diff --git a/vSLAM/ch5/joinMap/.kdev4/joinMap.kdev4 b/vSLAM/ch5/joinMap/.kdev4/joinMap.kdev4 index 2022e32b..eb72c3f4 100644 --- a/vSLAM/ch5/joinMap/.kdev4/joinMap.kdev4 +++ b/vSLAM/ch5/joinMap/.kdev4/joinMap.kdev4 @@ -24,8 +24,15 @@ Name=joinMap Type=Native Application [Launch][Launch Configuration 0][Data] +Arguments=../pose.txt Configured from ProjectItem=joinMap,joinMap +Dependencies=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x00) +Dependency Action=Nothing +EnvironmentGroup=default +Executable=file:///home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch5/joinMap/ +External Terminal=konsole --noclose --workdir %workdir -e %exe Project Target=joinMap,joinMap +Use External Terminal=false Working Directory=file:///home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch5/joinMap/build/ isExecutable=false diff --git a/vSLAM/ch5/joinMap/build/CMakeFiles/joinMap.dir/CXX.includecache b/vSLAM/ch5/joinMap/build/CMakeFiles/joinMap.dir/CXX.includecache index d402ba3a..bdce9121 100644 --- a/vSLAM/ch5/joinMap/build/CMakeFiles/joinMap.dir/CXX.includecache +++ b/vSLAM/ch5/joinMap/build/CMakeFiles/joinMap.dir/CXX.includecache @@ -11,6 +11,8 @@ iostream - fstream - +cstdlib +- opencv2/core/core.hpp - opencv2/highgui/highgui.hpp diff --git a/vSLAM/ch5/joinMap/build/CMakeFiles/joinMap.dir/joinMap.cpp.o b/vSLAM/ch5/joinMap/build/CMakeFiles/joinMap.dir/joinMap.cpp.o index 413df57a..f1ee1f57 100644 Binary files a/vSLAM/ch5/joinMap/build/CMakeFiles/joinMap.dir/joinMap.cpp.o and b/vSLAM/ch5/joinMap/build/CMakeFiles/joinMap.dir/joinMap.cpp.o differ diff --git a/vSLAM/ch5/joinMap/build/joinMap b/vSLAM/ch5/joinMap/build/joinMap index 350e8e4d..7708094c 100755 Binary files a/vSLAM/ch5/joinMap/build/joinMap and b/vSLAM/ch5/joinMap/build/joinMap differ diff --git a/vSLAM/ch5/joinMap/build/map.pcd b/vSLAM/ch5/joinMap/build/map.pcd new file mode 100644 index 00000000..ed8b3154 Binary files /dev/null and b/vSLAM/ch5/joinMap/build/map.pcd differ diff --git a/vSLAM/ch5/joinMap/joinMap.cpp b/vSLAM/ch5/joinMap/joinMap.cpp index 5d2f3222..7bdec3b2 100644 --- a/vSLAM/ch5/joinMap/joinMap.cpp +++ b/vSLAM/ch5/joinMap/joinMap.cpp @@ -1,5 +1,6 @@ -#include -#include +#include //字符io流 +#include //文件流 +#include //命令行调用 using namespace std; #include #include @@ -43,20 +44,23 @@ int main( int argc, char** argv ) -1.55819 -0.301094 1.6215 -0.02707 -0.250946 -0.0412848 0.966741 分别为五张图相机的位置和姿态 */ - ifstream fin("pose.txt"); + // ifstream fin("pose.txt"); + ifstream fin(argv[1]);//命令行加入参数 ../pose.txt if (!fin) { cerr<<"请在有pose.txt的目录下运行此程序"<>d; Eigen::Quaterniond q( data[6], data[3], data[4], data[5] );//data[6]为四元数实部 @@ -81,12 +85,14 @@ int main( int argc, char** argv ) // 新建一个点云 PointCloud::Ptr pointCloud( new PointCloud ); - for ( int i=0; i<5; i++ ) + for ( int i=0; i<5; i++ )//5张图像对 { cout<<"转换图像中: "<size()<<"个点."<头中，C++则为头），可以用来调用终端命令。 + system("pcl_viewer map.pcd"); return 0; } diff --git a/vSLAM/ch7/build/CMakeFiles/pose_estimation_2d2d.dir/pose_estimation_2d2d.cpp.o 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b/vSLAM/ch7/build/CMakeFiles/pose_estimation_3d3d.dir/pose_estimation_3d3d.cpp.o differ diff --git a/vSLAM/ch7/build/pose_estimation_2d2d b/vSLAM/ch7/build/pose_estimation_2d2d index 01265b4e..397adc48 100755 Binary files a/vSLAM/ch7/build/pose_estimation_2d2d and b/vSLAM/ch7/build/pose_estimation_2d2d differ diff --git a/vSLAM/ch7/build/pose_estimation_3d2d b/vSLAM/ch7/build/pose_estimation_3d2d index db19b966..b4a761e1 100755 Binary files a/vSLAM/ch7/build/pose_estimation_3d2d and b/vSLAM/ch7/build/pose_estimation_3d2d differ diff --git a/vSLAM/ch7/build/pose_estimation_3d3d b/vSLAM/ch7/build/pose_estimation_3d3d index a072b2aa..2840f2e3 100755 Binary files a/vSLAM/ch7/build/pose_estimation_3d3d and b/vSLAM/ch7/build/pose_estimation_3d3d differ diff --git a/vSLAM/ch7/feature_extraction.cpp b/vSLAM/ch7/feature_extraction.cpp index ae8b4571..ca02a1ae 100644 --- a/vSLAM/ch7/feature_extraction.cpp +++ b/vSLAM/ch7/feature_extraction.cpp @@ -25,11 +25,14 @@ int main ( int argc, char** argv ) //-- 初始化 std::vector keypoints_1, keypoints_2;//关键点 Mat descriptors_1, descriptors_2; //关键点对应的描述子 - Ptr detector = ORB::create(); //cv下　特征检测 - Ptr descriptor = ORB::create();//cv下　描述子 + Ptr detector = ORB::create(); //cv3下　特征检测 + Ptr descriptor = ORB::create();//cv3下　描述子 // Ptr detector = FeatureDetector::create(detector_name); // Ptr descriptor = DescriptorExtractor::create(descriptor_name); - Ptr matcher = DescriptorMatcher::create ( "BruteForce-Hamming" );//汉明 + // use this if you are in OpenCV2 + // Ptr detector = FeatureDetector::create ( "ORB" ); + // Ptr descriptor = DescriptorExtractor::create ( "ORB" ); + Ptr matcher = DescriptorMatcher::create ( "BruteForce-Hamming" );//汉明点对匹配 //-- 第一步:检测 Oriented FAST 角点位置 detector->detect ( img_1,keypoints_1 ); diff --git a/vSLAM/ch7/pose_estimation_2d2d.cpp b/vSLAM/ch7/pose_estimation_2d2d.cpp index 5ccf900f..8408df98 100644 --- a/vSLAM/ch7/pose_estimation_2d2d.cpp +++ b/vSLAM/ch7/pose_estimation_2d2d.cpp @@ -1,22 +1,26 @@ +/* + *对极几何 求解 两组单目相机 2D图像 + */ #include #include #include #include #include // #include "extra.h" // use this if in OpenCV2 -using namespace std; -using namespace cv; +using namespace std;//标准库　命名空间 +using namespace cv; //opencv库命名空间 +// ./pose_estimation_2d2d 1.png 2.png /**************************************************** - * 本程序演示了如何使用2D-2D的特征匹配估计相机运动 + * 本程序演示了如何使用2D-2D的特征匹配估计相机运动 * **************************************************/ - +//特征匹配 计算匹配点对 void find_feature_matches ( const Mat& img_1, const Mat& img_2, std::vector& keypoints_1, std::vector& keypoints_2, std::vector< DMatch >& matches ); - +//位置估计 计算旋转和平移 void pose_estimation_2d2d ( std::vector keypoints_1, std::vector keypoints_2, @@ -28,22 +32,22 @@ Point2d pixel2cam ( const Point2d& p, const Mat& K ); int main ( int argc, char** argv ) { - if ( argc != 3 ) + if ( argc != 3 )//命令行参数　 1.png 　2.png { cout<<"usage: pose_estimation_2d2d img1 img2"< keypoints_1, keypoints_2; - vector matches; - find_feature_matches ( img_1, img_2, keypoints_1, keypoints_2, matches ); + vector keypoints_1, keypoints_2;//关键点 + vector matches;//特征点匹配对 + find_feature_matches ( img_1, img_2, keypoints_1, keypoints_2, matches );//得到匹配点对 cout<<"一共找到了"< descriptor = DescriptorExtractor::create ( "ORB" ); - Ptr matcher = DescriptorMatcher::create ( "BruteForce-Hamming" ); - //-- 第一步:检测 Oriented FAST 角点位置 + Ptr matcher = DescriptorMatcher::create ( "BruteForce-Hamming" );//汉明点对匹配 + + //------------------第一步:检测 Oriented FAST 角点位置----------------------------- detector->detect ( img_1,keypoints_1 ); detector->detect ( img_2,keypoints_2 ); - //-- 第二步:根据角点位置计算 BRIEF 描述子 + //------------------第二步:根据角点位置计算 BRIEF 描述子------------------------- descriptor->compute ( img_1, keypoints_1, descriptors_1 ); descriptor->compute ( img_2, keypoints_2, descriptors_2 ); - //-- 第三步:对两幅图像中的BRIEF描述子进行匹配，使用 Hamming 距离 + //------------------第三步:对两幅图像中的BRIEF描述子进行匹配，使用 Hamming 距离 vector match; //BFMatcher matcher ( NORM_HAMMING ); - matcher->match ( descriptors_1, descriptors_2, match ); + matcher->match ( descriptors_1, descriptors_2, match );//各个特征点描述子之间的汉明距离匹配 - //-- 第四步:匹配点对筛选 + //-----------------第四步:匹配点对筛选-------------------------------------------------- double min_dist=10000, max_dist=0; - //找出所有匹配之间的最小距离和最大距离, 即是最相似的和最不相似的两组点之间的距离 for ( int i = 0; i < descriptors_1.rows; i++ ) { - double dist = match[i].distance; - if ( dist < min_dist ) min_dist = dist; - if ( dist > max_dist ) max_dist = dist; + double dist = matches[i].distance; + if ( dist < min_dist ) min_dist = dist; //最短距离 最相似 + if ( dist > max_dist ) max_dist = dist; //最长距离 最不相似 } - printf ( "-- Max dist : %f \n", max_dist ); printf ( "-- Min dist : %f \n", min_dist ); - //当描述子之间的距离大于两倍的最小距离时,即认为匹配有误.但有时候最小距离会非常小,设置一个经验值30作为下限. for ( int i = 0; i < descriptors_1.rows; i++ ) { @@ -119,7 +123,7 @@ void find_feature_matches ( const Mat& img_1, const Mat& img_2, } } - +// 像素坐标转相机归一化坐标 Point2d pixel2cam ( const Point2d& p, const Mat& K ) { return Point2d @@ -129,7 +133,8 @@ Point2d pixel2cam ( const Point2d& p, const Mat& K ) ); } - +//特征匹配 计算匹配点对 函数 第一张图 到第二章图的坐标变换矩阵和平移矩阵 +//对极几何 void pose_estimation_2d2d ( std::vector keypoints_1, std::vector keypoints_2, std::vector< DMatch > matches, @@ -138,34 +143,33 @@ void pose_estimation_2d2d ( std::vector keypoints_1, // 相机内参,TUM Freiburg2 Mat K = ( Mat_ ( 3,3 ) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 ); - //-- 把匹配点转换为vector的形式 + //------------把匹配点转换为vector的形式------------------ vector points1; vector points2; - for ( int i = 0; i < ( int ) matches.size(); i++ ) { points1.push_back ( keypoints_1[matches[i].queryIdx].pt ); points2.push_back ( keypoints_2[matches[i].trainIdx].pt ); } - //-- 计算基础矩阵 + //-----------计算基础矩阵----------------------------------------------------- Mat fundamental_matrix; fundamental_matrix = findFundamentalMat ( points1, points2, CV_FM_8POINT ); - cout<<"fundamental_matrix is "< #include #include @@ -11,11 +12,12 @@ #include #include #include -#include +#include //时间计时 -using namespace std; -using namespace cv; +using namespace std;//标准库　命名空间 +using namespace cv; //opencv库命名空间 +//特征匹配 计算匹配点对 void find_feature_matches ( const Mat& img_1, const Mat& img_2, std::vector& keypoints_1, @@ -25,6 +27,7 @@ void find_feature_matches ( // 像素坐标转相机归一化坐标 Point2d pixel2cam ( const Point2d& p, const Mat& K ); +//g2o_BundleAdjustment 优化 void bundleAdjustment ( const vector points_3d, const vector points_2d, @@ -34,7 +37,7 @@ void bundleAdjustment ( int main ( int argc, char** argv ) { - if ( argc != 5 ) + if ( argc != 5 )// 命令行参数 img1 img2 depth1 depth2 { cout<<"usage: pose_estimation_3d2d img1 img2 depth1 depth2"< keypoints_1, keypoints_2; - vector matches; + vector keypoints_1, keypoints_2;//关键点 + vector matches;//特征点匹配对 find_feature_matches ( img_1, img_2, keypoints_1, keypoints_2, matches ); cout<<"一共找到了"< ( 3,3 ) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 ); + Mat K = ( Mat_ ( 3,3 ) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 );// 相机内参,TUM Freiburg2 vector pts_3d; vector pts_2d; for ( DMatch m:matches ) @@ -59,7 +62,7 @@ int main ( int argc, char** argv ) if ( d == 0 ) // bad depth continue; float dd = d/1000.0; - Point2d p1 = pixel2cam ( keypoints_1[m.queryIdx].pt, K ); + Point2d p1 = pixel2cam ( keypoints_1[m.queryIdx].pt, K );// 像素坐标转相机归一化坐标 pts_3d.push_back ( Point3f ( p1.x*dd, p1.y*dd, dd ) ); pts_2d.push_back ( keypoints_2[m.trainIdx].pt ); } @@ -71,25 +74,26 @@ int main ( int argc, char** argv ) Mat R; cv::Rodrigues ( r, R ); // r为旋转向量形式，用Rodrigues公式转换为矩阵 - cout<<"R="<& keypoints_1, std::vector& keypoints_2, std::vector< DMatch >& matches ) { - //-- 初始化 - Mat descriptors_1, descriptors_2; - // used in OpenCV3 + //--------------------第0步:初始化------------------------------------------------------ + Mat descriptors_1, descriptors_2;//描述子 + // OpenCV3 特征点检测器 描述子生成器 用法 Ptr detector = ORB::create(); Ptr descriptor = ORB::create(); - // use this if you are in OpenCV2 + // OpenCV2 特征点检测器 描述子生成器 用法 // Ptr detector = FeatureDetector::create ( "ORB" ); // Ptr descriptor = DescriptorExtractor::create ( "ORB" ); Ptr matcher = DescriptorMatcher::create ( "BruteForce-Hamming" ); @@ -130,6 +134,7 @@ void find_feature_matches ( const Mat& img_1, const Mat& img_2, } } +// 像素坐标转相机归一化坐标 Point2d pixel2cam ( const Point2d& p, const Mat& K ) { return Point2d @@ -138,7 +143,7 @@ Point2d pixel2cam ( const Point2d& p, const Mat& K ) ( p.y - K.at ( 1,2 ) ) / K.at ( 1,1 ) ); } - +// g2o_BundleAdjustment 优化 void bundleAdjustment ( const vector< Point3f > points_3d, const vector< Point2f > points_2d, diff --git a/vSLAM/ch7/pose_estimation_3d3d.cpp b/vSLAM/ch7/pose_estimation_3d3d.cpp index 9c8e2696..c938e706 100644 --- a/vSLAM/ch7/pose_estimation_3d3d.cpp +++ b/vSLAM/ch7/pose_estimation_3d3d.cpp @@ -1,3 +1,7 @@ +/* + * 迭代最近点 Iterative Closest Point, ICP求解 3D坐标 到 3D坐标的转换矩阵(不用求解距离 激光SLAM 以及 RGB-D SLAM) + * 使用 线性代数SVD奇异值分解 或者 非线性优化方法 求解 + */ #include #include #include @@ -12,11 +16,12 @@ #include #include #include -#include +#include //算法计时 -using namespace std; -using namespace cv; +using namespace std;//标准库　命名空间 +using namespace cv; //opencv库命名空间 +//特征匹配 计算匹配点对 void find_feature_matches ( const Mat& img_1, const Mat& img_2, std::vector& keypoints_1, @@ -26,12 +31,14 @@ void find_feature_matches ( // 像素坐标转相机归一化坐标 Point2d pixel2cam ( const Point2d& p, const Mat& K ); +//ICP求解 3D坐标 到 3D坐标的转换矩阵 使用 线性代数SVD奇异值分解 void pose_estimation_3d3d ( const vector& pts1, const vector& pts2, Mat& R, Mat& t ); +//g2o_BundleAdjustment 优化 非线性优化方法 求解 void bundleAdjustment( const vector& points_3d, const vector& points_2d, @@ -51,7 +58,7 @@ class EdgeProjectXYZRGBDPoseOnly : public g2o::BaseUnaryEdge<3, Eigen::Vector3d, // measurement is p, point is p' _error = _measurement - pose->estimate().map( _point ); } - + // 3d-3d自定义求解器 virtual void linearizeOplus() { g2o::VertexSE3Expmap* pose = static_cast(_vertices[0]); @@ -60,7 +67,7 @@ class EdgeProjectXYZRGBDPoseOnly : public g2o::BaseUnaryEdge<3, Eigen::Vector3d, double x = xyz_trans[0]; double y = xyz_trans[1]; double z = xyz_trans[2]; - + // 3×6的雅克比矩阵 _jacobianOplusXi(0,0) = 0; _jacobianOplusXi(0,1) = -z; _jacobianOplusXi(0,2) = y; @@ -108,7 +115,7 @@ int main ( int argc, char** argv ) // 建立3D点 Mat depth1 = imread ( argv[3], CV_LOAD_IMAGE_UNCHANGED ); // 深度图为16位无符号数，单通道图像 Mat depth2 = imread ( argv[4], CV_LOAD_IMAGE_UNCHANGED ); // 深度图为16位无符号数，单通道图像 - Mat K = ( Mat_ ( 3,3 ) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 ); + Mat K = ( Mat_ ( 3,3 ) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 );// 相机内参,TUM Freiburg2 vector pts1, pts2; for ( DMatch m:matches ) @@ -127,18 +134,19 @@ int main ( int argc, char** argv ) cout<<"3d-3d pairs: "<& keypoints_1, std::vector& keypoints_2, std::vector< DMatch >& matches ); +//位置估计 计算旋转和平移 第一张图 到第二章图的坐标变换矩阵和平移矩阵 void pose_estimation_2d2d ( const std::vector& keypoints_1, const std::vector& keypoints_2, const std::vector< DMatch >& matches, Mat& R, Mat& t ); +// 三角测量 void triangulation ( const vector& keypoint_1, const vector& keypoint_2, @@ -32,22 +42,22 @@ Point2f pixel2cam( const Point2d& p, const Mat& K ); int main ( int argc, char** argv ) { - if ( argc != 3 ) + if ( argc != 3 )//命令行参数　 1.png 　2.png { cout<<"usage: triangulation img1 img2"< keypoints_1, keypoints_2; - vector matches; + vector keypoints_1, keypoints_2;//关键点 + vector matches;//特征点匹配对 find_feature_matches ( img_1, img_2, keypoints_1, keypoints_2, matches ); cout<<"一共找到了"< ( 3,3 ) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 ); + Mat K = ( Mat_ ( 3,3 ) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 );// 相机内参,TUM Freiburg2 for ( int i=0; i& keypoints_1, std::vector& keypoints_2, std::vector< DMatch >& matches ) { - //-- 初始化 - Mat descriptors_1, descriptors_2; - // used in OpenCV3 + //--------------------第0步:初始化------------------------------------------------------ + Mat descriptors_1, descriptors_2;//描述子 + // OpenCV3 特征点检测器 描述子生成器 用法 Ptr detector = ORB::create(); Ptr descriptor = ORB::create(); - // use this if you are in OpenCV2 + // OpenCV2 特征点检测器 描述子生成器 用法 // Ptr detector = FeatureDetector::create ( "ORB" ); // Ptr descriptor = DescriptorExtractor::create ( "ORB" ); - Ptr matcher = DescriptorMatcher::create("BruteForce-Hamming"); - //-- 第一步:检测 Oriented FAST 角点位置 + Ptr matcher = DescriptorMatcher::create("BruteForce-Hamming");;//汉明点对匹配 + + //------------------第一步:检测 Oriented FAST 角点位置----------------------------- detector->detect ( img_1,keypoints_1 ); detector->detect ( img_2,keypoints_2 ); - //-- 第二步:根据角点位置计算 BRIEF 描述子 + //------------------第二步:根据角点位置计算 BRIEF 描述子------------------------- descriptor->compute ( img_1, keypoints_1, descriptors_1 ); descriptor->compute ( img_2, keypoints_2, descriptors_2 ); - //-- 第三步:对两幅图像中的BRIEF描述子进行匹配，使用 Hamming 距离 + //------------------第三步:对两幅图像中的BRIEF描述子进行匹配，使用 Hamming 距离 vector match; // BFMatcher matcher ( NORM_HAMMING ); matcher->match ( descriptors_1, descriptors_2, match ); - //-- 第四步:匹配点对筛选 + //-----------------第四步:匹配点对筛选-------------------------------------------------- double min_dist=10000, max_dist=0; //找出所有匹配之间的最小距离和最大距离, 即是最相似的和最不相似的两组点之间的距离 for ( int i = 0; i < descriptors_1.rows; i++ ) { double dist = match[i].distance; - if ( dist < min_dist ) min_dist = dist; - if ( dist > max_dist ) max_dist = dist; + if ( dist < min_dist ) min_dist = dist; //最短距离 最相似 + if ( dist > max_dist ) max_dist = dist; //最长距离 最不相似 } printf ( "-- Max dist : %f \n", max_dist ); @@ -130,6 +142,8 @@ void find_feature_matches ( const Mat& img_1, const Mat& img_2, } } +//特征匹配 计算匹配点对 函数 第一张图 到第二章图的坐标变换矩阵和平移矩阵 +//对极几何 void pose_estimation_2d2d ( const std::vector& keypoints_1, const std::vector& keypoints_2, @@ -172,11 +186,13 @@ void pose_estimation_2d2d ( cout<<"t is "<& keypoint_1, const vector< KeyPoint >& keypoint_2, const std::vector< DMatch >& matches, - const Mat& R, const Mat& t, + const Mat& R, const Mat& t, //特征匹配 计算匹配点对 函数 第一张图 到第二章图的坐标变换矩阵和平移矩阵 +//对极几何 vector< Point3d >& points ) { Mat T1 = (Mat_ (3,4) << @@ -189,7 +205,7 @@ void triangulation ( R.at(2,0), R.at(2,1), R.at(2,2), t.at(2,0) ); - Mat K = ( Mat_ ( 3,3 ) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 ); + Mat K = ( Mat_ ( 3,3 ) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 );// 相机内参,TUM Freiburg2 vector pts_1, pts_2; for ( DMatch m:matches ) { @@ -215,6 +231,7 @@ void triangulation ( } } +// 像素坐标转相机归一化坐标 Point2f pixel2cam ( const Point2d& p, const Mat& K ) { return Point2f diff --git a/vSLAM/ch8/LKFlow/.kdev4/LKFlow.kdev4 b/vSLAM/ch8/LKFlow/.kdev4/LKFlow.kdev4 new file mode 100644 index 00000000..d2d332a0 --- /dev/null +++ b/vSLAM/ch8/LKFlow/.kdev4/LKFlow.kdev4 @@ -0,0 +1,18 @@ +[Buildset] +BuildItems=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x01\x00\x00\x00\x0c\x00L\x00K\x00F\x00l\x00o\x00w) + +[CMake] +Build Directory Count=1 +Current Build Directory Index=0 +ProjectRootRelative=./ + +[CMake][CMake Build Directory 0] +Build Directory Path=file:///home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch8/LKFlow/build +Build Type=Debug +CMake Binary=file:///usr/bin/cmake +Environment Profile= 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installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + +IF(CMAKE_INSTALL_COMPONENT) + SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +ELSE(CMAKE_INSTALL_COMPONENT) + SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +ENDIF(CMAKE_INSTALL_COMPONENT) + +FILE(WRITE "/home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch8/LKFlow/build/${CMAKE_INSTALL_MANIFEST}" "") +FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES}) + FILE(APPEND "/home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch8/LKFlow/build/${CMAKE_INSTALL_MANIFEST}" "${file}\n") +ENDFOREACH(file) diff --git a/vSLAM/ch8/LKFlow/build/useLK b/vSLAM/ch8/LKFlow/build/useLK new file mode 100755 index 00000000..6d9e99ae Binary files /dev/null and b/vSLAM/ch8/LKFlow/build/useLK differ diff --git a/vSLAM/ch8/LKFlow/useLK.cpp b/vSLAM/ch8/LKFlow/useLK.cpp index 5dbfeae1..370ce8e4 100644 --- a/vSLAM/ch8/LKFlow/useLK.cpp +++ b/vSLAM/ch8/LKFlow/useLK.cpp @@ -1,5 +1,9 @@ +/* + * LK光流法跟踪特征点 + * ./useLK ../../data + */ #include -#include +#include //文件数据流 #include #include #include @@ -8,7 +12,7 @@ using namespace std; #include #include #include -#include +#include //跟踪算法 int main( int argc, char** argv ) { @@ -21,7 +25,7 @@ int main( int argc, char** argv ) string associate_file = path_to_dataset + "/associate.txt"; ifstream fin( associate_file ); - if ( !fin ) + if ( !fin ) //打开文件失败 { cerr<<"I cann't find associate.txt!"<>time_rgb>>rgb_file>>time_depth>>depth_file; + //rgb图像对应时间 rgb图像 深度图像对应时间 深度图像 color = cv::imread( path_to_dataset+"/"+rgb_file ); depth = cv::imread( path_to_dataset+"/"+depth_file, -1 ); - if (index ==0 ) + if (index ==0 )//第一帧图像 { // 对第一帧提取FAST特征点 vector kps; @@ -50,8 +55,8 @@ int main( int argc, char** argv ) if ( color.data==nullptr || depth.data==nullptr ) continue; // 对其他帧用LK跟踪特征点 - vector next_keypoints; - vector prev_keypoints; + vector next_keypoints; //下一帧关键点 + vector prev_keypoints; //上一帧关键点 for ( auto kp:keypoints ) prev_keypoints.push_back(kp); vector status; @@ -84,7 +89,7 @@ int main( int argc, char** argv ) for ( auto kp:keypoints ) cv::circle(img_show, kp, 10, cv::Scalar(0, 240, 0), 1); cv::imshow("corners", img_show); - cv::waitKey(0); + cv::waitKey(0);//等待按键按下 遍历下一张图片 last_color = color; } return 0; diff --git a/vSLAM/ch8/data/associate.py b/vSLAM/ch8/data/associate.py new file mode 100644 index 00000000..32521c1a --- /dev/null +++ b/vSLAM/ch8/data/associate.py @@ -0,0 +1,127 @@ +#!/usr/bin/python +# Software License Agreement (BSD License) +# +# Copyright (c) 2013, Juergen Sturm, TUM +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of TUM nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +# Requirements: +# sudo apt-get install python-argparse + +""" +The Kinect provides the color and depth images in an un-synchronized way. This means that the set of time stamps from the color images do not intersect with those of the depth images. Therefore, we need some way of associating color images to depth images. + +For this purpose, you can use the ''associate.py'' script. It reads the time stamps from the rgb.txt file and the depth.txt file, and joins them by finding the best matches. +""" + +import argparse +import sys +import os +import numpy + + +def read_file_list(filename): + """ + Reads a trajectory from a text file. + + File format: + The file format is "stamp d1 d2 d3 ...", where stamp denotes the time stamp (to be matched) + and "d1 d2 d3.." is arbitary data (e.g., a 3D position and 3D orientation) associated to this timestamp. + + Input: + filename -- File name + + Output: + dict -- dictionary of (stamp,data) tuples + + """ + file = open(filename) + data = file.read() + lines = data.replace(","," ").replace("\t"," ").split("\n") + list = [[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"] + list = [(float(l[0]),l[1:]) for l in list if len(l)>1] + return dict(list) + +def associate(first_list, second_list,offset,max_difference): + """ + Associate two dictionaries of (stamp,data). As the time stamps never match exactly, we aim + to find the closest match for every input tuple. + + Input: + first_list -- first dictionary of (stamp,data) tuples + second_list -- second dictionary of (stamp,data) tuples + offset -- time offset between both dictionaries (e.g., to model the delay between the sensors) + max_difference -- search radius for candidate generation + + Output: + matches -- list of matched tuples ((stamp1,data1),(stamp2,data2)) + + """ + first_keys = first_list.keys() + second_keys = second_list.keys() + potential_matches = [(abs(a - (b + offset)), a, b) + for a in first_keys + for b in second_keys + if abs(a - (b + offset)) < max_difference] + potential_matches.sort() + matches = [] + for diff, a, b in potential_matches: + if a in first_keys and b in second_keys: + first_keys.remove(a) + second_keys.remove(b) + matches.append((a, b)) + + matches.sort() + return matches + +if __name__ == '__main__': + + # parse command line + parser = argparse.ArgumentParser(description=''' + This script takes two data files with timestamps and associates them + ''') + parser.add_argument('first_file', help='first text file (format: timestamp data)') + parser.add_argument('second_file', help='second text file (format: timestamp data)') + parser.add_argument('--first_only', help='only output associated lines from first file', action='store_true') + parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0) + parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02) + args = parser.parse_args() + + first_list = read_file_list(args.first_file) + second_list = read_file_list(args.second_file) + + matches = associate(first_list, second_list,float(args.offset),float(args.max_difference)) + + if args.first_only: + for a,b in matches: + print("%f %s"%(a," ".join(first_list[a]))) + else: + for a,b in matches: + print("%f %s %f %s"%(a," ".join(first_list[a]),b-float(args.offset)," ".join(second_list[b]))) + diff --git a/vSLAM/ch8/data/associate.txt b/vSLAM/ch8/data/associate.txt new file mode 100644 index 00000000..ebe7df90 --- /dev/null +++ b/vSLAM/ch8/data/associate.txt @@ -0,0 +1,573 @@ +1305031453.359684 rgb/1305031453.359684.png 1305031453.374112 depth/1305031453.374112.png +1305031453.391690 rgb/1305031453.391690.png 1305031453.404816 depth/1305031453.404816.png +1305031453.423683 rgb/1305031453.423683.png 1305031453.436941 depth/1305031453.436941.png +1305031453.459685 rgb/1305031453.459685.png 1305031453.473352 depth/1305031453.473352.png +1305031453.491698 rgb/1305031453.491698.png 1305031453.505218 depth/1305031453.505218.png +1305031453.523684 rgb/1305031453.523684.png 1305031453.538301 depth/1305031453.538301.png +1305031453.559753 rgb/1305031453.559753.png 1305031453.574074 depth/1305031453.574074.png +1305031453.591640 rgb/1305031453.591640.png 1305031453.605314 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COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) +# if defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" +# else +# if __IBMC__ >= 800 +# define COMPILER_ID "XL" +# else +# define COMPILER_ID "VisualAge" +# endif + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +/* Analog VisualDSP++ >= 4.5.6 */ +#elif defined(__VISUALDSPVERSION__) +# define COMPILER_ID "ADSP" + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) + +/* Analog VisualDSP++ < 4.5.6 */ +#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" + +/* IAR Systems compiler for embedded systems. + http://www.iar.com */ +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +/* sdcc, the small devices C compiler for embedded systems, + http://sdcc.sourceforge.net */ +#elif defined(SDCC) +# define COMPILER_ID "SDCC" + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + +/* This compiler is either not known or is too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" + +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# define ARCHITECTURE_ID "ARM" + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif + (void)argv; + return require; +} +#endif diff --git a/vSLAM/ch8/directMethod/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out b/vSLAM/ch8/directMethod/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out new file mode 100755 index 00000000..49a5ca2e Binary files /dev/null and b/vSLAM/ch8/directMethod/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out differ diff --git a/vSLAM/ch8/directMethod/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/vSLAM/ch8/directMethod/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 00000000..e8220b26 --- /dev/null +++ b/vSLAM/ch8/directMethod/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,377 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100) + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) +# if defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" +# else +# if __IBMCPP__ >= 800 +# define COMPILER_ID "XL" +# else +# define COMPILER_ID "VisualAge" +# endif + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +/* Analog VisualDSP++ >= 4.5.6 */ +#elif defined(__VISUALDSPVERSION__) +# define COMPILER_ID "ADSP" + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) + +/* Analog VisualDSP++ < 4.5.6 */ +#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" + +/* IAR Systems compiler for embedded systems. + http://www.iar.com */ +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + +/* This compiler is either not known or is too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" + +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. 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100644 --- a/vSLAM/ch8/directMethod/direct_semidense.cpp +++ b/vSLAM/ch8/directMethod/direct_semidense.cpp @@ -1,3 +1,7 @@ +/* + * 半稠密直接法 求相机位姿 + * ./direct_sparse ../../data/ + */ #include #include #include @@ -53,7 +57,7 @@ inline Eigen::Vector2d project3Dto2D ( float x, float y, float z, float fx, floa // 返回：true为成功，false失败 bool poseEstimationDirect ( const vector& measurements, cv::Mat* gray, Eigen::Matrix3f& intrinsics, Eigen::Isometry3d& Tcw ); - +//g20图优化 // project a 3d point into an image plane, the error is photometric error // an unary edge with one vertex SE3Expmap (the pose of camera) class EdgeSE3ProjectDirect: public BaseUnaryEdge< 1, double, VertexSE3Expmap> @@ -66,7 +70,7 @@ class EdgeSE3ProjectDirect: public BaseUnaryEdge< 1, double, VertexSE3Expmap> EdgeSE3ProjectDirect ( Eigen::Vector3d point, float fx, float fy, float cx, float cy, cv::Mat* image ) : x_world_ ( point ), fx_ ( fx ), fy_ ( fy ), cx_ ( cx ), cy_ ( cy ), image_ ( image ) {} - +//计算误差 virtual void computeError() { const VertexSE3Expmap* v =static_cast ( _vertices[0] ); @@ -84,7 +88,7 @@ class EdgeSE3ProjectDirect: public BaseUnaryEdge< 1, double, VertexSE3Expmap> _error ( 0,0 ) = getPixelValue ( x,y ) - _measurement; } } - +//求雅克比矩阵 // plus in manifold virtual void linearizeOplus( ) { @@ -158,7 +162,7 @@ int main ( int argc, char** argv ) { if ( argc != 2 ) { - cout<<"usage: useLK path_to_dataset"< measurements; // 相机内参 @@ -179,7 +185,7 @@ int main ( int argc, char** argv ) Eigen::Matrix3f K; K< keypoints; @@ -221,7 +227,7 @@ int main ( int argc, char** argv ) cout<<"direct method costs time: "<>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100) + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_C = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) +# if defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" +# else +# if __IBMC__ >= 800 +# define COMPILER_ID "XL" +# else +# define COMPILER_ID "VisualAge" +# endif + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +/* Analog VisualDSP++ >= 4.5.6 */ +#elif defined(__VISUALDSPVERSION__) +# define COMPILER_ID "ADSP" + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) + +/* Analog VisualDSP++ < 4.5.6 */ +#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" + +/* IAR Systems compiler for embedded systems. + http://www.iar.com */ +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +/* sdcc, the small devices C compiler for embedded systems, + http://sdcc.sourceforge.net */ +#elif defined(SDCC) +# define COMPILER_ID "SDCC" + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + +/* This compiler is either not known or is too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" + +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# define ARCHITECTURE_ID "ARM" + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif + (void)argv; + return require; +} +#endif diff --git a/vSLAM/ch9 project/0.1/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out b/vSLAM/ch9 project/0.1/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out new file mode 100755 index 00000000..49a5ca2e Binary files /dev/null and b/vSLAM/ch9 project/0.1/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out differ diff --git a/vSLAM/ch9 project/0.1/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/vSLAM/ch9 project/0.1/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 00000000..e8220b26 --- /dev/null +++ b/vSLAM/ch9 project/0.1/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,377 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100) + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) +# if defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" +# else +# if __IBMCPP__ >= 800 +# define COMPILER_ID "XL" +# else +# define COMPILER_ID "VisualAge" +# endif + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +/* Analog VisualDSP++ >= 4.5.6 */ +#elif defined(__VISUALDSPVERSION__) +# define COMPILER_ID "ADSP" + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) + +/* Analog VisualDSP++ < 4.5.6 */ +#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" + +/* IAR Systems compiler for embedded systems. + http://www.iar.com */ +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + +/* This compiler is either not known or is too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" + +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# define ARCHITECTURE_ID "ARM" + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif + (void)argv; + return require; +} diff --git a/vSLAM/ch9 project/0.1/build/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out b/vSLAM/ch9 project/0.1/build/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out new file mode 100755 index 00000000..96c16077 Binary files /dev/null and b/vSLAM/ch9 project/0.1/build/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out differ diff --git a/vSLAM/ch9 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Prepare targets for installation. +preinstall/fast: + cd "/home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.1/build" && $(MAKE) -f CMakeFiles/Makefile2 test/preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + cd "/home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.1/build" && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... edit_cache" + @echo "... rebuild_cache" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd "/home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.1/build" && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/vSLAM/ch9 project/0.1/build/test/cmake_install.cmake b/vSLAM/ch9 project/0.1/build/test/cmake_install.cmake new file mode 100644 index 00000000..d3fa50a6 --- /dev/null +++ b/vSLAM/ch9 project/0.1/build/test/cmake_install.cmake @@ -0,0 +1,34 @@ +# Install script for directory: /home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.1/test + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "/usr/local") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "Release") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + diff --git a/vSLAM/ch9 project/0.1/cmake_modules/FindCSparse.cmake b/vSLAM/ch9 project/0.1/cmake_modules/FindCSparse.cmake new file mode 100644 index 00000000..f31df8de --- /dev/null +++ b/vSLAM/ch9 project/0.1/cmake_modules/FindCSparse.cmake @@ -0,0 +1,25 @@ +# Look for csparse; note the difference in the directory specifications! +FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h + PATHS + /usr/include/suitesparse + /usr/include + /opt/local/include + /usr/local/include + /sw/include + /usr/include/ufsparse + /opt/local/include/ufsparse + /usr/local/include/ufsparse + /sw/include/ufsparse + ) + +FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse + PATHS + /usr/lib + /usr/local/lib + /opt/local/lib + /sw/lib + ) + +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(CSPARSE DEFAULT_MSG + CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY) diff --git a/vSLAM/ch9 project/0.1/cmake_modules/FindG2O.cmake b/vSLAM/ch9 project/0.1/cmake_modules/FindG2O.cmake new file mode 100644 index 00000000..655600fb --- /dev/null +++ b/vSLAM/ch9 project/0.1/cmake_modules/FindG2O.cmake @@ -0,0 +1,113 @@ +# Find the header files + +FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h + ${G2O_ROOT}/include + $ENV{G2O_ROOT}/include + $ENV{G2O_ROOT} + /usr/local/include + /usr/include + /opt/local/include + /sw/local/include + /sw/include + NO_DEFAULT_PATH + ) + +# Macro to unify finding both the debug and release versions of the +# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY +# macro. + +MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME) + + FIND_LIBRARY("${MYLIBRARY}_DEBUG" + NAMES "g2o_${MYLIBRARYNAME}_d" + PATHS + ${G2O_ROOT}/lib/Debug + ${G2O_ROOT}/lib + $ENV{G2O_ROOT}/lib/Debug + $ENV{G2O_ROOT}/lib + NO_DEFAULT_PATH + ) + + FIND_LIBRARY("${MYLIBRARY}_DEBUG" + NAMES "g2o_${MYLIBRARYNAME}_d" + PATHS + ~/Library/Frameworks + /Library/Frameworks + /usr/local/lib + /usr/local/lib64 + /usr/lib + /usr/lib64 + /opt/local/lib + /sw/local/lib + /sw/lib + ) + + FIND_LIBRARY(${MYLIBRARY} + NAMES "g2o_${MYLIBRARYNAME}" + PATHS + ${G2O_ROOT}/lib/Release + ${G2O_ROOT}/lib + $ENV{G2O_ROOT}/lib/Release + $ENV{G2O_ROOT}/lib + NO_DEFAULT_PATH + ) + + FIND_LIBRARY(${MYLIBRARY} + NAMES "g2o_${MYLIBRARYNAME}" + PATHS + ~/Library/Frameworks + /Library/Frameworks + /usr/local/lib + /usr/local/lib64 + /usr/lib + /usr/lib64 + /opt/local/lib + /sw/local/lib + /sw/lib + ) + + IF(NOT ${MYLIBRARY}_DEBUG) + IF(MYLIBRARY) + SET(${MYLIBRARY}_DEBUG ${MYLIBRARY}) + ENDIF(MYLIBRARY) + ENDIF( NOT ${MYLIBRARY}_DEBUG) + +ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME) + +# Find the core elements +FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff) +FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core) + +# Find the CLI library +FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli) + +# Find the pluggable solvers +FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod) +FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse) +FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension) +FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense) +FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg) +FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear) +FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only) +FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen) + +# Find the predefined types +FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data) +FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp) +FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba) +FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d) +FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3) +FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d) +FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d) + +# G2O solvers declared found if we found at least one solver +SET(G2O_SOLVERS_FOUND "NO") +IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN) + SET(G2O_SOLVERS_FOUND "YES") +ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN) + +# G2O itself declared found if we found the core libraries and at least one solver +SET(G2O_FOUND "NO") +IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) + SET(G2O_FOUND "YES") +ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) diff --git a/vSLAM/ch9 project/0.1/config/default.yaml b/vSLAM/ch9 project/0.1/config/default.yaml new file mode 100644 index 00000000..1e1150bf --- /dev/null +++ b/vSLAM/ch9 project/0.1/config/default.yaml @@ -0,0 +1,13 @@ +%YAML:1.0 +# data +# the tum dataset directory, change it to yours! +dataset_dir: /home/ciang/dataset/rgbd_dataset_freiburg1_xyz + +# camera intrinsics +# fr1 +camera.fx: 517.3 +camera.fy: 516.5 +camera.cx: 325.1 +camera.cy: 249.7 + +camera.depth_scale: 5000 \ No newline at end of file diff --git a/vSLAM/ch9 project/0.1/include/myslam/camera.h b/vSLAM/ch9 project/0.1/include/myslam/camera.h new file mode 100644 index 00000000..7548bd3b --- /dev/null +++ b/vSLAM/ch9 project/0.1/include/myslam/camera.h @@ -0,0 +1,52 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +// 相机模型类 +#ifndef CAMERA_H //防止头文件重复引用 +#define CAMERA_H//宏定义 + +#include "myslam/common_include.h"//常用的头文件 放在一起 化繁为简 + +namespace myslam//命令空间下 防止定义的出其他库里的同名函数 +{ + +// Pinhole RGBD camera model +class Camera//相机模型类 +{ +public://数据成员设置为共有 可以改成私有 private + typedef std::shared_ptr Ptr;//共享指针 把 智能指针定义成 Camera的指针类型 以后参数传递时 使用Camera::Ptr 类型就可以了 + float fx_, fy_, cx_, cy_, depth_scale_; // Camera intrinsics 相机内参数 + + Camera(); + Camera ( float fx, float fy, float cx, float cy, float depth_scale=0 ) : + fx_ ( fx ), fy_ ( fy ), cx_ ( cx ), cy_ ( cy ), depth_scale_ ( depth_scale ) + {} + + // 坐标转换 coordinate transform: world, camera, pixel + //使用 Sophus::SE3 类表达相机位姿态(相机外参数) 即转换矩阵 + Vector3d world2camera( const Vector3d& p_w, const SE3& T_c_w );//世界坐标系(3维 ) 到 相机坐标系 输入 世界坐标系坐标p_w 和 T_c_w 转换矩阵 + Vector3d camera2world( const Vector3d& p_c, const SE3& T_c_w ); //相机坐标系 到 世界坐标系 输入 相机坐标系坐标p_c 和 T_c_w 转换矩阵 + Vector2d camera2pixel( const Vector3d& p_c ); //相机坐标系 到 图像像素坐标系 使用相机内参数 + Vector3d pixel2camera( const Vector2d& p_p, double depth=1 ); //图像像素坐标系(两维) 到 相机坐标系 使用相机内参数 + Vector3d pixel2world ( const Vector2d& p_p, const SE3& T_c_w, double depth=1 );//图像像素坐标系(两维) 到 世界坐标系pixel2camera2world + Vector2d world2pixel ( const Vector3d& p_w, const SE3& T_c_w ); //世界坐标系(三维) 到 图像像素坐标系 world2camera2pixel + +}; + +} +#endif // CAMERA_H diff --git a/vSLAM/ch9 project/0.1/include/myslam/common_include.h b/vSLAM/ch9 project/0.1/include/myslam/common_include.h new file mode 100644 index 00000000..9ff89547 --- /dev/null +++ b/vSLAM/ch9 project/0.1/include/myslam/common_include.h @@ -0,0 +1,50 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + + +#ifndef COMMON_INCLUDE_H +#define COMMON_INCLUDE_H + +// define the commonly included file to avoid a long include list +// for Eigen +#include +#include +using Eigen::Vector2d; +using Eigen::Vector3d; + +// for Sophus +#include +using Sophus::SE3; + +// for cv +#include +using cv::Mat; + +// std +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +#endif \ No newline at end of file diff --git a/vSLAM/ch9 project/0.1/include/myslam/config.h b/vSLAM/ch9 project/0.1/include/myslam/config.h new file mode 100644 index 00000000..1af029f5 --- /dev/null +++ b/vSLAM/ch9 project/0.1/include/myslam/config.h @@ -0,0 +1,50 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +/*提供配置参数 */ +#ifndef CONFIG_H //防止头文件重复引用 +#define CONFIG_H//宏定义 + +#include "myslam/common_include.h" + +namespace myslam //命令空间下 防止定义的出其他库里的同名函数 +{ +class Config +{ +private://私有对象 + static std::shared_ptr config_; //共享指针 把 智能指针定义成 Config的指针类型 以后参数传递时 使用Config:Ptr 类型就可以了 + cv::FileStorage file_;//使用 opencv提供的FileStorage类 读取一个YAML文件 可以通过模板函数get 获取任意类型的参数值 + + Config () {} // private constructor makes a singleton +public: + ~Config(); // close the file when deconstructing + + // 读取一个参数文件 set a new config file + static void setParameterFile( const std::string& filename ); + + // access the parameter values + //获取参数的值 + template< typename T > + static T get( const std::string& key )//可以通过模板函数get 获取任意类型的参数值 + { + return T( Config::config_->file_[key] ); + } +}; +} + +#endif // CONFIG_H diff --git a/vSLAM/ch9 project/0.1/include/myslam/frame.h b/vSLAM/ch9 project/0.1/include/myslam/frame.h new file mode 100644 index 00000000..adafc506 --- /dev/null +++ b/vSLAM/ch9 project/0.1/include/myslam/frame.h @@ -0,0 +1,61 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef FRAME_H //防止头文件重复引用 +#define FRAME_H//宏定义 + +#include "myslam/common_include.h" +#include "myslam/camera.h" +// 视频图像 帧 类 +namespace myslam //命令空间下 防止定义的出其他库里的同名函数 +{ + +// forward declare +class MapPoint;// 使用 特征点/路标点 类 +class Frame // 视频图像 帧 类 +{ +public:// + typedef std::shared_ptr Ptr;//共享指针 把 智能指针定义成 Frame的指针类型 以后参数传递时 使用Frame::Ptr 类型就可以了 + unsigned long id_; // id of this frame 标号 编号 + double time_stamp_; // when it is recorded 时间戳 记录 + SE3 T_c_w_; // transform from world to camera w2c坐标变换 + Camera::Ptr camera_; // Pinhole RGBD Camera model 使用相机模型 Camera::Ptr + Mat color_, depth_; // color and depth image 彩色图 深度图 + +public: // data members 数据成员设置为公有 可以改成私有 private + Frame(); + Frame( long id, double time_stamp=0, SE3 T_c_w=SE3(), Camera::Ptr camera=nullptr, Mat color=Mat(), Mat depth=Mat() ); + ~Frame(); + + // factory function + static Frame::Ptr createFrame(); + + // find the depth in depth map + double findDepth( const cv::KeyPoint& kp ); + + // Get Camera Center + Vector3d getCamCenter() const; + + // check if a point is in this frame + bool isInFrame( const Vector3d& pt_world ); +}; + +} + +#endif // FRAME_H diff --git a/vSLAM/ch9 project/0.1/include/myslam/map.h b/vSLAM/ch9 project/0.1/include/myslam/map.h new file mode 100644 index 00000000..a735fd82 --- /dev/null +++ b/vSLAM/ch9 project/0.1/include/myslam/map.h @@ -0,0 +1,43 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +/*管理 特征点/路标 保存所有的特征点/路标 和关键帧*/ +#ifndef MAP_H//防止头文件重复引用 +#define MAP_H//宏定义 + +#include "myslam/common_include.h" +#include "myslam/frame.h" +#include "myslam/mappoint.h"//特征点/路标 + +namespace myslam//命令空间下 防止定义的出其他库里的同名函数 +{ +class Map//类 +{ +public: + typedef shared_ptr Ptr;//共享指针 把 智能指针定义成 Map的指针类型 以后参数传递时 使用Map::Ptr 类型就可以了 + unordered_map map_points_; // all landmarks 所有的路标/特征点 + unordered_map keyframes_; // all key-frames 所有的关键帧 + + Map() {} + //需要随机访问 使用散列(Hash) 来存储 + void insertKeyFrame( Frame::Ptr frame ); //保存/插入 关键帧 + void insertMapPoint( MapPoint::Ptr map_point ); //保存/插入 路标/特征点 +}; +} + +#endif // MAP_H diff --git a/vSLAM/ch9 project/0.1/include/myslam/mappoint.h b/vSLAM/ch9 project/0.1/include/myslam/mappoint.h new file mode 100644 index 00000000..1edd90f0 --- /dev/null +++ b/vSLAM/ch9 project/0.1/include/myslam/mappoint.h @@ -0,0 +1,46 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +/*特征点/路标*/ +#ifndef MAPPOINT_H//防止头文件重复引用 +#define MAPPOINT_H//宏定义 + +namespace myslam//命令空间下 防止定义的出其他库里的同名函数 +{ + +class Frame; +class MapPoint//类 +{ +public: + typedef shared_ptr Ptr;//共享指针 把 智能指针定义成 MapPoint的指针类型 以后参数传递时 使用MapPoint::Ptr 类型就可以了 + unsigned long id_; // ID 标号 + Vector3d pos_; // Position in world 世界坐标系下的位置坐标 (x y z) + Vector3d norm_; // Normal of viewing direction 方向 + Mat descriptor_; // Descriptor for matching 描述子 + int observed_times_; // being observed by feature matching algo. 特征匹配时的时间 + int correct_times_; // being an inliner in pose estimation + + MapPoint(); + MapPoint( long id, Vector3d position, Vector3d norm ); + + // factory function + static MapPoint::Ptr createMapPoint(); +}; +} + +#endif // MAPPOINT_H diff --git a/vSLAM/ch9 project/0.1/include/myslam/visual_odometry.h b/vSLAM/ch9 project/0.1/include/myslam/visual_odometry.h new file mode 100644 index 00000000..fbed90cf --- /dev/null +++ b/vSLAM/ch9 project/0.1/include/myslam/visual_odometry.h @@ -0,0 +1 @@ +//空 \ No newline at end of file diff --git a/vSLAM/ch9 project/0.1/lib/liblibmyslam.a b/vSLAM/ch9 project/0.1/lib/liblibmyslam.a new file mode 100644 index 00000000..46f62f98 Binary files /dev/null and b/vSLAM/ch9 project/0.1/lib/liblibmyslam.a differ diff --git a/vSLAM/ch9 project/0.1/lib/libmyslam.so b/vSLAM/ch9 project/0.1/lib/libmyslam.so new file mode 100755 index 00000000..b3a24ecb Binary files /dev/null and b/vSLAM/ch9 project/0.1/lib/libmyslam.so differ diff --git a/vSLAM/ch9 project/0.1/src/CMakeLists.txt b/vSLAM/ch9 project/0.1/src/CMakeLists.txt new file mode 100644 index 00000000..f0c2cf40 --- /dev/null +++ b/vSLAM/ch9 project/0.1/src/CMakeLists.txt @@ -0,0 +1,11 @@ +add_library( myslam SHARED + frame.cpp + mappoint.cpp + map.cpp + camera.cpp + config.cpp +) + +target_link_libraries( myslam + ${THIRD_PARTY_LIBS} +) diff --git a/vSLAM/ch9 project/0.1/src/camera.cpp b/vSLAM/ch9 project/0.1/src/camera.cpp new file mode 100644 index 00000000..a4713097 --- /dev/null +++ b/vSLAM/ch9 project/0.1/src/camera.cpp @@ -0,0 +1,76 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/camera.h" + +namespace myslam +{ + +Camera::Camera() +{ +} +//使用 Sophus::SE3 类表达相机位姿态(相机外参数) 即转换矩阵 + +/*******使用相机外参数********/ +//世界坐标系(3维 ) 到 相机坐标系 +//输入 世界坐标系坐标 和 T_c_w 转换矩阵 +Vector3d Camera::world2camera ( const Vector3d& p_w, const SE3& T_c_w ) +{ + return T_c_w*p_w; +} +//相机坐标系 到 世界坐标系 +//输入 相机坐标系坐标p_c 和 T_c_w 转换矩阵 +Vector3d Camera::camera2world ( const Vector3d& p_c, const SE3& T_c_w ) +{ + return T_c_w.inverse() *p_c; +} + +/*******使用相机内参数*******/ + //相机坐标系 到 图像像素坐标系 +Vector2d Camera::camera2pixel ( const Vector3d& p_c ) +{ + return Vector2d ( + fx_ * p_c ( 0,0 ) / p_c ( 2,0 ) + cx_, + fy_ * p_c ( 1,0 ) / p_c ( 2,0 ) + cy_ + ); +} +//图像像素坐标系(两维) 到 相机坐标系 使用相机内参数 +Vector3d Camera::pixel2camera ( const Vector2d& p_p, double depth ) +{ + return Vector3d ( + ( p_p ( 0,0 )-cx_ ) *depth/fx_, + ( p_p ( 1,0 )-cy_ ) *depth/fy_, + depth + ); +} + +//世界坐标系(三维) 到 图像像素坐标系 world2camera2pixel +Vector2d Camera::world2pixel ( const Vector3d& p_w, const SE3& T_c_w ) +{ + return camera2pixel ( world2camera ( p_w, T_c_w ) ); +} + +//图像像素坐标系(两维) 到 世界坐标系 pixel2camera2world +Vector3d Camera::pixel2world ( const Vector2d& p_p, const SE3& T_c_w, double depth ) +{ + return camera2world ( pixel2camera ( p_p, depth ), T_c_w ); +} + + +} diff --git a/vSLAM/ch9 project/0.1/src/config.cpp b/vSLAM/ch9 project/0.1/src/config.cpp new file mode 100644 index 00000000..fbfd79d9 --- /dev/null +++ b/vSLAM/ch9 project/0.1/src/config.cpp @@ -0,0 +1,46 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/config.h" + +namespace myslam //命令空间下 防止定义的出其他库里的同名函数 +{ + // 读取参数文件 +void Config::setParameterFile( const std::string& filename ) +{ + if ( config_ == nullptr ) + config_ = shared_ptr(new Config); + config_->file_ = cv::FileStorage( filename.c_str(), cv::FileStorage::READ );//读文件 + if ( config_->file_.isOpened() == false )//打开文件错误 + { + std::cerr<<"parameter file "<file_.release();//释放 + return; + } +} +//析构函数 退出函数 +Config::~Config() +{ + if ( file_.isOpened() ) + file_.release(); +} + +shared_ptr Config::config_ = nullptr; + +} diff --git a/vSLAM/ch9 project/0.1/src/frame.cpp b/vSLAM/ch9 project/0.1/src/frame.cpp new file mode 100644 index 00000000..4d2ecb12 --- /dev/null +++ b/vSLAM/ch9 project/0.1/src/frame.cpp @@ -0,0 +1,90 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/frame.h" + +namespace myslam//命令空间下 防止定义的出其他库里的同名函数 +{ +Frame::Frame() +: id_(-1), time_stamp_(-1), camera_(nullptr) +{ + +} + +Frame::Frame ( long id, double time_stamp, SE3 T_c_w, Camera::Ptr camera, Mat color, Mat depth ) +: id_(id), time_stamp_(time_stamp), T_c_w_(T_c_w), camera_(camera), color_(color), depth_(depth) +{ + +} + +Frame::~Frame() +{ + +} + +Frame::Ptr Frame::createFrame() +{ + static long factory_id = 0; + return Frame::Ptr( new Frame(factory_id++) ); +} + +double Frame::findDepth ( const cv::KeyPoint& kp ) +{ + int x = cvRound(kp.pt.x); + int y = cvRound(kp.pt.y); + ushort d = depth_.ptr(y)[x]; + if ( d!=0 ) + { + return double(d)/camera_->depth_scale_; + } + else + { + // check the nearby points + int dx[4] = {-1,0,1,0}; + int dy[4] = {0,-1,0,1}; + for ( int i=0; i<4; i++ ) + { + d = depth_.ptr( y+dy[i] )[x+dx[i]]; + if ( d!=0 ) + { + return double(d)/camera_->depth_scale_; + } + } + } + return -1.0; +} + + +Vector3d Frame::getCamCenter() const +{ + return T_c_w_.inverse().translation(); +} + +bool Frame::isInFrame ( const Vector3d& pt_world ) +{ + Vector3d p_cam = camera_->world2camera( pt_world, T_c_w_ ); + if ( p_cam(2,0)<0 ) + return false; + Vector2d pixel = camera_->world2pixel( pt_world, T_c_w_ ); + return pixel(0,0)>0 && pixel(1,0)>0 + && pixel(0,0) + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/map.h" + +namespace myslam +{ + +void Map::insertKeyFrame ( Frame::Ptr frame ) +{ + cout<<"Key frame size = "<id_) == keyframes_.end() ) + { + keyframes_.insert( make_pair(frame->id_, frame) ); + } + else + { + keyframes_[ frame->id_ ] = frame; + } +} + +void Map::insertMapPoint ( MapPoint::Ptr map_point ) +{ + if ( map_points_.find(map_point->id_) == map_points_.end() ) + { + map_points_.insert( make_pair(map_point->id_, map_point) ); + } + else + { + map_points_[map_point->id_] = map_point; + } +} + + +} diff --git a/vSLAM/ch9 project/0.1/src/mappoint.cpp b/vSLAM/ch9 project/0.1/src/mappoint.cpp new file mode 100644 index 00000000..77bc33dd --- /dev/null +++ b/vSLAM/ch9 project/0.1/src/mappoint.cpp @@ -0,0 +1,46 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/common_include.h" +#include "myslam/mappoint.h" + +namespace myslam//命令空间下 防止定义的出其他库里的同名函数 +{ + +MapPoint::MapPoint() +: id_(-1), pos_(Vector3d(0,0,0)), norm_(Vector3d(0,0,0)), observed_times_(0), correct_times_(0) +{ + +} + +MapPoint::MapPoint ( long id, Vector3d position, Vector3d norm ) +: id_(id), pos_(position), norm_(norm), observed_times_(0), correct_times_(0) +{ + +} + +MapPoint::Ptr MapPoint::createMapPoint() +{ + static long factory_id = 0; + return MapPoint::Ptr( + new MapPoint( factory_id++, Vector3d(0,0,0), Vector3d(0,0,0) )//标号+位置+方向 + ); +} + +} diff --git a/vSLAM/ch9 project/0.1/test/CMakeLists.txt b/vSLAM/ch9 project/0.1/test/CMakeLists.txt new file mode 100644 index 00000000..e282b814 --- /dev/null +++ b/vSLAM/ch9 project/0.1/test/CMakeLists.txt @@ -0,0 +1 @@ +#空 \ No newline at end of file diff --git a/vSLAM/ch9 project/0.2/.kdev4/0.2.kdev4 b/vSLAM/ch9 project/0.2/.kdev4/0.2.kdev4 new file mode 100644 index 00000000..c276e49b --- /dev/null +++ b/vSLAM/ch9 project/0.2/.kdev4/0.2.kdev4 @@ -0,0 +1,39 @@ +[Buildset] +BuildItems=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x01\x00\x00\x00\x06\x000\x00.\x002) + +[CMake] +Build Directory Count=1 +Current Build Directory Index=0 +ProjectRootRelative=./ + +[CMake][CMake Build Directory 0] +Build Directory Path=file:///home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9%20project/0.2/build +Build Type=Debug +CMake Binary=file:///usr/bin/cmake +Environment Profile= +Extra Arguments= +Install Directory=file:///usr/local + +[Launch] +Launch Configurations=Launch Configuration 0 + +[Launch][Launch Configuration 0] +Configured Launch Modes=execute +Configured Launchers=nativeAppLauncher +Name=新建 应用程序 启动器 +Type=Native Application + +[Launch][Launch Configuration 0][Data] +Arguments=../config/default.yaml +Dependencies=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x00) +Dependency Action=Nothing +EnvironmentGroup=default +Executable=file:///home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9%20project/0.2/bin/run_vo +External Terminal=konsole --noclose --workdir %workdir -e %exe +Project Target=0.2,test,run_vo +Use External Terminal=false +Working Directory= +isExecutable=true + +[Project] +VersionControlSupport=kdevgit diff --git a/vSLAM/ch9 project/0.2/0.2.kdev4 b/vSLAM/ch9 project/0.2/0.2.kdev4 new file mode 100644 index 00000000..a8fb52a3 --- /dev/null +++ b/vSLAM/ch9 project/0.2/0.2.kdev4 @@ -0,0 +1,3 @@ +[Project] +Manager=KDevCMakeManager +Name=0.2 diff --git a/vSLAM/ch9 project/0.2/CMakeLists.txt b/vSLAM/ch9 project/0.2/CMakeLists.txt new file mode 100644 index 00000000..a56ffe5f --- /dev/null +++ b/vSLAM/ch9 project/0.2/CMakeLists.txt @@ -0,0 +1,39 @@ +#版本限制 +cmake_minimum_required( VERSION 2.8 ) +#工程名 +project ( myslam ) +#编译器 +set( CMAKE_CXX_COMPILER "g++" ) +#编译模式 +set( CMAKE_BUILD_TYPE "Release" ) +# 添加c++ 11标准支持 +set( CMAKE_CXX_FLAGS "-std=c++11 -march=native -O3" ) + +list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules ) +set( EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin ) +set( LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib ) + +############### dependencies ###################### +# Eigen +include_directories( "/usr/include/eigen3" ) +# OpenCV +find_package( OpenCV 3.1 REQUIRED ) +include_directories( ${OpenCV_INCLUDE_DIRS} ) +# Sophus +find_package( Sophus REQUIRED ) +include_directories( ${Sophus_INCLUDE_DIRS} ) +# G2O +find_package( G2O REQUIRED ) +include_directories( ${G2O_INCLUDE_DIRS} ) + +set( THIRD_PARTY_LIBS + ${OpenCV_LIBS} + ${Sophus_LIBRARIES} + g2o_core g2o_stuff g2o_types_sba +) +############### source and test ###################### +include_directories( ${PROJECT_SOURCE_DIR}/include ) +add_subdirectory( src ) +add_subdirectory( test ) + + diff --git a/vSLAM/ch9 project/0.2/bin/run_vo b/vSLAM/ch9 project/0.2/bin/run_vo new file mode 100755 index 00000000..f53c3d7c Binary files /dev/null and b/vSLAM/ch9 project/0.2/bin/run_vo differ diff --git a/vSLAM/ch9 project/0.2/build/CMakeCache.txt b/vSLAM/ch9 project/0.2/build/CMakeCache.txt new file mode 100644 index 00000000..2005a35e --- /dev/null +++ b/vSLAM/ch9 project/0.2/build/CMakeCache.txt @@ -0,0 +1,455 @@ +# This is the CMakeCache file. +# For build in directory: /home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.2/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or +// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel. +CMAKE_BUILD_TYPE:STRING=Debug + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler. +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//Flags used by the compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the compiler during debug builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the compiler during release minsize builds. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds (/MD /Ob1 /Oi +// /Ot /Oy /Gs will produce slightly less optimized but smaller +// files). +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during Release with Debug Info builds. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//C compiler. +CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc + +//Flags used by the compiler during all build types. +CMAKE_C_FLAGS:STRING= + +//Flags used by the compiler during debug builds. +CMAKE_C_FLAGS_DEBUG:STRING=-g + +//Flags used by the compiler during release minsize builds. +CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds (/MD /Ob1 /Oi +// /Ot /Oy /Gs will produce slightly less optimized but smaller +// files). +CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during Release with Debug Info builds. +CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//Flags used by the linker. +CMAKE_EXE_LINKER_FLAGS:STRING=' ' + +//Flags used by the linker during debug builds. +CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Enable/Disable output of compile commands during generation. +CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF + +//Install path prefix, prepended onto install directories. +CMAKE_INSTALL_PREFIX:PATH=/usr/local + +//Path to a program. +CMAKE_LINKER:FILEPATH=/usr/bin/ld + +//Path to a program. +CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make + +//Flags used by the linker during the creation of modules. +CMAKE_MODULE_LINKER_FLAGS:STRING=' ' + +//Flags used by the linker during debug builds. +CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_NM:FILEPATH=/usr/bin/nm + +//Path to a program. +CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy + +//Path to a program. +CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=myslam + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib + +//Flags used by the linker during the creation of dll's. +CMAKE_SHARED_LINKER_FLAGS:STRING=' ' + +//Flags used by the linker during debug builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during debug builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If true, cmake will use relative paths in makefiles and projects. +CMAKE_USE_RELATIVE_PATHS:BOOL=OFF + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to a library. +G2O_CLI_LIBRARY:FILEPATH=/usr/local/lib/libg2o_cli.so + +//Path to a library. +G2O_CLI_LIBRARY_DEBUG:FILEPATH=G2O_CLI_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +G2O_CORE_LIBRARY:FILEPATH=/usr/local/lib/libg2o_core.so + +//Path to a library. +G2O_CORE_LIBRARY_DEBUG:FILEPATH=G2O_CORE_LIBRARY_DEBUG-NOTFOUND + +//Path to a file. +G2O_INCLUDE_DIR:PATH=/usr/local/include + +//Path to a library. +G2O_SOLVER_CHOLMOD:FILEPATH=/usr/local/lib/libg2o_solver_cholmod.so + +//Path to a library. +G2O_SOLVER_CHOLMOD_DEBUG:FILEPATH=G2O_SOLVER_CHOLMOD_DEBUG-NOTFOUND + +//Path to a library. +G2O_SOLVER_CSPARSE:FILEPATH=/usr/local/lib/libg2o_solver_csparse.so + +//Path to a library. +G2O_SOLVER_CSPARSE_DEBUG:FILEPATH=G2O_SOLVER_CSPARSE_DEBUG-NOTFOUND + +//Path to a library. +G2O_SOLVER_CSPARSE_EXTENSION:FILEPATH=/usr/local/lib/libg2o_csparse_extension.so + +//Path to a 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+#endif + +#if defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100) + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_C = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) +# if defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" +# else +# if __IBMC__ >= 800 +# define COMPILER_ID "XL" +# else +# define COMPILER_ID "VisualAge" +# endif + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +/* Analog VisualDSP++ >= 4.5.6 */ +#elif defined(__VISUALDSPVERSION__) +# define COMPILER_ID "ADSP" + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) + +/* Analog VisualDSP++ < 4.5.6 */ +#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" + +/* IAR Systems compiler for embedded systems. + http://www.iar.com */ +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +/* sdcc, the small devices C compiler for embedded systems, + http://sdcc.sourceforge.net */ +#elif defined(SDCC) +# define COMPILER_ID "SDCC" + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + +/* This compiler is either not known or is too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" + +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# define ARCHITECTURE_ID "ARM" + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif + (void)argv; + return require; +} +#endif diff --git a/vSLAM/ch9 project/0.2/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out b/vSLAM/ch9 project/0.2/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out new file mode 100755 index 00000000..49a5ca2e Binary files /dev/null and b/vSLAM/ch9 project/0.2/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out differ diff --git a/vSLAM/ch9 project/0.2/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/vSLAM/ch9 project/0.2/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 00000000..e8220b26 --- /dev/null +++ b/vSLAM/ch9 project/0.2/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,377 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100) + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) +# if defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" +# else +# if __IBMCPP__ >= 800 +# define COMPILER_ID "XL" +# else +# define COMPILER_ID "VisualAge" +# endif + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +/* Analog VisualDSP++ >= 4.5.6 */ +#elif defined(__VISUALDSPVERSION__) +# define COMPILER_ID "ADSP" + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) + +/* Analog VisualDSP++ < 4.5.6 */ +#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" + +/* IAR Systems compiler for embedded systems. + http://www.iar.com */ +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + +/* This compiler is either not known or is too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" + +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. 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operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd "/home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.2/build" && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/vSLAM/ch9 project/0.2/build/test/cmake_install.cmake b/vSLAM/ch9 project/0.2/build/test/cmake_install.cmake new file mode 100644 index 00000000..f5f901ee --- /dev/null +++ b/vSLAM/ch9 project/0.2/build/test/cmake_install.cmake @@ -0,0 +1,34 @@ +# Install script for directory: /home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.2/test + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "/usr/local") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "Release") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + diff --git a/vSLAM/ch9 project/0.2/cmake_modules/FindCSparse.cmake b/vSLAM/ch9 project/0.2/cmake_modules/FindCSparse.cmake new file mode 100644 index 00000000..f31df8de --- /dev/null +++ b/vSLAM/ch9 project/0.2/cmake_modules/FindCSparse.cmake @@ -0,0 +1,25 @@ +# Look for csparse; note the difference in the directory specifications! +FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h + PATHS + /usr/include/suitesparse + /usr/include + /opt/local/include + /usr/local/include + /sw/include + /usr/include/ufsparse + /opt/local/include/ufsparse + /usr/local/include/ufsparse + /sw/include/ufsparse + ) + +FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse + PATHS + /usr/lib + /usr/local/lib + /opt/local/lib + /sw/lib + ) + +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(CSPARSE DEFAULT_MSG + CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY) diff --git a/vSLAM/ch9 project/0.2/cmake_modules/FindG2O.cmake b/vSLAM/ch9 project/0.2/cmake_modules/FindG2O.cmake new file mode 100644 index 00000000..655600fb --- /dev/null +++ b/vSLAM/ch9 project/0.2/cmake_modules/FindG2O.cmake @@ -0,0 +1,113 @@ +# Find the header files + +FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h + ${G2O_ROOT}/include + $ENV{G2O_ROOT}/include + $ENV{G2O_ROOT} + /usr/local/include + /usr/include + /opt/local/include + /sw/local/include + /sw/include + NO_DEFAULT_PATH + ) + +# Macro to unify finding both the debug and release versions of the +# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY +# macro. + +MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME) + + FIND_LIBRARY("${MYLIBRARY}_DEBUG" + NAMES "g2o_${MYLIBRARYNAME}_d" + PATHS + ${G2O_ROOT}/lib/Debug + ${G2O_ROOT}/lib + $ENV{G2O_ROOT}/lib/Debug + $ENV{G2O_ROOT}/lib + NO_DEFAULT_PATH + ) + + FIND_LIBRARY("${MYLIBRARY}_DEBUG" + NAMES "g2o_${MYLIBRARYNAME}_d" + PATHS + ~/Library/Frameworks + /Library/Frameworks + /usr/local/lib + /usr/local/lib64 + /usr/lib + /usr/lib64 + /opt/local/lib + /sw/local/lib + /sw/lib + ) + + FIND_LIBRARY(${MYLIBRARY} + NAMES "g2o_${MYLIBRARYNAME}" + PATHS + ${G2O_ROOT}/lib/Release + ${G2O_ROOT}/lib + $ENV{G2O_ROOT}/lib/Release + $ENV{G2O_ROOT}/lib + NO_DEFAULT_PATH + ) + + FIND_LIBRARY(${MYLIBRARY} + NAMES "g2o_${MYLIBRARYNAME}" + PATHS + ~/Library/Frameworks + /Library/Frameworks + /usr/local/lib + /usr/local/lib64 + /usr/lib + /usr/lib64 + /opt/local/lib + /sw/local/lib + /sw/lib + ) + + IF(NOT ${MYLIBRARY}_DEBUG) + IF(MYLIBRARY) + SET(${MYLIBRARY}_DEBUG ${MYLIBRARY}) + ENDIF(MYLIBRARY) + ENDIF( NOT ${MYLIBRARY}_DEBUG) + +ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME) + +# Find the core elements +FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff) +FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core) + +# Find the CLI library +FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli) + +# Find the pluggable solvers +FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod) +FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse) +FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension) +FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense) +FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg) +FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear) +FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only) +FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen) + +# Find the predefined types +FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data) +FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp) +FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba) +FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d) +FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3) +FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d) +FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d) + +# G2O solvers declared found if we found at least one solver +SET(G2O_SOLVERS_FOUND "NO") +IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN) + SET(G2O_SOLVERS_FOUND "YES") +ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN) + +# G2O itself declared found if we found the core libraries and at least one solver +SET(G2O_FOUND "NO") +IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) + SET(G2O_FOUND "YES") +ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) diff --git a/vSLAM/ch9 project/0.2/config/default.yaml b/vSLAM/ch9 project/0.2/config/default.yaml new file mode 100644 index 00000000..8f088982 --- /dev/null +++ b/vSLAM/ch9 project/0.2/config/default.yaml @@ -0,0 +1,23 @@ +%YAML:1.0 +# data +# the tum dataset directory, change it to yours! +dataset_dir: /home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch8/data + +# camera intrinsics +# fr1 +camera.fx: 517.3 +camera.fy: 516.5 +camera.cx: 325.1 +camera.cy: 249.7 + +camera.depth_scale: 5000 + +# VO paras +number_of_features: 500 +scale_factor: 1.2 +level_pyramid: 8 +match_ratio: 2.0 +max_num_lost: 10 +min_inliers: 10 +keyframe_rotation: 0.1 +keyframe_translation: 0.1 diff --git a/vSLAM/ch9 project/0.2/include/myslam/camera.h b/vSLAM/ch9 project/0.2/include/myslam/camera.h new file mode 100644 index 00000000..2570ab47 --- /dev/null +++ b/vSLAM/ch9 project/0.2/include/myslam/camera.h @@ -0,0 +1,51 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef CAMERA_H +#define CAMERA_H + +#include "myslam/common_include.h" + +namespace myslam +{ + +// Pinhole RGBD camera model +class Camera +{ +public: + typedef std::shared_ptr Ptr; + float fx_, fy_, cx_, cy_, depth_scale_; // Camera intrinsics + + Camera(); + Camera ( float fx, float fy, float cx, float cy, float depth_scale=0 ) : + fx_ ( fx ), fy_ ( fy ), cx_ ( cx ), cy_ ( cy ), depth_scale_ ( depth_scale ) + {} + + // coordinate transform: world, camera, pixel + Vector3d world2camera( const Vector3d& p_w, const SE3& T_c_w ); + Vector3d camera2world( const Vector3d& p_c, const SE3& T_c_w ); + Vector2d camera2pixel( const Vector3d& p_c ); + Vector3d pixel2camera( const Vector2d& p_p, double depth=1 ); + Vector3d pixel2world ( const Vector2d& p_p, const SE3& T_c_w, double depth=1 ); + Vector2d world2pixel ( const Vector3d& p_w, const SE3& T_c_w ); + +}; + +} +#endif // CAMERA_H diff --git a/vSLAM/ch9 project/0.2/include/myslam/common_include.h b/vSLAM/ch9 project/0.2/include/myslam/common_include.h new file mode 100644 index 00000000..a24307e0 --- /dev/null +++ b/vSLAM/ch9 project/0.2/include/myslam/common_include.h @@ -0,0 +1,52 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + + +#ifndef COMMON_INCLUDE_H +#define COMMON_INCLUDE_H + +// define the commonly included file to avoid a long include list +// for Eigen +#include +#include +using Eigen::Vector2d; +using Eigen::Vector3d; + +// for Sophus +#include +#include +using Sophus::SE3; +using Sophus::SO3; + +// for cv +#include +using cv::Mat; + +// std +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +#endif \ No newline at end of file diff --git a/vSLAM/ch9 project/0.2/include/myslam/config.h b/vSLAM/ch9 project/0.2/include/myslam/config.h new file mode 100644 index 00000000..f5c7b452 --- /dev/null +++ b/vSLAM/ch9 project/0.2/include/myslam/config.h @@ -0,0 +1,49 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef CONFIG_H +#define CONFIG_H + +#include "myslam/common_include.h" + +namespace myslam +{ +class Config +{ +private: + static std::shared_ptr config_; + cv::FileStorage file_; + + Config () {} // private constructor makes a singleton +public: + ~Config(); // close the file when deconstructing + + // set a new config file + static void setParameterFile( const std::string& filename ); + + // access the parameter values + template< typename T > + static T get( const std::string& key ) + { + return T( Config::config_->file_[key] ); + } +}; +} + +#endif // CONFIG_H diff --git a/vSLAM/ch9 project/0.2/include/myslam/frame.h b/vSLAM/ch9 project/0.2/include/myslam/frame.h new file mode 100644 index 00000000..561b159d --- /dev/null +++ b/vSLAM/ch9 project/0.2/include/myslam/frame.h @@ -0,0 +1,61 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef FRAME_H +#define FRAME_H + +#include "myslam/common_include.h" +#include "myslam/camera.h" + +namespace myslam +{ + +// forward declare +class MapPoint; +class Frame +{ +public: + typedef std::shared_ptr Ptr; + unsigned long id_; // id of this frame + double time_stamp_; // when it is recorded + SE3 T_c_w_; // transform from world to camera + Camera::Ptr camera_; // Pinhole RGBD Camera model + Mat color_, depth_; // color and depth image + +public: // data members + Frame(); + Frame( long id, double time_stamp=0, SE3 T_c_w=SE3(), Camera::Ptr camera=nullptr, Mat color=Mat(), Mat depth=Mat() ); + ~Frame(); + + // factory function + static Frame::Ptr createFrame(); + + // find the depth in depth map + double findDepth( const cv::KeyPoint& kp ); + + // Get Camera Center + Vector3d getCamCenter() const; + + // check if a point is in this frame + bool isInFrame( const Vector3d& pt_world ); +}; + +} + +#endif // FRAME_H diff --git a/vSLAM/ch9 project/0.2/include/myslam/map.h b/vSLAM/ch9 project/0.2/include/myslam/map.h new file mode 100644 index 00000000..f37547ca --- /dev/null +++ b/vSLAM/ch9 project/0.2/include/myslam/map.h @@ -0,0 +1,43 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef MAP_H +#define MAP_H + +#include "myslam/common_include.h" +#include "myslam/frame.h" +#include "myslam/mappoint.h" + +namespace myslam +{ +class Map +{ +public: + typedef shared_ptr Ptr; + unordered_map map_points_; // all landmarks + unordered_map keyframes_; // all key-frames + + Map() {} + + void insertKeyFrame( Frame::Ptr frame ); + void insertMapPoint( MapPoint::Ptr map_point ); +}; +} + +#endif // MAP_H diff --git a/vSLAM/ch9 project/0.2/include/myslam/mappoint.h b/vSLAM/ch9 project/0.2/include/myslam/mappoint.h new file mode 100644 index 00000000..c8ebeb31 --- /dev/null +++ b/vSLAM/ch9 project/0.2/include/myslam/mappoint.h @@ -0,0 +1,46 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef MAPPOINT_H +#define MAPPOINT_H + +namespace myslam +{ + +class Frame; +class MapPoint +{ +public: + typedef shared_ptr Ptr; + unsigned long id_; // ID + Vector3d pos_; // Position in world + Vector3d norm_; // Normal of viewing direction + Mat descriptor_; // Descriptor for matching + int observed_times_; // being observed by feature matching algo. + int matched_times_; // being an inliner in pose estimation + + MapPoint(); + MapPoint( long id, Vector3d position, Vector3d norm ); + + // factory function + static MapPoint::Ptr createMapPoint(); +}; +} + +#endif // MAPPOINT_H diff --git a/vSLAM/ch9 project/0.2/include/myslam/visual_odometry.h b/vSLAM/ch9 project/0.2/include/myslam/visual_odometry.h new file mode 100644 index 00000000..1cf8c69b --- /dev/null +++ b/vSLAM/ch9 project/0.2/include/myslam/visual_odometry.h @@ -0,0 +1,88 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +/*视觉里程记*/ +#ifndef VISUALODOMETRY_H//防止头文件重复引用 +#define VISUALODOMETRY_H//宏定义 + +#include "myslam/common_include.h"//常用的头文件 放在一起 化繁为简 +#include "myslam/map.h" + +#include + +namespace myslam //命令空间下 防止定义的出其他库里的同名函数 +{ +class VisualOdometry//视觉里程计类 +{ +public: + typedef shared_ptr Ptr;//共享指针 把 智能指针定义成 VisualOdometry的指针类型 以后参数传递时 使用VisualOdometry::Ptr 类型就可以了 + enum VOState {//枚举 视觉里程计 状态 + INITIALIZING=-1,//初始化标志 + OK=0,//估计成功标志 + LOST//跟丢标志 + }; + + VOState state_; // 状态 current VO status + Map::Ptr map_; // 地图 所有的帧和特征点/地标 map with all frames and map points + Frame::Ptr ref_; // 上一次帧 参考帧 reference frame + Frame::Ptr curr_; // 当前帧 current frame + + cv::Ptr orb_; // orb特征检测 orb detector and computer + vector pts_3d_ref_; // 参考帧 中的点 3d points in reference frame + vector keypoints_curr_;// 当前帧 中的 关键点 keypoints in current frame + Mat descriptors_curr_; // 当前帧中的描述子 descriptor in current frame + Mat descriptors_ref_; // 参考帧中的描述子 descriptor in reference frame + vector feature_matches_;//特征点的匹配 特征点对于描述子 之间的 字符串距离 + + SE3 T_c_r_estimated_; // 估计的坐标转换 the estimated pose of current frame + int num_inliers_; // 特征数量 number of inlier features in icp + int num_lost_; // 丢失次数 number of lost times + + // 参数变量 parameters + int num_of_features_; // 每一对帧提取的特征对数量 number of features + double scale_factor_; // 图像金字塔尺度 scale in image pyramid + int level_pyramid_; // 图像金字塔层级数 number of pyramid levels + float match_ratio_; // 选择特征点匹配的阈值 ratio for selecting good matches + int max_num_lost_; // 连续丢失的最大次数 max number of continuous lost times + int min_inliers_; // 最少内点数量 minimum inliers + + double key_frame_min_rot; // 最小的旋转 minimal rotation of two key-frames + double key_frame_min_trans; // 最小平移 minimal translation of two key-frames + +public: // functions 公有函数 可以改成 私有private 保护protected 函数 + VisualOdometry();//VisualOdometry::VisualOdometry() ://视觉里程计类 + ~VisualOdometry(); + + bool addFrame( Frame::Ptr frame ); // 添加新的一帧 add a new frame + +protected: + // inner operation 内部函数 + void extractKeyPoints(); //提取关键点 + void computeDescriptors();//计算描述子 + void featureMatching(); //特征匹配 + void poseEstimationPnP(); //位姿估计 + void setRef3DPoints(); //设置参考点 三维坐标 + + void addKeyFrame();//添加关键帧 + bool checkEstimatedPose();//核对估计的位姿 + bool checkKeyFrame(); //检查是否为关键帧 + +}; +} + +#endif // VISUALODOMETRY_H \ No newline at end of file diff --git a/vSLAM/ch9 project/0.2/lib/liblibmyslam.a b/vSLAM/ch9 project/0.2/lib/liblibmyslam.a new file mode 100644 index 00000000..46f62f98 Binary files /dev/null and b/vSLAM/ch9 project/0.2/lib/liblibmyslam.a differ diff --git a/vSLAM/ch9 project/0.2/lib/libmyslam.so b/vSLAM/ch9 project/0.2/lib/libmyslam.so new file mode 100755 index 00000000..1a6275a6 Binary files /dev/null and b/vSLAM/ch9 project/0.2/lib/libmyslam.so differ diff --git a/vSLAM/ch9 project/0.2/src/CMakeLists.txt b/vSLAM/ch9 project/0.2/src/CMakeLists.txt new file mode 100644 index 00000000..43b8f888 --- /dev/null +++ b/vSLAM/ch9 project/0.2/src/CMakeLists.txt @@ -0,0 +1,12 @@ +add_library( myslam SHARED + frame.cpp + mappoint.cpp + map.cpp + camera.cpp + config.cpp + visual_odometry.cpp +) + +target_link_libraries( myslam + ${THIRD_PARTY_LIBS} +) diff --git a/vSLAM/ch9 project/0.2/src/camera.cpp b/vSLAM/ch9 project/0.2/src/camera.cpp new file mode 100644 index 00000000..c0274ab4 --- /dev/null +++ b/vSLAM/ch9 project/0.2/src/camera.cpp @@ -0,0 +1,73 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/camera.h" +#include "myslam/config.h" + +namespace myslam +{ + +Camera::Camera() +{ + fx_ = Config::get("camera.fx"); + fy_ = Config::get("camera.fy"); + cx_ = Config::get("camera.cx"); + cy_ = Config::get("camera.cy"); + depth_scale_ = Config::get("camera.depth_scale"); +} + +Vector3d Camera::world2camera ( const Vector3d& p_w, const SE3& T_c_w ) +{ + return T_c_w*p_w; +} + +Vector3d Camera::camera2world ( const Vector3d& p_c, const SE3& T_c_w ) +{ + return T_c_w.inverse() *p_c; +} + +Vector2d Camera::camera2pixel ( const Vector3d& p_c ) +{ + return Vector2d ( + fx_ * p_c ( 0,0 ) / p_c ( 2,0 ) + cx_, + fy_ * p_c ( 1,0 ) / p_c ( 2,0 ) + cy_ + ); +} + +Vector3d Camera::pixel2camera ( const Vector2d& p_p, double depth ) +{ + return Vector3d ( + ( p_p ( 0,0 )-cx_ ) *depth/fx_, + ( p_p ( 1,0 )-cy_ ) *depth/fy_, + depth + ); +} + +Vector2d Camera::world2pixel ( const Vector3d& p_w, const SE3& T_c_w ) +{ + return camera2pixel ( world2camera ( p_w, T_c_w ) ); +} + +Vector3d Camera::pixel2world ( const Vector2d& p_p, const SE3& T_c_w, double depth ) +{ + return camera2world ( pixel2camera ( p_p, depth ), T_c_w ); +} + + +} diff --git a/vSLAM/ch9 project/0.2/src/config.cpp b/vSLAM/ch9 project/0.2/src/config.cpp new file mode 100644 index 00000000..9817d8d5 --- /dev/null +++ b/vSLAM/ch9 project/0.2/src/config.cpp @@ -0,0 +1,46 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/config.h" + +namespace myslam +{ + +void Config::setParameterFile( const std::string& filename ) +{ + if ( config_ == nullptr ) + config_ = shared_ptr(new Config); + config_->file_ = cv::FileStorage( filename.c_str(), cv::FileStorage::READ ); + if ( config_->file_.isOpened() == false ) + { + std::cerr<<"parameter file "<file_.release(); + return; + } +} + +Config::~Config() +{ + if ( file_.isOpened() ) + file_.release(); +} + +shared_ptr Config::config_ = nullptr; + +} diff --git a/vSLAM/ch9 project/0.2/src/frame.cpp b/vSLAM/ch9 project/0.2/src/frame.cpp new file mode 100644 index 00000000..39eb268e --- /dev/null +++ b/vSLAM/ch9 project/0.2/src/frame.cpp @@ -0,0 +1,90 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/frame.h" + +namespace myslam +{ +Frame::Frame() +: id_(-1), time_stamp_(-1), camera_(nullptr) +{ + +} + +Frame::Frame ( long id, double time_stamp, SE3 T_c_w, Camera::Ptr camera, Mat color, Mat depth ) +: id_(id), time_stamp_(time_stamp), T_c_w_(T_c_w), camera_(camera), color_(color), depth_(depth) +{ + +} + +Frame::~Frame() +{ + +} + +Frame::Ptr Frame::createFrame() +{ + static long factory_id = 0; + return Frame::Ptr( new Frame(factory_id++) ); +} + +double Frame::findDepth ( const cv::KeyPoint& kp ) +{ + int x = cvRound(kp.pt.x); + int y = cvRound(kp.pt.y); + ushort d = depth_.ptr(y)[x]; + if ( d!=0 ) + { + return double(d)/camera_->depth_scale_; + } + else + { + // check the nearby points + int dx[4] = {-1,0,1,0}; + int dy[4] = {0,-1,0,1}; + for ( int i=0; i<4; i++ ) + { + d = depth_.ptr( y+dy[i] )[x+dx[i]]; + if ( d!=0 ) + { + return double(d)/camera_->depth_scale_; + } + } + } + return -1.0; +} + + +Vector3d Frame::getCamCenter() const +{ + return T_c_w_.inverse().translation(); +} + +bool Frame::isInFrame ( const Vector3d& pt_world ) +{ + Vector3d p_cam = camera_->world2camera( pt_world, T_c_w_ ); + if ( p_cam(2,0)<0 ) + return false; + Vector2d pixel = camera_->world2pixel( pt_world, T_c_w_ ); + return pixel(0,0)>0 && pixel(1,0)>0 + && pixel(0,0) + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/map.h" + +namespace myslam +{ + +void Map::insertKeyFrame ( Frame::Ptr frame ) +{ + cout<<"Key frame size = "<id_) == keyframes_.end() ) + { + keyframes_.insert( make_pair(frame->id_, frame) ); + } + else + { + keyframes_[ frame->id_ ] = frame; + } +} + +void Map::insertMapPoint ( MapPoint::Ptr map_point ) +{ + if ( map_points_.find(map_point->id_) == map_points_.end() ) + { + map_points_.insert( make_pair(map_point->id_, map_point) ); + } + else + { + map_points_[map_point->id_] = map_point; + } +} + + +} diff --git a/vSLAM/ch9 project/0.2/src/mappoint.cpp b/vSLAM/ch9 project/0.2/src/mappoint.cpp new file mode 100644 index 00000000..1fbcf690 --- /dev/null +++ b/vSLAM/ch9 project/0.2/src/mappoint.cpp @@ -0,0 +1,46 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/common_include.h" +#include "myslam/mappoint.h" + +namespace myslam +{ + +MapPoint::MapPoint() +: id_(-1), pos_(Vector3d(0,0,0)), norm_(Vector3d(0,0,0)), observed_times_(0) +{ + +} + +MapPoint::MapPoint ( long id, Vector3d position, Vector3d norm ) +: id_(id), pos_(position), norm_(norm), observed_times_(0) +{ + +} + +MapPoint::Ptr MapPoint::createMapPoint() +{ + static long factory_id = 0; + return MapPoint::Ptr( + new MapPoint( factory_id++, Vector3d(0,0,0), Vector3d(0,0,0) ) + ); +} + +} diff --git a/vSLAM/ch9 project/0.2/src/visual_odometry.cpp b/vSLAM/ch9 project/0.2/src/visual_odometry.cpp new file mode 100644 index 00000000..9d002251 --- /dev/null +++ b/vSLAM/ch9 project/0.2/src/visual_odometry.cpp @@ -0,0 +1,230 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include +#include +#include +#include +#include + +#include "myslam/config.h" +#include "myslam/visual_odometry.h" +/*视觉里程记*/ +namespace myslam//命令空间下 防止定义的出其他库里的同名函数 +{ + +VisualOdometry::VisualOdometry() ://视觉里程计类 + state_ ( INITIALIZING ), ref_ ( nullptr ), curr_ ( nullptr ), map_ ( new Map ), num_lost_ ( 0 ), num_inliers_ ( 0 ) +{ + num_of_features_ = Config::get ( "number_of_features" );// 特征数量 整型 int + scale_factor_ = Config::get ( "scale_factor" ); // 尺度因子 缩小 + level_pyramid_ = Config::get ( "level_pyramid" ); // 层级 + match_ratio_ = Config::get ( "match_ratio" ); // 匹配 参数 + max_num_lost_ = Config::get ( "max_num_lost" ); // 最大丢失次数 + min_inliers_ = Config::get ( "min_inliers" ); + key_frame_min_rot = Config::get ( "keyframe_rotation" );//最小的旋转 + key_frame_min_trans = Config::get ( "keyframe_translation" ); // 最小平移 + orb_ = cv::ORB::create ( num_of_features_, scale_factor_, level_pyramid_ );//创建orb特征 +} + +VisualOdometry::~VisualOdometry()//析构 +{ + +} +// 添加新的一帧 add a new frame +bool VisualOdometry::addFrame ( Frame::Ptr frame ) +{ + switch ( state_ ) + { + case INITIALIZING://初始化之后 + { + state_ = OK;//初始化之后切换状态为 OK + curr_ = ref_ = frame;//初始化 参考帧 当前帧 + map_->insertKeyFrame ( frame );//添加第一个关键帧 到地图内 + // extract features from first frame + extractKeyPoints();//提取关键点 + computeDescriptors();//计算描述子 + // compute the 3d position of features in ref frame + setRef3DPoints();//计算特征点的 3维坐标 + break; + } + case OK://初始化之后 + { + curr_ = frame;//新的一帧为当前帧 + extractKeyPoints();//提取关键点 + computeDescriptors();//计算描述子 + featureMatching(); //特征点匹配 得到 特征点匹配点对 + poseEstimationPnP(); //根据特征点匹配点对 计算坐标转换 及估计相机位姿 + if ( checkEstimatedPose() == true ) // a good estimation 估计的效果理想 + { + curr_->T_c_w_ = T_c_r_estimated_ * ref_->T_c_w_; // T_c_w = T_c_r*T_r_w // 当前帧的转换*参考帧的转换 ——> 起始帧到当前帧的转换 + ref_ = curr_;//迭代当前帧成参考帧 + setRef3DPoints();//计算特征点的 3维坐标 + num_lost_ = 0;//重置 丢失计数 + if ( checkKeyFrame() == true ) // is a key-frame 是关键帧吗? + { + addKeyFrame();//是关键帧的话 加入关键帧 + } + } + else // 估计的效果不理想bad estimation due to various reasons + { + num_lost_++;//认为跟丢了 + if ( num_lost_ > max_num_lost_ )//如果连续跟丢失次数 大于设置的限制 + { + state_ = LOST;//设置状态为丢失 + } + return false;//并返回错误 + } + break; + } + case LOST://在状态为 丢失的情况下 + { + cout<<"视觉里程计丢失 vo has lost."<detect ( curr_->color_, keypoints_curr_ );//对彩色图 提取orb关键点 存放在 keypoints_curr_ 当前帧 关键点 +} +//计算关键点对应的描述子 +void VisualOdometry::computeDescriptors() +{ + orb_->compute ( curr_->color_, keypoints_curr_, descriptors_curr_ ); + //输入 彩色图 关键点 得到的描述子 存放在 descriptors_curr_ 关键点对应的orb描述子 +} +//特征匹配 +void VisualOdometry::featureMatching() +{ + // match desp_ref and desp_curr, use OpenCV's brute force match + vector matches;//匹配结果 + cv::BFMatcher matcher ( cv::NORM_HAMMING );//汉明匹配器 + matcher.match ( descriptors_ref_, descriptors_curr_, matches ); + //前后两帧 的特征点描述子 进行汉明长度 匹配 匹配结果存放在 matches中(各个描述子间的距离) + // select the best matches 选择较好的特征点描述子匹配对 + + //计算最小的匹配距离 + float min_dis = std::min_element ( + matches.begin(), matches.end(), + [] ( const cv::DMatch& m1, const cv::DMatch& m2 ) + { + return m1.distance < m2.distance; + } )->distance; + + feature_matches_.clear(); + for ( cv::DMatch& m : matches ) + { + if ( m.distance < max ( min_dis*match_ratio_, 30.0 ) )//最小距离限制 30 + { + feature_matches_.push_back(m);//较小的匹配距离都是 好的匹配 特征点对 即在两幅图像中表示 世界坐标系中的同一个点 + } + } + cout<<"good matches: "<findDepth(keypoints_curr_[i]); + if ( d > 0) + { + Vector3d p_cam = ref_->camera_->pixel2camera(//像素二维坐标转换到相机三维坐标 + Vector2d(keypoints_curr_[i].pt.x, keypoints_curr_[i].pt.y), d + ); + pts_3d_ref_.push_back( cv::Point3f( p_cam(0,0), p_cam(1,0), p_cam(2,0) ));//像极坐标系下的 三维坐标 + descriptors_ref_.push_back(descriptors_curr_.row(i)); //对应的描述子 + } + } +} + +void VisualOdometry::poseEstimationPnP() +{ + // construct the 3d 2d observations + vector pts3d; + vector pts2d; + + for ( cv::DMatch m:feature_matches_ ) + { + pts3d.push_back( pts_3d_ref_[m.queryIdx] ); + pts2d.push_back( keypoints_curr_[m.trainIdx].pt ); + } + //相机内参数 + Mat K = ( cv::Mat_(3,3)<< + ref_->camera_->fx_, 0, ref_->camera_->cx_, + 0, ref_->camera_->fy_, ref_->camera_->cy_, + 0,0,1 + ); + Mat rvec, tvec, inliers; + cv::solvePnPRansac( pts3d, pts2d, K, Mat(), rvec, tvec, false, 100, 4.0, 0.99, inliers ); + num_inliers_ = inliers.rows; + cout<<"pnp inliers: "<(0,0), rvec.at(1,0), rvec.at(2,0)), + Vector3d( tvec.at(0,0), tvec.at(1,0), tvec.at(2,0)) + ); +} + +//核对估计的位姿 +bool VisualOdometry::checkEstimatedPose() +{ + // check if the estimated pose is good + if ( num_inliers_ < min_inliers_ ) + { + cout<<"reject because inlier is too small: "< 5.0 ) + { + cout<<"reject because motion is too large: "<(); + Vector3d rot = d.tail<3>(); + if ( rot.norm() >key_frame_min_rot || trans.norm() >key_frame_min_trans ) + return true; + return false; +} + +//添加关键帧 +void VisualOdometry::addKeyFrame() +{ + cout<<"adding a key-frame"<insertKeyFrame ( curr_ ); +} + +} \ No newline at end of file diff --git a/vSLAM/ch9 project/0.2/test/CMakeLists.txt b/vSLAM/ch9 project/0.2/test/CMakeLists.txt new file mode 100644 index 00000000..241c4599 --- /dev/null +++ b/vSLAM/ch9 project/0.2/test/CMakeLists.txt @@ -0,0 +1,2 @@ +add_executable( run_vo run_vo.cpp ) +target_link_libraries( run_vo myslam ) \ No newline at end of file diff --git a/vSLAM/ch9 project/0.2/test/run_vo.cpp b/vSLAM/ch9 project/0.2/test/run_vo.cpp new file mode 100644 index 00000000..585c6d19 --- /dev/null +++ b/vSLAM/ch9 project/0.2/test/run_vo.cpp @@ -0,0 +1,102 @@ +// -------------- test the visual odometry ------------- +#include +#include +#include +#include +#include + +#include "myslam/config.h" +#include "myslam/visual_odometry.h" + +int main ( int argc, char** argv ) +{ + if ( argc != 2 )// 命令行参数为 参数文件名 + { + cout<<"usage: run_vo parameter_file"< ( "dataset_dir" );//数据集文件目录 + cout<<"dataset: "< rgb_files, depth_files; + vector rgb_times, depth_times; + while ( !fin.eof() ) + { + string rgb_time, rgb_file, depth_time, depth_file; + fin>>rgb_time>>rgb_file>>depth_time>>depth_file; + //rgb图像对应时间 rgb图像 深度图像对应时间 深度图像 + rgb_times.push_back ( atof ( rgb_time.c_str() ) ); + depth_times.push_back ( atof ( depth_time.c_str() ) ); + rgb_files.push_back ( dataset_dir+"/"+rgb_file ); + depth_files.push_back ( dataset_dir+"/"+depth_file ); + + if ( fin.good() == false ) + break; + } + + myslam::Camera::Ptr camera ( new myslam::Camera );//相机模型 + + // visualization + cv::viz::Viz3d vis("Visual Odometry");//可视化 + cv::viz::WCoordinateSystem world_coor(1.0), camera_coor(0.5); + cv::Point3d cam_pos( 0, -1.0, -1.0 ), cam_focal_point(0,0,0), cam_y_dir(0,1,0); + cv::Affine3d cam_pose = cv::viz::makeCameraPose( cam_pos, cam_focal_point, cam_y_dir ); + vis.setViewerPose( cam_pose ); + + world_coor.setRenderingProperty(cv::viz::LINE_WIDTH, 2.0); + camera_coor.setRenderingProperty(cv::viz::LINE_WIDTH, 1.0); + vis.showWidget( "World", world_coor ); + vis.showWidget( "Camera", camera_coor ); + + cout<<"read total "<camera_ = camera; + pFrame->color_ = color; + pFrame->depth_ = depth; + pFrame->time_stamp_ = rgb_times[i]; + + boost::timer timer; + vo->addFrame ( pFrame ); + cout<<"VO costs time: "<state_ == myslam::VisualOdometry::LOST ) + break; + SE3 Tcw = pFrame->T_c_w_.inverse(); + + // show the map and the camera pose + cv::Affine3d M( + cv::Affine3d::Mat3( + Tcw.rotation_matrix()(0,0), Tcw.rotation_matrix()(0,1), Tcw.rotation_matrix()(0,2), + Tcw.rotation_matrix()(1,0), Tcw.rotation_matrix()(1,1), Tcw.rotation_matrix()(1,2), + Tcw.rotation_matrix()(2,0), Tcw.rotation_matrix()(2,1), Tcw.rotation_matrix()(2,2) + ), + cv::Affine3d::Vec3( + Tcw.translation()(0,0), Tcw.translation()(1,0), Tcw.translation()(2,0) + ) + ); + + cv::imshow("image", color ); + cv::waitKey(0); + // cv::waitKey(1); + vis.setWidgetPose( "Camera", M); + vis.spinOnce(1, false); + } + + return 0; +} diff --git a/vSLAM/ch9 project/0.3/.kdev4/0.3.kdev4 b/vSLAM/ch9 project/0.3/.kdev4/0.3.kdev4 new file mode 100644 index 00000000..019e6850 --- /dev/null +++ b/vSLAM/ch9 project/0.3/.kdev4/0.3.kdev4 @@ -0,0 +1,39 @@ +[Buildset] +BuildItems=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x01\x00\x00\x00\x06\x000\x00.\x003) + +[CMake] +Build Directory Count=1 +Current Build Directory Index=0 +ProjectRootRelative=./ + +[CMake][CMake Build Directory 0] +Build Directory Path=file:///home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9%20project/0.3/build +Build Type=Debug +CMake Binary=file:///usr/bin/cmake +Environment Profile= +Extra Arguments= +Install Directory=file:///usr/local + +[Launch] +Launch Configurations=Launch Configuration 0 + +[Launch][Launch Configuration 0] +Configured Launch Modes=execute +Configured Launchers=nativeAppLauncher +Name=run_vo +Type=Native Application + +[Launch][Launch Configuration 0][Data] +Arguments=../config/default.yaml +Dependencies=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x03\x00\x00\x00\x06\x000\x00.\x003\x00\x00\x00\x08\x00t\x00e\x00s\x00t\x00\x00\x00\x0c\x00r\x00u\x00n\x00_\x00v\x00o) +Dependency Action=Nothing +EnvironmentGroup=default +Executable=file:///home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9%20project/0.3/bin/run_vo +External Terminal=konsole --noclose --workdir %workdir -e %exe +Project Target=0.3,test,run_vo +Use External Terminal=false +Working Directory= +isExecutable=true + +[Project] +VersionControlSupport=kdevgit diff --git a/vSLAM/ch9 project/0.3/0.3.kdev4 b/vSLAM/ch9 project/0.3/0.3.kdev4 new file mode 100644 index 00000000..8eaf56f0 --- /dev/null +++ b/vSLAM/ch9 project/0.3/0.3.kdev4 @@ -0,0 +1,3 @@ +[Project] +Manager=KDevCMakeManager +Name=0.3 diff --git a/vSLAM/ch9 project/0.3/CMakeLists.txt b/vSLAM/ch9 project/0.3/CMakeLists.txt new file mode 100644 index 00000000..2f91c5f9 --- /dev/null +++ b/vSLAM/ch9 project/0.3/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required( VERSION 2.8 ) +project ( myslam ) + +set( CMAKE_CXX_COMPILER "g++" ) +set( CMAKE_BUILD_TYPE "Release" ) +set( CMAKE_CXX_FLAGS "-std=c++11 -march=native -O3" ) + +list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules ) +set( EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin ) +set( LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib ) + +############### dependencies ###################### +# Eigen +include_directories( "/usr/include/eigen3" ) +# OpenCV +find_package( OpenCV 3.1 REQUIRED ) +include_directories( ${OpenCV_INCLUDE_DIRS} ) +# Sophus +find_package( Sophus REQUIRED ) +include_directories( ${Sophus_INCLUDE_DIRS} ) +# G2O +find_package( G2O REQUIRED ) +include_directories( ${G2O_INCLUDE_DIRS} ) + +set( THIRD_PARTY_LIBS + ${OpenCV_LIBS} + ${Sophus_LIBRARIES} + g2o_core g2o_stuff g2o_types_sba +) +############### dependencies ###################### +include_directories( ${PROJECT_SOURCE_DIR}/include ) +add_subdirectory( src ) +add_subdirectory( test ) \ No newline at end of file diff --git a/vSLAM/ch9 project/0.3/bin/run_vo b/vSLAM/ch9 project/0.3/bin/run_vo new file mode 100755 index 00000000..85404e08 Binary files /dev/null and b/vSLAM/ch9 project/0.3/bin/run_vo differ diff --git a/vSLAM/ch9 project/0.3/build/CMakeCache.txt b/vSLAM/ch9 project/0.3/build/CMakeCache.txt new file mode 100644 index 00000000..ec239656 --- /dev/null +++ b/vSLAM/ch9 project/0.3/build/CMakeCache.txt @@ -0,0 +1,455 @@ +# This is the CMakeCache file. +# For build in directory: /home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.3/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or +// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel. +CMAKE_BUILD_TYPE:STRING=Debug + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler. +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//Flags used by the compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the compiler during debug builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the compiler during release minsize builds. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds (/MD /Ob1 /Oi +// /Ot /Oy /Gs will produce slightly less optimized but smaller +// files). +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during Release with Debug Info builds. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//C compiler. +CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc + +//Flags used by the compiler during all build types. +CMAKE_C_FLAGS:STRING= + +//Flags used by the compiler during debug builds. +CMAKE_C_FLAGS_DEBUG:STRING=-g + +//Flags used by the compiler during release minsize builds. +CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds (/MD /Ob1 /Oi +// /Ot /Oy /Gs will produce slightly less optimized but smaller +// files). +CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during Release with Debug Info builds. +CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//Flags used by the linker. +CMAKE_EXE_LINKER_FLAGS:STRING=' ' + +//Flags used by the linker during debug builds. +CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Enable/Disable output of compile commands during generation. +CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF + +//Install path prefix, prepended onto install directories. +CMAKE_INSTALL_PREFIX:PATH=/usr/local + +//Path to a program. +CMAKE_LINKER:FILEPATH=/usr/bin/ld + +//Path to a program. +CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make + +//Flags used by the linker during the creation of modules. +CMAKE_MODULE_LINKER_FLAGS:STRING=' ' + +//Flags used by the linker during debug builds. +CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_NM:FILEPATH=/usr/bin/nm + +//Path to a program. +CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy + +//Path to a program. +CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=myslam + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib + +//Flags used by the linker during the creation of dll's. +CMAKE_SHARED_LINKER_FLAGS:STRING=' ' + +//Flags used by the linker during debug builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during debug builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If true, cmake will use relative paths in makefiles and projects. +CMAKE_USE_RELATIVE_PATHS:BOOL=OFF + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to a library. +G2O_CLI_LIBRARY:FILEPATH=/usr/local/lib/libg2o_cli.so + +//Path to a library. +G2O_CLI_LIBRARY_DEBUG:FILEPATH=G2O_CLI_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +G2O_CORE_LIBRARY:FILEPATH=/usr/local/lib/libg2o_core.so + +//Path to a library. +G2O_CORE_LIBRARY_DEBUG:FILEPATH=G2O_CORE_LIBRARY_DEBUG-NOTFOUND + +//Path to a file. +G2O_INCLUDE_DIR:PATH=/usr/local/include + +//Path to a library. +G2O_SOLVER_CHOLMOD:FILEPATH=/usr/local/lib/libg2o_solver_cholmod.so + +//Path to a library. +G2O_SOLVER_CHOLMOD_DEBUG:FILEPATH=G2O_SOLVER_CHOLMOD_DEBUG-NOTFOUND + +//Path to a library. +G2O_SOLVER_CSPARSE:FILEPATH=/usr/local/lib/libg2o_solver_csparse.so + +//Path to a library. +G2O_SOLVER_CSPARSE_DEBUG:FILEPATH=G2O_SOLVER_CSPARSE_DEBUG-NOTFOUND + +//Path to a library. +G2O_SOLVER_CSPARSE_EXTENSION:FILEPATH=/usr/local/lib/libg2o_csparse_extension.so + +//Path to a library. +G2O_SOLVER_CSPARSE_EXTENSION_DEBUG:FILEPATH=G2O_SOLVER_CSPARSE_EXTENSION_DEBUG-NOTFOUND + +//Path to a library. +G2O_SOLVER_DENSE:FILEPATH=/usr/local/lib/libg2o_solver_dense.so + +//Path to a library. +G2O_SOLVER_DENSE_DEBUG:FILEPATH=G2O_SOLVER_DENSE_DEBUG-NOTFOUND + +//Path to a library. +G2O_SOLVER_EIGEN:FILEPATH=/usr/local/lib/libg2o_solver_eigen.so + +//Path to a library. +G2O_SOLVER_EIGEN_DEBUG:FILEPATH=G2O_SOLVER_EIGEN_DEBUG-NOTFOUND + +//Path to a library. +G2O_SOLVER_PCG:FILEPATH=/usr/local/lib/libg2o_solver_pcg.so + +//Path to a library. +G2O_SOLVER_PCG_DEBUG:FILEPATH=G2O_SOLVER_PCG_DEBUG-NOTFOUND + +//Path to a library. +G2O_SOLVER_SLAM2D_LINEAR:FILEPATH=/usr/local/lib/libg2o_solver_slam2d_linear.so + +//Path to a library. +G2O_SOLVER_SLAM2D_LINEAR_DEBUG:FILEPATH=G2O_SOLVER_SLAM2D_LINEAR_DEBUG-NOTFOUND + +//Path to a library. +G2O_SOLVER_STRUCTURE_ONLY:FILEPATH=/usr/local/lib/libg2o_solver_structure_only.so + +//Path to a library. +G2O_SOLVER_STRUCTURE_ONLY_DEBUG:FILEPATH=G2O_SOLVER_STRUCTURE_ONLY_DEBUG-NOTFOUND + +//Path to a library. +G2O_STUFF_LIBRARY:FILEPATH=/usr/local/lib/libg2o_stuff.so + +//Path to a library. +G2O_STUFF_LIBRARY_DEBUG:FILEPATH=G2O_STUFF_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +G2O_TYPES_DATA:FILEPATH=/usr/local/lib/libg2o_types_data.so + +//Path to a library. +G2O_TYPES_DATA_DEBUG:FILEPATH=G2O_TYPES_DATA_DEBUG-NOTFOUND + +//Path to a library. +G2O_TYPES_ICP:FILEPATH=/usr/local/lib/libg2o_types_icp.so + +//Path to a library. +G2O_TYPES_ICP_DEBUG:FILEPATH=G2O_TYPES_ICP_DEBUG-NOTFOUND + +//Path to a library. +G2O_TYPES_SBA:FILEPATH=/usr/local/lib/libg2o_types_sba.so + +//Path to a library. +G2O_TYPES_SBA_DEBUG:FILEPATH=G2O_TYPES_SBA_DEBUG-NOTFOUND + +//Path to a library. +G2O_TYPES_SCLAM2D:FILEPATH=/usr/local/lib/libg2o_types_sclam2d.so + +//Path to a library. +G2O_TYPES_SCLAM2D_DEBUG:FILEPATH=G2O_TYPES_SCLAM2D_DEBUG-NOTFOUND + +//Path to a library. +G2O_TYPES_SIM3:FILEPATH=/usr/local/lib/libg2o_types_sim3.so + +//Path to a library. +G2O_TYPES_SIM3_DEBUG:FILEPATH=G2O_TYPES_SIM3_DEBUG-NOTFOUND + +//Path to a library. +G2O_TYPES_SLAM2D:FILEPATH=/usr/local/lib/libg2o_types_slam2d.so + +//Path to a library. +G2O_TYPES_SLAM2D_DEBUG:FILEPATH=G2O_TYPES_SLAM2D_DEBUG-NOTFOUND + +//Path to a library. +G2O_TYPES_SLAM3D:FILEPATH=/usr/local/lib/libg2o_types_slam3d.so + +//Path to a library. +G2O_TYPES_SLAM3D_DEBUG:FILEPATH=G2O_TYPES_SLAM3D_DEBUG-NOTFOUND + +//Path where debug 3rdparty OpenCV dependencies are located +OpenCV_3RDPARTY_LIB_DIR_DBG:PATH=/usr/local/share/OpenCV/3rdparty/lib + +//Path where release 3rdparty OpenCV dependencies are located +OpenCV_3RDPARTY_LIB_DIR_OPT:PATH=/usr/local/share/OpenCV/3rdparty/lib + +OpenCV_CONFIG_PATH:FILEPATH=/usr/local/share/OpenCV + +//The directory containing a CMake configuration file for OpenCV. +OpenCV_DIR:PATH=/usr/local/share/OpenCV + +//Path where debug OpenCV libraries are located +OpenCV_LIB_DIR_DBG:PATH= + +//Path where release OpenCV libraries are located +OpenCV_LIB_DIR_OPT:PATH= + +//The directory containing a CMake configuration file for Sophus. +Sophus_DIR:PATH=/home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch4/Sophus/build + +//Value Computed by CMake +myslam_BINARY_DIR:STATIC=/home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.3/build + +//Dependencies for the target +myslam_LIB_DEPENDS:STATIC=general;opencv_viz;general;opencv_videostab;general;opencv_videoio;general;opencv_video;general;opencv_superres;general;opencv_stitching;general;opencv_shape;general;opencv_photo;general;opencv_objdetect;general;opencv_ml;general;opencv_imgproc;general;opencv_imgcodecs;general;opencv_highgui;general;opencv_flann;general;opencv_features2d;general;opencv_core;general;opencv_calib3d;general;/home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch4/Sophus/build/libSophus.so;general;g2o_core;general;g2o_stuff;general;g2o_types_sba; + +//Value Computed by CMake +myslam_SOURCE_DIR:STATIC=/home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.3 + + +######################## +# INTERNAL cache entries +######################## + +//ADVANCED property for variable: CMAKE_AR +CMAKE_AR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_BUILD_TOOL +CMAKE_BUILD_TOOL-ADVANCED:INTERNAL=1 +//What is the target build tool cmake is generating for. +CMAKE_BUILD_TOOL:INTERNAL=/usr/bin/make +//This is the directory where this CMakeCache.txt was created +CMAKE_CACHEFILE_DIR:INTERNAL=/home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.3/build +//Major version of cmake used to create the current loaded cache +CMAKE_CACHE_MAJOR_VERSION:INTERNAL=2 +//Minor version of cmake used to create the current loaded cache +CMAKE_CACHE_MINOR_VERSION:INTERNAL=8 +//Patch version of cmake used to create the current loaded cache +CMAKE_CACHE_PATCH_VERSION:INTERNAL=12 +//ADVANCED property for variable: CMAKE_COLOR_MAKEFILE 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Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# define ARCHITECTURE_ID "ARM" + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif + (void)argv; + return require; +} +#endif diff --git a/vSLAM/ch9 project/0.3/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out b/vSLAM/ch9 project/0.3/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out new file mode 100755 index 00000000..49a5ca2e Binary files /dev/null and b/vSLAM/ch9 project/0.3/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out differ diff --git a/vSLAM/ch9 project/0.3/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/vSLAM/ch9 project/0.3/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 00000000..e8220b26 --- /dev/null +++ b/vSLAM/ch9 project/0.3/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,377 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define 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defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +/* Analog VisualDSP++ >= 4.5.6 */ +#elif defined(__VISUALDSPVERSION__) +# define COMPILER_ID "ADSP" + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) + +/* Analog VisualDSP++ < 4.5.6 */ +#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" + +/* IAR Systems compiler for embedded systems. + http://www.iar.com */ +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + +/* This compiler is either not known or is too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" + +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# define ARCHITECTURE_ID "ARM" + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif + (void)argv; + return require; +} diff --git a/vSLAM/ch9 project/0.3/build/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out b/vSLAM/ch9 project/0.3/build/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out new file mode 100755 index 00000000..96c16077 Binary files /dev/null and b/vSLAM/ch9 project/0.3/build/CMakeFiles/2.8.12.2/CompilerIdCXX/a.out differ diff --git a/vSLAM/ch9 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${G2O_ROOT}/lib + $ENV{G2O_ROOT}/lib/Release + $ENV{G2O_ROOT}/lib + NO_DEFAULT_PATH + ) + + FIND_LIBRARY(${MYLIBRARY} + NAMES "g2o_${MYLIBRARYNAME}" + PATHS + ~/Library/Frameworks + /Library/Frameworks + /usr/local/lib + /usr/local/lib64 + /usr/lib + /usr/lib64 + /opt/local/lib + /sw/local/lib + /sw/lib + ) + + IF(NOT ${MYLIBRARY}_DEBUG) + IF(MYLIBRARY) + SET(${MYLIBRARY}_DEBUG ${MYLIBRARY}) + ENDIF(MYLIBRARY) + ENDIF( NOT ${MYLIBRARY}_DEBUG) + +ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME) + +# Find the core elements +FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff) +FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core) + +# Find the CLI library +FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli) + +# Find the pluggable solvers +FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod) +FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse) +FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension) +FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense) +FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg) +FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear) +FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only) +FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen) + +# Find the predefined types +FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data) +FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp) +FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba) +FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d) +FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3) +FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d) +FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d) + +# G2O solvers declared found if we found at least one solver +SET(G2O_SOLVERS_FOUND "NO") +IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN) + SET(G2O_SOLVERS_FOUND "YES") +ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN) + +# G2O itself declared found if we found the core libraries and at least one solver +SET(G2O_FOUND "NO") +IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) + SET(G2O_FOUND "YES") +ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) diff --git a/vSLAM/ch9 project/0.3/config/default.yaml b/vSLAM/ch9 project/0.3/config/default.yaml new file mode 100644 index 00000000..ae869bd4 --- /dev/null +++ b/vSLAM/ch9 project/0.3/config/default.yaml @@ -0,0 +1,30 @@ +%YAML:1.0 +# data +# the tum dataset directory, change it to yours! +dataset_dir: /home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch8/data + +# camera intrinsics +# fr1 +camera.fx: 517.3 +camera.fy: 516.5 +camera.cx: 325.1 +camera.cy: 249.7 + +# fr2 +#camera.fx: 520.9 +#camera.fy: 521.0 +#camera.cx: 325.1 +#camera.cy: 249.7 + +camera.depth_scale: 5000 + +# VO Parameters +number_of_features: 800 +scale_factor: 1.2 +level_pyramid: 4 +match_ratio: 2.0 +max_num_lost: 10 +min_inliers: 10 +keyframe_rotation: 0.1 +keyframe_translation: 0.1 +map_point_erase_ratio: 0.5 diff --git a/vSLAM/ch9 project/0.3/include/myslam/camera.h b/vSLAM/ch9 project/0.3/include/myslam/camera.h new file mode 100644 index 00000000..bace0652 --- /dev/null +++ b/vSLAM/ch9 project/0.3/include/myslam/camera.h @@ -0,0 +1,51 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef CAMERA_H +#define CAMERA_H + +#include "myslam/common_include.h" + +namespace myslam +{ + +// Pinhole RGBD camera model +class Camera +{ +public: + typedef std::shared_ptr Ptr; + float fx_, fy_, cx_, cy_, depth_scale_; + + Camera(); + Camera ( float fx, float fy, float cx, float cy, float depth_scale=0 ) : + fx_ ( fx ), fy_ ( fy ), cx_ ( cx ), cy_ ( cy ), depth_scale_ ( depth_scale ) + {} + + // coordinate transform: world, camera, pixel + Vector3d world2camera( const Vector3d& p_w, const SE3& T_c_w ); + Vector3d camera2world( const Vector3d& p_c, const SE3& T_c_w ); + Vector2d camera2pixel( const Vector3d& p_c ); + Vector3d pixel2camera( const Vector2d& p_p, double depth=1 ); + Vector3d pixel2world ( const Vector2d& p_p, const SE3& T_c_w, double depth=1 ); + Vector2d world2pixel ( const Vector3d& p_w, const SE3& T_c_w ); + +}; + +} +#endif // CAMERA_H diff --git a/vSLAM/ch9 project/0.3/include/myslam/common_include.h b/vSLAM/ch9 project/0.3/include/myslam/common_include.h new file mode 100644 index 00000000..a8f7e4cd --- /dev/null +++ b/vSLAM/ch9 project/0.3/include/myslam/common_include.h @@ -0,0 +1,52 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + + +#ifndef COMMON_INCLUDE_H +#define COMMON_INCLUDE_H + +// define the commonly included file to avoid a long include list +// for Eigen +#include +#include +using Eigen::Vector2d; +using Eigen::Vector3d; + +// for Sophus +#include +#include +using Sophus::SO3; +using Sophus::SE3; + +// for cv +#include +using cv::Mat; + +// std +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +#endif \ No newline at end of file diff --git a/vSLAM/ch9 project/0.3/include/myslam/config.h b/vSLAM/ch9 project/0.3/include/myslam/config.h new file mode 100644 index 00000000..f5c7b452 --- /dev/null +++ b/vSLAM/ch9 project/0.3/include/myslam/config.h @@ -0,0 +1,49 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef CONFIG_H +#define CONFIG_H + +#include "myslam/common_include.h" + +namespace myslam +{ +class Config +{ +private: + static std::shared_ptr config_; + cv::FileStorage file_; + + Config () {} // private constructor makes a singleton +public: + ~Config(); // close the file when deconstructing + + // set a new config file + static void setParameterFile( const std::string& filename ); + + // access the parameter values + template< typename T > + static T get( const std::string& key ) + { + return T( Config::config_->file_[key] ); + } +}; +} + +#endif // CONFIG_H diff --git a/vSLAM/ch9 project/0.3/include/myslam/frame.h b/vSLAM/ch9 project/0.3/include/myslam/frame.h new file mode 100644 index 00000000..e0d4ce48 --- /dev/null +++ b/vSLAM/ch9 project/0.3/include/myslam/frame.h @@ -0,0 +1,65 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef FRAME_H +#define FRAME_H + +#include "myslam/common_include.h" +#include "myslam/camera.h" + +namespace myslam +{ + +// forward declare +class MapPoint; +class Frame +{ +public: + typedef std::shared_ptr Ptr; + unsigned long id_; // id of this frame + double time_stamp_; // when it is recorded + SE3 T_c_w_; // transform from world to camera + Camera::Ptr camera_; // Pinhole RGBD Camera model + Mat color_, depth_; // color and depth image + // std::vector keypoints_; // key points in image + // std::vector map_points_; // associated map points + bool is_key_frame_; // whether a key-frame + +public: // data members + Frame(); + Frame( long id, double time_stamp=0, SE3 T_c_w=SE3(), Camera::Ptr camera=nullptr, Mat color=Mat(), Mat depth=Mat() ); + ~Frame(); + + static Frame::Ptr createFrame(); + + // find the depth in depth map + double findDepth( const cv::KeyPoint& kp ); + + // Get Camera Center + Vector3d getCamCenter() const; + + void setPose( const SE3& T_c_w ); + + // check if a point is in this frame + bool isInFrame( const Vector3d& pt_world ); +}; + +} + +#endif // FRAME_H diff --git a/vSLAM/ch9 project/0.3/include/myslam/g2o_types.h b/vSLAM/ch9 project/0.3/include/myslam/g2o_types.h new file mode 100644 index 00000000..5097268b --- /dev/null +++ b/vSLAM/ch9 project/0.3/include/myslam/g2o_types.h @@ -0,0 +1,82 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef MYSLAM_G2O_TYPES_H//防止头文件重复引用 +#define MYSLAM_G2O_TYPES_H//宏定义 + +#include "myslam/common_include.h"//常用的头文件 放在一起 化繁为简 +#include "camera.h" + +#include +#include +#include +#include +#include +#include +#include +#include +/*使用非线性优化求解相机位姿态*/ +namespace myslam//命令空间下 防止定义的出其他库里的同名函数 +{ + //边 +class EdgeProjectXYZRGBD : public g2o::BaseBinaryEdge<3, Eigen::Vector3d, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap> +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW; + virtual void computeError();//计算误差 + virtual void linearizeOplus();//雅克比矩阵 + virtual bool read( std::istream& in ){} + virtual bool write( std::ostream& out) const {} + +}; + +// only to optimize the pose, no point +class EdgeProjectXYZRGBDPoseOnly: public g2o::BaseUnaryEdge<3, Eigen::Vector3d, g2o::VertexSE3Expmap > +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + // Error: measure = R*point+t + virtual void computeError(); + virtual void linearizeOplus(); + + virtual bool read( std::istream& in ){} + virtual bool write( std::ostream& out) const {} + + Vector3d point_; +}; + +class EdgeProjectXYZ2UVPoseOnly: public g2o::BaseUnaryEdge<2, Eigen::Vector2d, g2o::VertexSE3Expmap > +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + virtual void computeError(); + virtual void linearizeOplus(); + + virtual bool read( std::istream& in ){} + virtual bool write(std::ostream& os) const {}; + + Vector3d point_; + Camera* camera_; +}; + +} + + +#endif // MYSLAM_G2O_TYPES_H diff --git a/vSLAM/ch9 project/0.3/include/myslam/map.h b/vSLAM/ch9 project/0.3/include/myslam/map.h new file mode 100644 index 00000000..f37547ca --- /dev/null +++ b/vSLAM/ch9 project/0.3/include/myslam/map.h @@ -0,0 +1,43 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef MAP_H +#define MAP_H + +#include "myslam/common_include.h" +#include "myslam/frame.h" +#include "myslam/mappoint.h" + +namespace myslam +{ +class Map +{ +public: + typedef shared_ptr Ptr; + unordered_map map_points_; // all landmarks + unordered_map keyframes_; // all key-frames + + Map() {} + + void insertKeyFrame( Frame::Ptr frame ); + void insertMapPoint( MapPoint::Ptr map_point ); +}; +} + +#endif // MAP_H diff --git a/vSLAM/ch9 project/0.3/include/myslam/mappoint.h b/vSLAM/ch9 project/0.3/include/myslam/mappoint.h new file mode 100644 index 00000000..67645942 --- /dev/null +++ b/vSLAM/ch9 project/0.3/include/myslam/mappoint.h @@ -0,0 +1,49 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef MAPPOINT_H +#define MAPPOINT_H + +namespace myslam +{ + +class Frame; +class MapPoint +{ +public: + typedef shared_ptr Ptr; + unsigned long id_; // ID + bool good_; // wheter a good point + Vector3d pos_; // Position in world + Vector3d norm_; // Normal of viewing direction + Mat descriptor_; // Descriptor for matching + + list observed_frames_; // frames that can observe this point + + int observed_times_; // being observed by feature matching algo. + int matched_times_; // being an inliner in pose estimation + + MapPoint(); + MapPoint( long id, Vector3d position, Vector3d norm ); + + static MapPoint::Ptr createMapPoint(); +}; +} + +#endif // MAPPOINT_H diff --git a/vSLAM/ch9 project/0.3/include/myslam/visual_odometry.h b/vSLAM/ch9 project/0.3/include/myslam/visual_odometry.h new file mode 100644 index 00000000..4cf5aeaf --- /dev/null +++ b/vSLAM/ch9 project/0.3/include/myslam/visual_odometry.h @@ -0,0 +1,90 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef VISUALODOMETRY_H +#define VISUALODOMETRY_H + +#include "myslam/common_include.h" +#include "myslam/map.h" + +#include + +namespace myslam +{ +class VisualOdometry +{ +public: + typedef shared_ptr Ptr; + enum VOState { + INITIALIZING=-1, + OK=0, + LOST + }; + + VOState state_; // current VO status + Map::Ptr map_; // map with all frames and map points + + Frame::Ptr ref_; // reference key-frame + Frame::Ptr curr_; // current frame + + cv::Ptr orb_; // orb detector and computer + vector pts_3d_ref_; // 3d points in reference frame + vector keypoints_curr_; // keypoints in current frame + Mat descriptors_curr_; // descriptor in current frame + Mat descriptors_ref_; // descriptor in reference frame + vector feature_matches_; // feature matches + cv::FlannBasedMatcher matcher_flann_; // flann matcher + + SE3 T_c_r_estimated_; // the estimated pose of current frame + int num_inliers_; // number of inlier features in icp + int num_lost_; // number of lost times + + // parameters + int num_of_features_; // number of features + double scale_factor_; // scale in image pyramid + int level_pyramid_; // number of pyramid levels + float match_ratio_; // ratio for selecting good matches + int max_num_lost_; // max number of continuous lost times + int min_inliers_; // minimum inliers + double key_frame_min_rot; // minimal rotation of two key-frames + double key_frame_min_trans; // minimal translation of two key-frames + double map_point_erase_ratio_; // remove map point ratio + +public: // functions + VisualOdometry(); + ~VisualOdometry(); + + bool addFrame( Frame::Ptr frame ); // add a new frame + +protected: + // inner operation + void extractKeyPoints(); + void computeDescriptors(); + void featureMatching(); + void setRef3DPoints(); + void poseEstimationPnP(); + + void addKeyFrame(); + bool checkEstimatedPose(); + bool checkKeyFrame(); + +}; +} + +#endif // VISUALODOMETRY_H diff --git a/vSLAM/ch9 project/0.3/lib/liblibmyslam.a b/vSLAM/ch9 project/0.3/lib/liblibmyslam.a new file mode 100644 index 00000000..46f62f98 Binary files /dev/null and b/vSLAM/ch9 project/0.3/lib/liblibmyslam.a differ diff --git a/vSLAM/ch9 project/0.3/lib/libmyslam.so b/vSLAM/ch9 project/0.3/lib/libmyslam.so new file mode 100755 index 00000000..a9af42f6 Binary files /dev/null and b/vSLAM/ch9 project/0.3/lib/libmyslam.so differ diff --git a/vSLAM/ch9 project/0.3/src/CMakeLists.txt b/vSLAM/ch9 project/0.3/src/CMakeLists.txt new file mode 100644 index 00000000..07355f17 --- /dev/null +++ b/vSLAM/ch9 project/0.3/src/CMakeLists.txt @@ -0,0 +1,13 @@ +add_library( myslam SHARED + frame.cpp + mappoint.cpp + map.cpp + camera.cpp + config.cpp + g2o_types.cpp + visual_odometry.cpp +) + +target_link_libraries( myslam + ${THIRD_PARTY_LIBS} +) \ No newline at end of file diff --git a/vSLAM/ch9 project/0.3/src/camera.cpp b/vSLAM/ch9 project/0.3/src/camera.cpp new file mode 100644 index 00000000..d79d63eb --- /dev/null +++ b/vSLAM/ch9 project/0.3/src/camera.cpp @@ -0,0 +1,73 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/camera.h" +#include + +namespace myslam +{ + +Camera::Camera() +{ + fx_ = Config::get("camera.fx"); + fy_ = Config::get("camera.fy"); + cx_ = Config::get("camera.cx"); + cy_ = Config::get("camera.cy"); + depth_scale_ = Config::get("camera.depth_scale"); +} + +Vector3d Camera::world2camera ( const Vector3d& p_w, const SE3& T_c_w ) +{ + return T_c_w*p_w; +} + +Vector3d Camera::camera2world ( const Vector3d& p_c, const SE3& T_c_w ) +{ + return T_c_w.inverse() *p_c; +} + +Vector2d Camera::camera2pixel ( const Vector3d& p_c ) +{ + return Vector2d ( + fx_ * p_c ( 0,0 ) / p_c ( 2,0 ) + cx_, + fy_ * p_c ( 1,0 ) / p_c ( 2,0 ) + cy_ + ); +} + +Vector3d Camera::pixel2camera ( const Vector2d& p_p, double depth ) +{ + return Vector3d ( + ( p_p ( 0,0 )-cx_ ) *depth/fx_, + ( p_p ( 1,0 )-cy_ ) *depth/fy_, + depth + ); +} + +Vector2d Camera::world2pixel ( const Vector3d& p_w, const SE3& T_c_w ) +{ + return camera2pixel ( world2camera(p_w, T_c_w) ); +} + +Vector3d Camera::pixel2world ( const Vector2d& p_p, const SE3& T_c_w, double depth ) +{ + return camera2world ( pixel2camera ( p_p, depth ), T_c_w ); +} + + +} diff --git a/vSLAM/ch9 project/0.3/src/config.cpp b/vSLAM/ch9 project/0.3/src/config.cpp new file mode 100644 index 00000000..9817d8d5 --- /dev/null +++ b/vSLAM/ch9 project/0.3/src/config.cpp @@ -0,0 +1,46 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/config.h" + +namespace myslam +{ + +void Config::setParameterFile( const std::string& filename ) +{ + if ( config_ == nullptr ) + config_ = shared_ptr(new Config); + config_->file_ = cv::FileStorage( filename.c_str(), cv::FileStorage::READ ); + if ( config_->file_.isOpened() == false ) + { + std::cerr<<"parameter file "<file_.release(); + return; + } +} + +Config::~Config() +{ + if ( file_.isOpened() ) + file_.release(); +} + +shared_ptr Config::config_ = nullptr; + +} diff --git a/vSLAM/ch9 project/0.3/src/frame.cpp b/vSLAM/ch9 project/0.3/src/frame.cpp new file mode 100644 index 00000000..c0c118c9 --- /dev/null +++ b/vSLAM/ch9 project/0.3/src/frame.cpp @@ -0,0 +1,96 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/frame.h" + +namespace myslam +{ +Frame::Frame() +: id_(-1), time_stamp_(-1), camera_(nullptr), is_key_frame_(false) +{ + +} + +Frame::Frame ( long id, double time_stamp, SE3 T_c_w, Camera::Ptr camera, Mat color, Mat depth ) +: id_(id), time_stamp_(time_stamp), T_c_w_(T_c_w), camera_(camera), color_(color), depth_(depth), is_key_frame_(false) +{ + +} + +Frame::~Frame() +{ + +} + +Frame::Ptr Frame::createFrame() +{ + static long factory_id = 0; + return Frame::Ptr( new Frame(factory_id++) ); +} + +double Frame::findDepth ( const cv::KeyPoint& kp ) +{ + int x = cvRound(kp.pt.x); + int y = cvRound(kp.pt.y); + ushort d = depth_.ptr(y)[x]; + if ( d!=0 ) + { + return double(d)/camera_->depth_scale_; + } + else + { + // check the nearby points + int dx[4] = {-1,0,1,0}; + int dy[4] = {0,-1,0,1}; + for ( int i=0; i<4; i++ ) + { + d = depth_.ptr( y+dy[i] )[x+dx[i]]; + if ( d!=0 ) + { + return double(d)/camera_->depth_scale_; + } + } + } + return -1.0; +} + +void Frame::setPose ( const SE3& T_c_w ) +{ + T_c_w_ = T_c_w; +} + + +Vector3d Frame::getCamCenter() const +{ + return T_c_w_.inverse().translation(); +} + +bool Frame::isInFrame ( const Vector3d& pt_world ) +{ + Vector3d p_cam = camera_->world2camera( pt_world, T_c_w_ ); + // cout<<"P_cam = "<world2pixel( pt_world, T_c_w_ ); + // cout<<"P_pixel = "<0 && pixel(1,0)>0 + && pixel(0,0) ( _vertices[0] ); + const g2o::VertexSE3Expmap* pose = static_cast ( _vertices[1] ); + _error = _measurement - pose->estimate().map ( point->estimate() ); +} +//雅克比矩阵计算 +void EdgeProjectXYZRGBD::linearizeOplus() +{ + g2o::VertexSE3Expmap* pose = static_cast ( _vertices[1] ); + g2o::SE3Quat T ( pose->estimate() ); + g2o::VertexSBAPointXYZ* point = static_cast ( _vertices[0] ); + Eigen::Vector3d xyz = point->estimate(); + Eigen::Vector3d xyz_trans = T.map ( xyz ); + double x = xyz_trans[0]; + double y = xyz_trans[1]; + double z = xyz_trans[2]; + + _jacobianOplusXi = - T.rotation().toRotationMatrix(); + + _jacobianOplusXj ( 0,0 ) = 0; + _jacobianOplusXj ( 0,1 ) = -z; + _jacobianOplusXj ( 0,2 ) = y; + _jacobianOplusXj ( 0,3 ) = -1; + _jacobianOplusXj ( 0,4 ) = 0; + _jacobianOplusXj ( 0,5 ) = 0; + + _jacobianOplusXj ( 1,0 ) = z; + _jacobianOplusXj ( 1,1 ) = 0; + _jacobianOplusXj ( 1,2 ) = -x; + _jacobianOplusXj ( 1,3 ) = 0; + _jacobianOplusXj ( 1,4 ) = -1; + _jacobianOplusXj ( 1,5 ) = 0; + + _jacobianOplusXj ( 2,0 ) = -y; + _jacobianOplusXj ( 2,1 ) = x; + _jacobianOplusXj ( 2,2 ) = 0; + _jacobianOplusXj ( 2,3 ) = 0; + _jacobianOplusXj ( 2,4 ) = 0; + _jacobianOplusXj ( 2,5 ) = -1; +} + //投影误差计算 +void EdgeProjectXYZRGBDPoseOnly::computeError() +{ + const g2o::VertexSE3Expmap* pose = static_cast ( _vertices[0] ); + _error = _measurement - pose->estimate().map ( point_ ); +} +//雅克比矩阵计算 +void EdgeProjectXYZRGBDPoseOnly::linearizeOplus() +{ + g2o::VertexSE3Expmap* pose = static_cast ( _vertices[0] ); + g2o::SE3Quat T ( pose->estimate() ); + Vector3d xyz_trans = T.map ( point_ ); + double x = xyz_trans[0]; + double y = xyz_trans[1]; + double z = xyz_trans[2]; + + _jacobianOplusXi ( 0,0 ) = 0; + _jacobianOplusXi ( 0,1 ) = -z; + _jacobianOplusXi ( 0,2 ) = y; + _jacobianOplusXi ( 0,3 ) = -1; + _jacobianOplusXi ( 0,4 ) = 0; + _jacobianOplusXi ( 0,5 ) = 0; + + _jacobianOplusXi ( 1,0 ) = z; + _jacobianOplusXi ( 1,1 ) = 0; + _jacobianOplusXi ( 1,2 ) = -x; + _jacobianOplusXi ( 1,3 ) = 0; + _jacobianOplusXi ( 1,4 ) = -1; + _jacobianOplusXi ( 1,5 ) = 0; + + _jacobianOplusXi ( 2,0 ) = -y; + _jacobianOplusXi ( 2,1 ) = x; + _jacobianOplusXi ( 2,2 ) = 0; + _jacobianOplusXi ( 2,3 ) = 0; + _jacobianOplusXi ( 2,4 ) = 0; + _jacobianOplusXi ( 2,5 ) = -1; +} + //投影误差计算 +void EdgeProjectXYZ2UVPoseOnly::computeError() +{ + const g2o::VertexSE3Expmap* pose = static_cast ( _vertices[0] ); + _error = _measurement - camera_->camera2pixel ( + pose->estimate().map(point_) ); +} +//雅克比矩阵计算 +void EdgeProjectXYZ2UVPoseOnly::linearizeOplus() +{ + g2o::VertexSE3Expmap* pose = static_cast ( _vertices[0] ); + g2o::SE3Quat T ( pose->estimate() ); + Vector3d xyz_trans = T.map ( point_ ); + double x = xyz_trans[0]; + double y = xyz_trans[1]; + double z = xyz_trans[2]; + double z_2 = z*z; + + _jacobianOplusXi ( 0,0 ) = x*y/z_2 *camera_->fx_; + _jacobianOplusXi ( 0,1 ) = - ( 1+ ( x*x/z_2 ) ) *camera_->fx_; + _jacobianOplusXi ( 0,2 ) = y/z * camera_->fx_; + _jacobianOplusXi ( 0,3 ) = -1./z * camera_->fx_; + _jacobianOplusXi ( 0,4 ) = 0; + _jacobianOplusXi ( 0,5 ) = x/z_2 * camera_->fx_; + + _jacobianOplusXi ( 1,0 ) = ( 1+y*y/z_2 ) *camera_->fy_; + _jacobianOplusXi ( 1,1 ) = -x*y/z_2 *camera_->fy_; + _jacobianOplusXi ( 1,2 ) = -x/z *camera_->fy_; + _jacobianOplusXi ( 1,3 ) = 0; + _jacobianOplusXi ( 1,4 ) = -1./z *camera_->fy_; + _jacobianOplusXi ( 1,5 ) = y/z_2 *camera_->fy_; +} + + +} diff --git a/vSLAM/ch9 project/0.3/src/map.cpp b/vSLAM/ch9 project/0.3/src/map.cpp new file mode 100644 index 00000000..21faca53 --- /dev/null +++ b/vSLAM/ch9 project/0.3/src/map.cpp @@ -0,0 +1,51 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/map.h" + +namespace myslam +{ + +void Map::insertKeyFrame ( Frame::Ptr frame ) +{ + cout<<"Key frame size = "<id_) == keyframes_.end() ) + { + keyframes_.insert( make_pair(frame->id_, frame) ); + } + else + { + keyframes_[ frame->id_ ] = frame; + } +} + +void Map::insertMapPoint ( MapPoint::Ptr map_point ) +{ + if ( map_points_.find(map_point->id_) == map_points_.end() ) + { + map_points_.insert( make_pair(map_point->id_, map_point) ); + } + else + { + map_points_[map_point->id_] = map_point; + } +} + + +} diff --git a/vSLAM/ch9 project/0.3/src/mappoint.cpp b/vSLAM/ch9 project/0.3/src/mappoint.cpp new file mode 100644 index 00000000..b03b5137 --- /dev/null +++ b/vSLAM/ch9 project/0.3/src/mappoint.cpp @@ -0,0 +1,46 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/common_include.h" +#include "myslam/mappoint.h" + +namespace myslam +{ + +MapPoint::MapPoint() +: id_(-1), pos_(Vector3d(0,0,0)), norm_(Vector3d(0,0,0)), good_(true), observed_times_(0) +{ + +} + +MapPoint::MapPoint ( long id, Vector3d position, Vector3d norm ) +: id_(id), pos_(position), norm_(norm), good_(true), observed_times_(0) +{ + +} + +MapPoint::Ptr MapPoint::createMapPoint() +{ + static long factory_id = 0; + return MapPoint::Ptr( + new MapPoint( factory_id++, Vector3d(0,0,0), Vector3d(0,0,0) ) + ); +} + +} diff --git a/vSLAM/ch9 project/0.3/src/visual_odometry.cpp b/vSLAM/ch9 project/0.3/src/visual_odometry.cpp new file mode 100644 index 00000000..35f4d4c3 --- /dev/null +++ b/vSLAM/ch9 project/0.3/src/visual_odometry.cpp @@ -0,0 +1,268 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +/*在求解相机位姿之后使用非线性图优化*/ +#include +#include +#include +#include +#include + +#include "myslam/config.h" +#include "myslam/visual_odometry.h" +#include "myslam/g2o_types.h" + +namespace myslam +{ + +VisualOdometry::VisualOdometry() : + state_ ( INITIALIZING ), ref_ ( nullptr ), curr_ ( nullptr ), map_ ( new Map ), num_lost_ ( 0 ), num_inliers_ ( 0 ), matcher_flann_( new cv::flann::LshIndexParams(5,10,2) ) +{ + num_of_features_ = Config::get ( "number_of_features" ); + scale_factor_ = Config::get ( "scale_factor" ); + level_pyramid_ = Config::get ( "level_pyramid" ); + match_ratio_ = Config::get ( "match_ratio" ); + max_num_lost_ = Config::get ( "max_num_lost" ); + min_inliers_ = Config::get ( "min_inliers" ); + key_frame_min_rot = Config::get ( "keyframe_rotation" ); + key_frame_min_trans = Config::get ( "keyframe_translation" ); + map_point_erase_ratio_ = Config::get ("map_point_erase_ratio"); + orb_ = cv::ORB::create ( num_of_features_, scale_factor_, level_pyramid_ ); +} + +VisualOdometry::~VisualOdometry() +{ + +} + +bool VisualOdometry::addFrame ( Frame::Ptr frame ) +{ + switch ( state_ ) + { + case INITIALIZING: + { + state_ = OK; + curr_ = ref_ = frame; + map_->insertKeyFrame ( frame ); + // extract features from first frame and add them into map + extractKeyPoints(); + computeDescriptors(); + setRef3DPoints(); + break; + } + case OK: + { + curr_ = frame; + extractKeyPoints(); + computeDescriptors(); + featureMatching(); + poseEstimationPnP();//位置估计 加入非线性优化算法 + if ( checkEstimatedPose() == true ) // a good estimation + { + curr_->T_c_w_ = T_c_r_estimated_ * ref_->T_c_w_; // T_c_w = T_c_r*T_r_w + ref_ = curr_; + setRef3DPoints(); + num_lost_ = 0; + if ( checkKeyFrame() == true ) // is a key-frame + { + addKeyFrame(); + } + } + else // bad estimation due to various reasons + { + num_lost_++; + if ( num_lost_ > max_num_lost_ ) + { + state_ = LOST; + } + return false; + } + break; + } + case LOST: + { + cout<<"vo has lost."<detect ( curr_->color_, keypoints_curr_ ); + cout<<"extract keypoints cost time: "<compute ( curr_->color_, keypoints_curr_, descriptors_curr_ ); + cout<<"descriptor computation cost time: "< matches; + matcher_flann_.match( descriptors_ref_, descriptors_curr_, matches ); + // select the best matches + float min_dis = std::min_element ( + matches.begin(), matches.end(), + [] ( const cv::DMatch& m1, const cv::DMatch& m2 ) + { + return m1.distance < m2.distance; + } )->distance; + + feature_matches_.clear(); + for ( cv::DMatch& m : matches ) + { + if ( m.distance < max ( min_dis*match_ratio_, 30.0 ) ) + { + feature_matches_.push_back(m); + } + } + cout<<"good matches: "<findDepth(keypoints_curr_[i]); + if ( d > 0) + { + Vector3d p_cam = ref_->camera_->pixel2camera( + Vector2d(keypoints_curr_[i].pt.x, keypoints_curr_[i].pt.y), d + ); + pts_3d_ref_.push_back( cv::Point3f( p_cam(0,0), p_cam(1,0), p_cam(2,0) )); + descriptors_ref_.push_back(descriptors_curr_.row(i)); + } + } +} + +//位置估计 加入非线性优化算法 +void VisualOdometry::poseEstimationPnP() +{ + // construct the 3d 2d observations + vector pts3d; + vector pts2d; + + for ( cv::DMatch m:feature_matches_ ) + { + pts3d.push_back( pts_3d_ref_[m.queryIdx] ); + pts2d.push_back( keypoints_curr_[m.trainIdx].pt ); + } + + Mat K = ( cv::Mat_(3,3)<< + ref_->camera_->fx_, 0, ref_->camera_->cx_, + 0, ref_->camera_->fy_, ref_->camera_->cy_, + 0,0,1 + ); + Mat rvec, tvec, inliers; + cv::solvePnPRansac( pts3d, pts2d, K, Mat(), rvec, tvec, false, 100, 4.0, 0.99, inliers ); + num_inliers_ = inliers.rows; + cout<<"pnp inliers: "<(0,0), rvec.at(1,0), rvec.at(2,0)), + Vector3d( tvec.at(0,0), tvec.at(1,0), tvec.at(2,0)) + ); + + //在上述PNP求解之后加入图优化 + // using bundle adjustment to optimize the pose + typedef g2o::BlockSolver> Block; + Block::LinearSolverType* linearSolver = new g2o::LinearSolverDense(); + Block* solver_ptr = new Block( linearSolver ); + g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( solver_ptr ); + g2o::SparseOptimizer optimizer; + optimizer.setAlgorithm ( solver );//非线性优化器 + + g2o::VertexSE3Expmap* pose = new g2o::VertexSE3Expmap(); + pose->setId ( 0 ); + pose->setEstimate ( g2o::SE3Quat ( + T_c_r_estimated_.rotation_matrix(), + T_c_r_estimated_.translation() + ) ); + optimizer.addVertex ( pose );//加入优化列队 + + // 边 edges + for ( int i=0; i(i,0); + // 3D -> 2D projection + EdgeProjectXYZ2UVPoseOnly* edge = new EdgeProjectXYZ2UVPoseOnly(); + edge->setId(i); + edge->setVertex(0, pose); + edge->camera_ = curr_->camera_.get(); + edge->point_ = Vector3d( pts3d[index].x, pts3d[index].y, pts3d[index].z ); + edge->setMeasurement( Vector2d(pts2d[index].x, pts2d[index].y) ); + edge->setInformation( Eigen::Matrix2d::Identity() ); + optimizer.addEdge( edge );//添加边 + } + + optimizer.initializeOptimization();//初始化优化器 + optimizer.optimize(10);//执行10次优化 + + T_c_r_estimated_ = SE3 ( + pose->estimate().rotation(), + pose->estimate().translation() + ); +} +//检查估计的位姿 +bool VisualOdometry::checkEstimatedPose() +{ + // check if the estimated pose is good + if ( num_inliers_ < min_inliers_ ) + { + cout<<"reject because inlier is too small: "< 5.0 ) + { + cout<<"reject because motion is too large: "<(); + Vector3d rot = d.tail<3>(); + if ( rot.norm() >key_frame_min_rot || trans.norm() >key_frame_min_trans ) + return true; + return false; +} + +void VisualOdometry::addKeyFrame() +{ + cout<<"adding a key-frame"<insertKeyFrame ( curr_ ); +} + +} diff --git a/vSLAM/ch9 project/0.3/test/CMakeLists.txt b/vSLAM/ch9 project/0.3/test/CMakeLists.txt new file mode 100644 index 00000000..241c4599 --- /dev/null +++ b/vSLAM/ch9 project/0.3/test/CMakeLists.txt @@ -0,0 +1,2 @@ +add_executable( run_vo run_vo.cpp ) +target_link_libraries( run_vo myslam ) \ No newline at end of file diff --git a/vSLAM/ch9 project/0.3/test/run_vo.cpp b/vSLAM/ch9 project/0.3/test/run_vo.cpp new file mode 100644 index 00000000..8fe65c39 --- /dev/null +++ b/vSLAM/ch9 project/0.3/test/run_vo.cpp @@ -0,0 +1,100 @@ +// -------------- test the visual odometry ------------- +#include +#include +#include +#include +#include + +#include "myslam/config.h" +#include "myslam/visual_odometry.h" + +int main ( int argc, char** argv ) +{ + if ( argc != 2 ) + { + cout<<"usage: run_vo parameter_file"< ( "dataset_dir" ); + cout<<"dataset: "< rgb_files, depth_files; + vector rgb_times, depth_times; + while ( !fin.eof() )//读取数据集列表 + { + string rgb_time, rgb_file, depth_time, depth_file; + fin>>rgb_time>>rgb_file>>depth_time>>depth_file; + rgb_times.push_back ( atof ( rgb_time.c_str() ) ); + depth_times.push_back ( atof ( depth_time.c_str() ) ); + rgb_files.push_back ( dataset_dir+"/"+rgb_file ); + depth_files.push_back ( dataset_dir+"/"+depth_file ); + + if ( fin.good() == false ) + break; + } + + myslam::Camera::Ptr camera ( new myslam::Camera ); + + // visualization 可视化 + cv::viz::Viz3d vis("Visual Odometry"); + cv::viz::WCoordinateSystem world_coor(1.0), camera_coor(0.5); + cv::Point3d cam_pos( 0, -1.0, -1.0 ), cam_focal_point(0,0,0), cam_y_dir(0,1,0); + cv::Affine3d cam_pose = cv::viz::makeCameraPose( cam_pos, cam_focal_point, cam_y_dir ); + vis.setViewerPose( cam_pose ); + + world_coor.setRenderingProperty(cv::viz::LINE_WIDTH, 2.0); + camera_coor.setRenderingProperty(cv::viz::LINE_WIDTH, 1.0); + vis.showWidget( "World", world_coor ); + vis.showWidget( "Camera", camera_coor ); + + cout<<"read total "<camera_ = camera; + pFrame->color_ = color; + pFrame->depth_ = depth; + pFrame->time_stamp_ = rgb_times[i]; + + boost::timer timer; + vo->addFrame ( pFrame ); + cout<<"VO costs time: "<state_ == myslam::VisualOdometry::LOST ) + break; + SE3 Tcw = pFrame->T_c_w_.inverse(); + + // show the map and the camera pose 照相机位姿 + cv::Affine3d M(//相机位姿 + cv::Affine3d::Mat3( + Tcw.rotation_matrix()(0,0), Tcw.rotation_matrix()(0,1), Tcw.rotation_matrix()(0,2), + Tcw.rotation_matrix()(1,0), Tcw.rotation_matrix()(1,1), Tcw.rotation_matrix()(1,2), + Tcw.rotation_matrix()(2,0), Tcw.rotation_matrix()(2,1), Tcw.rotation_matrix()(2,2) + ), + cv::Affine3d::Vec3( + Tcw.translation()(0,0), Tcw.translation()(1,0), Tcw.translation()(2,0) + ) + ); + cv::imshow("image", color );//显示图片 + //cv::waitKey(1); + cv::waitKey(0); + vis.setWidgetPose( "Camera", M);//显示相机位姿 + vis.spinOnce(1, false); + } + + return 0; +} diff --git a/vSLAM/ch9 project/0.4/.kdev4/0.4.kdev4 b/vSLAM/ch9 project/0.4/.kdev4/0.4.kdev4 new file mode 100644 index 00000000..2caefcc1 --- /dev/null +++ b/vSLAM/ch9 project/0.4/.kdev4/0.4.kdev4 @@ -0,0 +1,39 @@ +[Buildset] +BuildItems=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x01\x00\x00\x00\x06\x000\x00.\x004) + +[CMake] +Build Directory Count=1 +Current Build Directory Index=0 +ProjectRootRelative=./ + +[CMake][CMake Build Directory 0] +Build Directory Path=file:///home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9%20project/0.4/build +Build Type=Debug +CMake Binary=file:///usr/bin/cmake +Environment Profile= +Extra Arguments= +Install Directory=file:///usr/local + +[Launch] +Launch Configurations=Launch Configuration 0 + +[Launch][Launch Configuration 0] +Configured Launch Modes=execute +Configured Launchers=nativeAppLauncher +Name=run_vo +Type=Native Application + +[Launch][Launch Configuration 0][Data] +Arguments=../config/default.yaml +Dependencies=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x03\x00\x00\x00\x06\x000\x00.\x004\x00\x00\x00\x08\x00t\x00e\x00s\x00t\x00\x00\x00\x0c\x00r\x00u\x00n\x00_\x00v\x00o) +Dependency Action=Nothing +EnvironmentGroup=default +Executable=file:///home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9%20project/0.4/bin/run_vo +External Terminal=konsole --noclose --workdir %workdir -e %exe +Project Target=0.4,test,run_vo +Use External Terminal=false +Working Directory= +isExecutable=true + +[Project] +VersionControlSupport=kdevgit diff --git a/vSLAM/ch9 project/0.4/0.4.kdev4 b/vSLAM/ch9 project/0.4/0.4.kdev4 new file mode 100644 index 00000000..a20c9216 --- /dev/null +++ b/vSLAM/ch9 project/0.4/0.4.kdev4 @@ -0,0 +1,3 @@ +[Project] +Manager=KDevCMakeManager +Name=0.4 diff --git a/vSLAM/ch9 project/0.4/CMakeLists.txt b/vSLAM/ch9 project/0.4/CMakeLists.txt new file mode 100644 index 00000000..2f91c5f9 --- /dev/null +++ b/vSLAM/ch9 project/0.4/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required( VERSION 2.8 ) +project ( myslam ) + +set( CMAKE_CXX_COMPILER "g++" ) +set( CMAKE_BUILD_TYPE "Release" ) +set( CMAKE_CXX_FLAGS "-std=c++11 -march=native -O3" ) + +list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules ) +set( EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin ) +set( LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib ) + +############### dependencies ###################### +# Eigen +include_directories( "/usr/include/eigen3" ) +# OpenCV +find_package( OpenCV 3.1 REQUIRED ) +include_directories( ${OpenCV_INCLUDE_DIRS} ) +# Sophus +find_package( Sophus REQUIRED ) +include_directories( ${Sophus_INCLUDE_DIRS} ) +# G2O +find_package( G2O REQUIRED ) +include_directories( ${G2O_INCLUDE_DIRS} ) + +set( THIRD_PARTY_LIBS + ${OpenCV_LIBS} + ${Sophus_LIBRARIES} + g2o_core g2o_stuff g2o_types_sba +) +############### dependencies ###################### +include_directories( ${PROJECT_SOURCE_DIR}/include ) +add_subdirectory( src ) +add_subdirectory( test ) \ No newline at end of file diff --git a/vSLAM/ch9 project/0.4/bin/run_vo b/vSLAM/ch9 project/0.4/bin/run_vo new file mode 100755 index 00000000..f61e53aa Binary files /dev/null and b/vSLAM/ch9 project/0.4/bin/run_vo differ diff --git a/vSLAM/ch9 project/0.4/build/CMakeCache.txt b/vSLAM/ch9 project/0.4/build/CMakeCache.txt new file mode 100644 index 00000000..959f4c2f --- /dev/null +++ b/vSLAM/ch9 project/0.4/build/CMakeCache.txt @@ -0,0 +1,455 @@ +# This is the CMakeCache file. +# For build in directory: /home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.4/build +# It was generated by CMake: /usr/bin/cmake +# You can 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Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" + +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# define ARCHITECTURE_ID "ARM" + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. 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rebuild_cache" + @echo "... run_vo" + @echo "... run_vo.o" + @echo "... run_vo.i" + @echo "... run_vo.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd "/home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch9 project/0.4/build" && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/vSLAM/ch9 project/0.4/build/test/cmake_install.cmake b/vSLAM/ch9 project/0.4/build/test/cmake_install.cmake new file mode 100644 index 00000000..ccf6b68f --- /dev/null +++ b/vSLAM/ch9 project/0.4/build/test/cmake_install.cmake @@ -0,0 +1,34 @@ +# Install script for directory: 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shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + diff --git a/vSLAM/ch9 project/0.4/cmake_modules/FindCSparse.cmake b/vSLAM/ch9 project/0.4/cmake_modules/FindCSparse.cmake new file mode 100644 index 00000000..f31df8de --- /dev/null +++ b/vSLAM/ch9 project/0.4/cmake_modules/FindCSparse.cmake @@ -0,0 +1,25 @@ +# Look for csparse; note the difference in the directory specifications! +FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h + PATHS + /usr/include/suitesparse + /usr/include + /opt/local/include + /usr/local/include + /sw/include + /usr/include/ufsparse + /opt/local/include/ufsparse + /usr/local/include/ufsparse + /sw/include/ufsparse + ) + +FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse + PATHS + /usr/lib + /usr/local/lib + /opt/local/lib + /sw/lib + ) + +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(CSPARSE DEFAULT_MSG + CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY) diff --git a/vSLAM/ch9 project/0.4/cmake_modules/FindG2O.cmake b/vSLAM/ch9 project/0.4/cmake_modules/FindG2O.cmake new file mode 100644 index 00000000..655600fb --- /dev/null +++ b/vSLAM/ch9 project/0.4/cmake_modules/FindG2O.cmake @@ -0,0 +1,113 @@ +# Find the header files + +FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h + ${G2O_ROOT}/include + $ENV{G2O_ROOT}/include + $ENV{G2O_ROOT} + /usr/local/include + /usr/include + /opt/local/include + /sw/local/include + /sw/include + NO_DEFAULT_PATH + ) + +# Macro to unify finding both the debug and release versions of the +# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY +# macro. + +MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME) + + FIND_LIBRARY("${MYLIBRARY}_DEBUG" + NAMES "g2o_${MYLIBRARYNAME}_d" + PATHS + ${G2O_ROOT}/lib/Debug + ${G2O_ROOT}/lib + $ENV{G2O_ROOT}/lib/Debug + $ENV{G2O_ROOT}/lib + NO_DEFAULT_PATH + ) + + FIND_LIBRARY("${MYLIBRARY}_DEBUG" + NAMES "g2o_${MYLIBRARYNAME}_d" + PATHS + ~/Library/Frameworks + /Library/Frameworks + /usr/local/lib + /usr/local/lib64 + /usr/lib + /usr/lib64 + /opt/local/lib + /sw/local/lib + /sw/lib + ) + + FIND_LIBRARY(${MYLIBRARY} + NAMES "g2o_${MYLIBRARYNAME}" + PATHS + ${G2O_ROOT}/lib/Release + ${G2O_ROOT}/lib + $ENV{G2O_ROOT}/lib/Release + $ENV{G2O_ROOT}/lib + NO_DEFAULT_PATH + ) + + FIND_LIBRARY(${MYLIBRARY} + NAMES "g2o_${MYLIBRARYNAME}" + PATHS + ~/Library/Frameworks + /Library/Frameworks + /usr/local/lib + /usr/local/lib64 + /usr/lib + /usr/lib64 + /opt/local/lib + /sw/local/lib + /sw/lib + ) + + IF(NOT ${MYLIBRARY}_DEBUG) + IF(MYLIBRARY) + SET(${MYLIBRARY}_DEBUG ${MYLIBRARY}) + ENDIF(MYLIBRARY) + ENDIF( NOT ${MYLIBRARY}_DEBUG) + +ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME) + +# Find the core elements +FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff) +FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core) + +# Find the CLI library +FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli) + +# Find the pluggable solvers +FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod) +FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse) +FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension) +FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense) +FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg) +FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear) +FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only) +FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen) + +# Find the predefined types +FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data) +FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp) +FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba) +FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d) +FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3) +FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d) +FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d) + +# G2O solvers declared found if we found at least one solver +SET(G2O_SOLVERS_FOUND "NO") +IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN) + SET(G2O_SOLVERS_FOUND "YES") +ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN) + +# G2O itself declared found if we found the core libraries and at least one solver +SET(G2O_FOUND "NO") +IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) + SET(G2O_FOUND "YES") +ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) diff --git a/vSLAM/ch9 project/0.4/config/default.yaml b/vSLAM/ch9 project/0.4/config/default.yaml new file mode 100644 index 00000000..7b75244a --- /dev/null +++ b/vSLAM/ch9 project/0.4/config/default.yaml @@ -0,0 +1,30 @@ +%YAML:1.0 +# data +# the tum dataset directory, change it to yours! +dataset_dir: /home/ewenwan/ewenwan/learn/vSLAM/test/vSLAM/ch8/data + +# camera intrinsics +# fr1 +camera.fx: 517.3 +camera.fy: 516.5 +camera.cx: 325.1 +camera.cy: 249.7 + +# fr2 +#camera.fx: 520.9 +#camera.fy: 521.0 +#camera.cx: 325.1 +#camera.cy: 249.7 + +camera.depth_scale: 5000 + +# VO Parameters +number_of_features: 500 +scale_factor: 1.2 +level_pyramid: 4 +match_ratio: 2.0 +max_num_lost: 10 +min_inliers: 30 +keyframe_rotation: 0.1 +keyframe_translation: 0.1 +map_point_erase_ratio: 0.1 diff --git a/vSLAM/ch9 project/0.4/include/myslam/camera.h b/vSLAM/ch9 project/0.4/include/myslam/camera.h new file mode 100644 index 00000000..bace0652 --- /dev/null +++ b/vSLAM/ch9 project/0.4/include/myslam/camera.h @@ -0,0 +1,51 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef CAMERA_H +#define CAMERA_H + +#include "myslam/common_include.h" + +namespace myslam +{ + +// Pinhole RGBD camera model +class Camera +{ +public: + typedef std::shared_ptr Ptr; + float fx_, fy_, cx_, cy_, depth_scale_; + + Camera(); + Camera ( float fx, float fy, float cx, float cy, float depth_scale=0 ) : + fx_ ( fx ), fy_ ( fy ), cx_ ( cx ), cy_ ( cy ), depth_scale_ ( depth_scale ) + {} + + // coordinate transform: world, camera, pixel + Vector3d world2camera( const Vector3d& p_w, const SE3& T_c_w ); + Vector3d camera2world( const Vector3d& p_c, const SE3& T_c_w ); + Vector2d camera2pixel( const Vector3d& p_c ); + Vector3d pixel2camera( const Vector2d& p_p, double depth=1 ); + Vector3d pixel2world ( const Vector2d& p_p, const SE3& T_c_w, double depth=1 ); + Vector2d world2pixel ( const Vector3d& p_w, const SE3& T_c_w ); + +}; + +} +#endif // CAMERA_H diff --git a/vSLAM/ch9 project/0.4/include/myslam/common_include.h b/vSLAM/ch9 project/0.4/include/myslam/common_include.h new file mode 100644 index 00000000..a8f7e4cd --- /dev/null +++ b/vSLAM/ch9 project/0.4/include/myslam/common_include.h @@ -0,0 +1,52 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + + +#ifndef COMMON_INCLUDE_H +#define COMMON_INCLUDE_H + +// define the commonly included file to avoid a long include list +// for Eigen +#include +#include +using Eigen::Vector2d; +using Eigen::Vector3d; + +// for Sophus +#include +#include +using Sophus::SO3; +using Sophus::SE3; + +// for cv +#include +using cv::Mat; + +// std +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +#endif \ No newline at end of file diff --git a/vSLAM/ch9 project/0.4/include/myslam/config.h b/vSLAM/ch9 project/0.4/include/myslam/config.h new file mode 100644 index 00000000..f5c7b452 --- /dev/null +++ b/vSLAM/ch9 project/0.4/include/myslam/config.h @@ -0,0 +1,49 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef CONFIG_H +#define CONFIG_H + +#include "myslam/common_include.h" + +namespace myslam +{ +class Config +{ +private: + static std::shared_ptr config_; + cv::FileStorage file_; + + Config () {} // private constructor makes a singleton +public: + ~Config(); // close the file when deconstructing + + // set a new config file + static void setParameterFile( const std::string& filename ); + + // access the parameter values + template< typename T > + static T get( const std::string& key ) + { + return T( Config::config_->file_[key] ); + } +}; +} + +#endif // CONFIG_H diff --git a/vSLAM/ch9 project/0.4/include/myslam/frame.h b/vSLAM/ch9 project/0.4/include/myslam/frame.h new file mode 100644 index 00000000..e0d4ce48 --- /dev/null +++ b/vSLAM/ch9 project/0.4/include/myslam/frame.h @@ -0,0 +1,65 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef FRAME_H +#define FRAME_H + +#include "myslam/common_include.h" +#include "myslam/camera.h" + +namespace myslam +{ + +// forward declare +class MapPoint; +class Frame +{ +public: + typedef std::shared_ptr Ptr; + unsigned long id_; // id of this frame + double time_stamp_; // when it is recorded + SE3 T_c_w_; // transform from world to camera + Camera::Ptr camera_; // Pinhole RGBD Camera model + Mat color_, depth_; // color and depth image + // std::vector keypoints_; // key points in image + // std::vector map_points_; // associated map points + bool is_key_frame_; // whether a key-frame + +public: // data members + Frame(); + Frame( long id, double time_stamp=0, SE3 T_c_w=SE3(), Camera::Ptr camera=nullptr, Mat color=Mat(), Mat depth=Mat() ); + ~Frame(); + + static Frame::Ptr createFrame(); + + // find the depth in depth map + double findDepth( const cv::KeyPoint& kp ); + + // Get Camera Center + Vector3d getCamCenter() const; + + void setPose( const SE3& T_c_w ); + + // check if a point is in this frame + bool isInFrame( const Vector3d& pt_world ); +}; + +} + +#endif // FRAME_H diff --git a/vSLAM/ch9 project/0.4/include/myslam/g2o_types.h b/vSLAM/ch9 project/0.4/include/myslam/g2o_types.h new file mode 100644 index 00000000..aacbcf64 --- /dev/null +++ b/vSLAM/ch9 project/0.4/include/myslam/g2o_types.h @@ -0,0 +1,81 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef MYSLAM_G2O_TYPES_H +#define MYSLAM_G2O_TYPES_H + +#include "myslam/common_include.h" +#include "camera.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace myslam +{ +class EdgeProjectXYZRGBD : public g2o::BaseBinaryEdge<3, Eigen::Vector3d, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap> +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW; + virtual void computeError(); + virtual void linearizeOplus(); + virtual bool read( std::istream& in ){} + virtual bool write( std::ostream& out) const {} + +}; + +// only to optimize the pose, no point +class EdgeProjectXYZRGBDPoseOnly: public g2o::BaseUnaryEdge<3, Eigen::Vector3d, g2o::VertexSE3Expmap > +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + // Error: measure = R*point+t + virtual void computeError(); + virtual void linearizeOplus(); + + virtual bool read( std::istream& in ){} + virtual bool write( std::ostream& out) const {} + + Vector3d point_; +}; + +class EdgeProjectXYZ2UVPoseOnly: public g2o::BaseUnaryEdge<2, Eigen::Vector2d, g2o::VertexSE3Expmap > +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + virtual void computeError(); + virtual void linearizeOplus(); + + virtual bool read( std::istream& in ){} + virtual bool write(std::ostream& os) const {}; + + Vector3d point_; + Camera* camera_; +}; + +} + + +#endif // MYSLAM_G2O_TYPES_H diff --git a/vSLAM/ch9 project/0.4/include/myslam/map.h b/vSLAM/ch9 project/0.4/include/myslam/map.h new file mode 100644 index 00000000..f37547ca --- /dev/null +++ b/vSLAM/ch9 project/0.4/include/myslam/map.h @@ -0,0 +1,43 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef MAP_H +#define MAP_H + +#include "myslam/common_include.h" +#include "myslam/frame.h" +#include "myslam/mappoint.h" + +namespace myslam +{ +class Map +{ +public: + typedef shared_ptr Ptr; + unordered_map map_points_; // all landmarks + unordered_map keyframes_; // all key-frames + + Map() {} + + void insertKeyFrame( Frame::Ptr frame ); + void insertMapPoint( MapPoint::Ptr map_point ); +}; +} + +#endif // MAP_H diff --git a/vSLAM/ch9 project/0.4/include/myslam/mappoint.h b/vSLAM/ch9 project/0.4/include/myslam/mappoint.h new file mode 100644 index 00000000..3429b141 --- /dev/null +++ b/vSLAM/ch9 project/0.4/include/myslam/mappoint.h @@ -0,0 +1,67 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef MAPPOINT_H +#define MAPPOINT_H + +#include "myslam/common_include.h" + +namespace myslam +{ + +class Frame; +class MapPoint +{ +public: + typedef shared_ptr Ptr; + unsigned long id_; // ID + static unsigned long factory_id_; // factory id + bool good_; // wheter a good point + Vector3d pos_; // Position in world + Vector3d norm_; // Normal of viewing direction + Mat descriptor_; // Descriptor for matching + + list observed_frames_; // key-frames that can observe this point + + int matched_times_; // being an inliner in pose estimation + int visible_times_; // being visible in current frame + + MapPoint(); + MapPoint( + unsigned long id, + const Vector3d& position, + const Vector3d& norm, + Frame* frame=nullptr, + const Mat& descriptor=Mat() + ); + + inline cv::Point3f getPositionCV() const { + return cv::Point3f( pos_(0,0), pos_(1,0), pos_(2,0) ); + } + + static MapPoint::Ptr createMapPoint(); + static MapPoint::Ptr createMapPoint( + const Vector3d& pos_world, + const Vector3d& norm_, + const Mat& descriptor, + Frame* frame ); +}; +} + +#endif // MAPPOINT_H diff --git a/vSLAM/ch9 project/0.4/include/myslam/visual_odometry.h b/vSLAM/ch9 project/0.4/include/myslam/visual_odometry.h new file mode 100644 index 00000000..355fe56a --- /dev/null +++ b/vSLAM/ch9 project/0.4/include/myslam/visual_odometry.h @@ -0,0 +1,93 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifndef VISUALODOMETRY_H +#define VISUALODOMETRY_H + +#include "myslam/common_include.h" +#include "myslam/map.h" + +#include + +namespace myslam +{ +class VisualOdometry +{ +public: + typedef shared_ptr Ptr; + enum VOState { + INITIALIZING=-1, + OK=0, + LOST + }; + + VOState state_; // current VO status + Map::Ptr map_; // map with all frames and map points + + Frame::Ptr ref_; // reference key-frame + Frame::Ptr curr_; // current frame + + cv::Ptr orb_; // orb detector and computer + vector keypoints_curr_; // keypoints in current frame + Mat descriptors_curr_; // descriptor in current frame + + cv::FlannBasedMatcher matcher_flann_; // flann matcher + vector match_3dpts_; // matched 3d points + vector match_2dkp_index_; // matched 2d pixels (index of kp_curr) + + SE3 T_c_w_estimated_; // the estimated pose of current frame + int num_inliers_; // number of inlier features in icp + int num_lost_; // number of lost times + + // parameters + int num_of_features_; // number of features + double scale_factor_; // scale in image pyramid + int level_pyramid_; // number of pyramid levels + float match_ratio_; // ratio for selecting good matches + int max_num_lost_; // max number of continuous lost times + int min_inliers_; // minimum inliers + double key_frame_min_rot; // minimal rotation of two key-frames + double key_frame_min_trans; // minimal translation of two key-frames + double map_point_erase_ratio_; // remove map point ratio + +public: // functions + VisualOdometry(); + ~VisualOdometry(); + + bool addFrame( Frame::Ptr frame ); // add a new frame + +protected: + // inner operation + void extractKeyPoints(); + void computeDescriptors(); + void featureMatching(); + void poseEstimationPnP(); + void optimizeMap(); + + void addKeyFrame(); + void addMapPoints(); + bool checkEstimatedPose(); + bool checkKeyFrame(); + + double getViewAngle( Frame::Ptr frame, MapPoint::Ptr point ); + +}; +} + +#endif // VISUALODOMETRY_H diff --git a/vSLAM/ch9 project/0.4/lib/liblibmyslam.a b/vSLAM/ch9 project/0.4/lib/liblibmyslam.a new file mode 100644 index 00000000..46f62f98 Binary files /dev/null and b/vSLAM/ch9 project/0.4/lib/liblibmyslam.a differ diff --git a/vSLAM/ch9 project/0.4/lib/libmyslam.so b/vSLAM/ch9 project/0.4/lib/libmyslam.so new file mode 100755 index 00000000..d52d1750 Binary files /dev/null and b/vSLAM/ch9 project/0.4/lib/libmyslam.so differ diff --git a/vSLAM/ch9 project/0.4/src/CMakeLists.txt b/vSLAM/ch9 project/0.4/src/CMakeLists.txt new file mode 100644 index 00000000..07355f17 --- /dev/null +++ b/vSLAM/ch9 project/0.4/src/CMakeLists.txt @@ -0,0 +1,13 @@ +add_library( myslam SHARED + frame.cpp + mappoint.cpp + map.cpp + camera.cpp + config.cpp + g2o_types.cpp + visual_odometry.cpp +) + +target_link_libraries( myslam + ${THIRD_PARTY_LIBS} +) \ No newline at end of file diff --git a/vSLAM/ch9 project/0.4/src/camera.cpp b/vSLAM/ch9 project/0.4/src/camera.cpp new file mode 100644 index 00000000..d79d63eb --- /dev/null +++ b/vSLAM/ch9 project/0.4/src/camera.cpp @@ -0,0 +1,73 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/camera.h" +#include + +namespace myslam +{ + +Camera::Camera() +{ + fx_ = Config::get("camera.fx"); + fy_ = Config::get("camera.fy"); + cx_ = Config::get("camera.cx"); + cy_ = Config::get("camera.cy"); + depth_scale_ = Config::get("camera.depth_scale"); +} + +Vector3d Camera::world2camera ( const Vector3d& p_w, const SE3& T_c_w ) +{ + return T_c_w*p_w; +} + +Vector3d Camera::camera2world ( const Vector3d& p_c, const SE3& T_c_w ) +{ + return T_c_w.inverse() *p_c; +} + +Vector2d Camera::camera2pixel ( const Vector3d& p_c ) +{ + return Vector2d ( + fx_ * p_c ( 0,0 ) / p_c ( 2,0 ) + cx_, + fy_ * p_c ( 1,0 ) / p_c ( 2,0 ) + cy_ + ); +} + +Vector3d Camera::pixel2camera ( const Vector2d& p_p, double depth ) +{ + return Vector3d ( + ( p_p ( 0,0 )-cx_ ) *depth/fx_, + ( p_p ( 1,0 )-cy_ ) *depth/fy_, + depth + ); +} + +Vector2d Camera::world2pixel ( const Vector3d& p_w, const SE3& T_c_w ) +{ + return camera2pixel ( world2camera(p_w, T_c_w) ); +} + +Vector3d Camera::pixel2world ( const Vector2d& p_p, const SE3& T_c_w, double depth ) +{ + return camera2world ( pixel2camera ( p_p, depth ), T_c_w ); +} + + +} diff --git a/vSLAM/ch9 project/0.4/src/config.cpp b/vSLAM/ch9 project/0.4/src/config.cpp new file mode 100644 index 00000000..9817d8d5 --- /dev/null +++ b/vSLAM/ch9 project/0.4/src/config.cpp @@ -0,0 +1,46 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/config.h" + +namespace myslam +{ + +void Config::setParameterFile( const std::string& filename ) +{ + if ( config_ == nullptr ) + config_ = shared_ptr(new Config); + config_->file_ = cv::FileStorage( filename.c_str(), cv::FileStorage::READ ); + if ( config_->file_.isOpened() == false ) + { + std::cerr<<"parameter file "<file_.release(); + return; + } +} + +Config::~Config() +{ + if ( file_.isOpened() ) + file_.release(); +} + +shared_ptr Config::config_ = nullptr; + +} diff --git a/vSLAM/ch9 project/0.4/src/frame.cpp b/vSLAM/ch9 project/0.4/src/frame.cpp new file mode 100644 index 00000000..c0c118c9 --- /dev/null +++ b/vSLAM/ch9 project/0.4/src/frame.cpp @@ -0,0 +1,96 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/frame.h" + +namespace myslam +{ +Frame::Frame() +: id_(-1), time_stamp_(-1), camera_(nullptr), is_key_frame_(false) +{ + +} + +Frame::Frame ( long id, double time_stamp, SE3 T_c_w, Camera::Ptr camera, Mat color, Mat depth ) +: id_(id), time_stamp_(time_stamp), T_c_w_(T_c_w), camera_(camera), color_(color), depth_(depth), is_key_frame_(false) +{ + +} + +Frame::~Frame() +{ + +} + +Frame::Ptr Frame::createFrame() +{ + static long factory_id = 0; + return Frame::Ptr( new Frame(factory_id++) ); +} + +double Frame::findDepth ( const cv::KeyPoint& kp ) +{ + int x = cvRound(kp.pt.x); + int y = cvRound(kp.pt.y); + ushort d = depth_.ptr(y)[x]; + if ( d!=0 ) + { + return double(d)/camera_->depth_scale_; + } + else + { + // check the nearby points + int dx[4] = {-1,0,1,0}; + int dy[4] = {0,-1,0,1}; + for ( int i=0; i<4; i++ ) + { + d = depth_.ptr( y+dy[i] )[x+dx[i]]; + if ( d!=0 ) + { + return double(d)/camera_->depth_scale_; + } + } + } + return -1.0; +} + +void Frame::setPose ( const SE3& T_c_w ) +{ + T_c_w_ = T_c_w; +} + + +Vector3d Frame::getCamCenter() const +{ + return T_c_w_.inverse().translation(); +} + +bool Frame::isInFrame ( const Vector3d& pt_world ) +{ + Vector3d p_cam = camera_->world2camera( pt_world, T_c_w_ ); + // cout<<"P_cam = "<world2pixel( pt_world, T_c_w_ ); + // cout<<"P_pixel = "<0 && pixel(1,0)>0 + && pixel(0,0) ( _vertices[0] ); + const g2o::VertexSE3Expmap* pose = static_cast ( _vertices[1] ); + _error = _measurement - pose->estimate().map ( point->estimate() ); +} + +void EdgeProjectXYZRGBD::linearizeOplus() +{ + g2o::VertexSE3Expmap* pose = static_cast ( _vertices[1] ); + g2o::SE3Quat T ( pose->estimate() ); + g2o::VertexSBAPointXYZ* point = static_cast ( _vertices[0] ); + Eigen::Vector3d xyz = point->estimate(); + Eigen::Vector3d xyz_trans = T.map ( xyz ); + double x = xyz_trans[0]; + double y = xyz_trans[1]; + double z = xyz_trans[2]; + + _jacobianOplusXi = - T.rotation().toRotationMatrix(); + + _jacobianOplusXj ( 0,0 ) = 0; + _jacobianOplusXj ( 0,1 ) = -z; + _jacobianOplusXj ( 0,2 ) = y; + _jacobianOplusXj ( 0,3 ) = -1; + _jacobianOplusXj ( 0,4 ) = 0; + _jacobianOplusXj ( 0,5 ) = 0; + + _jacobianOplusXj ( 1,0 ) = z; + _jacobianOplusXj ( 1,1 ) = 0; + _jacobianOplusXj ( 1,2 ) = -x; + _jacobianOplusXj ( 1,3 ) = 0; + _jacobianOplusXj ( 1,4 ) = -1; + _jacobianOplusXj ( 1,5 ) = 0; + + _jacobianOplusXj ( 2,0 ) = -y; + _jacobianOplusXj ( 2,1 ) = x; + _jacobianOplusXj ( 2,2 ) = 0; + _jacobianOplusXj ( 2,3 ) = 0; + _jacobianOplusXj ( 2,4 ) = 0; + _jacobianOplusXj ( 2,5 ) = -1; +} + +void EdgeProjectXYZRGBDPoseOnly::computeError() +{ + const g2o::VertexSE3Expmap* pose = static_cast ( _vertices[0] ); + _error = _measurement - pose->estimate().map ( point_ ); +} + +void EdgeProjectXYZRGBDPoseOnly::linearizeOplus() +{ + g2o::VertexSE3Expmap* pose = static_cast ( _vertices[0] ); + g2o::SE3Quat T ( pose->estimate() ); + Vector3d xyz_trans = T.map ( point_ ); + double x = xyz_trans[0]; + double y = xyz_trans[1]; + double z = xyz_trans[2]; + + _jacobianOplusXi ( 0,0 ) = 0; + _jacobianOplusXi ( 0,1 ) = -z; + _jacobianOplusXi ( 0,2 ) = y; + _jacobianOplusXi ( 0,3 ) = -1; + _jacobianOplusXi ( 0,4 ) = 0; + _jacobianOplusXi ( 0,5 ) = 0; + + _jacobianOplusXi ( 1,0 ) = z; + _jacobianOplusXi ( 1,1 ) = 0; + _jacobianOplusXi ( 1,2 ) = -x; + _jacobianOplusXi ( 1,3 ) = 0; + _jacobianOplusXi ( 1,4 ) = -1; + _jacobianOplusXi ( 1,5 ) = 0; + + _jacobianOplusXi ( 2,0 ) = -y; + _jacobianOplusXi ( 2,1 ) = x; + _jacobianOplusXi ( 2,2 ) = 0; + _jacobianOplusXi ( 2,3 ) = 0; + _jacobianOplusXi ( 2,4 ) = 0; + _jacobianOplusXi ( 2,5 ) = -1; +} + +void EdgeProjectXYZ2UVPoseOnly::computeError() +{ + const g2o::VertexSE3Expmap* pose = static_cast ( _vertices[0] ); + _error = _measurement - camera_->camera2pixel ( + pose->estimate().map(point_) ); +} + +void EdgeProjectXYZ2UVPoseOnly::linearizeOplus() +{ + g2o::VertexSE3Expmap* pose = static_cast ( _vertices[0] ); + g2o::SE3Quat T ( pose->estimate() ); + Vector3d xyz_trans = T.map ( point_ ); + double x = xyz_trans[0]; + double y = xyz_trans[1]; + double z = xyz_trans[2]; + double z_2 = z*z; + + _jacobianOplusXi ( 0,0 ) = x*y/z_2 *camera_->fx_; + _jacobianOplusXi ( 0,1 ) = - ( 1+ ( x*x/z_2 ) ) *camera_->fx_; + _jacobianOplusXi ( 0,2 ) = y/z * camera_->fx_; + _jacobianOplusXi ( 0,3 ) = -1./z * camera_->fx_; + _jacobianOplusXi ( 0,4 ) = 0; + _jacobianOplusXi ( 0,5 ) = x/z_2 * camera_->fx_; + + _jacobianOplusXi ( 1,0 ) = ( 1+y*y/z_2 ) *camera_->fy_; + _jacobianOplusXi ( 1,1 ) = -x*y/z_2 *camera_->fy_; + _jacobianOplusXi ( 1,2 ) = -x/z *camera_->fy_; + _jacobianOplusXi ( 1,3 ) = 0; + _jacobianOplusXi ( 1,4 ) = -1./z *camera_->fy_; + _jacobianOplusXi ( 1,5 ) = y/z_2 *camera_->fy_; +} + + +} diff --git a/vSLAM/ch9 project/0.4/src/map.cpp b/vSLAM/ch9 project/0.4/src/map.cpp new file mode 100644 index 00000000..21faca53 --- /dev/null +++ b/vSLAM/ch9 project/0.4/src/map.cpp @@ -0,0 +1,51 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/map.h" + +namespace myslam +{ + +void Map::insertKeyFrame ( Frame::Ptr frame ) +{ + cout<<"Key frame size = "<id_) == keyframes_.end() ) + { + keyframes_.insert( make_pair(frame->id_, frame) ); + } + else + { + keyframes_[ frame->id_ ] = frame; + } +} + +void Map::insertMapPoint ( MapPoint::Ptr map_point ) +{ + if ( map_points_.find(map_point->id_) == map_points_.end() ) + { + map_points_.insert( make_pair(map_point->id_, map_point) ); + } + else + { + map_points_[map_point->id_] = map_point; + } +} + + +} diff --git a/vSLAM/ch9 project/0.4/src/mappoint.cpp b/vSLAM/ch9 project/0.4/src/mappoint.cpp new file mode 100644 index 00000000..a89a18bf --- /dev/null +++ b/vSLAM/ch9 project/0.4/src/mappoint.cpp @@ -0,0 +1,58 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "myslam/common_include.h" +#include "myslam/mappoint.h" + +namespace myslam +{ + +MapPoint::MapPoint() +: id_(-1), pos_(Vector3d(0,0,0)), norm_(Vector3d(0,0,0)), good_(true), visible_times_(0), matched_times_(0) +{ + +} + +MapPoint::MapPoint ( long unsigned int id, const Vector3d& position, const Vector3d& norm, Frame* frame, const Mat& descriptor ) +: id_(id), pos_(position), norm_(norm), good_(true), visible_times_(1), matched_times_(1), descriptor_(descriptor) +{ + observed_frames_.push_back(frame); +} + +MapPoint::Ptr MapPoint::createMapPoint() +{ + return MapPoint::Ptr( + new MapPoint( factory_id_++, Vector3d(0,0,0), Vector3d(0,0,0) ) + ); +} + +MapPoint::Ptr MapPoint::createMapPoint ( + const Vector3d& pos_world, + const Vector3d& norm, + const Mat& descriptor, + Frame* frame ) +{ + return MapPoint::Ptr( + new MapPoint( factory_id_++, pos_world, norm, frame, descriptor ) + ); +} + +unsigned long MapPoint::factory_id_ = 0; + +} diff --git a/vSLAM/ch9 project/0.4/src/visual_odometry.cpp b/vSLAM/ch9 project/0.4/src/visual_odometry.cpp new file mode 100644 index 00000000..9d03b691 --- /dev/null +++ b/vSLAM/ch9 project/0.4/src/visual_odometry.cpp @@ -0,0 +1,367 @@ +/* + * + * Copyright (C) 2016 + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include +#include +#include +#include +#include + +#include "myslam/config.h" +#include "myslam/visual_odometry.h" +#include "myslam/g2o_types.h" + +namespace myslam +{ + +VisualOdometry::VisualOdometry() : + state_ ( INITIALIZING ), ref_ ( nullptr ), curr_ ( nullptr ), map_ ( new Map ), num_lost_ ( 0 ), num_inliers_ ( 0 ), matcher_flann_ ( new cv::flann::LshIndexParams ( 5,10,2 ) ) +{ + num_of_features_ = Config::get ( "number_of_features" ); + scale_factor_ = Config::get ( "scale_factor" ); + level_pyramid_ = Config::get ( "level_pyramid" ); + match_ratio_ = Config::get ( "match_ratio" ); + max_num_lost_ = Config::get ( "max_num_lost" ); + min_inliers_ = Config::get ( "min_inliers" ); + key_frame_min_rot = Config::get ( "keyframe_rotation" ); + key_frame_min_trans = Config::get ( "keyframe_translation" ); + map_point_erase_ratio_ = Config::get ( "map_point_erase_ratio" ); + orb_ = cv::ORB::create ( num_of_features_, scale_factor_, level_pyramid_ ); +} + +VisualOdometry::~VisualOdometry() +{ + +} + +bool VisualOdometry::addFrame ( Frame::Ptr frame ) +{ + switch ( state_ ) + { + case INITIALIZING: + { + state_ = OK; + curr_ = ref_ = frame; + // extract features from first frame and add them into map + extractKeyPoints(); + computeDescriptors(); + addKeyFrame(); // the first frame is a key-frame + break; + } + case OK: + { + curr_ = frame; + curr_->T_c_w_ = ref_->T_c_w_; + extractKeyPoints(); + computeDescriptors(); + featureMatching(); + poseEstimationPnP(); + if ( checkEstimatedPose() == true ) // a good estimation + { + curr_->T_c_w_ = T_c_w_estimated_; + optimizeMap(); + num_lost_ = 0; + if ( checkKeyFrame() == true ) // is a key-frame + { + addKeyFrame(); + } + } + else // bad estimation due to various reasons + { + num_lost_++; + if ( num_lost_ > max_num_lost_ ) + { + state_ = LOST; + } + return false; + } + break; + } + case LOST: + { + cout<<"vo has lost."<detect ( curr_->color_, keypoints_curr_ ); + cout<<"extract keypoints cost time: "<compute ( curr_->color_, keypoints_curr_, descriptors_curr_ ); + cout<<"descriptor computation cost time: "< matches; + // select the candidates in map + Mat desp_map; + vector candidate; + for ( auto& allpoints: map_->map_points_ ) + { + MapPoint::Ptr& p = allpoints.second; + // check if p in curr frame image + if ( curr_->isInFrame(p->pos_) ) + { + // add to candidate + p->visible_times_++; + candidate.push_back( p ); + desp_map.push_back( p->descriptor_ ); + } + } + + matcher_flann_.match ( desp_map, descriptors_curr_, matches ); + // select the best matches + float min_dis = std::min_element ( + matches.begin(), matches.end(), + [] ( const cv::DMatch& m1, const cv::DMatch& m2 ) + { + return m1.distance < m2.distance; + } )->distance; + + match_3dpts_.clear(); + match_2dkp_index_.clear(); + for ( cv::DMatch& m : matches ) + { + if ( m.distance < max ( min_dis*match_ratio_, 30.0 ) ) + { + match_3dpts_.push_back( candidate[m.queryIdx] ); + match_2dkp_index_.push_back( m.trainIdx ); + } + } + cout<<"good matches: "< pts3d; + vector pts2d; + + for ( int index:match_2dkp_index_ ) + { + pts2d.push_back ( keypoints_curr_[index].pt ); + } + for ( MapPoint::Ptr pt:match_3dpts_ ) + { + pts3d.push_back( pt->getPositionCV() ); + } + + Mat K = ( cv::Mat_ ( 3,3 ) << + ref_->camera_->fx_, 0, ref_->camera_->cx_, + 0, ref_->camera_->fy_, ref_->camera_->cy_, + 0,0,1 + ); + Mat rvec, tvec, inliers; + cv::solvePnPRansac ( pts3d, pts2d, K, Mat(), rvec, tvec, false, 100, 4.0, 0.99, inliers ); + num_inliers_ = inliers.rows; + cout<<"pnp inliers: "< ( 0,0 ), rvec.at ( 1,0 ), rvec.at ( 2,0 ) ), + Vector3d ( tvec.at ( 0,0 ), tvec.at ( 1,0 ), tvec.at ( 2,0 ) ) + ); + + // using bundle adjustment to optimize the pose + typedef g2o::BlockSolver> Block; + Block::LinearSolverType* linearSolver = new g2o::LinearSolverDense(); + Block* solver_ptr = new Block ( linearSolver ); + g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( solver_ptr ); + g2o::SparseOptimizer optimizer; + optimizer.setAlgorithm ( solver ); + + g2o::VertexSE3Expmap* pose = new g2o::VertexSE3Expmap(); + pose->setId ( 0 ); + pose->setEstimate ( g2o::SE3Quat ( + T_c_w_estimated_.rotation_matrix(), T_c_w_estimated_.translation() + )); + optimizer.addVertex ( pose ); + + // edges + for ( int i=0; i ( i,0 ); + // 3D -> 2D projection + EdgeProjectXYZ2UVPoseOnly* edge = new EdgeProjectXYZ2UVPoseOnly(); + edge->setId ( i ); + edge->setVertex ( 0, pose ); + edge->camera_ = curr_->camera_.get(); + edge->point_ = Vector3d ( pts3d[index].x, pts3d[index].y, pts3d[index].z ); + edge->setMeasurement ( Vector2d ( pts2d[index].x, pts2d[index].y ) ); + edge->setInformation ( Eigen::Matrix2d::Identity() ); + optimizer.addEdge ( edge ); + // set the inlier map points + match_3dpts_[index]->matched_times_++; + } + + optimizer.initializeOptimization(); + optimizer.optimize ( 10 ); + + T_c_w_estimated_ = SE3 ( + pose->estimate().rotation(), + pose->estimate().translation() + ); + + cout<<"T_c_w_estimated_: "<T_c_w_ * T_c_w_estimated_.inverse(); + Sophus::Vector6d d = T_r_c.log(); + if ( d.norm() > 5.0 ) + { + cout<<"reject because motion is too large: "<T_c_w_ * T_c_w_estimated_.inverse(); + Sophus::Vector6d d = T_r_c.log(); + Vector3d trans = d.head<3>(); + Vector3d rot = d.tail<3>(); + if ( rot.norm() >key_frame_min_rot || trans.norm() >key_frame_min_trans ) + return true; + return false; +} + +void VisualOdometry::addKeyFrame() +{ + if ( map_->keyframes_.empty() ) + { + // first key-frame, add all 3d points into map + for ( size_t i=0; ifindDepth ( keypoints_curr_[i] ); + if ( d < 0 ) + continue; + Vector3d p_world = ref_->camera_->pixel2world ( + Vector2d ( keypoints_curr_[i].pt.x, keypoints_curr_[i].pt.y ), curr_->T_c_w_, d + ); + Vector3d n = p_world - ref_->getCamCenter(); + n.normalize(); + MapPoint::Ptr map_point = MapPoint::createMapPoint( + p_world, n, descriptors_curr_.row(i).clone(), curr_.get() + ); + map_->insertMapPoint( map_point ); + } + } + + map_->insertKeyFrame ( curr_ ); + ref_ = curr_; +} + +void VisualOdometry::addMapPoints() +{ + // add the new map points into map + vector matched(keypoints_curr_.size(), false); + for ( int index:match_2dkp_index_ ) + matched[index] = true; + for ( int i=0; ifindDepth ( keypoints_curr_[i] ); + if ( d<0 ) + continue; + Vector3d p_world = ref_->camera_->pixel2world ( + Vector2d ( keypoints_curr_[i].pt.x, keypoints_curr_[i].pt.y ), + curr_->T_c_w_, d + ); + Vector3d n = p_world - ref_->getCamCenter(); + n.normalize(); + MapPoint::Ptr map_point = MapPoint::createMapPoint( + p_world, n, descriptors_curr_.row(i).clone(), curr_.get() + ); + map_->insertMapPoint( map_point ); + } +} + +void VisualOdometry::optimizeMap() +{ + // remove the hardly seen and no visible points + for ( auto iter = map_->map_points_.begin(); iter != map_->map_points_.end(); ) + { + if ( !curr_->isInFrame(iter->second->pos_) ) + { + iter = map_->map_points_.erase(iter); + continue; + } + float match_ratio = float(iter->second->matched_times_)/iter->second->visible_times_; + if ( match_ratio < map_point_erase_ratio_ ) + { + iter = map_->map_points_.erase(iter); + continue; + } + + double angle = getViewAngle( curr_, iter->second ); + if ( angle > M_PI/6. ) + { + iter = map_->map_points_.erase(iter); + continue; + } + if ( iter->second->good_ == false ) + { + // TODO try triangulate this map point + } + iter++; + } + + if ( match_2dkp_index_.size()<100 ) + addMapPoints(); + if ( map_->map_points_.size() > 1000 ) + { + // TODO map is too large, remove some one + map_point_erase_ratio_ += 0.05; + } + else + map_point_erase_ratio_ = 0.1; + cout<<"map points: "<map_points_.size()<pos_ - frame->getCamCenter(); + n.normalize(); + return acos( n.transpose()*point->norm_ ); +} + + +} diff --git a/vSLAM/ch9 project/0.4/test/CMakeLists.txt b/vSLAM/ch9 project/0.4/test/CMakeLists.txt new file mode 100644 index 00000000..241c4599 --- /dev/null +++ b/vSLAM/ch9 project/0.4/test/CMakeLists.txt @@ -0,0 +1,2 @@ +add_executable( run_vo run_vo.cpp ) +target_link_libraries( run_vo myslam ) \ No newline at end of file diff --git a/vSLAM/ch9 project/0.4/test/run_vo.cpp b/vSLAM/ch9 project/0.4/test/run_vo.cpp new file mode 100644 index 00000000..5fec8fed --- /dev/null +++ b/vSLAM/ch9 project/0.4/test/run_vo.cpp @@ -0,0 +1,113 @@ +// -------------- test the visual odometry ------------- +#include +#include +#include +#include +#include +#include + +#include "myslam/config.h" +#include "myslam/visual_odometry.h" + +int main ( int argc, char** argv ) +{ + if ( argc != 2 ) + { + cout<<"usage: run_vo parameter_file"< ( "dataset_dir" );//数据集 + cout<<"dataset: "< rgb_files, depth_files;//数据集彩色图 深度图文件路径 + vector rgb_times, depth_times;//对于时间 + while ( !fin.eof() ) + { + string rgb_time, rgb_file, depth_time, depth_file; + fin>>rgb_time>>rgb_file>>depth_time>>depth_file; + rgb_times.push_back ( atof ( rgb_time.c_str() ) ); + depth_times.push_back ( atof ( depth_time.c_str() ) ); + rgb_files.push_back ( dataset_dir+"/"+rgb_file ); + depth_files.push_back ( dataset_dir+"/"+depth_file ); + + if ( fin.good() == false ) + break; + } + + myslam::Camera::Ptr camera ( new myslam::Camera );//相机模型 + + // visualization 相机位姿 可视化 + cv::viz::Viz3d vis ( "Visual Odometry" ); + cv::viz::WCoordinateSystem world_coor ( 1.0 ), camera_coor ( 0.5 ); + cv::Point3d cam_pos ( 0, -1.0, -1.0 ), cam_focal_point ( 0,0,0 ), cam_y_dir ( 0,1,0 ); + cv::Affine3d cam_pose = cv::viz::makeCameraPose ( cam_pos, cam_focal_point, cam_y_dir ); + vis.setViewerPose ( cam_pose ); + //可视化图形初始化 颜色 大小等 + world_coor.setRenderingProperty ( cv::viz::LINE_WIDTH, 2.0 ); + camera_coor.setRenderingProperty ( cv::viz::LINE_WIDTH, 1.0 ); + vis.showWidget ( "World", world_coor ); + vis.showWidget ( "Camera", camera_coor ); + + cout<<"read total "<camera_ = camera;//相机模型 + pFrame->color_ = color;//彩色图 + pFrame->depth_ = depth;//深度图 + pFrame->time_stamp_ = rgb_times[i];//时间戳 + + boost::timer timer;//算法时间记录 + vo->addFrame ( pFrame );//视觉里程计 添加 + cout<<"VO costs time: "<state_ == myslam::VisualOdometry::LOST ) + break; + SE3 Twc = pFrame->T_c_w_.inverse();//相机位姿 + + // show the map and the camera pose + cv::Affine3d M (//相机位姿信息 + cv::Affine3d::Mat3 ( + Twc.rotation_matrix() ( 0,0 ), Twc.rotation_matrix() ( 0,1 ), Twc.rotation_matrix() ( 0,2 ), + Twc.rotation_matrix() ( 1,0 ), Twc.rotation_matrix() ( 1,1 ), Twc.rotation_matrix() ( 1,2 ), + Twc.rotation_matrix() ( 2,0 ), Twc.rotation_matrix() ( 2,1 ), Twc.rotation_matrix() ( 2,2 ) + ), + cv::Affine3d::Vec3 ( + Twc.translation() ( 0,0 ), Twc.translation() ( 1,0 ), Twc.translation() ( 2,0 ) + ) + ); + + // 显示关键点 + Mat img_show = color.clone();//复制图形 + for ( auto& pt:vo->map_->map_points_ )//每个关键点 + { + myslam::MapPoint::Ptr p = pt.second; + Vector2d pixel = pFrame->camera_->world2pixel ( p->pos_, pFrame->T_c_w_ );//世界坐标系中的点转化到 图像像素坐标系 + cv::circle ( img_show, cv::Point2f ( pixel ( 0,0 ),pixel ( 1,0 ) ), 5, cv::Scalar ( 0,255,0 ), 2 );//在每个关键点处 画圆 + } + + cv::imshow ( "image", img_show );//显示图片 + cv::waitKey ( 0 ); + //cv::waitKey ( 1 ); + vis.setWidgetPose ( "Camera", M );//显示相机位姿 + vis.spinOnce ( 1, false ); + cout<