile = string(argv[3])+"/rgb.txt"; | ||
| LoadImages(strFile, vstrImageFilenames, vTimestamps); | ||
|
|
||
| int nImages = vstrImageFilenames.size(); | ||
|
|
||
| // Create SLAM system. It initializes all system threads and gets ready to process frames. | ||
| ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::MONOCULAR,true); | ||
|
|
||
| // Vector for tracking time statistics | ||
| vector<float> vTimesTrack; | ||
| vTimesTrack.resize(nImages); | ||
|
|
||
| cout << endl << "-------" << endl; | ||
| cout << "Start processing sequence ..." << endl; | ||
| cout << "Images in the sequence: " << nImages << endl << endl; | ||
|
|
||
| // Main loop | ||
| cv::Mat im; | ||
| for(int ni=0; ni<nImages; ni++) | ||
| { | ||
| // Read image from file | ||
| im = cv::imread(string(argv[3])+"/"+vstrImageFilenames[ni],cv::IMREAD_UNCHANGED); | ||
| double tframe = vTimestamps[ni]; | ||
|
|
||
| if(im.empty()) | ||
| { | ||
| cerr << endl << "Failed to load image at: " | ||
| << string(argv[3]) << "/" << vstrImageFilenames[ni] << endl; | ||
| return 1; | ||
| } | ||
|
|
||
| #ifdef COMPILEDWITHC11 | ||
| std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); | ||
| #else | ||
| std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now(); | ||
| #endif | ||
|
|
||
| // Pass the image to the SLAM system | ||
| SLAM.TrackMonocular(im,tframe); | ||
|
|
||
| #ifdef COMPILEDWITHC11 | ||
| std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); | ||
| #else | ||
| std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now(); | ||
| #endif | ||
|
|
||
| double ttrack= std::chrono::duration_cast<std::chrono::duration<double> >(t2 - t1).count(); | ||
|
|
||
| vTimesTrack[ni]=ttrack; | ||
|
|
||
| // Wait to load the next frame | ||
| double T=0; | ||
| if(ni<nImages-1) | ||
| T = vTimestamps[ni+1]-tframe; | ||
| else if(ni>0) | ||
| T = tframe-vTimestamps[ni-1]; | ||
|
|
||
| if(ttrack<T) | ||
| usleep((T-ttrack)*1e6); | ||
| } | ||
|
|
||
| // Stop all threads | ||
| SLAM.Shutdown(); | ||
|
|
||
| // Tracking time statistics | ||
| sort(vTimesTrack.begin(),vTimesTrack.end()); | ||
| float totaltime = 0; | ||
| for(int ni=0; ni<nImages; ni++) | ||
| { | ||
| totaltime+=vTimesTrack[ni]; | ||
| } | ||
| cout << "-------" << endl << endl; | ||
| cout << "median tracking time: " << vTimesTrack[nImages/2] << endl; | ||
| cout << "mean tracking time: " << totaltime/nImages << endl; | ||
|
|
||
| // Save camera trajectory | ||
| SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt"); | ||
|
|
||
| return 0; | ||
| } | ||
|
|
||
| void LoadImages(const string &strFile, vector<string> &vstrImageFilenames, vector<double> &vTimestamps) | ||
| { | ||
| ifstream f; | ||
| f.open(strFile.c_str()); | ||
|
|
||
| // skip first three lines | ||
| string s0; | ||
| getline(f,s0); | ||
| getline(f,s0); | ||
| getline(f,s0); | ||
|
|
||
| while(!f.eof()) | ||
| { | ||
| string s; | ||
| getline(f,s); | ||
| if(!s.empty()) | ||
| { | ||
| stringstream ss; | ||
| ss << s; | ||
| double t; | ||
| string sRGB; | ||
| ss >> t; | ||
| vTimestamps.push_back(t); | ||
| ss >> sRGB; | ||
| vstrImageFilenames.push_back(sRGB); | ||
| } | ||
| } | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.