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castoryan / ORB-SLAM-Android

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How to add binary version of vocabulary to speed up ORB-SLAM-Android start ? #12

Open TimoTokki opened 7 years ago

TimoTokki commented 7 years ago

In this pull request https://github.com/raulmur/ORB_SLAM2/pull/21, the author converted Vocabulary/ORBvoc.txt to Vocabulary/ORBvoc.bin, which speeds up ORB-SLAM2 start. But in a Android project, how can I do that?

vmhoff commented 7 years ago

Hi I can't open this link, but I've adapted the Alejandro Silvestri project to use a binary vocabulary in my ORB-SLAM-Android project. You just should change the line bool bVocLoad = mpVocabulary->loadFromTextFile(strVocFile); in the System.cc file to this one bool bVocLoad = mpVocabulary->loadFromBinaryFile(strVocFile);. And you should do some changes in the thirdparty DBoW2 library to add the function loadFromBinaryFile, but I guess you can just replace the entire DBoW2 folder for this one: https://github.com/AlejandroSilvestri/os1/tree/PuntosLejanos/Thirdparty/DBoW2

And, of course, you should replace the vocabulary to the binary version one: https://github.com/AlejandroSilvestri/os1/blob/PuntosLejanos/orbVoc.bin

TimoTokki commented 7 years ago

Sorry for that, I made a mistake, and now I have corrected it(https://github.com/raulmur/ORB_SLAM2/pull/21). And，thank you very much