MSC-VO

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+project(ORB_SLAM2)
+
+SET(CMAKE_BUILD_TYPE Debug)
+
+MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -W -O3 -march=native ")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}  -W -O3 -march=native")
+
+# Check C++11 or C++0x support
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+   set(CMAKE_CXX_FLAGS "${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 ${PROJECT_SOURCE_DIR}/cmake_modules)
+
+find_package(OpenCV 3.0 QUIET)
+if(NOT OpenCV_FOUND)
+   find_package(OpenCV 2.4.3 QUIET)
+   if(NOT OpenCV_FOUND)
+      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
+   endif()
+endif()
+
+find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
+if(Ceres_FOUND)
+   message(STATUS "Ceres: ENABLED")
+else()
+   message(STATUS "Ceres: DISABLED")
+endif()
+
+find_package(Eigen3 3.1.0 REQUIRED)
+find_package(Pangolin REQUIRED)
+find_package(OpenMP)
+if(OpenMP_FOUND)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+    add_definitions(-DUSE_OPENMP)
+    message(STATUS "OpenMP: ENABLED")
+else()
+    remove_definitions(-DUSE_OPENMP)
+    message(STATUS "OpenMP: DISABLED")
+endif()
+
+include_directories(
+${PROJECT_SOURCE_DIR}
+${PROJECT_SOURCE_DIR}/include
+${EIGEN3_INCLUDE_DIR}
+${Pangolin_INCLUDE_DIRS}
+${PCL_INCLUDE_DIRS}
+${CERES_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
+src/MapLine.cpp 
+src/LSDmatcher.cpp
+src/lineIterator.cpp
+src/LineExtractor.cpp
+src/Manhattan.cpp)
+
+target_link_libraries(${PROJECT_NAME}
+${OpenCV_LIBS}
+${EIGEN3_LIBS}
+${Pangolin_LIBRARIES}
+${CERES_LIBRARIES}
+${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})
+
+# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/TestDebug)
+
+# add_executable(testOpt
+# Examples/TestDebug/testOpt.cpp)
+# target_link_libraries(testOpt ${PROJECT_NAME})

Dependencies_MSC-VO.md

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+##List of Known Dependencies
+###MSC-VO 
+
+In this document, we list all the pieces of code included by MSC-VO and linked libraries that are not property by the authors of MSC-VO.
+
+#####General considerations: 
+
+* The proposed work includes some line management functions that are obtained from a monocular point and line ORB-Version (https://github.com/lanyouzibetty/ORB-SLAM2_with_line. Regarding this code, we can not determine the origin of some functions. Moreover, most of the functions have been modified to work with RGB-D cameras.
+
+* The pieces of the code which are used by ORB-SLAM2 but are not property of the authors are described in Dependencies_ORB_SLAM2.md.  
+
+#####Code in **src** and **include** folders
+
+* *lineIterator.cc*.
+- This code comes from (Stereo VO and SLAM by combining point and line segment features). 
+
+* *Manhattan.cc*.
+- "isLineGood()" is a modified version of the function with the same name that can be found at https://github.com/yanyan-li/PlanarSLAM.
+- "extractCoarseManhAxes()" it has been adapted to cpp and modified of the original Matlab code of https://github.com/PyojinKim/LPVO. 
+
+* *FrameDrawer.cc *
+- "projectDirections()" this is a modified version of https://github.com/jstraub/rtmf.
+
+
+
+
+
+
+
+
+

Dependencies_ORB_SLAM2.md

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+##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.
+
+
+
+
+

Examples/RGB-D/ICL.yaml

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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV)
+Camera.fx: 481.2
+Camera.fy: -480.0
+Camera.cx: 319.5
+Camera.cy: 239.50
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+Camera.width: 640
+Camera.height: 480
+
+# Camera frames per second
+Camera.fps: 30.0
+
+# IR projector baseline times fx (aprox.)
+Camera.bf: 40.0
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Close/Far threshold. Baseline times.
+ThDepth: 40.0
+
+# Deptmap values factor
+DepthMapFactor: 5000.0
+
+#--------------------------------------------------------------------------------------------
+# 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
+
+#--------------------------------------------------------------------------------------------
+# LSD Parameters
+#--------------------------------------------------------------------------------------------
+
+LINEextractor.nLevels: 1
+LINEextractor.scaleFactor: 1.2
+LINEextractor.nFeatures: 200
+LINEextractor.min_line_length: 0
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 1
+Viewer.PointSize: 4
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500
+

Examples/RGB-D/ICSL_LPVO.yaml

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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 537.5999
+Camera.fy: 539.0333
+Camera.cx: 316.1487
+Camera.cy: 245.5187
+
+Camera.k1: 0.0354
+Camera.k2: -0.0476
+Camera.p1: 0.0011
+Camera.p2: 0.0013
+
+Camera.width: 640
+Camera.height: 480
+
+# Camera frames per second 
+Camera.fps: 30.0
+
+# IR projector baseline times fx (aprox.)
+Camera.bf: 40.0
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Close/Far threshold. Baseline times.
+ThDepth: 130.0
+
+# Deptmap values factor
+DepthMapFactor: 1000.0
+
+#--------------------------------------------------------------------------------------------
+# 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
+
+#--------------------------------------------------------------------------------------------
+# LSD Parameters
+#--------------------------------------------------------------------------------------------
+
+LINEextractor.nLevels: 1
+LINEextractor.scaleFactor: 1.2
+LINEextractor.nFeatures: 200
+LINEextractor.min_line_length: 5
+
+#--------------------------------------------------------------------------------------------
+# 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
+