stella-cv / fbow Goto Github PK

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19.0 19.0 17.0 33.01 MB

This is forked from https://github.com/shinsumicco/FBoW

License: MIT License

CMake 14.19% C++ 82.57% C 3.24%

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fbow's Issues

OpenvSLAM crashses when no keypoints are available

Hi,

I was testing the robustness of OpenVSLAM and covered camera with tape to make it lose the track and then evaluate its relocalization capabilities.

When I did that, program crashed with error:

[2021-11-20 13:14:02.066] [W] frame 21443: cannot extract any keypoints
terminate called after throwing an instance of 'std::runtime_error'
  what():  Vocabulary::transform No input data

May be it needs to be wrapped into a confition so it does not crash but just continues its operation until it gets proper data to extract keypoints?

score of FBoW is always 1

Hi !
I've got problem with computing score via FBoW.
When I run FBoW on custom images (not sequence) I get BoW similiarity score between random two images = 1.
I tried to find out why, compiled FBoW with string

std::cout << "inter score = " << vi * wi << "\n";

in the https://github.com/OpenVSLAM-Community/FBoW/blob/master/src/fbow.cpp#L432

Then I saw:

inter score = 26.5767
inter score = 30.6879
inter score = 92.7026
inter score = 99.7655
inter score = 39.6566
inter score = 34.9797
inter score = 24.8903
inter score = 62.8143

It means that final similiarity score is above value of 100. But in the end of calculating score it's limited from above with value 1
https://github.com/OpenVSLAM-Community/FBoW/blob/master/src/fbow.cpp#L458-L459

Is it correct to limit score value with 1 ?

Benchmarks and comparisons

Related to #4.

Benchmarking quality and time performance:

DBoW2 vs. FBoW (In addition, other methods)
Sampling methods for feature points (Relationship between Tracking.max_num_keypoints and Quality)
ref. Eric Nowak, Frédéric Jurie, and Bill Triggs, Sampling Strategies for Bag-of-Features Image Classification, ECCV 2006.

Is it possible to compile on AArch64 (Jetson Nano)?

Hi There,

I'm trying to compile on a Jetson Nano (arm64)

First, I got these errors:

cmake .. && make
c++: error: unrecognized command line option ‘-msse3’
c++: error: unrecognized command line option ‘-msse4.1’
c++: error: unrecognized command line option ‘-mavx’

full log

azazdeaz@jetson:/tmp/FBoW/build$ cmake .. -- The CXX compiler identification is GNU 7.5.0 -- The C compiler identification is GNU 7.5.0 -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Found OpenCV: /usr (found version "4.1.1") -- Found OpenMP_C: -fopenmp (found version "4.5") -- Found OpenMP_CXX: -fopenmp (found version "4.5") -- Found OpenMP: TRUE (found version "4.5") -- -- ---------------------------------------- -- General configuration for fbow 0.0.1 -- ---------------------------------------- -- -- CMAKE_MODULE_PATH = /usr/local/lib/cmake/;/usr/lib/cmake;/usr/local/lib/cmake -- CMAKE_INSTALL_PREFIX = /usr/local -- CMAKE_BINARY_DIR = /tmp/FBoW/build -- -- OpenCV_DIR = /usr/lib/aarch64-linux-gnu/cmake/opencv4 -- OpenCV_INCLUDE_DIRS = /usr/include/opencv4 -- OpenCV_LIBS = opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_gapi;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_stitching;opencv_video;opencv_videoio -- -- Processor: aarch64 -- Build type: Release -- Build dynamic libs: ON -- Build utils: OFF -- Build tests: OFF -- Use OpenMP: TRUE -- -- C compiler: /usr/bin/cc -- C++ compiler: /usr/bin/c++ -- -- C++ flags (Common): -Wall -ffunction-sections -std=c++11 -fopenmp -- C++ flags (Release): -msse3 -msse4.1 -mavx -fomit-frame-pointer -O2 -DNDEBUG -D_NDEBUG -Wall -ffunction-sections -std=c++11 -fopenmp -- C++ flags (Debug): -msse3 -msse4.1 -mavx -g3 -DDEBUG -D_DEBUG -Wall -ffunction-sections -std=c++11 -fopenmp -- C++ flags (Relaese+Debug): -msse3 -msse4.1 -mavx -O2 -g3 -DDEBUG -D_DEBUG -Wall -ffunction-sections -std=c++11 -fopenmp -- -- Configuring done -- Generating done -- Build files have been written to: /tmp/FBoW/build

azazdeaz@jetson:/tmp/FBoW/build$ make
Scanning dependencies of target fbow_lib
[ 33%] Building CXX object src/CMakeFiles/fbow_lib.dir/fbow.cpp.o
c++: error: unrecognized command line option ‘-msse3’
c++: error: unrecognized command line option ‘-msse4.1’
c++: error: unrecognized command line option ‘-mavx’
src/CMakeFiles/fbow_lib.dir/build.make:62: recipe for target 'src/CMakeFiles/fbow_lib.dir/fbow.cpp.o' failed
make[2]: *** [src/CMakeFiles/fbow_lib.dir/fbow.cpp.o] Error 1
CMakeFiles/Makefile2:117: recipe for target 'src/CMakeFiles/fbow_lib.dir/all' failed
make[1]: *** [src/CMakeFiles/fbow_lib.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

So I turned those options off:

cmake .. -DUSE_SSE3=OFF -DUSE_SSE4=OFF -DUSE_AVX=OFF && make
/tmp/FBoW/src/fbow.h:36:10: fatal error: immintrin.h: No such file or directory
 #include <immintrin.h>
          ^~~~~~~~~~~~~

full log

azazdeaz@jetson:/tmp/FBoW/build$ cmake .. -DUSE_SSE3=OFF -DUSE_SSE4=OFF -DUSE_AVX=OFF -- The CXX compiler identification is GNU 7.5.0 -- The C compiler identification is GNU 7.5.0 -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Found OpenCV: /usr (found version "4.1.1") -- Found OpenMP_C: -fopenmp (found version "4.5") -- Found OpenMP_CXX: -fopenmp (found version "4.5") -- Found OpenMP: TRUE (found version "4.5") -- -- ---------------------------------------- -- General configuration for fbow 0.0.1 -- ---------------------------------------- -- -- CMAKE_MODULE_PATH = /usr/local/lib/cmake/;/usr/lib/cmake;/usr/local/lib/cmake -- CMAKE_INSTALL_PREFIX = /usr/local -- CMAKE_BINARY_DIR = /tmp/FBoW/build -- -- OpenCV_DIR = /usr/lib/aarch64-linux-gnu/cmake/opencv4 -- OpenCV_INCLUDE_DIRS = /usr/include/opencv4 -- OpenCV_LIBS = opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_gapi;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_stitching;opencv_video;opencv_videoio -- -- Processor: aarch64 -- Build type: Release -- Build dynamic libs: ON -- Build utils: OFF -- Build tests: OFF -- Use OpenMP: TRUE -- -- C compiler: /usr/bin/cc -- C++ compiler: /usr/bin/c++ -- -- C++ flags (Common): -Wall -ffunction-sections -std=c++11 -fopenmp -- C++ flags (Release): -fomit-frame-pointer -O2 -DNDEBUG -D_NDEBUG -Wall -ffunction-sections -std=c++11 -fopenmp -- C++ flags (Debug): -g3 -DDEBUG -D_DEBUG -Wall -ffunction-sections -std=c++11 -fopenmp -- C++ flags (Relaese+Debug): -O2 -g3 -DDEBUG -D_DEBUG -Wall -ffunction-sections -std=c++11 -fopenmp -- -- Configuring done -- Generating done -- Build files have been written to: /tmp/FBoW/build

azazdeaz@jetson:/tmp/FBoW/build$ make
Scanning dependencies of target fbow_lib
[ 33%] Building CXX object src/CMakeFiles/fbow_lib.dir/fbow.cpp.o
In file included from /tmp/FBoW/src/fbow.cpp:27:0:
/tmp/FBoW/src/fbow.h:36:10: fatal error: immintrin.h: No such file or directory
#include <immintrin.h>
^~~~~~~~~~~~~
compilation terminated.
src/CMakeFiles/fbow_lib.dir/build.make:62: recipe for target 'src/CMakeFiles/fbow_lib.dir/fbow.cpp.o' failed
make[2]: *** [src/CMakeFiles/fbow_lib.dir/fbow.cpp.o] Error 1
CMakeFiles/Makefile2:117: recipe for target 'src/CMakeFiles/fbow_lib.dir/all' failed
make[1]: *** [src/CMakeFiles/fbow_lib.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

I tried a bunch of things that google threw at me, but they all led to more errors. So I think I'm going in the wrong direction.
If you have any suggestion, I'd really appreciate it! ❤️
Thanks!!

failed build on armv7l raspberry pi

hi!
cant build on armv7l.
tried this:

cd /path/to/working/dir
git clone https://github.com/stella-cv/FBoW.git
cd FBoW
nano CMakeLists.txt
	option(USE_AVX "Set on/off" OFF)
	option(USE_SSE3 "Set on/off" OFF)
	option(USE_SSE4 "Set on/off" OFF)
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j4 && make install

but got error:

Scanning dependencies of target fbow
[ 33%] Building CXX object CMakeFiles/fbow.dir/src/fbow.cpp.o
In file included from /home/pi/FBoW/include/fbow/fbow.h:34,
                 from /home/pi/FBoW/src/fbow.cpp:27:
/home/pi/FBoW/include/fbow/vocabulary.h:40:10: fatal error: immintrin.h: No such file or directory
 #include <immintrin.h>
          ^~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/fbow.dir/build.make:63: CMakeFiles/fbow.dir/src/fbow.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:77: CMakeFiles/fbow.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

if comment out immintrin.h in file mentioned building crashes.

help a bit, please.

Feature Request: Format Conversion Utility

Hi,

It'd be helpful to have a tool in the utilities that can convert to and from FBoW and DBow2/3 file formats - including text, YAML, and binary formats for DBow2. This would help comparing different SLAM packages that utilise differing libraries for vocabulary management.

I see there's one piece of the implementation here alrerady.

Thanks

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