Fix typos

CMakeLists.txt

@@ -24,7 +24,7 @@ set (CMAKE_CXX_FLAGS "-DPCL_ONLY_CORE_POINT_TYPES=ON -DNO_EXPLICIT_INSTANTIATION
 # Eigen
 include_directories( "/usr/include/eigen3" )
 # OpenCV
-find_package( OpenCV 4.0 REQUIRED )
+find_package( OpenCV 3.4 REQUIRED )
 include_directories( ${OpenCV_INCLUDE_DIRS} )
 # Sophus 
 find_package( Sophus REQUIRED )
@@ -44,7 +44,8 @@ add_definitions( ${PCL_DEFINITIONS} )
 set( THIRD_PARTY_LIBS 
     ${OpenCV_LIBS}
     ${PCL_LIBRARIES}
-    libSophus.so
+    ${Sophus_LIBRARIES} # If "make install" is good, use this line
+    libSophus.so # If "make install" failed, copy files manully to usr/lib and usr/include, and use this line
     g2o_core g2o_stuff g2o_types_sba g2o_csparse_extension
     ${CSPARSE_LIBRARY}
 )

README.md

@@ -168,11 +168,18 @@ It's based on Eigen, and contains datatypes for Lie Group and Lie Algebra (SE3/S
 
 Download this lib here: https://github.com/strasdat/Sophus. Do cmake and make. Since I failed to make install it, I manually moved “/Sophus/sophus” to “/usr/include/sophus”, and moved “libSophus.so” to “usr/lib”. Then, in my CMakeLists.txt, I add this: `set (THIRD_PARTY_LIBS libSophus.so )`.
 
+If there is an error of "unit_complex_.real() = 1.;"
+replace it and its following line with "unit_complex_ = std::complex<double>(1,0);"
+
+
 **(4) g2o**  
-Download here: https://github.com/RainerKuemmerle/g2o. Checkout to the last version in year 2017. Do cmake, make, make install.
 
-If the csparse library is not found during cmake, please install the following package:
+First install either of the following two packages:
 > $ sudo apt-get install libsuitesparse
+> $ sudo apt-get install libsuitesparse-dev
+
+Download here: https://github.com/RainerKuemmerle/g2o.  
+Checkout to the last version in year 2017. Do cmake, make, make install.
 
 # 4. How to Run  
 > $ mkdir build && mkdir lib && mkdir bin   

config/config.yaml

@@ -3,31 +3,40 @@
 # ===== Settings for displaying
 MAX_NUM_IMAGES: 300
 PCL_WAIT_FOR_KEY_PRESS: "false" # If true, PCL Viewer will stop and wait for any of your keypress before continueing.
+
+# ===== Save/Load trajectory
 DRAW_GROUND_TRUTH_TRAJ: "true" # Ground truth traj's color is set as green. Estimated is set as white.
-GROUND_TRUTH_TRAJ_FILENAME: /home/feiyu/Desktop/slam/my_vo/my2/data/test_data/cam_traj_truth.txt
-FILENAME_FOR_RESULT_TRAJECTORY: /home/feiyu/Desktop/slam/my_vo/my2/data/test_data/cam_traj.txt
+
+GROUND_TRUTH_TRAJ_FILENAME: /home/feiyu/Documents/Projects/EECS432_CV_VO/data/test_data/cam_traj_truth.txt
+# Format of ground-truth data:
+# In each row, there are 12 numbers representing the transformation matrix T=[R|t].
+# Order of the 12 numbers: tx, ty, tz, R[:,0], R[:,1], R[:,2]
+# Or say: T[0,3], T[1,3], T[2,3], T[0,0],T[1,0],T[2,0],T[0,1],T[1,1],T[2,1],T[0,2],T[1,2],T[2,2]
+# See this "readPoseFromFile" in "io.cpp" for more details.
+
+FILENAME_FOR_RESULT_TRAJECTORY: /home/feiyu/Documents/Projects/EECS432_CV_VO/data/test_data/cam_traj.txt
 
 # ===== Dataset and camera intrinsics
 
 # -- fr1_desk dataset
 # https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats
-# dataset_dir: /home/feiyu/Desktop/slam/my_vo/my2/data/dataset_images_fr1_desk
+# dataset_dir: /home/feiyu/Documents/Projects/EECS432_CV_VO/data/dataset_images_fr1_desk
 # num_images: 100
 # camera_info.fx: 517.3
 # camera_info.fy: 516.5
 # camera_info.cx: 325.1
 # camera_info.cy: 249.7
 
 # -- fr1_xyz dataset
-# dataset_dir: /home/feiyu/Desktop/slam/my_vo/my2/data/dataset_images_fr1_xyz
+# dataset_dir: /home/feiyu/Documents/Projects/EECS432_CV_VO/data/dataset_images_fr1_xyz
 # num_images: 100
 # camera_info.fx: 517.3
 # camera_info.fy: 516.5
 # camera_info.cx: 325.1
 # camera_info.cy: 249.7
 
 # -- New Tsukuba Stereo dataset used in matlab tutorial
-dataset_dir: /home/feiyu/Desktop/slam/my_vo/my2/data/dataset_images_matlab
+dataset_dir: /home/feiyu/Documents/Projects/EECS432_CV_VO/data/dataset_images_matlab
 num_images: 150
 camera_info.fx: 615
 camera_info.fy: 615

include/my_basics/io.h

@@ -18,7 +18,7 @@ cv::Mat readCameraIntrinsics(const string &path_of_config_file, bool print_res=f
 
 // -- Read/Write camera pose to file
 void writePoseToFile(const string filename, vector<cv::Mat> list_T); // Format: x, y, z, 1st row of R, 2nd row of R, 3rd row of R
-vector<cv::Mat> readPoseToFile(const string filename); // Read pose from file
+vector<cv::Mat> readPoseFromFile(const string filename); // Read pose from file
 
 } // namespace my_basics
 

include/my_slam/frame.h

@@ -56,7 +56,7 @@ class Frame
   my_geometry::Camera::Ptr camera_;
 
   // -- Current pose
-  Mat T_w_c_; // transform from camera to world
+  Mat T_w_c_; // transform from world to camera
 
 public:
   Frame() {}

python_tools/calibrate_camera.py

@@ -6,7 +6,7 @@
 import glob # for getting files' names in the disk
 # import pickle # for saving variables to disk
 
-IMAGE_FOLDER='/home/feiyu/Desktop/slam/my_vo/my2/data/fr1_rgb_calibration/'
+IMAGE_FOLDER='/home/feiyu/Documents/Projects/EECS432_CV_VO/data/fr1_rgb_calibration/'
 
 
 # termination criteria

python_tools/undistort_all_images.py

@@ -5,8 +5,8 @@
 import glob, os
 
 if 1: # fr1 dataset
-    INPUT_FOLDER = '/home/feiyu/Desktop/slam/my_vo/my2/data/dataset_images_fr1_xyz/'
-    OUTPUT_FOLDER = '/home/feiyu/Desktop/slam/my_vo/my2/data/undist/'
+    INPUT_FOLDER = '/home/feiyu/Documents/Projects/EECS432_CV_VO/data/dataset_images_fr1_xyz/'
+    OUTPUT_FOLDER = '/home/feiyu/Documents/Projects/EECS432_CV_VO/data/undist/'
 
     camera_intrinsics = np.array([
         [517.3, 0, 325.1],

src/io.cpp

@@ -88,7 +88,7 @@ void writePoseToFile(const string filename, vector<cv::Mat> list_T)
 }
 
 // Read pose from file
-vector<cv::Mat> readPoseToFile(const string filename)
+vector<cv::Mat> readPoseFromFile(const string filename)
 {
     // Output
     vector<cv::Mat> list_T;

src_main/run_vo.cpp

@@ -55,7 +55,7 @@ int main(int argc, char **argv)
     vector<string> image_paths;
     if (DEBUG_MODE)
     {
-        string folder = "/home/feiyu/Desktop/slam/my_vo/my2/data/test_data/";
+        string folder = "/home/feiyu/Documents/Projects/EECS432_CV_VO/data/test_data/";
         vector<string> tmp{
             "image0001.jpg", "image0013.jpg", "image0015.jpg"};
         for (string &filename : tmp)
@@ -219,7 +219,7 @@ bool drawResultByPcl(const my_slam::VisualOdometry::Ptr vo, my_slam::Frame::Ptr
     if (DRAW_GROUND_TRUTH_TRAJ)
     {
         static string GROUND_TRUTH_TRAJ_FILENAME = my_basics::Config::get<string>("GROUND_TRUTH_TRAJ_FILENAME");
-        static vector<cv::Mat> truth_poses = readPoseToFile(GROUND_TRUTH_TRAJ_FILENAME);
+        static vector<cv::Mat> truth_poses = readPoseFromFile(GROUND_TRUTH_TRAJ_FILENAME);
         cv::Mat truth_T = truth_poses[frame->id_], truth_R_vec, truth_t;
         getRtFromT(truth_T, truth_R_vec, truth_t);