├── .gitignore ├── PA1 ├── PA1-Solution.md ├── assets │ ├── Image1.png │ └── Image2.png └── code │ ├── ORB_SLAM2 │ ├── .gitignore │ ├── 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 │ │ │ ├── myslam │ │ │ └── myvideo │ │ ├── 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 │ │ │ │ ├── manifest.xml │ │ │ │ └── src │ │ │ │ ├── AR │ │ │ │ ├── ViewerAR.cc │ │ │ │ ├── ViewerAR.h │ │ │ │ └── ros_mono_ar.cc │ │ │ │ ├── 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 │ │ └── Video │ │ │ ├── myslam │ │ │ ├── myslam.cpp │ │ │ ├── myvideo │ │ │ ├── myvideo.cpp │ │ │ └── myvideo.yaml │ ├── 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 │ ├── build_ros.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 │ └── cmake_practice │ ├── CMakeLists.txt │ ├── include │ └── hello.h │ ├── src │ └── hello.cpp │ └── useHello.cpp ├── PA2 ├── PA2-Solution.md └── code │ ├── CMakeLists.txt │ └── main.cpp ├── PA3 ├── code │ ├── CMakeLists.txt │ ├── draw_trajectory.cpp │ ├── estimated.txt │ ├── groundtruth.txt │ └── trajectory.txt └── solution │ ├── PA3-Solution.md │ ├── trajectory.png │ └── trajectory2.png ├── PA4 ├── code │ ├── CMakeLists.txt │ ├── disparity.cpp │ ├── disparity.png │ ├── gaussnewton.cpp │ ├── left.png │ ├── right.png │ ├── test.png │ └── undistort_image.cpp └── solution │ ├── PA4-Solution.md │ ├── pointcloud.png │ ├── pointcloud2.png │ └── test_undistorted.png ├── PA5 ├── code │ ├── 1.png │ ├── 2.png │ ├── CMakeLists.txt │ ├── E2Rt.cpp │ ├── GN-BA.cpp │ ├── compare.txt │ ├── computeORB.cpp │ ├── icp_align.cpp │ ├── p2d.txt │ └── p3d.txt └── solution │ ├── PA5-Solution.md │ ├── aligned.png │ ├── feat1.png │ ├── jacobian.png │ ├── matches.png │ └── unaligned.png ├── PA6 ├── code │ ├── 000001.png │ ├── 000002.png │ ├── 000003.png │ ├── 000004.png │ ├── 000005.png │ ├── 1.png │ ├── 2.png │ ├── CMakeLists.txt │ ├── direct_method.cpp │ ├── disparity.png │ ├── left.png │ ├── optical_flow.cpp │ └── right.png └── solution │ ├── PA6-solution.md │ ├── forward_multi_level.png │ ├── forward_single_level.png │ ├── inverse_multi_level.png │ ├── inverse_single_level.png │ └── tracked_by_opencv.png ├── PA7 ├── code │ ├── 0.png │ ├── 1.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ ├── 5.png │ ├── 6.png │ ├── CMakeLists.txt │ ├── bal_example.cpp │ ├── bal_example_ceres.cpp │ ├── directBA.cpp │ ├── points.txt │ ├── poses.txt │ └── problem-21-11315-pre.txt └── solution │ ├── 1.png │ ├── 2.png │ ├── 3.png │ ├── 4.png │ └── PA7-Solution.md └── README.md /.gitignore: -------------------------------------------------------------------------------- 1 | books 2 | papers 3 | *.pdf 4 | *.mp4 5 | build 6 | install 7 | .vscode -------------------------------------------------------------------------------- /PA1/assets/Image1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA1/assets/Image1.png -------------------------------------------------------------------------------- /PA1/assets/Image2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA1/assets/Image2.png -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/.gitignore: -------------------------------------------------------------------------------- 1 | CMakeLists.txt.user 2 | Examples/Monocular/mono_euroc 3 | Examples/Monocular/mono_kitti 4 | Examples/Monocular/mono_tum 5 | Examples/RGB-D/rgbd_tum 6 | Examples/ROS/ORB_SLAM2/CMakeLists.txt.user 7 | Examples/ROS/ORB_SLAM2/Mono 8 | Examples/ROS/ORB_SLAM2/MonoAR 9 | Examples/ROS/ORB_SLAM2/RGBD 10 | Examples/ROS/ORB_SLAM2/Stereo 11 | Examples/ROS/ORB_SLAM2/build/ 12 | Examples/Stereo/stereo_euroc 13 | Examples/Stereo/stereo_kitti 14 | KeyFrameTrajectory.txt 15 | Thirdparty/DBoW2/build/ 16 | Thirdparty/DBoW2/lib/ 17 | Thirdparty/g2o/build/ 18 | Thirdparty/g2o/config.h 19 | Thirdparty/g2o/lib/ 20 | Vocabulary/ORBvoc.txt 21 | build/ 22 | *~ 23 | lib/ 24 | 25 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | * **ROS (Optional, only if you build Examples/ROS)**. 40 | 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. 41 | 42 | 43 | 44 | 45 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/Examples/Monocular/myslam: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA1/code/ORB_SLAM2/Examples/Monocular/myslam -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/Examples/Monocular/myvideo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA1/code/ORB_SLAM2/Examples/Monocular/myvideo -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 3.0 QUIET) 34 | if(NOT OpenCV_FOUND) 35 | find_package(OpenCV 2.4.3 QUIET) 36 | if(NOT OpenCV_FOUND) 37 | message(FATAL_ERROR "OpenCV > 2.4.3 not found.") 38 | endif() 39 | endif() 40 | 41 | find_package(Eigen3 3.1.0 REQUIRED) 42 | find_package(Pangolin REQUIRED) 43 | 44 | include_directories( 45 | ${PROJECT_SOURCE_DIR} 46 | ${PROJECT_SOURCE_DIR}/../../../ 47 | ${PROJECT_SOURCE_DIR}/../../../include 48 | ${Pangolin_INCLUDE_DIRS} 49 | ) 50 | 51 | set(LIBS 52 | ${OpenCV_LIBS} 53 | ${EIGEN3_LIBS} 54 | ${Pangolin_LIBRARIES} 55 | ${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so 56 | ${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so 57 | ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so 58 | ) 59 | 60 | # Node for monocular camera 61 | rosbuild_add_executable(Mono 62 | src/ros_mono.cc 63 | ) 64 | 65 | target_link_libraries(Mono 66 | ${LIBS} 67 | ) 68 | 69 | # Node for monocular camera (Augmented Reality Demo) 70 | rosbuild_add_executable(MonoAR 71 | src/AR/ros_mono_ar.cc 72 | src/AR/ViewerAR.h 73 | src/AR/ViewerAR.cc 74 | ) 75 | 76 | target_link_libraries(MonoAR 77 | ${LIBS} 78 | ) 79 | 80 | # Node for stereo camera 81 | rosbuild_add_executable(Stereo 82 | src/ros_stereo.cc 83 | ) 84 | 85 | target_link_libraries(Stereo 86 | ${LIBS} 87 | ) 88 | 89 | # Node for RGB-D camera 90 | rosbuild_add_executable(RGBD 91 | src/ros_rgbd.cc 92 | ) 93 | 94 | target_link_libraries(RGBD 95 | ${LIBS} 96 | ) 97 | 98 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_mono.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 | 30 | #include 31 | 32 | #include"../../../include/System.h" 33 | 34 | using namespace std; 35 | 36 | class ImageGrabber 37 | { 38 | public: 39 | ImageGrabber(ORB_SLAM2::System* pSLAM):mpSLAM(pSLAM){} 40 | 41 | void GrabImage(const sensor_msgs::ImageConstPtr& msg); 42 | 43 | ORB_SLAM2::System* mpSLAM; 44 | }; 45 | 46 | int main(int argc, char **argv) 47 | { 48 | ros::init(argc, argv, "Mono"); 49 | ros::start(); 50 | 51 | if(argc != 3) 52 | { 53 | cerr << endl << "Usage: rosrun ORB_SLAM2 Mono path_to_vocabulary path_to_settings" << endl; 54 | ros::shutdown(); 55 | return 1; 56 | } 57 | 58 | // Create SLAM system. It initializes all system threads and gets ready to process frames. 59 | ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::MONOCULAR,true); 60 | 61 | ImageGrabber igb(&SLAM); 62 | 63 | ros::NodeHandle nodeHandler; 64 | ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb); 65 | 66 | ros::spin(); 67 | 68 | // Stop all threads 69 | SLAM.Shutdown(); 70 | 71 | // Save camera trajectory 72 | SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt"); 73 | 74 | ros::shutdown(); 75 | 76 | return 0; 77 | } 78 | 79 | void ImageGrabber::GrabImage(const sensor_msgs::ImageConstPtr& msg) 80 | { 81 | // Copy the ros image message to cv::Mat. 82 | cv_bridge::CvImageConstPtr cv_ptr; 83 | try 84 | { 85 | cv_ptr = cv_bridge::toCvShare(msg); 86 | } 87 | catch (cv_bridge::Exception& e) 88 | { 89 | ROS_ERROR("cv_bridge exception: %s", e.what()); 90 | return; 91 | } 92 | 93 | mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec()); 94 | } 95 | 96 | 97 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/Examples/Video/myslam: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA1/code/ORB_SLAM2/Examples/Video/myslam -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/Examples/Video/myslam.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by xiang on 11/29/17. 3 | // 4 | 5 | // 该文件将打开你电脑的摄像头，并将图像传递给ORB-SLAM2进行定位 6 | 7 | // 需要opencv 8 | #include 9 | 10 | // ORB-SLAM的系统接口 11 | #include "System.h" 12 | 13 | #include 14 | #include // for time stamp 15 | #include 16 | 17 | using namespace std; 18 | 19 | // 参数文件与字典文件 20 | // 如果你系统上的路径不同，请修改它 21 | string parameterFile = "./myslam.yaml"; 22 | string vocFile = "./Vocabulary/ORBvoc.txt"; 23 | 24 | int main(int argc, char **argv) { 25 | 26 | // 声明 ORB-SLAM2 系统 27 | ORB_SLAM2::System SLAM(vocFile, parameterFile, ORB_SLAM2::System::MONOCULAR, true); 28 | 29 | // 获取相机图像代码 30 | cv::VideoCapture cap(0); // change to 1 if you want to use USB camera. 31 | 32 | // 分辨率设为640x480 33 | cap.set(CV_CAP_PROP_FRAME_WIDTH, 640); 34 | cap.set(CV_CAP_PROP_FRAME_HEIGHT, 480); 35 | 36 | // 记录系统时间 37 | auto start = chrono::system_clock::now(); 38 | 39 | while (1) { 40 | cv::Mat frame; 41 | cap >> frame; // 读取相机数据 42 | auto now = chrono::system_clock::now(); 43 | auto timestamp = chrono::duration_cast(now - start); 44 | SLAM.TrackMonocular(frame, double(timestamp.count())/1000.0); 45 | } 46 | 47 | return 0; 48 | } 49 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/Examples/Video/myvideo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA1/code/ORB_SLAM2/Examples/Video/myvideo -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/Examples/Video/myvideo.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by xiang on 11/29/17. 3 | // 4 | 5 | // 该文件将打开给定的视频文件，并将图像传递给ORB-SLAM2进行定位 6 | 7 | // 需要opencv 8 | #include 9 | 10 | // ORB-SLAM的系统接口 11 | #include "System.h" 12 | 13 | #include 14 | #include // for time stamp 15 | #include 16 | 17 | using namespace std; 18 | 19 | // 参数文件与字典文件 20 | // 如果你系统上的路径不同，请修改它 21 | string parameterFile = "./myvideo.yaml"; 22 | string vocFile = "./Vocabulary/ORBvoc.txt"; 23 | 24 | // 视频文件 25 | string videoFile = "./myvideo.mp4"; 26 | 27 | int main(int argc, char **argv) { 28 | 29 | if(argc != 4) 30 | { 31 | cerr << endl << "Usage: ./my_video path_to_vocabulary path_to_settings path_to_video" << endl; 32 | return 1; 33 | } 34 | 35 | vocFile = argv[1]; 36 | parameterFile = argv[2]; 37 | videoFile = argv[3]; 38 | 39 | // 声明 ORB-SLAM2 系统 40 | ORB_SLAM2::System SLAM(vocFile, parameterFile, ORB_SLAM2::System::MONOCULAR, true); 41 | 42 | // 获取视频图像 43 | cv::VideoCapture cap(videoFile); // change to 1 if you want to use USB camera. 44 | 45 | // 记录系统时间 46 | auto start = chrono::system_clock::now(); 47 | 48 | while (1) { 49 | cv::Mat frame; 50 | cap >> frame; // 读取相机数据 51 | if ( frame.data == nullptr ) 52 | break; 53 | 54 | // rescale because image is too large 55 | cv::Mat frame_resized; 56 | cv::resize(frame, frame_resized, cv::Size(640,360)); 57 | 58 | auto now = chrono::system_clock::now(); 59 | auto timestamp = chrono::duration_cast(now - start); 60 | SLAM.TrackMonocular(frame_resized, double(timestamp.count())/1000.0); 61 | cv::waitKey(30); 62 | } 63 | cv::waitKey(0); 64 | SLAM.Shutdown(); 65 | return 0; 66 | } 67 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/Examples/Video/myvideo.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 500.0 9 | Camera.fy: 500.0 10 | Camera.cx: 320.0 11 | Camera.cy: 180.0 12 | 13 | Camera.k1: 0 14 | Camera.k2: 0 15 | Camera.p1: 0 16 | Camera.p2: 0 17 | Camera.k3: 0 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: 0 24 | 25 | #-------------------------------------------------------------------------------------------- 26 | # ORB Parameters 27 | #-------------------------------------------------------------------------------------------- 28 | 29 | # ORB Extractor: Number of features per image 30 | ORBextractor.nFeatures: 2000 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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 3.0 QUIET) 28 | if(NOT OpenCV_FOUND) 29 | find_package(OpenCV 2.4.3 QUIET) 30 | if(NOT OpenCV_FOUND) 31 | message(FATAL_ERROR "OpenCV > 2.4.3 not found.") 32 | endif() 33 | endif() 34 | 35 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 36 | 37 | include_directories(${OpenCV_INCLUDE_DIRS}) 38 | add_library(DBoW2 SHARED ${SRCS_DBOW2} ${SRCS_DUTILS}) 39 | target_link_libraries(DBoW2 ${OpenCV_LIBS}) 40 | 41 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/Vocabulary/ORBvoc.txt.tar.gz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA1/code/ORB_SLAM2/Vocabulary/ORBvoc.txt.tar.gz -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 -j2 32 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/build_ros.sh: -------------------------------------------------------------------------------- 1 | echo "Building ROS nodes" 2 | 3 | cd Examples/ROS/ORB_SLAM2 4 | mkdir build 5 | cd build 6 | cmake .. -DROS_BUILD_TYPE=Release 7 | make -j 8 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | void InformNewBigChange(); 49 | int GetLastBigChangeIdx(); 50 | 51 | std::vector GetAllKeyFrames(); 52 | std::vector GetAllMapPoints(); 53 | std::vector GetReferenceMapPoints(); 54 | 55 | long unsigned int MapPointsInMap(); 56 | long unsigned KeyFramesInMap(); 57 | 58 | long unsigned int GetMaxKFid(); 59 | 60 | void clear(); 61 | 62 | vector mvpKeyFrameOrigins; 63 | 64 | std::mutex mMutexMapUpdate; 65 | 66 | // This avoid that two points are created simultaneously in separate threads (id conflict) 67 | std::mutex mMutexPointCreation; 68 | 69 | protected: 70 | std::set mspMapPoints; 71 | std::set mspKeyFrames; 72 | 73 | std::vector mvpReferenceMapPoints; 74 | 75 | long unsigned int mnMaxKFid; 76 | 77 | // Index related to a big change in the map (loop closure, global BA) 78 | int mnBigChangeIdx; 79 | 80 | std::mutex mMutexMap; 81 | }; 82 | 83 | } //namespace ORB_SLAM 84 | 85 | #endif // MAP_H 86 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/ORB_SLAM2/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 | -------------------------------------------------------------------------------- /PA1/code/cmake_practice/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.1) 2 | project(hello_slam) 3 | 4 | if(NOT CMAKE_BUILD_TYPE) 5 | set(CMAKE_BUILD_TYPE Release) 6 | endif() 7 | 8 | message(STATUS "Build Type : ${CMAKE_BUILD_TYPE}") 9 | 10 | add_library(hello SHARED 11 | src/hello.cpp 12 | ) 13 | target_include_directories(hello PUBLIC 14 | include 15 | ) 16 | set_target_properties(hello PROPERTIES 17 | PUBLIC_HEADER include/hello.h 18 | ) 19 | 20 | 21 | add_executable(sayHello 22 | useHello.cpp 23 | ) 24 | target_link_libraries(sayHello PUBLIC 25 | hello 26 | ) 27 | 28 | set(CMAKE_INSTALL_PREFIX ${CMAKE_SOURCE_DIR}/install) 29 | INSTALL(TARGETS hello sayHello 30 | RUNTIME DESTINATION bin 31 | LIBRARY DESTINATION lib 32 | PUBLIC_HEADER DESTINATION include 33 | ) 34 | -------------------------------------------------------------------------------- /PA1/code/cmake_practice/include/hello.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | void sayHello(); 3 | -------------------------------------------------------------------------------- /PA1/code/cmake_practice/src/hello.cpp: -------------------------------------------------------------------------------- 1 | #include "hello.h" 2 | #include 3 | 4 | void sayHello() {std::cout<<"Hello SLAM"< A 满秩的情况下，x 有解且唯一 8 | 9 | 2. 高斯消元法的原理是什么? 10 | 11 | > 高斯消元法是线性代数中的一种算法，可用于求解线性方程组的解，以及求出矩阵的秩，和求出可逆矩阵的逆矩阵。 12 | > 高斯消元法的原理是：通过用初等行变换将增广矩阵化为行阶梯阵，然后通过回带求解线性方程组的解。 13 | 14 | 3. QR 分解的原理是什么? 15 | 16 | > QR分解法是三种将矩阵分解的方式之一。这种方式，把矩阵分解成一个正交矩阵与一个上三角矩阵的积。QR分解经常用来解线性最小二乘法问题。 17 | > 18 | > 19 | 20 | 4. Cholesky 分解的原理是什么? 21 | 22 | 5. 编程实现 A 为 100 × 100 随机矩阵时,用 QR 和 Cholesky 分解求 x 的程序 23 | 24 | > [PA2-5](./code/main.cpp#PA2_5) 25 | 26 | ### 几何运算练习 27 | 28 | > [PA3](./code/main.cpp#PA3) 29 | 30 | ### 旋转的表达 31 | 32 | 1. 设有旋转矩阵$R$,证明 $RR^T=1$ 且 $detR=1$ 33 | > $$ 34 | > RR^T=RR^{-1}=I 35 | > $$ 36 | > $$ 37 | > det(R)=det(r_{1}, r_{2}, r_{3})=r_{1}\cdot(r_{2}\times r_{3}) = 1 38 | > $$ 39 | 2. 四元数 $q=(\epsilon, \eta)$, 虚部 $\epsilon$ 为三维, 实部 $\eta$ 为一维 40 | 3. 四元数乘法 41 | 42 | 四元数乘法写成向量形式为： 43 | $$ 44 | \begin{aligned} 45 | q\otimes p =& \begin{bmatrix} 46 | p_wq_w-p_xq_x-p_yq_y-p_zq_z \\ 47 | p_wq_x+p_xq_w+p_yq_z-p_zq_y \\ 48 | p_wq_y-p_xq_z+p_yq_w+p_zq_x \\ 49 | p_wq_z+p_xq_y-p_yq_x+p_zq_w 50 | \end{bmatrix} \\ 51 | =& \begin{bmatrix} 52 | p_wq_w - \pmb{p}_v^T\pmb{q}_v \\ 53 | p_w\pmb{q}_v+q_w\pmb{p}_v+\pmb{p}_v\times \pmb{q}_v 54 | 55 | \end{bmatrix} 56 | \end{aligned} 57 | $$ 58 | 四元数乘法又可以表示为矩阵乘法: 59 | $$ 60 | \pmb{q}_1\otimes \pmb{q}_2=[\pmb{q}_1]_L\pmb{q}_2 \\ 61 | \pmb{q}_1\otimes \pmb{q}_2=[\pmb{q}_2]_R\pmb{q}_1 62 | $$ 63 | 根据上式： 64 | $$ 65 | \begin{aligned} 66 | [\pmb{q}_1]_L=&\begin{bmatrix} 67 | q_w& -q_z& qy& q_x\\ 68 | q_z& q_w& -q_x& q_y\\ 69 | -q_y& q_x& q_w& q_z\\ 70 | -q_x& -q_y& -q_z& q_w 71 | \end{bmatrix}\\ 72 | =&\begin{bmatrix} 73 | \eta1 + \epsilon^{\wedge}& \epsilon \\ 74 | -\epsilon& \eta 75 | \end{bmatrix} 76 | \end{aligned} 77 | $$ 78 | 同理可以写出$\pmb[q_2]_R$ 79 | ### 罗德里格斯公式的证明 80 | 81 | 82 | 83 | ### 四元数运算性质的验证 84 | 85 | 86 | 87 | ### 熟悉 C++ 11 88 | 89 | ```cpp 90 | #include 91 | #include 92 | #include 93 | 94 | using namespace std; 95 | 96 | class A { 97 | public: 98 | A(const int& i ) : index(i) {} 99 | int index = 0; 100 | }; 101 | 102 | 103 | int main() { 104 | A a1(3), a2(5), a3(9); 105 | // c++11 列表初始化 106 | vector avec{a1, a2, a3}; 107 | // c++11 lambda表达式作为标准容器的比较函数 108 | std::sort(avec.begin(), avec.end(), [](const A&a1, const A&a2) {return a1.index 2 | #include 3 | 4 | int PA2_5() 5 | { 6 | Eigen::MatrixXd A = Eigen::MatrixXd::Random(100, 100); 7 | Eigen::VectorXd b = Eigen::VectorXd::Random(100); 8 | 9 | Eigen::MatrixXd A_qr = A; 10 | Eigen::MatrixXd b_qr = b; 11 | Eigen::HouseholderQR qr; 12 | qr.compute(A_qr); 13 | auto x_qr = qr.solve(b_qr); 14 | 15 | Eigen::MatrixXd A_ldlt = A; 16 | Eigen::MatrixXd b_ldlt = b; 17 | Eigen::LDLT ldlt; 18 | ldlt.compute(A_ldlt); 19 | auto x_ldlt = ldlt.solve(b_ldlt); 20 | 21 | std::cout<<"x_qr : "<(0,0) = q1.normalized().toRotationMatrix(); 42 | T_c1_w.block<3,1>(0,3) = t1; 43 | 44 | Eigen::Matrix4d T_c2_w = Eigen::Matrix4d::Identity(); 45 | T_c2_w.block<3,3>(0,0) = q2.normalized().toRotationMatrix(); 46 | T_c2_w.block<3,1>(0,3) = t2; 47 | 48 | Eigen::Vector4d p(p1.x(), p1.y(), p1.z(), 1); 49 | auto p_w = T_c1_w.inverse() * p; 50 | auto p_c2 = T_c2_w * p_w; 51 | 52 | std::cout<<"P2 : "<(0,0).transpose()< 6 | #include 7 | #include 8 | #include 9 | #include 10 | 11 | using namespace std; 12 | using namespace Eigen; 13 | 14 | // 文件路径，如果不对，请调整 15 | string left_file = "../left.png"; 16 | string right_file = "../right.png"; 17 | string disparity_file = "../disparity.png"; 18 | 19 | // 在panglin中画图，已写好，无需调整 20 | void showPointCloud(const vector> &pointcloud); 21 | 22 | int main(int argc, char **argv) { 23 | 24 | // 内参 25 | double fx = 718.856, fy = 718.856, cx = 607.1928, cy = 185.2157; 26 | // 间距 27 | double d = 0.573; 28 | 29 | // 读取图像 30 | cv::Mat left = cv::imread(left_file, 0); 31 | cv::Mat right = cv::imread(right_file, 0); 32 | cv::Mat disparity = cv::imread(disparity_file, 0); // disparty 为CV_8U,单位为像素 33 | // cv::StereoBM::create() 34 | // 生成点云 35 | vector> pointcloud; 36 | 37 | // TODO 根据双目模型计算点云 38 | // 如果你的机器慢，请把后面的v++和u++改成v+=2, u+=2 39 | for (int v = 0; v < left.rows; v++) 40 | for (int u = 0; u < left.cols; u++) { 41 | 42 | Vector4d point(0, 0, 0, left.at(v, u) / 255.0); // 前三维为xyz,第四维为颜色 43 | 44 | // start your code here (~6 lines) 45 | // 根据双目模型计算 point 的位置 46 | double z = fx * d / disparity.at(v, u); 47 | point.x() = (u - cx) * z / fx; 48 | point.y() = (v - cy) * z / fy; 49 | point.z() = z; 50 | pointcloud.push_back(point); 51 | // end your code here 52 | } 53 | 54 | // 画出点云 55 | showPointCloud(pointcloud); 56 | return 0; 57 | } 58 | 59 | void showPointCloud(const vector> &pointcloud) { 60 | 61 | if (pointcloud.empty()) { 62 | cerr << "Point cloud is empty!" << endl; 63 | return; 64 | } 65 | 66 | pangolin::CreateWindowAndBind("Point Cloud Viewer", 1024, 768); 67 | glEnable(GL_DEPTH_TEST); 68 | glEnable(GL_BLEND); 69 | glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); 70 | 71 | pangolin::OpenGlRenderState s_cam( 72 | pangolin::ProjectionMatrix(1024, 768, 500, 500, 512, 389, 0.1, 1000), 73 | pangolin::ModelViewLookAt(0, -0.1, -1.8, 0, 0, 0, 0.0, -1.0, 0.0) 74 | ); 75 | 76 | pangolin::View &d_cam = pangolin::CreateDisplay() 77 | .SetBounds(0.0, 1.0, pangolin::Attach::Pix(175), 1.0, -1024.0f / 768.0f) 78 | .SetHandler(new pangolin::Handler3D(s_cam)); 79 | 80 | while (pangolin::ShouldQuit() == false) { 81 | glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 82 | 83 | d_cam.Activate(s_cam); 84 | glClearColor(1.0f, 1.0f, 1.0f, 1.0f); 85 | 86 | glPointSize(2); 87 | glBegin(GL_POINTS); 88 | for (auto &p: pointcloud) { 89 | glColor3f(p[3], p[3], p[3]); 90 | glVertex3d(p[0], p[1], p[2]); 91 | } 92 | glEnd(); 93 | pangolin::FinishFrame(); 94 | usleep(5000); // sleep 5 ms 95 | } 96 | return; 97 | } 98 | -------------------------------------------------------------------------------- /PA4/code/disparity.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA4/code/disparity.png -------------------------------------------------------------------------------- /PA4/code/gaussnewton.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by 高翔 on 2017/12/15. 3 | // 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | using namespace std; 10 | using namespace Eigen; 11 | 12 | 13 | // y = exp(ax^2 + bx + c) 14 | 15 | int main(int argc, char **argv) { 16 | double ar = 1.0, br = 2.0, cr = 1.0; // 真实参数值 17 | double ae = 2.0, be = -1.0, ce = 5.0; // 估计参数值 18 | int N = 100; // 数据点 19 | double w_sigma = 1.0; // 噪声Sigma值 20 | cv::RNG rng; // OpenCV随机数产生器 21 | 22 | vector x_data, y_data; // 数据 23 | for (int i = 0; i < N; i++) { 24 | double x = i / 100.0; 25 | x_data.push_back(x); 26 | y_data.push_back(exp(ar * x * x + br * x + cr) + rng.gaussian(w_sigma)); 27 | } 28 | 29 | // 开始Gauss-Newton迭代 30 | int iterations = 100; // 迭代次数 31 | double cost = 0, lastCost = 0; // 本次迭代的cost和上一次迭代的cost 32 | 33 | for (int iter = 0; iter < iterations; iter++) { 34 | 35 | Matrix3d H = Matrix3d::Zero(); // Hessian = J^T J in Gauss-Newton 36 | Vector3d b = Vector3d::Zero(); // bias 37 | cost = 0; 38 | 39 | for (int i = 0; i < N; i++) { 40 | double xi = x_data[i], yi = y_data[i]; // 第i个数据点 41 | // start your code here 42 | double error = 0; // 第i个数据点的计算误差 43 | double est = exp(ae * xi * xi + be * xi + ce); 44 | error = yi - est; // 填写计算error的表达式 45 | Vector3d J; // 雅可比矩阵 46 | J[0] = -est * xi * xi; // de/da 47 | J[1] = -est * xi; // de/db 48 | J[2] = -est; // de/dc 49 | 50 | H += J * J.transpose(); // GN近似的H 51 | b += -error * J; 52 | // end your code here 53 | 54 | cost += error * error; 55 | } 56 | 57 | // 求解线性方程 Hx=b，建议用ldlt 58 | // start your code here 59 | Vector3d dx; 60 | dx = H.ldlt().solve(b); 61 | // end your code here 62 | 63 | if (isnan(dx[0])) { 64 | cout << "result is nan!" << endl; 65 | break; 66 | } 67 | 68 | if (iter > 0 && cost > lastCost) { 69 | // 误差增长了，说明近似的不够好 70 | cout << "cost: " << cost << ", last cost: " << lastCost << endl; 71 | break; 72 | } 73 | 74 | // 更新abc估计值 75 | ae += dx[0]; 76 | be += dx[1]; 77 | ce += dx[2]; 78 | 79 | lastCost = cost; 80 | 81 | cout << "total cost: " << cost << endl; 82 | } 83 | 84 | cout << "estimated abc = " << ae << ", " << be << ", " << ce << endl; 85 | return 0; 86 | } -------------------------------------------------------------------------------- /PA4/code/left.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA4/code/left.png -------------------------------------------------------------------------------- /PA4/code/right.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA4/code/right.png -------------------------------------------------------------------------------- /PA4/code/test.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA4/code/test.png -------------------------------------------------------------------------------- /PA4/code/undistort_image.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by 高翔 on 2017/12/15. 3 | // 4 | 5 | #include 6 | #include 7 | 8 | using namespace std; 9 | 10 | string image_file = "../test.png"; // 请确保路径正确 11 | 12 | int main(int argc, char **argv) { 13 | 14 | // 本程序需要你自己实现去畸变部分的代码。尽管我们可以调用OpenCV的去畸变，但自己实现一遍有助于理解。 15 | // 畸变参数 16 | double k1 = -0.28340811, k2 = 0.07395907, p1 = 0.00019359, p2 = 1.76187114e-05; 17 | // 内参 18 | double fx = 458.654, fy = 457.296, cx = 367.215, cy = 248.375; 19 | 20 | cv::Mat image = cv::imread(image_file,0); // 图像是灰度图，CV_8UC1 21 | int rows = image.rows, cols = image.cols; 22 | cv::Mat image_undistort = cv::Mat(rows, cols, CV_8UC1); // 去畸变以后的图 23 | 24 | // 计算去畸变后图像的内容 25 | for (int v = 0; v < rows; v++) 26 | for (int u = 0; u < cols; u++) { 27 | 28 | double u_distorted = 0, v_distorted = 0; 29 | // TODO 按照公式，计算点(u,v)对应到畸变图像中的坐标(u_distorted, v_distorted) (~6 lines) 30 | // start your code here 31 | double xc = (u - cx) / fx; 32 | double yc = (v - cy) / fy; 33 | double r2 = xc * xc + yc * yc; 34 | double x_distorted = xc * (1 + k1 * r2 + k2 * r2 * r2) + 2 * p1 * xc * yc + p2 * (r2 + 2 * xc * xc); 35 | double y_distorted = yc * (1 + k1 * r2 + k2 * r2 * r2) + p1 * (r2 + 2 * yc * yc) + 2 * p2 * xc * yc; 36 | u_distorted = fx * x_distorted + cx; 37 | v_distorted = fy * y_distorted + cy; 38 | // end your code here 39 | // printf("(%f, %f)\n", u_distorted, v_distorted); 40 | // getchar(); 41 | // 赋值 (最近邻插值) 42 | if (u_distorted >= 0 && v_distorted >= 0 && u_distorted < cols && v_distorted < rows) { 43 | image_undistort.at(v, u) = image.at((int) v_distorted, (int) u_distorted); 44 | } else { 45 | image_undistort.at(v, u) = 0; 46 | } 47 | } 48 | 49 | // 画图去畸变后图像 50 | cv::imshow("image undistorted", image_undistort); 51 | cv::imwrite("../test_undistorted.png", image_undistort); 52 | cv::waitKey(); 53 | 54 | return 0; 55 | } 56 | -------------------------------------------------------------------------------- /PA4/solution/pointcloud.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA4/solution/pointcloud.png -------------------------------------------------------------------------------- /PA4/solution/pointcloud2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA4/solution/pointcloud2.png -------------------------------------------------------------------------------- /PA4/solution/test_undistorted.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA4/solution/test_undistorted.png -------------------------------------------------------------------------------- /PA5/code/1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA5/code/1.png -------------------------------------------------------------------------------- /PA5/code/2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA5/code/2.png -------------------------------------------------------------------------------- /PA5/code/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.2) 2 | 3 | project(PA5) 4 | 5 | find_package(OpenCV REQUIRED) 6 | find_package(Eigen3 REQUIRED) 7 | find_package(Sophus REQUIRED) 8 | find_package(Pangolin REQUIRED) 9 | 10 | add_executable(computeORB 11 | computeORB.cpp 12 | ) 13 | 14 | target_link_libraries(computeORB 15 | Eigen3::Eigen 16 | ${OpenCV_LIBRARIES} 17 | ) 18 | 19 | 20 | add_executable(E2Rt 21 | E2Rt.cpp 22 | ) 23 | target_link_libraries(E2Rt 24 | Eigen3::Eigen 25 | ) 26 | 27 | add_executable(GN-BA 28 | GN-BA.cpp 29 | ) 30 | target_link_libraries(GN-BA 31 | Eigen3::Eigen 32 | Sophus::Sophus 33 | ) 34 | 35 | add_executable(icp_align 36 | icp_align.cpp 37 | ) 38 | target_link_libraries(icp_align 39 | Eigen3::Eigen 40 | Sophus::Sophus 41 | pangolin 42 | ) -------------------------------------------------------------------------------- /PA5/code/E2Rt.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by 高翔 on 2017/12/19. 3 | // 本程序演示如何从Essential矩阵计算R,t 4 | // 5 | 6 | #include 7 | #include 8 | #include 9 | 10 | #define PI 3.1415926 11 | 12 | #define r2a(x) ((x)*180/PI) 13 | 14 | #define a2r(x) ((x)*PI/180) 15 | 16 | using namespace Eigen; 17 | 18 | #include 19 | 20 | #include 21 | 22 | using namespace std; 23 | 24 | int main(int argc, char **argv) { 25 | 26 | // 给定Essential矩阵 27 | Matrix3d E; 28 | E << -0.0203618550523477, -0.4007110038118445, -0.03324074249824097, 29 | 0.3939270778216369, -0.03506401846698079, 0.5857110303721015, 30 | -0.006788487241438284, -0.5815434272915686, -0.01438258684486258; 31 | 32 | // 待计算的R,t 33 | Matrix3d R; 34 | Vector3d t; 35 | 36 | // SVD and fix sigular values 37 | // START YOUR CODE HERE 38 | Eigen::JacobiSVD svd(E, Eigen::ComputeThinU | Eigen::ComputeThinV); 39 | auto U = svd.matrixU(); 40 | cout<<"U\n"<