Better memory/thread management

.gitignore

@@ -45,20 +45,20 @@ Examples/Stereo-Inertial/stereo_inertial_realsense_t265
 Examples/Stereo-Inertial/stereo_inertial_realsense_D435i
 
 
-Examples/ROS/ORB_SLAM3/Mono
-Examples/ROS/ORB_SLAM3/Mono_Inertial
-Examples/ROS/ORB_SLAM3/MonoAR
-Examples/ROS/ORB_SLAM3/RGBD
-Examples/ROS/ORB_SLAM3/Stereo
-Examples/ROS/ORB_SLAM3/Stereo_Inertial
+Examples/ROS/MORB_SLAM/Mono
+Examples/ROS/MORB_SLAM/Mono_Inertial
+Examples/ROS/MORB_SLAM/MonoAR
+Examples/ROS/MORB_SLAM/RGBD
+Examples/ROS/MORB_SLAM/Stereo
+Examples/ROS/MORB_SLAM/Stereo_Inertial
 
 Examples/Calibration/recorder_realsense_D435i
 
 Examples/Tests/viewer_dataset
 Examples/Tests/sophus_test
 
-Examples/ROS/ORB_SLAM3/CMakeLists.txt.user
-Examples/ROS/ORB_SLAM3/build/
+Examples/ROS/MORB_SLAM/CMakeLists.txt.user
+Examples/ROS/MORB_SLAM/build/
 
 KeyFrameTrajectory.txt
 CameraTrajectory.txt

CMakeLists.txt

@@ -24,7 +24,7 @@ endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
-find_package(OpenCV 4.4)
+find_package(OpenCV 4.2)
    if(NOT OpenCV_FOUND)
       message(FATAL_ERROR "OpenCV > 4.4 not found.")
    endif()
@@ -50,6 +50,7 @@ find_package(realsense2)
 
 add_library(${PROJECT_NAME} SHARED
 src/System.cc
+src/Camera.cpp
 src/Tracking.cc
 src/LocalMapping.cc
 src/LoopClosing.cc
@@ -75,38 +76,37 @@ src/OptimizableTypes.cpp
 src/MLPnPsolver.cpp
 src/GeometricTools.cc
 src/TwoViewReconstruction.cc
-src/Config.cc
 src/Settings.cc
-include/System.h
-include/Tracking.h
-include/LocalMapping.h
-include/LoopClosing.h
-include/ORBextractor.h
-include/ORBmatcher.h
-include/FrameDrawer.h
-include/Converter.h
-include/MapPoint.h
-include/KeyFrame.h
-include/Atlas.h
-include/Map.h
-include/MapDrawer.h
-include/Optimizer.h
-include/Frame.h
-include/KeyFrameDatabase.h
-include/Sim3Solver.h
-include/Viewer.h
-include/ImuTypes.h
-include/G2oTypes.h
-include/CameraModels/GeometricCamera.h
-include/CameraModels/Pinhole.h
-include/CameraModels/KannalaBrandt8.h
-include/OptimizableTypes.h
-include/MLPnPsolver.h
-include/GeometricTools.h
-include/TwoViewReconstruction.h
-include/SerializationUtils.h
-include/Config.h
-include/Settings.h)
+include/MORB_SLAM/System.h
+include/MORB_SLAM/Camera.hpp
+include/MORB_SLAM/Tracking.h
+include/MORB_SLAM/LocalMapping.h
+include/MORB_SLAM/LoopClosing.h
+include/MORB_SLAM/ORBextractor.h
+include/MORB_SLAM/ORBmatcher.h
+include/MORB_SLAM/FrameDrawer.h
+include/MORB_SLAM/Converter.h
+include/MORB_SLAM/MapPoint.h
+include/MORB_SLAM/KeyFrame.h
+include/MORB_SLAM/Atlas.h
+include/MORB_SLAM/Map.h
+include/MORB_SLAM/MapDrawer.h
+include/MORB_SLAM/Optimizer.h
+include/MORB_SLAM/Frame.h
+include/MORB_SLAM/KeyFrameDatabase.h
+include/MORB_SLAM/Sim3Solver.h
+include/MORB_SLAM/Viewer.h
+include/MORB_SLAM/ImuTypes.h
+include/MORB_SLAM/G2oTypes.h
+include/MORB_SLAM/CameraModels/GeometricCamera.h
+include/MORB_SLAM/CameraModels/Pinhole.h
+include/MORB_SLAM/CameraModels/KannalaBrandt8.h
+include/MORB_SLAM/OptimizableTypes.h
+include/MORB_SLAM/MLPnPsolver.h
+include/MORB_SLAM/GeometricTools.h
+include/MORB_SLAM/TwoViewReconstruction.h
+include/MORB_SLAM/SerializationUtils.h
+include/MORB_SLAM/Settings.h)
 
 
 add_subdirectory(Thirdparty/g2o)

Examples/Calibration/recorder_realsense_D435i.cc

@@ -103,7 +103,7 @@ int main(int argc, char **argv) {
     sigemptyset(&sigIntHandler.sa_mask);
     sigIntHandler.sa_flags = 0;
 
-    sigaction(SIGINT, &sigIntHandler, NULL);
+    sigaction(SIGINT, &sigIntHandler, nullptr);
     b_continue_session = true;
 
     double offset = 0; // ms

Examples/Calibration/recorder_realsense_T265.cc

@@ -110,7 +110,7 @@ int main(int argc, char **argv) {
     sigemptyset(&sigIntHandler.sa_mask);
     sigIntHandler.sa_flags = 0;
 
-    sigaction(SIGINT, &sigIntHandler, NULL);
+    sigaction(SIGINT, &sigIntHandler, nullptr);
     b_continue_session = true;
 
     double offset = 0; // ms

Examples/Monocular-Inertial/mono_inertial_euroc.cc

@@ -26,9 +26,9 @@
 
 #include<opencv2/opencv.hpp>
 
-#include<System.h>
-#include<Viewer.h>
-#include "ImuTypes.h"
+#include<MORB_SLAM/System.h>
+#include<MORB_SLAM/Viewer.h>
+#include "MORB_SLAM/ImuTypes.h"
 
 using namespace std;
 
@@ -118,8 +118,8 @@ int main(int argc, char *argv[])
     cout.precision(17);
 
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM3::System_ptr SLAM = std::make_shared<ORB_SLAM3::System>(argv[1],argv[2],ORB_SLAM3::CameraType::IMU_MONOCULAR);
-    ORB_SLAM3::Viewer viewer(SLAM, argv[2]);
+    MORB_SLAM::System_ptr SLAM = std::make_shared<MORB_SLAM::System>(argv[1],argv[2],MORB_SLAM::CameraType::IMU_MONOCULAR);
+    MORB_SLAM::Viewer viewer(SLAM, argv[2]);
     float imageScale = SLAM->GetImageScale();
 
 #ifdef REGISTER_TIMES
@@ -132,7 +132,7 @@ int main(int argc, char *argv[])
 
         // Main loop
         cv::Mat im;
-        vector<ORB_SLAM3::IMU::Point> vImuMeas;
+        vector<MORB_SLAM::IMU::Point> vImuMeas;
         proccIm = 0;
         for(int ni=0; ni<nImages[seq]; ni++, proccIm++)
         {
@@ -172,7 +172,7 @@ int main(int argc, char *argv[])
 
                 while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
                 {
-                    vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[seq][first_imu[seq]].x,vAcc[seq][first_imu[seq]].y,vAcc[seq][first_imu[seq]].z,
+                    vImuMeas.push_back(MORB_SLAM::IMU::Point(vAcc[seq][first_imu[seq]].x,vAcc[seq][first_imu[seq]].y,vAcc[seq][first_imu[seq]].z,
                                                              vGyro[seq][first_imu[seq]].x,vGyro[seq][first_imu[seq]].y,vGyro[seq][first_imu[seq]].z,
                                                              vTimestampsImu[seq][first_imu[seq]]));
                     first_imu[seq]++;

Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc

@@ -32,8 +32,8 @@
 #include <librealsense2/rs.hpp>
 #include "librealsense2/rsutil.h"
 
-#include <System.h>
-#include <Viewer.h>
+#include <MORB_SLAM/System.h>
+#include <MORB_SLAM/Viewer.h>
 
 using namespace std;
 
@@ -116,7 +116,7 @@ int main(int argc, char **argv) {
     sigemptyset(&sigIntHandler.sa_mask);
     sigIntHandler.sa_flags = 0;
 
-    sigaction(SIGINT, &sigIntHandler, NULL);
+    sigaction(SIGINT, &sigIntHandler, nullptr);
     b_continue_session = true;
 
     double offset = 0; // ms
@@ -258,7 +258,7 @@ int main(int argc, char **argv) {
 
     rs2::pipeline_profile pipe_profile = pipe.start(cfg, imu_callback);
 
-    vector<ORB_SLAM3::IMU::Point> vImuMeas;
+    vector<MORB_SLAM::IMU::Point> vImuMeas;
     rs2::stream_profile cam_stream = pipe_profile.get_stream(RS2_STREAM_INFRARED, 1);
 
 
@@ -288,8 +288,8 @@ int main(int argc, char **argv) {
 
 
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM3::System_ptr SLAM = std::make_shared<ORB_SLAM3::System>(argv[1],argv[2],ORB_SLAM3::CameraType::IMU_MONOCULAR, file_name);
-    ORB_SLAM3::Viewer viewer(SLAM, argv[2]);
+    MORB_SLAM::System_ptr SLAM = std::make_shared<MORB_SLAM::System>(argv[1],argv[2],MORB_SLAM::CameraType::IMU_MONOCULAR, file_name);
+    MORB_SLAM::Viewer viewer(SLAM, argv[2]);
     float imageScale = SLAM->GetImageScale();
 
     double timestamp;
@@ -356,7 +356,7 @@ int main(int argc, char **argv) {
 
         for(size_t i=0; i<vGyro.size(); ++i)
         {
-            ORB_SLAM3::IMU::Point lastPoint(vAccel[i].x, vAccel[i].y, vAccel[i].z,
+            MORB_SLAM::IMU::Point lastPoint(vAccel[i].x, vAccel[i].y, vAccel[i].z,
                                   vGyro[i].x, vGyro[i].y, vGyro[i].z,
                                   vGyro_times[i]);
             vImuMeas.push_back(lastPoint);

Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc

@@ -29,10 +29,10 @@
 
 #include <librealsense2/rs.hpp>
 
-#include <System.h>
-#include <Viewer.h>
+#include <MORB_SLAM/System.h>
+#include <MORB_SLAM/Viewer.h>
 #include <condition_variable>
-#include "ImuTypes.h"
+#include "MORB_SLAM/ImuTypes.h"
 
 using namespace std;
 
@@ -65,8 +65,8 @@ int main(int argc, char **argv)
         // bFileName = true; // UNUSED
     }
 
-    ORB_SLAM3::System_ptr SLAM = std::make_shared<ORB_SLAM3::System>(argv[1],argv[2],ORB_SLAM3::CameraType::IMU_MONOCULAR, file_name);
-    ORB_SLAM3::Viewer viewer(SLAM, argv[2]);
+    MORB_SLAM::System_ptr SLAM = std::make_shared<MORB_SLAM::System>(argv[1],argv[2],MORB_SLAM::CameraType::IMU_MONOCULAR, file_name);
+    MORB_SLAM::Viewer viewer(SLAM, argv[2]);
     float imageScale = SLAM->GetImageScale();
 
     struct sigaction sigIntHandler;
@@ -75,7 +75,7 @@ int main(int argc, char **argv)
     sigemptyset(&sigIntHandler.sa_mask);
     sigIntHandler.sa_flags = 0;
 
-    sigaction(SIGINT, &sigIntHandler, NULL);
+    sigaction(SIGINT, &sigIntHandler, nullptr);
     b_continue_session = true;
 
     double offset = 0; // ms
@@ -206,7 +206,7 @@ int main(int argc, char **argv)
 
 
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    vector<ORB_SLAM3::IMU::Point> vImuMeas;
+    vector<MORB_SLAM::IMU::Point> vImuMeas;
 
     double timestamp;
     cv::Mat im;
@@ -286,7 +286,7 @@ int main(int argc, char **argv)
 
 
         for(size_t i=0; i<vGyro.size(); ++i){
-            ORB_SLAM3::IMU::Point lastPoint(vAccel[i].x, vAccel[i].y, vAccel[i].z,
+            MORB_SLAM::IMU::Point lastPoint(vAccel[i].x, vAccel[i].y, vAccel[i].z,
                                             vGyro[i].x, vGyro[i].y, vGyro[i].z,
                                             vGyro_times[i]);
             vImuMeas.push_back(lastPoint);

Examples/Monocular-Inertial/mono_inertial_tum_vi.cc

@@ -25,9 +25,9 @@
 
 #include<opencv2/opencv.hpp>
 
-#include<System.h>
-#include<Viewer.h>
-#include "ImuTypes.h"
+#include<MORB_SLAM/System.h>
+#include<MORB_SLAM/Viewer.h>
+#include "MORB_SLAM/ImuTypes.h"
 
 using namespace std;
 
@@ -117,8 +117,8 @@ 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_ptr SLAM = std::make_shared<ORB_SLAM3::System>(argv[1],argv[2],ORB_SLAM3::CameraType::IMU_MONOCULAR, file_name);
-    ORB_SLAM3::Viewer viewer(SLAM, argv[2]);
+    MORB_SLAM::System_ptr SLAM = std::make_shared<MORB_SLAM::System>(argv[1],argv[2],MORB_SLAM::CameraType::IMU_MONOCULAR, file_name);
+    MORB_SLAM::Viewer viewer(SLAM, argv[2]);
     float imageScale = SLAM->GetImageScale();
 
 #ifdef REGISTER_TIMES
@@ -131,7 +131,7 @@ int main(int argc, char **argv)
 
         // Main loop
         cv::Mat im;
-        vector<ORB_SLAM3::IMU::Point> vImuMeas;
+        vector<MORB_SLAM::IMU::Point> vImuMeas;
         proccIm = 0;
         cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(3.0, cv::Size(8, 8));
         for(int ni=0; ni<nImages[seq]; ni++, proccIm++)
@@ -164,7 +164,7 @@ int main(int argc, char **argv)
 
                 while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni])
                 {
-                    vImuMeas.push_back(ORB_SLAM3::IMU::Point(vAcc[seq][first_imu[seq]].x,vAcc[seq][first_imu[seq]].y,vAcc[seq][first_imu[seq]].z,
+                    vImuMeas.push_back(MORB_SLAM::IMU::Point(vAcc[seq][first_imu[seq]].x,vAcc[seq][first_imu[seq]].y,vAcc[seq][first_imu[seq]].z,
                                                              vGyro[seq][first_imu[seq]].x,vGyro[seq][first_imu[seq]].y,vGyro[seq][first_imu[seq]].z,
                                                              vTimestampsImu[seq][first_imu[seq]]));
                     // cout << "t_imu = " << fixed << vImuMeas.back().t << endl;

Examples/Monocular/mono_euroc.cc

@@ -23,8 +23,8 @@
 
 #include<opencv2/opencv.hpp>
 
-#include<System.h>
-#include<Viewer.h>
+#include<MORB_SLAM/System.h>
+#include<MORB_SLAM/Viewer.h>
 
 using namespace std;
 
@@ -81,8 +81,8 @@ int main(int argc, char **argv)
     // int fps = 20; // UNUSED
     // float dT = 1.f/fps; // UNUSED
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM3::System_ptr SLAM = std::make_shared<ORB_SLAM3::System>(argv[1],argv[2],ORB_SLAM3::CameraType::MONOCULAR);
-    ORB_SLAM3::Viewer viewer(SLAM, argv[2]);
+    MORB_SLAM::System_ptr SLAM = std::make_shared<MORB_SLAM::System>(argv[1],argv[2],MORB_SLAM::CameraType::MONOCULAR);
+    MORB_SLAM::Viewer viewer(SLAM, argv[2]);
     float imageScale = SLAM->GetImageScale();
 
 #ifdef REGISTER_TIMES

Examples/Monocular/mono_kitti.cc

@@ -24,8 +24,8 @@
 
 #include <opencv2/opencv.hpp>
 
-#include <System.h>
-#include <Viewer.h>
+#include <MORB_SLAM/System.h>
+#include <MORB_SLAM/Viewer.h>
 
 using namespace std;
 
@@ -48,8 +48,8 @@ int main(int argc, char **argv)
     int nImages = vstrImageFilenames.size();
 
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM3::System_ptr SLAM = std::make_shared<ORB_SLAM3::System>(argv[1],argv[2],ORB_SLAM3::CameraType::MONOCULAR);
-    ORB_SLAM3::Viewer viewer(SLAM, argv[2]);
+    MORB_SLAM::System_ptr SLAM = std::make_shared<MORB_SLAM::System>(argv[1],argv[2],MORB_SLAM::CameraType::MONOCULAR);
+    MORB_SLAM::Viewer viewer(SLAM, argv[2]);
     float imageScale = SLAM->GetImageScale();
 
     // Vector for tracking time statistics
@@ -97,7 +97,7 @@ int main(int argc, char **argv)
         std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 
         // Pass the image to the SLAM system
-        auto pos = SLAM->TrackMonocular(im,tframe,vector<ORB_SLAM3::IMU::Point>(), vstrImageFilenames[ni]);
+        auto pos = SLAM->TrackMonocular(im,tframe,vector<MORB_SLAM::IMU::Point>(), vstrImageFilenames[ni]);
 
         std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();