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abhineet123 · Apr 2, 2017 · 3b6755b · 3b6755b
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diff --git a/.cproject b/.cproject
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+	<storageModule moduleId="org.eclipse.cdt.core.settings">
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+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.549850537" name="Release" parent="cdt.managedbuild.config.gnu.cross.exe.release">
+					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.549850537." name="/" resourcePath="">
+						<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.1861881416" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
+							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.targetPlatform.gnu.cross.433039621" isAbstract="false" osList="all" superClass="cdt.managedbuild.targetPlatform.gnu.cross"/>
+							<builder buildPath="${workspace_loc:/ORB_SLAM2}/Release" id="cdt.managedbuild.builder.gnu.cross.1990199027" managedBuildOn="true" name="Gnu Make Builder.Release" superClass="cdt.managedbuild.builder.gnu.cross"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.c.compiler.1411153289" name="Cross GCC Compiler" superClass="cdt.managedbuild.tool.gnu.cross.c.compiler">
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+								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.2635910" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.cross.cpp.compiler.142820743" name="Cross G++ Compiler" superClass="cdt.managedbuild.tool.gnu.cross.cpp.compiler">
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+								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1117582829" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1375516536" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.cpp.linker.494025960" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1634655938" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
+								</inputType>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.cross.archiver.1363175177" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.assembler.1349794692" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
+								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.641335958" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="ORB_SLAM2.cdt.managedbuild.target.gnu.cross.exe.2104847120" name="Executable" projectType="cdt.managedbuild.target.gnu.cross.exe"/>
+	</storageModule>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.549850537;cdt.managedbuild.config.gnu.cross.exe.release.549850537.;cdt.managedbuild.tool.gnu.cross.c.compiler.1411153289;cdt.managedbuild.tool.gnu.c.compiler.input.2635910">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.549850537;cdt.managedbuild.config.gnu.cross.exe.release.549850537.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.142820743;cdt.managedbuild.tool.gnu.cpp.compiler.input.1117582829">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+</cproject>
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,20 @@
+CMakeLists.txt.user
+Examples/Monocular/mono_euroc
+Examples/Monocular/mono_kitti
+Examples/Monocular/mono_tum
+Examples/RGB-D/rgbd_tum
+Examples/ROS/ORB_SLAM2/CMakeLists.txt.user
+Examples/ROS/ORB_SLAM2/build/
+Examples/Stereo/stereo_euroc
+Examples/Stereo/stereo_kitti
+KeyFrameTrajectory.txt
+Thirdparty/DBoW2/build/
+Thirdparty/DBoW2/lib/
+Thirdparty/g2o/build/
+Thirdparty/g2o/config.h
+Thirdparty/g2o/lib/
+Vocabulary/ORBvoc.txt
+build/
+*~
+lib/
+
diff --git a/.project b/.project
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>ORB_SLAM2</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+</projectDescription>
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,112 @@
+cmake_minimum_required(VERSION 2.8)
+project(ORB_SLAM2)
+
+IF(NOT CMAKE_BUILD_TYPE)
+  SET(CMAKE_BUILD_TYPE Release)
+ENDIF()
+
+MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wfatal-errors -Wno-write-strings -Wno-unused-result -Wformat=0 -O3 -march=native ")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wfatal-errors -Wno-write-strings -Wno-unused-result -Wformat=0   -O3 -march=native")
+# Check C++11 or C++0x support
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+   add_definitions(-DCOMPILEDWITHC11)
+   message(STATUS "Using flag -std=c++11.")
+elseif(COMPILER_SUPPORTS_CXX0X)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+   add_definitions(-DCOMPILEDWITHC0X)
+   message(STATUS "Using flag -std=c++0x.")
+else()
+   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
+
+find_package(OpenCV 3.0 QUIET)
+if(NOT OpenCV_FOUND)
+   find_package(OpenCV 2.4.3 QUIET)
+   if(NOT OpenCV_FOUND)
+      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
+   endif()
+endif()
+
+find_package(Eigen3 3.1.0 REQUIRED)
+find_package(Pangolin REQUIRED)
+
+include_directories(
+${PROJECT_SOURCE_DIR}
+${PROJECT_SOURCE_DIR}/include
+${EIGEN3_INCLUDE_DIR}
+${Pangolin_INCLUDE_DIRS}
+)
+
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
+
+add_library(${PROJECT_NAME} SHARED
+src/System.cc
+src/Tracking.cc
+src/LocalMapping.cc
+src/LoopClosing.cc
+src/ORBextractor.cc
+src/ORBmatcher.cc
+src/FrameDrawer.cc
+src/Converter.cc
+src/MapPoint.cc
+src/KeyFrame.cc
+src/Map.cc
+src/MapDrawer.cc
+src/Optimizer.cc
+src/PnPsolver.cc
+src/Frame.cc
+src/KeyFrameDatabase.cc
+src/Sim3Solver.cc
+src/Initializer.cc
+src/Viewer.cc
+)
+
+target_link_libraries(${PROJECT_NAME}
+${OpenCV_LIBS}
+${EIGEN3_LIBS}
+${Pangolin_LIBRARIES}
+${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
+)
+
+# Build examples
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
+
+add_executable(rgbd_tum
+Examples/RGB-D/rgbd_tum.cc)
+target_link_libraries(rgbd_tum ${PROJECT_NAME})
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
+
+add_executable(stereo_kitti
+Examples/Stereo/stereo_kitti.cc)
+target_link_libraries(stereo_kitti ${PROJECT_NAME})
+
+add_executable(stereo_euroc
+Examples/Stereo/stereo_euroc.cc)
+target_link_libraries(stereo_euroc ${PROJECT_NAME})
+
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
+
+add_executable(mono_tum
+Examples/Monocular/mono_tum.cc)
+target_link_libraries(mono_tum ${PROJECT_NAME})
+
+add_executable(mono_kitti
+Examples/Monocular/mono_kitti.cc)
+target_link_libraries(mono_kitti ${PROJECT_NAME})
+
+add_executable(mono_euroc
+Examples/Monocular/mono_euroc.cc)
+target_link_libraries(mono_euroc ${PROJECT_NAME})
+
diff --git a/Dependencies.md b/Dependencies.md
@@ -0,0 +1,44 @@
+##List of Known Dependencies
+###ORB-SLAM2 version 1.0
+
+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.
+
+
+#####Code in **src** and **include** folders
+
+* *ORBextractor.cc*.
+This is a modified version of orb.cpp of OpenCV library. The original code is BSD licensed.
+
+* *PnPsolver.h, PnPsolver.cc*.
+This is a modified version of the epnp.h and epnp.cc of Vincent Lepetit. 
+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.
+
+* Function *ORBmatcher::DescriptorDistance* in *ORBmatcher.cc*.
+The code is from: http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel.
+The code is in the public domain.
+
+#####Code in Thirdparty folder
+
+* All code in **DBoW2** folder.
+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.
+
+* All code in **g2o** folder.
+This is a modified version of [g2o](https://github.com/RainerKuemmerle/g2o). All files included are BSD licensed.
+
+#####Library dependencies 
+
+* **Pangolin (visualization and user interface)**.
+[MIT license](https://en.wikipedia.org/wiki/MIT_License).
+
+* **OpenCV**.
+BSD license.
+
+* **Eigen3**.
+For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3.
+
+* **ROS (Optional, only if you build Examples/ROS)**.
+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.
+
+
+
+
diff --git a/Examples/Monocular/EuRoC.yaml b/Examples/Monocular/EuRoC.yaml
@@ -0,0 +1,57 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 458.654
+Camera.fy: 457.296
+Camera.cx: 367.215
+Camera.cy: 248.375
+
+Camera.k1: -0.28340811
+Camera.k2: 0.07395907
+Camera.p1: 0.00019359
+Camera.p2: 1.76187114e-05
+
+# Camera frames per second 
+Camera.fps: 20.0
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid 	
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid	
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast			
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#---------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize:2
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500
+