THIS IS MULTI ROBOT ENCOUNTERS CODE(INITIAL BEFORE INTEGRATION INTO THE FINAL FRAMEWORK).

This program executes Libviso, DLoop and g2o in parallel threads for trajectory estimation and optimization using stereo vision.

Procedure -

1. Install

   a. Libviso2 - http://www.cvlibs.net/software/libviso/

   b. DLoop - https://github.com/dorian3d/DLoopDetector (along with DLib and DBow2)

   c. g2o - https://github.com/RainerKuemmerle/g2o

2. cd cair_online/

3. mkdir build

4. cd build

5. cmake ..

6. make -j5

7. ./main

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Source code - main.cpp

Supporting files - src/*.cpp

Header files - includes/*.h

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Main function calls -

1. Libviso2 for intial trajectory estimates from src/helper.cpp - my_libviso2

2. DLoop Detector for loop closure from includes/demoDetector.h - run

3. g2o is called after every 500th frame and once at the end of trajectory.

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Parameters -

In main function

1. IMG_DIR1 - Directory where Images are stored. Format -> dir/loop1/left and dir/loop1/right

2. VOC_FILE - Vocabulary file. Generated from DBOW2

3. IMAGE_W, IMAGE_H - Image Width, Image Height - Keep default.

In helperfunctions.cpp

1. param.calib.f - focal length in pixels param.calib.cu - principal point (u-coordinate) in pixels param.calib.cv - principal point (v-coordinate) in pixels param.base - baseline in meters

In demoDetector.h

1. params.use_nss - use normalized similarity score instead of raw score params.alpha - nss threshold params.k - a loop must be consistent with 1 previous matches params.geom_check - use direct index for geometrical checking params.di_levels - use two direct index levels

In TemplatedLoopDetector.h

1. dislocal = number * f - for skipping 'number' of frames between loops.