├── CMakeLists.txt ├── Dependencies.md ├── Examples ├── Monocular │ ├── EuRoC.yaml │ ├── EuRoC_TimeStamps │ │ ├── MH01.txt │ │ ├── MH02.txt │ │ ├── MH03.txt │ │ ├── MH04.txt │ │ ├── MH05.txt │ │ ├── V101.txt │ │ ├── V102.txt │ │ ├── V103.txt │ │ ├── V201.txt │ │ ├── V202.txt │ │ └── V203.txt │ ├── KITTI00-02.yaml │ ├── KITTI03.yaml │ ├── KITTI04-12.yaml │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── mono_euroc.cc │ ├── mono_kitti.cc │ └── mono_tum.cc ├── RGB-D │ ├── TUM1.yaml │ ├── TUM2.yaml │ ├── TUM3.yaml │ ├── associations │ │ ├── fr1_desk.txt │ │ ├── fr1_desk2.txt │ │ ├── fr1_room.txt │ │ ├── fr1_xyz.txt │ │ ├── fr2_desk.txt │ │ ├── fr2_xyz.txt │ │ ├── fr3_nstr_tex_near.txt │ │ ├── fr3_office.txt │ │ ├── fr3_office_val.txt │ │ ├── fr3_str_tex_far.txt │ │ └── fr3_str_tex_near.txt │ └── rgbd_tum.cc ├── ROS │ └── ORB_SLAM2 │ │ ├── Asus.yaml │ │ ├── CMakeLists.txt │ │ ├── DenseInput.h │ │ ├── manifest.xml │ │ └── src │ │ ├── ros_mono.cc │ │ ├── ros_rgbd.cc │ │ └── ros_stereo.cc └── Stereo │ ├── EuRoC.yaml │ ├── EuRoC_TimeStamps │ ├── MH01.txt │ ├── MH02.txt │ ├── MH03.txt │ ├── MH04.txt │ ├── MH05.txt │ ├── V101.txt │ ├── V102.txt │ ├── V103.txt │ ├── V201.txt │ ├── V202.txt │ └── V203.txt │ ├── KITTI00-02.yaml │ ├── KITTI03.yaml │ ├── KITTI04-12.yaml │ ├── stereo_euroc.cc │ └── stereo_kitti.cc ├── LICENSE.txt ├── License-gpl.txt ├── README.md ├── Thirdparty ├── DBoW2 │ ├── CMakeLists.txt │ ├── DBoW2 │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── FClass.h │ │ ├── FORB.cpp │ │ ├── FORB.h │ │ ├── FeatureVector.cpp │ │ ├── FeatureVector.h │ │ ├── ScoringObject.cpp │ │ ├── ScoringObject.h │ │ └── TemplatedVocabulary.h │ ├── DUtils │ │ ├── Random.cpp │ │ ├── Random.h │ │ ├── Timestamp.cpp │ │ └── Timestamp.h │ ├── LICENSE.txt │ └── README.txt └── g2o │ ├── CMakeLists.txt │ ├── README.txt │ ├── cmake_modules │ ├── FindBLAS.cmake │ ├── FindEigen3.cmake │ └── FindLAPACK.cmake │ ├── config.h.in │ ├── g2o │ ├── core │ │ ├── base_binary_edge.h │ │ ├── base_binary_edge.hpp │ │ ├── base_edge.h │ │ ├── base_multi_edge.h │ │ ├── base_multi_edge.hpp │ │ ├── base_unary_edge.h │ │ ├── base_unary_edge.hpp │ │ ├── base_vertex.h │ │ ├── base_vertex.hpp │ │ ├── batch_stats.cpp │ │ ├── batch_stats.h │ │ ├── block_solver.h │ │ ├── block_solver.hpp │ │ ├── cache.cpp │ │ ├── cache.h │ │ ├── creators.h │ │ ├── eigen_types.h │ │ ├── estimate_propagator.cpp │ │ ├── estimate_propagator.h │ │ ├── factory.cpp │ │ ├── factory.h │ │ ├── hyper_dijkstra.cpp │ │ ├── hyper_dijkstra.h │ │ ├── hyper_graph.cpp │ │ ├── hyper_graph.h │ │ ├── hyper_graph_action.cpp │ │ ├── hyper_graph_action.h │ │ ├── jacobian_workspace.cpp │ │ ├── jacobian_workspace.h │ │ ├── linear_solver.h │ │ ├── marginal_covariance_cholesky.cpp │ │ ├── marginal_covariance_cholesky.h │ │ ├── matrix_operations.h │ │ ├── matrix_structure.cpp │ │ ├── matrix_structure.h │ │ ├── openmp_mutex.h │ │ ├── optimizable_graph.cpp │ │ ├── optimizable_graph.h │ │ ├── optimization_algorithm.cpp │ │ ├── optimization_algorithm.h │ │ ├── optimization_algorithm_dogleg.cpp │ │ ├── optimization_algorithm_dogleg.h │ │ ├── optimization_algorithm_factory.cpp │ │ ├── optimization_algorithm_factory.h │ │ ├── optimization_algorithm_gauss_newton.cpp │ │ ├── optimization_algorithm_gauss_newton.h │ │ ├── optimization_algorithm_levenberg.cpp │ │ ├── optimization_algorithm_levenberg.h │ │ ├── optimization_algorithm_property.h │ │ ├── optimization_algorithm_with_hessian.cpp │ │ ├── optimization_algorithm_with_hessian.h │ │ ├── parameter.cpp │ │ ├── parameter.h │ │ ├── parameter_container.cpp │ │ ├── parameter_container.h │ │ ├── robust_kernel.cpp │ │ ├── robust_kernel.h │ │ ├── robust_kernel_factory.cpp │ │ ├── robust_kernel_factory.h │ │ ├── robust_kernel_impl.cpp │ │ ├── robust_kernel_impl.h │ │ ├── solver.cpp │ │ ├── solver.h │ │ ├── sparse_block_matrix.h │ │ ├── sparse_block_matrix.hpp │ │ ├── sparse_block_matrix_ccs.h │ │ ├── sparse_block_matrix_diagonal.h │ │ ├── sparse_block_matrix_test.cpp │ │ ├── sparse_optimizer.cpp │ │ └── sparse_optimizer.h │ ├── solvers │ │ ├── linear_solver_dense.h │ │ └── linear_solver_eigen.h │ ├── stuff │ │ ├── color_macros.h │ │ ├── macros.h │ │ ├── misc.h │ │ ├── os_specific.c │ │ ├── os_specific.h │ │ ├── property.cpp │ │ ├── property.h │ │ ├── string_tools.cpp │ │ ├── string_tools.h │ │ ├── timeutil.cpp │ │ └── timeutil.h │ └── types │ │ ├── se3_ops.h │ │ ├── se3_ops.hpp │ │ ├── se3quat.h │ │ ├── sim3.h │ │ ├── types_sba.cpp │ │ ├── types_sba.h │ │ ├── types_seven_dof_expmap.cpp │ │ ├── types_seven_dof_expmap.h │ │ ├── types_six_dof_expmap.cpp │ │ └── types_six_dof_expmap.h │ └── license-bsd.txt ├── Vocabulary └── ORBvoc.txt.tar.gz ├── build.sh ├── cmake_modules └── FindEigen3.cmake ├── include ├── Converter.h ├── Frame.h ├── FrameDrawer.h ├── Initializer.h ├── KeyFrame.h ├── KeyFrameDatabase.h ├── LocalMapping.h ├── LoopClosing.h ├── Map.h ├── MapDrawer.h ├── MapPoint.h ├── ORBVocabulary.h ├── ORBextractor.h ├── ORBmatcher.h ├── Optimizer.h ├── PnPsolver.h ├── Sim3Solver.h ├── System.h ├── Tracking.h └── Viewer.h └── src ├── Converter.cc ├── Frame.cc ├── FrameDrawer.cc ├── Initializer.cc ├── KeyFrame.cc ├── KeyFrameDatabase.cc ├── LocalMapping.cc ├── LoopClosing.cc ├── Map.cc ├── MapDrawer.cc ├── MapPoint.cc ├── ORBextractor.cc ├── ORBmatcher.cc ├── Optimizer.cc ├── PnPsolver.cc ├── Sim3Solver.cc ├── System.cc ├── Tracking.cc └── Viewer.cc /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8) 2 | project(ORB_SLAM2) 3 | 4 | IF(NOT CMAKE_BUILD_TYPE) 5 | SET(CMAKE_BUILD_TYPE Release) 6 | ENDIF() 7 | 8 | MESSAGE("Build type: " ${CMAKE_BUILD_TYPE}) 9 | 10 | set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ") 11 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native") 12 | 13 | # Check C++11 or C++0x support 14 | include(CheckCXXCompilerFlag) 15 | CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) 16 | CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) 17 | if(COMPILER_SUPPORTS_CXX11) 18 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") 19 | add_definitions(-DCOMPILEDWITHC11) 20 | message(STATUS "Using flag -std=c++11.") 21 | elseif(COMPILER_SUPPORTS_CXX0X) 22 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") 23 | add_definitions(-DCOMPILEDWITHC0X) 24 | message(STATUS "Using flag -std=c++0x.") 25 | else() 26 | message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") 27 | endif() 28 | 29 | LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules) 30 | 31 | find_package(OpenCV 3 REQUIRED) 32 | find_package(Eigen3 3.1.0 REQUIRED) 33 | find_package(Pangolin REQUIRED) 34 | 35 | include_directories( 36 | ${PROJECT_SOURCE_DIR} 37 | ${PROJECT_SOURCE_DIR}/include 38 | ${EIGEN3_INCLUDE_DIR} 39 | ${Pangolin_INCLUDE_DIRS} 40 | ) 41 | 42 | set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib) 43 | 44 | add_library(${PROJECT_NAME} SHARED 45 | src/System.cc 46 | src/Tracking.cc 47 | src/LocalMapping.cc 48 | src/LoopClosing.cc 49 | src/ORBextractor.cc 50 | src/ORBmatcher.cc 51 | src/FrameDrawer.cc 52 | src/Converter.cc 53 | src/MapPoint.cc 54 | src/KeyFrame.cc 55 | src/Map.cc 56 | src/MapDrawer.cc 57 | src/Optimizer.cc 58 | src/PnPsolver.cc 59 | src/Frame.cc 60 | src/KeyFrameDatabase.cc 61 | src/Sim3Solver.cc 62 | src/Initializer.cc 63 | src/Viewer.cc 64 | ) 65 | 66 | target_link_libraries(${PROJECT_NAME} 67 | ${OpenCV_LIBS} 68 | ${EIGEN3_LIBS} 69 | ${Pangolin_LIBRARIES} 70 | ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so 71 | ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so 72 | ) 73 | 74 | # Build examples 75 | 76 | set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D) 77 | 78 | add_executable(rgbd_tum 79 | Examples/RGB-D/rgbd_tum.cc) 80 | target_link_libraries(rgbd_tum ${PROJECT_NAME} ${OpenCV_LIBS} opencv_core opencv_videoio opencv_highgui opencv_imgcodecs ) 81 | 82 | set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo) 83 | 84 | add_executable(stereo_kitti 85 | Examples/Stereo/stereo_kitti.cc) 86 | target_link_libraries(stereo_kitti ${PROJECT_NAME}) 87 | 88 | set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular) 89 | 90 | add_executable(mono_tum 91 | Examples/Monocular/mono_tum.cc) 92 | target_link_libraries(mono_tum ${PROJECT_NAME}) 93 | 94 | add_executable(mono_kitti 95 | Examples/Monocular/mono_kitti.cc) 96 | target_link_libraries(mono_kitti ${PROJECT_NAME}) 97 | 98 | -------------------------------------------------------------------------------- /Dependencies.md: -------------------------------------------------------------------------------- 1 | ##List of Known Dependencies 2 | ###ORB-SLAM2 version 1.0 3 | 4 | In this document we list all the pieces of code included by ORB-SLAM2 and linked libraries which are not property of the authors of ORB-SLAM2. 5 | 6 | 7 | #####Code in **src** and **include** folders 8 | 9 | * *ORBextractor.cc*. 10 | This is a modified version of orb.cpp of OpenCV library. The original code is BSD licensed. 11 | 12 | * *PnPsolver.h, PnPsolver.cc*. 13 | This is a modified version of the epnp.h and epnp.cc of Vincent Lepetit. 14 | This code can be found in popular BSD licensed computer vision libraries as [OpenCV](https://github.com/Itseez/opencv/blob/master/modules/calib3d/src/epnp.cpp) and [OpenGV](https://github.com/laurentkneip/opengv/blob/master/src/absolute_pose/modules/Epnp.cpp). The original code is FreeBSD. 15 | 16 | * Function *ORBmatcher::DescriptorDistance* in *ORBmatcher.cc*. 17 | The code is from: http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel. 18 | The code is in the public domain. 19 | 20 | #####Code in Thirdparty folder 21 | 22 | * All code in **DBoW2** folder. 23 | This is a modified version of [DBoW2](https://github.com/dorian3d/DBoW2) and [DLib](https://github.com/dorian3d/DLib) library. All files included are BSD licensed. 24 | 25 | * All code in **g2o** folder. 26 | This is a modified version of [g2o](https://github.com/RainerKuemmerle/g2o). All files included are BSD licensed. 27 | 28 | #####Library dependencies 29 | 30 | * **Pangolin (visualization and user interface)**. 31 | [MIT license](https://en.wikipedia.org/wiki/MIT_License). 32 | 33 | * **OpenCV**. 34 | BSD license. 35 | 36 | * **Eigen3**. 37 | For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3. 38 | 39 | * **BLAS** (required by g2o). 40 | [Freely-available software](http://www.netlib.org/blas/#_licensing). 41 | 42 | * **LAPACK**(required by g2o). 43 | BSD license. 44 | 45 | * **ROS (Optional, only if you build Examples/ROS)**. 46 | BSD license. In the manifest.xml the only declared package dependencies are roscpp, tf, sensor_msgs, image_transport, cv_bridge, which are all BSD licensed. 47 | 48 | 49 | 50 | 51 | -------------------------------------------------------------------------------- /Examples/Monocular/EuRoC.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 458.654 9 | Camera.fy: 457.296 10 | Camera.cx: 367.215 11 | Camera.cy: 248.375 12 | 13 | Camera.k1: -0.28340811 14 | Camera.k2: 0.07395907 15 | Camera.p1: 0.00019359 16 | Camera.p2: 1.76187114e-05 17 | 18 | # Camera frames per second 19 | Camera.fps: 20.0 20 | 21 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 22 | Camera.RGB: 1 23 | 24 | #-------------------------------------------------------------------------------------------- 25 | # ORB Parameters 26 | #-------------------------------------------------------------------------------------------- 27 | 28 | # ORB Extractor: Number of features per image 29 | ORBextractor.nFeatures: 1000 30 | 31 | # ORB Extractor: Scale factor between levels in the scale pyramid 32 | ORBextractor.scaleFactor: 1.2 33 | 34 | # ORB Extractor: Number of levels in the scale pyramid 35 | ORBextractor.nLevels: 8 36 | 37 | # ORB Extractor: Fast threshold 38 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 39 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 40 | # You can lower these values if your images have low contrast 41 | ORBextractor.iniThFAST: 20 42 | ORBextractor.minThFAST: 7 43 | 44 | #-------------------------------------------------------------------------------------------- 45 | # Viewer Parameters 46 | #--------------------------------------------------------------------------------------------- 47 | Viewer.KeyFrameSize: 0.05 48 | Viewer.KeyFrameLineWidth: 1 49 | Viewer.GraphLineWidth: 0.9 50 | Viewer.PointSize:2 51 | Viewer.CameraSize: 0.08 52 | Viewer.CameraLineWidth: 3 53 | Viewer.ViewpointX: 0 54 | Viewer.ViewpointY: -0.7 55 | Viewer.ViewpointZ: -1.8 56 | Viewer.ViewpointF: 500 57 | 58 | -------------------------------------------------------------------------------- /Examples/Monocular/KITTI00-02.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 718.856 9 | Camera.fy: 718.856 10 | Camera.cx: 607.1928 11 | Camera.cy: 185.2157 12 | 13 | Camera.k1: 0.0 14 | Camera.k2: 0.0 15 | Camera.p1: 0.0 16 | Camera.p2: 0.0 17 | 18 | # Camera frames per second 19 | Camera.fps: 10.0 20 | 21 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 22 | Camera.RGB: 1 23 | 24 | #-------------------------------------------------------------------------------------------- 25 | # ORB Parameters 26 | #-------------------------------------------------------------------------------------------- 27 | 28 | # ORB Extractor: Number of features per image 29 | ORBextractor.nFeatures: 2000 30 | 31 | # ORB Extractor: Scale factor between levels in the scale pyramid 32 | ORBextractor.scaleFactor: 1.2 33 | 34 | # ORB Extractor: Number of levels in the scale pyramid 35 | ORBextractor.nLevels: 8 36 | 37 | # ORB Extractor: Fast threshold 38 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 39 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 40 | # You can lower these values if your images have low contrast 41 | ORBextractor.iniThFAST: 20 42 | ORBextractor.minThFAST: 7 43 | 44 | #-------------------------------------------------------------------------------------------- 45 | # Viewer Parameters 46 | #-------------------------------------------------------------------------------------------- 47 | Viewer.KeyFrameSize: 0.1 48 | Viewer.KeyFrameLineWidth: 1 49 | Viewer.GraphLineWidth: 1 50 | Viewer.PointSize:2 51 | Viewer.CameraSize: 0.15 52 | Viewer.CameraLineWidth: 2 53 | Viewer.ViewpointX: 0 54 | Viewer.ViewpointY: -10 55 | Viewer.ViewpointZ: -0.1 56 | Viewer.ViewpointF: 2000 57 | 58 | -------------------------------------------------------------------------------- /Examples/Monocular/KITTI03.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 721.5377 9 | Camera.fy: 721.5377 10 | Camera.cx: 609.5593 11 | Camera.cy: 172.854 12 | 13 | Camera.k1: 0.0 14 | Camera.k2: 0.0 15 | Camera.p1: 0.0 16 | Camera.p2: 0.0 17 | 18 | # Camera frames per second 19 | Camera.fps: 10.0 20 | 21 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 22 | Camera.RGB: 1 23 | 24 | #-------------------------------------------------------------------------------------------- 25 | # ORB Parameters 26 | #-------------------------------------------------------------------------------------------- 27 | 28 | # ORB Extractor: Number of features per image 29 | ORBextractor.nFeatures: 2000 30 | 31 | # ORB Extractor: Scale factor between levels in the scale pyramid 32 | ORBextractor.scaleFactor: 1.2 33 | 34 | # ORB Extractor: Number of levels in the scale pyramid 35 | ORBextractor.nLevels: 8 36 | 37 | # ORB Extractor: Fast threshold 38 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 39 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 40 | # You can lower these values if your images have low contrast 41 | ORBextractor.iniThFAST: 20 42 | ORBextractor.minThFAST: 7 43 | 44 | #-------------------------------------------------------------------------------------------- 45 | # Viewer Parameters 46 | #-------------------------------------------------------------------------------------------- 47 | Viewer.KeyFrameSize: 0.1 48 | Viewer.KeyFrameLineWidth: 1 49 | Viewer.GraphLineWidth: 1 50 | Viewer.PointSize:2 51 | Viewer.CameraSize: 0.15 52 | Viewer.CameraLineWidth: 2 53 | Viewer.ViewpointX: 0 54 | Viewer.ViewpointY: -10 55 | Viewer.ViewpointZ: -0.1 56 | Viewer.ViewpointF: 2000 57 | 58 | -------------------------------------------------------------------------------- /Examples/Monocular/KITTI04-12.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 707.0912 9 | Camera.fy: 707.0912 10 | Camera.cx: 601.8873 11 | Camera.cy: 183.1104 12 | 13 | Camera.k1: 0.0 14 | Camera.k2: 0.0 15 | Camera.p1: 0.0 16 | Camera.p2: 0.0 17 | 18 | # Camera frames per second 19 | Camera.fps: 10.0 20 | 21 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 22 | Camera.RGB: 1 23 | 24 | #-------------------------------------------------------------------------------------------- 25 | # ORB Parameters 26 | #-------------------------------------------------------------------------------------------- 27 | 28 | # ORB Extractor: Number of features per image 29 | ORBextractor.nFeatures: 2000 30 | 31 | # ORB Extractor: Scale factor between levels in the scale pyramid 32 | ORBextractor.scaleFactor: 1.2 33 | 34 | # ORB Extractor: Number of levels in the scale pyramid 35 | ORBextractor.nLevels: 8 36 | 37 | # ORB Extractor: Fast threshold 38 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 39 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 40 | # You can lower these values if your images have low contrast 41 | ORBextractor.iniThFAST: 20 42 | ORBextractor.minThFAST: 7 43 | 44 | #-------------------------------------------------------------------------------------------- 45 | # Viewer Parameters 46 | #-------------------------------------------------------------------------------------------- 47 | Viewer.KeyFrameSize: 0.1 48 | Viewer.KeyFrameLineWidth: 1 49 | Viewer.GraphLineWidth: 1 50 | Viewer.PointSize:2 51 | Viewer.CameraSize: 0.15 52 | Viewer.CameraLineWidth: 2 53 | Viewer.ViewpointX: 0 54 | Viewer.ViewpointY: -10 55 | Viewer.ViewpointZ: -0.1 56 | Viewer.ViewpointF: 2000 57 | 58 | -------------------------------------------------------------------------------- /Examples/Monocular/TUM1.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 517.306408 9 | Camera.fy: 516.469215 10 | Camera.cx: 318.643040 11 | Camera.cy: 255.313989 12 | 13 | Camera.k1: 0.262383 14 | Camera.k2: -0.953104 15 | Camera.p1: -0.005358 16 | Camera.p2: 0.002628 17 | Camera.k3: 1.163314 18 | 19 | # Camera frames per second 20 | Camera.fps: 30.0 21 | 22 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 23 | Camera.RGB: 1 24 | 25 | #-------------------------------------------------------------------------------------------- 26 | # ORB Parameters 27 | #-------------------------------------------------------------------------------------------- 28 | 29 | # ORB Extractor: Number of features per image 30 | ORBextractor.nFeatures: 1000 31 | 32 | # ORB Extractor: Scale factor between levels in the scale pyramid 33 | ORBextractor.scaleFactor: 1.2 34 | 35 | # ORB Extractor: Number of levels in the scale pyramid 36 | ORBextractor.nLevels: 8 37 | 38 | # ORB Extractor: Fast threshold 39 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 40 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 41 | # You can lower these values if your images have low contrast 42 | ORBextractor.iniThFAST: 20 43 | ORBextractor.minThFAST: 7 44 | 45 | #-------------------------------------------------------------------------------------------- 46 | # Viewer Parameters 47 | #-------------------------------------------------------------------------------------------- 48 | Viewer.KeyFrameSize: 0.05 49 | Viewer.KeyFrameLineWidth: 1 50 | Viewer.GraphLineWidth: 0.9 51 | Viewer.PointSize:2 52 | Viewer.CameraSize: 0.08 53 | Viewer.CameraLineWidth: 3 54 | Viewer.ViewpointX: 0 55 | Viewer.ViewpointY: -0.7 56 | Viewer.ViewpointZ: -1.8 57 | Viewer.ViewpointF: 500 58 | 59 | -------------------------------------------------------------------------------- /Examples/Monocular/TUM2.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 520.908620 9 | Camera.fy: 521.007327 10 | Camera.cx: 325.141442 11 | Camera.cy: 249.701764 12 | 13 | Camera.k1: 0.231222 14 | Camera.k2: -0.784899 15 | Camera.p1: -0.003257 16 | Camera.p2: -0.000105 17 | Camera.k3: 0.917205 18 | 19 | # Camera frames per second 20 | Camera.fps: 30.0 21 | 22 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 23 | Camera.RGB: 1 24 | 25 | #-------------------------------------------------------------------------------------------- 26 | # ORB Parameters 27 | #-------------------------------------------------------------------------------------------- 28 | 29 | # ORB Extractor: Number of features per image 30 | ORBextractor.nFeatures: 1000 31 | 32 | # ORB Extractor: Scale factor between levels in the scale pyramid 33 | ORBextractor.scaleFactor: 1.2 34 | 35 | # ORB Extractor: Number of levels in the scale pyramid 36 | ORBextractor.nLevels: 8 37 | 38 | # ORB Extractor: Fast threshold 39 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 40 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 41 | # You can lower these values if your images have low contrast 42 | ORBextractor.iniThFAST: 20 43 | ORBextractor.minThFAST: 7 44 | 45 | #-------------------------------------------------------------------------------------------- 46 | # Viewer Parameters 47 | #-------------------------------------------------------------------------------------------- 48 | Viewer.KeyFrameSize: 0.05 49 | Viewer.KeyFrameLineWidth: 1 50 | Viewer.GraphLineWidth: 0.9 51 | Viewer.PointSize:2 52 | Viewer.CameraSize: 0.08 53 | Viewer.CameraLineWidth: 3 54 | Viewer.ViewpointX: 0 55 | Viewer.ViewpointY: -0.7 56 | Viewer.ViewpointZ: -1.8 57 | Viewer.ViewpointF: 500 58 | 59 | -------------------------------------------------------------------------------- /Examples/Monocular/TUM3.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 535.4 9 | Camera.fy: 539.2 10 | Camera.cx: 320.1 11 | Camera.cy: 247.6 12 | 13 | Camera.k1: 0.0 14 | Camera.k2: 0.0 15 | Camera.p1: 0.0 16 | Camera.p2: 0.0 17 | 18 | # Camera frames per second 19 | Camera.fps: 30.0 20 | 21 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 22 | Camera.RGB: 1 23 | 24 | #-------------------------------------------------------------------------------------------- 25 | # ORB Parameters 26 | #-------------------------------------------------------------------------------------------- 27 | 28 | # ORB Extractor: Number of features per image 29 | ORBextractor.nFeatures: 1000 30 | 31 | # ORB Extractor: Scale factor between levels in the scale pyramid 32 | ORBextractor.scaleFactor: 1.2 33 | 34 | # ORB Extractor: Number of levels in the scale pyramid 35 | ORBextractor.nLevels: 8 36 | 37 | # ORB Extractor: Fast threshold 38 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 39 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 40 | # You can lower these values if your images have low contrast 41 | ORBextractor.iniThFAST: 20 42 | ORBextractor.minThFAST: 7 43 | 44 | #-------------------------------------------------------------------------------------------- 45 | # Viewer Parameters 46 | #-------------------------------------------------------------------------------------------- 47 | Viewer.KeyFrameSize: 0.05 48 | Viewer.KeyFrameLineWidth: 1 49 | Viewer.GraphLineWidth: 0.9 50 | Viewer.PointSize:2 51 | Viewer.CameraSize: 0.08 52 | Viewer.CameraLineWidth: 3 53 | Viewer.ViewpointX: 0 54 | Viewer.ViewpointY: -0.7 55 | Viewer.ViewpointZ: -1.8 56 | Viewer.ViewpointF: 500 57 | 58 | -------------------------------------------------------------------------------- /Examples/RGB-D/TUM1.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 517.306408 9 | Camera.fy: 516.469215 10 | Camera.cx: 318.643040 11 | Camera.cy: 255.313989 12 | 13 | Camera.k1: 0.262383 14 | Camera.k2: -0.953104 15 | Camera.p1: -0.005358 16 | Camera.p2: 0.002628 17 | Camera.k3: 1.163314 18 | 19 | Camera.width: 640 20 | Camera.height: 480 21 | 22 | # Camera frames per second 23 | Camera.fps: 30.0 24 | 25 | # IR projector baseline times fx (aprox.) 26 | Camera.bf: 40.0 27 | 28 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 29 | Camera.RGB: 1 30 | 31 | # Close/Far threshold. Baseline times. 32 | ThDepth: 40.0 33 | 34 | # Deptmap values factor 35 | DepthMapFactor: 5000.0 36 | 37 | #-------------------------------------------------------------------------------------------- 38 | # ORB Parameters 39 | #-------------------------------------------------------------------------------------------- 40 | 41 | # ORB Extractor: Number of features per image 42 | ORBextractor.nFeatures: 1000 43 | 44 | # ORB Extractor: Scale factor between levels in the scale pyramid 45 | ORBextractor.scaleFactor: 1.2 46 | 47 | # ORB Extractor: Number of levels in the scale pyramid 48 | ORBextractor.nLevels: 8 49 | 50 | # ORB Extractor: Fast threshold 51 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 52 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 53 | # You can lower these values if your images have low contrast 54 | ORBextractor.iniThFAST: 20 55 | ORBextractor.minThFAST: 7 56 | 57 | #-------------------------------------------------------------------------------------------- 58 | # Viewer Parameters 59 | #-------------------------------------------------------------------------------------------- 60 | Viewer.KeyFrameSize: 0.05 61 | Viewer.KeyFrameLineWidth: 1 62 | Viewer.GraphLineWidth: 0.9 63 | Viewer.PointSize:2 64 | Viewer.CameraSize: 0.08 65 | Viewer.CameraLineWidth: 3 66 | Viewer.ViewpointX: 0 67 | Viewer.ViewpointY: -0.7 68 | Viewer.ViewpointZ: -1.8 69 | Viewer.ViewpointF: 500 70 | 71 | -------------------------------------------------------------------------------- /Examples/RGB-D/TUM2.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 520.908620 9 | Camera.fy: 521.007327 10 | Camera.cx: 325.141442 11 | Camera.cy: 249.701764 12 | 13 | Camera.k1: 0.231222 14 | Camera.k2: -0.784899 15 | Camera.p1: -0.003257 16 | Camera.p2: -0.000105 17 | Camera.k3: 0.917205 18 | 19 | Camera.width: 640 20 | Camera.height: 480 21 | 22 | # Camera frames per second 23 | Camera.fps: 30.0 24 | 25 | # IR projector baseline times fx (aprox.) 26 | Camera.bf: 40.0 27 | 28 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 29 | Camera.RGB: 1 30 | 31 | # Close/Far threshold. Baseline times. 32 | ThDepth: 40.0 33 | 34 | # Deptmap values factor 35 | DepthMapFactor: 5208.0 36 | 37 | #-------------------------------------------------------------------------------------------- 38 | # ORB Parameters 39 | #-------------------------------------------------------------------------------------------- 40 | 41 | # ORB Extractor: Number of features per image 42 | ORBextractor.nFeatures: 1000 43 | 44 | # ORB Extractor: Scale factor between levels in the scale pyramid 45 | ORBextractor.scaleFactor: 1.2 46 | 47 | # ORB Extractor: Number of levels in the scale pyramid 48 | ORBextractor.nLevels: 8 49 | 50 | # ORB Extractor: Fast threshold 51 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 52 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 53 | # You can lower these values if your images have low contrast 54 | ORBextractor.iniThFAST: 20 55 | ORBextractor.minThFAST: 7 56 | 57 | #-------------------------------------------------------------------------------------------- 58 | # Viewer Parameters 59 | #-------------------------------------------------------------------------------------------- 60 | Viewer.KeyFrameSize: 0.05 61 | Viewer.KeyFrameLineWidth: 1 62 | Viewer.GraphLineWidth: 0.9 63 | Viewer.PointSize:2 64 | Viewer.CameraSize: 0.08 65 | Viewer.CameraLineWidth: 3 66 | Viewer.ViewpointX: 0 67 | Viewer.ViewpointY: -0.7 68 | Viewer.ViewpointZ: -1.8 69 | Viewer.ViewpointF: 500 70 | 71 | -------------------------------------------------------------------------------- /Examples/RGB-D/TUM3.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 535.4 9 | Camera.fy: 539.2 10 | Camera.cx: 320.1 11 | Camera.cy: 247.6 12 | 13 | Camera.k1: 0.0 14 | Camera.k2: 0.0 15 | Camera.p1: 0.0 16 | Camera.p2: 0.0 17 | 18 | Camera.width: 640 19 | Camera.height: 480 20 | 21 | # Camera frames per second 22 | Camera.fps: 30.0 23 | 24 | # IR projector baseline times fx (aprox.) 25 | Camera.bf: 40.0 26 | 27 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 28 | Camera.RGB: 1 29 | 30 | # Close/Far threshold. Baseline times. 31 | ThDepth: 40.0 32 | 33 | # Deptmap values factor 34 | DepthMapFactor: 5000.0 35 | 36 | #-------------------------------------------------------------------------------------------- 37 | # ORB Parameters 38 | #-------------------------------------------------------------------------------------------- 39 | 40 | # ORB Extractor: Number of features per image 41 | ORBextractor.nFeatures: 1000 42 | 43 | # ORB Extractor: Scale factor between levels in the scale pyramid 44 | ORBextractor.scaleFactor: 1.2 45 | 46 | # ORB Extractor: Number of levels in the scale pyramid 47 | ORBextractor.nLevels: 8 48 | 49 | # ORB Extractor: Fast threshold 50 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 51 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 52 | # You can lower these values if your images have low contrast 53 | ORBextractor.iniThFAST: 20 54 | ORBextractor.minThFAST: 7 55 | 56 | #-------------------------------------------------------------------------------------------- 57 | # Viewer Parameters 58 | #-------------------------------------------------------------------------------------------- 59 | Viewer.KeyFrameSize: 0.05 60 | Viewer.KeyFrameLineWidth: 1 61 | Viewer.GraphLineWidth: 0.9 62 | Viewer.PointSize:2 63 | Viewer.CameraSize: 0.08 64 | Viewer.CameraLineWidth: 3 65 | Viewer.ViewpointX: 0 66 | Viewer.ViewpointY: -0.7 67 | Viewer.ViewpointZ: -1.8 68 | Viewer.ViewpointF: 500 69 | 70 | -------------------------------------------------------------------------------- /Examples/ROS/ORB_SLAM2/Asus.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 535.4 9 | Camera.fy: 539.2 10 | Camera.cx: 320.1 11 | Camera.cy: 247.6 12 | 13 | Camera.k1: 0.0 14 | Camera.k2: 0.0 15 | Camera.p1: 0.0 16 | Camera.p2: 0.0 17 | 18 | Camera.width: 640 19 | Camera.height: 480 20 | 21 | # Camera frames per second 22 | Camera.fps: 30.0 23 | 24 | # IR projector baseline times fx (aprox.) 25 | Camera.bf: 40.0 26 | 27 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 28 | Camera.RGB: 1 29 | 30 | # Close/Far threshold. Baseline times. 31 | ThDepth: 40.0 32 | 33 | # Deptmap values factor 34 | DepthMapFactor: 1.0 35 | 36 | #-------------------------------------------------------------------------------------------- 37 | # ORB Parameters 38 | #-------------------------------------------------------------------------------------------- 39 | 40 | # ORB Extractor: Number of features per image 41 | ORBextractor.nFeatures: 1000 42 | 43 | # ORB Extractor: Scale factor between levels in the scale pyramid 44 | ORBextractor.scaleFactor: 1.2 45 | 46 | # ORB Extractor: Number of levels in the scale pyramid 47 | ORBextractor.nLevels: 8 48 | 49 | # ORB Extractor: Fast threshold 50 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 51 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 52 | # You can lower these values if your images have low contrast 53 | ORBextractor.iniThFAST: 20 54 | ORBextractor.minThFAST: 7 55 | 56 | #-------------------------------------------------------------------------------------------- 57 | # Viewer Parameters 58 | #-------------------------------------------------------------------------------------------- 59 | Viewer.KeyFrameSize: 0.05 60 | Viewer.KeyFrameLineWidth: 1 61 | Viewer.GraphLineWidth: 0.9 62 | Viewer.PointSize:2 63 | Viewer.CameraSize: 0.08 64 | Viewer.CameraLineWidth: 3 65 | Viewer.ViewpointX: 0 66 | Viewer.ViewpointY: -0.7 67 | Viewer.ViewpointZ: -1.8 68 | Viewer.ViewpointF: 500 69 | 70 | -------------------------------------------------------------------------------- /Examples/ROS/ORB_SLAM2/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.4.6) 2 | include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) 3 | 4 | rosbuild_init() 5 | 6 | IF(NOT ROS_BUILD_TYPE) 7 | SET(ROS_BUILD_TYPE Release) 8 | ENDIF() 9 | 10 | MESSAGE("Build type: " ${ROS_BUILD_TYPE}) 11 | 12 | set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ") 13 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native") 14 | 15 | # Check C++11 or C++0x support 16 | include(CheckCXXCompilerFlag) 17 | CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) 18 | CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) 19 | if(COMPILER_SUPPORTS_CXX11) 20 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") 21 | add_definitions(-DCOMPILEDWITHC11) 22 | message(STATUS "Using flag -std=c++11.") 23 | elseif(COMPILER_SUPPORTS_CXX0X) 24 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") 25 | add_definitions(-DCOMPILEDWITHC0X) 26 | message(STATUS "Using flag -std=c++0x.") 27 | else() 28 | message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") 29 | endif() 30 | 31 | LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules) 32 | 33 | find_package(OpenCV 3 REQUIRED) 34 | find_package(Eigen3 3.1.0 REQUIRED) 35 | find_package(Pangolin REQUIRED) 36 | 37 | include_directories( 38 | ${PROJECT_SOURCE_DIR} 39 | ${PROJECT_SOURCE_DIR}/../../../ 40 | ${PROJECT_SOURCE_DIR}/../../../include 41 | ${Pangolin_INCLUDE_DIRS} 42 | ) 43 | 44 | set(LIBS 45 | ${OpenCV_LIBS} 46 | ${EIGEN3_LIBS} 47 | ${Pangolin_LIBRARIES} 48 | ${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so 49 | ${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so 50 | ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so 51 | ) 52 | 53 | # Node for monocular camera 54 | rosbuild_add_executable(Mono 55 | src/ros_mono.cc 56 | ) 57 | 58 | target_link_libraries(Mono 59 | ${LIBS} 60 | ) 61 | 62 | # Node for stereo camera 63 | rosbuild_add_executable(Stereo 64 | src/ros_stereo.cc 65 | ) 66 | 67 | target_link_libraries(Stereo 68 | ${LIBS} 69 | ) 70 | 71 | # Node for RGB-D camera 72 | rosbuild_add_executable(RGBD 73 | src/ros_rgbd.cc 74 | ) 75 | 76 | target_link_libraries(RGBD 77 | ${LIBS} 78 | ) 79 | 80 | -------------------------------------------------------------------------------- /Examples/ROS/ORB_SLAM2/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | ORB_SLAM2 5 | 6 | 7 | Raul Mur-Artal 8 | GPLv3 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | 22 | #include 23 | #include 24 | #include 25 | #include 26 | 27 | #include 28 | #include 29 | #include 30 | #include 31 | #include 32 | 33 | #include 34 | 35 | #include"../../../include/System.h" 36 | 37 | using namespace std; 38 | 39 | class ImageGrabber 40 | { 41 | public: 42 | ImageGrabber(ORB_SLAM2::System* pSLAM):mpSLAM(pSLAM){} 43 | 44 | void GrabRGBD(const sensor_msgs::ImageConstPtr& msgRGB,const sensor_msgs::ImageConstPtr& msgD); 45 | 46 | ORB_SLAM2::System* mpSLAM; 47 | }; 48 | 49 | int main(int argc, char **argv) 50 | { 51 | ros::init(argc, argv, "RGBD"); 52 | ros::start(); 53 | 54 | if(argc != 3) 55 | { 56 | cerr << endl << "Usage: rosrun ORB_SLAM2 RGBD path_to_vocabulary path_to_settings" << endl; 57 | ros::shutdown(); 58 | return 1; 59 | } 60 | 61 | // Create SLAM system. It initializes all system threads and gets ready to process frames. 62 | ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::RGBD,true); 63 | 64 | ImageGrabber igb(&SLAM); 65 | 66 | ros::NodeHandle nh; 67 | 68 | message_filters::Subscriber rgb_sub(nh, "/camera/rgb/image_raw", 1); 69 | message_filters::Subscriber depth_sub(nh, "camera/depth_registered/image_raw", 1); 70 | typedef message_filters::sync_policies::ApproximateTime sync_pol; 71 | message_filters::Synchronizer sync(sync_pol(10), rgb_sub,depth_sub); 72 | sync.registerCallback(boost::bind(&ImageGrabber::GrabRGBD,&igb,_1,_2)); 73 | 74 | ros::spin(); 75 | 76 | // Stop all threads 77 | SLAM.Shutdown(); 78 | 79 | // Save camera trajectory 80 | SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt"); 81 | 82 | ros::shutdown(); 83 | 84 | return 0; 85 | } 86 | 87 | void ImageGrabber::GrabRGBD(const sensor_msgs::ImageConstPtr& msgRGB,const sensor_msgs::ImageConstPtr& msgD) 88 | { 89 | // Copy the ros image message to cv::Mat. 90 | cv_bridge::CvImageConstPtr cv_ptrRGB; 91 | try 92 | { 93 | cv_ptrRGB = cv_bridge::toCvShare(msgRGB); 94 | } 95 | catch (cv_bridge::Exception& e) 96 | { 97 | ROS_ERROR("cv_bridge exception: %s", e.what()); 98 | return; 99 | } 100 | 101 | cv_bridge::CvImageConstPtr cv_ptrD; 102 | try 103 | { 104 | cv_ptrD = cv_bridge::toCvShare(msgD); 105 | } 106 | catch (cv_bridge::Exception& e) 107 | { 108 | ROS_ERROR("cv_bridge exception: %s", e.what()); 109 | return; 110 | } 111 | 112 | mpSLAM->TrackRGBD(cv_ptrRGB->image,cv_ptrD->image,cv_ptrRGB->header.stamp.toSec()); 113 | } 114 | 115 | 116 | -------------------------------------------------------------------------------- /Examples/Stereo/EuRoC.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 435.2046959714599 9 | Camera.fy: 435.2046959714599 10 | Camera.cx: 367.4517211914062 11 | Camera.cy: 252.2008514404297 12 | 13 | Camera.k1: 0.0 14 | Camera.k2: 0.0 15 | Camera.p1: 0.0 16 | Camera.p2: 0.0 17 | 18 | Camera.width: 752 19 | Camera.height: 480 20 | 21 | # Camera frames per second 22 | Camera.fps: 20.0 23 | 24 | # stereo baseline times fx 25 | Camera.bf: 47.90639384423901 26 | 27 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 28 | Camera.RGB: 1 29 | 30 | # Close/Far threshold. Baseline times. 31 | ThDepth: 35 32 | 33 | #-------------------------------------------------------------------------------------------- 34 | # Stereo Rectification. Only if you need to pre-rectify the images. 35 | # Camera.fx, .fy, etc must be the same as in LEFT.P 36 | #-------------------------------------------------------------------------------------------- 37 | LEFT.height: 480 38 | LEFT.width: 752 39 | LEFT.D: !!opencv-matrix 40 | rows: 1 41 | cols: 5 42 | dt: d 43 | data:[-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0] 44 | LEFT.K: !!opencv-matrix 45 | rows: 3 46 | cols: 3 47 | dt: d 48 | data: [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 0.0, 0.0, 1.0] 49 | LEFT.R: !!opencv-matrix 50 | rows: 3 51 | cols: 3 52 | dt: d 53 | data: [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176] 54 | LEFT.P: !!opencv-matrix 55 | rows: 3 56 | cols: 4 57 | dt: d 58 | data: [435.2046959714599, 0, 367.4517211914062, 0, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0] 59 | 60 | RIGHT.height: 480 61 | RIGHT.width: 752 62 | RIGHT.D: !!opencv-matrix 63 | rows: 1 64 | cols: 5 65 | dt: d 66 | data:[-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0] 67 | RIGHT.K: !!opencv-matrix 68 | rows: 3 69 | cols: 3 70 | dt: d 71 | data: [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 0.0, 0.0, 1] 72 | RIGHT.R: !!opencv-matrix 73 | rows: 3 74 | cols: 3 75 | dt: d 76 | data: [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644] 77 | RIGHT.P: !!opencv-matrix 78 | rows: 3 79 | cols: 4 80 | dt: d 81 | data: [435.2046959714599, 0, 367.4517211914062, -47.90639384423901, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0] 82 | 83 | #-------------------------------------------------------------------------------------------- 84 | # ORB Parameters 85 | #-------------------------------------------------------------------------------------------- 86 | 87 | # ORB Extractor: Number of features per image 88 | ORBextractor.nFeatures: 1200 89 | 90 | # ORB Extractor: Scale factor between levels in the scale pyramid 91 | ORBextractor.scaleFactor: 1.2 92 | 93 | # ORB Extractor: Number of levels in the scale pyramid 94 | ORBextractor.nLevels: 8 95 | 96 | # ORB Extractor: Fast threshold 97 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 98 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 99 | # You can lower these values if your images have low contrast 100 | ORBextractor.iniThFAST: 20 101 | ORBextractor.minThFAST: 7 102 | 103 | #-------------------------------------------------------------------------------------------- 104 | # Viewer Parameters 105 | #-------------------------------------------------------------------------------------------- 106 | Viewer.KeyFrameSize: 0.05 107 | Viewer.KeyFrameLineWidth: 1 108 | Viewer.GraphLineWidth: 0.9 109 | Viewer.PointSize:2 110 | Viewer.CameraSize: 0.08 111 | Viewer.CameraLineWidth: 3 112 | Viewer.ViewpointX: 0 113 | Viewer.ViewpointY: -0.7 114 | Viewer.ViewpointZ: -1.8 115 | Viewer.ViewpointF: 500 116 | 117 | -------------------------------------------------------------------------------- /Examples/Stereo/KITTI00-02.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 718.856 9 | Camera.fy: 718.856 10 | Camera.cx: 607.1928 11 | Camera.cy: 185.2157 12 | 13 | Camera.k1: 0.0 14 | Camera.k2: 0.0 15 | Camera.p1: 0.0 16 | Camera.p2: 0.0 17 | 18 | Camera.width: 1241 19 | Camera.height: 376 20 | 21 | # Camera frames per second 22 | Camera.fps: 10.0 23 | 24 | # stereo baseline times fx 25 | Camera.bf: 386.1448 26 | 27 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 28 | Camera.RGB: 1 29 | 30 | # Close/Far threshold. Baseline times. 31 | ThDepth: 35 32 | 33 | #-------------------------------------------------------------------------------------------- 34 | # ORB Parameters 35 | #-------------------------------------------------------------------------------------------- 36 | 37 | # ORB Extractor: Number of features per image 38 | ORBextractor.nFeatures: 2000 39 | 40 | # ORB Extractor: Scale factor between levels in the scale pyramid 41 | ORBextractor.scaleFactor: 1.2 42 | 43 | # ORB Extractor: Number of levels in the scale pyramid 44 | ORBextractor.nLevels: 8 45 | 46 | # ORB Extractor: Fast threshold 47 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 48 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 49 | # You can lower these values if your images have low contrast 50 | ORBextractor.iniThFAST: 20 51 | ORBextractor.minThFAST: 7 52 | 53 | #-------------------------------------------------------------------------------------------- 54 | # Viewer Parameters 55 | #-------------------------------------------------------------------------------------------- 56 | Viewer.KeyFrameSize: 0.6 57 | Viewer.KeyFrameLineWidth: 2 58 | Viewer.GraphLineWidth: 1 59 | Viewer.PointSize:2 60 | Viewer.CameraSize: 0.7 61 | Viewer.CameraLineWidth: 3 62 | Viewer.ViewpointX: 0 63 | Viewer.ViewpointY: -100 64 | Viewer.ViewpointZ: -0.1 65 | Viewer.ViewpointF: 2000 66 | 67 | -------------------------------------------------------------------------------- /Examples/Stereo/KITTI03.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 721.5377 9 | Camera.fy: 721.5377 10 | Camera.cx: 609.5593 11 | Camera.cy: 172.854 12 | 13 | Camera.k1: 0.0 14 | Camera.k2: 0.0 15 | Camera.p1: 0.0 16 | Camera.p2: 0.0 17 | 18 | Camera.width: 1241 19 | Camera.height: 376 20 | 21 | # Camera frames per second 22 | Camera.fps: 10.0 23 | 24 | # stereo baseline times fx 25 | Camera.bf: 387.5744 26 | 27 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 28 | Camera.RGB: 1 29 | 30 | # Close/Far threshold. Baseline times. 31 | ThDepth: 40 32 | 33 | #-------------------------------------------------------------------------------------------- 34 | # ORB Parameters 35 | #-------------------------------------------------------------------------------------------- 36 | 37 | # ORB Extractor: Number of features per image 38 | ORBextractor.nFeatures: 2000 39 | 40 | # ORB Extractor: Scale factor between levels in the scale pyramid 41 | ORBextractor.scaleFactor: 1.2 42 | 43 | # ORB Extractor: Number of levels in the scale pyramid 44 | ORBextractor.nLevels: 8 45 | 46 | # ORB Extractor: Fast threshold 47 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 48 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 49 | # You can lower these values if your images have low contrast 50 | ORBextractor.iniThFAST: 20 51 | ORBextractor.minThFAST: 7 52 | 53 | #-------------------------------------------------------------------------------------------- 54 | # Viewer Parameters 55 | #-------------------------------------------------------------------------------------------- 56 | Viewer.KeyFrameSize: 0.6 57 | Viewer.KeyFrameLineWidth: 2 58 | Viewer.GraphLineWidth: 1 59 | Viewer.PointSize:2 60 | Viewer.CameraSize: 0.7 61 | Viewer.CameraLineWidth: 3 62 | Viewer.ViewpointX: 0 63 | Viewer.ViewpointY: -100 64 | Viewer.ViewpointZ: -0.1 65 | Viewer.ViewpointF: 2000 66 | 67 | -------------------------------------------------------------------------------- /Examples/Stereo/KITTI04-12.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 707.0912 9 | Camera.fy: 707.0912 10 | Camera.cx: 601.8873 11 | Camera.cy: 183.1104 12 | 13 | Camera.k1: 0.0 14 | Camera.k2: 0.0 15 | Camera.p1: 0.0 16 | Camera.p2: 0.0 17 | 18 | Camera.width: 1241 19 | Camera.height: 376 20 | 21 | # Camera frames per second 22 | Camera.fps: 10.0 23 | 24 | # stereo baseline times fx 25 | Camera.bf: 379.8145 26 | 27 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 28 | Camera.RGB: 1 29 | 30 | # Close/Far threshold. Baseline times. 31 | ThDepth: 40 32 | 33 | #-------------------------------------------------------------------------------------------- 34 | # ORB Parameters 35 | #-------------------------------------------------------------------------------------------- 36 | 37 | # ORB Extractor: Number of features per image 38 | ORBextractor.nFeatures: 2000 39 | 40 | # ORB Extractor: Scale factor between levels in the scale pyramid 41 | ORBextractor.scaleFactor: 1.2 42 | 43 | # ORB Extractor: Number of levels in the scale pyramid 44 | ORBextractor.nLevels: 8 45 | 46 | # ORB Extractor: Fast threshold 47 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 48 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 49 | # You can lower these values if your images have low contrast 50 | ORBextractor.iniThFAST: 12 51 | ORBextractor.minThFAST: 7 52 | 53 | #-------------------------------------------------------------------------------------------- 54 | # Viewer Parameters 55 | #-------------------------------------------------------------------------------------------- 56 | Viewer.KeyFrameSize: 0.6 57 | Viewer.KeyFrameLineWidth: 2 58 | Viewer.GraphLineWidth: 1 59 | Viewer.PointSize:2 60 | Viewer.CameraSize: 0.7 61 | Viewer.CameraLineWidth: 3 62 | Viewer.ViewpointX: 0 63 | Viewer.ViewpointY: -100 64 | Viewer.ViewpointZ: -0.1 65 | Viewer.ViewpointF: 2000 66 | 67 | -------------------------------------------------------------------------------- /LICENSE.txt: -------------------------------------------------------------------------------- 1 | ORB-SLAM2 is released under a GPLv3 license (see License-gpl.txt). 2 | Please see Dependencies.md for a list of all included code and library dependencies which are not property of the authors of ORB-SLAM2. 3 | 4 | For a closed-source version of ORB-SLAM2 for commercial purposes, please contact the authors. 5 | 6 | If you use ORB-SLAM in an academic work, please cite the most relevant publication associated by visiting: 7 | https://github.com/raulmur/ORB_SLAM2 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /Thirdparty/DBoW2/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8) 2 | project(DBoW2) 3 | 4 | set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ") 5 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native") 6 | 7 | set(HDRS_DBOW2 8 | DBoW2/BowVector.h 9 | DBoW2/FORB.h 10 | DBoW2/FClass.h 11 | DBoW2/FeatureVector.h 12 | DBoW2/ScoringObject.h 13 | DBoW2/TemplatedVocabulary.h) 14 | set(SRCS_DBOW2 15 | DBoW2/BowVector.cpp 16 | DBoW2/FORB.cpp 17 | DBoW2/FeatureVector.cpp 18 | DBoW2/ScoringObject.cpp) 19 | 20 | set(HDRS_DUTILS 21 | DUtils/Random.h 22 | DUtils/Timestamp.h) 23 | set(SRCS_DUTILS 24 | DUtils/Random.cpp 25 | DUtils/Timestamp.cpp) 26 | 27 | find_package(OpenCV REQUIRED) 28 | 29 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 30 | 31 | include_directories(${OpenCV_INCLUDE_DIRS}) 32 | add_library(DBoW2 SHARED ${SRCS_DBOW2} ${SRCS_DUTILS}) 33 | target_link_libraries(DBoW2 ${OpenCV_LIBS}) 34 | 35 | -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/BowVector.cpp: -------------------------------------------------------------------------------- 1 | /** 2 | * File: BowVector.cpp 3 | * Date: March 2011 4 | * Author: Dorian Galvez-Lopez 5 | * Description: bag of words vector 6 | * License: see the LICENSE.txt file 7 | * 8 | */ 9 | 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include 15 | 16 | #include "BowVector.h" 17 | 18 | namespace DBoW2 { 19 | 20 | // -------------------------------------------------------------------------- 21 | 22 | BowVector::BowVector(void) 23 | { 24 | } 25 | 26 | // -------------------------------------------------------------------------- 27 | 28 | BowVector::~BowVector(void) 29 | { 30 | } 31 | 32 | // -------------------------------------------------------------------------- 33 | 34 | void BowVector::addWeight(WordId id, WordValue v) 35 | { 36 | BowVector::iterator vit = this->lower_bound(id); 37 | 38 | if(vit != this->end() && !(this->key_comp()(id, vit->first))) 39 | { 40 | vit->second += v; 41 | } 42 | else 43 | { 44 | this->insert(vit, BowVector::value_type(id, v)); 45 | } 46 | } 47 | 48 | // -------------------------------------------------------------------------- 49 | 50 | void BowVector::addIfNotExist(WordId id, WordValue v) 51 | { 52 | BowVector::iterator vit = this->lower_bound(id); 53 | 54 | if(vit == this->end() || (this->key_comp()(id, vit->first))) 55 | { 56 | this->insert(vit, BowVector::value_type(id, v)); 57 | } 58 | } 59 | 60 | // -------------------------------------------------------------------------- 61 | 62 | void BowVector::normalize(LNorm norm_type) 63 | { 64 | double norm = 0.0; 65 | BowVector::iterator it; 66 | 67 | if(norm_type == DBoW2::L1) 68 | { 69 | for(it = begin(); it != end(); ++it) 70 | norm += fabs(it->second); 71 | } 72 | else 73 | { 74 | for(it = begin(); it != end(); ++it) 75 | norm += it->second * it->second; 76 | norm = sqrt(norm); 77 | } 78 | 79 | if(norm > 0.0) 80 | { 81 | for(it = begin(); it != end(); ++it) 82 | it->second /= norm; 83 | } 84 | } 85 | 86 | // -------------------------------------------------------------------------- 87 | 88 | std::ostream& operator<< (std::ostream &out, const BowVector &v) 89 | { 90 | BowVector::const_iterator vit; 91 | std::vector::const_iterator iit; 92 | unsigned int i = 0; 93 | const unsigned int N = v.size(); 94 | for(vit = v.begin(); vit != v.end(); ++vit, ++i) 95 | { 96 | out << "<" << vit->first << ", " << vit->second << ">"; 97 | 98 | if(i < N-1) out << ", "; 99 | } 100 | return out; 101 | } 102 | 103 | // -------------------------------------------------------------------------- 104 | 105 | void BowVector::saveM(const std::string &filename, size_t W) const 106 | { 107 | std::fstream f(filename.c_str(), std::ios::out); 108 | 109 | WordId last = 0; 110 | BowVector::const_iterator bit; 111 | for(bit = this->begin(); bit != this->end(); ++bit) 112 | { 113 | for(; last < bit->first; ++last) 114 | { 115 | f << "0 "; 116 | } 117 | f << bit->second << " "; 118 | 119 | last = bit->first + 1; 120 | } 121 | for(; last < (WordId)W; ++last) 122 | f << "0 "; 123 | 124 | f.close(); 125 | } 126 | 127 | // -------------------------------------------------------------------------- 128 | 129 | } // namespace DBoW2 130 | 131 | -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/BowVector.h: -------------------------------------------------------------------------------- 1 | /** 2 | * File: BowVector.h 3 | * Date: March 2011 4 | * Author: Dorian Galvez-Lopez 5 | * Description: bag of words vector 6 | * License: see the LICENSE.txt file 7 | * 8 | */ 9 | 10 | #ifndef __D_T_BOW_VECTOR__ 11 | #define __D_T_BOW_VECTOR__ 12 | 13 | #include 14 | #include 15 | #include 16 | 17 | namespace DBoW2 { 18 | 19 | /// Id of words 20 | typedef unsigned int WordId; 21 | 22 | /// Value of a word 23 | typedef double WordValue; 24 | 25 | /// Id of nodes in the vocabulary treee 26 | typedef unsigned int NodeId; 27 | 28 | /// L-norms for normalization 29 | enum LNorm 30 | { 31 | L1, 32 | L2 33 | }; 34 | 35 | /// Weighting type 36 | enum WeightingType 37 | { 38 | TF_IDF, 39 | TF, 40 | IDF, 41 | BINARY 42 | }; 43 | 44 | /// Scoring type 45 | enum ScoringType 46 | { 47 | L1_NORM, 48 | L2_NORM, 49 | CHI_SQUARE, 50 | KL, 51 | BHATTACHARYYA, 52 | DOT_PRODUCT, 53 | }; 54 | 55 | /// Vector of words to represent images 56 | class BowVector: 57 | public std::map 58 | { 59 | public: 60 | 61 | /** 62 | * Constructor 63 | */ 64 | BowVector(void); 65 | 66 | /** 67 | * Destructor 68 | */ 69 | ~BowVector(void); 70 | 71 | /** 72 | * Adds a value to a word value existing in the vector, or creates a new 73 | * word with the given value 74 | * @param id word id to look for 75 | * @param v value to create the word with, or to add to existing word 76 | */ 77 | void addWeight(WordId id, WordValue v); 78 | 79 | /** 80 | * Adds a word with a value to the vector only if this does not exist yet 81 | * @param id word id to look for 82 | * @param v value to give to the word if this does not exist 83 | */ 84 | void addIfNotExist(WordId id, WordValue v); 85 | 86 | /** 87 | * L1-Normalizes the values in the vector 88 | * @param norm_type norm used 89 | */ 90 | void normalize(LNorm norm_type); 91 | 92 | /** 93 | * Prints the content of the bow vector 94 | * @param out stream 95 | * @param v 96 | */ 97 | friend std::ostream& operator<<(std::ostream &out, const BowVector &v); 98 | 99 | /** 100 | * Saves the bow vector as a vector in a matlab file 101 | * @param filename 102 | * @param W number of words in the vocabulary 103 | */ 104 | void saveM(const std::string &filename, size_t W) const; 105 | }; 106 | 107 | } // namespace DBoW2 108 | 109 | #endif 110 | -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/FClass.h: -------------------------------------------------------------------------------- 1 | /** 2 | * File: FClass.h 3 | * Date: November 2011 4 | * Author: Dorian Galvez-Lopez 5 | * Description: generic FClass to instantiate templated classes 6 | * License: see the LICENSE.txt file 7 | * 8 | */ 9 | 10 | #ifndef __D_T_FCLASS__ 11 | #define __D_T_FCLASS__ 12 | 13 | #include 14 | #include 15 | #include 16 | 17 | namespace DBoW2 { 18 | 19 | /// Generic class to encapsulate functions to manage descriptors. 20 | /** 21 | * This class must be inherited. Derived classes can be used as the 22 | * parameter F when creating Templated structures 23 | * (TemplatedVocabulary, TemplatedDatabase, ...) 24 | */ 25 | class FClass 26 | { 27 | class TDescriptor; 28 | typedef const TDescriptor *pDescriptor; 29 | 30 | /** 31 | * Calculates the mean value of a set of descriptors 32 | * @param descriptors 33 | * @param mean mean descriptor 34 | */ 35 | virtual void meanValue(const std::vector &descriptors, 36 | TDescriptor &mean) = 0; 37 | 38 | /** 39 | * Calculates the distance between two descriptors 40 | * @param a 41 | * @param b 42 | * @return distance 43 | */ 44 | static double distance(const TDescriptor &a, const TDescriptor &b); 45 | 46 | /** 47 | * Returns a string version of the descriptor 48 | * @param a descriptor 49 | * @return string version 50 | */ 51 | static std::string toString(const TDescriptor &a); 52 | 53 | /** 54 | * Returns a descriptor from a string 55 | * @param a descriptor 56 | * @param s string version 57 | */ 58 | static void fromString(TDescriptor &a, const std::string &s); 59 | 60 | /** 61 | * Returns a mat with the descriptors in float format 62 | * @param descriptors 63 | * @param mat (out) NxL 32F matrix 64 | */ 65 | static void toMat32F(const std::vector &descriptors, 66 | cv::Mat &mat); 67 | }; 68 | 69 | } // namespace DBoW2 70 | 71 | #endif 72 | -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/FORB.h: -------------------------------------------------------------------------------- 1 | /** 2 | * File: FORB.h 3 | * Date: June 2012 4 | * Author: Dorian Galvez-Lopez 5 | * Description: functions for ORB descriptors 6 | * License: see the LICENSE.txt file 7 | * 8 | */ 9 | 10 | #ifndef __D_T_F_ORB__ 11 | #define __D_T_F_ORB__ 12 | 13 | #include 14 | #include 15 | #include 16 | 17 | #include "FClass.h" 18 | 19 | namespace DBoW2 { 20 | 21 | /// Functions to manipulate ORB descriptors 22 | class FORB: protected FClass 23 | { 24 | public: 25 | 26 | /// Descriptor type 27 | typedef cv::Mat TDescriptor; // CV_8U 28 | /// Pointer to a single descriptor 29 | typedef const TDescriptor *pDescriptor; 30 | /// Descriptor length (in bytes) 31 | static const int L; 32 | 33 | /** 34 | * Calculates the mean value of a set of descriptors 35 | * @param descriptors 36 | * @param mean mean descriptor 37 | */ 38 | static void meanValue(const std::vector &descriptors, 39 | TDescriptor &mean); 40 | 41 | /** 42 | * Calculates the distance between two descriptors 43 | * @param a 44 | * @param b 45 | * @return distance 46 | */ 47 | static int distance(const TDescriptor &a, const TDescriptor &b); 48 | 49 | /** 50 | * Returns a string version of the descriptor 51 | * @param a descriptor 52 | * @return string version 53 | */ 54 | static std::string toString(const TDescriptor &a); 55 | 56 | /** 57 | * Returns a descriptor from a string 58 | * @param a descriptor 59 | * @param s string version 60 | */ 61 | static void fromString(TDescriptor &a, const std::string &s); 62 | 63 | /** 64 | * Returns a mat with the descriptors in float format 65 | * @param descriptors 66 | * @param mat (out) NxL 32F matrix 67 | */ 68 | static void toMat32F(const std::vector &descriptors, 69 | cv::Mat &mat); 70 | 71 | static void toMat8U(const std::vector &descriptors, 72 | cv::Mat &mat); 73 | 74 | }; 75 | 76 | } // namespace DBoW2 77 | 78 | #endif 79 | 80 | -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/FeatureVector.cpp: -------------------------------------------------------------------------------- 1 | /** 2 | * File: FeatureVector.cpp 3 | * Date: November 2011 4 | * Author: Dorian Galvez-Lopez 5 | * Description: feature vector 6 | * License: see the LICENSE.txt file 7 | * 8 | */ 9 | 10 | #include "FeatureVector.h" 11 | #include 12 | #include 13 | #include 14 | 15 | namespace DBoW2 { 16 | 17 | // --------------------------------------------------------------------------- 18 | 19 | FeatureVector::FeatureVector(void) 20 | { 21 | } 22 | 23 | // --------------------------------------------------------------------------- 24 | 25 | FeatureVector::~FeatureVector(void) 26 | { 27 | } 28 | 29 | // --------------------------------------------------------------------------- 30 | 31 | void FeatureVector::addFeature(NodeId id, unsigned int i_feature) 32 | { 33 | FeatureVector::iterator vit = this->lower_bound(id); 34 | 35 | if(vit != this->end() && vit->first == id) 36 | { 37 | vit->second.push_back(i_feature); 38 | } 39 | else 40 | { 41 | vit = this->insert(vit, FeatureVector::value_type(id, 42 | std::vector() )); 43 | vit->second.push_back(i_feature); 44 | } 45 | } 46 | 47 | // --------------------------------------------------------------------------- 48 | 49 | std::ostream& operator<<(std::ostream &out, 50 | const FeatureVector &v) 51 | { 52 | if(!v.empty()) 53 | { 54 | FeatureVector::const_iterator vit = v.begin(); 55 | 56 | const std::vector* f = &vit->second; 57 | 58 | out << "<" << vit->first << ": ["; 59 | if(!f->empty()) out << (*f)[0]; 60 | for(unsigned int i = 1; i < f->size(); ++i) 61 | { 62 | out << ", " << (*f)[i]; 63 | } 64 | out << "]>"; 65 | 66 | for(++vit; vit != v.end(); ++vit) 67 | { 68 | f = &vit->second; 69 | 70 | out << ", <" << vit->first << ": ["; 71 | if(!f->empty()) out << (*f)[0]; 72 | for(unsigned int i = 1; i < f->size(); ++i) 73 | { 74 | out << ", " << (*f)[i]; 75 | } 76 | out << "]>"; 77 | } 78 | } 79 | 80 | return out; 81 | } 82 | 83 | // --------------------------------------------------------------------------- 84 | 85 | } // namespace DBoW2 86 | -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/FeatureVector.h: -------------------------------------------------------------------------------- 1 | /** 2 | * File: FeatureVector.h 3 | * Date: November 2011 4 | * Author: Dorian Galvez-Lopez 5 | * Description: feature vector 6 | * License: see the LICENSE.txt file 7 | * 8 | */ 9 | 10 | #ifndef __D_T_FEATURE_VECTOR__ 11 | #define __D_T_FEATURE_VECTOR__ 12 | 13 | #include "BowVector.h" 14 | #include 15 | #include 16 | #include 17 | 18 | namespace DBoW2 { 19 | 20 | /// Vector of nodes with indexes of local features 21 | class FeatureVector: 22 | public std::map > 23 | { 24 | public: 25 | 26 | /** 27 | * Constructor 28 | */ 29 | FeatureVector(void); 30 | 31 | /** 32 | * Destructor 33 | */ 34 | ~FeatureVector(void); 35 | 36 | /** 37 | * Adds a feature to an existing node, or adds a new node with an initial 38 | * feature 39 | * @param id node id to add or to modify 40 | * @param i_feature index of feature to add to the given node 41 | */ 42 | void addFeature(NodeId id, unsigned int i_feature); 43 | 44 | /** 45 | * Sends a string versions of the feature vector through the stream 46 | * @param out stream 47 | * @param v feature vector 48 | */ 49 | friend std::ostream& operator<<(std::ostream &out, const FeatureVector &v); 50 | 51 | }; 52 | 53 | } // namespace DBoW2 54 | 55 | #endif 56 | 57 | -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DBoW2/ScoringObject.h: -------------------------------------------------------------------------------- 1 | /** 2 | * File: ScoringObject.h 3 | * Date: November 2011 4 | * Author: Dorian Galvez-Lopez 5 | * Description: functions to compute bow scores 6 | * License: see the LICENSE.txt file 7 | * 8 | */ 9 | 10 | #ifndef __D_T_SCORING_OBJECT__ 11 | #define __D_T_SCORING_OBJECT__ 12 | 13 | #include "BowVector.h" 14 | 15 | namespace DBoW2 { 16 | 17 | /// Base class of scoring functions 18 | class GeneralScoring 19 | { 20 | public: 21 | /** 22 | * Computes the score between two vectors. Vectors must be sorted and 23 | * normalized if necessary 24 | * @param v (in/out) 25 | * @param w (in/out) 26 | * @return score 27 | */ 28 | virtual double score(const BowVector &v, const BowVector &w) const = 0; 29 | 30 | /** 31 | * Returns whether a vector must be normalized before scoring according 32 | * to the scoring scheme 33 | * @param norm norm to use 34 | * @return true iff must normalize 35 | */ 36 | virtual bool mustNormalize(LNorm &norm) const = 0; 37 | 38 | /// Log of epsilon 39 | static const double LOG_EPS; 40 | // If you change the type of WordValue, make sure you change also the 41 | // epsilon value (this is needed by the KL method) 42 | 43 | virtual ~GeneralScoring() {} //!< Required for virtual base classes 44 | 45 | }; 46 | 47 | /** 48 | * Macro for defining Scoring classes 49 | * @param NAME name of class 50 | * @param MUSTNORMALIZE if vectors must be normalized to compute the score 51 | * @param NORM type of norm to use when MUSTNORMALIZE 52 | */ 53 | #define __SCORING_CLASS(NAME, MUSTNORMALIZE, NORM) \ 54 | NAME: public GeneralScoring \ 55 | { public: \ 56 | /** \ 57 | * Computes score between two vectors \ 58 | * @param v \ 59 | * @param w \ 60 | * @return score between v and w \ 61 | */ \ 62 | virtual double score(const BowVector &v, const BowVector &w) const; \ 63 | \ 64 | /** \ 65 | * Says if a vector must be normalized according to the scoring function \ 66 | * @param norm (out) if true, norm to use 67 | * @return true iff vectors must be normalized \ 68 | */ \ 69 | virtual inline bool mustNormalize(LNorm &norm) const \ 70 | { norm = NORM; return MUSTNORMALIZE; } \ 71 | } 72 | 73 | /// L1 Scoring object 74 | class __SCORING_CLASS(L1Scoring, true, L1); 75 | 76 | /// L2 Scoring object 77 | class __SCORING_CLASS(L2Scoring, true, L2); 78 | 79 | /// Chi square Scoring object 80 | class __SCORING_CLASS(ChiSquareScoring, true, L1); 81 | 82 | /// KL divergence Scoring object 83 | class __SCORING_CLASS(KLScoring, true, L1); 84 | 85 | /// Bhattacharyya Scoring object 86 | class __SCORING_CLASS(BhattacharyyaScoring, true, L1); 87 | 88 | /// Dot product Scoring object 89 | class __SCORING_CLASS(DotProductScoring, false, L1); 90 | 91 | #undef __SCORING_CLASS 92 | 93 | } // namespace DBoW2 94 | 95 | #endif 96 | 97 | -------------------------------------------------------------------------------- /Thirdparty/DBoW2/DUtils/Random.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * File: Random.cpp 3 | * Project: DUtils library 4 | * Author: Dorian Galvez-Lopez 5 | * Date: April 2010 6 | * Description: manages pseudo-random numbers 7 | * License: see the LICENSE.txt file 8 | * 9 | */ 10 | 11 | #include "Random.h" 12 | #include "Timestamp.h" 13 | #include 14 | using namespace std; 15 | 16 | bool DUtils::Random::m_already_seeded = false; 17 | 18 | void DUtils::Random::SeedRand(){ 19 | Timestamp time; 20 | time.setToCurrentTime(); 21 | srand((unsigned)time.getFloatTime()); 22 | } 23 | 24 | void DUtils::Random::SeedRandOnce() 25 | { 26 | if(!m_already_seeded) 27 | { 28 | DUtils::Random::SeedRand(); 29 | m_already_seeded = true; 30 | } 31 | } 32 | 33 | void DUtils::Random::SeedRand(int seed) 34 | { 35 | srand(seed); 36 | } 37 | 38 | void DUtils::Random::SeedRandOnce(int seed) 39 | { 40 | if(!m_already_seeded) 41 | { 42 | DUtils::Random::SeedRand(seed); 43 | m_already_seeded = true; 44 | } 45 | } 46 | 47 | int DUtils::Random::RandomInt(int min, int max){ 48 | int d = max - min + 1; 49 | return int(((double)rand()/((double)RAND_MAX + 1.0)) * d) + min; 50 | } 51 | 52 | // --------------------------------------------------------------------------- 53 | // --------------------------------------------------------------------------- 54 | 55 | DUtils::Random::UnrepeatedRandomizer::UnrepeatedRandomizer(int min, int max) 56 | { 57 | if(min <= max) 58 | { 59 | m_min = min; 60 | m_max = max; 61 | } 62 | else 63 | { 64 | m_min = max; 65 | m_max = min; 66 | } 67 | 68 | createValues(); 69 | } 70 | 71 | // --------------------------------------------------------------------------- 72 | 73 | DUtils::Random::UnrepeatedRandomizer::UnrepeatedRandomizer 74 | (const DUtils::Random::UnrepeatedRandomizer& rnd) 75 | { 76 | *this = rnd; 77 | } 78 | 79 | // --------------------------------------------------------------------------- 80 | 81 | int DUtils::Random::UnrepeatedRandomizer::get() 82 | { 83 | if(empty()) createValues(); 84 | 85 | DUtils::Random::SeedRandOnce(); 86 | 87 | int k = DUtils::Random::RandomInt(0, m_values.size()-1); 88 | int ret = m_values[k]; 89 | m_values[k] = m_values.back(); 90 | m_values.pop_back(); 91 | 92 | return ret; 93 | } 94 | 95 | // --------------------------------------------------------------------------- 96 | 97 | void DUtils::Random::UnrepeatedRandomizer::createValues() 98 | { 99 | int n = m_max - m_min + 1; 100 | 101 | m_values.resize(n); 102 | for(int i = 0; i < n; ++i) m_values[i] = m_min + i; 103 | } 104 | 105 | // --------------------------------------------------------------------------- 106 | 107 | void DUtils::Random::UnrepeatedRandomizer::reset() 108 | { 109 | if((int)m_values.size() != m_max - m_min + 1) createValues(); 110 | } 111 | 112 | // --------------------------------------------------------------------------- 113 | 114 | DUtils::Random::UnrepeatedRandomizer& 115 | DUtils::Random::UnrepeatedRandomizer::operator= 116 | (const DUtils::Random::UnrepeatedRandomizer& rnd) 117 | { 118 | if(this != &rnd) 119 | { 120 | this->m_min = rnd.m_min; 121 | this->m_max = rnd.m_max; 122 | this->m_values = rnd.m_values; 123 | } 124 | return *this; 125 | } 126 | 127 | // --------------------------------------------------------------------------- 128 | 129 | 130 | -------------------------------------------------------------------------------- /Thirdparty/DBoW2/LICENSE.txt: -------------------------------------------------------------------------------- 1 | DBoW2: bag-of-words library for C++ with generic descriptors 2 | 3 | Copyright (c) 2015 Dorian Galvez-Lopez (Universidad de Zaragoza) 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions 8 | are met: 9 | 1. Redistributions of source code must retain the above copyright 10 | notice, this list of conditions and the following disclaimer. 11 | 2. Redistributions in binary form must reproduce the above copyright 12 | notice, this list of conditions and the following disclaimer in the 13 | documentation and/or other materials provided with the distribution. 14 | 3. Neither the name of copyright holders nor the names of its 15 | contributors may be used to endorse or promote products derived 16 | from this software without specific prior written permission. 17 | 18 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 19 | ''AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 20 | TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 21 | PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS OR CONTRIBUTORS 22 | BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 23 | CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 24 | SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 25 | INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 26 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 27 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 28 | POSSIBILITY OF SUCH DAMAGE. 29 | 30 | If you use it in an academic work, please cite: 31 | 32 | @ARTICLE{GalvezTRO12, 33 | author={G\'alvez-L\'opez, Dorian and Tard\'os, J. D.}, 34 | journal={IEEE Transactions on Robotics}, 35 | title={Bags of Binary Words for Fast Place Recognition in Image Sequences}, 36 | year={2012}, 37 | month={October}, 38 | volume={28}, 39 | number={5}, 40 | pages={1188--1197}, 41 | doi={10.1109/TRO.2012.2197158}, 42 | ISSN={1552-3098} 43 | } 44 | 45 | -------------------------------------------------------------------------------- /Thirdparty/DBoW2/README.txt: -------------------------------------------------------------------------------- 1 | You should have received this DBoW2 version along with ORB-SLAM2 (https://github.com/raulmur/ORB_SLAM2). 2 | See the original DBoW2 library at: https://github.com/dorian3d/DBoW2 3 | All files included in this version are BSD, see LICENSE.txt 4 | 5 | We also use Random.h, Random.cpp, Timestamp.pp and Timestamp.h from DLib/DUtils. 6 | See the original DLib library at: https://github.com/dorian3d/DLib 7 | All files included in this version are BSD, see LICENSE.txt 8 | -------------------------------------------------------------------------------- /Thirdparty/g2o/README.txt: -------------------------------------------------------------------------------- 1 | You should have received this g2o version along with ORB-SLAM2 (https://github.com/raulmur/ORB_SLAM2). 2 | See the original g2o library at: https://github.com/RainerKuemmerle/g2o 3 | All files included in this g2o version are BSD, see license-bsd.txt 4 | -------------------------------------------------------------------------------- /Thirdparty/g2o/cmake_modules/FindEigen3.cmake: -------------------------------------------------------------------------------- 1 | # - Try to find Eigen3 lib 2 | # 3 | # This module supports requiring a minimum version, e.g. you can do 4 | # find_package(Eigen3 3.1.2) 5 | # to require version 3.1.2 or newer of Eigen3. 6 | # 7 | # Once done this will define 8 | # 9 | # EIGEN3_FOUND - system has eigen lib with correct version 10 | # EIGEN3_INCLUDE_DIR - the eigen include directory 11 | # EIGEN3_VERSION - eigen version 12 | 13 | # Copyright (c) 2006, 2007 Montel Laurent, 14 | # Copyright (c) 2008, 2009 Gael Guennebaud, 15 | # Copyright (c) 2009 Benoit Jacob 16 | # Redistribution and use is allowed according to the terms of the 2-clause BSD license. 17 | 18 | if(NOT Eigen3_FIND_VERSION) 19 | if(NOT Eigen3_FIND_VERSION_MAJOR) 20 | set(Eigen3_FIND_VERSION_MAJOR 2) 21 | endif(NOT Eigen3_FIND_VERSION_MAJOR) 22 | if(NOT Eigen3_FIND_VERSION_MINOR) 23 | set(Eigen3_FIND_VERSION_MINOR 91) 24 | endif(NOT Eigen3_FIND_VERSION_MINOR) 25 | if(NOT Eigen3_FIND_VERSION_PATCH) 26 | set(Eigen3_FIND_VERSION_PATCH 0) 27 | endif(NOT Eigen3_FIND_VERSION_PATCH) 28 | 29 | set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") 30 | endif(NOT Eigen3_FIND_VERSION) 31 | 32 | macro(_eigen3_check_version) 33 | file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) 34 | 35 | string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") 36 | set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") 37 | string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") 38 | set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") 39 | string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") 40 | set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") 41 | 42 | set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) 43 | if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) 44 | set(EIGEN3_VERSION_OK FALSE) 45 | else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) 46 | set(EIGEN3_VERSION_OK TRUE) 47 | endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) 48 | 49 | if(NOT EIGEN3_VERSION_OK) 50 | 51 | message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " 52 | "but at least version ${Eigen3_FIND_VERSION} is required") 53 | endif(NOT EIGEN3_VERSION_OK) 54 | endmacro(_eigen3_check_version) 55 | 56 | if (EIGEN3_INCLUDE_DIR) 57 | 58 | # in cache already 59 | _eigen3_check_version() 60 | set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) 61 | 62 | else (EIGEN3_INCLUDE_DIR) 63 | 64 | # specific additional paths for some OS 65 | if (WIN32) 66 | set(EIGEN_ADDITIONAL_SEARCH_PATHS ${EIGEN_ADDITIONAL_SEARCH_PATHS} "C:/Program Files/Eigen/include" "C:/Program Files (x86)/Eigen/include") 67 | endif(WIN32) 68 | 69 | find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library 70 | PATHS 71 | ${CMAKE_INSTALL_PREFIX}/include 72 | ${EIGEN_ADDITIONAL_SEARCH_PATHS} 73 | ${KDE4_INCLUDE_DIR} 74 | PATH_SUFFIXES eigen3 eigen 75 | ) 76 | 77 | if(EIGEN3_INCLUDE_DIR) 78 | _eigen3_check_version() 79 | endif(EIGEN3_INCLUDE_DIR) 80 | 81 | include(FindPackageHandleStandardArgs) 82 | find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) 83 | 84 | mark_as_advanced(EIGEN3_INCLUDE_DIR) 85 | 86 | endif(EIGEN3_INCLUDE_DIR) 87 | 88 | -------------------------------------------------------------------------------- /Thirdparty/g2o/config.h.in: -------------------------------------------------------------------------------- 1 | #ifndef G2O_CONFIG_H 2 | #define G2O_CONFIG_H 3 | 4 | #cmakedefine G2O_OPENMP 1 5 | #cmakedefine G2O_SHARED_LIBS 1 6 | 7 | // give a warning if Eigen defaults to row-major matrices. 8 | // We internally assume column-major matrices throughout the code. 9 | #ifdef EIGEN_DEFAULT_TO_ROW_MAJOR 10 | # error "g2o requires column major Eigen matrices (see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=422)" 11 | #endif 12 | 13 | #endif 14 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/base_unary_edge.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_BASE_UNARY_EDGE_H 28 | #define G2O_BASE_UNARY_EDGE_H 29 | 30 | #include 31 | #include 32 | #include 33 | 34 | #include "base_edge.h" 35 | #include "robust_kernel.h" 36 | #include "../../config.h" 37 | 38 | namespace g2o { 39 | 40 | using namespace Eigen; 41 | 42 | template 43 | class BaseUnaryEdge : public BaseEdge 44 | { 45 | public: 46 | static const int Dimension = BaseEdge::Dimension; 47 | typedef typename BaseEdge::Measurement Measurement; 48 | typedef VertexXi VertexXiType; 49 | typedef typename Matrix::AlignedMapType JacobianXiOplusType; 50 | typedef typename BaseEdge::ErrorVector ErrorVector; 51 | typedef typename BaseEdge::InformationType InformationType; 52 | 53 | BaseUnaryEdge() : BaseEdge(), 54 | _jacobianOplusXi(0, D, VertexXiType::Dimension) 55 | { 56 | _vertices.resize(1); 57 | } 58 | 59 | virtual void resize(size_t size); 60 | 61 | virtual bool allVerticesFixed() const; 62 | 63 | virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace); 64 | 65 | /** 66 | * Linearizes the oplus operator in the vertex, and stores 67 | * the result in temporary variables _jacobianOplusXi and _jacobianOplusXj 68 | */ 69 | virtual void linearizeOplus(); 70 | 71 | //! returns the result of the linearization in the manifold space for the node xi 72 | const JacobianXiOplusType& jacobianOplusXi() const { return _jacobianOplusXi;} 73 | 74 | virtual void constructQuadraticForm(); 75 | 76 | virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to); 77 | 78 | virtual void mapHessianMemory(double*, int, int, bool) {assert(0 && "BaseUnaryEdge does not map memory of the Hessian");} 79 | 80 | using BaseEdge::resize; 81 | using BaseEdge::computeError; 82 | 83 | protected: 84 | using BaseEdge::_measurement; 85 | using BaseEdge::_information; 86 | using BaseEdge::_error; 87 | using BaseEdge::_vertices; 88 | using BaseEdge::_dimension; 89 | 90 | JacobianXiOplusType _jacobianOplusXi; 91 | 92 | public: 93 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW 94 | }; 95 | 96 | #include "base_unary_edge.hpp" 97 | 98 | } // end namespace g2o 99 | 100 | #endif 101 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/base_vertex.hpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | template 28 | BaseVertex::BaseVertex() : 29 | OptimizableGraph::Vertex(), 30 | _hessian(0, D, D) 31 | { 32 | _dimension = D; 33 | } 34 | 35 | template 36 | double BaseVertex::solveDirect(double lambda) { 37 | Matrix tempA=_hessian + Matrix ::Identity()*lambda; 38 | double det=tempA.determinant(); 39 | if (g2o_isnan(det) || det < std::numeric_limits::epsilon()) 40 | return det; 41 | Matrix dx=tempA.llt().solve(_b); 42 | oplus(&dx[0]); 43 | return det; 44 | } 45 | 46 | template 47 | void BaseVertex::clearQuadraticForm() { 48 | _b.setZero(); 49 | } 50 | 51 | template 52 | void BaseVertex::mapHessianMemory(double* d) 53 | { 54 | new (&_hessian) HessianBlockType(d, D, D); 55 | } 56 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/batch_stats.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "batch_stats.h" 28 | #include 29 | 30 | namespace g2o { 31 | using namespace std; 32 | 33 | G2OBatchStatistics* G2OBatchStatistics::_globalStats=0; 34 | 35 | #ifndef PTHING 36 | #define PTHING(s) \ 37 | #s << "= " << (st.s) << "\t " 38 | #endif 39 | 40 | G2OBatchStatistics::G2OBatchStatistics(){ 41 | // zero all. 42 | memset (this, 0, sizeof(G2OBatchStatistics)); 43 | 44 | // set the iteration to -1 to show that it isn't valid 45 | iteration = -1; 46 | } 47 | 48 | std::ostream& operator << (std::ostream& os , const G2OBatchStatistics& st) 49 | { 50 | os << PTHING(iteration); 51 | 52 | os << PTHING( numVertices ); // how many vertices are involved 53 | os << PTHING( numEdges ); // hoe many edges 54 | os << PTHING( chi2 ); // total chi2 55 | 56 | /** timings **/ 57 | // nonlinear part 58 | os << PTHING( timeResiduals ); 59 | os << PTHING( timeLinearize ); // jacobians 60 | os << PTHING( timeQuadraticForm ); // construct the quadratic form in the graph 61 | 62 | // block_solver (constructs Ax=b, plus maybe schur); 63 | os << PTHING( timeSchurComplement ); // compute schur complement (0 if not done); 64 | 65 | // linear solver (computes Ax=b); ); 66 | os << PTHING( timeSymbolicDecomposition ); // symbolic decomposition (0 if not done); 67 | os << PTHING( timeNumericDecomposition ); // numeric decomposition (0 if not done); 68 | os << PTHING( timeLinearSolution ); // total time for solving Ax=b 69 | os << PTHING( iterationsLinearSolver ); // iterations of PCG 70 | os << PTHING( timeUpdate ); // oplus 71 | os << PTHING( timeIteration ); // total time ); 72 | 73 | os << PTHING( levenbergIterations ); 74 | os << PTHING( timeLinearSolver); 75 | 76 | os << PTHING(hessianDimension); 77 | os << PTHING(hessianPoseDimension); 78 | os << PTHING(hessianLandmarkDimension); 79 | os << PTHING(choleskyNNZ); 80 | os << PTHING(timeMarginals); 81 | 82 | return os; 83 | }; 84 | 85 | void G2OBatchStatistics::setGlobalStats(G2OBatchStatistics* b) 86 | { 87 | _globalStats = b; 88 | } 89 | 90 | } // end namespace 91 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/batch_stats.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_BATCH_STATS_H_ 28 | #define G2O_BATCH_STATS_H_ 29 | 30 | #include 31 | #include 32 | 33 | 34 | namespace g2o { 35 | 36 | /** 37 | * \brief statistics about the optimization 38 | */ 39 | struct G2OBatchStatistics { 40 | G2OBatchStatistics(); 41 | int iteration; ///< which iteration 42 | int numVertices; ///< how many vertices are involved 43 | int numEdges; ///< how many edges 44 | double chi2; ///< total chi2 45 | 46 | /** timings **/ 47 | // nonlinear part 48 | double timeResiduals; ///< residuals 49 | double timeLinearize; ///< jacobians 50 | double timeQuadraticForm; ///< construct the quadratic form in the graph 51 | int levenbergIterations; ///< number of iterations performed by LM 52 | // block_solver (constructs Ax=b, plus maybe schur) 53 | double timeSchurComplement; ///< compute schur complement (0 if not done) 54 | 55 | // linear solver (computes Ax=b); 56 | double timeSymbolicDecomposition; ///< symbolic decomposition (0 if not done) 57 | double timeNumericDecomposition; ///< numeric decomposition (0 if not done) 58 | double timeLinearSolution; ///< total time for solving Ax=b (including detup for schur) 59 | double timeLinearSolver; ///< time for solving, excluding Schur setup 60 | int iterationsLinearSolver; ///< iterations of PCG, (0 if not used, i.e., Cholesky) 61 | double timeUpdate; ///< time to apply the update 62 | double timeIteration; ///< total time; 63 | 64 | double timeMarginals; ///< computing the inverse elements (solve blocks) and thus the marginal covariances 65 | 66 | // information about the Hessian matrix 67 | size_t hessianDimension; ///< rows / cols of the Hessian 68 | size_t hessianPoseDimension; ///< dimension of the pose matrix in Schur 69 | size_t hessianLandmarkDimension; ///< dimension of the landmark matrix in Schur 70 | size_t choleskyNNZ; ///< number of non-zeros in the cholesky factor 71 | 72 | static G2OBatchStatistics* globalStats() {return _globalStats;} 73 | static void setGlobalStats(G2OBatchStatistics* b); 74 | protected: 75 | static G2OBatchStatistics* _globalStats; 76 | }; 77 | 78 | std::ostream& operator<<(std::ostream&, const G2OBatchStatistics&); 79 | 80 | typedef std::vector BatchStatisticsContainer; 81 | } 82 | 83 | #endif 84 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/creators.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_CREATORS_H 28 | #define G2O_CREATORS_H 29 | 30 | #include "hyper_graph.h" 31 | 32 | #include 33 | #include 34 | 35 | namespace g2o 36 | { 37 | 38 | /** 39 | * \brief Abstract interface for allocating HyperGraphElement 40 | */ 41 | class AbstractHyperGraphElementCreator 42 | { 43 | public: 44 | /** 45 | * create a hyper graph element. Has to implemented in derived class. 46 | */ 47 | virtual HyperGraph::HyperGraphElement* construct() = 0; 48 | /** 49 | * name of the class to be created. Has to implemented in derived class. 50 | */ 51 | virtual const std::string& name() const = 0; 52 | 53 | virtual ~AbstractHyperGraphElementCreator() { } 54 | }; 55 | 56 | /** 57 | * \brief templatized creator class which creates graph elements 58 | */ 59 | template 60 | class HyperGraphElementCreator : public AbstractHyperGraphElementCreator 61 | { 62 | public: 63 | HyperGraphElementCreator() : _name(typeid(T).name()) {} 64 | #if defined (WINDOWS) && defined(__GNUC__) // force stack alignment on Windows with GCC 65 | __attribute__((force_align_arg_pointer)) 66 | #endif 67 | HyperGraph::HyperGraphElement* construct() { return new T;} 68 | virtual const std::string& name() const { return _name;} 69 | protected: 70 | std::string _name; 71 | }; 72 | 73 | } // end namespace 74 | 75 | #endif 76 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/jacobian_workspace.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "jacobian_workspace.h" 28 | 29 | #include 30 | 31 | #include "optimizable_graph.h" 32 | 33 | using namespace std; 34 | 35 | namespace g2o { 36 | 37 | JacobianWorkspace::JacobianWorkspace() : 38 | _maxNumVertices(-1), _maxDimension(-1) 39 | { 40 | } 41 | 42 | JacobianWorkspace::~JacobianWorkspace() 43 | { 44 | } 45 | 46 | bool JacobianWorkspace::allocate() 47 | { 48 | //cerr << __PRETTY_FUNCTION__ << " " << PVAR(this) << " " << PVAR(_maxNumVertices) << " " << PVAR(_maxDimension) << endl; 49 | if (_maxNumVertices <=0 || _maxDimension <= 0) 50 | return false; 51 | _workspace.resize(_maxNumVertices); 52 | for (WorkspaceVector::iterator it = _workspace.begin(); it != _workspace.end(); ++it) { 53 | it->resize(_maxDimension); 54 | it->setZero(); 55 | } 56 | return true; 57 | } 58 | 59 | void JacobianWorkspace::updateSize(const HyperGraph::Edge* e_) 60 | { 61 | const OptimizableGraph::Edge* e = static_cast(e_); 62 | int errorDimension = e->dimension(); 63 | int numVertices = e->vertices().size(); 64 | int maxDimensionForEdge = -1; 65 | for (int i = 0; i < numVertices; ++i) { 66 | const OptimizableGraph::Vertex* v = static_cast(e->vertex(i)); 67 | assert(v && "Edge has no vertex assigned"); 68 | maxDimensionForEdge = max(v->dimension() * errorDimension, maxDimensionForEdge); 69 | } 70 | _maxNumVertices = max(numVertices, _maxNumVertices); 71 | _maxDimension = max(maxDimensionForEdge, _maxDimension); 72 | //cerr << __PRETTY_FUNCTION__ << " " << PVAR(this) << " " << PVAR(_maxNumVertices) << " " << PVAR(_maxDimension) << endl; 73 | } 74 | 75 | void JacobianWorkspace::updateSize(const OptimizableGraph& graph) 76 | { 77 | for (OptimizableGraph::EdgeSet::const_iterator it = graph.edges().begin(); it != graph.edges().end(); ++it) { 78 | const OptimizableGraph::Edge* e = static_cast(*it); 79 | updateSize(e); 80 | } 81 | } 82 | 83 | void JacobianWorkspace::updateSize(int numVertices, int dimension) 84 | { 85 | _maxNumVertices = max(numVertices, _maxNumVertices); 86 | _maxDimension = max(dimension, _maxDimension); 87 | } 88 | 89 | } // end namespace 90 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/jacobian_workspace.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef JACOBIAN_WORKSPACE_H 28 | #define JACOBIAN_WORKSPACE_H 29 | 30 | #include 31 | #include 32 | 33 | #include 34 | #include 35 | 36 | #include "hyper_graph.h" 37 | 38 | namespace g2o { 39 | 40 | struct OptimizableGraph; 41 | 42 | /** 43 | * \brief provide memory workspace for computing the Jacobians 44 | * 45 | * The workspace is used by an OptimizableGraph to provide temporary memory 46 | * for computing the Jacobian of the error functions. 47 | * Before calling linearizeOplus on an edge, the workspace needs to be allocated 48 | * by calling allocate(). 49 | */ 50 | class JacobianWorkspace 51 | { 52 | public: 53 | typedef std::vector > WorkspaceVector; 54 | 55 | public: 56 | JacobianWorkspace(); 57 | ~JacobianWorkspace(); 58 | 59 | /** 60 | * allocate the workspace 61 | */ 62 | bool allocate(); 63 | 64 | /** 65 | * update the maximum required workspace needed by taking into account this edge 66 | */ 67 | void updateSize(const HyperGraph::Edge* e); 68 | 69 | /** 70 | * update the required workspace by looking at a full graph 71 | */ 72 | void updateSize(const OptimizableGraph& graph); 73 | 74 | /** 75 | * manually update with the given parameters 76 | */ 77 | void updateSize(int numVertices, int dimension); 78 | 79 | /** 80 | * return the workspace for a vertex in an edge 81 | */ 82 | double* workspaceForVertex(int vertexIndex) 83 | { 84 | assert(vertexIndex >= 0 && (size_t)vertexIndex < _workspace.size() && "Index out of bounds"); 85 | return _workspace[vertexIndex].data(); 86 | } 87 | 88 | protected: 89 | WorkspaceVector _workspace; ///< the memory pre-allocated for computing the Jacobians 90 | int _maxNumVertices; ///< the maximum number of vertices connected by a hyper-edge 91 | int _maxDimension; ///< the maximum dimension (number of elements) for a Jacobian 92 | }; 93 | 94 | } // end namespace 95 | 96 | #endif 97 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/matrix_operations.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_CORE_MATRIX_OPERATIONS_H 28 | #define G2O_CORE_MATRIX_OPERATIONS_H 29 | 30 | #include 31 | 32 | namespace g2o { 33 | namespace internal { 34 | 35 | template 36 | inline void axpy(const MatrixType& A, const Eigen::Map& x, int xoff, Eigen::Map& y, int yoff) 37 | { 38 | y.segment(yoff) += A * x.segment(xoff); 39 | } 40 | 41 | template 42 | inline void axpy(const Eigen::Matrix& A, const Eigen::Map& x, int xoff, Eigen::Map& y, int yoff) 43 | { 44 | y.segment(yoff, A.rows()) += A * x.segment::ColsAtCompileTime>(xoff); 45 | } 46 | 47 | template<> 48 | inline void axpy(const Eigen::MatrixXd& A, const Eigen::Map& x, int xoff, Eigen::Map& y, int yoff) 49 | { 50 | y.segment(yoff, A.rows()) += A * x.segment(xoff, A.cols()); 51 | } 52 | 53 | template 54 | inline void atxpy(const MatrixType& A, const Eigen::Map& x, int xoff, Eigen::Map& y, int yoff) 55 | { 56 | y.segment(yoff) += A.transpose() * x.segment(xoff); 57 | } 58 | 59 | template 60 | inline void atxpy(const Eigen::Matrix& A, const Eigen::Map& x, int xoff, Eigen::Map& y, int yoff) 61 | { 62 | y.segment::ColsAtCompileTime>(yoff) += A.transpose() * x.segment(xoff, A.rows()); 63 | } 64 | 65 | template<> 66 | inline void atxpy(const Eigen::MatrixXd& A, const Eigen::Map& x, int xoff, Eigen::Map& y, int yoff) 67 | { 68 | y.segment(yoff, A.cols()) += A.transpose() * x.segment(xoff, A.rows()); 69 | } 70 | 71 | } // end namespace internal 72 | } // end namespace g2o 73 | 74 | #endif 75 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/matrix_structure.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "matrix_structure.h" 28 | 29 | #include 30 | #include 31 | #include 32 | #include 33 | using namespace std; 34 | 35 | namespace g2o { 36 | 37 | struct ColSort 38 | { 39 | bool operator()(const pair& e1, const pair& e2) const 40 | { 41 | return e1.second < e2.second || (e1.second == e2.second && e1.first < e2.first); 42 | } 43 | }; 44 | 45 | MatrixStructure::MatrixStructure() : 46 | n(0), m(0), Ap(0), Aii(0), maxN(0), maxNz(0) 47 | { 48 | } 49 | 50 | MatrixStructure::~MatrixStructure() 51 | { 52 | free(); 53 | } 54 | 55 | void MatrixStructure::alloc(int n_, int nz) 56 | { 57 | if (n == 0) { 58 | maxN = n = n_; 59 | maxNz = nz; 60 | Ap = new int[maxN + 1]; 61 | Aii = new int[maxNz]; 62 | } 63 | else { 64 | n = n_; 65 | if (maxNz < nz) { 66 | maxNz = 2 * nz; 67 | delete[] Aii; 68 | Aii = new int[maxNz]; 69 | } 70 | if (maxN < n) { 71 | maxN = 2 * n; 72 | delete[] Ap; 73 | Ap = new int[maxN + 1]; 74 | } 75 | } 76 | } 77 | 78 | void MatrixStructure::free() 79 | { 80 | n = 0; 81 | m = 0; 82 | maxN = 0; 83 | maxNz = 0; 84 | delete[] Aii; Aii = 0; 85 | delete[] Ap; Ap = 0; 86 | } 87 | 88 | bool MatrixStructure::write(const char* filename) const 89 | { 90 | const int& cols = n; 91 | const int& rows = m; 92 | 93 | string name = filename; 94 | std::string::size_type lastDot = name.find_last_of('.'); 95 | if (lastDot != std::string::npos) 96 | name = name.substr(0, lastDot); 97 | 98 | vector > entries; 99 | for (int i=0; i < cols; ++i) { 100 | const int& rbeg = Ap[i]; 101 | const int& rend = Ap[i+1]; 102 | for (int j = rbeg; j < rend; ++j) { 103 | entries.push_back(make_pair(Aii[j], i)); 104 | if (Aii[j] != i) 105 | entries.push_back(make_pair(i, Aii[j])); 106 | } 107 | } 108 | 109 | sort(entries.begin(), entries.end(), ColSort()); 110 | 111 | std::ofstream fout(filename); 112 | fout << "# name: " << name << std::endl; 113 | fout << "# type: sparse matrix" << std::endl; 114 | fout << "# nnz: " << entries.size() << std::endl; 115 | fout << "# rows: " << rows << std::endl; 116 | fout << "# columns: " << cols << std::endl; 117 | for (vector >::const_iterator it = entries.begin(); it != entries.end(); ++it) { 118 | const pair& entry = *it; 119 | fout << entry.first << " " << entry.second << " 0" << std::endl; // write a constant value of 0 120 | } 121 | 122 | return fout.good(); 123 | } 124 | 125 | } // end namespace 126 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/matrix_structure.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_MATRIX_STRUCTURE_H 28 | #define G2O_MATRIX_STRUCTURE_H 29 | 30 | 31 | namespace g2o { 32 | 33 | /** 34 | * \brief representing the structure of a matrix in column compressed structure (only the upper triangular part of the matrix) 35 | */ 36 | class MatrixStructure 37 | { 38 | public: 39 | MatrixStructure(); 40 | ~MatrixStructure(); 41 | /** 42 | * allocate space for the Matrix Structure. You may call this on an already allocated struct, it will 43 | * then reallocate the memory + additional space (double the required space). 44 | */ 45 | void alloc(int n_, int nz); 46 | 47 | void free(); 48 | 49 | /** 50 | * Write the matrix pattern to a file. File is also loadable by octave, e.g., then use spy(matrix) 51 | */ 52 | bool write(const char* filename) const; 53 | 54 | int n; ///< A is m-by-n. n must be >= 0. 55 | int m; ///< A is m-by-n. m must be >= 0. 56 | int* Ap; ///< column pointers for A, of size n+1 57 | int* Aii; ///< row indices of A, of size nz = Ap [n] 58 | 59 | //! max number of non-zeros blocks 60 | int nzMax() const { return maxNz;} 61 | 62 | protected: 63 | int maxN; ///< size of the allocated memory 64 | int maxNz; ///< size of the allocated memory 65 | }; 66 | 67 | } // end namespace 68 | 69 | #endif 70 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/openmp_mutex.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_OPENMP_MUTEX 28 | #define G2O_OPENMP_MUTEX 29 | 30 | #include "../../config.h" 31 | 32 | #ifdef G2O_OPENMP 33 | #include 34 | #else 35 | #include 36 | #endif 37 | 38 | namespace g2o { 39 | 40 | #ifdef G2O_OPENMP 41 | 42 | /** 43 | * \brief Mutex realized via OpenMP 44 | */ 45 | class OpenMPMutex 46 | { 47 | public: 48 | OpenMPMutex() { omp_init_lock(&_lock); } 49 | ~OpenMPMutex() { omp_destroy_lock(&_lock); } 50 | void lock() { omp_set_lock(&_lock); } 51 | void unlock() { omp_unset_lock(&_lock); } 52 | protected: 53 | omp_lock_t _lock; 54 | }; 55 | 56 | #else 57 | 58 | /* 59 | * dummy which does nothing in case we don't have OpenMP support. 60 | * In debug mode, the mutex allows to verify the correct lock and unlock behavior 61 | */ 62 | class OpenMPMutex 63 | { 64 | public: 65 | #ifdef NDEBUG 66 | OpenMPMutex() {} 67 | #else 68 | OpenMPMutex() : _cnt(0) {} 69 | #endif 70 | ~OpenMPMutex() { assert(_cnt == 0 && "Freeing locked mutex");} 71 | void lock() { assert(++_cnt == 1 && "Locking already locked mutex");} 72 | void unlock() { assert(--_cnt == 0 && "Trying to unlock a mutex which is not locked");} 73 | protected: 74 | #ifndef NDEBUG 75 | char _cnt; 76 | #endif 77 | }; 78 | 79 | #endif 80 | 81 | /** 82 | * \brief lock a mutex within a scope 83 | */ 84 | class ScopedOpenMPMutex 85 | { 86 | public: 87 | explicit ScopedOpenMPMutex(OpenMPMutex* mutex) : _mutex(mutex) { _mutex->lock(); } 88 | ~ScopedOpenMPMutex() { _mutex->unlock(); } 89 | private: 90 | OpenMPMutex* const _mutex; 91 | ScopedOpenMPMutex(const ScopedOpenMPMutex&); 92 | void operator=(const ScopedOpenMPMutex&); 93 | }; 94 | 95 | } 96 | 97 | #endif 98 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/optimization_algorithm.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "optimization_algorithm.h" 28 | 29 | using namespace std; 30 | 31 | namespace g2o { 32 | 33 | OptimizationAlgorithm::OptimizationAlgorithm() : 34 | _optimizer(0) 35 | { 36 | } 37 | 38 | OptimizationAlgorithm::~OptimizationAlgorithm() 39 | { 40 | } 41 | 42 | void OptimizationAlgorithm::printProperties(std::ostream& os) const 43 | { 44 | os << "------------- Algorithm Properties -------------" << endl; 45 | for (PropertyMap::const_iterator it = _properties.begin(); it != _properties.end(); ++it) { 46 | BaseProperty* p = it->second; 47 | os << it->first << "\t" << p->toString() << endl; 48 | } 49 | os << "------------------------------------------------" << endl; 50 | } 51 | 52 | bool OptimizationAlgorithm::updatePropertiesFromString(const std::string& propString) 53 | { 54 | return _properties.updateMapFromString(propString); 55 | } 56 | 57 | void OptimizationAlgorithm::setOptimizer(SparseOptimizer* optimizer) 58 | { 59 | _optimizer = optimizer; 60 | } 61 | 62 | } // end namespace 63 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/optimization_algorithm_dogleg.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_OPTIMIZATION_ALGORITHM_DOGLEG_H 28 | #define G2O_OPTIMIZATION_ALGORITHM_DOGLEG_H 29 | 30 | #include "optimization_algorithm_with_hessian.h" 31 | 32 | namespace g2o { 33 | 34 | class BlockSolverBase; 35 | 36 | /** 37 | * \brief Implementation of Powell's Dogleg Algorithm 38 | */ 39 | class OptimizationAlgorithmDogleg : public OptimizationAlgorithmWithHessian 40 | { 41 | public: 42 | /** \brief type of the step to take */ 43 | enum { 44 | STEP_UNDEFINED, 45 | STEP_SD, STEP_GN, STEP_DL 46 | }; 47 | 48 | public: 49 | /** 50 | * construct the Dogleg algorithm, which will use the given Solver for solving the 51 | * linearized system. 52 | */ 53 | explicit OptimizationAlgorithmDogleg(BlockSolverBase* solver); 54 | virtual ~OptimizationAlgorithmDogleg(); 55 | 56 | virtual SolverResult solve(int iteration, bool online = false); 57 | 58 | virtual void printVerbose(std::ostream& os) const; 59 | 60 | //! return the type of the last step taken by the algorithm 61 | int lastStep() const { return _lastStep;} 62 | //! return the diameter of the trust region 63 | double trustRegion() const { return _delta;} 64 | 65 | //! convert the type into an integer 66 | static const char* stepType2Str(int stepType); 67 | 68 | protected: 69 | // parameters 70 | Property* _maxTrialsAfterFailure; 71 | Property* _userDeltaInit; 72 | // damping to enforce positive definite matrix 73 | Property* _initialLambda; 74 | Property* _lamdbaFactor; 75 | 76 | Eigen::VectorXd _hsd; ///< steepest decent step 77 | Eigen::VectorXd _hdl; ///< final dogleg step 78 | Eigen::VectorXd _auxVector; ///< auxilary vector used to perform multiplications or other stuff 79 | 80 | double _currentLambda; ///< the damping factor to force positive definite matrix 81 | double _delta; ///< trust region 82 | int _lastStep; ///< type of the step taken by the algorithm 83 | bool _wasPDInAllIterations; ///< the matrix we solve was positive definite in all iterations -> if not apply damping 84 | int _lastNumTries; 85 | }; 86 | 87 | } // end namespace 88 | 89 | #endif 90 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "optimization_algorithm_gauss_newton.h" 28 | 29 | #include 30 | 31 | #include "../stuff/timeutil.h" 32 | #include "../stuff/macros.h" 33 | 34 | #include "solver.h" 35 | #include "batch_stats.h" 36 | #include "sparse_optimizer.h" 37 | using namespace std; 38 | 39 | namespace g2o { 40 | 41 | OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton(Solver* solver) : 42 | OptimizationAlgorithmWithHessian(solver) 43 | { 44 | } 45 | 46 | OptimizationAlgorithmGaussNewton::~OptimizationAlgorithmGaussNewton() 47 | { 48 | } 49 | 50 | OptimizationAlgorithm::SolverResult OptimizationAlgorithmGaussNewton::solve(int iteration, bool online) 51 | { 52 | assert(_optimizer && "_optimizer not set"); 53 | assert(_solver->optimizer() == _optimizer && "underlying linear solver operates on different graph"); 54 | bool ok = true; 55 | 56 | //here so that correct component for max-mixtures can be computed before the build structure 57 | double t=get_monotonic_time(); 58 | _optimizer->computeActiveErrors(); 59 | G2OBatchStatistics* globalStats = G2OBatchStatistics::globalStats(); 60 | if (globalStats) { 61 | globalStats->timeResiduals = get_monotonic_time()-t; 62 | } 63 | 64 | if (iteration == 0 && !online) { // built up the CCS structure, here due to easy time measure 65 | ok = _solver->buildStructure(); 66 | if (! ok) { 67 | cerr << __PRETTY_FUNCTION__ << ": Failure while building CCS structure" << endl; 68 | return OptimizationAlgorithm::Fail; 69 | } 70 | } 71 | 72 | t=get_monotonic_time(); 73 | _solver->buildSystem(); 74 | if (globalStats) { 75 | globalStats->timeQuadraticForm = get_monotonic_time()-t; 76 | t=get_monotonic_time(); 77 | } 78 | 79 | ok = _solver->solve(); 80 | if (globalStats) { 81 | globalStats->timeLinearSolution = get_monotonic_time()-t; 82 | t=get_monotonic_time(); 83 | } 84 | 85 | _optimizer->update(_solver->x()); 86 | if (globalStats) { 87 | globalStats->timeUpdate = get_monotonic_time()-t; 88 | } 89 | if (ok) 90 | return OK; 91 | else 92 | return Fail; 93 | } 94 | 95 | void OptimizationAlgorithmGaussNewton::printVerbose(std::ostream& os) const 96 | { 97 | os 98 | << "\t schur= " << _solver->schur(); 99 | } 100 | 101 | } // end namespace 102 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_OPTIMIZATION_ALGORITHM_GAUSS_NEWTON_H 28 | #define G2O_OPTIMIZATION_ALGORITHM_GAUSS_NEWTON_H 29 | 30 | #include "optimization_algorithm_with_hessian.h" 31 | 32 | namespace g2o { 33 | 34 | /** 35 | * \brief Implementation of the Gauss Newton Algorithm 36 | */ 37 | class OptimizationAlgorithmGaussNewton : public OptimizationAlgorithmWithHessian 38 | { 39 | public: 40 | /** 41 | * construct the Gauss Newton algorithm, which use the given Solver for solving the 42 | * linearized system. 43 | */ 44 | explicit OptimizationAlgorithmGaussNewton(Solver* solver); 45 | virtual ~OptimizationAlgorithmGaussNewton(); 46 | 47 | virtual SolverResult solve(int iteration, bool online = false); 48 | 49 | virtual void printVerbose(std::ostream& os) const; 50 | }; 51 | 52 | } // end namespace 53 | 54 | #endif 55 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_SOLVER_LEVENBERG_H 28 | #define G2O_SOLVER_LEVENBERG_H 29 | 30 | #include "optimization_algorithm_with_hessian.h" 31 | 32 | namespace g2o { 33 | 34 | /** 35 | * \brief Implementation of the Levenberg Algorithm 36 | */ 37 | class OptimizationAlgorithmLevenberg : public OptimizationAlgorithmWithHessian 38 | { 39 | public: 40 | /** 41 | * construct the Levenberg algorithm, which will use the given Solver for solving the 42 | * linearized system. 43 | */ 44 | explicit OptimizationAlgorithmLevenberg(Solver* solver); 45 | virtual ~OptimizationAlgorithmLevenberg(); 46 | 47 | virtual SolverResult solve(int iteration, bool online = false); 48 | 49 | virtual void printVerbose(std::ostream& os) const; 50 | 51 | //! return the currently used damping factor 52 | double currentLambda() const { return _currentLambda;} 53 | 54 | //! the number of internal iteration if an update step increases chi^2 within Levenberg-Marquardt 55 | void setMaxTrialsAfterFailure(int max_trials); 56 | 57 | //! get the number of inner iterations for Levenberg-Marquardt 58 | int maxTrialsAfterFailure() const { return _maxTrialsAfterFailure->value();} 59 | 60 | //! return the lambda set by the user, if < 0 the SparseOptimizer will compute the initial lambda 61 | double userLambdaInit() {return _userLambdaInit->value();} 62 | //! specify the initial lambda used for the first iteraion, if not given the SparseOptimizer tries to compute a suitable value 63 | void setUserLambdaInit(double lambda); 64 | 65 | //! return the number of levenberg iterations performed in the last round 66 | int levenbergIteration() { return _levenbergIterations;} 67 | 68 | protected: 69 | // Levenberg parameters 70 | Property* _maxTrialsAfterFailure; 71 | Property* _userLambdaInit; 72 | double _currentLambda; 73 | double _tau; 74 | double _goodStepLowerScale; ///< lower bound for lambda decrease if a good LM step 75 | double _goodStepUpperScale; ///< upper bound for lambda decrease if a good LM step 76 | double _ni; 77 | int _levenbergIterations; ///< the numer of levenberg iterations performed to accept the last step 78 | //RAUL 79 | int _nBad; 80 | 81 | /** 82 | * helper for Levenberg, this function computes the initial damping factor, if the user did not 83 | * specify an own value, see setUserLambdaInit() 84 | */ 85 | double computeLambdaInit() const; 86 | double computeScale() const; 87 | 88 | }; 89 | 90 | } // end namespace 91 | 92 | #endif 93 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/optimization_algorithm_property.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_OPTIMIZATION_ALGORITHM_PROPERTY_H 28 | #define G2O_OPTIMIZATION_ALGORITHM_PROPERTY_H 29 | 30 | #include 31 | 32 | namespace g2o { 33 | 34 | /** 35 | * \brief describe the properties of a solver 36 | */ 37 | struct OptimizationAlgorithmProperty 38 | { 39 | std::string name; ///< name of the solver, e.g., var 40 | std::string desc; ///< short description of the solver 41 | std::string type; ///< type of solver, e.g., "CSparse Cholesky", "PCG" 42 | bool requiresMarginalize; ///< whether the solver requires marginalization of landmarks 43 | int poseDim; ///< dimension of the pose vertices (-1 if variable) 44 | int landmarkDim; ///< dimension of the landmar vertices (-1 if variable) 45 | OptimizationAlgorithmProperty() : 46 | name(), desc(), type(), requiresMarginalize(false), poseDim(-1), landmarkDim(-1) 47 | { 48 | } 49 | OptimizationAlgorithmProperty(const std::string& name_, const std::string& desc_, const std::string& type_, bool requiresMarginalize_, int poseDim_, int landmarkDim_) : 50 | name(name_), desc(desc_), type(type_), requiresMarginalize(requiresMarginalize_), poseDim(poseDim_), landmarkDim(landmarkDim_) 51 | { 52 | } 53 | }; 54 | 55 | } // end namespace 56 | 57 | #endif 58 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "optimization_algorithm_with_hessian.h" 28 | 29 | #include "solver.h" 30 | #include "optimizable_graph.h" 31 | #include "sparse_optimizer.h" 32 | 33 | #include 34 | using namespace std; 35 | 36 | namespace g2o { 37 | 38 | OptimizationAlgorithmWithHessian::OptimizationAlgorithmWithHessian(Solver* solver) : 39 | OptimizationAlgorithm(), 40 | _solver(solver) 41 | { 42 | _writeDebug = _properties.makeProperty >("writeDebug", true); 43 | } 44 | 45 | OptimizationAlgorithmWithHessian::~OptimizationAlgorithmWithHessian() 46 | { 47 | delete _solver; 48 | } 49 | 50 | bool OptimizationAlgorithmWithHessian::init(bool online) 51 | { 52 | assert(_optimizer && "_optimizer not set"); 53 | assert(_solver && "Solver not set"); 54 | _solver->setWriteDebug(_writeDebug->value()); 55 | bool useSchur=false; 56 | for (OptimizableGraph::VertexContainer::const_iterator it=_optimizer->activeVertices().begin(); it!=_optimizer->activeVertices().end(); ++it) { 57 | OptimizableGraph::Vertex* v= *it; 58 | if (v->marginalized()){ 59 | useSchur=true; 60 | break; 61 | } 62 | } 63 | if (useSchur){ 64 | if (_solver->supportsSchur()) 65 | _solver->setSchur(true); 66 | } else { 67 | if (_solver->supportsSchur()) 68 | _solver->setSchur(false); 69 | } 70 | 71 | bool initState = _solver->init(_optimizer, online); 72 | return initState; 73 | } 74 | 75 | bool OptimizationAlgorithmWithHessian::computeMarginals(SparseBlockMatrix& spinv, const std::vector >& blockIndices) 76 | { 77 | return _solver ? _solver->computeMarginals(spinv, blockIndices) : false; 78 | } 79 | 80 | bool OptimizationAlgorithmWithHessian::buildLinearStructure() 81 | { 82 | return _solver ? _solver->buildStructure() : false; 83 | } 84 | 85 | void OptimizationAlgorithmWithHessian::updateLinearSystem() 86 | { 87 | if (_solver) 88 | _solver->buildSystem(); 89 | } 90 | 91 | bool OptimizationAlgorithmWithHessian::updateStructure(const std::vector& vset, const HyperGraph::EdgeSet& edges) 92 | { 93 | return _solver ? _solver->updateStructure(vset, edges) : false; 94 | } 95 | 96 | void OptimizationAlgorithmWithHessian::setWriteDebug(bool writeDebug) 97 | { 98 | _writeDebug->setValue(writeDebug); 99 | } 100 | 101 | } // end namespace 102 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_OPTIMIZATION_ALGORITHM_WITH_HESSIAN_H 28 | #define G2O_OPTIMIZATION_ALGORITHM_WITH_HESSIAN_H 29 | 30 | #include "optimization_algorithm.h" 31 | 32 | namespace g2o { 33 | 34 | class Solver; 35 | 36 | /** 37 | * \brief Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg 38 | */ 39 | class OptimizationAlgorithmWithHessian : public OptimizationAlgorithm 40 | { 41 | public: 42 | explicit OptimizationAlgorithmWithHessian(Solver* solver); 43 | virtual ~OptimizationAlgorithmWithHessian(); 44 | 45 | virtual bool init(bool online = false); 46 | 47 | virtual bool computeMarginals(SparseBlockMatrix& spinv, const std::vector >& blockIndices); 48 | 49 | virtual bool buildLinearStructure(); 50 | 51 | virtual void updateLinearSystem(); 52 | 53 | virtual bool updateStructure(const std::vector& vset, const HyperGraph::EdgeSet& edges); 54 | 55 | //! return the underlying solver used to solve the linear system 56 | Solver* solver() { return _solver;} 57 | 58 | /** 59 | * write debug output of the Hessian if system is not positive definite 60 | */ 61 | virtual void setWriteDebug(bool writeDebug); 62 | virtual bool writeDebug() const { return _writeDebug->value();} 63 | 64 | protected: 65 | Solver* _solver; 66 | Property* _writeDebug; 67 | 68 | }; 69 | 70 | }// end namespace 71 | 72 | #endif 73 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/parameter.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "parameter.h" 28 | 29 | namespace g2o { 30 | 31 | Parameter::Parameter() : _id(-1) 32 | { 33 | } 34 | 35 | void Parameter::setId(int id_) 36 | { 37 | _id = id_; 38 | } 39 | 40 | } // end namespace 41 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/parameter.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_GRAPH_PARAMETER_HH_ 28 | #define G2O_GRAPH_PARAMETER_HH_ 29 | 30 | #include 31 | 32 | #include "hyper_graph.h" 33 | 34 | namespace g2o { 35 | 36 | class Parameter : public HyperGraph::HyperGraphElement 37 | { 38 | public: 39 | Parameter(); 40 | virtual ~Parameter() {}; 41 | //! read the data from a stream 42 | virtual bool read(std::istream& is) = 0; 43 | //! write the data to a stream 44 | virtual bool write(std::ostream& os) const = 0; 45 | int id() const {return _id;} 46 | void setId(int id_); 47 | virtual HyperGraph::HyperGraphElementType elementType() const { return HyperGraph::HGET_PARAMETER;} 48 | protected: 49 | int _id; 50 | }; 51 | 52 | typedef std::vector ParameterVector; 53 | 54 | } // end namespace 55 | 56 | #endif 57 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/parameter_container.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_GRAPH_PARAMETER_CONTAINER_HH_ 28 | #define G2O_GRAPH_PARAMETER_CONTAINER_HH_ 29 | 30 | #include 31 | #include 32 | #include 33 | 34 | namespace g2o { 35 | 36 | class Parameter; 37 | 38 | /** 39 | * \brief map id to parameters 40 | */ 41 | class ParameterContainer : protected std::map 42 | { 43 | public: 44 | typedef std::map BaseClass; 45 | 46 | /** 47 | * create a container for the parameters. 48 | * @param isMainStorage_ pointers to the parameters are owned by this container, i.e., freed in its constructor 49 | */ 50 | ParameterContainer(bool isMainStorage_=true); 51 | virtual ~ParameterContainer(); 52 | //! add parameter to the container 53 | bool addParameter(Parameter* p); 54 | //! return a parameter based on its ID 55 | Parameter* getParameter(int id); 56 | //! remove a parameter from the container, i.e., the user now owns the pointer 57 | Parameter* detachParameter(int id); 58 | //! read parameters from a stream 59 | virtual bool read(std::istream& is, const std::map* renamedMap =0); 60 | //! write the data to a stream 61 | virtual bool write(std::ostream& os) const; 62 | bool isMainStorage() const {return _isMainStorage;} 63 | void clear(); 64 | 65 | // stuff of the base class that should re-appear 66 | using BaseClass::size; 67 | 68 | protected: 69 | bool _isMainStorage; 70 | }; 71 | 72 | } // end namespace 73 | 74 | #endif 75 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/robust_kernel.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "robust_kernel.h" 28 | 29 | namespace g2o { 30 | 31 | RobustKernel::RobustKernel() : 32 | _delta(1.) 33 | { 34 | } 35 | 36 | RobustKernel::RobustKernel(double delta) : 37 | _delta(delta) 38 | { 39 | } 40 | 41 | void RobustKernel::setDelta(double delta) 42 | { 43 | _delta = delta; 44 | } 45 | 46 | } // end namespace g2o 47 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/robust_kernel.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_ROBUST_KERNEL_H 28 | #define G2O_ROBUST_KERNEL_H 29 | 30 | #ifdef _MSC_VER 31 | #include 32 | #else 33 | #include 34 | #endif 35 | #include 36 | 37 | 38 | namespace g2o { 39 | 40 | /** 41 | * \brief base for all robust cost functions 42 | * 43 | * Note in all the implementations for the other cost functions the e in the 44 | * funtions corresponds to the sqaured errors, i.e., the robustification 45 | * functions gets passed the squared error. 46 | * 47 | * e.g. the robustified least squares function is 48 | * 49 | * chi^2 = sum_{e} rho( e^T Omega e ) 50 | */ 51 | class RobustKernel 52 | { 53 | public: 54 | RobustKernel(); 55 | explicit RobustKernel(double delta); 56 | virtual ~RobustKernel() {} 57 | /** 58 | * compute the scaling factor for a error: 59 | * The error is e^T Omega e 60 | * The output rho is 61 | * rho[0]: The actual scaled error value 62 | * rho[1]: First derivative of the scaling function 63 | * rho[2]: Second derivative of the scaling function 64 | */ 65 | virtual void robustify(double squaredError, Eigen::Vector3d& rho) const = 0; 66 | 67 | /** 68 | * set the window size of the error. A squared error above delta^2 is considered 69 | * as outlier in the data. 70 | */ 71 | virtual void setDelta(double delta); 72 | double delta() const { return _delta;} 73 | 74 | protected: 75 | double _delta; 76 | }; 77 | typedef std::tr1::shared_ptr RobustKernelPtr; 78 | 79 | } // end namespace g2o 80 | 81 | #endif 82 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/robust_kernel_factory.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "robust_kernel_factory.h" 28 | #include "robust_kernel.h" 29 | 30 | #include 31 | 32 | using namespace std; 33 | 34 | namespace g2o { 35 | 36 | RobustKernelFactory* RobustKernelFactory::factoryInstance = 0; 37 | 38 | RobustKernelFactory::RobustKernelFactory() 39 | { 40 | } 41 | 42 | RobustKernelFactory::~RobustKernelFactory() 43 | { 44 | for (CreatorMap::iterator it = _creator.begin(); it != _creator.end(); ++it) { 45 | delete it->second; 46 | } 47 | _creator.clear(); 48 | } 49 | 50 | RobustKernelFactory* RobustKernelFactory::instance() 51 | { 52 | if (factoryInstance == 0) { 53 | factoryInstance = new RobustKernelFactory; 54 | } 55 | 56 | return factoryInstance; 57 | } 58 | 59 | void RobustKernelFactory::registerRobustKernel(const std::string& tag, AbstractRobustKernelCreator* c) 60 | { 61 | CreatorMap::const_iterator foundIt = _creator.find(tag); 62 | if (foundIt != _creator.end()) { 63 | cerr << "RobustKernelFactory WARNING: Overwriting robust kernel tag " << tag << endl; 64 | assert(0); 65 | } 66 | 67 | _creator[tag] = c; 68 | } 69 | 70 | void RobustKernelFactory::unregisterType(const std::string& tag) 71 | { 72 | CreatorMap::iterator tagPosition = _creator.find(tag); 73 | if (tagPosition != _creator.end()) { 74 | AbstractRobustKernelCreator* c = tagPosition->second; 75 | delete c; 76 | _creator.erase(tagPosition); 77 | } 78 | } 79 | 80 | RobustKernel* RobustKernelFactory::construct(const std::string& tag) const 81 | { 82 | CreatorMap::const_iterator foundIt = _creator.find(tag); 83 | if (foundIt != _creator.end()) { 84 | return foundIt->second->construct(); 85 | } 86 | return 0; 87 | } 88 | 89 | AbstractRobustKernelCreator* RobustKernelFactory::creator(const std::string& tag) const 90 | { 91 | CreatorMap::const_iterator foundIt = _creator.find(tag); 92 | if (foundIt != _creator.end()) { 93 | return foundIt->second; 94 | } 95 | return 0; 96 | } 97 | 98 | void RobustKernelFactory::fillKnownKernels(std::vector& types) const 99 | { 100 | types.clear(); 101 | for (CreatorMap::const_iterator it = _creator.begin(); it != _creator.end(); ++it) 102 | types.push_back(it->first); 103 | } 104 | 105 | void RobustKernelFactory::destroy() 106 | { 107 | delete factoryInstance; 108 | factoryInstance = 0; 109 | } 110 | 111 | } // end namespace 112 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/solver.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "solver.h" 28 | 29 | #include 30 | #include 31 | 32 | namespace g2o { 33 | 34 | Solver::Solver() : 35 | _optimizer(0), _x(0), _b(0), _xSize(0), _maxXSize(0), 36 | _isLevenberg(false), _additionalVectorSpace(0) 37 | { 38 | } 39 | 40 | Solver::~Solver() 41 | { 42 | delete[] _x; 43 | delete[] _b; 44 | } 45 | 46 | void Solver::resizeVector(size_t sx) 47 | { 48 | size_t oldSize = _xSize; 49 | _xSize = sx; 50 | sx += _additionalVectorSpace; // allocate some additional space if requested 51 | if (_maxXSize < sx) { 52 | _maxXSize = 2*sx; 53 | delete[] _x; 54 | _x = new double[_maxXSize]; 55 | #ifndef NDEBUG 56 | memset(_x, 0, _maxXSize * sizeof(double)); 57 | #endif 58 | if (_b) { // backup the former b, might still be needed for online processing 59 | memcpy(_x, _b, oldSize * sizeof(double)); 60 | delete[] _b; 61 | _b = new double[_maxXSize]; 62 | std::swap(_b, _x); 63 | } else { 64 | _b = new double[_maxXSize]; 65 | #ifndef NDEBUG 66 | memset(_b, 0, _maxXSize * sizeof(double)); 67 | #endif 68 | } 69 | } 70 | } 71 | 72 | void Solver::setOptimizer(SparseOptimizer* optimizer) 73 | { 74 | _optimizer = optimizer; 75 | } 76 | 77 | void Solver::setLevenberg(bool levenberg) 78 | { 79 | _isLevenberg = levenberg; 80 | } 81 | 82 | void Solver::setAdditionalVectorSpace(size_t s) 83 | { 84 | _additionalVectorSpace = s; 85 | } 86 | 87 | } // end namespace 88 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/core/sparse_block_matrix_test.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "sparse_block_matrix.h" 28 | #include 29 | 30 | using namespace std; 31 | using namespace g2o; 32 | using namespace Eigen; 33 | 34 | typedef SparseBlockMatrix< MatrixXd > 35 | SparseBlockMatrixX; 36 | 37 | std::ostream& operator << (std::ostream& os, const SparseBlockMatrixX::SparseMatrixBlock& m) { 38 | for (int i=0; iblock(0,0, true); 55 | cerr << b->rows() << " " << b->cols() << endl; 56 | for (int i=0; irows(); ++i) 57 | for (int j=0; jcols(); ++j){ 58 | (*b)(i,j)=i*b->cols()+j; 59 | } 60 | 61 | 62 | cerr << "block access 2" << endl; 63 | b=M->block(0,2, true); 64 | cerr << b->rows() << " " << b->cols() << endl; 65 | for (int i=0; irows(); ++i) 66 | for (int j=0; jcols(); ++j){ 67 | (*b)(i,j)=i*b->cols()+j; 68 | } 69 | 70 | b=M->block(3,2, true); 71 | cerr << b->rows() << " " << b->cols() << endl; 72 | for (int i=0; irows(); ++i) 73 | for (int j=0; jcols(); ++j){ 74 | (*b)(i,j)=i*b->cols()+j; 75 | } 76 | 77 | cerr << *M << endl; 78 | 79 | cerr << "SUM" << endl; 80 | 81 | SparseBlockMatrixX* Ms=0; 82 | M->add(Ms); 83 | M->add(Ms); 84 | cerr << *Ms; 85 | 86 | SparseBlockMatrixX* Mt=0; 87 | M->transpose(Mt); 88 | cerr << *Mt << endl; 89 | 90 | SparseBlockMatrixX* Mp=0; 91 | M->multiply(Mp, Mt); 92 | cerr << *Mp << endl; 93 | 94 | int iperm[]={3,2,1,0}; 95 | SparseBlockMatrixX* PMp=0; 96 | 97 | Mp->symmPermutation(PMp,iperm, false); 98 | cerr << *PMp << endl; 99 | 100 | PMp->clear(true); 101 | Mp->block(3,0)->fill(0.); 102 | Mp->symmPermutation(PMp,iperm, true); 103 | cerr << *PMp << endl; 104 | 105 | 106 | 107 | } 108 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/stuff/color_macros.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_COLOR_MACROS_H 28 | #define G2O_COLOR_MACROS_H 29 | 30 | // font attributes 31 | #define FT_BOLD "\033[1m" 32 | #define FT_UNDERLINE "\033[4m" 33 | 34 | //background color 35 | #define BG_BLACK "\033[40m" 36 | #define BG_RED "\033[41m" 37 | #define BG_GREEN "\033[42m" 38 | #define BG_YELLOW "\033[43m" 39 | #define BG_LIGHTBLUE "\033[44m" 40 | #define BG_MAGENTA "\033[45m" 41 | #define BG_BLUE "\033[46m" 42 | #define BG_WHITE "\033[47m" 43 | 44 | // font color 45 | #define CL_BLACK(s) "\033[30m" << s << "\033[0m" 46 | #define CL_RED(s) "\033[31m" << s << "\033[0m" 47 | #define CL_GREEN(s) "\033[32m" << s << "\033[0m" 48 | #define CL_YELLOW(s) "\033[33m" << s << "\033[0m" 49 | #define CL_LIGHTBLUE(s) "\033[34m" << s << "\033[0m" 50 | #define CL_MAGENTA(s) "\033[35m" << s << "\033[0m" 51 | #define CL_BLUE(s) "\033[36m" << s << "\033[0m" 52 | #define CL_WHITE(s) "\033[37m" << s << "\033[0m" 53 | 54 | #define FG_BLACK "\033[30m" 55 | #define FG_RED "\033[31m" 56 | #define FG_GREEN "\033[32m" 57 | #define FG_YELLOW "\033[33m" 58 | #define FG_LIGHTBLUE "\033[34m" 59 | #define FG_MAGENTA "\033[35m" 60 | #define FG_BLUE "\033[36m" 61 | #define FG_WHITE "\033[37m" 62 | 63 | #define FG_NORM "\033[0m" 64 | 65 | #endif 66 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/stuff/os_specific.c: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "os_specific.h" 28 | 29 | #ifdef WINDOWS 30 | 31 | int vasprintf(char** strp, const char* fmt, va_list ap) 32 | { 33 | int n; 34 | int size = 100; 35 | char* p; 36 | char* np; 37 | 38 | if ((p = (char*)malloc(size * sizeof(char))) == NULL) 39 | return -1; 40 | 41 | while (1) { 42 | #ifdef _MSC_VER 43 | n = vsnprintf_s(p, size, size - 1, fmt, ap); 44 | #else 45 | n = vsnprintf(p, size, fmt, ap); 46 | #endif 47 | if (n > -1 && n < size) { 48 | *strp = p; 49 | return n; 50 | } 51 | if (n > -1) 52 | size = n+1; 53 | else 54 | size *= 2; 55 | if ((np = (char*)realloc (p, size * sizeof(char))) == NULL) { 56 | free(p); 57 | return -1; 58 | } else 59 | p = np; 60 | } 61 | } 62 | 63 | 64 | #endif 65 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/stuff/os_specific.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_OS_SPECIFIC_HH_ 28 | #define G2O_OS_SPECIFIC_HH_ 29 | 30 | #ifdef WINDOWS 31 | #include 32 | #include 33 | #include 34 | #ifndef _WINDOWS 35 | #include 36 | #endif 37 | #define drand48() ((double) rand()/(double)RAND_MAX) 38 | 39 | #ifdef __cplusplus 40 | extern "C" { 41 | #endif 42 | 43 | int vasprintf(char** strp, const char* fmt, va_list ap); 44 | 45 | #ifdef __cplusplus 46 | } 47 | #endif 48 | 49 | #endif 50 | 51 | #ifdef UNIX 52 | #include 53 | // nothing to do on real operating systems 54 | #endif 55 | 56 | #endif 57 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/stuff/property.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "property.h" 28 | 29 | #include 30 | #include 31 | 32 | #include "macros.h" 33 | 34 | #include "string_tools.h" 35 | using namespace std; 36 | 37 | namespace g2o { 38 | 39 | BaseProperty::BaseProperty(const std::string name_) :_name(name_){ 40 | } 41 | 42 | BaseProperty::~BaseProperty(){} 43 | 44 | bool PropertyMap::addProperty(BaseProperty* p) { 45 | std::pair result = insert(make_pair(p->name(), p)); 46 | return result.second; 47 | } 48 | 49 | bool PropertyMap::eraseProperty(const std::string& name) { 50 | PropertyMapIterator it=find(name); 51 | if (it==end()) 52 | return false; 53 | delete it->second; 54 | erase(it); 55 | return true; 56 | } 57 | 58 | PropertyMap::~PropertyMap() { 59 | for (PropertyMapIterator it=begin(); it!=end(); it++){ 60 | if (it->second) 61 | delete it->second; 62 | } 63 | } 64 | 65 | bool PropertyMap::updatePropertyFromString(const std::string& name, const std::string& value) 66 | { 67 | PropertyMapIterator it = find(name); 68 | if (it == end()) 69 | return false; 70 | it->second->fromString(value); 71 | return true; 72 | } 73 | 74 | void PropertyMap::writeToCSV(std::ostream& os) const 75 | { 76 | for (PropertyMapConstIterator it=begin(); it!=end(); it++){ 77 | BaseProperty* p =it->second; 78 | os << p->name() << ", "; 79 | } 80 | os << std::endl; 81 | for (PropertyMapConstIterator it=begin(); it!=end(); it++){ 82 | BaseProperty* p =it->second; 83 | os << p->toString() << ", "; 84 | } 85 | os << std::endl; 86 | } 87 | 88 | bool PropertyMap::updateMapFromString(const std::string& values) 89 | { 90 | bool status = true; 91 | vector valuesMap = strSplit(values, ","); 92 | for (size_t i = 0; i < valuesMap.size(); ++i) { 93 | vector m = strSplit(valuesMap[i], "="); 94 | if (m.size() != 2) { 95 | cerr << __PRETTY_FUNCTION__ << ": unable to extract name=value pair from " << valuesMap[i] << endl; 96 | continue; 97 | } 98 | string name = trim(m[0]); 99 | string value = trim(m[1]); 100 | status = status && updatePropertyFromString(name, value); 101 | } 102 | return status; 103 | } 104 | 105 | } // end namespace 106 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/types/se3_ops.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 H. Strasdat 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_MATH_STUFF 28 | #define G2O_MATH_STUFF 29 | 30 | #include 31 | #include 32 | 33 | namespace g2o { 34 | using namespace Eigen; 35 | 36 | inline Matrix3d skew(const Vector3d&v); 37 | inline Vector3d deltaR(const Matrix3d& R); 38 | inline Vector2d project(const Vector3d&); 39 | inline Vector3d project(const Vector4d&); 40 | inline Vector3d unproject(const Vector2d&); 41 | inline Vector4d unproject(const Vector3d&); 42 | 43 | #include "se3_ops.hpp" 44 | 45 | } 46 | 47 | #endif //MATH_STUFF 48 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/types/se3_ops.hpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 H. Strasdat 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | Matrix3d skew(const Vector3d&v) 28 | { 29 | Matrix3d m; 30 | m.fill(0.); 31 | m(0,1) = -v(2); 32 | m(0,2) = v(1); 33 | m(1,2) = -v(0); 34 | m(1,0) = v(2); 35 | m(2,0) = -v(1); 36 | m(2,1) = v(0); 37 | return m; 38 | } 39 | 40 | Vector3d deltaR(const Matrix3d& R) 41 | { 42 | Vector3d v; 43 | v(0)=R(2,1)-R(1,2); 44 | v(1)=R(0,2)-R(2,0); 45 | v(2)=R(1,0)-R(0,1); 46 | return v; 47 | } 48 | 49 | Vector2d project(const Vector3d& v) 50 | { 51 | Vector2d res; 52 | res(0) = v(0)/v(2); 53 | res(1) = v(1)/v(2); 54 | return res; 55 | } 56 | 57 | Vector3d project(const Vector4d& v) 58 | { 59 | Vector3d res; 60 | res(0) = v(0)/v(3); 61 | res(1) = v(1)/v(3); 62 | res(2) = v(2)/v(3); 63 | return res; 64 | } 65 | 66 | Vector3d unproject(const Vector2d& v) 67 | { 68 | Vector3d res; 69 | res(0) = v(0); 70 | res(1) = v(1); 71 | res(2) = 1; 72 | return res; 73 | } 74 | 75 | Vector4d unproject(const Vector3d& v) 76 | { 77 | Vector4d res; 78 | res(0) = v(0); 79 | res(1) = v(1); 80 | res(2) = v(2); 81 | res(3) = 1; 82 | return res; 83 | } 84 | 85 | 86 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/types/types_sba.cpp: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 Kurt Konolige 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #include "types_sba.h" 28 | #include 29 | 30 | namespace g2o { 31 | 32 | using namespace std; 33 | 34 | 35 | VertexSBAPointXYZ::VertexSBAPointXYZ() : BaseVertex<3, Vector3d>() 36 | { 37 | } 38 | 39 | bool VertexSBAPointXYZ::read(std::istream& is) 40 | { 41 | Vector3d lv; 42 | for (int i=0; i<3; i++) 43 | is >> _estimate[i]; 44 | return true; 45 | } 46 | 47 | bool VertexSBAPointXYZ::write(std::ostream& os) const 48 | { 49 | Vector3d lv=estimate(); 50 | for (int i=0; i<3; i++){ 51 | os << lv[i] << " "; 52 | } 53 | return os.good(); 54 | } 55 | 56 | } // end namespace 57 | -------------------------------------------------------------------------------- /Thirdparty/g2o/g2o/types/types_sba.h: -------------------------------------------------------------------------------- 1 | // g2o - General Graph Optimization 2 | // Copyright (C) 2011 Kurt Konolige 3 | // All rights reserved. 4 | // 5 | // Redistribution and use in source and binary forms, with or without 6 | // modification, are permitted provided that the following conditions are 7 | // met: 8 | // 9 | // * Redistributions of source code must retain the above copyright notice, 10 | // this list of conditions and the following disclaimer. 11 | // * Redistributions in binary form must reproduce the above copyright 12 | // notice, this list of conditions and the following disclaimer in the 13 | // documentation and/or other materials provided with the distribution. 14 | // 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 16 | // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 17 | // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 18 | // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 21 | // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 22 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 23 | // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 24 | // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 25 | // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | 27 | #ifndef G2O_SBA_TYPES 28 | #define G2O_SBA_TYPES 29 | 30 | #include "../core/base_vertex.h" 31 | 32 | #include 33 | #include 34 | 35 | namespace g2o { 36 | 37 | /** 38 | * \brief Point vertex, XYZ 39 | */ 40 | class VertexSBAPointXYZ : public BaseVertex<3, Vector3d> 41 | { 42 | public: 43 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW 44 | VertexSBAPointXYZ(); 45 | virtual bool read(std::istream& is); 46 | virtual bool write(std::ostream& os) const; 47 | 48 | virtual void setToOriginImpl() { 49 | _estimate.fill(0.); 50 | } 51 | 52 | virtual void oplusImpl(const double* update) 53 | { 54 | Eigen::Map v(update); 55 | _estimate += v; 56 | } 57 | }; 58 | 59 | } // end namespace 60 | 61 | #endif // SBA_TYPES 62 | -------------------------------------------------------------------------------- /Thirdparty/g2o/license-bsd.txt: -------------------------------------------------------------------------------- 1 | g2o - General Graph Optimization 2 | Copyright (C) 2011 Rainer Kuemmerle, Giorgio Grisetti, Hauke Strasdat, 3 | Kurt Konolige, and Wolfram Burgard 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are 8 | met: 9 | 10 | * Redistributions of source code must retain the above copyright notice, 11 | this list of conditions and the following disclaimer. 12 | * Redistributions in binary form must reproduce the above copyright 13 | notice, this list of conditions and the following disclaimer in the 14 | documentation and/or other materials provided with the distribution. 15 | 16 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS 17 | IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 18 | TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 19 | PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 20 | HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 21 | SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED 22 | TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 23 | PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 24 | LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 25 | NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | 28 | -------------------------------------------------------------------------------- /Vocabulary/ORBvoc.txt.tar.gz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ayushgaud/ORB_SLAM2/359f968020d83123624cdb284de32485f20a594f/Vocabulary/ORBvoc.txt.tar.gz -------------------------------------------------------------------------------- /build.sh: -------------------------------------------------------------------------------- 1 | echo "Configuring and building Thirdparty/DBoW2 ..." 2 | 3 | cd Thirdparty/DBoW2 4 | mkdir build 5 | cd build 6 | cmake .. -DCMAKE_BUILD_TYPE=Release 7 | make -j 8 | 9 | cd ../../g2o 10 | 11 | echo "Configuring and building Thirdparty/g2o ..." 12 | 13 | mkdir build 14 | cd build 15 | cmake .. -DCMAKE_BUILD_TYPE=Release 16 | make -j 17 | 18 | cd ../../../ 19 | 20 | echo "Uncompress vocabulary ..." 21 | 22 | cd Vocabulary 23 | tar -xf ORBvoc.txt.tar.gz 24 | cd .. 25 | 26 | echo "Configuring and building ORB_SLAM2 ..." 27 | 28 | mkdir build 29 | cd build 30 | cmake .. -DCMAKE_BUILD_TYPE=Release 31 | make -j 32 | -------------------------------------------------------------------------------- /cmake_modules/FindEigen3.cmake: -------------------------------------------------------------------------------- 1 | # - Try to find Eigen3 lib 2 | # 3 | # This module supports requiring a minimum version, e.g. you can do 4 | # find_package(Eigen3 3.1.2) 5 | # to require version 3.1.2 or newer of Eigen3. 6 | # 7 | # Once done this will define 8 | # 9 | # EIGEN3_FOUND - system has eigen lib with correct version 10 | # EIGEN3_INCLUDE_DIR - the eigen include directory 11 | # EIGEN3_VERSION - eigen version 12 | 13 | # Copyright (c) 2006, 2007 Montel Laurent, 14 | # Copyright (c) 2008, 2009 Gael Guennebaud, 15 | # Copyright (c) 2009 Benoit Jacob 16 | # Redistribution and use is allowed according to the terms of the 2-clause BSD license. 17 | 18 | if(NOT Eigen3_FIND_VERSION) 19 | if(NOT Eigen3_FIND_VERSION_MAJOR) 20 | set(Eigen3_FIND_VERSION_MAJOR 2) 21 | endif(NOT Eigen3_FIND_VERSION_MAJOR) 22 | if(NOT Eigen3_FIND_VERSION_MINOR) 23 | set(Eigen3_FIND_VERSION_MINOR 91) 24 | endif(NOT Eigen3_FIND_VERSION_MINOR) 25 | if(NOT Eigen3_FIND_VERSION_PATCH) 26 | set(Eigen3_FIND_VERSION_PATCH 0) 27 | endif(NOT Eigen3_FIND_VERSION_PATCH) 28 | 29 | set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") 30 | endif(NOT Eigen3_FIND_VERSION) 31 | 32 | macro(_eigen3_check_version) 33 | file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) 34 | 35 | string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") 36 | set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") 37 | string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") 38 | set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") 39 | string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") 40 | set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") 41 | 42 | set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) 43 | if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) 44 | set(EIGEN3_VERSION_OK FALSE) 45 | else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) 46 | set(EIGEN3_VERSION_OK TRUE) 47 | endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) 48 | 49 | if(NOT EIGEN3_VERSION_OK) 50 | 51 | message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " 52 | "but at least version ${Eigen3_FIND_VERSION} is required") 53 | endif(NOT EIGEN3_VERSION_OK) 54 | endmacro(_eigen3_check_version) 55 | 56 | if (EIGEN3_INCLUDE_DIR) 57 | 58 | # in cache already 59 | _eigen3_check_version() 60 | set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) 61 | 62 | else (EIGEN3_INCLUDE_DIR) 63 | 64 | # specific additional paths for some OS 65 | if (WIN32) 66 | set(EIGEN_ADDITIONAL_SEARCH_PATHS ${EIGEN_ADDITIONAL_SEARCH_PATHS} "C:/Program Files/Eigen/include" "C:/Program Files (x86)/Eigen/include") 67 | endif(WIN32) 68 | 69 | find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library 70 | PATHS 71 | ${CMAKE_INSTALL_PREFIX}/include 72 | ${EIGEN_ADDITIONAL_SEARCH_PATHS} 73 | ${KDE4_INCLUDE_DIR} 74 | PATH_SUFFIXES eigen3 eigen 75 | ) 76 | 77 | if(EIGEN3_INCLUDE_DIR) 78 | _eigen3_check_version() 79 | endif(EIGEN3_INCLUDE_DIR) 80 | 81 | include(FindPackageHandleStandardArgs) 82 | find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) 83 | 84 | mark_as_advanced(EIGEN3_INCLUDE_DIR) 85 | 86 | endif(EIGEN3_INCLUDE_DIR) 87 | 88 | -------------------------------------------------------------------------------- /include/Converter.h: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | #ifndef CONVERTER_H 22 | #define CONVERTER_H 23 | 24 | #include 25 | 26 | #include 27 | #include"Thirdparty/g2o/g2o/types/types_six_dof_expmap.h" 28 | #include"Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h" 29 | 30 | namespace ORB_SLAM2 31 | { 32 | 33 | class Converter 34 | { 35 | public: 36 | static std::vector toDescriptorVector(const cv::Mat &Descriptors); 37 | 38 | static g2o::SE3Quat toSE3Quat(const cv::Mat &cvT); 39 | static g2o::SE3Quat toSE3Quat(const g2o::Sim3 &gSim3); 40 | 41 | static cv::Mat toCvMat(const g2o::SE3Quat &SE3); 42 | static cv::Mat toCvMat(const g2o::Sim3 &Sim3); 43 | static cv::Mat toCvMat(const Eigen::Matrix &m); 44 | static cv::Mat toCvMat(const Eigen::Matrix3d &m); 45 | static cv::Mat toCvMat(const Eigen::Matrix &m); 46 | static cv::Mat toCvSE3(const Eigen::Matrix &R, const Eigen::Matrix &t); 47 | 48 | static Eigen::Matrix toVector3d(const cv::Mat &cvVector); 49 | static Eigen::Matrix toVector3d(const cv::Point3f &cvPoint); 50 | static Eigen::Matrix toMatrix3d(const cv::Mat &cvMat3); 51 | 52 | static std::vector toQuaternion(const cv::Mat &M); 53 | }; 54 | 55 | }// namespace ORB_SLAM 56 | 57 | #endif // CONVERTER_H 58 | -------------------------------------------------------------------------------- /include/FrameDrawer.h: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | #ifndef FRAMEDRAWER_H 22 | #define FRAMEDRAWER_H 23 | 24 | #include "Tracking.h" 25 | #include "MapPoint.h" 26 | #include "Map.h" 27 | 28 | #include 29 | #include 30 | 31 | #include 32 | 33 | 34 | namespace ORB_SLAM2 35 | { 36 | 37 | class Tracking; 38 | class Viewer; 39 | 40 | class FrameDrawer 41 | { 42 | public: 43 | FrameDrawer(Map* pMap); 44 | 45 | // Update info from the last processed frame. 46 | void Update(Tracking *pTracker); 47 | 48 | // Draw last processed frame. 49 | cv::Mat DrawFrame(); 50 | 51 | protected: 52 | 53 | void DrawTextInfo(cv::Mat &im, int nState, cv::Mat &imText); 54 | 55 | // Info of the frame to be drawn 56 | cv::Mat mIm; 57 | int N; 58 | vector mvCurrentKeys; 59 | vector mvbMap, mvbVO; 60 | bool mbOnlyTracking; 61 | int mnTracked, mnTrackedVO; 62 | vector mvIniKeys; 63 | vector mvIniMatches; 64 | int mState; 65 | 66 | Map* mpMap; 67 | 68 | std::mutex mMutex; 69 | }; 70 | 71 | } //namespace ORB_SLAM 72 | 73 | #endif // FRAMEDRAWER_H 74 | -------------------------------------------------------------------------------- /include/Initializer.h: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | #ifndef INITIALIZER_H 21 | #define INITIALIZER_H 22 | 23 | #include 24 | #include "Frame.h" 25 | 26 | 27 | namespace ORB_SLAM2 28 | { 29 | 30 | // THIS IS THE INITIALIZER FOR MONOCULAR SLAM. NOT USED IN THE STEREO OR RGBD CASE. 31 | class Initializer 32 | { 33 | typedef pair Match; 34 | 35 | public: 36 | 37 | // Fix the reference frame 38 | Initializer(const Frame &ReferenceFrame, float sigma = 1.0, int iterations = 200); 39 | 40 | // Computes in parallel a fundamental matrix and a homography 41 | // Selects a model and tries to recover the motion and the structure from motion 42 | bool Initialize(const Frame &CurrentFrame, const vector &vMatches12, 43 | cv::Mat &R21, cv::Mat &t21, vector &vP3D, vector &vbTriangulated); 44 | 45 | 46 | private: 47 | 48 | void FindHomography(vector &vbMatchesInliers, float &score, cv::Mat &H21); 49 | void FindFundamental(vector &vbInliers, float &score, cv::Mat &F21); 50 | 51 | cv::Mat ComputeH21(const vector &vP1, const vector &vP2); 52 | cv::Mat ComputeF21(const vector &vP1, const vector &vP2); 53 | 54 | float CheckHomography(const cv::Mat &H21, const cv::Mat &H12, vector &vbMatchesInliers, float sigma); 55 | 56 | float CheckFundamental(const cv::Mat &F21, vector &vbMatchesInliers, float sigma); 57 | 58 | bool ReconstructF(vector &vbMatchesInliers, cv::Mat &F21, cv::Mat &K, 59 | cv::Mat &R21, cv::Mat &t21, vector &vP3D, vector &vbTriangulated, float minParallax, int minTriangulated); 60 | 61 | bool ReconstructH(vector &vbMatchesInliers, cv::Mat &H21, cv::Mat &K, 62 | cv::Mat &R21, cv::Mat &t21, vector &vP3D, vector &vbTriangulated, float minParallax, int minTriangulated); 63 | 64 | void Triangulate(const cv::KeyPoint &kp1, const cv::KeyPoint &kp2, const cv::Mat &P1, const cv::Mat &P2, cv::Mat &x3D); 65 | 66 | void Normalize(const vector &vKeys, vector &vNormalizedPoints, cv::Mat &T); 67 | 68 | int CheckRT(const cv::Mat &R, const cv::Mat &t, const vector &vKeys1, const vector &vKeys2, 69 | const vector &vMatches12, vector &vbInliers, 70 | const cv::Mat &K, vector &vP3D, float th2, vector &vbGood, float ¶llax); 71 | 72 | void DecomposeE(const cv::Mat &E, cv::Mat &R1, cv::Mat &R2, cv::Mat &t); 73 | 74 | 75 | // Keypoints from Reference Frame (Frame 1) 76 | vector mvKeys1; 77 | 78 | // Keypoints from Current Frame (Frame 2) 79 | vector mvKeys2; 80 | 81 | // Current Matches from Reference to Current 82 | vector mvMatches12; 83 | vector mvbMatched1; 84 | 85 | // Calibration 86 | cv::Mat mK; 87 | 88 | // Standard Deviation and Variance 89 | float mSigma, mSigma2; 90 | 91 | // Ransac max iterations 92 | int mMaxIterations; 93 | 94 | // Ransac sets 95 | vector > mvSets; 96 | 97 | }; 98 | 99 | } //namespace ORB_SLAM 100 | 101 | #endif // INITIALIZER_H 102 | -------------------------------------------------------------------------------- /include/KeyFrameDatabase.h: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | #ifndef KEYFRAMEDATABASE_H 22 | #define KEYFRAMEDATABASE_H 23 | 24 | #include 25 | #include 26 | #include 27 | 28 | #include "KeyFrame.h" 29 | #include "Frame.h" 30 | #include "ORBVocabulary.h" 31 | 32 | #include 33 | 34 | 35 | namespace ORB_SLAM2 36 | { 37 | 38 | class KeyFrame; 39 | class Frame; 40 | 41 | 42 | class KeyFrameDatabase 43 | { 44 | public: 45 | 46 | KeyFrameDatabase(const ORBVocabulary &voc); 47 | 48 | void add(KeyFrame* pKF); 49 | 50 | void erase(KeyFrame* pKF); 51 | 52 | void clear(); 53 | 54 | // Loop Detection 55 | std::vector DetectLoopCandidates(KeyFrame* pKF, float minScore); 56 | 57 | // Relocalization 58 | std::vector DetectRelocalizationCandidates(Frame* F); 59 | 60 | protected: 61 | 62 | // Associated vocabulary 63 | const ORBVocabulary* mpVoc; 64 | 65 | // Inverted file 66 | std::vector > mvInvertedFile; 67 | 68 | // Mutex 69 | std::mutex mMutex; 70 | }; 71 | 72 | } //namespace ORB_SLAM 73 | 74 | #endif 75 | -------------------------------------------------------------------------------- /include/LocalMapping.h: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | #ifndef LOCALMAPPING_H 22 | #define LOCALMAPPING_H 23 | 24 | #include "KeyFrame.h" 25 | #include "Map.h" 26 | #include "LoopClosing.h" 27 | #include "Tracking.h" 28 | #include "KeyFrameDatabase.h" 29 | 30 | #include 31 | 32 | 33 | namespace ORB_SLAM2 34 | { 35 | 36 | class Tracking; 37 | class LoopClosing; 38 | class Map; 39 | 40 | class LocalMapping 41 | { 42 | public: 43 | LocalMapping(Map* pMap, const float bMonocular); 44 | 45 | void SetLoopCloser(LoopClosing* pLoopCloser); 46 | 47 | void SetTracker(Tracking* pTracker); 48 | 49 | // Main function 50 | void Run(); 51 | 52 | void InsertKeyFrame(KeyFrame* pKF); 53 | 54 | // Thread Synch 55 | void RequestStop(); 56 | void RequestReset(); 57 | bool Stop(); 58 | void Release(); 59 | bool isStopped(); 60 | bool stopRequested(); 61 | bool AcceptKeyFrames(); 62 | void SetAcceptKeyFrames(bool flag); 63 | bool SetNotStop(bool flag); 64 | 65 | void InterruptBA(); 66 | 67 | void RequestFinish(); 68 | bool isFinished(); 69 | 70 | int KeyframesInQueue(){ 71 | unique_lock lock(mMutexNewKFs); 72 | return mlNewKeyFrames.size(); 73 | } 74 | 75 | protected: 76 | 77 | bool CheckNewKeyFrames(); 78 | void ProcessNewKeyFrame(); 79 | void CreateNewMapPoints(); 80 | 81 | void MapPointCulling(); 82 | void SearchInNeighbors(); 83 | 84 | void KeyFrameCulling(); 85 | 86 | cv::Mat ComputeF12(KeyFrame* &pKF1, KeyFrame* &pKF2); 87 | 88 | cv::Mat SkewSymmetricMatrix(const cv::Mat &v); 89 | 90 | bool mbMonocular; 91 | 92 | void ResetIfRequested(); 93 | bool mbResetRequested; 94 | std::mutex mMutexReset; 95 | 96 | bool CheckFinish(); 97 | void SetFinish(); 98 | bool mbFinishRequested; 99 | bool mbFinished; 100 | std::mutex mMutexFinish; 101 | 102 | Map* mpMap; 103 | 104 | LoopClosing* mpLoopCloser; 105 | Tracking* mpTracker; 106 | 107 | std::list mlNewKeyFrames; 108 | 109 | KeyFrame* mpCurrentKeyFrame; 110 | 111 | std::list mlpRecentAddedMapPoints; 112 | 113 | std::mutex mMutexNewKFs; 114 | 115 | bool mbAbortBA; 116 | 117 | bool mbStopped; 118 | bool mbStopRequested; 119 | bool mbNotStop; 120 | std::mutex mMutexStop; 121 | 122 | bool mbAcceptKeyFrames; 123 | std::mutex mMutexAccept; 124 | }; 125 | 126 | } //namespace ORB_SLAM 127 | 128 | #endif // LOCALMAPPING_H 129 | -------------------------------------------------------------------------------- /include/Map.h: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | #ifndef MAP_H 22 | #define MAP_H 23 | 24 | #include "MapPoint.h" 25 | #include "KeyFrame.h" 26 | #include 27 | 28 | #include 29 | 30 | 31 | 32 | namespace ORB_SLAM2 33 | { 34 | 35 | class MapPoint; 36 | class KeyFrame; 37 | 38 | class Map 39 | { 40 | public: 41 | Map(); 42 | 43 | void AddKeyFrame(KeyFrame* pKF); 44 | void AddMapPoint(MapPoint* pMP); 45 | void EraseMapPoint(MapPoint* pMP); 46 | void EraseKeyFrame(KeyFrame* pKF); 47 | void SetReferenceMapPoints(const std::vector &vpMPs); 48 | 49 | std::vector GetAllKeyFrames(); 50 | std::vector GetAllMapPoints(); 51 | std::vector GetReferenceMapPoints(); 52 | 53 | long unsigned int MapPointsInMap(); 54 | long unsigned KeyFramesInMap(); 55 | 56 | long unsigned int GetMaxKFid(); 57 | 58 | void clear(); 59 | 60 | vector mvpKeyFrameOrigins; 61 | 62 | std::mutex mMutexMapUpdate; 63 | 64 | // This avoid that two points are created simultaneously in separate threads (id conflict) 65 | std::mutex mMutexPointCreation; 66 | 67 | protected: 68 | std::set mspMapPoints; 69 | std::set mspKeyFrames; 70 | 71 | std::vector mvpReferenceMapPoints; 72 | 73 | long unsigned int mnMaxKFid; 74 | 75 | std::mutex mMutexMap; 76 | }; 77 | 78 | } //namespace ORB_SLAM 79 | 80 | #endif // MAP_H 81 | -------------------------------------------------------------------------------- /include/MapDrawer.h: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | #ifndef MAPDRAWER_H 22 | #define MAPDRAWER_H 23 | 24 | #include"Map.h" 25 | #include"MapPoint.h" 26 | #include"KeyFrame.h" 27 | #include 28 | 29 | #include 30 | 31 | namespace ORB_SLAM2 32 | { 33 | 34 | class MapDrawer 35 | { 36 | public: 37 | MapDrawer(Map* pMap, const string &strSettingPath); 38 | 39 | Map* mpMap; 40 | 41 | void DrawMapPoints(); 42 | void DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph); 43 | void DrawCurrentCamera(pangolin::OpenGlMatrix &Twc); 44 | void SetCurrentCameraPose(const cv::Mat &Tcw); 45 | void SetReferenceKeyFrame(KeyFrame *pKF); 46 | void GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M); 47 | 48 | private: 49 | 50 | float mKeyFrameSize; 51 | float mKeyFrameLineWidth; 52 | float mGraphLineWidth; 53 | float mPointSize; 54 | float mCameraSize; 55 | float mCameraLineWidth; 56 | 57 | cv::Mat mCameraPose; 58 | 59 | std::mutex mMutexCamera; 60 | }; 61 | 62 | } //namespace ORB_SLAM 63 | 64 | #endif // MAPDRAWER_H 65 | -------------------------------------------------------------------------------- /include/ORBVocabulary.h: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | 22 | #ifndef ORBVOCABULARY_H 23 | #define ORBVOCABULARY_H 24 | 25 | #include"Thirdparty/DBoW2/DBoW2/FORB.h" 26 | #include"Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h" 27 | 28 | namespace ORB_SLAM2 29 | { 30 | 31 | typedef DBoW2::TemplatedVocabulary 32 | ORBVocabulary; 33 | 34 | } //namespace ORB_SLAM 35 | 36 | #endif // ORBVOCABULARY_H 37 | -------------------------------------------------------------------------------- /include/ORBextractor.h: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | #ifndef ORBEXTRACTOR_H 22 | #define ORBEXTRACTOR_H 23 | 24 | #include 25 | #include 26 | #include 27 | 28 | 29 | namespace ORB_SLAM2 30 | { 31 | 32 | class ExtractorNode 33 | { 34 | public: 35 | ExtractorNode():bNoMore(false){} 36 | 37 | void DivideNode(ExtractorNode &n1, ExtractorNode &n2, ExtractorNode &n3, ExtractorNode &n4); 38 | 39 | std::vector vKeys; 40 | cv::Point2i UL, UR, BL, BR; 41 | std::list::iterator lit; 42 | bool bNoMore; 43 | }; 44 | 45 | class ORBextractor 46 | { 47 | public: 48 | 49 | enum {HARRIS_SCORE=0, FAST_SCORE=1 }; 50 | 51 | ORBextractor(int nfeatures, float scaleFactor, int nlevels, 52 | int iniThFAST, int minThFAST); 53 | 54 | ~ORBextractor(){} 55 | 56 | // Compute the ORB features and descriptors on an image. 57 | // ORB are dispersed on the image using an octree. 58 | // Mask is ignored in the current implementation. 59 | void operator()( cv::InputArray image, cv::InputArray mask, 60 | std::vector& keypoints, 61 | cv::OutputArray descriptors); 62 | 63 | int inline GetLevels(){ 64 | return nlevels;} 65 | 66 | float inline GetScaleFactor(){ 67 | return scaleFactor;} 68 | 69 | std::vector inline GetScaleFactors(){ 70 | return mvScaleFactor; 71 | } 72 | 73 | std::vector inline GetInverseScaleFactors(){ 74 | return mvInvScaleFactor; 75 | } 76 | 77 | std::vector inline GetScaleSigmaSquares(){ 78 | return mvLevelSigma2; 79 | } 80 | 81 | std::vector inline GetInverseScaleSigmaSquares(){ 82 | return mvInvLevelSigma2; 83 | } 84 | 85 | std::vector mvImagePyramid; 86 | 87 | protected: 88 | 89 | void ComputePyramid(cv::Mat image); 90 | void ComputeKeyPointsOctTree(std::vector >& allKeypoints); 91 | std::vector DistributeOctTree(const std::vector& vToDistributeKeys, const int &minX, 92 | const int &maxX, const int &minY, const int &maxY, const int &nFeatures, const int &level); 93 | 94 | void ComputeKeyPointsOld(std::vector >& allKeypoints); 95 | std::vector pattern; 96 | 97 | int nfeatures; 98 | double scaleFactor; 99 | int nlevels; 100 | int iniThFAST; 101 | int minThFAST; 102 | 103 | std::vector mnFeaturesPerLevel; 104 | 105 | std::vector umax; 106 | 107 | std::vector mvScaleFactor; 108 | std::vector mvInvScaleFactor; 109 | std::vector mvLevelSigma2; 110 | std::vector mvInvLevelSigma2; 111 | }; 112 | 113 | } //namespace ORB_SLAM 114 | 115 | #endif 116 | 117 | -------------------------------------------------------------------------------- /include/Optimizer.h: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | #ifndef OPTIMIZER_H 22 | #define OPTIMIZER_H 23 | 24 | #include "Map.h" 25 | #include "MapPoint.h" 26 | #include "KeyFrame.h" 27 | #include "LoopClosing.h" 28 | #include "Frame.h" 29 | 30 | #include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h" 31 | 32 | namespace ORB_SLAM2 33 | { 34 | 35 | class LoopClosing; 36 | 37 | class Optimizer 38 | { 39 | public: 40 | void static BundleAdjustment(const std::vector &vpKF, const std::vector &vpMP, 41 | int nIterations = 5, bool *pbStopFlag=NULL, const unsigned long nLoopKF=0, 42 | const bool bRobust = true); 43 | void static GlobalBundleAdjustemnt(Map* pMap, int nIterations=5, bool *pbStopFlag=NULL, 44 | const unsigned long nLoopKF=0, const bool bRobust = true); 45 | void static LocalBundleAdjustment(KeyFrame* pKF, bool *pbStopFlag, Map *pMap); 46 | int static PoseOptimization(Frame* pFrame); 47 | 48 | // if bFixScale is true, 6DoF optimization (stereo,rgbd), 7DoF otherwise (mono) 49 | void static OptimizeEssentialGraph(Map* pMap, KeyFrame* pLoopKF, KeyFrame* pCurKF, 50 | const LoopClosing::KeyFrameAndPose &NonCorrectedSim3, 51 | const LoopClosing::KeyFrameAndPose &CorrectedSim3, 52 | const map > &LoopConnections, 53 | const bool &bFixScale); 54 | 55 | // if bFixScale is true, optimize SE3 (stereo,rgbd), Sim3 otherwise (mono) 56 | static int OptimizeSim3(KeyFrame* pKF1, KeyFrame* pKF2, std::vector &vpMatches1, 57 | g2o::Sim3 &g2oS12, const float th2, const bool bFixScale); 58 | }; 59 | 60 | } //namespace ORB_SLAM 61 | 62 | #endif // OPTIMIZER_H 63 | -------------------------------------------------------------------------------- /include/Sim3Solver.h: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | 22 | #ifndef SIM3SOLVER_H 23 | #define SIM3SOLVER_H 24 | 25 | #include 26 | #include 27 | 28 | #include "KeyFrame.h" 29 | 30 | 31 | 32 | namespace ORB_SLAM2 33 | { 34 | 35 | class Sim3Solver 36 | { 37 | public: 38 | 39 | Sim3Solver(KeyFrame* pKF1, KeyFrame* pKF2, const std::vector &vpMatched12, const bool bFixScale = true); 40 | 41 | void SetRansacParameters(double probability = 0.99, int minInliers = 6 , int maxIterations = 300); 42 | 43 | cv::Mat find(std::vector &vbInliers12, int &nInliers); 44 | 45 | cv::Mat iterate(int nIterations, bool &bNoMore, std::vector &vbInliers, int &nInliers); 46 | 47 | cv::Mat GetEstimatedRotation(); 48 | cv::Mat GetEstimatedTranslation(); 49 | float GetEstimatedScale(); 50 | 51 | 52 | protected: 53 | 54 | void ComputeCentroid(cv::Mat &P, cv::Mat &Pr, cv::Mat &C); 55 | 56 | void ComputeSim3(cv::Mat &P1, cv::Mat &P2); 57 | 58 | void CheckInliers(); 59 | 60 | void Project(const std::vector &vP3Dw, std::vector &vP2D, cv::Mat Tcw, cv::Mat K); 61 | void FromCameraToImage(const std::vector &vP3Dc, std::vector &vP2D, cv::Mat K); 62 | 63 | 64 | protected: 65 | 66 | // KeyFrames and matches 67 | KeyFrame* mpKF1; 68 | KeyFrame* mpKF2; 69 | 70 | std::vector mvX3Dc1; 71 | std::vector mvX3Dc2; 72 | std::vector mvpMapPoints1; 73 | std::vector mvpMapPoints2; 74 | std::vector mvpMatches12; 75 | std::vector mvnIndices1; 76 | std::vector mvSigmaSquare1; 77 | std::vector mvSigmaSquare2; 78 | std::vector mvnMaxError1; 79 | std::vector mvnMaxError2; 80 | 81 | int N; 82 | int mN1; 83 | 84 | // Current Estimation 85 | cv::Mat mR12i; 86 | cv::Mat mt12i; 87 | float ms12i; 88 | cv::Mat mT12i; 89 | cv::Mat mT21i; 90 | std::vector mvbInliersi; 91 | int mnInliersi; 92 | 93 | // Current Ransac State 94 | int mnIterations; 95 | std::vector mvbBestInliers; 96 | int mnBestInliers; 97 | cv::Mat mBestT12; 98 | cv::Mat mBestRotation; 99 | cv::Mat mBestTranslation; 100 | float mBestScale; 101 | 102 | // Scale is fixed to 1 in the stereo/RGBD case 103 | bool mbFixScale; 104 | 105 | // Indices for random selection 106 | std::vector mvAllIndices; 107 | 108 | // Projections 109 | std::vector mvP1im1; 110 | std::vector mvP2im2; 111 | 112 | // RANSAC probability 113 | double mRansacProb; 114 | 115 | // RANSAC min inliers 116 | int mRansacMinInliers; 117 | 118 | // RANSAC max iterations 119 | int mRansacMaxIts; 120 | 121 | // Threshold inlier/outlier. e = dist(Pi,T_ij*Pj)^2 < 5.991*mSigma2 122 | float mTh; 123 | float mSigma2; 124 | 125 | // Calibration 126 | cv::Mat mK1; 127 | cv::Mat mK2; 128 | 129 | }; 130 | 131 | } //namespace ORB_SLAM 132 | 133 | #endif // SIM3SOLVER_H 134 | -------------------------------------------------------------------------------- /include/Viewer.h: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | 22 | #ifndef VIEWER_H 23 | #define VIEWER_H 24 | 25 | #include "FrameDrawer.h" 26 | #include "MapDrawer.h" 27 | #include "Tracking.h" 28 | #include "System.h" 29 | 30 | #include 31 | 32 | namespace ORB_SLAM2 33 | { 34 | 35 | class Tracking; 36 | class FrameDrawer; 37 | class MapDrawer; 38 | class System; 39 | 40 | class Viewer 41 | { 42 | public: 43 | Viewer(System* pSystem, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Tracking *pTracking, const string &strSettingPath); 44 | 45 | // Main thread function. Draw points, keyframes, the current camera pose and the last processed 46 | // frame. Drawing is refreshed according to the camera fps. We use Pangolin. 47 | void Run(); 48 | 49 | void RequestFinish(); 50 | 51 | void RequestStop(); 52 | 53 | bool isFinished(); 54 | 55 | bool isStopped(); 56 | 57 | void Release(); 58 | 59 | private: 60 | 61 | bool Stop(); 62 | 63 | System* mpSystem; 64 | FrameDrawer* mpFrameDrawer; 65 | MapDrawer* mpMapDrawer; 66 | Tracking* mpTracker; 67 | 68 | // 1/fps in ms 69 | double mT; 70 | float mImageWidth, mImageHeight; 71 | 72 | float mViewpointX, mViewpointY, mViewpointZ, mViewpointF; 73 | 74 | bool CheckFinish(); 75 | void SetFinish(); 76 | bool mbFinishRequested; 77 | bool mbFinished; 78 | std::mutex mMutexFinish; 79 | 80 | bool mbStopped; 81 | bool mbStopRequested; 82 | std::mutex mMutexStop; 83 | 84 | }; 85 | 86 | } 87 | 88 | 89 | #endif // VIEWER_H 90 | 91 | 92 | -------------------------------------------------------------------------------- /src/Map.cc: -------------------------------------------------------------------------------- 1 | /** 2 | * This file is part of ORB-SLAM2. 3 | * 4 | * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) 5 | * For more information see 6 | * 7 | * ORB-SLAM2 is free software: you can redistribute it and/or modify 8 | * it under the terms of the GNU General Public License as published by 9 | * the Free Software Foundation, either version 3 of the License, or 10 | * (at your option) any later version. 11 | * 12 | * ORB-SLAM2 is distributed in the hope that it will be useful, 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | * GNU General Public License for more details. 16 | * 17 | * You should have received a copy of the GNU General Public License 18 | * along with ORB-SLAM2. If not, see . 19 | */ 20 | 21 | #include "Map.h" 22 | 23 | #include 24 | 25 | namespace ORB_SLAM2 26 | { 27 | 28 | Map::Map():mnMaxKFid(0) 29 | { 30 | } 31 | 32 | void Map::AddKeyFrame(KeyFrame *pKF) 33 | { 34 | unique_lock lock(mMutexMap); 35 | mspKeyFrames.insert(pKF); 36 | if(pKF->mnId>mnMaxKFid) 37 | mnMaxKFid=pKF->mnId; 38 | } 39 | 40 | void Map::AddMapPoint(MapPoint *pMP) 41 | { 42 | unique_lock lock(mMutexMap); 43 | mspMapPoints.insert(pMP); 44 | } 45 | 46 | void Map::EraseMapPoint(MapPoint *pMP) 47 | { 48 | unique_lock lock(mMutexMap); 49 | mspMapPoints.erase(pMP); 50 | 51 | // TODO: This only erase the pointer. 52 | // Delete the MapPoint 53 | } 54 | 55 | void Map::EraseKeyFrame(KeyFrame *pKF) 56 | { 57 | unique_lock lock(mMutexMap); 58 | mspKeyFrames.erase(pKF); 59 | 60 | // TODO: This only erase the pointer. 61 | // Delete the MapPoint 62 | } 63 | 64 | void Map::SetReferenceMapPoints(const vector &vpMPs) 65 | { 66 | unique_lock lock(mMutexMap); 67 | mvpReferenceMapPoints = vpMPs; 68 | } 69 | 70 | vector Map::GetAllKeyFrames() 71 | { 72 | unique_lock lock(mMutexMap); 73 | return vector(mspKeyFrames.begin(),mspKeyFrames.end()); 74 | } 75 | 76 | vector Map::GetAllMapPoints() 77 | { 78 | unique_lock lock(mMutexMap); 79 | return vector(mspMapPoints.begin(),mspMapPoints.end()); 80 | } 81 | 82 | long unsigned int Map::MapPointsInMap() 83 | { 84 | unique_lock lock(mMutexMap); 85 | return mspMapPoints.size(); 86 | } 87 | 88 | long unsigned int Map::KeyFramesInMap() 89 | { 90 | unique_lock lock(mMutexMap); 91 | return mspKeyFrames.size(); 92 | } 93 | 94 | vector Map::GetReferenceMapPoints() 95 | { 96 | unique_lock lock(mMutexMap); 97 | return mvpReferenceMapPoints; 98 | } 99 | 100 | long unsigned int Map::GetMaxKFid() 101 | { 102 | unique_lock lock(mMutexMap); 103 | return mnMaxKFid; 104 | } 105 | 106 | void Map::clear() 107 | { 108 | for(set::iterator sit=mspMapPoints.begin(), send=mspMapPoints.end(); sit!=send; sit++) 109 | delete *sit; 110 | 111 | for(set::iterator sit=mspKeyFrames.begin(), send=mspKeyFrames.end(); sit!=send; sit++) 112 | delete *sit; 113 | 114 | mspMapPoints.clear(); 115 | mspKeyFrames.clear(); 116 | mnMaxKFid = 0; 117 | mvpReferenceMapPoints.clear(); 118 | mvpKeyFrameOrigins.clear(); 119 | } 120 | 121 | } //namespace ORB_SLAM 122 | --------------------------------------------------------------------------------