Fix bugs

.gitignore

@@ -138,3 +138,8 @@ Dataset/
 .*.ipynb
 .vscode
 *.csv
+.jupyter
+.local_settings
+.ipython
+.config
+

settings.yaml

@@ -1,4 +1,4 @@
-SLAM.alg: "OrbSlam3"
+SLAM.alg: "OrbSlam2"
 #--------------------------------------------------------------------------------------------
 # SLAM Method: change with the name of the .py file in whitch there are the class SLAM
 #--------------------------------------------------------------------------------------------
@@ -7,4 +7,4 @@ SLAM.alg: "OrbSlam3"
 # SLAM Params: add your own to run the algorithm
 #--------------------------------------------------------------------------------------------
 SLAM.vocab_path: "slam_method/Settings/ORBvoc.bin"
-SLAM.settings_path: "slam_method/Settings/OrbSlam3_KITTI_02.yaml"
+SLAM.settings_path: "slam_method/Settings/OrbSlam2_KITTI_02.yaml"

slam_method/OrbSlam2.py

@@ -1,20 +1,21 @@
-import orbslam2
 import sys
-import os.path
 sys.path.append("..")
-from pyslam import State
-from pyslam import Sensor
+from slampy import Sensor
+from slampy import State
+import orbslam2
+import os.path
+
 
-class SLAM():
+class Slam():
     def __init__(self, params, sensor_type):
         config_file = params['SLAM.settings_path']
         vocab_file = params['SLAM.vocab_path']
 
-        #check the existence of the configuration file
-        
+        # check the existence of the configuration file
+
         if not os.path.exists(config_file):
             raise FileNotFoundError(config_file+" not found")
-        
+
         if not os.path.exists(vocab_file):
             raise FileNotFoundError(vocab_file+" not found")
 
@@ -70,20 +71,19 @@ def get_pose(self):
 
     def get_abs_cloud(self):
         if self.slam.get_tracking_state() == orbslam2.TrackingState.OK:
-            return self.get_tracked_mappoints()
+            return self.slam.get_tracked_mappoints()
 
     def get_camera_matrix(self):
         return self.slam.get_camera_matrix()
 
     def get_state(self):
-        if self.slam.get_tracking_state() ==  orbslam2.TrackingState.OK:
+        if self.slam.get_tracking_state() == orbslam2.TrackingState.OK:
             return State.OK
-        elif self.slam.get_tracking_state() ==  orbslam2.TrackingState.LOST:
+        elif self.slam.get_tracking_state() == orbslam2.TrackingState.LOST:
             return State.LOST
-        elif self.slam.get_tracking_state() ==  orbslam2.TrackingState.NOT_INITIALIZED:
+        elif self.slam.get_tracking_state() == orbslam2.TrackingState.NOT_INITIALIZED:
             return State.NOT_INITIALIZED
 
-
     def reset(self):
         self.slam.reset()
 

slam_method/OrbSlam3.py

@@ -2,8 +2,8 @@
 import sys
 import os.path
 sys.path.append("..")
-from pyslam import State
-from pyslam import Sensor
+from slampy import State
+from slampy import Sensor
 
 class Slam():
 
@@ -12,10 +12,10 @@ def __init__(self, params, sensor_type):
         vocab_file = params['SLAM.vocab_path']
 
         #check the existence of the configuration file
-        
+
         if not os.path.exists(config_file):
             raise FileNotFoundError(config_file+" not found")
-        
+
         if not os.path.exists(vocab_file):
             raise FileNotFoundError(vocab_file+" not found")
 
@@ -68,7 +68,7 @@ def process_image_imu_mono(self, image, tframe, imu):
             self.slam.process_image_imu_mono(image, tframe, imu,'0')
         else:
             raise Exception("The sensor type is not MONOCULAR_IMU")
-    
+
     def process_image_imu_stereo(self,image_left,image_right,tframe,imu):
         if self.sensor_type == Sensor.STEREO_IMU:
             self.slam.process_image_imu_stereo(image,tframe,imu,'0')
@@ -80,7 +80,7 @@ def process_image_rgbd(self,image,tframe):
             self.slam.process_image_rgbd(image,tframe,'0')
         else:
             raise Exception("The sensor type is not RGBD")
-        
+
     def get_pose(self):
         if self.slam.get_tracking_state() == orbslam3.TrackingState.OK:
             return self.slam.get_frame_pose()
@@ -91,7 +91,7 @@ def get_abs_cloud(self):
 
     def get_camera_matrix(self):
         return self.slam.get_camera_matrix()
-    
+
     def get_state(self):
         if self.slam.get_tracking_state() ==  orbslam3.TrackingState.OK:
             return State.OK

usage_example.ipynb

@@ -57,7 +57,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "app = pyslam.System(setting_file,pyslam.Sensor.MONOCULAR)"
+    "app = slampy.System(setting_file,slampy.Sensor.MONOCULAR)"
    ]
   },
   {
@@ -104,7 +104,7 @@
     "    state = app.process_image_mono(image,timestamps[idx])\n",
     "    t2 = time.time()\n",
     "    \n",
-    "    if state == pyslam.State.OK:\n",
+    "    if state == slampy.State.OK:\n",
     "        \n",
     "        #get the depth\n",
     "        depth = app.get_depth()\n",