initial commit

.gitignore

@@ -0,0 +1,46 @@
+
+Vocabulary/ORBvoc.txt
+
+lib/
+
+build/
+
+Examples/Monocular/mono_tum
+Examples/Monocular/mono_kitti
+Examples/Monocular/mono_carla
+
+Examples/Stereo/stereo_kitti
+
+Examples/RGB-D/rgbd_tum
+
+src/python/coco.pyc
+src/python/config.pyc
+src/python/MaskRCNN.pyc
+src/python/model.pyc
+src/python/utils.pyc
+src/python/Check.pyc
+
+src/python/visualize.py
+src/python/MaskRCNNStereo.py
+src/python/parallel_model.py
+src/python/shapes.py
+
+src/python/__pycache__/
+
+src/python/mask_rcnn_coco\.h5
+
+CameraTrajectory.txt
+KeyFrameTrajectory.txt
+
+CMakeLists.txt.user
+
+EvaluateTrajectory/
+
+resultsKITTI/
+runDynaSLAM.sh
+runDynaSLAM_.sh
+
+Examples/Monocular/CARLA_KITTI00-02.yaml
+Examples/Monocular/CARLA_KITTI03.yaml
+Examples/Monocular/CARLA_KITTI04-12.yaml
+

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+project(DynaSLAM)
+
+IF(NOT CMAKE_BUILD_TYPE)
+  SET(CMAKE_BUILD_TYPE Release)
+  # SET(CMAKE_BUILD_TYPE Debug)
+ENDIF()
+
+MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")
+
+# set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O0 -march=native ")
+# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O0 -march=native")
+
+# Check C++11 or C++0x support
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+   add_definitions(-DCOMPILEDWITHC11)
+   message(STATUS "Using flag -std=c++11.")
+elseif(COMPILER_SUPPORTS_CXX0X)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+   add_definitions(-DCOMPILEDWITHC0X)
+   message(STATUS "Using flag -std=c++0x.")
+else()
+   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
+
+message("PROJECT_SOURCE_DIR: " ${OpenCV_DIR})
+find_package(OpenCV 2.4.11 QUIET)
+if(NOT OpenCV_FOUND)
+    message("OpenCV > 2.4.11 not found.")
+    find_package(OpenCV 3.0 QUIET)
+    if(NOT OpenCV_FOUND)
+        message(FATAL_ERROR "OpenCV > 3.0 not found.")
+    endif()
+endif()
+
+#find_package(OpenCV 3.0 QUIET)
+#if(NOT OpenCV_FOUND)
+#   find_package(OpenCV 2.4.3 QUIET)
+#   if(NOT OpenCV_FOUND)
+#      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
+#   endif()
+#endif()
+
+find_package(Qt5Widgets REQUIRED)
+find_package(Qt5Concurrent REQUIRED)
+find_package(Qt5OpenGL REQUIRED)
+find_package(Qt5Test REQUIRED)
+
+find_package(PythonLibs REQUIRED)
+if (NOT PythonLibs_FOUND)
+    message(FATAL_ERROR "PYTHON LIBS not found.")
+else()
+    message("PYTHON LIBS were found!")
+    message("PYTHON LIBS DIRECTORY: " ${PYTHON_LIBRARY})
+endif()
+
+find_package(Boost REQUIRED COMPONENTS thread)
+if(Boost_FOUND)
+    message("Boost was found!")
+    message("Boost Headers DIRECTORY: " ${Boost_INCLUDE_DIRS})
+    message("Boost LIBS DIRECTORY: " ${Boost_LIBRARY_DIRS})
+    message("Found Libraries: " ${Boost_LIBRARIES})
+endif()
+
+find_package(Eigen3 3.1.0 REQUIRED)
+find_package(Pangolin REQUIRED)
+
+set(PYTHON_INCLUDE_DIRS ${PYTHON_INCLUDE_DIRS} /usr/local/lib/python2.7/dist-packages/numpy/core/include/numpy)
+
+include_directories(
+${PROJECT_SOURCE_DIR}
+${PROJECT_SOURCE_DIR}/include
+${EIGEN3_INCLUDE_DIR}
+${Pangolin_INCLUDE_DIRS}
+/usr/include/python2.7/
+/usr/lib/python2.7/dist-packages/numpy/core/include/numpy/
+${Boost_INCLUDE_DIRS}
+)
+message("PROJECT_SOURCE_DIR: " ${PROJECT_SOURCE_DIR})
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
+
+add_library(${PROJECT_NAME} SHARED
+src/System.cc
+src/Tracking.cc
+src/LocalMapping.cc
+src/LoopClosing.cc
+src/ORBextractor.cc
+src/ORBmatcher.cc
+src/FrameDrawer.cc
+src/Converter.cc
+src/MapPoint.cc
+src/KeyFrame.cc
+src/Map.cc
+src/MapDrawer.cc
+src/Optimizer.cc
+src/PnPsolver.cc
+src/Frame.cc
+src/KeyFrameDatabase.cc
+src/Sim3Solver.cc
+src/Initializer.cc
+src/Viewer.cc
+src/Conversion.cc
+src/MaskNet.cc
+src/Geometry.cc
+)
+
+target_link_libraries(${PROJECT_NAME}
+${OpenCV_LIBS}
+${EIGEN3_LIBS}
+${Pangolin_LIBRARIES}
+${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
+/usr/lib/x86_64-linux-gnu/libpython2.7.so
+${Boost_LIBRARIES}
+)
+
+# Build examples
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
+
+add_executable(rgbd_tum
+Examples/RGB-D/rgbd_tum.cc)
+target_link_libraries(rgbd_tum ${PROJECT_NAME})
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
+
+add_executable(stereo_kitti
+Examples/Stereo/stereo_kitti.cc)
+target_link_libraries(stereo_kitti ${PROJECT_NAME})
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
+
+add_executable(mono_tum
+Examples/Monocular/mono_tum.cc)
+target_link_libraries(mono_tum ${PROJECT_NAME})
+
+add_executable(mono_kitti
+Examples/Monocular/mono_kitti.cc)
+target_link_libraries(mono_kitti ${PROJECT_NAME})
+
+add_executable(mono_carla
+Examples/Monocular/mono_carla.cc)
+target_link_libraries(mono_carla ${PROJECT_NAME})
+

Examples/Monocular/KITTI00-02.yaml

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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 718.856
+Camera.fy: 718.856
+Camera.cx: 607.1928
+Camera.cy: 185.2157
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+# Camera frames per second 
+Camera.fps: 10.0
+
+# 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: 2000
+
+# 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: 0.1
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 1
+Viewer.PointSize: 2
+Viewer.CameraSize: 0.15
+Viewer.CameraLineWidth: 2
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -10
+Viewer.ViewpointZ: -0.1
+Viewer.ViewpointF: 2000
+

Examples/Monocular/KITTI03.yaml

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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 721.5377
+Camera.fy: 721.5377
+Camera.cx: 609.5593
+Camera.cy: 172.854
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+# Camera frames per second 
+Camera.fps: 10.0
+
+# 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: 2000
+
+# 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: 0.1
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 1
+Viewer.PointSize: 2
+Viewer.CameraSize: 0.15
+Viewer.CameraLineWidth: 2
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -10
+Viewer.ViewpointZ: -0.1
+Viewer.ViewpointF: 2000
+

Examples/Monocular/KITTI04-12.yaml

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+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 707.0912
+Camera.fy: 707.0912
+Camera.cx: 601.8873
+Camera.cy: 183.1104
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+# Camera frames per second 
+Camera.fps: 10.0
+
+# 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: 2000
+
+# 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: 0.1
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 1
+Viewer.PointSize:2
+Viewer.CameraSize: 0.15
+Viewer.CameraLineWidth: 2
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -10
+Viewer.ViewpointZ: -0.1
+Viewer.ViewpointF: 2000
+