init on github

.gitignore

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+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/Mono
+Examples/ROS/ORB_SLAM2/MonoAR
+Examples/ROS/ORB_SLAM2/RGBD
+Examples/ROS/ORB_SLAM2/Stereo
+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/
+Thirdparty/Line3Dpp/build/
+Vocabulary/ORBvoc.txt
+Vocabulary/ORBvoc.bin
+build/
+lib/
+results_line_segments/
+tools/bin_vocabulary
+
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Executables
+*.exe
+*.out
+*.app
+
+*~
+
+# CLion
+.idea/
+
+# VScode
+*/.vscode/

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+project(ORB_SLAM2)
+
+IF(NOT CMAKE_BUILD_TYPE)
+  SET(CMAKE_BUILD_TYPE Debug)
+ENDIF()
+
+MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native  -Wno-unused-function  -Wno-return-type")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native  -Wno-unused-function  -Wno-return-type")
+
+# set carv needed flags
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -D__STDC_CONSTANT_MACROS -DGL_GLEXT_PROTOTYPES -D_LINUX -D_REENTRANT -DCGAL_USE_F2C -DCGAL_DISABLE_ROUNDING_MATH_CHECK")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D__STDC_CONSTANT_MACROS -DGL_GLEXT_PROTOTYPES -D_LINUX -D_REENTRANT -DCGAL_USE_F2C -DCGAL_DISABLE_ROUNDING_MATH_CHECK")
+
+# Check C++11 or C++0x support
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+   set(CMAKE_CXX_FLAGS "${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()
+message(STATUS "Using opencv version ${OpenCV_VERSION}")
+find_package(Eigen3 3.1.0 REQUIRED)
+find_package(Pangolin REQUIRED)
+
+# find openmp
+find_package(OpenMP)
+if (OPENMP_FOUND)
+    message("-- OpenMP found")
+    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+endif()
+
+# Find CGAL
+set(CMAKE_BUILD_TYPE_BACKUP ${CMAKE_BUILD_TYPE})
+set(CMAKE_BUILD_TYPE "Release")
+find_package(CGAL REQUIRED COMPONENTS Core)
+include( ${CGAL_USE_FILE} )
+set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE_BACKUP})
+# Find Boost
+find_package(Boost REQUIRED)
+include_directories(${Boost_INCLUDE_DIR})
+link_directories(${Boost_LIBRARY_DIR})
+# BLAS and LAPACK
+find_package(LAPACK REQUIRED)
+link_directories(${LAPACK_LIBRARY_DIR})
+
+
+include_directories(
+${PROJECT_SOURCE_DIR}
+${PROJECT_SOURCE_DIR}/include
+${EIGEN3_INCLUDE_DIR}
+${Pangolin_INCLUDE_DIRS}
+${PROJECT_SOURCE_DIR}/Thirdparty/Line3Dpp
+${PROJECT_SOURCE_DIR}/Thirdparty/Line3Dpp/build
+${PROJECT_SOURCE_DIR}/Thirdparty/EDTest
+)
+
+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
+src/ProbabilityMapping.cc
+src/Modeler.cc
+src/LineDetector.cc
+src/CARV/FreespaceDelaunayAlgorithm.cc
+src/CARV/GraphWrapper_Boost.cc
+src/CARV/lovimath.cc
+src/CARV/SFMTranscript.cpp
+src/CARV/SFMTranscriptInterface_Delaunay.cpp
+src/CARV/Matrix.cc
+src/CARV/StringFunctions.cpp
+src/CARV/Exception.cpp
+src/CARV/SFMTranscriptInterface_ORBSLAM.cpp
+)
+
+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
+${PROJECT_SOURCE_DIR}/Thirdparty/EDLines/EDLinesLib.a
+${PROJECT_SOURCE_DIR}/Thirdparty/EDTest/EDLib.a
+${PROJECT_SOURCE_DIR}/Thirdparty/Line3Dpp/build/libline3Dpp.so
+boost_system boost_filesystem boost_serialization
+lapack blas
+)
+
+# 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})
+
+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})
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/tools)
+add_executable(bin_vocabulary
+ tools/bin_vocabulary.cc)
+target_link_libraries(bin_vocabulary ${PROJECT_NAME})

Dependencies.md

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+## List of Known Dependencies
+
+In this repo, other than the dependencies of ORB-SLAM2 described below, we include [EdgeDrawing](http://ceng.anadolu.edu.tr/CV/EdgeDrawing/) edge detection library in Thirdparty/EDTest folder. 
+
+[EDLines](http://ceng.anadolu.edu.tr/cv/EDLines/) line detection library is included in Thirdparty/EDLines folder.
+
+[Line3D++](https://github.com/manhofer/Line3Dpp) line-based MVS library is included in Thirdparty/Line3Dpp folder.
+
+We also use [CGAL](https://www.cgal.org) in the process of surface reconstruction.
+
+The implementation of semi-dense mapping is modified from this [github repo](https://github.com/HeYijia/ORB_SLAM2).
+
+The surface reconstruction is modified from the work of David Lovi, which is described in [his thesis](https://era.library.ualberta.ca/items/0d2079b7-4a6d-47c6-8528-87478dbab309).
+
+[OpenMP](https://www.openmp.org/) is used for speeding up the semi-dense mapping a little.
+
+[Boost](https://www.boost.org/) is also used to make things easier.
+
+
+### 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)**.
+https://github.com/stevenlovegrove/Pangolin
+
+* **OpenCV**.
+BSD licensed.
+
+* **Eigen3**.
+For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3.
+
+* **BLAS** (required by g2o).
+[Freely-available software](http://www.netlib.org/blas/#_licensing).
+
+* **LAPACK**(required by g2o).
+BSD licensed. 
+
+* **ROS (Optional, only if you build Examples/ROS)**.
+BSD licensed. In the manifest.xml the only declared package dependencies are roscpp, tf, sensor_msgs, image_transport, cv_bridge, which are all BSD licensed.
+
+
+
+Updated: 23/01/2016 Raúl Mur Artal

Examples/Monocular/EuRoC.yaml

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+%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
+