Added code

CMakeLists.txt

@@ -0,0 +1,194 @@
+cmake_minimum_required(VERSION 2.8)
+project(ORB_SLAM3)
+
+IF(NOT CMAKE_BUILD_TYPE)
+  SET(CMAKE_BUILD_TYPE Release)
+ENDIF()
+
+MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall   -O3")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3")
+set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
+
+# set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wno-deprecated -O3 -march=native ")
+# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-deprecated -O3 -march=native")
+
+# Check C++11 or C++0x support
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+   add_definitions(-DCOMPILEDWITHC11)
+   message(STATUS "Using flag -std=c++11.")
+elseif(COMPILER_SUPPORTS_CXX0X)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+   add_definitions(-DCOMPILEDWITHC0X)
+   message(STATUS "Using flag -std=c++0x.")
+else()
+   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
+
+find_package(OpenCV 3)
+if(NOT OpenCV_FOUND)
+   find_package(OpenCV 2.4.3 QUIET)
+   if(NOT OpenCV_FOUND)
+      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
+   endif()
+endif()
+
+MESSAGE("OPENCV VERSION:")
+MESSAGE(${OpenCV_VERSION})
+
+find_package(Eigen3 3.1.0 REQUIRED)
+find_package(Pangolin REQUIRED)
+
+include_directories(
+${PROJECT_SOURCE_DIR}
+${PROJECT_SOURCE_DIR}/include
+${PROJECT_SOURCE_DIR}/include/CameraModels
+${EIGEN3_INCLUDE_DIR}
+${Pangolin_INCLUDE_DIRS}
+)
+
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
+
+add_library(${PROJECT_NAME} SHARED
+src/System.cc
+src/Tracking.cc
+src/LocalMapping.cc
+src/LoopClosing.cc
+src/ORBextractor.cc
+src/ORBmatcher.cc
+src/FrameDrawer.cc
+src/Converter.cc
+src/MapPoint.cc
+src/KeyFrame.cc
+src/Atlas.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/ImuTypes.cc
+src/G2oTypes.cc
+src/CameraModels/Pinhole.cpp
+src/CameraModels/KannalaBrandt8.cpp
+src/OptimizableTypes.cpp
+src/MLPnPsolver.cpp
+include/System.h
+include/Tracking.h
+include/LocalMapping.h
+include/LoopClosing.h
+include/ORBextractor.h
+include/ORBmatcher.h
+include/FrameDrawer.h
+include/Converter.h
+include/MapPoint.h
+include/KeyFrame.h
+include/Atlas.h
+include/Map.h
+include/MapDrawer.h
+include/Optimizer.h
+include/PnPsolver.h
+include/Frame.h
+include/KeyFrameDatabase.h
+include/Sim3Solver.h
+include/Initializer.h
+include/Viewer.h
+include/ImuTypes.h
+include/G2oTypes.h
+include/CameraModels/GeometricCamera.h
+include/CameraModels/Pinhole.h
+include/CameraModels/KannalaBrandt8.h
+include/OptimizableTypes.h
+include/MLPnPsolver.h
+include/TwoViewReconstruction.h
+src/TwoViewReconstruction.cc)
+
+add_subdirectory(Thirdparty/g2o)
+
+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
+-lboost_serialization
+-lcrypto
+)
+
+
+# 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})
+
+add_executable(stereo_tum_vi
+Examples/Stereo/stereo_tum_vi.cc)
+target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
+
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
+
+add_executable(mono_tum
+Examples/Monocular/mono_tum.cc)
+target_link_libraries(mono_tum ${PROJECT_NAME})
+
+add_executable(mono_kitti
+Examples/Monocular/mono_kitti.cc)
+target_link_libraries(mono_kitti ${PROJECT_NAME})
+
+add_executable(mono_euroc
+Examples/Monocular/mono_euroc.cc)
+target_link_libraries(mono_euroc ${PROJECT_NAME})
+
+add_executable(mono_tum_vi
+Examples/Monocular/mono_tum_vi.cc)
+target_link_libraries(mono_tum_vi ${PROJECT_NAME})
+
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial)
+
+add_executable(mono_inertial_euroc
+Examples/Monocular-Inertial/mono_inertial_euroc.cc)
+target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})
+
+add_executable(mono_inertial_tum_vi
+Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
+target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})
+
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial)
+
+add_executable(stereo_inertial_euroc
+Examples/Stereo-Inertial/stereo_inertial_euroc.cc)
+target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})
+
+
+add_executable(stereo_inertial_tum_vi
+Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
+target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})
+
+

Examples/Monocular-Inertial/EuRoC.yaml

@@ -0,0 +1,79 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+Camera.type: "PinHole"
+
+# 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 resolution
+Camera.width: 752
+Camera.height: 480
+
+# 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
+
+# Transformation from camera to body-frame (imu)
+Tbc: !!opencv-matrix
+   rows: 4
+   cols: 4
+   dt: f
+   data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
+         0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
+        -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
+         0.0, 0.0, 0.0, 1.0]
+
+# IMU noise
+IMU.NoiseGyro: 1.7e-4 #1.6968e-04 
+IMU.NoiseAcc: 2.0000e-3 #2.0e-3
+IMU.GyroWalk: 1.9393e-05 
+IMU.AccWalk: 3.0000e-03 # 3e-03
+IMU.Frequency: 200
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000 # 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: -3.5 # -1.8
+Viewer.ViewpointF: 500
+