├── .gitignore ├── CMakeLists.txt ├── README.md ├── app └── line_optlimization.cpp ├── bin ├── all_points.txt ├── cam_pose.txt ├── cam_pose_tum.txt ├── demo │ ├── simulate_line.gif │ └── simulate_line.png ├── house_model │ ├── house.txt │ └── house_noise.txt ├── imu_int_pose.txt ├── imu_int_pose_noise.txt ├── imu_pose.txt ├── imu_pose_noise.txt ├── keyframe │ ├── all_lines_0.txt │ ├── all_lines_1.txt │ ├── all_lines_10.txt │ ├── all_lines_100.txt │ ├── all_lines_101.txt │ ├── all_lines_102.txt │ ├── all_lines_103.txt │ ├── all_lines_104.txt │ ├── all_lines_105.txt │ ├── all_lines_106.txt │ ├── all_lines_107.txt │ ├── all_lines_108.txt │ ├── all_lines_109.txt │ ├── all_lines_11.txt │ ├── all_lines_110.txt │ ├── all_lines_111.txt │ ├── all_lines_112.txt │ ├── all_lines_113.txt │ ├── all_lines_114.txt │ ├── all_lines_115.txt │ ├── all_lines_116.txt │ ├── all_lines_117.txt │ ├── all_lines_118.txt │ ├── all_lines_119.txt │ ├── all_lines_12.txt │ ├── all_lines_120.txt │ ├── all_lines_121.txt │ ├── all_lines_122.txt │ ├── all_lines_123.txt │ ├── all_lines_124.txt │ ├── all_lines_125.txt │ ├── all_lines_126.txt │ ├── all_lines_127.txt │ ├── all_lines_128.txt │ ├── all_lines_129.txt │ ├── all_lines_13.txt │ ├── all_lines_130.txt │ ├── all_lines_131.txt │ ├── all_lines_132.txt │ ├── all_lines_133.txt │ ├── all_lines_134.txt │ ├── all_lines_135.txt │ ├── all_lines_136.txt │ ├── all_lines_137.txt │ ├── all_lines_138.txt │ ├── all_lines_139.txt │ ├── all_lines_14.txt │ ├── all_lines_140.txt │ ├── all_lines_141.txt │ ├── all_lines_142.txt │ ├── all_lines_143.txt │ ├── all_lines_144.txt │ ├── all_lines_145.txt │ ├── all_lines_146.txt │ ├── all_lines_147.txt │ ├── all_lines_148.txt │ ├── all_lines_149.txt │ ├── all_lines_15.txt │ ├── all_lines_150.txt │ ├── all_lines_151.txt │ ├── all_lines_152.txt │ ├── all_lines_153.txt │ ├── all_lines_154.txt │ ├── all_lines_155.txt │ ├── all_lines_156.txt │ ├── all_lines_157.txt │ ├── all_lines_158.txt │ ├── all_lines_159.txt │ ├── all_lines_16.txt │ ├── all_lines_160.txt │ ├── all_lines_161.txt │ ├── all_lines_162.txt │ ├── all_lines_163.txt │ ├── all_lines_164.txt │ ├── all_lines_165.txt │ ├── all_lines_166.txt │ ├── all_lines_167.txt │ ├── all_lines_168.txt │ ├── all_lines_169.txt │ ├── all_lines_17.txt │ ├── all_lines_170.txt │ ├── all_lines_171.txt │ ├── all_lines_172.txt │ ├── all_lines_173.txt │ ├── all_lines_174.txt │ ├── all_lines_175.txt │ ├── all_lines_176.txt │ ├── all_lines_177.txt │ ├── all_lines_178.txt │ ├── all_lines_179.txt │ ├── all_lines_18.txt │ ├── all_lines_180.txt │ ├── all_lines_181.txt │ ├── all_lines_182.txt │ ├── all_lines_183.txt │ ├── all_lines_184.txt │ ├── all_lines_185.txt │ ├── all_lines_186.txt │ ├── all_lines_187.txt │ ├── all_lines_188.txt │ ├── all_lines_189.txt │ ├── all_lines_19.txt │ ├── all_lines_190.txt │ ├── all_lines_191.txt │ ├── all_lines_192.txt │ ├── all_lines_193.txt │ ├── all_lines_194.txt │ ├── all_lines_195.txt │ ├── all_lines_196.txt │ ├── all_lines_197.txt │ ├── all_lines_198.txt │ ├── all_lines_199.txt │ ├── all_lines_2.txt │ ├── all_lines_20.txt │ ├── all_lines_200.txt │ ├── all_lines_201.txt │ ├── all_lines_202.txt │ ├── all_lines_203.txt │ ├── all_lines_204.txt │ ├── all_lines_205.txt │ ├── all_lines_206.txt │ ├── all_lines_207.txt │ ├── all_lines_208.txt │ ├── all_lines_209.txt │ ├── all_lines_21.txt │ ├── all_lines_210.txt │ ├── all_lines_211.txt │ ├── all_lines_212.txt │ ├── all_lines_213.txt │ ├── all_lines_214.txt │ ├── all_lines_215.txt │ ├── all_lines_216.txt │ ├── all_lines_217.txt │ ├── all_lines_218.txt │ ├── all_lines_219.txt │ ├── all_lines_22.txt │ ├── all_lines_220.txt │ ├── all_lines_221.txt │ ├── all_lines_222.txt │ ├── all_lines_223.txt │ ├── all_lines_224.txt │ ├── all_lines_225.txt │ ├── all_lines_226.txt │ ├── all_lines_227.txt │ ├── all_lines_228.txt │ ├── all_lines_229.txt │ ├── all_lines_23.txt │ ├── all_lines_230.txt │ ├── all_lines_231.txt │ ├── all_lines_232.txt │ ├── all_lines_233.txt │ ├── all_lines_234.txt │ ├── all_lines_235.txt │ ├── all_lines_236.txt │ ├── all_lines_237.txt │ ├── all_lines_238.txt │ ├── all_lines_239.txt │ ├── all_lines_24.txt │ ├── all_lines_240.txt │ ├── all_lines_241.txt │ ├── all_lines_242.txt │ ├── all_lines_243.txt │ ├── all_lines_244.txt │ ├── all_lines_245.txt │ ├── all_lines_246.txt │ ├── all_lines_247.txt │ ├── all_lines_248.txt │ ├── all_lines_249.txt │ ├── all_lines_25.txt │ ├── all_lines_250.txt │ ├── all_lines_251.txt │ ├── all_lines_252.txt │ ├── all_lines_253.txt │ ├── all_lines_254.txt │ ├── all_lines_255.txt │ ├── all_lines_256.txt │ ├── all_lines_257.txt │ ├── all_lines_258.txt │ ├── all_lines_259.txt │ ├── all_lines_26.txt │ ├── all_lines_260.txt │ ├── all_lines_261.txt │ ├── all_lines_262.txt │ ├── all_lines_263.txt │ ├── all_lines_264.txt │ ├── all_lines_265.txt │ ├── all_lines_266.txt │ ├── all_lines_267.txt │ ├── all_lines_268.txt │ ├── all_lines_269.txt │ ├── all_lines_27.txt │ ├── all_lines_270.txt │ ├── all_lines_271.txt │ ├── all_lines_272.txt │ ├── all_lines_273.txt │ ├── all_lines_274.txt │ ├── all_lines_275.txt │ ├── all_lines_276.txt │ ├── all_lines_277.txt │ ├── all_lines_278.txt │ ├── all_lines_279.txt │ ├── all_lines_28.txt │ ├── all_lines_280.txt │ ├── all_lines_281.txt │ ├── all_lines_282.txt │ ├── all_lines_283.txt │ ├── all_lines_284.txt │ ├── all_lines_285.txt │ ├── all_lines_286.txt │ ├── all_lines_287.txt │ ├── all_lines_288.txt │ ├── all_lines_289.txt │ ├── all_lines_29.txt │ ├── all_lines_290.txt │ ├── all_lines_291.txt │ ├── all_lines_292.txt │ ├── all_lines_293.txt │ ├── all_lines_294.txt │ ├── all_lines_295.txt │ ├── all_lines_296.txt │ ├── all_lines_297.txt │ ├── all_lines_298.txt │ ├── all_lines_299.txt │ ├── all_lines_3.txt │ ├── all_lines_30.txt │ ├── all_lines_300.txt │ ├── all_lines_301.txt │ ├── all_lines_302.txt │ ├── all_lines_303.txt │ ├── all_lines_304.txt │ ├── all_lines_305.txt │ ├── all_lines_306.txt │ ├── all_lines_307.txt │ ├── all_lines_308.txt │ ├── all_lines_309.txt │ ├── all_lines_31.txt │ ├── all_lines_310.txt │ ├── all_lines_311.txt │ ├── all_lines_312.txt │ ├── all_lines_313.txt │ ├── all_lines_314.txt │ ├── all_lines_315.txt │ ├── all_lines_316.txt │ ├── all_lines_317.txt │ ├── all_lines_318.txt │ ├── all_lines_319.txt │ ├── all_lines_32.txt │ ├── all_lines_320.txt │ ├── all_lines_321.txt │ ├── all_lines_322.txt │ ├── all_lines_323.txt │ ├── all_lines_324.txt │ ├── all_lines_325.txt │ ├── all_lines_326.txt │ ├── all_lines_327.txt │ ├── all_lines_328.txt │ ├── all_lines_329.txt │ ├── all_lines_33.txt │ ├── all_lines_330.txt │ ├── all_lines_331.txt │ ├── all_lines_332.txt │ ├── all_lines_333.txt │ ├── all_lines_334.txt │ ├── all_lines_335.txt │ ├── all_lines_336.txt │ ├── all_lines_337.txt │ ├── all_lines_338.txt │ ├── all_lines_339.txt │ ├── all_lines_34.txt │ ├── all_lines_340.txt │ ├── all_lines_341.txt │ ├── all_lines_342.txt │ ├── all_lines_343.txt │ ├── all_lines_344.txt │ ├── all_lines_345.txt │ ├── all_lines_346.txt │ ├── all_lines_347.txt │ ├── all_lines_348.txt │ ├── all_lines_349.txt │ ├── all_lines_35.txt │ ├── all_lines_350.txt │ ├── all_lines_351.txt │ ├── all_lines_352.txt │ ├── all_lines_353.txt │ ├── all_lines_354.txt │ ├── all_lines_355.txt │ ├── all_lines_356.txt │ ├── all_lines_357.txt │ ├── all_lines_358.txt │ ├── all_lines_359.txt │ ├── all_lines_36.txt │ ├── all_lines_360.txt │ ├── all_lines_361.txt │ ├── all_lines_362.txt │ ├── all_lines_363.txt │ ├── all_lines_364.txt │ ├── all_lines_365.txt │ ├── all_lines_366.txt │ ├── all_lines_367.txt │ ├── all_lines_368.txt │ ├── all_lines_369.txt │ ├── all_lines_37.txt │ ├── all_lines_370.txt │ ├── all_lines_371.txt │ ├── all_lines_372.txt │ ├── all_lines_373.txt │ ├── all_lines_374.txt │ ├── all_lines_375.txt │ ├── all_lines_376.txt │ ├── all_lines_377.txt │ ├── all_lines_378.txt │ ├── all_lines_379.txt │ ├── all_lines_38.txt │ ├── all_lines_380.txt │ ├── all_lines_381.txt │ ├── all_lines_382.txt │ ├── all_lines_383.txt │ ├── all_lines_384.txt │ ├── all_lines_385.txt │ ├── all_lines_386.txt │ ├── all_lines_387.txt │ ├── all_lines_388.txt │ ├── all_lines_389.txt │ ├── all_lines_39.txt │ ├── all_lines_390.txt │ ├── all_lines_391.txt │ ├── all_lines_392.txt │ ├── all_lines_393.txt │ ├── all_lines_394.txt │ ├── all_lines_395.txt │ ├── all_lines_396.txt │ ├── all_lines_397.txt │ ├── all_lines_398.txt │ ├── all_lines_399.txt │ ├── all_lines_4.txt │ ├── all_lines_40.txt │ ├── all_lines_400.txt │ ├── all_lines_401.txt │ ├── all_lines_402.txt │ ├── all_lines_403.txt │ ├── all_lines_404.txt │ ├── all_lines_405.txt │ ├── all_lines_406.txt │ ├── all_lines_407.txt │ ├── all_lines_408.txt │ ├── all_lines_409.txt │ ├── all_lines_41.txt │ ├── all_lines_410.txt │ ├── all_lines_411.txt │ ├── all_lines_412.txt │ ├── all_lines_413.txt │ ├── all_lines_414.txt │ ├── all_lines_415.txt │ ├── all_lines_416.txt │ ├── all_lines_417.txt │ ├── all_lines_418.txt │ ├── all_lines_419.txt │ ├── all_lines_42.txt │ ├── all_lines_420.txt │ ├── all_lines_421.txt │ ├── all_lines_422.txt │ ├── all_lines_423.txt │ ├── all_lines_424.txt │ ├── all_lines_425.txt │ ├── all_lines_426.txt │ ├── all_lines_427.txt │ ├── all_lines_428.txt │ ├── all_lines_429.txt │ ├── all_lines_43.txt │ ├── all_lines_430.txt │ ├── all_lines_431.txt │ ├── all_lines_432.txt │ ├── all_lines_433.txt │ ├── all_lines_434.txt │ ├── all_lines_435.txt │ ├── all_lines_436.txt │ ├── all_lines_437.txt │ ├── all_lines_438.txt │ ├── all_lines_439.txt │ ├── all_lines_44.txt │ ├── all_lines_440.txt │ ├── all_lines_441.txt │ ├── all_lines_442.txt │ ├── all_lines_443.txt │ ├── all_lines_444.txt │ ├── all_lines_445.txt │ ├── all_lines_446.txt │ ├── all_lines_447.txt │ ├── all_lines_448.txt │ ├── all_lines_449.txt │ ├── all_lines_45.txt │ ├── all_lines_450.txt │ ├── all_lines_451.txt │ ├── all_lines_452.txt │ ├── all_lines_453.txt │ ├── all_lines_454.txt │ ├── all_lines_455.txt │ ├── all_lines_456.txt │ ├── all_lines_457.txt │ ├── all_lines_458.txt │ ├── all_lines_459.txt │ ├── all_lines_46.txt │ ├── all_lines_460.txt │ ├── all_lines_461.txt │ ├── all_lines_462.txt │ ├── all_lines_463.txt │ ├── all_lines_464.txt │ ├── all_lines_465.txt │ ├── all_lines_466.txt │ ├── all_lines_467.txt │ ├── all_lines_468.txt │ ├── all_lines_469.txt │ ├── all_lines_47.txt │ ├── all_lines_470.txt │ ├── all_lines_471.txt │ ├── all_lines_472.txt │ ├── all_lines_473.txt │ ├── all_lines_474.txt │ ├── all_lines_475.txt │ ├── all_lines_476.txt │ ├── all_lines_477.txt │ ├── all_lines_478.txt │ ├── all_lines_479.txt │ ├── all_lines_48.txt │ ├── all_lines_480.txt │ ├── all_lines_481.txt │ ├── all_lines_482.txt │ ├── all_lines_483.txt │ ├── all_lines_484.txt │ ├── all_lines_485.txt │ ├── all_lines_486.txt │ ├── all_lines_487.txt │ ├── all_lines_488.txt │ ├── all_lines_489.txt │ ├── all_lines_49.txt │ ├── all_lines_490.txt │ ├── all_lines_491.txt │ ├── all_lines_492.txt │ ├── all_lines_493.txt │ ├── all_lines_494.txt │ ├── all_lines_495.txt │ ├── all_lines_496.txt │ ├── all_lines_497.txt │ ├── all_lines_498.txt │ ├── all_lines_499.txt │ ├── all_lines_5.txt │ ├── all_lines_50.txt │ ├── all_lines_500.txt │ ├── all_lines_501.txt │ ├── all_lines_502.txt │ ├── all_lines_503.txt │ ├── all_lines_504.txt │ ├── all_lines_505.txt │ ├── all_lines_506.txt │ ├── all_lines_507.txt │ ├── all_lines_508.txt │ ├── all_lines_509.txt │ ├── all_lines_51.txt │ ├── all_lines_510.txt │ ├── all_lines_511.txt │ ├── all_lines_512.txt │ ├── all_lines_513.txt │ ├── all_lines_514.txt │ ├── all_lines_515.txt │ ├── all_lines_516.txt │ ├── all_lines_517.txt │ ├── all_lines_518.txt │ ├── all_lines_519.txt │ ├── all_lines_52.txt │ ├── all_lines_520.txt │ ├── all_lines_521.txt │ ├── all_lines_522.txt │ ├── all_lines_523.txt │ ├── all_lines_524.txt │ ├── all_lines_525.txt │ ├── all_lines_526.txt │ ├── all_lines_527.txt │ ├── all_lines_528.txt │ ├── all_lines_529.txt │ ├── all_lines_53.txt │ ├── all_lines_530.txt │ ├── all_lines_531.txt │ ├── all_lines_532.txt │ ├── all_lines_533.txt │ ├── all_lines_534.txt │ ├── all_lines_535.txt │ ├── all_lines_536.txt │ ├── all_lines_537.txt │ ├── all_lines_538.txt │ ├── all_lines_539.txt │ ├── all_lines_54.txt │ ├── all_lines_540.txt │ ├── all_lines_541.txt │ ├── all_lines_542.txt │ ├── all_lines_543.txt │ ├── all_lines_544.txt │ ├── all_lines_545.txt │ ├── all_lines_546.txt │ ├── all_lines_547.txt │ ├── all_lines_548.txt │ ├── all_lines_549.txt │ ├── all_lines_55.txt │ ├── all_lines_550.txt │ ├── all_lines_551.txt │ ├── all_lines_552.txt │ ├── all_lines_553.txt │ ├── all_lines_554.txt │ ├── all_lines_555.txt │ ├── all_lines_556.txt │ ├── all_lines_557.txt │ ├── all_lines_558.txt │ ├── all_lines_559.txt │ ├── all_lines_56.txt │ ├── all_lines_560.txt │ ├── all_lines_561.txt │ ├── all_lines_562.txt │ ├── all_lines_563.txt │ ├── all_lines_564.txt │ ├── all_lines_565.txt │ ├── all_lines_566.txt │ ├── all_lines_567.txt │ ├── all_lines_568.txt │ ├── all_lines_569.txt │ ├── all_lines_57.txt │ ├── all_lines_570.txt │ ├── all_lines_571.txt │ ├── all_lines_572.txt │ ├── all_lines_573.txt │ ├── all_lines_574.txt │ ├── all_lines_575.txt │ ├── all_lines_576.txt │ ├── all_lines_577.txt │ ├── all_lines_578.txt │ ├── all_lines_579.txt │ ├── all_lines_58.txt │ ├── all_lines_580.txt │ ├── all_lines_581.txt │ ├── all_lines_582.txt │ ├── all_lines_583.txt │ ├── all_lines_584.txt │ ├── all_lines_585.txt │ ├── all_lines_586.txt │ ├── all_lines_587.txt │ ├── all_lines_588.txt │ ├── all_lines_589.txt │ ├── all_lines_59.txt │ ├── all_lines_590.txt │ ├── all_lines_591.txt │ ├── all_lines_592.txt │ ├── all_lines_593.txt │ ├── all_lines_594.txt │ ├── all_lines_595.txt │ ├── all_lines_596.txt │ ├── all_lines_597.txt │ ├── all_lines_598.txt │ ├── all_lines_599.txt │ ├── all_lines_6.txt │ ├── all_lines_60.txt │ ├── all_lines_61.txt │ ├── all_lines_62.txt │ ├── all_lines_63.txt │ ├── all_lines_64.txt │ ├── all_lines_65.txt │ ├── all_lines_66.txt │ ├── all_lines_67.txt │ ├── all_lines_68.txt │ ├── all_lines_69.txt │ ├── all_lines_7.txt │ ├── all_lines_70.txt │ ├── all_lines_71.txt │ ├── all_lines_72.txt │ ├── all_lines_73.txt │ ├── all_lines_74.txt │ ├── all_lines_75.txt │ ├── all_lines_76.txt │ ├── all_lines_77.txt │ ├── all_lines_78.txt │ ├── all_lines_79.txt │ ├── all_lines_8.txt │ ├── all_lines_80.txt │ ├── all_lines_81.txt │ ├── all_lines_82.txt │ ├── all_lines_83.txt │ ├── all_lines_84.txt │ ├── all_lines_85.txt │ ├── all_lines_86.txt │ ├── all_lines_87.txt │ ├── all_lines_88.txt │ ├── all_lines_89.txt │ ├── all_lines_9.txt │ ├── all_lines_90.txt │ ├── all_lines_91.txt │ ├── all_lines_92.txt │ ├── all_lines_93.txt │ ├── all_lines_94.txt │ ├── all_lines_95.txt │ ├── all_lines_96.txt │ ├── all_lines_97.txt │ ├── all_lines_98.txt │ ├── all_lines_99.txt │ ├── all_points_0.txt │ ├── all_points_1.txt │ ├── all_points_10.txt │ ├── all_points_100.txt │ ├── all_points_101.txt │ ├── all_points_102.txt │ ├── all_points_103.txt │ ├── all_points_104.txt │ ├── all_points_105.txt │ ├── all_points_106.txt │ ├── all_points_107.txt │ ├── all_points_108.txt │ ├── all_points_109.txt │ ├── all_points_11.txt │ ├── all_points_110.txt │ ├── all_points_111.txt │ ├── all_points_112.txt │ ├── all_points_113.txt │ ├── all_points_114.txt │ ├── all_points_115.txt │ ├── all_points_116.txt │ ├── all_points_117.txt │ ├── all_points_118.txt │ ├── all_points_119.txt │ ├── all_points_12.txt │ ├── all_points_120.txt │ ├── all_points_121.txt │ ├── all_points_122.txt │ ├── all_points_123.txt │ ├── all_points_124.txt │ ├── all_points_125.txt │ ├── all_points_126.txt │ ├── all_points_127.txt │ ├── all_points_128.txt │ ├── all_points_129.txt │ ├── all_points_13.txt │ ├── all_points_130.txt │ ├── all_points_131.txt │ ├── all_points_132.txt │ ├── all_points_133.txt │ ├── all_points_134.txt │ ├── all_points_135.txt │ ├── all_points_136.txt │ ├── all_points_137.txt │ ├── all_points_138.txt │ ├── all_points_139.txt │ ├── all_points_14.txt │ ├── all_points_140.txt │ ├── all_points_141.txt │ ├── all_points_142.txt │ ├── all_points_143.txt │ ├── all_points_144.txt │ ├── all_points_145.txt │ ├── all_points_146.txt │ ├── all_points_147.txt │ ├── all_points_148.txt │ ├── all_points_149.txt │ ├── all_points_15.txt │ ├── all_points_150.txt │ ├── all_points_151.txt │ ├── all_points_152.txt │ ├── all_points_153.txt │ ├── all_points_154.txt │ ├── all_points_155.txt │ ├── all_points_156.txt │ ├── all_points_157.txt │ ├── all_points_158.txt │ ├── all_points_159.txt │ ├── all_points_16.txt │ ├── all_points_160.txt │ ├── all_points_161.txt │ ├── all_points_162.txt │ ├── all_points_163.txt │ ├── all_points_164.txt │ ├── all_points_165.txt │ ├── all_points_166.txt │ ├── all_points_167.txt │ ├── all_points_168.txt │ ├── all_points_169.txt │ ├── all_points_17.txt │ ├── all_points_170.txt │ ├── all_points_171.txt │ ├── all_points_172.txt │ ├── all_points_173.txt │ ├── all_points_174.txt │ ├── all_points_175.txt │ ├── all_points_176.txt │ ├── all_points_177.txt │ ├── all_points_178.txt │ ├── all_points_179.txt │ ├── all_points_18.txt │ ├── all_points_180.txt │ ├── all_points_181.txt │ ├── all_points_182.txt │ ├── all_points_183.txt │ ├── all_points_184.txt │ ├── all_points_185.txt │ ├── all_points_186.txt │ ├── all_points_187.txt │ ├── all_points_188.txt │ ├── all_points_189.txt │ ├── all_points_19.txt │ ├── all_points_190.txt │ ├── all_points_191.txt │ ├── all_points_192.txt │ ├── all_points_193.txt │ ├── all_points_194.txt │ ├── all_points_195.txt │ ├── all_points_196.txt │ ├── all_points_197.txt │ ├── all_points_198.txt │ ├── all_points_199.txt │ ├── all_points_2.txt │ ├── all_points_20.txt │ ├── all_points_200.txt │ ├── all_points_201.txt │ ├── all_points_202.txt │ ├── all_points_203.txt │ ├── all_points_204.txt │ ├── all_points_205.txt │ ├── all_points_206.txt │ ├── all_points_207.txt │ ├── all_points_208.txt │ ├── all_points_209.txt │ ├── all_points_21.txt │ ├── all_points_210.txt │ ├── all_points_211.txt │ ├── all_points_212.txt │ ├── all_points_213.txt │ ├── all_points_214.txt │ ├── all_points_215.txt │ ├── all_points_216.txt │ ├── all_points_217.txt │ ├── all_points_218.txt │ ├── all_points_219.txt │ ├── all_points_22.txt │ ├── all_points_220.txt │ ├── all_points_221.txt │ ├── all_points_222.txt │ ├── all_points_223.txt │ ├── all_points_224.txt │ ├── all_points_225.txt │ ├── all_points_226.txt │ ├── all_points_227.txt │ ├── all_points_228.txt │ ├── all_points_229.txt │ ├── all_points_23.txt │ ├── all_points_230.txt │ ├── all_points_231.txt │ ├── all_points_232.txt │ ├── all_points_233.txt │ ├── all_points_234.txt │ ├── all_points_235.txt │ ├── all_points_236.txt │ ├── all_points_237.txt │ ├── all_points_238.txt │ ├── all_points_239.txt │ ├── all_points_24.txt │ ├── all_points_240.txt │ ├── all_points_241.txt │ ├── all_points_242.txt │ ├── all_points_243.txt │ ├── all_points_244.txt │ ├── all_points_245.txt │ ├── all_points_246.txt │ ├── all_points_247.txt │ ├── all_points_248.txt │ ├── all_points_249.txt │ ├── all_points_25.txt │ ├── all_points_250.txt │ ├── all_points_251.txt │ ├── all_points_252.txt │ ├── all_points_253.txt │ ├── all_points_254.txt │ ├── all_points_255.txt │ ├── all_points_256.txt │ ├── all_points_257.txt │ ├── all_points_258.txt │ ├── all_points_259.txt │ ├── all_points_26.txt │ ├── all_points_260.txt │ ├── all_points_261.txt │ ├── all_points_262.txt │ ├── all_points_263.txt │ ├── all_points_264.txt │ ├── all_points_265.txt │ ├── all_points_266.txt │ ├── all_points_267.txt │ ├── all_points_268.txt │ ├── all_points_269.txt │ ├── all_points_27.txt │ ├── all_points_270.txt │ ├── all_points_271.txt │ ├── all_points_272.txt │ ├── all_points_273.txt │ ├── all_points_274.txt │ ├── all_points_275.txt │ ├── all_points_276.txt │ ├── all_points_277.txt │ ├── all_points_278.txt │ ├── all_points_279.txt │ ├── all_points_28.txt │ ├── all_points_280.txt │ ├── all_points_281.txt │ ├── all_points_282.txt │ ├── all_points_283.txt │ ├── all_points_284.txt │ ├── all_points_285.txt │ ├── all_points_286.txt │ ├── all_points_287.txt │ ├── all_points_288.txt │ ├── all_points_289.txt │ ├── all_points_29.txt │ ├── all_points_290.txt │ ├── all_points_291.txt │ ├── all_points_292.txt │ ├── all_points_293.txt │ ├── all_points_294.txt │ ├── all_points_295.txt │ ├── all_points_296.txt │ ├── all_points_297.txt │ ├── all_points_298.txt │ ├── all_points_299.txt │ ├── all_points_3.txt │ ├── all_points_30.txt │ ├── all_points_300.txt │ ├── all_points_301.txt │ ├── all_points_302.txt │ ├── all_points_303.txt │ ├── all_points_304.txt │ ├── all_points_305.txt │ ├── all_points_306.txt │ ├── all_points_307.txt │ ├── all_points_308.txt │ ├── all_points_309.txt │ ├── all_points_31.txt │ ├── all_points_310.txt │ ├── all_points_311.txt │ ├── all_points_312.txt │ ├── all_points_313.txt │ ├── all_points_314.txt │ ├── all_points_315.txt │ ├── all_points_316.txt │ ├── all_points_317.txt │ ├── all_points_318.txt │ ├── all_points_319.txt │ ├── all_points_32.txt │ ├── all_points_320.txt │ ├── all_points_321.txt │ ├── all_points_322.txt │ ├── all_points_323.txt │ ├── all_points_324.txt │ ├── all_points_325.txt │ ├── all_points_326.txt │ ├── all_points_327.txt │ ├── all_points_328.txt │ ├── all_points_329.txt │ ├── all_points_33.txt │ ├── all_points_330.txt │ ├── all_points_331.txt │ ├── all_points_332.txt │ ├── all_points_333.txt │ ├── all_points_334.txt │ ├── all_points_335.txt │ ├── all_points_336.txt │ ├── all_points_337.txt │ ├── all_points_338.txt │ ├── all_points_339.txt │ ├── all_points_34.txt │ ├── all_points_340.txt │ ├── all_points_341.txt │ ├── all_points_342.txt │ ├── all_points_343.txt │ ├── all_points_344.txt │ ├── all_points_345.txt │ ├── all_points_346.txt │ ├── all_points_347.txt │ ├── all_points_348.txt │ ├── all_points_349.txt │ ├── all_points_35.txt │ ├── all_points_350.txt │ ├── all_points_351.txt │ ├── all_points_352.txt │ ├── all_points_353.txt │ ├── all_points_354.txt │ ├── all_points_355.txt │ ├── all_points_356.txt │ ├── all_points_357.txt │ ├── all_points_358.txt │ ├── all_points_359.txt │ ├── all_points_36.txt │ ├── all_points_360.txt │ ├── all_points_361.txt │ ├── all_points_362.txt │ ├── all_points_363.txt │ ├── all_points_364.txt │ ├── all_points_365.txt │ ├── all_points_366.txt │ ├── all_points_367.txt │ ├── all_points_368.txt │ ├── all_points_369.txt │ ├── all_points_37.txt │ ├── all_points_370.txt │ ├── all_points_371.txt │ ├── all_points_372.txt │ ├── all_points_373.txt │ ├── all_points_374.txt │ ├── all_points_375.txt │ ├── all_points_376.txt │ ├── all_points_377.txt │ ├── all_points_378.txt │ ├── all_points_379.txt │ ├── all_points_38.txt │ ├── all_points_380.txt │ ├── all_points_381.txt │ ├── all_points_382.txt │ ├── all_points_383.txt │ ├── all_points_384.txt │ ├── all_points_385.txt │ ├── all_points_386.txt │ ├── all_points_387.txt │ ├── all_points_388.txt │ ├── all_points_389.txt │ ├── all_points_39.txt │ ├── all_points_390.txt │ ├── all_points_391.txt │ ├── all_points_392.txt │ ├── all_points_393.txt │ ├── all_points_394.txt │ ├── all_points_395.txt │ ├── all_points_396.txt │ ├── all_points_397.txt │ ├── all_points_398.txt │ ├── all_points_399.txt │ ├── all_points_4.txt │ ├── all_points_40.txt │ ├── all_points_400.txt │ ├── all_points_401.txt │ ├── all_points_402.txt │ ├── all_points_403.txt │ ├── all_points_404.txt │ ├── all_points_405.txt │ ├── all_points_406.txt │ ├── all_points_407.txt │ ├── all_points_408.txt │ ├── all_points_409.txt │ ├── all_points_41.txt │ ├── all_points_410.txt │ ├── all_points_411.txt │ ├── all_points_412.txt │ ├── all_points_413.txt │ ├── all_points_414.txt │ ├── all_points_415.txt │ ├── all_points_416.txt │ ├── all_points_417.txt │ ├── all_points_418.txt │ ├── all_points_419.txt │ ├── all_points_42.txt │ ├── all_points_420.txt │ ├── all_points_421.txt │ ├── all_points_422.txt │ ├── all_points_423.txt │ ├── all_points_424.txt │ ├── all_points_425.txt │ ├── all_points_426.txt │ ├── all_points_427.txt │ ├── all_points_428.txt │ ├── all_points_429.txt │ ├── all_points_43.txt │ ├── all_points_430.txt │ ├── all_points_431.txt │ ├── all_points_432.txt │ ├── all_points_433.txt │ ├── all_points_434.txt │ ├── all_points_435.txt │ ├── all_points_436.txt │ ├── all_points_437.txt │ ├── all_points_438.txt │ ├── all_points_439.txt │ ├── all_points_44.txt │ ├── all_points_440.txt │ ├── all_points_441.txt │ ├── all_points_442.txt │ ├── all_points_443.txt │ ├── all_points_444.txt │ ├── all_points_445.txt │ ├── all_points_446.txt │ ├── all_points_447.txt │ ├── all_points_448.txt │ ├── all_points_449.txt │ ├── all_points_45.txt │ ├── all_points_450.txt │ ├── all_points_451.txt │ ├── all_points_452.txt │ ├── all_points_453.txt │ ├── all_points_454.txt │ ├── all_points_455.txt │ ├── all_points_456.txt │ ├── all_points_457.txt │ ├── all_points_458.txt │ ├── all_points_459.txt │ ├── all_points_46.txt │ ├── all_points_460.txt │ ├── all_points_461.txt │ ├── all_points_462.txt │ ├── all_points_463.txt │ ├── all_points_464.txt │ ├── all_points_465.txt │ ├── all_points_466.txt │ ├── all_points_467.txt │ ├── all_points_468.txt │ ├── all_points_469.txt │ ├── all_points_47.txt │ ├── all_points_470.txt │ ├── all_points_471.txt │ ├── all_points_472.txt │ ├── all_points_473.txt │ ├── all_points_474.txt │ ├── all_points_475.txt │ ├── all_points_476.txt │ ├── all_points_477.txt │ ├── all_points_478.txt │ ├── all_points_479.txt │ ├── all_points_48.txt │ ├── all_points_480.txt │ ├── all_points_481.txt │ ├── all_points_482.txt │ ├── all_points_483.txt │ ├── all_points_484.txt │ ├── all_points_485.txt │ ├── all_points_486.txt │ ├── all_points_487.txt │ ├── all_points_488.txt │ ├── all_points_489.txt │ ├── all_points_49.txt │ ├── all_points_490.txt │ ├── all_points_491.txt │ ├── all_points_492.txt │ ├── all_points_493.txt │ ├── all_points_494.txt │ ├── all_points_495.txt │ ├── all_points_496.txt │ ├── all_points_497.txt │ ├── all_points_498.txt │ ├── all_points_499.txt │ ├── all_points_5.txt │ ├── all_points_50.txt │ ├── all_points_500.txt │ ├── all_points_501.txt │ ├── all_points_502.txt │ ├── all_points_503.txt │ ├── all_points_504.txt │ ├── all_points_505.txt │ ├── all_points_506.txt │ ├── all_points_507.txt │ ├── all_points_508.txt │ ├── all_points_509.txt │ ├── all_points_51.txt │ ├── all_points_510.txt │ ├── all_points_511.txt │ ├── all_points_512.txt │ ├── all_points_513.txt │ ├── all_points_514.txt │ ├── all_points_515.txt │ ├── all_points_516.txt │ ├── all_points_517.txt │ ├── all_points_518.txt │ ├── all_points_519.txt │ ├── all_points_52.txt │ ├── all_points_520.txt │ ├── all_points_521.txt │ ├── all_points_522.txt │ ├── all_points_523.txt │ ├── all_points_524.txt │ ├── all_points_525.txt │ ├── all_points_526.txt │ ├── all_points_527.txt │ ├── all_points_528.txt │ ├── all_points_529.txt │ ├── all_points_53.txt │ ├── all_points_530.txt │ ├── all_points_531.txt │ ├── all_points_532.txt │ ├── all_points_533.txt │ ├── all_points_534.txt │ ├── all_points_535.txt │ ├── all_points_536.txt │ ├── all_points_537.txt │ ├── all_points_538.txt │ ├── all_points_539.txt │ ├── all_points_54.txt │ ├── all_points_540.txt │ ├── all_points_541.txt │ ├── all_points_542.txt │ ├── all_points_543.txt │ ├── all_points_544.txt │ ├── all_points_545.txt │ ├── all_points_546.txt │ ├── all_points_547.txt │ ├── all_points_548.txt │ ├── all_points_549.txt │ ├── all_points_55.txt │ ├── all_points_550.txt │ ├── all_points_551.txt │ ├── all_points_552.txt │ ├── all_points_553.txt │ ├── all_points_554.txt │ ├── all_points_555.txt │ ├── all_points_556.txt │ ├── all_points_557.txt │ ├── all_points_558.txt │ ├── all_points_559.txt │ ├── all_points_56.txt │ ├── all_points_560.txt │ ├── all_points_561.txt │ ├── all_points_562.txt │ ├── all_points_563.txt │ ├── all_points_564.txt │ ├── all_points_565.txt │ ├── all_points_566.txt │ ├── all_points_567.txt │ ├── all_points_568.txt │ ├── all_points_569.txt │ ├── all_points_57.txt │ ├── all_points_570.txt │ ├── all_points_571.txt │ ├── all_points_572.txt │ ├── all_points_573.txt │ ├── all_points_574.txt │ ├── all_points_575.txt │ ├── all_points_576.txt │ ├── all_points_577.txt │ ├── all_points_578.txt │ ├── all_points_579.txt │ ├── all_points_58.txt │ ├── all_points_580.txt │ ├── all_points_581.txt │ ├── all_points_582.txt │ ├── all_points_583.txt │ ├── all_points_584.txt │ ├── all_points_585.txt │ ├── all_points_586.txt │ ├── all_points_587.txt │ ├── all_points_588.txt │ ├── all_points_589.txt │ ├── all_points_59.txt │ ├── all_points_590.txt │ ├── all_points_591.txt │ ├── all_points_592.txt │ ├── all_points_593.txt │ ├── all_points_594.txt │ ├── all_points_595.txt │ ├── all_points_596.txt │ ├── all_points_597.txt │ ├── all_points_598.txt │ ├── all_points_599.txt │ ├── all_points_6.txt │ ├── all_points_60.txt │ ├── all_points_61.txt │ ├── all_points_62.txt │ ├── all_points_63.txt │ ├── all_points_64.txt │ ├── all_points_65.txt │ ├── all_points_66.txt │ ├── all_points_67.txt │ ├── all_points_68.txt │ ├── all_points_69.txt │ ├── all_points_7.txt │ ├── all_points_70.txt │ ├── all_points_71.txt │ ├── all_points_72.txt │ ├── all_points_73.txt │ ├── all_points_74.txt │ ├── all_points_75.txt │ ├── all_points_76.txt │ ├── all_points_77.txt │ ├── all_points_78.txt │ ├── all_points_79.txt │ ├── all_points_8.txt │ ├── all_points_80.txt │ ├── all_points_81.txt │ ├── all_points_82.txt │ ├── all_points_83.txt │ ├── all_points_84.txt │ ├── all_points_85.txt │ ├── all_points_86.txt │ ├── all_points_87.txt │ ├── all_points_88.txt │ ├── all_points_89.txt │ ├── all_points_9.txt │ ├── all_points_90.txt │ ├── all_points_91.txt │ ├── all_points_92.txt │ ├── all_points_93.txt │ ├── all_points_94.txt │ ├── all_points_95.txt │ ├── all_points_96.txt │ ├── all_points_97.txt │ ├── all_points_98.txt │ └── all_points_99.txt ├── line_optlimization └── res │ ├── res_ours.txt │ └── res_plucker.txt ├── python_tool ├── GeometryLib.py ├── GeometryLib.pyc ├── draw_points.py ├── draw_trajcory.py ├── plot_result.py ├── plot_simulate.py ├── transformations.py └── transformations.pyc └── src ├── factor ├── general_line_factor.cpp ├── general_line_factor.h ├── general_line_parameterization.h ├── normalizeAngle.h ├── plucker_line_parameterization.cpp ├── plucker_line_parameterization.h ├── plucker_projection_factor.cpp ├── plucker_projection_factor.h ├── pose_local_parameterization.cpp └── pose_local_parameterization.h └── utils ├── EigenTypes.h ├── Twist.h ├── line_geometry.cpp ├── line_geometry.h ├── line_manager.cpp ├── line_manager.h ├── tic_toc.h ├── utility.cpp └── utility.h /.gitignore: -------------------------------------------------------------------------------- 1 | *~ 2 | *.rviz 3 | 4 | *.aux 5 | *.log 6 | *.out 7 | *.snm 8 | *.synctex.gz 9 | *.toc 10 | *.nav 11 | *.so 12 | 13 | .vscode/ 14 | build/ 15 | cmake-build-debug/ 16 | .idea/ 17 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | SET (PROJECT_NAME simulation_line) 2 | 3 | PROJECT(${PROJECT_NAME}) 4 | CMAKE_MINIMUM_REQUIRED(VERSION 2.8) 5 | 6 | set(CMAKE_BUILD_TYPE "Release") 7 | 8 | SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 9 | SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 10 | 11 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") 12 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") 13 | #set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ") 14 | #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native") 15 | SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake_modules/") 16 | 17 | find_package(Eigen3 REQUIRED) 18 | FIND_PACKAGE(OpenCV REQUIRED) 19 | FIND_PACKAGE(Ceres REQUIRED) 20 | 21 | include_directories( 22 | ${EIGEN3_INCLUDE_DIR} 23 | ${CERES_INCLUDE_DIRS} # for both sophus and geographiclib 24 | ${OPENCV_INCLUDE_DIR} 25 | ${PROJECT_SOURCE_DIR}/src 26 | ) 27 | 28 | LIST(APPEND LINK_LIBS 29 | ${OpenCV_LIBS} 30 | ${CERES_LIBRARIES} 31 | ) 32 | 33 | add_executable(line_optlimization 34 | 35 | app/line_optlimization.cpp 36 | src/utils/line_geometry.cpp 37 | src/utils/line_manager.cpp 38 | src/utils/utility.cpp 39 | src/factor/pose_local_parameterization.cpp 40 | src/factor/plucker_line_parameterization.cpp 41 | src/factor/plucker_projection_factor.cpp 42 | src/factor/general_line_factor.cpp 43 | ) 44 | 45 | target_link_libraries( 46 | line_optlimization 47 | ${LINK_LIBS}) 48 | -------------------------------------------------------------------------------- /bin/demo/simulate_line.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/boxuLibrary/Structural-and-Non-structural-line/43d06033ddb598cbbc2f60a5a88955fa53795518/bin/demo/simulate_line.gif -------------------------------------------------------------------------------- /bin/demo/simulate_line.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/boxuLibrary/Structural-and-Non-structural-line/43d06033ddb598cbbc2f60a5a88955fa53795518/bin/demo/simulate_line.png -------------------------------------------------------------------------------- /bin/keyframe/all_lines_114.txt: -------------------------------------------------------------------------------- 1 | -0.271559 0.224495 -0.243954 0.844455 0 2 | -0.311168 0.232278 -0.284959 0.891884 1 3 | -0.355685 0.241026 -0.331474 0.945685 2 4 | -0.406083 0.250929 -0.384688 1.00724 3 5 | -0.463608 0.262233 -0.446164 1.07834 4 6 | -0.529888 0.275257 -0.517984 1.16141 5 7 | -0.607087 0.290427 -0.603002 1.25975 6 8 | -0.698144 0.308319 -0.705222 1.37798 7 9 | -0.807159 0.329741 -0.830452 1.52283 8 10 | -0.940026 0.35585 -0.98745 1.70443 9 11 | -1.10553 0.388372 -1.19006 1.93877 10 12 | -1.3174 0.430004 -1.46153 2.25277 11 13 | -1.59826 0.485194 -1.84415 2.69534 12 14 | -1.98838 0.561854 -2.42379 3.36577 13 15 | -2.56693 0.675539 -3.40533 4.50108 14 16 | 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-0.536112 0.282819 -0.668388 1.25642 67 36 | -0.630819 0.287213 -0.790707 1.34008 68 37 | -0.739426 0.292252 -0.934474 1.43841 69 38 | -0.865236 0.298089 -1.10587 1.55564 70 39 | -1.01269 0.30493 -1.31372 1.69779 71 40 | -1.1879 0.313059 -1.57102 1.87377 72 41 | -1.3995 0.322877 -1.8978 2.09728 73 42 | -1.66017 0.334971 -2.32661 2.39056 74 43 | -1.98921 0.350237 -2.91407 2.79235 75 44 | -2.41755 0.370111 -3.7682 3.37654 76 45 | -2.99817 0.397049 -5.1239 4.30377 77 46 | -3.8298 0.435634 -7.60664 6.00184 78 47 | -5.12012 0.4955 -13.6215 10.1157 79 48 | -------------------------------------------------------------------------------- /bin/keyframe/all_lines_534.txt: -------------------------------------------------------------------------------- 1 | 2.49756 0.558664 3.54371 3.5172 0 2 | 2.08904 0.509977 2.81136 2.99558 1 3 | 1.76114 0.470897 2.27368 2.6126 2 4 | 1.49213 0.438837 1.86214 2.31948 3 5 | 1.26745 0.41206 1.53702 2.08791 4 6 | 1.07698 0.38936 1.27368 1.90034 5 7 | 0.913465 0.369871 1.05605 1.74533 6 8 | 0.771553 0.352958 0.873166 1.61507 7 9 | 0.64723 0.338142 0.717329 1.50407 8 10 | 0.537419 0.325054 0.582949 1.40836 9 11 | 0.439717 0.31341 0.465882 1.32497 10 12 | 0.352227 0.302983 0.362984 1.25168 11 13 | 0.273427 0.293592 0.271829 1.18676 12 14 | 0.202083 0.285089 0.190516 1.12884 13 15 | 0.137186 0.277354 0.117532 1.07686 14 16 | 0.0778989 0.270289 0.0516597 1.02994 15 17 | 0.0235245 0.263808 -0.00809168 0.987379 16 18 | -0.0265234 0.257844 -0.0625376 0.948599 17 19 | -0.0727414 0.252335 -0.112355 0.913116 18 20 | -0.115553 0.247233 -0.158109 0.880527 19 21 | -6.61923 0.510124 -39.0172 29.6589 38 22 | -5.32713 0.415045 -14.7411 10.6757 39 23 | 2.49756 0.558664 3.54371 3.5172 40 24 | 2.78856 0.618328 4.30382 4.44167 41 25 | 3.20262 0.70322 5.65545 6.08557 42 26 | 3.83868 0.833631 8.72885 9.82354 43 27 | 4.94072 1.05958 22.5852 26.6761 44 28 | -0.115553 0.247233 -0.158109 0.880527 60 29 | -0.159643 0.248653 -0.209343 0.91494 61 30 | -0.208046 0.250211 -0.266181 0.953117 62 31 | -0.261426 0.25193 -0.329594 0.99571 63 32 | -0.320594 0.253835 -0.400793 1.04353 64 33 | -0.386544 0.255959 -0.481308 1.09761 65 34 | -0.460514 0.258341 -0.573093 1.15926 66 35 | -0.54406 0.261031 -0.678693 1.23019 67 36 | -0.639173 0.264093 -0.801482 1.31267 68 37 | -0.74843 0.267611 -0.946027 1.40976 69 38 | -0.875243 0.271695 -1.11867 1.52572 70 39 | -1.02421 0.276492 -1.3285 1.66666 71 40 | -1.2017 0.282207 -1.58896 1.8416 72 41 | -1.41676 0.289131 -1.9209 2.06457 73 42 | -1.68273 0.297696 -2.35843 2.35845 74 43 | -2.02014 0.30856 -2.96146 2.76349 75 44 | -2.4622 0.322795 -3.84579 3.35748 76 45 | -3.06657 0.342255 -5.26811 4.31282 77 46 | -3.94271 0.370467 -7.93399 6.10345 78 47 | -5.32713 0.415045 -14.7411 10.6757 79 48 | -------------------------------------------------------------------------------- /bin/line_optlimization: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/boxuLibrary/Structural-and-Non-structural-line/43d06033ddb598cbbc2f60a5a88955fa53795518/bin/line_optlimization -------------------------------------------------------------------------------- /bin/res/res_ours.txt: -------------------------------------------------------------------------------- 1 | -1.89683 -4.02686 2.16529 -1.89723 -4.03063 5.87069 2 | -------------------------------------------------------------------------------- /bin/res/res_plucker.txt: -------------------------------------------------------------------------------- 1 | -1.89477 -3.99937 2.16766 -1.89470 -3.99996 5.84381 2 | -------------------------------------------------------------------------------- /python_tool/GeometryLib.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/boxuLibrary/Structural-and-Non-structural-line/43d06033ddb598cbbc2f60a5a88955fa53795518/python_tool/GeometryLib.pyc -------------------------------------------------------------------------------- /python_tool/draw_trajcory.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # -*- coding: utf-8 -*- 3 | """ 4 | Created on Thu Jun 15 18:18:24 2017 5 | 6 | @author: hyj 7 | """ 8 | import os 9 | import numpy as np 10 | import matplotlib 11 | import matplotlib.pyplot as plt 12 | from mpl_toolkits.mplot3d import Axes3D 13 | 14 | np.set_printoptions(suppress = True) 15 | filepath = os.path.abspath('..')+"/bin" 16 | 17 | # imu_circle imu_spline 18 | position = [] 19 | quaterntions = [] 20 | timestamp = [] 21 | tx_index = 5 22 | position = np.loadtxt(filepath + '/imu_pose.txt', usecols = (tx_index, tx_index + 1, tx_index + 2)) 23 | 24 | # imu_pose imu_spline 25 | position1 = [] 26 | quaterntions1 = [] 27 | timestamp1 = [] 28 | data = np.loadtxt(filepath + '/imu_int_pose.txt') 29 | # timestamp1 = data[:,0] 30 | # quaterntions1 = data[:,[tx_index + 6, tx_index + 3, tx_index + 4, tx_index + 5]] # qw,qx,qy,qz 31 | position1 = data[:,[tx_index, tx_index + 1, tx_index + 2]] 32 | 33 | # cam_pose_opt_o_0 cam_pose_opt_o_0 34 | position2 = [] 35 | quaterntions2 = [] 36 | timestamp2 = [] 37 | data = np.loadtxt(filepath + '/imu_int_pose_noise.txt') 38 | # timestamp2 = data[:,0] 39 | # quaterntions2 = data[:,[tx_index + 6, tx_index + 3, tx_index + 4, tx_index + 5]] # qw,qx,qy,qz 40 | position2 = data[:,[tx_index, tx_index + 1, tx_index + 2]] 41 | 42 | 43 | ### plot 3d 44 | fig = plt.figure() 45 | ax = fig.gca(projection='3d') 46 | 47 | ax.plot(position[:,0], position[:,1], position[:,2], label='gt') 48 | # ax.plot(position1[:,0], position1[:,1], position1[:,2], label='imu_int') 49 | # ax.plot(position2[:,0], position2[:,1], position2[:,2], label='noise') 50 | ax.plot([position[0,0]], [position[0,1]], [position[0,2]], 'r.', label='start') 51 | 52 | ax.legend() 53 | ax.set_xlabel('X') 54 | ax.set_ylabel('Y') 55 | ax.set_zlabel('Z') 56 | plt.show() 57 | -------------------------------------------------------------------------------- /python_tool/plot_result.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import matplotlib 3 | import matplotlib.pyplot as plt 4 | from mpl_toolkits.mplot3d import Axes3D 5 | 6 | fig = plt.figure() 7 | fig1 = plt.figure() 8 | fig2 = plt.figure() 9 | 10 | ax = fig.gca(projection='3d') 11 | ax1 = fig1.gca(projection='3d') 12 | ax2 = fig2.gca(projection='3d') 13 | 14 | 15 | coordinate_plucker = [] 16 | coordinate_line = [] 17 | coordinate_true = [] 18 | 19 | with open("../bin/res/res_plucker.txt", "r") as data: 20 | for line in data.readlines(): 21 | line = line.strip('\n').split(" ") 22 | coordinate_plucker.append(line) 23 | 24 | with open("../bin/res/res_ours.txt", "r") as data2: 25 | for line in data2.readlines(): 26 | line = line.strip('\n').split(" ") 27 | coordinate_line.append(line) 28 | 29 | with open("../bin/house_model/house.txt", "r") as data1: 30 | for line in data1.readlines(): 31 | line = line.strip('\n').split(" ") 32 | coordinate_true.append(line) 33 | 34 | 35 | 36 | 37 | for data in coordinate_plucker: 38 | ax.plot([float(data[0]), float(data[3])], [float(data[1]), float(data[4])],'g' ,zs=[float(data[2]), float(data[5])]) 39 | 40 | 41 | 42 | for data1 in coordinate_true: 43 | ax2.plot([float(data1[0]), float(data1[3])], [float(data1[1]), float(data1[4])],'r' ,zs=[float(data1[2]), float(data1[5])]) 44 | 45 | for data2 in coordinate_line: 46 | ax1.plot([float(data2[0]), float(data2[3])], [float(data2[1]), float(data2[4])],'b' ,zs=[float(data2[2]), float(data2[5])]) 47 | 48 | plt.show() 49 | -------------------------------------------------------------------------------- /python_tool/plot_simulate.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import matplotlib 3 | import matplotlib.pyplot as plt 4 | from mpl_toolkits.mplot3d import Axes3D 5 | 6 | fig = plt.figure() 7 | ax = fig.gca(projection='3d') 8 | 9 | lines = [] 10 | with open("../bin/house_model/house.txt", "r") as data: 11 | for line in data.readlines(): 12 | line = line.strip('\n').split(" ") 13 | lines.append(line) 14 | 15 | 16 | position = [] 17 | tx_index = 5 18 | position = np.loadtxt("../bin/cam_pose.txt", usecols = (tx_index, tx_index + 1, tx_index + 2)) 19 | 20 | 21 | for data in lines: 22 | ax.plot([float(data[0]), float(data[3])], [float(data[1]), float(data[4])],'g' ,zs=[float(data[2]), float(data[5])]) 23 | 24 | ax.plot(position[:,0], position[:,1], position[:,2], label='gt') 25 | ax.plot([position[0,0]], [position[0,1]], [position[0,2]], 'r.', label='start') 26 | 27 | 28 | plt.show() 29 | -------------------------------------------------------------------------------- /python_tool/transformations.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/boxuLibrary/Structural-and-Non-structural-line/43d06033ddb598cbbc2f60a5a88955fa53795518/python_tool/transformations.pyc -------------------------------------------------------------------------------- /src/factor/general_line_factor.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by ubuntu on 2021/3/6. 3 | // 4 | #include "general_line_factor.h" 5 | 6 | Eigen::Matrix2d general_line::GeneralLineErrorOneCameraTerm::sqrtInfo_; 7 | Eigen::Matrix2d general_line::GeneralLineErrorTwoCameraTerm::sqrtInfo_; -------------------------------------------------------------------------------- /src/factor/general_line_parameterization.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by ubuntu on 2020/9/9. 3 | // 4 | 5 | #ifndef STRUCTLINELOCALPARAMETERIZATION_H 6 | #define STRUCTLINELOCALPARAMETERIZATION_H 7 | 8 | #include 9 | #include "normalizeAngle.h" 10 | 11 | namespace general_line { 12 | // 定义的误差函数这里是 13 | // define a local parameterization for upadting the angle to be constrained in [-pi, pi) 14 | class GeneralLineLocalParameterization { 15 | public: 16 | template 17 | bool operator()(const T *theta, const T *delta, T *thetaPlusDelta) const { 18 | 19 | // 逆深度可以直接加减 20 | 21 | thetaPlusDelta[0] = theta[0] + delta[0]; 22 | thetaPlusDelta[1] = normalizeAngle(theta[1] + T(1.0) * delta[1]); 23 | 24 | return true; 25 | } 26 | 27 | static ceres::LocalParameterization *create() { 28 | return (new ceres::AutoDiffLocalParameterization); 29 | } 30 | }; 31 | } // namespace struct_vio 32 | #endif // ANGLELOCALPARAMETERIZATION_H 33 | -------------------------------------------------------------------------------- /src/factor/normalizeAngle.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by ubuntu on 2020/9/9. 3 | // 4 | 5 | #ifndef NORMALIZEANGLE_H 6 | #define NORMALIZEANGLE_H 7 | 8 | #pragma once 9 | #include 10 | 11 | namespace general_line { 12 | // normalize the angle in radius between [-pi, pi) 13 | template inline T normalizeAngle(const T &angle) { 14 | // use ceres::floor because it is specialized for double and Jet types 15 | T twoPi{2.0 * M_PI}; 16 | return angle - twoPi * ceres::floor((angle + T(M_PI)) / twoPi); 17 | } 18 | } 19 | 20 | #endif // NORMALIZEANGLE_H 21 | -------------------------------------------------------------------------------- /src/factor/pose_local_parameterization.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | #include "utils/utility.h" 6 | 7 | class PoseLocalParameterization : public ceres::LocalParameterization { 8 | virtual bool Plus(const double *x, const double *delta, double *x_plus_delta) const; 9 | 10 | virtual bool ComputeJacobian(const double *x, double *jacobian) const; 11 | 12 | virtual int GlobalSize() const { return 7; }; 13 | 14 | virtual int LocalSize() const { return 6; }; 15 | public: 16 | static void Global2LocalJacobian(const double *x, Eigen::Matrix *jacobian); 17 | 18 | static void Local2GlobalJacobian(const double *x, Eigen::Matrix *jacobian); 19 | }; 20 | -------------------------------------------------------------------------------- /src/utils/tic_toc.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include 5 | #include 6 | 7 | class TicToc 8 | { 9 | public: 10 | TicToc() 11 | { 12 | tic(); 13 | } 14 | 15 | void tic() 16 | { 17 | start = std::chrono::system_clock::now(); 18 | } 19 | 20 | double toc() 21 | { 22 | end = std::chrono::system_clock::now(); 23 | std::chrono::duration elapsed_seconds = end - start; 24 | return elapsed_seconds.count() * 1000; 25 | } 26 | 27 | private: 28 | std::chrono::time_point start, end; 29 | }; 30 | -------------------------------------------------------------------------------- /src/utils/utility.cpp: -------------------------------------------------------------------------------- 1 | #include "utility.h" 2 | 3 | Eigen::Matrix3d Utility::g2R(const Eigen::Vector3d &g) 4 | { 5 | Eigen::Matrix3d R0; 6 | Eigen::Vector3d ng1 = g.normalized(); 7 | Eigen::Vector3d ng2{0, 0, 1.0}; 8 | R0 = Eigen::Quaterniond::FromTwoVectors(ng1, ng2).toRotationMatrix(); 9 | double yaw = Utility::R2ypr(R0).x(); 10 | R0 = Utility::ypr2R(Eigen::Vector3d{-yaw, 0, 0}) * R0; 11 | // R0 = Utility::ypr2R(Eigen::Vector3d{-90, 0, 0}) * R0; 12 | return R0; 13 | } 14 | --------------------------------------------------------------------------------