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‎.clang-format

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BasedOnStyle: Google
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SortIncludes: false

‎.gitignore

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CMakeLists.txt.user
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Examples/Monocular/mono_euroc
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Examples/Monocular/mono_kitti
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Examples/Monocular/mono_tum
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Examples/RGB-D/rgbd_tum
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Examples/ROS/ORB_SLAM2/CMakeLists.txt.user
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Examples/ROS/ORB_SLAM2/Mono
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Examples/ROS/ORB_SLAM2/MonoAR
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Examples/ROS/ORB_SLAM2/RGBD
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Examples/ROS/ORB_SLAM2/Stereo
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Examples/ROS/ORB_SLAM2/build/
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Examples/Stereo/stereo_euroc
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Examples/Stereo/stereo_kitti
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KeyFrameTrajectory.txt
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Thirdparty/DBoW2/build/
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Thirdparty/DBoW2/lib/
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Thirdparty/g2o/build/
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Thirdparty/g2o/config.h
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Thirdparty/g2o/lib/
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Vocabulary/ORBvoc.txt
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build/
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doxygen/
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doc/
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*~
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lib/
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*/html/
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.ccls-cache/
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.cache/
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TUM_dataset/
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.vscode/
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bin/rgbd_tum

‎CMakeLists.txt

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cmake_minimum_required(VERSION 2.8)
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project(ORB_SLAM2_DENSE_MAP)
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SET(CMAKE_EXPORT_COMPILE_COMMANDS "ON")
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IF(NOT CMAKE_BUILD_TYPE)
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SET(CMAKE_BUILD_TYPE Debug)
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SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb")
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SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")
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ENDIF()
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SET(CMAKE_BUILD_TYPE Debug)
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SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb")
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MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
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# Check C++11 or C++0x support
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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add_definitions(-DCOMPILEDWITHC11)
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message(STATUS "Using flag -std=c++11.")
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elseif(COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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add_definitions(-DCOMPILEDWITHC0X)
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message(STATUS "Using flag -std=c++0x.")
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else()
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message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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endif()
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LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
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find_package(OpenCV 3 QUIET)
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if(NOT OpenCV_FOUND)
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find_package(OpenCV 2.4.3 QUIET)
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if(NOT OpenCV_FOUND)
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message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
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endif()
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endif()
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find_package(Eigen3 REQUIRED)
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find_package(Pangolin REQUIRED)
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# adding for point cloud viewer and mapper
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find_package(PCL 1.7 REQUIRED)
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message(STATUS "PCL dir: ${PCL_INCLUDE_DIRS}")
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include_directories(
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${PROJECT_SOURCE_DIR}
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${PROJECT_SOURCE_DIR}/include
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${EIGEN3_INCLUDE_DIR}
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${Pangolin_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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add_definitions( ${PCL_DEFINITIONS} )
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link_directories( ${PCL_LIBRARY_DIRS} )
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
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add_library(${PROJECT_NAME} SHARED
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src/System.cc
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src/Tracking.cc
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src/LocalMapping.cc
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src/LoopClosing.cc
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src/ORBextractor.cc
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src/ORBmatcher.cc
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src/FrameDrawer.cc
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src/Converter.cc
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src/MapPoint.cc
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src/KeyFrame.cc
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src/Map.cc
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src/MapDrawer.cc
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src/Optimizer.cc
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src/PnPsolver.cc
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src/Frame.cc
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src/KeyFrameDatabase.cc
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src/Sim3Solver.cc
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src/Initializer.cc
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src/Viewer.cc
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src/PointCloudMapping.cc
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)
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target_link_libraries(${PROJECT_NAME}
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${OpenCV_LIBS}
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${EIGEN3_LIBS}
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${Pangolin_LIBRARIES}
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${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
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${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
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${PCL_LIBRARIES}
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)
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# 将可执行文件输出到bin
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set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
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add_executable(rgbd_tum
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Examples/RGB-D/rgbd_tum.cc)
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target_link_libraries(rgbd_tum ${PROJECT_NAME})

‎CameraTrajectory1.txt

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‎CameraTrajectory2.txt

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‎Dependencies.md

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##List of Known Dependencies
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###ORB-SLAM2 version 1.0
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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.
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#####Code in **src** and **include** folders
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* *ORBextractor.cc*.
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This is a modified version of orb.cpp of OpenCV library. The original code is BSD licensed.
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* *PnPsolver.h, PnPsolver.cc*.
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This is a modified version of the epnp.h and epnp.cc of Vincent Lepetit.
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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.
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* Function *ORBmatcher::DescriptorDistance* in *ORBmatcher.cc*.
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The code is from: http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel.
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The code is in the public domain.
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#####Code in Thirdparty folder
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* All code in **DBoW2** folder.
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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.
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* All code in **g2o** folder.
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This is a modified version of [g2o](https://github.com/RainerKuemmerle/g2o). All files included are BSD licensed.
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#####Library dependencies
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* **Pangolin (visualization and user interface)**.
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[MIT license](https://en.wikipedia.org/wiki/MIT_License).
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* **OpenCV**.
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BSD license.
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* **Eigen3**.
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For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3.
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* **ROS (Optional, only if you build Examples/ROS)**.
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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.
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‎Examples/RGB-D/TUM1.yaml

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%YAML:1.0
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#--------------------------------------------------------------------------------------------
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# Camera Parameters. Adjust them!
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#--------------------------------------------------------------------------------------------
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# Camera calibration and distortion parameters (OpenCV)
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Camera.fx: 517.306408
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Camera.fy: 516.469215
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Camera.cx: 318.643040
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Camera.cy: 255.313989
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Camera.k1: 0.262383
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Camera.k2: -0.953104
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Camera.p1: -0.005358
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Camera.p2: 0.002628
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Camera.k3: 1.163314
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Camera.width: 640
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Camera.height: 480
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# Camera frames per second
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Camera.fps: 30.0
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# IR projector baseline times fx (aprox.)
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Camera.bf: 40.0
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# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
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Camera.RGB: 1
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# Close/Far threshold. Baseline times.
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ThDepth: 40.0
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# Deptmap values factor
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DepthMapFactor: 5000.0
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#--------------------------------------------------------------------------------------------
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# ORB Parameters
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#--------------------------------------------------------------------------------------------
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# ORB Extractor: Number of features per image
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ORBextractor.nFeatures: 1000
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# ORB Extractor: Scale factor between levels in the scale pyramid
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ORBextractor.scaleFactor: 1.2
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# ORB Extractor: Number of levels in the scale pyramid
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ORBextractor.nLevels: 8
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# ORB Extractor: Fast threshold
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# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
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# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
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# You can lower these values if your images have low contrast
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ORBextractor.iniThFAST: 20
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ORBextractor.minThFAST: 7
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#--------------------------------------------------------------------------------------------
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# Viewer Parameters
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#--------------------------------------------------------------------------------------------
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Viewer.KeyFrameSize: 0.05
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Viewer.KeyFrameLineWidth: 1
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Viewer.GraphLineWidth: 0.9
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Viewer.PointSize:2
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Viewer.CameraSize: 0.08
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Viewer.CameraLineWidth: 3
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Viewer.ViewpointX: 0
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Viewer.ViewpointY: -0.7
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Viewer.ViewpointZ: -1.8
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Viewer.ViewpointF: 500
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#--------------------------------------------------------------------------------------------
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# 点云显示参数
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#--------------------------------------------------------------------------------------------
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PointCloudMapping.Resolution: 0.01
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meank: 50
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thresh: 2.0

‎Examples/RGB-D/TUM2.yaml

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%YAML:1.0
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#--------------------------------------------------------------------------------------------
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# Camera Parameters. Adjust them!
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#--------------------------------------------------------------------------------------------
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# Camera calibration and distortion parameters (OpenCV)
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Camera.fx: 520.908620
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Camera.fy: 521.007327
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Camera.cx: 325.141442
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Camera.cy: 249.701764
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Camera.k1: 0.231222
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Camera.k2: -0.784899
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Camera.p1: -0.003257
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Camera.p2: -0.000105
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Camera.k3: 0.917205
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Camera.width: 640
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Camera.height: 480
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# Camera frames per second
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Camera.fps: 30.0
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# IR projector baseline times fx (aprox.)
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Camera.bf: 40.0
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# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
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Camera.RGB: 1
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# Close/Far threshold. Baseline times.
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ThDepth: 40.0
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# Deptmap values factor
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DepthMapFactor: 5208.0
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#--------------------------------------------------------------------------------------------
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# ORB Parameters
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#--------------------------------------------------------------------------------------------
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# ORB Extractor: Number of features per image
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ORBextractor.nFeatures: 1000
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# ORB Extractor: Scale factor between levels in the scale pyramid
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ORBextractor.scaleFactor: 1.2
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# ORB Extractor: Number of levels in the scale pyramid
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ORBextractor.nLevels: 8
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# ORB Extractor: Fast threshold
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# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
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# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
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# You can lower these values if your images have low contrast
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ORBextractor.iniThFAST: 20
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ORBextractor.minThFAST: 7
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#--------------------------------------------------------------------------------------------
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# Viewer Parameters
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#--------------------------------------------------------------------------------------------
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Viewer.KeyFrameSize: 0.07
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Viewer.KeyFrameLineWidth: 1
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Viewer.GraphLineWidth: 0.9
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Viewer.PointSize:2
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Viewer.CameraSize: 0.08
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Viewer.CameraLineWidth: 3
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Viewer.ViewpointX: 0
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Viewer.ViewpointY: -0.7
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Viewer.ViewpointZ: -1.8
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Viewer.ViewpointF: 500
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PointCloudMapping.Resolution: 0.01
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meank: 50
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thresh: 2.0

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