MultiCol-SLAM sur github: https://github.com/urbste/MultiCol-SLAM

vidéo de démo: https://www.youtube.com/watch?v=ggZqsiePUq8
====Installation====


  mkdir ~/multicolslam
  cd ~/multicolslam
  sudo apt-get install libglew-dev cmake
  git clone https://github.com/stevenlovegrove/Pangolin.git
  cd Pangolin
  mkdir build
  cd build
  cmake -DCPP11_NO_BOOST=1 ..
  make -j

OpenCV 3.1 déjà installé ailleurs...
  cd ~/multicolslam
Originellement: git clone https://github.com/urbste/MultiCol-SLAM.git MultiCol-SLAM
  git clone https://github.com/bvandepo/MultiCol-SLAM.git MultiCol-SLAM
  cd MultiCol-SLAM
  chmod +x build.sh
  ./build.sh


===Problèmes résolus sur le repository bvandepo, sauter ce chapitre===
<file txt result.txt>
In file included from /usr/include/c++/5/bits/stl_function.h:1128:0,
                 from /usr/include/c++/5/string:48,
                 from /usr/include/c++/5/random:40,
                 from /usr/include/c++/5/bits/stl_algo.h:66,
                 from /usr/include/c++/5/algorithm:62,
                 from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/base.hpp:53,
                 from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:54,
                 from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
                 from /home/bvandepo/multicolslam/MultiCol-SLAM/src/cTracking.cpp:27:
/usr/include/c++/5/backward/binders.h:108:11: note: declared here
     class binder1st
           ^
In file included from /home/bvandepo/multicolslam/MultiCol-SLAM/src/g2o_MultiCol_sim3_expmap.cpp:20:0:
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h:117:22: error: expected ‘)’ before ‘<’ token
    std::unordered_map<size_t, int>& kp_to_cam1,
                      ^
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h:175:8: error: ‘unordered_map’ in namespace ‘std’ does not name a template type
   std::unordered_map<size_t, int> keypoint_to_cam1;
        ^
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h:176:8: error: ‘unordered_map’ in namespace ‘std’ does not name a template type
   std::unordered_map<size_t, int> keypoint_to_cam2;
        ^
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h: In member function ‘cv::Vec2d MultiColSLAM::VertexSim3Expmap_Multi::cam_map1(const Vector3d&, int) const’:
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h:142:17: error: ‘keypoint_to_cam1’ was not declared in this scope
    int camIdx = keypoint_to_cam1.find(ptIdx)->second;
                 ^
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h: In member function ‘cv::Vec2d MultiColSLAM::VertexSim3Expmap_Multi::cam_map2(const Vector3d&, int) const’:
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h:153:17: error: ‘keypoint_to_cam2’ was not declared in this scope
    int camIdx = keypoint_to_cam2.find(ptIdx)->second;
                 ^
/home/bvandepo/multicolslam/MultiCol-SLAM/src/g2o_MultiCol_sim3_expmap.cpp: At global scope:
/home/bvandepo/multicolslam/MultiCol-SLAM/src/g2o_MultiCol_sim3_expmap.cpp:25:48: error: expected constructor, destructor, or type conversion before ‘(’ token
  VertexSim3Expmap_Multi::VertexSim3Expmap_Multi(
                                                ^
</file>

Pour déterminer sur quelle partie est le pb:

  cat build.sh 
c'est la compile de multicol qui déconne, tout le reste ok.... 

  EIGEN3_INCLUDE_DIR=$(pwd)/Eigen
  export EIGEN3_INCLUDE_DIR
  echo $(pwd)
  mkdir build
  cd build
  cmake .. -DCMAKE_BUILD_TYPE=Release
  make -j

dans le ~/multicolslam/MultiCol-SLAM/CMakeLists.txt, j'ajoute: 
  cmake_minimum_required(VERSION 3.5)
et après IF(NOT DEFINED EIGEN_INCLUDE_DIR_HINTS)
  MESSAGE("Using internal Eigen")

c'est bien la version interne d'eigen qui est utilisée...

Problème de compilation décrit par Antoine sur: https://github.com/urbste/MultiCol-SLAM/issues/1
Il dit de remplacer: std::unordered_map par std::tr1::unordered_map

  cd ~/multicolslam/MultiCol-SLAM
  grep -nRi  std::unordered_map  *
  find . -name "*" -exec sed -i 's,std::unordered_map,std::tr1::unordered_map,g' {} \;
  grep -nRi  std::tr1::unordered_map  *
  make -j

====Utilisation====
L'éxecutable est dans
  ~/multicolslam/MultiCol-SLAM/Examples/Lafida/multi_col_slam_lafida
  
récupérer les données d'exemple:
  cd ~/multicolslam
  wget http://www2.ipf.kit.edu/%7Epcv2016/downloads/indoor_dynamic.zip
  unzip indoor_dynamic.zip 
  rm indoor_dynamic.zip 
  cd MultiCol-SLAM
  
 The executable multi_col_slam_lafida expects 4 paths. The first is the path to the vocabulary file. The second is the path to the settings file. The third is the path to the calibration files. The fourth is the path to the images. In our example, we could run MultiCol-SLAM: 
  
  ./Examples/Lafida/multi_col_slam_lafida ./Examples/small_orb_omni_voc_9_6.yml  ./Examples/Lafida/Slam_Settings_indoor1.yaml ./Examples/Lafida/ /home/bvandepo/multicolslam/indoor_dynamic/


=====Visualisation 3D via Pangolin=====
https://github.com/stevenlovegrove/Pangolin
  cd ~/multicolslam/Pangolin/build
  make doc
  cd doc/html
  firefox index.html &

  
=====Todo=====
====Rosification===
Partir du programme d'exemple  Examples/Lafida/mult_col_slam_lafida.cpp   (200 lignes)