Improvements and fixes under macOs

.gitignore

@@ -15,6 +15,7 @@ config.pyc
 thirdparty/g2opy
 thirdparty/pangolin
 thirdparty/opencv-python
+thirdparty/opencv
 thirdparty/open3d
 thirdparty/contextdesc/pretrained 
 matches.txt 

README.md

@@ -58,12 +58,7 @@ You can use the pySLAM framework as a baseline to play with [local features](#su
 
 **Enjoy it!**
 
-<center> 
-<img src="images/STEREO.png" alt="Visual Odometry" width="600" border="0" /> 
-<img src="images/feature-matching.png" alt="Feature Matching" width="600" border="0" />  
-<img src="images/RGBD2.png" alt="SLAM" width="600" border="0" />
-<img src="images/main-rerun-vo-and-matching.png" alt="Feature matching and Visual Odometry" width="600" border="0" />  
-</center>
+<img src="images/STEREO.png" alt="Visual Odometry" height="160" border="0" /> <img src="images/feature-matching.png" alt="Feature Matching" height="160" border="0" /> <img src="images/RGBD2.png" alt="SLAM" height="160" border="0" /> <img src="images/main-rerun-vo-and-matching.png" alt="Feature matching and Visual Odometry" height="160" border="0" />  
 
 --- 
 ## Install 
@@ -172,7 +167,7 @@ Loop closing is enabled by default. You can disable it by setting `kUseLoopClosi
 
 Some **example files** are available in the subfolder `test/loopclosing`.  In particular, as for loop closure, you may want to take a look at [test/loopclosing/test_loop_detector.py](./test/loopclosing/test_loop_detector.py).
 
-**Generate the array descriptors to train a vocabulary (DBoW, VLAD)**
+**How to generate the array descriptors to train a vocabulary (DBoW, VLAD)**
 Generate the array of descriptors to train the vocabulary by using the script `test/loopclosing/test_gen_des_array_from_imgs.py`. Select your desired descriptor type by using the tracker configuration. 
 
 **DBOW vocabulary generation** 
@@ -228,7 +223,11 @@ Some quick information about the non-trivial GUI buttons of `main_slam.py`:
 
 ### Monitor the logs for tracking, local mapping, and loop closing simultaneously
 
-The logs generated by the modules `local_mapping.py`, `loop_closing.py`, `loop_detecting_process.py`, and `global_bundle_adjustments.py` are collected in the files `local_mapping.log`, `loop_closing.log`, `loop_detecting.log`, and `gba.log`, respectively stored in the folder `logs`. For fun/debugging, you can monitor their parallel flows by running the command `tail -f logs/<log file name>` in separate shells. Otherwise, just run the script `./scripts/launch_tmux_slam.sh` from the repo root folder: Use `CTRL+A` and then `CTRL+Q` to exit.
+The logs generated by the modules `local_mapping.py`, `loop_closing.py`, `loop_detecting_process.py`, and `global_bundle_adjustments.py` are collected in the files `local_mapping.log`, `loop_closing.log`, `loop_detecting.log`, and `gba.log`, respectively stored in the folder `logs`. For fun/debugging, you can monitor their parallel flows by running the command:    
+`$ tail -f logs/<log file name>`     
+in separate shells. Otherwise, just run the script:       
+`$ ./scripts/launch_tmux_slam.sh`      
+from the repo root folder. Use `CTRL+A` and then `CTRL+Q` to exit from `tmux`.
 
 ---
 ## Supported local features
@@ -321,6 +320,8 @@ See the file `feature_matcher.py` for further details.
 * Hyperdimensional Computing: [HDC](https://www.tu-chemnitz.de/etit/proaut/hdc_desc).  [[paper](https://openaccess.thecvf.com/content/CVPR2021/html/Neubert_Hyperdimensional_Computing_as_a_Framework_for_Systematic_Aggregation_of_Image_CVPR_2021_paper.html)]
 
 
+**NOTE**: *iBoW* and *OBIndex2* incrementally build a binary image index and do not need a prebuilt vocabulary. In the implemented classes, when needed, the input non-binary local descriptors are transparently transformed into binary descriptors.
+
 #### Global descriptors
 
 Also referred to as *holistic descriptors*:
@@ -482,7 +483,7 @@ Many improvements and additional features are currently under development:
 - [x] map saving/loading 
 - [x] modern DL matching algorithms 
 - [ ] object detection and semantic segmentation 
-- [ ] 3D dense reconstruction 
+- [x] 3D dense reconstruction 
 - [x] unified install procedure (single branch) for all OSs 
 - [x] trajectory saving 
 - [ ] depth estimation integration

clean.sh

@@ -35,6 +35,9 @@ if [ -d "thirdparty/open3d" ]; then
     rm -Rf thirdparty/open3d
 fi
 
+if [ -d "thirdparty/opencv" ]; then
+    rm -Rf thirdparty/opencv
+fi
 
 cd thirdparty/pydbow3
 ./clean.sh

cpp/utils/CMakeLists.txt

@@ -16,12 +16,6 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -march=native -fPIC -DNDEBUG")
 find_package(Eigen3 REQUIRED)
 
 find_package(OpenCV ${OPENCV_VERSION} QUIET)
-if(NOT OpenCV_FOUND)
-   find_package(OpenCV 2.4.3 QUIET)
-   if(NOT OpenCV_FOUND)
-      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
-   endif()
-endif()
 message(STATUS "found OpenCV version: ${OpenCV_VERSION}")
 message(STATUS "opencv include: ${OpenCV_INCLUDE_DIRS}")
 message(STATUS "opencv lib dirs: ${OpenCV_INSTALL_PATH}")

cpp/utils/build.sh

@@ -1,5 +1,10 @@
 #!/usr/bin/env bash
 
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd ) # get script dir (this should be the main folder directory of PLVS)
+SCRIPT_DIR=$(readlink -f $SCRIPT_DIR)  # this reads the actual path if a symbolic directory is used
+
+
 function make_dir(){
 if [ ! -d $1 ]; then
     mkdir $1
@@ -8,15 +13,23 @@ fi
 
 # ====================================================
 # check if we have external options
-EXTERNAL_OPTION=$1
-if [[ -n "$EXTERNAL_OPTION" ]]; then
-    echo "external option: $EXTERNAL_OPTION" 
+EXTERNAL_OPTIONS=$@
+if [[ -n "$EXTERNAL_OPTIONS" ]]; then
+    echo "external option: $EXTERNAL_OPTIONS" 
 fi
+
+OpenCV_DIR="$SCRIPT_DIR/../../thirdparty/opencv/install/lib/cmake/opencv4"
+if [[ -d "$OpenCV_DIR" ]]; then
+    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DOpenCV_DIR=$OpenCV_DIR"
+fi 
+
+echo "EXTERNAL_OPTIONS: $EXTERNAL_OPTIONS"
+
 # ====================================================
 
 make_dir build
 cd build
-cmake .. $EXTERNAL_OPTION
+cmake .. $EXTERNAL_OPTIONS
 make -j 4
 
 cd ..

global_bundle_adjustment.py

@@ -1,4 +1,23 @@
 
+"""
+* This file is part of PYSLAM 
+*
+* Copyright (C) 2016-present Luigi Freda <luigi dot freda at gmail dot com> 
+*
+* PYSLAM is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* PYSLAM is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with PYSLAM. If not, see <http://www.gnu.org/licenses/>.
+"""
+
 import os
 import time
 import math 

install_all_mac_venv.sh

@@ -23,7 +23,7 @@ brew update
 brew install wget 
 brew install doxygen 
 brew install eigen 
-brew install opencv 
+#brew install opencv 
 brew install glew 
 brew install pkg-config 
 brew install suite-sparse 
@@ -36,7 +36,9 @@ brew install libomp   # need to add -L/opt/homebrew/opt/libomp/lib -I/opt/homebr
 brew install boost    # for serialization
 brew install tmux
 brew install flann
-#brew install open3d
+brew install catch2
+brew install numpy
+#brew install open3d     # built from source for different issues 
 
 # create a pyslam environment within pyenv and activate it 
 ./pyenv-mac-create.sh  # NOTE: the use of ./ seems crucial for the correct identification of the python libs for C++ projects 

install_cpp.sh

@@ -12,19 +12,30 @@
 
 #set -e
 
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd ) # get script dir (this should be the main folder directory of PLVS)
+SCRIPT_DIR=$(readlink -f $SCRIPT_DIR)  # this reads the actual path if a symbolic directory is used
 
 # ====================================================
 # check if we have external options
-EXTERNAL_OPTION=$1
-if [[ -n "$EXTERNAL_OPTION" ]]; then
-    echo "external option: $EXTERNAL_OPTION" 
+EXTERNAL_OPTIONS=$@
+if [[ -n "$EXTERNAL_OPTIONS" ]]; then
+    echo "external option: $EXTERNAL_OPTIONS" 
 fi
 
 # check if we want to add a python interpreter check
 if [[ -n "$WITH_PYTHON_INTERP_CHECK" ]]; then
     echo "WITH_PYTHON_INTERP_CHECK: $WITH_PYTHON_INTERP_CHECK " 
-    EXTERNAL_OPTION="$EXTERNAL_OPTION -DWITH_PYTHON_INTERP_CHECK=$WITH_PYTHON_INTERP_CHECK"
+    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DWITH_PYTHON_INTERP_CHECK=$WITH_PYTHON_INTERP_CHECK"
 fi
+
+
+OpenCV_DIR="$SCRIPT_DIR/thirdparty/opencv/install/lib/cmake/opencv4"
+if [[ -d "$OpenCV_DIR" ]]; then
+    EXTERNAL_OPTIONS="$EXTERNAL_OPTIONS -DOpenCV_DIR=$OpenCV_DIR"
+fi 
+
+echo "EXTERNAL_OPTIONS: $EXTERNAL_OPTIONS"
+
 # ====================================================
 # check if want to use conda or venv
 if [ -z $USING_CONDA_PYSLAM ]; then
@@ -49,7 +60,7 @@ cd cpp
 
 # build utils 
 cd utils 
-. build.sh $EXTERNAL_OPTION       # use . in order to inherit python env configuration 
+. build.sh $EXTERNAL_OPTIONS       # use . in order to inherit python env configuration 
 cd ..
 
 cd .. 

install_open3d_python.sh

@@ -1,4 +1,5 @@
 #!/usr/bin/env bash
+# Author: Luigi Freda 
 
 #set -e
 
@@ -12,9 +13,7 @@
 #       on open3d dynamic library loading
 
 
-print_blue '================================================'
 print_blue "Installing open3d-python from source"
-print_blue '================================================'
 
 STARTING_DIR=`pwd`  # this should be the main folder directory of the repo
 
@@ -23,7 +22,7 @@ pip uninstall -y open3d
 
 cd thirdparty
 if [ ! -d open3d ]; then
-    git clone --recursive https://github.com/isl-org/Open3D.git open3d
+    git clone https://github.com/isl-org/Open3D.git open3d
     cd open3d
 
     # This commit 0f06a149c4fb9406fd3e432a5cb0c024f38e2f0e didn't work. It corresponds to open3d 0.18.0 -> https://github.com/isl-org/Open3D/commits/v0.18.0