exception4u / multirobot_slam

Multi-Session / Multi-Robot trajectory merging for CAIR milestone Review

3D batch merge

eclipse build tip

cmake -G "Eclipse CDT4 - Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_ECLIPSE_MAKE_ARGUMENTS=-j8

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This program executes Libviso, DLoop and g2o in parallel threads for trajectory estimation and optimization using stereo vision.

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Procedure -

1. Install

2. Libviso2 - http://www.cvlibs.net/software/libviso/

3. DLoop - https://github.com/dorian3d/DLoopDetector (along with DLib and DBow2)

4. g2o - https://github.com/RainerKuemmerle/g2o

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Execute:

• cd cair_online/

• mkdir build

• cd build

• cmake ..

• make -j5

• ./main

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• Source code - main.cpp
• Supporting files - src/*.cpp
• Header files - includes/*.h

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Main function calls -

1. Libviso2 for intial trajectory estimates from src/helper.cpp - my_libviso2

2. DLoop Detector for loop closure from includes/demoDetector.h - run

3. g2o is called after every 500th frame and once at the end of trajectory.

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Parameters -

1. In main function

   1. IMG_DIR1 - Directory where Images are stored. Format -> dir/loop1/left and dir/loop1/right
   2. VOC_FILE - Vocabulary file. Generated from DBOW2
   3. IMAGE_W, IMAGE_H - Image Width, Image Height - Keep default.

2. In helperfunctions.cpp

   1. param.calib.f - focal length in pixels param.calib.cu - principal point (u-coordinate) in pixels param.calib.cv - principal point (v-coordinate) in pixels param.base - baseline in meters In demoDetector.h
   2. params.use_nss - use normalized similarity score instead of raw score params.alpha - nss threshold params.k - a loop must be consistent with 1 previous matches params.geom_check - use direct index for geometrical checking params.di_levels - use two direct index levels In TemplatedLoopDetector.h
   3. dislocal = number * f - for skipping 'number' of frames between loops.