├── .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:
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https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA1/assets/Image1.png
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/PA1/assets/Image2.png:
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https://raw.githubusercontent.com/uupks/VisualSLAM/94f613dbcfd2c4ac6811b30f71993a4986e22925/PA1/assets/Image2.png
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/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 |
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/PA1/code/ORB_SLAM2/Examples/Monocular/EuRoC.yaml:
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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 |
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/PA1/code/ORB_SLAM2/Examples/Monocular/KITTI03.yaml:
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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 |
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/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 |
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/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