More fixes and improvements under linux.

luigifreda · Dec 5, 2024 · 5e799cd · 5e799cd
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diff --git a/README.md b/README.md
@@ -5,42 +5,44 @@ Author: **[Luigi Freda](https://www.luigifreda.com)**
 <!-- TOC -->
 
 - [pySLAM v2.2.5](#pyslam-v225)
-    - [1. Install](#1-install)
-        - [1.1. Requirements](#11-requirements)
-        - [1.2. Ubuntu](#12-ubuntu)
-        - [1.3. MacOS](#13-macos)
-        - [1.4. Docker](#14-docker)
-        - [1.5. How to install non-free OpenCV modules](#15-how-to-install-non-free-opencv-modules)
-        - [1.6. Troubleshooting and performance issues](#16-troubleshooting-and-performance-issues)
-    - [2. Usage](#2-usage)
-        - [2.1. Feature tracking](#21-feature-tracking)
-        - [2.2. Loop closing](#22-loop-closing)
-        - [2.3. Save and reload a map](#23-save-and-reload-a-map)
-        - [2.4. Relocalization in a loaded map](#24-relocalization-in-a-loaded-map)
-        - [2.5. Trajectory saving](#25-trajectory-saving)
-        - [2.6. SLAM GUI](#26-slam-gui)
-        - [2.7. Monitor the logs for tracking, local mapping, and loop closing simultaneously](#27-monitor-the-logs-for-tracking-local-mapping-and-loop-closing-simultaneously)
-    - [3. Supported local features](#3-supported-local-features)
-    - [4. Supported matchers](#4-supported-matchers)
-    - [5. Supported global descriptors and local descriptor aggregation methods](#5-supported-global-descriptors-and-local-descriptor-aggregation-methods)
-            - [5.1. Local descriptor aggregation methods](#51-local-descriptor-aggregation-methods)
-            - [5.2. Global descriptors](#52-global-descriptors)
-    - [6. Datasets](#6-datasets)
-        - [6.1. KITTI Datasets](#61-kitti-datasets)
-        - [6.2. TUM Datasets](#62-tum-datasets)
-        - [6.3. EuRoC Dataset](#63-euroc-dataset)
-    - [7. Camera Settings](#7-camera-settings)
-    - [8. Comparison pySLAM vs ORB-SLAM3](#8-comparison-pyslam-vs-orb-slam3)
-    - [9. Contributing to pySLAM](#9-contributing-to-pyslam)
-    - [10. References](#10-references)
-    - [11. Credits](#11-credits)
-    - [12. TODOs](#12-todos)
+  - [Install](#install)
+    - [Requirements](#requirements)
+    - [Ubuntu](#ubuntu)
+    - [MacOS](#macos)
+    - [Docker](#docker)
+    - [How to install non-free OpenCV modules](#how-to-install-non-free-opencv-modules)
+    - [Troubleshooting and performance issues](#troubleshooting-and-performance-issues)
+  - [Usage](#usage)
+    - [Feature tracking](#feature-tracking)
+    - [Loop closing](#loop-closing)
+    - [Dense reconstruction pipeline](#dense-reconstruction-pipeline)
+    - [Save and reload a map](#save-and-reload-a-map)
+    - [Relocalization in a loaded map](#relocalization-in-a-loaded-map)
+    - [Trajectory saving](#trajectory-saving)
+    - [SLAM GUI](#slam-gui)
+    - [Monitor the logs for tracking, local mapping, and loop closing simultaneously](#monitor-the-logs-for-tracking-local-mapping-and-loop-closing-simultaneously)
+  - [Supported local features](#supported-local-features)
+  - [Supported matchers](#supported-matchers)
+  - [Supported global descriptors and local descriptor aggregation methods](#supported-global-descriptors-and-local-descriptor-aggregation-methods)
+      - [Local descriptor aggregation methods](#local-descriptor-aggregation-methods)
+      - [Global descriptors](#global-descriptors)
+  - [Datasets](#datasets)
+    - [KITTI Datasets](#kitti-datasets)
+    - [TUM Datasets](#tum-datasets)
+    - [EuRoC Dataset](#euroc-dataset)
+  - [Camera Settings](#camera-settings)
+  - [Comparison pySLAM vs ORB-SLAM3](#comparison-pyslam-vs-orb-slam3)
+  - [Contributing to pySLAM](#contributing-to-pyslam)
+  - [References](#references)
+  - [Credits](#credits)
+  - [TODOs](#todos)
 
 <!-- /TOC -->
 
 **pySLAM** is a python implementation of a *Visual SLAM* pipeline for **monocular**, **stereo** and **RGBD** cameras. 
 - It supports many classical and modern **[local features](#supported-local-features)** and it offers a convenient interface for them.
-- It implements loop closing via **[descriptor aggregators](#supported-global-descriptors-and-local-descriptor-aggregation-methods)** such as visual Bag of Words (BoW, iBow), Vector of Locally Aggregated Descriptors (VLAD) and other modern **[global descriptors](#supported-global-descriptors-and-local-descriptor-aggregation-methods)** (image-wise descriptors). 
+- It implements loop closing via **[descriptor aggregators](#supported-global-descriptors-and-local-descriptor-aggregation-methods)** such as visual Bag of Words (BoW, iBow), Vector of Locally Aggregated Descriptors (VLAD) and other modern **[global descriptors](#supported-global-descriptors-and-local-descriptor-aggregation-methods)** (image-wise descriptors).
+- It provides a **[dense reconstruction pipeline](#dense-reconstruction-pipeline)** when depth images are provided.  
 - It collects many other useful VO and SLAM tools. 
 
 **Main Scripts**:
@@ -178,6 +180,10 @@ Train the vocabulary by using the script `test/loopclosing/test_gen_dbow_voc_fro
 
 **VLAD vocabulary generation**
 Train the vocabulary by using the script `test/loopclosing/test_gen_vlad_voc_from_des_array.py`
+
+### Dense reconstruction pipeline
+
+Dense reconstruction is disabled by default. You can disable it by setting `kUseVolumetricIntegration=False` in `parameters.py`. At present, it works with RGBD datasets or when a depth image is available at each frame. 
 
 ### Save and reload a map
 

diff --git a/main_slam.py b/main_slam.py
@@ -81,7 +81,7 @@
 
     # Select your loop closing configuration (see the file loop_detector_configs.py). Set it to None to disable loop closing. 
     # LoopDetectorConfigs: DBOW2, DBOW3, etc.
-    loop_detection_config = LoopDetectorConfigs.OBINDEX2
+    loop_detection_config = LoopDetectorConfigs.DBOW3
     Printer.green('loop_detection_config: ',loop_detection_config)
 
     # create SLAM object 

diff --git a/main_vo.py b/main_vo.py
@@ -41,7 +41,7 @@
 
 
 
-kUseRerun = False
+kUseRerun = True
 # check rerun does not have issues 
 if kUseRerun and not Rerun.is_ok():
     kUseRerun = False

diff --git a/mplot_thread.py b/mplot_thread.py
@@ -17,6 +17,7 @@
 * along with PYSLAM. If not, see <http://www.gnu.org/licenses/>.
 """
 
+import sys
 import time 
 import os 
 import numpy as np
@@ -32,9 +33,10 @@
 
 #import multiprocessing as mp 
 import torch.multiprocessing as mp
-from utils_sys import Logging
+from utils_sys import Logging, locally_configure_qt_environment
 from utils_mp import MultiprocessingManager
-
+
+
 kPlotSleep = 0.04
 kVerbose = False 
 kDebugAndPrintToFile = True
@@ -152,6 +154,7 @@ def quit(self):
 
     def init(self, figure_num, lock):    
         lock.acquire()      
+        locally_configure_qt_environment()
         if kVerbose:
             print(mp.current_process().name,"initializing...") 
         self.fig = plt.figure(figure_num)
@@ -326,6 +329,7 @@ def quit(self):
 
     def init(self, figure_num, lock):
         lock.acquire()
+        locally_configure_qt_environment()
         if kVerbose:
             print(mp.current_process().name, "initializing...")
         self.fig = plt.figure(figure_num)

diff --git a/qimage_thread.py b/qimage_thread.py
@@ -9,6 +9,7 @@
 import cv2
 import time
 
+from utils_sys import Logging, locally_configure_qt_environment
 
 class Resizer:
     def __init__(self, window, name):
@@ -65,6 +66,7 @@ def quit(self):
         print(f'QimageViewer closed')
 
     def init(self):
+        locally_configure_qt_environment()
         self.app = QApplication([])  # Initialize the application
         self.image_map = {}  # name -> (label,window)
         self.key 

diff --git a/qtplot_thread.py b/qtplot_thread.py
@@ -35,6 +35,8 @@
 import torch.multiprocessing as mp
 from utils_mp import MultiprocessingManager
 
+from utils_sys import locally_configure_qt_environment
+
 class FigureNum: 
     figure_num = 0
 
@@ -117,7 +119,7 @@ def quit(self):
 
     def init(self, figure_num, lock):    
         lock.acquire()      
-
+        locally_configure_qt_environment()
         self.app = pg.mkQApp()  # Create a PyQtGraph application
         self.win = pg.PlotWidget(title=self.title)  # Create a plot widget
         self.legend = pg.LegendItem()
@@ -250,11 +252,12 @@ def get_values(delta):
                 xmajor = 10**(log)
                 return xminor, xmajor
 
-            xminor, xmajor = get_values(deltax)
-            yminor, ymajor = get_values(deltay)
-
-            self.win.getAxis('left').setTickSpacing(ymajor, yminor)  # Y-axis: major and minor ticks
-            self.win.getAxis('bottom').setTickSpacing(xmajor, xminor)  # X-axis: major and minor ticks        
+            if deltax > 0 and deltay > 0:
+                xminor, xmajor = get_values(deltax)
+                yminor, ymajor = get_values(deltay)
+
+                self.win.getAxis('left').setTickSpacing(ymajor, yminor)  # Y-axis: major and minor ticks
+                self.win.getAxis('bottom').setTickSpacing(xmajor, xminor)  # X-axis: major and minor ticks        
 
     def setAxis(self):
         if self.axis_computed:	        
@@ -440,7 +443,7 @@ def quit(self):
 
     def init(self, figure_num, lock):
         lock.acquire()
-
+        locally_configure_qt_environment()
         self.app = pg.mkQApp()  # Create a PyQtGraph application
         #self.win = gl.GLViewWidget()
         self.win = CustomGLViewWidget()

diff --git a/thirdparty/pydbow3/modules/dbow3/CMakeLists.txt b/thirdparty/pydbow3/modules/dbow3/CMakeLists.txt
@@ -23,6 +23,10 @@ message("LIB_INSTALL_DIR: ${LIB_INSTALL_DIR}")
 # Build type
 #------------------------------------------------------
 
+# Generate file compile_commands.json in our build folder: it contains the full command line to compile individual source files
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+
 IF(NOT CMAKE_BUILD_TYPE )
    SET( CMAKE_BUILD_TYPE "Release" )
 ENDIF()
@@ -118,6 +122,17 @@ set(EXTRA_EXE_LINKER_FLAGS "")
 set(EXTRA_EXE_LINKER_FLAGS_RELEASE "")
 set(EXTRA_EXE_LINKER_FLAGS_DEBUG "")
 
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
+
+if(USE_MARCH_NATIVE AND NOT "${ARCH}" MATCHES "arm" AND "${CMAKE_SYSTEM_NAME}" MATCHES "Linux")
+    message(STATUS "Build with -march=native")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -O3")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native -O3")
+endif()
+
+
 IF(CMAKE_COMPILER_IS_GNUCXX OR MINGW)
     set(ENABLE_PROFILING 		OFF CACHE BOOL "Enable profiling in the GCC compiler (Add flags: -g -pg)")
     set(USE_OMIT_FRAME_POINTER 	ON CACHE BOOL "Enable -fomit-frame-pointer for GCC")
@@ -214,8 +229,10 @@ ELSE()  # MSVC
 
 
 ENDIF()#END OF COMPILER SPECIFIC OPTIONS
+
 SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS} ${EXTRA_C_FLAGS_RELEASE}")
 SET(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS}  ${EXTRA_C_FLAGS_DEBUG}")
+
 # SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -std=c++11")
 # SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -std=c++11")
 set(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELEASE} ${CMAKE_C_FLAGS_DEBUG}")

diff --git a/utils_sys.py b/utils_sys.py
@@ -400,3 +400,17 @@ def set_rlimit():
     # Confirm the change
     soft_limit, hard_limit = resource.getrlimit(resource.RLIMIT_NOFILE)
     print(f"set_rlimit(): Updated soft limit: {soft_limit}, hard limit: {hard_limit}")
+
+
+# To fix this issue under linux: https://forum.qt.io/topic/119109/using-pyqt5-with-opencv-python-cv2-causes-error-could-not-load-qt-platform-plugin-xcb-even-though-it-was-found
+def locally_configure_qt_environment():
+    ci_and_not_headless = False  # Default value in case the import fails
+    try:
+        from cv2.version import ci_build, headless
+        ci_and_not_headless = ci_build and not headless
+    except ImportError:
+        pass  # Handle the case where cv2.version does not exist
+
+    if sys.platform.startswith("linux") and ci_and_not_headless:
+        os.environ.pop("QT_QPA_PLATFORM_PLUGIN_PATH", None)  # Remove if exists
+        os.environ.pop("QT_QPA_FONTDIR", None)  # Remove if exists