ORB-SLAM的作者对词典读取进行了改进，详见：https://github.com/raulmur/ORB_SLAM2/pull/21/files
在98行加入
Examples/Monocular/mono_kitti.cc) target_link_libraries(mono_kitti ${PROJECT_NAME}) # Build tools set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/tools) add_executable(bin_vocabulary tools/bin_vocabulary.cc) target_link_libraries(bin_vocabulary ${PROJECT_NAME})在249行加入
/** * Loads the vocabulary from a binary file * @param filename */ bool loadFromBinaryFile(const std::string &filename); /** * Saves the vocabulary into a binary file * @param filename */ void saveToBinaryFile(const std::string &filename) const;在1466行加入
template<class TDescriptor, class F> bool TemplatedVocabulary<TDescriptor,F>::loadFromBinaryFile(const std::string &filename) { fstream f; f.open(filename.c_str(), ios_base::in|ios::binary); unsigned int nb_nodes, size_node; f.read((char*)&nb_nodes, sizeof(nb_nodes)); f.read((char*)&size_node, sizeof(size_node)); f.read((char*)&m_k, sizeof(m_k)); f.read((char*)&m_L, sizeof(m_L)); f.read((char*)&m_scoring, sizeof(m_scoring)); f.read((char*)&m_weighting, sizeof(m_weighting)); createScoringObject(); m_words.clear(); m_words.reserve(pow((double)m_k, (double)m_L + 1)); m_nodes.clear(); m_nodes.resize(nb_nodes+1); m_nodes[0].id = 0; char buf[size_node]; int nid = 1; while (!f.eof()) { f.read(buf, size_node); m_nodes[nid].id = nid; // FIXME const int* ptr=(int*)buf; m_nodes[nid].parent = *ptr; //m_nodes[nid].parent = *(const int*)buf; m_nodes[m_nodes[nid].parent].children.push_back(nid); m_nodes[nid].descriptor = cv::Mat(1, F::L, CV_8U); memcpy(m_nodes[nid].descriptor.data, buf+4, F::L); m_nodes[nid].weight = *(float*)(buf+4+F::L); if (buf[8+F::L]) { // is leaf int wid = m_words.size(); m_words.resize(wid+1); m_nodes[nid].word_id = wid; m_words[wid] = &m_nodes[nid]; } else m_nodes[nid].children.reserve(m_k); nid+=1; } f.close(); return true; } // -------------------------------------------------------------------------- template<class TDescriptor, class F> void TemplatedVocabulary<TDescriptor,F>::saveToBinaryFile(const std::string &filename) const { fstream f; f.open(filename.c_str(), ios_base::out|ios::binary); unsigned int nb_nodes = m_nodes.size(); float _weight; unsigned int size_node = sizeof(m_nodes[0].parent) + F::L*sizeof(char) + sizeof(_weight) + sizeof(bool); f.write((char*)&nb_nodes, sizeof(nb_nodes)); f.write((char*)&size_node, sizeof(size_node)); f.write((char*)&m_k, sizeof(m_k)); f.write((char*)&m_L, sizeof(m_L)); f.write((char*)&m_scoring, sizeof(m_scoring)); f.write((char*)&m_weighting, sizeof(m_weighting)); for(size_t i=1; i<nb_nodes;i++) { const Node& node = m_nodes[i]; f.write((char*)&node.parent, sizeof(node.parent)); f.write((char*)node.descriptor.data, F::L); _weight = node.weight; f.write((char*)&_weight, sizeof(_weight)); bool is_leaf = node.isLeaf(); f.write((char*)&is_leaf, sizeof(is_leaf)); // i put this one at the end for alignement.... } f.close(); } // --------------------------------------------------------------------------
在32行加入
cd .. echo "Converting vocabulary to binary" ./tools/bin_vocabulary将199行的
vAvailableIndices[idx] = vAvailableIndices.back();改为
vAvailableIndices[randi] = vAvailableIndices.back();在28行添加
#include <time.h> bool has_suffix(const std::string &str, const std::string &suffix) { std::size_t index = str.find(suffix, str.size() - suffix.size()); return (index != std::string::npos); }在新的69行添加
clock_t tStart = clock();将新的71行中
bool bVocLoad = mpVocabulary->loadFromTextFile(strVocFile);改为
bool bVocLoad = false; // chose loading method based on file extension if (has_suffix(strVocFile, ".txt")) bVocLoad = mpVocabulary->loadFromTextFile(strVocFile); else bVocLoad = mpVocabulary->loadFromBinaryFile(strVocFile);将新的79行中的
cerr << "Falied to open at: " << strVocFile << endl;改为
cerr << "Failed to open at: " << strVocFile << endl;将新的82行中的
cout << "Vocabulary loaded!" << endl << endl;改为
printf("Vocabulary loaded in %.2fs\n", (double)(clock() - tStart)/CLOCKS_PER_SEC);根目录新增文件夹tools并新建文件bin_vocabulary.cc
#include <time.h> #include "ORBVocabulary.h" using namespace std; bool load_as_text(ORB_SLAM2::ORBVocabulary* voc, const std::string infile) { clock_t tStart = clock(); bool res = voc->loadFromTextFile(infile); printf("Loading fom text: %.2fs\n", (double)(clock() - tStart)/CLOCKS_PER_SEC); return res; } void load_as_xml(ORB_SLAM2::ORBVocabulary* voc, const std::string infile) { clock_t tStart = clock(); voc->load(infile); printf("Loading fom xml: %.2fs\n", (double)(clock() - tStart)/CLOCKS_PER_SEC); } void load_as_binary(ORB_SLAM2::ORBVocabulary* voc, const std::string infile) { clock_t tStart = clock(); voc->loadFromBinaryFile(infile); printf("Loading fom binary: %.2fs\n", (double)(clock() - tStart)/CLOCKS_PER_SEC); } void save_as_xml(ORB_SLAM2::ORBVocabulary* voc, const std::string outfile) { clock_t tStart = clock(); voc->save(outfile); printf("Saving as xml: %.2fs\n", (double)(clock() - tStart)/CLOCKS_PER_SEC); } void save_as_text(ORB_SLAM2::ORBVocabulary* voc, const std::string outfile) { clock_t tStart = clock(); voc->saveToTextFile(outfile); printf("Saving as text: %.2fs\n", (double)(clock() - tStart)/CLOCKS_PER_SEC); } void save_as_binary(ORB_SLAM2::ORBVocabulary* voc, const std::string outfile) { clock_t tStart = clock(); voc->saveToBinaryFile(outfile); printf("Saving as binary: %.2fs\n", (double)(clock() - tStart)/CLOCKS_PER_SEC); } int main(int argc, char **argv) { cout << "BoW load/save benchmark" << endl; ORB_SLAM2::ORBVocabulary* voc = new ORB_SLAM2::ORBVocabulary(); load_as_text(voc, "Vocabulary/ORBvoc.txt"); save_as_binary(voc, "Vocabulary/ORBvoc.bin"); return 0; }重新编译ORB-SLAM2后，运行数据集进行测试
加载时间从8秒多减少到0.12秒
Loading fom text: 8.57s Saving as binary: 0.12s TUM数据集运行 ./Examples/Monocular/mono_tum Vocabulary/ORBvoc.bin Examples/Monocular/TUMX.yaml PATH_TO_SEQUENCE_FOLDER KITTI数据集运行 ./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.bin Examples/Monocular/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER EuRoC数据集运行对于MH序列，命令：
./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.bin Examples/Monocular/EuRoC.yaml PATH_TO_SEQUENCE_FOLDER/mav0/cam0/data Examples/Monocular/EuRoC_TimeStamps/SEQUENCE.txt对于V1和V2序列，命令：
./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.bin Examples/Monocular/EuRoC.yaml PATH_TO_SEQUENCE/cam0/data Examples/Monocular/EuRoC_TimeStamps/SEQUENCE.txt