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Dbow3 integration #784

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Dbow3 integration #784

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yinonb4
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@yinonb4 yinonb4 commented Jul 19, 2023

Replacing DBoW2 with DBoW3, with proper integration.
Code taken from:
https://github.com/rmsalinas/DBow3.git

lematan and others added 15 commits March 18, 2023 14:07
@lematan
Just checking git
06a4284
@lematan
Testing the pull request
a588008 
A part of creating our working environment
@lematan
Changes for compiling the src
769515f
@lematan
Merge pull request #2 from lematan/for_compilation
7704f80 
Changes for compiling the src
@lematan
change boolean to run viewer
d80b12f
@lematan
Merge pull request #3 from lematan/run_viewer
06a9b9d 
change boolean to run viewer
@lematan
Adding benchmark script
e7cf7fd
@yinonb4
Merge pull request #4 from lematan/benchmark_script
b6b8359 
Adding benchmark script
@lematan
Adding socre and room to benchmark file (was missing)
89a008d
@yinonb4
Merge pull request #5 from lematan/benchmark_bug
49426f4 
Adding socre and room to benchmark file (was missing)
@lematan
Integration of DBoW3
e805585 
Second attempt to integrate
@yinonb4
minor fixes to cmake and includes of Dutils, compiles with these changes
3a5759d
@yinonb4
fix typo
3c07ee4
@yinonb4
change voc load to not crash
6bc5154
@yinonb4
final changes for dbow3 integration
2fd8387
@jeremysalwen
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Disclaimer: I don't intend to create spam. If the ORB_SLAM3 developers wish me to stop posting, I will cease immediately.

Hello @yinonb4 , because ORB_SLAM3 is inactive, I am compiling a version with all the best community bugfixes/improvements at https://github.com/jeremysalwen/ORB_SLAM_COMMUNITY. I am curious about what benefits you found from switching DBoW2 with DBoW3. Does this improve accuracy or runtime?

@namtacs
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namtacs commented Aug 16, 2024 •
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From DBOW3 repo:

The main differences with the previous DBow2 library are:

  • DBoW3 only requires OpenCV. DBoW2 dependency of DLIB is been removed.
  • DBoW3 is able to use both binary and floating point descriptors out of the box. No need to reimplement any class for any descriptor.
  • DBoW3 compiles both in linux and windows.
  • Some pieces of code have been rewritten to optimize speed. The interface of DBoW3 has been simplified.
  • Possibility of using binary files. Binary files are 4-5 times faster to load/save than yml. Also, they can be compressed.
  • Compatible with DBoW2 yml files

It seems that this only improves runtime.
But to compile with C++17 you need this pull rmsalinas/DBow3#50.

namtacs
namtacs approved these changes Aug 16, 2024
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build.sh
@@ -37,4 +37,4 @@ echo "Configuring and building ORB_SLAM3 ..."
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
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@namtacs namtacs namtacs approved these changes

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4 participants
@yinonb4 @jeremysalwen @namtacs @lematan