V1

.gitignore

@@ -7,6 +7,13 @@
 # Unignore all dirs
 !*/
 
+
+# 忽略所有 csv log 檔案
+
+*.txt
+# 忽略資料集目錄 (Euroc 相關)
+data/
+
 CMakeLists.txt.user
 CMakeLists_modified.txt
 
@@ -91,3 +98,7 @@ my_settings.txt
 borrar/*
 
 */ExecMean.txt
+evaluation/fix_mono_tum_imu_corr_2.1txt
+evaluation/fix_mono_tum_imu_corr_2.2txt
+evaluation/fix_mono_tum_imu_corr_2.3txt
+evaluation/fix_mono_tum_imu_corr_2.4txt

.vscode/c_cpp_properties.json

@@ -0,0 +1,20 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "${workspaceFolder}/include",
+                "/usr/include/opencv4",
+                "/usr/local/include/opencv4",
+                "/usr/include/eigen3"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.10)
 project(ORB_SLAM3)
 
 IF(NOT CMAKE_BUILD_TYPE)
@@ -14,18 +14,19 @@ set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
 
 # Check C++11 or C++0x support
 include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
 CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+
+if(COMPILER_SUPPORTS_CXX14)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wno-maybe-uninitialized -w")
+   add_definitions(-DCOMPILEDWITHC14)
+   message(STATUS "Using flag -std=c++14.")
+elseif(COMPILER_SUPPORTS_CXX11)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wno-maybe-uninitialized -w")
    add_definitions(-DCOMPILEDWITHC11)
    message(STATUS "Using flag -std=c++11.")
-elseif(COMPILER_SUPPORTS_CXX0X)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-   add_definitions(-DCOMPILEDWITHC0X)
-   message(STATUS "Using flag -std=c++0x.")
 else()
-   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11/C++14 support. Please use a different C++ compiler.")
 endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

Examples/Monocular-Inertial/mono_inertial_euroc.cc

@@ -151,7 +151,7 @@ int main(int argc, char *argv[])
     #ifdef COMPILEDWITHC11
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
-                std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
+                std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #endif
 #endif
                 int width = im.cols * imageScale;
@@ -161,7 +161,7 @@ int main(int argc, char *argv[])
     #ifdef COMPILEDWITHC11
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
-                std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
+                std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #endif
                 t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
                 SLAM.InsertResizeTime(t_resize);
@@ -187,7 +187,7 @@ int main(int argc, char *argv[])
     #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();
+            std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #endif
 
             // Pass the image to the SLAM system
@@ -197,7 +197,7 @@ int main(int argc, char *argv[])
     #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();
+            std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #endif
 
 #ifdef REGISTER_TIMES

Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc

@@ -317,7 +317,7 @@ int main(int argc, char **argv) {
 #ifdef COMPILEDWITHC11
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
-            std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
+            std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #endif
 
             if(count_im_buffer>1)
@@ -368,7 +368,7 @@ int main(int argc, char **argv) {
     #ifdef COMPILEDWITHC11
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
-            std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
+            std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #endif
 #endif
             int width = im.cols * imageScale;
@@ -378,7 +378,7 @@ int main(int argc, char **argv) {
     #ifdef COMPILEDWITHC11
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
-            std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
+            std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #endif
             t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
             SLAM.InsertResizeTime(t_resize);
@@ -389,7 +389,7 @@ int main(int argc, char **argv) {
     #ifdef COMPILEDWITHC11
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
-        std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
+        std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #endif
 #endif
         // Pass the image to the SLAM system
@@ -398,7 +398,7 @@ int main(int argc, char **argv) {
     #ifdef COMPILEDWITHC11
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
-        std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
+        std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #endif
         t_track = t_resize + std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Track - t_Start_Track).count();
         SLAM.InsertTrackTime(t_track);

Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc

@@ -233,7 +233,7 @@ int main(int argc, char **argv)
 #ifdef COMPILEDWITHC11
         std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
-        std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
+        std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #endif
 
             if(count_im_buffer>1)
@@ -260,7 +260,7 @@ int main(int argc, char **argv)
         #ifdef COMPILEDWITHC11
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
         #else
-                std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
+                std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
         #endif
     #endif
                 int width = imCV.cols * imageScale;
@@ -270,7 +270,7 @@ int main(int argc, char **argv)
         #ifdef COMPILEDWITHC11
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
         #else
-                std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
+                std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
         #endif
                 t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
                 SLAM.InsertResizeTime(t_resize);
@@ -311,15 +311,15 @@ int main(int argc, char **argv)
 #ifdef COMPILEDWITHC11
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
 #else
-        std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
+        std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
 #endif
         // Pass the image to the SLAM system
         SLAM.TrackMonocular(im, timestamp, vImuMeas);
 
 #ifdef COMPILEDWITHC11
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
 #else
-        std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
+        std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
 #endif
 
 #ifdef REGISTER_TIMES

Examples/Monocular-Inertial/mono_inertial_tum_vi.cc

@@ -116,7 +116,7 @@ int main(int argc, char **argv)
     cout << "IMU data in the sequence: " << nImu << endl << endl;*/
 
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_MONOCULAR, true, 0, file_name);
+    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_MONOCULAR, false, 0, file_name);
     float imageScale = SLAM.GetImageScale();
 
     double t_resize = 0.f;
@@ -175,7 +175,7 @@ int main(int argc, char **argv)
     #ifdef COMPILEDWITHC11
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
-                std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
+                std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #endif
 #endif
                 int width = im.cols * imageScale;
@@ -185,7 +185,7 @@ int main(int argc, char **argv)
     #ifdef COMPILEDWITHC11
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
-                std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
+                std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #endif
                 t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
                 SLAM.InsertResizeTime(t_resize);
@@ -198,7 +198,7 @@ int main(int argc, char **argv)
     #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();
+            std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #endif
 
             // Pass the image to the SLAM system
@@ -208,7 +208,7 @@ int main(int argc, char **argv)
     #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();
+            std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #endif
 
 #ifdef REGISTER_TIMES

Examples/Monocular/mono_euroc.cc

@@ -80,7 +80,7 @@ int main(int argc, char **argv)
     int fps = 20;
     float dT = 1.f/fps;
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);
+    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true);//切換視覺化
     float imageScale = SLAM.GetImageScale();
 
     double t_resize = 0.f;
@@ -112,7 +112,7 @@ int main(int argc, char **argv)
     #ifdef COMPILEDWITHC11
                 std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
-                std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
+                std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #endif
 #endif
                 int width = im.cols * imageScale;
@@ -122,7 +122,7 @@ int main(int argc, char **argv)
     #ifdef COMPILEDWITHC11
                 std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
-                std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
+                std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #endif
                 t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
                 SLAM.InsertResizeTime(t_resize);
@@ -132,7 +132,7 @@ int main(int argc, char **argv)
     #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();
+            std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
     #endif
 
             // Pass the image to the SLAM system
@@ -142,7 +142,7 @@ int main(int argc, char **argv)
     #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();
+            std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
     #endif
 
 #ifdef REGISTER_TIMES

Examples/Monocular/mono_kitti.cc

@@ -81,7 +81,7 @@ int main(int argc, char **argv)
     #ifdef COMPILEDWITHC11
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
-            std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
+            std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #endif
 #endif
             int width = im.cols * imageScale;
@@ -91,7 +91,7 @@ int main(int argc, char **argv)
     #ifdef COMPILEDWITHC11
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
-            std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
+            std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #endif
             t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
             SLAM.InsertResizeTime(t_resize);
@@ -101,7 +101,7 @@ int main(int argc, char **argv)
 #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();
+        std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 #endif
 
         // Pass the image to the SLAM system
@@ -110,7 +110,7 @@ int main(int argc, char **argv)
 #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();
+        std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
 #endif
 
 #ifdef REGISTER_TIMES

Examples/Monocular/mono_realsense_D435i.cc

@@ -231,7 +231,7 @@ int main(int argc, char **argv) {
 #ifdef COMPILEDWITHC11
             std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #else
-            std::chrono::monotonic_clock::time_point time_Start_Process = std::chrono::monotonic_clock::now();
+            std::chrono::steady_clock::time_point time_Start_Process = std::chrono::steady_clock::now();
 #endif
 
             if(count_im_buffer>1)
@@ -250,7 +250,7 @@ int main(int argc, char **argv) {
     #ifdef COMPILEDWITHC11
             std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #else
-            std::chrono::monotonic_clock::time_point t_Start_Resize = std::chrono::monotonic_clock::now();
+            std::chrono::steady_clock::time_point t_Start_Resize = std::chrono::steady_clock::now();
     #endif
 #endif
             int width = im.cols * imageScale;
@@ -261,7 +261,7 @@ int main(int argc, char **argv) {
     #ifdef COMPILEDWITHC11
             std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #else
-            std::chrono::monotonic_clock::time_point t_End_Resize = std::chrono::monotonic_clock::now();
+            std::chrono::steady_clock::time_point t_End_Resize = std::chrono::steady_clock::now();
     #endif
             t_resize = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Resize - t_Start_Resize).count();
             SLAM.InsertResizeTime(t_resize);
@@ -272,7 +272,7 @@ int main(int argc, char **argv) {
     #ifdef COMPILEDWITHC11
         std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #else
-        std::chrono::monotonic_clock::time_point t_Start_Track = std::chrono::monotonic_clock::now();
+        std::chrono::steady_clock::time_point t_Start_Track = std::chrono::steady_clock::now();
     #endif
 #endif
         // Stereo images are already rectified.
@@ -281,7 +281,7 @@ int main(int argc, char **argv) {
     #ifdef COMPILEDWITHC11
         std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #else
-        std::chrono::monotonic_clock::time_point t_End_Track = std::chrono::monotonic_clock::now();
+        std::chrono::steady_clock::time_point t_End_Track = std::chrono::steady_clock::now();
     #endif
         t_track = t_resize + std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t_End_Track - t_Start_Track).count();
         SLAM.InsertTrackTime(t_track);