Openmp

CMakeLists.txt

@@ -28,41 +28,32 @@ endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
-find_package(OpenCV 4 REQUIRED HINTS ${CMAKE_SOURCE_DIR}/Thirdparty/opencv/install/Debug/lib/cmake/opencv4)
+find_package(OpenCV 4 QUIET HINTS /home/jw/SLAM/programmers_slam_project_template/thirdparty/opencv/install/Debug/lib/cmake/opencv4)
 if(NOT OpenCV_FOUND)
    find_package(OpenCV 2.4.3 QUIET)
    if(NOT OpenCV_FOUND)
       message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
    endif()
 endif()
 
-
-find_package(Pangolin REQUIRED HINTS ${CMAKE_SOURCE_DIR}/Thirdparty/pangolin/install/Debug/lib/cmake/Pangolin)
-if (Pangolin_FOUND)
-   MESSAGE(STATUS "Pangolin FOUND! - ${Pangolin_DIR}")
-endif()
-find_package(Eigen3 REQUIRED HINTS ${CMAKE_SOURCE_DIR}/Thirdparty/eigen/install/Debug/share/eigen3/cmake)
-if (Eigen3_FOUND)
-   MESSAGE(STATUS "Eigen3 FOUND! - ${Eigen3_DIR}")
-   set(Eigen3_LIBS Eigen3::Eigen)
-endif()
+find_package(Eigen3 3.1.0 REQUIRED HINTS /home/jw/SLAM/programmers_slam_project_template/thirdparty/eigen/install/Debug/share/eigen3/cmake)
+find_package(Pangolin REQUIRED HINTS ${CMAKE_SOURCE_DIR}/Thirdparty/pangolin/install/lib/cmake/Pangolin)
 find_package(easy_profiler REQUIRED HINTS ${CMAKE_SOURCE_DIR}/Thirdparty/easy_profiler/install/lib/cmake/easy_profiler)
+find_package(OpenMP REQUIRED)
 if(${easy_profiler_FOUND})
    message(STATUS "Found: Easy-profiler - ${easy_profiler_DIR}")
 endif(${easy_profiler_FOUND})
 
-set(EASY_PROFILER_LIBS easy_profiler)
-set(BUILD_WITH_EASY_PROFILER true)
-
 
 include_directories(
 ${PROJECT_SOURCE_DIR}
 ${PROJECT_SOURCE_DIR}/include
 ${EIGEN3_INCLUDE_DIR}
 ${Pangolin_INCLUDE_DIRS}
-${CMAKE_SOURCE_DIR}/Thirdparty/easy_profiler/install/include
+        ${CMAKE_SOURCE_DIR}/thirdparty/easy_profiler/install/Release/include
 )
-
+set(EASY_PROFILER_LIBS easy_profiler)
+set(BUILD_WITH_EASY_PROFILER true)
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 
 add_library(${PROJECT_NAME} SHARED
@@ -87,21 +78,47 @@ src/Initializer.cc
 src/Viewer.cc
 )
 
-target_link_libraries(${PROJECT_NAME}
-${OpenCV_LIBS}
-${EIGEN3_LIBS}
-${Pangolin_LIBRARIES}
-easy_profiler
-${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
+target_link_libraries(
+        ${PROJECT_NAME}
+        ${OpenCV_LIBS}
+        ${EIGEN3_LIBS}
+        ${Pangolin_LIBRARIES}
+        ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
+        ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
+        easy_profiler
+        OpenMP::OpenMP_CXX
 )
 
 # Build examples
 
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
+
+add_executable(rgbd_tum
+Examples/RGB-D/rgbd_tum.cc)
+target_link_libraries(rgbd_tum ${PROJECT_NAME})
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
+
+add_executable(stereo_kitti
+Examples/Stereo/stereo_kitti.cc)
+target_link_libraries(stereo_kitti ${PROJECT_NAME})
 
+add_executable(stereo_euroc
+Examples/Stereo/stereo_euroc.cc)
+target_link_libraries(stereo_euroc ${PROJECT_NAME})
 
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples)
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
+
+add_executable(mono_tum
+Examples/Monocular/mono_tum.cc)
+target_link_libraries(mono_tum ${PROJECT_NAME})
 
 add_executable(mono_kitti
-Examples/mono_kitti.cc)
-target_link_libraries(mono_kitti ${PROJECT_NAME})
+Examples/Monocular/mono_kitti.cc)
+target_link_libraries(mono_kitti ${PROJECT_NAME})
+
+add_executable(mono_euroc
+Examples/Monocular/mono_euroc.cc)
+target_link_libraries(mono_euroc ${PROJECT_NAME})
+

Dependencies.md

@@ -0,0 +1,44 @@
+##List of Known Dependencies
+###ORB-SLAM2 version 1.0
+
+In this document we list all the pieces of code included  by ORB-SLAM2 and linked libraries which are not property of the authors of ORB-SLAM2.
+
+
+#####Code in **src** and **include** folders
+
+* *ORBextractor.cc*.
+This is a modified version of orb.cpp of OpenCV library. The original code is BSD licensed.
+
+* *PnPsolver.h, PnPsolver.cc*.
+This is a modified version of the epnp.h and epnp.cc of Vincent Lepetit. 
+This code can be found in popular BSD licensed computer vision libraries as [OpenCV](https://github.com/Itseez/opencv/blob/master/modules/calib3d/src/epnp.cpp) and [OpenGV](https://github.com/laurentkneip/opengv/blob/master/src/absolute_pose/modules/Epnp.cpp). The original code is FreeBSD.
+
+* Function *ORBmatcher::DescriptorDistance* in *ORBmatcher.cc*.
+The code is from: http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel.
+The code is in the public domain.
+
+#####Code in Thirdparty folder
+
+* All code in **DBoW2** folder.
+This is a modified version of [DBoW2](https://github.com/dorian3d/DBoW2) and [DLib](https://github.com/dorian3d/DLib) library. All files included are BSD licensed.
+
+* All code in **g2o** folder.
+This is a modified version of [g2o](https://github.com/RainerKuemmerle/g2o). All files included are BSD licensed.
+
+#####Library dependencies 
+
+* **Pangolin (visualization and user interface)**.
+[MIT license](https://en.wikipedia.org/wiki/MIT_License).
+
+* **OpenCV**.
+BSD license.
+
+* **Eigen3**.
+For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3.
+
+* **ROS (Optional, only if you build Examples/ROS)**.
+BSD license. In the manifest.xml the only declared package dependencies are roscpp, tf, sensor_msgs, image_transport, cv_bridge, which are all BSD licensed.
+
+
+
+

Examples/Monocular/EuRoC.yaml

@@ -0,0 +1,57 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 458.654
+Camera.fy: 457.296
+Camera.cx: 367.215
+Camera.cy: 248.375
+
+Camera.k1: -0.28340811
+Camera.k2: 0.07395907
+Camera.p1: 0.00019359
+Camera.p2: 1.76187114e-05
+
+# Camera frames per second 
+Camera.fps: 20.0
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid 	
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid	
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast			
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#---------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize:2
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500
+