commit 98a30240617e3bd2957dec2be56e48472732e310 Author: ChenZuodi <2381910282@qq.com> Date: Sat May 24 19:30:25 2025 +0800 code diff --git a/MyCode/.catkin_workspace b/MyCode/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/MyCode/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/MyCode/.vscode/settings.json b/MyCode/.vscode/settings.json new file mode 100644 index 0000000..0881d41 --- /dev/null +++ b/MyCode/.vscode/settings.json @@ -0,0 +1,76 @@ +{ + "files.associations": { + "cctype": "cpp", + "clocale": "cpp", + "cmath": "cpp", + "cstdarg": "cpp", + "cstddef": "cpp", + "cstdio": "cpp", + "cstdlib": "cpp", + "cstring": "cpp", + "ctime": "cpp", + "cwchar": "cpp", + "cwctype": "cpp", + "array": "cpp", + "atomic": "cpp", + "strstream": "cpp", + "bit": "cpp", + "*.tcc": "cpp", + "bitset": "cpp", + "chrono": "cpp", + "codecvt": "cpp", + "complex": "cpp", + "condition_variable": "cpp", + "cstdint": "cpp", + "deque": "cpp", + "forward_list": "cpp", + "list": "cpp", + "map": "cpp", + "set": "cpp", + "unordered_map": "cpp", + "unordered_set": "cpp", + "vector": "cpp", + "exception": "cpp", + "algorithm": "cpp", + "functional": "cpp", + "iterator": "cpp", + "memory": "cpp", + "memory_resource": "cpp", + "netfwd": "cpp", + "numeric": "cpp", + "optional": "cpp", + "random": "cpp", + "ratio": "cpp", + "string": "cpp", + "string_view": "cpp", + "system_error": "cpp", + "tuple": "cpp", + "type_traits": "cpp", + "utility": "cpp", + "fstream": "cpp", + "initializer_list": "cpp", + "iomanip": "cpp", + "iosfwd": "cpp", + "iostream": "cpp", + "istream": "cpp", + "limits": "cpp", + "mutex": "cpp", + "new": "cpp", + "ostream": "cpp", + "sstream": "cpp", + "stdexcept": "cpp", + "streambuf": "cpp", + "thread": "cpp", + "cfenv": "cpp", + "cinttypes": "cpp", + "typeindex": "cpp", + "typeinfo": "cpp", + "valarray": "cpp", + "variant": "cpp", + "*.ipp": "cpp", + "core": "cpp", + "numericaldiff": "cpp", + "specialfunctions": "cpp", + "sparsecore": "cpp" + } +} \ No newline at end of file diff --git a/MyCode/LICENSE b/MyCode/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/MyCode/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/MyCode/README-zh.md b/MyCode/README-zh.md new file mode 100644 index 0000000..a9f08a4 --- /dev/null +++ b/MyCode/README-zh.md @@ -0,0 +1,368 @@ + + +# SG-SLAM + +SLAM是智能移动机器人在未知环境中进行状态估计的基本能力之一。然而，大多数视觉SLAM系统**依赖于静态场景的假设**，因此在动态场景中的准确性和鲁棒性严重下降。此外，许多系统构建的度量图**缺乏语义信息**，因此机器人无法在人类的认知水平上理解他们的周围环境。 + +SG-SLAM是一个基于[ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2)框架的实时RGB-D语义视觉SLAM系统。首先，SG-SLAM增加了两个新的并行线程：一个获取2D语义信息的对象检测线程和一个语义建图线程。然后，在跟踪线程中加入了一个融合语义和几何信息的**快速动态特征剔除算法**。最后，在语义建图线程中生成3D点云和3D语义对象后，它们被发布到ROS系统中进行可视化。 + +在TUM数据集、波恩数据集和OpenLORIS-Scene数据集进行了实验评估，结果表明SG-SLAM不仅是动态场景中非常实时、准确、鲁棒的系统之一，而且还可以创建直观的语义对象度量地图。 + +【哔哩哔哩】[系统功能演示视频](https://www.bilibili.com/video/BV1nm4y1y7Ar) + +【Youtube】[系统功能演示视频](https://youtu.be/16w_4NRFCdY) + + + +![sg-slam](./doc/sg-slam-system-overview-zh.png) + +**图1**. SG-SLAM系统框架。ORB-SLAM2的原始框架以水绿色背景呈现，新（或修改的）功能以红色背景呈现。 + + + +**图2**. tum rgbd dataset fr3/walking_xyz 序列的语义对象度量地图 + + + +**图3**. tum rgbd dataset fr3/long office household 序列的八叉树地图 + + + +**图**4. 实际运行效果图 + + + +**系统特点 :** + +- 基于ORB-SLAM2, NCNN, ROS, etc. +- 实时 (如果NCNN配置好GPU CUDA加速的话) +- 较其他同类工作（可能更）容易配置和部署 +- ... + +## 1. License + +SG-SLAM 基于协议 [GPLv3 license](https://github.com/silencht/SG-SLAM/blob/main/LICENSE). + +论文可在此处下载（或本仓库doc） [IEEE Xplore](https://ieeexplore.ieee.org/abstract/document/9978699/). + +如果是学术使用, 请引用（BibTex）: + +``` +@ARTICLE{9978699, + author={Cheng, Shuhong and Sun, Changhe and Zhang, Shijun and Zhang, Dianfan}, + journal={IEEE Transactions on Instrumentation and Measurement}, + title={SG-SLAM: A Real-Time RGB-D Visual SLAM Toward Dynamic Scenes With Semantic and Geometric Information}, + year={2023}, + volume={72}, + number={}, + pages={1-12}, + doi={10.1109/TIM.2022.3228006}} +``` + +## 2. 编译配置 SG-SLAM + +```bash +#最基本的 +sudo apt-get update +sudo apt install git +sudo apt install cmake +sudo apt install build-essential +sudo apt vim +#test +git --version +gcc --version +g++ --version +cmake --version + +#Pangolin +sudo apt install libglew-dev +sudo apt install libboost-dev libboost-thread-dev libboost-filesystem-dev +sudo apt install libpython2.7-dev +git clone https://github.com/stevenlovegrove/Pangolin.git +cd Pangolin/ +git checkout v0.5 +mkdir build +cd build +cmake .. +make -j4 +sudo make install + +#OpenCV,可参考https://docs.opencv.org/3.4.15/d7/d9f/tutorial_linux_install.html +sudo apt install libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev +sudo apt install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev +git clone https://github.com/opencv/opencv.git +cd opencv/ +git checkout 3.4.15 +mkdir build +cd build +cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local .. +sudo make install +#test +pkg-config opencv --modversion + +#Eigen +git clone https://gitlab.com/libeigen/eigen.git +cd eigen/ +git checkout 3.1.0 +mkdir build +cd build +cmake .. +sudo make install +#test +cat /usr/local/include/eigen3/Eigen/src/Core/util/Macros.h +#Compile orb-slam2 with build.sh,and now orbslam2 can perform well + +#ROS +#中国大陆可换源,resource(http://wiki.ros.org/ROS/Installation/UbuntuMirrors) +sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list' +#Set up keys +sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 +sudo apt update +#this ros below is for ubuntu 18.04 +sudo apt install ros-melodic-desktop-full +#环境变量配置 +echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc +source ~/.bashrc +#依赖安装 +sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential +#初始化rosdep.遇到错误可参考该文章,https://zhuanlan.zhihu.com/p/397966333 +sudo apt install python-rosdep +sudo rosdep init +rosdep update +#test +roscore + +#PCL,and pcl-tools(可选) +sudo apt install libpcl-dev pcl-tools + +#Octomap,and octovis(可选) +sudo apt install liboctomap-dev octovis +sudo apt install ros-melodic-octomap ros-melodic-octomap-mapping ros-melodic-octomap-msgs ros-melodic-octomap-ros ros-melodic-octomap-rviz-plugins + +#SG-SLAM +git clone https://github.com/silencht/SG-SLAM + +#编译第三方库：DBoW2、g2o、ncnn +cd SG-SLAM/src/sg-slam/ +./ThirdpartyBuild.sh +#如何完整编译安装ncnn? 请参考ncnn仓库的README中的HowTo （https://github.com/Tencent/ncnn/README.md） +#安装完英伟达显卡驱动,vulkan and etc., 编译并安装ncnn +#如果出现编译错误，-DNCNN_DISABLE_RTTI=OFF (https://github.com/Tencent/ncnn/issues/2665) +cd SG-SLAM/src/sg-slam/Thirdparty/ncnn/ +mkdir build +cd build +cmake -DCMAKE_TOOLCHAIN_FILE=../toolchains/host.gcc.toolchain.cmake -DNCNN_DISABLE_RTTI=OFF .. +#j后面的数字4可根据自己的CPU线程相应变大，进而提高编译速度 +make -j4 +sudo make install + +#修改 SG-SLAM/src/sg-slam/CMakeLists.txt 中的路径，将该路径设置为你自己系统中的ncnn路径，提醒：该路径下包含ncnnConfig.cmake文件 +#set(ncnn_DIR "there,replace with your path/SG-SLAM/src/sg-slam/Thirdparty/ncnn/build/install/lib/cmake/ncnn" CACHE PATH "Directory that contains ncnnConfig.cmake") + +#初始化 ROS 工作空间然后依次编译各个功能包 +#第一个包功能是将自己相机输出的ROS和OpenCV的话题消息格式转换 +#第二个包功能是提供一系列图像几何处理方法 +#第三个包功能是负责接收sg-slam发布的3D点云,将之转化为八叉树地图 +#第四个包是SG-SLAM系统代码 +cd SG-SLAM/src +catkin_init_workspace +cd .. +catkin_make --pkg cv_bridge +catkin_make --pkg image_geometry +catkin_make --pkg octomap_server +catkin_make --pkg sg-slam +``` + +## 3. 运行 SG-SLAM + +将 [TUM dataset](https://vision.in.tum.de/data/datasets/rgbd-dataset/download) 数据集下载完成后放入home目录下的Music路径（该路径与 **run_tum_walking_xyz.sh** 文件调用路径一致，也可根据个人喜好随意设置。 + +```bash +#Runing SG-SLAM +#terminal 1 +roscore +#terminal 2 移动到octomap_server功能包下的launch目录下，该目录下有两个launch文件（octomap.launch，transform.launch），运行之。八叉树建图的各功能参数可在此配置 +cd your_sg-slam_path/src/octomap_server/launch +roslaunch octomap.launch +#terminal 3，你可以使用我的rviz配置文件（如下命令），它的路径位于your_sg-slam_path/src/sg-slam/Examples/rvizconfig.rviz，这将直接在打开的rviz中订阅一些地图主题。当然，也可以直接打开rviz，然后手动订阅相关话题。 +rviz -d your_sg-slam_path/src/sg-slam/Examples/rvizconfig.rviz +#terminal 4，运行tum数据集的walking_xyz序列。另外，也可运行硬件相机，如文件run_astra_pro_camera.sh +cd your_sg-slam_path/src/sg-slam/ +./run_tum_walking_xyz.sh +``` + +## 4. 参考过的仓库 + +**包括但不限于以下仓库 (排列顺序无意义) : ** + +- https://github.com/raulmur/ORB_SLAM2 +- https://github.com/ivipsourcecode/DS-SLAM +- https://github.com/Ewenwan/ORB_SLAM2_SSD_Semantic +- https://github.com/MRwangmaomao/semantic_slam_nav_ros +- https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map +- https://github.com/abhineet123/ORB_SLAM2 +- https://github.com/floatlazer/semantic_slam +- https://github.com/bijustin/YOLO-DynaSLAM +- https://github.com/bijustin/Fast-Dynamic-ORB-SLAM +- https://github.com/halajun/VDO_SLAM +- https://github.com/Quitino/IndoorMapping +- https://github.com/ninedayhx/orb_slam2_ros_dense_map +- https://github.com/lturing/ORB_SLAM3_ROS +- https://github.com/IATBOMSW/ORB-SLAM2_DENSE +- https://github.com/xiaobainixi/ORB-SLAM2_RGBD_DENSE_MAP +- https://github.com/laavanyebahl/3D-Object-Detection-with-Point-Clouds +- ... + +## 5. 其他 + +### 5.1 octomap_server节点 + +/SG-SLAM/src/octomap_server/launch/octomap.launch + +该文件用于启动 octomap_server 节点并配置一些参数。 你可以在这里看到这些参数的含义（http://wiki.ros.org/octomap_server、https://octomap.github.io/） + +其中，**param name="resolution"**参数表示octomap的体素分辨率。 参数越小，地图体素分割越精细，分辨率越高。 但是处理时间和计算复杂度也增加了。 + +**occupancy_min_z** 和 **occupancy_max_z** 参数可以选择性通过z轴范围内的点云。 如果您的相机初始视图与地面平行，您还可以使用 occupancy_min_z 参数来过滤掉地面（一个小的诡计）。 同样，occupancy_min_z 参数可用于过滤出房屋的顶部体素。 + +**filter_ground**是过滤掉地面的正常算法（不是直接使用occupancy_min_z过滤掉地面的技巧）。 用法可以参考上面的网址。 当然，现在是关闭的。 + +```xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + +``` + +### 5.2 相机参数yaml文件 + +SG-SLAM/src/sg-slam/Examples/astra_pro_camera.yaml + +SG-SLAM/src/sg-slam/Examples/TUM1.yaml + +…… + +相机配置参数文件新增了以下参数项，后面依次介绍这些参数的作用。 + +```yaml +PointCloudMapping.is_map_construction_consider_dynamic: 0 + +PointCloudMapping.camera_valid_depth_Min: 0.5 +PointCloudMapping.camera_valid_depth_Max: 5.0 + +PointCloudMapping.is_octo_semantic_map_construction: 0 +PointCloudMapping.Sor_Local_MeanK: 50 +PointCloudMapping.Sor_Local_StddevMulThresh: 2.0 +PointCloudMapping.Voxel_Local_LeafSize: 0.01 + +PointCloudMapping.is_global_pc_reconstruction: 1 +PointCloudMapping.Sor_Global_MeanK: 50 +PointCloudMapping.Sor_Global_StddevMulThresh: 2.0 +PointCloudMapping.Voxel_Global_LeafSize: 0.01 + +Detector3D.Sor_MeanK: 50 +Detector3D.Sor_StddevMulThresh: 1.0 +Detector3D.Voxel_LeafSize: 0.01 +Detector3D.EuclideanClusterTolerance: 0.02 +Detector3D.EuclideanClusterMinSize: 1000 +Detector3D.EuclideanClusterMaxSize: 30000 +Detector3D.DetectSimilarCompareRatio: 0.1 +Detector3D.global_pc_update_kf_threshold: 30 + +Detector2D.detection_confidence_threshold: 0.985 +Detector2D.dynamic_detection_confidence_threshold: 0.1 +``` + +- PointCloudMapping.is_map_construction_consider_dynamic + +进行octomap或三维点云地图构建时，地图中的动态对象会影响地图构建的质量。当此参数设置为1时，地图构建时将尽可能剔除动态对象（代码实现是剔除行人），即不对动态对象进行建图。如果场景中不存在动态对象类别，可将此参数设置为0。 + +- PointCloudMapping.camera_valid_depth_Min and PointCloudMapping.camera_valid_depth_Max + +RGB-D深度相机因硬件、原理等限制，深度图像的数据存在有效的观测范围限制。这两个参数用来限制深度图像的有效数值范围。可根据相机型号进行调节，此处默认有效范围为0.5米到5米。 + +- PointCloudMapping.is_octo_semantic_map_construction + +是否构建octomap和语义对象度量地图，1代表构建，0是不构建 + +- PointCloudMapping.Sor_Local_MeanK，PointCloudMapping.Sor_Local_StddevMulThresh and PointCloudMapping.Voxel_Local_LeafSize + +如果is_octo_semantic_map_construction设置为1，即构建octomap。这三个参数的作用是对单帧深度图像转换得到的三维点云进行滤波的滤波器设置参数。 + +以Voxel_Local_LeafSize为例，从System.cc读取yaml配置文件时的代码可以看出，这个参数最终传递给了**PointCloudMapping**类中的Voxel滤镜对象构造函数。这个参数最后传给了**voxel filter object**，也就是深度图转化为3D点云后，对点云进行体素过滤所使用的分辨率。 因为深度图直接转换出来的3D点云数量非常多（640*480），计算负担大，所以需要进行过滤。 voxel filter的分辨率和octomap类似，就是用体素中所有点的重心来近似显示体素中其他点，从而减少计算量。 + +经过我的测试，在我的设备上一般设置为0.01，计算效率和效果达到了很好的平衡。 可针对个人硬件的不同对参数进行调整。 + +- PointCloudMapping.is_global_pc_reconstruction + +是否进行三维点云地图重建，1是进行，0是不进行。由于地图构建需要不小的计算成本，因此一般建议此参数和PointCloudMapping.is_octo_semantic_map_construction参数不要同时开启。 + +- PointCloudMapping.Sor_Global_MeanK, PointCloudMapping.Sor_Global_StddevMulThresh and PointCloudMapping.Voxel_Global_LeafSize + +这些参数的作用类似于PointCloudMapping.Sor_Local_MeanK等参数。 + +- Detector3D.Sor_MeanK, Detector3D.Sor_StddevMulThresh and Detector3D.Voxel_LeafSize + +这些参数的作用类似PointCloudMapping.Sor_Local_MeanK等参数。它们是获取3D语义对象时，对检测框内的点云团进行滤波处理的参数。下面的欧式聚类设置参数也是为了尽可能准确的提取目标对象的点云团。 + +- Detector3D.EuclideanClusterTolerance, Detector3D.EuclideanClusterMinSize, Detector3D.EuclideanClusterMaxSize + +对对象检测框内的点云进行欧式聚类分割的设置参数。作用是为了尽可能准确的在检测框内的点云团中分割出目标对象的点云团。 + +- Detector3D.DetectSimilarCompareRatio + +求点云团与其目标对象的相似匹配度时，进行筛选的比例参数。作用类似于ORB-SLAM2中进行Bow词袋匹配时的mfNNratio变量。此值越小，筛选就越严格。 + +- Detector3D.global_pc_update_kf_threshold + +实时进行全局三维点云地图滤波和发布等功能十分消耗算力，因此平时只是处理每帧点云并添加到全局地图。只有在系统空闲（缓冲队列中没有新的关键帧）或处理的关键帧数量超过当前阈值参数时才会进行全局点云滤波和发布操作。 + +- Detector2D.detection_confidence_threshold + +检测普通对象时的置信度阈值，只有检测结果高于该阈值时，才认为检测结果可信。该阈值设置过低可能会造成语义对象度量地图检测到错误的目标。设置过高，可能会导致难以获取到一些不易辨别的目标。因此需根据环境进行设置。与当前检测模型有很大的关系。 + +- Detector2D.dynamic_detection_confidence_threshold + +检测动态对象时的置信度阈值，只有检测结果高于该阈值时，才认为检测结果可信。此阈值设置较低的原因，是动态对象对系统跟踪和建图造成的负面影响较大。因此需要尽可能相信动态对象的检测结果。 + +### 5.3 动态特征剔除算法代码 + +代码位于Frame.cc，主要在第155行的RmDynamicPointWithSemanticAndGeometry函数中 + +### 5.4 octomap_server 部分地图“消失”问题 + +对于上个版本octomap建图时，部分八叉树地图会出现“消失”的问题已经解决（重写了点云和tf等信息的话题发布功能代码）。 + +具体问题描述可参考： + +https://answers.ros.org/question/224488/octomap-decreasing-probabilities-when-obstacle-is-not-there-anymore/ + +https://answers.ros.org/question/51837/octomap_server-globally-referenced-pointcloud-and-transform/ + +https://zhuanlan.zhihu.com/p/625190273 diff --git a/MyCode/README.md b/MyCode/README.md new file mode 100644 index 0000000..7411d90 --- /dev/null +++ b/MyCode/README.md @@ -0,0 +1,377 @@ + + +# SG-SLAM + +Simultaneous Localization and Mapping (SLAM) is one of the fundamental capabilities for intelligent mobile robots to perform state estimation in unknown environments. However, most visual SLAM systems **rely on the static scene assumption** and consequently have severely reduced accuracy and robustness in dynamic scenes. Moreover, the metric maps constructed by many systems **lack semantic information**, so the robots cannot understand their surroundings at a human cognitive level. + +In this paper, we propose SG-SLAM, which is a real-time RGB-D semantic visual SLAM system based on the [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2) framework. First, SG-SLAM adds two new parallel threads: an object detecting thread to obtain 2D semantic information and a semantic mapping thread. Then, a **fast dynamic feature rejection algorithm combining semantic and geometric information** is added to the tracking thread. Finally, they are published to the ROS system for visualization after generating 3D point clouds and 3D semantic objects in the **semantic mapping thread**. + +We performed an experimental evaluation on the TUM dataset, the Bonn dataset, and the OpenLORIS-Scene dataset. The results show that SG-SLAM is not only one of the most real-time, accurate, and robust systems in dynamic scenes, but also allows the creation of intuitive semantic metric maps. + +【BiliBili】[VIDEO](https://www.bilibili.com/video/BV1nm4y1y7Ar) + +【Youtube】[VIDEO](https://youtu.be/16w_4NRFCdY) + +（For the Chinese version, see the README-zh.md file in the directory） + +（**中文版本见目录下README-zh.md文件**） + + + +![sg-slam](./doc/sg-slam-system-overview.png) + +**Figure1**. Overview of the framework of the SG-SLAM system. The original work of ORB-SLAM2 is presented on an aqua-green background, while **our main new or modified work is presented on a red background**. + + + +**Figure2**. Semantic object metric map for tum rgbd dataset fr3/walking_xyz sequence + + + +**Figure3**. octo map for tum rgbd dataset fr3/long office household sequence + + + +**Figure4**. Actual effect + +**System Features :** + +- Based on ORB-SLAM2, NCNN, ROS, etc. +- Fast running (if NCNN is well configured) +- Easy to deploy +- ... + +## 1. License + +SG-SLAM is released under a [GPLv3 license](https://github.com/silencht/SG-SLAM/blob/main/LICENSE). + +Paper is available on [IEEE Xplore](https://ieeexplore.ieee.org/abstract/document/9978699/). + +If you use SG-SLAM in an academic work, please cite: + +``` +S. Cheng, C. Sun, S. Zhang and D. Zhang, "SG-SLAM: A Real-Time RGB-D Visual SLAM toward Dynamic Scenes with Semantic and Geometric Information," in IEEE Transactions on Instrumentation and Measurement, doi: 10.1109/TIM.2022.3228006. +``` + +## 2. Building SG-SLAM + +```bash +#Basic +sudo apt-get update +sudo apt install git +sudo apt install cmake +sudo apt install build-essential +sudo apt vim +#test +git --version +gcc --version +g++ --version +cmake --version + +#Pangolin +sudo apt install libglew-dev +sudo apt install libboost-dev libboost-thread-dev libboost-filesystem-dev +sudo apt install libpython2.7-dev +git clone https://github.com/stevenlovegrove/Pangolin.git +cd Pangolin/ +git checkout v0.5 +mkdir build +cd build +cmake .. +make -j4 +sudo make install + +#OpenCV,refer https://docs.opencv.org/3.4.15/d7/d9f/tutorial_linux_install.html +sudo apt install libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev +sudo apt install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev +git clone https://github.com/opencv/opencv.git +cd opencv/ +git checkout 3.4.15 +mkdir build +cd build +cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local .. +sudo make install +#test +pkg-config opencv --modversion + +#Eigen +git clone https://gitlab.com/libeigen/eigen.git +cd eigen/ +git checkout 3.1.0 +mkdir build +cd build +cmake .. +sudo make install +#test +cat /usr/local/include/eigen3/Eigen/src/Core/util/Macros.h +#Compile orb-slam2 with build.sh,and now orbslam2 can perform well + +#ROS +#For china,first,replace our resource(http://wiki.ros.org/ROS/Installation/UbuntuMirrors) +sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list' +#Set up keys +sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 +sudo apt update +#this ros below is for ubuntu 18.04 +sudo apt install ros-melodic-desktop-full +#Environment setup +echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc +source ~/.bashrc +#Dependencies for building packages +sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential +#Initialize rosdep.If you encounter problems, refer to this article,https://zhuanlan.zhihu.com/p/397966333 +sudo apt install python-rosdep +sudo rosdep init +rosdep update +#test +roscore + +#PCL,and pcl-tools(optional) +sudo apt install libpcl-dev pcl-tools + +#Octomap,and octovis(optional) +sudo apt install liboctomap-dev octovis +sudo apt install ros-melodic-octomap ros-melodic-octomap-mapping ros-melodic-octomap-msgs ros-melodic-octomap-ros ros-melodic-octomap-rviz-plugins + +#SG-SLAM +git clone https://github.com/silencht/SG-SLAM + +#Build Thirdparty Liarbry +cd SG-SLAM/src/sg-slam/ +./ThirdpartyBuild.sh +#How to build ncnn completely? Please refer HowTo in https://github.com/Tencent/ncnn/README.md +#After installing the nvidia driver,vulkan and etc., compile ncnn and install +#-DNCNN_DISABLE_RTTI=OFF (https://github.com/Tencent/ncnn/issues/2665) +cd SG-SLAM/src/sg-slam/Thirdparty/ncnn/ +mkdir build +cd build +cmake -DCMAKE_TOOLCHAIN_FILE=../toolchains/host.gcc.toolchain.cmake -DNCNN_DISABLE_RTTI=OFF .. +make -j4 +sudo make install + +#Modify the path in SG-SLAM/src/sg-slam/CMakeLists.txt +#set(ncnn_DIR "there,replace with your path/SG-SLAM/src/sg-slam/Thirdparty/ncnn/build/install/lib/cmake/ncnn" CACHE PATH "Directory that contains ncnnConfig.cmake") + +#Init ROS workspace and compile package +cd SG-SLAM/src +catkin_init_workspace +cd .. +catkin_make --pkg cv_bridge +catkin_make --pkg image_geometry +catkin_make --pkg octomap_server +catkin_make --pkg sg-slam +``` + +## 3. Running SG-SLAM + +Put the [TUM dataset](https://vision.in.tum.de/data/datasets/rgbd-dataset/download) into the *Music Path* according to the **run_tum_walking_xyz.sh** file (or adjust the script yourself) + +```bash +#Runing SG-SLAM +#terminal 1 +roscore +#terminal 2 +cd your_sg-slam_path/src/octomap_server/launch +roslaunch octomap.launch +#terminal 3，you can use my rviz configuration file（like the command below）, its path is located in your_sg-slam_path/src/sg-slam/Examples/rvizconfig.rviz, This will subscribe to some map-published topics directly in rviz. +#Of course, you can also open rviz directly, and then manually subscribe to the related topic. +rviz -d your_sg-slam_path/src/sg-slam/Examples/rvizconfig.rviz +#terminal 4 +cd your_sg-slam_path/src/sg-slam/ +./run_tum_walking_xyz.sh +``` + +## 4. Reference Project + +**Including but not limited to the following repositories (In no particular order)** + +- https://github.com/raulmur/ORB_SLAM2 +- https://github.com/ivipsourcecode/DS-SLAM +- https://github.com/Ewenwan/ORB_SLAM2_SSD_Semantic +- https://github.com/MRwangmaomao/semantic_slam_nav_ros +- https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map +- https://github.com/abhineet123/ORB_SLAM2 +- https://github.com/floatlazer/semantic_slam +- https://github.com/bijustin/YOLO-DynaSLAM +- https://github.com/bijustin/Fast-Dynamic-ORB-SLAM +- https://github.com/halajun/VDO_SLAM +- https://github.com/Quitino/IndoorMapping +- https://github.com/ninedayhx/orb_slam2_ros_dense_map +- https://github.com/lturing/ORB_SLAM3_ROS +- https://github.com/IATBOMSW/ORB-SLAM2_DENSE +- https://github.com/xiaobainixi/ORB-SLAM2_RGBD_DENSE_MAP +- https://github.com/laavanyebahl/3D-Object-Detection-with-Point-Clouds +- ... + +## 5. Other + +### 5.1 octomap_server + +/SG-SLAM/src/octomap_server/launch/octomap.launch + +This file is used to start the octomap_server node and configure some parameters. You can see what these parameters mean here(http://wiki.ros.org/octomap_server、https://octomap.github.io/) + +Among them, the **param name=resolution** parameter indicates the voxel resolution of the octomap. The smaller the parameter, the finer the map voxel segmentation and the higher the resolution. But the processing time and computational complexity also increase. + +The **occupancy_min_z** and **occupancy_max_z** parameters can selectively pass through the point cloud within the z-axis range. If your initial camera view is parallel to the ground, you can also use the occupancy_min_z parameter to do a trick to filter out the ground. Similarly, the occupancy_min_z parameter can be used to filter out the top voxels of the house. + +**filter_ground** is the normal algorithm for filtering out the ground (not the trick of directly using occupancy_min_z to filter out the ground). Usage can refer to the above URL. + +```xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + +``` + +### 5.2 camera.yaml + +SG-SLAM/src/sg-slam/Examples/astra_pro_camera.yaml + +SG-SLAM/src/sg-slam/Examples/TUM1.yaml + +…… + +The following parameter items have been newly added to the imager configuration parameters file, and the roles of these parameters are described in turn later. + +```yaml +%YAML:1.0 +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- +# Camera calibration and distortion parameters (OpenCV) +Camera.fx: 575.520619 +Camera.fy: 575.994771 +…………omitted here + +#-------------------------------------------------------------------------------------------- +# Viewer Parameters +#-------------------------------------------------------------------------------------------- +Viewer.KeyFrameSize: 0.05 +…………omitted above + +PointCloudMapping.is_map_construction_consider_dynamic: 0 + +PointCloudMapping.camera_valid_depth_Min: 0.5 +PointCloudMapping.camera_valid_depth_Max: 5.0 + +PointCloudMapping.is_octo_semantic_map_construction: 0 +PointCloudMapping.Sor_Local_MeanK: 50 +PointCloudMapping.Sor_Local_StddevMulThresh: 2.0 +PointCloudMapping.Voxel_Local_LeafSize: 0.01 + +PointCloudMapping.is_global_pc_reconstruction: 1 +PointCloudMapping.Sor_Global_MeanK: 50 +PointCloudMapping.Sor_Global_StddevMulThresh: 2.0 +PointCloudMapping.Voxel_Global_LeafSize: 0.01 + +Detector3D.Sor_MeanK: 50 +Detector3D.Sor_StddevMulThresh: 1.0 +Detector3D.Voxel_LeafSize: 0.01 +Detector3D.EuclideanClusterTolerance: 0.02 +Detector3D.EuclideanClusterMinSize: 1000 +Detector3D.EuclideanClusterMaxSize: 30000 +Detector3D.DetectSimilarCompareRatio: 0.1 +Detector3D.global_pc_update_kf_threshold: 30 + +Detector2D.detection_confidence_threshold: 0.985 +Detector2D.dynamic_detection_confidence_threshold: 0.1 +``` + +- PointCloudMapping.is_map_construction_consider_dynamic + +When performing octomap or 3D point cloud map builds, dynamic objects in the map can affect the quality of the map build. When this parameter is set to 1, the map will be built with dynamic objects excluded as much as possible (the code implementation is to exclude pedestrians), i.e., no dynamic objects will be built in map. If there is no dynamic object class in scenes, this parameter can be set to 0. + +- PointCloudMapping.camera_valid_depth_Min and PointCloudMapping.camera_valid_depth_Max + +RGB-D depth cameras have effective observation range limits for depth image data due to hardware and principle limitations. These two parameters are used to limit the effective value range of the depth image. They can be adjusted according to the camera model, and the default effective range here is 0.5 m to 5 m. + +- PointCloudMapping.is_octo_semantic_map_construction + +Whether to build octomap and semantic object metric map, 1 is to build, 0 is not to build. + +- PointCloudMapping.Sor_Local_MeanK，PointCloudMapping.Sor_Local_StddevMulThresh and PointCloudMapping.Voxel_Local_LeafSize + +If is_octo_semantic_map_construction is set to 1, namely, octomap will be constructed. these three parameters function as filter setting parameters for filtering the 3D point cloud obtained from the camera depth image conversion. + +Take Voxel_Local_LeafSize as an example : + +It can be seen from the code when System.cc reads the yaml configuration file that this parameter is finally passed to the Voxel filter object constructor in the **PointCloudMapping** class. + +This parameter is finally passed to the **voxel filter object**, which is the resolution used for voxel filtering on the point cloud after the depth map is transformed into a 3D point cloud. Because the number of 3D point clouds directly converted from the depth map is large (640*480), the calculation burden is heavy, so filtering is performed. The resolution of the voxel filter is similar to that of the octomap, that is, the centroid of the same position is replaced, so that the amount of calculation is reduced. + +After my test, it is generally set to 0.01 on my device, and the calculation efficiency and effect have reached a good balance. Adjustable to individual hardware. + +- PointCloudMapping.is_global_pc_reconstruction + +Whether to perform 3D point cloud map reconstruction, 1 is to do it, 0 is not to do it. Since map construction requires a significant computational cost, it is generally recommended that this parameter and the PointCloudMapping.is_octo_semantic_map_construction parameter not be turned on at the same time. + +- PointCloudMapping.Sor_Global_MeanK, PointCloudMapping.Sor_Global_StddevMulThresh and PointCloudMapping.Voxel_Global_LeafSize + +these parameters work similarly to parameters like PointCloudMapping.Sor_Local_MeanK. + +- Detector3D.Sor_MeanK, Detector3D.Sor_StddevMulThresh and Detector3D.Voxel_LeafSize + +These parameters act similar to parameters like PointCloudMapping.Sor_Local_MeanK. They are the parameters for filtering the point cloud clusters in the detection frame when acquiring 3D semantic objects. The following parameters of the Euclidean clustering settings are also used to extract the point cloud clusters of the target objects as accurately as possible. + +- Detector3D.EuclideanClusterTolerance, Detector3D.EuclideanClusterMinSize, Detector3D.EuclideanClusterMaxSize + +The setting parameters for Euclidean clustering segmentation of the point clouds in the object detection boundingbox. The purpose is to segment the point cloud of the target object among the point clouds in the detection frame as accurately as possible. + +- Detector3D.DetectSimilarCompareRatio + +The ratio parameter for filtering when finding the similarity match between a point cloud cluster and its target object. The effect is similar to that of the **mfNNratio** variable when performing bag-of-words matching in ORB-SLAM2. The smaller this value is, the more stringent the screening is. + +- Detector3D.global_pc_update_kf_threshold + +Functions such as global 3D point cloud map filtering and publishing in real time are very computationally intensive, so normally only each frame of the point cloud is processed and added to the global map. Only when the system is idle (no new keyframes in the buffer queue) or when the number of processed keyframes exceeds the current threshold parameter will the global point cloud filtering and publishing operations be performed. + +- Detector2D.detection_confidence_threshold + +A confidence threshold for detecting common objects, and a detection result is considered credible only if it is higher than this threshold. A low setting of this threshold may cause the semantic object metric map to detect the wrong target. Setting it too high may result in difficulty in acquiring some targets that are not easily discernible. Therefore it needs to be set according to the environment. There is a strong relationship with the current detection model. + +- Detector2D.dynamic_detection_confidence_threshold + +Confidence threshold when detecting dynamic objects, and the detection result is considered credible only if it is higher than this threshold. The reason for this threshold being set low is that dynamic objects have a greater negative impact on system tracking and map building. Therefore the detection results of dynamic objects need to be trusted as much as possible. + +### 5.3 dynamic feature processing code + +The code is located in the **RmDynamicPointWithSemanticAndGeometry** function of Frame.cc + +### 5.4 octomap_server partial map "disappearance" problem + +The problem that some octree maps would "disappear" when Octomap built a map in the last version has been solved (rewritten the code of topic publishing function for point cloud and tf information). + +Specific problem descriptions can be found at, + +https://answers.ros.org/question/224488/octomap-decreasing-probabilities-when-obstacle-is-not-there-anymore/ + +https://answers.ros.org/question/51837/octomap_server-globally-referenced-pointcloud-and-transform/ + +https://zhuanlan.zhihu.com/p/625190273 diff --git a/MyCode/build/.built_by b/MyCode/build/.built_by new file mode 100644 index 0000000..2e212dd --- /dev/null +++ b/MyCode/build/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file 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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 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 + +//Compile device code in 64 bit mode +CUDA_64_BIT_DEVICE_CODE:BOOL=ON + +//Attach the build rule to the CUDA source file. Enable only when +// the CUDA source file is added to at most one target. +CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE:BOOL=ON + +//Generate and parse .cubin files in Device mode. +CUDA_BUILD_CUBIN:BOOL=OFF + +//Build in Emulation mode +CUDA_BUILD_EMULATION:BOOL=OFF + +//"cudart" library +CUDA_CUDART_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcudart.so + +//"cuda" library (older versions only). +CUDA_CUDA_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcuda.so + +//Directory to put all the output files. If blank it will default +// to the CMAKE_CURRENT_BINARY_DIR +CUDA_GENERATED_OUTPUT_DIR:PATH= + +//Generated file extension +CUDA_HOST_COMPILATION_CPP:BOOL=ON + +//Host side compiler used by NVCC +CUDA_HOST_COMPILER:FILEPATH=/usr/bin/cc + +//Path to a program. +CUDA_NVCC_EXECUTABLE:FILEPATH=/usr/local/cuda-11.1/bin/nvcc + +//Semi-colon delimit multiple arguments. +CUDA_NVCC_FLAGS:STRING= + +//Semi-colon delimit multiple arguments. +CUDA_NVCC_FLAGS_DEBUG:STRING= + +//Semi-colon delimit multiple arguments. +CUDA_NVCC_FLAGS_MINSIZEREL:STRING= + +//Semi-colon delimit multiple arguments. +CUDA_NVCC_FLAGS_RELEASE:STRING= + +//Semi-colon delimit multiple arguments. +CUDA_NVCC_FLAGS_RELWITHDEBINFO:STRING= + +//Propage C/CXX_FLAGS and friends to the host compiler via -Xcompile +CUDA_PROPAGATE_HOST_FLAGS:BOOL=ON + +//Path to a file. +CUDA_SDK_ROOT_DIR:PATH=CUDA_SDK_ROOT_DIR-NOTFOUND + +//Compile CUDA objects with separable compilation enabled. Requires +// CUDA 5.0+ +CUDA_SEPARABLE_COMPILATION:BOOL=OFF + +//Path to a file. +CUDA_TOOLKIT_INCLUDE:PATH=/usr/local/cuda-11.1/include + +//Toolkit location. +CUDA_TOOLKIT_ROOT_DIR:PATH=/usr/local/cuda-11.1 + +//Use the static version of the CUDA runtime library if available +CUDA_USE_STATIC_CUDA_RUNTIME:BOOL=ON + +//Print out the commands run while compiling the CUDA source file. +// With the Makefile generator this defaults to VERBOSE variable +// specified on the command line, but can be forced on with this +// option. +CUDA_VERBOSE_BUILD:BOOL=OFF + +//Version of CUDA as computed from nvcc. +CUDA_VERSION:STRING=11.1 + +//"cublas" library +CUDA_cublas_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcublas.so + +//"cublas_device" library +CUDA_cublas_device_LIBRARY:FILEPATH=CUDA_cublas_device_LIBRARY-NOTFOUND + +//"cudadevrt" library +CUDA_cudadevrt_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcudadevrt.a + +//static CUDA runtime library +CUDA_cudart_static_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcudart_static.a + +//"cufft" library +CUDA_cufft_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcufft.so + +//"cupti" library +CUDA_cupti_LIBRARY:FILEPATH=CUDA_cupti_LIBRARY-NOTFOUND + +//"curand" library +CUDA_curand_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcurand.so + +//"cusolver" library +CUDA_cusolver_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcusolver.so + +//"cusparse" library +CUDA_cusparse_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcusparse.so + +//"nppc" library +CUDA_nppc_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppc.so + +//"nppi" library +CUDA_nppi_LIBRARY:FILEPATH=CUDA_nppi_LIBRARY-NOTFOUND + +//"nppial" library +CUDA_nppial_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppial.so + +//"nppicc" library +CUDA_nppicc_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppicc.so + +//"nppicom" library +CUDA_nppicom_LIBRARY:FILEPATH=CUDA_nppicom_LIBRARY-NOTFOUND + +//"nppidei" library +CUDA_nppidei_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppidei.so + +//"nppif" library +CUDA_nppif_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppif.so + +//"nppig" library +CUDA_nppig_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppig.so + +//"nppim" library +CUDA_nppim_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppim.so + +//"nppist" library +CUDA_nppist_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppist.so + +//"nppisu" library +CUDA_nppisu_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppisu.so + +//"nppitc" library +CUDA_nppitc_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppitc.so + +//"npps" library +CUDA_npps_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnpps.so + +//Path to a library. +CUDA_rt_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so + +//Path to a file. +DAVIDSDK_INCLUDE_DIR:PATH=DAVIDSDK_INCLUDE_DIR-NOTFOUND + +//Path to a library. +DAVIDSDK_LIBRARY:FILEPATH=DAVIDSDK_LIBRARY-NOTFOUND + +//Path to a program. +DOXYGEN_EXECUTABLE:FILEPATH=DOXYGEN_EXECUTABLE-NOTFOUND + +//DepthSense SDK directory +DSSDK_DIR:PATH=DSSDK_DIR-NOTFOUND + +//Path to a library. +DSSDK_LIBRARY_DepthSense:FILEPATH=DSSDK_LIBRARY_DepthSense-NOTFOUND + +//Path to a library. +DSSDK_LIBRARY_DepthSensePlugins:FILEPATH=DSSDK_LIBRARY_DepthSensePlugins-NOTFOUND + +//Path to a library. +DSSDK_LIBRARY_turbojpeg:FILEPATH=DSSDK_LIBRARY_turbojpeg-NOTFOUND + +//Path to a file. +EIGEN_INCLUDE_DIRS:PATH=/usr/local/include/eigen3 + +//Path to a program. +EMPY_EXECUTABLE:FILEPATH=/usr/bin/empy + +//Empy script +EMPY_SCRIPT:STRING=/usr/bin/empy + +//Path to a file. +ENSENSO_INCLUDE_DIR:PATH=ENSENSO_INCLUDE_DIR-NOTFOUND + +//Path to a library. +ENSENSO_LIBRARY:FILEPATH=ENSENSO_LIBRARY-NOTFOUND + +//The directory containing a CMake configuration file for Eigen3. +Eigen3_DIR:PATH=/usr/lib/cmake/eigen3 + +//Path to a file. +FLANN_INCLUDE_DIRS:PATH=/usr/include + +//Path to a library. +FLANN_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a + +//Path to a library. +FLANN_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a + +//The directory containing a CMake configuration file for GMock. +GMock_DIR:PATH=GMock_DIR-NOTFOUND + +//Path to a file. +GTEST_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +GTEST_LIBRARY:FILEPATH=GTEST_LIBRARY-NOTFOUND + +//Path to a library. +GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY:FILEPATH=GTEST_MAIN_LIBRARY-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND + +//Path to a file. +LIBUSB_1_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +LIBUSB_1_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so + +//lsb_release executable was found +LSB_FOUND:BOOL=TRUE + +//Path to a program. +LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release + +//Path to a program. +NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7 + +//Path to a file. +OPENNI2_INCLUDE_DIRS:PATH=/usr/include/openni2 + +//Path to a library. +OPENNI2_LIBRARY:FILEPATH=/usr/lib/libOpenNI2.so + +//Path to a file. +OPENNI_INCLUDE_DIRS:PATH=/usr/include/ni + +//Path to a library. +OPENNI_LIBRARY:FILEPATH=/usr/lib/libOpenNI.so + +//The directory containing a CMake configuration file for OpenCV. +OpenCV_DIR:PATH=/usr/local/lib/cmake/opencv4 + +//CXX compiler flags for OpenMP parallelization +OpenMP_CXX_FLAGS:STRING=-fopenmp + +//CXX compiler libraries for OpenMP parallelization +OpenMP_CXX_LIB_NAMES:STRING=gomp;pthread + +//C compiler flags for OpenMP parallelization +OpenMP_C_FLAGS:STRING=-fopenmp + +//C compiler libraries for OpenMP parallelization +OpenMP_C_LIB_NAMES:STRING=gomp;pthread + +//Path to the gomp library for OpenMP +OpenMP_gomp_LIBRARY:FILEPATH=/usr/lib/gcc/x86_64-linux-gnu/9/libgomp.so + +//Path to the pthread library for OpenMP +OpenMP_pthread_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpthread.so + +//path to 2d headers +PCL_2D_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to apps headers +PCL_APPS_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_apps library +PCL_APPS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_apps.so + +//path to pcl_apps library debug +PCL_APPS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_apps.so + +//path to common headers +PCL_COMMON_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_common library +PCL_COMMON_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_common.so + +//path to pcl_common library debug +PCL_COMMON_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_common.so + +//The directory containing a CMake configuration file for PCL. +PCL_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/pcl + +//path to features headers +PCL_FEATURES_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_features library +PCL_FEATURES_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_features.so + +//path to pcl_features library debug +PCL_FEATURES_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_features.so + +//path to filters headers +PCL_FILTERS_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_filters library +PCL_FILTERS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_filters.so + +//path to pcl_filters library debug +PCL_FILTERS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_filters.so + +//path to geometry headers +PCL_GEOMETRY_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to in_hand_scanner headers +PCL_IN_HAND_SCANNER_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to io headers +PCL_IO_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_io library +PCL_IO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_io.so + +//path to pcl_io library debug +PCL_IO_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_io.so + +//path to kdtree headers +PCL_KDTREE_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_kdtree library +PCL_KDTREE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so + +//path to pcl_kdtree library debug +PCL_KDTREE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so + +//path to keypoints headers +PCL_KEYPOINTS_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_keypoints library +PCL_KEYPOINTS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so + +//path to pcl_keypoints library debug +PCL_KEYPOINTS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so + +//path to ml headers +PCL_ML_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_ml library +PCL_ML_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_ml.so + +//path to pcl_ml library debug +PCL_ML_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_ml.so + +//path to modeler headers +PCL_MODELER_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to octree headers +PCL_OCTREE_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_octree library +PCL_OCTREE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_octree.so + +//path to pcl_octree library debug +PCL_OCTREE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_octree.so + +//path to outofcore headers +PCL_OUTOFCORE_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_outofcore library +PCL_OUTOFCORE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so + +//path to pcl_outofcore library debug +PCL_OUTOFCORE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so + +//path to people headers +PCL_PEOPLE_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_people library +PCL_PEOPLE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_people.so + +//path to pcl_people library debug +PCL_PEOPLE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_people.so + +//path to point_cloud_editor headers +PCL_POINT_CLOUD_EDITOR_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to recognition headers +PCL_RECOGNITION_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_recognition library +PCL_RECOGNITION_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_recognition.so + +//path to pcl_recognition library debug +PCL_RECOGNITION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_recognition.so + +//path to registration headers +PCL_REGISTRATION_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_registration library +PCL_REGISTRATION_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_registration.so + +//path to pcl_registration library debug +PCL_REGISTRATION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_registration.so + +//path to sample_consensus headers +PCL_SAMPLE_CONSENSUS_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_sample_consensus library +PCL_SAMPLE_CONSENSUS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so + +//path to pcl_sample_consensus library debug +PCL_SAMPLE_CONSENSUS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so + +//path to search headers +PCL_SEARCH_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_search library +PCL_SEARCH_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_search.so + +//path to pcl_search library debug +PCL_SEARCH_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_search.so + +//path to segmentation headers +PCL_SEGMENTATION_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_segmentation library +PCL_SEGMENTATION_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so + +//path to pcl_segmentation library debug +PCL_SEGMENTATION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so + +//path to stereo headers +PCL_STEREO_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_stereo library +PCL_STEREO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_stereo.so + +//path to pcl_stereo library debug +PCL_STEREO_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_stereo.so + +//path to surface headers +PCL_SURFACE_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_surface library +PCL_SURFACE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_surface.so + +//path to pcl_surface library debug +PCL_SURFACE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_surface.so + +//path to tracking headers +PCL_TRACKING_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_tracking library +PCL_TRACKING_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_tracking.so + +//path to pcl_tracking library debug +PCL_TRACKING_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_tracking.so + +//path to visualization headers +PCL_VISUALIZATION_INCLUDE_DIR:PATH=/usr/include/pcl-1.8 + +//path to pcl_visualization library +PCL_VISUALIZATION_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_visualization.so + +//path to pcl_visualization library debug +PCL_VISUALIZATION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_visualization.so + +//pkg-config executable +PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config + +//Path to a program. +PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python2 + +//Path to a file. +PYTHON_INCLUDE_DIR:PATH=/usr/include/python2.7 + +//Path to a library. +PYTHON_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpython2.7.so + +//Path to a library. +PYTHON_LIBRARY_DEBUG:FILEPATH=PYTHON_LIBRARY_DEBUG-NOTFOUND + +//Numpy include directory +PYTHON_NUMPY_INCLUDE_DIR:PATH=/usr/lib/python2.7/dist-packages/numpy/core/include + +//Specify specific Python version to use ('major.minor' or 'major') +PYTHON_VERSION:STRING=2 + +//The directory containing a CMake configuration file for Pangolin. +Pangolin_DIR:PATH=/usr/local/lib/cmake/Pangolin + +//Value Computed by CMake +Project_BINARY_DIR:STATIC=/home/test/My/build + +//Value Computed by CMake +Project_SOURCE_DIR:STATIC=/home/test/My/src + +//Path to a file. +QHULL_INCLUDE_DIRS:PATH=/usr/include + +//Path to a library. +QHULL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libqhull.so + +//Path to a library. +QHULL_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libqhull.so + +//The directory containing a CMake configuration file for Qt5Core. +Qt5Core_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Core + +//The directory containing a CMake configuration file for Qt5Gui. +Qt5Gui_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Gui + +//The directory containing a CMake configuration file for Qt5Network. +Qt5Network_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Network + +//The directory containing a CMake configuration file for Qt5WebKit. +Qt5WebKit_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5WebKit + +//RealSense SDK directory +RSSDK_DIR:PATH=RSSDK_DIR-NOTFOUND + +//Path to a library. +RSSDK_LIBRARY:FILEPATH=RSSDK_LIBRARY-NOTFOUND + +//Path to a library. +RSSDK_LIBRARY_DEBUG:FILEPATH=RSSDK_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so + +//Enable debian style python package layout +SETUPTOOLS_DEB_LAYOUT:BOOL=ON + +//Name of the computer/site where compile is being run +SITE:STRING=fdc477942708 + +//LSB Distrib tag +UBUNTU:BOOL=TRUE + +//LSB Distrib - codename tag +UBUNTU_BIONIC:BOOL=TRUE + +//The directory containing VTKConfig.cmake +VTK_DIR:PATH=/usr/lib/cmake/vtk-6.3 + +//Path to a file. +_gmock_INCLUDES:FILEPATH=/usr/include/gmock/gmock.h + +//Path to a file. +_gmock_SOURCES:FILEPATH=/usr/src/gmock/src/gmock.cc + +//Path to a file. +_gtest_INCLUDES:FILEPATH=/usr/include/gtest/gtest.h + +//Path to a file. +_gtest_SOURCES:FILEPATH=/usr/src/gtest/src/gtest.cc + +//Path to a file. +_path_name:FILEPATH=/home/test/My/src/image_geometry/test/directed.py + +//The directory containing a CMake configuration file for actionlib. +actionlib_DIR:PATH=/opt/ros/melodic/share/actionlib/cmake + +//The directory containing a CMake configuration file for actionlib_msgs. +actionlib_msgs_DIR:PATH=/opt/ros/melodic/share/actionlib_msgs/cmake + +//The directory containing a CMake configuration file for bond. +bond_DIR:PATH=/opt/ros/melodic/share/bond/cmake + +//The directory containing a CMake configuration file for bondcpp. +bondcpp_DIR:PATH=/opt/ros/melodic/share/bondcpp/cmake + +//The directory containing a CMake configuration file for catkin. +catkin_DIR:PATH=/opt/ros/melodic/share/catkin/cmake + +//The directory containing a CMake configuration file for class_loader. +class_loader_DIR:PATH=/opt/ros/melodic/share/class_loader/cmake + +//The directory containing a CMake configuration file for cpp_common. +cpp_common_DIR:PATH=/opt/ros/melodic/share/cpp_common/cmake + +//Value Computed by CMake +cv_bridge_BINARY_DIR:STATIC=/home/test/My/build/my_cv_bridge + +//The directory containing a CMake configuration file for cv_bridge. +cv_bridge_DIR:PATH=/home/test/My/devel/share/cv_bridge/cmake + +//Dependencies for the target +cv_bridge_LIB_DEPENDS:STATIC=general;opencv_calib3d;general;opencv_core;general;opencv_dnn;general;opencv_features2d;general;opencv_flann;general;opencv_gapi;general;opencv_highgui;general;opencv_imgcodecs;general;opencv_imgproc;general;opencv_ml;general;opencv_objdetect;general;opencv_photo;general;opencv_stitching;general;opencv_video;general;opencv_videoio;general;opencv_alphamat;general;opencv_aruco;general;opencv_bgsegm;general;opencv_bioinspired;general;opencv_ccalib;general;opencv_cudaarithm;general;opencv_cudabgsegm;general;opencv_cudacodec;general;opencv_cudafeatures2d;general;opencv_cudafilters;general;opencv_cudaimgproc;general;opencv_cudalegacy;general;opencv_cudaobjdetect;general;opencv_cudaoptflow;general;opencv_cudastereo;general;opencv_cudawarping;general;opencv_cudev;general;opencv_datasets;general;opencv_dnn_objdetect;general;opencv_dnn_superres;general;opencv_dpm;general;opencv_face;general;opencv_freetype;general;opencv_fuzzy;general;opencv_hdf;general;opencv_hfs;general;opencv_img_hash;general;opencv_intensity_transform;general;opencv_line_descriptor;general;opencv_mcc;general;opencv_optflow;general;opencv_phase_unwrapping;general;opencv_plot;general;opencv_quality;general;opencv_rapid;general;opencv_reg;general;opencv_rgbd;general;opencv_saliency;general;opencv_shape;general;opencv_stereo;general;opencv_structured_light;general;opencv_superres;general;opencv_surface_matching;general;opencv_text;general;opencv_tracking;general;opencv_videostab;general;opencv_viz;general;opencv_wechat_qrcode;general;opencv_xfeatures2d;general;opencv_ximgproc;general;opencv_xobjdetect;general;opencv_xphoto;general;opencv_core;general;opencv_imgproc;general;opencv_imgcodecs;general;/opt/ros/melodic/lib/librosconsole.so;general;/opt/ros/melodic/lib/librosconsole_log4cxx.so;general;/opt/ros/melodic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/melodic/lib/libroscpp_serialization.so;general;/opt/ros/melodic/lib/librostime.so;general;/opt/ros/melodic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4; + +//Value Computed by CMake +cv_bridge_SOURCE_DIR:STATIC=/home/test/My/src/my_cv_bridge + +//Dependencies for the target +cv_bridge_boost_LIB_DEPENDS:STATIC=general;/usr/lib/x86_64-linux-gnu/libboost_python3.so;general;/opt/ros/melodic/lib/librosconsole.so;general;/opt/ros/melodic/lib/librosconsole_log4cxx.so;general;/opt/ros/melodic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/melodic/lib/libroscpp_serialization.so;general;/opt/ros/melodic/lib/librostime.so;general;/opt/ros/melodic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4;general;cv_bridge;general;/usr/lib/x86_64-linux-gnu/libpython2.7.so; + +//The directory containing a CMake configuration file for dynamic_reconfigure. +dynamic_reconfigure_DIR:PATH=/opt/ros/melodic/share/dynamic_reconfigure/cmake + +//The directory containing a CMake configuration file for gencpp. +gencpp_DIR:PATH=/opt/ros/melodic/share/gencpp/cmake + +//The directory containing a CMake configuration file for geneus. +geneus_DIR:PATH=/opt/ros/melodic/share/geneus/cmake + +//The directory containing a CMake configuration file for genlisp. +genlisp_DIR:PATH=/opt/ros/melodic/share/genlisp/cmake + +//The directory containing a CMake configuration file for genmsg. +genmsg_DIR:PATH=/opt/ros/melodic/share/genmsg/cmake + +//The directory containing a CMake configuration file for gennodejs. +gennodejs_DIR:PATH=/opt/ros/melodic/share/gennodejs/cmake + +//The directory containing a CMake configuration file for genpy. +genpy_DIR:PATH=/opt/ros/melodic/share/genpy/cmake + +//The directory containing a CMake configuration file for geometry_msgs. +geometry_msgs_DIR:PATH=/opt/ros/melodic/share/geometry_msgs/cmake + +//Value Computed by CMake +gmock_BINARY_DIR:STATIC=/home/test/My/build/gtest/googlemock + +//Dependencies for the target +gmock_LIB_DEPENDS:STATIC=general;-pthread; + +//Value Computed by CMake +gmock_SOURCE_DIR:STATIC=/usr/src/googletest/googlemock + +//Build all of Google Mock's own tests. +gmock_build_tests:BOOL=OFF + +//Dependencies for the target +gmock_main_LIB_DEPENDS:STATIC=general;-pthread; + +//Value Computed by CMake +googletest-distribution_BINARY_DIR:STATIC=/home/test/My/build/gtest + +//Value Computed by CMake +googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest + +//Value Computed by CMake +gtest_BINARY_DIR:STATIC=/home/test/My/build/gtest/googlemock/gtest + +//Dependencies for the target +gtest_LIB_DEPENDS:STATIC=general;-pthread; + +//Value Computed by CMake +gtest_SOURCE_DIR:STATIC=/usr/src/googletest/googletest + +//Build gtest's sample programs. +gtest_build_samples:BOOL=OFF + +//Build all of gtest's own tests. +gtest_build_tests:BOOL=OFF + +//Disable uses of pthreads in gtest. +gtest_disable_pthreads:BOOL=OFF + +//Use shared (DLL) run-time lib even when Google Test is built +// as static lib. +gtest_force_shared_crt:BOOL=OFF + +//Build gtest with internal symbols hidden in shared libraries. +gtest_hide_internal_symbols:BOOL=OFF + +//Dependencies for the target +gtest_main_LIB_DEPENDS:STATIC=general;-pthread;general;gtest; + +//Value Computed by CMake +image_geometry_BINARY_DIR:STATIC=/home/test/My/build/image_geometry + +//The directory containing a CMake configuration file for image_geometry. +image_geometry_DIR:PATH=/home/test/My/devel/share/image_geometry/cmake + +//Dependencies for the target +image_geometry_LIB_DEPENDS:STATIC=general;opencv_calib3d;general;opencv_core;general;opencv_dnn;general;opencv_features2d;general;opencv_flann;general;opencv_gapi;general;opencv_highgui;general;opencv_imgcodecs;general;opencv_imgproc;general;opencv_ml;general;opencv_objdetect;general;opencv_photo;general;opencv_stitching;general;opencv_video;general;opencv_videoio;general;opencv_alphamat;general;opencv_aruco;general;opencv_bgsegm;general;opencv_bioinspired;general;opencv_ccalib;general;opencv_cudaarithm;general;opencv_cudabgsegm;general;opencv_cudacodec;general;opencv_cudafeatures2d;general;opencv_cudafilters;general;opencv_cudaimgproc;general;opencv_cudalegacy;general;opencv_cudaobjdetect;general;opencv_cudaoptflow;general;opencv_cudastereo;general;opencv_cudawarping;general;opencv_cudev;general;opencv_datasets;general;opencv_dnn_objdetect;general;opencv_dnn_superres;general;opencv_dpm;general;opencv_face;general;opencv_freetype;general;opencv_fuzzy;general;opencv_hdf;general;opencv_hfs;general;opencv_img_hash;general;opencv_intensity_transform;general;opencv_line_descriptor;general;opencv_mcc;general;opencv_optflow;general;opencv_phase_unwrapping;general;opencv_plot;general;opencv_quality;general;opencv_rapid;general;opencv_reg;general;opencv_rgbd;general;opencv_saliency;general;opencv_shape;general;opencv_stereo;general;opencv_structured_light;general;opencv_superres;general;opencv_surface_matching;general;opencv_text;general;opencv_tracking;general;opencv_videostab;general;opencv_viz;general;opencv_wechat_qrcode;general;opencv_xfeatures2d;general;opencv_ximgproc;general;opencv_xobjdetect;general;opencv_xphoto; + +//Value Computed by CMake +image_geometry_SOURCE_DIR:STATIC=/home/test/My/src/image_geometry + +//Path to a library. +lib:FILEPATH=/opt/ros/melodic/lib/libtf2.so + +//The directory containing a CMake configuration file for message_filters. +message_filters_DIR:PATH=/opt/ros/melodic/share/message_filters/cmake + +//The directory containing a CMake configuration file for message_generation. +message_generation_DIR:PATH=/opt/ros/melodic/share/message_generation/cmake + +//The directory containing a CMake configuration file for message_runtime. +message_runtime_DIR:PATH=/opt/ros/melodic/share/message_runtime/cmake + +//Value Computed by CMake +my_cv_bridge_BINARY_DIR:STATIC=/home/test/My/build/my_cv_bridge + +//Value Computed by CMake +my_cv_bridge_SOURCE_DIR:STATIC=/home/test/My/src/my_cv_bridge + +//The directory containing a CMake configuration file for nav_msgs. +nav_msgs_DIR:PATH=/opt/ros/melodic/share/nav_msgs/cmake + +//The directory containing a CMake configuration file for ncnn. +ncnn_DIR:PATH=ncnn_DIR-NOTFOUND + +//The directory containing a CMake configuration file for nodelet. +nodelet_DIR:PATH=/opt/ros/melodic/share/nodelet/cmake + +//The directory containing a CMake configuration file for nodelet_topic_tools. +nodelet_topic_tools_DIR:PATH=/opt/ros/melodic/share/nodelet_topic_tools/cmake + +//The directory containing a CMake configuration file for octomap. +octomap_DIR:PATH=/opt/ros/melodic/share/octomap + +//Dependencies for the target +octomap_color_server_nodelet_LIB_DEPENDS:STATIC=general;octomap_server_color;general;/opt/ros/melodic/lib/liboctomap.so;general;/opt/ros/melodic/lib/liboctomath.so;general;/opt/ros/melodic/lib/libpcl_ros_filter.so;general;/opt/ros/melodic/lib/libpcl_ros_tf.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_search.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_search.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_features.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_features.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_filters.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_filters.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_ml.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_ml.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_surface.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_surface.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;general;/opt/ros/melodic/lib/librosbag.so;general;/opt/ros/melodic/lib/librosbag_storage.so;general;/opt/ros/melodic/lib/libroslz4.so;general;/usr/lib/x86_64-linux-gnu/liblz4.so;general;/opt/ros/melodic/lib/libtopic_tools.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_common.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_common.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_octree.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_octree.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_io.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_io.so;general;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;general;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;general;/usr/lib/libOpenNI.so;general;/usr/lib/libOpenNI2.so;general;/usr/lib/x86_64-linux-gnu/libvtkChartsCore-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkCommonColor-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkCommonDataModel-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkCommonMath-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtksys-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkCommonMisc-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkCommonSystem-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkCommonTransforms-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkInfovisCore-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersExtraction-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkCommonExecutionModel-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersCore-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersGeneral-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkCommonComputationalGeometry-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersStatistics-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkImagingFourier-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkImagingCore-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkalglib-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkRenderingContext2D-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkRenderingCore-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersGeometry-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersSources-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkRenderingFreeType-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libfreetype.so;general;/usr/lib/x86_64-linux-gnu/libz.so;general;/usr/lib/x86_64-linux-gnu/libvtkftgl-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkDICOMParser-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkDomainsChemistry-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkIOXML-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkIOGeometry-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkIOCore-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkIOXMLParser-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libexpat.so;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersAMR-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkParallelCore-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkIOLegacy-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersFlowPaths-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersGeneric-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersHybrid-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkImagingSources-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersHyperTree-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersImaging-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkImagingGeneral-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersModeling-6.3.so.6.3.0;general;/usr/lib/x86_64-linux-gnu/libvtkFiltersParallel-6.3.s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+ +//The directory containing a CMake configuration file for octomap_msgs. +octomap_msgs_DIR:PATH=/opt/ros/melodic/share/octomap_msgs/cmake + +//The directory containing a CMake configuration file for octomap_ros. +octomap_ros_DIR:PATH=/opt/ros/melodic/share/octomap_ros/cmake + +//Value Computed by CMake +octomap_server_BINARY_DIR:STATIC=/home/test/My/build/octomap_server + +//Dependencies for the target 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+ +//Value Computed by CMake +octomap_server_SOURCE_DIR:STATIC=/home/test/My/src/octomap_server + +//Dependencies for the target 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+ +//Dependencies for the target 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+ +//The directory containing a CMake configuration file for pcl_conversions. +pcl_conversions_DIR:PATH=/opt/ros/melodic/share/pcl_conversions/cmake + +//The directory containing a CMake configuration file for pcl_msgs. +pcl_msgs_DIR:PATH=/opt/ros/melodic/share/pcl_msgs/cmake + +//The directory containing a CMake configuration file for pcl_ros. +pcl_ros_DIR:PATH=/opt/ros/melodic/share/pcl_ros/cmake + +//The directory containing a CMake configuration file for pluginlib. +pluginlib_DIR:PATH=/opt/ros/melodic/share/pluginlib/cmake + +//The directory containing a CMake configuration file for rosbag. +rosbag_DIR:PATH=/opt/ros/melodic/share/rosbag/cmake + +//The directory containing a CMake configuration file for rosbag_storage. +rosbag_storage_DIR:PATH=/opt/ros/melodic/share/rosbag_storage/cmake + +//The directory containing a CMake configuration file for rosconsole. +rosconsole_DIR:PATH=/opt/ros/melodic/share/rosconsole/cmake + +//The directory containing a CMake configuration file for roscpp. +roscpp_DIR:PATH=/opt/ros/melodic/share/roscpp/cmake + +//The directory containing a CMake configuration file for roscpp_serialization. +roscpp_serialization_DIR:PATH=/opt/ros/melodic/share/roscpp_serialization/cmake + +//The directory containing a CMake configuration file for roscpp_traits. +roscpp_traits_DIR:PATH=/opt/ros/melodic/share/roscpp_traits/cmake + +//The directory containing a CMake configuration file for rosgraph. +rosgraph_DIR:PATH=/opt/ros/melodic/share/rosgraph/cmake + +//The directory containing a CMake configuration file for rosgraph_msgs. +rosgraph_msgs_DIR:PATH=/opt/ros/melodic/share/rosgraph_msgs/cmake + +//The directory containing a CMake configuration file for roslib. +roslib_DIR:PATH=/opt/ros/melodic/share/roslib/cmake + +//The directory containing a CMake configuration file for roslz4. +roslz4_DIR:PATH=/opt/ros/melodic/share/roslz4/cmake + +//The directory containing a CMake configuration file for rospack. +rospack_DIR:PATH=/opt/ros/melodic/share/rospack/cmake + +//The directory containing a CMake configuration file for rospy. +rospy_DIR:PATH=/opt/ros/melodic/share/rospy/cmake + +//The directory containing a CMake configuration file for rostime. +rostime_DIR:PATH=/opt/ros/melodic/share/rostime/cmake + +//The directory containing a CMake configuration file for sensor_msgs. +sensor_msgs_DIR:PATH=/opt/ros/melodic/share/sensor_msgs/cmake + +//Value Computed by CMake +sg-slam_BINARY_DIR:STATIC=/home/test/My/build/sg-slam + +//Dependencies for the target 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+FIND_PACKAGE_MESSAGE_DETAILS_OpenMP_C:INTERNAL=[-fopenmp][/usr/lib/gcc/x86_64-linux-gnu/9/libgomp.so][/usr/lib/x86_64-linux-gnu/libpthread.so][v()] +//Details about finding OpenMP_CXX +FIND_PACKAGE_MESSAGE_DETAILS_OpenMP_CXX:INTERNAL=[-fopenmp][/usr/lib/gcc/x86_64-linux-gnu/9/libgomp.so][/usr/lib/x86_64-linux-gnu/libpthread.so][v()] +//Details about finding OpenNI2 +FIND_PACKAGE_MESSAGE_DETAILS_OpenNI2:INTERNAL=[/usr/lib/libOpenNI2.so][/usr/include/openni2][v()] +//Details about finding PCL +FIND_PACKAGE_MESSAGE_DETAILS_PCL:INTERNAL=[/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;/usr/lib/x86_64-linux-gnu/libpthread.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_common.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_common.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_octree.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_octree.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonDataModel;vtkCommonMath;vtkCommonCore;vtksys;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkInfovisCore;vtkFiltersExtraction;vtkCommonExecutionModel;vtkFiltersCore;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkftgl;vtkDICOMParser;vtkDomainsChemistry;vtkIOXML;vtkIOGeometry;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkFiltersAMR;vtkParallelCore;vtkIOLegacy;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkFiltersHybrid;vtkImagingSources;vtkFiltersHyperTree;vtkFiltersImaging;vtkImagingGeneral;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelFlowPaths;vtkParallelMPI;vtkFiltersParallelGeometry;vtkFiltersParallelImaging;vtkFiltersParallelMPI;vtkFiltersParallelStatistics;vtkFiltersProgrammable;vtkFiltersPython;/usr/lib/x86_64-linux-gnu/libpython2.7.so;vtkWrappingPythonCore;vtkWrappingTools;vtkFiltersReebGraph;vtkFiltersSMP;vtkFiltersSelection;vtkFiltersTexture;vtkFiltersVerdict;verdict;vtkGUISupportQt;vtkInteractionStyle;vtkRenderingOpenGL;vtkImagingHybrid;vtkIOImage;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkGUISupportQtOpenGL;vtkGUISupportQtSQL;vtkIOSQL;sqlite3;vtkGUISupportQtWebkit;vtkViewsQt;vtkViewsInfovis;vtkInfovisLayout;vtkInfovisBoostGraphAlgorithms;vtkRenderingLabel;vtkViewsCore;vtkInteractionWidgets;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingVolume;vtkGeovisCore;/usr/lib/x86_64-linux-gnu/libproj.so;vtkIOAMR;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/libhdf5.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/openmpi/lib/libmpi.so;vtkIOEnSight;vtkIOExodus;vtkexoIIc;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;vtkIOExport;vtkRenderingGL2PS;vtkRenderingContextOpenGL;/usr/lib/x86_64-linux-gnu/libgl2ps.so;vtkIOFFMPEG;vtkIOMovie;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkIOGDAL;vtkIOGeoJSON;vtkIOImport;vtkIOInfovis;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkIOLSDyna;vtkIOMINC;vtkIOMPIImage;vtkIOMPIParallel;vtkIOParallel;vtkIONetCDF;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOMySQL;vtkIOODBC;vtkIOPLY;vtkIOParallelExodus;vtkIOParallelLSDyna;vtkIOParallelNetCDF;vtkIOParallelXML;vtkIOPostgreSQL;vtkIOVPIC;VPIC;vtkIOVideo;vtkIOXdmf2;vtkxdmf2;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInteractionImage;vtkLocalExample;vtkParallelMPI4Py;vtkPythonInterpreter;vtkRenderingExternal;vtkRenderingFreeTypeFontConfig;vtkRenderingImage;vtkRenderingLIC;vtkRenderingLOD;vtkRenderingMatplotlib;vtkRenderingParallel;vtkRenderingParallelLIC;vtkRenderingQt;vtkRenderingVolumeAMR;vtkRenderingVolumeOpenGL;vtkTestingGenericBridge;vtkTestingIOSQL;vtkTestingRendering;vtkViewsContext2D;vtkViewsGeovis;vtkWrappingJava;optimized;/usr/lib/x86_64-linux-gnu/libpcl_io.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_io.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;optimized;/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_search.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_search.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_filters.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_filters.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_features.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_features.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_ml.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_ml.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_visualization.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_visualization.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_surface.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_surface.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_registration.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_registration.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_tracking.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_tracking.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_recognition.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_recognition.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_stereo.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_stereo.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_apps.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_apps.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_people.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_people.so;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;/usr/lib/x86_64-linux-gnu/libpthread.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;vtkChartsCore;vtkCommonColor;vtkCommonDataModel;vtkCommonMath;vtkCommonCore;vtksys;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkInfovisCore;vtkFiltersExtraction;vtkCommonExecutionModel;vtkFiltersCore;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkftgl;vtkDICOMParser;vtkDomainsChemistry;vtkIOXML;vtkIOGeometry;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkFiltersAMR;vtkParallelCore;vtkIOLegacy;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkFiltersHybrid;vtkImagingSources;vtkFiltersHyperTree;vtkFiltersImaging;vtkImagingGeneral;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelFlowPaths;vtkParallelMPI;vtkFiltersParallelGeometry;vtkFiltersParallelImaging;vtkFiltersParallelMPI;vtkFiltersParallelStatistics;vtkFiltersProgrammable;vtkFiltersPython;/usr/lib/x86_64-linux-gnu/libpython2.7.so;vtkWrappingPythonCore;vtkWrappingTools;vtkFiltersReebGraph;vtkFiltersSMP;vtkFiltersSelection;vtkFiltersTexture;vtkFiltersVerdict;verdict;vtkGUISupportQt;vtkInteractionStyle;vtkRenderingOpenGL;vtkImagingHybrid;vtkIOImage;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkGUISupportQtOpenGL;vtkGUISupportQtSQL;vtkIOSQL;sqlite3;vtkGUISupportQtWebkit;vtkViewsQt;vtkViewsInfovis;vtkInfovisLayout;vtkInfovisBoostGraphAlgorithms;vtkRenderingLabel;vtkViewsCore;vtkInteractionWidgets;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingVolume;vtkGeovisCore;/usr/lib/x86_64-linux-gnu/libproj.so;vtkIOAMR;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/libhdf5.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/openmpi/lib/libmpi.so;vtkIOEnSight;vtkIOExodus;vtkexoIIc;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;vtkIOExport;vtkRenderingGL2PS;vtkRenderingContextOpenGL;/usr/lib/x86_64-linux-gnu/libgl2ps.so;vtkIOFFMPEG;vtkIOMovie;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkIOGDAL;vtkIOGeoJSON;vtkIOImport;vtkIOInfovis;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkIOLSDyna;vtkIOMINC;vtkIOMPIImage;vtkIOMPIParallel;vtkIOParallel;vtkIONetCDF;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOMySQL;vtkIOODBC;vtkIOPLY;vtkIOParallelExodus;vtkIOParallelLSDyna;vtkIOParallelNetCDF;vtkIOParallelXML;vtkIOPostgreSQL;vtkIOVPIC;VPIC;vtkIOVideo;vtkIOXdmf2;vtkxdmf2;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInteractionImage;vtkLocalExample;vtkParallelMPI4Py;vtkPythonInterpreter;vtkRenderingExternal;vtkRenderingFreeTypeFontConfig;vtkRenderingImage;vtkRenderingLIC;vtkRenderingLOD;vtkRenderingMatplotlib;vtkRenderingParallel;vtkRenderingParallelLIC;vtkRenderingQt;vtkRenderingVolumeAMR;vtkRenderingVolumeOpenGL;vtkTestingGenericBridge;vtkTestingIOSQL;vtkTestingRendering;vtkViewsContext2D;vtkViewsGeovis;vtkWrappingJava][/usr/include/pcl-1.8;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.3;/usr/include/freetype2;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent/include;/usr/lib/x86_64-linux-gnu/openmpi/include;/usr/include/python2.7;/usr/include/x86_64-linux-gnu;/usr/include/hdf5/openmpi;/usr/include/libxml2;/usr/include/jsoncpp;/usr/include/tcl][v()] +//Details about finding PCL_2D +FIND_PACKAGE_MESSAGE_DETAILS_PCL_2D:INTERNAL=[/usr/include/pcl-1.8][v()] +//Details about finding PCL_APPS +FIND_PACKAGE_MESSAGE_DETAILS_PCL_APPS:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_apps.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_COMMON +FIND_PACKAGE_MESSAGE_DETAILS_PCL_COMMON:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_common.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_FEATURES +FIND_PACKAGE_MESSAGE_DETAILS_PCL_FEATURES:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_features.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_FILTERS +FIND_PACKAGE_MESSAGE_DETAILS_PCL_FILTERS:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_filters.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_GEOMETRY +FIND_PACKAGE_MESSAGE_DETAILS_PCL_GEOMETRY:INTERNAL=[/usr/include/pcl-1.8][v()] +//Details about finding PCL_IN_HAND_SCANNER +FIND_PACKAGE_MESSAGE_DETAILS_PCL_IN_HAND_SCANNER:INTERNAL=[/usr/include/pcl-1.8][v()] +//Details about finding PCL_IO +FIND_PACKAGE_MESSAGE_DETAILS_PCL_IO:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_io.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_KDTREE +FIND_PACKAGE_MESSAGE_DETAILS_PCL_KDTREE:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_KEYPOINTS +FIND_PACKAGE_MESSAGE_DETAILS_PCL_KEYPOINTS:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_ML +FIND_PACKAGE_MESSAGE_DETAILS_PCL_ML:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_ml.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_MODELER +FIND_PACKAGE_MESSAGE_DETAILS_PCL_MODELER:INTERNAL=[/usr/include/pcl-1.8][v()] +//Details about finding PCL_OCTREE +FIND_PACKAGE_MESSAGE_DETAILS_PCL_OCTREE:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_octree.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_OUTOFCORE +FIND_PACKAGE_MESSAGE_DETAILS_PCL_OUTOFCORE:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_PEOPLE +FIND_PACKAGE_MESSAGE_DETAILS_PCL_PEOPLE:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_people.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_POINT_CLOUD_EDITOR +FIND_PACKAGE_MESSAGE_DETAILS_PCL_POINT_CLOUD_EDITOR:INTERNAL=[/usr/include/pcl-1.8][v()] +//Details about finding PCL_RECOGNITION +FIND_PACKAGE_MESSAGE_DETAILS_PCL_RECOGNITION:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_recognition.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_REGISTRATION +FIND_PACKAGE_MESSAGE_DETAILS_PCL_REGISTRATION:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_registration.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_SAMPLE_CONSENSUS +FIND_PACKAGE_MESSAGE_DETAILS_PCL_SAMPLE_CONSENSUS:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_SEARCH +FIND_PACKAGE_MESSAGE_DETAILS_PCL_SEARCH:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_search.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_SEGMENTATION +FIND_PACKAGE_MESSAGE_DETAILS_PCL_SEGMENTATION:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_STEREO +FIND_PACKAGE_MESSAGE_DETAILS_PCL_STEREO:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_stereo.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_SURFACE +FIND_PACKAGE_MESSAGE_DETAILS_PCL_SURFACE:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_surface.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_TRACKING +FIND_PACKAGE_MESSAGE_DETAILS_PCL_TRACKING:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_tracking.so][/usr/include/pcl-1.8][v()] +//Details about finding PCL_VISUALIZATION +FIND_PACKAGE_MESSAGE_DETAILS_PCL_VISUALIZATION:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_visualization.so][/usr/include/pcl-1.8][v()] +//Details about finding PkgConfig +FIND_PACKAGE_MESSAGE_DETAILS_PkgConfig:INTERNAL=[/usr/bin/pkg-config][v0.29.1()] +//Details about finding PythonInterp +FIND_PACKAGE_MESSAGE_DETAILS_PythonInterp:INTERNAL=[/usr/bin/python2][v2.7.17()] +//Details about finding PythonLibs +FIND_PACKAGE_MESSAGE_DETAILS_PythonLibs:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpython2.7.so][/usr/include/python2.7][v2.7.17(2.7)] +//Details about finding Threads +FIND_PACKAGE_MESSAGE_DETAILS_Threads:INTERNAL=[TRUE][v()] +//Details about finding eigen +FIND_PACKAGE_MESSAGE_DETAILS_eigen:INTERNAL=[/usr/local/include/eigen3][v()] +//Details about finding libusb-1.0 +FIND_PACKAGE_MESSAGE_DETAILS_libusb-1.0:INTERNAL=[/usr/include][v()] +//Details about finding openni +FIND_PACKAGE_MESSAGE_DETAILS_openni:INTERNAL=[/usr/lib/libOpenNI.so][/usr/include/ni][v()] +//Details about finding qhull +FIND_PACKAGE_MESSAGE_DETAILS_qhull:INTERNAL=[/usr/lib/x86_64-linux-gnu/libqhull.so][/usr/include][v()] +GMOCK_FROM_SOURCE_FOUND:INTERNAL=TRUE +GMOCK_FROM_SOURCE_INCLUDE_DIRS:INTERNAL=/usr/include +GMOCK_FROM_SOURCE_LIBRARIES:INTERNAL=gmock +GMOCK_FROM_SOURCE_LIBRARY_DIRS:INTERNAL=/home/test/My/build/gmock +GMOCK_FROM_SOURCE_MAIN_LIBRARIES:INTERNAL=gmock_main +GTEST_FROM_SOURCE_FOUND:INTERNAL=TRUE +GTEST_FROM_SOURCE_INCLUDE_DIRS:INTERNAL=/usr/include +GTEST_FROM_SOURCE_LIBRARIES:INTERNAL=gtest +GTEST_FROM_SOURCE_LIBRARY_DIRS:INTERNAL=/home/test/My/build/gtest +GTEST_FROM_SOURCE_MAIN_LIBRARIES:INTERNAL=gtest_main +//ADVANCED property for variable: GTEST_INCLUDE_DIR +GTEST_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: GTEST_LIBRARY +GTEST_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: GTEST_LIBRARY_DEBUG +GTEST_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: GTEST_MAIN_LIBRARY +GTEST_MAIN_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: GTEST_MAIN_LIBRARY_DEBUG +GTEST_MAIN_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//Result of TRY_COMPILE +OpenMP_COMPILE_RESULT_CXX_fopenmp:INTERNAL=TRUE +//Result of TRY_COMPILE +OpenMP_COMPILE_RESULT_C_fopenmp:INTERNAL=TRUE +//ADVANCED property for variable: OpenMP_CXX_FLAGS +OpenMP_CXX_FLAGS-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: OpenMP_CXX_LIB_NAMES +OpenMP_CXX_LIB_NAMES-ADVANCED:INTERNAL=1 +//CXX compiler's OpenMP specification date +OpenMP_CXX_SPEC_DATE:INTERNAL=201511 +//ADVANCED property for variable: OpenMP_C_FLAGS +OpenMP_C_FLAGS-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: OpenMP_C_LIB_NAMES +OpenMP_C_LIB_NAMES-ADVANCED:INTERNAL=1 +//C compiler's OpenMP specification date +OpenMP_C_SPEC_DATE:INTERNAL=201511 +//Result of TRY_COMPILE +OpenMP_SPECTEST_CXX_:INTERNAL=TRUE +//Result of TRY_COMPILE +OpenMP_SPECTEST_C_:INTERNAL=TRUE +//ADVANCED property for variable: OpenMP_gomp_LIBRARY +OpenMP_gomp_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: OpenMP_pthread_LIBRARY +OpenMP_pthread_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_APPS_LIBRARY +PCL_APPS_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_APPS_LIBRARY_DEBUG +PCL_APPS_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_COMMON_LIBRARY +PCL_COMMON_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_COMMON_LIBRARY_DEBUG +PCL_COMMON_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_FEATURES_LIBRARY +PCL_FEATURES_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_FEATURES_LIBRARY_DEBUG +PCL_FEATURES_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_FILTERS_LIBRARY +PCL_FILTERS_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_FILTERS_LIBRARY_DEBUG +PCL_FILTERS_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_IO_LIBRARY +PCL_IO_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_IO_LIBRARY_DEBUG +PCL_IO_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: 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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 + + +/* These compilers are either not known or 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 "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* 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" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#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_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# 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 a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_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 "]"; + + + + +#if !defined(__STDC__) +# if defined(_MSC_VER) && !defined(__clang__) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/MyCode/build/CMakeFiles/3.10.2/CompilerIdC/a.out b/MyCode/build/CMakeFiles/3.10.2/CompilerIdC/a.out new file mode 100644 index 0000000..d0bc220 Binary files /dev/null and b/MyCode/build/CMakeFiles/3.10.2/CompilerIdC/a.out differ diff --git a/MyCode/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/MyCode/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..2d66298 --- /dev/null +++ b/MyCode/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,576 @@ +/* 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" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# 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(__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 DEC(__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__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#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__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#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_MAJOR) +# 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(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# 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 + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __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) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#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 + + +/* These compilers are either not known or 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 "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* 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" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#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_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# 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 a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. 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regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/MyCode/build/atomic_configure/.rosinstall b/MyCode/build/atomic_configure/.rosinstall new file mode 100644 index 0000000..de0d3ce --- /dev/null +++ b/MyCode/build/atomic_configure/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/test/My/devel/setup.sh diff --git a/MyCode/build/atomic_configure/_setup_util.py b/MyCode/build/atomic_configure/_setup_util.py new file mode 100644 index 0000000..bd65cbd --- /dev/null +++ b/MyCode/build/atomic_configure/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# 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 Willow Garage, Inc. 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. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/MyCode/build/atomic_configure/env.sh b/MyCode/build/atomic_configure/env.sh new file mode 100644 index 0000000..8aa9d24 --- /dev/null +++ b/MyCode/build/atomic_configure/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/MyCode/build/atomic_configure/local_setup.bash b/MyCode/build/atomic_configure/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/MyCode/build/atomic_configure/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/MyCode/build/atomic_configure/local_setup.sh b/MyCode/build/atomic_configure/local_setup.sh new file mode 100644 index 0000000..0b9c62d --- /dev/null +++ b/MyCode/build/atomic_configure/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/test/My/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/MyCode/build/atomic_configure/local_setup.zsh b/MyCode/build/atomic_configure/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/MyCode/build/atomic_configure/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/MyCode/build/atomic_configure/setup.bash b/MyCode/build/atomic_configure/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/MyCode/build/atomic_configure/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/MyCode/build/atomic_configure/setup.sh b/MyCode/build/atomic_configure/setup.sh new file mode 100644 index 0000000..2c08c9b --- /dev/null +++ b/MyCode/build/atomic_configure/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/test/My/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/MyCode/build/atomic_configure/setup.zsh b/MyCode/build/atomic_configure/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/MyCode/build/atomic_configure/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/MyCode/build/catkin/catkin_generated/version/package.cmake b/MyCode/build/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000..3e52286 --- /dev/null +++ b/MyCode/build/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,24 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.7.29") +set(catkin_MAINTAINER "Dirk Thomas ") +set(catkin_PACKAGE_FORMAT "3") +set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") +set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") +set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose") +set(catkin_DOC_DEPENDS ) +set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") +set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") +set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") +set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/MyCode/build/catkin_generated/env_cached.sh b/MyCode/build/catkin_generated/env_cached.sh new file mode 100644 index 0000000..d6be91d --- /dev/null +++ b/MyCode/build/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/MyCode/build/catkin_generated/generate_cached_setup.py b/MyCode/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000..83bb4c8 --- /dev/null +++ b/MyCode/build/catkin_generated/generate_cached_setup.py @@ -0,0 +1,30 @@ +# -*- coding: utf-8 -*- +from __future__ import print_function + +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/melodic/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/melodic/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in '/opt/ros/melodic'.split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/home/test/My/devel/env.sh') + +output_filename = '/home/test/My/build/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + # print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/MyCode/build/catkin_generated/installspace/.rosinstall b/MyCode/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000..dd3b06a --- /dev/null +++ b/MyCode/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/test/My/install/setup.sh diff --git a/MyCode/build/catkin_generated/installspace/_setup_util.py b/MyCode/build/catkin_generated/installspace/_setup_util.py new file mode 100644 index 0000000..bd65cbd --- /dev/null +++ b/MyCode/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# 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 Willow Garage, Inc. 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. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/MyCode/build/catkin_generated/installspace/env.sh b/MyCode/build/catkin_generated/installspace/env.sh new file mode 100644 index 0000000..8aa9d24 --- /dev/null +++ b/MyCode/build/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/MyCode/build/catkin_generated/installspace/local_setup.bash b/MyCode/build/catkin_generated/installspace/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/MyCode/build/catkin_generated/installspace/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/MyCode/build/catkin_generated/installspace/local_setup.sh b/MyCode/build/catkin_generated/installspace/local_setup.sh new file mode 100644 index 0000000..e8b1ca5 --- /dev/null +++ b/MyCode/build/catkin_generated/installspace/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/test/My/install} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/MyCode/build/catkin_generated/installspace/local_setup.zsh b/MyCode/build/catkin_generated/installspace/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/MyCode/build/catkin_generated/installspace/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/MyCode/build/catkin_generated/installspace/setup.bash b/MyCode/build/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/MyCode/build/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/MyCode/build/catkin_generated/installspace/setup.sh b/MyCode/build/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000..ddf4289 --- /dev/null +++ b/MyCode/build/catkin_generated/installspace/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/test/My/install} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/MyCode/build/catkin_generated/installspace/setup.zsh b/MyCode/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/MyCode/build/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/MyCode/build/catkin_generated/order_packages.cmake b/MyCode/build/catkin_generated/order_packages.cmake new file mode 100644 index 0000000..6470f8c --- /dev/null +++ b/MyCode/build/catkin_generated/order_packages.cmake @@ -0,0 +1,26 @@ +# generated from catkin/cmake/em/order_packages.cmake.em + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +list(APPEND CATKIN_ORDERED_PACKAGES "cv_bridge") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "my_cv_bridge") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "image_geometry") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "image_geometry") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "octomap_server") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "octomap_server") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "sg-slam") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "sg-slam") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") + +set(CATKIN_MESSAGE_GENERATORS ) + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in") diff --git a/MyCode/build/catkin_generated/order_packages.py b/MyCode/build/catkin_generated/order_packages.py new file mode 100644 index 0000000..c8de3ee --- /dev/null +++ b/MyCode/build/catkin_generated/order_packages.py @@ -0,0 +1,5 @@ +# generated from catkin/cmake/template/order_packages.context.py.in +source_root_dir = '/home/test/My/src' +whitelisted_packages = ''.split(';') if '' != '' else [] +blacklisted_packages = ''.split(';') if '' != '' else [] +underlay_workspaces = '/opt/ros/melodic'.split(';') if '/opt/ros/melodic' != '' else [] diff --git a/MyCode/build/catkin_generated/setup_cached.sh b/MyCode/build/catkin_generated/setup_cached.sh new file mode 100644 index 0000000..8e21acc --- /dev/null +++ b/MyCode/build/catkin_generated/setup_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export CMAKE_PREFIX_PATH="/home/test/My/devel:$CMAKE_PREFIX_PATH" +export LD_LIBRARY_PATH="/home/test/My/devel/lib:$LD_LIBRARY_PATH" +export PKG_CONFIG_PATH="/home/test/My/devel/lib/pkgconfig:$PKG_CONFIG_PATH" +export PWD='/home/test/My/build' +export PYTHONPATH="/home/test/My/devel/lib/python2.7/dist-packages:$PYTHONPATH" +export ROSLISP_PACKAGE_DIRECTORIES='/home/test/My/devel/share/common-lisp' +export ROS_PACKAGE_PATH="/home/test/My/src:$ROS_PACKAGE_PATH" \ No newline at end of file diff --git a/MyCode/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/MyCode/build/catkin_generated/stamps/Project/_setup_util.py.stamp new file mode 100644 index 0000000..bd65cbd --- /dev/null +++ b/MyCode/build/catkin_generated/stamps/Project/_setup_util.py.stamp @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# 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 Willow Garage, Inc. 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. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/MyCode/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/MyCode/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000..5e25fbf --- /dev/null +++ b/MyCode/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,255 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# 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 Willow Garage, Inc. 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. + +from __future__ import print_function + +import os +import runpy +import sys +from argparse import ArgumentParser + +setup_modules = [] + +try: + import distutils.core + setup_modules.append(distutils.core) +except ImportError: + pass + +try: + import setuptools + setup_modules.append(setuptools) +except ImportError: + pass + +assert setup_modules, 'Must have distutils or setuptools installed' + + +def _get_locations(pkgs, package_dir): + """ + Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. + + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = os.path.join(parent_location, splits[key_len]) + else: + locations[key] = os.path.join(allprefix, key) + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): + """ + Generate lines to add to a cmake file which will set variables. + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :param pkgs: [list of str] python_packages declared in catkin package + :param modules: [list of str] python modules + :param setup_module: str, setuptools or distutils + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + if setup_module: + result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if '.' not in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + root_name = splits[0] + root_location = location + for _ in range(len(splits) - 1): + root_location = os.path.dirname(root_location) + if root_location != locations[root_name]: + raise RuntimeError( + 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [locations[pkg]] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) + + return result + + +def _create_mock_setup_function(setup_module, package_name, outfile): + """ + Create a function to call instead of distutils.core.setup or setuptools.setup. + + It just captures some args and writes them into a file that can be used from cmake. + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + """Check kwargs and write a scriptfile.""" + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError('version not found in setup.py') + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules, + setup_module=setup_module) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """Script main, parses arguments and invokes Dummy.setup indirectly.""" + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + backup_modules = {} + try: + + for module in setup_modules: + backup_modules[id(module)] = module.setup + module.setup = _create_mock_setup_function( + setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) + + runpy.run_path(args.setupfile_path) + finally: + for module in setup_modules: + module.setup = backup_modules[id(module)] + + +if __name__ == '__main__': + main() diff --git a/MyCode/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/MyCode/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp new file mode 100644 index 0000000..7ec7539 --- /dev/null +++ b/MyCode/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp @@ -0,0 +1,70 @@ +# generated from catkin/cmake/em/order_packages.cmake.em +@{ +import os +try: + from catkin_pkg.cmake import get_metapackage_cmake_template_path +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.topological_order import topological_order +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.package import InvalidPackage +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +# vars defined in order_packages.context.py.in +try: + ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces) +except InvalidPackage as e: + print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"')) + ordered_packages = [] +fatal_error = False +}@ + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +@[for path, package in ordered_packages]@ +@[if path is None]@ +message(FATAL_ERROR "Circular dependency in subset of packages:\n@package") +@{ +fatal_error = True +}@ +@[elif package.name != 'catkin']@ +list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))") +@{ +package.evaluate_conditions(os.environ) +try: + build_type = package.get_build_type() +except InvalidPackage: + build_type = None +}@ +@[if build_type is None]@ +message(FATAL_ERROR "Only one element is permitted for package '@(package.name)'.") +@{ +fatal_error = True +}@ +@[else]@ +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())") +@[end if]@ +@{ +deprecated = [e for e in package.exports if e.tagname == 'deprecated'] +}@ +@[if deprecated]@ +message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')") +@[end if]@ +@[end if]@ +@[end for]@ + +@[if not fatal_error]@ +@{ +message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]] +}@ +set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators))) +@[end if]@ + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))") diff --git a/MyCode/build/catkin_generated/stamps/Project/package.xml.stamp b/MyCode/build/catkin_generated/stamps/Project/package.xml.stamp new file mode 100644 index 0000000..9a1f675 --- /dev/null +++ b/MyCode/build/catkin_generated/stamps/Project/package.xml.stamp @@ -0,0 +1,48 @@ + + + + catkin + 0.7.29 + Low-level build system macros and infrastructure for ROS. + Dirk Thomas + BSD + + http://wiki.ros.org/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + + python-argparse + python-catkin-pkg + python3-catkin-pkg + python-empy + python3-empy + + cmake + python-setuptools + python3-setuptools + + cmake + python3-setuptools + + google-mock + gtest + python-nose + python3-nose + + python-mock + python3-mock + python-nose + python3-nose + + + + + + diff --git a/MyCode/build/catkin_make.cache b/MyCode/build/catkin_make.cache new file mode 100644 index 0000000..1f9a984 --- /dev/null +++ b/MyCode/build/catkin_make.cache @@ -0,0 +1,2 @@ +image_geometry:my_cv_bridge:octomap_server:sg-slam +-DCATKIN_DEVEL_PREFIX=/home/test/My/devel -DCMAKE_INSTALL_PREFIX=/home/test/My/install -G Unix Makefiles \ No newline at end of file diff --git a/MyCode/build/cmake_install.cmake b/MyCode/build/cmake_install.cmake new file mode 100644 index 0000000..9ec112e --- /dev/null +++ b/MyCode/build/cmake_install.cmake @@ -0,0 +1,150 @@ +# Install script for directory: 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b/MyCode/build/image_geometry/catkin_generated/installspace/image_geometry.pc @@ -0,0 +1,8 @@ +prefix=/home/test/My/install + +Name: image_geometry +Description: Description of image_geometry +Version: 1.13.0 +Cflags: -I${prefix}/include -I/usr/local/include/opencv4 +Libs: -L${prefix}/lib -limage_geometry /usr/local/lib/libopencv_calib3d.so.4.8.0 /usr/local/lib/libopencv_core.so.4.8.0 /usr/local/lib/libopencv_dnn.so.4.8.0 /usr/local/lib/libopencv_features2d.so.4.8.0 /usr/local/lib/libopencv_flann.so.4.8.0 /usr/local/lib/libopencv_gapi.so.4.8.0 /usr/local/lib/libopencv_highgui.so.4.8.0 /usr/local/lib/libopencv_imgcodecs.so.4.8.0 /usr/local/lib/libopencv_imgproc.so.4.8.0 /usr/local/lib/libopencv_ml.so.4.8.0 /usr/local/lib/libopencv_objdetect.so.4.8.0 /usr/local/lib/libopencv_photo.so.4.8.0 /usr/local/lib/libopencv_stitching.so.4.8.0 /usr/local/lib/libopencv_video.so.4.8.0 /usr/local/lib/libopencv_videoio.so.4.8.0 /usr/local/lib/libopencv_alphamat.so.4.8.0 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/usr/local/lib/libopencv_viz.so.4.8.0 /usr/local/lib/libopencv_wechat_qrcode.so.4.8.0 /usr/local/lib/libopencv_xfeatures2d.so.4.8.0 /usr/local/lib/libopencv_ximgproc.so.4.8.0 /usr/local/lib/libopencv_xobjdetect.so.4.8.0 /usr/local/lib/libopencv_xphoto.so.4.8.0 +Requires: sensor_msgs diff --git a/MyCode/build/image_geometry/catkin_generated/installspace/image_geometryConfig-version.cmake b/MyCode/build/image_geometry/catkin_generated/installspace/image_geometryConfig-version.cmake new file mode 100644 index 0000000..1931551 --- /dev/null +++ b/MyCode/build/image_geometry/catkin_generated/installspace/image_geometryConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "1.13.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/MyCode/build/image_geometry/catkin_generated/installspace/image_geometryConfig.cmake b/MyCode/build/image_geometry/catkin_generated/installspace/image_geometryConfig.cmake new file mode 100644 index 0000000..7a4d947 --- /dev/null +++ b/MyCode/build/image_geometry/catkin_generated/installspace/image_geometryConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(image_geometry_CONFIG_INCLUDED) + return() +endif() +set(image_geometry_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(image_geometry_SOURCE_PREFIX /home/test/My/src/image_geometry) + set(image_geometry_DEVEL_PREFIX /home/test/My/devel) + set(image_geometry_INSTALL_PREFIX "") + set(image_geometry_PREFIX ${image_geometry_DEVEL_PREFIX}) +else() + set(image_geometry_SOURCE_PREFIX "") + set(image_geometry_DEVEL_PREFIX "") + set(image_geometry_INSTALL_PREFIX /home/test/My/install) + set(image_geometry_PREFIX ${image_geometry_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'image_geometry' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(image_geometry_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "include;/usr/local/include/opencv4 " STREQUAL " ") + set(image_geometry_INCLUDE_DIRS "") + set(_include_dirs "include;/usr/local/include/opencv4") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://www.ros.org/wiki/image_geometry " STREQUAL " ") + set(_report "Check the website 'http://www.ros.org/wiki/image_geometry' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Vincent Rabaud ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${image_geometry_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'image_geometry' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'image_geometry' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(image_geometry_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "image_geometry;/usr/local/lib/libopencv_calib3d.so.4.8.0;/usr/local/lib/libopencv_core.so.4.8.0;/usr/local/lib/libopencv_dnn.so.4.8.0;/usr/local/lib/libopencv_features2d.so.4.8.0;/usr/local/lib/libopencv_flann.so.4.8.0;/usr/local/lib/libopencv_gapi.so.4.8.0;/usr/local/lib/libopencv_highgui.so.4.8.0;/usr/local/lib/libopencv_imgcodecs.so.4.8.0;/usr/local/lib/libopencv_imgproc.so.4.8.0;/usr/local/lib/libopencv_ml.so.4.8.0;/usr/local/lib/libopencv_objdetect.so.4.8.0;/usr/local/lib/libopencv_photo.so.4.8.0;/usr/local/lib/libopencv_stitching.so.4.8.0;/usr/local/lib/libopencv_video.so.4.8.0;/usr/local/lib/libopencv_videoio.so.4.8.0;/usr/local/lib/libopencv_alphamat.so.4.8.0;/usr/local/lib/libopencv_aruco.so.4.8.0;/usr/local/lib/libopencv_bgsegm.so.4.8.0;/usr/local/lib/libopencv_bioinspired.so.4.8.0;/usr/local/lib/libopencv_ccalib.so.4.8.0;/usr/local/lib/libopencv_cudaarithm.so.4.8.0;/usr/local/lib/libopencv_cudabgsegm.so.4.8.0;/usr/local/lib/libopencv_cudacodec.so.4.8.0;/usr/local/lib/libopencv_cudafeatures2d.so.4.8.0;/usr/local/lib/libopencv_cudafilters.so.4.8.0;/usr/local/lib/libopencv_cudaimgproc.so.4.8.0;/usr/local/lib/libopencv_cudalegacy.so.4.8.0;/usr/local/lib/libopencv_cudaobjdetect.so.4.8.0;/usr/local/lib/libopencv_cudaoptflow.so.4.8.0;/usr/local/lib/libopencv_cudastereo.so.4.8.0;/usr/local/lib/libopencv_cudawarping.so.4.8.0;/usr/local/lib/libopencv_cudev.so.4.8.0;/usr/local/lib/libopencv_datasets.so.4.8.0;/usr/local/lib/libopencv_dnn_objdetect.so.4.8.0;/usr/local/lib/libopencv_dnn_superres.so.4.8.0;/usr/local/lib/libopencv_dpm.so.4.8.0;/usr/local/lib/libopencv_face.so.4.8.0;/usr/local/lib/libopencv_freetype.so.4.8.0;/usr/local/lib/libopencv_fuzzy.so.4.8.0;/usr/local/lib/libopencv_hdf.so.4.8.0;/usr/local/lib/libopencv_hfs.so.4.8.0;/usr/local/lib/libopencv_img_hash.so.4.8.0;/usr/local/lib/libopencv_intensity_transform.so.4.8.0;/usr/local/lib/libopencv_line_descriptor.so.4.8.0;/usr/local/lib/libopencv_mcc.so.4.8.0;/usr/local/lib/libopencv_optflow.so.4.8.0;/usr/local/lib/libopencv_phase_unwrapping.so.4.8.0;/usr/local/lib/libopencv_plot.so.4.8.0;/usr/local/lib/libopencv_quality.so.4.8.0;/usr/local/lib/libopencv_rapid.so.4.8.0;/usr/local/lib/libopencv_reg.so.4.8.0;/usr/local/lib/libopencv_rgbd.so.4.8.0;/usr/local/lib/libopencv_saliency.so.4.8.0;/usr/local/lib/libopencv_shape.so.4.8.0;/usr/local/lib/libopencv_stereo.so.4.8.0;/usr/local/lib/libopencv_structured_light.so.4.8.0;/usr/local/lib/libopencv_superres.so.4.8.0;/usr/local/lib/libopencv_surface_matching.so.4.8.0;/usr/local/lib/libopencv_text.so.4.8.0;/usr/local/lib/libopencv_tracking.so.4.8.0;/usr/local/lib/libopencv_videostab.so.4.8.0;/usr/local/lib/libopencv_viz.so.4.8.0;/usr/local/lib/libopencv_wechat_qrcode.so.4.8.0;/usr/local/lib/libopencv_xfeatures2d.so.4.8.0;/usr/local/lib/libopencv_ximgproc.so.4.8.0;/usr/local/lib/libopencv_xobjdetect.so.4.8.0;/usr/local/lib/libopencv_xphoto.so.4.8.0") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND image_geometry_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND image_geometry_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT image_geometry_NUM_DUMMY_TARGETS) + set(image_geometry_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::image_geometry::wrapped-linker-option${image_geometry_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR image_geometry_NUM_DUMMY_TARGETS "${image_geometry_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::image_geometry::wrapped-linker-option${image_geometry_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND image_geometry_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND image_geometry_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND image_geometry_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/test/My/install/lib;/opt/ros/melodic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(image_geometry_LIBRARY_DIRS ${lib_path}) + list(APPEND image_geometry_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'image_geometry'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND image_geometry_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(image_geometry_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${image_geometry_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "sensor_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 image_geometry_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${image_geometry_dep}_FOUND) + find_package(${image_geometry_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${image_geometry_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(image_geometry_INCLUDE_DIRS ${${image_geometry_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(image_geometry_LIBRARIES ${image_geometry_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${image_geometry_dep}_LIBRARIES}) + _list_append_deduplicate(image_geometry_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(image_geometry_LIBRARIES ${image_geometry_LIBRARIES}) + + _list_append_unique(image_geometry_LIBRARY_DIRS ${${image_geometry_dep}_LIBRARY_DIRS}) + list(APPEND image_geometry_EXPORTED_TARGETS ${${image_geometry_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${image_geometry_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/MyCode/build/image_geometry/catkin_generated/ordered_paths.cmake b/MyCode/build/image_geometry/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..88ba1d8 --- /dev/null +++ b/MyCode/build/image_geometry/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/melodic/lib") \ No newline at end of file diff --git a/MyCode/build/image_geometry/catkin_generated/package.cmake b/MyCode/build/image_geometry/catkin_generated/package.cmake new file mode 100644 index 0000000..a1d404f --- /dev/null +++ b/MyCode/build/image_geometry/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "image_geometry") +set(image_geometry_VERSION "1.13.0") +set(image_geometry_MAINTAINER "Vincent Rabaud ") +set(image_geometry_PACKAGE_FORMAT "2") +set(image_geometry_BUILD_DEPENDS "libopencv-dev" "sensor_msgs") +set(image_geometry_BUILD_EXPORT_DEPENDS "libopencv-dev" "sensor_msgs") +set(image_geometry_BUILDTOOL_DEPENDS "catkin") +set(image_geometry_BUILDTOOL_EXPORT_DEPENDS ) +set(image_geometry_EXEC_DEPENDS "libopencv-dev") +set(image_geometry_RUN_DEPENDS "libopencv-dev" "sensor_msgs") +set(image_geometry_TEST_DEPENDS ) +set(image_geometry_DOC_DEPENDS "dvipng" "texlive-latex-extra") +set(image_geometry_URL_WEBSITE "http://www.ros.org/wiki/image_geometry") +set(image_geometry_URL_BUGTRACKER "") +set(image_geometry_URL_REPOSITORY "") +set(image_geometry_DEPRECATED "") \ No newline at end of file diff --git a/MyCode/build/image_geometry/catkin_generated/pkg.develspace.context.pc.py b/MyCode/build/image_geometry/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..8e5019c --- /dev/null +++ b/MyCode/build/image_geometry/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/home/test/My/src/image_geometry/include;/usr/local/include/opencv4".split(';') if "/home/test/My/src/image_geometry/include;/usr/local/include/opencv4" != "" else [] +PROJECT_CATKIN_DEPENDS = "sensor_msgs".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-limage_geometry;/usr/local/lib/libopencv_calib3d.so.4.8.0;/usr/local/lib/libopencv_core.so.4.8.0;/usr/local/lib/libopencv_dnn.so.4.8.0;/usr/local/lib/libopencv_features2d.so.4.8.0;/usr/local/lib/libopencv_flann.so.4.8.0;/usr/local/lib/libopencv_gapi.so.4.8.0;/usr/local/lib/libopencv_highgui.so.4.8.0;/usr/local/lib/libopencv_imgcodecs.so.4.8.0;/usr/local/lib/libopencv_imgproc.so.4.8.0;/usr/local/lib/libopencv_ml.so.4.8.0;/usr/local/lib/libopencv_objdetect.so.4.8.0;/usr/local/lib/libopencv_photo.so.4.8.0;/usr/local/lib/libopencv_stitching.so.4.8.0;/usr/local/lib/libopencv_video.so.4.8.0;/usr/local/lib/libopencv_videoio.so.4.8.0;/usr/local/lib/libopencv_alphamat.so.4.8.0;/usr/local/lib/libopencv_aruco.so.4.8.0;/usr/local/lib/libopencv_bgsegm.so.4.8.0;/usr/local/lib/libopencv_bioinspired.so.4.8.0;/usr/local/lib/libopencv_ccalib.so.4.8.0;/usr/local/lib/libopencv_cudaarithm.so.4.8.0;/usr/local/lib/libopencv_cudabgsegm.so.4.8.0;/usr/local/lib/libopencv_cudacodec.so.4.8.0;/usr/local/lib/libopencv_cudafeatures2d.so.4.8.0;/usr/local/lib/libopencv_cudafilters.so.4.8.0;/usr/local/lib/libopencv_cudaimgproc.so.4.8.0;/usr/local/lib/libopencv_cudalegacy.so.4.8.0;/usr/local/lib/libopencv_cudaobjdetect.so.4.8.0;/usr/local/lib/libopencv_cudaoptflow.so.4.8.0;/usr/local/lib/libopencv_cudastereo.so.4.8.0;/usr/local/lib/libopencv_cudawarping.so.4.8.0;/usr/local/lib/libopencv_cudev.so.4.8.0;/usr/local/lib/libopencv_datasets.so.4.8.0;/usr/local/lib/libopencv_dnn_objdetect.so.4.8.0;/usr/local/lib/libopencv_dnn_superres.so.4.8.0;/usr/local/lib/libopencv_dpm.so.4.8.0;/usr/local/lib/libopencv_face.so.4.8.0;/usr/local/lib/libopencv_freetype.so.4.8.0;/usr/local/lib/libopencv_fuzzy.so.4.8.0;/usr/local/lib/libopencv_hdf.so.4.8.0;/usr/local/lib/libopencv_hfs.so.4.8.0;/usr/local/lib/libopencv_img_hash.so.4.8.0;/usr/local/lib/libopencv_intensity_transform.so.4.8.0;/usr/local/lib/libopencv_line_descriptor.so.4.8.0;/usr/local/lib/libopencv_mcc.so.4.8.0;/usr/local/lib/libopencv_optflow.so.4.8.0;/usr/local/lib/libopencv_phase_unwrapping.so.4.8.0;/usr/local/lib/libopencv_plot.so.4.8.0;/usr/local/lib/libopencv_quality.so.4.8.0;/usr/local/lib/libopencv_rapid.so.4.8.0;/usr/local/lib/libopencv_reg.so.4.8.0;/usr/local/lib/libopencv_rgbd.so.4.8.0;/usr/local/lib/libopencv_saliency.so.4.8.0;/usr/local/lib/libopencv_shape.so.4.8.0;/usr/local/lib/libopencv_stereo.so.4.8.0;/usr/local/lib/libopencv_structured_light.so.4.8.0;/usr/local/lib/libopencv_superres.so.4.8.0;/usr/local/lib/libopencv_surface_matching.so.4.8.0;/usr/local/lib/libopencv_text.so.4.8.0;/usr/local/lib/libopencv_tracking.so.4.8.0;/usr/local/lib/libopencv_videostab.so.4.8.0;/usr/local/lib/libopencv_viz.so.4.8.0;/usr/local/lib/libopencv_wechat_qrcode.so.4.8.0;/usr/local/lib/libopencv_xfeatures2d.so.4.8.0;/usr/local/lib/libopencv_ximgproc.so.4.8.0;/usr/local/lib/libopencv_xobjdetect.so.4.8.0;/usr/local/lib/libopencv_xphoto.so.4.8.0".split(';') if "-limage_geometry;/usr/local/lib/libopencv_calib3d.so.4.8.0;/usr/local/lib/libopencv_core.so.4.8.0;/usr/local/lib/libopencv_dnn.so.4.8.0;/usr/local/lib/libopencv_features2d.so.4.8.0;/usr/local/lib/libopencv_flann.so.4.8.0;/usr/local/lib/libopencv_gapi.so.4.8.0;/usr/local/lib/libopencv_highgui.so.4.8.0;/usr/local/lib/libopencv_imgcodecs.so.4.8.0;/usr/local/lib/libopencv_imgproc.so.4.8.0;/usr/local/lib/libopencv_ml.so.4.8.0;/usr/local/lib/libopencv_objdetect.so.4.8.0;/usr/local/lib/libopencv_photo.so.4.8.0;/usr/local/lib/libopencv_stitching.so.4.8.0;/usr/local/lib/libopencv_video.so.4.8.0;/usr/local/lib/libopencv_videoio.so.4.8.0;/usr/local/lib/libopencv_alphamat.so.4.8.0;/usr/local/lib/libopencv_aruco.so.4.8.0;/usr/local/lib/libopencv_bgsegm.so.4.8.0;/usr/local/lib/libopencv_bioinspired.so.4.8.0;/usr/local/lib/libopencv_ccalib.so.4.8.0;/usr/local/lib/libopencv_cudaarithm.so.4.8.0;/usr/local/lib/libopencv_cudabgsegm.so.4.8.0;/usr/local/lib/libopencv_cudacodec.so.4.8.0;/usr/local/lib/libopencv_cudafeatures2d.so.4.8.0;/usr/local/lib/libopencv_cudafilters.so.4.8.0;/usr/local/lib/libopencv_cudaimgproc.so.4.8.0;/usr/local/lib/libopencv_cudalegacy.so.4.8.0;/usr/local/lib/libopencv_cudaobjdetect.so.4.8.0;/usr/local/lib/libopencv_cudaoptflow.so.4.8.0;/usr/local/lib/libopencv_cudastereo.so.4.8.0;/usr/local/lib/libopencv_cudawarping.so.4.8.0;/usr/local/lib/libopencv_cudev.so.4.8.0;/usr/local/lib/libopencv_datasets.so.4.8.0;/usr/local/lib/libopencv_dnn_objdetect.so.4.8.0;/usr/local/lib/libopencv_dnn_superres.so.4.8.0;/usr/local/lib/libopencv_dpm.so.4.8.0;/usr/local/lib/libopencv_face.so.4.8.0;/usr/local/lib/libopencv_freetype.so.4.8.0;/usr/local/lib/libopencv_fuzzy.so.4.8.0;/usr/local/lib/libopencv_hdf.so.4.8.0;/usr/local/lib/libopencv_hfs.so.4.8.0;/usr/local/lib/libopencv_img_hash.so.4.8.0;/usr/local/lib/libopencv_intensity_transform.so.4.8.0;/usr/local/lib/libopencv_line_descriptor.so.4.8.0;/usr/local/lib/libopencv_mcc.so.4.8.0;/usr/local/lib/libopencv_optflow.so.4.8.0;/usr/local/lib/libopencv_phase_unwrapping.so.4.8.0;/usr/local/lib/libopencv_plot.so.4.8.0;/usr/local/lib/libopencv_quality.so.4.8.0;/usr/local/lib/libopencv_rapid.so.4.8.0;/usr/local/lib/libopencv_reg.so.4.8.0;/usr/local/lib/libopencv_rgbd.so.4.8.0;/usr/local/lib/libopencv_saliency.so.4.8.0;/usr/local/lib/libopencv_shape.so.4.8.0;/usr/local/lib/libopencv_stereo.so.4.8.0;/usr/local/lib/libopencv_structured_light.so.4.8.0;/usr/local/lib/libopencv_superres.so.4.8.0;/usr/local/lib/libopencv_surface_matching.so.4.8.0;/usr/local/lib/libopencv_text.so.4.8.0;/usr/local/lib/libopencv_tracking.so.4.8.0;/usr/local/lib/libopencv_videostab.so.4.8.0;/usr/local/lib/libopencv_viz.so.4.8.0;/usr/local/lib/libopencv_wechat_qrcode.so.4.8.0;/usr/local/lib/libopencv_xfeatures2d.so.4.8.0;/usr/local/lib/libopencv_ximgproc.so.4.8.0;/usr/local/lib/libopencv_xobjdetect.so.4.8.0;/usr/local/lib/libopencv_xphoto.so.4.8.0" != "" else [] +PROJECT_NAME = "image_geometry" +PROJECT_SPACE_DIR = "/home/test/My/devel" +PROJECT_VERSION = "1.13.0" diff --git a/MyCode/build/image_geometry/catkin_generated/pkg.installspace.context.pc.py b/MyCode/build/image_geometry/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..c8a92f1 --- /dev/null +++ b/MyCode/build/image_geometry/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include;/usr/local/include/opencv4".split(';') if "${prefix}/include;/usr/local/include/opencv4" != "" else [] +PROJECT_CATKIN_DEPENDS = "sensor_msgs".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-limage_geometry;/usr/local/lib/libopencv_calib3d.so.4.8.0;/usr/local/lib/libopencv_core.so.4.8.0;/usr/local/lib/libopencv_dnn.so.4.8.0;/usr/local/lib/libopencv_features2d.so.4.8.0;/usr/local/lib/libopencv_flann.so.4.8.0;/usr/local/lib/libopencv_gapi.so.4.8.0;/usr/local/lib/libopencv_highgui.so.4.8.0;/usr/local/lib/libopencv_imgcodecs.so.4.8.0;/usr/local/lib/libopencv_imgproc.so.4.8.0;/usr/local/lib/libopencv_ml.so.4.8.0;/usr/local/lib/libopencv_objdetect.so.4.8.0;/usr/local/lib/libopencv_photo.so.4.8.0;/usr/local/lib/libopencv_stitching.so.4.8.0;/usr/local/lib/libopencv_video.so.4.8.0;/usr/local/lib/libopencv_videoio.so.4.8.0;/usr/local/lib/libopencv_alphamat.so.4.8.0;/usr/local/lib/libopencv_aruco.so.4.8.0;/usr/local/lib/libopencv_bgsegm.so.4.8.0;/usr/local/lib/libopencv_bioinspired.so.4.8.0;/usr/local/lib/libopencv_ccalib.so.4.8.0;/usr/local/lib/libopencv_cudaarithm.so.4.8.0;/usr/local/lib/libopencv_cudabgsegm.so.4.8.0;/usr/local/lib/libopencv_cudacodec.so.4.8.0;/usr/local/lib/libopencv_cudafeatures2d.so.4.8.0;/usr/local/lib/libopencv_cudafilters.so.4.8.0;/usr/local/lib/libopencv_cudaimgproc.so.4.8.0;/usr/local/lib/libopencv_cudalegacy.so.4.8.0;/usr/local/lib/libopencv_cudaobjdetect.so.4.8.0;/usr/local/lib/libopencv_cudaoptflow.so.4.8.0;/usr/local/lib/libopencv_cudastereo.so.4.8.0;/usr/local/lib/libopencv_cudawarping.so.4.8.0;/usr/local/lib/libopencv_cudev.so.4.8.0;/usr/local/lib/libopencv_datasets.so.4.8.0;/usr/local/lib/libopencv_dnn_objdetect.so.4.8.0;/usr/local/lib/libopencv_dnn_superres.so.4.8.0;/usr/local/lib/libopencv_dpm.so.4.8.0;/usr/local/lib/libopencv_face.so.4.8.0;/usr/local/lib/libopencv_freetype.so.4.8.0;/usr/local/lib/libopencv_fuzzy.so.4.8.0;/usr/local/lib/libopencv_hdf.so.4.8.0;/usr/local/lib/libopencv_hfs.so.4.8.0;/usr/local/lib/libopencv_img_hash.so.4.8.0;/usr/local/lib/libopencv_intensity_transform.so.4.8.0;/usr/local/lib/libopencv_line_descriptor.so.4.8.0;/usr/local/lib/libopencv_mcc.so.4.8.0;/usr/local/lib/libopencv_optflow.so.4.8.0;/usr/local/lib/libopencv_phase_unwrapping.so.4.8.0;/usr/local/lib/libopencv_plot.so.4.8.0;/usr/local/lib/libopencv_quality.so.4.8.0;/usr/local/lib/libopencv_rapid.so.4.8.0;/usr/local/lib/libopencv_reg.so.4.8.0;/usr/local/lib/libopencv_rgbd.so.4.8.0;/usr/local/lib/libopencv_saliency.so.4.8.0;/usr/local/lib/libopencv_shape.so.4.8.0;/usr/local/lib/libopencv_stereo.so.4.8.0;/usr/local/lib/libopencv_structured_light.so.4.8.0;/usr/local/lib/libopencv_superres.so.4.8.0;/usr/local/lib/libopencv_surface_matching.so.4.8.0;/usr/local/lib/libopencv_text.so.4.8.0;/usr/local/lib/libopencv_tracking.so.4.8.0;/usr/local/lib/libopencv_videostab.so.4.8.0;/usr/local/lib/libopencv_viz.so.4.8.0;/usr/local/lib/libopencv_wechat_qrcode.so.4.8.0;/usr/local/lib/libopencv_xfeatures2d.so.4.8.0;/usr/local/lib/libopencv_ximgproc.so.4.8.0;/usr/local/lib/libopencv_xobjdetect.so.4.8.0;/usr/local/lib/libopencv_xphoto.so.4.8.0".split(';') if "-limage_geometry;/usr/local/lib/libopencv_calib3d.so.4.8.0;/usr/local/lib/libopencv_core.so.4.8.0;/usr/local/lib/libopencv_dnn.so.4.8.0;/usr/local/lib/libopencv_features2d.so.4.8.0;/usr/local/lib/libopencv_flann.so.4.8.0;/usr/local/lib/libopencv_gapi.so.4.8.0;/usr/local/lib/libopencv_highgui.so.4.8.0;/usr/local/lib/libopencv_imgcodecs.so.4.8.0;/usr/local/lib/libopencv_imgproc.so.4.8.0;/usr/local/lib/libopencv_ml.so.4.8.0;/usr/local/lib/libopencv_objdetect.so.4.8.0;/usr/local/lib/libopencv_photo.so.4.8.0;/usr/local/lib/libopencv_stitching.so.4.8.0;/usr/local/lib/libopencv_video.so.4.8.0;/usr/local/lib/libopencv_videoio.so.4.8.0;/usr/local/lib/libopencv_alphamat.so.4.8.0;/usr/local/lib/libopencv_aruco.so.4.8.0;/usr/local/lib/libopencv_bgsegm.so.4.8.0;/usr/local/lib/libopencv_bioinspired.so.4.8.0;/usr/local/lib/libopencv_ccalib.so.4.8.0;/usr/local/lib/libopencv_cudaarithm.so.4.8.0;/usr/local/lib/libopencv_cudabgsegm.so.4.8.0;/usr/local/lib/libopencv_cudacodec.so.4.8.0;/usr/local/lib/libopencv_cudafeatures2d.so.4.8.0;/usr/local/lib/libopencv_cudafilters.so.4.8.0;/usr/local/lib/libopencv_cudaimgproc.so.4.8.0;/usr/local/lib/libopencv_cudalegacy.so.4.8.0;/usr/local/lib/libopencv_cudaobjdetect.so.4.8.0;/usr/local/lib/libopencv_cudaoptflow.so.4.8.0;/usr/local/lib/libopencv_cudastereo.so.4.8.0;/usr/local/lib/libopencv_cudawarping.so.4.8.0;/usr/local/lib/libopencv_cudev.so.4.8.0;/usr/local/lib/libopencv_datasets.so.4.8.0;/usr/local/lib/libopencv_dnn_objdetect.so.4.8.0;/usr/local/lib/libopencv_dnn_superres.so.4.8.0;/usr/local/lib/libopencv_dpm.so.4.8.0;/usr/local/lib/libopencv_face.so.4.8.0;/usr/local/lib/libopencv_freetype.so.4.8.0;/usr/local/lib/libopencv_fuzzy.so.4.8.0;/usr/local/lib/libopencv_hdf.so.4.8.0;/usr/local/lib/libopencv_hfs.so.4.8.0;/usr/local/lib/libopencv_img_hash.so.4.8.0;/usr/local/lib/libopencv_intensity_transform.so.4.8.0;/usr/local/lib/libopencv_line_descriptor.so.4.8.0;/usr/local/lib/libopencv_mcc.so.4.8.0;/usr/local/lib/libopencv_optflow.so.4.8.0;/usr/local/lib/libopencv_phase_unwrapping.so.4.8.0;/usr/local/lib/libopencv_plot.so.4.8.0;/usr/local/lib/libopencv_quality.so.4.8.0;/usr/local/lib/libopencv_rapid.so.4.8.0;/usr/local/lib/libopencv_reg.so.4.8.0;/usr/local/lib/libopencv_rgbd.so.4.8.0;/usr/local/lib/libopencv_saliency.so.4.8.0;/usr/local/lib/libopencv_shape.so.4.8.0;/usr/local/lib/libopencv_stereo.so.4.8.0;/usr/local/lib/libopencv_structured_light.so.4.8.0;/usr/local/lib/libopencv_superres.so.4.8.0;/usr/local/lib/libopencv_surface_matching.so.4.8.0;/usr/local/lib/libopencv_text.so.4.8.0;/usr/local/lib/libopencv_tracking.so.4.8.0;/usr/local/lib/libopencv_videostab.so.4.8.0;/usr/local/lib/libopencv_viz.so.4.8.0;/usr/local/lib/libopencv_wechat_qrcode.so.4.8.0;/usr/local/lib/libopencv_xfeatures2d.so.4.8.0;/usr/local/lib/libopencv_ximgproc.so.4.8.0;/usr/local/lib/libopencv_xobjdetect.so.4.8.0;/usr/local/lib/libopencv_xphoto.so.4.8.0" != "" else [] +PROJECT_NAME = "image_geometry" +PROJECT_SPACE_DIR = "/home/test/My/install" +PROJECT_VERSION = "1.13.0" diff --git a/MyCode/build/image_geometry/catkin_generated/python_distutils_install.sh b/MyCode/build/image_geometry/catkin_generated/python_distutils_install.sh new file mode 100644 index 0000000..4f6c01a --- /dev/null +++ b/MyCode/build/image_geometry/catkin_generated/python_distutils_install.sh @@ -0,0 +1,33 @@ +#!/bin/sh + +if [ -n "$DESTDIR" ] ; then + case $DESTDIR in + /*) # ok + ;; + *) + /bin/echo "DESTDIR argument must be absolute... " + /bin/echo "otherwise python's distutils will bork things." + exit 1 + esac +fi + +echo_and_run() { echo "+ $@" ; "$@" ; } + +echo_and_run cd "/home/test/My/src/image_geometry" + +# ensure that Python install destination exists +echo_and_run mkdir -p "$DESTDIR/home/test/My/install/lib/python2.7/dist-packages" + +# Note that PYTHONPATH is pulled from the environment to support installing +# into one location when some dependencies were installed in another +# location, #123. +echo_and_run /usr/bin/env \ + PYTHONPATH="/home/test/My/install/lib/python2.7/dist-packages:/home/test/My/build/lib/python2.7/dist-packages:$PYTHONPATH" \ + CATKIN_BINARY_DIR="/home/test/My/build" \ + "/usr/bin/python2" \ + "/home/test/My/src/image_geometry/setup.py" \ + \ + build --build-base "/home/test/My/build/image_geometry" \ + install \ + --root="${DESTDIR-/}" \ + --install-layout=deb --prefix="/home/test/My/install" --install-scripts="/home/test/My/install/bin" diff --git a/MyCode/build/image_geometry/catkin_generated/safe_execute_install.cmake b/MyCode/build/image_geometry/catkin_generated/safe_execute_install.cmake new file mode 100644 index 0000000..465e4ee --- /dev/null +++ b/MyCode/build/image_geometry/catkin_generated/safe_execute_install.cmake @@ -0,0 +1,5 @@ +execute_process(COMMAND "/home/test/My/build/image_geometry/catkin_generated/python_distutils_install.sh" RESULT_VARIABLE res) + +if(NOT res EQUAL 0) + message(FATAL_ERROR "execute_process(/home/test/My/build/image_geometry/catkin_generated/python_distutils_install.sh) returned error code ") +endif() diff --git a/MyCode/build/image_geometry/catkin_generated/setup_py_interrogation.cmake b/MyCode/build/image_geometry/catkin_generated/setup_py_interrogation.cmake new file mode 100644 index 0000000..d235cef --- /dev/null +++ b/MyCode/build/image_geometry/catkin_generated/setup_py_interrogation.cmake @@ -0,0 +1,7 @@ +set(image_geometry_SETUP_PY_SETUP_MODULE "distutils.core") +set(image_geometry_SETUP_PY_VERSION "1.13.0") +set(image_geometry_SETUP_PY_SCRIPTS "") +set(image_geometry_SETUP_PY_PACKAGES "image_geometry") +set(image_geometry_SETUP_PY_PACKAGE_DIRS "src/image_geometry") +set(image_geometry_SETUP_PY_MODULES "") +set(image_geometry_SETUP_PY_MODULE_DIRS "") \ No newline at end of file diff --git a/MyCode/build/image_geometry/catkin_generated/stamps/image_geometry/package.xml.stamp b/MyCode/build/image_geometry/catkin_generated/stamps/image_geometry/package.xml.stamp new file mode 100644 index 0000000..79540ba --- /dev/null +++ b/MyCode/build/image_geometry/catkin_generated/stamps/image_geometry/package.xml.stamp @@ -0,0 +1,30 @@ + + image_geometry + 1.13.0 + + `image_geometry` contains C++ and Python libraries for interpreting images + geometrically. It interfaces the calibration parameters in sensor_msgs/CameraInfo + messages with OpenCV functions such as image rectification, much as cv_bridge + interfaces ROS sensor_msgs/Image with OpenCV data types. + + Patrick Mihelich + Vincent Rabaud + BSD + http://www.ros.org/wiki/image_geometry + + + + + + catkin + + libopencv-dev + sensor_msgs + + libopencv-dev + libopencv-dev + sensor_msgs + + dvipng + texlive-latex-extra + diff --git a/MyCode/build/image_geometry/catkin_generated/stamps/image_geometry/pkg.pc.em.stamp b/MyCode/build/image_geometry/catkin_generated/stamps/image_geometry/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/MyCode/build/image_geometry/catkin_generated/stamps/image_geometry/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/MyCode/build/image_geometry/catkin_generated/stamps/image_geometry/setup.py.stamp b/MyCode/build/image_geometry/catkin_generated/stamps/image_geometry/setup.py.stamp new file mode 100644 index 0000000..407ce1e --- /dev/null +++ b/MyCode/build/image_geometry/catkin_generated/stamps/image_geometry/setup.py.stamp @@ -0,0 +1,10 @@ +#!/usr/bin/env python +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup() + +d['packages'] = ['image_geometry'] +d['package_dir'] = {'' : 'src'} + +setup(**d) diff --git a/MyCode/build/image_geometry/cmake_install.cmake b/MyCode/build/image_geometry/cmake_install.cmake new file mode 100644 index 0000000..1875f07 --- /dev/null +++ b/MyCode/build/image_geometry/cmake_install.cmake @@ -0,0 +1,88 @@ +# Install script for directory: /home/test/My/src/image_geometry + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/test/My/install") +endif() +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 "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/test/My/build/image_geometry/catkin_generated/installspace/image_geometry.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/image_geometry/cmake" TYPE FILE FILES + "/home/test/My/build/image_geometry/catkin_generated/installspace/image_geometryConfig.cmake" + "/home/test/My/build/image_geometry/catkin_generated/installspace/image_geometryConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/image_geometry" TYPE FILE FILES "/home/test/My/src/image_geometry/package.xml") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + include("/home/test/My/build/image_geometry/catkin_generated/safe_execute_install.cmake") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/image_geometry/" TYPE DIRECTORY FILES "/home/test/My/src/image_geometry/include/image_geometry/") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libimage_geometry.so" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libimage_geometry.so") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libimage_geometry.so" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/test/My/devel/lib/libimage_geometry.so") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libimage_geometry.so" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libimage_geometry.so") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libimage_geometry.so" + OLD_RPATH "/usr/local/cuda-11.1/lib64:/usr/local/lib:" + NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libimage_geometry.so") + endif() + endif() +endif() + +if(NOT CMAKE_INSTALL_LOCAL_ONLY) + # Include the install script for each subdirectory. + include("/home/test/My/build/image_geometry/test/cmake_install.cmake") + +endif() + diff --git a/MyCode/build/image_geometry/test/CMakeFiles/CMakeDirectoryInformation.cmake b/MyCode/build/image_geometry/test/CMakeFiles/CMakeDirectoryInformation.cmake new file mode 100644 index 0000000..3a9d451 --- /dev/null +++ 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cmake_depends "Unix Makefiles" /home/test/My/src /home/test/My/src/image_geometry/test /home/test/My/build /home/test/My/build/image_geometry/test /home/test/My/build/image_geometry/test/CMakeFiles/_run_tests_image_geometry.dir/DependInfo.cmake --color=$(COLOR) +.PHONY : image_geometry/test/CMakeFiles/_run_tests_image_geometry.dir/depend + diff --git a/MyCode/build/image_geometry/test/CMakeFiles/_run_tests_image_geometry.dir/cmake_clean.cmake b/MyCode/build/image_geometry/test/CMakeFiles/_run_tests_image_geometry.dir/cmake_clean.cmake new file mode 100644 index 0000000..4775d1c --- /dev/null +++ b/MyCode/build/image_geometry/test/CMakeFiles/_run_tests_image_geometry.dir/cmake_clean.cmake @@ -0,0 +1,5 @@ + +# Per-language clean rules from dependency scanning. +foreach(lang ) + include(CMakeFiles/_run_tests_image_geometry.dir/cmake_clean_${lang}.cmake OPTIONAL) +endforeach() diff --git a/MyCode/build/image_geometry/test/CMakeFiles/_run_tests_image_geometry.dir/progress.make 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/opt/ros/melodic/share/catkin/cmake/test/run_tests.py /home/test/My/build/test_results/image_geometry/gtest-image_geometry-utest.xml "/home/test/My/devel/lib/image_geometry/image_geometry-utest --gtest_output=xml:/home/test/My/build/test_results/image_geometry/gtest-image_geometry-utest.xml" + +_run_tests_image_geometry_gtest_image_geometry-utest: image_geometry/test/CMakeFiles/_run_tests_image_geometry_gtest_image_geometry-utest +_run_tests_image_geometry_gtest_image_geometry-utest: image_geometry/test/CMakeFiles/_run_tests_image_geometry_gtest_image_geometry-utest.dir/build.make + +.PHONY : _run_tests_image_geometry_gtest_image_geometry-utest + +# Rule to build all files generated by this target. +image_geometry/test/CMakeFiles/_run_tests_image_geometry_gtest_image_geometry-utest.dir/build: _run_tests_image_geometry_gtest_image_geometry-utest + +.PHONY : image_geometry/test/CMakeFiles/_run_tests_image_geometry_gtest_image_geometry-utest.dir/build + 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/dev/null +++ b/MyCode/build/image_geometry/test/CMakeFiles/run_tests_image_geometry_nosetests_directed.py.dir/cmake_clean.cmake @@ -0,0 +1,8 @@ +file(REMOVE_RECURSE + "CMakeFiles/run_tests_image_geometry_nosetests_directed.py" +) + +# Per-language clean rules from dependency scanning. +foreach(lang ) + include(CMakeFiles/run_tests_image_geometry_nosetests_directed.py.dir/cmake_clean_${lang}.cmake OPTIONAL) +endforeach() diff --git a/MyCode/build/image_geometry/test/CMakeFiles/run_tests_image_geometry_nosetests_directed.py.dir/progress.make b/MyCode/build/image_geometry/test/CMakeFiles/run_tests_image_geometry_nosetests_directed.py.dir/progress.make new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/MyCode/build/image_geometry/test/CMakeFiles/run_tests_image_geometry_nosetests_directed.py.dir/progress.make @@ -0,0 +1 @@ + diff --git a/MyCode/build/image_geometry/test/CTestTestfile.cmake b/MyCode/build/image_geometry/test/CTestTestfile.cmake new file mode 100644 index 0000000..cb65799 --- /dev/null +++ b/MyCode/build/image_geometry/test/CTestTestfile.cmake @@ -0,0 +1,8 @@ +# CMake generated Testfile for +# Source directory: /home/test/My/src/image_geometry/test +# Build directory: /home/test/My/build/image_geometry/test +# +# This file includes the relevant testing commands required for +# testing this directory and lists subdirectories to be tested as well. +add_test(_ctest_image_geometry_nosetests_directed.py "/home/test/My/build/catkin_generated/env_cached.sh" "/usr/bin/python2" "/opt/ros/melodic/share/catkin/cmake/test/run_tests.py" "/home/test/My/build/test_results/image_geometry/nosetests-directed.py.xml" "--return-code" "\"/usr/bin/cmake\" -E make_directory /home/test/My/build/test_results/image_geometry" "/usr/bin/nosetests-2.7 -P --process-timeout=60 /home/test/My/src/image_geometry/test/directed.py --with-xunit --xunit-file=/home/test/My/build/test_results/image_geometry/nosetests-directed.py.xml") +add_test(_ctest_image_geometry_gtest_image_geometry-utest "/home/test/My/build/catkin_generated/env_cached.sh" "/usr/bin/python2" "/opt/ros/melodic/share/catkin/cmake/test/run_tests.py" "/home/test/My/build/test_results/image_geometry/gtest-image_geometry-utest.xml" "--return-code" "/home/test/My/devel/lib/image_geometry/image_geometry-utest --gtest_output=xml:/home/test/My/build/test_results/image_geometry/gtest-image_geometry-utest.xml") diff --git a/MyCode/build/image_geometry/test/Makefile b/MyCode/build/image_geometry/test/Makefile new file mode 100644 index 0000000..cfe3e77 --- /dev/null +++ b/MyCode/build/image_geometry/test/Makefile @@ -0,0 +1,418 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.10 + +# Default target executed when no arguments are given to make. +default_target: all + +.PHONY : default_target + +# Allow only one "make -f Makefile2" at a time, but pass parallelism. +.NOTPARALLEL: + + +#============================================================================= +# Special targets provided by cmake. + +# Disable implicit rules so canonical targets will work. +.SUFFIXES: + + +# Remove some rules from gmake that .SUFFIXES does not remove. +SUFFIXES = + +.SUFFIXES: .hpux_make_needs_suffix_list + + +# Suppress display of executed commands. +$(VERBOSE).SILENT: + + +# A target that is always out of date. +cmake_force: + +.PHONY : cmake_force + +#============================================================================= +# Set environment variables for the build. + +# The shell in which to execute make rules. +SHELL = /bin/sh + +# The CMake executable. +CMAKE_COMMAND = /usr/bin/cmake + +# The command to remove a file. +RM = /usr/bin/cmake -E remove -f + +# Escaping for special characters. +EQUALS = = + +# The top-level source directory on which CMake was run. +CMAKE_SOURCE_DIR = /home/test/My/src + +# The top-level build directory on which CMake was run. +CMAKE_BINARY_DIR = /home/test/My/build + +#============================================================================= +# Targets provided globally by CMake. + +# Special rule for the target install/local +install/local: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install/fast + +# Special rule for the target rebuild_cache +rebuild_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." + /usr/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) +.PHONY : rebuild_cache + +# Special rule for the target rebuild_cache +rebuild_cache/fast: rebuild_cache + +.PHONY : rebuild_cache/fast + +# Special rule for the target edit_cache +edit_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..." + /usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available. +.PHONY : edit_cache + +# Special rule for the target edit_cache +edit_cache/fast: edit_cache + +.PHONY : edit_cache/fast + +# Special rule for the target list_install_components +list_install_components: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\"" +.PHONY : list_install_components + +# Special rule for the target list_install_components +list_install_components/fast: list_install_components + +.PHONY : list_install_components/fast + +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip/fast + +# Special rule for the target test +test: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..." + /usr/bin/ctest --force-new-ctest-process $(ARGS) +.PHONY : test + +# Special rule for the target test +test/fast: test + +.PHONY : test/fast + +# The main all target +all: cmake_check_build_system + cd /home/test/My/build && $(CMAKE_COMMAND) -E cmake_progress_start /home/test/My/build/CMakeFiles /home/test/My/build/image_geometry/test/CMakeFiles/progress.marks + cd /home/test/My/build && $(MAKE) -f CMakeFiles/Makefile2 image_geometry/test/all + $(CMAKE_COMMAND) -E cmake_progress_start /home/test/My/build/CMakeFiles 0 +.PHONY : all + +# The main clean target +clean: + cd /home/test/My/build && $(MAKE) -f CMakeFiles/Makefile2 image_geometry/test/clean +.PHONY : clean + +# The main clean target +clean/fast: clean + +.PHONY : clean/fast + +# Prepare targets for installation. +preinstall: all + cd /home/test/My/build && $(MAKE) -f CMakeFiles/Makefile2 image_geometry/test/preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + cd /home/test/My/build && $(MAKE) -f CMakeFiles/Makefile2 image_geometry/test/preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + cd /home/test/My/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +# Convenience name for target. +image_geometry/test/CMakeFiles/run_tests_image_geometry.dir/rule: + cd /home/test/My/build && $(MAKE) -f CMakeFiles/Makefile2 image_geometry/test/CMakeFiles/run_tests_image_geometry.dir/rule +.PHONY : image_geometry/test/CMakeFiles/run_tests_image_geometry.dir/rule + +# Convenience name for target. +run_tests_image_geometry: image_geometry/test/CMakeFiles/run_tests_image_geometry.dir/rule + +.PHONY : run_tests_image_geometry + +# fast build rule for target. +run_tests_image_geometry/fast: + cd /home/test/My/build && $(MAKE) -f image_geometry/test/CMakeFiles/run_tests_image_geometry.dir/build.make image_geometry/test/CMakeFiles/run_tests_image_geometry.dir/build +.PHONY : run_tests_image_geometry/fast + +# Convenience name for target. +image_geometry/test/CMakeFiles/_run_tests_image_geometry.dir/rule: + cd /home/test/My/build && $(MAKE) -f CMakeFiles/Makefile2 image_geometry/test/CMakeFiles/_run_tests_image_geometry.dir/rule +.PHONY : image_geometry/test/CMakeFiles/_run_tests_image_geometry.dir/rule + +# Convenience name for target. +_run_tests_image_geometry: image_geometry/test/CMakeFiles/_run_tests_image_geometry.dir/rule + +.PHONY : _run_tests_image_geometry + +# fast build rule for target. +_run_tests_image_geometry/fast: + cd /home/test/My/build && $(MAKE) -f image_geometry/test/CMakeFiles/_run_tests_image_geometry.dir/build.make image_geometry/test/CMakeFiles/_run_tests_image_geometry.dir/build +.PHONY : _run_tests_image_geometry/fast + +# Convenience name for target. +image_geometry/test/CMakeFiles/_run_tests_image_geometry_nosetests.dir/rule: + cd /home/test/My/build && $(MAKE) -f CMakeFiles/Makefile2 image_geometry/test/CMakeFiles/_run_tests_image_geometry_nosetests.dir/rule +.PHONY : image_geometry/test/CMakeFiles/_run_tests_image_geometry_nosetests.dir/rule + +# Convenience name for target. +_run_tests_image_geometry_nosetests: image_geometry/test/CMakeFiles/_run_tests_image_geometry_nosetests.dir/rule + +.PHONY : _run_tests_image_geometry_nosetests + +# fast build rule for target. +_run_tests_image_geometry_nosetests/fast: + cd /home/test/My/build && $(MAKE) -f image_geometry/test/CMakeFiles/_run_tests_image_geometry_nosetests.dir/build.make image_geometry/test/CMakeFiles/_run_tests_image_geometry_nosetests.dir/build +.PHONY : _run_tests_image_geometry_nosetests/fast + +# Convenience name for target. +image_geometry/test/CMakeFiles/_run_tests_image_geometry_gtest.dir/rule: + cd /home/test/My/build && $(MAKE) -f CMakeFiles/Makefile2 image_geometry/test/CMakeFiles/_run_tests_image_geometry_gtest.dir/rule +.PHONY : 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utest.cpp.o + +.PHONY : utest.o + +# target to build an object file +utest.cpp.o: + cd /home/test/My/build && $(MAKE) -f image_geometry/test/CMakeFiles/image_geometry-utest.dir/build.make image_geometry/test/CMakeFiles/image_geometry-utest.dir/utest.cpp.o +.PHONY : utest.cpp.o + +utest.i: utest.cpp.i + +.PHONY : utest.i + +# target to preprocess a source file +utest.cpp.i: + cd /home/test/My/build && $(MAKE) -f image_geometry/test/CMakeFiles/image_geometry-utest.dir/build.make image_geometry/test/CMakeFiles/image_geometry-utest.dir/utest.cpp.i +.PHONY : utest.cpp.i + +utest.s: utest.cpp.s + +.PHONY : utest.s + +# target to generate assembly for a file +utest.cpp.s: + cd /home/test/My/build && $(MAKE) -f image_geometry/test/CMakeFiles/image_geometry-utest.dir/build.make image_geometry/test/CMakeFiles/image_geometry-utest.dir/utest.cpp.s +.PHONY : utest.cpp.s + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if 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opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_gapi;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_stitching;opencv_video;opencv_videoio;opencv_alphamat;opencv_aruco;opencv_bgsegm;opencv_bioinspired;opencv_ccalib;opencv_cudaarithm;opencv_cudabgsegm;opencv_cudacodec;opencv_cudafeatures2d;opencv_cudafilters;opencv_cudaimgproc;opencv_cudalegacy;opencv_cudaobjdetect;opencv_cudaoptflow;opencv_cudastereo;opencv_cudawarping;opencv_cudev;opencv_datasets;opencv_dnn_objdetect;opencv_dnn_superres;opencv_dpm;opencv_face;opencv_freetype;opencv_fuzzy;opencv_hdf;opencv_hfs;opencv_img_hash;opencv_intensity_transform;opencv_line_descriptor;opencv_mcc;opencv_optflow;opencv_phase_unwrapping;opencv_plot;opencv_quality;opencv_rapid;opencv_reg;opencv_rgbd;opencv_saliency;opencv_shape;opencv_stereo;opencv_structured_light;opencv_superres;opencv_surface_matching;opencv_text;opencv_tracking;opencv_videostab;opencv_viz;opencv_wechat_qrcode;opencv_xfeatures2d;opencv_ximgproc;opencv_xobjdetect;opencv_xphoto) +set(OpenCV_USE_MANGLED_PATHS FALSE) +set(OpenCV_MODULES_SUFFIX ) + + diff --git a/MyCode/build/my_cv_bridge/catkin_generated/installspace/cv_bridge.pc b/MyCode/build/my_cv_bridge/catkin_generated/installspace/cv_bridge.pc new file mode 100644 index 0000000..5f89e9e --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/installspace/cv_bridge.pc @@ -0,0 +1,8 @@ +prefix=/home/test/My/install + +Name: cv_bridge +Description: Description of cv_bridge +Version: 1.16.2 +Cflags: -I${prefix}/include -I/usr/local/include/opencv4 +Libs: -L${prefix}/lib -lcv_bridge /usr/local/lib/libopencv_calib3d.so.4.8.0 /usr/local/lib/libopencv_dnn.so.4.8.0 /usr/local/lib/libopencv_features2d.so.4.8.0 /usr/local/lib/libopencv_flann.so.4.8.0 /usr/local/lib/libopencv_gapi.so.4.8.0 /usr/local/lib/libopencv_highgui.so.4.8.0 /usr/local/lib/libopencv_ml.so.4.8.0 /usr/local/lib/libopencv_objdetect.so.4.8.0 /usr/local/lib/libopencv_photo.so.4.8.0 /usr/local/lib/libopencv_stitching.so.4.8.0 /usr/local/lib/libopencv_video.so.4.8.0 /usr/local/lib/libopencv_videoio.so.4.8.0 /usr/local/lib/libopencv_alphamat.so.4.8.0 /usr/local/lib/libopencv_aruco.so.4.8.0 /usr/local/lib/libopencv_bgsegm.so.4.8.0 /usr/local/lib/libopencv_bioinspired.so.4.8.0 /usr/local/lib/libopencv_ccalib.so.4.8.0 /usr/local/lib/libopencv_cudaarithm.so.4.8.0 /usr/local/lib/libopencv_cudabgsegm.so.4.8.0 /usr/local/lib/libopencv_cudacodec.so.4.8.0 /usr/local/lib/libopencv_cudafeatures2d.so.4.8.0 /usr/local/lib/libopencv_cudafilters.so.4.8.0 /usr/local/lib/libopencv_cudaimgproc.so.4.8.0 /usr/local/lib/libopencv_cudalegacy.so.4.8.0 /usr/local/lib/libopencv_cudaobjdetect.so.4.8.0 /usr/local/lib/libopencv_cudaoptflow.so.4.8.0 /usr/local/lib/libopencv_cudastereo.so.4.8.0 /usr/local/lib/libopencv_cudawarping.so.4.8.0 /usr/local/lib/libopencv_cudev.so.4.8.0 /usr/local/lib/libopencv_datasets.so.4.8.0 /usr/local/lib/libopencv_dnn_objdetect.so.4.8.0 /usr/local/lib/libopencv_dnn_superres.so.4.8.0 /usr/local/lib/libopencv_dpm.so.4.8.0 /usr/local/lib/libopencv_face.so.4.8.0 /usr/local/lib/libopencv_freetype.so.4.8.0 /usr/local/lib/libopencv_fuzzy.so.4.8.0 /usr/local/lib/libopencv_hdf.so.4.8.0 /usr/local/lib/libopencv_hfs.so.4.8.0 /usr/local/lib/libopencv_img_hash.so.4.8.0 /usr/local/lib/libopencv_intensity_transform.so.4.8.0 /usr/local/lib/libopencv_line_descriptor.so.4.8.0 /usr/local/lib/libopencv_mcc.so.4.8.0 /usr/local/lib/libopencv_optflow.so.4.8.0 /usr/local/lib/libopencv_phase_unwrapping.so.4.8.0 /usr/local/lib/libopencv_plot.so.4.8.0 /usr/local/lib/libopencv_quality.so.4.8.0 /usr/local/lib/libopencv_rapid.so.4.8.0 /usr/local/lib/libopencv_reg.so.4.8.0 /usr/local/lib/libopencv_rgbd.so.4.8.0 /usr/local/lib/libopencv_saliency.so.4.8.0 /usr/local/lib/libopencv_shape.so.4.8.0 /usr/local/lib/libopencv_stereo.so.4.8.0 /usr/local/lib/libopencv_structured_light.so.4.8.0 /usr/local/lib/libopencv_superres.so.4.8.0 /usr/local/lib/libopencv_surface_matching.so.4.8.0 /usr/local/lib/libopencv_text.so.4.8.0 /usr/local/lib/libopencv_tracking.so.4.8.0 /usr/local/lib/libopencv_videostab.so.4.8.0 /usr/local/lib/libopencv_viz.so.4.8.0 /usr/local/lib/libopencv_wechat_qrcode.so.4.8.0 /usr/local/lib/libopencv_xfeatures2d.so.4.8.0 /usr/local/lib/libopencv_ximgproc.so.4.8.0 /usr/local/lib/libopencv_xobjdetect.so.4.8.0 /usr/local/lib/libopencv_xphoto.so.4.8.0 /usr/local/lib/libopencv_core.so.4.8.0 /usr/local/lib/libopencv_imgproc.so.4.8.0 /usr/local/lib/libopencv_imgcodecs.so.4.8.0 +Requires: rosconsole sensor_msgs diff --git a/MyCode/build/my_cv_bridge/catkin_generated/installspace/cv_bridgeConfig-version.cmake b/MyCode/build/my_cv_bridge/catkin_generated/installspace/cv_bridgeConfig-version.cmake new file mode 100644 index 0000000..f2198fd --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/installspace/cv_bridgeConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "1.16.2") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/MyCode/build/my_cv_bridge/catkin_generated/installspace/cv_bridgeConfig.cmake b/MyCode/build/my_cv_bridge/catkin_generated/installspace/cv_bridgeConfig.cmake new file mode 100644 index 0000000..cfc12d3 --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/installspace/cv_bridgeConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(cv_bridge_CONFIG_INCLUDED) + return() +endif() +set(cv_bridge_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(cv_bridge_SOURCE_PREFIX /home/test/My/src/my_cv_bridge) + set(cv_bridge_DEVEL_PREFIX /home/test/My/devel) + set(cv_bridge_INSTALL_PREFIX "") + set(cv_bridge_PREFIX ${cv_bridge_DEVEL_PREFIX}) +else() + set(cv_bridge_SOURCE_PREFIX "") + set(cv_bridge_DEVEL_PREFIX "") + set(cv_bridge_INSTALL_PREFIX /home/test/My/install) + set(cv_bridge_PREFIX ${cv_bridge_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'cv_bridge' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(cv_bridge_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "include;/usr/local/include/opencv4 " STREQUAL " ") + set(cv_bridge_INCLUDE_DIRS "") + set(_include_dirs "include;/usr/local/include/opencv4") + if(NOT "https://github.com/ros-perception/vision_opencv/issues " STREQUAL " ") + set(_report "Check the issue tracker 'https://github.com/ros-perception/vision_opencv/issues' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://www.ros.org/wiki/cv_bridge " STREQUAL " ") + set(_report "Check the website 'http://www.ros.org/wiki/cv_bridge' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Vincent Rabaud ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${cv_bridge_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'cv_bridge' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'cv_bridge' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(cv_bridge_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "cv_bridge;/usr/local/lib/libopencv_calib3d.so.4.8.0;/usr/local/lib/libopencv_dnn.so.4.8.0;/usr/local/lib/libopencv_features2d.so.4.8.0;/usr/local/lib/libopencv_flann.so.4.8.0;/usr/local/lib/libopencv_gapi.so.4.8.0;/usr/local/lib/libopencv_highgui.so.4.8.0;/usr/local/lib/libopencv_ml.so.4.8.0;/usr/local/lib/libopencv_objdetect.so.4.8.0;/usr/local/lib/libopencv_photo.so.4.8.0;/usr/local/lib/libopencv_stitching.so.4.8.0;/usr/local/lib/libopencv_video.so.4.8.0;/usr/local/lib/libopencv_videoio.so.4.8.0;/usr/local/lib/libopencv_alphamat.so.4.8.0;/usr/local/lib/libopencv_aruco.so.4.8.0;/usr/local/lib/libopencv_bgsegm.so.4.8.0;/usr/local/lib/libopencv_bioinspired.so.4.8.0;/usr/local/lib/libopencv_ccalib.so.4.8.0;/usr/local/lib/libopencv_cudaarithm.so.4.8.0;/usr/local/lib/libopencv_cudabgsegm.so.4.8.0;/usr/local/lib/libopencv_cudacodec.so.4.8.0;/usr/local/lib/libopencv_cudafeatures2d.so.4.8.0;/usr/local/lib/libopencv_cudafilters.so.4.8.0;/usr/local/lib/libopencv_cudaimgproc.so.4.8.0;/usr/local/lib/libopencv_cudalegacy.so.4.8.0;/usr/local/lib/libopencv_cudaobjdetect.so.4.8.0;/usr/local/lib/libopencv_cudaoptflow.so.4.8.0;/usr/local/lib/libopencv_cudastereo.so.4.8.0;/usr/local/lib/libopencv_cudawarping.so.4.8.0;/usr/local/lib/libopencv_cudev.so.4.8.0;/usr/local/lib/libopencv_datasets.so.4.8.0;/usr/local/lib/libopencv_dnn_objdetect.so.4.8.0;/usr/local/lib/libopencv_dnn_superres.so.4.8.0;/usr/local/lib/libopencv_dpm.so.4.8.0;/usr/local/lib/libopencv_face.so.4.8.0;/usr/local/lib/libopencv_freetype.so.4.8.0;/usr/local/lib/libopencv_fuzzy.so.4.8.0;/usr/local/lib/libopencv_hdf.so.4.8.0;/usr/local/lib/libopencv_hfs.so.4.8.0;/usr/local/lib/libopencv_img_hash.so.4.8.0;/usr/local/lib/libopencv_intensity_transform.so.4.8.0;/usr/local/lib/libopencv_line_descriptor.so.4.8.0;/usr/local/lib/libopencv_mcc.so.4.8.0;/usr/local/lib/libopencv_optflow.so.4.8.0;/usr/local/lib/libopencv_phase_unwrapping.so.4.8.0;/usr/local/lib/libopencv_plot.so.4.8.0;/usr/local/lib/libopencv_quality.so.4.8.0;/usr/local/lib/libopencv_rapid.so.4.8.0;/usr/local/lib/libopencv_reg.so.4.8.0;/usr/local/lib/libopencv_rgbd.so.4.8.0;/usr/local/lib/libopencv_saliency.so.4.8.0;/usr/local/lib/libopencv_shape.so.4.8.0;/usr/local/lib/libopencv_stereo.so.4.8.0;/usr/local/lib/libopencv_structured_light.so.4.8.0;/usr/local/lib/libopencv_superres.so.4.8.0;/usr/local/lib/libopencv_surface_matching.so.4.8.0;/usr/local/lib/libopencv_text.so.4.8.0;/usr/local/lib/libopencv_tracking.so.4.8.0;/usr/local/lib/libopencv_videostab.so.4.8.0;/usr/local/lib/libopencv_viz.so.4.8.0;/usr/local/lib/libopencv_wechat_qrcode.so.4.8.0;/usr/local/lib/libopencv_xfeatures2d.so.4.8.0;/usr/local/lib/libopencv_ximgproc.so.4.8.0;/usr/local/lib/libopencv_xobjdetect.so.4.8.0;/usr/local/lib/libopencv_xphoto.so.4.8.0;/usr/local/lib/libopencv_core.so.4.8.0;/usr/local/lib/libopencv_imgproc.so.4.8.0;/usr/local/lib/libopencv_imgcodecs.so.4.8.0") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND cv_bridge_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND cv_bridge_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT cv_bridge_NUM_DUMMY_TARGETS) + set(cv_bridge_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::cv_bridge::wrapped-linker-option${cv_bridge_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR cv_bridge_NUM_DUMMY_TARGETS "${cv_bridge_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::cv_bridge::wrapped-linker-option${cv_bridge_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND cv_bridge_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND cv_bridge_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND cv_bridge_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/test/My/install/lib;/opt/ros/melodic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(cv_bridge_LIBRARY_DIRS ${lib_path}) + list(APPEND cv_bridge_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'cv_bridge'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND cv_bridge_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(cv_bridge_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${cv_bridge_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "rosconsole;sensor_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 cv_bridge_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${cv_bridge_dep}_FOUND) + find_package(${cv_bridge_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${cv_bridge_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(cv_bridge_INCLUDE_DIRS ${${cv_bridge_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(cv_bridge_LIBRARIES ${cv_bridge_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${cv_bridge_dep}_LIBRARIES}) + _list_append_deduplicate(cv_bridge_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(cv_bridge_LIBRARIES ${cv_bridge_LIBRARIES}) + + _list_append_unique(cv_bridge_LIBRARY_DIRS ${${cv_bridge_dep}_LIBRARY_DIRS}) + list(APPEND cv_bridge_EXPORTED_TARGETS ${${cv_bridge_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "cv_bridge-extras.cmake") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${cv_bridge_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/MyCode/build/my_cv_bridge/catkin_generated/ordered_paths.cmake b/MyCode/build/my_cv_bridge/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..88ba1d8 --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/melodic/lib") \ No newline at end of file diff --git a/MyCode/build/my_cv_bridge/catkin_generated/package.cmake b/MyCode/build/my_cv_bridge/catkin_generated/package.cmake new file mode 100644 index 0000000..bf7d1d8 --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "cv_bridge") +set(cv_bridge_VERSION "1.16.2") +set(cv_bridge_MAINTAINER "Vincent Rabaud ") +set(cv_bridge_PACKAGE_FORMAT "2") +set(cv_bridge_BUILD_DEPENDS "boost" "libopencv-dev" "python3" "python3-opencv" "rosconsole" "sensor_msgs") +set(cv_bridge_BUILD_EXPORT_DEPENDS "libopencv-dev" "sensor_msgs") +set(cv_bridge_BUILDTOOL_DEPENDS "catkin") +set(cv_bridge_BUILDTOOL_EXPORT_DEPENDS ) +set(cv_bridge_EXEC_DEPENDS "boost" "libopencv-dev" "python3" "python3-opencv" "rosconsole") +set(cv_bridge_RUN_DEPENDS "boost" "libopencv-dev" "python3" "python3-opencv" "rosconsole" "sensor_msgs") +set(cv_bridge_TEST_DEPENDS "rostest" "python3-numpy") +set(cv_bridge_DOC_DEPENDS "dvipng") +set(cv_bridge_URL_WEBSITE "http://www.ros.org/wiki/cv_bridge") +set(cv_bridge_URL_BUGTRACKER "https://github.com/ros-perception/vision_opencv/issues") +set(cv_bridge_URL_REPOSITORY "https://github.com/ros-perception/vision_opencv") +set(cv_bridge_DEPRECATED "") \ No newline at end of file diff --git a/MyCode/build/my_cv_bridge/catkin_generated/pkg.develspace.context.pc.py b/MyCode/build/my_cv_bridge/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..205dcb8 --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/home/test/My/src/my_cv_bridge/include;/usr/local/include/opencv4".split(';') if "/home/test/My/src/my_cv_bridge/include;/usr/local/include/opencv4" != "" else [] +PROJECT_CATKIN_DEPENDS = "rosconsole;sensor_msgs".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lcv_bridge;/usr/local/lib/libopencv_calib3d.so.4.8.0;/usr/local/lib/libopencv_dnn.so.4.8.0;/usr/local/lib/libopencv_features2d.so.4.8.0;/usr/local/lib/libopencv_flann.so.4.8.0;/usr/local/lib/libopencv_gapi.so.4.8.0;/usr/local/lib/libopencv_highgui.so.4.8.0;/usr/local/lib/libopencv_ml.so.4.8.0;/usr/local/lib/libopencv_objdetect.so.4.8.0;/usr/local/lib/libopencv_photo.so.4.8.0;/usr/local/lib/libopencv_stitching.so.4.8.0;/usr/local/lib/libopencv_video.so.4.8.0;/usr/local/lib/libopencv_videoio.so.4.8.0;/usr/local/lib/libopencv_alphamat.so.4.8.0;/usr/local/lib/libopencv_aruco.so.4.8.0;/usr/local/lib/libopencv_bgsegm.so.4.8.0;/usr/local/lib/libopencv_bioinspired.so.4.8.0;/usr/local/lib/libopencv_ccalib.so.4.8.0;/usr/local/lib/libopencv_cudaarithm.so.4.8.0;/usr/local/lib/libopencv_cudabgsegm.so.4.8.0;/usr/local/lib/libopencv_cudacodec.so.4.8.0;/usr/local/lib/libopencv_cudafeatures2d.so.4.8.0;/usr/local/lib/libopencv_cudafilters.so.4.8.0;/usr/local/lib/libopencv_cudaimgproc.so.4.8.0;/usr/local/lib/libopencv_cudalegacy.so.4.8.0;/usr/local/lib/libopencv_cudaobjdetect.so.4.8.0;/usr/local/lib/libopencv_cudaoptflow.so.4.8.0;/usr/local/lib/libopencv_cudastereo.so.4.8.0;/usr/local/lib/libopencv_cudawarping.so.4.8.0;/usr/local/lib/libopencv_cudev.so.4.8.0;/usr/local/lib/libopencv_datasets.so.4.8.0;/usr/local/lib/libopencv_dnn_objdetect.so.4.8.0;/usr/local/lib/libopencv_dnn_superres.so.4.8.0;/usr/local/lib/libopencv_dpm.so.4.8.0;/usr/local/lib/libopencv_face.so.4.8.0;/usr/local/lib/libopencv_freetype.so.4.8.0;/usr/local/lib/libopencv_fuzzy.so.4.8.0;/usr/local/lib/libopencv_hdf.so.4.8.0;/usr/local/lib/libopencv_hfs.so.4.8.0;/usr/local/lib/libopencv_img_hash.so.4.8.0;/usr/local/lib/libopencv_intensity_transform.so.4.8.0;/usr/local/lib/libopencv_line_descriptor.so.4.8.0;/usr/local/lib/libopencv_mcc.so.4.8.0;/usr/local/lib/libopencv_optflow.so.4.8.0;/usr/local/lib/libopencv_phase_unwrapping.so.4.8.0;/usr/local/lib/libopencv_plot.so.4.8.0;/usr/local/lib/libopencv_quality.so.4.8.0;/usr/local/lib/libopencv_rapid.so.4.8.0;/usr/local/lib/libopencv_reg.so.4.8.0;/usr/local/lib/libopencv_rgbd.so.4.8.0;/usr/local/lib/libopencv_saliency.so.4.8.0;/usr/local/lib/libopencv_shape.so.4.8.0;/usr/local/lib/libopencv_stereo.so.4.8.0;/usr/local/lib/libopencv_structured_light.so.4.8.0;/usr/local/lib/libopencv_superres.so.4.8.0;/usr/local/lib/libopencv_surface_matching.so.4.8.0;/usr/local/lib/libopencv_text.so.4.8.0;/usr/local/lib/libopencv_tracking.so.4.8.0;/usr/local/lib/libopencv_videostab.so.4.8.0;/usr/local/lib/libopencv_viz.so.4.8.0;/usr/local/lib/libopencv_wechat_qrcode.so.4.8.0;/usr/local/lib/libopencv_xfeatures2d.so.4.8.0;/usr/local/lib/libopencv_ximgproc.so.4.8.0;/usr/local/lib/libopencv_xobjdetect.so.4.8.0;/usr/local/lib/libopencv_xphoto.so.4.8.0;/usr/local/lib/libopencv_core.so.4.8.0;/usr/local/lib/libopencv_imgproc.so.4.8.0;/usr/local/lib/libopencv_imgcodecs.so.4.8.0".split(';') if "-lcv_bridge;/usr/local/lib/libopencv_calib3d.so.4.8.0;/usr/local/lib/libopencv_dnn.so.4.8.0;/usr/local/lib/libopencv_features2d.so.4.8.0;/usr/local/lib/libopencv_flann.so.4.8.0;/usr/local/lib/libopencv_gapi.so.4.8.0;/usr/local/lib/libopencv_highgui.so.4.8.0;/usr/local/lib/libopencv_ml.so.4.8.0;/usr/local/lib/libopencv_objdetect.so.4.8.0;/usr/local/lib/libopencv_photo.so.4.8.0;/usr/local/lib/libopencv_stitching.so.4.8.0;/usr/local/lib/libopencv_video.so.4.8.0;/usr/local/lib/libopencv_videoio.so.4.8.0;/usr/local/lib/libopencv_alphamat.so.4.8.0;/usr/local/lib/libopencv_aruco.so.4.8.0;/usr/local/lib/libopencv_bgsegm.so.4.8.0;/usr/local/lib/libopencv_bioinspired.so.4.8.0;/usr/local/lib/libopencv_ccalib.so.4.8.0;/usr/local/lib/libopencv_cudaarithm.so.4.8.0;/usr/local/lib/libopencv_cudabgsegm.so.4.8.0;/usr/local/lib/libopencv_cudacodec.so.4.8.0;/usr/local/lib/libopencv_cudafeatures2d.so.4.8.0;/usr/local/lib/libopencv_cudafilters.so.4.8.0;/usr/local/lib/libopencv_cudaimgproc.so.4.8.0;/usr/local/lib/libopencv_cudalegacy.so.4.8.0;/usr/local/lib/libopencv_cudaobjdetect.so.4.8.0;/usr/local/lib/libopencv_cudaoptflow.so.4.8.0;/usr/local/lib/libopencv_cudastereo.so.4.8.0;/usr/local/lib/libopencv_cudawarping.so.4.8.0;/usr/local/lib/libopencv_cudev.so.4.8.0;/usr/local/lib/libopencv_datasets.so.4.8.0;/usr/local/lib/libopencv_dnn_objdetect.so.4.8.0;/usr/local/lib/libopencv_dnn_superres.so.4.8.0;/usr/local/lib/libopencv_dpm.so.4.8.0;/usr/local/lib/libopencv_face.so.4.8.0;/usr/local/lib/libopencv_freetype.so.4.8.0;/usr/local/lib/libopencv_fuzzy.so.4.8.0;/usr/local/lib/libopencv_hdf.so.4.8.0;/usr/local/lib/libopencv_hfs.so.4.8.0;/usr/local/lib/libopencv_img_hash.so.4.8.0;/usr/local/lib/libopencv_intensity_transform.so.4.8.0;/usr/local/lib/libopencv_line_descriptor.so.4.8.0;/usr/local/lib/libopencv_mcc.so.4.8.0;/usr/local/lib/libopencv_optflow.so.4.8.0;/usr/local/lib/libopencv_phase_unwrapping.so.4.8.0;/usr/local/lib/libopencv_plot.so.4.8.0;/usr/local/lib/libopencv_quality.so.4.8.0;/usr/local/lib/libopencv_rapid.so.4.8.0;/usr/local/lib/libopencv_reg.so.4.8.0;/usr/local/lib/libopencv_rgbd.so.4.8.0;/usr/local/lib/libopencv_saliency.so.4.8.0;/usr/local/lib/libopencv_shape.so.4.8.0;/usr/local/lib/libopencv_stereo.so.4.8.0;/usr/local/lib/libopencv_structured_light.so.4.8.0;/usr/local/lib/libopencv_superres.so.4.8.0;/usr/local/lib/libopencv_surface_matching.so.4.8.0;/usr/local/lib/libopencv_text.so.4.8.0;/usr/local/lib/libopencv_tracking.so.4.8.0;/usr/local/lib/libopencv_videostab.so.4.8.0;/usr/local/lib/libopencv_viz.so.4.8.0;/usr/local/lib/libopencv_wechat_qrcode.so.4.8.0;/usr/local/lib/libopencv_xfeatures2d.so.4.8.0;/usr/local/lib/libopencv_ximgproc.so.4.8.0;/usr/local/lib/libopencv_xobjdetect.so.4.8.0;/usr/local/lib/libopencv_xphoto.so.4.8.0;/usr/local/lib/libopencv_core.so.4.8.0;/usr/local/lib/libopencv_imgproc.so.4.8.0;/usr/local/lib/libopencv_imgcodecs.so.4.8.0" != "" else [] +PROJECT_NAME = "cv_bridge" +PROJECT_SPACE_DIR = "/home/test/My/devel" +PROJECT_VERSION = "1.16.2" diff --git a/MyCode/build/my_cv_bridge/catkin_generated/pkg.installspace.context.pc.py b/MyCode/build/my_cv_bridge/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..a25472f --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include;/usr/local/include/opencv4".split(';') if "${prefix}/include;/usr/local/include/opencv4" != "" else [] +PROJECT_CATKIN_DEPENDS = "rosconsole;sensor_msgs".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lcv_bridge;/usr/local/lib/libopencv_calib3d.so.4.8.0;/usr/local/lib/libopencv_dnn.so.4.8.0;/usr/local/lib/libopencv_features2d.so.4.8.0;/usr/local/lib/libopencv_flann.so.4.8.0;/usr/local/lib/libopencv_gapi.so.4.8.0;/usr/local/lib/libopencv_highgui.so.4.8.0;/usr/local/lib/libopencv_ml.so.4.8.0;/usr/local/lib/libopencv_objdetect.so.4.8.0;/usr/local/lib/libopencv_photo.so.4.8.0;/usr/local/lib/libopencv_stitching.so.4.8.0;/usr/local/lib/libopencv_video.so.4.8.0;/usr/local/lib/libopencv_videoio.so.4.8.0;/usr/local/lib/libopencv_alphamat.so.4.8.0;/usr/local/lib/libopencv_aruco.so.4.8.0;/usr/local/lib/libopencv_bgsegm.so.4.8.0;/usr/local/lib/libopencv_bioinspired.so.4.8.0;/usr/local/lib/libopencv_ccalib.so.4.8.0;/usr/local/lib/libopencv_cudaarithm.so.4.8.0;/usr/local/lib/libopencv_cudabgsegm.so.4.8.0;/usr/local/lib/libopencv_cudacodec.so.4.8.0;/usr/local/lib/libopencv_cudafeatures2d.so.4.8.0;/usr/local/lib/libopencv_cudafilters.so.4.8.0;/usr/local/lib/libopencv_cudaimgproc.so.4.8.0;/usr/local/lib/libopencv_cudalegacy.so.4.8.0;/usr/local/lib/libopencv_cudaobjdetect.so.4.8.0;/usr/local/lib/libopencv_cudaoptflow.so.4.8.0;/usr/local/lib/libopencv_cudastereo.so.4.8.0;/usr/local/lib/libopencv_cudawarping.so.4.8.0;/usr/local/lib/libopencv_cudev.so.4.8.0;/usr/local/lib/libopencv_datasets.so.4.8.0;/usr/local/lib/libopencv_dnn_objdetect.so.4.8.0;/usr/local/lib/libopencv_dnn_superres.so.4.8.0;/usr/local/lib/libopencv_dpm.so.4.8.0;/usr/local/lib/libopencv_face.so.4.8.0;/usr/local/lib/libopencv_freetype.so.4.8.0;/usr/local/lib/libopencv_fuzzy.so.4.8.0;/usr/local/lib/libopencv_hdf.so.4.8.0;/usr/local/lib/libopencv_hfs.so.4.8.0;/usr/local/lib/libopencv_img_hash.so.4.8.0;/usr/local/lib/libopencv_intensity_transform.so.4.8.0;/usr/local/lib/libopencv_line_descriptor.so.4.8.0;/usr/local/lib/libopencv_mcc.so.4.8.0;/usr/local/lib/libopencv_optflow.so.4.8.0;/usr/local/lib/libopencv_phase_unwrapping.so.4.8.0;/usr/local/lib/libopencv_plot.so.4.8.0;/usr/local/lib/libopencv_quality.so.4.8.0;/usr/local/lib/libopencv_rapid.so.4.8.0;/usr/local/lib/libopencv_reg.so.4.8.0;/usr/local/lib/libopencv_rgbd.so.4.8.0;/usr/local/lib/libopencv_saliency.so.4.8.0;/usr/local/lib/libopencv_shape.so.4.8.0;/usr/local/lib/libopencv_stereo.so.4.8.0;/usr/local/lib/libopencv_structured_light.so.4.8.0;/usr/local/lib/libopencv_superres.so.4.8.0;/usr/local/lib/libopencv_surface_matching.so.4.8.0;/usr/local/lib/libopencv_text.so.4.8.0;/usr/local/lib/libopencv_tracking.so.4.8.0;/usr/local/lib/libopencv_videostab.so.4.8.0;/usr/local/lib/libopencv_viz.so.4.8.0;/usr/local/lib/libopencv_wechat_qrcode.so.4.8.0;/usr/local/lib/libopencv_xfeatures2d.so.4.8.0;/usr/local/lib/libopencv_ximgproc.so.4.8.0;/usr/local/lib/libopencv_xobjdetect.so.4.8.0;/usr/local/lib/libopencv_xphoto.so.4.8.0;/usr/local/lib/libopencv_core.so.4.8.0;/usr/local/lib/libopencv_imgproc.so.4.8.0;/usr/local/lib/libopencv_imgcodecs.so.4.8.0".split(';') if "-lcv_bridge;/usr/local/lib/libopencv_calib3d.so.4.8.0;/usr/local/lib/libopencv_dnn.so.4.8.0;/usr/local/lib/libopencv_features2d.so.4.8.0;/usr/local/lib/libopencv_flann.so.4.8.0;/usr/local/lib/libopencv_gapi.so.4.8.0;/usr/local/lib/libopencv_highgui.so.4.8.0;/usr/local/lib/libopencv_ml.so.4.8.0;/usr/local/lib/libopencv_objdetect.so.4.8.0;/usr/local/lib/libopencv_photo.so.4.8.0;/usr/local/lib/libopencv_stitching.so.4.8.0;/usr/local/lib/libopencv_video.so.4.8.0;/usr/local/lib/libopencv_videoio.so.4.8.0;/usr/local/lib/libopencv_alphamat.so.4.8.0;/usr/local/lib/libopencv_aruco.so.4.8.0;/usr/local/lib/libopencv_bgsegm.so.4.8.0;/usr/local/lib/libopencv_bioinspired.so.4.8.0;/usr/local/lib/libopencv_ccalib.so.4.8.0;/usr/local/lib/libopencv_cudaarithm.so.4.8.0;/usr/local/lib/libopencv_cudabgsegm.so.4.8.0;/usr/local/lib/libopencv_cudacodec.so.4.8.0;/usr/local/lib/libopencv_cudafeatures2d.so.4.8.0;/usr/local/lib/libopencv_cudafilters.so.4.8.0;/usr/local/lib/libopencv_cudaimgproc.so.4.8.0;/usr/local/lib/libopencv_cudalegacy.so.4.8.0;/usr/local/lib/libopencv_cudaobjdetect.so.4.8.0;/usr/local/lib/libopencv_cudaoptflow.so.4.8.0;/usr/local/lib/libopencv_cudastereo.so.4.8.0;/usr/local/lib/libopencv_cudawarping.so.4.8.0;/usr/local/lib/libopencv_cudev.so.4.8.0;/usr/local/lib/libopencv_datasets.so.4.8.0;/usr/local/lib/libopencv_dnn_objdetect.so.4.8.0;/usr/local/lib/libopencv_dnn_superres.so.4.8.0;/usr/local/lib/libopencv_dpm.so.4.8.0;/usr/local/lib/libopencv_face.so.4.8.0;/usr/local/lib/libopencv_freetype.so.4.8.0;/usr/local/lib/libopencv_fuzzy.so.4.8.0;/usr/local/lib/libopencv_hdf.so.4.8.0;/usr/local/lib/libopencv_hfs.so.4.8.0;/usr/local/lib/libopencv_img_hash.so.4.8.0;/usr/local/lib/libopencv_intensity_transform.so.4.8.0;/usr/local/lib/libopencv_line_descriptor.so.4.8.0;/usr/local/lib/libopencv_mcc.so.4.8.0;/usr/local/lib/libopencv_optflow.so.4.8.0;/usr/local/lib/libopencv_phase_unwrapping.so.4.8.0;/usr/local/lib/libopencv_plot.so.4.8.0;/usr/local/lib/libopencv_quality.so.4.8.0;/usr/local/lib/libopencv_rapid.so.4.8.0;/usr/local/lib/libopencv_reg.so.4.8.0;/usr/local/lib/libopencv_rgbd.so.4.8.0;/usr/local/lib/libopencv_saliency.so.4.8.0;/usr/local/lib/libopencv_shape.so.4.8.0;/usr/local/lib/libopencv_stereo.so.4.8.0;/usr/local/lib/libopencv_structured_light.so.4.8.0;/usr/local/lib/libopencv_superres.so.4.8.0;/usr/local/lib/libopencv_surface_matching.so.4.8.0;/usr/local/lib/libopencv_text.so.4.8.0;/usr/local/lib/libopencv_tracking.so.4.8.0;/usr/local/lib/libopencv_videostab.so.4.8.0;/usr/local/lib/libopencv_viz.so.4.8.0;/usr/local/lib/libopencv_wechat_qrcode.so.4.8.0;/usr/local/lib/libopencv_xfeatures2d.so.4.8.0;/usr/local/lib/libopencv_ximgproc.so.4.8.0;/usr/local/lib/libopencv_xobjdetect.so.4.8.0;/usr/local/lib/libopencv_xphoto.so.4.8.0;/usr/local/lib/libopencv_core.so.4.8.0;/usr/local/lib/libopencv_imgproc.so.4.8.0;/usr/local/lib/libopencv_imgcodecs.so.4.8.0" != "" else [] +PROJECT_NAME = "cv_bridge" +PROJECT_SPACE_DIR = "/home/test/My/install" +PROJECT_VERSION = "1.16.2" diff --git a/MyCode/build/my_cv_bridge/catkin_generated/python_distutils_install.sh b/MyCode/build/my_cv_bridge/catkin_generated/python_distutils_install.sh new file mode 100644 index 0000000..f31b1fb --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/python_distutils_install.sh @@ -0,0 +1,33 @@ +#!/bin/sh + +if [ -n "$DESTDIR" ] ; then + case $DESTDIR in + /*) # ok + ;; + *) + /bin/echo "DESTDIR argument must be absolute... " + /bin/echo "otherwise python's distutils will bork things." + exit 1 + esac +fi + +echo_and_run() { echo "+ $@" ; "$@" ; } + +echo_and_run cd "/home/test/My/src/my_cv_bridge" + +# ensure that Python install destination exists +echo_and_run mkdir -p "$DESTDIR/home/test/My/install/lib/python2.7/dist-packages" + +# Note that PYTHONPATH is pulled from the environment to support installing +# into one location when some dependencies were installed in another +# location, #123. +echo_and_run /usr/bin/env \ + PYTHONPATH="/home/test/My/install/lib/python2.7/dist-packages:/home/test/My/build/lib/python2.7/dist-packages:$PYTHONPATH" \ + CATKIN_BINARY_DIR="/home/test/My/build" \ + "/usr/bin/python2" \ + "/home/test/My/src/my_cv_bridge/setup.py" \ + egg_info --egg-base /home/test/My/build/my_cv_bridge \ + build --build-base "/home/test/My/build/my_cv_bridge" \ + install \ + --root="${DESTDIR-/}" \ + --install-layout=deb --prefix="/home/test/My/install" --install-scripts="/home/test/My/install/bin" diff --git a/MyCode/build/my_cv_bridge/catkin_generated/safe_execute_install.cmake b/MyCode/build/my_cv_bridge/catkin_generated/safe_execute_install.cmake new file mode 100644 index 0000000..d18b27a --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/safe_execute_install.cmake @@ -0,0 +1,5 @@ +execute_process(COMMAND "/home/test/My/build/my_cv_bridge/catkin_generated/python_distutils_install.sh" RESULT_VARIABLE res) + +if(NOT res EQUAL 0) + message(FATAL_ERROR "execute_process(/home/test/My/build/my_cv_bridge/catkin_generated/python_distutils_install.sh) returned error code ") +endif() diff --git a/MyCode/build/my_cv_bridge/catkin_generated/setup_py_interrogation.cmake b/MyCode/build/my_cv_bridge/catkin_generated/setup_py_interrogation.cmake new file mode 100644 index 0000000..56908bf --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/setup_py_interrogation.cmake @@ -0,0 +1,7 @@ +set(cv_bridge_SETUP_PY_SETUP_MODULE "setuptools") +set(cv_bridge_SETUP_PY_VERSION "1.16.2") +set(cv_bridge_SETUP_PY_SCRIPTS "") +set(cv_bridge_SETUP_PY_PACKAGES "cv_bridge") +set(cv_bridge_SETUP_PY_PACKAGE_DIRS "python/cv_bridge") +set(cv_bridge_SETUP_PY_MODULES "") +set(cv_bridge_SETUP_PY_MODULE_DIRS "") \ No newline at end of file diff --git a/MyCode/build/my_cv_bridge/catkin_generated/stamps/cv_bridge/package.xml.stamp b/MyCode/build/my_cv_bridge/catkin_generated/stamps/cv_bridge/package.xml.stamp new file mode 100644 index 0000000..bb6c734 --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/stamps/cv_bridge/package.xml.stamp @@ -0,0 +1,41 @@ + + cv_bridge + 1.16.2 + + This contains CvBridge, which converts between ROS + Image messages and OpenCV images. + + Patrick Mihelich + James Bowman + Vincent Rabaud + BSD + http://www.ros.org/wiki/cv_bridge + https://github.com/ros-perception/vision_opencv + https://github.com/ros-perception/vision_opencv/issues + + + + + + catkin + + boost + libopencv-dev + python3 + python3-opencv + rosconsole + sensor_msgs + + boost + libopencv-dev + python3 + python3-opencv + rosconsole + libopencv-dev + sensor_msgs + + rostest + python3-numpy + + dvipng + diff --git a/MyCode/build/my_cv_bridge/catkin_generated/stamps/cv_bridge/pkg.pc.em.stamp b/MyCode/build/my_cv_bridge/catkin_generated/stamps/cv_bridge/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/stamps/cv_bridge/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/MyCode/build/my_cv_bridge/catkin_generated/stamps/cv_bridge/setup.py.stamp b/MyCode/build/my_cv_bridge/catkin_generated/stamps/cv_bridge/setup.py.stamp new file mode 100644 index 0000000..f8812a2 --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/stamps/cv_bridge/setup.py.stamp @@ -0,0 +1,10 @@ +#!/usr/bin/env python +from setuptools import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup() + +d['packages'] = ['cv_bridge'] +d['package_dir'] = {'' : 'python'} + +setup(**d) diff --git a/MyCode/build/my_cv_bridge/catkin_generated/stamps/my_cv_bridge/package.xml.stamp b/MyCode/build/my_cv_bridge/catkin_generated/stamps/my_cv_bridge/package.xml.stamp new file mode 100644 index 0000000..bb6c734 --- /dev/null +++ b/MyCode/build/my_cv_bridge/catkin_generated/stamps/my_cv_bridge/package.xml.stamp @@ -0,0 +1,41 @@ + + cv_bridge + 1.16.2 + + This contains CvBridge, which converts between ROS + Image messages and OpenCV images. + + Patrick Mihelich + James Bowman + Vincent Rabaud + BSD + http://www.ros.org/wiki/cv_bridge + https://github.com/ros-perception/vision_opencv + https://github.com/ros-perception/vision_opencv/issues + + + + + + catkin + + boost + libopencv-dev + python3 + python3-opencv + rosconsole + sensor_msgs + + boost + libopencv-dev + python3 + python3-opencv + rosconsole + libopencv-dev + sensor_msgs + + rostest + python3-numpy + + dvipng + diff --git a/MyCode/build/my_cv_bridge/cmake_install.cmake b/MyCode/build/my_cv_bridge/cmake_install.cmake new file mode 100644 index 0000000..d2d549e --- /dev/null +++ b/MyCode/build/my_cv_bridge/cmake_install.cmake @@ -0,0 +1,74 @@ +# Install script for directory: /home/test/My/src/my_cv_bridge + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/test/My/install") +endif() +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 "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/test/My/build/my_cv_bridge/catkin_generated/installspace/cv_bridge.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/cv_bridge/cmake" TYPE FILE FILES "/home/test/My/build/my_cv_bridge/catkin_generated/installspace/cv_bridge-extras.cmake") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/cv_bridge/cmake" TYPE FILE FILES + "/home/test/My/build/my_cv_bridge/catkin_generated/installspace/cv_bridgeConfig.cmake" + "/home/test/My/build/my_cv_bridge/catkin_generated/installspace/cv_bridgeConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/cv_bridge" TYPE FILE FILES "/home/test/My/src/my_cv_bridge/package.xml") +endif() + 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+.PHONY : src/octomap_tracking_server_node.cpp.i + +src/octomap_tracking_server_node.s: src/octomap_tracking_server_node.cpp.s + +.PHONY : src/octomap_tracking_server_node.s + +# target to generate assembly for a file +src/octomap_tracking_server_node.cpp.s: + cd /home/test/My/build && $(MAKE) -f octomap_server/CMakeFiles/octomap_tracking_server_node.dir/build.make octomap_server/CMakeFiles/octomap_tracking_server_node.dir/src/octomap_tracking_server_node.cpp.s +.PHONY : src/octomap_tracking_server_node.cpp.s + +# 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 "... install/strip" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... octomap_server_nodelet" + @echo "... octomap_saver" + @echo "... octomap_server_static" + @echo "... list_install_components" + @echo "... octomap_color_server_node" + @echo "... octomap_server_node" + @echo "... install" + @echo "... octomap_server_gencfg" + @echo "... octomap_msgs_generate_messages_nodejs" + @echo "... octomap_msgs_generate_messages_lisp" + @echo "... octomap_msgs_generate_messages_eus" + @echo "... octomap_msgs_generate_messages_cpp" + @echo "... nav_msgs_generate_messages_nodejs" + @echo "... nav_msgs_generate_messages_lisp" + @echo "... install/local" + @echo "... nav_msgs_generate_messages_eus" + @echo "... tf2_msgs_generate_messages_nodejs" + @echo "... tf2_msgs_generate_messages_lisp" + @echo "... tf2_msgs_generate_messages_eus" + @echo "... actionlib_msgs_generate_messages_py" + @echo "... nodelet_generate_messages_nodejs" + @echo "... octomap_msgs_generate_messages_py" + @echo "... bond_generate_messages_nodejs" + @echo "... nodelet_generate_messages_cpp" + @echo "... dynamic_reconfigure_gencfg" + @echo "... dynamic_reconfigure_generate_messages_eus" + @echo "... actionlib_msgs_generate_messages_eus" + @echo "... dynamic_reconfigure_generate_messages_py" + @echo "... pcl_msgs_generate_messages_cpp" + @echo "... tf2_msgs_generate_messages_cpp" + @echo "... dynamic_reconfigure_generate_messages_lisp" + @echo "... std_srvs_generate_messages_lisp" + @echo "... pcl_ros_gencfg" + @echo "... visualization_msgs_generate_messages_nodejs" + @echo "... nodelet_generate_messages_lisp" + @echo "... roscpp_generate_messages_eus" + @echo "... octomap_tracking_server_node" + @echo "... topic_tools_generate_messages_nodejs" + @echo "... tf2_msgs_generate_messages_py" + @echo "... dynamic_reconfigure_generate_messages_nodejs" + @echo "... bond_generate_messages_cpp" + @echo "... bond_generate_messages_eus" + @echo "... nav_msgs_generate_messages_cpp" + @echo "... visualization_msgs_generate_messages_eus" + @echo "... roscpp_generate_messages_py" + @echo "... roscpp_generate_messages_cpp" + @echo "... topic_tools_generate_messages_py" + @echo "... actionlib_msgs_generate_messages_nodejs" + @echo "... actionlib_msgs_generate_messages_lisp" + @echo "... tf_generate_messages_py" + @echo "... roscpp_generate_messages_nodejs" + @echo "... octomap_server_multilayer" + @echo "... rosgraph_msgs_generate_messages_eus" + @echo "... std_srvs_generate_messages_py" + @echo "... nodelet_generate_messages_eus" + @echo "... actionlib_generate_messages_nodejs" + @echo "... dynamic_reconfigure_generate_messages_cpp" + @echo "... topic_tools_generate_messages_eus" + @echo "... nav_msgs_generate_messages_py" + @echo "... tf_generate_messages_lisp" + @echo "... roscpp_generate_messages_lisp" + @echo "... actionlib_generate_messages_lisp" + @echo "... rosgraph_msgs_generate_messages_py" + @echo "... rosgraph_msgs_generate_messages_nodejs" + @echo "... octomap_color_server_nodelet" + @echo "... actionlib_generate_messages_cpp" + @echo "... nodelet_topic_tools_gencfg" + @echo "... visualization_msgs_generate_messages_cpp" + @echo "... rosgraph_msgs_generate_messages_cpp" + @echo "... actionlib_generate_messages_eus" + @echo "... actionlib_msgs_generate_messages_cpp" + @echo "... visualization_msgs_generate_messages_lisp" + @echo "... bond_generate_messages_lisp" + @echo "... bond_generate_messages_py" + @echo "... octomap_server_color" + @echo "... pcl_msgs_generate_messages_eus" + @echo "... visualization_msgs_generate_messages_py" + @echo "... topic_tools_generate_messages_cpp" + @echo "... pcl_msgs_generate_messages_nodejs" + @echo "... pcl_msgs_generate_messages_lisp" + @echo "... test" + @echo "... pcl_msgs_generate_messages_py" + @echo "... std_srvs_generate_messages_cpp" + @echo "... rosgraph_msgs_generate_messages_lisp" + @echo "... tf_generate_messages_eus" + @echo "... std_srvs_generate_messages_eus" + @echo "... nodelet_generate_messages_py" + @echo "... std_srvs_generate_messages_nodejs" + @echo "... topic_tools_generate_messages_lisp" + @echo "... tf_generate_messages_cpp" + @echo "... octomap_server" + @echo "... tf_generate_messages_nodejs" + @echo "... actionlib_generate_messages_py" + @echo "... src/OctomapServer.o" + @echo "... src/OctomapServer.i" + @echo "... src/OctomapServer.s" + @echo "... src/OctomapServerMultilayer.o" + @echo "... src/OctomapServerMultilayer.i" + @echo "... src/OctomapServerMultilayer.s" + @echo "... src/TrackingOctomapServer.o" + @echo "... src/TrackingOctomapServer.i" + @echo "... src/TrackingOctomapServer.s" + @echo "... src/octomap_saver.o" + @echo "... src/octomap_saver.i" + @echo "... src/octomap_saver.s" + @echo "... src/octomap_server_multilayer.o" + @echo "... src/octomap_server_multilayer.i" + @echo "... src/octomap_server_multilayer.s" + @echo "... src/octomap_server_node.o" + @echo "... src/octomap_server_node.i" + @echo "... src/octomap_server_node.s" + @echo "... src/octomap_server_nodelet.o" + @echo "... src/octomap_server_nodelet.i" + @echo "... src/octomap_server_nodelet.s" + @echo "... src/octomap_server_static.o" + @echo "... src/octomap_server_static.i" + @echo "... src/octomap_server_static.s" + @echo "... src/octomap_tracking_server_node.o" + @echo "... src/octomap_tracking_server_node.i" + @echo "... src/octomap_tracking_server_node.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/test/My/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/MyCode/build/octomap_server/catkin_generated/installspace/octomap_server.pc b/MyCode/build/octomap_server/catkin_generated/installspace/octomap_server.pc new file mode 100644 index 0000000..6b4f475 --- /dev/null +++ b/MyCode/build/octomap_server/catkin_generated/installspace/octomap_server.pc @@ -0,0 +1,8 @@ +prefix=/home/test/My/install + +Name: octomap_server +Description: Description of octomap_server +Version: 0.6.6 +Cflags: -I${prefix}/include -I/opt/ros/melodic/include +Libs: -L${prefix}/lib -loctomap_server /opt/ros/melodic/lib/liboctomap.so /opt/ros/melodic/lib/liboctomath.so +Requires: roscpp visualization_msgs sensor_msgs pcl_ros pcl_conversions nav_msgs std_msgs std_srvs octomap_ros octomap_msgs dynamic_reconfigure nodelet diff --git a/MyCode/build/octomap_server/catkin_generated/installspace/octomap_serverConfig-version.cmake b/MyCode/build/octomap_server/catkin_generated/installspace/octomap_serverConfig-version.cmake new file mode 100644 index 0000000..65d2b10 --- /dev/null +++ b/MyCode/build/octomap_server/catkin_generated/installspace/octomap_serverConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.6.6") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/MyCode/build/octomap_server/catkin_generated/installspace/octomap_serverConfig.cmake b/MyCode/build/octomap_server/catkin_generated/installspace/octomap_serverConfig.cmake new file mode 100644 index 0000000..5d880b5 --- /dev/null +++ b/MyCode/build/octomap_server/catkin_generated/installspace/octomap_serverConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(octomap_server_CONFIG_INCLUDED) + return() +endif() +set(octomap_server_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(octomap_server_SOURCE_PREFIX /home/test/My/src/octomap_server) + set(octomap_server_DEVEL_PREFIX /home/test/My/devel) + set(octomap_server_INSTALL_PREFIX "") + set(octomap_server_PREFIX ${octomap_server_DEVEL_PREFIX}) +else() + set(octomap_server_SOURCE_PREFIX "") + set(octomap_server_DEVEL_PREFIX "") + set(octomap_server_INSTALL_PREFIX /home/test/My/install) + set(octomap_server_PREFIX ${octomap_server_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'octomap_server' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(octomap_server_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "include;/opt/ros/melodic/include " STREQUAL " ") + set(octomap_server_INCLUDE_DIRS "") + set(_include_dirs "include;/opt/ros/melodic/include") + if(NOT "https://github.com/OctoMap/octomap_mapping/issues " STREQUAL " ") + set(_report "Check the issue tracker 'https://github.com/OctoMap/octomap_mapping/issues' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://www.ros.org/wiki/octomap_server " STREQUAL " ") + set(_report "Check the website 'http://www.ros.org/wiki/octomap_server' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Wolfgang Merkt ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${octomap_server_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'octomap_server' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'octomap_server' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(octomap_server_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "octomap_server;/opt/ros/melodic/lib/liboctomap.so;/opt/ros/melodic/lib/liboctomath.so") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND octomap_server_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND octomap_server_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT octomap_server_NUM_DUMMY_TARGETS) + set(octomap_server_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::octomap_server::wrapped-linker-option${octomap_server_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR octomap_server_NUM_DUMMY_TARGETS "${octomap_server_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::octomap_server::wrapped-linker-option${octomap_server_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND octomap_server_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND octomap_server_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND octomap_server_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/test/My/install/lib;/opt/ros/melodic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(octomap_server_LIBRARY_DIRS ${lib_path}) + list(APPEND octomap_server_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'octomap_server'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND octomap_server_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(octomap_server_EXPORTED_TARGETS "octomap_server_gencfg") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${octomap_server_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "roscpp;visualization_msgs;sensor_msgs;pcl_ros;pcl_conversions;nav_msgs;std_msgs;std_srvs;octomap_ros;octomap_msgs;dynamic_reconfigure;nodelet") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 octomap_server_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${octomap_server_dep}_FOUND) + find_package(${octomap_server_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${octomap_server_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(octomap_server_INCLUDE_DIRS ${${octomap_server_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(octomap_server_LIBRARIES ${octomap_server_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${octomap_server_dep}_LIBRARIES}) + _list_append_deduplicate(octomap_server_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(octomap_server_LIBRARIES ${octomap_server_LIBRARIES}) + + _list_append_unique(octomap_server_LIBRARY_DIRS ${${octomap_server_dep}_LIBRARY_DIRS}) + list(APPEND octomap_server_EXPORTED_TARGETS ${${octomap_server_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${octomap_server_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/MyCode/build/octomap_server/catkin_generated/ordered_paths.cmake b/MyCode/build/octomap_server/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..88ba1d8 --- /dev/null +++ b/MyCode/build/octomap_server/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/melodic/lib") \ No newline at end of file diff --git a/MyCode/build/octomap_server/catkin_generated/package.cmake b/MyCode/build/octomap_server/catkin_generated/package.cmake new file mode 100644 index 0000000..9b51c74 --- /dev/null +++ b/MyCode/build/octomap_server/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "octomap_server") +set(octomap_server_VERSION "0.6.6") +set(octomap_server_MAINTAINER "Wolfgang Merkt ") +set(octomap_server_PACKAGE_FORMAT "3") +set(octomap_server_BUILD_DEPENDS "roscpp" "visualization_msgs" "sensor_msgs" "pcl_ros" "pcl_conversions" "nav_msgs" "std_msgs" "std_srvs" "octomap" "octomap_msgs" "octomap_ros" "dynamic_reconfigure" "nodelet") +set(octomap_server_BUILD_EXPORT_DEPENDS ) +set(octomap_server_BUILDTOOL_DEPENDS "catkin") +set(octomap_server_BUILDTOOL_EXPORT_DEPENDS ) +set(octomap_server_EXEC_DEPENDS "roscpp" "visualization_msgs" "sensor_msgs" "pcl_ros" "pcl_conversions" "nav_msgs" "std_msgs" "std_srvs" "octomap" "octomap_msgs" "octomap_ros" "dynamic_reconfigure" "nodelet") +set(octomap_server_RUN_DEPENDS "roscpp" "visualization_msgs" "sensor_msgs" "pcl_ros" "pcl_conversions" "nav_msgs" "std_msgs" "std_srvs" "octomap" "octomap_msgs" "octomap_ros" "dynamic_reconfigure" "nodelet") +set(octomap_server_TEST_DEPENDS ) +set(octomap_server_DOC_DEPENDS ) +set(octomap_server_URL_WEBSITE "http://www.ros.org/wiki/octomap_server") +set(octomap_server_URL_BUGTRACKER "https://github.com/OctoMap/octomap_mapping/issues") +set(octomap_server_URL_REPOSITORY "https://github.com/OctoMap/octomap_mapping") +set(octomap_server_DEPRECATED "") \ No newline at end of file diff --git a/MyCode/build/octomap_server/catkin_generated/pkg.develspace.context.pc.py b/MyCode/build/octomap_server/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..0e71878 --- /dev/null +++ b/MyCode/build/octomap_server/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/home/test/My/devel/include;/home/test/My/src/octomap_server/include;/opt/ros/melodic/include".split(';') if "/home/test/My/devel/include;/home/test/My/src/octomap_server/include;/opt/ros/melodic/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "roscpp;visualization_msgs;sensor_msgs;pcl_ros;pcl_conversions;nav_msgs;std_msgs;std_srvs;octomap_ros;octomap_msgs;dynamic_reconfigure;nodelet".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-loctomap_server;/opt/ros/melodic/lib/liboctomap.so;/opt/ros/melodic/lib/liboctomath.so".split(';') if "-loctomap_server;/opt/ros/melodic/lib/liboctomap.so;/opt/ros/melodic/lib/liboctomath.so" != "" else [] +PROJECT_NAME = "octomap_server" +PROJECT_SPACE_DIR = "/home/test/My/devel" +PROJECT_VERSION = "0.6.6" diff --git a/MyCode/build/octomap_server/catkin_generated/pkg.installspace.context.pc.py b/MyCode/build/octomap_server/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..6c4e36e --- /dev/null +++ b/MyCode/build/octomap_server/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include;/opt/ros/melodic/include".split(';') if "${prefix}/include;/opt/ros/melodic/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "roscpp;visualization_msgs;sensor_msgs;pcl_ros;pcl_conversions;nav_msgs;std_msgs;std_srvs;octomap_ros;octomap_msgs;dynamic_reconfigure;nodelet".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-loctomap_server;/opt/ros/melodic/lib/liboctomap.so;/opt/ros/melodic/lib/liboctomath.so".split(';') if "-loctomap_server;/opt/ros/melodic/lib/liboctomap.so;/opt/ros/melodic/lib/liboctomath.so" != "" else [] +PROJECT_NAME = "octomap_server" +PROJECT_SPACE_DIR = "/home/test/My/install" +PROJECT_VERSION = "0.6.6" diff --git a/MyCode/build/octomap_server/catkin_generated/stamps/octomap_server/package.xml.stamp b/MyCode/build/octomap_server/catkin_generated/stamps/octomap_server/package.xml.stamp new file mode 100644 index 0000000..b38c6b8 --- /dev/null +++ b/MyCode/build/octomap_server/catkin_generated/stamps/octomap_server/package.xml.stamp @@ -0,0 +1,48 @@ + + octomap_server + 0.6.6 + + octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format. It also allows to incrementally build 3D OctoMaps, and provides map saving in the node octomap_saver. + + Armin Hornung + Wolfgang Merkt + BSD + http://www.ros.org/wiki/octomap_server + https://github.com/OctoMap/octomap_mapping/issues + https://github.com/OctoMap/octomap_mapping + + + + + + + catkin + + roscpp + visualization_msgs + sensor_msgs + pcl_ros + pcl_conversions + nav_msgs + std_msgs + std_srvs + octomap + octomap_msgs + octomap_ros + dynamic_reconfigure + nodelet + + roscpp + visualization_msgs + sensor_msgs + pcl_ros + pcl_conversions + nav_msgs + std_msgs + std_srvs + octomap + octomap_msgs + octomap_ros + dynamic_reconfigure + nodelet + diff --git a/MyCode/build/octomap_server/catkin_generated/stamps/octomap_server/pkg.pc.em.stamp b/MyCode/build/octomap_server/catkin_generated/stamps/octomap_server/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/MyCode/build/octomap_server/catkin_generated/stamps/octomap_server/pkg.pc.em.stamp @@ -0,0 +1,8 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+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + diff --git a/MyCode/devel/.built_by b/MyCode/devel/.built_by new file mode 100644 index 0000000..2e212dd --- /dev/null +++ b/MyCode/devel/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/MyCode/devel/.catkin b/MyCode/devel/.catkin new file mode 100644 index 0000000..49c8897 --- /dev/null +++ b/MyCode/devel/.catkin @@ -0,0 +1 @@ +/home/test/My/src \ No newline at end of file diff --git a/MyCode/devel/.rosinstall b/MyCode/devel/.rosinstall new file mode 100644 index 0000000..de0d3ce --- /dev/null +++ b/MyCode/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/test/My/devel/setup.sh diff --git a/MyCode/devel/_setup_util.py b/MyCode/devel/_setup_util.py new file mode 100644 index 0000000..bd65cbd --- /dev/null +++ b/MyCode/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# 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 Willow Garage, Inc. 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. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/MyCode/devel/cmake.lock b/MyCode/devel/cmake.lock new file mode 100644 index 0000000..e69de29 diff --git a/MyCode/devel/env.sh b/MyCode/devel/env.sh new file mode 100644 index 0000000..8aa9d24 --- /dev/null +++ b/MyCode/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/MyCode/devel/include/octomap_server/OctomapServerConfig.h b/MyCode/devel/include/octomap_server/OctomapServerConfig.h new file mode 100644 index 0000000..20aa29c --- /dev/null +++ b/MyCode/devel/include/octomap_server/OctomapServerConfig.h @@ -0,0 +1,711 @@ +//#line 2 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template" +// ********************************************************* +// +// File autogenerated for the octomap_server package +// by the dynamic_reconfigure package. +// Please do not edit. +// +// ********************************************************/ + +#ifndef __octomap_server__OCTOMAPSERVERCONFIG_H__ +#define __octomap_server__OCTOMAPSERVERCONFIG_H__ + +#if __cplusplus >= 201103L +#define DYNAMIC_RECONFIGURE_FINAL final +#else +#define DYNAMIC_RECONFIGURE_FINAL +#endif + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace octomap_server +{ + class OctomapServerConfigStatics; + + class OctomapServerConfig + { + public: + class AbstractParamDescription : public dynamic_reconfigure::ParamDescription + { + public: + AbstractParamDescription(std::string n, std::string t, uint32_t l, + std::string d, std::string e) + { + name = n; + type = t; + level = l; + description = d; + edit_method = e; + } + + virtual void clamp(OctomapServerConfig &config, const OctomapServerConfig &max, const OctomapServerConfig &min) const = 0; + virtual void calcLevel(uint32_t &level, const OctomapServerConfig &config1, const OctomapServerConfig &config2) const = 0; + virtual void fromServer(const ros::NodeHandle &nh, OctomapServerConfig &config) const = 0; + virtual void toServer(const ros::NodeHandle &nh, const OctomapServerConfig &config) const = 0; + virtual bool fromMessage(const dynamic_reconfigure::Config &msg, OctomapServerConfig &config) const = 0; + virtual void toMessage(dynamic_reconfigure::Config &msg, const OctomapServerConfig &config) const = 0; + virtual void getValue(const OctomapServerConfig &config, boost::any &val) const = 0; + }; + + typedef boost::shared_ptr AbstractParamDescriptionPtr; + typedef boost::shared_ptr AbstractParamDescriptionConstPtr; + + // Final keyword added to class because it has virtual methods and inherits + // from a class with a non-virtual destructor. + template + class ParamDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractParamDescription + { + public: + ParamDescription(std::string a_name, std::string a_type, uint32_t a_level, + std::string a_description, std::string a_edit_method, T OctomapServerConfig::* a_f) : + AbstractParamDescription(a_name, a_type, a_level, a_description, a_edit_method), + field(a_f) + {} + + T OctomapServerConfig::* field; + + virtual void clamp(OctomapServerConfig &config, const OctomapServerConfig &max, const OctomapServerConfig &min) const + { + if (config.*field > max.*field) + config.*field = max.*field; + + if (config.*field < min.*field) + config.*field = min.*field; + } + + virtual void calcLevel(uint32_t &comb_level, const OctomapServerConfig &config1, const OctomapServerConfig &config2) const + { + if (config1.*field != config2.*field) + comb_level |= level; + } + + virtual void fromServer(const ros::NodeHandle &nh, OctomapServerConfig &config) const + { + nh.getParam(name, config.*field); + } + + virtual void toServer(const ros::NodeHandle &nh, const OctomapServerConfig &config) const + { + nh.setParam(name, config.*field); + } + + virtual bool fromMessage(const dynamic_reconfigure::Config &msg, OctomapServerConfig &config) const + { + return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field); + } + + virtual void toMessage(dynamic_reconfigure::Config &msg, const OctomapServerConfig &config) const + { + dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field); + } + + virtual void getValue(const OctomapServerConfig &config, boost::any &val) const + { + val = config.*field; + } + }; + + class AbstractGroupDescription : public dynamic_reconfigure::Group + { + public: + AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s) + { + name = n; + type = t; + parent = p; + state = s; + id = i; + } + + std::vector abstract_parameters; + bool state; + + virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0; + virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0; + virtual void updateParams(boost::any &cfg, OctomapServerConfig &top) const= 0; + virtual void setInitialState(boost::any &cfg) const = 0; + + + void convertParams() + { + for(std::vector::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i) + { + parameters.push_back(dynamic_reconfigure::ParamDescription(**i)); + } + } + }; + + typedef boost::shared_ptr AbstractGroupDescriptionPtr; + typedef boost::shared_ptr AbstractGroupDescriptionConstPtr; + + // Final keyword added to class because it has virtual methods and inherits + // from a class with a non-virtual destructor. + template + class GroupDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractGroupDescription + { + public: + GroupDescription(std::string a_name, std::string a_type, int a_parent, int a_id, bool a_s, T PT::* a_f) : AbstractGroupDescription(a_name, a_type, a_parent, a_id, a_s), field(a_f) + { + } + + GroupDescription(const GroupDescription& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups) + { + parameters = g.parameters; + abstract_parameters = g.abstract_parameters; + } + + virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const + { + PT* config = boost::any_cast(cfg); + if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field)) + return false; + + for(std::vector::const_iterator i = groups.begin(); i != groups.end(); ++i) + { + boost::any n = &((*config).*field); + if(!(*i)->fromMessage(msg, n)) + return false; + } + + return true; + } + + virtual void setInitialState(boost::any &cfg) const + { + PT* config = boost::any_cast(cfg); + T* group = &((*config).*field); + group->state = state; + + for(std::vector::const_iterator i = groups.begin(); i != groups.end(); ++i) + { + boost::any n = boost::any(&((*config).*field)); + (*i)->setInitialState(n); + } + + } + + virtual void updateParams(boost::any &cfg, OctomapServerConfig &top) const + { + PT* config = boost::any_cast(cfg); + + T* f = &((*config).*field); + f->setParams(top, abstract_parameters); + + for(std::vector::const_iterator i = groups.begin(); i != groups.end(); ++i) + { + boost::any n = &((*config).*field); + (*i)->updateParams(n, top); + } + } + + virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const + { + const PT config = boost::any_cast(cfg); + dynamic_reconfigure::ConfigTools::appendGroup(msg, name, id, parent, config.*field); + + for(std::vector::const_iterator i = groups.begin(); i != groups.end(); ++i) + { + (*i)->toMessage(msg, config.*field); + } + } + + T PT::* field; + std::vector groups; + }; + +class DEFAULT +{ + public: + DEFAULT() + { + state = true; + name = "Default"; + } + + void setParams(OctomapServerConfig &config, const std::vector params) + { + for (std::vector::const_iterator _i = params.begin(); _i != params.end(); ++_i) + { + boost::any val; + (*_i)->getValue(config, val); + + if("compress_map"==(*_i)->name){compress_map = boost::any_cast(val);} + if("incremental_2D_projection"==(*_i)->name){incremental_2D_projection = boost::any_cast(val);} + if("filter_speckles"==(*_i)->name){filter_speckles = boost::any_cast(val);} + if("max_depth"==(*_i)->name){max_depth = boost::any_cast(val);} + if("pointcloud_min_z"==(*_i)->name){pointcloud_min_z = boost::any_cast(val);} + if("pointcloud_max_z"==(*_i)->name){pointcloud_max_z = boost::any_cast(val);} + if("occupancy_min_z"==(*_i)->name){occupancy_min_z = boost::any_cast(val);} + if("occupancy_max_z"==(*_i)->name){occupancy_max_z = boost::any_cast(val);} + if("sensor_model_max_range"==(*_i)->name){sensor_model_max_range = boost::any_cast(val);} + if("sensor_model_hit"==(*_i)->name){sensor_model_hit = boost::any_cast(val);} + if("sensor_model_miss"==(*_i)->name){sensor_model_miss = boost::any_cast(val);} + if("sensor_model_min"==(*_i)->name){sensor_model_min = boost::any_cast(val);} + if("sensor_model_max"==(*_i)->name){sensor_model_max = boost::any_cast(val);} + if("filter_ground"==(*_i)->name){filter_ground = boost::any_cast(val);} + if("ground_filter_distance"==(*_i)->name){ground_filter_distance = boost::any_cast(val);} + if("ground_filter_angle"==(*_i)->name){ground_filter_angle = boost::any_cast(val);} + if("ground_filter_plane_distance"==(*_i)->name){ground_filter_plane_distance = boost::any_cast(val);} + } + } + + bool compress_map; +bool incremental_2D_projection; +bool filter_speckles; +int max_depth; +double pointcloud_min_z; +double pointcloud_max_z; +double occupancy_min_z; +double occupancy_max_z; +double sensor_model_max_range; +double sensor_model_hit; +double sensor_model_miss; +double sensor_model_min; +double sensor_model_max; +bool filter_ground; +double ground_filter_distance; +double ground_filter_angle; +double ground_filter_plane_distance; + + bool state; + std::string name; + + +}groups; + + + +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + bool compress_map; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + bool incremental_2D_projection; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + bool filter_speckles; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + int max_depth; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + double pointcloud_min_z; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + double pointcloud_max_z; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + double occupancy_min_z; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + double occupancy_max_z; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + double sensor_model_max_range; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + double sensor_model_hit; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + double sensor_model_miss; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + double sensor_model_min; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + double sensor_model_max; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + bool filter_ground; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + double ground_filter_distance; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + double ground_filter_angle; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + double ground_filter_plane_distance; +//#line 228 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template" + + bool __fromMessage__(dynamic_reconfigure::Config &msg) + { + const std::vector &__param_descriptions__ = __getParamDescriptions__(); + const std::vector &__group_descriptions__ = __getGroupDescriptions__(); + + int count = 0; + for (std::vector::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i) + if ((*i)->fromMessage(msg, *this)) + count++; + + for (std::vector::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++) + { + if ((*i)->id == 0) + { + boost::any n = boost::any(this); + (*i)->updateParams(n, *this); + (*i)->fromMessage(msg, n); + } + } + + if (count != dynamic_reconfigure::ConfigTools::size(msg)) + { + ROS_ERROR("OctomapServerConfig::__fromMessage__ called with an unexpected parameter."); + ROS_ERROR("Booleans:"); + for (unsigned int i = 0; i < msg.bools.size(); i++) + ROS_ERROR(" %s", msg.bools[i].name.c_str()); + ROS_ERROR("Integers:"); + for (unsigned int i = 0; i < msg.ints.size(); i++) + ROS_ERROR(" %s", msg.ints[i].name.c_str()); + ROS_ERROR("Doubles:"); + for (unsigned int i = 0; i < msg.doubles.size(); i++) + ROS_ERROR(" %s", msg.doubles[i].name.c_str()); + ROS_ERROR("Strings:"); + for (unsigned int i = 0; i < msg.strs.size(); i++) + ROS_ERROR(" %s", msg.strs[i].name.c_str()); + // @todo Check that there are no duplicates. Make this error more + // explicit. + return false; + } + return true; + } + + // This version of __toMessage__ is used during initialization of + // statics when __getParamDescriptions__ can't be called yet. + void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector &__param_descriptions__, const std::vector &__group_descriptions__) const + { + dynamic_reconfigure::ConfigTools::clear(msg); + for (std::vector::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i) + (*i)->toMessage(msg, *this); + + for (std::vector::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i) + { + if((*i)->id == 0) + { + (*i)->toMessage(msg, *this); + } + } + } + + void __toMessage__(dynamic_reconfigure::Config &msg) const + { + const std::vector &__param_descriptions__ = __getParamDescriptions__(); + const std::vector &__group_descriptions__ = __getGroupDescriptions__(); + __toMessage__(msg, __param_descriptions__, __group_descriptions__); + } + + void __toServer__(const ros::NodeHandle &nh) const + { + const std::vector &__param_descriptions__ = __getParamDescriptions__(); + for (std::vector::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i) + (*i)->toServer(nh, *this); + } + + void __fromServer__(const ros::NodeHandle &nh) + { + static bool setup=false; + + const std::vector &__param_descriptions__ = __getParamDescriptions__(); + for (std::vector::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i) + (*i)->fromServer(nh, *this); + + const std::vector &__group_descriptions__ = __getGroupDescriptions__(); + for (std::vector::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){ + if (!setup && (*i)->id == 0) { + setup = true; + boost::any n = boost::any(this); + (*i)->setInitialState(n); + } + } + } + + void __clamp__() + { + const std::vector &__param_descriptions__ = __getParamDescriptions__(); + const OctomapServerConfig &__max__ = __getMax__(); + const OctomapServerConfig &__min__ = __getMin__(); + for (std::vector::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i) + (*i)->clamp(*this, __max__, __min__); + } + + uint32_t __level__(const OctomapServerConfig &config) const + { + const std::vector &__param_descriptions__ = __getParamDescriptions__(); + uint32_t level = 0; + for (std::vector::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i) + (*i)->calcLevel(level, config, *this); + return level; + } + + static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__(); + static const OctomapServerConfig &__getDefault__(); + static const OctomapServerConfig &__getMax__(); + static const OctomapServerConfig &__getMin__(); + static const std::vector &__getParamDescriptions__(); + static const std::vector &__getGroupDescriptions__(); + + private: + static const OctomapServerConfigStatics *__get_statics__(); + }; + + template <> // Max and min are ignored for strings. + inline void OctomapServerConfig::ParamDescription::clamp(OctomapServerConfig &config, const OctomapServerConfig &max, const OctomapServerConfig &min) const + { + (void) config; + (void) min; + (void) max; + return; + } + + class OctomapServerConfigStatics + { + friend class OctomapServerConfig; + + OctomapServerConfigStatics() + { +OctomapServerConfig::GroupDescription Default("Default", "", 0, 0, true, &OctomapServerConfig::groups); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.compress_map = 0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.compress_map = 1; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.compress_map = 1; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("compress_map", "bool", 0, "Compresses the map losslessly", "", &OctomapServerConfig::compress_map))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("compress_map", "bool", 0, "Compresses the map losslessly", "", &OctomapServerConfig::compress_map))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.incremental_2D_projection = 0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.incremental_2D_projection = 1; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.incremental_2D_projection = 0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("incremental_2D_projection", "bool", 0, "Incremental 2D projection", "", &OctomapServerConfig::incremental_2D_projection))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("incremental_2D_projection", "bool", 0, "Incremental 2D projection", "", &OctomapServerConfig::incremental_2D_projection))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.filter_speckles = 0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.filter_speckles = 1; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.filter_speckles = 0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("filter_speckles", "bool", 0, "Filter speckle nodes (with no neighbors)", "", &OctomapServerConfig::filter_speckles))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("filter_speckles", "bool", 0, "Filter speckle nodes (with no neighbors)", "", &OctomapServerConfig::filter_speckles))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.max_depth = 1; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.max_depth = 16; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.max_depth = 16; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("max_depth", "int", 0, "Maximum depth when traversing the octree to send out markers. 16: full depth / max. resolution", "", &OctomapServerConfig::max_depth))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("max_depth", "int", 0, "Maximum depth when traversing the octree to send out markers. 16: full depth / max. resolution", "", &OctomapServerConfig::max_depth))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.pointcloud_min_z = -100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.pointcloud_min_z = 100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.pointcloud_min_z = -100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("pointcloud_min_z", "double", 0, "Minimum height of points to consider for insertion", "", &OctomapServerConfig::pointcloud_min_z))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("pointcloud_min_z", "double", 0, "Minimum height of points to consider for insertion", "", &OctomapServerConfig::pointcloud_min_z))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.pointcloud_max_z = -100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.pointcloud_max_z = 100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.pointcloud_max_z = 100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("pointcloud_max_z", "double", 0, "Maximum height of points to consider for insertion", "", &OctomapServerConfig::pointcloud_max_z))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("pointcloud_max_z", "double", 0, "Maximum height of points to consider for insertion", "", &OctomapServerConfig::pointcloud_max_z))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.occupancy_min_z = -100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.occupancy_min_z = 100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.occupancy_min_z = -100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("occupancy_min_z", "double", 0, "Minimum height of occupied cells to consider in the final map", "", &OctomapServerConfig::occupancy_min_z))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("occupancy_min_z", "double", 0, "Minimum height of occupied cells to consider in the final map", "", &OctomapServerConfig::occupancy_min_z))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.occupancy_max_z = -100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.occupancy_max_z = 100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.occupancy_max_z = 100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("occupancy_max_z", "double", 0, "Maximum height of occupied cells to consider in the final map", "", &OctomapServerConfig::occupancy_max_z))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("occupancy_max_z", "double", 0, "Maximum height of occupied cells to consider in the final map", "", &OctomapServerConfig::occupancy_max_z))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.sensor_model_max_range = -1.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.sensor_model_max_range = 100.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.sensor_model_max_range = -1.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("sensor_model_max_range", "double", 0, "Sensor maximum range", "", &OctomapServerConfig::sensor_model_max_range))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("sensor_model_max_range", "double", 0, "Sensor maximum range", "", &OctomapServerConfig::sensor_model_max_range))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.sensor_model_hit = 0.5; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.sensor_model_hit = 1.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.sensor_model_hit = 0.7; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("sensor_model_hit", "double", 0, "Probabilities for hits in the sensor model when dynamically building a map", "", &OctomapServerConfig::sensor_model_hit))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("sensor_model_hit", "double", 0, "Probabilities for hits in the sensor model when dynamically building a map", "", &OctomapServerConfig::sensor_model_hit))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.sensor_model_miss = 0.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.sensor_model_miss = 0.5; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.sensor_model_miss = 0.4; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("sensor_model_miss", "double", 0, "Probabilities for misses in the sensor model when dynamically building a map", "", &OctomapServerConfig::sensor_model_miss))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("sensor_model_miss", "double", 0, "Probabilities for misses in the sensor model when dynamically building a map", "", &OctomapServerConfig::sensor_model_miss))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.sensor_model_min = 0.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.sensor_model_min = 1.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.sensor_model_min = 0.12; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("sensor_model_min", "double", 0, "Minimum probability for clamping when dynamically building a map", "", &OctomapServerConfig::sensor_model_min))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("sensor_model_min", "double", 0, "Minimum probability for clamping when dynamically building a map", "", &OctomapServerConfig::sensor_model_min))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.sensor_model_max = 0.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.sensor_model_max = 1.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.sensor_model_max = 0.97; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("sensor_model_max", "double", 0, "Maximum probability for clamping when dynamically building a map", "", &OctomapServerConfig::sensor_model_max))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("sensor_model_max", "double", 0, "Maximum probability for clamping when dynamically building a map", "", &OctomapServerConfig::sensor_model_max))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.filter_ground = 0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.filter_ground = 1; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.filter_ground = 0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("filter_ground", "bool", 0, "Filter ground plane", "", &OctomapServerConfig::filter_ground))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("filter_ground", "bool", 0, "Filter ground plane", "", &OctomapServerConfig::filter_ground))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.ground_filter_distance = 0.001; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.ground_filter_distance = 1.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.ground_filter_distance = 0.04; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("ground_filter_distance", "double", 0, "Distance threshold to consider a point as ground", "", &OctomapServerConfig::ground_filter_distance))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("ground_filter_distance", "double", 0, "Distance threshold to consider a point as ground", "", &OctomapServerConfig::ground_filter_distance))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.ground_filter_angle = 0.001; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.ground_filter_angle = 15.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.ground_filter_angle = 0.15; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("ground_filter_angle", "double", 0, "Angular threshold of the detected plane from the horizontal plane to be detected as ground ", "", &OctomapServerConfig::ground_filter_angle))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("ground_filter_angle", "double", 0, "Angular threshold of the detected plane from the horizontal plane to be detected as ground ", "", &OctomapServerConfig::ground_filter_angle))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __min__.ground_filter_plane_distance = 0.001; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __max__.ground_filter_plane_distance = 1.0; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __default__.ground_filter_plane_distance = 0.07; +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.abstract_parameters.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("ground_filter_plane_distance", "double", 0, "Distance threshold from z=0 for a plane to be detected as ground", "", &OctomapServerConfig::ground_filter_plane_distance))); +//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __param_descriptions__.push_back(OctomapServerConfig::AbstractParamDescriptionConstPtr(new OctomapServerConfig::ParamDescription("ground_filter_plane_distance", "double", 0, "Distance threshold from z=0 for a plane to be detected as ground", "", &OctomapServerConfig::ground_filter_plane_distance))); +//#line 246 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + Default.convertParams(); +//#line 246 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py" + __group_descriptions__.push_back(OctomapServerConfig::AbstractGroupDescriptionConstPtr(new OctomapServerConfig::GroupDescription(Default))); +//#line 366 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template" + + for (std::vector::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i) + { + __description_message__.groups.push_back(**i); + } + __max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__); + __min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__); + __default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__); + } + std::vector __param_descriptions__; + std::vector __group_descriptions__; + OctomapServerConfig __max__; + OctomapServerConfig __min__; + OctomapServerConfig __default__; + dynamic_reconfigure::ConfigDescription __description_message__; + + static const OctomapServerConfigStatics *get_instance() + { + // Split this off in a separate function because I know that + // instance will get initialized the first time get_instance is + // called, and I am guaranteeing that get_instance gets called at + // most once. + static OctomapServerConfigStatics instance; + return &instance; + } + }; + + inline const dynamic_reconfigure::ConfigDescription &OctomapServerConfig::__getDescriptionMessage__() + { + return __get_statics__()->__description_message__; + } + + inline const OctomapServerConfig &OctomapServerConfig::__getDefault__() + { + return __get_statics__()->__default__; + } + + inline const OctomapServerConfig &OctomapServerConfig::__getMax__() + { + return __get_statics__()->__max__; + } + + inline const OctomapServerConfig &OctomapServerConfig::__getMin__() + { + return __get_statics__()->__min__; + } + + inline const std::vector &OctomapServerConfig::__getParamDescriptions__() + { + return __get_statics__()->__param_descriptions__; + } + + inline const std::vector &OctomapServerConfig::__getGroupDescriptions__() + { + return __get_statics__()->__group_descriptions__; + } + + inline const OctomapServerConfigStatics *OctomapServerConfig::__get_statics__() + { + const static OctomapServerConfigStatics *statics; + + if (statics) // Common case + return statics; + + boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__); + + if (statics) // In case we lost a race. + return statics; + + statics = OctomapServerConfigStatics::get_instance(); + + return statics; + } + + +} + +#undef DYNAMIC_RECONFIGURE_FINAL + +#endif // __OCTOMAPSERVERRECONFIGURATOR_H__ diff --git a/MyCode/devel/lib/libcv_bridge.so b/MyCode/devel/lib/libcv_bridge.so new file mode 100644 index 0000000..aad6d34 Binary files /dev/null and b/MyCode/devel/lib/libcv_bridge.so differ diff --git a/MyCode/devel/lib/libimage_geometry.so b/MyCode/devel/lib/libimage_geometry.so new file mode 100644 index 0000000..1ed430a Binary files /dev/null and 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a/MyCode/devel/lib/octomap_server/octomap_color_server_node b/MyCode/devel/lib/octomap_server/octomap_color_server_node new file mode 100644 index 0000000..1c01164 Binary files /dev/null and b/MyCode/devel/lib/octomap_server/octomap_color_server_node differ diff --git a/MyCode/devel/lib/octomap_server/octomap_saver b/MyCode/devel/lib/octomap_server/octomap_saver new file mode 100644 index 0000000..22b073b Binary files /dev/null and b/MyCode/devel/lib/octomap_server/octomap_saver differ diff --git a/MyCode/devel/lib/octomap_server/octomap_server_multilayer b/MyCode/devel/lib/octomap_server/octomap_server_multilayer new file mode 100644 index 0000000..e3b21e7 Binary files /dev/null and b/MyCode/devel/lib/octomap_server/octomap_server_multilayer differ diff --git a/MyCode/devel/lib/octomap_server/octomap_server_node b/MyCode/devel/lib/octomap_server/octomap_server_node new file mode 100644 index 0000000..42ceace Binary files /dev/null and b/MyCode/devel/lib/octomap_server/octomap_server_node differ diff --git a/MyCode/devel/lib/octomap_server/octomap_server_static b/MyCode/devel/lib/octomap_server/octomap_server_static new file mode 100644 index 0000000..b71c1ba Binary files /dev/null and b/MyCode/devel/lib/octomap_server/octomap_server_static differ diff --git a/MyCode/devel/lib/octomap_server/octomap_tracking_server_node b/MyCode/devel/lib/octomap_server/octomap_tracking_server_node new file mode 100644 index 0000000..8ee801e Binary files /dev/null and b/MyCode/devel/lib/octomap_server/octomap_tracking_server_node differ diff --git a/MyCode/devel/lib/pkgconfig/cv_bridge.pc b/MyCode/devel/lib/pkgconfig/cv_bridge.pc new file mode 100644 index 0000000..a7db8fd --- /dev/null +++ b/MyCode/devel/lib/pkgconfig/cv_bridge.pc @@ -0,0 +1,8 @@ +prefix=/home/test/My/devel + +Name: cv_bridge +Description: Description of cv_bridge +Version: 1.16.2 +Cflags: -I/home/test/My/src/my_cv_bridge/include -I/usr/local/include/opencv4 +Libs: -L${prefix}/lib -lcv_bridge /usr/local/lib/libopencv_calib3d.so.4.8.0 /usr/local/lib/libopencv_dnn.so.4.8.0 /usr/local/lib/libopencv_features2d.so.4.8.0 /usr/local/lib/libopencv_flann.so.4.8.0 /usr/local/lib/libopencv_gapi.so.4.8.0 /usr/local/lib/libopencv_highgui.so.4.8.0 /usr/local/lib/libopencv_ml.so.4.8.0 /usr/local/lib/libopencv_objdetect.so.4.8.0 /usr/local/lib/libopencv_photo.so.4.8.0 /usr/local/lib/libopencv_stitching.so.4.8.0 /usr/local/lib/libopencv_video.so.4.8.0 /usr/local/lib/libopencv_videoio.so.4.8.0 /usr/local/lib/libopencv_alphamat.so.4.8.0 /usr/local/lib/libopencv_aruco.so.4.8.0 /usr/local/lib/libopencv_bgsegm.so.4.8.0 /usr/local/lib/libopencv_bioinspired.so.4.8.0 /usr/local/lib/libopencv_ccalib.so.4.8.0 /usr/local/lib/libopencv_cudaarithm.so.4.8.0 /usr/local/lib/libopencv_cudabgsegm.so.4.8.0 /usr/local/lib/libopencv_cudacodec.so.4.8.0 /usr/local/lib/libopencv_cudafeatures2d.so.4.8.0 /usr/local/lib/libopencv_cudafilters.so.4.8.0 /usr/local/lib/libopencv_cudaimgproc.so.4.8.0 /usr/local/lib/libopencv_cudalegacy.so.4.8.0 /usr/local/lib/libopencv_cudaobjdetect.so.4.8.0 /usr/local/lib/libopencv_cudaoptflow.so.4.8.0 /usr/local/lib/libopencv_cudastereo.so.4.8.0 /usr/local/lib/libopencv_cudawarping.so.4.8.0 /usr/local/lib/libopencv_cudev.so.4.8.0 /usr/local/lib/libopencv_datasets.so.4.8.0 /usr/local/lib/libopencv_dnn_objdetect.so.4.8.0 /usr/local/lib/libopencv_dnn_superres.so.4.8.0 /usr/local/lib/libopencv_dpm.so.4.8.0 /usr/local/lib/libopencv_face.so.4.8.0 /usr/local/lib/libopencv_freetype.so.4.8.0 /usr/local/lib/libopencv_fuzzy.so.4.8.0 /usr/local/lib/libopencv_hdf.so.4.8.0 /usr/local/lib/libopencv_hfs.so.4.8.0 /usr/local/lib/libopencv_img_hash.so.4.8.0 /usr/local/lib/libopencv_intensity_transform.so.4.8.0 /usr/local/lib/libopencv_line_descriptor.so.4.8.0 /usr/local/lib/libopencv_mcc.so.4.8.0 /usr/local/lib/libopencv_optflow.so.4.8.0 /usr/local/lib/libopencv_phase_unwrapping.so.4.8.0 /usr/local/lib/libopencv_plot.so.4.8.0 /usr/local/lib/libopencv_quality.so.4.8.0 /usr/local/lib/libopencv_rapid.so.4.8.0 /usr/local/lib/libopencv_reg.so.4.8.0 /usr/local/lib/libopencv_rgbd.so.4.8.0 /usr/local/lib/libopencv_saliency.so.4.8.0 /usr/local/lib/libopencv_shape.so.4.8.0 /usr/local/lib/libopencv_stereo.so.4.8.0 /usr/local/lib/libopencv_structured_light.so.4.8.0 /usr/local/lib/libopencv_superres.so.4.8.0 /usr/local/lib/libopencv_surface_matching.so.4.8.0 /usr/local/lib/libopencv_text.so.4.8.0 /usr/local/lib/libopencv_tracking.so.4.8.0 /usr/local/lib/libopencv_videostab.so.4.8.0 /usr/local/lib/libopencv_viz.so.4.8.0 /usr/local/lib/libopencv_wechat_qrcode.so.4.8.0 /usr/local/lib/libopencv_xfeatures2d.so.4.8.0 /usr/local/lib/libopencv_ximgproc.so.4.8.0 /usr/local/lib/libopencv_xobjdetect.so.4.8.0 /usr/local/lib/libopencv_xphoto.so.4.8.0 /usr/local/lib/libopencv_core.so.4.8.0 /usr/local/lib/libopencv_imgproc.so.4.8.0 /usr/local/lib/libopencv_imgcodecs.so.4.8.0 +Requires: rosconsole sensor_msgs diff --git a/MyCode/devel/lib/pkgconfig/image_geometry.pc b/MyCode/devel/lib/pkgconfig/image_geometry.pc new file mode 100644 index 0000000..d93b1e6 --- /dev/null +++ b/MyCode/devel/lib/pkgconfig/image_geometry.pc @@ -0,0 +1,8 @@ +prefix=/home/test/My/devel + +Name: image_geometry +Description: Description of image_geometry +Version: 1.13.0 +Cflags: -I/home/test/My/src/image_geometry/include -I/usr/local/include/opencv4 +Libs: -L${prefix}/lib -limage_geometry /usr/local/lib/libopencv_calib3d.so.4.8.0 /usr/local/lib/libopencv_core.so.4.8.0 /usr/local/lib/libopencv_dnn.so.4.8.0 /usr/local/lib/libopencv_features2d.so.4.8.0 /usr/local/lib/libopencv_flann.so.4.8.0 /usr/local/lib/libopencv_gapi.so.4.8.0 /usr/local/lib/libopencv_highgui.so.4.8.0 /usr/local/lib/libopencv_imgcodecs.so.4.8.0 /usr/local/lib/libopencv_imgproc.so.4.8.0 /usr/local/lib/libopencv_ml.so.4.8.0 /usr/local/lib/libopencv_objdetect.so.4.8.0 /usr/local/lib/libopencv_photo.so.4.8.0 /usr/local/lib/libopencv_stitching.so.4.8.0 /usr/local/lib/libopencv_video.so.4.8.0 /usr/local/lib/libopencv_videoio.so.4.8.0 /usr/local/lib/libopencv_alphamat.so.4.8.0 /usr/local/lib/libopencv_aruco.so.4.8.0 /usr/local/lib/libopencv_bgsegm.so.4.8.0 /usr/local/lib/libopencv_bioinspired.so.4.8.0 /usr/local/lib/libopencv_ccalib.so.4.8.0 /usr/local/lib/libopencv_cudaarithm.so.4.8.0 /usr/local/lib/libopencv_cudabgsegm.so.4.8.0 /usr/local/lib/libopencv_cudacodec.so.4.8.0 /usr/local/lib/libopencv_cudafeatures2d.so.4.8.0 /usr/local/lib/libopencv_cudafilters.so.4.8.0 /usr/local/lib/libopencv_cudaimgproc.so.4.8.0 /usr/local/lib/libopencv_cudalegacy.so.4.8.0 /usr/local/lib/libopencv_cudaobjdetect.so.4.8.0 /usr/local/lib/libopencv_cudaoptflow.so.4.8.0 /usr/local/lib/libopencv_cudastereo.so.4.8.0 /usr/local/lib/libopencv_cudawarping.so.4.8.0 /usr/local/lib/libopencv_cudev.so.4.8.0 /usr/local/lib/libopencv_datasets.so.4.8.0 /usr/local/lib/libopencv_dnn_objdetect.so.4.8.0 /usr/local/lib/libopencv_dnn_superres.so.4.8.0 /usr/local/lib/libopencv_dpm.so.4.8.0 /usr/local/lib/libopencv_face.so.4.8.0 /usr/local/lib/libopencv_freetype.so.4.8.0 /usr/local/lib/libopencv_fuzzy.so.4.8.0 /usr/local/lib/libopencv_hdf.so.4.8.0 /usr/local/lib/libopencv_hfs.so.4.8.0 /usr/local/lib/libopencv_img_hash.so.4.8.0 /usr/local/lib/libopencv_intensity_transform.so.4.8.0 /usr/local/lib/libopencv_line_descriptor.so.4.8.0 /usr/local/lib/libopencv_mcc.so.4.8.0 /usr/local/lib/libopencv_optflow.so.4.8.0 /usr/local/lib/libopencv_phase_unwrapping.so.4.8.0 /usr/local/lib/libopencv_plot.so.4.8.0 /usr/local/lib/libopencv_quality.so.4.8.0 /usr/local/lib/libopencv_rapid.so.4.8.0 /usr/local/lib/libopencv_reg.so.4.8.0 /usr/local/lib/libopencv_rgbd.so.4.8.0 /usr/local/lib/libopencv_saliency.so.4.8.0 /usr/local/lib/libopencv_shape.so.4.8.0 /usr/local/lib/libopencv_stereo.so.4.8.0 /usr/local/lib/libopencv_structured_light.so.4.8.0 /usr/local/lib/libopencv_superres.so.4.8.0 /usr/local/lib/libopencv_surface_matching.so.4.8.0 /usr/local/lib/libopencv_text.so.4.8.0 /usr/local/lib/libopencv_tracking.so.4.8.0 /usr/local/lib/libopencv_videostab.so.4.8.0 /usr/local/lib/libopencv_viz.so.4.8.0 /usr/local/lib/libopencv_wechat_qrcode.so.4.8.0 /usr/local/lib/libopencv_xfeatures2d.so.4.8.0 /usr/local/lib/libopencv_ximgproc.so.4.8.0 /usr/local/lib/libopencv_xobjdetect.so.4.8.0 /usr/local/lib/libopencv_xphoto.so.4.8.0 +Requires: sensor_msgs diff --git a/MyCode/devel/lib/pkgconfig/octomap_server.pc b/MyCode/devel/lib/pkgconfig/octomap_server.pc new file mode 100644 index 0000000..f6fc31f --- /dev/null +++ b/MyCode/devel/lib/pkgconfig/octomap_server.pc @@ -0,0 +1,8 @@ +prefix=/home/test/My/devel + +Name: octomap_server +Description: Description of octomap_server +Version: 0.6.6 +Cflags: -I/home/test/My/devel/include -I/home/test/My/src/octomap_server/include -I/opt/ros/melodic/include +Libs: -L${prefix}/lib -loctomap_server /opt/ros/melodic/lib/liboctomap.so /opt/ros/melodic/lib/liboctomath.so +Requires: roscpp visualization_msgs sensor_msgs pcl_ros pcl_conversions nav_msgs std_msgs std_srvs octomap_ros octomap_msgs dynamic_reconfigure nodelet diff --git a/MyCode/devel/lib/python2.7/dist-packages/cv_bridge/__init__.py b/MyCode/devel/lib/python2.7/dist-packages/cv_bridge/__init__.py new file mode 100644 index 0000000..8344f56 --- /dev/null +++ b/MyCode/devel/lib/python2.7/dist-packages/cv_bridge/__init__.py @@ -0,0 +1,37 @@ +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/__init__.py.in +# keep symbol table as clean as possible by deleting all unnecessary symbols + +from os import path as os_path +from pkgutil import extend_path +from sys import path as sys_path + +__extended_path = '/home/test/My/src/my_cv_bridge/python'.split(';') +for p in reversed(__extended_path): + sys_path.insert(0, p) + del p +del sys_path + +__path__ = extend_path(__path__, __name__) +del extend_path + +__execfiles = [] +for p in __extended_path: + src_init_file = os_path.join(p, __name__ + '.py') + if os_path.isfile(src_init_file): + __execfiles.append(src_init_file) + else: + src_init_file = os_path.join(p, __name__, '__init__.py') + if os_path.isfile(src_init_file): + __execfiles.append(src_init_file) + del src_init_file + del p +del os_path +del __extended_path + +for __execfile in __execfiles: + with open(__execfile, 'r') as __fh: + exec(__fh.read()) + del __fh + del __execfile +del __execfiles diff --git a/MyCode/devel/lib/python2.7/dist-packages/cv_bridge/boost/__init__.py b/MyCode/devel/lib/python2.7/dist-packages/cv_bridge/boost/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/MyCode/devel/lib/python2.7/dist-packages/cv_bridge/boost/cv_bridge_boost.so b/MyCode/devel/lib/python2.7/dist-packages/cv_bridge/boost/cv_bridge_boost.so new file mode 100644 index 0000000..6c88975 Binary files /dev/null and b/MyCode/devel/lib/python2.7/dist-packages/cv_bridge/boost/cv_bridge_boost.so differ diff --git a/MyCode/devel/lib/python2.7/dist-packages/image_geometry/__init__.py b/MyCode/devel/lib/python2.7/dist-packages/image_geometry/__init__.py new file mode 100644 index 0000000..7c571c2 --- /dev/null +++ b/MyCode/devel/lib/python2.7/dist-packages/image_geometry/__init__.py @@ -0,0 +1,37 @@ +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/__init__.py.in +# keep symbol table as clean as possible by deleting all unnecessary symbols + +from os import path as os_path +from pkgutil import extend_path +from sys import path as sys_path + +__extended_path = '/home/test/My/src/image_geometry/src'.split(';') +for p in reversed(__extended_path): + sys_path.insert(0, p) + del p +del sys_path + +__path__ = extend_path(__path__, __name__) +del extend_path + +__execfiles = [] +for p in __extended_path: + src_init_file = os_path.join(p, __name__ + '.py') + if os_path.isfile(src_init_file): + __execfiles.append(src_init_file) + else: + src_init_file = os_path.join(p, __name__, '__init__.py') + if os_path.isfile(src_init_file): + __execfiles.append(src_init_file) + del src_init_file + del p +del os_path +del __extended_path + +for __execfile in __execfiles: + with open(__execfile, 'r') as __fh: + exec(__fh.read()) + del __fh + del __execfile +del __execfiles diff --git a/MyCode/devel/lib/python2.7/dist-packages/octomap_server/__init__.py b/MyCode/devel/lib/python2.7/dist-packages/octomap_server/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/MyCode/devel/lib/python2.7/dist-packages/octomap_server/cfg/OctomapServerConfig.py b/MyCode/devel/lib/python2.7/dist-packages/octomap_server/cfg/OctomapServerConfig.py new file mode 100644 index 0000000..3efcd5f --- /dev/null +++ b/MyCode/devel/lib/python2.7/dist-packages/octomap_server/cfg/OctomapServerConfig.py @@ -0,0 +1,36 @@ +## ********************************************************* +## +## File autogenerated for the octomap_server package +## by the dynamic_reconfigure package. +## Please do not edit. +## +## ********************************************************/ + +from dynamic_reconfigure.encoding import extract_params + +inf = float('inf') + +config_description = {'upper': 'DEFAULT', 'lower': 'groups', 'srcline': 246, 'name': 'Default', 'parent': 0, 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'cstate': 'true', 'parentname': 'Default', 'class': 'DEFAULT', 'field': 'default', 'state': True, 'parentclass': '', 'groups': [], 'parameters': [{'srcline': 291, 'description': 'Compresses the map losslessly', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'compress_map', 'edit_method': '', 'default': True, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 291, 'description': 'Incremental 2D projection', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'incremental_2D_projection', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 291, 'description': 'Filter speckle nodes (with no neighbors)', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'filter_speckles', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 291, 'description': 'Maximum depth when traversing the octree to send out markers. 16: full depth / max. resolution', 'max': 16, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'max_depth', 'edit_method': '', 'default': 16, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 291, 'description': 'Minimum height of points to consider for insertion', 'max': 100.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'pointcloud_min_z', 'edit_method': '', 'default': -100.0, 'level': 0, 'min': -100.0, 'type': 'double'}, {'srcline': 291, 'description': 'Maximum height of points to consider for insertion', 'max': 100.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'pointcloud_max_z', 'edit_method': '', 'default': 100.0, 'level': 0, 'min': -100.0, 'type': 'double'}, {'srcline': 291, 'description': 'Minimum height of occupied cells to consider in the final map', 'max': 100.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'occupancy_min_z', 'edit_method': '', 'default': -100.0, 'level': 0, 'min': -100.0, 'type': 'double'}, {'srcline': 291, 'description': 'Maximum height of occupied cells to consider in the final map', 'max': 100.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'occupancy_max_z', 'edit_method': '', 'default': 100.0, 'level': 0, 'min': -100.0, 'type': 'double'}, {'srcline': 291, 'description': 'Sensor maximum range', 'max': 100.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'sensor_model_max_range', 'edit_method': '', 'default': -1.0, 'level': 0, 'min': -1.0, 'type': 'double'}, {'srcline': 291, 'description': 'Probabilities for hits in the sensor model when dynamically building a map', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'sensor_model_hit', 'edit_method': '', 'default': 0.7, 'level': 0, 'min': 0.5, 'type': 'double'}, {'srcline': 291, 'description': 'Probabilities for misses in the sensor model when dynamically building a map', 'max': 0.5, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'sensor_model_miss', 'edit_method': '', 'default': 0.4, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 291, 'description': 'Minimum probability for clamping when dynamically building a map', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'sensor_model_min', 'edit_method': '', 'default': 0.12, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 291, 'description': 'Maximum probability for clamping when dynamically building a map', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'sensor_model_max', 'edit_method': '', 'default': 0.97, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 291, 'description': 'Filter ground plane', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'filter_ground', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 291, 'description': 'Distance threshold to consider a point as ground', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'ground_filter_distance', 'edit_method': '', 'default': 0.04, 'level': 0, 'min': 0.001, 'type': 'double'}, {'srcline': 291, 'description': 'Angular threshold of the detected plane from the horizontal plane to be detected as ground ', 'max': 15.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'ground_filter_angle', 'edit_method': '', 'default': 0.15, 'level': 0, 'min': 0.001, 'type': 'double'}, {'srcline': 291, 'description': 'Distance threshold from z=0 for a plane to be detected as ground', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py', 'name': 'ground_filter_plane_distance', 'edit_method': '', 'default': 0.07, 'level': 0, 'min': 0.001, 'type': 'double'}], 'type': '', 'id': 0} + +min = {} +max = {} +defaults = {} +level = {} +type = {} +all_level = 0 + +#def extract_params(config): +# params = [] +# params.extend(config['parameters']) +# for group in config['groups']: +# params.extend(extract_params(group)) +# return params + +for param in extract_params(config_description): + min[param['name']] = param['min'] + max[param['name']] = param['max'] + defaults[param['name']] = param['default'] + level[param['name']] = param['level'] + type[param['name']] = param['type'] + all_level = all_level | param['level'] + diff --git a/MyCode/devel/lib/python2.7/dist-packages/octomap_server/cfg/__init__.py b/MyCode/devel/lib/python2.7/dist-packages/octomap_server/cfg/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/MyCode/devel/local_setup.bash b/MyCode/devel/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/MyCode/devel/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/MyCode/devel/local_setup.sh b/MyCode/devel/local_setup.sh new file mode 100644 index 0000000..0b9c62d --- /dev/null +++ b/MyCode/devel/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/test/My/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/MyCode/devel/local_setup.zsh b/MyCode/devel/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/MyCode/devel/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/MyCode/devel/setup.bash b/MyCode/devel/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/MyCode/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/MyCode/devel/setup.sh b/MyCode/devel/setup.sh new file mode 100644 index 0000000..2c08c9b --- /dev/null +++ b/MyCode/devel/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/test/My/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/MyCode/devel/setup.zsh b/MyCode/devel/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/MyCode/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/MyCode/devel/share/cv_bridge/cmake/cv_bridge-extras.cmake b/MyCode/devel/share/cv_bridge/cmake/cv_bridge-extras.cmake new file mode 100644 index 0000000..2a9a6bb --- /dev/null +++ b/MyCode/devel/share/cv_bridge/cmake/cv_bridge-extras.cmake @@ -0,0 +1,12 @@ +set(OpenCV_VERSION 4.8.0) +set(OpenCV_VERSION_MAJOR 4) +set(OpenCV_VERSION_MINOR 8) +set(OpenCV_VERSION_PATCH 0) +set(OpenCV_SHARED ON) +set(OpenCV_CONFIG_PATH /usr/local/lib/cmake/opencv4) +set(OpenCV_INSTALL_PATH /usr/local) +set(OpenCV_LIB_COMPONENTS opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_gapi;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_stitching;opencv_video;opencv_videoio;opencv_alphamat;opencv_aruco;opencv_bgsegm;opencv_bioinspired;opencv_ccalib;opencv_cudaarithm;opencv_cudabgsegm;opencv_cudacodec;opencv_cudafeatures2d;opencv_cudafilters;opencv_cudaimgproc;opencv_cudalegacy;opencv_cudaobjdetect;opencv_cudaoptflow;opencv_cudastereo;opencv_cudawarping;opencv_cudev;opencv_datasets;opencv_dnn_objdetect;opencv_dnn_superres;opencv_dpm;opencv_face;opencv_freetype;opencv_fuzzy;opencv_hdf;opencv_hfs;opencv_img_hash;opencv_intensity_transform;opencv_line_descriptor;opencv_mcc;opencv_optflow;opencv_phase_unwrapping;opencv_plot;opencv_quality;opencv_rapid;opencv_reg;opencv_rgbd;opencv_saliency;opencv_shape;opencv_stereo;opencv_structured_light;opencv_superres;opencv_surface_matching;opencv_text;opencv_tracking;opencv_videostab;opencv_viz;opencv_wechat_qrcode;opencv_xfeatures2d;opencv_ximgproc;opencv_xobjdetect;opencv_xphoto) +set(OpenCV_USE_MANGLED_PATHS FALSE) +set(OpenCV_MODULES_SUFFIX ) + + diff --git a/MyCode/devel/share/cv_bridge/cmake/cv_bridgeConfig-version.cmake b/MyCode/devel/share/cv_bridge/cmake/cv_bridgeConfig-version.cmake new file mode 100644 index 0000000..f2198fd --- /dev/null +++ b/MyCode/devel/share/cv_bridge/cmake/cv_bridgeConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "1.16.2") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/MyCode/devel/share/cv_bridge/cmake/cv_bridgeConfig.cmake b/MyCode/devel/share/cv_bridge/cmake/cv_bridgeConfig.cmake new file mode 100644 index 0000000..1f7c355 --- /dev/null +++ b/MyCode/devel/share/cv_bridge/cmake/cv_bridgeConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(cv_bridge_CONFIG_INCLUDED) + return() +endif() +set(cv_bridge_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(cv_bridge_SOURCE_PREFIX /home/test/My/src/my_cv_bridge) + set(cv_bridge_DEVEL_PREFIX /home/test/My/devel) + set(cv_bridge_INSTALL_PREFIX "") + set(cv_bridge_PREFIX ${cv_bridge_DEVEL_PREFIX}) +else() + set(cv_bridge_SOURCE_PREFIX "") + set(cv_bridge_DEVEL_PREFIX "") + set(cv_bridge_INSTALL_PREFIX /home/test/My/install) + set(cv_bridge_PREFIX ${cv_bridge_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'cv_bridge' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(cv_bridge_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "/home/test/My/src/my_cv_bridge/include;/usr/local/include/opencv4 " STREQUAL " ") + set(cv_bridge_INCLUDE_DIRS "") + set(_include_dirs "/home/test/My/src/my_cv_bridge/include;/usr/local/include/opencv4") + if(NOT "https://github.com/ros-perception/vision_opencv/issues " STREQUAL " ") + set(_report "Check the issue tracker 'https://github.com/ros-perception/vision_opencv/issues' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://www.ros.org/wiki/cv_bridge " STREQUAL " ") + set(_report "Check the website 'http://www.ros.org/wiki/cv_bridge' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Vincent Rabaud ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${cv_bridge_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'cv_bridge' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'cv_bridge' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/test/My/src/my_cv_bridge/${idir}'. ${_report}") + endif() + _list_append_unique(cv_bridge_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "cv_bridge;/usr/local/lib/libopencv_calib3d.so.4.8.0;/usr/local/lib/libopencv_dnn.so.4.8.0;/usr/local/lib/libopencv_features2d.so.4.8.0;/usr/local/lib/libopencv_flann.so.4.8.0;/usr/local/lib/libopencv_gapi.so.4.8.0;/usr/local/lib/libopencv_highgui.so.4.8.0;/usr/local/lib/libopencv_ml.so.4.8.0;/usr/local/lib/libopencv_objdetect.so.4.8.0;/usr/local/lib/libopencv_photo.so.4.8.0;/usr/local/lib/libopencv_stitching.so.4.8.0;/usr/local/lib/libopencv_video.so.4.8.0;/usr/local/lib/libopencv_videoio.so.4.8.0;/usr/local/lib/libopencv_alphamat.so.4.8.0;/usr/local/lib/libopencv_aruco.so.4.8.0;/usr/local/lib/libopencv_bgsegm.so.4.8.0;/usr/local/lib/libopencv_bioinspired.so.4.8.0;/usr/local/lib/libopencv_ccalib.so.4.8.0;/usr/local/lib/libopencv_cudaarithm.so.4.8.0;/usr/local/lib/libopencv_cudabgsegm.so.4.8.0;/usr/local/lib/libopencv_cudacodec.so.4.8.0;/usr/local/lib/libopencv_cudafeatures2d.so.4.8.0;/usr/local/lib/libopencv_cudafilters.so.4.8.0;/usr/local/lib/libopencv_cudaimgproc.so.4.8.0;/usr/local/lib/libopencv_cudalegacy.so.4.8.0;/usr/local/lib/libopencv_cudaobjdetect.so.4.8.0;/usr/local/lib/libopencv_cudaoptflow.so.4.8.0;/usr/local/lib/libopencv_cudastereo.so.4.8.0;/usr/local/lib/libopencv_cudawarping.so.4.8.0;/usr/local/lib/libopencv_cudev.so.4.8.0;/usr/local/lib/libopencv_datasets.so.4.8.0;/usr/local/lib/libopencv_dnn_objdetect.so.4.8.0;/usr/local/lib/libopencv_dnn_superres.so.4.8.0;/usr/local/lib/libopencv_dpm.so.4.8.0;/usr/local/lib/libopencv_face.so.4.8.0;/usr/local/lib/libopencv_freetype.so.4.8.0;/usr/local/lib/libopencv_fuzzy.so.4.8.0;/usr/local/lib/libopencv_hdf.so.4.8.0;/usr/local/lib/libopencv_hfs.so.4.8.0;/usr/local/lib/libopencv_img_hash.so.4.8.0;/usr/local/lib/libopencv_intensity_transform.so.4.8.0;/usr/local/lib/libopencv_line_descriptor.so.4.8.0;/usr/local/lib/libopencv_mcc.so.4.8.0;/usr/local/lib/libopencv_optflow.so.4.8.0;/usr/local/lib/libopencv_phase_unwrapping.so.4.8.0;/usr/local/lib/libopencv_plot.so.4.8.0;/usr/local/lib/libopencv_quality.so.4.8.0;/usr/local/lib/libopencv_rapid.so.4.8.0;/usr/local/lib/libopencv_reg.so.4.8.0;/usr/local/lib/libopencv_rgbd.so.4.8.0;/usr/local/lib/libopencv_saliency.so.4.8.0;/usr/local/lib/libopencv_shape.so.4.8.0;/usr/local/lib/libopencv_stereo.so.4.8.0;/usr/local/lib/libopencv_structured_light.so.4.8.0;/usr/local/lib/libopencv_superres.so.4.8.0;/usr/local/lib/libopencv_surface_matching.so.4.8.0;/usr/local/lib/libopencv_text.so.4.8.0;/usr/local/lib/libopencv_tracking.so.4.8.0;/usr/local/lib/libopencv_videostab.so.4.8.0;/usr/local/lib/libopencv_viz.so.4.8.0;/usr/local/lib/libopencv_wechat_qrcode.so.4.8.0;/usr/local/lib/libopencv_xfeatures2d.so.4.8.0;/usr/local/lib/libopencv_ximgproc.so.4.8.0;/usr/local/lib/libopencv_xobjdetect.so.4.8.0;/usr/local/lib/libopencv_xphoto.so.4.8.0;/usr/local/lib/libopencv_core.so.4.8.0;/usr/local/lib/libopencv_imgproc.so.4.8.0;/usr/local/lib/libopencv_imgcodecs.so.4.8.0") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND cv_bridge_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND cv_bridge_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT cv_bridge_NUM_DUMMY_TARGETS) + set(cv_bridge_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::cv_bridge::wrapped-linker-option${cv_bridge_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR cv_bridge_NUM_DUMMY_TARGETS "${cv_bridge_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::cv_bridge::wrapped-linker-option${cv_bridge_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND cv_bridge_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND cv_bridge_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND cv_bridge_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/test/My/devel/lib;/opt/ros/melodic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(cv_bridge_LIBRARY_DIRS ${lib_path}) + list(APPEND cv_bridge_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'cv_bridge'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND cv_bridge_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(cv_bridge_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${cv_bridge_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "rosconsole;sensor_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 cv_bridge_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${cv_bridge_dep}_FOUND) + find_package(${cv_bridge_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${cv_bridge_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(cv_bridge_INCLUDE_DIRS ${${cv_bridge_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(cv_bridge_LIBRARIES ${cv_bridge_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${cv_bridge_dep}_LIBRARIES}) + _list_append_deduplicate(cv_bridge_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(cv_bridge_LIBRARIES ${cv_bridge_LIBRARIES}) + + _list_append_unique(cv_bridge_LIBRARY_DIRS ${${cv_bridge_dep}_LIBRARY_DIRS}) + list(APPEND cv_bridge_EXPORTED_TARGETS ${${cv_bridge_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "cv_bridge-extras.cmake") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${cv_bridge_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/MyCode/devel/share/image_geometry/cmake/image_geometryConfig-version.cmake b/MyCode/devel/share/image_geometry/cmake/image_geometryConfig-version.cmake new file mode 100644 index 0000000..1931551 --- /dev/null +++ b/MyCode/devel/share/image_geometry/cmake/image_geometryConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "1.13.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/MyCode/devel/share/image_geometry/cmake/image_geometryConfig.cmake b/MyCode/devel/share/image_geometry/cmake/image_geometryConfig.cmake new file mode 100644 index 0000000..9609c6f --- /dev/null +++ b/MyCode/devel/share/image_geometry/cmake/image_geometryConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(image_geometry_CONFIG_INCLUDED) + return() +endif() +set(image_geometry_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(image_geometry_SOURCE_PREFIX /home/test/My/src/image_geometry) + set(image_geometry_DEVEL_PREFIX /home/test/My/devel) + set(image_geometry_INSTALL_PREFIX "") + set(image_geometry_PREFIX ${image_geometry_DEVEL_PREFIX}) +else() + set(image_geometry_SOURCE_PREFIX "") + set(image_geometry_DEVEL_PREFIX "") + set(image_geometry_INSTALL_PREFIX /home/test/My/install) + set(image_geometry_PREFIX ${image_geometry_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'image_geometry' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(image_geometry_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "/home/test/My/src/image_geometry/include;/usr/local/include/opencv4 " STREQUAL " ") + set(image_geometry_INCLUDE_DIRS "") + set(_include_dirs "/home/test/My/src/image_geometry/include;/usr/local/include/opencv4") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://www.ros.org/wiki/image_geometry " STREQUAL " ") + set(_report "Check the website 'http://www.ros.org/wiki/image_geometry' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Vincent Rabaud ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${image_geometry_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'image_geometry' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'image_geometry' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/test/My/src/image_geometry/${idir}'. ${_report}") + endif() + _list_append_unique(image_geometry_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "image_geometry;/usr/local/lib/libopencv_calib3d.so.4.8.0;/usr/local/lib/libopencv_core.so.4.8.0;/usr/local/lib/libopencv_dnn.so.4.8.0;/usr/local/lib/libopencv_features2d.so.4.8.0;/usr/local/lib/libopencv_flann.so.4.8.0;/usr/local/lib/libopencv_gapi.so.4.8.0;/usr/local/lib/libopencv_highgui.so.4.8.0;/usr/local/lib/libopencv_imgcodecs.so.4.8.0;/usr/local/lib/libopencv_imgproc.so.4.8.0;/usr/local/lib/libopencv_ml.so.4.8.0;/usr/local/lib/libopencv_objdetect.so.4.8.0;/usr/local/lib/libopencv_photo.so.4.8.0;/usr/local/lib/libopencv_stitching.so.4.8.0;/usr/local/lib/libopencv_video.so.4.8.0;/usr/local/lib/libopencv_videoio.so.4.8.0;/usr/local/lib/libopencv_alphamat.so.4.8.0;/usr/local/lib/libopencv_aruco.so.4.8.0;/usr/local/lib/libopencv_bgsegm.so.4.8.0;/usr/local/lib/libopencv_bioinspired.so.4.8.0;/usr/local/lib/libopencv_ccalib.so.4.8.0;/usr/local/lib/libopencv_cudaarithm.so.4.8.0;/usr/local/lib/libopencv_cudabgsegm.so.4.8.0;/usr/local/lib/libopencv_cudacodec.so.4.8.0;/usr/local/lib/libopencv_cudafeatures2d.so.4.8.0;/usr/local/lib/libopencv_cudafilters.so.4.8.0;/usr/local/lib/libopencv_cudaimgproc.so.4.8.0;/usr/local/lib/libopencv_cudalegacy.so.4.8.0;/usr/local/lib/libopencv_cudaobjdetect.so.4.8.0;/usr/local/lib/libopencv_cudaoptflow.so.4.8.0;/usr/local/lib/libopencv_cudastereo.so.4.8.0;/usr/local/lib/libopencv_cudawarping.so.4.8.0;/usr/local/lib/libopencv_cudev.so.4.8.0;/usr/local/lib/libopencv_datasets.so.4.8.0;/usr/local/lib/libopencv_dnn_objdetect.so.4.8.0;/usr/local/lib/libopencv_dnn_superres.so.4.8.0;/usr/local/lib/libopencv_dpm.so.4.8.0;/usr/local/lib/libopencv_face.so.4.8.0;/usr/local/lib/libopencv_freetype.so.4.8.0;/usr/local/lib/libopencv_fuzzy.so.4.8.0;/usr/local/lib/libopencv_hdf.so.4.8.0;/usr/local/lib/libopencv_hfs.so.4.8.0;/usr/local/lib/libopencv_img_hash.so.4.8.0;/usr/local/lib/libopencv_intensity_transform.so.4.8.0;/usr/local/lib/libopencv_line_descriptor.so.4.8.0;/usr/local/lib/libopencv_mcc.so.4.8.0;/usr/local/lib/libopencv_optflow.so.4.8.0;/usr/local/lib/libopencv_phase_unwrapping.so.4.8.0;/usr/local/lib/libopencv_plot.so.4.8.0;/usr/local/lib/libopencv_quality.so.4.8.0;/usr/local/lib/libopencv_rapid.so.4.8.0;/usr/local/lib/libopencv_reg.so.4.8.0;/usr/local/lib/libopencv_rgbd.so.4.8.0;/usr/local/lib/libopencv_saliency.so.4.8.0;/usr/local/lib/libopencv_shape.so.4.8.0;/usr/local/lib/libopencv_stereo.so.4.8.0;/usr/local/lib/libopencv_structured_light.so.4.8.0;/usr/local/lib/libopencv_superres.so.4.8.0;/usr/local/lib/libopencv_surface_matching.so.4.8.0;/usr/local/lib/libopencv_text.so.4.8.0;/usr/local/lib/libopencv_tracking.so.4.8.0;/usr/local/lib/libopencv_videostab.so.4.8.0;/usr/local/lib/libopencv_viz.so.4.8.0;/usr/local/lib/libopencv_wechat_qrcode.so.4.8.0;/usr/local/lib/libopencv_xfeatures2d.so.4.8.0;/usr/local/lib/libopencv_ximgproc.so.4.8.0;/usr/local/lib/libopencv_xobjdetect.so.4.8.0;/usr/local/lib/libopencv_xphoto.so.4.8.0") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND image_geometry_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND image_geometry_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT image_geometry_NUM_DUMMY_TARGETS) + set(image_geometry_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::image_geometry::wrapped-linker-option${image_geometry_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR image_geometry_NUM_DUMMY_TARGETS "${image_geometry_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::image_geometry::wrapped-linker-option${image_geometry_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND image_geometry_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND image_geometry_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND image_geometry_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/test/My/devel/lib;/opt/ros/melodic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(image_geometry_LIBRARY_DIRS ${lib_path}) + list(APPEND image_geometry_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'image_geometry'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND image_geometry_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(image_geometry_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${image_geometry_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "sensor_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 image_geometry_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${image_geometry_dep}_FOUND) + find_package(${image_geometry_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${image_geometry_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(image_geometry_INCLUDE_DIRS ${${image_geometry_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(image_geometry_LIBRARIES ${image_geometry_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${image_geometry_dep}_LIBRARIES}) + _list_append_deduplicate(image_geometry_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(image_geometry_LIBRARIES ${image_geometry_LIBRARIES}) + + _list_append_unique(image_geometry_LIBRARY_DIRS ${${image_geometry_dep}_LIBRARY_DIRS}) + list(APPEND image_geometry_EXPORTED_TARGETS ${${image_geometry_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${image_geometry_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/MyCode/devel/share/octomap_server/cmake/octomap_serverConfig-version.cmake b/MyCode/devel/share/octomap_server/cmake/octomap_serverConfig-version.cmake new file mode 100644 index 0000000..65d2b10 --- /dev/null +++ b/MyCode/devel/share/octomap_server/cmake/octomap_serverConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.6.6") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/MyCode/devel/share/octomap_server/cmake/octomap_serverConfig.cmake b/MyCode/devel/share/octomap_server/cmake/octomap_serverConfig.cmake new file mode 100644 index 0000000..468c0a0 --- /dev/null +++ b/MyCode/devel/share/octomap_server/cmake/octomap_serverConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(octomap_server_CONFIG_INCLUDED) + return() +endif() +set(octomap_server_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(octomap_server_SOURCE_PREFIX /home/test/My/src/octomap_server) + set(octomap_server_DEVEL_PREFIX /home/test/My/devel) + set(octomap_server_INSTALL_PREFIX "") + set(octomap_server_PREFIX ${octomap_server_DEVEL_PREFIX}) +else() + set(octomap_server_SOURCE_PREFIX "") + set(octomap_server_DEVEL_PREFIX "") + set(octomap_server_INSTALL_PREFIX /home/test/My/install) + set(octomap_server_PREFIX ${octomap_server_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'octomap_server' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(octomap_server_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "/home/test/My/devel/include;/home/test/My/src/octomap_server/include;/opt/ros/melodic/include " STREQUAL " ") + set(octomap_server_INCLUDE_DIRS "") + set(_include_dirs "/home/test/My/devel/include;/home/test/My/src/octomap_server/include;/opt/ros/melodic/include") + if(NOT "https://github.com/OctoMap/octomap_mapping/issues " STREQUAL " ") + set(_report "Check the issue tracker 'https://github.com/OctoMap/octomap_mapping/issues' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://www.ros.org/wiki/octomap_server " STREQUAL " ") + set(_report "Check the website 'http://www.ros.org/wiki/octomap_server' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Wolfgang Merkt ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${octomap_server_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'octomap_server' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'octomap_server' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/test/My/src/octomap_server/${idir}'. ${_report}") + endif() + _list_append_unique(octomap_server_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "octomap_server;/opt/ros/melodic/lib/liboctomap.so;/opt/ros/melodic/lib/liboctomath.so") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND octomap_server_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND octomap_server_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT octomap_server_NUM_DUMMY_TARGETS) + set(octomap_server_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::octomap_server::wrapped-linker-option${octomap_server_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR octomap_server_NUM_DUMMY_TARGETS "${octomap_server_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::octomap_server::wrapped-linker-option${octomap_server_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND octomap_server_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND octomap_server_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND octomap_server_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/test/My/devel/lib;/opt/ros/melodic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(octomap_server_LIBRARY_DIRS ${lib_path}) + list(APPEND octomap_server_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'octomap_server'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND octomap_server_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(octomap_server_EXPORTED_TARGETS "octomap_server_gencfg") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${octomap_server_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "roscpp;visualization_msgs;sensor_msgs;pcl_ros;pcl_conversions;nav_msgs;std_msgs;std_srvs;octomap_ros;octomap_msgs;dynamic_reconfigure;nodelet") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 octomap_server_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${octomap_server_dep}_FOUND) + find_package(${octomap_server_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${octomap_server_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(octomap_server_INCLUDE_DIRS ${${octomap_server_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(octomap_server_LIBRARIES ${octomap_server_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${octomap_server_dep}_LIBRARIES}) + _list_append_deduplicate(octomap_server_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(octomap_server_LIBRARIES ${octomap_server_LIBRARIES}) + + _list_append_unique(octomap_server_LIBRARY_DIRS ${${octomap_server_dep}_LIBRARY_DIRS}) + list(APPEND octomap_server_EXPORTED_TARGETS ${${octomap_server_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${octomap_server_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/MyCode/devel/share/octomap_server/docs/OctomapServerConfig-usage.dox b/MyCode/devel/share/octomap_server/docs/OctomapServerConfig-usage.dox new file mode 100644 index 0000000..c3671ee --- /dev/null +++ b/MyCode/devel/share/octomap_server/docs/OctomapServerConfig-usage.dox @@ -0,0 +1,23 @@ +\subsubsection usage Usage +\verbatim + + + + + + + + + + + + + + + + + + + +\endverbatim + diff --git a/MyCode/devel/share/octomap_server/docs/OctomapServerConfig.dox b/MyCode/devel/share/octomap_server/docs/OctomapServerConfig.dox new file mode 100644 index 0000000..990dc1d --- /dev/null +++ b/MyCode/devel/share/octomap_server/docs/OctomapServerConfig.dox @@ -0,0 +1,22 @@ +\subsubsection parameters ROS parameters + +Reads and maintains the following parameters on the ROS server + +- \b "~compress_map" : \b [bool] Compresses the map losslessly min: False, default: True, max: True +- \b "~incremental_2D_projection" : \b [bool] Incremental 2D projection min: False, default: False, max: True +- \b "~filter_speckles" : \b [bool] Filter speckle nodes (with no neighbors) min: False, default: False, max: True +- \b "~max_depth" : \b [int] Maximum depth when traversing the octree to send out markers. 16: full depth / max. resolution min: 1, default: 16, max: 16 +- \b "~pointcloud_min_z" : \b [double] Minimum height of points to consider for insertion min: -100.0, default: -100.0, max: 100.0 +- \b "~pointcloud_max_z" : \b [double] Maximum height of points to consider for insertion min: -100.0, default: 100.0, max: 100.0 +- \b "~occupancy_min_z" : \b [double] Minimum height of occupied cells to consider in the final map min: -100.0, default: -100.0, max: 100.0 +- \b "~occupancy_max_z" : \b [double] Maximum height of occupied cells to consider in the final map min: -100.0, default: 100.0, max: 100.0 +- \b "~sensor_model_max_range" : \b [double] Sensor maximum range min: -1.0, default: -1.0, max: 100.0 +- \b "~sensor_model_hit" : \b [double] Probabilities for hits in the sensor model when dynamically building a map min: 0.5, default: 0.7, max: 1.0 +- \b "~sensor_model_miss" : \b [double] Probabilities for misses in the sensor model when dynamically building a map min: 0.0, default: 0.4, max: 0.5 +- \b "~sensor_model_min" : \b [double] Minimum probability for clamping when dynamically building a map min: 0.0, default: 0.12, max: 1.0 +- \b "~sensor_model_max" : \b [double] Maximum probability for clamping when dynamically building a map min: 0.0, default: 0.97, max: 1.0 +- \b "~filter_ground" : \b [bool] Filter ground plane min: False, default: False, max: True +- \b "~ground_filter_distance" : \b [double] Distance threshold to consider a point as ground min: 0.001, default: 0.04, max: 1.0 +- \b "~ground_filter_angle" : \b [double] Angular threshold of the detected plane from the horizontal plane to be detected as ground min: 0.001, default: 0.15, max: 15.0 +- \b "~ground_filter_plane_distance" : \b [double] Distance threshold from z=0 for a plane to be detected as ground min: 0.001, default: 0.07, max: 1.0 + diff --git a/MyCode/devel/share/octomap_server/docs/OctomapServerConfig.wikidoc b/MyCode/devel/share/octomap_server/docs/OctomapServerConfig.wikidoc new file mode 100644 index 0000000..fd09aca --- /dev/null +++ b/MyCode/devel/share/octomap_server/docs/OctomapServerConfig.wikidoc @@ -0,0 +1,76 @@ +# Autogenerated param section. Do not hand edit. +param { +group.0 { +name=Dynamically Reconfigurable Parameters +desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters. +0.name= ~compress_map +0.default= True +0.type= bool +0.desc=Compresses the map losslessly +1.name= ~incremental_2D_projection +1.default= False +1.type= bool +1.desc=Incremental 2D projection +2.name= ~filter_speckles +2.default= False +2.type= bool +2.desc=Filter speckle nodes (with no neighbors) +3.name= ~max_depth +3.default= 16 +3.type= int +3.desc=Maximum depth when traversing the octree to send out markers. 16: full depth / max. resolution Range: 1 to 16 +4.name= ~pointcloud_min_z +4.default= -100.0 +4.type= double +4.desc=Minimum height of points to consider for insertion Range: -100.0 to 100.0 +5.name= ~pointcloud_max_z +5.default= 100.0 +5.type= double +5.desc=Maximum height of points to consider for insertion Range: -100.0 to 100.0 +6.name= ~occupancy_min_z +6.default= -100.0 +6.type= double +6.desc=Minimum height of occupied cells to consider in the final map Range: -100.0 to 100.0 +7.name= ~occupancy_max_z +7.default= 100.0 +7.type= double +7.desc=Maximum height of occupied cells to consider in the final map Range: -100.0 to 100.0 +8.name= ~sensor_model_max_range +8.default= -1.0 +8.type= double +8.desc=Sensor maximum range Range: -1.0 to 100.0 +9.name= ~sensor_model_hit +9.default= 0.7 +9.type= double +9.desc=Probabilities for hits in the sensor model when dynamically building a map Range: 0.5 to 1.0 +10.name= ~sensor_model_miss +10.default= 0.4 +10.type= double +10.desc=Probabilities for misses in the sensor model when dynamically building a map Range: 0.0 to 0.5 +11.name= ~sensor_model_min +11.default= 0.12 +11.type= double +11.desc=Minimum probability for clamping when dynamically building a map Range: 0.0 to 1.0 +12.name= ~sensor_model_max +12.default= 0.97 +12.type= double +12.desc=Maximum probability for clamping when dynamically building a map Range: 0.0 to 1.0 +13.name= ~filter_ground +13.default= False +13.type= bool +13.desc=Filter ground plane +14.name= ~ground_filter_distance +14.default= 0.04 +14.type= double +14.desc=Distance threshold to consider a point as ground Range: 0.001 to 1.0 +15.name= ~ground_filter_angle +15.default= 0.15 +15.type= double +15.desc=Angular threshold of the detected plane from the horizontal plane to be detected as ground Range: 0.001 to 15.0 +16.name= ~ground_filter_plane_distance +16.default= 0.07 +16.type= double +16.desc=Distance threshold from z=0 for a plane to be detected as ground Range: 0.001 to 1.0 +} +} +# End of autogenerated section. You may edit below. diff --git a/MyCode/doc/SG-SLAM_A_Real-Time_RGB-D_Visual_SLAM_Toward_Dynamic_Scenes_With_Semantic_and_Geometric_Information.pdf b/MyCode/doc/SG-SLAM_A_Real-Time_RGB-D_Visual_SLAM_Toward_Dynamic_Scenes_With_Semantic_and_Geometric_Information.pdf new file mode 100644 index 0000000..0cab5e1 --- /dev/null +++ b/MyCode/doc/SG-SLAM_A_Real-Time_RGB-D_Visual_SLAM_Toward_Dynamic_Scenes_With_Semantic_and_Geometric_Information.pdf @@ -0,0 +1,665 @@ +IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 72, 2023 7501012 + +SG-SLAM: A Real-Time RGB-D Visual SLAM + Toward Dynamic Scenes With Semantic and + Geometric Information + + Shuhong Cheng , Changhe Sun , Shijun Zhang , Student Member, IEEE, and Dianfan Zhang + + Abstract— Simultaneous localization and mapping (SLAM) is systems, we have access to cheaper, faster, higher quality, +one of the fundamental capabilities for intelligent mobile robots and smaller vision-based sensors. It also helps vision-based +to perform state estimation in unknown environments. However, measurement (VBM) become more ubiquitous and applica- +most visual SLAM systems rely on the static scene assumption ble [2]. Hence, in the past years, a large number of excellent +and consequently have severely reduced accuracy and robustness visual SLAM systems have emerged, such as PTAM [3], +in dynamic scenes. Moreover, the metric maps constructed by ORB-SLAM2 [4], DVO [5], and Kimera [6]. Some of these +many systems lack semantic information, so the robots cannot visual SLAM systems are quite mature and have achieved +understand their surroundings at a human cognitive level. good performance under certain specific environmental +In this article, we propose SG-SLAM, which is a real-time conditions. +RGB-D semantic visual SLAM system based on the ORB-SLAM2 +framework. First, SG-SLAM adds two new parallel threads: an As SLAM enters the age of robust perception [7], the system +object detecting thread to obtain 2-D semantic information and has higher requirements in terms of robustness and high-level +a semantic mapping thread. Then, a fast dynamic feature rejec- understanding characteristics. However, many visual-based +tion algorithm combining semantic and geometric information classical SLAM systems still fall short of these requirements +is added to the tracking thread. Finally, they are published in some practical scenarios. On the one hand, most visual +to the robot operating system (ROS) system for visualization SLAM systems work based on the static scene assumption, +after generating 3-D point clouds and 3-D semantic objects in which makes the system less accurate and less robust in real +the semantic mapping thread. We performed an experimental dynamic scenes (e.g., scenes containing walking people and +evaluation on the TUM dataset, the Bonn dataset, and the moving vehicles). On the other hand, most existing SLAM +OpenLORIS-Scene dataset. The results show that SG-SLAM is systems only construct a globally consistent metric map of +not only one of the most real-time, accurate, and robust systems in the robot’s working environment [8]. However, the metric map +dynamic scenes but also allows the creation of intuitive semantic does not help the robot to understand its surroundings at a +metric maps. higher semantic level. + + Index Terms— Dynamic scenes, geometric constraint, seman- Most visual SLAM algorithms rely on the static scene +tic metric map, visual-based measurement, visual simultaneous assumption, which is why the presence of dynamic objects can +localization and mapping (SLAM). cause these algorithms to produce the wrong data correlation. + These outliers obtained from dynamic objects can seriously + I. INTRODUCTION impair the accuracy and stability of the algorithms. Even + though these algorithms show superior performance in some +S IMULTANEOUS localization and mapping (SLAM) has specific scenarios, it is difficult to extend them to actual + an important role in the state perception of mobile robots. production and living scenarios containing dynamic objects. +It can help a robot in an unknown environment with an Some recent works, such as [9], [10], [11], and [12], have +unknown pose to incrementally build a globally consistent map used methods that combine geometric and semantic infor- +and simultaneously measure its pose in this map [1]. Due to mation to eliminate the adverse effects of dynamic objects. +continuing and rapid development of cameras and computing These algorithms mainly using deep learning have significant + improvements in experimental accuracy, but they suffer from + Manuscript received 25 August 2022; revised 31 October 2022; accepted shortcomings in scene generalizability or real time due to vari- +23 November 2022. Date of publication 9 December 2022; date of current ous factors. Therefore, how skillfully detecting and processing +version 17 January 2023. This work was supported in part by the National Key dynamic objects in the scene is crucial for the system to +Research and Development Program under Grant 2021YFB3202303, in part operate accurately, robustly, and in real time. +by the S&T Program of Hebei under Grant 20371801D, in part by the Hebei +Provincial Department of Education for Cultivating Innovative Ability of Traditional SLAM systems construct only a sparse metric +Postgraduate Students under Grant CXZZBS2022145, and in part by the Hebei map [3], [4]. This metric map consists of simple geome- +Province Natural Science Foundation Project under Grant E2021203018. tries (points, lines, and surfaces) and every pose is strictly +The Associate Editor coordinating the review process was Dr. Jae-Ho Han. related to the global coordinate system. Enabling a robot to +(Corresponding authors: Shijun Zhang; Dianfan Zhang.) perform advanced tasks with intuitive human–robot interac- + tion requires it to understand its surroundings at a human + Shuhong Cheng and Changhe Sun are with the School of Electri- +cal Engineering, Yanshan University, Qinhuangdao 066000, China (e-mail: +shhcheng@ysu.edu.cn; silencht@qq.com). + + Shijun Zhang is with the School of Mechanical Engineering, Yanshan +University, Qinhuangdao 066000, China (e-mail: 980871977@qq.com). + + Dianfan Zhang is with the Key Laboratory of Special Delivery Equipment, +Yanshan University, Qinhuangdao 066004, China (e-mail: zdf@ysu.edu.cn). + + Digital Object Identifier 10.1109/TIM.2022.3228006 + +1557-9662 © 2022 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. + See https://www.ieee.org/publications/rights/index.html for more information. + +Authorized licensed use limited to: Yanshan University. Downloaded on March 22,2023 at 12:47:05 UTC from IEEE Xplore. Restrictions apply. + 7501012 IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 72, 2023 + +Fig. 1. Overview of the framework of the SG-SLAM system. The original work of ORB-SLAM2 is presented on an aqua-green background, while our main +new or modified work is presented on a red background. + +cognitive level. However, the metric map lacks the neces- The main contributions of this article include the following. +sary semantic information and therefore cannot provide this 1) A complete real-time RGB-D visual SLAM system +capability. With the rapid development of deep learning in +recent years, some neural networks can effectively capture the called SG-SLAM is proposed using ORB-SLAM2 as +semantic information in the scenes. Therefore, the metric map a framework. Compared to ORB-SLAM2, it has higher +can be extended to the semantic metric map by integrating accuracy and robustness in dynamic scenes and can pub- +semantic information. The semantic information contained lish a semantic metric map through the robot operating +in the semantic metric map can provide the robot with the system (ROS) system [13]. +capability to understand its surroundings at a higher level. 2) A fast dynamic feature rejection algorithm is proposed + by combining geometric information and semantic infor- + This article focuses on a dynamic feature rejection algorithm mation. The geometric information is calculated from +that integrates semantic and geometric information, which not the epipolar constraint between image frames. Also, the +only significantly improves the accuracy of system localization semantic information about dynamic objects is obtained +but also has excellent computational efficiency. Thus, our algo- through an NCNN-based [14] object detection network +rithm is very useful from an instrumentation and measurement in a new thread. The algorithm speed is greatly improved +point of view [2]. This article also focuses on how to construct by appropriate modifications and a combination of clas- +the semantic metric map to improve the perceptual level of sical methods while maintaining accuracy. +the robot to understand the surrounding scenes. The overall 3) An independent semantic metric mapping thread that can +framework of the SG-SLAM system is shown in Fig. 1. generate semantic objects and Octo maps [15] using the + + Authorized licensed use limited to: Yanshan University. Downloaded on March 22,2023 at 12:47:05 UTC from IEEE Xplore. Restrictions apply. + CHENG et al.: SG-SLAM: A REAL-TIME RGB-D VISUAL SLAM TOWARD DYNAMIC SCENES 7501012 + + ROS interface is embedded in SG-SLAM. These maps regarded as outliers and eliminated. Similarly, Dynamic- + can be useful in subsequent localization, navigation, and SLAM proposed by Xiao et al. [25] has the same problem + object capture tasks. of directly rejecting all features within the bounding box. + Liu and Miura [26] adopted a semantic segmentation method + The remaining sections of this article are organized as to detect dynamic objects and remove outliers in keyframes. +follows. The work related to this system is described in The semantic segmentation method solves the problem of +Section II. Section III shows the details related to the imple- wrong recognition due to bounding boxes to a certain extent. +mentation of this system. Section IV provides an experimental However, the semantic information method relies heavily on +evaluation and analysis of the results. The conclusions and the quality of the neural network, so it is difficult to meet the +future works of this article are presented in Section V. requirements of speed and accuracy at the same time. + + II. RELATED WORKS Recently, much work has taken on the method of combining + geometric and semantic information. For the RGB-D camera, +A. SLAM in Dynamic Scenes Bescos et al. [9] used the semantic segmentation results of + Mask R-CNN [27] combined with multiview geometry to + Most current visual SLAMs assume that the working scene detect dynamic objects and reject outliers. Yu et al. [10] +is static and rigid. When these systems work in dynamic used an optical flow-based moving consistency check method +scenes, erroneous data associations due to the static scene to detect all feature points and simultaneously performed +assumption can seriously weaken the accuracy and stability semantic segmentation of the image using SegNet [28] in +of the system. The presence of dynamic objects in the scene an independent thread. If the moving consistency checking +makes all features divided into two categories: static features method detects more than a certain percentage of dynamic +and dynamic features. How to detect and reject dynamic points within the range of the human object, all feature points +features is the key to the problem solution. The previous that lie inside the object are directly rejected. Wu et al. [11] +research work can be divided into three categories: geomet- used YOLO to detect a priori dynamic objects in the scene +ric information method, semantic information method, and and then combined it with the depth-RANSAC method to +method combining geometric and semantic information. reject the feature points inside the range of dynamic objects. + Chang et al. [12] segmented the dynamic objects by YOLACT + Geometric information method, whose main idea is to and then removed the outliers inside the objects. Then, geo- +assume that only static features can satisfy the geometric metric constraints are introduced to further filter the missing +constraints of the algorithm. A remarkable early monocular dynamic points. +dynamic object detection system comes from the work of +Kundu et al. [16]. The system creates two geometric con- The above methods have achieved quite good results in +straints to detect dynamic objects based on the multiview terms of accuracy improvement. Nevertheless, the idea of all +geometry [17]. One of the most important is the epipolar these methods relies heavily on semantic information and, to a +constraint defined by the fundamental matrix. The idea is lesser extent, on geometric information. Thus, more or less all +that a static feature point in the current image must lie on of them have the following shortcomings. +the pole line corresponding to the same feature point in the +previous image. A feature point is considered dynamic if 1) Inability to correctly handle dynamic features outside of +its distance from the corresponding polar line exceeds an the prior object [10], [11], [23], [25], [26]. For example, +empirical threshold. The fundamental matrix of the system is chairs are static objects by default, but dynamic during +calculated with the help of an odometer. In a purely visual being moved by a person; moving cats appear in the +system, the fundamental matrix can be calculated by the scene, while the neural network is not trained on the +seven-point method based on RANSAC [18]. The algorithm category of cats; low recall problem for the detection +of Kundu et al. [16] has the advantages of fast speed and algorithm. +strong scene generalization. However, it lacks a high-level +understanding of the scene, so the empirical threshold is 2) The a priori dynamic object remains stationary yet still +difficult to select and the accuracy is not high. In addition, brutally rejects the feature points in its range, resulting in +some works use the direct method for motion detection of less available association data [11], [12], [23], [25], [26]. +scenes, such as [19], [20], [21], and [22]. The direct method For example, a person who is sitting still is nevertheless +algorithms are faster and can utilize more image information. considered a dynamic object. +However, it is less robust in complex environments because it +is based on the gray-scale invariance assumption. 3) The real-time performance is weak [9], [10], [11], [12]. + The average frame rate of the system is low due to + Semantic information method, whose main idea is brutally factors such as complex semantic segmentation networks +rejecting features in dynamic regions that are obtained a priori or unreasonable system architecture. +using deep learning techniques. Zhang et al. [23] used the +YOLO [24] object detection method to obtain the semantic We propose an efficient dynamic feature rejection algorithm +information of dynamic objects in the working scene and combining geometric and semantic information to solve the +then reject the dynamic feature points based on the semantic above problem. Unlike most current work that relies heavily +information to improve the accuracy of the system. However, on deep learning, our algorithm uses mainly geometric infor- +the way YOLO extracts semantic information by bounding mation and then supplements it with semantic information. +box will cause a part of static feature points to be wrongly This shift in thinking allows our algorithm to avoid the short- + comings associated with relying too much on deep learning. + +Authorized licensed use limited to: Yanshan University. Downloaded on March 22,2023 at 12:47:05 UTC from IEEE Xplore. Restrictions apply. + 7501012 IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 72, 2023 + +B. Semantic Mapping the base framework to provide global localization and mapping + functions. + Many current visual SLAMs only provide a metric map +that only satisfies the basic functions of localization and As shown in Fig. 1, the SG-SLAM system adds two more +navigation of mobile robots, such as the sparse feature point parallel threads: the object detecting thread and the seman- +map constructed by ORB-SLAM2. If a mobile robot is to tic mapping thread. Multithreading mechanism improves the +perceive its surroundings at the human conceptual level, it is system operation efficiency. The purpose of adding an object +necessary to incorporate semantic information in the metric detecting thread is to use the neural network to obtain the +map to form a semantic map. The semantic metric map can 2-D semantic information. This 2-D semantic information +help robots to act according to human rules, execute high-level then provides a priori dynamic object information for the +tasks, and communicate with humans at the conceptual level. dynamic feature rejection strategy. The semantic mapping + thread integrates the 2-D semantic information and 3-D point + In an earlier study, Mozos et al. [29] used the hidden cloud information from keyframes to generate a 3-D semantic +Markov model to partition the metric map into different object database. An intuitive semantic metric map is obtained +functional locations (rooms, corridors, and doorways). The by publishing the 3-D point cloud, 3-D semantic objects, and +work of Nieto-Granda et al. [30] deployed a mapping module camera pose to the ROS system. The semantic metric maps can +based on the Rao–Blackwellized particle filtering technique on help mobile robots understand their surroundings and perform +a ROS [13] and used the Gaussian model to partition the map advanced tasks from a higher cognitive level compared to the +into marked semantic regions. Subsequently, the development sparse feature point maps of ORB-SLAM2. +of deep learning has greatly contributed to the advancement +of object detection and semantic segmentation algorithms. When the SG-SLAM system is running, the image frames +Sünderhauf et al. [31] used SSD [32] to detect objects in captured from the RGB-D camera are first fed together to the +each RGB keyframe and then assign a 3-D point cloud to tracking thread and the object detecting thread. The object +each object using an adaptive 3-D unsupervised segmentation detecting thread starts to perform object recognition on the +method. This work is based on the data association mechanism input RGB images. At the same time, the tracking thread also +of ICP-like matching scores to decide whether to create starts to extract ORB feature points from the input frames. +new objects in the semantic map or to associate them with After the extraction is completed, the iterative Lucas–Kanade +existing objects. Zhang et al. [23] acquired semantic maps optical flow method with pyramids is used to match the sparse +of the working scene through the YOLO object detection feature points between the current frame and previous frames. +module and localization module in the RGB-D SLAM system. Then, the seven-point method based on RANSAC is used to +In summary, many works only stop at using SLAM to help compute the fundamental matrix between the two frames. This +with semantic mapping and do not fully utilize the acquired reduces the adverse effects due to incorrect data correlation +semantic information to help to track. DS-SLAM, a semantic in dynamic regions. Compared with feature extraction and +mapping system proposed by Yu et al. [10], adopted semantic fundamental matrix computation, the object detection task is +segmentation information to build semantic maps. However, more time-consuming. In other words, when the fundamental +DS-SLAM only simply attaches semantic labels to the metric matrix is computed, the tracking thread needs to wait for the +map for visual display. The lack of position coordinates for result of the object detecting thread. Since the tracking thread +the objects described in mathematical form limits the system’s adopts object detection rather than semantic segmentation, the +ability to perform advanced task planning. blocking time is not too long [26]. This enhances the real-time + performance of the system. Next, the tracking thread combines + III. SYSTEM OVERVIEW the epipolar constraint and 2-D semantic information to reject + the dynamic feature points. The camera pose is computed + In this section, we will introduce the technical details of and released to ROS according to the remaining static feature +the SG-SLAM system from five aspects. First, we introduce points. +the framework and the basic flow of the system. Second, +we give information about the object detecting thread. Then, The new keyframes are fed into the local mapping thread +the geometric principle of the epipolar constraint method and the loop closing thread for pose optimization, which is +for judging dynamic features is illustrated. Subsequently, the the same as the original ORB-SLAM2 system. The difference +dynamic feature rejection strategy is proposed. Finally, we pro- is that the depth image of the new keyframe is used to +pose methods to acquire semantic objects and build semantic generate a 3-D point cloud in the semantic mapping thread. +maps. Next, the 3-D point cloud is combined with the 2-D semantic + information to generate a 3-D semantic object database. There +A. System Framework are problems such as high computational effort and redundant + information between normal frames in semantic map con- + The SG-SLAM proposed in this article is developed based struction. Thus, the practice of processing only keyframe data +on the ORB-SLAM2 system, which is a feature point-based here improves the efficiency of mapping. The reuse of 2-D +classical visual SLAM system. ORB-SLAM2 consists of three semantic information also improves the real-time performance +main parallel threads: tracking, local mapping, and loop clos- of the system. Finally, the 3-D point cloud and the 3-D +ing. With the evaluation of many popular public datasets, semantic object data are published to the 3-D visualization +ORB-SLAM2 is one of the systems that achieve the state-of- tool Rviz for map display using the interface of the ROS +the-art accuracy. Therefore, SG-SLAM selects ORB-SLAM as system. + + Authorized licensed use limited to: Yanshan University. Downloaded on March 22,2023 at 12:47:05 UTC from IEEE Xplore. Restrictions apply. + CHENG et al.: SG-SLAM: A REAL-TIME RGB-D VISUAL SLAM TOWARD DYNAMIC SCENES 7501012 + + The adoption of object detection networks (rather than +semantic segmentation), multithreading, keyframe-based map- +ping, and data reuse mechanisms overcomes the real-time +performance shortcomings listed in Section II-A. + +B. Object Detection Fig. 2. Epipolar constraints. + + Due to the limitations in battery life, mobile robots generally According to the pinhole camera model, as shown in Fig. 2, +choose ARM architecture processors with high performance the camera observes the same spatial point P from different +per watt. NCNN is a high-performance neural network infer- angles. O1 and O2 denote the optical centers of the camera. P1 +ence computing framework optimized for mobile platforms and P2 are the matching feature points of the spatial point P +since NCNN is implemented in pure C++ with no third-party maps in the previous frame and the current frame, respectively. +dependencies and can be easily integrated into SLAM systems. The short dashed lines L1 and L2 are the epipolar lines in the +Thus, we choose it as the base framework for object detecting frame. The homogeneous coordinate forms of P1 and P2 are +thread. denoted as follows: + + Many SLAM systems, such as [9], [10], [11], and [12], P1 = [x1, y1, 1], P2 = [x2, y2, 1] (1) +run slowly due to complex semantic segmentation networks or +unreasonable system architectures. SLAM, as a fundamental where x and y denote the coordinate values of the feature +component for state estimation of mobile robots, only has the +good real-time performance to ensure the smooth operation points in the image pixel coordinate system. Then, the polar +of upper level tasks. To improve the object detection speed +as much as possible, the single-shot multibox detector SSD is line L2 in the current frame can be calculated from the +chosen as the detection head. In addition, we use MobileNetV3 +[33] as a drop-in replacement for the backbone feature extrac- fundamental matrix (denoted as F) with the equation as +tor in SSDLite. Finally, the network was trained using the +PASCAL VOC 2007 Dataset [34]. follows: ⎡⎤ ⎡⎤ + + In reality, other detectors can be used flexibly depending X x1 +on the hardware performance to achieve a balance between +accuracy and speed. L2 = ⎢⎣ Y ⎦⎥ = F P1 = F⎣⎢ y1 ⎥⎦ (2) + +C. Epipolar Constraints Z 1 + + SG-SLAM uses geometric information obtained from epipo- where X, Y , and Z represent the line vectors. According to +lar constraint to determine whether feature points are dynamic [16], the epipolar constraint can be formulated as follows: +or not. The judgment pipeline of the epipolar constraint is +very straightforward. First, match the ORB feature points of P2T F P1 = P2T L2 = 0. (3) +two consecutive frames. Next, solve the fundamental matrix. +Finally, the distance is calculated between the feature point of Next, the distance between the feature point Pi (i = 2, 4) and +the current frame and its corresponding polar line. The bigger the corresponding polar line is defined as the offset distance, +the distance is, the more likely the feature point is dynamic. denoted by the symbol d. The offset distance can be described + as follows: + To solve the fundamental matrix, it is necessary to have the +correct data association between the feature points. However, di = √PiT F P1 . (4) +the purpose of solving the fundamental matrix is to judge X2 + Y2 +whether the data association is correct or not. This becomes +a classic chicken or the egg problem. ORB-SLAM2 takes the If the point P is a static space point, jointly with (3) and (4), +Bag-of-Words method to accelerate feature matching, and the the offset distance of the point P2 is +continued use of this method cannot eliminate the adverse +effect of outliers. Hence, to obtain a relatively accurate funda- d2 = √P2T F P1 = 0. (5) +mental matrix, SG-SLAM uses the pyramidal iterative Lucas- X2 + Y2 +Kanade optical flow method to calculate the matching point set +of features. Inspired by Yu et al. [10], the matching point pairs Equation (5) demonstrates that in the ideal case, the feature +located at the edges of images and with excessive differences point P2 in the current frame falls exactly on the polar line L2. +in appearance are then removed to further reduce erroneous In reality, however, the offset distance is generally greater than +data associations. Then, the seven-point method based on zero but below an empirical threshold ε due to the influence +RANSAC is used to calculate the fundamental matrix between of various types of noise. +two frames. In general, the proportion of dynamic regions +is relatively small compared to the whole image. Thus, the +RANSAC algorithm can effectively reduce the adverse effects +of wrong data association in dynamic regions. + +Authorized licensed use limited to: Yanshan University. Downloaded on March 22,2023 at 12:47:05 UTC from IEEE Xplore. Restrictions apply. + 7501012 IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 72, 2023 + +Algorithm 1 Dynamic Feature Rejection Strategy + +Input: Previous frame, F1; Current frame, F2; Previous frame’s feature points, P1; Current frame’s feature points, P2; + Standard empirical thresholds, εstd; + +Output: The set of static feature points in the current frame’s feature points, S; +1: P1 = CalcOpticalFlowPyrLK( F2, F1, P2 ) +2: Remove matched pairs that are located at the edges and have too much variation in appearance + +3: FundmentalMatrix = FindFundamentalMat(P2, P1, 7-point method based on RANSAC) + +4: for each matched pair p1, p2 in P1, P2 do: + +5: if (DynamicObjectsExist && IsInDynamicRegion(P2)) then + +6: if (CalcEpiLineDistance( p2, p1, FundmentalMatrix) × GetDynamicWeightValue ( p2) < εstd ) then + +7: Append p2 to S + +8: end if + +9: else + +10: if (CalcEpiLineDistance( p2, p1, FundmentalMatrix) < εstd) then + +11: Append p2 to S + +12: end if + +13: end if + +14: end for + + If the point P is not a static spatial point, as shown in Fig. 2, With these preparations, all feature points in the current +when the camera moves from the previous frame to the current frame can be judged one by one. The dynamic feature rejection +frame, the point P also moves to P . In this case, the point P1 strategy is described in Algorithm 1. +is matched with the P4 point mapped from P to the current +frame. If point P moves without degeneration [16], then in E. Semantic Mapping +general, the offset distance of P4 is greater than the threshold ε. +In other words, the feature points can be judged as dynamic The ROS [13] is a set of software tool libraries that +or not by comparing the offset distance with the empirical help developers quickly build robot applications. Rviz is a +threshold ε. visualization tool in the ROS. In addition to the tracking thread + that publishes camera poses to the ROS, the semantic mapping +D. Dynamic Feature Rejection Strategy thread also publishes two kinds of data: 3-D point clouds and + 3-D semantic objects. These data are then processed by rviz + To avoid the shortcomings of relying heavily on deep to display an intuitive map interface. +learning for dynamic feature judgment, our algorithm relies +mainly on geometric information. The geometric information For efficiency, only keyframes are used to construct seman- +method judges whether a feature is dynamic by comparing the tic metric maps. When a new keyframe arrives, the semantic +offset distance d with an empirical threshold ε. However, the mapping thread immediately uses its depth image and pose to +threshold ε value is very difficult to set [12]: setting it too generate a 3-D ordered point cloud. The 3-D point cloud is +small will make many static feature points wrongly judged as subsequently published to the ROS, and a global Octo-map +dynamic points and setting it too large will miss many true is built incrementally by the Octomap_server package. The +dynamic feature points. This is because the purely geometric global Octo-map has the advantages of being updatable, +method cannot understand the scene at the semantic level and flexible, and compact, which can easily serve navigation +can only mechanically process all feature points using a fixed and obstacle avoidance tasks. However, the Octo-map lacks +threshold. semantic information, so it limits the capability of advanced + task planning between mobile robots and semantic objects. + To solve the above problem, all objects that can be detected Hence, a map with semantic objects with their coordinates +by the object detecting thread are first classified as static is also necessary. The semantic mapping thread generates the +objects and dynamic objects based on a priori knowledge. Any 3-D semantic objects by combining 2-D semantic information +object with moving properties is defined as a dynamic object with 3-D point clouds, and the main process is described as +(e.g., a person or car); otherwise, it is a static object. Then, follows. +both weight values w are defined. The standard empirical +threshold εstd is set in a very straightforward way: just make The 2-D object bounding box is captured in the dynamic +sure that only obvious true dynamic feature points are rejected feature rejection algorithm stage. Fetch the 3-D point clouds in +when using it. The dynamic weight value w is an a priori in the bounding box region to calculate the 3-D semantic object +the range of 1–5, which is set according to the probability information. Yet, since the bounding box contains some noisy +of the object moving. For example, a human normally moves regions of nontarget objects, it cannot accurately segment the +with a high probability, and then, w = 5; a chair normally semantic object outline. To acquire relatively accurate position +does not move, and then, w = 2. and size information of the objects, the bounding box is + first reduced appropriately. Next, we calculate the average + + Authorized licensed use limited to: Yanshan University. Downloaded on March 22,2023 at 12:47:05 UTC from IEEE Xplore. Restrictions apply. + CHENG et al.: SG-SLAM: A REAL-TIME RGB-D VISUAL SLAM TOWARD DYNAMIC SCENES 7501012 + TABLE I + + RESULTS OF METRIC ROTATIONAL DRIFT (RPE) + + TABLE II + RESULTS OF METRIC TRANSLATIONAL DRIFT (RPE) + + TABLE III + RESULTS OF METRIC ABSOLUTE TRAJECTORY ERROR (ATE) + +depth of the point cloud corresponding to the bounding box A. Performance Evaluation on TUM RGB-D Dataset +region. Then, the depth of each point cloud in the original +bounding box is compared with the average depth, which is The TUM RGB-D dataset [35] is a large dataset provided +rejected if the difference is too large. Eventually, we filter by the Technical University of Munich Computer Vision +the remaining point cloud and calculate their sizes and spatial Group to create a novel benchmark for visual odometry and +centroid coordinates. SLAM systems. To evaluate the accuracy and robustness of + the SG-SLAM system in dynamic scenes, the experiments + The above operation is performed for each 2-D semantic mainly use five sequences under the dynamic objects category +information (except dynamic objects, e.g., people, and dogs) in the dataset. The first four of them are high dynamic scene +in the current keyframe to obtain the 3-D semantic object data. sequences, as a supplement, and the fifth one is a low dynamic +During the operation of the system, the 3-D semantic object scene sequence. +database can be continuously merged or updated according to +the object class, centroid, and size information. By publishing There are two main error evaluation metrics for the exper- +this database through the ROS interface, the semantic metric iment. One is the absolute trajectory error (ATE), which is +maps can be visualized. directly used to measure the difference between the ground + trajectory and the estimated trajectory. The other is the relative + IV. EXPERIMENTAL RESULTS pose error (RPE), which is mainly used to measure rotational + drift and translational drift. To evaluate the improvement in + In this section, we will experimentally evaluate and performance relative to the original system, the experimental +demonstrate the SG-SLAM system in four aspects. First, results of SG-SLAM were compared with the ORB-SLAM2. +the tracking performance is evaluated with two public The evaluation comparison results in the five dynamic scene +datasets. Second, we demonstrate the effectiveness of the sequences are shown in Tables I–III. +dynamic feature rejection strategy and analyze the advan- +tages of the fusion algorithm compared to the individ- The experimental results in Tables I–III show that our +ual algorithms. Next, the system’s real-time performance system improves more than 93% in most metrics in high +is evaluated. Finally, the visualization of the semantic dynamic sequences compared to the ORB-SLAM2 system. +objects and the global Octo-map are shown. The experi- Figs. 3 and 4 show the experimental results of ATE and +ments were performed mainly on the NVIDIA Jetson AGX RPE for the two systems at five sequences with an RGB-D +Xavier development kit with Ubuntu 18.04 as the system camera input. As shown in the figure, the accuracy of the +environment. estimation results of our system in the high dynamic scene + sequences [Figs. 3(a)–(d) and 4(a)–(d)] is significantly higher + than ORB-SLAM2. In the experiments with low dynamic + +Authorized licensed use limited to: Yanshan University. Downloaded on March 22,2023 at 12:47:05 UTC from IEEE Xplore. Restrictions apply. + 7501012 IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 72, 2023 + +Fig. 3. ATE results of SG-SLAM and ORB-SLAM2 running five sequences. (a) fr3/walking_xyz. (b) fr3/walking_static. (c) fr3/walking_rpy. +(d) fr3/walking_halfsphere. (e) fr3/sitting_static. + +Fig. 4. RPE results of SG-SLAM and ORB-SLAM2 running five sequences. (a) fr3/walking_xyz. (b) fr3/walking_static. (c) fr3/walking_rpy. +(d) fr3/walking_halfsphere. (e) fr3/sitting_static. + +scene sequences [Figs. 3(e) and 4(e)], the accuracy improve- SLAM provided by Bonn University in 2019. To validate the +ment is only 31.03% because the area and magnitude of generalization performance of the dynamic feature rejection +dynamic object activity are small. algorithm, we performed another experimental evaluation + using this dataset. + To further evaluate the effectiveness of the proposed algo- +rithm, it continues to be compared with M-removal DVO [22], The experiment mainly selected nine representative +RDS-SLAM [26], ORB-SLAM3 [36], and other similar algo- sequences in the dataset. Among them, the “crowd” sequences +rithms. The results are shown in Table IV. Although the are the scenes of three people walking randomly in the room. +DynaSLAM system using pixel-level semantic segmentation The “moving no box” sequences show a person moving a box +achieves a slight lead in individual sequence results, its from the floor to a desk. The “person tracking” sequences are +real-time performance is weak (as shown in Table VII). All scenes where the camera is tracking a walking person. The +other methods have difficulty in achieving the highest accu- “synchronous” sequences present scenes of several people +racy of experimental results because of certain shortcomings jumping together in the same direction over and over again. +described in Section II. Overall, from the experimental results, In order to evaluate the accuracy performance of our system, +it can be concluded that SG-SLAM achieves a state-of-the-art it is mainly compared with the original ORB-SLAM2 +level in terms of average accuracy improvement for all system and the current state-of-the-art YOLO-SLAM +sequences. system. + +B. Performance Evaluation on Bonn RGB-D Dataset The evaluation comparison results in the nine dynamic + scene sequences are shown in Table V. Only in the two + The Bonn RGB-D Dynamic Dataset [37] is a dataset “synchronization” sequences, SG-SLAM does not perform as +with 24 dynamic sequences for the evaluation of RGB-D well as YOLO-SLAM. The main reason is that the human + + Authorized licensed use limited to: Yanshan University. Downloaded on March 22,2023 at 12:47:05 UTC from IEEE Xplore. Restrictions apply. + CHENG et al.: SG-SLAM: A REAL-TIME RGB-D VISUAL SLAM TOWARD DYNAMIC SCENES 7501012 + + TABLE IV + RESULTS OF METRIC ATE + +Fig. 5. Dynamic feature rejection effect demonstration. The empir- feature points on walking people are missed. Next, Fig. 5(d) +ical threshold ε in (b) is 0.2 and in (c) is 1.0. (a) ORB-SLAM2. shows the results of feature point extraction using only the +(b) and (c) SG-SLAM (G). (d) SG-SLAM (S). (e) SG-SLAM (S + G). semantic information method: all feature points around the + human body are brutally rejected. Finally, the experimental + results of the SG-SLAM system combining semantic and + geometric information are shown in Fig. 5(e). SG-SLAM + rejects all feature points on the human body and retains as + many static feature points outside the human body as possible, + and the rejection effect is better than the first two algorithms. + The experimental results of the two algorithms based on + separate information are mutually superior and inferior in + different sequences. The algorithm combining both pieces of + information shows the most accurate experimental results in + all sequences. From the results in Table VI, the experimental + data of each algorithm match the intuitive rejection effect in + Fig. 5. This proves the effectiveness of the fusion of geometric + and semantic information algorithms. + +jump direction in the scene is similar to the polar line D. Timing Analysis +direction leading to different degrees of degeneration of the +algorithm [16]. The results in Table V show that our algorithm As the basic component of robot state estimation, the speed +outperforms other algorithms in most sequences. Not only of SLAM directly affects the smooth execution of higher level +does this once again prove that the SG-SLAM system achieves tasks. Thus, we tested the average time cost of processing each +state-of-the-art accuracy and robustness in dynamic scenes but frame when the system is running and compared it with other +also proves its generalizability. systems. + +C. Effectiveness of Dynamic Feature Rejection Strategy The experimental time-consuming results and hardware + platforms are shown in Table VII. Since systems, such as + SG-SLAM combines geometrical and semantic information DS-SLAM, DynaSLAM, and YOLACT-based SLAM, use +to reject dynamic features, drawing on the advantages and pixel-level semantic segmentation networks, their average time +avoiding the disadvantages of both methods. To validate cost per frame is expensive. YOLO-SLAM uses the end-to-end +the effectiveness of the fusion of geometric and semantic YOLO fast object detection algorithm, but it is very slow due +information algorithms, we designed comparative experiments. to limitations such as system architecture optimization and +Fig. 5 shows the experimental results of these methods for hardware performance. The SG-SLAM system significantly +detecting dynamic points. First, SG-SLAM (S) denotes a increases frame processing speed by using multithreading, +semantic information-only algorithm to reject dynamic feature SSD object detection algorithms, and data multiplexing mech- +points. Next, SG-SLAM (G) is only the geometry algo- anisms. Compared to ORB-SLAM2, our work increases the +rithm based on the epipolar constraint. Finally, SG-SLAM average processing time per frame by less than 10 ms, which +(S + G) uses a fusion algorithm based on geometric and can meet the real-time performance requirements of mobile +semantic information. The experimental results are shown in robots. +Table VI. + E. Semantic Mapping + Fig. 5(a) shows the results of ORB-SLAM2 extracting +feature points: essentially no dynamic regions are processed. To show the actual semantic mapping effect, the SG-SLAM +Fig. 5(b) and (c) shows the results of using only the epipolar system conducts mapping experiments in the TUM RGB-D +constraint method at different empirical thresholds. At the low dataset and the OpenLORIS-Scene dataset [38]. OpenLORIS- +threshold [see Fig. 5(b)], many static feature points are misde- Scene is a dataset of data recorded by robots in real +tected and rejected (e.g., feature points at the corners of the TV scenes using a motion capture system to obtain real tra- +monitor); at the high threshold [see Fig. 5(c)], some dynamic jectories. This dataset is intended to help evaluate the + +Authorized licensed use limited to: Yanshan University. Downloaded on March 22,2023 at 12:47:05 UTC from IEEE Xplore. Restrictions apply. + 7501012 IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 72, 2023 + TABLE V + RESULTS OF METRIC ATE + + TABLE VI + RESULTS OF METRIC ATE + + TABLE VII + TIME ANALYSIS + + Fig. 7. (a) Semantic object map and (b) global octo-map for the cafe1-2 + sequence of the OpenLORIS-Scene dataset. + +Fig. 6. Semantic object map for fr3_walking_xyz sequence. Fig. 6 shows the semantic object mapping effect of + SG-SLAM in the fr3_walking_xyz sequence of the TUM +maturity of SLAM and scene understanding algorithms in real RGB-D dataset. Fig. 7(a) and (b) shows the semantic object +deployments. map and the global Octo-map built in the cafe1-2 sequence of + the OpenLORIS-Scene dataset, respectively. The coordinates + of the objects shown in the map are transformed from the + origin point where the SLAM system is running. The semantic + metric map and the global Octo-map not only enable mobile + robots to navigate and avoid obstacles but also enable them + to understand scenes at a higher level and perform advanced + tasks. + + Authorized licensed use limited to: Yanshan University. Downloaded on March 22,2023 at 12:47:05 UTC from IEEE Xplore. Restrictions apply. + CHENG et al.: SG-SLAM: A REAL-TIME RGB-D VISUAL SLAM TOWARD DYNAMIC SCENES 7501012 + + V. CONCLUSION [16] A. Kundu, K. M. Krishna, and J. Sivaswamy, “Moving object detection + by multi-view geometric techniques from a single camera mounted + This article presents a real-time semantic visual SG-SLAM robot,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Oct. 2009, +toward dynamic scenes with an RGB-D camera input. pp. 4306–4312. +SG-SLAM adds two new threads based on ORB-SLAM2: +the object detecting thread and the semantic mapping thread. [17] R. Hartley and A. Zisserman, Multiple View Geometry in Computer +The system significantly improves real time, accuracy, and Vision. Cambridge, U.K.: Cambridge Univ. Press, 2003. +robustness in dynamic scenes with the dynamic feature rejec- +tion algorithm. The semantic mapping thread reuses the 2-D [18] M. A. Fischler and R. Bolles, “Random sample consensus: A para- +semantic information to build the semantic object map with digm for model fitting with applications to image analysis and auto- +object coordinates and the global Octo-map. Experiments mated cartography,” Commun. ACM, vol. 24, no. 6, pp. 381–395, +prove that improved traditional algorithms can achieve supe- 1981. +rior performance when introducing deep learning and coupled +with proper engineering implementations. [19] M. Piaggio, R. Fornaro, A. Piombo, L. Sanna, and R. Zaccaria, + “An optical-flow person following behaviour,” in Proc. IEEE Int. Symp. + There are still some disadvantages of the system that need Intell. Control (ISIC), IEEE Int. Symp. Comput. Intell. Robot. Autom. +to be addressed in the future. For example, the degeneration (CIRA), Intell. Syst. Semiotics (ISAS), 1998, pp. 301–306. +problem of dynamic objects moving along the polar line direc- +tion can cause the dynamic feature rejection algorithm to fail, [20] D. Nguyen, C. Hughes, and J. Horgan, “Optical flow-based moving- +semantic metric map improvement in precision, experimental static separation in driving assistance systems,” in Proc. IEEE 18th Int. +quantitative analysis, and so on. Conf. Intell. Transp. Syst., Sep. 2015, pp. 1644–1651. + + REFERENCES [21] T. Zhang, H. Zhang, Y. Li, Y. Nakamura, and L. Zhang, “Flow- + Fusion: Dynamic dense RGB-D SLAM based on optical flow,” + [1] H. Durrant-Whyte and T. Bailey, “Simultaneous localization and map- in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), May 2020, + ping: Part I,” IEEE Robot. Autom. Mag., vol. 13, no. 2, pp. 99–110, pp. 7322–7328. + Jun. 2006. + [22] Y. Sun, M. Liu, and M. Q.-H. Meng, “Motion removal for reliable + [2] S. Shirmohammadi and A. Ferrero, “Camera as the instrument: RGB-D SLAM in dynamic environments,” Robot. Auton. Syst., vol. 108, + The rising trend of vision based measurement,” IEEE Instrum. Meas. pp. 115–128, Oct. 2018. + Mag., vol. 17, no. 3, pp. 41–47, Jun. 2014. + [23] L. Zhang, L. Wei, P. Shen, W. Wei, G. Zhu, and J. Song, “Semantic + [3] G. Klein and D. Murray, “Parallel tracking and mapping for small AR SLAM based on object detection and improved octomap,” IEEE Access, + workspaces,” in Proc. 6th IEEE ACM Int. Symp. Mixed Augmented vol. 6, pp. 75545–75559, 2018. + Reality, Nov. 2007, pp. 225–234. + [24] J. Redmon and A. Farhadi, “YOLO9000: Better, faster, stronger,” in + [4] R. Mur-Artal and J. D. Tardós, “ORB-SLAM2: An open-source slam Proc. IEEE Conf. Comput. Vis. Pattern Recognit. (CVPR), Jul. 2017, + system for monocular, stereo, and RGB-D cameras,” IEEE Trans. Robot., pp. 7263–7271. + vol. 33, no. 5, pp. 1255–1262, Oct. 2017. + [25] L. Xiao, J. Wang, X. Qiu, Z. Rong, and X. Zou, “Dynamic-SLAM: + [5] C. Kerl, J. Sturm, and D. Cremers, “Dense visual SLAM for RGB-D Semantic monocular visual localization and mapping based on deep + cameras,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Nov. 2013, learning in dynamic environment,” Robot. Auton. Syst., vol. 117, + pp. 2100–2106. pp. 1–16, Jul. 2019. + + [6] A. Rosinol, M. Abate, Y. Chang, and L. Carlone, “Kimera: An open- [26] Y. Liu and J. Miura, “RDS-SLAM: Real-time dynamic SLAM + source library for real-time metric-semantic localization and map- using semantic segmentation methods,” IEEE Access, vol. 9, + ping,” in Proc. IEEE Int. Conf. Robot. Autom. (ICRA), May 2020, pp. 23772–23785, 2021. + pp. 1689–1696. + [27] K. He, G. Gkioxari, P. Dollár, and R. Girshick, “Mask R-CNN,” in Proc. + [7] C. Cadena et al., “Past, present, and future of simultaneous localization ICCV, Jun. 2017, pp. 2961–2969. + and mapping: Toward the robust-perception age,” IEEE Trans. Robot., + vol. 32, no. 6, pp. 1309–1332, Dec. 2016. [28] V. Badrinarayanan, A. Kendall, and R. Cipolla, “SegNet: A deep + convolutional encoder–decoder architecture for image segmentation,” + [8] I. Kostavelis and A. Gasteratos, “Semantic mapping for mobile IEEE Trans. Pattern Anal. Mach. Intell., vol. 39, no. 12, pp. 2481–2495, + robotics tasks: A survey,” Robot. Auton. Syst., vol. 66, pp. 86–103, Jan. 2017. + Apr. 2015. + [29] Ó. M. Mozos, R. Triebel, P. Jensfelt, A. Rottmann, and W. Burgard, + [9] B. Bescos, J. M. Fácil, J. Civera, and J. L. Neira, “DynaSLAM: Tracking, “Supervised semantic labeling of places using information extracted + mapping, and inpainting in dynamic scenes,” IEEE Robot. Autom. Lett., from sensor data,” Robot. Auto. Syst., vol. 55, no. 5, pp. 391–402, + vol. 3, no. 4, pp. 4076–4083, Oct. 2018. May 2007. + +[10] C. Yu et al., “DS-SLAM: A semantic visual SLAM towards dynamic [30] C. Nieto-Granda, J. G. Rogers, A. J. B. Trevor, and H. I. Christensen, + environments,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS), “Semantic map partitioning in indoor environments using regional + Oct. 2018, pp. 1168–1174. analysis,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Oct. 2010, + pp. 1451–1456. +[11] W. Wu, L. Guo, H. Gao, Z. You, Y. Liu, and Z. Chen, “YOLO- + SLAM: A semantic SLAM system towards dynamic environment [31] N. Sunderhauf, T. T. Pham, Y. Latif, M. Milford, and I. Reid, “Mean- + with geometric constraint,” Neural Comput. Appl., vol. 34, pp. 1–16, ingful maps with object-oriented semantic mapping,” in Proc. IEEE/RSJ + Apr. 2022. Int. Conf. Intell. Robots Syst. (IROS), Sep. 2017, pp. 5079–5085. + +[12] J. Chang, N. Dong, and D. Li, “A real-time dynamic object segmentation [32] W. Liu et al., “SSD: Single shot MultiBox detector,” in Proc. Eur. Conf. + framework for SLAM system in dynamic scenes,” IEEE Trans. Instrum. Comput. Vis. Cham, Switzerland: Springer, 2016, pp. 21–37. + Meas., vol. 70, pp. 1–9, 2021. + [33] A. Howard et al., “Searching for MobileNetV3,” in Proc. IEEE/CVF Int. +[13] M. Quigley et al., “ROS: An open-source robot operating system,” in Conf. Comput. Vis., Oct. 2019, pp. 1314–1324. + Proc. ICRA Workshop Open Source Softw., Kobe, Japan, 2009, vol. 3, + no. 3, p. 5. [34] M. Everingham, L. Van Gool, C. Williams, J. Winn, and + A. Zisserman, “The PASCAL visual object classes challenge 2007 +[14] Tencent. (2017). NCNN. [Online]. Available: https://github.com/Tencent/ results,” 2008. [Online]. Available: http://www.pascal-network.org/ + ncnn challenges/VOC/voc2007/workshop/index.html + +[15] A. Hornung, K. M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard, [35] J. Sturm, N. Engelhard, F. Endres, W. Burgard, and D. Cremers, + “OctoMap: An efficient probabilistic 3D mapping framework based on “A benchmark for the evaluation of RGB-D SLAM systems,” in Proc. + octrees,” Auton. Robot., vol. 34, no. 3, pp. 189–206, 2013. IEEE/RSJ Int. Conf. Intell. Robots Syst., Oct. 2012, pp. 573–580. + + [36] C. Campos, R. Elvira, J. J. G. Rodriguez, J. M. M. Montiel, and + J. D. Tardos, “ORB-SLAM3: An accurate open-source library for visual, + visual–inertial, and multimap SLAM,” IEEE Trans. Robot., vol. 37, + no. 6, pp. 1874–1890, Dec. 2021. + + [37] E. Palazzolo, J. Behley, P. Lottes, P. Giguere, and C. Stachniss, “ReFu- + sion: 3D reconstruction in dynamic environments for RGB-D cameras + exploiting residuals,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. + (IROS), Nov. 2019, pp. 7855–7862. + + [38] X. Shi et al., “Are we ready for service robots? The OpenLORIS-scene + datasets for lifelong SLAM,” in Proc. IEEE Int. Conf. Robot. Autom. + (ICRA), May 2020, pp. 3139–3145. + +Authorized licensed use limited to: Yanshan University. Downloaded on March 22,2023 at 12:47:05 UTC from IEEE Xplore. Restrictions apply. + 7501012 IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 72, 2023 + + Shuhong Cheng was born in Daqing, Heilongjiang, Shijun Zhang (Student Member, IEEE) was born + China, in 1978. She received the B.S., M.S., and in Lianyungang, China, in 1993. He received the + Ph.D. degrees from Yanshan University, Qinhuang- bachelor’s and master’s degrees in control engineer- + dao, China, in 2001, 2007, and 2012, respectively. ing from Yanshan University, Qinhuangdao, China, + in 2016 and 2019, respectively, where he is cur- + She studied as a Visiting Scholar at the University rently pursuing the Ph.D. degree in mechanical + of Reading, Reading, U.K., in 2014. After her Ph.D. engineering. + degree, she has been working as a Professor at + Yanshan University since 2019. She has published His main research directions include mobile robot + about 50 papers in journals and international confer- control and perception, computer vision, and deep + ences and eight computer software copyrights. She learning. + has been granted more than four Chinese invention +patents. Since 2012, she has presided over and undertaken more than ten +national projects. Her current research interests are in rehabilitation robots, +assisting robot for the disabled, and the elderly and computer vision. + + Changhe Sun was born in Tangshan, China, Dianfan Zhang was born in Jilin, China, in 1978. + in 1996. He received the bachelor’s degree in com- He received the bachelor’s and master’s degrees + munication engineering from the Chongqing Uni- in control engineering and the Ph.D. degree from + versity of Technology, Chongqing, China, in 2019. Yanshan University, Qinhuangdao, China, in 2001, + He is currently pursuing the master’s degree with 2006, and 2010, respectively. + the School of Electrical Engineering, Yanshan Uni- + versity, Qinhuangdao, China. His main research directions include mobile robot + control and signal processing. + His main research interests include simultaneous + localization and mapping (SLAM), computer vision, + and robotics. + + Authorized licensed use limited to: Yanshan University. Downloaded on March 22,2023 at 12:47:05 UTC from IEEE Xplore. Restrictions apply. + diff --git a/MyCode/doc/octomap-zh.png b/MyCode/doc/octomap-zh.png new file mode 100644 index 0000000..a99bef2 Binary files /dev/null and b/MyCode/doc/octomap-zh.png differ diff --git a/MyCode/doc/octomap.png b/MyCode/doc/octomap.png new file mode 100644 index 0000000..9828192 Binary files /dev/null and b/MyCode/doc/octomap.png differ diff --git a/MyCode/doc/realmap-zh.png b/MyCode/doc/realmap-zh.png new file mode 100644 index 0000000..18a8c60 Binary files /dev/null and b/MyCode/doc/realmap-zh.png differ diff --git a/MyCode/doc/realmap.png b/MyCode/doc/realmap.png new file mode 100644 index 0000000..d881dae Binary files /dev/null and b/MyCode/doc/realmap.png differ diff --git a/MyCode/doc/semantic-object-metric-map-zh.png b/MyCode/doc/semantic-object-metric-map-zh.png new file mode 100644 index 0000000..5e02080 Binary files /dev/null and b/MyCode/doc/semantic-object-metric-map-zh.png differ diff --git a/MyCode/doc/semantic-object-metric-map.png b/MyCode/doc/semantic-object-metric-map.png new file mode 100644 index 0000000..311f528 Binary files /dev/null and b/MyCode/doc/semantic-object-metric-map.png differ diff --git a/MyCode/doc/sg-slam-system-overview-zh.png b/MyCode/doc/sg-slam-system-overview-zh.png new file mode 100644 index 0000000..05433dc Binary files /dev/null and b/MyCode/doc/sg-slam-system-overview-zh.png differ diff --git a/MyCode/doc/sg-slam-system-overview.png b/MyCode/doc/sg-slam-system-overview.png new file mode 100644 index 0000000..be29371 Binary files /dev/null and b/MyCode/doc/sg-slam-system-overview.png differ diff --git a/MyCode/src/.vscode/settings.json b/MyCode/src/.vscode/settings.json new file mode 100644 index 0000000..5d55b95 --- /dev/null +++ b/MyCode/src/.vscode/settings.json @@ -0,0 +1,75 @@ +{ + "files.associations": { + "cctype": "cpp", + "clocale": "cpp", + "cmath": "cpp", + "cstdarg": "cpp", + "cstddef": "cpp", + "cstdio": "cpp", + "cstdlib": "cpp", + "cstring": "cpp", + "ctime": "cpp", + "cwchar": "cpp", + "cwctype": "cpp", + "array": "cpp", + "atomic": "cpp", + "strstream": "cpp", + "bit": "cpp", + "*.tcc": "cpp", + "bitset": "cpp", + "chrono": "cpp", + "codecvt": "cpp", + "complex": "cpp", + "condition_variable": "cpp", + "cstdint": "cpp", + "deque": "cpp", + "forward_list": "cpp", + "list": "cpp", + "map": "cpp", + "set": "cpp", + "unordered_map": "cpp", + "unordered_set": "cpp", + "vector": "cpp", + "exception": "cpp", + "algorithm": "cpp", + "functional": "cpp", + "iterator": "cpp", + "memory": "cpp", + "memory_resource": "cpp", + "netfwd": "cpp", + "numeric": "cpp", + "optional": "cpp", + "random": "cpp", + "ratio": "cpp", + "string": "cpp", + "string_view": "cpp", + "system_error": "cpp", + "tuple": "cpp", + "type_traits": "cpp", + "utility": "cpp", + "fstream": "cpp", + "initializer_list": "cpp", + "iomanip": "cpp", + "iosfwd": "cpp", + "iostream": "cpp", + "istream": "cpp", + "limits": "cpp", + "mutex": "cpp", + "new": "cpp", + "ostream": "cpp", + "sstream": "cpp", + "stdexcept": "cpp", + "streambuf": "cpp", + "thread": "cpp", + "cfenv": "cpp", + "cinttypes": "cpp", + "typeindex": "cpp", + "typeinfo": "cpp", + "valarray": "cpp", + "variant": "cpp", + "core": "cpp", + "numericaldiff": "cpp", + "specialfunctions": "cpp", + "sparsecore": "cpp" + } +} \ No newline at end of file diff --git a/MyCode/src/CMakeLists.txt b/MyCode/src/CMakeLists.txt new file mode 100644 index 0000000..cd58121 --- /dev/null +++ b/MyCode/src/CMakeLists.txt @@ -0,0 +1,69 @@ +# toplevel CMakeLists.txt for a catkin workspace +# catkin/cmake/toplevel.cmake + +cmake_minimum_required(VERSION 3.0.2) + +project(Project) + +set(CATKIN_TOPLEVEL TRUE) + +# search for catkin within the workspace +set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}") +execute_process(COMMAND ${_cmd} + RESULT_VARIABLE _res + OUTPUT_VARIABLE _out + ERROR_VARIABLE _err + OUTPUT_STRIP_TRAILING_WHITESPACE + ERROR_STRIP_TRAILING_WHITESPACE +) +if(NOT _res EQUAL 0 AND NOT _res EQUAL 2) + # searching fot catkin resulted in an error + string(REPLACE ";" " " _cmd_str "${_cmd}") + message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}") +endif() + +# include catkin from workspace or via find_package() +if(_res EQUAL 0) + set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake") + # include all.cmake without add_subdirectory to let it operate in same scope + include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE) + add_subdirectory("${_out}") + +else() + # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument + # or CMAKE_PREFIX_PATH from the environment + if(NOT DEFINED CMAKE_PREFIX_PATH) + if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "") + if(NOT WIN32) + string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) + else() + set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) + endif() + endif() + endif() + + # list of catkin workspaces + set(catkin_search_path "") + foreach(path ${CMAKE_PREFIX_PATH}) + if(EXISTS "${path}/.catkin") + list(FIND catkin_search_path ${path} _index) + if(_index EQUAL -1) + list(APPEND catkin_search_path ${path}) + endif() + endif() + endforeach() + + # search for catkin in all workspaces + set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE) + find_package(catkin QUIET + NO_POLICY_SCOPE + PATHS ${catkin_search_path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + unset(CATKIN_TOPLEVEL_FIND_PACKAGE) + + if(NOT catkin_FOUND) + message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.") + endif() +endif() + +catkin_workspace() diff --git a/MyCode/src/image_geometry/CHANGELOG.rst b/MyCode/src/image_geometry/CHANGELOG.rst new file mode 100644 index 0000000..6b19c9b --- /dev/null +++ b/MyCode/src/image_geometry/CHANGELOG.rst @@ -0,0 +1,369 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package image_geometry +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.13.0 (2018-04-30) +------------------- +* Use rosdep OpenCV and not ROS one. + We defintely don't need the whole OpenCV. + We need to clean the rosdep keys. +* Contributors: Vincent Rabaud + +1.12.8 (2018-04-17) +------------------- +* Merge pull request `#189 `_ from ros2/python3_support_in_test + python 3 compatibility in test +* python 3 compatibility in test +* fix doc job +* Contributors: Mikael Arguedas, Vincent Rabaud + +1.12.7 (2017-11-12) +------------------- +* get shared_ptr from boost or C++11 +* Contributors: Vincent Rabaud + +1.12.6 (2017-11-11) +------------------- +* missing STL includes +* Contributors: Mikael Arguedas, Vincent Rabaud + +1.12.5 (2017-11-05) +------------------- +* Fix compilation issues. + Fix suggested by `#173 `_ comment +* Make sure to initialize the distorted_image Mat. + Otherwise, valgrind throws errors about accessing uninitialized + memory. + Signed-off-by: Chris Lalancette +* Remove the last remnants of boost from image_geometry. + All of its functionality can be had from std:: in C++11, so + use that instead. This also requires us to add the -std=c++11 + flag. + Signed-off-by: Chris Lalancette +* Contributors: Chris Lalancette, Vincent Rabaud + +1.12.4 (2017-01-29) +------------------- +* Import using __future_\_ for python 3 compatibility. +* Contributors: Hans Gaiser + +1.12.3 (2016-12-04) +------------------- + +1.12.2 (2016-09-24) +------------------- +* Fix "stdlib.h: No such file or directory" errors in GCC-6 + Including '-isystem /usr/include' breaks building with GCC-6. + See https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129 +* Merge pull request `#142 `_ from YuOhara/remap_with_nan_border_value + remap with nan border if mat value is float or double +* remap with nan border if mat value is float or double +* Contributors: Hodorgasm, Vincent Rabaud, YuOhara + +1.12.1 (2016-07-11) +------------------- +* Add fullResolution getter to PinholeCameraModel +* add a missing dependency when building the doc +* fix sphinx doc path +* Contributors: Jacob Panikulam, Vincent Rabaud + +1.12.0 (2016-03-18) +------------------- +* depend on OpenCV3 only +* Contributors: Vincent Rabaud + +1.11.12 (2016-03-10) +-------------------- +* issue `#117 `_ pull request `#118 `_ check all distortion coefficients to see if rectification ought to be done +* Contributors: Lucas Walter + +1.11.11 (2016-01-31) +-------------------- +* clean up the doc files +* fix a few warnings in doc jobs +* Contributors: Vincent Rabaud + +1.11.10 (2016-01-16) +-------------------- + +1.11.9 (2015-11-29) +------------------- +* add a condition if D=None +* fix compilation warnings +* Contributors: Vincent Rabaud, YuOhara + +1.11.8 (2015-07-15) +------------------- +* fixes `#62 `_, bug in Python rectifyPoint old opencv1 API +* Simplify some OpenCV3 distinction +* Contributors: Basheer Subei, Vincent Rabaud + +1.11.7 (2014-12-14) +------------------- +* Merge pull request `#53 `_ from carnegieroboticsllc/patch-1 + Update stereo_camera_model.cpp +* Updated inline math for reprojecting a single disparity +* Update stereo_camera_model.cpp + Correct slight error in the Q matrix derivation +* Updated Q matrix to account for cameras with different Fx and Fy values +* Contributors: Carnegie Robotics LLC, Matt Alvarado, Vincent Rabaud + +1.11.6 (2014-11-16) +------------------- +* Fixes in image_geometry for Python cv2 API +* Fixed typo: np -> numpy +* Added missing tfFrame method to Python PinholeCameraModel. +* Removed trailing whitespace. +* Contributors: Daniel Maturana + +1.11.5 (2014-09-21) +------------------- +* get code to work with OpenCV3 + actually fixes `#46 `_ properly +* Contributors: Vincent Rabaud + +1.11.4 (2014-07-27) +------------------- + +1.11.3 (2014-06-08) +------------------- +* pinhole_camera_model: fix implicit shared_ptr cast to bool for C++11 + In C++11 boost::shared_ptr does not provide the implicit bool conversion + operator anymore, so make the cast in pinhole_camera_model.h explicit. + That does not hurt in older C++ standards and makes compilation with C++11 + possible. +* Contributors: Max Schwarz + +1.11.2 (2014-04-28) +------------------- + +1.11.1 (2014-04-16) +------------------- + +1.11.0 (2014-02-15) +------------------- +* remove OpenCV 1 API +* fixes `#6 `_ +* fix OpenCV dependencies +* Contributors: Vincent Rabaud + +1.10.15 (2014-02-07) +-------------------- +* add assignment operator for StereoCameraModel +* fixed Python rectifyImage implementation in PinholeCameraModel +* Added operator= for the PinholeCameraModel. + Added the operator= for the PinholeCameraModel. I am not sure if the + PinholeCameraModel needs to have a destructor, too. To follow the + 'rule of three' it should actually have one. +* Contributors: Tobias Bar, Valsamis Ntouskos, Vincent Rabaud + +1.10.14 (2013-11-23 16:17) +-------------------------- +* Contributors: Vincent Rabaud + +1.10.13 (2013-11-23 09:19) +-------------------------- +* Contributors: Vincent Rabaud + +1.10.12 (2013-11-22) +-------------------- +* "1.10.12" +* Contributors: Vincent Rabaud + +1.10.11 (2013-10-23) +-------------------- +* Contributors: Vincent Rabaud + +1.10.10 (2013-10-19) +-------------------- +* Contributors: Vincent Rabaud + +1.10.9 (2013-10-07) +------------------- +* fixes `#23 `_ +* Contributors: Vincent Rabaud + +1.10.8 (2013-09-09) +------------------- +* check for CATKIN_ENABLE_TESTING +* update email address +* Contributors: Lukas Bulwahn, Vincent Rabaud + +1.10.7 (2013-07-17) +------------------- + +1.10.6 (2013-03-01) +------------------- + +1.10.5 (2013-02-11) +------------------- +* Add dependency on generated messages + Catkin requires explicit enumeration of dependencies on generated messages. + Add this declaration to properly flatten the dependency graph and force Catkin + to generate geometry_msgs before compiling image_geometry. +* Contributors: Adam Hachey + +1.10.4 (2013-02-02) +------------------- + +1.10.3 (2013-01-17) +------------------- + +1.10.2 (2013-01-13) +------------------- +* fix ticket 4253 +* Contributors: Vincent Rabaud + +1.10.1 (2013-01-10) +------------------- + +1.10.0 (2013-01-03) +------------------- + +1.9.15 (2013-01-02) +------------------- + +1.9.14 (2012-12-30) +------------------- +* add feature for https://code.ros.org/trac/ros-pkg/ticket/5592 +* CMake cleanups +* fix a failing test +* Contributors: Vincent Rabaud + +1.9.13 (2012-12-15) +------------------- +* use the catkin macros for the setup.py +* Contributors: Vincent Rabaud + +1.9.12 (2012-12-14) +------------------- +* buildtool_depend catkin fix +* Contributors: William Woodall + +1.9.11 (2012-12-10) +------------------- +* Fixing image_geometry package.xml +* fix https://code.ros.org/trac/ros-pkg/ticket/5570 +* Contributors: Vincent Rabaud, William Woodall + +1.9.10 (2012-10-04) +------------------- + +1.9.9 (2012-10-01) +------------------ +* fix dependencies +* Contributors: Vincent Rabaud + +1.9.8 (2012-09-30) +------------------ +* fix some dependencies +* fix missing Python at install and fix some dependencies +* Contributors: Vincent Rabaud + +1.9.7 (2012-09-28 21:07) +------------------------ +* add missing stuff +* make sure we find catkin +* Contributors: Vincent Rabaud + +1.9.6 (2012-09-28 15:17) +------------------------ +* make all the tests pass +* comply to the new Catkin API +* Contributors: Vincent Rabaud + +1.9.5 (2012-09-15) +------------------ +* remove dependencies to the opencv2 ROS package +* Contributors: Vincent Rabaud + +1.9.4 (2012-09-13) +------------------ +* make sure the include folders are copied to the right place +* Contributors: Vincent Rabaud + +1.9.3 (2012-09-12) +------------------ + +1.9.2 (2012-09-07) +------------------ +* be more compliant to the latest catkin +* added catkin_project() to cv_bridge, image_geometry, and opencv_tests +* Contributors: Jonathan Binney, Vincent Rabaud + +1.9.1 (2012-08-28 22:06) +------------------------ +* remove things that were marked as ROS_DEPRECATED +* Contributors: Vincent Rabaud + +1.9.0 (2012-08-28 14:29) +------------------------ +* catkinized opencv_tests by Jon Binney +* fix ticket 5449 +* use OpenCV's projectPoints +* remove the version check, let's trust OpenCV :) +* revert the removal of opencv2 +* vision_opencv: Export OpenCV flags in manifests for image_geometry, cv_bridge. +* finally get rid of opencv2 as it is a system dependency now +* bump REQUIRED version of OpenCV to 2.3.2, which is what's in ros-fuerte-opencv +* switch rosdep name to opencv2, to refer to ros-fuerte-opencv2 +* Adding a few missing headers so that client code may compile against pinhole camera model. +* Adding opencv2 to all manifests, so that client packages may + not break when using them. +* baking in opencv debs and attempting a pre-release +* image_geometry: (Python) Adjust K and P for ROI/binning. Also expose full resolution K and P. Add raw_roi property. +* image_geometry: Add Tx, Ty getters (Python). +* image_geometry: Added tf_frame and stamp properties. Only generate undistort maps when rectifyImage is called. +* image_geometry: Fix for when D is empty (Python). +* image_geometry: Take all D coefficients, not just the first 4 (Python). +* image_geometry: Fix rectification in the presence of binning (`#4848 `_). +* image_geometry: Fixed wg-ros-pkg `#5019 `_, error updating StereoCameraModel. Removed manifest dependency on cv_bridge. +* image_geometry: fromCameraInfo() returns bool, true if parameters have changed since last call. +* image_geometry: Accessors for full-res K, P. +* image_geometry: Implemented toFullResolution(), toReducedResolution(). +* image_geometry: Implemented reducedResolution(). +* image_geometry: Implemented rectifiedRoi() with caching. Fixed bug that would cause rectification maps to be regenerated every time. +* image_geometry: Implemented rectifyRoi(). +* image_geometry: Overloads of projection functions that return the output directly instead of through a reference parameter. Implemented unrectifyRoi(). Added fullResolution(), rawRoi(). +* image_geometry: Library-specific exception class. +* image_geometry: PIMPL pattern for cached data, so I can change in patch releases if necessary. Changed projectPixelTo3dRay() to normalize to z=1. +* image_geometry (rep0104): Added binning. Partially fixed ROI (not finding rectified ROI yet). Now interpreting distortion_model. Lots of code cleanup. +* image_geometry (rep0104): Got tests passing again, were issues with D becoming variable-length. +* image_geometry: Fixed swapped width/height in computing ROI undistort maps. Partially fixes `#4206 `_. +* image_geometry: getDelta functions, getZ and getDisparity in C++ and Python. Docs and tests for them. Changed Python fx() and friends to pull values out of P instead of K. +* image_geometry: Added C++ getDeltaU and getDeltaV. +* `#4201 `_, implement/doc/test for getDeltaU getDeltaX getDeltaV getDeltaY +* Added Ubuntu platform tags to manifest +* `#4083 `_, projectPixelTo3dRay implemented +* image_geometry: Added PinholeCameraModel::stamp() returning the time stamp. +* image_geometry: Fixed bugs related to ignoring Tx & Ty in projectPixelTo3dRay and unrectifyPoint. Added Tx() and Ty() accessors. +* image_geometry: Fixed `#4063 `_, PinholeCameraModel ignores Tx term in P matrix. +* image_geometry: Implemented projectDisparityTo3d, `#4019 `_. +* image_geometry: Implemented unrectifyPoint, with unit tests. +* image_geometry: Fixed bug in rectifyPoint due to cv::undistortPoints not accepting double pt data, `#4053 `_. +* image_geometry: Tweaked manifest. +* image_geometry: Better manifest description. +* Removed tfFrame sample +* image_geometry: Doxygen main page, manifest updates. +* image_geometry: Doxygen for StereoCameraModel. +* image_geometry: Made Q calculation match old stereoproc one. +* image_geometry: Tweaked projectDisparityImageTo3D API for handling missing values. +* image_geometry: Added method to project disparity image to 3d. Added ConstPtr version of fromCameraInfo in StereoCameraModel. +* image_geometry: Export linker flags. Fixed bug that could cause rectification maps to not be initialized before use. +* Fixed path-handling on gtest for CMake 2.6 +* image_geometry: Added missing source file. +* image_geometry: Added some C++ docs. +* image_geometry: Minor cleanup of StereoCameraModel, added it to build. Put in copy constructors. +* image_geometry: Switched pinhole_camera_model to use new C++ OpenCV types and functions. +* Remove use of deprecated rosbuild macros +* image_geometry (C++): Unit test for projecting points uv <-> xyz. +* image_geometry (C++): Implemented more projection functions, added beginnings of the unit tests. +* trigger rebuild +* Enable rosdoc.yaml +* docs +* image_geometry: Started C++ API. PinholeCameraModel is in theory (untested) able to track state efficiently and rectify images. +* First stereo test +* Checkpoint +* Skeleton of test +* First cut +* Contributors: Vincent Rabaud, ethanrublee, gerkey, jamesb, mihelich, vrabaud, wheeler diff --git a/MyCode/src/image_geometry/CMakeLists.txt b/MyCode/src/image_geometry/CMakeLists.txt new file mode 100644 index 0000000..6c22741 --- /dev/null +++ b/MyCode/src/image_geometry/CMakeLists.txt @@ -0,0 +1,37 @@ +cmake_minimum_required(VERSION 2.8) +project(image_geometry) + +find_package(catkin REQUIRED sensor_msgs) +find_package(OpenCV REQUIRED) + +catkin_package(CATKIN_DEPENDS sensor_msgs + DEPENDS OpenCV + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} +) + +catkin_python_setup() + +include_directories(include) +include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) + +# add a library +add_library(${PROJECT_NAME} src/pinhole_camera_model.cpp src/stereo_camera_model.cpp) +target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES}) +add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/ +) + +# install library +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +# add tests +if(CATKIN_ENABLE_TESTING) + add_subdirectory(test) +endif() diff --git a/MyCode/src/image_geometry/doc/conf.py b/MyCode/src/image_geometry/doc/conf.py new file mode 100644 index 0000000..a30006f --- /dev/null +++ b/MyCode/src/image_geometry/doc/conf.py @@ -0,0 +1,201 @@ +# -*- coding: utf-8 -*- +# +# image_geometry documentation build configuration file, created by +# sphinx-quickstart on Mon Jun 1 14:21:53 2009. +# +# This file is execfile()d with the current directory set to its containing dir. +# +# Note that not all possible configuration values are present in this +# autogenerated file. +# +# All configuration values have a default; values that are commented out +# serve to show the default. + +import sys, os + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +#sys.path.append(os.path.abspath('.')) + +# -- General configuration ----------------------------------------------------- + +# Add any Sphinx extension module names here, as strings. They can be extensions +# coming with Sphinx (named 'sphinx.ext.*') or your custom ones. +extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.intersphinx', 'sphinx.ext.pngmath'] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# The suffix of source filenames. +source_suffix = '.rst' + +# The encoding of source files. +#source_encoding = 'utf-8' + +# The master toctree document. +master_doc = 'index' + +# General information about the project. +project = u'image_geometry' +copyright = u'2009, Willow Garage, Inc.' + +# The version info for the project you're documenting, acts as replacement for +# |version| and |release|, also used in various other places throughout the +# built documents. +# +# The short X.Y version. +version = '0.1' +# The full version, including alpha/beta/rc tags. +release = '0.1.0' + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +#language = None + +# There are two options for replacing |today|: either, you set today to some +# non-false value, then it is used: +#today = '' +# Else, today_fmt is used as the format for a strftime call. +#today_fmt = '%B %d, %Y' + +# List of documents that shouldn't be included in the build. +#unused_docs = [] + +# List of directories, relative to source directory, that shouldn't be searched +# for source files. +exclude_trees = ['_build'] + +# The reST default role (used for this markup: `text`) to use for all documents. +#default_role = None + +# If true, '()' will be appended to :func: etc. cross-reference text. +#add_function_parentheses = True + +# If true, the current module name will be prepended to all description +# unit titles (such as .. function::). +#add_module_names = True + +# If true, sectionauthor and moduleauthor directives will be shown in the +# output. They are ignored by default. +#show_authors = False + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = 'sphinx' + +# A list of ignored prefixes for module index sorting. +#modindex_common_prefix = [] + + +# -- Options for HTML output --------------------------------------------------- + +# The theme to use for HTML and HTML Help pages. Major themes that come with +# Sphinx are currently 'default' and 'sphinxdoc'. +html_theme = 'default' + +# Theme options are theme-specific and customize the look and feel of a theme +# further. For a list of options available for each theme, see the +# documentation. +#html_theme_options = {} + +# Add any paths that contain custom themes here, relative to this directory. +#html_theme_path = [] + +# The name for this set of Sphinx documents. If None, it defaults to +# " v documentation". +#html_title = None + +# A shorter title for the navigation bar. Default is the same as html_title. +#html_short_title = None + +# The name of an image file (relative to this directory) to place at the top +# of the sidebar. +#html_logo = None + +# The name of an image file (within the static path) to use as favicon of the +# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 +# pixels large. +#html_favicon = None + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +#html_static_path = ['_static'] + +# If not '', a 'Last updated on:' timestamp is inserted at every page bottom, +# using the given strftime format. +#html_last_updated_fmt = '%b %d, %Y' + +# If true, SmartyPants will be used to convert quotes and dashes to +# typographically correct entities. +#html_use_smartypants = True + +# Custom sidebar templates, maps document names to template names. +#html_sidebars = {} + +# Additional templates that should be rendered to pages, maps page names to +# template names. +#html_additional_pages = {} + +# If false, no module index is generated. +#html_use_modindex = True + +# If false, no index is generated. +#html_use_index = True + +# If true, the index is split into individual pages for each letter. +#html_split_index = False + +# If true, links to the reST sources are added to the pages. +#html_show_sourcelink = True + +# If true, an OpenSearch description file will be output, and all pages will +# contain a tag referring to it. The value of this option must be the +# base URL from which the finished HTML is served. +#html_use_opensearch = '' + +# If nonempty, this is the file name suffix for HTML files (e.g. ".xhtml"). +#html_file_suffix = '' + +# Output file base name for HTML help builder. +htmlhelp_basename = 'image_geometrydoc' + + +# -- Options for LaTeX output -------------------------------------------------- + +# The paper size ('letter' or 'a4'). +#latex_paper_size = 'letter' + +# The font size ('10pt', '11pt' or '12pt'). +#latex_font_size = '10pt' + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, author, documentclass [howto/manual]). +latex_documents = [ + ('index', 'image_geometry.tex', u'stereo\\_utils Documentation', + u'James Bowman', 'manual'), +] + +# The name of an image file (relative to this directory) to place at the top of +# the title page. +#latex_logo = None + +# For "manual" documents, if this is true, then toplevel headings are parts, +# not chapters. +#latex_use_parts = False + +# Additional stuff for the LaTeX preamble. +#latex_preamble = '' + +# Documents to append as an appendix to all manuals. +#latex_appendices = [] + +# If false, no module index is generated. +#latex_use_modindex = True + +# Example configuration for intersphinx: refer to the Python standard library. +intersphinx_mapping = { + 'http://docs.python.org/': None, + 'http://docs.scipy.org/doc/numpy' : None, + 'http://docs.ros.org/api/tf/html/python/' : None, + } diff --git a/MyCode/src/image_geometry/doc/index.rst b/MyCode/src/image_geometry/doc/index.rst new file mode 100644 index 0000000..08d0c10 --- /dev/null +++ b/MyCode/src/image_geometry/doc/index.rst @@ -0,0 +1,21 @@ +image_geometry +============== + +image_geometry simplifies interpreting images geometrically using the +parameters from sensor_msgs/CameraInfo. + +.. module:: image_geometry + +.. autoclass:: image_geometry.PinholeCameraModel + :members: fromCameraInfo, rectifyImage, rectifyPoint, tfFrame, project3dToPixel, projectPixelTo3dRay, distortionCoeffs, intrinsicMatrix, projectionMatrix, rotationMatrix, cx, cy, fx, fy + +.. autoclass:: image_geometry.StereoCameraModel + :members: + + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`search` + diff --git a/MyCode/src/image_geometry/doc/mainpage.dox b/MyCode/src/image_geometry/doc/mainpage.dox new file mode 100644 index 0000000..eadc128 --- /dev/null +++ b/MyCode/src/image_geometry/doc/mainpage.dox @@ -0,0 +1,29 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b image_geometry contains camera model classes that simplify interpreting +images geometrically using the calibration parameters from +sensor_msgs/CameraInfo messages. They may be efficiently updated in your +image callback: + +\code +image_geometry::PinholeCameraModel model_; + +void imageCb(const sensor_msgs::ImageConstPtr& raw_image, + const sensor_msgs::CameraInfoConstPtr& cam_info) +{ + // Update the camera model (usually a no-op) + model_.fromCameraInfo(cam_info); + + // Do processing... +} +\endcode + +\section codeapi Code API + +\b image_geometry contains two classes: + - image_geometry::PinholeCameraModel - models a pinhole camera with distortion. + - image_geometry::StereoCameraModel - models a stereo pair of pinhole cameras. + +*/ diff --git a/MyCode/src/image_geometry/include/image_geometry/exports.h b/MyCode/src/image_geometry/include/image_geometry/exports.h new file mode 100644 index 0000000..34bafad --- /dev/null +++ b/MyCode/src/image_geometry/include/image_geometry/exports.h @@ -0,0 +1,18 @@ +#ifndef IMAGE_GEOMETRY_EXPORTS_H +#define IMAGE_GEOMETRY_EXPORTS_H + +#include + +// Import/export for windows dll's and visibility for gcc shared libraries. + +#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries + #ifdef image_geometry_EXPORTS // we are building a shared lib/dll + #define IMAGE_GEOMETRY_DECL ROS_HELPER_EXPORT + #else // we are using shared lib/dll + #define IMAGE_GEOMETRY_DECL ROS_HELPER_IMPORT + #endif +#else // ros is being built around static libraries + #define IMAGE_GEOMETRY_DECL +#endif + +#endif // IMAGE_GEOMETRY_EXPORTS_H diff --git a/MyCode/src/image_geometry/include/image_geometry/pinhole_camera_model.h b/MyCode/src/image_geometry/include/image_geometry/pinhole_camera_model.h new file mode 100644 index 0000000..5a0677c --- /dev/null +++ b/MyCode/src/image_geometry/include/image_geometry/pinhole_camera_model.h @@ -0,0 +1,344 @@ +#ifndef IMAGE_GEOMETRY_PINHOLE_CAMERA_MODEL_H +#define IMAGE_GEOMETRY_PINHOLE_CAMERA_MODEL_H + +#include +#include +#include +#include +#include +#include +#include "exports.h" + +namespace image_geometry { + +class Exception : public std::runtime_error +{ +public: + Exception(const std::string& description) : std::runtime_error(description) {} +}; + +/** + * \brief Simplifies interpreting images geometrically using the parameters from + * sensor_msgs/CameraInfo. + */ +class IMAGE_GEOMETRY_DECL PinholeCameraModel +{ +public: + + PinholeCameraModel(); + + PinholeCameraModel(const PinholeCameraModel& other); + + PinholeCameraModel& operator=(const PinholeCameraModel& other); + + /** + * \brief Set the camera parameters from the sensor_msgs/CameraInfo message. + */ + bool fromCameraInfo(const sensor_msgs::CameraInfo& msg); + + /** + * \brief Set the camera parameters from the sensor_msgs/CameraInfo message. + */ + bool fromCameraInfo(const sensor_msgs::CameraInfoConstPtr& msg); + + /** + * \brief Get the name of the camera coordinate frame in tf. + */ + std::string tfFrame() const; + + /** + * \brief Get the time stamp associated with this camera model. + */ + ros::Time stamp() const; + + /** + * \brief The resolution at which the camera was calibrated. + * + * The maximum resolution at which the camera can be used with the current + * calibration; normally this is the same as the imager resolution. + */ + cv::Size fullResolution() const; + + /** + * \brief The resolution of the current rectified image. + * + * The size of the rectified image associated with the latest CameraInfo, as + * reduced by binning/ROI and affected by distortion. If binning and ROI are + * not in use, this is the same as fullResolution(). + */ + cv::Size reducedResolution() const; + + cv::Point2d toFullResolution(const cv::Point2d& uv_reduced) const; + + cv::Rect toFullResolution(const cv::Rect& roi_reduced) const; + + cv::Point2d toReducedResolution(const cv::Point2d& uv_full) const; + + cv::Rect toReducedResolution(const cv::Rect& roi_full) const; + + /** + * \brief The current raw ROI, as used for capture by the camera driver. + */ + cv::Rect rawRoi() const; + + /** + * \brief The current rectified ROI, which best fits the raw ROI. + */ + cv::Rect rectifiedRoi() const; + + /** + * \brief Project a 3d point to rectified pixel coordinates. + * + * This is the inverse of projectPixelTo3dRay(). + * + * \param xyz 3d point in the camera coordinate frame + * \return (u,v) in rectified pixel coordinates + */ + cv::Point2d project3dToPixel(const cv::Point3d& xyz) const; + + /** + * \brief Project a rectified pixel to a 3d ray. + * + * Returns the unit vector in the camera coordinate frame in the direction of rectified + * pixel (u,v) in the image plane. This is the inverse of project3dToPixel(). + * + * In 1.4.x, the vector has z = 1.0. Previously, this function returned a unit vector. + * + * \param uv_rect Rectified pixel coordinates + * \return 3d ray passing through (u,v) + */ + cv::Point3d projectPixelTo3dRay(const cv::Point2d& uv_rect) const; + + /** + * \brief Rectify a raw camera image. + */ + void rectifyImage(const cv::Mat& raw, cv::Mat& rectified, + int interpolation = cv::INTER_LINEAR) const; + + /** + * \brief Apply camera distortion to a rectified image. + */ + void unrectifyImage(const cv::Mat& rectified, cv::Mat& raw, + int interpolation = cv::INTER_LINEAR) const; + + /** + * \brief Compute the rectified image coordinates of a pixel in the raw image. + */ + cv::Point2d rectifyPoint(const cv::Point2d& uv_raw) const; + + /** + * \brief Compute the raw image coordinates of a pixel in the rectified image. + */ + cv::Point2d unrectifyPoint(const cv::Point2d& uv_rect) const; + + /** + * \brief Compute the rectified ROI best fitting a raw ROI. + */ + cv::Rect rectifyRoi(const cv::Rect& roi_raw) const; + + /** + * \brief Compute the raw ROI best fitting a rectified ROI. + */ + cv::Rect unrectifyRoi(const cv::Rect& roi_rect) const; + + /** + * \brief Returns the camera info message held internally + */ + const sensor_msgs::CameraInfo& cameraInfo() const; + + /** + * \brief Returns the original camera matrix. + */ + const cv::Matx33d& intrinsicMatrix() const; + + /** + * \brief Returns the distortion coefficients. + */ + const cv::Mat_& distortionCoeffs() const; + + /** + * \brief Returns the rotation matrix. + */ + const cv::Matx33d& rotationMatrix() const; + + /** + * \brief Returns the projection matrix. + */ + const cv::Matx34d& projectionMatrix() const; + + /** + * \brief Returns the original camera matrix for full resolution. + */ + const cv::Matx33d& fullIntrinsicMatrix() const; + + /** + * \brief Returns the projection matrix for full resolution. + */ + const cv::Matx34d& fullProjectionMatrix() const; + + /** + * \brief Returns the focal length (pixels) in x direction of the rectified image. + */ + double fx() const; + + /** + * \brief Returns the focal length (pixels) in y direction of the rectified image. + */ + double fy() const; + + /** + * \brief Returns the x coordinate of the optical center. + */ + double cx() const; + + /** + * \brief Returns the y coordinate of the optical center. + */ + double cy() const; + + /** + * \brief Returns the x-translation term of the projection matrix. + */ + double Tx() const; + + /** + * \brief Returns the y-translation term of the projection matrix. + */ + double Ty() const; + + /** + * \brief Returns the number of columns in each bin. + */ + uint32_t binningX() const; + + /** + * \brief Returns the number of rows in each bin. + */ + uint32_t binningY() const; + + /** + * \brief Compute delta u, given Z and delta X in Cartesian space. + * + * For given Z, this is the inverse of getDeltaX(). + * + * \param deltaX Delta X, in Cartesian space + * \param Z Z (depth), in Cartesian space + */ + double getDeltaU(double deltaX, double Z) const; + + /** + * \brief Compute delta v, given Z and delta Y in Cartesian space. + * + * For given Z, this is the inverse of getDeltaY(). + * + * \param deltaY Delta Y, in Cartesian space + * \param Z Z (depth), in Cartesian space + */ + double getDeltaV(double deltaY, double Z) const; + + /** + * \brief Compute delta X, given Z in Cartesian space and delta u in pixels. + * + * For given Z, this is the inverse of getDeltaU(). + * + * \param deltaU Delta u, in pixels + * \param Z Z (depth), in Cartesian space + */ + double getDeltaX(double deltaU, double Z) const; + + /** + * \brief Compute delta Y, given Z in Cartesian space and delta v in pixels. + * + * For given Z, this is the inverse of getDeltaV(). + * + * \param deltaV Delta v, in pixels + * \param Z Z (depth), in Cartesian space + */ + double getDeltaY(double deltaV, double Z) const; + + /** + * \brief Returns true if the camera has been initialized + */ + bool initialized() const { return (bool)cache_; } + +protected: + sensor_msgs::CameraInfo cam_info_; + cv::Mat_ D_; // Unaffected by binning, ROI + cv::Matx33d R_; // Unaffected by binning, ROI + cv::Matx33d K_; // Describe current image (includes binning, ROI) + cv::Matx34d P_; // Describe current image (includes binning, ROI) + cv::Matx33d K_full_; // Describe full-res image, needed for full maps + cv::Matx34d P_full_; // Describe full-res image, needed for full maps + + // Use PIMPL here so we can change internals in patch updates if needed + struct Cache; +#ifdef BOOST_SHARED_PTR_HPP_INCLUDED + boost::shared_ptr cache_; // Holds cached data for internal use +#else + std::shared_ptr cache_; // Holds cached data for internal use +#endif + + void initRectificationMaps() const; + + friend class StereoCameraModel; +}; + + +/* Trivial inline functions */ +inline std::string PinholeCameraModel::tfFrame() const +{ + assert( initialized() ); + return cam_info_.header.frame_id; +} + +inline ros::Time PinholeCameraModel::stamp() const +{ + assert( initialized() ); + return cam_info_.header.stamp; +} + +inline const sensor_msgs::CameraInfo& PinholeCameraModel::cameraInfo() const { return cam_info_; } +inline const cv::Matx33d& PinholeCameraModel::intrinsicMatrix() const { return K_; } +inline const cv::Mat_& PinholeCameraModel::distortionCoeffs() const { return D_; } +inline const cv::Matx33d& PinholeCameraModel::rotationMatrix() const { return R_; } +inline const cv::Matx34d& PinholeCameraModel::projectionMatrix() const { return P_; } +inline const cv::Matx33d& PinholeCameraModel::fullIntrinsicMatrix() const { return K_full_; } +inline const cv::Matx34d& PinholeCameraModel::fullProjectionMatrix() const { return P_full_; } + +inline double PinholeCameraModel::fx() const { return P_(0,0); } +inline double PinholeCameraModel::fy() const { return P_(1,1); } +inline double PinholeCameraModel::cx() const { return P_(0,2); } +inline double PinholeCameraModel::cy() const { return P_(1,2); } +inline double PinholeCameraModel::Tx() const { return P_(0,3); } +inline double PinholeCameraModel::Ty() const { return P_(1,3); } + +inline uint32_t PinholeCameraModel::binningX() const { return cam_info_.binning_x; } +inline uint32_t PinholeCameraModel::binningY() const { return cam_info_.binning_y; } + +inline double PinholeCameraModel::getDeltaU(double deltaX, double Z) const +{ + assert( initialized() ); + return fx() * deltaX / Z; +} + +inline double PinholeCameraModel::getDeltaV(double deltaY, double Z) const +{ + assert( initialized() ); + return fy() * deltaY / Z; +} + +inline double PinholeCameraModel::getDeltaX(double deltaU, double Z) const +{ + assert( initialized() ); + return Z * deltaU / fx(); +} + +inline double PinholeCameraModel::getDeltaY(double deltaV, double Z) const +{ + assert( initialized() ); + return Z * deltaV / fy(); +} + +} //namespace image_geometry + +#endif diff --git a/MyCode/src/image_geometry/include/image_geometry/stereo_camera_model.h b/MyCode/src/image_geometry/include/image_geometry/stereo_camera_model.h new file mode 100644 index 0000000..f952714 --- /dev/null +++ b/MyCode/src/image_geometry/include/image_geometry/stereo_camera_model.h @@ -0,0 +1,131 @@ +#ifndef IMAGE_GEOMETRY_STEREO_CAMERA_MODEL_H +#define IMAGE_GEOMETRY_STEREO_CAMERA_MODEL_H + +#include "image_geometry/pinhole_camera_model.h" +#include "exports.h" + +namespace image_geometry { + +/** + * \brief Simplifies interpreting stereo image pairs geometrically using the + * parameters from the left and right sensor_msgs/CameraInfo. + */ +class IMAGE_GEOMETRY_DECL StereoCameraModel +{ +public: + StereoCameraModel(); + + StereoCameraModel(const StereoCameraModel& other); + + StereoCameraModel& operator=(const StereoCameraModel& other); + + /** + * \brief Set the camera parameters from the sensor_msgs/CameraInfo messages. + */ + bool fromCameraInfo(const sensor_msgs::CameraInfo& left, + const sensor_msgs::CameraInfo& right); + + /** + * \brief Set the camera parameters from the sensor_msgs/CameraInfo messages. + */ + bool fromCameraInfo(const sensor_msgs::CameraInfoConstPtr& left, + const sensor_msgs::CameraInfoConstPtr& right); + + /** + * \brief Get the left monocular camera model. + */ + const PinholeCameraModel& left() const; + + /** + * \brief Get the right monocular camera model. + */ + const PinholeCameraModel& right() const; + + /** + * \brief Get the name of the camera coordinate frame in tf. + * + * For stereo cameras, both the left and right CameraInfo should be in the left + * optical frame. + */ + std::string tfFrame() const; + + /** + * \brief Project a rectified pixel with disparity to a 3d point. + */ + void projectDisparityTo3d(const cv::Point2d& left_uv_rect, float disparity, cv::Point3d& xyz) const; + + /** + * \brief Project a disparity image to a 3d point cloud. + * + * If handleMissingValues = true, all points with minimal disparity (outliers) have + * Z set to MISSING_Z (currently 10000.0). + */ + void projectDisparityImageTo3d(const cv::Mat& disparity, cv::Mat& point_cloud, + bool handleMissingValues = false) const; + static const double MISSING_Z; + + /** + * \brief Returns the disparity reprojection matrix. + */ + const cv::Matx44d& reprojectionMatrix() const; + + /** + * \brief Returns the horizontal baseline in world coordinates. + */ + double baseline() const; + + /** + * \brief Returns the depth at which a point is observed with a given disparity. + * + * This is the inverse of getDisparity(). + */ + double getZ(double disparity) const; + + /** + * \brief Returns the disparity observed for a point at depth Z. + * + * This is the inverse of getZ(). + */ + double getDisparity(double Z) const; + + /** + * \brief Returns true if the camera has been initialized + */ + bool initialized() const { return left_.initialized() && right_.initialized(); } +protected: + PinholeCameraModel left_, right_; + cv::Matx44d Q_; + + void updateQ(); +}; + + +/* Trivial inline functions */ +inline const PinholeCameraModel& StereoCameraModel::left() const { return left_; } +inline const PinholeCameraModel& StereoCameraModel::right() const { return right_; } + +inline std::string StereoCameraModel::tfFrame() const { return left_.tfFrame(); } + +inline const cv::Matx44d& StereoCameraModel::reprojectionMatrix() const { return Q_; } + +inline double StereoCameraModel::baseline() const +{ + /// @todo Currently assuming horizontal baseline + return -right_.Tx() / right_.fx(); +} + +inline double StereoCameraModel::getZ(double disparity) const +{ + assert( initialized() ); + return -right_.Tx() / (disparity - (left().cx() - right().cx())); +} + +inline double StereoCameraModel::getDisparity(double Z) const +{ + assert( initialized() ); + return -right_.Tx() / Z + (left().cx() - right().cx()); ; +} + +} //namespace image_geometry + +#endif diff --git a/MyCode/src/image_geometry/package.xml b/MyCode/src/image_geometry/package.xml new file mode 100644 index 0000000..79540ba --- /dev/null +++ b/MyCode/src/image_geometry/package.xml @@ -0,0 +1,30 @@ + + image_geometry + 1.13.0 + + `image_geometry` contains C++ and Python libraries for interpreting images + geometrically. It interfaces the calibration parameters in sensor_msgs/CameraInfo + messages with OpenCV functions such as image rectification, much as cv_bridge + interfaces ROS sensor_msgs/Image with OpenCV data types. + + Patrick Mihelich + Vincent Rabaud + BSD + http://www.ros.org/wiki/image_geometry + + + + + + catkin + + libopencv-dev + sensor_msgs + + libopencv-dev + libopencv-dev + sensor_msgs + + dvipng + texlive-latex-extra + diff --git a/MyCode/src/image_geometry/rosdoc.yaml b/MyCode/src/image_geometry/rosdoc.yaml new file mode 100644 index 0000000..615dc7e --- /dev/null +++ b/MyCode/src/image_geometry/rosdoc.yaml @@ -0,0 +1,8 @@ + - builder: sphinx + name: Python API + output_dir: python + sphinx_root_dir: doc + - builder: doxygen + name: C++ API + output_dir: c++ + file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox' diff --git a/MyCode/src/image_geometry/setup.py b/MyCode/src/image_geometry/setup.py new file mode 100644 index 0000000..407ce1e --- /dev/null +++ b/MyCode/src/image_geometry/setup.py @@ -0,0 +1,10 @@ +#!/usr/bin/env python +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup() + +d['packages'] = ['image_geometry'] +d['package_dir'] = {'' : 'src'} + +setup(**d) diff --git a/MyCode/src/image_geometry/src/image_geometry/__init__.py b/MyCode/src/image_geometry/src/image_geometry/__init__.py new file mode 100644 index 0000000..f1cbda0 --- /dev/null +++ b/MyCode/src/image_geometry/src/image_geometry/__init__.py @@ -0,0 +1,2 @@ +from __future__ import absolute_import +from .cameramodels import PinholeCameraModel, StereoCameraModel diff --git a/MyCode/src/image_geometry/src/image_geometry/cameramodels.py b/MyCode/src/image_geometry/src/image_geometry/cameramodels.py new file mode 100644 index 0000000..139c95c --- /dev/null +++ b/MyCode/src/image_geometry/src/image_geometry/cameramodels.py @@ -0,0 +1,373 @@ +import array + +import cv2 +import sensor_msgs.msg +import math +import copy +import numpy + +def mkmat(rows, cols, L): + mat = numpy.matrix(L, dtype='float64') + mat.resize((rows,cols)) + return mat + +class PinholeCameraModel: + + """ + A pinhole camera is an idealized monocular camera. + """ + + def __init__(self): + self.K = None + self.D = None + self.R = None + self.P = None + self.full_K = None + self.full_P = None + self.width = None + self.height = None + self.binning_x = None + self.binning_y = None + self.raw_roi = None + self.tf_frame = None + self.stamp = None + + def fromCameraInfo(self, msg): + """ + :param msg: camera parameters + :type msg: sensor_msgs.msg.CameraInfo + + Set the camera parameters from the :class:`sensor_msgs.msg.CameraInfo` message. + """ + self.K = mkmat(3, 3, msg.K) + if msg.D: + self.D = mkmat(len(msg.D), 1, msg.D) + else: + self.D = None + self.R = mkmat(3, 3, msg.R) + self.P = mkmat(3, 4, msg.P) + self.full_K = mkmat(3, 3, msg.K) + self.full_P = mkmat(3, 4, msg.P) + self.width = msg.width + self.height = msg.height + self.binning_x = max(1, msg.binning_x) + self.binning_y = max(1, msg.binning_y) + self.resolution = (msg.width, msg.height) + + self.raw_roi = copy.copy(msg.roi) + # ROI all zeros is considered the same as full resolution + if (self.raw_roi.x_offset == 0 and self.raw_roi.y_offset == 0 and + self.raw_roi.width == 0 and self.raw_roi.height == 0): + self.raw_roi.width = self.width + self.raw_roi.height = self.height + self.tf_frame = msg.header.frame_id + self.stamp = msg.header.stamp + + # Adjust K and P for binning and ROI + self.K[0,0] /= self.binning_x + self.K[1,1] /= self.binning_y + self.K[0,2] = (self.K[0,2] - self.raw_roi.x_offset) / self.binning_x + self.K[1,2] = (self.K[1,2] - self.raw_roi.y_offset) / self.binning_y + self.P[0,0] /= self.binning_x + self.P[1,1] /= self.binning_y + self.P[0,2] = (self.P[0,2] - self.raw_roi.x_offset) / self.binning_x + self.P[1,2] = (self.P[1,2] - self.raw_roi.y_offset) / self.binning_y + + def rectifyImage(self, raw, rectified): + """ + :param raw: input image + :type raw: :class:`CvMat` or :class:`IplImage` + :param rectified: rectified output image + :type rectified: :class:`CvMat` or :class:`IplImage` + + Applies the rectification specified by camera parameters :math:`K` and and :math:`D` to image `raw` and writes the resulting image `rectified`. + """ + + self.mapx = numpy.ndarray(shape=(self.height, self.width, 1), + dtype='float32') + self.mapy = numpy.ndarray(shape=(self.height, self.width, 1), + dtype='float32') + cv2.initUndistortRectifyMap(self.K, self.D, self.R, self.P, + (self.width, self.height), cv2.CV_32FC1, self.mapx, self.mapy) + cv2.remap(raw, self.mapx, self.mapy, cv2.INTER_CUBIC, rectified) + + def rectifyPoint(self, uv_raw): + """ + :param uv_raw: pixel coordinates + :type uv_raw: (u, v) + + Applies the rectification specified by camera parameters + :math:`K` and and :math:`D` to point (u, v) and returns the + pixel coordinates of the rectified point. + """ + + src = mkmat(1, 2, list(uv_raw)) + src.resize((1,1,2)) + dst = cv2.undistortPoints(src, self.K, self.D, R=self.R, P=self.P) + return dst[0,0] + + def project3dToPixel(self, point): + """ + :param point: 3D point + :type point: (x, y, z) + + Returns the rectified pixel coordinates (u, v) of the 3D point, + using the camera :math:`P` matrix. + This is the inverse of :meth:`projectPixelTo3dRay`. + """ + src = mkmat(4, 1, [point[0], point[1], point[2], 1.0]) + dst = self.P * src + x = dst[0,0] + y = dst[1,0] + w = dst[2,0] + if w != 0: + return (x / w, y / w) + else: + return (float('nan'), float('nan')) + + def projectPixelTo3dRay(self, uv): + """ + :param uv: rectified pixel coordinates + :type uv: (u, v) + + Returns the unit vector which passes from the camera center to through rectified pixel (u, v), + using the camera :math:`P` matrix. + This is the inverse of :meth:`project3dToPixel`. + """ + x = (uv[0] - self.cx()) / self.fx() + y = (uv[1] - self.cy()) / self.fy() + norm = math.sqrt(x*x + y*y + 1) + x /= norm + y /= norm + z = 1.0 / norm + return (x, y, z) + + def getDeltaU(self, deltaX, Z): + """ + :param deltaX: delta X, in cartesian space + :type deltaX: float + :param Z: Z, in cartesian space + :type Z: float + :rtype: float + + Compute delta u, given Z and delta X in Cartesian space. + For given Z, this is the inverse of :meth:`getDeltaX`. + """ + fx = self.P[0, 0] + if Z == 0: + return float('inf') + else: + return fx * deltaX / Z + + def getDeltaV(self, deltaY, Z): + """ + :param deltaY: delta Y, in cartesian space + :type deltaY: float + :param Z: Z, in cartesian space + :type Z: float + :rtype: float + + Compute delta v, given Z and delta Y in Cartesian space. + For given Z, this is the inverse of :meth:`getDeltaY`. + """ + fy = self.P[1, 1] + if Z == 0: + return float('inf') + else: + return fy * deltaY / Z + + def getDeltaX(self, deltaU, Z): + """ + :param deltaU: delta u in pixels + :type deltaU: float + :param Z: Z, in cartesian space + :type Z: float + :rtype: float + + Compute delta X, given Z in cartesian space and delta u in pixels. + For given Z, this is the inverse of :meth:`getDeltaU`. + """ + fx = self.P[0, 0] + return Z * deltaU / fx + + def getDeltaY(self, deltaV, Z): + """ + :param deltaV: delta v in pixels + :type deltaV: float + :param Z: Z, in cartesian space + :type Z: float + :rtype: float + + Compute delta Y, given Z in cartesian space and delta v in pixels. + For given Z, this is the inverse of :meth:`getDeltaV`. + """ + fy = self.P[1, 1] + return Z * deltaV / fy + + def fullResolution(self): + """Returns the full resolution of the camera""" + return self.resolution + + def intrinsicMatrix(self): + """ Returns :math:`K`, also called camera_matrix in cv docs """ + return self.K + def distortionCoeffs(self): + """ Returns :math:`D` """ + return self.D + def rotationMatrix(self): + """ Returns :math:`R` """ + return self.R + def projectionMatrix(self): + """ Returns :math:`P` """ + return self.P + def fullIntrinsicMatrix(self): + """ Return the original camera matrix for full resolution """ + return self.full_K + def fullProjectionMatrix(self): + """ Return the projection matrix for full resolution """ + return self.full_P + + def cx(self): + """ Returns x center """ + return self.P[0,2] + def cy(self): + """ Returns y center """ + return self.P[1,2] + def fx(self): + """ Returns x focal length """ + return self.P[0,0] + def fy(self): + """ Returns y focal length """ + return self.P[1,1] + + def Tx(self): + """ Return the x-translation term of the projection matrix """ + return self.P[0,3] + + def Ty(self): + """ Return the y-translation term of the projection matrix """ + return self.P[1,3] + + def tfFrame(self): + """ Returns the tf frame name - a string - of the camera. + This is the frame of the :class:`sensor_msgs.msg.CameraInfo` message. + """ + return self.tf_frame + +class StereoCameraModel: + """ + An idealized stereo camera. + """ + def __init__(self): + self.left = PinholeCameraModel() + self.right = PinholeCameraModel() + + def fromCameraInfo(self, left_msg, right_msg): + """ + :param left_msg: left camera parameters + :type left_msg: sensor_msgs.msg.CameraInfo + :param right_msg: right camera parameters + :type right_msg: sensor_msgs.msg.CameraInfo + + Set the camera parameters from the :class:`sensor_msgs.msg.CameraInfo` messages. + """ + self.left.fromCameraInfo(left_msg) + self.right.fromCameraInfo(right_msg) + + # [ Fx, 0, Cx, Fx*-Tx ] + # [ 0, Fy, Cy, 0 ] + # [ 0, 0, 1, 0 ] + + fx = self.right.P[0, 0] + fy = self.right.P[1, 1] + cx = self.right.P[0, 2] + cy = self.right.P[1, 2] + tx = -self.right.P[0, 3] / fx + + # Q is: + # [ 1, 0, 0, -Clx ] + # [ 0, 1, 0, -Cy ] + # [ 0, 0, 0, Fx ] + # [ 0, 0, 1 / Tx, (Crx-Clx)/Tx ] + + self.Q = numpy.zeros((4, 4), dtype='float64') + self.Q[0, 0] = 1.0 + self.Q[0, 3] = -cx + self.Q[1, 1] = 1.0 + self.Q[1, 3] = -cy + self.Q[2, 3] = fx + self.Q[3, 2] = 1 / tx + + def tfFrame(self): + """ + Returns the tf frame name - a string - of the 3d points. This is + the frame of the :class:`sensor_msgs.msg.CameraInfo` message. It + may be used as a source frame in :class:`tf.TransformListener`. + """ + + return self.left.tfFrame() + + def project3dToPixel(self, point): + """ + :param point: 3D point + :type point: (x, y, z) + + Returns the rectified pixel coordinates (u, v) of the 3D point, for each camera, as ((u_left, v_left), (u_right, v_right)) + using the cameras' :math:`P` matrices. + This is the inverse of :meth:`projectPixelTo3d`. + """ + l = self.left.project3dToPixel(point) + r = self.right.project3dToPixel(point) + return (l, r) + + def projectPixelTo3d(self, left_uv, disparity): + """ + :param left_uv: rectified pixel coordinates + :type left_uv: (u, v) + :param disparity: disparity, in pixels + :type disparity: float + + Returns the 3D point (x, y, z) for the given pixel position, + using the cameras' :math:`P` matrices. + This is the inverse of :meth:`project3dToPixel`. + + Note that a disparity of zero implies that the 3D point is at infinity. + """ + src = mkmat(4, 1, [left_uv[0], left_uv[1], disparity, 1.0]) + dst = self.Q * src + x = dst[0, 0] + y = dst[1, 0] + z = dst[2, 0] + w = dst[3, 0] + if w != 0: + return (x / w, y / w, z / w) + else: + return (0.0, 0.0, 0.0) + + def getZ(self, disparity): + """ + :param disparity: disparity, in pixels + :type disparity: float + + Returns the depth at which a point is observed with a given disparity. + This is the inverse of :meth:`getDisparity`. + + Note that a disparity of zero implies Z is infinite. + """ + if disparity == 0: + return float('inf') + Tx = -self.right.P[0, 3] + return Tx / disparity + + def getDisparity(self, Z): + """ + :param Z: Z (depth), in cartesian space + :type Z: float + + Returns the disparity observed for a point at depth Z. + This is the inverse of :meth:`getZ`. + """ + if Z == 0: + return float('inf') + Tx = -self.right.P[0, 3] + return Tx / Z diff --git a/MyCode/src/image_geometry/src/pinhole_camera_model.cpp b/MyCode/src/image_geometry/src/pinhole_camera_model.cpp new file mode 100644 index 0000000..69f6f2c --- /dev/null +++ b/MyCode/src/image_geometry/src/pinhole_camera_model.cpp @@ -0,0 +1,484 @@ +#include "image_geometry/pinhole_camera_model.h" +#include +#ifdef BOOST_SHARED_PTR_HPP_INCLUDED +#include +#endif + +namespace image_geometry { + +enum DistortionState { NONE, CALIBRATED, UNKNOWN }; + +struct PinholeCameraModel::Cache +{ + DistortionState distortion_state; + + cv::Mat_ K_binned, P_binned; // Binning applied, but not cropping + + mutable bool full_maps_dirty; + mutable cv::Mat full_map1, full_map2; + + mutable bool reduced_maps_dirty; + mutable cv::Mat reduced_map1, reduced_map2; + + mutable bool rectified_roi_dirty; + mutable cv::Rect rectified_roi; + + Cache() + : full_maps_dirty(true), + reduced_maps_dirty(true), + rectified_roi_dirty(true) + { + } +}; + +PinholeCameraModel::PinholeCameraModel() +{ +} + +PinholeCameraModel& PinholeCameraModel::operator=(const PinholeCameraModel& other) +{ + if (other.initialized()) + this->fromCameraInfo(other.cameraInfo()); + return *this; +} + +PinholeCameraModel::PinholeCameraModel(const PinholeCameraModel& other) +{ + if (other.initialized()) + fromCameraInfo(other.cam_info_); +} + +// For uint32_t, string, bool... +template +bool update(const T& new_val, T& my_val) +{ + if (my_val == new_val) + return false; + my_val = new_val; + return true; +} + +// For std::vector +template +bool updateMat(const MatT& new_mat, MatT& my_mat, cv::Mat_& cv_mat, int rows, int cols) +{ + if ((my_mat == new_mat) && (my_mat.size() == cv_mat.rows*cv_mat.cols)) + return false; + my_mat = new_mat; + // D may be empty if camera is uncalibrated or distortion model is non-standard + cv_mat = (my_mat.size() == 0) ? cv::Mat_() : cv::Mat_(rows, cols, &my_mat[0]); + return true; +} + +template +bool updateMat(const MatT& new_mat, MatT& my_mat, MatU& cv_mat) +{ + if ((my_mat == new_mat) && (my_mat.size() == cv_mat.rows*cv_mat.cols)) + return false; + my_mat = new_mat; + // D may be empty if camera is uncalibrated or distortion model is non-standard + cv_mat = MatU(&my_mat[0]); + return true; +} + +bool PinholeCameraModel::fromCameraInfo(const sensor_msgs::CameraInfo& msg) +{ + // Create our repository of cached data (rectification maps, etc.) + if (!cache_) +#ifdef BOOST_SHARED_PTR_HPP_INCLUDED + cache_ = boost::make_shared(); +#else + cache_ = std::make_shared(); +#endif + + // Binning = 0 is considered the same as binning = 1 (no binning). + uint32_t binning_x = msg.binning_x ? msg.binning_x : 1; + uint32_t binning_y = msg.binning_y ? msg.binning_y : 1; + + // ROI all zeros is considered the same as full resolution. + sensor_msgs::RegionOfInterest roi = msg.roi; + if (roi.x_offset == 0 && roi.y_offset == 0 && roi.width == 0 && roi.height == 0) { + roi.width = msg.width; + roi.height = msg.height; + } + + // Update time stamp (and frame_id if that changes for some reason) + cam_info_.header = msg.header; + + // Update any parameters that have changed. The full rectification maps are + // invalidated by any change in the calibration parameters OR binning. + bool &full_dirty = cache_->full_maps_dirty; + full_dirty |= update(msg.height, cam_info_.height); + full_dirty |= update(msg.width, cam_info_.width); + full_dirty |= update(msg.distortion_model, cam_info_.distortion_model); + full_dirty |= updateMat(msg.D, cam_info_.D, D_, 1, msg.D.size()); + full_dirty |= updateMat(msg.K, cam_info_.K, K_full_); + full_dirty |= updateMat(msg.R, cam_info_.R, R_); + full_dirty |= updateMat(msg.P, cam_info_.P, P_full_); + full_dirty |= update(binning_x, cam_info_.binning_x); + full_dirty |= update(binning_y, cam_info_.binning_y); + + // The reduced rectification maps are invalidated by any of the above or a + // change in ROI. + bool &reduced_dirty = cache_->reduced_maps_dirty; + reduced_dirty = full_dirty; + reduced_dirty |= update(roi.x_offset, cam_info_.roi.x_offset); + reduced_dirty |= update(roi.y_offset, cam_info_.roi.y_offset); + reduced_dirty |= update(roi.height, cam_info_.roi.height); + reduced_dirty |= update(roi.width, cam_info_.roi.width); + reduced_dirty |= update(roi.do_rectify, cam_info_.roi.do_rectify); + // As is the rectified ROI + cache_->rectified_roi_dirty = reduced_dirty; + + // Figure out how to handle the distortion + if (cam_info_.distortion_model == sensor_msgs::distortion_models::PLUMB_BOB || + cam_info_.distortion_model == sensor_msgs::distortion_models::RATIONAL_POLYNOMIAL) { + // If any distortion coefficient is non-zero, then need to apply the distortion + cache_->distortion_state = NONE; + for (size_t i = 0; i < cam_info_.D.size(); ++i) + { + if (cam_info_.D[i] != 0) + { + cache_->distortion_state = CALIBRATED; + break; + } + } + } + else + cache_->distortion_state = UNKNOWN; + + // If necessary, create new K_ and P_ adjusted for binning and ROI + /// @todo Calculate and use rectified ROI + bool adjust_binning = (binning_x > 1) || (binning_y > 1); + bool adjust_roi = (roi.x_offset != 0) || (roi.y_offset != 0); + + if (!adjust_binning && !adjust_roi) { + K_ = K_full_; + P_ = P_full_; + } + else { + K_ = K_full_; + P_ = P_full_; + + // ROI is in full image coordinates, so change it first + if (adjust_roi) { + // Move principal point by the offset + /// @todo Adjust P by rectified ROI instead + K_(0,2) -= roi.x_offset; + K_(1,2) -= roi.y_offset; + P_(0,2) -= roi.x_offset; + P_(1,2) -= roi.y_offset; + } + + if (binning_x > 1) { + double scale_x = 1.0 / binning_x; + K_(0,0) *= scale_x; + K_(0,2) *= scale_x; + P_(0,0) *= scale_x; + P_(0,2) *= scale_x; + P_(0,3) *= scale_x; + } + if (binning_y > 1) { + double scale_y = 1.0 / binning_y; + K_(1,1) *= scale_y; + K_(1,2) *= scale_y; + P_(1,1) *= scale_y; + P_(1,2) *= scale_y; + P_(1,3) *= scale_y; + } + } + + return reduced_dirty; +} + +bool PinholeCameraModel::fromCameraInfo(const sensor_msgs::CameraInfoConstPtr& msg) +{ + return fromCameraInfo(*msg); +} + +cv::Size PinholeCameraModel::fullResolution() const +{ + assert( initialized() ); + return cv::Size(cam_info_.width, cam_info_.height); +} + +cv::Size PinholeCameraModel::reducedResolution() const +{ + assert( initialized() ); + + cv::Rect roi = rectifiedRoi(); + return cv::Size(roi.width / binningX(), roi.height / binningY()); +} + +cv::Point2d PinholeCameraModel::toFullResolution(const cv::Point2d& uv_reduced) const +{ + cv::Rect roi = rectifiedRoi(); + return cv::Point2d(uv_reduced.x * binningX() + roi.x, + uv_reduced.y * binningY() + roi.y); +} + +cv::Rect PinholeCameraModel::toFullResolution(const cv::Rect& roi_reduced) const +{ + cv::Rect roi = rectifiedRoi(); + return cv::Rect(roi_reduced.x * binningX() + roi.x, + roi_reduced.y * binningY() + roi.y, + roi_reduced.width * binningX(), + roi_reduced.height * binningY()); +} + +cv::Point2d PinholeCameraModel::toReducedResolution(const cv::Point2d& uv_full) const +{ + cv::Rect roi = rectifiedRoi(); + return cv::Point2d((uv_full.x - roi.x) / binningX(), + (uv_full.y - roi.y) / binningY()); +} + +cv::Rect PinholeCameraModel::toReducedResolution(const cv::Rect& roi_full) const +{ + cv::Rect roi = rectifiedRoi(); + return cv::Rect((roi_full.x - roi.x) / binningX(), + (roi_full.y - roi.y) / binningY(), + roi_full.width / binningX(), + roi_full.height / binningY()); +} + +cv::Rect PinholeCameraModel::rawRoi() const +{ + assert( initialized() ); + + return cv::Rect(cam_info_.roi.x_offset, cam_info_.roi.y_offset, + cam_info_.roi.width, cam_info_.roi.height); +} + +cv::Rect PinholeCameraModel::rectifiedRoi() const +{ + assert( initialized() ); + + if (cache_->rectified_roi_dirty) + { + if (!cam_info_.roi.do_rectify) + cache_->rectified_roi = rawRoi(); + else + cache_->rectified_roi = rectifyRoi(rawRoi()); + cache_->rectified_roi_dirty = false; + } + return cache_->rectified_roi; +} + +cv::Point2d PinholeCameraModel::project3dToPixel(const cv::Point3d& xyz) const +{ + assert( initialized() ); + assert(P_(2, 3) == 0.0); // Calibrated stereo cameras should be in the same plane + + // [U V W]^T = P * [X Y Z 1]^T + // u = U/W + // v = V/W + cv::Point2d uv_rect; + uv_rect.x = (fx()*xyz.x + Tx()) / xyz.z + cx(); + uv_rect.y = (fy()*xyz.y + Ty()) / xyz.z + cy(); + return uv_rect; +} + +cv::Point3d PinholeCameraModel::projectPixelTo3dRay(const cv::Point2d& uv_rect) const +{ + assert( initialized() ); + + cv::Point3d ray; + ray.x = (uv_rect.x - cx() - Tx()) / fx(); + ray.y = (uv_rect.y - cy() - Ty()) / fy(); + ray.z = 1.0; + return ray; +} + +void PinholeCameraModel::rectifyImage(const cv::Mat& raw, cv::Mat& rectified, int interpolation) const +{ + assert( initialized() ); + + switch (cache_->distortion_state) { + case NONE: + raw.copyTo(rectified); + break; + case CALIBRATED: + initRectificationMaps(); + if (raw.depth() == CV_32F || raw.depth() == CV_64F) + { + cv::remap(raw, rectified, cache_->reduced_map1, cache_->reduced_map2, interpolation, cv::BORDER_CONSTANT, std::numeric_limits::quiet_NaN()); + } + else { + cv::remap(raw, rectified, cache_->reduced_map1, cache_->reduced_map2, interpolation); + } + break; + default: + assert(cache_->distortion_state == UNKNOWN); + throw Exception("Cannot call rectifyImage when distortion is unknown."); + } +} + +void PinholeCameraModel::unrectifyImage(const cv::Mat& rectified, cv::Mat& raw, int interpolation) const +{ + assert( initialized() ); + + throw Exception("PinholeCameraModel::unrectifyImage is unimplemented."); + /// @todo Implement unrectifyImage() + // Similar to rectifyImage, but need to build separate set of inverse maps (raw->rectified)... + // - Build src_pt Mat with all the raw pixel coordinates (or do it one row at a time) + // - Do cv::undistortPoints(src_pt, dst_pt, K_, D_, R_, P_) + // - Use convertMaps() to convert dst_pt to fast fixed-point maps + // - cv::remap(rectified, raw, ...) + // Need interpolation argument. Same caching behavior? +} + +cv::Point2d PinholeCameraModel::rectifyPoint(const cv::Point2d& uv_raw) const +{ + assert( initialized() ); + + if (cache_->distortion_state == NONE) + return uv_raw; + if (cache_->distortion_state == UNKNOWN) + throw Exception("Cannot call rectifyPoint when distortion is unknown."); + assert(cache_->distortion_state == CALIBRATED); + + /// @todo cv::undistortPoints requires the point data to be float, should allow double + cv::Point2f raw32 = uv_raw, rect32; + const cv::Mat src_pt(1, 1, CV_32FC2, &raw32.x); + cv::Mat dst_pt(1, 1, CV_32FC2, &rect32.x); + cv::undistortPoints(src_pt, dst_pt, K_, D_, R_, P_); + return rect32; +} + +cv::Point2d PinholeCameraModel::unrectifyPoint(const cv::Point2d& uv_rect) const +{ + assert( initialized() ); + + if (cache_->distortion_state == NONE) + return uv_rect; + if (cache_->distortion_state == UNKNOWN) + throw Exception("Cannot call unrectifyPoint when distortion is unknown."); + assert(cache_->distortion_state == CALIBRATED); + + // Convert to a ray + cv::Point3d ray = projectPixelTo3dRay(uv_rect); + + // Project the ray on the image + cv::Mat r_vec, t_vec = cv::Mat_::zeros(3, 1); + cv::Rodrigues(R_.t(), r_vec); + std::vector image_point; + cv::projectPoints(std::vector(1, ray), r_vec, t_vec, K_, D_, image_point); + + return image_point[0]; +} + +cv::Rect PinholeCameraModel::rectifyRoi(const cv::Rect& roi_raw) const +{ + assert( initialized() ); + + /// @todo Actually implement "best fit" as described by REP 104. + + // For now, just unrectify the four corners and take the bounding box. + cv::Point2d rect_tl = rectifyPoint(cv::Point2d(roi_raw.x, roi_raw.y)); + cv::Point2d rect_tr = rectifyPoint(cv::Point2d(roi_raw.x + roi_raw.width, roi_raw.y)); + cv::Point2d rect_br = rectifyPoint(cv::Point2d(roi_raw.x + roi_raw.width, + roi_raw.y + roi_raw.height)); + cv::Point2d rect_bl = rectifyPoint(cv::Point2d(roi_raw.x, roi_raw.y + roi_raw.height)); + + cv::Point roi_tl(std::ceil (std::min(rect_tl.x, rect_bl.x)), + std::ceil (std::min(rect_tl.y, rect_tr.y))); + cv::Point roi_br(std::floor(std::max(rect_tr.x, rect_br.x)), + std::floor(std::max(rect_bl.y, rect_br.y))); + + return cv::Rect(roi_tl.x, roi_tl.y, roi_br.x - roi_tl.x, roi_br.y - roi_tl.y); +} + +cv::Rect PinholeCameraModel::unrectifyRoi(const cv::Rect& roi_rect) const +{ + assert( initialized() ); + + /// @todo Actually implement "best fit" as described by REP 104. + + // For now, just unrectify the four corners and take the bounding box. + cv::Point2d raw_tl = unrectifyPoint(cv::Point2d(roi_rect.x, roi_rect.y)); + cv::Point2d raw_tr = unrectifyPoint(cv::Point2d(roi_rect.x + roi_rect.width, roi_rect.y)); + cv::Point2d raw_br = unrectifyPoint(cv::Point2d(roi_rect.x + roi_rect.width, + roi_rect.y + roi_rect.height)); + cv::Point2d raw_bl = unrectifyPoint(cv::Point2d(roi_rect.x, roi_rect.y + roi_rect.height)); + + cv::Point roi_tl(std::floor(std::min(raw_tl.x, raw_bl.x)), + std::floor(std::min(raw_tl.y, raw_tr.y))); + cv::Point roi_br(std::ceil (std::max(raw_tr.x, raw_br.x)), + std::ceil (std::max(raw_bl.y, raw_br.y))); + + return cv::Rect(roi_tl.x, roi_tl.y, roi_br.x - roi_tl.x, roi_br.y - roi_tl.y); +} + +void PinholeCameraModel::initRectificationMaps() const +{ + /// @todo For large binning settings, can drop extra rows/cols at bottom/right boundary. + /// Make sure we're handling that 100% correctly. + + if (cache_->full_maps_dirty) { + // Create the full-size map at the binned resolution + /// @todo Should binned resolution, K, P be part of public API? + cv::Size binned_resolution = fullResolution(); + binned_resolution.width /= binningX(); + binned_resolution.height /= binningY(); + + cv::Matx33d K_binned; + cv::Matx34d P_binned; + if (binningX() == 1 && binningY() == 1) { + K_binned = K_full_; + P_binned = P_full_; + } + else { + K_binned = K_full_; + P_binned = P_full_; + if (binningX() > 1) { + double scale_x = 1.0 / binningX(); + K_binned(0,0) *= scale_x; + K_binned(0,2) *= scale_x; + P_binned(0,0) *= scale_x; + P_binned(0,2) *= scale_x; + P_binned(0,3) *= scale_x; + } + if (binningY() > 1) { + double scale_y = 1.0 / binningY(); + K_binned(1,1) *= scale_y; + K_binned(1,2) *= scale_y; + P_binned(1,1) *= scale_y; + P_binned(1,2) *= scale_y; + P_binned(1,3) *= scale_y; + } + } + + // Note: m1type=CV_16SC2 to use fast fixed-point maps (see cv::remap) + cv::initUndistortRectifyMap(K_binned, D_, R_, P_binned, binned_resolution, + CV_16SC2, cache_->full_map1, cache_->full_map2); + cache_->full_maps_dirty = false; + } + + if (cache_->reduced_maps_dirty) { + /// @todo Use rectified ROI + cv::Rect roi(cam_info_.roi.x_offset, cam_info_.roi.y_offset, + cam_info_.roi.width, cam_info_.roi.height); + if (roi.x != 0 || roi.y != 0 || + roi.height != (int)cam_info_.height || + roi.width != (int)cam_info_.width) { + + // map1 contains integer (x,y) offsets, which we adjust by the ROI offset + // map2 contains LUT index for subpixel interpolation, which we can leave as-is + roi.x /= binningX(); + roi.y /= binningY(); + roi.width /= binningX(); + roi.height /= binningY(); + cache_->reduced_map1 = cache_->full_map1(roi) - cv::Scalar(roi.x, roi.y); + cache_->reduced_map2 = cache_->full_map2(roi); + } + else { + // Otherwise we're rectifying the full image + cache_->reduced_map1 = cache_->full_map1; + cache_->reduced_map2 = cache_->full_map2; + } + cache_->reduced_maps_dirty = false; + } +} + +} //namespace image_geometry diff --git a/MyCode/src/image_geometry/src/stereo_camera_model.cpp b/MyCode/src/image_geometry/src/stereo_camera_model.cpp new file mode 100644 index 0000000..062edb7 --- /dev/null +++ b/MyCode/src/image_geometry/src/stereo_camera_model.cpp @@ -0,0 +1,140 @@ +#include "image_geometry/stereo_camera_model.h" + +namespace image_geometry { + +StereoCameraModel::StereoCameraModel() + : Q_(0.0) +{ + Q_(0,0) = Q_(1,1) = 1.0; +} + +StereoCameraModel::StereoCameraModel(const StereoCameraModel& other) + : left_(other.left_), right_(other.right_), + Q_(0.0) +{ + Q_(0,0) = Q_(1,1) = 1.0; + if (other.initialized()) + updateQ(); +} + +StereoCameraModel& StereoCameraModel::operator=(const StereoCameraModel& other) +{ + if (other.initialized()) + this->fromCameraInfo(other.left_.cameraInfo(), other.right_.cameraInfo()); + return *this; +} + +bool StereoCameraModel::fromCameraInfo(const sensor_msgs::CameraInfo& left, + const sensor_msgs::CameraInfo& right) +{ + bool changed_left = left_.fromCameraInfo(left); + bool changed_right = right_.fromCameraInfo(right); + bool changed = changed_left || changed_right; + + // Note: don't require identical time stamps to allow imperfectly synced stereo. + assert( left_.tfFrame() == right_.tfFrame() ); + assert( left_.fx() == right_.fx() ); + assert( left_.fy() == right_.fy() ); + assert( left_.cy() == right_.cy() ); + // cx may differ for verged cameras + + if (changed) + updateQ(); + + return changed; +} + +bool StereoCameraModel::fromCameraInfo(const sensor_msgs::CameraInfoConstPtr& left, + const sensor_msgs::CameraInfoConstPtr& right) +{ + return fromCameraInfo(*left, *right); +} + +void StereoCameraModel::updateQ() +{ + // Update variable fields of reprojection matrix + /* + From Springer Handbook of Robotics, p. 524: + + [ Fx 0 Cx 0 ] + P = [ 0 Fy Cy 0 ] + [ 0 0 1 0 ] + + [ Fx 0 Cx' FxTx ] + P' = [ 0 Fy Cy 0 ] + [ 0 0 1 0 ] + where primed parameters are from the left projection matrix, unprimed from the right. + + [u v 1]^T = P * [x y z 1]^T + [u-d v 1]^T = P' * [x y z 1]^T + + Combining the two equations above results in the following equation + + [u v u-d 1]^T = [ Fx 0 Cx 0 ] * [ x y z 1]^T + [ 0 Fy Cy 0 ] + [ Fx 0 Cx' FxTx ] + [ 0 0 1 0 ] + + Subtracting the 3rd from from the first and inverting the expression + results in the following equation. + + [x y z 1]^T = Q * [u v d 1]^T + + Where Q is defined as + + Q = [ FyTx 0 0 -FyCxTx ] + [ 0 FxTx 0 -FxCyTx ] + [ 0 0 0 FxFyTx ] + [ 0 0 -Fy Fy(Cx-Cx') ] + + Using the assumption Fx = Fy Q can be simplified to the following. But for + compatibility with stereo cameras with different focal lengths we will use + the full Q matrix. + + [ 1 0 0 -Cx ] + Q = [ 0 1 0 -Cy ] + [ 0 0 0 Fx ] + [ 0 0 -1/Tx (Cx-Cx')/Tx ] + + Disparity = x_left - x_right + + For compatibility with stereo cameras with different focal lengths we will use + the full Q matrix. + + */ + double Tx = -baseline(); // The baseline member negates our Tx. Undo this negation + Q_(0,0) = left_.fy() * Tx; + Q_(0,3) = -left_.fy() * left_.cx() * Tx; + Q_(1,1) = left_.fx() * Tx; + Q_(1,3) = -left_.fx() * left_.cy() * Tx; + Q_(2,3) = left_.fx() * left_.fy() * Tx; + Q_(3,2) = -left_.fy(); + Q_(3,3) = left_.fy() * (left_.cx() - right_.cx()); // zero when disparities are pre-adjusted +} + +void StereoCameraModel::projectDisparityTo3d(const cv::Point2d& left_uv_rect, float disparity, + cv::Point3d& xyz) const +{ + assert( initialized() ); + + // Do the math inline: + // [X Y Z W]^T = Q * [u v d 1]^T + // Point = (X/W, Y/W, Z/W) + // cv::perspectiveTransform could be used but with more overhead. + double u = left_uv_rect.x, v = left_uv_rect.y; + cv::Point3d XYZ( (Q_(0,0) * u) + Q_(0,3), (Q_(1,1) * v) + Q_(1,3), Q_(2,3)); + double W = Q_(3,2)*disparity + Q_(3,3); + xyz = XYZ * (1.0/W); +} + +const double StereoCameraModel::MISSING_Z = 10000.; + +void StereoCameraModel::projectDisparityImageTo3d(const cv::Mat& disparity, cv::Mat& point_cloud, + bool handleMissingValues) const +{ + assert( initialized() ); + + cv::reprojectImageTo3D(disparity, point_cloud, Q_, handleMissingValues); +} + +} //namespace image_geometry diff --git a/MyCode/src/image_geometry/test/CMakeLists.txt b/MyCode/src/image_geometry/test/CMakeLists.txt new file mode 100644 index 0000000..6dba1e5 --- /dev/null +++ b/MyCode/src/image_geometry/test/CMakeLists.txt @@ -0,0 +1,4 @@ +catkin_add_nosetests(directed.py) + +catkin_add_gtest(${PROJECT_NAME}-utest utest.cpp) +target_link_libraries(${PROJECT_NAME}-utest ${PROJECT_NAME} ${OpenCV_LIBS}) diff --git a/MyCode/src/image_geometry/test/directed.py b/MyCode/src/image_geometry/test/directed.py new file mode 100644 index 0000000..3c0c769 --- /dev/null +++ b/MyCode/src/image_geometry/test/directed.py @@ -0,0 +1,77 @@ +from __future__ import print_function + +import rostest +import rospy +import unittest +import sensor_msgs.msg + +from image_geometry import PinholeCameraModel, StereoCameraModel + +class TestDirected(unittest.TestCase): + + def setUp(self): + pass + + def test_monocular(self): + ci = sensor_msgs.msg.CameraInfo() + ci.width = 640 + ci.height = 480 + print(ci) + cam = PinholeCameraModel() + cam.fromCameraInfo(ci) + print(cam.rectifyPoint((0, 0))) + + print(cam.project3dToPixel((0,0,0))) + + def test_stereo(self): + lmsg = sensor_msgs.msg.CameraInfo() + rmsg = sensor_msgs.msg.CameraInfo() + for m in (lmsg, rmsg): + m.width = 640 + m.height = 480 + + # These parameters taken from a real camera calibration + lmsg.D = [-0.363528858080088, 0.16117037733986861, -8.1109585007538829e-05, -0.00044776712298447841, 0.0] + lmsg.K = [430.15433020105519, 0.0, 311.71339830549732, 0.0, 430.60920415473657, 221.06824942698509, 0.0, 0.0, 1.0] + lmsg.R = [0.99806560714807102, 0.0068562422224214027, 0.061790256276695904, -0.0067522959054715113, 0.99997541519165112, -0.0018909025066874664, -0.061801701660692349, 0.0014700186639396652, 0.99808736527268516] + lmsg.P = [295.53402059708782, 0.0, 285.55760765075684, 0.0, 0.0, 295.53402059708782, 223.29617881774902, 0.0, 0.0, 0.0, 1.0, 0.0] + + rmsg.D = [-0.3560641041112021, 0.15647260261553159, -0.00016442960757099968, -0.00093175810713916221] + rmsg.K = [428.38163131344191, 0.0, 327.95553847249192, 0.0, 428.85728580588329, 217.54828640915309, 0.0, 0.0, 1.0] + rmsg.R = [0.9982082576219119, 0.0067433328293516528, 0.059454199832973849, -0.0068433268864187356, 0.99997549128605434, 0.0014784127772287513, -0.059442773257581252, -0.0018826283666309878, 0.99822993965212292] + rmsg.P = [295.53402059708782, 0.0, 285.55760765075684, -26.507895206214123, 0.0, 295.53402059708782, 223.29617881774902, 0.0, 0.0, 0.0, 1.0, 0.0] + + cam = StereoCameraModel() + cam.fromCameraInfo(lmsg, rmsg) + + for x in (16, 320, m.width - 16): + for y in (16, 240, m.height - 16): + for d in range(1, 10): + pt3d = cam.projectPixelTo3d((x, y), d) + ((lx, ly), (rx, ry)) = cam.project3dToPixel(pt3d) + self.assertAlmostEqual(y, ly, 3) + self.assertAlmostEqual(y, ry, 3) + self.assertAlmostEqual(x, lx, 3) + self.assertAlmostEqual(x, rx + d, 3) + + u = 100.0 + v = 200.0 + du = 17.0 + dv = 23.0 + Z = 2.0 + xyz0 = cam.left.projectPixelTo3dRay((u, v)) + xyz0 = (xyz0[0] * (Z / xyz0[2]), xyz0[1] * (Z / xyz0[2]), Z) + xyz1 = cam.left.projectPixelTo3dRay((u + du, v + dv)) + xyz1 = (xyz1[0] * (Z / xyz1[2]), xyz1[1] * (Z / xyz1[2]), Z) + self.assertAlmostEqual(cam.left.getDeltaU(xyz1[0] - xyz0[0], Z), du, 3) + self.assertAlmostEqual(cam.left.getDeltaV(xyz1[1] - xyz0[1], Z), dv, 3) + self.assertAlmostEqual(cam.left.getDeltaX(du, Z), xyz1[0] - xyz0[0], 3) + self.assertAlmostEqual(cam.left.getDeltaY(dv, Z), xyz1[1] - xyz0[1], 3) + +if __name__ == '__main__': + if 1: + rostest.unitrun('image_geometry', 'directed', TestDirected) + else: + suite = unittest.TestSuite() + suite.addTest(TestDirected('test_stereo')) + unittest.TextTestRunner(verbosity=2).run(suite) diff --git a/MyCode/src/image_geometry/test/utest.cpp b/MyCode/src/image_geometry/test/utest.cpp new file mode 100644 index 0000000..2589019 --- /dev/null +++ b/MyCode/src/image_geometry/test/utest.cpp @@ -0,0 +1,259 @@ +#include "image_geometry/pinhole_camera_model.h" +#include +#include + +/// @todo Tests with simple values (R = identity, D = 0, P = K or simple scaling) +/// @todo Test projection functions for right stereo values, P(:,3) != 0 +/// @todo Tests for [un]rectifyImage +/// @todo Tests using ROI, needs support from PinholeCameraModel +/// @todo Tests for StereoCameraModel + +class PinholeTest : public testing::Test +{ +protected: + virtual void SetUp() + { + /// @todo Just load these from file + // These parameters taken from a real camera calibration + double D[] = {-0.363528858080088, 0.16117037733986861, -8.1109585007538829e-05, -0.00044776712298447841, 0.0}; + double K[] = {430.15433020105519, 0.0, 311.71339830549732, + 0.0, 430.60920415473657, 221.06824942698509, + 0.0, 0.0, 1.0}; + double R[] = {0.99806560714807102, 0.0068562422224214027, 0.061790256276695904, + -0.0067522959054715113, 0.99997541519165112, -0.0018909025066874664, + -0.061801701660692349, 0.0014700186639396652, 0.99808736527268516}; + double P[] = {295.53402059708782, 0.0, 285.55760765075684, 0.0, + 0.0, 295.53402059708782, 223.29617881774902, 0.0, + 0.0, 0.0, 1.0, 0.0}; + + cam_info_.header.frame_id = "tf_frame"; + cam_info_.height = 480; + cam_info_.width = 640; + // No ROI + cam_info_.D.resize(5); + std::copy(D, D+5, cam_info_.D.begin()); + std::copy(K, K+9, cam_info_.K.begin()); + std::copy(R, R+9, cam_info_.R.begin()); + std::copy(P, P+12, cam_info_.P.begin()); + cam_info_.distortion_model = sensor_msgs::distortion_models::PLUMB_BOB; + + model_.fromCameraInfo(cam_info_); + } + + sensor_msgs::CameraInfo cam_info_; + image_geometry::PinholeCameraModel model_; +}; + +TEST_F(PinholeTest, accessorsCorrect) +{ + EXPECT_STREQ("tf_frame", model_.tfFrame().c_str()); + EXPECT_EQ(cam_info_.P[0], model_.fx()); + EXPECT_EQ(cam_info_.P[5], model_.fy()); + EXPECT_EQ(cam_info_.P[2], model_.cx()); + EXPECT_EQ(cam_info_.P[6], model_.cy()); +} + +TEST_F(PinholeTest, projectPoint) +{ + // Spot test an arbitrary point. + { + cv::Point2d uv(100, 100); + cv::Point3d xyz = model_.projectPixelTo3dRay(uv); + EXPECT_NEAR(-0.62787224048135637, xyz.x, 1e-8); + EXPECT_NEAR(-0.41719792045817677, xyz.y, 1e-8); + EXPECT_DOUBLE_EQ(1.0, xyz.z); + } + + // Principal point should project straight out. + { + cv::Point2d uv(model_.cx(), model_.cy()); + cv::Point3d xyz = model_.projectPixelTo3dRay(uv); + EXPECT_DOUBLE_EQ(0.0, xyz.x); + EXPECT_DOUBLE_EQ(0.0, xyz.y); + EXPECT_DOUBLE_EQ(1.0, xyz.z); + } + + // Check projecting to 3d and back over entire image is accurate. + const size_t step = 10; + for (size_t row = 0; row <= cam_info_.height; row += step) { + for (size_t col = 0; col <= cam_info_.width; col += step) { + cv::Point2d uv(row, col), uv_back; + cv::Point3d xyz = model_.projectPixelTo3dRay(uv); + uv_back = model_.project3dToPixel(xyz); + // Measured max error at 1.13687e-13 + EXPECT_NEAR(uv.x, uv_back.x, 1.14e-13) << "at (" << row << ", " << col << ")"; + EXPECT_NEAR(uv.y, uv_back.y, 1.14e-13) << "at (" << row << ", " << col << ")"; + } + } +} + +TEST_F(PinholeTest, rectifyPoint) +{ + // Spot test an arbitrary point. + { + cv::Point2d uv_raw(100, 100), uv_rect; + uv_rect = model_.rectifyPoint(uv_raw); + EXPECT_DOUBLE_EQ(142.30311584472656, uv_rect.x); + EXPECT_DOUBLE_EQ(132.061065673828, uv_rect.y); + } + + /// @todo Need R = identity for the principal point tests. +#if 0 + // Test rectifyPoint takes (c'x, c'y) [from K] -> (cx, cy) [from P]. + double cxp = model_.intrinsicMatrix()(0,2), cyp = model_.intrinsicMatrix()(1,2); + { + cv::Point2d uv_raw(cxp, cyp), uv_rect; + model_.rectifyPoint(uv_raw, uv_rect); + EXPECT_NEAR(uv_rect.x, model_.cx(), 1e-4); + EXPECT_NEAR(uv_rect.y, model_.cy(), 1e-4); + } + + // Test unrectifyPoint takes (cx, cy) [from P] -> (c'x, c'y) [from K]. + { + cv::Point2d uv_rect(model_.cx(), model_.cy()), uv_raw; + model_.unrectifyPoint(uv_rect, uv_raw); + EXPECT_NEAR(uv_raw.x, cxp, 1e-4); + EXPECT_NEAR(uv_raw.y, cyp, 1e-4); + } +#endif + + // Check rectifying then unrectifying over most of the image is accurate. + const size_t step = 5; + const size_t border = 65; // Expect bad accuracy far from the center of the image. + for (size_t row = border; row <= cam_info_.height - border; row += step) { + for (size_t col = border; col <= cam_info_.width - border; col += step) { + cv::Point2d uv_raw(row, col), uv_rect, uv_unrect; + uv_rect = model_.rectifyPoint(uv_raw); + uv_unrect = model_.unrectifyPoint(uv_rect); + // Check that we're at least within a pixel... + EXPECT_NEAR(uv_raw.x, uv_unrect.x, 1.0); + EXPECT_NEAR(uv_raw.y, uv_unrect.y, 1.0); + } + } +} + +TEST_F(PinholeTest, getDeltas) +{ + double u = 100.0, v = 200.0, du = 17.0, dv = 23.0, Z = 2.0; + cv::Point2d uv0(u, v), uv1(u + du, v + dv); + cv::Point3d xyz0, xyz1; + xyz0 = model_.projectPixelTo3dRay(uv0); + xyz0 *= (Z / xyz0.z); + xyz1 = model_.projectPixelTo3dRay(uv1); + xyz1 *= (Z / xyz1.z); + + EXPECT_NEAR(model_.getDeltaU(xyz1.x - xyz0.x, Z), du, 1e-4); + EXPECT_NEAR(model_.getDeltaV(xyz1.y - xyz0.y, Z), dv, 1e-4); + EXPECT_NEAR(model_.getDeltaX(du, Z), xyz1.x - xyz0.x, 1e-4); + EXPECT_NEAR(model_.getDeltaY(dv, Z), xyz1.y - xyz0.y, 1e-4); +} + +TEST_F(PinholeTest, initialization) +{ + + sensor_msgs::CameraInfo info; + image_geometry::PinholeCameraModel camera; + + camera.fromCameraInfo(info); + + EXPECT_EQ(camera.initialized(), 1); + EXPECT_EQ(camera.projectionMatrix().rows, 3); + EXPECT_EQ(camera.projectionMatrix().cols, 4); +} + +TEST_F(PinholeTest, rectifyIfCalibrated) +{ + /// @todo use forward distortion for a better test + // Ideally this test would have two images stored on disk + // one which is distorted and the other which is rectified, + // and then rectification would take place here and the output + // image compared to the one on disk (which would mean if + // the distortion coefficients above can't change once paired with + // an image). + + // Later could incorporate distort code + // (https://github.com/lucasw/vimjay/blob/master/src/standalone/distort_image.cpp) + // to take any image distort it, then undistort with rectifyImage, + // and given the distortion coefficients are consistent the input image + // and final output image should be mostly the same (though some + // interpolation error + // creeps in), except for outside a masked region where information was lost. + // The masked region can be generated with a pure white image that + // goes through the same process (if it comes out completely black + // then the distortion parameters are problematic). + + // For now generate an image and pass the test simply if + // the rectified image does not match the distorted image. + // Then zero out the first distortion coefficient and run + // the test again. + // Then zero out all the distortion coefficients and test + // that the output image is the same as the input. + cv::Mat distorted_image(cv::Size(cam_info_.width, cam_info_.height), CV_8UC3, cv::Scalar(0, 0, 0)); + + // draw a grid + const cv::Scalar color = cv::Scalar(255, 255, 255); + // draw the lines thick so the proportion of error due to + // interpolation is reduced + const int thickness = 7; + const int type = 8; + for (size_t y = 0; y <= cam_info_.height; y += cam_info_.height/10) + { + cv::line(distorted_image, + cv::Point(0, y), cv::Point(cam_info_.width, y), + color, type, thickness); + } + for (size_t x = 0; x <= cam_info_.width; x += cam_info_.width/10) + { + // draw the lines thick so the prorportion of interpolation error is reduced + cv::line(distorted_image, + cv::Point(x, 0), cv::Point(x, cam_info_.height), + color, type, thickness); + } + + cv::Mat rectified_image; + // Just making this number up, maybe ought to be larger + // since a completely different image would be on the order of + // width * height * 255 = 78e6 + const double diff_threshold = 10000.0; + double error; + + // Test that rectified image is sufficiently different + // using default distortion + model_.rectifyImage(distorted_image, rectified_image); + error = cv::norm(distorted_image, rectified_image, cv::NORM_L1); + // Just making this number up, maybe ought to be larger + EXPECT_GT(error, diff_threshold); + + // Test that rectified image is sufficiently different + // using default distortion but with first element zeroed + // out. + sensor_msgs::CameraInfo cam_info_2 = cam_info_; + cam_info_2.D[0] = 0.0; + model_.fromCameraInfo(cam_info_2); + model_.rectifyImage(distorted_image, rectified_image); + error = cv::norm(distorted_image, rectified_image, cv::NORM_L1); + EXPECT_GT(error, diff_threshold); + + // Test that rectified image is the same using zero distortion + cam_info_2.D.assign(cam_info_2.D.size(), 0); + model_.fromCameraInfo(cam_info_2); + model_.rectifyImage(distorted_image, rectified_image); + error = cv::norm(distorted_image, rectified_image, cv::NORM_L1); + EXPECT_EQ(error, 0); + + // Test that rectified image is the same using empty distortion + cam_info_2.D.clear(); + model_.fromCameraInfo(cam_info_2); + model_.rectifyImage(distorted_image, rectified_image); + error = cv::norm(distorted_image, rectified_image, cv::NORM_L1); + EXPECT_EQ(error, 0); + + // restore original distortion + model_.fromCameraInfo(cam_info_); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/MyCode/src/my-slam/.vscode/settings.json b/MyCode/src/my-slam/.vscode/settings.json new file mode 100644 index 0000000..b971f3b --- /dev/null +++ b/MyCode/src/my-slam/.vscode/settings.json @@ -0,0 +1,9 @@ +{ + "C_Cpp.errorSquiggles": "disabled", + "files.associations": { + "core": "cpp", + "specialfunctions": "cpp", + "sparsecore": "cpp", + "type_traits": "cpp" + } +} \ No newline at end of file diff --git a/MyCode/src/my-slam/CMakeLists.txt b/MyCode/src/my-slam/CMakeLists.txt new file mode 100644 index 0000000..4bb9a00 --- /dev/null +++ b/MyCode/src/my-slam/CMakeLists.txt @@ -0,0 +1,134 @@ +cmake_minimum_required(VERSION 2.8) +project(sg-slam) + +ADD_COMPILE_OPTIONS(-std=c++14 ) + +set( CMAKE_CXX_FLAGS "-std=c++11 -O3" ) + +set(CMAKE_CXX_STANDARD 14) + +IF(NOT CMAKE_BUILD_TYPE) + #SET(CMAKE_BUILD_TYPE Debug) + 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 "${CMAKE_CXX_FLAGS} -Wall -O3 ") + +# Check C++11 or C++0x support +include(CheckCXXCompilerFlag) +CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) +CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) +if(COMPILER_SUPPORTS_CXX11) + set(CMAKE_CXX_FLAGS "${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 ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") +endif() + +find_package(catkin REQUIRED COMPONENTS + roscpp + sensor_msgs + cv_bridge + image_geometry + message_generation + message_filters + tf +) + +#set(ncnn_DIR "/usr/local/lib/ncnn/lib/cmake/ncnn" CACHE PATH "Directory that contains ncnnConfig.cmake") + +set(ncnn_DIR "/home/test/My/src/sg-slam/Thirdparty/ncnn/build/install/lib/cmake/ncnn/") +set(onnxruntime_DIR "/home/test/onnxruntime-linux-x64-gpu-1.20.1") + +set(NCNN_TARGET_LIB ncnn) +set(catkin_DIR /opt/ros/melodic/share/catkin/cmake) # new add for clion + +find_package(catkin REQUIRED) # new add for clion +find_package(ncnn REQUIRED) +find_package(PkgConfig REQUIRED) +find_package(OpenCV REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(Pangolin REQUIRED) +find_package(PCL REQUIRED) +find_package(octomap REQUIRED) + + +include_directories( +${catkin_INCLUDE_DIRS} +${PROJECT_SOURCE_DIR} +${PROJECT_SOURCE_DIR}/include +${EIGEN3_INCLUDE_DIR} +${Pangolin_INCLUDE_DIRS} +${PCL_INCLUDE_DIRS} +${OCTOMAP_INCLUDE_DIRS} +${onnxruntime_DIR}/include +) + +add_definitions( ${PCL_DEFINITIONS} ) +link_directories( ${PCL_LIBRARY_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/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/Detector2D.cc +src/Detector3D.cc +src/ObjectDatabase.cc +src/PointcloudMapping.cc +src/inference.cc +src/yolov8_seg_utils.cpp +src/yolov8_seg_onnx.cpp +) + +target_link_libraries(${PROJECT_NAME} +${catkin_LIBRARIES} +${OpenCV_LIBS} +${EIGEN3_LIBS} +${Pangolin_LIBRARIES} +${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so +${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so +${PCL_LIBRARIES} +${NCNN_TARGET_LIB} +${OCTOMAP_LIBRARIES} +${onnxruntime_DIR}/lib/libonnxruntime.so +-lgomp +) + + + +# Build examples +set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples) + +add_executable(sg_slam_tum Examples/rgbd_tum.cc) +target_link_libraries(sg_slam_tum ${PROJECT_NAME}) + +add_executable(sg_slam_ros_rgbd Examples/ros_rgbd.cc) +target_link_libraries(sg_slam_ros_rgbd ${PROJECT_NAME}) + + diff --git a/MyCode/src/my-slam/CameraTrajectory.txt b/MyCode/src/my-slam/CameraTrajectory.txt new file mode 100644 index 0000000..a22d071 --- /dev/null +++ b/MyCode/src/my-slam/CameraTrajectory.txt @@ -0,0 +1,327 @@ +1305031102.175304 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 1.000000000 +1305031102.211214 -0.001239006 0.007588001 0.011263316 -0.002100012 -0.003103508 -0.001412427 0.999991953 +1305031102.275326 -0.002442706 0.007433954 0.036194731 -0.013565630 -0.008885938 -0.000684113 0.999868274 +1305031102.311267 -0.001659360 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0.098440342 -0.033729546 0.062566899 0.032049280 0.996955633 +1305031113.143306 0.238076195 0.009853818 0.096470229 -0.033767797 0.058837611 0.030620413 0.997226298 +1305031113.179343 0.224435195 0.000892852 0.096488535 -0.038878985 0.058141124 0.032236081 0.997030020 +1305031113.211259 0.208338141 0.000334010 0.092068166 -0.036853332 0.054243986 0.033898573 0.997271419 +1305031113.243227 0.191866025 0.003262773 0.086648852 -0.038013838 0.048443090 0.033850878 0.997528136 diff --git a/MyCode/src/my-slam/Examples/Bonn.yaml b/MyCode/src/my-slam/Examples/Bonn.yaml new file mode 100644 index 0000000..12df191 --- /dev/null +++ b/MyCode/src/my-slam/Examples/Bonn.yaml @@ -0,0 +1,95 @@ +%YAML:1.0 + +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- + +# Camera calibration and distortion parameters (OpenCV) +Camera.fx: 542.822841 +Camera.fy: 542.576870 +Camera.cx: 315.593520 +Camera.cy: 237.756098 + +Camera.k1: 0.039903 +Camera.k2: -0.099343 +Camera.p1: -0.000730 +Camera.p2: -0.000144 + +Camera.width: 640 +Camera.height: 480 + +# Camera frames per second +Camera.fps: 30.0 + +# IR projector baseline times fx (aprox.) +Camera.bf: 40.0 + +# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) +Camera.RGB: 1 + +# Close/Far threshold. Baseline times. +ThDepth: 40.0 + +# Deptmap values factor +DepthMapFactor: 5000.0 + +#-------------------------------------------------------------------------------------------- +# 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 + +PointCloudMapping.is_map_construction_consider_dynamic: 1 + +PointCloudMapping.camera_valid_depth_Min: 0.5 +PointCloudMapping.camera_valid_depth_Max: 5.0 + +PointCloudMapping.is_octo_semantic_map_construction: 0 +PointCloudMapping.Sor_Local_MeanK: 50 +PointCloudMapping.Sor_Local_StddevMulThresh: 2.0 +PointCloudMapping.Voxel_Local_LeafSize: 0.01 + +PointCloudMapping.is_global_pc_reconstruction: 1 +PointCloudMapping.Sor_Global_MeanK: 50 +PointCloudMapping.Sor_Global_StddevMulThresh: 2.0 +PointCloudMapping.Voxel_Global_LeafSize: 0.01 + +Detector3D.Sor_MeanK: 50 +Detector3D.Sor_StddevMulThresh: 1.0 +Detector3D.Voxel_LeafSize: 0.01 +Detector3D.EuclideanClusterTolerance: 0.02 +Detector3D.EuclideanClusterMinSize: 1000 +Detector3D.EuclideanClusterMaxSize: 30000 +Detector3D.DetectSimilarCompareRatio: 0.5 +Detector3D.global_pc_update_kf_threshold: 25 + +Detector2D.detection_confidence_threshold: 0.95 +Detector2D.dynamic_detection_confidence_threshold: 0.1 diff --git a/MyCode/src/my-slam/Examples/TUM1.yaml b/MyCode/src/my-slam/Examples/TUM1.yaml new file mode 100644 index 0000000..d2b96c8 --- /dev/null +++ b/MyCode/src/my-slam/Examples/TUM1.yaml @@ -0,0 +1,97 @@ +%YAML:1.0 + +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- + +# Camera calibration and distortion parameters (OpenCV) +Camera.fx: 517.306408 +Camera.fy: 516.469215 +Camera.cx: 318.643040 +Camera.cy: 255.313989 + +Camera.k1: 0.262383 +Camera.k2: -0.953104 +Camera.p1: -0.005358 +Camera.p2: 0.002628 +Camera.k3: 1.163314 + +Camera.width: 640 +Camera.height: 480 + +# Camera frames per second +Camera.fps: 30.0 + +# IR projector baseline times fx (aprox.) +Camera.bf: 40.0 + +# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) +Camera.RGB: 1 + +# Close/Far threshold. Baseline times. +ThDepth: 40.0 + +# Deptmap values factor +DepthMapFactor: 5000.0 + +#-------------------------------------------------------------------------------------------- +# 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 + +PointCloudMapping.is_map_construction_consider_dynamic: 1 + +PointCloudMapping.camera_valid_depth_Min: 0.5 +PointCloudMapping.camera_valid_depth_Max: 5.0 + +PointCloudMapping.is_octo_semantic_map_construction: 0 +PointCloudMapping.Sor_Local_MeanK: 50 +PointCloudMapping.Sor_Local_StddevMulThresh: 2.0 +PointCloudMapping.Voxel_Local_LeafSize: 0.01 + +PointCloudMapping.is_global_pc_reconstruction: 1 +PointCloudMapping.Sor_Global_MeanK: 50 +PointCloudMapping.Sor_Global_StddevMulThresh: 2.0 +PointCloudMapping.Voxel_Global_LeafSize: 0.01 + +Detector3D.Sor_MeanK: 50 +Detector3D.Sor_StddevMulThresh: 1.0 +Detector3D.Voxel_LeafSize: 0.01 +Detector3D.EuclideanClusterTolerance: 0.02 +Detector3D.EuclideanClusterMinSize: 1000 +Detector3D.EuclideanClusterMaxSize: 30000 +Detector3D.DetectSimilarCompareRatio: 0.5 +Detector3D.global_pc_update_kf_threshold: 25 + +Detector2D.detection_confidence_threshold: 0.95 +Detector2D.dynamic_detection_confidence_threshold: 0.05 + diff --git a/MyCode/src/my-slam/Examples/TUM2.yaml b/MyCode/src/my-slam/Examples/TUM2.yaml new file mode 100644 index 0000000..4065a5f --- /dev/null +++ b/MyCode/src/my-slam/Examples/TUM2.yaml @@ -0,0 +1,97 @@ +%YAML:1.0 + +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- + +# Camera calibration and distortion parameters (OpenCV) +Camera.fx: 520.908620 +Camera.fy: 521.007327 +Camera.cx: 325.141442 +Camera.cy: 249.701764 + +Camera.k1: 0.231222 +Camera.k2: -0.784899 +Camera.p1: -0.003257 +Camera.p2: -0.000105 +Camera.k3: 0.917205 + +Camera.width: 640 +Camera.height: 480 + +# Camera frames per second +Camera.fps: 30.0 + +# IR projector baseline times fx (aprox.) +Camera.bf: 40.0 + +# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) +Camera.RGB: 1 + +# Close/Far threshold. Baseline times. +ThDepth: 40.0 + +# Deptmap values factor +DepthMapFactor: 5208.0 + +#-------------------------------------------------------------------------------------------- +# 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 + +PointCloudMapping.is_map_construction_consider_dynamic: 1 + +PointCloudMapping.camera_valid_depth_Min: 0.5 +PointCloudMapping.camera_valid_depth_Max: 5.0 + +PointCloudMapping.is_octo_semantic_map_construction: 0 +PointCloudMapping.Sor_Local_MeanK: 50 +PointCloudMapping.Sor_Local_StddevMulThresh: 2.0 +PointCloudMapping.Voxel_Local_LeafSize: 0.01 + +PointCloudMapping.is_global_pc_reconstruction: 1 +PointCloudMapping.Sor_Global_MeanK: 50 +PointCloudMapping.Sor_Global_StddevMulThresh: 2.0 +PointCloudMapping.Voxel_Global_LeafSize: 0.01 + +Detector3D.Sor_MeanK: 50 +Detector3D.Sor_StddevMulThresh: 1.0 +Detector3D.Voxel_LeafSize: 0.01 +Detector3D.EuclideanClusterTolerance: 0.02 +Detector3D.EuclideanClusterMinSize: 1000 +Detector3D.EuclideanClusterMaxSize: 30000 +Detector3D.DetectSimilarCompareRatio: 0.5 +Detector3D.global_pc_update_kf_threshold: 25 + +Detector2D.detection_confidence_threshold: 0.95 +Detector2D.dynamic_detection_confidence_threshold: 0.05 + diff --git a/MyCode/src/my-slam/Examples/TUM3.yaml b/MyCode/src/my-slam/Examples/TUM3.yaml new file mode 100644 index 0000000..a8b69f6 --- /dev/null +++ b/MyCode/src/my-slam/Examples/TUM3.yaml @@ -0,0 +1,96 @@ +%YAML:1.0 + +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- + +# Camera calibration and distortion parameters (OpenCV) +Camera.fx: 535.4 +Camera.fy: 539.2 +Camera.cx: 320.1 +Camera.cy: 247.6 + +Camera.k1: 0.0 +Camera.k2: 0.0 +Camera.p1: 0.0 +Camera.p2: 0.0 + +Camera.width: 640 +Camera.height: 480 + +# Camera frames per second +Camera.fps: 30.0 + +# IR projector baseline times fx (aprox.) +Camera.bf: 40.0 + +# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) +Camera.RGB: 1 + +# Close/Far threshold. Baseline times. +ThDepth: 40.0 + +# Deptmap values factor +DepthMapFactor: 5000.0 + +#-------------------------------------------------------------------------------------------- +# 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 + +PointCloudMapping.is_map_construction_consider_dynamic: 0 + +PointCloudMapping.camera_valid_depth_Min: 0.5 +PointCloudMapping.camera_valid_depth_Max: 5.0 + +PointCloudMapping.is_octo_semantic_map_construction: 1 +PointCloudMapping.Sor_Local_MeanK: 50 +PointCloudMapping.Sor_Local_StddevMulThresh: 3.0 +PointCloudMapping.Voxel_Local_LeafSize: 0.005 + +PointCloudMapping.is_global_pc_reconstruction: 0 +PointCloudMapping.Sor_Global_MeanK: 50 +PointCloudMapping.Sor_Global_StddevMulThresh: 3.0 +PointCloudMapping.Voxel_Global_LeafSize: 0.01 + +Detector3D.Sor_MeanK: 50 +Detector3D.Sor_StddevMulThresh: 1.0 +Detector3D.Voxel_LeafSize: 0.01 +Detector3D.EuclideanClusterTolerance: 0.02 +Detector3D.EuclideanClusterMinSize: 1000 +Detector3D.EuclideanClusterMaxSize: 30000 +Detector3D.DetectSimilarCompareRatio: 0.1 +Detector3D.global_pc_update_kf_threshold: 25 + +Detector2D.detection_confidence_threshold: 0.90 +Detector2D.dynamic_detection_confidence_threshold: 0.01 + diff --git a/MyCode/src/my-slam/Examples/astra_pro_camera.yaml b/MyCode/src/my-slam/Examples/astra_pro_camera.yaml new file mode 100644 index 0000000..8c675bd --- /dev/null +++ b/MyCode/src/my-slam/Examples/astra_pro_camera.yaml @@ -0,0 +1,97 @@ +%YAML:1.0 + +#-------------------------------------------------------------------------------------------- +# Camera Parameters. Adjust them! +#-------------------------------------------------------------------------------------------- + +# Camera calibration and distortion parameters (OpenCV) +Camera.fx: 575.520619 +Camera.fy: 575.994771 +Camera.cx: 318.336457 +Camera.cy: 239.439819 + +Camera.k1: 0.101050 +Camera.k2: -0.160047 +Camera.p1: 0.002287 +Camera.p2: 0.000271 + +Camera.width: 640 +Camera.height: 480 + +# Camera frames per second +Camera.fps: 30.0 + +# IR projector baseline times fx (aprox.) +Camera.bf: 40.0 + +# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) +Camera.RGB: 1 + +# Close/Far threshold. Baseline times. +ThDepth: 40.0 + +# Deptmap values factor +DepthMapFactor: 1.0 + +#-------------------------------------------------------------------------------------------- +# 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 + +PointCloudMapping.is_map_construction_consider_dynamic: 0 + +PointCloudMapping.camera_valid_depth_Min: 0.5 +PointCloudMapping.camera_valid_depth_Max: 5.0 + +PointCloudMapping.is_octo_semantic_map_construction: 1 +PointCloudMapping.Sor_Local_MeanK: 50 +PointCloudMapping.Sor_Local_StddevMulThresh: 2.0 +PointCloudMapping.Voxel_Local_LeafSize: 0.01 + +PointCloudMapping.is_global_pc_reconstruction: 0 +PointCloudMapping.Sor_Global_MeanK: 50 +PointCloudMapping.Sor_Global_StddevMulThresh: 2.0 +PointCloudMapping.Voxel_Global_LeafSize: 0.01 + +Detector3D.Sor_MeanK: 50 +Detector3D.Sor_StddevMulThresh: 1.0 +Detector3D.Voxel_LeafSize: 0.01 +Detector3D.EuclideanClusterTolerance: 0.02 +Detector3D.EuclideanClusterMinSize: 1000 +Detector3D.EuclideanClusterMaxSize: 30000 +Detector3D.DetectSimilarCompareRatio: 0.1 +Detector3D.global_pc_update_kf_threshold: 30 + +Detector2D.detection_confidence_threshold: 0.99 +Detector2D.dynamic_detection_confidence_threshold: 0.05 + + diff --git a/MyCode/src/my-slam/Examples/rgbd_tum.cc b/MyCode/src/my-slam/Examples/rgbd_tum.cc new file mode 100644 index 0000000..a0ec709 --- /dev/null +++ b/MyCode/src/my-slam/Examples/rgbd_tum.cc @@ -0,0 +1,289 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +/*对数据集进行SLAM的操作*/ +#include +#include +#include +#include + +#include + +#include + +#include +#include +#include +#include +#include + +using namespace std; + +ros::Publisher CamPose_Pub; +ros::Publisher Camodom_Pub; +ros::Publisher odom_pub; + +geometry_msgs::PoseStamped Cam_Pose; //包含位置、方向、时间戳、序列号、frame_id +geometry_msgs::PoseWithCovarianceStamped Cam_odom; //包含位置、方向、时间戳、序列号、frame_id +nav_msgs::Odometry odom; //包含header、PoseWithCovarianceStamped、TwistwithCovariance + //TwistwithCovariance表示实体的线速度和角速度，并包含相关的协方差信息。 + +cv::Mat Camera_Pose; +tf::Transform sg_slam_tf; +tf::TransformBroadcaster * sg_slam_tf_broadcaster; + +ros::Time current_time, last_time; +double lastx=0,lasty=0,lastth=0; + +void Pub_CamPose(cv::Mat &pose); +void LoadImages(const string &strAssociationFilename, vector &vstrImageFilenamesRGB, + vector &vstrImageFilenamesD, vector &vTimestamps); + +int main(int argc, char **argv) +{ + ros::init(argc, argv , "rgbd_tum"); + ros::start(); + + if(argc != 5) + { + cerr << endl << "Usage: ./rgbd_tum path_to_vocabulary path_to_settings path_to_sequence path_to_association" << endl; + return 1; + } + + // Retrieve paths to images + vector vstrImageFilenamesRGB; + vector vstrImageFilenamesD; + vector vTimestamps; + string strAssociationFilename = string(argv[4]); + LoadImages(strAssociationFilename, vstrImageFilenamesRGB, vstrImageFilenamesD, vTimestamps); + + // Check consistency in the number of images and depthmaps + int nImages = vstrImageFilenamesRGB.size(); + if(vstrImageFilenamesRGB.empty()) + { + cerr << endl << "No images found in provided path." << endl; + return 1; + } + else if(vstrImageFilenamesD.size()!=vstrImageFilenamesRGB.size()) + { + cerr << endl << "Different number of images for rgb and depth." << endl; + return 1; + } + + // Create SLAM system. It initializes all system threads and gets ready to process frames. + ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::RGBD,true); + + // Vector for tracking time statistics + vector vTimesTrack; + vTimesTrack.resize(nImages); + + cout << endl << "-------" << endl; + cout << "Start processing sequence ..." << endl; + cout << "Images in the sequence: " << nImages << endl << endl; + + // Main loop + cv::Mat imRGB, imD; + + ros::Rate loop_rate(50); + ros::NodeHandle nh; + CamPose_Pub = nh.advertise("/Camera_Pose",1); + Camodom_Pub = nh.advertise("/Camera_Odom", 1); + odom_pub = nh.advertise("/odom", 50); + current_time = ros::Time::now(); + last_time = ros::Time::now(); + for(int ni=0; ni >(t2 - t1).count(); + + vTimesTrack[ni]=ttrack; + + Pub_CamPose(Camera_Pose); + + // Wait to load the next frame + double T=0; + if(ni0) + T = tframe-vTimestamps[ni-1]; + + if(ttrack::Ptr global_point_cloud(new pcl::PointCloud); + *global_point_cloud = SLAM.GetPointCloudMapper()->get_globalMap(); + if(!global_point_cloud->empty()) + pcl::io::savePCDFileBinary("global_pcd.pcd",*global_point_cloud); + + } + // Save camera trajectory + SLAM.SaveTrajectoryTUM("CameraTrajectory.txt"); + SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt"); + + return 0; +} + +//发布相机位姿ros::publisher +void Pub_CamPose(cv::Mat &pose) +{ + cv::Mat Rwc(3,3,CV_32F); //旋转 + cv::Mat twc(3,1,CV_32F); //平移 + Eigen::Matrix rotationMat; + sg_slam_tf_broadcaster = new tf::TransformBroadcaster; + if(pose.dims < 2 || pose.rows < 3) + { + Rwc = Rwc; + twc = twc; + } + else + { + Rwc = pose.rowRange(0,3).colRange(0,3).t(); //pose is Tcw, so Rwc need .t() + twc = -Rwc*pose.rowRange(0,3).col(3); + + rotationMat << Rwc.at(0,0), Rwc.at(0,1), Rwc.at(0,2), + Rwc.at(1,0), Rwc.at(1,1), Rwc.at(1,2), + Rwc.at(2,0), Rwc.at(2,1), Rwc.at(2,2); + Eigen::Quaterniond Q(rotationMat); + + // sg-slam's trans. x is twc.at(0), y is twc.at(1), z is twc.at(2) + // ros's x <-- sg-slam's Z; ros's y <-- sg-slam's -x; ros's z <-- sg-slam's -y + sg_slam_tf.setOrigin(tf::Vector3(twc.at(2), -twc.at(0), -twc.at(1))); + sg_slam_tf.setRotation(tf::Quaternion(Q.z(), -Q.x(), -Q.y(), Q.w())); + //sg_slam_tf_broadcaster.sendTransform(tf::StampedTransform(sg_slam_tf, ros::Time::now(), "/map", "/camera")); + //delete sg_slam_tf_broadcaster; + Cam_Pose.header.stamp = ros::Time::now(); + Cam_Pose.header.frame_id = "map"; + tf::pointTFToMsg(sg_slam_tf.getOrigin(), Cam_Pose.pose.position); + tf::quaternionTFToMsg(sg_slam_tf.getRotation(), Cam_Pose.pose.orientation); + + CamPose_Pub.publish(Cam_Pose); + + /* + Cam_odom.header.stamp = ros::Time::now(); + Cam_odom.header.frame_id = "/map"; + tf::pointTFToMsg(sg_slam_tf.getOrigin(), Cam_odom.pose.pose.position); + tf::quaternionTFToMsg(sg_slam_tf.getRotation(), Cam_odom.pose.pose.orientation); + Cam_odom.pose.covariance = {0.01, 0, 0, 0, 0, 0, + 0, 0.01, 0, 0, 0, 0, + 0, 0, 0.01, 0, 0, 0, + 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0.01}; + Camodom_Pub.publish(Cam_odom); + */ + + /* + odom.header.stamp =ros::Time::now(); + odom.header.frame_id = "/map"; + + // Set the position + odom.pose.pose.position = Cam_odom.pose.pose.position; + odom.pose.pose.orientation = Cam_odom.pose.pose.orientation; + + // Set the velocity + odom.child_frame_id = "/camera_sensor"; + current_time = ros::Time::now(); + double dt = (current_time - last_time).toSec(); + double vx = (Cam_odom.pose.pose.position.x - lastx)/dt; + double vy = (Cam_odom.pose.pose.position.y - lasty)/dt; + double vth = (Cam_odom.pose.pose.orientation.z - lastth)/dt; + + odom.twist.twist.linear.x = vx; + odom.twist.twist.linear.y = vy; + odom.twist.twist.angular.z = vth; + + // Publish the message + odom_pub.publish(odom); + + last_time = current_time; + lastx = Cam_odom.pose.pose.position.x; + lasty = Cam_odom.pose.pose.position.y; + lastth = Cam_odom.pose.pose.orientation.z; + */ + } +} + +//从文件中获取rgbd和depth图片的对应名称 +void LoadImages(const string &strAssociationFilename, vector &vstrImageFilenamesRGB, + vector &vstrImageFilenamesD, vector &vTimestamps) +{ + ifstream fAssociation; + fAssociation.open(strAssociationFilename.c_str()); + + //解析association文件中对应的rgbd和depth文件名称 + while(!fAssociation.eof()) + { + string s; + getline(fAssociation,s); + if(!s.empty()) + { + stringstream ss; + ss << s; + double t; + string sRGB, sD; + ss >> t; + vTimestamps.push_back(t); + ss >> sRGB; + vstrImageFilenamesRGB.push_back(sRGB); + ss >> t; + ss >> sD; + vstrImageFilenamesD.push_back(sD); + + } + } +} diff --git a/MyCode/src/my-slam/Examples/ros_rgbd.cc b/MyCode/src/my-slam/Examples/ros_rgbd.cc new file mode 100644 index 0000000..389d0cb --- /dev/null +++ b/MyCode/src/my-slam/Examples/ros_rgbd.cc @@ -0,0 +1,213 @@ +#include +#include +#include +#include + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; + +ros::Publisher CamPose_Pub; +ros::Publisher Camodom_Pub; +ros::Publisher odom_pub; + +geometry_msgs::PoseStamped Cam_Pose; +geometry_msgs::PoseWithCovarianceStamped Cam_odom; +nav_msgs::Odometry odom; + +cv::Mat Camera_Pose; +tf::Transform sg_slam_tf; +tf::TransformBroadcaster *sg_slam_tf_broadcaster; + +ros::Time current_time, last_time; +double lastx=0,lasty=0,lastth=0; + +void Pub_CamPose(cv::Mat &pose); + +class ImageGrabber +{ +public: + ImageGrabber(ORB_SLAM2::System* pSLAM):mpSLAM(pSLAM){} + void GrabRGBD(const sensor_msgs::ImageConstPtr& msgRGB,const sensor_msgs::ImageConstPtr& msgD); + +private: + ORB_SLAM2::System* mpSLAM; +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "sg_slam_ros_rgbd"); + ros::start(); + + if(argc != 3) + { + cerr << endl << "Usage: rosrun sg_slam_ros_rgbd path_to_vocabulary path_to_settings" << endl; + ros::shutdown(); + return 1; + } + + // Create SLAM system. It initializes all system threads and gets ready to process frames. + ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::RGBD,true); + + ros::Rate loop_rate(50); + ros::NodeHandle nh; + CamPose_Pub = nh.advertise("/Camera_Pose",1); + Camodom_Pub = nh.advertise("/Camera_Odom", 1); + odom_pub = nh.advertise("/odom", 50); + + ImageGrabber igb(&SLAM); + + message_filters::Subscriber rgb_sub(nh, "/camera/rgb/image_raw", 30); + message_filters::Subscriber depth_sub(nh, "/camera/depth_registered/image_raw", 30); + + typedef message_filters::sync_policies::ApproximateTime sync_pol; + message_filters::Synchronizer sync(sync_pol(10),rgb_sub,depth_sub); + sync.registerCallback(boost::bind(&ImageGrabber::GrabRGBD,&igb,_1,_2)); + + ros::spin(); + +// save global point cloud to .pcd file + if(SLAM.is_global_pc_reconstruction) + { + pcl::PointCloud::Ptr global_point_cloud(new pcl::PointCloud); + *global_point_cloud = SLAM.GetPointCloudMapper()->get_globalMap(); + if(!global_point_cloud->empty()) + pcl::io::savePCDFileBinary("global_pcd.pcd",*global_point_cloud); + + } + // Stop all threads + SLAM.Shutdown(); + // Save camera trajectory + SLAM.SaveTrajectoryTUM("CameraTrajectory.txt"); + SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt"); + + ros::shutdown(); + + return 0; +} + +//获取图片并将其通过ros::publisher发布 +void ImageGrabber::GrabRGBD(const sensor_msgs::ImageConstPtr& msgRGB,const sensor_msgs::ImageConstPtr& msgD) +{ + // Copy the ros image message to cv::Mat. + cv_bridge::CvImageConstPtr cv_ptrRGB; + try + { + cv_ptrRGB = cv_bridge::toCvShare(msgRGB,"bgr8"); + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return; + } + + cv_bridge::CvImageConstPtr cv_ptrD; + try + { + cv_ptrD = cv_bridge::toCvShare(msgD); + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return; + } + + Camera_Pose = mpSLAM->TrackRGBD(cv_ptrRGB->image,cv_ptrD->image,cv_ptrRGB->header.stamp.toSec()); + + Pub_CamPose(Camera_Pose); +} + + +void Pub_CamPose(cv::Mat &pose) +{ + cv::Mat Rwc(3,3,CV_32F); + cv::Mat twc(3,1,CV_32F); + Eigen::Matrix rotationMat; + sg_slam_tf_broadcaster = new tf::TransformBroadcaster; + if(pose.dims < 2 || pose.rows < 3) + { + Rwc = Rwc; + twc = twc; + } + else + { + Rwc = pose.rowRange(0,3).colRange(0,3).t();//pose is Tcw, so Rwc need .t() + twc = -Rwc*pose.rowRange(0,3).col(3); + + rotationMat << Rwc.at(0,0), Rwc.at(0,1), Rwc.at(0,2), + Rwc.at(1,0), Rwc.at(1,1), Rwc.at(1,2), + Rwc.at(2,0), Rwc.at(2,1), Rwc.at(2,2); + Eigen::Quaterniond Q(rotationMat); + + // sg-slam's trans. x is twc.at(0), y is twc.at(1), z is twc.at(2) + // ros's x <-- sg-slam's Z; ros's y <-- sg-slam's -x; ros's z <-- sg-slam's -y + sg_slam_tf.setOrigin(tf::Vector3(twc.at(2), -twc.at(0), -twc.at(1))); + sg_slam_tf.setRotation(tf::Quaternion(Q.z(), -Q.x(), -Q.y(), Q.w())); + //sg_slam_tf_broadcaster.sendTransform(tf::StampedTransform(sg_slam_tf, ros::Time::now(), "/map", "/camera")); + //delete sg_slam_tf_broadcaster; + Cam_Pose.header.stamp = ros::Time::now(); + Cam_Pose.header.frame_id = "map"; + tf::pointTFToMsg(sg_slam_tf.getOrigin(), Cam_Pose.pose.position); + tf::quaternionTFToMsg(sg_slam_tf.getRotation(), Cam_Pose.pose.orientation); + + CamPose_Pub.publish(Cam_Pose); + + /* + Cam_odom.header.stamp = ros::Time::now(); + Cam_odom.header.frame_id = "/map"; + tf::pointTFToMsg(sg_slam_tf.getOrigin(), Cam_odom.pose.pose.position); + tf::quaternionTFToMsg(sg_slam_tf.getRotation(), Cam_odom.pose.pose.orientation); + Cam_odom.pose.covariance = {0.01, 0, 0, 0, 0, 0, + 0, 0.01, 0, 0, 0, 0, + 0, 0, 0.01, 0, 0, 0, + 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0.01}; + Camodom_Pub.publish(Cam_odom); + */ + + /* + odom.header.stamp =ros::Time::now(); + odom.header.frame_id = "/map"; + + // Set the position + odom.pose.pose.position = Cam_odom.pose.pose.position; + odom.pose.pose.orientation = Cam_odom.pose.pose.orientation; + + // Set the velocity + odom.child_frame_id = "/camera_sensor"; + current_time = ros::Time::now(); + double dt = (current_time - last_time).toSec(); + double vx = (Cam_odom.pose.pose.position.x - lastx)/dt; + double vy = (Cam_odom.pose.pose.position.y - lasty)/dt; + double vth = (Cam_odom.pose.pose.orientation.z - lastth)/dt; + + odom.twist.twist.linear.x = vx; + odom.twist.twist.linear.y = vy; + odom.twist.twist.angular.z = vth; + + // Publish the message + odom_pub.publish(odom); + + last_time = current_time; + lastx = Cam_odom.pose.pose.position.x; + lasty = Cam_odom.pose.pose.position.y; + lastth = Cam_odom.pose.pose.orientation.z; + */ + } +} + + diff --git a/MyCode/src/my-slam/Examples/rvizconfig.rviz b/MyCode/src/my-slam/Examples/rvizconfig.rviz new file mode 100644 index 0000000..d192044 --- /dev/null +++ b/MyCode/src/my-slam/Examples/rvizconfig.rviz @@ -0,0 +1,234 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Grid1/Offset1 + Splitter Ratio: 0.5372750759124756 + Tree Height: 614 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: -0.800000011920929 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /camera/depth_registered/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 0.3499999940395355 + Axes Radius: 0.05000000074505806 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Axes + Topic: /Camera_Pose + Unreliable: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /occupied_cells_vis_array + Name: MarkerArray + Namespaces: + map: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /SG_SLAM/Semantic_Objects + Name: Marker + Namespaces: + sematic_objects: true + sematic_objects_coordinate: true + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 100 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /SG_SLAM/Global_Point_Clouds + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /SG_SLAM/Local_Point_Clouds + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: map + Frame Rate: 60 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 4.169539451599121 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 2.4672393798828125 + Y: 0.1909053474664688 + Z: 1.1601213216781616 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.23979711532592773 + Target Frame: + Yaw: 3.3814961910247803 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1697 + X: 0 + Y: 90 diff --git a/MyCode/src/my-slam/Examples/sg_slam_ros_rgbd b/MyCode/src/my-slam/Examples/sg_slam_ros_rgbd new file mode 100644 index 0000000..1406d31 Binary files /dev/null and b/MyCode/src/my-slam/Examples/sg_slam_ros_rgbd differ diff --git a/MyCode/src/my-slam/Examples/sg_slam_tum b/MyCode/src/my-slam/Examples/sg_slam_tum new file mode 100644 index 0000000..d1dd998 Binary files /dev/null and b/MyCode/src/my-slam/Examples/sg_slam_tum differ diff --git a/MyCode/src/my-slam/KeyFrameTrajectory.txt b/MyCode/src/my-slam/KeyFrameTrajectory.txt new file mode 100644 index 0000000..8c88695 --- /dev/null +++ b/MyCode/src/my-slam/KeyFrameTrajectory.txt @@ -0,0 +1,35 @@ +1305031102.175304 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000 +1305031102.375329 -0.0022268 0.0072913 0.0730403 -0.0223248 -0.0150861 0.0022301 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-0.0388790 0.0581411 0.0322361 0.9970300 diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/CMakeLists.txt b/MyCode/src/my-slam/Thirdparty/DBoW2/CMakeLists.txt new file mode 100644 index 0000000..8b1061f --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/CMakeLists.txt @@ -0,0 +1,40 @@ +cmake_minimum_required(VERSION 2.8) +project(DBoW2) + +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native") + +set(HDRS_DBOW2 + DBoW2/BowVector.h + DBoW2/FORB.h + DBoW2/FClass.h + DBoW2/FeatureVector.h + DBoW2/ScoringObject.h + DBoW2/TemplatedVocabulary.h) +set(SRCS_DBOW2 + DBoW2/BowVector.cpp + DBoW2/FORB.cpp + DBoW2/FeatureVector.cpp + DBoW2/ScoringObject.cpp) + +set(HDRS_DUTILS + DUtils/Random.h + DUtils/Timestamp.h) +set(SRCS_DUTILS + DUtils/Random.cpp + DUtils/Timestamp.cpp) + +find_package(OpenCV 4 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() + +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +include_directories(${OpenCV_INCLUDE_DIRS}) +add_library(DBoW2 SHARED ${SRCS_DBOW2} ${SRCS_DUTILS}) +target_link_libraries(DBoW2 ${OpenCV_LIBS}) + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/BowVector.cpp b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/BowVector.cpp new file mode 100644 index 0000000..1337fa3 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/BowVector.cpp @@ -0,0 +1,130 @@ +/** + * File: BowVector.cpp + * Date: March 2011 + * Author: Dorian Galvez-Lopez + * Description: bag of words vector + * License: see the LICENSE.txt file + * + */ + +#include +#include +#include +#include +#include + +#include "BowVector.h" + +namespace DBoW2 { + +// -------------------------------------------------------------------------- + +BowVector::BowVector(void) +{ +} + +// -------------------------------------------------------------------------- + +BowVector::~BowVector(void) +{ +} + +// -------------------------------------------------------------------------- + +void BowVector::addWeight(WordId id, WordValue v) +{ + BowVector::iterator vit = this->lower_bound(id); + + if(vit != this->end() && !(this->key_comp()(id, vit->first))) + { + vit->second += v; + } + else + { + this->insert(vit, BowVector::value_type(id, v)); + } +} + +// -------------------------------------------------------------------------- + +void BowVector::addIfNotExist(WordId id, WordValue v) +{ + BowVector::iterator vit = this->lower_bound(id); + + if(vit == this->end() || (this->key_comp()(id, vit->first))) + { + this->insert(vit, BowVector::value_type(id, v)); + } +} + +// -------------------------------------------------------------------------- + +void BowVector::normalize(LNorm norm_type) +{ + double norm = 0.0; + BowVector::iterator it; + + if(norm_type == DBoW2::L1) + { + for(it = begin(); it != end(); ++it) + norm += fabs(it->second); + } + else + { + for(it = begin(); it != end(); ++it) + norm += it->second * it->second; + norm = sqrt(norm); + } + + if(norm > 0.0) + { + for(it = begin(); it != end(); ++it) + it->second /= norm; + } +} + +// -------------------------------------------------------------------------- + +std::ostream& operator<< (std::ostream &out, const BowVector &v) +{ + BowVector::const_iterator vit; + std::vector::const_iterator iit; + unsigned int i = 0; + const unsigned int N = v.size(); + for(vit = v.begin(); vit != v.end(); ++vit, ++i) + { + out << "<" << vit->first << ", " << vit->second << ">"; + + if(i < N-1) out << ", "; + } + return out; +} + +// -------------------------------------------------------------------------- + +void BowVector::saveM(const std::string &filename, size_t W) const +{ + std::fstream f(filename.c_str(), std::ios::out); + + WordId last = 0; + BowVector::const_iterator bit; + for(bit = this->begin(); bit != this->end(); ++bit) + { + for(; last < bit->first; ++last) + { + f << "0 "; + } + f << bit->second << " "; + + last = bit->first + 1; + } + for(; last < (WordId)W; ++last) + f << "0 "; + + f.close(); +} + +// -------------------------------------------------------------------------- + +} // namespace DBoW2 + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/BowVector.h b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/BowVector.h new file mode 100644 index 0000000..f559811 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/BowVector.h @@ -0,0 +1,109 @@ +/** + * File: BowVector.h + * Date: March 2011 + * Author: Dorian Galvez-Lopez + * Description: bag of words vector + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_BOW_VECTOR__ +#define __D_T_BOW_VECTOR__ + +#include +#include +#include + +namespace DBoW2 { + +/// Id of words +typedef unsigned int WordId; + +/// Value of a word +typedef double WordValue; + +/// Id of nodes in the vocabulary treee +typedef unsigned int NodeId; + +/// L-norms for normalization +enum LNorm +{ + L1, + L2 +}; + +/// Weighting type +enum WeightingType +{ + TF_IDF, + TF, + IDF, + BINARY +}; + +/// Scoring type +enum ScoringType +{ + L1_NORM, + L2_NORM, + CHI_SQUARE, + KL, + BHATTACHARYYA, + DOT_PRODUCT, +}; + +/// Vector of words to represent images +class BowVector: + public std::map +{ +public: + + /** + * Constructor + */ + BowVector(void); + + /** + * Destructor + */ + ~BowVector(void); + + /** + * Adds a value to a word value existing in the vector, or creates a new + * word with the given value + * @param id word id to look for + * @param v value to create the word with, or to add to existing word + */ + void addWeight(WordId id, WordValue v); + + /** + * Adds a word with a value to the vector only if this does not exist yet + * @param id word id to look for + * @param v value to give to the word if this does not exist + */ + void addIfNotExist(WordId id, WordValue v); + + /** + * L1-Normalizes the values in the vector + * @param norm_type norm used + */ + void normalize(LNorm norm_type); + + /** + * Prints the content of the bow vector + * @param out stream + * @param v + */ + friend std::ostream& operator<<(std::ostream &out, const BowVector &v); + + /** + * Saves the bow vector as a vector in a matlab file + * @param filename + * @param W number of words in the vocabulary + */ + void saveM(const std::string &filename, size_t W) const; +}; + +} // namespace DBoW2 + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FClass.h b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FClass.h new file mode 100644 index 0000000..13be53d --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FClass.h @@ -0,0 +1,71 @@ +/** + * File: FClass.h + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: generic FClass to instantiate templated classes + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_FCLASS__ +#define __D_T_FCLASS__ + +#include +#include +#include + +namespace DBoW2 { + +/// Generic class to encapsulate functions to manage descriptors. +/** + * This class must be inherited. Derived classes can be used as the + * parameter F when creating Templated structures + * (TemplatedVocabulary, TemplatedDatabase, ...) + */ +class FClass +{ + class TDescriptor; + typedef const TDescriptor *pDescriptor; + + /** + * Calculates the mean value of a set of descriptors + * @param descriptors + * @param mean mean descriptor + */ + virtual void meanValue(const std::vector &descriptors, + TDescriptor &mean) = 0; + + /** + * Calculates the distance between two descriptors + * @param a + * @param b + * @return distance + */ + static double distance(const TDescriptor &a, const TDescriptor &b); + + /** + * Returns a string version of the descriptor + * @param a descriptor + * @return string version + */ + static std::string toString(const TDescriptor &a); + + /** + * Returns a descriptor from a string + * @param a descriptor + * @param s string version + */ + static void fromString(TDescriptor &a, const std::string &s); + + /** + * Returns a mat with the descriptors in float format + * @param descriptors + * @param mat (out) NxL 32F matrix + */ + static void toMat32F(const std::vector &descriptors, + cv::Mat &mat); +}; + +} // namespace DBoW2 + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FORB.cpp b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FORB.cpp new file mode 100644 index 0000000..1f1990c --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FORB.cpp @@ -0,0 +1,193 @@ +/** + * File: FORB.cpp + * Date: June 2012 + * Author: Dorian Galvez-Lopez + * Description: functions for ORB descriptors + * License: see the LICENSE.txt file + * + * Distance function has been modified + * + */ + + +#include +#include +#include +#include + +#include "FORB.h" + +using namespace std; + +namespace DBoW2 { + +// -------------------------------------------------------------------------- + +const int FORB::L=32; + +void FORB::meanValue(const std::vector &descriptors, + FORB::TDescriptor &mean) +{ + if(descriptors.empty()) + { + mean.release(); + return; + } + else if(descriptors.size() == 1) + { + mean = descriptors[0]->clone(); + } + else + { + vector sum(FORB::L * 8, 0); + + for(size_t i = 0; i < descriptors.size(); ++i) + { + const cv::Mat &d = *descriptors[i]; + const unsigned char *p = d.ptr(); + + for(int j = 0; j < d.cols; ++j, ++p) + { + if(*p & (1 << 7)) ++sum[ j*8 ]; + if(*p & (1 << 6)) ++sum[ j*8 + 1 ]; + if(*p & (1 << 5)) ++sum[ j*8 + 2 ]; + if(*p & (1 << 4)) ++sum[ j*8 + 3 ]; + if(*p & (1 << 3)) ++sum[ j*8 + 4 ]; + if(*p & (1 << 2)) ++sum[ j*8 + 5 ]; + if(*p & (1 << 1)) ++sum[ j*8 + 6 ]; + if(*p & (1)) ++sum[ j*8 + 7 ]; + } + } + + mean = cv::Mat::zeros(1, FORB::L, CV_8U); + unsigned char *p = mean.ptr(); + + const int N2 = (int)descriptors.size() / 2 + descriptors.size() % 2; + for(size_t i = 0; i < sum.size(); ++i) + { + if(sum[i] >= N2) + { + // set bit + *p |= 1 << (7 - (i % 8)); + } + + if(i % 8 == 7) ++p; + } + } +} + +// -------------------------------------------------------------------------- + +int FORB::distance(const FORB::TDescriptor &a, + const FORB::TDescriptor &b) +{ + // Bit set count operation from + // http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel + + const int *pa = a.ptr(); + const int *pb = b.ptr(); + + int dist=0; + + for(int i=0; i<8; i++, pa++, pb++) + { + unsigned int v = *pa ^ *pb; + v = v - ((v >> 1) & 0x55555555); + v = (v & 0x33333333) + ((v >> 2) & 0x33333333); + dist += (((v + (v >> 4)) & 0xF0F0F0F) * 0x1010101) >> 24; + } + + return dist; +} + +// -------------------------------------------------------------------------- + +std::string FORB::toString(const FORB::TDescriptor &a) +{ + stringstream ss; + const unsigned char *p = a.ptr(); + + for(int i = 0; i < a.cols; ++i, ++p) + { + ss << (int)*p << " "; + } + + return ss.str(); +} + +// -------------------------------------------------------------------------- + +void FORB::fromString(FORB::TDescriptor &a, const std::string &s) +{ + a.create(1, FORB::L, CV_8U); + unsigned char *p = a.ptr(); + + stringstream ss(s); + for(int i = 0; i < FORB::L; ++i, ++p) + { + int n; + ss >> n; + + if(!ss.fail()) + *p = (unsigned char)n; + } + +} + +// -------------------------------------------------------------------------- + +void FORB::toMat32F(const std::vector &descriptors, + cv::Mat &mat) +{ + if(descriptors.empty()) + { + mat.release(); + return; + } + + const size_t N = descriptors.size(); + + mat.create(N, FORB::L*8, CV_32F); + float *p = mat.ptr(); + + for(size_t i = 0; i < N; ++i) + { + const int C = descriptors[i].cols; + const unsigned char *desc = descriptors[i].ptr(); + + for(int j = 0; j < C; ++j, p += 8) + { + p[0] = (desc[j] & (1 << 7) ? 1 : 0); + p[1] = (desc[j] & (1 << 6) ? 1 : 0); + p[2] = (desc[j] & (1 << 5) ? 1 : 0); + p[3] = (desc[j] & (1 << 4) ? 1 : 0); + p[4] = (desc[j] & (1 << 3) ? 1 : 0); + p[5] = (desc[j] & (1 << 2) ? 1 : 0); + p[6] = (desc[j] & (1 << 1) ? 1 : 0); + p[7] = desc[j] & (1); + } + } +} + +// -------------------------------------------------------------------------- + +void FORB::toMat8U(const std::vector &descriptors, + cv::Mat &mat) +{ + mat.create(descriptors.size(), 32, CV_8U); + + unsigned char *p = mat.ptr(); + + for(size_t i = 0; i < descriptors.size(); ++i, p += 32) + { + const unsigned char *d = descriptors[i].ptr(); + std::copy(d, d+32, p); + } + +} + +// -------------------------------------------------------------------------- + +} // namespace DBoW2 + + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FORB.h b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FORB.h new file mode 100644 index 0000000..a39599f --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FORB.h @@ -0,0 +1,79 @@ +/** + * File: FORB.h + * Date: June 2012 + * Author: Dorian Galvez-Lopez + * Description: functions for ORB descriptors + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_F_ORB__ +#define __D_T_F_ORB__ + +#include +#include +#include + +#include "FClass.h" + +namespace DBoW2 { + +/// Functions to manipulate ORB descriptors +class FORB: protected FClass +{ +public: + + /// Descriptor type + typedef cv::Mat TDescriptor; // CV_8U + /// Pointer to a single descriptor + typedef const TDescriptor *pDescriptor; + /// Descriptor length (in bytes) + static const int L; + + /** + * Calculates the mean value of a set of descriptors + * @param descriptors + * @param mean mean descriptor + */ + static void meanValue(const std::vector &descriptors, + TDescriptor &mean); + + /** + * Calculates the distance between two descriptors + * @param a + * @param b + * @return distance + */ + static int distance(const TDescriptor &a, const TDescriptor &b); + + /** + * Returns a string version of the descriptor + * @param a descriptor + * @return string version + */ + static std::string toString(const TDescriptor &a); + + /** + * Returns a descriptor from a string + * @param a descriptor + * @param s string version + */ + static void fromString(TDescriptor &a, const std::string &s); + + /** + * Returns a mat with the descriptors in float format + * @param descriptors + * @param mat (out) NxL 32F matrix + */ + static void toMat32F(const std::vector &descriptors, + cv::Mat &mat); + + static void toMat8U(const std::vector &descriptors, + cv::Mat &mat); + +}; + +} // namespace DBoW2 + +#endif + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FeatureVector.cpp b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FeatureVector.cpp new file mode 100644 index 0000000..c055a15 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FeatureVector.cpp @@ -0,0 +1,85 @@ +/** + * File: FeatureVector.cpp + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: feature vector + * License: see the LICENSE.txt file + * + */ + +#include "FeatureVector.h" +#include +#include +#include + +namespace DBoW2 { + +// --------------------------------------------------------------------------- + +FeatureVector::FeatureVector(void) +{ +} + +// --------------------------------------------------------------------------- + +FeatureVector::~FeatureVector(void) +{ +} + +// --------------------------------------------------------------------------- + +void FeatureVector::addFeature(NodeId id, unsigned int i_feature) +{ + FeatureVector::iterator vit = this->lower_bound(id); + + if(vit != this->end() && vit->first == id) + { + vit->second.push_back(i_feature); + } + else + { + vit = this->insert(vit, FeatureVector::value_type(id, + std::vector() )); + vit->second.push_back(i_feature); + } +} + +// --------------------------------------------------------------------------- + +std::ostream& operator<<(std::ostream &out, + const FeatureVector &v) +{ + if(!v.empty()) + { + FeatureVector::const_iterator vit = v.begin(); + + const std::vector* f = &vit->second; + + out << "<" << vit->first << ": ["; + if(!f->empty()) out << (*f)[0]; + for(unsigned int i = 1; i < f->size(); ++i) + { + out << ", " << (*f)[i]; + } + out << "]>"; + + for(++vit; vit != v.end(); ++vit) + { + f = &vit->second; + + out << ", <" << vit->first << ": ["; + if(!f->empty()) out << (*f)[0]; + for(unsigned int i = 1; i < f->size(); ++i) + { + out << ", " << (*f)[i]; + } + out << "]>"; + } + } + + return out; +} + +// --------------------------------------------------------------------------- + +} // namespace DBoW2 diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FeatureVector.h b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FeatureVector.h new file mode 100644 index 0000000..08a91de --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/FeatureVector.h @@ -0,0 +1,56 @@ +/** + * File: FeatureVector.h + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: feature vector + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_FEATURE_VECTOR__ +#define __D_T_FEATURE_VECTOR__ + +#include "BowVector.h" +#include +#include +#include + +namespace DBoW2 { + +/// Vector of nodes with indexes of local features +class FeatureVector: + public std::map > +{ +public: + + /** + * Constructor + */ + FeatureVector(void); + + /** + * Destructor + */ + ~FeatureVector(void); + + /** + * Adds a feature to an existing node, or adds a new node with an initial + * feature + * @param id node id to add or to modify + * @param i_feature index of feature to add to the given node + */ + void addFeature(NodeId id, unsigned int i_feature); + + /** + * Sends a string versions of the feature vector through the stream + * @param out stream + * @param v feature vector + */ + friend std::ostream& operator<<(std::ostream &out, const FeatureVector &v); + +}; + +} // namespace DBoW2 + +#endif + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/ScoringObject.cpp b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/ScoringObject.cpp new file mode 100644 index 0000000..063a96e --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/ScoringObject.cpp @@ -0,0 +1,315 @@ +/** + * File: ScoringObject.cpp + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: functions to compute bow scores + * License: see the LICENSE.txt file + * + */ + +#include +#include "TemplatedVocabulary.h" +#include "BowVector.h" + +using namespace DBoW2; + +// If you change the type of WordValue, make sure you change also the +// epsilon value (this is needed by the KL method) +const double GeneralScoring::LOG_EPS = log(DBL_EPSILON); // FLT_EPSILON + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +double L1Scoring::score(const BowVector &v1, const BowVector &v2) const +{ + BowVector::const_iterator v1_it, v2_it; + const BowVector::const_iterator v1_end = v1.end(); + const BowVector::const_iterator v2_end = v2.end(); + + v1_it = v1.begin(); + v2_it = v2.begin(); + + double score = 0; + + while(v1_it != v1_end && v2_it != v2_end) + { + const WordValue& vi = v1_it->second; + const WordValue& wi = v2_it->second; + + if(v1_it->first == v2_it->first) + { + score += fabs(vi - wi) - fabs(vi) - fabs(wi); + + // move v1 and v2 forward + ++v1_it; + ++v2_it; + } + else if(v1_it->first < v2_it->first) + { + // move v1 forward + v1_it = v1.lower_bound(v2_it->first); + // v1_it = (first element >= v2_it.id) + } + else + { + // move v2 forward + v2_it = v2.lower_bound(v1_it->first); + // v2_it = (first element >= v1_it.id) + } + } + + // ||v - w||_{L1} = 2 + Sum(|v_i - w_i| - |v_i| - |w_i|) + // for all i | v_i != 0 and w_i != 0 + // (Nister, 2006) + // scaled_||v - w||_{L1} = 1 - 0.5 * ||v - w||_{L1} + score = -score/2.0; + + return score; // [0..1] +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +double L2Scoring::score(const BowVector &v1, const BowVector &v2) const +{ + BowVector::const_iterator v1_it, v2_it; + const BowVector::const_iterator v1_end = v1.end(); + const BowVector::const_iterator v2_end = v2.end(); + + v1_it = v1.begin(); + v2_it = v2.begin(); + + double score = 0; + + while(v1_it != v1_end && v2_it != v2_end) + { + const WordValue& vi = v1_it->second; + const WordValue& wi = v2_it->second; + + if(v1_it->first == v2_it->first) + { + score += vi * wi; + + // move v1 and v2 forward + ++v1_it; + ++v2_it; + } + else if(v1_it->first < v2_it->first) + { + // move v1 forward + v1_it = v1.lower_bound(v2_it->first); + // v1_it = (first element >= v2_it.id) + } + else + { + // move v2 forward + v2_it = v2.lower_bound(v1_it->first); + // v2_it = (first element >= v1_it.id) + } + } + + // ||v - w||_{L2} = sqrt( 2 - 2 * Sum(v_i * w_i) ) + // for all i | v_i != 0 and w_i != 0 ) + // (Nister, 2006) + if(score >= 1) // rounding errors + score = 1.0; + else + score = 1.0 - sqrt(1.0 - score); // [0..1] + + return score; +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +double ChiSquareScoring::score(const BowVector &v1, const BowVector &v2) + const +{ + BowVector::const_iterator v1_it, v2_it; + const BowVector::const_iterator v1_end = v1.end(); + const BowVector::const_iterator v2_end = v2.end(); + + v1_it = v1.begin(); + v2_it = v2.begin(); + + double score = 0; + + // all the items are taken into account + + while(v1_it != v1_end && v2_it != v2_end) + { + const WordValue& vi = v1_it->second; + const WordValue& wi = v2_it->second; + + if(v1_it->first == v2_it->first) + { + // (v-w)^2/(v+w) - v - w = -4 vw/(v+w) + // we move the -4 out + if(vi + wi != 0.0) score += vi * wi / (vi + wi); + + // move v1 and v2 forward + ++v1_it; + ++v2_it; + } + else if(v1_it->first < v2_it->first) + { + // move v1 forward + v1_it = v1.lower_bound(v2_it->first); + } + else + { + // move v2 forward + v2_it = v2.lower_bound(v1_it->first); + } + } + + // this takes the -4 into account + score = 2. * score; // [0..1] + + return score; +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +double KLScoring::score(const BowVector &v1, const BowVector &v2) const +{ + BowVector::const_iterator v1_it, v2_it; + const BowVector::const_iterator v1_end = v1.end(); + const BowVector::const_iterator v2_end = v2.end(); + + v1_it = v1.begin(); + v2_it = v2.begin(); + + double score = 0; + + // all the items or v are taken into account + + while(v1_it != v1_end && v2_it != v2_end) + { + const WordValue& vi = v1_it->second; + const WordValue& wi = v2_it->second; + + if(v1_it->first == v2_it->first) + { + if(vi != 0 && wi != 0) score += vi * log(vi/wi); + + // move v1 and v2 forward + ++v1_it; + ++v2_it; + } + else if(v1_it->first < v2_it->first) + { + // move v1 forward + score += vi * (log(vi) - LOG_EPS); + ++v1_it; + } + else + { + // move v2_it forward, do not add any score + v2_it = v2.lower_bound(v1_it->first); + // v2_it = (first element >= v1_it.id) + } + } + + // sum rest of items of v + for(; v1_it != v1_end; ++v1_it) + if(v1_it->second != 0) + score += v1_it->second * (log(v1_it->second) - LOG_EPS); + + return score; // cannot be scaled +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +double BhattacharyyaScoring::score(const BowVector &v1, + const BowVector &v2) const +{ + BowVector::const_iterator v1_it, v2_it; + const BowVector::const_iterator v1_end = v1.end(); + const BowVector::const_iterator v2_end = v2.end(); + + v1_it = v1.begin(); + v2_it = v2.begin(); + + double score = 0; + + while(v1_it != v1_end && v2_it != v2_end) + { + const WordValue& vi = v1_it->second; + const WordValue& wi = v2_it->second; + + if(v1_it->first == v2_it->first) + { + score += sqrt(vi * wi); + + // move v1 and v2 forward + ++v1_it; + ++v2_it; + } + else if(v1_it->first < v2_it->first) + { + // move v1 forward + v1_it = v1.lower_bound(v2_it->first); + // v1_it = (first element >= v2_it.id) + } + else + { + // move v2 forward + v2_it = v2.lower_bound(v1_it->first); + // v2_it = (first element >= v1_it.id) + } + } + + return score; // already scaled +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +double DotProductScoring::score(const BowVector &v1, + const BowVector &v2) const +{ + BowVector::const_iterator v1_it, v2_it; + const BowVector::const_iterator v1_end = v1.end(); + const BowVector::const_iterator v2_end = v2.end(); + + v1_it = v1.begin(); + v2_it = v2.begin(); + + double score = 0; + + while(v1_it != v1_end && v2_it != v2_end) + { + const WordValue& vi = v1_it->second; + const WordValue& wi = v2_it->second; + + if(v1_it->first == v2_it->first) + { + score += vi * wi; + + // move v1 and v2 forward + ++v1_it; + ++v2_it; + } + else if(v1_it->first < v2_it->first) + { + // move v1 forward + v1_it = v1.lower_bound(v2_it->first); + // v1_it = (first element >= v2_it.id) + } + else + { + // move v2 forward + v2_it = v2.lower_bound(v1_it->first); + // v2_it = (first element >= v1_it.id) + } + } + + return score; // cannot scale +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/ScoringObject.h b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/ScoringObject.h new file mode 100644 index 0000000..8d5b821 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/ScoringObject.h @@ -0,0 +1,96 @@ +/** + * File: ScoringObject.h + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: functions to compute bow scores + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_SCORING_OBJECT__ +#define __D_T_SCORING_OBJECT__ + +#include "BowVector.h" + +namespace DBoW2 { + +/// Base class of scoring functions +class GeneralScoring +{ +public: + /** + * Computes the score between two vectors. Vectors must be sorted and + * normalized if necessary + * @param v (in/out) + * @param w (in/out) + * @return score + */ + virtual double score(const BowVector &v, const BowVector &w) const = 0; + + /** + * Returns whether a vector must be normalized before scoring according + * to the scoring scheme + * @param norm norm to use + * @return true iff must normalize + */ + virtual bool mustNormalize(LNorm &norm) const = 0; + + /// Log of epsilon + static const double LOG_EPS; + // If you change the type of WordValue, make sure you change also the + // epsilon value (this is needed by the KL method) + + virtual ~GeneralScoring() {} //!< Required for virtual base classes + +}; + +/** + * Macro for defining Scoring classes + * @param NAME name of class + * @param MUSTNORMALIZE if vectors must be normalized to compute the score + * @param NORM type of norm to use when MUSTNORMALIZE + */ +#define __SCORING_CLASS(NAME, MUSTNORMALIZE, NORM) \ + NAME: public GeneralScoring \ + { public: \ + /** \ + * Computes score between two vectors \ + * @param v \ + * @param w \ + * @return score between v and w \ + */ \ + virtual double score(const BowVector &v, const BowVector &w) const; \ + \ + /** \ + * Says if a vector must be normalized according to the scoring function \ + * @param norm (out) if true, norm to use + * @return true iff vectors must be normalized \ + */ \ + virtual inline bool mustNormalize(LNorm &norm) const \ + { norm = NORM; return MUSTNORMALIZE; } \ + } + +/// L1 Scoring object +class __SCORING_CLASS(L1Scoring, true, L1); + +/// L2 Scoring object +class __SCORING_CLASS(L2Scoring, true, L2); + +/// Chi square Scoring object +class __SCORING_CLASS(ChiSquareScoring, true, L1); + +/// KL divergence Scoring object +class __SCORING_CLASS(KLScoring, true, L1); + +/// Bhattacharyya Scoring object +class __SCORING_CLASS(BhattacharyyaScoring, true, L1); + +/// Dot product Scoring object +class __SCORING_CLASS(DotProductScoring, false, L1); + +#undef __SCORING_CLASS + +} // namespace DBoW2 + +#endif + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h new file mode 100644 index 0000000..adafe40 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h @@ -0,0 +1,1750 @@ +/** + * This is a modified version of TemplatedVocabulary.h from DBoW2 (see below). + * Added functions: Save and Load from text files without using cv::FileStorage. + * Date: August 2015 + * Raúl Mur-Artal + */ + +/** + * File: TemplatedVocabulary.h + * Date: February 2011 + * Author: Dorian Galvez-Lopez + * Description: templated vocabulary + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_TEMPLATED_VOCABULARY__ +#define __D_T_TEMPLATED_VOCABULARY__ + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include "FeatureVector.h" +#include "BowVector.h" +#include "ScoringObject.h" + +#include "../DUtils/Random.h" + +using namespace std; + +namespace DBoW2 { + +/// @param TDescriptor class of descriptor +/// @param F class of descriptor functions +template +/// Generic Vocabulary +class TemplatedVocabulary +{ +public: + + /** + * Initiates an empty vocabulary + * @param k branching factor + * @param L depth levels + * @param weighting weighting type + * @param scoring scoring type + */ + TemplatedVocabulary(int k = 10, int L = 5, + WeightingType weighting = TF_IDF, ScoringType scoring = L1_NORM); + + /** + * Creates the vocabulary by loading a file + * @param filename + */ + TemplatedVocabulary(const std::string &filename); + + /** + * Creates the vocabulary by loading a file + * @param filename + */ + TemplatedVocabulary(const char *filename); + + /** + * Copy constructor + * @param voc + */ + TemplatedVocabulary(const TemplatedVocabulary &voc); + + /** + * Destructor + */ + virtual ~TemplatedVocabulary(); + + /** + * Assigns the given vocabulary to this by copying its data and removing + * all the data contained by this vocabulary before + * @param voc + * @return reference to this vocabulary + */ + TemplatedVocabulary& operator=( + const TemplatedVocabulary &voc); + + /** + * Creates a vocabulary from the training features with the already + * defined parameters + * @param training_features + */ + virtual void create + (const std::vector > &training_features); + + /** + * Creates a vocabulary from the training features, setting the branching + * factor and the depth levels of the tree + * @param training_features + * @param k branching factor + * @param L depth levels + */ + virtual void create + (const std::vector > &training_features, + int k, int L); + + /** + * Creates a vocabulary from the training features, setting the branching + * factor nad the depth levels of the tree, and the weighting and scoring + * schemes + */ + virtual void create + (const std::vector > &training_features, + int k, int L, WeightingType weighting, ScoringType scoring); + + /** + * Returns the number of words in the vocabulary + * @return number of words + */ + virtual inline unsigned int size() const; + + /** + * Returns whether the vocabulary is empty (i.e. it has not been trained) + * @return true iff the vocabulary is empty + */ + virtual inline bool empty() const; + + /** + * Transforms a set of descriptores into a bow vector + * @param features + * @param v (out) bow vector of weighted words + */ + virtual void transform(const std::vector& features, BowVector &v) + const; + + /** + * Transform a set of descriptors into a bow vector and a feature vector + * @param features + * @param v (out) bow vector + * @param fv (out) feature vector of nodes and feature indexes + * @param levelsup levels to go up the vocabulary tree to get the node index + */ + virtual void transform(const std::vector& features, + BowVector &v, FeatureVector &fv, int levelsup) const; + + /** + * Transforms a single feature into a word (without weight) + * @param feature + * @return word id + */ + virtual WordId transform(const TDescriptor& feature) const; + + /** + * Returns the score of two vectors + * @param a vector + * @param b vector + * @return score between vectors + * @note the vectors must be already sorted and normalized if necessary + */ + inline double score(const BowVector &a, const BowVector &b) const; + + /** + * Returns the id of the node that is "levelsup" levels from the word given + * @param wid word id + * @param levelsup 0..L + * @return node id. if levelsup is 0, returns the node id associated to the + * word id + */ + virtual NodeId getParentNode(WordId wid, int levelsup) const; + + /** + * Returns the ids of all the words that are under the given node id, + * by traversing any of the branches that goes down from the node + * @param nid starting node id + * @param words ids of words + */ + void getWordsFromNode(NodeId nid, std::vector &words) const; + + /** + * Returns the branching factor of the tree (k) + * @return k + */ + inline int getBranchingFactor() const { return m_k; } + + /** + * Returns the depth levels of the tree (L) + * @return L + */ + inline int getDepthLevels() const { return m_L; } + + /** + * Returns the real depth levels of the tree on average + * @return average of depth levels of leaves + */ + float getEffectiveLevels() const; + + /** + * Returns the descriptor of a word + * @param wid word id + * @return descriptor + */ + virtual inline TDescriptor getWord(WordId wid) const; + + /** + * Returns the weight of a word + * @param wid word id + * @return weight + */ + virtual inline WordValue getWordWeight(WordId wid) const; + + /** + * Returns the weighting method + * @return weighting method + */ + inline WeightingType getWeightingType() const { return m_weighting; } + + /** + * Returns the scoring method + * @return scoring method + */ + inline ScoringType getScoringType() const { return m_scoring; } + + /** + * Changes the weighting method + * @param type new weighting type + */ + inline void setWeightingType(WeightingType type); + + /** + * Changes the scoring method + * @param type new scoring type + */ + void setScoringType(ScoringType type); + + /** + * Loads the vocabulary from a text file + * @param filename + */ + bool loadFromTextFile(const std::string &filename); + + /** + * Saves the vocabulary into a text file + * @param filename + */ + void saveToTextFile(const std::string &filename) const; + + /** + * Loads the vocabulary from a binary file + * @param filename + */ + bool loadFromBinaryFile(const std::string &filename); + + /** + * Saves the vocabulary into a binary file + * @param filename + */ + void saveToBinaryFile(const std::string &filename) const; + + + /** + * Saves the vocabulary into a file + * @param filename + */ + void save(const std::string &filename) const; + + /** + * Loads the vocabulary from a file + * @param filename + */ + void load(const std::string &filename); + + /** + * Saves the vocabulary to a file storage structure + * @param fn node in file storage + */ + virtual void save(cv::FileStorage &fs, + const std::string &name = "vocabulary") const; + + /** + * Loads the vocabulary from a file storage node + * @param fn first node + * @param subname name of the child node of fn where the tree is stored. + * If not given, the fn node is used instead + */ + virtual void load(const cv::FileStorage &fs, + const std::string &name = "vocabulary"); + + /** + * Stops those words whose weight is below minWeight. + * Words are stopped by setting their weight to 0. There are not returned + * later when transforming image features into vectors. + * Note that when using IDF or TF_IDF, the weight is the idf part, which + * is equivalent to -log(f), where f is the frequency of the word + * (f = Ni/N, Ni: number of training images where the word is present, + * N: number of training images). + * Note that the old weight is forgotten, and subsequent calls to this + * function with a lower minWeight have no effect. + * @return number of words stopped now + */ + virtual int stopWords(double minWeight); + +protected: + + /// Pointer to descriptor + typedef const TDescriptor *pDescriptor; + + /// Tree node + struct Node + { + /// Node id + NodeId id; + /// Weight if the node is a word + WordValue weight; + /// Children + vector children; + /// Parent node (undefined in case of root) + NodeId parent; + /// Node descriptor + TDescriptor descriptor; + + /// Word id if the node is a word + WordId word_id; + + /** + * Empty constructor + */ + Node(): id(0), weight(0), parent(0), word_id(0){} + + /** + * Constructor + * @param _id node id + */ + Node(NodeId _id): id(_id), weight(0), parent(0), word_id(0){} + + /** + * Returns whether the node is a leaf node + * @return true iff the node is a leaf + */ + inline bool isLeaf() const { return children.empty(); } + }; + +protected: + + /** + * Creates an instance of the scoring object accoring to m_scoring + */ + void createScoringObject(); + + /** + * Returns a set of pointers to descriptores + * @param training_features all the features + * @param features (out) pointers to the training features + */ + void getFeatures( + const vector > &training_features, + vector &features) const; + + /** + * Returns the word id associated to a feature + * @param feature + * @param id (out) word id + * @param weight (out) word weight + * @param nid (out) if given, id of the node "levelsup" levels up + * @param levelsup + */ + virtual void transform(const TDescriptor &feature, + WordId &id, WordValue &weight, NodeId* nid = NULL, int levelsup = 0) const; + + /** + * Returns the word id associated to a feature + * @param feature + * @param id (out) word id + */ + virtual void transform(const TDescriptor &feature, WordId &id) const; + + /** + * Creates a level in the tree, under the parent, by running kmeans with + * a descriptor set, and recursively creates the subsequent levels too + * @param parent_id id of parent node + * @param descriptors descriptors to run the kmeans on + * @param current_level current level in the tree + */ + void HKmeansStep(NodeId parent_id, const vector &descriptors, + int current_level); + + /** + * Creates k clusters from the given descriptors with some seeding algorithm. + * @note In this class, kmeans++ is used, but this function should be + * overriden by inherited classes. + */ + virtual void initiateClusters(const vector &descriptors, + vector &clusters) const; + + /** + * Creates k clusters from the given descriptor sets by running the + * initial step of kmeans++ + * @param descriptors + * @param clusters resulting clusters + */ + void initiateClustersKMpp(const vector &descriptors, + vector &clusters) const; + + /** + * Create the words of the vocabulary once the tree has been built + */ + void createWords(); + + /** + * Sets the weights of the nodes of tree according to the given features. + * Before calling this function, the nodes and the words must be already + * created (by calling HKmeansStep and createWords) + * @param features + */ + void setNodeWeights(const vector > &features); + +protected: + + /// Branching factor + int m_k; + + /// Depth levels + int m_L; + + /// Weighting method + WeightingType m_weighting; + + /// Scoring method + ScoringType m_scoring; + + /// Object for computing scores + GeneralScoring* m_scoring_object; + + /// Tree nodes + std::vector m_nodes; + + /// Words of the vocabulary (tree leaves) + /// this condition holds: m_words[wid]->word_id == wid + std::vector m_words; + +}; + +// -------------------------------------------------------------------------- + +template +TemplatedVocabulary::TemplatedVocabulary + (int k, int L, WeightingType weighting, ScoringType scoring) + : m_k(k), m_L(L), m_weighting(weighting), m_scoring(scoring), + m_scoring_object(NULL) +{ + createScoringObject(); +} + +// -------------------------------------------------------------------------- + +template +TemplatedVocabulary::TemplatedVocabulary + (const std::string &filename): m_scoring_object(NULL) +{ + load(filename); +} + +// -------------------------------------------------------------------------- + +template +TemplatedVocabulary::TemplatedVocabulary + (const char *filename): m_scoring_object(NULL) +{ + load(filename); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::createScoringObject() +{ + delete m_scoring_object; + m_scoring_object = NULL; + + switch(m_scoring) + { + case L1_NORM: + m_scoring_object = new L1Scoring; + break; + + case L2_NORM: + m_scoring_object = new L2Scoring; + break; + + case CHI_SQUARE: + m_scoring_object = new ChiSquareScoring; + break; + + case KL: + m_scoring_object = new KLScoring; + break; + + case BHATTACHARYYA: + m_scoring_object = new BhattacharyyaScoring; + break; + + case DOT_PRODUCT: + m_scoring_object = new DotProductScoring; + break; + + } +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::setScoringType(ScoringType type) +{ + m_scoring = type; + createScoringObject(); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::setWeightingType(WeightingType type) +{ + this->m_weighting = type; +} + +// -------------------------------------------------------------------------- + +template +TemplatedVocabulary::TemplatedVocabulary( + const TemplatedVocabulary &voc) + : m_scoring_object(NULL) +{ + *this = voc; +} + +// -------------------------------------------------------------------------- + +template +TemplatedVocabulary::~TemplatedVocabulary() +{ + delete m_scoring_object; +} + +// -------------------------------------------------------------------------- + +template +TemplatedVocabulary& +TemplatedVocabulary::operator= + (const TemplatedVocabulary &voc) +{ + this->m_k = voc.m_k; + this->m_L = voc.m_L; + this->m_scoring = voc.m_scoring; + this->m_weighting = voc.m_weighting; + + this->createScoringObject(); + + this->m_nodes.clear(); + this->m_words.clear(); + + this->m_nodes = voc.m_nodes; + this->createWords(); + + return *this; +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::create( + const std::vector > &training_features) +{ + m_nodes.clear(); + m_words.clear(); + + // expected_nodes = Sum_{i=0..L} ( k^i ) + int expected_nodes = + (int)((pow((double)m_k, (double)m_L + 1) - 1)/(m_k - 1)); + + m_nodes.reserve(expected_nodes); // avoid allocations when creating the tree + + + vector features; + getFeatures(training_features, features); + + + // create root + m_nodes.push_back(Node(0)); // root + + // create the tree + HKmeansStep(0, features, 1); + + // create the words + createWords(); + + // and set the weight of each node of the tree + setNodeWeights(training_features); + +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::create( + const std::vector > &training_features, + int k, int L) +{ + m_k = k; + m_L = L; + + create(training_features); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::create( + const std::vector > &training_features, + int k, int L, WeightingType weighting, ScoringType scoring) +{ + m_k = k; + m_L = L; + m_weighting = weighting; + m_scoring = scoring; + createScoringObject(); + + create(training_features); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::getFeatures( + const vector > &training_features, + vector &features) const +{ + features.resize(0); + + typename vector >::const_iterator vvit; + typename vector::const_iterator vit; + for(vvit = training_features.begin(); vvit != training_features.end(); ++vvit) + { + features.reserve(features.size() + vvit->size()); + for(vit = vvit->begin(); vit != vvit->end(); ++vit) + { + features.push_back(&(*vit)); + } + } +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::HKmeansStep(NodeId parent_id, + const vector &descriptors, int current_level) +{ + if(descriptors.empty()) return; + + // features associated to each cluster + vector clusters; + vector > groups; // groups[i] = [j1, j2, ...] + // j1, j2, ... indices of descriptors associated to cluster i + + clusters.reserve(m_k); + groups.reserve(m_k); + + //const int msizes[] = { m_k, descriptors.size() }; + //cv::SparseMat assoc(2, msizes, CV_8U); + //cv::SparseMat last_assoc(2, msizes, CV_8U); + //// assoc.row(cluster_idx).col(descriptor_idx) = 1 iif associated + + if((int)descriptors.size() <= m_k) + { + // trivial case: one cluster per feature + groups.resize(descriptors.size()); + + for(unsigned int i = 0; i < descriptors.size(); i++) + { + groups[i].push_back(i); + clusters.push_back(*descriptors[i]); + } + } + else + { + // select clusters and groups with kmeans + + bool first_time = true; + bool goon = true; + + // to check if clusters move after iterations + vector last_association, current_association; + + while(goon) + { + // 1. Calculate clusters + + if(first_time) + { + // random sample + initiateClusters(descriptors, clusters); + } + else + { + // calculate cluster centres + + for(unsigned int c = 0; c < clusters.size(); ++c) + { + vector cluster_descriptors; + cluster_descriptors.reserve(groups[c].size()); + + /* + for(unsigned int d = 0; d < descriptors.size(); ++d) + { + if( assoc.find(c, d) ) + { + cluster_descriptors.push_back(descriptors[d]); + } + } + */ + + vector::const_iterator vit; + for(vit = groups[c].begin(); vit != groups[c].end(); ++vit) + { + cluster_descriptors.push_back(descriptors[*vit]); + } + + + F::meanValue(cluster_descriptors, clusters[c]); + } + + } // if(!first_time) + + // 2. Associate features with clusters + + // calculate distances to cluster centers + groups.clear(); + groups.resize(clusters.size(), vector()); + current_association.resize(descriptors.size()); + + //assoc.clear(); + + typename vector::const_iterator fit; + //unsigned int d = 0; + for(fit = descriptors.begin(); fit != descriptors.end(); ++fit)//, ++d) + { + double best_dist = F::distance(*(*fit), clusters[0]); + unsigned int icluster = 0; + + for(unsigned int c = 1; c < clusters.size(); ++c) + { + double dist = F::distance(*(*fit), clusters[c]); + if(dist < best_dist) + { + best_dist = dist; + icluster = c; + } + } + + //assoc.ref(icluster, d) = 1; + + groups[icluster].push_back(fit - descriptors.begin()); + current_association[ fit - descriptors.begin() ] = icluster; + } + + // kmeans++ ensures all the clusters has any feature associated with them + + // 3. check convergence + if(first_time) + { + first_time = false; + } + else + { + //goon = !eqUChar(last_assoc, assoc); + + goon = false; + for(unsigned int i = 0; i < current_association.size(); i++) + { + if(current_association[i] != last_association[i]){ + goon = true; + break; + } + } + } + + if(goon) + { + // copy last feature-cluster association + last_association = current_association; + //last_assoc = assoc.clone(); + } + + } // while(goon) + + } // if must run kmeans + + // create nodes + for(unsigned int i = 0; i < clusters.size(); ++i) + { + NodeId id = m_nodes.size(); + m_nodes.push_back(Node(id)); + m_nodes.back().descriptor = clusters[i]; + m_nodes.back().parent = parent_id; + m_nodes[parent_id].children.push_back(id); + } + + // go on with the next level + if(current_level < m_L) + { + // iterate again with the resulting clusters + const vector &children_ids = m_nodes[parent_id].children; + for(unsigned int i = 0; i < clusters.size(); ++i) + { + NodeId id = children_ids[i]; + + vector child_features; + child_features.reserve(groups[i].size()); + + vector::const_iterator vit; + for(vit = groups[i].begin(); vit != groups[i].end(); ++vit) + { + child_features.push_back(descriptors[*vit]); + } + + if(child_features.size() > 1) + { + HKmeansStep(id, child_features, current_level + 1); + } + } + } +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::initiateClusters + (const vector &descriptors, vector &clusters) const +{ + initiateClustersKMpp(descriptors, clusters); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::initiateClustersKMpp( + const vector &pfeatures, vector &clusters) const +{ + // Implements kmeans++ seeding algorithm + // Algorithm: + // 1. Choose one center uniformly at random from among the data points. + // 2. For each data point x, compute D(x), the distance between x and the nearest + // center that has already been chosen. + // 3. Add one new data point as a center. Each point x is chosen with probability + // proportional to D(x)^2. + // 4. Repeat Steps 2 and 3 until k centers have been chosen. + // 5. Now that the initial centers have been chosen, proceed using standard k-means + // clustering. + + DUtils::Random::SeedRandOnce(); + + clusters.resize(0); + clusters.reserve(m_k); + vector min_dists(pfeatures.size(), std::numeric_limits::max()); + + // 1. + + int ifeature = DUtils::Random::RandomInt(0, pfeatures.size()-1); + + // create first cluster + clusters.push_back(*pfeatures[ifeature]); + + // compute the initial distances + typename vector::const_iterator fit; + vector::iterator dit; + dit = min_dists.begin(); + for(fit = pfeatures.begin(); fit != pfeatures.end(); ++fit, ++dit) + { + *dit = F::distance(*(*fit), clusters.back()); + } + + while((int)clusters.size() < m_k) + { + // 2. + dit = min_dists.begin(); + for(fit = pfeatures.begin(); fit != pfeatures.end(); ++fit, ++dit) + { + if(*dit > 0) + { + double dist = F::distance(*(*fit), clusters.back()); + if(dist < *dit) *dit = dist; + } + } + + // 3. + double dist_sum = std::accumulate(min_dists.begin(), min_dists.end(), 0.0); + + if(dist_sum > 0) + { + double cut_d; + do + { + cut_d = DUtils::Random::RandomValue(0, dist_sum); + } while(cut_d == 0.0); + + double d_up_now = 0; + for(dit = min_dists.begin(); dit != min_dists.end(); ++dit) + { + d_up_now += *dit; + if(d_up_now >= cut_d) break; + } + + if(dit == min_dists.end()) + ifeature = pfeatures.size()-1; + else + ifeature = dit - min_dists.begin(); + + clusters.push_back(*pfeatures[ifeature]); + + } // if dist_sum > 0 + else + break; + + } // while(used_clusters < m_k) + +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::createWords() +{ + m_words.resize(0); + + if(!m_nodes.empty()) + { + m_words.reserve( (int)pow((double)m_k, (double)m_L) ); + + typename vector::iterator nit; + + nit = m_nodes.begin(); // ignore root + for(++nit; nit != m_nodes.end(); ++nit) + { + if(nit->isLeaf()) + { + nit->word_id = m_words.size(); + m_words.push_back( &(*nit) ); + } + } + } +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::setNodeWeights + (const vector > &training_features) +{ + const unsigned int NWords = m_words.size(); + const unsigned int NDocs = training_features.size(); + + if(m_weighting == TF || m_weighting == BINARY) + { + // idf part must be 1 always + for(unsigned int i = 0; i < NWords; i++) + m_words[i]->weight = 1; + } + else if(m_weighting == IDF || m_weighting == TF_IDF) + { + // IDF and TF-IDF: we calculte the idf path now + + // Note: this actually calculates the idf part of the tf-idf score. + // The complete tf-idf score is calculated in ::transform + + vector Ni(NWords, 0); + vector counted(NWords, false); + + typename vector >::const_iterator mit; + typename vector::const_iterator fit; + + for(mit = training_features.begin(); mit != training_features.end(); ++mit) + { + fill(counted.begin(), counted.end(), false); + + for(fit = mit->begin(); fit < mit->end(); ++fit) + { + WordId word_id; + transform(*fit, word_id); + + if(!counted[word_id]) + { + Ni[word_id]++; + counted[word_id] = true; + } + } + } + + // set ln(N/Ni) + for(unsigned int i = 0; i < NWords; i++) + { + if(Ni[i] > 0) + { + m_words[i]->weight = log((double)NDocs / (double)Ni[i]); + }// else // This cannot occur if using kmeans++ + } + + } + +} + +// -------------------------------------------------------------------------- + +template +inline unsigned int TemplatedVocabulary::size() const +{ + return m_words.size(); +} + +// -------------------------------------------------------------------------- + +template +inline bool TemplatedVocabulary::empty() const +{ + return m_words.empty(); +} + +// -------------------------------------------------------------------------- + +template +float TemplatedVocabulary::getEffectiveLevels() const +{ + long sum = 0; + typename std::vector::const_iterator wit; + for(wit = m_words.begin(); wit != m_words.end(); ++wit) + { + const Node *p = *wit; + + for(; p->id != 0; sum++) p = &m_nodes[p->parent]; + } + + return (float)((double)sum / (double)m_words.size()); +} + +// -------------------------------------------------------------------------- + +template +TDescriptor TemplatedVocabulary::getWord(WordId wid) const +{ + return m_words[wid]->descriptor; +} + +// -------------------------------------------------------------------------- + +template +WordValue TemplatedVocabulary::getWordWeight(WordId wid) const +{ + return m_words[wid]->weight; +} + +// -------------------------------------------------------------------------- + +template +WordId TemplatedVocabulary::transform + (const TDescriptor& feature) const +{ + if(empty()) + { + return 0; + } + + WordId wid; + transform(feature, wid); + return wid; +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::transform( + const std::vector& features, BowVector &v) const +{ + v.clear(); + + if(empty()) + { + return; + } + + // normalize + LNorm norm; + bool must = m_scoring_object->mustNormalize(norm); + + typename vector::const_iterator fit; + + if(m_weighting == TF || m_weighting == TF_IDF) + { + for(fit = features.begin(); fit < features.end(); ++fit) + { + WordId id; + WordValue w; + // w is the idf value if TF_IDF, 1 if TF + + transform(*fit, id, w); + + // not stopped + if(w > 0) v.addWeight(id, w); + } + + if(!v.empty() && !must) + { + // unnecessary when normalizing + const double nd = v.size(); + for(BowVector::iterator vit = v.begin(); vit != v.end(); vit++) + vit->second /= nd; + } + + } + else // IDF || BINARY + { + for(fit = features.begin(); fit < features.end(); ++fit) + { + WordId id; + WordValue w; + // w is idf if IDF, or 1 if BINARY + + transform(*fit, id, w); + + // not stopped + if(w > 0) v.addIfNotExist(id, w); + + } // if add_features + } // if m_weighting == ... + + if(must) v.normalize(norm); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::transform( + const std::vector& features, + BowVector &v, FeatureVector &fv, int levelsup) const +{ + v.clear(); + fv.clear(); + + if(empty()) // safe for subclasses + { + return; + } + + // normalize + LNorm norm; + bool must = m_scoring_object->mustNormalize(norm); + + typename vector::const_iterator fit; + + if(m_weighting == TF || m_weighting == TF_IDF) + { + unsigned int i_feature = 0; + for(fit = features.begin(); fit < features.end(); ++fit, ++i_feature) + { + WordId id; + NodeId nid; + WordValue w; + // w is the idf value if TF_IDF, 1 if TF + + transform(*fit, id, w, &nid, levelsup); + + if(w > 0) // not stopped + { + v.addWeight(id, w); + fv.addFeature(nid, i_feature); + } + } + + if(!v.empty() && !must) + { + // unnecessary when normalizing + const double nd = v.size(); + for(BowVector::iterator vit = v.begin(); vit != v.end(); vit++) + vit->second /= nd; + } + + } + else // IDF || BINARY + { + unsigned int i_feature = 0; + for(fit = features.begin(); fit < features.end(); ++fit, ++i_feature) + { + WordId id; + NodeId nid; + WordValue w; + // w is idf if IDF, or 1 if BINARY + + transform(*fit, id, w, &nid, levelsup); + + if(w > 0) // not stopped + { + v.addIfNotExist(id, w); + fv.addFeature(nid, i_feature); + } + } + } // if m_weighting == ... + + if(must) v.normalize(norm); +} + +// -------------------------------------------------------------------------- + +template +inline double TemplatedVocabulary::score + (const BowVector &v1, const BowVector &v2) const +{ + return m_scoring_object->score(v1, v2); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::transform + (const TDescriptor &feature, WordId &id) const +{ + WordValue weight; + transform(feature, id, weight); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::transform(const TDescriptor &feature, + WordId &word_id, WordValue &weight, NodeId *nid, int levelsup) const +{ + // propagate the feature down the tree + vector nodes; + typename vector::const_iterator nit; + + // level at which the node must be stored in nid, if given + const int nid_level = m_L - levelsup; + if(nid_level <= 0 && nid != NULL) *nid = 0; // root + + NodeId final_id = 0; // root + int current_level = 0; + + do + { + ++current_level; + nodes = m_nodes[final_id].children; + final_id = nodes[0]; + + double best_d = F::distance(feature, m_nodes[final_id].descriptor); + + for(nit = nodes.begin() + 1; nit != nodes.end(); ++nit) + { + NodeId id = *nit; + double d = F::distance(feature, m_nodes[id].descriptor); + if(d < best_d) + { + best_d = d; + final_id = id; + } + } + + if(nid != NULL && current_level == nid_level) + *nid = final_id; + + } while( !m_nodes[final_id].isLeaf() ); + + // turn node id into word id + word_id = m_nodes[final_id].word_id; + weight = m_nodes[final_id].weight; +} + +// -------------------------------------------------------------------------- + +template +NodeId TemplatedVocabulary::getParentNode + (WordId wid, int levelsup) const +{ + NodeId ret = m_words[wid]->id; // node id + while(levelsup > 0 && ret != 0) // ret == 0 --> root + { + --levelsup; + ret = m_nodes[ret].parent; + } + return ret; +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::getWordsFromNode + (NodeId nid, std::vector &words) const +{ + words.clear(); + + if(m_nodes[nid].isLeaf()) + { + words.push_back(m_nodes[nid].word_id); + } + else + { + words.reserve(m_k); // ^1, ^2, ... + + vector parents; + parents.push_back(nid); + + while(!parents.empty()) + { + NodeId parentid = parents.back(); + parents.pop_back(); + + const vector &child_ids = m_nodes[parentid].children; + vector::const_iterator cit; + + for(cit = child_ids.begin(); cit != child_ids.end(); ++cit) + { + const Node &child_node = m_nodes[*cit]; + + if(child_node.isLeaf()) + words.push_back(child_node.word_id); + else + parents.push_back(*cit); + + } // for each child + } // while !parents.empty + } +} + +// -------------------------------------------------------------------------- + +template +int TemplatedVocabulary::stopWords(double minWeight) +{ + int c = 0; + typename vector::iterator wit; + for(wit = m_words.begin(); wit != m_words.end(); ++wit) + { + if((*wit)->weight < minWeight) + { + ++c; + (*wit)->weight = 0; + } + } + return c; +} + +// -------------------------------------------------------------------------- + +template +bool TemplatedVocabulary::loadFromTextFile(const std::string &filename) +{ + ifstream f; + f.open(filename.c_str()); + + if(f.eof()) + return false; + + m_words.clear(); + m_nodes.clear(); + + string s; + getline(f,s); + stringstream ss; + ss << s; + ss >> m_k; + ss >> m_L; + int n1, n2; + ss >> n1; + ss >> n2; + + if(m_k<0 || m_k>20 || m_L<1 || m_L>10 || n1<0 || n1>5 || n2<0 || n2>3) + { + std::cerr << "Vocabulary loading failure: This is not a correct text file!" << endl; + return false; + } + + m_scoring = (ScoringType)n1; + m_weighting = (WeightingType)n2; + createScoringObject(); + + // nodes + int expected_nodes = + (int)((pow((double)m_k, (double)m_L + 1) - 1)/(m_k - 1)); + m_nodes.reserve(expected_nodes); + + m_words.reserve(pow((double)m_k, (double)m_L + 1)); + + m_nodes.resize(1); + m_nodes[0].id = 0; + while(!f.eof()) + { + string snode; + getline(f,snode); + stringstream ssnode; + ssnode << snode; + + int nid = m_nodes.size(); + m_nodes.resize(m_nodes.size()+1); + m_nodes[nid].id = nid; + + int pid ; + ssnode >> pid; + m_nodes[nid].parent = pid; + m_nodes[pid].children.push_back(nid); + + int nIsLeaf; + ssnode >> nIsLeaf; + + stringstream ssd; + for(int iD=0;iD> sElement; + ssd << sElement << " "; + } + F::fromString(m_nodes[nid].descriptor, ssd.str()); + + ssnode >> m_nodes[nid].weight; + + if(nIsLeaf>0) + { + int wid = m_words.size(); + m_words.resize(wid+1); + + m_nodes[nid].word_id = wid; + m_words[wid] = &m_nodes[nid]; + } + else + { + m_nodes[nid].children.reserve(m_k); + } + } + + return true; + +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::saveToTextFile(const std::string &filename) const +{ + fstream f; + f.open(filename.c_str(),ios_base::out); + f << m_k << " " << m_L << " " << " " << m_scoring << " " << m_weighting << endl; + + for(size_t i=1; i +bool TemplatedVocabulary::loadFromBinaryFile(const std::string &filename) { + fstream f; + f.open(filename.c_str(), ios_base::in|ios::binary); + unsigned int nb_nodes, size_node; + f.read((char*)&nb_nodes, sizeof(nb_nodes)); + f.read((char*)&size_node, sizeof(size_node)); + f.read((char*)&m_k, sizeof(m_k)); + f.read((char*)&m_L, sizeof(m_L)); + f.read((char*)&m_scoring, sizeof(m_scoring)); + f.read((char*)&m_weighting, sizeof(m_weighting)); + createScoringObject(); + + m_words.clear(); + m_words.reserve(pow((double)m_k, (double)m_L + 1)); + m_nodes.clear(); + m_nodes.resize(nb_nodes+1); + m_nodes[0].id = 0; + char buf[size_node]; int nid = 1; + while (!f.eof()) { + f.read(buf, size_node); + m_nodes[nid].id = nid; + // FIXME + const int* ptr=(int*)buf; + m_nodes[nid].parent = *ptr; + //m_nodes[nid].parent = *(const int*)buf; + m_nodes[m_nodes[nid].parent].children.push_back(nid); + m_nodes[nid].descriptor = cv::Mat(1, F::L, CV_8U); + memcpy(m_nodes[nid].descriptor.data, buf+4, F::L); + m_nodes[nid].weight = *(float*)(buf+4+F::L); + if (buf[8+F::L]) { // is leaf + int wid = m_words.size(); + m_words.resize(wid+1); + m_nodes[nid].word_id = wid; + m_words[wid] = &m_nodes[nid]; + } + else + m_nodes[nid].children.reserve(m_k); + nid+=1; + } + f.close(); + return true; +} + + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::saveToBinaryFile(const std::string &filename) const { + fstream f; + f.open(filename.c_str(), ios_base::out|ios::binary); + unsigned int nb_nodes = m_nodes.size(); + float _weight; + unsigned int size_node = sizeof(m_nodes[0].parent) + F::L*sizeof(char) + sizeof(_weight) + sizeof(bool); + f.write((char*)&nb_nodes, sizeof(nb_nodes)); + f.write((char*)&size_node, sizeof(size_node)); + f.write((char*)&m_k, sizeof(m_k)); + f.write((char*)&m_L, sizeof(m_L)); + f.write((char*)&m_scoring, sizeof(m_scoring)); + f.write((char*)&m_weighting, sizeof(m_weighting)); + for(size_t i=1; i +void TemplatedVocabulary::save(const std::string &filename) const +{ + cv::FileStorage fs(filename.c_str(), cv::FileStorage::WRITE); + if(!fs.isOpened()) throw string("Could not open file ") + filename; + + save(fs); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::load(const std::string &filename) +{ + cv::FileStorage fs(filename.c_str(), cv::FileStorage::READ); + if(!fs.isOpened()) throw string("Could not open file ") + filename; + + this->load(fs); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::save(cv::FileStorage &f, + const std::string &name) const +{ + // Format YAML: + // vocabulary + // { + // k: + // L: + // scoringType: + // weightingType: + // nodes + // [ + // { + // nodeId: + // parentId: + // weight: + // descriptor: + // } + // ] + // words + // [ + // { + // wordId: + // nodeId: + // } + // ] + // } + // + // The root node (index 0) is not included in the node vector + // + + f << name << "{"; + + f << "k" << m_k; + f << "L" << m_L; + f << "scoringType" << m_scoring; + f << "weightingType" << m_weighting; + + // tree + f << "nodes" << "["; + vector parents, children; + vector::const_iterator pit; + + parents.push_back(0); // root + + while(!parents.empty()) + { + NodeId pid = parents.back(); + parents.pop_back(); + + const Node& parent = m_nodes[pid]; + children = parent.children; + + for(pit = children.begin(); pit != children.end(); pit++) + { + const Node& child = m_nodes[*pit]; + + // save node data + f << "{:"; + f << "nodeId" << (int)child.id; + f << "parentId" << (int)pid; + f << "weight" << (double)child.weight; + f << "descriptor" << F::toString(child.descriptor); + f << "}"; + + // add to parent list + if(!child.isLeaf()) + { + parents.push_back(*pit); + } + } + } + + f << "]"; // nodes + + // words + f << "words" << "["; + + typename vector::const_iterator wit; + for(wit = m_words.begin(); wit != m_words.end(); wit++) + { + WordId id = wit - m_words.begin(); + f << "{:"; + f << "wordId" << (int)id; + f << "nodeId" << (int)(*wit)->id; + f << "}"; + } + + f << "]"; // words + + f << "}"; + +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::load(const cv::FileStorage &fs, + const std::string &name) +{ + m_words.clear(); + m_nodes.clear(); + + cv::FileNode fvoc = fs[name]; + + m_k = (int)fvoc["k"]; + m_L = (int)fvoc["L"]; + m_scoring = (ScoringType)((int)fvoc["scoringType"]); + m_weighting = (WeightingType)((int)fvoc["weightingType"]); + + createScoringObject(); + + // nodes + cv::FileNode fn = fvoc["nodes"]; + + m_nodes.resize(fn.size() + 1); // +1 to include root + m_nodes[0].id = 0; + + for(unsigned int i = 0; i < fn.size(); ++i) + { + NodeId nid = (int)fn[i]["nodeId"]; + NodeId pid = (int)fn[i]["parentId"]; + WordValue weight = (WordValue)fn[i]["weight"]; + string d = (string)fn[i]["descriptor"]; + + m_nodes[nid].id = nid; + m_nodes[nid].parent = pid; + m_nodes[nid].weight = weight; + m_nodes[pid].children.push_back(nid); + + F::fromString(m_nodes[nid].descriptor, d); + } + + // words + fn = fvoc["words"]; + + m_words.resize(fn.size()); + + for(unsigned int i = 0; i < fn.size(); ++i) + { + NodeId wid = (int)fn[i]["wordId"]; + NodeId nid = (int)fn[i]["nodeId"]; + + m_nodes[nid].word_id = wid; + m_words[wid] = &m_nodes[nid]; + } +} + +// -------------------------------------------------------------------------- + +/** + * Writes printable information of the vocabulary + * @param os stream to write to + * @param voc + */ +template +std::ostream& operator<<(std::ostream &os, + const TemplatedVocabulary &voc) +{ + os << "Vocabulary: k = " << voc.getBranchingFactor() + << ", L = " << voc.getDepthLevels() + << ", Weighting = "; + + switch(voc.getWeightingType()) + { + case TF_IDF: os << "tf-idf"; break; + case TF: os << "tf"; break; + case IDF: os << "idf"; break; + case BINARY: os << "binary"; break; + } + + os << ", Scoring = "; + switch(voc.getScoringType()) + { + case L1_NORM: os << "L1-norm"; break; + case L2_NORM: os << "L2-norm"; break; + case CHI_SQUARE: os << "Chi square distance"; break; + case KL: os << "KL-divergence"; break; + case BHATTACHARYYA: os << "Bhattacharyya coefficient"; break; + case DOT_PRODUCT: os << "Dot product"; break; + } + + os << ", Number of words = " << voc.size(); + + return os; +} + +} // namespace DBoW2 + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DUtils/Random.cpp b/MyCode/src/my-slam/Thirdparty/DBoW2/DUtils/Random.cpp new file mode 100644 index 0000000..1d78273 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DUtils/Random.cpp @@ -0,0 +1,129 @@ +/* + * File: Random.cpp + * Project: DUtils library + * Author: Dorian Galvez-Lopez + * Date: April 2010 + * Description: manages pseudo-random numbers + * License: see the LICENSE.txt file + * + */ + +#include "Random.h" +#include "Timestamp.h" +#include +using namespace std; + +bool DUtils::Random::m_already_seeded = false; + +void DUtils::Random::SeedRand(){ + Timestamp time; + time.setToCurrentTime(); + srand((unsigned)time.getFloatTime()); +} + +void DUtils::Random::SeedRandOnce() +{ + if(!m_already_seeded) + { + DUtils::Random::SeedRand(); + m_already_seeded = true; + } +} + +void DUtils::Random::SeedRand(int seed) +{ + srand(seed); +} + +void DUtils::Random::SeedRandOnce(int seed) +{ + if(!m_already_seeded) + { + DUtils::Random::SeedRand(seed); + m_already_seeded = true; + } +} + +int DUtils::Random::RandomInt(int min, int max){ + int d = max - min + 1; + return int(((double)rand()/((double)RAND_MAX + 1.0)) * d) + min; +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +DUtils::Random::UnrepeatedRandomizer::UnrepeatedRandomizer(int min, int max) +{ + if(min <= max) + { + m_min = min; + m_max = max; + } + else + { + m_min = max; + m_max = min; + } + + createValues(); +} + +// --------------------------------------------------------------------------- + +DUtils::Random::UnrepeatedRandomizer::UnrepeatedRandomizer + (const DUtils::Random::UnrepeatedRandomizer& rnd) +{ + *this = rnd; +} + +// --------------------------------------------------------------------------- + +int DUtils::Random::UnrepeatedRandomizer::get() +{ + if(empty()) createValues(); + + DUtils::Random::SeedRandOnce(); + + int k = DUtils::Random::RandomInt(0, m_values.size()-1); + int ret = m_values[k]; + m_values[k] = m_values.back(); + m_values.pop_back(); + + return ret; +} + +// --------------------------------------------------------------------------- + +void DUtils::Random::UnrepeatedRandomizer::createValues() +{ + int n = m_max - m_min + 1; + + m_values.resize(n); + for(int i = 0; i < n; ++i) m_values[i] = m_min + i; +} + +// --------------------------------------------------------------------------- + +void DUtils::Random::UnrepeatedRandomizer::reset() +{ + if((int)m_values.size() != m_max - m_min + 1) createValues(); +} + +// --------------------------------------------------------------------------- + +DUtils::Random::UnrepeatedRandomizer& +DUtils::Random::UnrepeatedRandomizer::operator= + (const DUtils::Random::UnrepeatedRandomizer& rnd) +{ + if(this != &rnd) + { + this->m_min = rnd.m_min; + this->m_max = rnd.m_max; + this->m_values = rnd.m_values; + } + return *this; +} + +// --------------------------------------------------------------------------- + + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DUtils/Random.h b/MyCode/src/my-slam/Thirdparty/DBoW2/DUtils/Random.h new file mode 100644 index 0000000..5115dc4 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DUtils/Random.h @@ -0,0 +1,184 @@ +/* + * File: Random.h + * Project: DUtils library + * Author: Dorian Galvez-Lopez + * Date: April 2010, November 2011 + * Description: manages pseudo-random numbers + * License: see the LICENSE.txt file + * + */ + +#pragma once +#ifndef __D_RANDOM__ +#define __D_RANDOM__ + +#include +#include + +namespace DUtils { + +/// Functions to generate pseudo-random numbers +class Random +{ +public: + class UnrepeatedRandomizer; + +public: + /** + * Sets the random number seed to the current time + */ + static void SeedRand(); + + /** + * Sets the random number seed to the current time only the first + * time this function is called + */ + static void SeedRandOnce(); + + /** + * Sets the given random number seed + * @param seed + */ + static void SeedRand(int seed); + + /** + * Sets the given random number seed only the first time this function + * is called + * @param seed + */ + static void SeedRandOnce(int seed); + + /** + * Returns a random number in the range [0..1] + * @return random T number in [0..1] + */ + template + static T RandomValue(){ + return (T)rand()/(T)RAND_MAX; + } + + /** + * Returns a random number in the range [min..max] + * @param min + * @param max + * @return random T number in [min..max] + */ + template + static T RandomValue(T min, T max){ + return Random::RandomValue() * (max - min) + min; + } + + /** + * Returns a random int in the range [min..max] + * @param min + * @param max + * @return random int in [min..max] + */ + static int RandomInt(int min, int max); + + /** + * Returns a random number from a gaussian distribution + * @param mean + * @param sigma standard deviation + */ + template + static T RandomGaussianValue(T mean, T sigma) + { + // Box-Muller transformation + T x1, x2, w, y1; + + do { + x1 = (T)2. * RandomValue() - (T)1.; + x2 = (T)2. * RandomValue() - (T)1.; + w = x1 * x1 + x2 * x2; + } while ( w >= (T)1. || w == (T)0. ); + + w = sqrt( ((T)-2.0 * log( w ) ) / w ); + y1 = x1 * w; + + return( mean + y1 * sigma ); + } + +private: + + /// If SeedRandOnce() or SeedRandOnce(int) have already been called + static bool m_already_seeded; + +}; + +// --------------------------------------------------------------------------- + +/// Provides pseudo-random numbers with no repetitions +class Random::UnrepeatedRandomizer +{ +public: + + /** + * Creates a randomizer that returns numbers in the range [min, max] + * @param min + * @param max + */ + UnrepeatedRandomizer(int min, int max); + ~UnrepeatedRandomizer(){} + + /** + * Copies a randomizer + * @param rnd + */ + UnrepeatedRandomizer(const UnrepeatedRandomizer& rnd); + + /** + * Copies a randomizer + * @param rnd + */ + UnrepeatedRandomizer& operator=(const UnrepeatedRandomizer& rnd); + + /** + * Returns a random number not given before. If all the possible values + * were already given, the process starts again + * @return unrepeated random number + */ + int get(); + + /** + * Returns whether all the possible values between min and max were + * already given. If get() is called when empty() is true, the behaviour + * is the same than after creating the randomizer + * @return true iff all the values were returned + */ + inline bool empty() const { return m_values.empty(); } + + /** + * Returns the number of values still to be returned + * @return amount of values to return + */ + inline unsigned int left() const { return m_values.size(); } + + /** + * Resets the randomizer as it were just created + */ + void reset(); + +protected: + + /** + * Creates the vector with available values + */ + void createValues(); + +protected: + + /// Min of range of values + int m_min; + /// Max of range of values + int m_max; + + /// Available values + std::vector m_values; + +}; + +} + +#endif + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DUtils/Timestamp.cpp b/MyCode/src/my-slam/Thirdparty/DBoW2/DUtils/Timestamp.cpp new file mode 100644 index 0000000..497304a --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DUtils/Timestamp.cpp @@ -0,0 +1,246 @@ +/* + * File: Timestamp.cpp + * Author: Dorian Galvez-Lopez + * Date: March 2009 + * Description: timestamping functions + * + * Note: in windows, this class has a 1ms resolution + * + * License: see the LICENSE.txt file + * + */ + +#include +#include +#include +#include +#include +#include + +#ifdef _WIN32 +#ifndef WIN32 +#define WIN32 +#endif +#endif + +#ifdef WIN32 +#include +#define sprintf sprintf_s +#else +#include +#endif + +#include "Timestamp.h" + +using namespace std; + +using namespace DUtils; + +Timestamp::Timestamp(Timestamp::tOptions option) +{ + if(option & CURRENT_TIME) + setToCurrentTime(); + else if(option & ZERO) + setTime(0.); +} + +Timestamp::~Timestamp(void) +{ +} + +bool Timestamp::empty() const +{ + return m_secs == 0 && m_usecs == 0; +} + +void Timestamp::setToCurrentTime(){ + +#ifdef WIN32 + struct __timeb32 timebuffer; + _ftime32_s( &timebuffer ); // C4996 + // Note: _ftime is deprecated; consider using _ftime_s instead + m_secs = timebuffer.time; + m_usecs = timebuffer.millitm * 1000; +#else + struct timeval now; + gettimeofday(&now, NULL); + m_secs = now.tv_sec; + m_usecs = now.tv_usec; +#endif + +} + +void Timestamp::setTime(const string &stime){ + string::size_type p = stime.find('.'); + if(p == string::npos){ + m_secs = atol(stime.c_str()); + m_usecs = 0; + }else{ + m_secs = atol(stime.substr(0, p).c_str()); + + string s_usecs = stime.substr(p+1, 6); + m_usecs = atol(stime.substr(p+1).c_str()); + m_usecs *= (unsigned long)pow(10.0, double(6 - s_usecs.length())); + } +} + +void Timestamp::setTime(double s) +{ + m_secs = (unsigned long)s; + m_usecs = (s - (double)m_secs) * 1e6; +} + +double Timestamp::getFloatTime() const { + return double(m_secs) + double(m_usecs)/1000000.0; +} + +string Timestamp::getStringTime() const { + char buf[32]; + sprintf(buf, "%.6lf", this->getFloatTime()); + return string(buf); +} + +double Timestamp::operator- (const Timestamp &t) const { + return this->getFloatTime() - t.getFloatTime(); +} + +Timestamp& Timestamp::operator+= (double s) +{ + *this = *this + s; + return *this; +} + +Timestamp& Timestamp::operator-= (double s) +{ + *this = *this - s; + return *this; +} + +Timestamp Timestamp::operator+ (double s) const +{ + unsigned long secs = (long)floor(s); + unsigned long usecs = (long)((s - (double)secs) * 1e6); + + return this->plus(secs, usecs); +} + +Timestamp Timestamp::plus(unsigned long secs, unsigned long usecs) const +{ + Timestamp t; + + const unsigned long max = 1000000ul; + + if(m_usecs + usecs >= max) + t.setTime(m_secs + secs + 1, m_usecs + usecs - max); + else + t.setTime(m_secs + secs, m_usecs + usecs); + + return t; +} + +Timestamp Timestamp::operator- (double s) const +{ + unsigned long secs = (long)floor(s); + unsigned long usecs = (long)((s - (double)secs) * 1e6); + + return this->minus(secs, usecs); +} + +Timestamp Timestamp::minus(unsigned long secs, unsigned long usecs) const +{ + Timestamp t; + + const unsigned long max = 1000000ul; + + if(m_usecs < usecs) + t.setTime(m_secs - secs - 1, max - (usecs - m_usecs)); + else + t.setTime(m_secs - secs, m_usecs - usecs); + + return t; +} + +bool Timestamp::operator> (const Timestamp &t) const +{ + if(m_secs > t.m_secs) return true; + else if(m_secs == t.m_secs) return m_usecs > t.m_usecs; + else return false; +} + +bool Timestamp::operator>= (const Timestamp &t) const +{ + if(m_secs > t.m_secs) return true; + else if(m_secs == t.m_secs) return m_usecs >= t.m_usecs; + else return false; +} + +bool Timestamp::operator< (const Timestamp &t) const +{ + if(m_secs < t.m_secs) return true; + else if(m_secs == t.m_secs) return m_usecs < t.m_usecs; + else return false; +} + +bool Timestamp::operator<= (const Timestamp &t) const +{ + if(m_secs < t.m_secs) return true; + else if(m_secs == t.m_secs) return m_usecs <= t.m_usecs; + else return false; +} + +bool Timestamp::operator== (const Timestamp &t) const +{ + return(m_secs == t.m_secs && m_usecs == t.m_usecs); +} + + +string Timestamp::Format(bool machine_friendly) const +{ + struct tm tm_time; + + time_t t = (time_t)getFloatTime(); + +#ifdef WIN32 + localtime_s(&tm_time, &t); +#else + localtime_r(&t, &tm_time); +#endif + + char buffer[128]; + + if(machine_friendly) + { + strftime(buffer, 128, "%Y%m%d_%H%M%S", &tm_time); + } + else + { + strftime(buffer, 128, "%c", &tm_time); // Thu Aug 23 14:55:02 2001 + } + + return string(buffer); +} + +string Timestamp::Format(double s) { + int days = int(s / (24. * 3600.0)); + s -= days * (24. * 3600.0); + int hours = int(s / 3600.0); + s -= hours * 3600; + int minutes = int(s / 60.0); + s -= minutes * 60; + int seconds = int(s); + int ms = int((s - seconds)*1e6); + + stringstream ss; + ss.fill('0'); + bool b; + if((b = (days > 0))) ss << days << "d "; + if((b = (b || hours > 0))) ss << setw(2) << hours << ":"; + if((b = (b || minutes > 0))) ss << setw(2) << minutes << ":"; + if(b) ss << setw(2); + ss << seconds; + if(!b) ss << "." << setw(6) << ms; + + return ss.str(); +} + + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/DUtils/Timestamp.h b/MyCode/src/my-slam/Thirdparty/DBoW2/DUtils/Timestamp.h new file mode 100644 index 0000000..b92f89f --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/DUtils/Timestamp.h @@ -0,0 +1,204 @@ +/* + * File: Timestamp.h + * Author: Dorian Galvez-Lopez + * Date: March 2009 + * Description: timestamping functions + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_TIMESTAMP__ +#define __D_TIMESTAMP__ + +#include +using namespace std; + +namespace DUtils { + +/// Timestamp +class Timestamp +{ +public: + + /// Options to initiate a timestamp + enum tOptions + { + NONE = 0, + CURRENT_TIME = 0x1, + ZERO = 0x2 + }; + +public: + + /** + * Creates a timestamp + * @param option option to set the initial time stamp + */ + Timestamp(Timestamp::tOptions option = NONE); + + /** + * Destructor + */ + virtual ~Timestamp(void); + + /** + * Says if the timestamp is "empty": seconds and usecs are both 0, as + * when initiated with the ZERO flag + * @return true iif secs == usecs == 0 + */ + bool empty() const; + + /** + * Sets this instance to the current time + */ + void setToCurrentTime(); + + /** + * Sets the timestamp from seconds and microseconds + * @param secs: seconds + * @param usecs: microseconds + */ + inline void setTime(unsigned long secs, unsigned long usecs){ + m_secs = secs; + m_usecs = usecs; + } + + /** + * Returns the timestamp in seconds and microseconds + * @param secs seconds + * @param usecs microseconds + */ + inline void getTime(unsigned long &secs, unsigned long &usecs) const + { + secs = m_secs; + usecs = m_usecs; + } + + /** + * Sets the timestamp from a string with the time in seconds + * @param stime: string such as "1235603336.036609" + */ + void setTime(const string &stime); + + /** + * Sets the timestamp from a number of seconds from the epoch + * @param s seconds from the epoch + */ + void setTime(double s); + + /** + * Returns this timestamp as the number of seconds in (long) float format + */ + double getFloatTime() const; + + /** + * Returns this timestamp as the number of seconds in fixed length string format + */ + string getStringTime() const; + + /** + * Returns the difference in seconds between this timestamp (greater) and t (smaller) + * If the order is swapped, a negative number is returned + * @param t: timestamp to subtract from this timestamp + * @return difference in seconds + */ + double operator- (const Timestamp &t) const; + + /** + * Returns a copy of this timestamp + s seconds + us microseconds + * @param s seconds + * @param us microseconds + */ + Timestamp plus(unsigned long s, unsigned long us) const; + + /** + * Returns a copy of this timestamp - s seconds - us microseconds + * @param s seconds + * @param us microseconds + */ + Timestamp minus(unsigned long s, unsigned long us) const; + + /** + * Adds s seconds to this timestamp and returns a reference to itself + * @param s seconds + * @return reference to this timestamp + */ + Timestamp& operator+= (double s); + + /** + * Substracts s seconds to this timestamp and returns a reference to itself + * @param s seconds + * @return reference to this timestamp + */ + Timestamp& operator-= (double s); + + /** + * Returns a copy of this timestamp + s seconds + * @param s: seconds + */ + Timestamp operator+ (double s) const; + + /** + * Returns a copy of this timestamp - s seconds + * @param s: seconds + */ + Timestamp operator- (double s) const; + + /** + * Returns whether this timestamp is at the future of t + * @param t + */ + bool operator> (const Timestamp &t) const; + + /** + * Returns whether this timestamp is at the future of (or is the same as) t + * @param t + */ + bool operator>= (const Timestamp &t) const; + + /** + * Returns whether this timestamp and t represent the same instant + * @param t + */ + bool operator== (const Timestamp &t) const; + + /** + * Returns whether this timestamp is at the past of t + * @param t + */ + bool operator< (const Timestamp &t) const; + + /** + * Returns whether this timestamp is at the past of (or is the same as) t + * @param t + */ + bool operator<= (const Timestamp &t) const; + + /** + * Returns the timestamp in a human-readable string + * @param machine_friendly if true, the returned string is formatted + * to yyyymmdd_hhmmss, without weekday or spaces + * @note This has not been tested under Windows + * @note The timestamp is truncated to seconds + */ + string Format(bool machine_friendly = false) const; + + /** + * Returns a string version of the elapsed time in seconds, with the format + * xd hh:mm:ss, hh:mm:ss, mm:ss or s.us + * @param s: elapsed seconds (given by getFloatTime) to format + */ + static string Format(double s); + + +protected: + /// Seconds + unsigned long m_secs; // seconds + /// Microseconds + unsigned long m_usecs; // microseconds +}; + +} + +#endif + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/LICENSE.txt b/MyCode/src/my-slam/Thirdparty/DBoW2/LICENSE.txt new file mode 100644 index 0000000..1f91e09 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/LICENSE.txt @@ -0,0 +1,44 @@ +DBoW2: bag-of-words library for C++ with generic descriptors + +Copyright (c) 2015 Dorian Galvez-Lopez (Universidad de Zaragoza) +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: +1. Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. +2. 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. +3. Neither the name of copyright holders 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 COPYRIGHT HOLDERS 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. + +If you use it in an academic work, please cite: + + @ARTICLE{GalvezTRO12, + author={G\'alvez-L\'opez, Dorian and Tard\'os, J. D.}, + journal={IEEE Transactions on Robotics}, + title={Bags of Binary Words for Fast Place Recognition in Image Sequences}, + year={2012}, + month={October}, + volume={28}, + number={5}, + pages={1188--1197}, + doi={10.1109/TRO.2012.2197158}, + ISSN={1552-3098} + } + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/README.txt b/MyCode/src/my-slam/Thirdparty/DBoW2/README.txt new file mode 100644 index 0000000..71827f0 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/README.txt @@ -0,0 +1,7 @@ +You should have received this DBoW2 version along with ORB-SLAM2 (https://github.com/raulmur/ORB_SLAM2). +See the original DBoW2 library at: https://github.com/dorian3d/DBoW2 +All files included in this version are BSD, see LICENSE.txt + +We also use Random.h, Random.cpp, Timestamp.pp and Timestamp.h from DLib/DUtils. +See the original DLib library at: https://github.com/dorian3d/DLib +All files included in this version are BSD, see LICENSE.txt diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/build/CMakeCache.txt b/MyCode/src/my-slam/Thirdparty/DBoW2/build/CMakeCache.txt new file mode 100644 index 0000000..f0f7878 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/build/CMakeCache.txt @@ -0,0 +1,589 @@ +# This is the CMakeCache file. +# For build in directory: /home/test/My/src/sg-slam/Thirdparty/DBoW2/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=Release + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9 + +//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 builds for minimum +// size. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds. +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the 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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=DBoW2 + +//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 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This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Compile device code in 64 bit mode +CUDA_64_BIT_DEVICE_CODE:BOOL=ON + +//Attach the build rule to the CUDA source file. Enable only when +// the CUDA source file is added to at most one target. +CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE:BOOL=ON + +//Generate and parse .cubin files in Device mode. +CUDA_BUILD_CUBIN:BOOL=OFF + +//Build in Emulation mode +CUDA_BUILD_EMULATION:BOOL=OFF + +//"cudart" library +CUDA_CUDART_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcudart.so + +//"cuda" library (older versions only). +CUDA_CUDA_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcuda.so + +//Directory to put all the output files. 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Requires +// CUDA 5.0+ +CUDA_SEPARABLE_COMPILATION:BOOL=OFF + +//Path to a file. +CUDA_TOOLKIT_INCLUDE:PATH=/usr/local/cuda-11.1/include + +//Toolkit location. +CUDA_TOOLKIT_ROOT_DIR:PATH=/usr/local/cuda-11.1 + +//Use the static version of the CUDA runtime library if available +CUDA_USE_STATIC_CUDA_RUNTIME:BOOL=ON + +//Print out the commands run while compiling the CUDA source file. +// With the Makefile generator this defaults to VERBOSE variable +// specified on the command line, but can be forced on with this +// option. +CUDA_VERBOSE_BUILD:BOOL=OFF + +//Version of CUDA as computed from nvcc. +CUDA_VERSION:STRING=11.1 + +//"cublas" library +CUDA_cublas_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcublas.so + +//"cublas_device" library +CUDA_cublas_device_LIBRARY:FILEPATH=CUDA_cublas_device_LIBRARY-NOTFOUND + +//"cudadevrt" library +CUDA_cudadevrt_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcudadevrt.a + +//static CUDA runtime library +CUDA_cudart_static_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcudart_static.a + +//"cufft" library +CUDA_cufft_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcufft.so + +//"cupti" library +CUDA_cupti_LIBRARY:FILEPATH=CUDA_cupti_LIBRARY-NOTFOUND + +//"curand" library +CUDA_curand_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcurand.so + +//"cusolver" library +CUDA_cusolver_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcusolver.so + +//"cusparse" library +CUDA_cusparse_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libcusparse.so + +//"nppc" library +CUDA_nppc_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppc.so + +//"nppi" library +CUDA_nppi_LIBRARY:FILEPATH=CUDA_nppi_LIBRARY-NOTFOUND + +//"nppial" library +CUDA_nppial_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppial.so + +//"nppicc" library +CUDA_nppicc_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppicc.so + +//"nppicom" library +CUDA_nppicom_LIBRARY:FILEPATH=CUDA_nppicom_LIBRARY-NOTFOUND + +//"nppidei" library +CUDA_nppidei_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppidei.so + +//"nppif" library +CUDA_nppif_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppif.so + +//"nppig" library +CUDA_nppig_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppig.so + +//"nppim" library +CUDA_nppim_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppim.so + +//"nppist" library +CUDA_nppist_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppist.so + +//"nppisu" library +CUDA_nppisu_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppisu.so + +//"nppitc" library +CUDA_nppitc_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnppitc.so + +//"npps" library +CUDA_npps_LIBRARY:FILEPATH=/usr/local/cuda-11.1/lib64/libnpps.so + +//Path to a library. +CUDA_rt_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so + +//Value Computed by CMake +DBoW2_BINARY_DIR:STATIC=/home/test/My/src/sg-slam/Thirdparty/DBoW2/build + +//Dependencies for the target 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SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# 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 + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __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) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + +#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 + + +/* These compilers are either not known or 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 "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* 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" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#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_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# 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 a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_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 "]"; + + + + +#if !defined(__STDC__) +# if defined(_MSC_VER) && !defined(__clang__) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/build/CMakeFiles/3.10.2/CompilerIdC/a.out b/MyCode/src/my-slam/Thirdparty/DBoW2/build/CMakeFiles/3.10.2/CompilerIdC/a.out new file mode 100644 index 0000000..d0bc220 Binary files /dev/null and b/MyCode/src/my-slam/Thirdparty/DBoW2/build/CMakeFiles/3.10.2/CompilerIdC/a.out differ diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/MyCode/src/my-slam/Thirdparty/DBoW2/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..2d66298 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,576 @@ +/* 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" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# 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(__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 DEC(__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__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#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__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#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_MAJOR) +# 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(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# 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 + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __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) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#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 + + +/* These compilers are either not known or 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 "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* 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" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#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_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# 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 a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. 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DUtils/Timestamp.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: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/build/cmake_install.cmake b/MyCode/src/my-slam/Thirdparty/DBoW2/build/cmake_install.cmake new file mode 100644 index 0000000..a15efed --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/DBoW2/build/cmake_install.cmake @@ -0,0 +1,49 @@ +# Install script for directory: /home/test/My/src/sg-slam/Thirdparty/DBoW2 + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" 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() + set(CMAKE_INSTALL_CONFIG_NAME "Release") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if(CMAKE_INSTALL_COMPONENT) + set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +else() + set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/home/test/My/src/sg-slam/Thirdparty/DBoW2/build/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/MyCode/src/my-slam/Thirdparty/DBoW2/lib/libDBoW2.so b/MyCode/src/my-slam/Thirdparty/DBoW2/lib/libDBoW2.so new file mode 100644 index 0000000..1737244 Binary files /dev/null and b/MyCode/src/my-slam/Thirdparty/DBoW2/lib/libDBoW2.so differ diff --git a/MyCode/src/my-slam/Thirdparty/g2o/CMakeLists.txt b/MyCode/src/my-slam/Thirdparty/g2o/CMakeLists.txt new file mode 100644 index 0000000..c1a3c91 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/CMakeLists.txt @@ -0,0 +1,174 @@ +CMAKE_MINIMUM_REQUIRED(VERSION 2.6) +SET(CMAKE_LEGACY_CYGWIN_WIN32 0) + +PROJECT(g2o) + +SET(g2o_C_FLAGS) +SET(g2o_CXX_FLAGS) + +# default built type +IF(NOT CMAKE_BUILD_TYPE) + SET(CMAKE_BUILD_TYPE Release) +ENDIF() + +MESSAGE(STATUS "BUILD TYPE:" ${CMAKE_BUILD_TYPE}) + +SET (G2O_LIB_TYPE SHARED) + +# There seems to be an issue with MSVC8 +# see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=83 +if(MSVC90) + add_definitions(-DEIGEN_DONT_ALIGN_STATICALLY=1) + message(STATUS "Disabling memory alignment for MSVC8") +endif(MSVC90) + +# Set the output directory for the build executables and libraries +IF(WIN32) + SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the libraries") +ELSE(WIN32) + SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries") +ENDIF(WIN32) +SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY}) +SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY}) +SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${g2o_RUNTIME_OUTPUT_DIRECTORY}) + +# Set search directory for looking for our custom CMake scripts to +# look for SuiteSparse, QGLViewer, and Eigen3. +LIST(APPEND CMAKE_MODULE_PATH ${g2o_SOURCE_DIR}/cmake_modules) + +# Detect OS and define macros appropriately +IF(UNIX) + ADD_DEFINITIONS(-DUNIX) + MESSAGE(STATUS "Compiling on Unix") +ENDIF(UNIX) + +# Eigen library parallelise itself, though, presumably due to performance issues +# OPENMP is experimental. We experienced some slowdown with it +FIND_PACKAGE(OpenMP) +SET(G2O_USE_OPENMP OFF CACHE BOOL "Build g2o with OpenMP support (EXPERIMENTAL)") +IF(OPENMP_FOUND AND G2O_USE_OPENMP) + SET (G2O_OPENMP 1) + SET(g2o_C_FLAGS "${g2o_C_FLAGS} ${OpenMP_C_FLAGS}") + SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}") + MESSAGE(STATUS "Compiling with OpenMP support") +ENDIF(OPENMP_FOUND AND G2O_USE_OPENMP) + +# Compiler specific options for gcc +SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 ") +SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 ") + +# activate warnings !!! +SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall -W") +SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -W") + +# specifying compiler flags +SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}") +SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}") + +# Find Eigen3 +SET(EIGEN3_INCLUDE_DIR ${G2O_EIGEN3_INCLUDE}) +FIND_PACKAGE(Eigen3 3.1.0 REQUIRED) +IF(EIGEN3_FOUND) + SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3") +ELSE(EIGEN3_FOUND) + SET(G2O_EIGEN3_INCLUDE "" CACHE PATH "Directory of Eigen3") +ENDIF(EIGEN3_FOUND) + +# Generate config.h +SET(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}") +configure_file(config.h.in ${g2o_SOURCE_DIR}/config.h) + +# Set up the top-level include directories +INCLUDE_DIRECTORIES( +${g2o_SOURCE_DIR}/core +${g2o_SOURCE_DIR}/types +${g2o_SOURCE_DIR}/stuff +${G2O_EIGEN3_INCLUDE}) + +# Include the subdirectories +ADD_LIBRARY(g2o ${G2O_LIB_TYPE} +#types +g2o/types/types_sba.h +g2o/types/types_six_dof_expmap.h +g2o/types/types_sba.cpp +g2o/types/types_six_dof_expmap.cpp +g2o/types/types_seven_dof_expmap.cpp +g2o/types/types_seven_dof_expmap.h +g2o/types/se3quat.h +g2o/types/se3_ops.h +g2o/types/se3_ops.hpp +#core +g2o/core/base_edge.h +g2o/core/base_binary_edge.h +g2o/core/hyper_graph_action.cpp +g2o/core/base_binary_edge.hpp +g2o/core/hyper_graph_action.h +g2o/core/base_multi_edge.h +g2o/core/hyper_graph.cpp +g2o/core/base_multi_edge.hpp +g2o/core/hyper_graph.h +g2o/core/base_unary_edge.h +g2o/core/linear_solver.h +g2o/core/base_unary_edge.hpp +g2o/core/marginal_covariance_cholesky.cpp +g2o/core/base_vertex.h +g2o/core/marginal_covariance_cholesky.h +g2o/core/base_vertex.hpp +g2o/core/matrix_structure.cpp +g2o/core/batch_stats.cpp +g2o/core/matrix_structure.h +g2o/core/batch_stats.h +g2o/core/openmp_mutex.h +g2o/core/block_solver.h +g2o/core/block_solver.hpp +g2o/core/parameter.cpp +g2o/core/parameter.h +g2o/core/cache.cpp +g2o/core/cache.h +g2o/core/optimizable_graph.cpp +g2o/core/optimizable_graph.h +g2o/core/solver.cpp +g2o/core/solver.h +g2o/core/creators.h +g2o/core/optimization_algorithm_factory.cpp +g2o/core/estimate_propagator.cpp +g2o/core/optimization_algorithm_factory.h +g2o/core/estimate_propagator.h +g2o/core/factory.cpp +g2o/core/optimization_algorithm_property.h +g2o/core/factory.h +g2o/core/sparse_block_matrix.h +g2o/core/sparse_optimizer.cpp +g2o/core/sparse_block_matrix.hpp +g2o/core/sparse_optimizer.h +g2o/core/hyper_dijkstra.cpp +g2o/core/hyper_dijkstra.h +g2o/core/parameter_container.cpp +g2o/core/parameter_container.h +g2o/core/optimization_algorithm.cpp +g2o/core/optimization_algorithm.h +g2o/core/optimization_algorithm_with_hessian.cpp +g2o/core/optimization_algorithm_with_hessian.h +g2o/core/optimization_algorithm_levenberg.cpp +g2o/core/optimization_algorithm_levenberg.h +g2o/core/jacobian_workspace.cpp +g2o/core/jacobian_workspace.h +g2o/core/robust_kernel.cpp +g2o/core/robust_kernel.h +g2o/core/robust_kernel_factory.cpp +g2o/core/robust_kernel_factory.h +g2o/core/robust_kernel_impl.cpp +g2o/core/robust_kernel_impl.h +#stuff +g2o/stuff/string_tools.h +g2o/stuff/color_macros.h +g2o/stuff/macros.h +g2o/stuff/timeutil.cpp +g2o/stuff/misc.h +g2o/stuff/timeutil.h +g2o/stuff/os_specific.c +g2o/stuff/os_specific.h +g2o/stuff/string_tools.cpp +g2o/stuff/property.cpp +g2o/stuff/property.h +) diff --git a/MyCode/src/my-slam/Thirdparty/g2o/README.txt b/MyCode/src/my-slam/Thirdparty/g2o/README.txt new file mode 100644 index 0000000..82641a8 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/README.txt @@ -0,0 +1,3 @@ +You should have received this g2o version along with ORB-SLAM2 (https://github.com/raulmur/ORB_SLAM2). +See the original g2o library at: https://github.com/RainerKuemmerle/g2o +All files included in this g2o version are BSD, see license-bsd.txt diff --git a/MyCode/src/my-slam/Thirdparty/g2o/build/CMakeCache.txt b/MyCode/src/my-slam/Thirdparty/g2o/build/CMakeCache.txt new file mode 100644 index 0000000..bb944b5 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/build/CMakeCache.txt @@ -0,0 +1,393 @@ +# This is the CMakeCache file. +# For build in directory: /home/test/My/src/sg-slam/Thirdparty/g2o/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=Release + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9 + +//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 builds for minimum +// size. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds. +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during release builds with debug info. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//C compiler +CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9 + +//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 builds for minimum +// size. +CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds. +CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during release builds with debug info. +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=g2o + +//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 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 + +//The directory containing a CMake configuration file for Eigen3. +Eigen3_DIR:PATH=/usr/lib/cmake/eigen3 + +//Directory of Eigen3 +G2O_EIGEN3_INCLUDE:PATH=/usr/include/eigen3 + +//Build g2o with OpenMP support (EXPERIMENTAL) +G2O_USE_OPENMP:BOOL=OFF + +//CXX compiler flags for OpenMP parallelization +OpenMP_CXX_FLAGS:STRING=-fopenmp + +//CXX compiler libraries for OpenMP parallelization +OpenMP_CXX_LIB_NAMES:STRING=gomp;pthread + +//C compiler flags for OpenMP parallelization +OpenMP_C_FLAGS:STRING=-fopenmp + +//C compiler libraries for OpenMP parallelization +OpenMP_C_LIB_NAMES:STRING=gomp;pthread + +//Path to the gomp library for OpenMP +OpenMP_gomp_LIBRARY:FILEPATH=/usr/lib/gcc/x86_64-linux-gnu/9/libgomp.so + +//Path to the pthread library for OpenMP +OpenMP_pthread_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpthread.so + +//Value Computed by CMake +g2o_BINARY_DIR:STATIC=/home/test/My/src/sg-slam/Thirdparty/g2o/build + +//Target for the libraries +g2o_LIBRARY_OUTPUT_DIRECTORY:PATH=/home/test/My/src/sg-slam/Thirdparty/g2o/lib + +//Dependencies for target +g2o_LIB_DEPENDS:STATIC= + +//Value Computed by CMake +g2o_SOURCE_DIR:STATIC=/home/test/My/src/sg-slam/Thirdparty/g2o + + +######################## +# INTERNAL cache entries +######################## + +//ADVANCED property for variable: CMAKE_AR +CMAKE_AR-ADVANCED:INTERNAL=1 +//This is the directory where this CMakeCache.txt was created +CMAKE_CACHEFILE_DIR:INTERNAL=/home/test/My/src/sg-slam/Thirdparty/g2o/build +//Major version of cmake used to create the current loaded cache +CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3 +//Minor version of cmake used to create the current loaded cache +CMAKE_CACHE_MINOR_VERSION:INTERNAL=10 +//Patch version of cmake used to create the current loaded cache +CMAKE_CACHE_PATCH_VERSION:INTERNAL=2 +//ADVANCED property for variable: CMAKE_COLOR_MAKEFILE 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defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#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_MAJOR) +# 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(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# 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 + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __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) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + +#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 + + +/* These compilers are either not known or 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 "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* 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" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#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_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# 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 a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_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 "]"; + + + + +#if !defined(__STDC__) +# if defined(_MSC_VER) && !defined(__clang__) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/build/CMakeFiles/3.10.2/CompilerIdC/a.out b/MyCode/src/my-slam/Thirdparty/g2o/build/CMakeFiles/3.10.2/CompilerIdC/a.out new file mode 100644 index 0000000..d0bc220 Binary files /dev/null and b/MyCode/src/my-slam/Thirdparty/g2o/build/CMakeFiles/3.10.2/CompilerIdC/a.out differ diff --git a/MyCode/src/my-slam/Thirdparty/g2o/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/MyCode/src/my-slam/Thirdparty/g2o/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..2d66298 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,576 @@ +/* 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" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# 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(__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 DEC(__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__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#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__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#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_MAJOR) +# 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(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# 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 + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __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) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#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 + + +/* These compilers are either not known or 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 "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* 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" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#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_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# 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 a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_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 "]"; + + + + +#if defined(_MSC_VER) && defined(_MSVC_LANG) +#define CXX_STD _MSVC_LANG +#else +#define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201402L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +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 +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif 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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: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/MyCode/src/my-slam/Thirdparty/g2o/build/cmake_install.cmake b/MyCode/src/my-slam/Thirdparty/g2o/build/cmake_install.cmake new file mode 100644 index 0000000..f068715 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/build/cmake_install.cmake @@ -0,0 +1,49 @@ +# Install script for directory: /home/test/My/src/sg-slam/Thirdparty/g2o + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED 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+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/home/test/My/src/sg-slam/Thirdparty/g2o/build/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/MyCode/src/my-slam/Thirdparty/g2o/config.h b/MyCode/src/my-slam/Thirdparty/g2o/config.h new file mode 100644 index 0000000..9f5bc61 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/config.h @@ -0,0 +1,13 @@ +#ifndef G2O_CONFIG_H +#define G2O_CONFIG_H + +/* #undef G2O_OPENMP */ +/* #undef G2O_SHARED_LIBS */ + +// give a warning if Eigen defaults to row-major matrices. +// We internally assume column-major matrices throughout the code. +#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR +# error "g2o requires column major Eigen matrices (see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=422)" +#endif + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/config.h.in b/MyCode/src/my-slam/Thirdparty/g2o/config.h.in new file mode 100644 index 0000000..49c686b --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/config.h.in @@ -0,0 +1,13 @@ +#ifndef G2O_CONFIG_H +#define G2O_CONFIG_H + +#cmakedefine G2O_OPENMP 1 +#cmakedefine G2O_SHARED_LIBS 1 + +// give a warning if Eigen defaults to row-major matrices. +// We internally assume column-major matrices throughout the code. +#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR +# error "g2o requires column major Eigen matrices (see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=422)" +#endif + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_binary_edge.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_binary_edge.h new file mode 100644 index 0000000..660e83a --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_binary_edge.h @@ -0,0 +1,119 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_BASE_BINARY_EDGE_H +#define G2O_BASE_BINARY_EDGE_H + +#include +#include + +#include "base_edge.h" +#include "robust_kernel.h" +#include "../../config.h" + +namespace g2o { + + using namespace Eigen; + + template + class BaseBinaryEdge : public BaseEdge + { + public: + + typedef VertexXi VertexXiType; + typedef VertexXj VertexXjType; + + static const int Di = VertexXiType::Dimension; + static const int Dj = VertexXjType::Dimension; + + static const int Dimension = BaseEdge::Dimension; + typedef typename BaseEdge::Measurement Measurement; + typedef typename Matrix::AlignedMapType JacobianXiOplusType; + typedef typename Matrix::AlignedMapType JacobianXjOplusType; + typedef typename BaseEdge::ErrorVector ErrorVector; + typedef typename BaseEdge::InformationType InformationType; + + typedef Eigen::Map, Matrix::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; + typedef Eigen::Map, Matrix::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType; + + BaseBinaryEdge() : BaseEdge(), + _hessianRowMajor(false), + _hessian(0, VertexXiType::Dimension, VertexXjType::Dimension), // HACK we map to the null pointer for initializing the Maps + _hessianTransposed(0, VertexXjType::Dimension, VertexXiType::Dimension), + _jacobianOplusXi(0, D, Di), _jacobianOplusXj(0, D, Dj) + { + _vertices.resize(2); + } + + virtual OptimizableGraph::Vertex* createFrom(); + virtual OptimizableGraph::Vertex* createTo(); + + virtual void resize(size_t size); + + virtual bool allVerticesFixed() const; + + virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace); + + /** + * Linearizes the oplus operator in the vertex, and stores + * the result in temporary variables _jacobianOplusXi and _jacobianOplusXj + */ + virtual void linearizeOplus(); + + //! returns the result of the linearization in the manifold space for the node xi + const JacobianXiOplusType& jacobianOplusXi() const { return _jacobianOplusXi;} + //! returns the result of the linearization in the manifold space for the node xj + const JacobianXjOplusType& jacobianOplusXj() const { return _jacobianOplusXj;} + + virtual void constructQuadraticForm() ; + + virtual void mapHessianMemory(double* d, int i, int j, bool rowMajor); + + using BaseEdge::resize; + using BaseEdge::computeError; + + protected: + using BaseEdge::_measurement; + using BaseEdge::_information; + using BaseEdge::_error; + using BaseEdge::_vertices; + using BaseEdge::_dimension; + + bool _hessianRowMajor; + HessianBlockType _hessian; + HessianBlockTransposedType _hessianTransposed; + JacobianXiOplusType _jacobianOplusXi; + JacobianXjOplusType _jacobianOplusXj; + + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + }; + +#include "base_binary_edge.hpp" + +} // end namespace g2o + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_binary_edge.hpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_binary_edge.hpp new file mode 100644 index 0000000..7542a9f --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_binary_edge.hpp @@ -0,0 +1,218 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +template +OptimizableGraph::Vertex* BaseBinaryEdge::createFrom(){ + return new VertexXiType(); +} + +template +OptimizableGraph::Vertex* BaseBinaryEdge::createTo(){ + return new VertexXjType(); +} + + +template +void BaseBinaryEdge::resize(size_t size) +{ + if (size != 2) { + std::cerr << "WARNING, attempting to resize binary edge " << BaseEdge::id() << " to " << size << std::endl; + } + BaseEdge::resize(size); +} + +template +bool BaseBinaryEdge::allVerticesFixed() const +{ + return (static_cast (_vertices[0])->fixed() && + static_cast (_vertices[1])->fixed()); +} + +template +void BaseBinaryEdge::constructQuadraticForm() +{ + VertexXiType* from = static_cast(_vertices[0]); + VertexXjType* to = static_cast(_vertices[1]); + + // get the Jacobian of the nodes in the manifold domain + const JacobianXiOplusType& A = jacobianOplusXi(); + const JacobianXjOplusType& B = jacobianOplusXj(); + + + bool fromNotFixed = !(from->fixed()); + bool toNotFixed = !(to->fixed()); + + if (fromNotFixed || toNotFixed) { +#ifdef G2O_OPENMP + from->lockQuadraticForm(); + to->lockQuadraticForm(); +#endif + const InformationType& omega = _information; + Matrix omega_r = - omega * _error; + if (this->robustKernel() == 0) { + if (fromNotFixed) { + Matrix AtO = A.transpose() * omega; + from->b().noalias() += A.transpose() * omega_r; + from->A().noalias() += AtO*A; + if (toNotFixed ) { + if (_hessianRowMajor) // we have to write to the block as transposed + _hessianTransposed.noalias() += B.transpose() * AtO.transpose(); + else + _hessian.noalias() += AtO * B; + } + } + if (toNotFixed) { + to->b().noalias() += B.transpose() * omega_r; + to->A().noalias() += B.transpose() * omega * B; + } + } else { // robust (weighted) error according to some kernel + double error = this->chi2(); + Eigen::Vector3d rho; + this->robustKernel()->robustify(error, rho); + InformationType weightedOmega = this->robustInformation(rho); + //std::cout << PVAR(rho.transpose()) << std::endl; + //std::cout << PVAR(weightedOmega) << std::endl; + + omega_r *= rho[1]; + if (fromNotFixed) { + from->b().noalias() += A.transpose() * omega_r; + from->A().noalias() += A.transpose() * weightedOmega * A; + if (toNotFixed ) { + if (_hessianRowMajor) // we have to write to the block as transposed + _hessianTransposed.noalias() += B.transpose() * weightedOmega * A; + else + _hessian.noalias() += A.transpose() * weightedOmega * B; + } + } + if (toNotFixed) { + to->b().noalias() += B.transpose() * omega_r; + to->A().noalias() += B.transpose() * weightedOmega * B; + } + } +#ifdef G2O_OPENMP + to->unlockQuadraticForm(); + from->unlockQuadraticForm(); +#endif + } +} + +template +void BaseBinaryEdge::linearizeOplus(JacobianWorkspace& jacobianWorkspace) +{ + new (&_jacobianOplusXi) JacobianXiOplusType(jacobianWorkspace.workspaceForVertex(0), D, Di); + new (&_jacobianOplusXj) JacobianXjOplusType(jacobianWorkspace.workspaceForVertex(1), D, Dj); + linearizeOplus(); +} + +template +void BaseBinaryEdge::linearizeOplus() +{ + VertexXiType* vi = static_cast(_vertices[0]); + VertexXjType* vj = static_cast(_vertices[1]); + + bool iNotFixed = !(vi->fixed()); + bool jNotFixed = !(vj->fixed()); + + if (!iNotFixed && !jNotFixed) + return; + +#ifdef G2O_OPENMP + vi->lockQuadraticForm(); + vj->lockQuadraticForm(); +#endif + + const double delta = 1e-9; + const double scalar = 1.0 / (2*delta); + ErrorVector errorBak; + ErrorVector errorBeforeNumeric = _error; + + if (iNotFixed) { + //Xi - estimate the jacobian numerically + double add_vi[VertexXiType::Dimension]; + std::fill(add_vi, add_vi + VertexXiType::Dimension, 0.0); + // add small step along the unit vector in each dimension + for (int d = 0; d < VertexXiType::Dimension; ++d) { + vi->push(); + add_vi[d] = delta; + vi->oplus(add_vi); + computeError(); + errorBak = _error; + vi->pop(); + vi->push(); + add_vi[d] = -delta; + vi->oplus(add_vi); + computeError(); + errorBak -= _error; + vi->pop(); + add_vi[d] = 0.0; + + _jacobianOplusXi.col(d) = scalar * errorBak; + } // end dimension + } + + if (jNotFixed) { + //Xj - estimate the jacobian numerically + double add_vj[VertexXjType::Dimension]; + std::fill(add_vj, add_vj + VertexXjType::Dimension, 0.0); + // add small step along the unit vector in each dimension + for (int d = 0; d < VertexXjType::Dimension; ++d) { + vj->push(); + add_vj[d] = delta; + vj->oplus(add_vj); + computeError(); + errorBak = _error; + vj->pop(); + vj->push(); + add_vj[d] = -delta; + vj->oplus(add_vj); + computeError(); + errorBak -= _error; + vj->pop(); + add_vj[d] = 0.0; + + _jacobianOplusXj.col(d) = scalar * errorBak; + } + } // end dimension + + _error = errorBeforeNumeric; +#ifdef G2O_OPENMP + vj->unlockQuadraticForm(); + vi->unlockQuadraticForm(); +#endif +} + +template +void BaseBinaryEdge::mapHessianMemory(double* d, int i, int j, bool rowMajor) +{ + (void) i; (void) j; + //assert(i == 0 && j == 1); + if (rowMajor) { + new (&_hessianTransposed) HessianBlockTransposedType(d, VertexXjType::Dimension, VertexXiType::Dimension); + } else { + new (&_hessian) HessianBlockType(d, VertexXiType::Dimension, VertexXjType::Dimension); + } + _hessianRowMajor = rowMajor; +} diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_edge.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_edge.h new file mode 100644 index 0000000..91139e4 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_edge.h @@ -0,0 +1,110 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_BASE_EDGE_H +#define G2O_BASE_EDGE_H + +#include +#include + +#include + +#include "optimizable_graph.h" + +namespace g2o { + + using namespace Eigen; + + template + class BaseEdge : public OptimizableGraph::Edge + { + public: + + static const int Dimension = D; + typedef E Measurement; + typedef Matrix ErrorVector; + typedef Matrix InformationType; + + BaseEdge() : OptimizableGraph::Edge() + { + _dimension = D; + } + + virtual ~BaseEdge() {} + + virtual double chi2() const + { + return _error.dot(information()*_error); + } + + virtual const double* errorData() const { return _error.data();} + virtual double* errorData() { return _error.data();} + const ErrorVector& error() const { return _error;} + ErrorVector& error() { return _error;} + + //! information matrix of the constraint + const InformationType& information() const { return _information;} + InformationType& information() { return _information;} + void setInformation(const InformationType& information) { _information = information;} + + virtual const double* informationData() const { return _information.data();} + virtual double* informationData() { return _information.data();} + + //! accessor functions for the measurement represented by the edge + const Measurement& measurement() const { return _measurement;} + virtual void setMeasurement(const Measurement& m) { _measurement = m;} + + virtual int rank() const {return _dimension;} + + virtual void initialEstimate(const OptimizableGraph::VertexSet&, OptimizableGraph::Vertex*) + { + std::cerr << "inititialEstimate() is not implemented, please give implementation in your derived class" << std::endl; + } + + protected: + + Measurement _measurement; + InformationType _information; + ErrorVector _error; + + /** + * calculate the robust information matrix by updating the information matrix of the error + */ + InformationType robustInformation(const Eigen::Vector3d& rho) + { + InformationType result = rho[1] * _information; + //ErrorVector weightedErrror = _information * _error; + //result.noalias() += 2 * rho[2] * (weightedErrror * weightedErrror.transpose()); + return result; + } + + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + }; + +} // end namespace g2o + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_multi_edge.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_multi_edge.h new file mode 100644 index 0000000..dd2261f --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_multi_edge.h @@ -0,0 +1,113 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_BASE_MULTI_EDGE_H +#define G2O_BASE_MULTI_EDGE_H + +#include +#include +#include + +#include + +#include "base_edge.h" +#include "robust_kernel.h" +#include "../../config.h" + +namespace g2o { + + using namespace Eigen; + + /** + * \brief base class to represent an edge connecting an arbitrary number of nodes + * + * D - Dimension of the measurement + * E - type to represent the measurement + */ + template + class BaseMultiEdge : public BaseEdge + { + public: + /** + * \brief helper for mapping the Hessian memory of the upper triangular block + */ + struct HessianHelper { + Eigen::Map matrix; ///< the mapped memory + bool transposed; ///< the block has to be transposed + HessianHelper() : matrix(0, 0, 0), transposed(false) {} + }; + + public: + static const int Dimension = BaseEdge::Dimension; + typedef typename BaseEdge::Measurement Measurement; + typedef MatrixXd::MapType JacobianType; + typedef typename BaseEdge::ErrorVector ErrorVector; + typedef typename BaseEdge::InformationType InformationType; + typedef Eigen::Map HessianBlockType; + + BaseMultiEdge() : BaseEdge() + { + } + + virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace); + + /** + * Linearizes the oplus operator in the vertex, and stores + * the result in temporary variable vector _jacobianOplus + */ + virtual void linearizeOplus(); + + virtual void resize(size_t size); + + virtual bool allVerticesFixed() const; + + virtual void constructQuadraticForm() ; + + virtual void mapHessianMemory(double* d, int i, int j, bool rowMajor); + + using BaseEdge::computeError; + + protected: + using BaseEdge::_measurement; + using BaseEdge::_information; + using BaseEdge::_error; + using BaseEdge::_vertices; + using BaseEdge::_dimension; + + std::vector _hessian; + std::vector > _jacobianOplus; ///< jacobians of the edge (w.r.t. oplus) + + void computeQuadraticForm(const InformationType& omega, const ErrorVector& weightedError); + + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + }; + +#include "base_multi_edge.hpp" + +} // end namespace g2o + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_multi_edge.hpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_multi_edge.hpp new file mode 100644 index 0000000..a2fa66d --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_multi_edge.hpp @@ -0,0 +1,222 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +namespace internal { + inline int computeUpperTriangleIndex(int i, int j) + { + int elemsUpToCol = ((j-1) * j) / 2; + return elemsUpToCol + i; + } +} + +template +void BaseMultiEdge::constructQuadraticForm() +{ + if (this->robustKernel()) { + double error = this->chi2(); + Eigen::Vector3d rho; + this->robustKernel()->robustify(error, rho); + Matrix omega_r = - _information * _error; + omega_r *= rho[1]; + computeQuadraticForm(this->robustInformation(rho), omega_r); + } else { + computeQuadraticForm(_information, - _information * _error); + } +} + + +template +void BaseMultiEdge::linearizeOplus(JacobianWorkspace& jacobianWorkspace) +{ + for (size_t i = 0; i < _vertices.size(); ++i) { + OptimizableGraph::Vertex* v = static_cast(_vertices[i]); + assert(v->dimension() >= 0); + new (&_jacobianOplus[i]) JacobianType(jacobianWorkspace.workspaceForVertex(i), D, v->dimension()); + } + linearizeOplus(); +} + +template +void BaseMultiEdge::linearizeOplus() +{ +#ifdef G2O_OPENMP + for (size_t i = 0; i < _vertices.size(); ++i) { + OptimizableGraph::Vertex* v = static_cast(_vertices[i]); + v->lockQuadraticForm(); + } +#endif + + const double delta = 1e-9; + const double scalar = 1.0 / (2*delta); + ErrorVector errorBak; + ErrorVector errorBeforeNumeric = _error; + + for (size_t i = 0; i < _vertices.size(); ++i) { + //Xi - estimate the jacobian numerically + OptimizableGraph::Vertex* vi = static_cast(_vertices[i]); + + if (vi->fixed()) + continue; + + const int vi_dim = vi->dimension(); + assert(vi_dim >= 0); +#ifdef _MSC_VER + double* add_vi = new double[vi_dim]; +#else + double add_vi[vi_dim]; +#endif + std::fill(add_vi, add_vi + vi_dim, 0.0); + assert(_dimension >= 0); + assert(_jacobianOplus[i].rows() == _dimension && _jacobianOplus[i].cols() == vi_dim && "jacobian cache dimension does not match"); + _jacobianOplus[i].resize(_dimension, vi_dim); + // add small step along the unit vector in each dimension + for (int d = 0; d < vi_dim; ++d) { + vi->push(); + add_vi[d] = delta; + vi->oplus(add_vi); + computeError(); + errorBak = _error; + vi->pop(); + vi->push(); + add_vi[d] = -delta; + vi->oplus(add_vi); + computeError(); + errorBak -= _error; + vi->pop(); + add_vi[d] = 0.0; + + _jacobianOplus[i].col(d) = scalar * errorBak; + } // end dimension +#ifdef _MSC_VER + delete[] add_vi; +#endif + } + _error = errorBeforeNumeric; + +#ifdef G2O_OPENMP + for (int i = (int)(_vertices.size()) - 1; i >= 0; --i) { + OptimizableGraph::Vertex* v = static_cast(_vertices[i]); + v->unlockQuadraticForm(); + } +#endif + +} + +template +void BaseMultiEdge::mapHessianMemory(double* d, int i, int j, bool rowMajor) +{ + int idx = internal::computeUpperTriangleIndex(i, j); + assert(idx < (int)_hessian.size()); + OptimizableGraph::Vertex* vi = static_cast(HyperGraph::Edge::vertex(i)); + OptimizableGraph::Vertex* vj = static_cast(HyperGraph::Edge::vertex(j)); + assert(vi->dimension() >= 0); + assert(vj->dimension() >= 0); + HessianHelper& h = _hessian[idx]; + if (rowMajor) { + if (h.matrix.data() != d || h.transposed != rowMajor) + new (&h.matrix) HessianBlockType(d, vj->dimension(), vi->dimension()); + } else { + if (h.matrix.data() != d || h.transposed != rowMajor) + new (&h.matrix) HessianBlockType(d, vi->dimension(), vj->dimension()); + } + h.transposed = rowMajor; +} + +template +void BaseMultiEdge::resize(size_t size) +{ + BaseEdge::resize(size); + int n = (int)_vertices.size(); + int maxIdx = (n * (n-1))/2; + assert(maxIdx >= 0); + _hessian.resize(maxIdx); + _jacobianOplus.resize(size, JacobianType(0,0,0)); +} + +template +bool BaseMultiEdge::allVerticesFixed() const +{ + for (size_t i = 0; i < _vertices.size(); ++i) { + if (!static_cast (_vertices[i])->fixed()) { + return false; + } + } + return true; +} + +template +void BaseMultiEdge::computeQuadraticForm(const InformationType& omega, const ErrorVector& weightedError) +{ + for (size_t i = 0; i < _vertices.size(); ++i) { + OptimizableGraph::Vertex* from = static_cast(_vertices[i]); + bool istatus = !(from->fixed()); + + if (istatus) { + const MatrixXd& A = _jacobianOplus[i]; + + MatrixXd AtO = A.transpose() * omega; + int fromDim = from->dimension(); + assert(fromDim >= 0); + Eigen::Map fromMap(from->hessianData(), fromDim, fromDim); + Eigen::Map fromB(from->bData(), fromDim); + + // ii block in the hessian +#ifdef G2O_OPENMP + from->lockQuadraticForm(); +#endif + fromMap.noalias() += AtO * A; + fromB.noalias() += A.transpose() * weightedError; + + // compute the off-diagonal blocks ij for all j + for (size_t j = i+1; j < _vertices.size(); ++j) { + OptimizableGraph::Vertex* to = static_cast(_vertices[j]); +#ifdef G2O_OPENMP + to->lockQuadraticForm(); +#endif + bool jstatus = !(to->fixed()); + if (jstatus) { + const MatrixXd& B = _jacobianOplus[j]; + int idx = internal::computeUpperTriangleIndex(i, j); + assert(idx < (int)_hessian.size()); + HessianHelper& hhelper = _hessian[idx]; + if (hhelper.transposed) { // we have to write to the block as transposed + hhelper.matrix.noalias() += B.transpose() * AtO.transpose(); + } else { + hhelper.matrix.noalias() += AtO * B; + } + } +#ifdef G2O_OPENMP + to->unlockQuadraticForm(); +#endif + } + +#ifdef G2O_OPENMP + from->unlockQuadraticForm(); +#endif + } + + } +} diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_unary_edge.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_unary_edge.h new file mode 100644 index 0000000..28df8a5 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_unary_edge.h @@ -0,0 +1,100 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_BASE_UNARY_EDGE_H +#define G2O_BASE_UNARY_EDGE_H + +#include +#include +#include + +#include "base_edge.h" +#include "robust_kernel.h" +#include "../../config.h" + +namespace g2o { + + using namespace Eigen; + + template + class BaseUnaryEdge : public BaseEdge + { + public: + static const int Dimension = BaseEdge::Dimension; + typedef typename BaseEdge::Measurement Measurement; + typedef VertexXi VertexXiType; + typedef typename Matrix::AlignedMapType JacobianXiOplusType; + typedef typename BaseEdge::ErrorVector ErrorVector; + typedef typename BaseEdge::InformationType InformationType; + + BaseUnaryEdge() : BaseEdge(), + _jacobianOplusXi(0, D, VertexXiType::Dimension) + { + _vertices.resize(1); + } + + virtual void resize(size_t size); + + virtual bool allVerticesFixed() const; + + virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace); + + /** + * Linearizes the oplus operator in the vertex, and stores + * the result in temporary variables _jacobianOplusXi and _jacobianOplusXj + */ + virtual void linearizeOplus(); + + //! returns the result of the linearization in the manifold space for the node xi + const JacobianXiOplusType& jacobianOplusXi() const { return _jacobianOplusXi;} + + virtual void constructQuadraticForm(); + + virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to); + + virtual void mapHessianMemory(double*, int, int, bool) {assert(0 && "BaseUnaryEdge does not map memory of the Hessian");} + + using BaseEdge::resize; + using BaseEdge::computeError; + + protected: + using BaseEdge::_measurement; + using BaseEdge::_information; + using BaseEdge::_error; + using BaseEdge::_vertices; + using BaseEdge::_dimension; + + JacobianXiOplusType _jacobianOplusXi; + + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + }; + +#include "base_unary_edge.hpp" + +} // end namespace g2o + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_unary_edge.hpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_unary_edge.hpp new file mode 100644 index 0000000..464900f --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_unary_edge.hpp @@ -0,0 +1,129 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +template +void BaseUnaryEdge::resize(size_t size) +{ + if (size != 1) { + std::cerr << "WARNING, attempting to resize unary edge " << BaseEdge::id() << " to " << size << std::endl; + } + BaseEdge::resize(size); +} + +template +bool BaseUnaryEdge::allVerticesFixed() const +{ + return static_cast (_vertices[0])->fixed(); +} + +template +void BaseUnaryEdge::constructQuadraticForm() +{ + VertexXiType* from=static_cast(_vertices[0]); + + // chain rule to get the Jacobian of the nodes in the manifold domain + const JacobianXiOplusType& A = jacobianOplusXi(); + const InformationType& omega = _information; + + bool istatus = !from->fixed(); + if (istatus) { +#ifdef G2O_OPENMP + from->lockQuadraticForm(); +#endif + if (this->robustKernel()) { + double error = this->chi2(); + Eigen::Vector3d rho; + this->robustKernel()->robustify(error, rho); + InformationType weightedOmega = this->robustInformation(rho); + + from->b().noalias() -= rho[1] * A.transpose() * omega * _error; + from->A().noalias() += A.transpose() * weightedOmega * A; + } else { + from->b().noalias() -= A.transpose() * omega * _error; + from->A().noalias() += A.transpose() * omega * A; + } +#ifdef G2O_OPENMP + from->unlockQuadraticForm(); +#endif + } +} + +template +void BaseUnaryEdge::linearizeOplus(JacobianWorkspace& jacobianWorkspace) +{ + new (&_jacobianOplusXi) JacobianXiOplusType(jacobianWorkspace.workspaceForVertex(0), D, VertexXiType::Dimension); + linearizeOplus(); +} + +template +void BaseUnaryEdge::linearizeOplus() +{ + //Xi - estimate the jacobian numerically + VertexXiType* vi = static_cast(_vertices[0]); + + if (vi->fixed()) + return; + +#ifdef G2O_OPENMP + vi->lockQuadraticForm(); +#endif + + const double delta = 1e-9; + const double scalar = 1.0 / (2*delta); + ErrorVector error1; + ErrorVector errorBeforeNumeric = _error; + + double add_vi[VertexXiType::Dimension]; + std::fill(add_vi, add_vi + VertexXiType::Dimension, 0.0); + // add small step along the unit vector in each dimension + for (int d = 0; d < VertexXiType::Dimension; ++d) { + vi->push(); + add_vi[d] = delta; + vi->oplus(add_vi); + computeError(); + error1 = _error; + vi->pop(); + vi->push(); + add_vi[d] = -delta; + vi->oplus(add_vi); + computeError(); + vi->pop(); + add_vi[d] = 0.0; + + _jacobianOplusXi.col(d) = scalar * (error1 - _error); + } // end dimension + + _error = errorBeforeNumeric; +#ifdef G2O_OPENMP + vi->unlockQuadraticForm(); +#endif +} + +template +void BaseUnaryEdge::initialEstimate(const OptimizableGraph::VertexSet&, OptimizableGraph::Vertex*) +{ + std::cerr << __PRETTY_FUNCTION__ << " is not implemented, please give implementation in your derived class" << std::endl; +} diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_vertex.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_vertex.h new file mode 100644 index 0000000..e375fde --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_vertex.h @@ -0,0 +1,120 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_BASE_VERTEX_H +#define G2O_BASE_VERTEX_H + +#include "optimizable_graph.h" +#include "creators.h" +#include "../stuff/macros.h" + +#include +#include +#include +#include +#include + +namespace g2o { + + using namespace Eigen; + + +/** + * \brief Templatized BaseVertex + * + * Templatized BaseVertex + * D : minimal dimension of the vertex, e.g., 3 for rotation in 3D + * T : internal type to represent the estimate, e.g., Quaternion for rotation in 3D + */ + template + class BaseVertex : public OptimizableGraph::Vertex { + public: + typedef T EstimateType; + typedef std::stack > > + BackupStackType; + + static const int Dimension = D; ///< dimension of the estimate (minimal) in the manifold space + + typedef Eigen::Map, Matrix::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType; + + public: + BaseVertex(); + + virtual const double& hessian(int i, int j) const { assert(i(_hessian.data());} + + virtual void mapHessianMemory(double* d); + + virtual int copyB(double* b_) const { + memcpy(b_, _b.data(), Dimension * sizeof(double)); + return Dimension; + } + + virtual const double& b(int i) const { assert(i < D); return _b(i);} + virtual double& b(int i) { assert(i < D); return _b(i);} + virtual double* bData() { return _b.data();} + + virtual void clearQuadraticForm(); + + //! updates the current vertex with the direct solution x += H_ii\b_ii + //! @returns the determinant of the inverted hessian + virtual double solveDirect(double lambda=0); + + //! return right hand side b of the constructed linear system + Matrix& b() { return _b;} + const Matrix& b() const { return _b;} + //! return the hessian block associated with the vertex + HessianBlockType& A() { return _hessian;} + const HessianBlockType& A() const { return _hessian;} + + virtual void push() { _backup.push(_estimate);} + virtual void pop() { assert(!_backup.empty()); _estimate = _backup.top(); _backup.pop(); updateCache();} + virtual void discardTop() { assert(!_backup.empty()); _backup.pop();} + virtual int stackSize() const {return _backup.size();} + + //! return the current estimate of the vertex + const EstimateType& estimate() const { return _estimate;} + //! set the estimate for the vertex also calls updateCache() + void setEstimate(const EstimateType& et) { _estimate = et; updateCache();} + + protected: + HessianBlockType _hessian; + Matrix _b; + EstimateType _estimate; + BackupStackType _backup; + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +#include "base_vertex.hpp" + +} // end namespace g2o + + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_vertex.hpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_vertex.hpp new file mode 100644 index 0000000..f21ff16 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/base_vertex.hpp @@ -0,0 +1,55 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +template +BaseVertex::BaseVertex() : + OptimizableGraph::Vertex(), + _hessian(0, D, D) +{ + _dimension = D; +} + +template +double BaseVertex::solveDirect(double lambda) { + Matrix tempA=_hessian + Matrix ::Identity()*lambda; + double det=tempA.determinant(); + if (g2o_isnan(det) || det < std::numeric_limits::epsilon()) + return det; + Matrix dx=tempA.llt().solve(_b); + oplus(&dx[0]); + return det; +} + +template +void BaseVertex::clearQuadraticForm() { + _b.setZero(); +} + +template +void BaseVertex::mapHessianMemory(double* d) +{ + new (&_hessian) HessianBlockType(d, D, D); +} diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/batch_stats.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/batch_stats.cpp new file mode 100644 index 0000000..a6beb69 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/batch_stats.cpp @@ -0,0 +1,90 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "batch_stats.h" +#include + +namespace g2o { + using namespace std; + + G2OBatchStatistics* G2OBatchStatistics::_globalStats=0; + + #ifndef PTHING + #define PTHING(s) \ + #s << "= " << (st.s) << "\t " + #endif + + G2OBatchStatistics::G2OBatchStatistics(){ + // zero all. + memset (this, 0, sizeof(G2OBatchStatistics)); + + // set the iteration to -1 to show that it isn't valid + iteration = -1; + } + + std::ostream& operator << (std::ostream& os , const G2OBatchStatistics& st) + { + os << PTHING(iteration); + + os << PTHING( numVertices ); // how many vertices are involved + os << PTHING( numEdges ); // hoe many edges + os << PTHING( chi2 ); // total chi2 + + /** timings **/ + // nonlinear part + os << PTHING( timeResiduals ); + os << PTHING( timeLinearize ); // jacobians + os << PTHING( timeQuadraticForm ); // construct the quadratic form in the graph + + // block_solver (constructs Ax=b, plus maybe schur); + os << PTHING( timeSchurComplement ); // compute schur complement (0 if not done); + + // linear solver (computes Ax=b); ); + os << PTHING( timeSymbolicDecomposition ); // symbolic decomposition (0 if not done); + os << PTHING( timeNumericDecomposition ); // numeric decomposition (0 if not done); + os << PTHING( timeLinearSolution ); // total time for solving Ax=b + os << PTHING( iterationsLinearSolver ); // iterations of PCG + os << PTHING( timeUpdate ); // oplus + os << PTHING( timeIteration ); // total time ); + + os << PTHING( levenbergIterations ); + os << PTHING( timeLinearSolver); + + os << PTHING(hessianDimension); + os << PTHING(hessianPoseDimension); + os << PTHING(hessianLandmarkDimension); + os << PTHING(choleskyNNZ); + os << PTHING(timeMarginals); + + return os; + }; + + void G2OBatchStatistics::setGlobalStats(G2OBatchStatistics* b) + { + _globalStats = b; + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/batch_stats.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/batch_stats.h new file mode 100644 index 0000000..d039f65 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/batch_stats.h @@ -0,0 +1,83 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_BATCH_STATS_H_ +#define G2O_BATCH_STATS_H_ + +#include +#include + + +namespace g2o { + + /** + * \brief statistics about the optimization + */ + struct G2OBatchStatistics { + G2OBatchStatistics(); + int iteration; ///< which iteration + int numVertices; ///< how many vertices are involved + int numEdges; ///< how many edges + double chi2; ///< total chi2 + + /** timings **/ + // nonlinear part + double timeResiduals; ///< residuals + double timeLinearize; ///< jacobians + double timeQuadraticForm; ///< construct the quadratic form in the graph + int levenbergIterations; ///< number of iterations performed by LM + // block_solver (constructs Ax=b, plus maybe schur) + double timeSchurComplement; ///< compute schur complement (0 if not done) + + // linear solver (computes Ax=b); + double timeSymbolicDecomposition; ///< symbolic decomposition (0 if not done) + double timeNumericDecomposition; ///< numeric decomposition (0 if not done) + double timeLinearSolution; ///< total time for solving Ax=b (including detup for schur) + double timeLinearSolver; ///< time for solving, excluding Schur setup + int iterationsLinearSolver; ///< iterations of PCG, (0 if not used, i.e., Cholesky) + double timeUpdate; ///< time to apply the update + double timeIteration; ///< total time; + + double timeMarginals; ///< computing the inverse elements (solve blocks) and thus the marginal covariances + + // information about the Hessian matrix + size_t hessianDimension; ///< rows / cols of the Hessian + size_t hessianPoseDimension; ///< dimension of the pose matrix in Schur + size_t hessianLandmarkDimension; ///< dimension of the landmark matrix in Schur + size_t choleskyNNZ; ///< number of non-zeros in the cholesky factor + + static G2OBatchStatistics* globalStats() {return _globalStats;} + static void setGlobalStats(G2OBatchStatistics* b); + protected: + static G2OBatchStatistics* _globalStats; + }; + + std::ostream& operator<<(std::ostream&, const G2OBatchStatistics&); + + typedef std::vector BatchStatisticsContainer; +} + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/block_solver.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/block_solver.h new file mode 100644 index 0000000..a393398 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/block_solver.h @@ -0,0 +1,193 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_BLOCK_SOLVER_H +#define G2O_BLOCK_SOLVER_H +#include +#include "solver.h" +#include "linear_solver.h" +#include "sparse_block_matrix.h" +#include "sparse_block_matrix_diagonal.h" +#include "openmp_mutex.h" +#include "../../config.h" + +namespace g2o { + using namespace Eigen; + + /** + * \brief traits to summarize the properties of the fixed size optimization problem + */ + template + struct BlockSolverTraits + { + static const int PoseDim = _PoseDim; + static const int LandmarkDim = _LandmarkDim; + typedef Matrix PoseMatrixType; + typedef Matrix LandmarkMatrixType; + typedef Matrix PoseLandmarkMatrixType; + typedef Matrix PoseVectorType; + typedef Matrix LandmarkVectorType; + + typedef SparseBlockMatrix PoseHessianType; + typedef SparseBlockMatrix LandmarkHessianType; + typedef SparseBlockMatrix PoseLandmarkHessianType; + typedef LinearSolver LinearSolverType; + }; + + /** + * \brief traits to summarize the properties of the dynamic size optimization problem + */ + template <> + struct BlockSolverTraits + { + static const int PoseDim = Eigen::Dynamic; + static const int LandmarkDim = Eigen::Dynamic; + typedef MatrixXd PoseMatrixType; + typedef MatrixXd LandmarkMatrixType; + typedef MatrixXd PoseLandmarkMatrixType; + typedef VectorXd PoseVectorType; + typedef VectorXd LandmarkVectorType; + + typedef SparseBlockMatrix PoseHessianType; + typedef SparseBlockMatrix LandmarkHessianType; + typedef SparseBlockMatrix PoseLandmarkHessianType; + typedef LinearSolver LinearSolverType; + }; + + /** + * \brief base for the block solvers with some basic function interfaces + */ + class BlockSolverBase : public Solver + { + public: + virtual ~BlockSolverBase() {} + /** + * compute dest = H * src + */ + virtual void multiplyHessian(double* dest, const double* src) const = 0; + }; + + /** + * \brief Implementation of a solver operating on the blocks of the Hessian + */ + template + class BlockSolver: public BlockSolverBase { + public: + + static const int PoseDim = Traits::PoseDim; + static const int LandmarkDim = Traits::LandmarkDim; + typedef typename Traits::PoseMatrixType PoseMatrixType; + typedef typename Traits::LandmarkMatrixType LandmarkMatrixType; + typedef typename Traits::PoseLandmarkMatrixType PoseLandmarkMatrixType; + typedef typename Traits::PoseVectorType PoseVectorType; + typedef typename Traits::LandmarkVectorType LandmarkVectorType; + + typedef typename Traits::PoseHessianType PoseHessianType; + typedef typename Traits::LandmarkHessianType LandmarkHessianType; + typedef typename Traits::PoseLandmarkHessianType PoseLandmarkHessianType; + typedef typename Traits::LinearSolverType LinearSolverType; + + public: + + /** + * allocate a block solver ontop of the underlying linear solver. + * NOTE: The BlockSolver assumes exclusive access to the linear solver and will therefore free the pointer + * in its destructor. + */ + BlockSolver(LinearSolverType* linearSolver); + ~BlockSolver(); + + virtual bool init(SparseOptimizer* optmizer, bool online = false); + virtual bool buildStructure(bool zeroBlocks = false); + virtual bool updateStructure(const std::vector& vset, const HyperGraph::EdgeSet& edges); + virtual bool buildSystem(); + virtual bool solve(); + virtual bool computeMarginals(SparseBlockMatrix& spinv, const std::vector >& blockIndices); + virtual bool setLambda(double lambda, bool backup = false); + virtual void restoreDiagonal(); + virtual bool supportsSchur() {return true;} + virtual bool schur() { return _doSchur;} + virtual void setSchur(bool s) { _doSchur = s;} + + LinearSolver* linearSolver() const { return _linearSolver;} + + virtual void setWriteDebug(bool writeDebug); + virtual bool writeDebug() const {return _linearSolver->writeDebug();} + + virtual bool saveHessian(const std::string& fileName) const; + + virtual void multiplyHessian(double* dest, const double* src) const { _Hpp->multiplySymmetricUpperTriangle(dest, src);} + + protected: + void resize(int* blockPoseIndices, int numPoseBlocks, + int* blockLandmarkIndices, int numLandmarkBlocks, int totalDim); + + void deallocate(); + + SparseBlockMatrix* _Hpp; + SparseBlockMatrix* _Hll; + SparseBlockMatrix* _Hpl; + + SparseBlockMatrix* _Hschur; + SparseBlockMatrixDiagonal* _DInvSchur; + + SparseBlockMatrixCCS* _HplCCS; + SparseBlockMatrixCCS* _HschurTransposedCCS; + + LinearSolver* _linearSolver; + + std::vector > _diagonalBackupPose; + std::vector > _diagonalBackupLandmark; + +# ifdef G2O_OPENMP + std::vector _coefficientsMutex; +# endif + + bool _doSchur; + + double* _coefficients; + double* _bschur; + + int _numPoses, _numLandmarks; + int _sizePoses, _sizeLandmarks; + }; + + + //variable size solver + typedef BlockSolver< BlockSolverTraits > BlockSolverX; + // solver for BA/3D SLAM + typedef BlockSolver< BlockSolverTraits<6, 3> > BlockSolver_6_3; + // solver fo BA with scale + typedef BlockSolver< BlockSolverTraits<7, 3> > BlockSolver_7_3; + // 2Dof landmarks 3Dof poses + typedef BlockSolver< BlockSolverTraits<3, 2> > BlockSolver_3_2; + +} // end namespace + +#include "block_solver.hpp" + + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/block_solver.hpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/block_solver.hpp new file mode 100644 index 0000000..f8b032e --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/block_solver.hpp @@ -0,0 +1,634 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "sparse_optimizer.h" +#include +#include +#include + +#include "../stuff/timeutil.h" +#include "../stuff/macros.h" +#include "../stuff/misc.h" + +namespace g2o { + +using namespace std; +using namespace Eigen; + +template +BlockSolver::BlockSolver(LinearSolverType* linearSolver) : + BlockSolverBase(), + _linearSolver(linearSolver) +{ + // workspace + _Hpp=0; + _Hll=0; + _Hpl=0; + _HplCCS = 0; + _HschurTransposedCCS = 0; + _Hschur=0; + _DInvSchur=0; + _coefficients=0; + _bschur = 0; + _xSize=0; + _numPoses=0; + _numLandmarks=0; + _sizePoses=0; + _sizeLandmarks=0; + _doSchur=true; +} + +template +void BlockSolver::resize(int* blockPoseIndices, int numPoseBlocks, + int* blockLandmarkIndices, int numLandmarkBlocks, + int s) +{ + deallocate(); + + resizeVector(s); + + if (_doSchur) { + // the following two are only used in schur + assert(_sizePoses > 0 && "allocating with wrong size"); + _coefficients = new double [s]; + _bschur = new double[_sizePoses]; + } + + _Hpp=new PoseHessianType(blockPoseIndices, blockPoseIndices, numPoseBlocks, numPoseBlocks); + if (_doSchur) { + _Hschur=new PoseHessianType(blockPoseIndices, blockPoseIndices, numPoseBlocks, numPoseBlocks); + _Hll=new LandmarkHessianType(blockLandmarkIndices, blockLandmarkIndices, numLandmarkBlocks, numLandmarkBlocks); + _DInvSchur = new SparseBlockMatrixDiagonal(_Hll->colBlockIndices()); + _Hpl=new PoseLandmarkHessianType(blockPoseIndices, blockLandmarkIndices, numPoseBlocks, numLandmarkBlocks); + _HplCCS = new SparseBlockMatrixCCS(_Hpl->rowBlockIndices(), _Hpl->colBlockIndices()); + _HschurTransposedCCS = new SparseBlockMatrixCCS(_Hschur->colBlockIndices(), _Hschur->rowBlockIndices()); +#ifdef G2O_OPENMP + _coefficientsMutex.resize(numPoseBlocks); +#endif + } +} + +template +void BlockSolver::deallocate() +{ + if (_Hpp){ + delete _Hpp; + _Hpp=0; + } + if (_Hll){ + delete _Hll; + _Hll=0; + } + if (_Hpl){ + delete _Hpl; + _Hpl = 0; + } + if (_Hschur){ + delete _Hschur; + _Hschur=0; + } + if (_DInvSchur){ + delete _DInvSchur; + _DInvSchur=0; + } + if (_coefficients) { + delete[] _coefficients; + _coefficients = 0; + } + if (_bschur) { + delete[] _bschur; + _bschur = 0; + } + if (_HplCCS) { + delete _HplCCS; + _HplCCS = 0; + } + if (_HschurTransposedCCS) { + delete _HschurTransposedCCS; + _HschurTransposedCCS = 0; + } +} + +template +BlockSolver::~BlockSolver() +{ + delete _linearSolver; + deallocate(); +} + +template +bool BlockSolver::buildStructure(bool zeroBlocks) +{ + assert(_optimizer); + + size_t sparseDim = 0; + _numPoses=0; + _numLandmarks=0; + _sizePoses=0; + _sizeLandmarks=0; + int* blockPoseIndices = new int[_optimizer->indexMapping().size()]; + int* blockLandmarkIndices = new int[_optimizer->indexMapping().size()]; + + for (size_t i = 0; i < _optimizer->indexMapping().size(); ++i) { + OptimizableGraph::Vertex* v = _optimizer->indexMapping()[i]; + int dim = v->dimension(); + if (! v->marginalized()){ + v->setColInHessian(_sizePoses); + _sizePoses+=dim; + blockPoseIndices[_numPoses]=_sizePoses; + ++_numPoses; + } else { + v->setColInHessian(_sizeLandmarks); + _sizeLandmarks+=dim; + blockLandmarkIndices[_numLandmarks]=_sizeLandmarks; + ++_numLandmarks; + } + sparseDim += dim; + } + resize(blockPoseIndices, _numPoses, blockLandmarkIndices, _numLandmarks, sparseDim); + delete[] blockLandmarkIndices; + delete[] blockPoseIndices; + + // allocate the diagonal on Hpp and Hll + int poseIdx = 0; + int landmarkIdx = 0; + for (size_t i = 0; i < _optimizer->indexMapping().size(); ++i) { + OptimizableGraph::Vertex* v = _optimizer->indexMapping()[i]; + if (! v->marginalized()){ + //assert(poseIdx == v->hessianIndex()); + PoseMatrixType* m = _Hpp->block(poseIdx, poseIdx, true); + if (zeroBlocks) + m->setZero(); + v->mapHessianMemory(m->data()); + ++poseIdx; + } else { + LandmarkMatrixType* m = _Hll->block(landmarkIdx, landmarkIdx, true); + if (zeroBlocks) + m->setZero(); + v->mapHessianMemory(m->data()); + ++landmarkIdx; + } + } + assert(poseIdx == _numPoses && landmarkIdx == _numLandmarks); + + // temporary structures for building the pattern of the Schur complement + SparseBlockMatrixHashMap* schurMatrixLookup = 0; + if (_doSchur) { + schurMatrixLookup = new SparseBlockMatrixHashMap(_Hschur->rowBlockIndices(), _Hschur->colBlockIndices()); + schurMatrixLookup->blockCols().resize(_Hschur->blockCols().size()); + } + + // here we assume that the landmark indices start after the pose ones + // create the structure in Hpp, Hll and in Hpl + for (SparseOptimizer::EdgeContainer::const_iterator it=_optimizer->activeEdges().begin(); it!=_optimizer->activeEdges().end(); ++it){ + OptimizableGraph::Edge* e = *it; + + for (size_t viIdx = 0; viIdx < e->vertices().size(); ++viIdx) { + OptimizableGraph::Vertex* v1 = (OptimizableGraph::Vertex*) e->vertex(viIdx); + int ind1 = v1->hessianIndex(); + if (ind1 == -1) + continue; + int indexV1Bak = ind1; + for (size_t vjIdx = viIdx + 1; vjIdx < e->vertices().size(); ++vjIdx) { + OptimizableGraph::Vertex* v2 = (OptimizableGraph::Vertex*) e->vertex(vjIdx); + int ind2 = v2->hessianIndex(); + if (ind2 == -1) + continue; + ind1 = indexV1Bak; + bool transposedBlock = ind1 > ind2; + if (transposedBlock){ // make sure, we allocate the upper triangle block + swap(ind1, ind2); + } + if (! v1->marginalized() && !v2->marginalized()){ + PoseMatrixType* m = _Hpp->block(ind1, ind2, true); + if (zeroBlocks) + m->setZero(); + e->mapHessianMemory(m->data(), viIdx, vjIdx, transposedBlock); + if (_Hschur) {// assume this is only needed in case we solve with the schur complement + schurMatrixLookup->addBlock(ind1, ind2); + } + } else if (v1->marginalized() && v2->marginalized()){ + // RAINER hmm.... should we ever reach this here???? + LandmarkMatrixType* m = _Hll->block(ind1-_numPoses, ind2-_numPoses, true); + if (zeroBlocks) + m->setZero(); + e->mapHessianMemory(m->data(), viIdx, vjIdx, false); + } else { + if (v1->marginalized()){ + PoseLandmarkMatrixType* m = _Hpl->block(v2->hessianIndex(),v1->hessianIndex()-_numPoses, true); + if (zeroBlocks) + m->setZero(); + e->mapHessianMemory(m->data(), viIdx, vjIdx, true); // transpose the block before writing to it + } else { + PoseLandmarkMatrixType* m = _Hpl->block(v1->hessianIndex(),v2->hessianIndex()-_numPoses, true); + if (zeroBlocks) + m->setZero(); + e->mapHessianMemory(m->data(), viIdx, vjIdx, false); // directly the block + } + } + } + } + } + + if (! _doSchur) + return true; + + _DInvSchur->diagonal().resize(landmarkIdx); + _Hpl->fillSparseBlockMatrixCCS(*_HplCCS); + + for (size_t i = 0; i < _optimizer->indexMapping().size(); ++i) { + OptimizableGraph::Vertex* v = _optimizer->indexMapping()[i]; + if (v->marginalized()){ + const HyperGraph::EdgeSet& vedges=v->edges(); + for (HyperGraph::EdgeSet::const_iterator it1=vedges.begin(); it1!=vedges.end(); ++it1){ + for (size_t i=0; i<(*it1)->vertices().size(); ++i) + { + OptimizableGraph::Vertex* v1= (OptimizableGraph::Vertex*) (*it1)->vertex(i); + if (v1->hessianIndex()==-1 || v1==v) + continue; + for (HyperGraph::EdgeSet::const_iterator it2=vedges.begin(); it2!=vedges.end(); ++it2){ + for (size_t j=0; j<(*it2)->vertices().size(); ++j) + { + OptimizableGraph::Vertex* v2= (OptimizableGraph::Vertex*) (*it2)->vertex(j); + if (v2->hessianIndex()==-1 || v2==v) + continue; + int i1=v1->hessianIndex(); + int i2=v2->hessianIndex(); + if (i1<=i2) { + schurMatrixLookup->addBlock(i1, i2); + } + } + } + } + } + } + } + + _Hschur->takePatternFromHash(*schurMatrixLookup); + delete schurMatrixLookup; + _Hschur->fillSparseBlockMatrixCCSTransposed(*_HschurTransposedCCS); + + return true; +} + +template +bool BlockSolver::updateStructure(const std::vector& vset, const HyperGraph::EdgeSet& edges) +{ + for (std::vector::const_iterator vit = vset.begin(); vit != vset.end(); ++vit) { + OptimizableGraph::Vertex* v = static_cast(*vit); + int dim = v->dimension(); + if (! v->marginalized()){ + v->setColInHessian(_sizePoses); + _sizePoses+=dim; + _Hpp->rowBlockIndices().push_back(_sizePoses); + _Hpp->colBlockIndices().push_back(_sizePoses); + _Hpp->blockCols().push_back(typename SparseBlockMatrix::IntBlockMap()); + ++_numPoses; + int ind = v->hessianIndex(); + PoseMatrixType* m = _Hpp->block(ind, ind, true); + v->mapHessianMemory(m->data()); + } else { + std::cerr << "updateStructure(): Schur not supported" << std::endl; + abort(); + } + } + resizeVector(_sizePoses + _sizeLandmarks); + + for (HyperGraph::EdgeSet::const_iterator it = edges.begin(); it != edges.end(); ++it) { + OptimizableGraph::Edge* e = static_cast(*it); + + for (size_t viIdx = 0; viIdx < e->vertices().size(); ++viIdx) { + OptimizableGraph::Vertex* v1 = (OptimizableGraph::Vertex*) e->vertex(viIdx); + int ind1 = v1->hessianIndex(); + int indexV1Bak = ind1; + if (ind1 == -1) + continue; + for (size_t vjIdx = viIdx + 1; vjIdx < e->vertices().size(); ++vjIdx) { + OptimizableGraph::Vertex* v2 = (OptimizableGraph::Vertex*) e->vertex(vjIdx); + int ind2 = v2->hessianIndex(); + if (ind2 == -1) + continue; + ind1 = indexV1Bak; + bool transposedBlock = ind1 > ind2; + if (transposedBlock) // make sure, we allocate the upper triangular block + swap(ind1, ind2); + + if (! v1->marginalized() && !v2->marginalized()) { + PoseMatrixType* m = _Hpp->block(ind1, ind2, true); + e->mapHessianMemory(m->data(), viIdx, vjIdx, transposedBlock); + } else { + std::cerr << __PRETTY_FUNCTION__ << ": not supported" << std::endl; + } + } + } + + } + + return true; +} + +template +bool BlockSolver::solve(){ + //cerr << __PRETTY_FUNCTION__ << endl; + if (! _doSchur){ + double t=get_monotonic_time(); + bool ok = _linearSolver->solve(*_Hpp, _x, _b); + G2OBatchStatistics* globalStats = G2OBatchStatistics::globalStats(); + if (globalStats) { + globalStats->timeLinearSolver = get_monotonic_time() - t; + globalStats->hessianDimension = globalStats->hessianPoseDimension = _Hpp->cols(); + } + return ok; + } + + // schur thing + + // backup the coefficient matrix + double t=get_monotonic_time(); + + // _Hschur = _Hpp, but keeping the pattern of _Hschur + _Hschur->clear(); + _Hpp->add(_Hschur); + + //_DInvSchur->clear(); + memset (_coefficients, 0, _sizePoses*sizeof(double)); +# ifdef G2O_OPENMP +# pragma omp parallel for default (shared) schedule(dynamic, 10) +# endif + for (int landmarkIndex = 0; landmarkIndex < static_cast(_Hll->blockCols().size()); ++landmarkIndex) { + const typename SparseBlockMatrix::IntBlockMap& marginalizeColumn = _Hll->blockCols()[landmarkIndex]; + assert(marginalizeColumn.size() == 1 && "more than one block in _Hll column"); + + // calculate inverse block for the landmark + const LandmarkMatrixType * D = marginalizeColumn.begin()->second; + assert (D && D->rows()==D->cols() && "Error in landmark matrix"); + LandmarkMatrixType& Dinv = _DInvSchur->diagonal()[landmarkIndex]; + Dinv = D->inverse(); + + LandmarkVectorType db(D->rows()); + for (int j=0; jrows(); ++j) { + db[j]=_b[_Hll->rowBaseOfBlock(landmarkIndex) + _sizePoses + j]; + } + db=Dinv*db; + + assert((size_t)landmarkIndex < _HplCCS->blockCols().size() && "Index out of bounds"); + const typename SparseBlockMatrixCCS::SparseColumn& landmarkColumn = _HplCCS->blockCols()[landmarkIndex]; + + for (typename SparseBlockMatrixCCS::SparseColumn::const_iterator it_outer = landmarkColumn.begin(); + it_outer != landmarkColumn.end(); ++it_outer) { + int i1 = it_outer->row; + + const PoseLandmarkMatrixType* Bi = it_outer->block; + assert(Bi); + + PoseLandmarkMatrixType BDinv = (*Bi)*(Dinv); + assert(_HplCCS->rowBaseOfBlock(i1) < _sizePoses && "Index out of bounds"); + typename PoseVectorType::MapType Bb(&_coefficients[_HplCCS->rowBaseOfBlock(i1)], Bi->rows()); +# ifdef G2O_OPENMP + ScopedOpenMPMutex mutexLock(&_coefficientsMutex[i1]); +# endif + Bb.noalias() += (*Bi)*db; + + assert(i1 >= 0 && i1 < static_cast(_HschurTransposedCCS->blockCols().size()) && "Index out of bounds"); + typename SparseBlockMatrixCCS::SparseColumn::iterator targetColumnIt = _HschurTransposedCCS->blockCols()[i1].begin(); + + typename SparseBlockMatrixCCS::RowBlock aux(i1, 0); + typename SparseBlockMatrixCCS::SparseColumn::const_iterator it_inner = lower_bound(landmarkColumn.begin(), landmarkColumn.end(), aux); + for (; it_inner != landmarkColumn.end(); ++it_inner) { + int i2 = it_inner->row; + const PoseLandmarkMatrixType* Bj = it_inner->block; + assert(Bj); + while (targetColumnIt->row < i2 /*&& targetColumnIt != _HschurTransposedCCS->blockCols()[i1].end()*/) + ++targetColumnIt; + assert(targetColumnIt != _HschurTransposedCCS->blockCols()[i1].end() && targetColumnIt->row == i2 && "invalid iterator, something wrong with the matrix structure"); + PoseMatrixType* Hi1i2 = targetColumnIt->block;//_Hschur->block(i1,i2); + assert(Hi1i2); + (*Hi1i2).noalias() -= BDinv*Bj->transpose(); + } + } + } + //cerr << "Solve [marginalize] = " << get_monotonic_time()-t << endl; + + // _bschur = _b for calling solver, and not touching _b + memcpy(_bschur, _b, _sizePoses * sizeof(double)); + for (int i=0; i<_sizePoses; ++i){ + _bschur[i]-=_coefficients[i]; + } + + G2OBatchStatistics* globalStats = G2OBatchStatistics::globalStats(); + if (globalStats){ + globalStats->timeSchurComplement = get_monotonic_time() - t; + } + + t=get_monotonic_time(); + bool solvedPoses = _linearSolver->solve(*_Hschur, _x, _bschur); + if (globalStats) { + globalStats->timeLinearSolver = get_monotonic_time() - t; + globalStats->hessianPoseDimension = _Hpp->cols(); + globalStats->hessianLandmarkDimension = _Hll->cols(); + globalStats->hessianDimension = globalStats->hessianPoseDimension + globalStats->hessianLandmarkDimension; + } + //cerr << "Solve [decompose and solve] = " << get_monotonic_time()-t << endl; + + if (! solvedPoses) + return false; + + // _x contains the solution for the poses, now applying it to the landmarks to get the new part of the + // solution; + double* xp = _x; + double* cp = _coefficients; + + double* xl=_x+_sizePoses; + double* cl=_coefficients + _sizePoses; + double* bl=_b+_sizePoses; + + // cp = -xp + for (int i=0; i<_sizePoses; ++i) + cp[i]=-xp[i]; + + // cl = bl + memcpy(cl,bl,_sizeLandmarks*sizeof(double)); + + // cl = bl - Bt * xp + //Bt->multiply(cl, cp); + _HplCCS->rightMultiply(cl, cp); + + // xl = Dinv * cl + memset(xl,0, _sizeLandmarks*sizeof(double)); + _DInvSchur->multiply(xl,cl); + //_DInvSchur->rightMultiply(xl,cl); + //cerr << "Solve [landmark delta] = " << get_monotonic_time()-t << endl; + + return true; +} + + +template +bool BlockSolver::computeMarginals(SparseBlockMatrix& spinv, const std::vector >& blockIndices) +{ + double t = get_monotonic_time(); + bool ok = _linearSolver->solvePattern(spinv, blockIndices, *_Hpp); + G2OBatchStatistics* globalStats = G2OBatchStatistics::globalStats(); + if (globalStats) { + globalStats->timeMarginals = get_monotonic_time() - t; + } + return ok; +} + +template +bool BlockSolver::buildSystem() +{ + // clear b vector +# ifdef G2O_OPENMP +# pragma omp parallel for default (shared) if (_optimizer->indexMapping().size() > 1000) +# endif + for (int i = 0; i < static_cast(_optimizer->indexMapping().size()); ++i) { + OptimizableGraph::Vertex* v=_optimizer->indexMapping()[i]; + assert(v); + v->clearQuadraticForm(); + } + _Hpp->clear(); + if (_doSchur) { + _Hll->clear(); + _Hpl->clear(); + } + + // resetting the terms for the pairwise constraints + // built up the current system by storing the Hessian blocks in the edges and vertices +# ifndef G2O_OPENMP + // no threading, we do not need to copy the workspace + JacobianWorkspace& jacobianWorkspace = _optimizer->jacobianWorkspace(); +# else + // if running with threads need to produce copies of the workspace for each thread + JacobianWorkspace jacobianWorkspace = _optimizer->jacobianWorkspace(); +# pragma omp parallel for default (shared) firstprivate(jacobianWorkspace) if (_optimizer->activeEdges().size() > 100) +# endif + for (int k = 0; k < static_cast(_optimizer->activeEdges().size()); ++k) { + OptimizableGraph::Edge* e = _optimizer->activeEdges()[k]; + e->linearizeOplus(jacobianWorkspace); // jacobian of the nodes' oplus (manifold) + e->constructQuadraticForm(); +# ifndef NDEBUG + for (size_t i = 0; i < e->vertices().size(); ++i) { + const OptimizableGraph::Vertex* v = static_cast(e->vertex(i)); + if (! v->fixed()) { + bool hasANan = arrayHasNaN(jacobianWorkspace.workspaceForVertex(i), e->dimension() * v->dimension()); + if (hasANan) { + cerr << "buildSystem(): NaN within Jacobian for edge " << e << " for vertex " << i << endl; + break; + } + } + } +# endif + } + + // flush the current system in a sparse block matrix +# ifdef G2O_OPENMP +# pragma omp parallel for default (shared) if (_optimizer->indexMapping().size() > 1000) +# endif + for (int i = 0; i < static_cast(_optimizer->indexMapping().size()); ++i) { + OptimizableGraph::Vertex* v=_optimizer->indexMapping()[i]; + int iBase = v->colInHessian(); + if (v->marginalized()) + iBase+=_sizePoses; + v->copyB(_b+iBase); + } + + return 0; +} + + +template +bool BlockSolver::setLambda(double lambda, bool backup) +{ + if (backup) { + _diagonalBackupPose.resize(_numPoses); + _diagonalBackupLandmark.resize(_numLandmarks); + } +# ifdef G2O_OPENMP +# pragma omp parallel for default (shared) if (_numPoses > 100) +# endif + for (int i = 0; i < _numPoses; ++i) { + PoseMatrixType *b=_Hpp->block(i,i); + if (backup) + _diagonalBackupPose[i] = b->diagonal(); + b->diagonal().array() += lambda; + } +# ifdef G2O_OPENMP +# pragma omp parallel for default (shared) if (_numLandmarks > 100) +# endif + for (int i = 0; i < _numLandmarks; ++i) { + LandmarkMatrixType *b=_Hll->block(i,i); + if (backup) + _diagonalBackupLandmark[i] = b->diagonal(); + b->diagonal().array() += lambda; + } + return true; +} + +template +void BlockSolver::restoreDiagonal() +{ + assert((int) _diagonalBackupPose.size() == _numPoses && "Mismatch in dimensions"); + assert((int) _diagonalBackupLandmark.size() == _numLandmarks && "Mismatch in dimensions"); + for (int i = 0; i < _numPoses; ++i) { + PoseMatrixType *b=_Hpp->block(i,i); + b->diagonal() = _diagonalBackupPose[i]; + } + for (int i = 0; i < _numLandmarks; ++i) { + LandmarkMatrixType *b=_Hll->block(i,i); + b->diagonal() = _diagonalBackupLandmark[i]; + } +} + +template +bool BlockSolver::init(SparseOptimizer* optimizer, bool online) +{ + _optimizer = optimizer; + if (! online) { + if (_Hpp) + _Hpp->clear(); + if (_Hpl) + _Hpl->clear(); + if (_Hll) + _Hll->clear(); + } + _linearSolver->init(); + return true; +} + +template +void BlockSolver::setWriteDebug(bool writeDebug) +{ + _linearSolver->setWriteDebug(writeDebug); +} + +template +bool BlockSolver::saveHessian(const std::string& fileName) const +{ + return _Hpp->writeOctave(fileName.c_str(), true); +} + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/cache.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/cache.cpp new file mode 100644 index 0000000..89f9c24 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/cache.cpp @@ -0,0 +1,183 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 G. Grisetti, R. Kuemmerle, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "cache.h" +#include "optimizable_graph.h" +#include "factory.h" + +#include + +namespace g2o { + using namespace std; + + Cache::CacheKey::CacheKey() : + _type(), _parameters() + { + } + + Cache::CacheKey::CacheKey(const std::string& type_, const ParameterVector& parameters_) : + _type(type_), _parameters(parameters_) + { + } + + Cache::Cache(CacheContainer* container_, const ParameterVector& parameters_) : + _updateNeeded(true), _parameters(parameters_), _container(container_) + { + } + + bool Cache::CacheKey::operator<(const Cache::CacheKey& c) const{ + if (_type < c._type) + return true; + return std::lexicographical_compare (_parameters.begin( ), _parameters.end( ), + c._parameters.begin( ), c._parameters.end( ) ); + } + + + OptimizableGraph::Vertex* Cache::vertex() { + if (container() ) + return container()->vertex(); + return 0; + } + + OptimizableGraph* Cache::graph() { + if (container()) + return container()->graph(); + return 0; + } + + CacheContainer* Cache::container() { + return _container; + } + + ParameterVector& Cache::parameters() { + return _parameters; + } + + Cache::CacheKey Cache::key() const { + Factory* factory=Factory::instance(); + return CacheKey(factory->tag(this), _parameters); + }; + + + void Cache::update(){ + if (! _updateNeeded) + return; + for(std::vector::iterator it=_parentCaches.begin(); it!=_parentCaches.end(); it++){ + (*it)->update(); + } + updateImpl(); + _updateNeeded=false; + } + + Cache* Cache::installDependency(const std::string& type_, const std::vector& parameterIndices){ + ParameterVector pv(parameterIndices.size()); + for (size_t i=0; i=(int)_parameters.size()) + return 0; + pv[i]=_parameters[ parameterIndices[i] ]; + } + CacheKey k(type_, pv); + if (!container()) + return 0; + Cache* c=container()->findCache(k); + if (!c) { + c = container()->createCache(k); + } + if (c) + _parentCaches.push_back(c); + return c; + } + + bool Cache::resolveDependancies(){ + return true; + } + + CacheContainer::CacheContainer(OptimizableGraph::Vertex* vertex_) { + _vertex = vertex_; + } + + Cache* CacheContainer::findCache(const Cache::CacheKey& key) { + iterator it=find(key); + if (it==end()) + return 0; + return it->second; + } + + Cache* CacheContainer::createCache(const Cache::CacheKey& key){ + Factory* f = Factory::instance(); + HyperGraph::HyperGraphElement* e = f->construct(key.type()); + if (!e) { + cerr << __PRETTY_FUNCTION__ << endl; + cerr << "fatal error in creating cache of type " << key.type() << endl; + return 0; + } + Cache* c = dynamic_cast(e); + if (! c){ + cerr << __PRETTY_FUNCTION__ << endl; + cerr << "fatal error in creating cache of type " << key.type() << endl; + return 0; + } + c->_container = this; + c->_parameters = key._parameters; + if (c->resolveDependancies()){ + insert(make_pair(key,c)); + c->update(); + return c; + } + return 0; + } + + OptimizableGraph::Vertex* CacheContainer::vertex() { + return _vertex; + } + + OptimizableGraph* CacheContainer::graph(){ + if (_vertex) + return _vertex->graph(); + return 0; + } + + void CacheContainer::update() { + for (iterator it=begin(); it!=end(); it++){ + (it->second)->update(); + } + _updateNeeded=false; + } + + void CacheContainer::setUpdateNeeded(bool needUpdate) { + _updateNeeded=needUpdate; + for (iterator it=begin(); it!=end(); ++it){ + (it->second)->_updateNeeded = needUpdate; + } + } + + CacheContainer::~CacheContainer(){ + for (iterator it=begin(); it!=end(); ++it){ + delete (it->second); + } + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/cache.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/cache.h new file mode 100644 index 0000000..c5b00a4 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/cache.h @@ -0,0 +1,140 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_CACHE_HH_ +#define G2O_CACHE_HH_ + +#include + +#include "optimizable_graph.h" + +namespace g2o { + + class CacheContainer; + + class Cache: public HyperGraph::HyperGraphElement + { + public: + friend class CacheContainer; + class CacheKey + { + public: + friend class CacheContainer; + CacheKey(); + CacheKey(const std::string& type_, const ParameterVector& parameters_); + + bool operator<(const CacheKey& c) const; + + const std::string& type() const { return _type;} + const ParameterVector& parameters() const { return _parameters;} + + protected: + std::string _type; + ParameterVector _parameters; + }; + + Cache(CacheContainer* container_ = 0, const ParameterVector& parameters_ = ParameterVector()); + + CacheKey key() const; + + OptimizableGraph::Vertex* vertex(); + OptimizableGraph* graph(); + CacheContainer* container(); + ParameterVector& parameters(); + + void update(); + + virtual HyperGraph::HyperGraphElementType elementType() const { return HyperGraph::HGET_CACHE;} + + protected: + //! redefine this to do the update + virtual void updateImpl() = 0; + + /** + * this function installs and satisfies a cache + * @param type_: the typename of the dependency + * @param parameterIndices: a vector containing the indices if the parameters + * in _parameters that will be used to assemble the Key of the cache being created + * For example if I have a cache of type C2, having parameters "A, B, and C", + * and it depends on a cache of type C1 that depends on the parameters A and C, + * the parameterIndices should contain "0, 2", since they are the positions in the + * parameter vector of C2 of the parameters needed to construct C1. + * @returns the newly created cache + */ + Cache* installDependency(const std::string& type_, const std::vector& parameterIndices); + + /** + * Function to be called from a cache that has dependencies. It just invokes a + * sequence of installDependency(). + * Although the caches returned are stored in the _parentCache vector, + * it is better that you redefine your own cache member variables, for better readability + */ + virtual bool resolveDependancies(); + + bool _updateNeeded; + ParameterVector _parameters; + std::vector _parentCaches; + CacheContainer* _container; + }; + + class CacheContainer: public std::map + { + public: + CacheContainer(OptimizableGraph::Vertex* vertex_); + virtual ~CacheContainer(); + OptimizableGraph::Vertex* vertex(); + OptimizableGraph* graph(); + Cache* findCache(const Cache::CacheKey& key); + Cache* createCache(const Cache::CacheKey& key); + void setUpdateNeeded(bool needUpdate=true); + void update(); + protected: + OptimizableGraph::Vertex* _vertex; + bool _updateNeeded; + }; + + + template + void OptimizableGraph::Edge::resolveCache(CacheType*& cache, + OptimizableGraph::Vertex* v, + const std::string& type_, + const ParameterVector& parameters_) + { + cache = 0; + CacheContainer* container= v->cacheContainer(); + Cache::CacheKey key(type_, parameters_); + Cache* c = container->findCache(key); + if (!c) { + c = container->createCache(key); + } + if (c) { + cache = dynamic_cast(c); + } + } + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/creators.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/creators.h new file mode 100644 index 0000000..9ca9967 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/creators.h @@ -0,0 +1,75 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_CREATORS_H +#define G2O_CREATORS_H + +#include "hyper_graph.h" + +#include +#include + +namespace g2o +{ + + /** + * \brief Abstract interface for allocating HyperGraphElement + */ + class AbstractHyperGraphElementCreator + { + public: + /** + * create a hyper graph element. Has to implemented in derived class. + */ + virtual HyperGraph::HyperGraphElement* construct() = 0; + /** + * name of the class to be created. Has to implemented in derived class. + */ + virtual const std::string& name() const = 0; + + virtual ~AbstractHyperGraphElementCreator() { } + }; + + /** + * \brief templatized creator class which creates graph elements + */ + template + class HyperGraphElementCreator : public AbstractHyperGraphElementCreator + { + public: + HyperGraphElementCreator() : _name(typeid(T).name()) {} +#if defined (WINDOWS) && defined(__GNUC__) // force stack alignment on Windows with GCC + __attribute__((force_align_arg_pointer)) +#endif + HyperGraph::HyperGraphElement* construct() { return new T;} + virtual const std::string& name() const { return _name;} + protected: + std::string _name; + }; + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/eigen_types.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/eigen_types.h new file mode 100644 index 0000000..f2c6856 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/eigen_types.h @@ -0,0 +1,73 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_EIGEN_TYPES_H +#define G2O_EIGEN_TYPES_H + +#include +#include + +namespace g2o { + + typedef Eigen::Matrix Vector2I; + typedef Eigen::Matrix Vector3I; + typedef Eigen::Matrix Vector4I; + typedef Eigen::Matrix VectorXI; + + typedef Eigen::Matrix Vector2F; + typedef Eigen::Matrix Vector3F; + typedef Eigen::Matrix Vector4F; + typedef Eigen::Matrix VectorXF; + + typedef Eigen::Matrix Vector2D; + typedef Eigen::Matrix Vector3D; + typedef Eigen::Matrix Vector4D; + typedef Eigen::Matrix VectorXD; + + typedef Eigen::Matrix Matrix2I; + typedef Eigen::Matrix Matrix3I; + typedef Eigen::Matrix Matrix4I; + typedef Eigen::Matrix MatrixXI; + + typedef Eigen::Matrix Matrix2F; + typedef Eigen::Matrix Matrix3F; + typedef Eigen::Matrix Matrix4F; + typedef Eigen::Matrix MatrixXF; + + typedef Eigen::Matrix Matrix2D; + typedef Eigen::Matrix Matrix3D; + typedef Eigen::Matrix Matrix4D; + typedef Eigen::Matrix MatrixXD; + + typedef Eigen::Transform Isometry2D; + typedef Eigen::Transform Isometry3D; + + typedef Eigen::Transform Affine2D; + typedef Eigen::Transform Affine3D; + +} // end namespace g2o + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/estimate_propagator.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/estimate_propagator.cpp new file mode 100644 index 0000000..010dac1 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/estimate_propagator.cpp @@ -0,0 +1,267 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "estimate_propagator.h" + +#include +#include +#include +#include +#include +#include + +//#define DEBUG_ESTIMATE_PROPAGATOR + +using namespace std; + +namespace g2o { + +# ifdef DEBUG_ESTIMATE_PROPAGATOR + struct FrontierLevelCmp { + bool operator()(EstimatePropagator::AdjacencyMapEntry* e1, EstimatePropagator::AdjacencyMapEntry* e2) const + { + return e1->frontierLevel() < e2->frontierLevel(); + } + }; +# endif + + EstimatePropagator::AdjacencyMapEntry::AdjacencyMapEntry() + { + reset(); + } + + void EstimatePropagator::AdjacencyMapEntry::reset() + { + _child = 0; + _parent.clear(); + _edge = 0; + _distance = numeric_limits::max(); + _frontierLevel = -1; + inQueue = false; + } + + EstimatePropagator::EstimatePropagator(OptimizableGraph* g): _graph(g) + { + for (OptimizableGraph::VertexIDMap::const_iterator it=_graph->vertices().begin(); it!=_graph->vertices().end(); ++it){ + AdjacencyMapEntry entry; + entry._child = static_cast(it->second); + _adjacencyMap.insert(make_pair(entry.child(), entry)); + } + } + + void EstimatePropagator::reset() + { + for (OptimizableGraph::VertexSet::iterator it=_visited.begin(); it!=_visited.end(); ++it){ + OptimizableGraph::Vertex* v = static_cast(*it); + AdjacencyMap::iterator at = _adjacencyMap.find(v); + assert(at != _adjacencyMap.end()); + at->second.reset(); + } + _visited.clear(); + } + + void EstimatePropagator::propagate(OptimizableGraph::Vertex* v, + const EstimatePropagator::PropagateCost& cost, + const EstimatePropagator::PropagateAction& action, + double maxDistance, + double maxEdgeCost) + { + OptimizableGraph::VertexSet vset; + vset.insert(v); + propagate(vset, cost, action, maxDistance, maxEdgeCost); + } + + void EstimatePropagator::propagate(OptimizableGraph::VertexSet& vset, + const EstimatePropagator::PropagateCost& cost, + const EstimatePropagator::PropagateAction& action, + double maxDistance, + double maxEdgeCost) + { + reset(); + + PriorityQueue frontier; + for (OptimizableGraph::VertexSet::iterator vit=vset.begin(); vit!=vset.end(); ++vit){ + OptimizableGraph::Vertex* v = static_cast(*vit); + AdjacencyMap::iterator it = _adjacencyMap.find(v); + assert(it != _adjacencyMap.end()); + it->second._distance = 0.; + it->second._parent.clear(); + it->second._frontierLevel = 0; + frontier.push(&it->second); + } + + while(! frontier.empty()){ + AdjacencyMapEntry* entry = frontier.pop(); + OptimizableGraph::Vertex* u = entry->child(); + double uDistance = entry->distance(); + //cerr << "uDistance " << uDistance << endl; + + // initialize the vertex + if (entry->_frontierLevel > 0) { + action(entry->edge(), entry->parent(), u); + } + + /* std::pair< OptimizableGraph::VertexSet::iterator, bool> insertResult = */ _visited.insert(u); + OptimizableGraph::EdgeSet::iterator et = u->edges().begin(); + while (et != u->edges().end()){ + OptimizableGraph::Edge* edge = static_cast(*et); + ++et; + + int maxFrontier = -1; + OptimizableGraph::VertexSet initializedVertices; + for (size_t i = 0; i < edge->vertices().size(); ++i) { + OptimizableGraph::Vertex* z = static_cast(edge->vertex(i)); + AdjacencyMap::iterator ot = _adjacencyMap.find(z); + if (ot->second._distance != numeric_limits::max()) { + initializedVertices.insert(z); + maxFrontier = (max)(maxFrontier, ot->second._frontierLevel); + } + } + assert(maxFrontier >= 0); + + for (size_t i = 0; i < edge->vertices().size(); ++i) { + OptimizableGraph::Vertex* z = static_cast(edge->vertex(i)); + if (z == u) + continue; + + size_t wasInitialized = initializedVertices.erase(z); + + double edgeDistance = cost(edge, initializedVertices, z); + if (edgeDistance > 0. && edgeDistance != std::numeric_limits::max() && edgeDistance < maxEdgeCost) { + double zDistance = uDistance + edgeDistance; + //cerr << z->id() << " " << zDistance << endl; + + AdjacencyMap::iterator ot = _adjacencyMap.find(z); + assert(ot!=_adjacencyMap.end()); + + if (zDistance < ot->second.distance() && zDistance < maxDistance){ + //if (ot->second.inQueue) + //cerr << "Updating" << endl; + ot->second._distance = zDistance; + ot->second._parent = initializedVertices; + ot->second._edge = edge; + ot->second._frontierLevel = maxFrontier + 1; + frontier.push(&ot->second); + } + } + + if (wasInitialized > 0) + initializedVertices.insert(z); + + } + } + } + + // writing debug information like cost for reaching each vertex and the parent used to initialize +#ifdef DEBUG_ESTIMATE_PROPAGATOR + cerr << "Writing cost.dat" << endl; + ofstream costStream("cost.dat"); + for (AdjacencyMap::const_iterator it = _adjacencyMap.begin(); it != _adjacencyMap.end(); ++it) { + HyperGraph::Vertex* u = it->second.child(); + costStream << "vertex " << u->id() << " cost " << it->second._distance << endl; + } + cerr << "Writing init.dat" << endl; + ofstream initStream("init.dat"); + vector frontierLevels; + for (AdjacencyMap::iterator it = _adjacencyMap.begin(); it != _adjacencyMap.end(); ++it) { + if (it->second._frontierLevel > 0) + frontierLevels.push_back(&it->second); + } + sort(frontierLevels.begin(), frontierLevels.end(), FrontierLevelCmp()); + for (vector::const_iterator it = frontierLevels.begin(); it != frontierLevels.end(); ++it) { + AdjacencyMapEntry* entry = *it; + OptimizableGraph::Vertex* to = entry->child(); + + initStream << "calling init level = " << entry->_frontierLevel << "\t ("; + for (OptimizableGraph::VertexSet::iterator pit = entry->parent().begin(); pit != entry->parent().end(); ++pit) { + initStream << " " << (*pit)->id(); + } + initStream << " ) -> " << to->id() << endl; + } +#endif + + } + + void EstimatePropagator::PriorityQueue::push(AdjacencyMapEntry* entry) + { + assert(entry != NULL); + if (entry->inQueue) { + assert(entry->queueIt->second == entry); + erase(entry->queueIt); + } + + entry->queueIt = insert(std::make_pair(entry->distance(), entry)); + assert(entry->queueIt != end()); + entry->inQueue = true; + } + + EstimatePropagator::AdjacencyMapEntry* EstimatePropagator::PriorityQueue::pop() + { + assert(!empty()); + iterator it = begin(); + AdjacencyMapEntry* entry = it->second; + erase(it); + + assert(entry != NULL); + entry->queueIt = end(); + entry->inQueue = false; + return entry; + } + + EstimatePropagatorCost::EstimatePropagatorCost (SparseOptimizer* graph) : + _graph(graph) + { + } + + double EstimatePropagatorCost::operator()(OptimizableGraph::Edge* edge, const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to_) const + { + OptimizableGraph::Edge* e = dynamic_cast(edge); + OptimizableGraph::Vertex* to = dynamic_cast(to_); + SparseOptimizer::EdgeContainer::const_iterator it = _graph->findActiveEdge(e); + if (it == _graph->activeEdges().end()) // it has to be an active edge + return std::numeric_limits::max(); + return e->initialEstimatePossible(from, to); + } + + EstimatePropagatorCostOdometry::EstimatePropagatorCostOdometry(SparseOptimizer* graph) : + EstimatePropagatorCost(graph) + { + } + + double EstimatePropagatorCostOdometry::operator()(OptimizableGraph::Edge* edge, const OptimizableGraph::VertexSet& from_, OptimizableGraph::Vertex* to_) const + { + OptimizableGraph::Edge* e = dynamic_cast(edge); + OptimizableGraph::Vertex* from = dynamic_cast(*from_.begin()); + OptimizableGraph::Vertex* to = dynamic_cast(to_); + if (std::abs(from->id() - to->id()) != 1) // simple method to identify odometry edges in a pose graph + return std::numeric_limits::max(); + SparseOptimizer::EdgeContainer::const_iterator it = _graph->findActiveEdge(e); + if (it == _graph->activeEdges().end()) // it has to be an active edge + return std::numeric_limits::max(); + return e->initialEstimatePossible(from_, to); + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/estimate_propagator.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/estimate_propagator.h new file mode 100644 index 0000000..6a16d11 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/estimate_propagator.h @@ -0,0 +1,175 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_ESTIMATE_PROPAGATOR_H +#define G2O_ESTIMATE_PROPAGATOR_H + +#include "optimizable_graph.h" +#include "sparse_optimizer.h" + +#include +#include +#include + +#ifdef _MSC_VER +#include +#else +#include +#endif + +namespace g2o { + + /** + * \brief cost for traversing along active edges in the optimizer + * + * You may derive an own one, if necessary. The default is to return initialEstimatePossible(from, to) for the edge. + */ + class EstimatePropagatorCost { + public: + EstimatePropagatorCost (SparseOptimizer* graph); + virtual double operator()(OptimizableGraph::Edge* edge, const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to_) const; + virtual const char* name() const { return "spanning tree";} + protected: + SparseOptimizer* _graph; + }; + + /** + * \brief cost for traversing only odometry edges. + * + * Initialize your graph along odometry edges. An odometry edge is assumed to connect vertices + * whose IDs only differs by one. + */ + class EstimatePropagatorCostOdometry : public EstimatePropagatorCost { + public: + EstimatePropagatorCostOdometry(SparseOptimizer* graph); + virtual double operator()(OptimizableGraph::Edge* edge, const OptimizableGraph::VertexSet& from_, OptimizableGraph::Vertex* to_) const; + virtual const char* name() const { return "odometry";} + }; + + /** + * \brief propagation of an initial guess + */ + class EstimatePropagator { + public: + + /** + * \brief Applying the action for propagating. + * + * You may derive an own one, if necessary. The default is to call initialEstimate(from, to) for the edge. + */ + struct PropagateAction { + virtual void operator()(OptimizableGraph::Edge* e, const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to) const + { + if (! to->fixed()) + e->initialEstimate(from, to); + } + }; + + typedef EstimatePropagatorCost PropagateCost; + + class AdjacencyMapEntry; + + /** + * \brief priority queue for AdjacencyMapEntry + */ + class PriorityQueue : public std::multimap { + public: + void push(AdjacencyMapEntry* entry); + AdjacencyMapEntry* pop(); + }; + + /** + * \brief data structure for loopuk during Dijkstra + */ + class AdjacencyMapEntry { + public: + friend class EstimatePropagator; + friend class PriorityQueue; + AdjacencyMapEntry(); + void reset(); + OptimizableGraph::Vertex* child() const {return _child;} + const OptimizableGraph::VertexSet& parent() const {return _parent;} + OptimizableGraph::Edge* edge() const {return _edge;} + double distance() const {return _distance;} + int frontierLevel() const { return _frontierLevel;} + + protected: + OptimizableGraph::Vertex* _child; + OptimizableGraph::VertexSet _parent; + OptimizableGraph::Edge* _edge; + double _distance; + int _frontierLevel; + private: // for PriorityQueue + bool inQueue; + PriorityQueue::iterator queueIt; + }; + + /** + * \brief hash function for a vertex + */ + class VertexIDHashFunction { + public: + size_t operator ()(const OptimizableGraph::Vertex* v) const { return v->id();} + }; + + typedef std::tr1::unordered_map AdjacencyMap; + + public: + EstimatePropagator(OptimizableGraph* g); + OptimizableGraph::VertexSet& visited() {return _visited; } + AdjacencyMap& adjacencyMap() {return _adjacencyMap; } + OptimizableGraph* graph() {return _graph;} + + /** + * propagate an initial guess starting from v. The function computes a spanning tree + * whereas the cost for each edge is determined by calling cost() and the action applied to + * each vertex is action(). + */ + void propagate(OptimizableGraph::Vertex* v, + const EstimatePropagator::PropagateCost& cost, + const EstimatePropagator::PropagateAction& action = PropagateAction(), + double maxDistance=std::numeric_limits::max(), + double maxEdgeCost=std::numeric_limits::max()); + + /** + * same as above but starting to propagate from a set of vertices instead of just a single one. + */ + void propagate(OptimizableGraph::VertexSet& vset, + const EstimatePropagator::PropagateCost& cost, + const EstimatePropagator::PropagateAction& action = PropagateAction(), + double maxDistance=std::numeric_limits::max(), + double maxEdgeCost=std::numeric_limits::max()); + + protected: + void reset(); + + AdjacencyMap _adjacencyMap; + OptimizableGraph::VertexSet _visited; + OptimizableGraph* _graph; + }; + +} +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/factory.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/factory.cpp new file mode 100644 index 0000000..6263ae2 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/factory.cpp @@ -0,0 +1,217 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "factory.h" + +#include "creators.h" +#include "parameter.h" +#include "cache.h" +#include "optimizable_graph.h" +#include "../stuff/color_macros.h" + +#include +#include +#include + +using namespace std; + +namespace g2o { + +Factory* Factory::factoryInstance = 0; + +Factory::Factory() +{ +} + +Factory::~Factory() +{ +# ifdef G2O_DEBUG_FACTORY + cerr << "# Factory destroying " << (void*)this << endl; +# endif + for (CreatorMap::iterator it = _creator.begin(); it != _creator.end(); ++it) { + delete it->second->creator; + } + _creator.clear(); + _tagLookup.clear(); +} + +Factory* Factory::instance() +{ + if (factoryInstance == 0) { + factoryInstance = new Factory; +# ifdef G2O_DEBUG_FACTORY + cerr << "# Factory allocated " << (void*)factoryInstance << endl; +# endif + } + + return factoryInstance; +} + +void Factory::registerType(const std::string& tag, AbstractHyperGraphElementCreator* c) +{ + CreatorMap::const_iterator foundIt = _creator.find(tag); + if (foundIt != _creator.end()) { + cerr << "FACTORY WARNING: Overwriting Vertex tag " << tag << endl; + assert(0); + } + TagLookup::const_iterator tagIt = _tagLookup.find(c->name()); + if (tagIt != _tagLookup.end()) { + cerr << "FACTORY WARNING: Registering same class for two tags " << c->name() << endl; + assert(0); + } + + CreatorInformation* ci = new CreatorInformation(); + ci->creator = c; + +#ifdef G2O_DEBUG_FACTORY + cerr << "# Factory " << (void*)this << " constructing type " << tag << " "; +#endif + // construct an element once to figure out its type + HyperGraph::HyperGraphElement* element = c->construct(); + ci->elementTypeBit = element->elementType(); + +#ifdef G2O_DEBUG_FACTORY + cerr << "done." << endl; + cerr << "# Factory " << (void*)this << " registering " << tag; + cerr << " " << (void*) c << " "; + switch (element->elementType()) { + case HyperGraph::HGET_VERTEX: + cerr << " -> Vertex"; + break; + case HyperGraph::HGET_EDGE: + cerr << " -> Edge"; + break; + case HyperGraph::HGET_PARAMETER: + cerr << " -> Parameter"; + break; + case HyperGraph::HGET_CACHE: + cerr << " -> Cache"; + break; + case HyperGraph::HGET_DATA: + cerr << " -> Data"; + break; + default: + assert(0 && "Unknown element type occured, fix elementTypes"); + break; + } + cerr << endl; +#endif + + _creator[tag] = ci; + _tagLookup[c->name()] = tag; + delete element; +} + + void Factory::unregisterType(const std::string& tag) + { + // Look for the tag + CreatorMap::iterator tagPosition = _creator.find(tag); + + if (tagPosition != _creator.end()) { + + AbstractHyperGraphElementCreator* c = tagPosition->second->creator; + + // If we found it, remove the creator from the tag lookup map + TagLookup::iterator classPosition = _tagLookup.find(c->name()); + if (classPosition != _tagLookup.end()) + { + _tagLookup.erase(classPosition); + } + _creator.erase(tagPosition); + } + } + +HyperGraph::HyperGraphElement* Factory::construct(const std::string& tag) const +{ + CreatorMap::const_iterator foundIt = _creator.find(tag); + if (foundIt != _creator.end()) { + //cerr << "tag " << tag << " -> " << (void*) foundIt->second->creator << " " << foundIt->second->creator->name() << endl; + return foundIt->second->creator->construct(); + } + return 0; +} + +const std::string& Factory::tag(const HyperGraph::HyperGraphElement* e) const +{ + static std::string emptyStr(""); + TagLookup::const_iterator foundIt = _tagLookup.find(typeid(*e).name()); + if (foundIt != _tagLookup.end()) + return foundIt->second; + return emptyStr; +} + +void Factory::fillKnownTypes(std::vector& types) const +{ + types.clear(); + for (CreatorMap::const_iterator it = _creator.begin(); it != _creator.end(); ++it) + types.push_back(it->first); +} + +bool Factory::knowsTag(const std::string& tag, int* elementType) const +{ + CreatorMap::const_iterator foundIt = _creator.find(tag); + if (foundIt == _creator.end()) { + if (elementType) + *elementType = -1; + return false; + } + if (elementType) + *elementType = foundIt->second->elementTypeBit; + return true; +} + +void Factory::destroy() +{ + delete factoryInstance; + factoryInstance = 0; +} + +void Factory::printRegisteredTypes(std::ostream& os, bool comment) const +{ + if (comment) + os << "# "; + os << "types:" << endl; + for (CreatorMap::const_iterator it = _creator.begin(); it != _creator.end(); ++it) { + if (comment) + os << "#"; + cerr << "\t" << it->first << endl; + } +} + +HyperGraph::HyperGraphElement* Factory::construct(const std::string& tag, const HyperGraph::GraphElemBitset& elemsToConstruct) const +{ + if (elemsToConstruct.none()) { + return construct(tag); + } + CreatorMap::const_iterator foundIt = _creator.find(tag); + if (foundIt != _creator.end() && foundIt->second->elementTypeBit >= 0 && elemsToConstruct.test(foundIt->second->elementTypeBit)) { + return foundIt->second->creator->construct(); + } + return 0; +} + +} // end namespace + diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/factory.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/factory.h new file mode 100644 index 0000000..0e189ae --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/factory.h @@ -0,0 +1,179 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_FACTORY_H +#define G2O_FACTORY_H + +#include "../../config.h" +#include "../stuff/misc.h" +#include "hyper_graph.h" +#include "creators.h" + +#include +#include +#include + +// define to get some verbose output +//#define G2O_DEBUG_FACTORY + +namespace g2o { + + class AbstractHyperGraphElementCreator; + + /** + * \brief create vertices and edges based on TAGs in, for example, a file + */ + class Factory + { + public: + + //! return the instance + static Factory* instance(); + + //! free the instance + static void destroy(); + + /** + * register a tag for a specific creator + */ + void registerType(const std::string& tag, AbstractHyperGraphElementCreator* c); + + /** + * unregister a tag for a specific creator + */ + void unregisterType(const std::string& tag); + + /** + * construct a graph element based on its tag + */ + HyperGraph::HyperGraphElement* construct(const std::string& tag) const; + + /** + * construct a graph element based on its tag, but only if it's type (a bitmask) matches. A bitmask without any + * bit set will construct any item. Otherwise a bit has to be set to allow construction of a graph element. + */ + HyperGraph::HyperGraphElement* construct(const std::string& tag, const HyperGraph::GraphElemBitset& elemsToConstruct) const; + + /** + * return whether the factory knows this tag or not + */ + bool knowsTag(const std::string& tag, int* elementType = 0) const; + + //! return the TAG given a vertex + const std::string& tag(const HyperGraph::HyperGraphElement* v) const; + + /** + * get a list of all known types + */ + void fillKnownTypes(std::vector& types) const; + + /** + * print a list of the known registered types to the given stream + */ + void printRegisteredTypes(std::ostream& os, bool comment = false) const; + + protected: + class CreatorInformation + { + public: + AbstractHyperGraphElementCreator* creator; + int elementTypeBit; + CreatorInformation() + { + creator = 0; + elementTypeBit = -1; + } + + ~CreatorInformation() + { + std::cout << "Deleting " << (void*) creator << std::endl; + + delete creator; + } + }; + + typedef std::map CreatorMap; + typedef std::map TagLookup; + Factory(); + ~Factory(); + + CreatorMap _creator; ///< look-up map for the existing creators + TagLookup _tagLookup; ///< reverse look-up, class name to tag + + private: + static Factory* factoryInstance; + }; + + template + class RegisterTypeProxy + { + public: + RegisterTypeProxy(const std::string& name) : _name(name) + { +#ifdef G2O_DEBUG_FACTORY + std::cout << __FUNCTION__ << ": Registering " << _name << " of type " << typeid(T).name() << std::endl; +#endif + Factory::instance()->registerType(_name, new HyperGraphElementCreator()); + } + + ~RegisterTypeProxy() + { +#ifdef G2O_DEBUG_FACTORY + std::cout << __FUNCTION__ << ": Unregistering " << _name << " of type " << typeid(T).name() << std::endl; +#endif + Factory::instance()->unregisterType(_name); + } + + private: + std::string _name; + }; + +#if defined _MSC_VER && defined G2O_SHARED_LIBS +# define G2O_FACTORY_EXPORT __declspec(dllexport) +# define G2O_FACTORY_IMPORT __declspec(dllimport) +#else +# define G2O_FACTORY_EXPORT +# define G2O_FACTORY_IMPORT +#endif + + // These macros are used to automate registering types and forcing linkage +#define G2O_REGISTER_TYPE(name, classname) \ + extern "C" void G2O_FACTORY_EXPORT g2o_type_##classname(void) {} \ + static g2o::RegisterTypeProxy g_type_proxy_##classname(#name); + +#define G2O_USE_TYPE_BY_CLASS_NAME(classname) \ + extern "C" void G2O_FACTORY_IMPORT g2o_type_##classname(void); \ + static g2o::ForceLinker proxy_##classname(g2o_type_##classname); + +#define G2O_REGISTER_TYPE_GROUP(typeGroupName) \ + extern "C" void G2O_FACTORY_EXPORT g2o_type_group_##typeGroupName(void) {} + +#define G2O_USE_TYPE_GROUP(typeGroupName) \ + extern "C" void G2O_FACTORY_IMPORT g2o_type_group_##typeGroupName(void); \ + static g2o::ForceLinker g2o_force_type_link_##typeGroupName(g2o_type_group_##typeGroupName); +} + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_dijkstra.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_dijkstra.cpp new file mode 100644 index 0000000..a54eca5 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_dijkstra.cpp @@ -0,0 +1,261 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include +#include +#include +#include +#include +#include "hyper_dijkstra.h" +#include "../stuff/macros.h" + +namespace g2o{ + + using namespace std; + + double HyperDijkstra::TreeAction::perform(HyperGraph::Vertex* v, HyperGraph::Vertex* vParent, HyperGraph::Edge* e){ + (void) v; + (void) vParent; + (void) e; + return std::numeric_limits::max(); + } + + double HyperDijkstra::TreeAction::perform(HyperGraph::Vertex* v, HyperGraph::Vertex* vParent, HyperGraph::Edge* e, double distance){ + if (distance==-1) + return perform (v,vParent,e); + return std::numeric_limits::max(); + } + + HyperDijkstra::AdjacencyMapEntry::AdjacencyMapEntry(HyperGraph::Vertex* child_, HyperGraph::Vertex* parent_, + HyperGraph::Edge* edge_, double distance_) + { + _child=child_; + _parent=parent_; + _edge=edge_; + _distance=distance_; + } + + HyperDijkstra::HyperDijkstra(HyperGraph* g): _graph(g) + { + for (HyperGraph::VertexIDMap::const_iterator it=_graph->vertices().begin(); it!=_graph->vertices().end(); it++){ + AdjacencyMapEntry entry(it->second, 0,0,std::numeric_limits< double >::max()); + _adjacencyMap.insert(make_pair(entry.child(), entry)); + } + } + + void HyperDijkstra::reset() + { + for (HyperGraph::VertexSet::iterator it=_visited.begin(); it!=_visited.end(); it++){ + AdjacencyMap::iterator at=_adjacencyMap.find(*it); + assert(at!=_adjacencyMap.end()); + at->second=AdjacencyMapEntry(at->first,0,0,std::numeric_limits< double >::max()); + } + _visited.clear(); + } + + + bool operator<(const HyperDijkstra::AdjacencyMapEntry& a, const HyperDijkstra::AdjacencyMapEntry& b) + { + return a.distance()>b.distance(); + } + + + void HyperDijkstra::shortestPaths(HyperGraph::VertexSet& vset, HyperDijkstra::CostFunction* cost, + double maxDistance, double comparisonConditioner, bool directed, double maxEdgeCost) + { + reset(); + std::priority_queue< AdjacencyMapEntry > frontier; + for (HyperGraph::VertexSet::iterator vit=vset.begin(); vit!=vset.end(); ++vit){ + HyperGraph::Vertex* v=*vit; + assert(v!=0); + AdjacencyMap::iterator it=_adjacencyMap.find(v); + if (it == _adjacencyMap.end()) { + cerr << __PRETTY_FUNCTION__ << "Vertex " << v->id() << " is not in the adjacency map" << endl; + } + assert(it!=_adjacencyMap.end()); + it->second._distance=0.; + it->second._parent=0; + frontier.push(it->second); + } + + while(! frontier.empty()){ + AdjacencyMapEntry entry=frontier.top(); + frontier.pop(); + HyperGraph::Vertex* u=entry.child(); + AdjacencyMap::iterator ut=_adjacencyMap.find(u); + if (ut == _adjacencyMap.end()) { + cerr << __PRETTY_FUNCTION__ << "Vertex " << u->id() << " is not in the adjacency map" << endl; + } + assert(ut!=_adjacencyMap.end()); + double uDistance=ut->second.distance(); + + std::pair< HyperGraph::VertexSet::iterator, bool> insertResult=_visited.insert(u); (void) insertResult; + HyperGraph::EdgeSet::iterator et=u->edges().begin(); + while (et != u->edges().end()){ + HyperGraph::Edge* edge=*et; + ++et; + + if (directed && edge->vertex(0) != u) + continue; + + for (size_t i = 0; i < edge->vertices().size(); ++i) { + HyperGraph::Vertex* z = edge->vertex(i); + if (z == u) + continue; + + double edgeDistance=(*cost)(edge, u, z); + if (edgeDistance==std::numeric_limits< double >::max() || edgeDistance > maxEdgeCost) + continue; + double zDistance=uDistance+edgeDistance; + //cerr << z->id() << " " << zDistance << endl; + + AdjacencyMap::iterator ot=_adjacencyMap.find(z); + assert(ot!=_adjacencyMap.end()); + + if (zDistance+comparisonConditionersecond.distance() && zDistancesecond._distance=zDistance; + ot->second._parent=u; + ot->second._edge=edge; + frontier.push(ot->second); + } + } + } + } + } + + void HyperDijkstra::shortestPaths(HyperGraph::Vertex* v, HyperDijkstra::CostFunction* cost, double maxDistance, + double comparisonConditioner, bool directed, double maxEdgeCost) + { + HyperGraph::VertexSet vset; + vset.insert(v); + shortestPaths(vset, cost, maxDistance, comparisonConditioner, directed, maxEdgeCost); + } + + void HyperDijkstra::computeTree(AdjacencyMap& amap) + { + for (AdjacencyMap::iterator it=amap.begin(); it!=amap.end(); ++it){ + AdjacencyMapEntry& entry(it->second); + entry._children.clear(); + } + for (AdjacencyMap::iterator it=amap.begin(); it!=amap.end(); ++it){ + AdjacencyMapEntry& entry(it->second); + HyperGraph::Vertex* parent=entry.parent(); + if (!parent){ + continue; + } + HyperGraph::Vertex* v=entry.child(); + assert (v==it->first); + + AdjacencyMap::iterator pt=amap.find(parent); + assert(pt!=amap.end()); + pt->second._children.insert(v); + } + } + + + void HyperDijkstra::visitAdjacencyMap(AdjacencyMap& amap, TreeAction* action, bool useDistance) + { + + typedef std::deque Deque; + Deque q; + // scans for the vertices without the parent (whcih are the roots of the trees) and applies the action to them. + for (AdjacencyMap::iterator it=amap.begin(); it!=amap.end(); ++it){ + AdjacencyMapEntry& entry(it->second); + if (! entry.parent()) { + action->perform(it->first,0,0); + q.push_back(it->first); + } + } + + //std::cerr << "q.size()" << q.size() << endl; + int count=0; + while (! q.empty()){ + HyperGraph::Vertex* parent=q.front(); + q.pop_front(); + ++count; + AdjacencyMap::iterator parentIt=amap.find(parent); + if (parentIt==amap.end()) { + continue; + } + //cerr << "parent= " << parent << " parent id= " << parent->id() << "\t children id ="; + HyperGraph::VertexSet& childs(parentIt->second.children()); + for (HyperGraph::VertexSet::iterator childsIt=childs.begin(); childsIt!=childs.end(); ++childsIt){ + HyperGraph::Vertex* child=*childsIt; + //cerr << child->id(); + AdjacencyMap::iterator adjacencyIt=amap.find(child); + assert (adjacencyIt!=amap.end()); + HyperGraph::Edge* edge=adjacencyIt->second.edge(); + + assert(adjacencyIt->first==child); + assert(adjacencyIt->second.child()==child); + assert(adjacencyIt->second.parent()==parent); + if (! useDistance) { + action->perform(child, parent, edge); + } else { + action->perform(child, parent, edge, adjacencyIt->second.distance()); + } + q.push_back(child); + } + //cerr << endl; + } + + } + + void HyperDijkstra::connectedSubset(HyperGraph::VertexSet& connected, HyperGraph::VertexSet& visited, + HyperGraph::VertexSet& startingSet, + HyperGraph* g, HyperGraph::Vertex* v, + HyperDijkstra::CostFunction* cost, double distance, + double comparisonConditioner, double maxEdgeCost) + { + typedef std::queue VertexDeque; + visited.clear(); + connected.clear(); + VertexDeque frontier; + HyperDijkstra dv(g); + connected.insert(v); + frontier.push(v); + while (! frontier.empty()){ + HyperGraph::Vertex* v0=frontier.front(); + frontier.pop(); + dv.shortestPaths(v0, cost, distance, comparisonConditioner, false, maxEdgeCost); + for (HyperGraph::VertexSet::iterator it=dv.visited().begin(); it!=dv.visited().end(); ++it){ + visited.insert(*it); + if (startingSet.find(*it)==startingSet.end()) + continue; + std::pair insertOutcome=connected.insert(*it); + if (insertOutcome.second){ // the node was not in the connectedSet; + frontier.push(dynamic_cast(*it)); + } + } + } + } + + double UniformCostFunction::operator () (HyperGraph::Edge* /*edge*/, HyperGraph::Vertex* /*from*/, HyperGraph::Vertex* /*to*/) + { + return 1.; + } + +}; diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_dijkstra.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_dijkstra.h new file mode 100644 index 0000000..fe2c2f4 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_dijkstra.h @@ -0,0 +1,112 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_AIS_GENERAL_DIJKSTRA_HH +#define G2O_AIS_GENERAL_DIJKSTRA_HH + +#include +#include +#include + +#include "hyper_graph.h" + +namespace g2o{ + + struct HyperDijkstra{ + struct CostFunction { + virtual double operator() (HyperGraph::Edge* e, HyperGraph::Vertex* from, HyperGraph::Vertex* to)=0; + virtual ~CostFunction() { } + }; + + struct TreeAction { + virtual double perform(HyperGraph::Vertex* v, HyperGraph::Vertex* vParent, HyperGraph::Edge* e); + virtual double perform(HyperGraph::Vertex* v, HyperGraph::Vertex* vParent, HyperGraph::Edge* e, double distance); + }; + + + struct AdjacencyMapEntry{ + friend struct HyperDijkstra; + AdjacencyMapEntry(HyperGraph::Vertex* _child=0, + HyperGraph::Vertex* _parent=0, + HyperGraph::Edge* _edge=0, + double _distance=std::numeric_limits::max()); + HyperGraph::Vertex* child() const {return _child;} + HyperGraph::Vertex* parent() const {return _parent;} + HyperGraph::Edge* edge() const {return _edge;} + double distance() const {return _distance;} + HyperGraph::VertexSet& children() {return _children;} + const HyperGraph::VertexSet& children() const {return _children;} + protected: + HyperGraph::Vertex* _child; + HyperGraph::Vertex* _parent; + HyperGraph::Edge* _edge; + double _distance; + HyperGraph::VertexSet _children; + }; + + typedef std::map AdjacencyMap; + HyperDijkstra(HyperGraph* g); + HyperGraph::VertexSet& visited() {return _visited; } + AdjacencyMap& adjacencyMap() {return _adjacencyMap; } + HyperGraph* graph() {return _graph;} + + void shortestPaths(HyperGraph::Vertex* v, + HyperDijkstra::CostFunction* cost, + double maxDistance=std::numeric_limits< double >::max(), + double comparisonConditioner=1e-3, + bool directed=false, + double maxEdgeCost=std::numeric_limits< double >::max()); + + void shortestPaths(HyperGraph::VertexSet& vset, + HyperDijkstra::CostFunction* cost, + double maxDistance=std::numeric_limits< double >::max(), + double comparisonConditioner=1e-3, + bool directed=false, + double maxEdgeCost=std::numeric_limits< double >::max()); + + + static void computeTree(AdjacencyMap& amap); + static void visitAdjacencyMap(AdjacencyMap& amap, TreeAction* action, bool useDistance=false); + static void connectedSubset(HyperGraph::VertexSet& connected, HyperGraph::VertexSet& visited, + HyperGraph::VertexSet& startingSet, + HyperGraph* g, HyperGraph::Vertex* v, + HyperDijkstra::CostFunction* cost, double distance, double comparisonConditioner, + double maxEdgeCost=std::numeric_limits< double >::max() ); + + protected: + void reset(); + + AdjacencyMap _adjacencyMap; + HyperGraph::VertexSet _visited; + HyperGraph* _graph; + }; + + struct UniformCostFunction: public HyperDijkstra::CostFunction { + virtual double operator ()(HyperGraph::Edge* edge, HyperGraph::Vertex* from, HyperGraph::Vertex* to); + }; + +} +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_graph.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_graph.cpp new file mode 100644 index 0000000..1e1ea76 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_graph.cpp @@ -0,0 +1,166 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "hyper_graph.h" + +#include +#include + +namespace g2o { + + HyperGraph::Vertex::Vertex(int id) : _id(id) + { + } + + HyperGraph::Vertex::~Vertex() + { + } + + HyperGraph::Edge::Edge(int id) : _id(id) + { + } + + HyperGraph::Edge::~Edge() + { + } + + void HyperGraph::Edge::resize(size_t size) + { + _vertices.resize(size, 0); + } + + void HyperGraph::Edge::setId(int id) + { + _id = id; + } + + HyperGraph::Vertex* HyperGraph::vertex(int id) + { + VertexIDMap::iterator it=_vertices.find(id); + if (it==_vertices.end()) + return 0; + return it->second; + } + + const HyperGraph::Vertex* HyperGraph::vertex(int id) const + { + VertexIDMap::const_iterator it=_vertices.find(id); + if (it==_vertices.end()) + return 0; + return it->second; + } + + bool HyperGraph::addVertex(Vertex* v) + { + Vertex* vn=vertex(v->id()); + if (vn) + return false; + _vertices.insert( std::make_pair(v->id(),v) ); + return true; + } + + /** + * changes the id of a vertex already in the graph, and updates the bookkeeping + @ returns false if the vertex is not in the graph; + */ + bool HyperGraph::changeId(Vertex* v, int newId){ + Vertex* v2 = vertex(v->id()); + if (v != v2) + return false; + _vertices.erase(v->id()); + v->setId(newId); + _vertices.insert(std::make_pair(v->id(), v)); + return true; + } + + bool HyperGraph::addEdge(Edge* e) + { + std::pair result = _edges.insert(e); + if (! result.second) + return false; + for (std::vector::iterator it = e->vertices().begin(); it != e->vertices().end(); ++it) { + Vertex* v = *it; + v->edges().insert(e); + } + return true; + } + + bool HyperGraph::removeVertex(Vertex* v) + { + VertexIDMap::iterator it=_vertices.find(v->id()); + if (it==_vertices.end()) + return false; + assert(it->second==v); + //remove all edges which are entering or leaving v; + EdgeSet tmp(v->edges()); + for (EdgeSet::iterator it=tmp.begin(); it!=tmp.end(); ++it){ + if (!removeEdge(*it)){ + assert(0); + } + } + _vertices.erase(it); + delete v; + return true; + } + + bool HyperGraph::removeEdge(Edge* e) + { + EdgeSet::iterator it = _edges.find(e); + if (it == _edges.end()) + return false; + _edges.erase(it); + + for (std::vector::iterator vit = e->vertices().begin(); vit != e->vertices().end(); ++vit) { + Vertex* v = *vit; + it = v->edges().find(e); + assert(it!=v->edges().end()); + v->edges().erase(it); + } + + delete e; + return true; + } + + HyperGraph::HyperGraph() + { + } + + void HyperGraph::clear() + { + for (VertexIDMap::iterator it=_vertices.begin(); it!=_vertices.end(); ++it) + delete (it->second); + for (EdgeSet::iterator it=_edges.begin(); it!=_edges.end(); ++it) + delete (*it); + _vertices.clear(); + _edges.clear(); + } + + HyperGraph::~HyperGraph() + { + clear(); + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_graph.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_graph.h new file mode 100644 index 0000000..da6bb3d --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_graph.h @@ -0,0 +1,220 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_AIS_HYPER_GRAPH_HH +#define G2O_AIS_HYPER_GRAPH_HH + +#include +#include +#include +#include +#include +#include +#include + +#ifdef _MSC_VER +#include +#else +#include +#endif + + +/** @addtogroup graph */ +//@{ +namespace g2o { + + /** + Class that models a directed Hyper-Graph. An hyper graph is a graph where an edge + can connect one or more nodes. Both Vertices and Edges of an hyoper graph + derive from the same class HyperGraphElement, thus one can implement generic algorithms + that operate transparently on edges or vertices (see HyperGraphAction). + + The vertices are uniquely identified by an int id, while the edges are + identfied by their pointers. + */ + class HyperGraph + { + public: + + /** + * \brief enum of all the types we have in our graphs + */ + enum HyperGraphElementType { + HGET_VERTEX, + HGET_EDGE, + HGET_PARAMETER, + HGET_CACHE, + HGET_DATA, + HGET_NUM_ELEMS // keep as last elem + }; + + typedef std::bitset GraphElemBitset; + + class Vertex; + class Edge; + + /** + * base hyper graph element, specialized in vertex and edge + */ + struct HyperGraphElement { + virtual ~HyperGraphElement() {} + /** + * returns the type of the graph element, see HyperGraphElementType + */ + virtual HyperGraphElementType elementType() const = 0; + }; + + typedef std::set EdgeSet; + typedef std::set VertexSet; + + typedef std::tr1::unordered_map VertexIDMap; + typedef std::vector VertexContainer; + + //! abstract Vertex, your types must derive from that one + class Vertex : public HyperGraphElement { + public: + //! creates a vertex having an ID specified by the argument + explicit Vertex(int id=-1); + virtual ~Vertex(); + //! returns the id + int id() const {return _id;} + virtual void setId( int newId) { _id=newId; } + //! returns the set of hyper-edges that are leaving/entering in this vertex + const EdgeSet& edges() const {return _edges;} + //! returns the set of hyper-edges that are leaving/entering in this vertex + EdgeSet& edges() {return _edges;} + virtual HyperGraphElementType elementType() const { return HGET_VERTEX;} + protected: + int _id; + EdgeSet _edges; + }; + + /** + * Abstract Edge class. Your nice edge classes should inherit from that one. + * An hyper-edge has pointers to the vertices it connects and stores them in a vector. + */ + class Edge : public HyperGraphElement { + public: + //! creates and empty edge with no vertices + explicit Edge(int id = -1); + virtual ~Edge(); + + /** + * resizes the number of vertices connected by this edge + */ + virtual void resize(size_t size); + /** + returns the vector of pointers to the vertices connected by the hyper-edge. + */ + const VertexContainer& vertices() const { return _vertices;} + /** + returns the vector of pointers to the vertices connected by the hyper-edge. + */ + VertexContainer& vertices() { return _vertices;} + /** + returns the pointer to the ith vertex connected to the hyper-edge. + */ + const Vertex* vertex(size_t i) const { assert(i < _vertices.size() && "index out of bounds"); return _vertices[i];} + /** + returns the pointer to the ith vertex connected to the hyper-edge. + */ + Vertex* vertex(size_t i) { assert(i < _vertices.size() && "index out of bounds"); return _vertices[i];} + /** + set the ith vertex on the hyper-edge to the pointer supplied + */ + void setVertex(size_t i, Vertex* v) { assert(i < _vertices.size() && "index out of bounds"); _vertices[i]=v;} + + int id() const {return _id;} + void setId(int id); + virtual HyperGraphElementType elementType() const { return HGET_EDGE;} + protected: + VertexContainer _vertices; + int _id; ///< unique id + }; + + public: + //! constructs an empty hyper graph + HyperGraph(); + //! destroys the hyper-graph and all the vertices of the graph + virtual ~HyperGraph(); + + //! returns a vertex id in the hyper-graph, or 0 if the vertex id is not present + Vertex* vertex(int id); + //! returns a vertex id in the hyper-graph, or 0 if the vertex id is not present + const Vertex* vertex(int id) const; + + //! removes a vertex from the graph. Returns true on success (vertex was present) + virtual bool removeVertex(Vertex* v); + //! removes a vertex from the graph. Returns true on success (edge was present) + virtual bool removeEdge(Edge* e); + //! clears the graph and empties all structures. + virtual void clear(); + + //! @returns the map id -> vertex where the vertices are stored + const VertexIDMap& vertices() const {return _vertices;} + //! @returns the map id -> vertex where the vertices are stored + VertexIDMap& vertices() {return _vertices;} + + //! @returns the set of edges of the hyper graph + const EdgeSet& edges() const {return _edges;} + //! @returns the set of edges of the hyper graph + EdgeSet& edges() {return _edges;} + + /** + * adds a vertex to the graph. The id of the vertex should be set before + * invoking this function. the function fails if another vertex + * with the same id is already in the graph. + * returns true, on success, or false on failure. + */ + virtual bool addVertex(Vertex* v); + + /** + * Adds an edge to the graph. If the edge is already in the graph, it + * does nothing and returns false. Otherwise it returns true. + */ + virtual bool addEdge(Edge* e); + + /** + * changes the id of a vertex already in the graph, and updates the bookkeeping + @ returns false if the vertex is not in the graph; + */ + virtual bool changeId(Vertex* v, int newId); + + protected: + VertexIDMap _vertices; + EdgeSet _edges; + + private: + // Disable the copy constructor and assignment operator + HyperGraph(const HyperGraph&) { } + HyperGraph& operator= (const HyperGraph&) { return *this; } + }; + +} // end namespace + +//@} + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_graph_action.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_graph_action.cpp new file mode 100644 index 0000000..1fe2439 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_graph_action.cpp @@ -0,0 +1,268 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "hyper_graph_action.h" +#include "optimizable_graph.h" +#include "../stuff/macros.h" + + +#include + +namespace g2o { + using namespace std; + + HyperGraphActionLibrary* HyperGraphActionLibrary::actionLibInstance = 0; + + HyperGraphAction::Parameters::~Parameters() + { + } + + HyperGraphAction::ParametersIteration::ParametersIteration(int iter) : + HyperGraphAction::Parameters(), + iteration(iter) + { + } + + HyperGraphAction::~HyperGraphAction() + { + } + + HyperGraphAction* HyperGraphAction::operator()(const HyperGraph*, Parameters*) + { + return 0; + } + + HyperGraphElementAction::Parameters::~Parameters() + { + } + + HyperGraphElementAction::HyperGraphElementAction(const std::string& typeName_) + { + _typeName = typeName_; + } + + void HyperGraphElementAction::setTypeName(const std::string& typeName_) + { + _typeName = typeName_; + } + + + HyperGraphElementAction* HyperGraphElementAction::operator()(HyperGraph::HyperGraphElement* , HyperGraphElementAction::Parameters* ) + { + return 0; + } + + HyperGraphElementAction* HyperGraphElementAction::operator()(const HyperGraph::HyperGraphElement* , HyperGraphElementAction::Parameters* ) + { + return 0; + } + + HyperGraphElementAction::~HyperGraphElementAction() + { + } + + HyperGraphElementActionCollection::HyperGraphElementActionCollection(const std::string& name_) + { + _name = name_; + } + + HyperGraphElementActionCollection::~HyperGraphElementActionCollection() + { + for (ActionMap::iterator it = _actionMap.begin(); it != _actionMap.end(); ++it) { + delete it->second; + } + } + + HyperGraphElementAction* HyperGraphElementActionCollection::operator()(HyperGraph::HyperGraphElement* element, HyperGraphElementAction::Parameters* params) + { + ActionMap::iterator it=_actionMap.find(typeid(*element).name()); + //cerr << typeid(*element).name() << endl; + if (it==_actionMap.end()) + return 0; + HyperGraphElementAction* action=it->second; + return (*action)(element, params); + } + + HyperGraphElementAction* HyperGraphElementActionCollection::operator()(const HyperGraph::HyperGraphElement* element, HyperGraphElementAction::Parameters* params) + { + ActionMap::iterator it=_actionMap.find(typeid(*element).name()); + if (it==_actionMap.end()) + return 0; + HyperGraphElementAction* action=it->second; + return (*action)(element, params); + } + + bool HyperGraphElementActionCollection::registerAction(HyperGraphElementAction* action) + { +# ifdef G2O_DEBUG_ACTIONLIB + cerr << __PRETTY_FUNCTION__ << " " << action->name() << " " << action->typeName() << endl; +# endif + if (action->name()!=name()){ + cerr << __PRETTY_FUNCTION__ << ": invalid attempt to register an action in a collection with a different name " << name() << " " << action->name() << endl; + } + _actionMap.insert(make_pair ( action->typeName(), action) ); + return true; + } + + bool HyperGraphElementActionCollection::unregisterAction(HyperGraphElementAction* action) + { + for (HyperGraphElementAction::ActionMap::iterator it=_actionMap.begin(); it != _actionMap.end(); ++it) { + if (it->second == action){ + _actionMap.erase(it); + return true; + } + } + return false; + } + + HyperGraphActionLibrary::HyperGraphActionLibrary() + { + } + + HyperGraphActionLibrary* HyperGraphActionLibrary::instance() + { + if (actionLibInstance == 0) { + actionLibInstance = new HyperGraphActionLibrary; + } + return actionLibInstance; + } + + void HyperGraphActionLibrary::destroy() + { + delete actionLibInstance; + actionLibInstance = 0; + } + + HyperGraphActionLibrary::~HyperGraphActionLibrary() + { + for (HyperGraphElementAction::ActionMap::iterator it = _actionMap.begin(); it != _actionMap.end(); ++it) { + delete it->second; + } + } + + HyperGraphElementAction* HyperGraphActionLibrary::actionByName(const std::string& name) + { + HyperGraphElementAction::ActionMap::iterator it=_actionMap.find(name); + if (it!=_actionMap.end()) + return it->second; + return 0; + } + + bool HyperGraphActionLibrary::registerAction(HyperGraphElementAction* action) + { + HyperGraphElementAction* oldAction = actionByName(action->name()); + HyperGraphElementActionCollection* collection = 0; + if (oldAction) { + collection = dynamic_cast(oldAction); + if (! collection) { + cerr << __PRETTY_FUNCTION__ << ": fatal error, a collection is not at the first level in the library" << endl; + return 0; + } + } + if (! collection) { +#ifdef G2O_DEBUG_ACTIONLIB + cerr << __PRETTY_FUNCTION__ << ": creating collection for \"" << action->name() << "\"" << endl; +#endif + collection = new HyperGraphElementActionCollection(action->name()); + _actionMap.insert(make_pair(action->name(), collection)); + } + return collection->registerAction(action); + } + + bool HyperGraphActionLibrary::unregisterAction(HyperGraphElementAction* action) + { + list collectionDeleteList; + + // Search all the collections and delete the registered actions; if a collection becomes empty, schedule it for deletion; note that we can't delete the collections as we go because this will screw up the state of the iterators + for (HyperGraphElementAction::ActionMap::iterator it=_actionMap.begin(); it != _actionMap.end(); ++it) { + HyperGraphElementActionCollection* collection = dynamic_cast (it->second); + if (collection != 0) { + collection->unregisterAction(action); + if (collection->actionMap().size() == 0) { + collectionDeleteList.push_back(collection); + } + } + } + + // Delete any empty action collections + for (list::iterator itc = collectionDeleteList.begin(); itc != collectionDeleteList.end(); ++itc) { + //cout << "Deleting collection " << (*itc)->name() << endl; + _actionMap.erase((*itc)->name()); + } + + return true; + } + + + WriteGnuplotAction::WriteGnuplotAction(const std::string& typeName_) + : HyperGraphElementAction(typeName_) + { + _name="writeGnuplot"; + } + + DrawAction::Parameters::Parameters(){ + } + + DrawAction::DrawAction(const std::string& typeName_) + : HyperGraphElementAction(typeName_) + { + _name="draw"; + _previousParams = (Parameters*)0x42; + refreshPropertyPtrs(0); + } + + bool DrawAction::refreshPropertyPtrs(HyperGraphElementAction::Parameters* params_){ + if (_previousParams == params_) + return false; + DrawAction::Parameters* p=dynamic_cast(params_); + if (! p){ + _previousParams = 0; + _show = 0; + _showId = 0; + } else { + _previousParams = p; + _show = p->makeProperty(_typeName+"::SHOW", true); + _showId = p->makeProperty(_typeName+"::SHOW_ID", false); + } + return true; + } + + void applyAction(HyperGraph* graph, HyperGraphElementAction* action, HyperGraphElementAction::Parameters* params, const std::string& typeName) + { + for (HyperGraph::VertexIDMap::iterator it=graph->vertices().begin(); + it!=graph->vertices().end(); ++it){ + if ( typeName.empty() || typeid(*it->second).name()==typeName){ + (*action)(it->second, params); + } + } + for (HyperGraph::EdgeSet::iterator it=graph->edges().begin(); + it!=graph->edges().end(); ++it){ + if ( typeName.empty() || typeid(**it).name()==typeName) + (*action)(*it, params); + } + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_graph_action.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_graph_action.h new file mode 100644 index 0000000..21417c9 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/hyper_graph_action.h @@ -0,0 +1,222 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_HYPER_GRAPH_ACTION_H +#define G2O_HYPER_GRAPH_ACTION_H + +#include "hyper_graph.h" +#include "../stuff/property.h" + +#include +#include +#include +#include +#include + + +// define to get verbose output +//#define G2O_DEBUG_ACTIONLIB + +namespace g2o { + + /** + * \brief Abstract action that operates on an entire graph + */ + class HyperGraphAction { + public: + class Parameters { + public: + virtual ~Parameters(); + }; + + class ParametersIteration : public Parameters { + public: + explicit ParametersIteration(int iter); + int iteration; + }; + + virtual ~HyperGraphAction(); + + /** + * re-implement to carry out an action given the graph + */ + virtual HyperGraphAction* operator()(const HyperGraph* graph, Parameters* parameters = 0); + }; + + /** + * \brief Abstract action that operates on a graph entity + */ + class HyperGraphElementAction{ + public: + struct Parameters{ + virtual ~Parameters(); + }; + typedef std::map ActionMap; + //! an action should be instantiated with the typeid.name of the graph element + //! on which it operates + HyperGraphElementAction(const std::string& typeName_=""); + + //! redefine this to do the action stuff. If successful, the action returns a pointer to itself + virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, Parameters* parameters); + + //! redefine this to do the action stuff. If successful, the action returns a pointer to itself + virtual HyperGraphElementAction* operator()(const HyperGraph::HyperGraphElement* element, Parameters* parameters); + + //! destroyed actions release the memory + virtual ~HyperGraphElementAction(); + + //! returns the typeid name of the action + const std::string& typeName() const { return _typeName;} + + //! returns the name of an action, e.g "draw" + const std::string& name() const{ return _name;} + + //! sets the type on which an action has to operate + void setTypeName(const std::string& typeName_); + + protected: + std::string _typeName; + std::string _name; + }; + + /** + * \brief collection of actions + * + * collection of actions calls contains homogeneous actions operating on different types + * all collected actions have the same name and should have the same functionality + */ + class HyperGraphElementActionCollection: public HyperGraphElementAction{ + public: + //! constructor. name_ is the name of the action e.g.draw). + HyperGraphElementActionCollection(const std::string& name_); + //! destructor: it deletes all actions in the pool. + virtual ~HyperGraphElementActionCollection(); + //! calling functions, they return a pointer to the instance of action in actionMap + //! that was active on element + virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, Parameters* parameters); + virtual HyperGraphElementAction* operator()(const HyperGraph::HyperGraphElement* element, Parameters* parameters); + ActionMap& actionMap() {return _actionMap;} + //! inserts an action in the pool. The action should have the same name of the container. + //! returns false on failure (the container has a different name than the action); + bool registerAction(HyperGraphElementAction* action); + bool unregisterAction(HyperGraphElementAction* action); + protected: + ActionMap _actionMap; + }; + + /** + * \brief library of actions, indexed by the action name; + * + * library of actions, indexed by the action name; + * one can use ti to register a collection of actions + */ + class HyperGraphActionLibrary{ + public: + //! return the single instance of the HyperGraphActionLibrary + static HyperGraphActionLibrary* instance(); + //! free the instance + static void destroy(); + + // returns a pointer to a collection indexed by name + HyperGraphElementAction* actionByName(const std::string& name); + // registers a basic action in the pool. If necessary a container is created + bool registerAction(HyperGraphElementAction* action); + bool unregisterAction(HyperGraphElementAction* action); + + inline HyperGraphElementAction::ActionMap& actionMap() {return _actionMap;} + protected: + HyperGraphActionLibrary(); + ~HyperGraphActionLibrary(); + HyperGraphElementAction::ActionMap _actionMap; + private: + static HyperGraphActionLibrary* actionLibInstance; + }; + + /** + * apply an action to all the elements of the graph. + */ + void applyAction(HyperGraph* graph, HyperGraphElementAction* action, HyperGraphElementAction::Parameters* parameters=0, const std::string& typeName=""); + + /** + * brief write into gnuplot + */ + class WriteGnuplotAction: public HyperGraphElementAction{ + public: + struct Parameters: public HyperGraphElementAction::Parameters{ + std::ostream* os; + }; + WriteGnuplotAction(const std::string& typeName_); + }; + + /** + * \brief draw actions + */ + + class DrawAction : public HyperGraphElementAction{ + public: + class Parameters: public HyperGraphElementAction::Parameters, public PropertyMap{ + public: + Parameters(); + }; + DrawAction(const std::string& typeName_); + protected: + virtual bool refreshPropertyPtrs(HyperGraphElementAction::Parameters* params_); + Parameters* _previousParams; + BoolProperty* _show; + BoolProperty* _showId; + }; + + template class RegisterActionProxy + { + public: + RegisterActionProxy() + { +#ifdef G2O_DEBUG_ACTIONLIB + std::cout << __FUNCTION__ << ": Registering action of type " << typeid(T).name() << std::endl; +#endif + _action = new T(); + HyperGraphActionLibrary::instance()->registerAction(_action); + } + + ~RegisterActionProxy() + { +#ifdef G2O_DEBUG_ACTIONLIB + std::cout << __FUNCTION__ << ": Unregistering action of type " << typeid(T).name() << std::endl; +#endif + HyperGraphActionLibrary::instance()->unregisterAction(_action); + delete _action; + } + + private: + HyperGraphElementAction* _action; + }; + +#define G2O_REGISTER_ACTION(classname) \ + extern "C" void g2o_action_##classname(void) {} \ + static g2o::RegisterActionProxy g_action_proxy_##classname; +}; + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/jacobian_workspace.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/jacobian_workspace.cpp new file mode 100644 index 0000000..9890a18 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/jacobian_workspace.cpp @@ -0,0 +1,89 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "jacobian_workspace.h" + +#include + +#include "optimizable_graph.h" + +using namespace std; + +namespace g2o { + +JacobianWorkspace::JacobianWorkspace() : + _maxNumVertices(-1), _maxDimension(-1) +{ +} + +JacobianWorkspace::~JacobianWorkspace() +{ +} + +bool JacobianWorkspace::allocate() +{ + //cerr << __PRETTY_FUNCTION__ << " " << PVAR(this) << " " << PVAR(_maxNumVertices) << " " << PVAR(_maxDimension) << endl; + if (_maxNumVertices <=0 || _maxDimension <= 0) + return false; + _workspace.resize(_maxNumVertices); + for (WorkspaceVector::iterator it = _workspace.begin(); it != _workspace.end(); ++it) { + it->resize(_maxDimension); + it->setZero(); + } + return true; +} + +void JacobianWorkspace::updateSize(const HyperGraph::Edge* e_) +{ + const OptimizableGraph::Edge* e = static_cast(e_); + int errorDimension = e->dimension(); + int numVertices = e->vertices().size(); + int maxDimensionForEdge = -1; + for (int i = 0; i < numVertices; ++i) { + const OptimizableGraph::Vertex* v = static_cast(e->vertex(i)); + assert(v && "Edge has no vertex assigned"); + maxDimensionForEdge = max(v->dimension() * errorDimension, maxDimensionForEdge); + } + _maxNumVertices = max(numVertices, _maxNumVertices); + _maxDimension = max(maxDimensionForEdge, _maxDimension); + //cerr << __PRETTY_FUNCTION__ << " " << PVAR(this) << " " << PVAR(_maxNumVertices) << " " << PVAR(_maxDimension) << endl; +} + +void JacobianWorkspace::updateSize(const OptimizableGraph& graph) +{ + for (OptimizableGraph::EdgeSet::const_iterator it = graph.edges().begin(); it != graph.edges().end(); ++it) { + const OptimizableGraph::Edge* e = static_cast(*it); + updateSize(e); + } +} + +void JacobianWorkspace::updateSize(int numVertices, int dimension) +{ + _maxNumVertices = max(numVertices, _maxNumVertices); + _maxDimension = max(dimension, _maxDimension); +} + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/jacobian_workspace.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/jacobian_workspace.h new file mode 100644 index 0000000..e1f1602 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/jacobian_workspace.h @@ -0,0 +1,96 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef JACOBIAN_WORKSPACE_H +#define JACOBIAN_WORKSPACE_H + +#include +#include + +#include +#include + +#include "hyper_graph.h" + +namespace g2o { + + struct OptimizableGraph; + + /** + * \brief provide memory workspace for computing the Jacobians + * + * The workspace is used by an OptimizableGraph to provide temporary memory + * for computing the Jacobian of the error functions. + * Before calling linearizeOplus on an edge, the workspace needs to be allocated + * by calling allocate(). + */ + class JacobianWorkspace + { + public: + typedef std::vector > WorkspaceVector; + + public: + JacobianWorkspace(); + ~JacobianWorkspace(); + + /** + * allocate the workspace + */ + bool allocate(); + + /** + * update the maximum required workspace needed by taking into account this edge + */ + void updateSize(const HyperGraph::Edge* e); + + /** + * update the required workspace by looking at a full graph + */ + void updateSize(const OptimizableGraph& graph); + + /** + * manually update with the given parameters + */ + void updateSize(int numVertices, int dimension); + + /** + * return the workspace for a vertex in an edge + */ + double* workspaceForVertex(int vertexIndex) + { + assert(vertexIndex >= 0 && (size_t)vertexIndex < _workspace.size() && "Index out of bounds"); + return _workspace[vertexIndex].data(); + } + + protected: + WorkspaceVector _workspace; ///< the memory pre-allocated for computing the Jacobians + int _maxNumVertices; ///< the maximum number of vertices connected by a hyper-edge + int _maxDimension; ///< the maximum dimension (number of elements) for a Jacobian + }; + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/linear_solver.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/linear_solver.h new file mode 100644 index 0000000..20213d4 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/linear_solver.h @@ -0,0 +1,109 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_LINEAR_SOLVER_H +#define G2O_LINEAR_SOLVER_H +#include "sparse_block_matrix.h" +#include "sparse_block_matrix_ccs.h" + +namespace g2o { + +/** + * \brief basic solver for Ax = b + * + * basic solver for Ax = b which has to reimplemented for different linear algebra libraries. + * A is assumed to be symmetric (only upper triangular block is stored) and positive-semi-definit. + */ +template +class LinearSolver +{ + public: + LinearSolver() {}; + virtual ~LinearSolver() {} + + /** + * init for operating on matrices with a different non-zero pattern like before + */ + virtual bool init() = 0; + + /** + * Assumes that A is the same matrix for several calls. + * Among other assumptions, the non-zero pattern does not change! + * If the matrix changes call init() before. + * solve system Ax = b, x and b have to allocated beforehand!! + */ + virtual bool solve(const SparseBlockMatrix& A, double* x, double* b) = 0; + + /** + * Inverts the diagonal blocks of A + * @returns false if not defined. + */ + virtual bool solveBlocks(double**&blocks, const SparseBlockMatrix& A) { (void)blocks; (void) A; return false; } + + + /** + * Inverts the a block pattern of A in spinv + * @returns false if not defined. + */ + virtual bool solvePattern(SparseBlockMatrix& spinv, const std::vector >& blockIndices, const SparseBlockMatrix& A){ + (void) spinv; + (void) blockIndices; + (void) A; + return false; + } + + //! write a debug dump of the system matrix if it is not PSD in solve + virtual bool writeDebug() const { return false;} + virtual void setWriteDebug(bool) {} +}; + +/** + * \brief Solver with faster iterating structure for the linear matrix + */ +template +class LinearSolverCCS : public LinearSolver +{ + public: + LinearSolverCCS() : LinearSolver(), _ccsMatrix(0) {} + ~LinearSolverCCS() + { + delete _ccsMatrix; + } + + protected: + SparseBlockMatrixCCS* _ccsMatrix; + + void initMatrixStructure(const SparseBlockMatrix& A) + { + delete _ccsMatrix; + _ccsMatrix = new SparseBlockMatrixCCS(A.rowBlockIndices(), A.colBlockIndices()); + A.fillSparseBlockMatrixCCS(*_ccsMatrix); + } +}; + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.cpp new file mode 100644 index 0000000..bc11f5c --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.cpp @@ -0,0 +1,222 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "marginal_covariance_cholesky.h" + +#include +#include +using namespace std; + +namespace g2o { + +struct MatrixElem +{ + int r, c; + MatrixElem(int r_, int c_) : r(r_), c(c_) {} + bool operator<(const MatrixElem& other) const + { + return c > other.c || (c == other.c && r > other.r); + } +}; + +MarginalCovarianceCholesky::MarginalCovarianceCholesky() : + _n(0), _Ap(0), _Ai(0), _Ax(0), _perm(0) +{ +} + +MarginalCovarianceCholesky::~MarginalCovarianceCholesky() +{ +} + +void MarginalCovarianceCholesky::setCholeskyFactor(int n, int* Lp, int* Li, double* Lx, int* permInv) +{ + _n = n; + _Ap = Lp; + _Ai = Li; + _Ax = Lx; + _perm = permInv; + + // pre-compute reciprocal values of the diagonal of L + _diag.resize(n); + for (int r = 0; r < n; ++r) { + const int& sc = _Ap[r]; // L is lower triangular, thus the first elem in the column is the diagonal entry + assert(r == _Ai[sc] && "Error in CCS storage of L"); + _diag[r] = 1.0 / _Ax[sc]; + } +} + +double MarginalCovarianceCholesky::computeEntry(int r, int c) +{ + assert(r <= c); + int idx = computeIndex(r, c); + + LookupMap::const_iterator foundIt = _map.find(idx); + if (foundIt != _map.end()) { + return foundIt->second; + } + + // compute the summation over column r + double s = 0.; + const int& sc = _Ap[r]; + const int& ec = _Ap[r+1]; + for (int j = sc+1; j < ec; ++j) { // sum over row r while skipping the element on the diagonal + const int& rr = _Ai[j]; + double val = rr < c ? computeEntry(rr, c) : computeEntry(c, rr); + s += val * _Ax[j]; + } + + double result; + if (r == c) { + const double& diagElem = _diag[r]; + result = diagElem * (diagElem - s); + } else { + result = -s * _diag[r]; + } + _map[idx] = result; + return result; +} + +void MarginalCovarianceCholesky::computeCovariance(double** covBlocks, const std::vector& blockIndices) +{ + _map.clear(); + int base = 0; + vector elemsToCompute; + for (size_t i = 0; i < blockIndices.size(); ++i) { + int nbase = blockIndices[i]; + int vdim = nbase - base; + for (int rr = 0; rr < vdim; ++rr) + for (int cc = rr; cc < vdim; ++cc) { + int r = _perm ? _perm[rr + base] : rr + base; // apply permutation + int c = _perm ? _perm[cc + base] : cc + base; + if (r > c) // make sure it's still upper triangular after applying the permutation + swap(r, c); + elemsToCompute.push_back(MatrixElem(r, c)); + } + base = nbase; + } + + // sort the elems to reduce the recursive calls + sort(elemsToCompute.begin(), elemsToCompute.end()); + + // compute the inverse elements we need + for (size_t i = 0; i < elemsToCompute.size(); ++i) { + const MatrixElem& me = elemsToCompute[i]; + computeEntry(me.r, me.c); + } + + // set the marginal covariance for the vertices, by writing to the blocks memory + base = 0; + for (size_t i = 0; i < blockIndices.size(); ++i) { + int nbase = blockIndices[i]; + int vdim = nbase - base; + double* cov = covBlocks[i]; + for (int rr = 0; rr < vdim; ++rr) + for (int cc = rr; cc < vdim; ++cc) { + int r = _perm ? _perm[rr + base] : rr + base; // apply permutation + int c = _perm ? _perm[cc + base] : cc + base; + if (r > c) // upper triangle + swap(r, c); + int idx = computeIndex(r, c); + LookupMap::const_iterator foundIt = _map.find(idx); + assert(foundIt != _map.end()); + cov[rr*vdim + cc] = foundIt->second; + if (rr != cc) + cov[cc*vdim + rr] = foundIt->second; + } + base = nbase; + } +} + + +void MarginalCovarianceCholesky::computeCovariance(SparseBlockMatrix& spinv, const std::vector& rowBlockIndices, const std::vector< std::pair >& blockIndices) +{ + // allocate the sparse + spinv = SparseBlockMatrix(&rowBlockIndices[0], + &rowBlockIndices[0], + rowBlockIndices.size(), + rowBlockIndices.size(), true); + _map.clear(); + vector elemsToCompute; + for (size_t i = 0; i < blockIndices.size(); ++i) { + int blockRow=blockIndices[i].first; + int blockCol=blockIndices[i].second; + assert(blockRow>=0); + assert(blockRow < (int)rowBlockIndices.size()); + assert(blockCol>=0); + assert(blockCol < (int)rowBlockIndices.size()); + + int rowBase=spinv.rowBaseOfBlock(blockRow); + int colBase=spinv.colBaseOfBlock(blockCol); + + MatrixXd *block=spinv.block(blockRow, blockCol, true); + assert(block); + for (int iRow=0; iRowrows(); ++iRow) + for (int iCol=0; iColcols(); ++iCol){ + int rr=rowBase+iRow; + int cc=colBase+iCol; + int r = _perm ? _perm[rr] : rr; // apply permutation + int c = _perm ? _perm[cc] : cc; + if (r > c) + swap(r, c); + elemsToCompute.push_back(MatrixElem(r, c)); + } + } + + // sort the elems to reduce the number of recursive calls + sort(elemsToCompute.begin(), elemsToCompute.end()); + + // compute the inverse elements we need + for (size_t i = 0; i < elemsToCompute.size(); ++i) { + const MatrixElem& me = elemsToCompute[i]; + computeEntry(me.r, me.c); + } + + // set the marginal covariance + for (size_t i = 0; i < blockIndices.size(); ++i) { + int blockRow=blockIndices[i].first; + int blockCol=blockIndices[i].second; + int rowBase=spinv.rowBaseOfBlock(blockRow); + int colBase=spinv.colBaseOfBlock(blockCol); + + MatrixXd *block=spinv.block(blockRow, blockCol); + assert(block); + for (int iRow=0; iRowrows(); ++iRow) + for (int iCol=0; iColcols(); ++iCol){ + int rr=rowBase+iRow; + int cc=colBase+iCol; + int r = _perm ? _perm[rr] : rr; // apply permutation + int c = _perm ? _perm[cc] : cc; + if (r > c) + swap(r, c); + int idx = computeIndex(r, c); + LookupMap::const_iterator foundIt = _map.find(idx); + assert(foundIt != _map.end()); + (*block)(iRow, iCol) = foundIt->second; + } + } +} + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.h new file mode 100644 index 0000000..e7dfce8 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.h @@ -0,0 +1,103 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_MARGINAL_COVARIANCE_CHOLESKY_H +#define G2O_MARGINAL_COVARIANCE_CHOLESKY_H + +#include "optimizable_graph.h" +#include "sparse_block_matrix.h" + +#include +#include + +#ifdef _MSC_VER +#include +#else +#include +#endif + + +namespace g2o { + + /** + * \brief computing the marginal covariance given a cholesky factor (lower triangle of the factor) + */ + class MarginalCovarianceCholesky { + protected: + /** + * hash struct for storing the matrix elements needed to compute the covariance + */ + typedef std::tr1::unordered_map LookupMap; + + public: + MarginalCovarianceCholesky(); + ~MarginalCovarianceCholesky(); + + /** + * compute the marginal cov for the given block indices, write the result to the covBlocks memory (which has to + * be provided by the caller). + */ + void computeCovariance(double** covBlocks, const std::vector& blockIndices); + + + /** + * compute the marginal cov for the given block indices, write the result in spinv). + */ + void computeCovariance(SparseBlockMatrix& spinv, const std::vector& rowBlockIndices, const std::vector< std::pair >& blockIndices); + + + /** + * set the CCS representation of the cholesky factor along with the inverse permutation used to reduce the fill-in. + * permInv might be 0, will then not permute the entries. + * + * The pointers provided by the user need to be still valid when calling computeCovariance(). The pointers + * are owned by the caller, MarginalCovarianceCholesky does not free the pointers. + */ + void setCholeskyFactor(int n, int* Lp, int* Li, double* Lx, int* permInv); + + protected: + // information about the cholesky factor (lower triangle) + int _n; ///< L is an n X n matrix + int* _Ap; ///< column pointer of the CCS storage + int* _Ai; ///< row indices of the CCS storage + double* _Ax; ///< values of the cholesky factor + int* _perm; ///< permutation of the cholesky factor. Variable re-ordering for better fill-in + + LookupMap _map; ///< hash look up table for the already computed entries + std::vector _diag; ///< cache 1 / H_ii to avoid recalculations + + //! compute the index used for hashing + int computeIndex(int r, int c) const { /*assert(r <= c);*/ return r*_n + c;} + /** + * compute one entry in the covariance, r and c are values after applying the permutation, and upper triangular. + * May issue recursive calls to itself to compute the missing values. + */ + double computeEntry(int r, int c); + }; + +} + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/matrix_operations.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/matrix_operations.h new file mode 100644 index 0000000..28e6fbe --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/matrix_operations.h @@ -0,0 +1,74 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_CORE_MATRIX_OPERATIONS_H +#define G2O_CORE_MATRIX_OPERATIONS_H + +#include + +namespace g2o { + namespace internal { + + template + inline void axpy(const MatrixType& A, const Eigen::Map& x, int xoff, Eigen::Map& y, int yoff) + { + y.segment(yoff) += A * x.segment(xoff); + } + + template + inline void axpy(const Eigen::Matrix& A, const Eigen::Map& x, int xoff, Eigen::Map& y, int yoff) + { + y.segment(yoff, A.rows()) += A * x.segment::ColsAtCompileTime>(xoff); + } + + template<> + inline void axpy(const Eigen::MatrixXd& A, const Eigen::Map& x, int xoff, Eigen::Map& y, int yoff) + { + y.segment(yoff, A.rows()) += A * x.segment(xoff, A.cols()); + } + + template + inline void atxpy(const MatrixType& A, const Eigen::Map& x, int xoff, Eigen::Map& y, int yoff) + { + y.segment(yoff) += A.transpose() * x.segment(xoff); + } + + template + inline void atxpy(const Eigen::Matrix& A, const Eigen::Map& x, int xoff, Eigen::Map& y, int yoff) + { + y.segment::ColsAtCompileTime>(yoff) += A.transpose() * x.segment(xoff, A.rows()); + } + + template<> + inline void atxpy(const Eigen::MatrixXd& A, const Eigen::Map& x, int xoff, Eigen::Map& y, int yoff) + { + y.segment(yoff, A.cols()) += A.transpose() * x.segment(xoff, A.rows()); + } + + } // end namespace internal +} // end namespace g2o + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/matrix_structure.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/matrix_structure.cpp new file mode 100644 index 0000000..3152195 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/matrix_structure.cpp @@ -0,0 +1,125 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "matrix_structure.h" + +#include +#include +#include +#include +using namespace std; + +namespace g2o { + +struct ColSort +{ + bool operator()(const pair& e1, const pair& e2) const + { + return e1.second < e2.second || (e1.second == e2.second && e1.first < e2.first); + } +}; + +MatrixStructure::MatrixStructure() : + n(0), m(0), Ap(0), Aii(0), maxN(0), maxNz(0) +{ +} + +MatrixStructure::~MatrixStructure() +{ + free(); +} + +void MatrixStructure::alloc(int n_, int nz) +{ + if (n == 0) { + maxN = n = n_; + maxNz = nz; + Ap = new int[maxN + 1]; + Aii = new int[maxNz]; + } + else { + n = n_; + if (maxNz < nz) { + maxNz = 2 * nz; + delete[] Aii; + Aii = new int[maxNz]; + } + if (maxN < n) { + maxN = 2 * n; + delete[] Ap; + Ap = new int[maxN + 1]; + } + } +} + +void MatrixStructure::free() +{ + n = 0; + m = 0; + maxN = 0; + maxNz = 0; + delete[] Aii; Aii = 0; + delete[] Ap; Ap = 0; +} + +bool MatrixStructure::write(const char* filename) const +{ + const int& cols = n; + const int& rows = m; + + string name = filename; + std::string::size_type lastDot = name.find_last_of('.'); + if (lastDot != std::string::npos) + name = name.substr(0, lastDot); + + vector > entries; + for (int i=0; i < cols; ++i) { + const int& rbeg = Ap[i]; + const int& rend = Ap[i+1]; + for (int j = rbeg; j < rend; ++j) { + entries.push_back(make_pair(Aii[j], i)); + if (Aii[j] != i) + entries.push_back(make_pair(i, Aii[j])); + } + } + + sort(entries.begin(), entries.end(), ColSort()); + + std::ofstream fout(filename); + fout << "# name: " << name << std::endl; + fout << "# type: sparse matrix" << std::endl; + fout << "# nnz: " << entries.size() << std::endl; + fout << "# rows: " << rows << std::endl; + fout << "# columns: " << cols << std::endl; + for (vector >::const_iterator it = entries.begin(); it != entries.end(); ++it) { + const pair& entry = *it; + fout << entry.first << " " << entry.second << " 0" << std::endl; // write a constant value of 0 + } + + return fout.good(); +} + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/matrix_structure.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/matrix_structure.h new file mode 100644 index 0000000..fd70e53 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/matrix_structure.h @@ -0,0 +1,69 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_MATRIX_STRUCTURE_H +#define G2O_MATRIX_STRUCTURE_H + + +namespace g2o { + +/** + * \brief representing the structure of a matrix in column compressed structure (only the upper triangular part of the matrix) + */ +class MatrixStructure +{ + public: + MatrixStructure(); + ~MatrixStructure(); + /** + * allocate space for the Matrix Structure. You may call this on an already allocated struct, it will + * then reallocate the memory + additional space (double the required space). + */ + void alloc(int n_, int nz); + + void free(); + + /** + * Write the matrix pattern to a file. File is also loadable by octave, e.g., then use spy(matrix) + */ + bool write(const char* filename) const; + + int n; ///< A is m-by-n. n must be >= 0. + int m; ///< A is m-by-n. m must be >= 0. + int* Ap; ///< column pointers for A, of size n+1 + int* Aii; ///< row indices of A, of size nz = Ap [n] + + //! max number of non-zeros blocks + int nzMax() const { return maxNz;} + + protected: + int maxN; ///< size of the allocated memory + int maxNz; ///< size of the allocated memory +}; + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/openmp_mutex.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/openmp_mutex.h new file mode 100644 index 0000000..6a9b8f4 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/openmp_mutex.h @@ -0,0 +1,97 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_OPENMP_MUTEX +#define G2O_OPENMP_MUTEX + +#include "../../config.h" + +#ifdef G2O_OPENMP +#include +#else +#include +#endif + +namespace g2o { + +#ifdef G2O_OPENMP + + /** + * \brief Mutex realized via OpenMP + */ + class OpenMPMutex + { + public: + OpenMPMutex() { omp_init_lock(&_lock); } + ~OpenMPMutex() { omp_destroy_lock(&_lock); } + void lock() { omp_set_lock(&_lock); } + void unlock() { omp_unset_lock(&_lock); } + protected: + omp_lock_t _lock; + }; + +#else + + /* + * dummy which does nothing in case we don't have OpenMP support. + * In debug mode, the mutex allows to verify the correct lock and unlock behavior + */ + class OpenMPMutex + { + public: +#ifdef NDEBUG + OpenMPMutex() {} +#else + OpenMPMutex() : _cnt(0) {} +#endif + ~OpenMPMutex() { assert(_cnt == 0 && "Freeing locked mutex");} + void lock() { assert(++_cnt == 1 && "Locking already locked mutex");} + void unlock() { assert(--_cnt == 0 && "Trying to unlock a mutex which is not locked");} + protected: +#ifndef NDEBUG + char _cnt; +#endif + }; + +#endif + + /** + * \brief lock a mutex within a scope + */ + class ScopedOpenMPMutex + { + public: + explicit ScopedOpenMPMutex(OpenMPMutex* mutex) : _mutex(mutex) { _mutex->lock(); } + ~ScopedOpenMPMutex() { _mutex->unlock(); } + private: + OpenMPMutex* const _mutex; + ScopedOpenMPMutex(const ScopedOpenMPMutex&); + void operator=(const ScopedOpenMPMutex&); + }; + +} + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimizable_graph.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimizable_graph.cpp new file mode 100644 index 0000000..bb6b54b --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimizable_graph.cpp @@ -0,0 +1,910 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "optimizable_graph.h" + +#include +#include +#include +#include +#include + +#include + +#include "estimate_propagator.h" +#include "factory.h" +#include "optimization_algorithm_property.h" +#include "hyper_graph_action.h" +#include "cache.h" +#include "robust_kernel.h" + +#include "../stuff/macros.h" +#include "../stuff/color_macros.h" +#include "../stuff/string_tools.h" +#include "../stuff/misc.h" + +namespace g2o { + + using namespace std; + + OptimizableGraph::Data::Data(){ + _next = 0; + } + + OptimizableGraph::Data::~Data(){ + if (_next) + delete _next; + } + + + OptimizableGraph::Vertex::Vertex() : + HyperGraph::Vertex(), + _graph(0), _userData(0), _hessianIndex(-1), _fixed(false), _marginalized(false), + _colInHessian(-1), _cacheContainer(0) + { + } + + CacheContainer* OptimizableGraph::Vertex::cacheContainer(){ + if (! _cacheContainer) + _cacheContainer = new CacheContainer(this); + return _cacheContainer; + } + + + void OptimizableGraph::Vertex::updateCache(){ + if (_cacheContainer){ + _cacheContainer->setUpdateNeeded(); + _cacheContainer->update(); + } + } + + OptimizableGraph::Vertex::~Vertex() + { + if (_cacheContainer) + delete (_cacheContainer); + if (_userData) + delete _userData; + } + + OptimizableGraph::Vertex* OptimizableGraph::Vertex::clone() const + { + return 0; + } + + bool OptimizableGraph::Vertex::setEstimateData(const double* v) + { + bool ret = setEstimateDataImpl(v); + updateCache(); + return ret; + } + + bool OptimizableGraph::Vertex::getEstimateData(double *) const + { + return false; + } + + int OptimizableGraph::Vertex::estimateDimension() const + { + return -1; + } + + bool OptimizableGraph::Vertex::setMinimalEstimateData(const double* v) + { + bool ret = setMinimalEstimateDataImpl(v); + updateCache(); + return ret; + } + + bool OptimizableGraph::Vertex::getMinimalEstimateData(double *) const + { + return false; + } + + int OptimizableGraph::Vertex::minimalEstimateDimension() const + { + return -1; + } + + + OptimizableGraph::Edge::Edge() : + HyperGraph::Edge(), + _dimension(-1), _level(0), _robustKernel(0) + { + } + + OptimizableGraph::Edge::~Edge() + { + delete _robustKernel; + } + + OptimizableGraph* OptimizableGraph::Edge::graph(){ + if (! _vertices.size()) + return 0; + OptimizableGraph::Vertex* v=(OptimizableGraph::Vertex*)_vertices[0]; + if (!v) + return 0; + return v->graph(); + } + + const OptimizableGraph* OptimizableGraph::Edge::graph() const{ + if (! _vertices.size()) + return 0; + const OptimizableGraph::Vertex* v=(const OptimizableGraph::Vertex*) _vertices[0]; + if (!v) + return 0; + return v->graph(); + } + + bool OptimizableGraph::Edge::setParameterId(int argNum, int paramId){ + if ((int)_parameters.size()<=argNum) + return false; + if (argNum<0) + return false; + *_parameters[argNum] = 0; + _parameterIds[argNum] = paramId; + return true; + } + + bool OptimizableGraph::Edge::resolveParameters() { + if (!graph()) { + cerr << __PRETTY_FUNCTION__ << ": edge not registered with a graph" << endl; + return false; + } + + assert (_parameters.size() == _parameterIds.size()); + //cerr << __PRETTY_FUNCTION__ << ": encountered " << _parameters.size() << " parameters" << endl; + for (size_t i=0; i<_parameters.size(); i++){ + int index = _parameterIds[i]; + *_parameters[i] = graph()->parameter(index); + if (typeid(**_parameters[i]).name()!=_parameterTypes[i]){ + cerr << __PRETTY_FUNCTION__ << ": FATAL, parameter type mismatch - encountered " << typeid(**_parameters[i]).name() << "; should be " << _parameterTypes[i] << endl; + } + if (!*_parameters[i]) { + cerr << __PRETTY_FUNCTION__ << ": FATAL, *_parameters[i] == 0" << endl; + return false; + } + } + return true; + } + + void OptimizableGraph::Edge::setRobustKernel(RobustKernel* ptr) + { + if (_robustKernel) + delete _robustKernel; + _robustKernel = ptr; + } + + bool OptimizableGraph::Edge::resolveCaches() { + return true; + } + + bool OptimizableGraph::Edge::setMeasurementData(const double *) + { + return false; + } + + bool OptimizableGraph::Edge::getMeasurementData(double *) const + { + return false; + } + + int OptimizableGraph::Edge::measurementDimension() const + { + return -1; + } + + bool OptimizableGraph::Edge::setMeasurementFromState(){ + return false; + } + + + OptimizableGraph::Edge* OptimizableGraph::Edge::clone() const + { + // TODO + return 0; + } + + + OptimizableGraph::OptimizableGraph() + { + _nextEdgeId = 0; _edge_has_id = false; + _graphActions.resize(AT_NUM_ELEMENTS); + } + + OptimizableGraph::~OptimizableGraph() + { + clear(); + clearParameters(); + } + + bool OptimizableGraph::addVertex(HyperGraph::Vertex* v, Data* userData) + { + Vertex* inserted = vertex(v->id()); + if (inserted) { + cerr << __FUNCTION__ << ": FATAL, a vertex with ID " << v->id() << " has already been registered with this graph" << endl; + assert(0 && "Vertex with this ID already contained in the graph"); + return false; + } + OptimizableGraph::Vertex* ov=dynamic_cast(v); + assert(ov && "Vertex does not inherit from OptimizableGraph::Vertex"); + if (ov->_graph != 0 && ov->_graph != this) { + cerr << __FUNCTION__ << ": FATAL, vertex with ID " << v->id() << " has already registered with another graph " << ov->_graph << endl; + assert(0 && "Vertex already registered with another graph"); + return false; + } + if (userData) + ov->setUserData(userData); + ov->_graph=this; + return HyperGraph::addVertex(v); + } + + bool OptimizableGraph::addEdge(HyperGraph::Edge* e_) + { + OptimizableGraph::Edge* e = dynamic_cast(e_); + assert(e && "Edge does not inherit from OptimizableGraph::Edge"); + if (! e) + return false; + bool eresult = HyperGraph::addEdge(e); + if (! eresult) + return false; + e->_internalId = _nextEdgeId++; + if (! e->resolveParameters()){ + cerr << __FUNCTION__ << ": FATAL, cannot resolve parameters for edge " << e << endl; + return false; + } + if (! e->resolveCaches()){ + cerr << __FUNCTION__ << ": FATAL, cannot resolve caches for edge " << e << endl; + return false; + } + _jacobianWorkspace.updateSize(e); + + return true; + } + + int OptimizableGraph::optimize(int /*iterations*/, bool /*online*/) {return 0;} + +double OptimizableGraph::chi2() const +{ + double chi = 0.0; + for (OptimizableGraph::EdgeSet::const_iterator it = this->edges().begin(); it != this->edges().end(); ++it) { + const OptimizableGraph::Edge* e = static_cast(*it); + chi += e->chi2(); + } + return chi; +} + +void OptimizableGraph::push() +{ + for (OptimizableGraph::VertexIDMap::iterator it=_vertices.begin(); it!=_vertices.end(); ++it) { + OptimizableGraph::Vertex* v = static_cast(it->second); + v->push(); + } +} + +void OptimizableGraph::pop() +{ + for (OptimizableGraph::VertexIDMap::iterator it=_vertices.begin(); it!=_vertices.end(); ++it) { + OptimizableGraph::Vertex* v= static_cast(it->second); + v->pop(); + } +} + +void OptimizableGraph::discardTop() +{ + for (OptimizableGraph::VertexIDMap::iterator it=_vertices.begin(); it!=_vertices.end(); ++it) { + OptimizableGraph::Vertex* v= static_cast(it->second); + v->discardTop(); + } +} + +void OptimizableGraph::push(HyperGraph::VertexSet& vset) +{ + for (HyperGraph::VertexSet::iterator it=vset.begin(); it!=vset.end(); ++it) { + OptimizableGraph::Vertex* v = static_cast(*it); + v->push(); + } +} + +void OptimizableGraph::pop(HyperGraph::VertexSet& vset) +{ + for (HyperGraph::VertexSet::iterator it=vset.begin(); it!=vset.end(); ++it) { + OptimizableGraph::Vertex* v = static_cast(*it); + v->pop(); + } +} + +void OptimizableGraph::discardTop(HyperGraph::VertexSet& vset) +{ + for (HyperGraph::VertexSet::iterator it=vset.begin(); it!=vset.end(); ++it) { + OptimizableGraph::Vertex* v = static_cast(*it); + v->discardTop(); + } +} + + void OptimizableGraph::setFixed(HyperGraph::VertexSet& vset, bool fixed) +{ + for (HyperGraph::VertexSet::iterator it=vset.begin(); it!=vset.end(); ++it) { + OptimizableGraph::Vertex* v = static_cast(*it); + v->setFixed(fixed); + } +} + + +bool OptimizableGraph::load(istream& is, bool createEdges) +{ + // scna for the paramers in the whole file + if (!_parameters.read(is,&_renamedTypesLookup)) + return false; +#ifndef NDEBUG + cerr << "Loaded " << _parameters.size() << " parameters" << endl; +#endif + is.clear(); + is.seekg(ios_base::beg); + set warnedUnknownTypes; + stringstream currentLine; + string token; + + Factory* factory = Factory::instance(); + HyperGraph::GraphElemBitset elemBitset; + elemBitset[HyperGraph::HGET_PARAMETER] = 1; + elemBitset.flip(); + + Vertex* previousVertex = 0; + Data* previousData = 0; + + while (1) { + int bytesRead = readLine(is, currentLine); + if (bytesRead == -1) + break; + currentLine >> token; + //cerr << "Token=" << token << endl; + if (bytesRead == 0 || token.size() == 0 || token[0] == '#') + continue; + + // handle commands encoded in the file + bool handledCommand = false; + + if (token == "FIX") { + handledCommand = true; + int id; + while (currentLine >> id) { + OptimizableGraph::Vertex* v = static_cast(vertex(id)); + if (v) { +# ifndef NDEBUG + cerr << "Fixing vertex " << v->id() << endl; +# endif + v->setFixed(true); + } else { + cerr << "Warning: Unable to fix vertex with id " << id << ". Not found in the graph." << endl; + } + } + } + + if (handledCommand) + continue; + + // do the mapping to an internal type if it matches + if (_renamedTypesLookup.size() > 0) { + map::const_iterator foundIt = _renamedTypesLookup.find(token); + if (foundIt != _renamedTypesLookup.end()) { + token = foundIt->second; + } + } + + if (! factory->knowsTag(token)) { + if (warnedUnknownTypes.count(token) != 1) { + warnedUnknownTypes.insert(token); + cerr << CL_RED(__PRETTY_FUNCTION__ << " unknown type: " << token) << endl; + } + continue; + } + + HyperGraph::HyperGraphElement* element = factory->construct(token, elemBitset); + if (dynamic_cast(element)) { // it's a vertex type + //cerr << "it is a vertex" << endl; + previousData = 0; + Vertex* v = static_cast(element); + int id; + currentLine >> id; + bool r = v->read(currentLine); + if (! r) + cerr << __PRETTY_FUNCTION__ << ": Error reading vertex " << token << " " << id << endl; + v->setId(id); + if (!addVertex(v)) { + cerr << __PRETTY_FUNCTION__ << ": Failure adding Vertex, " << token << " " << id << endl; + delete v; + } else { + previousVertex = v; + } + } + else if (dynamic_cast(element)) { + //cerr << "it is an edge" << endl; + previousData = 0; + Edge* e = static_cast(element); + int numV = e->vertices().size(); + if (_edge_has_id){ + int id; + currentLine >> id; + e->setId(id); + } + //cerr << PVAR(token) << " " << PVAR(numV) << endl; + if (numV == 2) { // it's a pairwise / binary edge type which we handle in a special way + int id1, id2; + currentLine >> id1 >> id2; + Vertex* from = vertex(id1); + Vertex* to = vertex(id2); + int doInit=0; + if ((!from || !to) ) { + if (! createEdges) { + cerr << __PRETTY_FUNCTION__ << ": Unable to find vertices for edge " << token << " " << id1 << " <-> " << id2 << endl; + delete e; + } else { + if (! from) { + from=e->createFrom(); + from->setId(id1); + addVertex(from); + doInit=2; + } + if (! to) { + to=e->createTo(); + to->setId(id2); + addVertex(to); + doInit=1; + } + } + } + if (from && to) { + e->setVertex(0, from); + e->setVertex(1, to); + e->read(currentLine); + if (!addEdge(e)) { + cerr << __PRETTY_FUNCTION__ << ": Unable to add edge " << token << " " << id1 << " <-> " << id2 << endl; + delete e; + } else { + switch (doInit){ + case 1: + { + HyperGraph::VertexSet fromSet; + fromSet.insert(from); + e->initialEstimate(fromSet, to); + break; + } + case 2: + { + HyperGraph::VertexSet toSet; + toSet.insert(to); + e->initialEstimate(toSet, from); + break; + } + default:; + } + } + } + } + else { + vector ids; + ids.resize(numV); + for (int l = 0; l < numV; ++l) + currentLine >> ids[l]; + bool vertsOkay = true; + for (int l = 0; l < numV; ++l) { + e->setVertex(l, vertex(ids[l])); + if (e->vertex(l) == 0) { + vertsOkay = false; + break; + } + } + if (! vertsOkay) { + cerr << __PRETTY_FUNCTION__ << ": Unable to find vertices for edge " << token; + for (int l = 0; l < numV; ++l) { + if (l > 0) + cerr << " <->"; + cerr << " " << ids[l]; + } + delete e; + } else { + bool r = e->read(currentLine); + if (!r || !addEdge(e)) { + cerr << __PRETTY_FUNCTION__ << ": Unable to add edge " << token; + for (int l = 0; l < numV; ++l) { + if (l > 0) + cerr << " <->"; + cerr << " " << ids[l]; + } + delete e; + } + } + } + } else if (dynamic_cast(element)) { // reading in the data packet for the vertex + //cerr << "read data packet " << token << " vertex " << previousVertex->id() << endl; + Data* d = static_cast(element); + bool r = d->read(currentLine); + if (! r) { + cerr << __PRETTY_FUNCTION__ << ": Error reading data " << token << " for vertex " << previousVertex->id() << endl; + delete d; + previousData = 0; + } else if (previousData){ + //cerr << "chaining" << endl; + previousData->setNext(d); + previousData = d; + //cerr << "done" << endl; + } else if (previousVertex){ + //cerr << "embedding in vertex" << endl; + previousVertex->setUserData(d); + previousData = d; + previousVertex = 0; + //cerr << "done" << endl; + } else { + cerr << __PRETTY_FUNCTION__ << ": got data element, but no vertex available" << endl; + delete d; + previousData = 0; + } + } + } // while read line + + return true; +} + +bool OptimizableGraph::load(const char* filename, bool createEdges) +{ + ifstream ifs(filename); + if (!ifs) { + cerr << __PRETTY_FUNCTION__ << " unable to open file " << filename << endl; + return false; + } + return load(ifs, createEdges); +} + +bool OptimizableGraph::save(const char* filename, int level) const +{ + ofstream ofs(filename); + if (!ofs) + return false; + return save(ofs, level); +} + +bool OptimizableGraph::save(ostream& os, int level) const +{ + if (! _parameters.write(os)) + return false; + set verticesToSave; + for (HyperGraph::EdgeSet::const_iterator it = edges().begin(); it != edges().end(); ++it) { + OptimizableGraph::Edge* e = static_cast(*it); + if (e->level() == level) { + for (vector::const_iterator it = e->vertices().begin(); it != e->vertices().end(); ++it) { + verticesToSave.insert(static_cast(*it)); + } + } + } + + for (set::const_iterator it = verticesToSave.begin(); it != verticesToSave.end(); ++it){ + OptimizableGraph::Vertex* v = *it; + saveVertex(os, v); + } + + EdgeContainer edgesToSave; + for (HyperGraph::EdgeSet::const_iterator it = edges().begin(); it != edges().end(); ++it) { + const OptimizableGraph::Edge* e = dynamic_cast(*it); + if (e->level() == level) + edgesToSave.push_back(const_cast(e)); + } + sort(edgesToSave.begin(), edgesToSave.end(), EdgeIDCompare()); + + for (EdgeContainer::const_iterator it = edgesToSave.begin(); it != edgesToSave.end(); ++it) { + OptimizableGraph::Edge* e = *it; + saveEdge(os, e); + } + + return os.good(); +} + + +bool OptimizableGraph::saveSubset(ostream& os, HyperGraph::VertexSet& vset, int level) +{ + if (! _parameters.write(os)) + return false; + + for (HyperGraph::VertexSet::const_iterator it=vset.begin(); it!=vset.end(); it++){ + OptimizableGraph::Vertex* v = dynamic_cast(*it); + saveVertex(os, v); + } + for (HyperGraph::EdgeSet::const_iterator it = edges().begin(); it != edges().end(); ++it) { + OptimizableGraph::Edge* e = dynamic_cast< OptimizableGraph::Edge*>(*it); + if (e->level() != level) + continue; + + bool verticesInEdge = true; + for (vector::const_iterator it = e->vertices().begin(); it != e->vertices().end(); ++it) { + if (vset.find(*it) == vset.end()) { + verticesInEdge = false; + break; + } + } + if (! verticesInEdge) + continue; + + saveEdge(os, e); + } + + return os.good(); +} + +bool OptimizableGraph::saveSubset(ostream& os, HyperGraph::EdgeSet& eset) +{ + if (!_parameters.write(os)) + return false; + std::set vset; + for (HyperGraph::EdgeSet::const_iterator it = eset.begin(); it != eset.end(); ++it) { + HyperGraph::Edge* e = *it; + for (vector::const_iterator it = e->vertices().begin(); it != e->vertices().end(); ++it) { + OptimizableGraph::Vertex* v = static_cast(*it); + vset.insert(v); + } + } + + for (std::set::const_iterator it=vset.begin(); it!=vset.end(); ++it){ + OptimizableGraph::Vertex* v = dynamic_cast(*it); + saveVertex(os, v); + } + + for (HyperGraph::EdgeSet::const_iterator it = eset.begin(); it != eset.end(); ++it) { + OptimizableGraph::Edge* e = dynamic_cast< OptimizableGraph::Edge*>(*it); + saveEdge(os, e); + } + + return os.good(); +} + +void OptimizableGraph::addGraph(OptimizableGraph* g){ + for (HyperGraph::VertexIDMap::iterator it=g->vertices().begin(); it!=g->vertices().end(); ++it){ + OptimizableGraph::Vertex* v= (OptimizableGraph::Vertex*)(it->second); + if (vertex(v->id())) + continue; + OptimizableGraph::Vertex* v2=v->clone(); + v2->edges().clear(); + v2->setHessianIndex(-1); + addVertex(v2); + } + for (HyperGraph::EdgeSet::iterator it=g->edges().begin(); it!=g->edges().end(); ++it){ + OptimizableGraph::Edge* e = (OptimizableGraph::Edge*)(*it); + OptimizableGraph::Edge* en = e->clone(); + en->resize(e->vertices().size()); + int cnt = 0; + for (vector::const_iterator it = e->vertices().begin(); it != e->vertices().end(); ++it) { + OptimizableGraph::Vertex* v = (OptimizableGraph::Vertex*) vertex((*it)->id()); + assert(v); + en->setVertex(cnt++, v); + } + addEdge(en); + } +} + +int OptimizableGraph::maxDimension() const{ + int maxDim=0; + for (HyperGraph::VertexIDMap::const_iterator it=vertices().begin(); it!=vertices().end(); ++it){ + const OptimizableGraph::Vertex* v= static_cast< const OptimizableGraph::Vertex*>(it->second); + maxDim = (std::max)(maxDim, v->dimension()); + } + return maxDim; +} + +void OptimizableGraph::setRenamedTypesFromString(const std::string& types) +{ + Factory* factory = Factory::instance(); + vector typesMap = strSplit(types, ","); + for (size_t i = 0; i < typesMap.size(); ++i) { + vector m = strSplit(typesMap[i], "="); + if (m.size() != 2) { + cerr << __PRETTY_FUNCTION__ << ": unable to extract type map from " << typesMap[i] << endl; + continue; + } + string typeInFile = trim(m[0]); + string loadedType = trim(m[1]); + if (! factory->knowsTag(loadedType)) { + cerr << __PRETTY_FUNCTION__ << ": unknown type " << loadedType << endl; + continue; + } + + _renamedTypesLookup[typeInFile] = loadedType; + } + + cerr << "# load look up table" << endl; + for (std::map::const_iterator it = _renamedTypesLookup.begin(); it != _renamedTypesLookup.end(); ++it) { + cerr << "#\t" << it->first << " -> " << it->second << endl; + } +} + +bool OptimizableGraph::isSolverSuitable(const OptimizationAlgorithmProperty& solverProperty, const std::set& vertDims_) const +{ + std::set auxDims; + if (vertDims_.size() == 0) { + auxDims = dimensions(); + } + const set& vertDims = vertDims_.size() == 0 ? auxDims : vertDims_; + bool suitableSolver = true; + if (vertDims.size() == 2) { + if (solverProperty.requiresMarginalize) { + suitableSolver = vertDims.count(solverProperty.poseDim) == 1 && vertDims.count(solverProperty.landmarkDim) == 1; + } + else { + suitableSolver = solverProperty.poseDim == -1; + } + } else if (vertDims.size() == 1) { + suitableSolver = vertDims.count(solverProperty.poseDim) == 1 || solverProperty.poseDim == -1; + } else { + suitableSolver = solverProperty.poseDim == -1 && !solverProperty.requiresMarginalize; + } + return suitableSolver; +} + +std::set OptimizableGraph::dimensions() const +{ + std::set auxDims; + for (VertexIDMap::const_iterator it = vertices().begin(); it != vertices().end(); ++it) { + OptimizableGraph::Vertex* v = static_cast(it->second); + auxDims.insert(v->dimension()); + } + return auxDims; +} + +void OptimizableGraph::preIteration(int iter) +{ + HyperGraphActionSet& actions = _graphActions[AT_PREITERATION]; + if (actions.size() > 0) { + HyperGraphAction::ParametersIteration params(iter); + for (HyperGraphActionSet::iterator it = actions.begin(); it != actions.end(); ++it) { + (*(*it))(this, ¶ms); + } + } +} + +void OptimizableGraph::postIteration(int iter) +{ + HyperGraphActionSet& actions = _graphActions[AT_POSTITERATION]; + if (actions.size() > 0) { + HyperGraphAction::ParametersIteration params(iter); + for (HyperGraphActionSet::iterator it = actions.begin(); it != actions.end(); ++it) { + (*(*it))(this, ¶ms); + } + } +} + +bool OptimizableGraph::addPostIterationAction(HyperGraphAction* action) +{ + std::pair insertResult = _graphActions[AT_POSTITERATION].insert(action); + return insertResult.second; +} + +bool OptimizableGraph::addPreIterationAction(HyperGraphAction* action) +{ + std::pair insertResult = _graphActions[AT_PREITERATION].insert(action); + return insertResult.second; +} + +bool OptimizableGraph::removePreIterationAction(HyperGraphAction* action) +{ + return _graphActions[AT_PREITERATION].erase(action) > 0; +} + +bool OptimizableGraph::removePostIterationAction(HyperGraphAction* action) +{ + return _graphActions[AT_POSTITERATION].erase(action) > 0; +} + +bool OptimizableGraph::saveVertex(std::ostream& os, OptimizableGraph::Vertex* v) const +{ + Factory* factory = Factory::instance(); + string tag = factory->tag(v); + if (tag.size() > 0) { + os << tag << " " << v->id() << " "; + v->write(os); + os << endl; + Data* d=v->userData(); + while (d) { // write the data packet for the vertex + tag = factory->tag(d); + if (tag.size() > 0) { + os << tag << " "; + d->write(os); + os << endl; + } + d=d->next(); + } + if (v->fixed()) { + os << "FIX " << v->id() << endl; + } + return os.good(); + } + return false; +} + +bool OptimizableGraph::saveEdge(std::ostream& os, OptimizableGraph::Edge* e) const +{ + Factory* factory = Factory::instance(); + string tag = factory->tag(e); + if (tag.size() > 0) { + os << tag << " "; + if (_edge_has_id) + os << e->id() << " "; + for (vector::const_iterator it = e->vertices().begin(); it != e->vertices().end(); ++it) { + OptimizableGraph::Vertex* v = static_cast(*it); + os << v->id() << " "; + } + e->write(os); + os << endl; + return os.good(); + } + return false; +} + +void OptimizableGraph::clearParameters() +{ + _parameters.clear(); +} + +bool OptimizableGraph::verifyInformationMatrices(bool verbose) const +{ + bool allEdgeOk = true; + SelfAdjointEigenSolver eigenSolver; + for (OptimizableGraph::EdgeSet::const_iterator it = edges().begin(); it != edges().end(); ++it) { + OptimizableGraph::Edge* e = static_cast(*it); + Eigen::MatrixXd::MapType information(e->informationData(), e->dimension(), e->dimension()); + // test on symmetry + bool isSymmetric = information.transpose() == information; + bool okay = isSymmetric; + if (isSymmetric) { + // compute the eigenvalues + eigenSolver.compute(information, Eigen::EigenvaluesOnly); + bool isSPD = eigenSolver.eigenvalues()(0) >= 0.; + okay = okay && isSPD; + } + allEdgeOk = allEdgeOk && okay; + if (! okay) { + if (verbose) { + if (! isSymmetric) + cerr << "Information Matrix for an edge is not symmetric:"; + else + cerr << "Information Matrix for an edge is not SPD:"; + for (size_t i = 0; i < e->vertices().size(); ++i) + cerr << " " << e->vertex(i)->id(); + if (isSymmetric) + cerr << "\teigenvalues: " << eigenSolver.eigenvalues().transpose(); + cerr << endl; + } + } + } + return allEdgeOk; +} + +bool OptimizableGraph::initMultiThreading() +{ +# if (defined G2O_OPENMP) && EIGEN_VERSION_AT_LEAST(3,1,0) + Eigen::initParallel(); +# endif + return true; +} + +} // end namespace + diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimizable_graph.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimizable_graph.h new file mode 100644 index 0000000..9d9b561 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimizable_graph.h @@ -0,0 +1,688 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_AIS_OPTIMIZABLE_GRAPH_HH_ +#define G2O_AIS_OPTIMIZABLE_GRAPH_HH_ + +#include +#include +#include +#include +#include +#include + +#include "openmp_mutex.h" +#include "hyper_graph.h" +#include "parameter.h" +#include "parameter_container.h" +#include "jacobian_workspace.h" + +#include "../stuff/macros.h" + +namespace g2o { + + class HyperGraphAction; + struct OptimizationAlgorithmProperty; + class Cache; + class CacheContainer; + class RobustKernel; + + /** + @addtogroup g2o + */ + /** + This is an abstract class that represents one optimization + problem. It specializes the general graph to contain special + vertices and edges. The vertices represent parameters that can + be optimized, while the edges represent constraints. This class + also provides basic functionalities to handle the backup/restore + of portions of the vertices. + */ + struct OptimizableGraph : public HyperGraph { + + enum ActionType { + AT_PREITERATION, AT_POSTITERATION, + AT_NUM_ELEMENTS, // keep as last element + }; + + typedef std::set HyperGraphActionSet; + + // forward declarations + class Vertex; + class Edge; + + /** + * \brief data packet for a vertex. Extend this class to store in the vertices + * the potential additional information you need (e.g. images, laser scans, ...). + */ + class Data : public HyperGraph::HyperGraphElement + { + friend struct OptimizableGraph; + public: + virtual ~Data(); + Data(); + //! read the data from a stream + virtual bool read(std::istream& is) = 0; + //! write the data to a stream + virtual bool write(std::ostream& os) const = 0; + virtual HyperGraph::HyperGraphElementType elementType() const { return HyperGraph::HGET_DATA;} + const Data* next() const {return _next;} + Data* next() {return _next;} + void setNext(Data* next_) { _next = next_; } + protected: + Data* _next; // linked list of multiple data; + }; + + /** + * \brief order vertices based on their ID + */ + struct VertexIDCompare { + bool operator() (const Vertex* v1, const Vertex* v2) const + { + return v1->id() < v2->id(); + } + }; + + /** + * \brief order edges based on the internal ID, which is assigned to the edge in addEdge() + */ + struct EdgeIDCompare { + bool operator() (const Edge* e1, const Edge* e2) const + { + return e1->internalId() < e2->internalId(); + } + }; + + //! vector container for vertices + typedef std::vector VertexContainer; + //! vector container for edges + typedef std::vector EdgeContainer; + + /** + * \brief A general case Vertex for optimization + */ + class Vertex : public HyperGraph::Vertex { + private: + friend struct OptimizableGraph; + public: + Vertex(); + + //! returns a deep copy of the current vertex + virtual Vertex* clone() const ; + + //! the user data associated with this vertex + const Data* userData() const { return _userData; } + Data* userData() { return _userData; } + + void setUserData(Data* obs) { _userData = obs;} + void addUserData(Data* obs) { + if (obs) { + obs->setNext(_userData); + _userData=obs; + } + } + + virtual ~Vertex(); + + //! sets the node to the origin (used in the multilevel stuff) + void setToOrigin() { setToOriginImpl(); updateCache();} + + //! get the element from the hessian matrix + virtual const double& hessian(int i, int j) const = 0; + virtual double& hessian(int i, int j) = 0; + virtual double hessianDeterminant() const = 0; + virtual double* hessianData() = 0; + + /** maps the internal matrix to some external memory location */ + virtual void mapHessianMemory(double* d) = 0; + + /** + * copies the b vector in the array b_ + * @return the number of elements copied + */ + virtual int copyB(double* b_) const = 0; + + //! get the b vector element + virtual const double& b(int i) const = 0; + virtual double& b(int i) = 0; + //! return a pointer to the b vector associated with this vertex + virtual double* bData() = 0; + + /** + * set the b vector part of this vertex to zero + */ + virtual void clearQuadraticForm() = 0; + + /** + * updates the current vertex with the direct solution x += H_ii\b_ii + * @return the determinant of the inverted hessian + */ + virtual double solveDirect(double lambda=0) = 0; + + /** + * sets the initial estimate from an array of double + * Implement setEstimateDataImpl() + * @return true on success + */ + bool setEstimateData(const double* estimate); + + /** + * sets the initial estimate from an array of double + * Implement setEstimateDataImpl() + * @return true on success + */ + bool setEstimateData(const std::vector& estimate) { +#ifndef NDEBUG + int dim = estimateDimension(); + assert((dim == -1) || (estimate.size() == std::size_t(dim))); +#endif + return setEstimateData(&estimate[0]); + }; + + /** + * writes the estimater to an array of double + * @returns true on success + */ + virtual bool getEstimateData(double* estimate) const; + + /** + * writes the estimater to an array of double + * @returns true on success + */ + virtual bool getEstimateData(std::vector& estimate) const { + int dim = estimateDimension(); + if (dim < 0) + return false; + estimate.resize(dim); + return getEstimateData(&estimate[0]); + }; + + /** + * returns the dimension of the extended representation used by get/setEstimate(double*) + * -1 if it is not supported + */ + virtual int estimateDimension() const; + + /** + * sets the initial estimate from an array of double. + * Implement setMinimalEstimateDataImpl() + * @return true on success + */ + bool setMinimalEstimateData(const double* estimate); + + /** + * sets the initial estimate from an array of double. + * Implement setMinimalEstimateDataImpl() + * @return true on success + */ + bool setMinimalEstimateData(const std::vector& estimate) { +#ifndef NDEBUG + int dim = minimalEstimateDimension(); + assert((dim == -1) || (estimate.size() == std::size_t(dim))); +#endif + return setMinimalEstimateData(&estimate[0]); + }; + + /** + * writes the estimate to an array of double + * @returns true on success + */ + virtual bool getMinimalEstimateData(double* estimate) const ; + + /** + * writes the estimate to an array of double + * @returns true on success + */ + virtual bool getMinimalEstimateData(std::vector& estimate) const { + int dim = minimalEstimateDimension(); + if (dim < 0) + return false; + estimate.resize(dim); + return getMinimalEstimateData(&estimate[0]); + }; + + /** + * returns the dimension of the extended representation used by get/setEstimate(double*) + * -1 if it is not supported + */ + virtual int minimalEstimateDimension() const; + + //! backup the position of the vertex to a stack + virtual void push() = 0; + + //! restore the position of the vertex by retrieving the position from the stack + virtual void pop() = 0; + + //! pop the last element from the stack, without restoring the current estimate + virtual void discardTop() = 0; + + //! return the stack size + virtual int stackSize() const = 0; + + /** + * Update the position of the node from the parameters in v. + * Depends on the implementation of oplusImpl in derived classes to actually carry + * out the update. + * Will also call updateCache() to update the caches of depending on the vertex. + */ + void oplus(const double* v) + { + oplusImpl(v); + updateCache(); + } + + //! temporary index of this node in the parameter vector obtained from linearization + int hessianIndex() const { return _hessianIndex;} + int G2O_ATTRIBUTE_DEPRECATED(tempIndex() const) { return hessianIndex();} + //! set the temporary index of the vertex in the parameter blocks + void setHessianIndex(int ti) { _hessianIndex = ti;} + void G2O_ATTRIBUTE_DEPRECATED(setTempIndex(int ti)) { setHessianIndex(ti);} + + //! true => this node is fixed during the optimization + bool fixed() const {return _fixed;} + //! true => this node should be considered fixed during the optimization + void setFixed(bool fixed) { _fixed = fixed;} + + //! true => this node is marginalized out during the optimization + bool marginalized() const {return _marginalized;} + //! true => this node should be marginalized out during the optimization + void setMarginalized(bool marginalized) { _marginalized = marginalized;} + + //! dimension of the estimated state belonging to this node + int dimension() const { return _dimension;} + + //! sets the id of the node in the graph be sure that the graph keeps consistent after changing the id + virtual void setId(int id) {_id = id;} + + //! set the row of this vertex in the Hessian + void setColInHessian(int c) { _colInHessian = c;} + //! get the row of this vertex in the Hessian + int colInHessian() const {return _colInHessian;} + + const OptimizableGraph* graph() const {return _graph;} + + OptimizableGraph* graph() {return _graph;} + + /** + * lock for the block of the hessian and the b vector associated with this vertex, to avoid + * race-conditions if multi-threaded. + */ + void lockQuadraticForm() { _quadraticFormMutex.lock();} + /** + * unlock the block of the hessian and the b vector associated with this vertex + */ + void unlockQuadraticForm() { _quadraticFormMutex.unlock();} + + //! read the vertex from a stream, i.e., the internal state of the vertex + virtual bool read(std::istream& is) = 0; + //! write the vertex to a stream + virtual bool write(std::ostream& os) const = 0; + + virtual void updateCache(); + + CacheContainer* cacheContainer(); + protected: + OptimizableGraph* _graph; + Data* _userData; + int _hessianIndex; + bool _fixed; + bool _marginalized; + int _dimension; + int _colInHessian; + OpenMPMutex _quadraticFormMutex; + + CacheContainer* _cacheContainer; + + /** + * update the position of the node from the parameters in v. + * Implement in your class! + */ + virtual void oplusImpl(const double* v) = 0; + + //! sets the node to the origin (used in the multilevel stuff) + virtual void setToOriginImpl() = 0; + + /** + * writes the estimater to an array of double + * @returns true on success + */ + virtual bool setEstimateDataImpl(const double* ) { return false;} + + /** + * sets the initial estimate from an array of double + * @return true on success + */ + virtual bool setMinimalEstimateDataImpl(const double* ) { return false;} + + }; + + class Edge: public HyperGraph::Edge { + private: + friend struct OptimizableGraph; + public: + Edge(); + virtual ~Edge(); + virtual Edge* clone() const; + + // indicates if all vertices are fixed + virtual bool allVerticesFixed() const = 0; + + // computes the error of the edge and stores it in an internal structure + virtual void computeError() = 0; + + //! sets the measurement from an array of double + //! @returns true on success + virtual bool setMeasurementData(const double* m); + + //! writes the measurement to an array of double + //! @returns true on success + virtual bool getMeasurementData(double* m) const; + + //! returns the dimension of the measurement in the extended representation which is used + //! by get/setMeasurement; + virtual int measurementDimension() const; + + /** + * sets the estimate to have a zero error, based on the current value of the state variables + * returns false if not supported. + */ + virtual bool setMeasurementFromState(); + + //! if NOT NULL, error of this edge will be robustifed with the kernel + RobustKernel* robustKernel() const { return _robustKernel;} + /** + * specify the robust kernel to be used in this edge + */ + void setRobustKernel(RobustKernel* ptr); + + //! returns the error vector cached after calling the computeError; + virtual const double* errorData() const = 0; + virtual double* errorData() = 0; + + //! returns the memory of the information matrix, usable for example with a Eigen::Map + virtual const double* informationData() const = 0; + virtual double* informationData() = 0; + + //! computes the chi2 based on the cached error value, only valid after computeError has been called. + virtual double chi2() const = 0; + + /** + * Linearizes the constraint in the edge. + * Makes side effect on the vertices of the graph by changing + * the parameter vector b and the hessian blocks ii and jj. + * The off diagoinal block is accesed via _hessian. + */ + virtual void constructQuadraticForm() = 0; + + /** + * maps the internal matrix to some external memory location, + * you need to provide the memory before calling constructQuadraticForm + * @param d the memory location to which we map + * @param i index of the vertex i + * @param j index of the vertex j (j > i, upper triangular fashion) + * @param rowMajor if true, will write in rowMajor order to the block. Since EIGEN is columnMajor by default, this results in writing the transposed + */ + virtual void mapHessianMemory(double* d, int i, int j, bool rowMajor) = 0; + + /** + * Linearizes the constraint in the edge in the manifold space, and store + * the result in the given workspace + */ + virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace) = 0; + + /** set the estimate of the to vertex, based on the estimate of the from vertices in the edge. */ + virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to) = 0; + + /** + * override in your class if it's possible to initialize the vertices in certain combinations. + * The return value may correspond to the cost for initiliaizng the vertex but should be positive if + * the initialization is possible and negative if not possible. + */ + virtual double initialEstimatePossible(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to) { (void) from; (void) to; return -1.;} + + //! returns the level of the edge + int level() const { return _level;} + //! sets the level of the edge + void setLevel(int l) { _level=l;} + + //! returns the dimensions of the error function + int dimension() const { return _dimension;} + + virtual Vertex* createFrom() {return 0;} + virtual Vertex* createTo() {return 0;} + + //! read the vertex from a stream, i.e., the internal state of the vertex + virtual bool read(std::istream& is) = 0; + //! write the vertex to a stream + virtual bool write(std::ostream& os) const = 0; + + //! the internal ID of the edge + long long internalId() const { return _internalId;} + + OptimizableGraph* graph(); + const OptimizableGraph* graph() const; + + bool setParameterId(int argNum, int paramId); + inline const Parameter* parameter(int argNo) const {return *_parameters.at(argNo);} + inline size_t numParameters() const {return _parameters.size();} + inline void resizeParameters(size_t newSize) { + _parameters.resize(newSize, 0); + _parameterIds.resize(newSize, -1); + _parameterTypes.resize(newSize, typeid(void*).name()); + } + protected: + int _dimension; + int _level; + RobustKernel* _robustKernel; + long long _internalId; + + std::vector _cacheIds; + + template + bool installParameter(ParameterType*& p, size_t argNo, int paramId=-1){ + if (argNo>=_parameters.size()) + return false; + _parameterIds[argNo] = paramId; + _parameters[argNo] = (Parameter**)&p; + _parameterTypes[argNo] = typeid(ParameterType).name(); + return true; + } + + template + void resolveCache(CacheType*& cache, OptimizableGraph::Vertex*, + const std::string& _type, + const ParameterVector& parameters); + + bool resolveParameters(); + virtual bool resolveCaches(); + + std::vector _parameterTypes; + std::vector _parameters; + std::vector _parameterIds; + }; + + //! returns the vertex number id appropriately casted + inline Vertex* vertex(int id) { return reinterpret_cast(HyperGraph::vertex(id));} + + //! returns the vertex number id appropriately casted + inline const Vertex* vertex (int id) const{ return reinterpret_cast(HyperGraph::vertex(id));} + + //! empty constructor + OptimizableGraph(); + virtual ~OptimizableGraph(); + + //! adds all edges and vertices of the graph g to this graph. + void addGraph(OptimizableGraph* g); + + /** + * adds a new vertex. The new vertex is then "taken". + * @return false if a vertex with the same id as v is already in the graph, true otherwise. + */ + virtual bool addVertex(HyperGraph::Vertex* v, Data* userData); + virtual bool addVertex(HyperGraph::Vertex* v) { return addVertex(v, 0);} + + /** + * adds a new edge. + * The edge should point to the vertices that it is connecting (setFrom/setTo). + * @return false if the insertion does not work (incompatible types of the vertices/missing vertex). true otherwise. + */ + virtual bool addEdge(HyperGraph::Edge* e); + + //! returns the chi2 of the current configuration + double chi2() const; + + //! return the maximum dimension of all vertices in the graph + int maxDimension() const; + + /** + * iterates over all vertices and returns a set of all the vertex dimensions in the graph + */ + std::set dimensions() const; + + /** + * carry out n iterations + * @return the number of performed iterations + */ + virtual int optimize(int iterations, bool online=false); + + //! called at the beginning of an iteration (argument is the number of the iteration) + virtual void preIteration(int); + //! called at the end of an iteration (argument is the number of the iteration) + virtual void postIteration(int); + + //! add an action to be executed before each iteration + bool addPreIterationAction(HyperGraphAction* action); + //! add an action to be executed after each iteration + bool addPostIterationAction(HyperGraphAction* action); + + //! remove an action that should no longer be execured before each iteration + bool removePreIterationAction(HyperGraphAction* action); + //! remove an action that should no longer be execured after each iteration + bool removePostIterationAction(HyperGraphAction* action); + + //! push the estimate of all variables onto a stack + virtual void push(); + //! pop (restore) the estimate of all variables from the stack + virtual void pop(); + //! discard the last backup of the estimate for all variables by removing it from the stack + virtual void discardTop(); + + //! load the graph from a stream. Uses the Factory singleton for creating the vertices and edges. + virtual bool load(std::istream& is, bool createEdges=true); + bool load(const char* filename, bool createEdges=true); + //! save the graph to a stream. Again uses the Factory system. + virtual bool save(std::ostream& os, int level = 0) const; + //! function provided for convenience, see save() above + bool save(const char* filename, int level = 0) const; + + + //! save a subgraph to a stream. Again uses the Factory system. + bool saveSubset(std::ostream& os, HyperGraph::VertexSet& vset, int level = 0); + + //! save a subgraph to a stream. Again uses the Factory system. + bool saveSubset(std::ostream& os, HyperGraph::EdgeSet& eset); + + //! push the estimate of a subset of the variables onto a stack + virtual void push(HyperGraph::VertexSet& vset); + //! pop (restore) the estimate a subset of the variables from the stack + virtual void pop(HyperGraph::VertexSet& vset); + //! ignore the latest stored element on the stack, remove it from the stack but do not restore the estimate + virtual void discardTop(HyperGraph::VertexSet& vset); + + //! fixes/releases a set of vertices + virtual void setFixed(HyperGraph::VertexSet& vset, bool fixed); + + /** + * set the renamed types lookup from a string, format is for example: + * VERTEX_CAM=VERTEX_SE3:EXPMAP,EDGE_PROJECT_P2MC=EDGE_PROJECT_XYZ:EXPMAP + * This will change the occurance of VERTEX_CAM in the file to VERTEX_SE3:EXPMAP + */ + void setRenamedTypesFromString(const std::string& types); + + /** + * test whether a solver is suitable for optimizing this graph. + * @param solverProperty the solver property to evaluate. + * @param vertDims should equal to the set returned by dimensions() to avoid re-evaluating. + */ + bool isSolverSuitable(const OptimizationAlgorithmProperty& solverProperty, const std::set& vertDims = std::set()) const; + + /** + * remove the parameters of the graph + */ + virtual void clearParameters(); + + bool addParameter(Parameter* p) { + return _parameters.addParameter(p); + } + + Parameter* parameter(int id) { + return _parameters.getParameter(id); + } + + /** + * verify that all the information of the edges are semi positive definite, i.e., + * all Eigenvalues are >= 0. + * @param verbose output edges with not PSD information matrix on cerr + * @return true if all edges have PSD information matrix + */ + bool verifyInformationMatrices(bool verbose = false) const; + + // helper functions to save an individual vertex + bool saveVertex(std::ostream& os, Vertex* v) const; + + // helper functions to save an individual edge + bool saveEdge(std::ostream& os, Edge* e) const; + //! the workspace for storing the Jacobians of the graph + JacobianWorkspace& jacobianWorkspace() { return _jacobianWorkspace;} + const JacobianWorkspace& jacobianWorkspace() const { return _jacobianWorkspace;} + + /** + * Eigen starting from version 3.1 requires that we call an initialize + * function, if we perform calls to Eigen from several threads. + * Currently, this function calls Eigen::initParallel if g2o is compiled + * with OpenMP support and Eigen's version is at least 3.1 + */ + static bool initMultiThreading(); + + protected: + std::map _renamedTypesLookup; + long long _nextEdgeId; + std::vector _graphActions; + + // do not watch this. To be removed soon, or integrated in a nice way + bool _edge_has_id; + + ParameterContainer _parameters; + JacobianWorkspace _jacobianWorkspace; + }; + + /** + @} + */ + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm.cpp new file mode 100644 index 0000000..0888176 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm.cpp @@ -0,0 +1,62 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "optimization_algorithm.h" + +using namespace std; + +namespace g2o { + +OptimizationAlgorithm::OptimizationAlgorithm() : + _optimizer(0) +{ +} + +OptimizationAlgorithm::~OptimizationAlgorithm() +{ +} + +void OptimizationAlgorithm::printProperties(std::ostream& os) const +{ + os << "------------- Algorithm Properties -------------" << endl; + for (PropertyMap::const_iterator it = _properties.begin(); it != _properties.end(); ++it) { + BaseProperty* p = it->second; + os << it->first << "\t" << p->toString() << endl; + } + os << "------------------------------------------------" << endl; +} + +bool OptimizationAlgorithm::updatePropertiesFromString(const std::string& propString) +{ + return _properties.updateMapFromString(propString); +} + +void OptimizationAlgorithm::setOptimizer(SparseOptimizer* optimizer) +{ + _optimizer = optimizer; +} + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm.h new file mode 100644 index 0000000..470a450 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm.h @@ -0,0 +1,117 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_OPTIMIZATION_ALGORITHM_H +#define G2O_OPTIMIZATION_ALGORITHM_H + +#include +#include +#include + +#include "../stuff/property.h" + +#include "hyper_graph.h" +#include "sparse_block_matrix.h" + +namespace g2o { + + class SparseOptimizer; + + /** + * \brief Generic interface for a non-linear solver operating on a graph + */ + class OptimizationAlgorithm + { + public: + enum SolverResult {Terminate=2, OK=1, Fail=-1}; + OptimizationAlgorithm(); + virtual ~OptimizationAlgorithm(); + + /** + * initialize the solver, called once before the first call to solve() + */ + virtual bool init(bool online = false) = 0; + + /** + * Solve one iteration. The SparseOptimizer running on-top will call this + * for the given number of iterations. + * @param iteration indicates the current iteration + */ + virtual SolverResult solve(int iteration, bool online = false) = 0; + + /** + * computes the block diagonal elements of the pattern specified in the input + * and stores them in given SparseBlockMatrix. + * If your solver does not support computing the marginals, return false. + */ + virtual bool computeMarginals(SparseBlockMatrix& spinv, const std::vector >& blockIndices) = 0; + + /** + * update the structures for online processing + */ + virtual bool updateStructure(const std::vector& vset, const HyperGraph::EdgeSet& edges) = 0; + + /** + * called by the optimizer if verbose. re-implement, if you want to print something + */ + virtual void printVerbose(std::ostream& os) const {(void) os;}; + + public: + //! return the optimizer operating on + const SparseOptimizer* optimizer() const { return _optimizer;} + SparseOptimizer* optimizer() { return _optimizer;} + + /** + * specify on which optimizer the solver should work on + */ + void setOptimizer(SparseOptimizer* optimizer); + + //! return the properties of the solver + const PropertyMap& properties() const { return _properties;} + + /** + * update the properties from a string, see PropertyMap::updateMapFromString() + */ + bool updatePropertiesFromString(const std::string& propString); + + /** + * print the properties to a stream in a human readable fashion + */ + void printProperties(std::ostream& os) const; + + protected: + SparseOptimizer* _optimizer; ///< the optimizer the solver is working on + PropertyMap _properties; ///< the properties of your solver, use this to store the parameters of your solver + + private: + // Disable the copy constructor and assignment operator + OptimizationAlgorithm(const OptimizationAlgorithm&) { } + OptimizationAlgorithm& operator= (const OptimizationAlgorithm&) { return *this; } + }; + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_dogleg.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_dogleg.cpp new file mode 100644 index 0000000..f63e071 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_dogleg.cpp @@ -0,0 +1,229 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "optimization_algorithm_dogleg.h" + +#include + +#include "../stuff/timeutil.h" + +#include "block_solver.h" +#include "sparse_optimizer.h" +#include "solver.h" +#include "batch_stats.h" +using namespace std; + +namespace g2o { + + OptimizationAlgorithmDogleg::OptimizationAlgorithmDogleg(BlockSolverBase* solver) : + OptimizationAlgorithmWithHessian(solver) + { + _userDeltaInit = _properties.makeProperty >("initialDelta", 1e4); + _maxTrialsAfterFailure = _properties.makeProperty >("maxTrialsAfterFailure", 100); + _initialLambda = _properties.makeProperty >("initialLambda", 1e-7); + _lamdbaFactor = _properties.makeProperty >("lambdaFactor", 10.); + _delta = _userDeltaInit->value(); + _lastStep = STEP_UNDEFINED; + _wasPDInAllIterations = true; + } + + OptimizationAlgorithmDogleg::~OptimizationAlgorithmDogleg() + { + } + + OptimizationAlgorithm::SolverResult OptimizationAlgorithmDogleg::solve(int iteration, bool online) + { + assert(_optimizer && "_optimizer not set"); + assert(_solver->optimizer() == _optimizer && "underlying linear solver operates on different graph"); + assert(dynamic_cast(_solver) && "underlying linear solver is not a block solver"); + + BlockSolverBase* blockSolver = static_cast(_solver); + + if (iteration == 0 && !online) { // built up the CCS structure, here due to easy time measure + bool ok = _solver->buildStructure(); + if (! ok) { + cerr << __PRETTY_FUNCTION__ << ": Failure while building CCS structure" << endl; + return OptimizationAlgorithm::Fail; + } + + // init some members to the current size of the problem + _hsd.resize(_solver->vectorSize()); + _hdl.resize(_solver->vectorSize()); + _auxVector.resize(_solver->vectorSize()); + _delta = _userDeltaInit->value(); + _currentLambda = _initialLambda->value(); + _wasPDInAllIterations = true; + } + + double t=get_monotonic_time(); + _optimizer->computeActiveErrors(); + G2OBatchStatistics* globalStats = G2OBatchStatistics::globalStats(); + if (globalStats) { + globalStats->timeResiduals = get_monotonic_time()-t; + t=get_monotonic_time(); + } + + double currentChi = _optimizer->activeRobustChi2(); + + _solver->buildSystem(); + if (globalStats) { + globalStats->timeQuadraticForm = get_monotonic_time()-t; + } + + Eigen::VectorXd::ConstMapType b(_solver->b(), _solver->vectorSize()); + + // compute alpha + _auxVector.setZero(); + blockSolver->multiplyHessian(_auxVector.data(), _solver->b()); + double bNormSquared = b.squaredNorm(); + double alpha = bNormSquared / _auxVector.dot(b); + + _hsd = alpha * b; + double hsdNorm = _hsd.norm(); + double hgnNorm = -1.; + + bool solvedGaussNewton = false; + bool goodStep = false; + int& numTries = _lastNumTries; + numTries = 0; + do { + ++numTries; + + if (! solvedGaussNewton) { + const double minLambda = 1e-12; + const double maxLambda = 1e3; + solvedGaussNewton = true; + // apply a damping factor to enforce positive definite Hessian, if the matrix appeared + // to be not positive definite in at least one iteration before. + // We apply a damping factor to obtain a PD matrix. + bool solverOk = false; + while(!solverOk) { + if (! _wasPDInAllIterations) + _solver->setLambda(_currentLambda, true); // add _currentLambda to the diagonal + solverOk = _solver->solve(); + if (! _wasPDInAllIterations) + _solver->restoreDiagonal(); + _wasPDInAllIterations = _wasPDInAllIterations && solverOk; + if (! _wasPDInAllIterations) { + // simple strategy to control the damping factor + if (solverOk) { + _currentLambda = std::max(minLambda, _currentLambda / (0.5 * _lamdbaFactor->value())); + } else { + _currentLambda *= _lamdbaFactor->value(); + if (_currentLambda > maxLambda) { + _currentLambda = maxLambda; + return Fail; + } + } + } + } + if (!solverOk) { + return Fail; + } + hgnNorm = Eigen::VectorXd::ConstMapType(_solver->x(), _solver->vectorSize()).norm(); + } + + Eigen::VectorXd::ConstMapType hgn(_solver->x(), _solver->vectorSize()); + assert(hgnNorm >= 0. && "Norm of the GN step is not computed"); + + if (hgnNorm < _delta) { + _hdl = hgn; + _lastStep = STEP_GN; + } + else if (hsdNorm > _delta) { + _hdl = _delta / hsdNorm * _hsd; + _lastStep = STEP_SD; + } else { + _auxVector = hgn - _hsd; // b - a + double c = _hsd.dot(_auxVector); + double bmaSquaredNorm = _auxVector.squaredNorm(); + double beta; + if (c <= 0.) + beta = (-c + sqrt(c*c + bmaSquaredNorm * (_delta*_delta - _hsd.squaredNorm()))) / bmaSquaredNorm; + else { + double hsdSqrNorm = _hsd.squaredNorm(); + beta = (_delta*_delta - hsdSqrNorm) / (c + sqrt(c*c + bmaSquaredNorm * (_delta*_delta - hsdSqrNorm))); + } + assert(beta > 0. && beta < 1 && "Error while computing beta"); + _hdl = _hsd + beta * (hgn - _hsd); + _lastStep = STEP_DL; + assert(_hdl.norm() < _delta + 1e-5 && "Computed step does not correspond to the trust region"); + } + + // compute the linear gain + _auxVector.setZero(); + blockSolver->multiplyHessian(_auxVector.data(), _hdl.data()); + double linearGain = -1 * (_auxVector.dot(_hdl)) + 2 * (b.dot(_hdl)); + + // apply the update and see what happens + _optimizer->push(); + _optimizer->update(_hdl.data()); + _optimizer->computeActiveErrors(); + double newChi = _optimizer-> activeRobustChi2(); + double nonLinearGain = currentChi - newChi; + if (fabs(linearGain) < 1e-12) + linearGain = 1e-12; + double rho = nonLinearGain / linearGain; + //cerr << PVAR(nonLinearGain) << " " << PVAR(linearGain) << " " << PVAR(rho) << endl; + if (rho > 0) { // step is good and will be accepted + _optimizer->discardTop(); + goodStep = true; + } else { // recover previous state + _optimizer->pop(); + } + + // update trust region based on the step quality + if (rho > 0.75) + _delta = std::max(_delta, 3. * _hdl.norm()); + else if (rho < 0.25) + _delta *= 0.5; + } while (!goodStep && numTries < _maxTrialsAfterFailure->value()); + if (numTries == _maxTrialsAfterFailure->value() || !goodStep) + return Terminate; + return OK; + } + + void OptimizationAlgorithmDogleg::printVerbose(std::ostream& os) const + { + os + << "\t Delta= " << _delta + << "\t step= " << stepType2Str(_lastStep) + << "\t tries= " << _lastNumTries; + if (! _wasPDInAllIterations) + os << "\t lambda= " << _currentLambda; + } + + const char* OptimizationAlgorithmDogleg::stepType2Str(int stepType) + { + switch (stepType) { + case STEP_SD: return "Descent"; + case STEP_GN: return "GN"; + case STEP_DL: return "Dogleg"; + default: return "Undefined"; + } + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_dogleg.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_dogleg.h new file mode 100644 index 0000000..e49761c --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_dogleg.h @@ -0,0 +1,89 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_OPTIMIZATION_ALGORITHM_DOGLEG_H +#define G2O_OPTIMIZATION_ALGORITHM_DOGLEG_H + +#include "optimization_algorithm_with_hessian.h" + +namespace g2o { + + class BlockSolverBase; + + /** + * \brief Implementation of Powell's Dogleg Algorithm + */ + class OptimizationAlgorithmDogleg : public OptimizationAlgorithmWithHessian + { + public: + /** \brief type of the step to take */ + enum { + STEP_UNDEFINED, + STEP_SD, STEP_GN, STEP_DL + }; + + public: + /** + * construct the Dogleg algorithm, which will use the given Solver for solving the + * linearized system. + */ + explicit OptimizationAlgorithmDogleg(BlockSolverBase* solver); + virtual ~OptimizationAlgorithmDogleg(); + + virtual SolverResult solve(int iteration, bool online = false); + + virtual void printVerbose(std::ostream& os) const; + + //! return the type of the last step taken by the algorithm + int lastStep() const { return _lastStep;} + //! return the diameter of the trust region + double trustRegion() const { return _delta;} + + //! convert the type into an integer + static const char* stepType2Str(int stepType); + + protected: + // parameters + Property* _maxTrialsAfterFailure; + Property* _userDeltaInit; + // damping to enforce positive definite matrix + Property* _initialLambda; + Property* _lamdbaFactor; + + Eigen::VectorXd _hsd; ///< steepest decent step + Eigen::VectorXd _hdl; ///< final dogleg step + Eigen::VectorXd _auxVector; ///< auxilary vector used to perform multiplications or other stuff + + double _currentLambda; ///< the damping factor to force positive definite matrix + double _delta; ///< trust region + int _lastStep; ///< type of the step taken by the algorithm + bool _wasPDInAllIterations; ///< the matrix we solve was positive definite in all iterations -> if not apply damping + int _lastNumTries; + }; + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.cpp new file mode 100644 index 0000000..a9be96e --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.cpp @@ -0,0 +1,137 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "optimization_algorithm_factory.h" + +#include +#include +#include + +using namespace std; + +namespace g2o { + + AbstractOptimizationAlgorithmCreator::AbstractOptimizationAlgorithmCreator(const OptimizationAlgorithmProperty& p) : + _property(p) + { + } + + OptimizationAlgorithmFactory* OptimizationAlgorithmFactory::factoryInstance = 0; + + OptimizationAlgorithmFactory::OptimizationAlgorithmFactory() + { + } + + OptimizationAlgorithmFactory::~OptimizationAlgorithmFactory() + { + for (CreatorList::iterator it = _creator.begin(); it != _creator.end(); ++it) + delete *it; + } + + OptimizationAlgorithmFactory* OptimizationAlgorithmFactory::instance() + { + if (factoryInstance == 0) { + factoryInstance = new OptimizationAlgorithmFactory; + } + return factoryInstance; + } + + void OptimizationAlgorithmFactory::registerSolver(AbstractOptimizationAlgorithmCreator* c) + { + const string& name = c->property().name; + CreatorList::iterator foundIt = findSolver(name); + if (foundIt != _creator.end()) { + _creator.erase(foundIt); + cerr << "SOLVER FACTORY WARNING: Overwriting Solver creator " << name << endl; + assert(0); + } + _creator.push_back(c); + } + + void OptimizationAlgorithmFactory::unregisterSolver(AbstractOptimizationAlgorithmCreator* c) + { + const string& name = c->property().name; + CreatorList::iterator foundIt = findSolver(name); + if (foundIt != _creator.end()) { + delete *foundIt; + _creator.erase(foundIt); + } + } + + OptimizationAlgorithm* OptimizationAlgorithmFactory::construct(const std::string& name, OptimizationAlgorithmProperty& solverProperty) const + { + CreatorList::const_iterator foundIt = findSolver(name); + if (foundIt != _creator.end()) { + solverProperty = (*foundIt)->property(); + return (*foundIt)->construct(); + } + cerr << "SOLVER FACTORY WARNING: Unable to create solver " << name << endl; + return 0; + } + + void OptimizationAlgorithmFactory::destroy() + { + delete factoryInstance; + factoryInstance = 0; + } + + void OptimizationAlgorithmFactory::listSolvers(std::ostream& os) const + { + size_t solverNameColumnLength = 0; + for (CreatorList::const_iterator it = _creator.begin(); it != _creator.end(); ++it) + solverNameColumnLength = std::max(solverNameColumnLength, (*it)->property().name.size()); + solverNameColumnLength += 4; + + for (CreatorList::const_iterator it = _creator.begin(); it != _creator.end(); ++it) { + const OptimizationAlgorithmProperty& sp = (*it)->property(); + os << sp.name; + for (size_t i = sp.name.size(); i < solverNameColumnLength; ++i) + os << ' '; + os << sp.desc << endl; + } + } + + OptimizationAlgorithmFactory::CreatorList::const_iterator OptimizationAlgorithmFactory::findSolver(const std::string& name) const + { + for (CreatorList::const_iterator it = _creator.begin(); it != _creator.end(); ++it) { + const OptimizationAlgorithmProperty& sp = (*it)->property(); + if (sp.name == name) + return it; + } + return _creator.end(); + } + + OptimizationAlgorithmFactory::CreatorList::iterator OptimizationAlgorithmFactory::findSolver(const std::string& name) + { + for (CreatorList::iterator it = _creator.begin(); it != _creator.end(); ++it) { + const OptimizationAlgorithmProperty& sp = (*it)->property(); + if (sp.name == name) + return it; + } + return _creator.end(); + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.h new file mode 100644 index 0000000..b8bf26e --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.h @@ -0,0 +1,167 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_OPTMIZATION_ALGORITHM_PROPERTY_H +#define G2O_OPTMIZATION_ALGORITHM_PROPERTY_H + +#include "../../config.h" +#include "../stuff/misc.h" +#include "optimization_algorithm_property.h" + +#include +#include +#include + + +// define to get some verbose output +//#define G2O_DEBUG_OPTIMIZATION_ALGORITHM_FACTORY + +namespace g2o { + + // forward decl + class OptimizationAlgorithm; + class SparseOptimizer; + + /** + * \brief base for allocating an optimization algorithm + * + * Allocating a solver for a given optimizer. The method construct() has to be + * implemented in your derived class to allocate the desired solver. + */ + class AbstractOptimizationAlgorithmCreator + { + public: + AbstractOptimizationAlgorithmCreator(const OptimizationAlgorithmProperty& p); + virtual ~AbstractOptimizationAlgorithmCreator() { } + //! allocate a solver operating on optimizer, re-implement for your creator + virtual OptimizationAlgorithm* construct() = 0; + //! return the properties of the solver + const OptimizationAlgorithmProperty& property() const { return _property;} + protected: + OptimizationAlgorithmProperty _property; + }; + + /** + * \brief create solvers based on their short name + * + * Factory to allocate solvers based on their short name. + * The Factory is implemented as a sigleton and the single + * instance can be accessed via the instance() function. + */ + class OptimizationAlgorithmFactory + { + public: + typedef std::list CreatorList; + + //! return the instance + static OptimizationAlgorithmFactory* instance(); + + //! free the instance + static void destroy(); + + /** + * register a specific creator for allocating a solver + */ + void registerSolver(AbstractOptimizationAlgorithmCreator* c); + + /** + * unregister a specific creator for allocating a solver + */ + void unregisterSolver(AbstractOptimizationAlgorithmCreator* c); + + /** + * construct a solver based on its name, e.g., var, fix3_2_cholmod + */ + OptimizationAlgorithm* construct(const std::string& tag, OptimizationAlgorithmProperty& solverProperty) const; + + //! list the known solvers into a stream + void listSolvers(std::ostream& os) const; + + //! return the underlying list of creators + const CreatorList& creatorList() const { return _creator;} + + protected: + OptimizationAlgorithmFactory(); + ~OptimizationAlgorithmFactory(); + + CreatorList _creator; + + CreatorList::const_iterator findSolver(const std::string& name) const; + CreatorList::iterator findSolver(const std::string& name); + + private: + static OptimizationAlgorithmFactory* factoryInstance; + }; + + class RegisterOptimizationAlgorithmProxy + { + public: + RegisterOptimizationAlgorithmProxy(AbstractOptimizationAlgorithmCreator* c) + { + _creator = c; +#ifdef G2O_DEBUG_OPTIMIZATION_ALGORITHM_FACTORY + std::cout << __FUNCTION__ << ": Registering " << _creator->property().name << " of type " << typeid(*_creator).name() << std::endl; +#endif + OptimizationAlgorithmFactory::instance()->registerSolver(c); + } + + ~RegisterOptimizationAlgorithmProxy() + { +#ifdef G2O_DEBUG_OPTIMIZATION_ALGORITHM_FACTORY + std::cout << __FUNCTION__ << ": Unregistering " << _creator->property().name << std::endl; +#endif + OptimizationAlgorithmFactory::instance()->unregisterSolver(_creator); + } + private: + AbstractOptimizationAlgorithmCreator* _creator; + }; + +} + +#if defined _MSC_VER && defined G2O_SHARED_LIBS +# define G2O_OAF_EXPORT __declspec(dllexport) +# define G2O_OAF_IMPORT __declspec(dllimport) +#else +# define G2O_OAF_EXPORT +# define G2O_OAF_IMPORT +#endif + +#define G2O_REGISTER_OPTIMIZATION_LIBRARY(libraryname) \ + extern "C" void G2O_OAF_EXPORT g2o_optimization_library_##libraryname(void) {} + +#define G2O_USE_OPTIMIZATION_LIBRARY(libraryname) \ + extern "C" void G2O_OAF_IMPORT g2o_optimization_library_##libraryname(void); \ + static g2o::ForceLinker g2o_force_optimization_algorithm_library_##libraryname(g2o_optimization_library_##libraryname); + +#define G2O_REGISTER_OPTIMIZATION_ALGORITHM(optimizername, instance) \ + extern "C" void G2O_OAF_EXPORT g2o_optimization_algorithm_##optimizername(void) {} \ + static g2o::RegisterOptimizationAlgorithmProxy g_optimization_algorithm_proxy_##optimizername(instance); + +#define G2O_USE_OPTIMIZATION_ALGORITHM(optimizername) \ + extern "C" void G2O_OAF_IMPORT g2o_optimization_algorithm_##optimizername(void); \ + static g2o::ForceLinker g2o_force_optimization_algorithm_link_##optimizername(g2o_optimization_algorithm_##optimizername); + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.cpp new file mode 100644 index 0000000..04ca445 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.cpp @@ -0,0 +1,101 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "optimization_algorithm_gauss_newton.h" + +#include + +#include "../stuff/timeutil.h" +#include "../stuff/macros.h" + +#include "solver.h" +#include "batch_stats.h" +#include "sparse_optimizer.h" +using namespace std; + +namespace g2o { + + OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton(Solver* solver) : + OptimizationAlgorithmWithHessian(solver) + { + } + + OptimizationAlgorithmGaussNewton::~OptimizationAlgorithmGaussNewton() + { + } + + OptimizationAlgorithm::SolverResult OptimizationAlgorithmGaussNewton::solve(int iteration, bool online) + { + assert(_optimizer && "_optimizer not set"); + assert(_solver->optimizer() == _optimizer && "underlying linear solver operates on different graph"); + bool ok = true; + + //here so that correct component for max-mixtures can be computed before the build structure + double t=get_monotonic_time(); + _optimizer->computeActiveErrors(); + G2OBatchStatistics* globalStats = G2OBatchStatistics::globalStats(); + if (globalStats) { + globalStats->timeResiduals = get_monotonic_time()-t; + } + + if (iteration == 0 && !online) { // built up the CCS structure, here due to easy time measure + ok = _solver->buildStructure(); + if (! ok) { + cerr << __PRETTY_FUNCTION__ << ": Failure while building CCS structure" << endl; + return OptimizationAlgorithm::Fail; + } + } + + t=get_monotonic_time(); + _solver->buildSystem(); + if (globalStats) { + globalStats->timeQuadraticForm = get_monotonic_time()-t; + t=get_monotonic_time(); + } + + ok = _solver->solve(); + if (globalStats) { + globalStats->timeLinearSolution = get_monotonic_time()-t; + t=get_monotonic_time(); + } + + _optimizer->update(_solver->x()); + if (globalStats) { + globalStats->timeUpdate = get_monotonic_time()-t; + } + if (ok) + return OK; + else + return Fail; + } + + void OptimizationAlgorithmGaussNewton::printVerbose(std::ostream& os) const + { + os + << "\t schur= " << _solver->schur(); + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.h new file mode 100644 index 0000000..409aa27 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.h @@ -0,0 +1,54 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_OPTIMIZATION_ALGORITHM_GAUSS_NEWTON_H +#define G2O_OPTIMIZATION_ALGORITHM_GAUSS_NEWTON_H + +#include "optimization_algorithm_with_hessian.h" + +namespace g2o { + + /** + * \brief Implementation of the Gauss Newton Algorithm + */ + class OptimizationAlgorithmGaussNewton : public OptimizationAlgorithmWithHessian + { + public: + /** + * construct the Gauss Newton algorithm, which use the given Solver for solving the + * linearized system. + */ + explicit OptimizationAlgorithmGaussNewton(Solver* solver); + virtual ~OptimizationAlgorithmGaussNewton(); + + virtual SolverResult solve(int iteration, bool online = false); + + virtual void printVerbose(std::ostream& os) const; + }; + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.cpp new file mode 100644 index 0000000..b24718f --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.cpp @@ -0,0 +1,209 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +// Modified Raul Mur Artal (2014) +// - Stop criterium (solve function) + +#include "optimization_algorithm_levenberg.h" + +#include + +#include "../stuff/timeutil.h" + +#include "sparse_optimizer.h" +#include "solver.h" +#include "batch_stats.h" +using namespace std; + +namespace g2o { + + OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(Solver* solver) : + OptimizationAlgorithmWithHessian(solver) + { + _currentLambda = -1.; + _tau = 1e-5; + _goodStepUpperScale = 2./3.; + _goodStepLowerScale = 1./3.; + _userLambdaInit = _properties.makeProperty >("initialLambda", 0.); + _maxTrialsAfterFailure = _properties.makeProperty >("maxTrialsAfterFailure", 10); + _ni=2.; + _levenbergIterations = 0; + _nBad = 0; + } + + OptimizationAlgorithmLevenberg::~OptimizationAlgorithmLevenberg() + { + } + + OptimizationAlgorithm::SolverResult OptimizationAlgorithmLevenberg::solve(int iteration, bool online) + { + assert(_optimizer && "_optimizer not set"); + assert(_solver->optimizer() == _optimizer && "underlying linear solver operates on different graph"); + + if (iteration == 0 && !online) { // built up the CCS structure, here due to easy time measure + bool ok = _solver->buildStructure(); + if (! ok) { + cerr << __PRETTY_FUNCTION__ << ": Failure while building CCS structure" << endl; + return OptimizationAlgorithm::Fail; + } + } + + double t=get_monotonic_time(); + _optimizer->computeActiveErrors(); + G2OBatchStatistics* globalStats = G2OBatchStatistics::globalStats(); + if (globalStats) { + globalStats->timeResiduals = get_monotonic_time()-t; + t=get_monotonic_time(); + } + + double currentChi = _optimizer->activeRobustChi2(); + double tempChi=currentChi; + + double iniChi = currentChi; + + _solver->buildSystem(); + if (globalStats) { + globalStats->timeQuadraticForm = get_monotonic_time()-t; + } + + // core part of the Levenbarg algorithm + if (iteration == 0) { + _currentLambda = computeLambdaInit(); + _ni = 2; + _nBad = 0; + } + + double rho=0; + int& qmax = _levenbergIterations; + qmax = 0; + do { + _optimizer->push(); + if (globalStats) { + globalStats->levenbergIterations++; + t=get_monotonic_time(); + } + // update the diagonal of the system matrix + _solver->setLambda(_currentLambda, true); + bool ok2 = _solver->solve(); + if (globalStats) { + globalStats->timeLinearSolution+=get_monotonic_time()-t; + t=get_monotonic_time(); + } + _optimizer->update(_solver->x()); + if (globalStats) { + globalStats->timeUpdate = get_monotonic_time()-t; + } + + // restore the diagonal + _solver->restoreDiagonal(); + + _optimizer->computeActiveErrors(); + tempChi = _optimizer->activeRobustChi2(); + + if (! ok2) + tempChi=std::numeric_limits::max(); + + rho = (currentChi-tempChi); + double scale = computeScale(); + scale += 1e-3; // make sure it's non-zero :) + rho /= scale; + + if (rho>0 && g2o_isfinite(tempChi)){ // last step was good + double alpha = 1.-pow((2*rho-1),3); + // crop lambda between minimum and maximum factors + alpha = (std::min)(alpha, _goodStepUpperScale); + double scaleFactor = (std::max)(_goodStepLowerScale, alpha); + _currentLambda *= scaleFactor; + _ni = 2; + currentChi=tempChi; + _optimizer->discardTop(); + } else { + _currentLambda*=_ni; + _ni*=2; + _optimizer->pop(); // restore the last state before trying to optimize + } + qmax++; + } while (rho<0 && qmax < _maxTrialsAfterFailure->value() && ! _optimizer->terminate()); + + if (qmax == _maxTrialsAfterFailure->value() || rho==0) + return Terminate; + + //Stop criterium (Raul) + if((iniChi-currentChi)*1e3=3) + return Terminate; + + return OK; + } + + double OptimizationAlgorithmLevenberg::computeLambdaInit() const + { + if (_userLambdaInit->value() > 0) + return _userLambdaInit->value(); + double maxDiagonal=0.; + for (size_t k = 0; k < _optimizer->indexMapping().size(); k++) { + OptimizableGraph::Vertex* v = _optimizer->indexMapping()[k]; + assert(v); + int dim = v->dimension(); + for (int j = 0; j < dim; ++j){ + maxDiagonal = std::max(fabs(v->hessian(j,j)),maxDiagonal); + } + } + return _tau*maxDiagonal; + } + + double OptimizationAlgorithmLevenberg::computeScale() const + { + double scale = 0.; + for (size_t j=0; j < _solver->vectorSize(); j++){ + scale += _solver->x()[j] * (_currentLambda * _solver->x()[j] + _solver->b()[j]); + } + return scale; + } + + void OptimizationAlgorithmLevenberg::setMaxTrialsAfterFailure(int max_trials) + { + _maxTrialsAfterFailure->setValue(max_trials); + } + + void OptimizationAlgorithmLevenberg::setUserLambdaInit(double lambda) + { + _userLambdaInit->setValue(lambda); + } + + void OptimizationAlgorithmLevenberg::printVerbose(std::ostream& os) const + { + os + << "\t schur= " << _solver->schur() + << "\t lambda= " << FIXED(_currentLambda) + << "\t levenbergIter= " << _levenbergIterations; + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h new file mode 100644 index 0000000..bc4a4a0 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h @@ -0,0 +1,92 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_SOLVER_LEVENBERG_H +#define G2O_SOLVER_LEVENBERG_H + +#include "optimization_algorithm_with_hessian.h" + +namespace g2o { + + /** + * \brief Implementation of the Levenberg Algorithm + */ + class OptimizationAlgorithmLevenberg : public OptimizationAlgorithmWithHessian + { + public: + /** + * construct the Levenberg algorithm, which will use the given Solver for solving the + * linearized system. + */ + explicit OptimizationAlgorithmLevenberg(Solver* solver); + virtual ~OptimizationAlgorithmLevenberg(); + + virtual SolverResult solve(int iteration, bool online = false); + + virtual void printVerbose(std::ostream& os) const; + + //! return the currently used damping factor + double currentLambda() const { return _currentLambda;} + + //! the number of internal iteration if an update step increases chi^2 within Levenberg-Marquardt + void setMaxTrialsAfterFailure(int max_trials); + + //! get the number of inner iterations for Levenberg-Marquardt + int maxTrialsAfterFailure() const { return _maxTrialsAfterFailure->value();} + + //! return the lambda set by the user, if < 0 the SparseOptimizer will compute the initial lambda + double userLambdaInit() {return _userLambdaInit->value();} + //! specify the initial lambda used for the first iteraion, if not given the SparseOptimizer tries to compute a suitable value + void setUserLambdaInit(double lambda); + + //! return the number of levenberg iterations performed in the last round + int levenbergIteration() { return _levenbergIterations;} + + protected: + // Levenberg parameters + Property* _maxTrialsAfterFailure; + Property* _userLambdaInit; + double _currentLambda; + double _tau; + double _goodStepLowerScale; ///< lower bound for lambda decrease if a good LM step + double _goodStepUpperScale; ///< upper bound for lambda decrease if a good LM step + double _ni; + int _levenbergIterations; ///< the numer of levenberg iterations performed to accept the last step + //RAUL + int _nBad; + + /** + * helper for Levenberg, this function computes the initial damping factor, if the user did not + * specify an own value, see setUserLambdaInit() + */ + double computeLambdaInit() const; + double computeScale() const; + + }; + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_property.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_property.h new file mode 100644 index 0000000..62abb0e --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_property.h @@ -0,0 +1,57 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_OPTIMIZATION_ALGORITHM_PROPERTY_H +#define G2O_OPTIMIZATION_ALGORITHM_PROPERTY_H + +#include + +namespace g2o { + +/** + * \brief describe the properties of a solver + */ +struct OptimizationAlgorithmProperty +{ + std::string name; ///< name of the solver, e.g., var + std::string desc; ///< short description of the solver + std::string type; ///< type of solver, e.g., "CSparse Cholesky", "PCG" + bool requiresMarginalize; ///< whether the solver requires marginalization of landmarks + int poseDim; ///< dimension of the pose vertices (-1 if variable) + int landmarkDim; ///< dimension of the landmar vertices (-1 if variable) + OptimizationAlgorithmProperty() : + name(), desc(), type(), requiresMarginalize(false), poseDim(-1), landmarkDim(-1) + { + } + OptimizationAlgorithmProperty(const std::string& name_, const std::string& desc_, const std::string& type_, bool requiresMarginalize_, int poseDim_, int landmarkDim_) : + name(name_), desc(desc_), type(type_), requiresMarginalize(requiresMarginalize_), poseDim(poseDim_), landmarkDim(landmarkDim_) + { + } +}; + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.cpp new file mode 100644 index 0000000..5c23a78 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.cpp @@ -0,0 +1,101 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "optimization_algorithm_with_hessian.h" + +#include "solver.h" +#include "optimizable_graph.h" +#include "sparse_optimizer.h" + +#include +using namespace std; + +namespace g2o { + + OptimizationAlgorithmWithHessian::OptimizationAlgorithmWithHessian(Solver* solver) : + OptimizationAlgorithm(), + _solver(solver) + { + _writeDebug = _properties.makeProperty >("writeDebug", true); + } + + OptimizationAlgorithmWithHessian::~OptimizationAlgorithmWithHessian() + { + delete _solver; + } + + bool OptimizationAlgorithmWithHessian::init(bool online) + { + assert(_optimizer && "_optimizer not set"); + assert(_solver && "Solver not set"); + _solver->setWriteDebug(_writeDebug->value()); + bool useSchur=false; + for (OptimizableGraph::VertexContainer::const_iterator it=_optimizer->activeVertices().begin(); it!=_optimizer->activeVertices().end(); ++it) { + OptimizableGraph::Vertex* v= *it; + if (v->marginalized()){ + useSchur=true; + break; + } + } + if (useSchur){ + if (_solver->supportsSchur()) + _solver->setSchur(true); + } else { + if (_solver->supportsSchur()) + _solver->setSchur(false); + } + + bool initState = _solver->init(_optimizer, online); + return initState; + } + + bool OptimizationAlgorithmWithHessian::computeMarginals(SparseBlockMatrix& spinv, const std::vector >& blockIndices) + { + return _solver ? _solver->computeMarginals(spinv, blockIndices) : false; + } + + bool OptimizationAlgorithmWithHessian::buildLinearStructure() + { + return _solver ? _solver->buildStructure() : false; + } + + void OptimizationAlgorithmWithHessian::updateLinearSystem() + { + if (_solver) + _solver->buildSystem(); + } + + bool OptimizationAlgorithmWithHessian::updateStructure(const std::vector& vset, const HyperGraph::EdgeSet& edges) + { + return _solver ? _solver->updateStructure(vset, edges) : false; + } + + void OptimizationAlgorithmWithHessian::setWriteDebug(bool writeDebug) + { + _writeDebug->setValue(writeDebug); + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.h new file mode 100644 index 0000000..cf5da58 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.h @@ -0,0 +1,72 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_OPTIMIZATION_ALGORITHM_WITH_HESSIAN_H +#define G2O_OPTIMIZATION_ALGORITHM_WITH_HESSIAN_H + +#include "optimization_algorithm.h" + +namespace g2o { + + class Solver; + + /** + * \brief Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg + */ + class OptimizationAlgorithmWithHessian : public OptimizationAlgorithm + { + public: + explicit OptimizationAlgorithmWithHessian(Solver* solver); + virtual ~OptimizationAlgorithmWithHessian(); + + virtual bool init(bool online = false); + + virtual bool computeMarginals(SparseBlockMatrix& spinv, const std::vector >& blockIndices); + + virtual bool buildLinearStructure(); + + virtual void updateLinearSystem(); + + virtual bool updateStructure(const std::vector& vset, const HyperGraph::EdgeSet& edges); + + //! return the underlying solver used to solve the linear system + Solver* solver() { return _solver;} + + /** + * write debug output of the Hessian if system is not positive definite + */ + virtual void setWriteDebug(bool writeDebug); + virtual bool writeDebug() const { return _writeDebug->value();} + + protected: + Solver* _solver; + Property* _writeDebug; + + }; + +}// end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/parameter.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/parameter.cpp new file mode 100644 index 0000000..345f9c0 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/parameter.cpp @@ -0,0 +1,40 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "parameter.h" + +namespace g2o { + + Parameter::Parameter() : _id(-1) + { + } + + void Parameter::setId(int id_) + { + _id = id_; + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/parameter.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/parameter.h new file mode 100644 index 0000000..6def664 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/parameter.h @@ -0,0 +1,56 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_GRAPH_PARAMETER_HH_ +#define G2O_GRAPH_PARAMETER_HH_ + +#include + +#include "hyper_graph.h" + +namespace g2o { + + class Parameter : public HyperGraph::HyperGraphElement + { + public: + Parameter(); + virtual ~Parameter() {}; + //! read the data from a stream + virtual bool read(std::istream& is) = 0; + //! write the data to a stream + virtual bool write(std::ostream& os) const = 0; + int id() const {return _id;} + void setId(int id_); + virtual HyperGraph::HyperGraphElementType elementType() const { return HyperGraph::HGET_PARAMETER;} + protected: + int _id; + }; + + typedef std::vector ParameterVector; + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/parameter_container.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/parameter_container.cpp new file mode 100644 index 0000000..d012331 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/parameter_container.cpp @@ -0,0 +1,142 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "parameter_container.h" + +#include + +#include "factory.h" +#include "parameter.h" + +#include "../stuff/macros.h" +#include "../stuff/color_macros.h" +#include "../stuff/string_tools.h" + +namespace g2o { + + using namespace std; + + ParameterContainer::ParameterContainer(bool isMainStorage_) : + _isMainStorage(isMainStorage_) + { + } + + void ParameterContainer::clear() { + if (!_isMainStorage) + return; + for (iterator it = begin(); it!=end(); it++){ + delete it->second; + } + BaseClass::clear(); + } + + ParameterContainer::~ParameterContainer(){ + clear(); + } + + bool ParameterContainer::addParameter(Parameter* p){ + if (p->id()<0) + return false; + iterator it=find(p->id()); + if (it!=end()) + return false; + insert(make_pair(p->id(), p)); + return true; + } + + Parameter* ParameterContainer::getParameter(int id) { + iterator it=find(id); + if (it==end()) + return 0; + return it->second; + } + + Parameter* ParameterContainer::detachParameter(int id){ + iterator it=find(id); + if (it==end()) + return 0; + Parameter* p=it->second; + erase(it); + return p; + } + + bool ParameterContainer::write(std::ostream& os) const{ + Factory* factory = Factory::instance(); + for (const_iterator it=begin(); it!=end(); it++){ + os << factory->tag(it->second) << " "; + os << it->second->id() << " "; + it->second->write(os); + os << endl; + } + return true; + } + + bool ParameterContainer::read(std::istream& is, const std::map* _renamedTypesLookup){ + stringstream currentLine; + string token; + + Factory* factory = Factory::instance(); + HyperGraph::GraphElemBitset elemBitset; + elemBitset[HyperGraph::HGET_PARAMETER] = 1; + + while (1) { + int bytesRead = readLine(is, currentLine); + if (bytesRead == -1) + break; + currentLine >> token; + if (bytesRead == 0 || token.size() == 0 || token[0] == '#') + continue; + if (_renamedTypesLookup && _renamedTypesLookup->size()>0){ + map::const_iterator foundIt = _renamedTypesLookup->find(token); + if (foundIt != _renamedTypesLookup->end()) { + token = foundIt->second; + } + } + + HyperGraph::HyperGraphElement* element = factory->construct(token, elemBitset); + if (! element) // not a parameter or otherwise unknown tag + continue; + assert(element->elementType() == HyperGraph::HGET_PARAMETER && "Should be a param"); + + Parameter* p = static_cast(element); + int pid; + currentLine >> pid; + p->setId(pid); + bool r = p->read(currentLine); + if (! r) { + cerr << __PRETTY_FUNCTION__ << ": Error reading data " << token << " for parameter " << pid << endl; + delete p; + } else { + if (! addParameter(p) ){ + cerr << __PRETTY_FUNCTION__ << ": Parameter of type:" << token << " id:" << pid << " already defined" << endl; + } + } + } // while read line + + return true; + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/parameter_container.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/parameter_container.h new file mode 100644 index 0000000..eef6c2f --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/parameter_container.h @@ -0,0 +1,74 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_GRAPH_PARAMETER_CONTAINER_HH_ +#define G2O_GRAPH_PARAMETER_CONTAINER_HH_ + +#include +#include +#include + +namespace g2o { + + class Parameter; + + /** + * \brief map id to parameters + */ + class ParameterContainer : protected std::map + { + public: + typedef std::map BaseClass; + + /** + * create a container for the parameters. + * @param isMainStorage_ pointers to the parameters are owned by this container, i.e., freed in its constructor + */ + ParameterContainer(bool isMainStorage_=true); + virtual ~ParameterContainer(); + //! add parameter to the container + bool addParameter(Parameter* p); + //! return a parameter based on its ID + Parameter* getParameter(int id); + //! remove a parameter from the container, i.e., the user now owns the pointer + Parameter* detachParameter(int id); + //! read parameters from a stream + virtual bool read(std::istream& is, const std::map* renamedMap =0); + //! write the data to a stream + virtual bool write(std::ostream& os) const; + bool isMainStorage() const {return _isMainStorage;} + void clear(); + + // stuff of the base class that should re-appear + using BaseClass::size; + + protected: + bool _isMainStorage; + }; + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel.cpp new file mode 100644 index 0000000..ac6776d --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel.cpp @@ -0,0 +1,46 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "robust_kernel.h" + +namespace g2o { + +RobustKernel::RobustKernel() : + _delta(1.) +{ +} + +RobustKernel::RobustKernel(double delta) : + _delta(delta) +{ +} + +void RobustKernel::setDelta(double delta) +{ + _delta = delta; +} + +} // end namespace g2o diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel.h new file mode 100644 index 0000000..29e1394 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel.h @@ -0,0 +1,81 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_ROBUST_KERNEL_H +#define G2O_ROBUST_KERNEL_H + +#ifdef _MSC_VER +#include +#else +#include +#endif +#include + + +namespace g2o { + + /** + * \brief base for all robust cost functions + * + * Note in all the implementations for the other cost functions the e in the + * funtions corresponds to the sqaured errors, i.e., the robustification + * functions gets passed the squared error. + * + * e.g. the robustified least squares function is + * + * chi^2 = sum_{e} rho( e^T Omega e ) + */ + class RobustKernel + { + public: + RobustKernel(); + explicit RobustKernel(double delta); + virtual ~RobustKernel() {} + /** + * compute the scaling factor for a error: + * The error is e^T Omega e + * The output rho is + * rho[0]: The actual scaled error value + * rho[1]: First derivative of the scaling function + * rho[2]: Second derivative of the scaling function + */ + virtual void robustify(double squaredError, Eigen::Vector3d& rho) const = 0; + + /** + * set the window size of the error. A squared error above delta^2 is considered + * as outlier in the data. + */ + virtual void setDelta(double delta); + double delta() const { return _delta;} + + protected: + double _delta; + }; + typedef std::tr1::shared_ptr RobustKernelPtr; + +} // end namespace g2o + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel_factory.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel_factory.cpp new file mode 100644 index 0000000..1d028cf --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel_factory.cpp @@ -0,0 +1,111 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "robust_kernel_factory.h" +#include "robust_kernel.h" + +#include + +using namespace std; + +namespace g2o { + +RobustKernelFactory* RobustKernelFactory::factoryInstance = 0; + +RobustKernelFactory::RobustKernelFactory() +{ +} + +RobustKernelFactory::~RobustKernelFactory() +{ + for (CreatorMap::iterator it = _creator.begin(); it != _creator.end(); ++it) { + delete it->second; + } + _creator.clear(); +} + +RobustKernelFactory* RobustKernelFactory::instance() +{ + if (factoryInstance == 0) { + factoryInstance = new RobustKernelFactory; + } + + return factoryInstance; +} + +void RobustKernelFactory::registerRobustKernel(const std::string& tag, AbstractRobustKernelCreator* c) +{ + CreatorMap::const_iterator foundIt = _creator.find(tag); + if (foundIt != _creator.end()) { + cerr << "RobustKernelFactory WARNING: Overwriting robust kernel tag " << tag << endl; + assert(0); + } + + _creator[tag] = c; +} + +void RobustKernelFactory::unregisterType(const std::string& tag) +{ + CreatorMap::iterator tagPosition = _creator.find(tag); + if (tagPosition != _creator.end()) { + AbstractRobustKernelCreator* c = tagPosition->second; + delete c; + _creator.erase(tagPosition); + } +} + +RobustKernel* RobustKernelFactory::construct(const std::string& tag) const +{ + CreatorMap::const_iterator foundIt = _creator.find(tag); + if (foundIt != _creator.end()) { + return foundIt->second->construct(); + } + return 0; +} + +AbstractRobustKernelCreator* RobustKernelFactory::creator(const std::string& tag) const +{ + CreatorMap::const_iterator foundIt = _creator.find(tag); + if (foundIt != _creator.end()) { + return foundIt->second; + } + return 0; +} + +void RobustKernelFactory::fillKnownKernels(std::vector& types) const +{ + types.clear(); + for (CreatorMap::const_iterator it = _creator.begin(); it != _creator.end(); ++it) + types.push_back(it->first); +} + +void RobustKernelFactory::destroy() +{ + delete factoryInstance; + factoryInstance = 0; +} + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel_factory.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel_factory.h new file mode 100644 index 0000000..bcdec07 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel_factory.h @@ -0,0 +1,151 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_ROBUST_KERNEL_FACTORY_H +#define G2O_ROBUST_KERNEL_FACTORY_H + +#include "../stuff/misc.h" + +#include +#include +#include +#include + +namespace g2o { + + class RobustKernel; + + /** + * \brief Abstract interface for allocating a robust kernel + */ + class AbstractRobustKernelCreator + { + public: + /** + * create a hyper graph element. Has to implemented in derived class. + */ + virtual RobustKernel* construct() = 0; + virtual ~AbstractRobustKernelCreator() { } + }; + + /** + * \brief templatized creator class which creates graph elements + */ + template + class RobustKernelCreator : public AbstractRobustKernelCreator + { + public: + RobustKernel* construct() { return new T;} + }; + + /** + * \brief create robust kernels based on their human readable name + */ + class RobustKernelFactory + { + public: + + //! return the instance + static RobustKernelFactory* instance(); + + //! free the instance + static void destroy(); + + /** + * register a tag for a specific creator + */ + void registerRobustKernel(const std::string& tag, AbstractRobustKernelCreator* c); + + /** + * unregister a tag for a specific creator + */ + void unregisterType(const std::string& tag); + + /** + * construct a robust kernel based on its tag + */ + RobustKernel* construct(const std::string& tag) const; + + /** + * return the creator for a specific tag + */ + AbstractRobustKernelCreator* creator(const std::string& tag) const; + + /** + * get a list of all known robust kernels + */ + void fillKnownKernels(std::vector& types) const; + + protected: + + typedef std::map CreatorMap; + RobustKernelFactory(); + ~RobustKernelFactory(); + + CreatorMap _creator; ///< look-up map for the existing creators + + private: + static RobustKernelFactory* factoryInstance; + }; + + template + class RegisterRobustKernelProxy + { + public: + RegisterRobustKernelProxy(const std::string& name) : _name(name) + { + RobustKernelFactory::instance()->registerRobustKernel(_name, new RobustKernelCreator()); + } + + ~RegisterRobustKernelProxy() + { + RobustKernelFactory::instance()->unregisterType(_name); + } + + private: + std::string _name; + }; + +#if defined _MSC_VER && defined G2O_SHARED_LIBS +# define G2O_ROBUST_KERNEL_FACTORY_EXPORT __declspec(dllexport) +# define G2O_ROBUST_KERNEL_FACTORY_IMPORT __declspec(dllimport) +#else +# define G2O_ROBUST_KERNEL_FACTORY_EXPORT +# define G2O_ROBUST_KERNEL_FACTORY_IMPORT +#endif + + // These macros are used to automate registering of robust kernels and forcing linkage +#define G2O_REGISTER_ROBUST_KERNEL(name, classname) \ + extern "C" void G2O_ROBUST_KERNEL_FACTORY_EXPORT g2o_robust_kernel_##classname(void) {} \ + static g2o::RegisterRobustKernelProxy g_robust_kernel_proxy_##classname(#name); + +#define G2O_USE_ROBUST_KERNEL(classname) \ + extern "C" void G2O_ROBUST_KERNEL_FACTORY_IMPORT g2o_robust_kernel_##classname(void); \ + static g2o::TypeFunctionProxy proxy_##classname(g2o_robust_kernel_##classname); + +} // end namespace g2o + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel_impl.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel_impl.cpp new file mode 100644 index 0000000..e446efc --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel_impl.cpp @@ -0,0 +1,173 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "robust_kernel_impl.h" +#include "robust_kernel_factory.h" + +#include + +namespace g2o { + +RobustKernelScaleDelta::RobustKernelScaleDelta(const RobustKernelPtr& kernel, double delta) : + RobustKernel(delta), + _kernel(kernel) +{ +} + +RobustKernelScaleDelta::RobustKernelScaleDelta(double delta) : + RobustKernel(delta) +{ +} + +void RobustKernelScaleDelta::setKernel(const RobustKernelPtr& ptr) +{ + _kernel = ptr; +} + +void RobustKernelScaleDelta::robustify(double error, Eigen::Vector3d& rho) const +{ + if (_kernel.get()) { + double dsqr = _delta * _delta; + double dsqrReci = 1. / dsqr; + _kernel->robustify(dsqrReci * error, rho); + rho[0] *= dsqr; + rho[2] *= dsqrReci; + } else { // no robustification + rho[0] = error; + rho[1] = 1.; + rho[2] = 0.; + } +} + +void RobustKernelHuber::setDelta(double delta) +{ + dsqr = delta*delta; + _delta = delta; +} + + +void RobustKernelHuber::setDeltaSqr(const double &delta, const double &deltaSqr) +{ + dsqr = deltaSqr; + _delta = delta; +} + +void RobustKernelHuber::robustify(double e, Eigen::Vector3d& rho) const +{ + //dsqr = _delta * _delta; + if (e <= dsqr) { // inlier + rho[0] = e; + rho[1] = 1.; + rho[2] = 0.; + } else { // outlier + double sqrte = sqrt(e); // absolut value of the error + rho[0] = 2*sqrte*_delta - dsqr; // rho(e) = 2 * delta * e^(1/2) - delta^2 + rho[1] = _delta / sqrte; // rho'(e) = delta / sqrt(e) + rho[2] = - 0.5 * rho[1] / e; // rho''(e) = -1 / (2*e^(3/2)) = -1/2 * (delta/e) / e + } +} + +void RobustKernelTukey::setDeltaSqr(const double &deltaSqr, const double &inv) +{ + _deltaSqr = deltaSqr; + _invDeltaSqr = inv; + +} + +void RobustKernelTukey::robustify(double e, Eigen::Vector3d& rho) const +{ + if (e <= _deltaSqr) { // inlier + double factor = e*_invDeltaSqr; + double d = 1-factor; + double dd = d*d; + rho[0] = _deltaSqr*(1-dd*d); + rho[1] = 3*dd; + rho[2] = -6*_invDeltaSqr*d; + } else { // outlier + rho[0] = _deltaSqr; // rho(e) = delta^2 + rho[1] = 0.; + rho[2] = 0.; + } +} + +void RobustKernelPseudoHuber::robustify(double e2, Eigen::Vector3d& rho) const +{ + double dsqr = _delta * _delta; + double dsqrReci = 1. / dsqr; + double aux1 = dsqrReci * e2 + 1.0; + double aux2 = sqrt(aux1); + rho[0] = 2 * dsqr * (aux2 - 1); + rho[1] = 1. / aux2; + rho[2] = -0.5 * dsqrReci * rho[1] / aux1; +} + +void RobustKernelCauchy::robustify(double e2, Eigen::Vector3d& rho) const +{ + double dsqr = _delta * _delta; + double dsqrReci = 1. / dsqr; + double aux = dsqrReci * e2 + 1.0; + rho[0] = dsqr * log(aux); + rho[1] = 1. / aux; + rho[2] = -dsqrReci * std::pow(rho[1], 2); +} + +void RobustKernelSaturated::robustify(double e2, Eigen::Vector3d& rho) const +{ + double dsqr = _delta * _delta; + if (e2 <= dsqr) { // inlier + rho[0] = e2; + rho[1] = 1.; + rho[2] = 0.; + } else { // outlier + rho[0] = dsqr; + rho[1] = 0.; + rho[2] = 0.; + } +} + +//delta is used as $phi$ +void RobustKernelDCS::robustify(double e2, Eigen::Vector3d& rho) const +{ + const double& phi = _delta; + double scale = (2.0*phi)/(phi+e2); + if(scale>=1.0) + scale = 1.0; + + rho[0] = scale*e2*scale; + rho[1] = (scale*scale); + rho[2] = 0; +} + + +// register the kernel to their factory +G2O_REGISTER_ROBUST_KERNEL(Huber, RobustKernelHuber) +G2O_REGISTER_ROBUST_KERNEL(Tukey, RobustKernelTukey) +G2O_REGISTER_ROBUST_KERNEL(PseudoHuber, RobustKernelPseudoHuber) +G2O_REGISTER_ROBUST_KERNEL(Cauchy, RobustKernelCauchy) +G2O_REGISTER_ROBUST_KERNEL(Saturated, RobustKernelSaturated) +G2O_REGISTER_ROBUST_KERNEL(DCS, RobustKernelDCS) + +} // end namespace g2o diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel_impl.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel_impl.h new file mode 100644 index 0000000..066cc37 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/robust_kernel_impl.h @@ -0,0 +1,167 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_ROBUST_KERNEL_IMPL_H +#define G2O_ROBUST_KERNEL_IMPL_H + +#include "robust_kernel.h" + +namespace g2o { + + /** + * \brief scale a robust kernel to another delta (window size) + * + * Scales a robust kernel to another window size. Useful, in case if + * one implements a kernel which only is designed for a fixed window + * size. + */ + class RobustKernelScaleDelta : public RobustKernel + { + public: + /** + * construct the scaled kernel ontop of another kernel which might be shared accross + * several scaled kernels + */ + explicit RobustKernelScaleDelta(const RobustKernelPtr& kernel, double delta = 1.); + explicit RobustKernelScaleDelta(double delta = 1.); + + //! return the underlying kernel + const RobustKernelPtr kernel() const { return _kernel;} + //! use another kernel for the underlying operation + void setKernel(const RobustKernelPtr& ptr); + + void robustify(double error, Eigen::Vector3d& rho) const; + + protected: + RobustKernelPtr _kernel; + }; + + /** + * \brief Huber Cost Function + * + * Loss function as described by Huber + * See http://en.wikipedia.org/wiki/Huber_loss_function + * + * If e^(1/2) < d + * rho(e) = e + * + * else + * + * 1/2 2 + * rho(e) = 2 d e - d + */ + class RobustKernelHuber : public RobustKernel + { + public: + virtual void setDelta(double delta); + virtual void setDeltaSqr(const double &delta, const double &deltaSqr); + virtual void robustify(double e2, Eigen::Vector3d& rho) const; + + private: + float dsqr; + }; + + /** + * \brief Tukey Cost Function + * + * + * If e^(1/2) < d + * rho(e) = delta2(1-(1-e/delta2)^3) + * + * else + * + * rho(e) = delta2 + */ + class RobustKernelTukey : public RobustKernel + { + public: + + virtual void setDeltaSqr(const double &deltaSqr, const double &inv); + virtual void robustify(double e2, Eigen::Vector3d& rho) const; + private: + float _deltaSqr; + float _invDeltaSqr; + }; + + + /** + * \brief Pseudo Huber Cost Function + * + * The smooth pseudo huber cost function: + * See http://en.wikipedia.org/wiki/Huber_loss_function + * + * 2 e + * 2 d (sqrt(-- + 1) - 1) + * 2 + * d + */ + class RobustKernelPseudoHuber : public RobustKernel + { + public: + virtual void robustify(double e2, Eigen::Vector3d& rho) const; + }; + + /** + * \brief Cauchy cost function + * + * 2 e + * d log(-- + 1) + * 2 + * d + */ + class RobustKernelCauchy : public RobustKernel + { + public: + virtual void robustify(double e2, Eigen::Vector3d& rho) const; + }; + + /** + * \brief Saturated cost function. + * + * The error is at most delta^2 + */ + class RobustKernelSaturated : public RobustKernel + { + public: + virtual void robustify(double e2, Eigen::Vector3d& rho) const; + }; + + /** + * \brief Dynamic covariance scaling - DCS + * + * See paper Robust Map Optimization from Agarwal et al. ICRA 2013 + * + * delta is used as $phi$ + */ + class RobustKernelDCS : public RobustKernel + { + public: + virtual void robustify(double e2, Eigen::Vector3d& rho) const; + }; + +} // end namespace g2o + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/solver.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/solver.cpp new file mode 100644 index 0000000..cdddfac --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/solver.cpp @@ -0,0 +1,87 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "solver.h" + +#include +#include + +namespace g2o { + +Solver::Solver() : + _optimizer(0), _x(0), _b(0), _xSize(0), _maxXSize(0), + _isLevenberg(false), _additionalVectorSpace(0) +{ +} + +Solver::~Solver() +{ + delete[] _x; + delete[] _b; +} + +void Solver::resizeVector(size_t sx) +{ + size_t oldSize = _xSize; + _xSize = sx; + sx += _additionalVectorSpace; // allocate some additional space if requested + if (_maxXSize < sx) { + _maxXSize = 2*sx; + delete[] _x; + _x = new double[_maxXSize]; +#ifndef NDEBUG + memset(_x, 0, _maxXSize * sizeof(double)); +#endif + if (_b) { // backup the former b, might still be needed for online processing + memcpy(_x, _b, oldSize * sizeof(double)); + delete[] _b; + _b = new double[_maxXSize]; + std::swap(_b, _x); + } else { + _b = new double[_maxXSize]; +#ifndef NDEBUG + memset(_b, 0, _maxXSize * sizeof(double)); +#endif + } + } +} + +void Solver::setOptimizer(SparseOptimizer* optimizer) +{ + _optimizer = optimizer; +} + +void Solver::setLevenberg(bool levenberg) +{ + _isLevenberg = levenberg; +} + +void Solver::setAdditionalVectorSpace(size_t s) +{ + _additionalVectorSpace = s; +} + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/solver.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/solver.h new file mode 100644 index 0000000..a801d31 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/solver.h @@ -0,0 +1,151 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_SOLVER_H +#define G2O_SOLVER_H + +#include "hyper_graph.h" +#include "batch_stats.h" +#include "sparse_block_matrix.h" +#include + +namespace g2o { + + + class SparseOptimizer; + + /** + * \brief Generic interface for a sparse solver operating on a graph which solves one iteration of the linearized objective function + */ + class Solver + { + public: + Solver(); + virtual ~Solver(); + + public: + /** + * initialize the solver, called once before the first iteration + */ + virtual bool init(SparseOptimizer* optimizer, bool online = false) = 0; + + /** + * build the structure of the system + */ + virtual bool buildStructure(bool zeroBlocks = false) = 0; + /** + * update the structures for online processing + */ + virtual bool updateStructure(const std::vector& vset, const HyperGraph::EdgeSet& edges) = 0; + /** + * build the current system + */ + virtual bool buildSystem() = 0; + + /** + * solve Ax = b + */ + virtual bool solve() = 0; + + /** + * computes the block diagonal elements of the pattern specified in the input + * and stores them in given SparseBlockMatrix + */ + virtual bool computeMarginals(SparseBlockMatrix& spinv, const std::vector >& blockIndices) = 0; + + /** + * update the system while performing Levenberg, i.e., modifying the diagonal + * components of A by doing += lambda along the main diagonal of the Matrix. + * Note that this function may be called with a positive and a negative lambda. + * The latter is used to undo a former modification. + * If backup is true, then the solver should store a backup of the diagonal, which + * can be restored by restoreDiagonal() + */ + virtual bool setLambda(double lambda, bool backup = false) = 0; + + /** + * restore a previosly made backup of the diagonal + */ + virtual void restoreDiagonal() = 0; + + //! return x, the solution vector + double* x() { return _x;} + const double* x() const { return _x;} + //! return b, the right hand side of the system + double* b() { return _b;} + const double* b() const { return _b;} + + //! return the size of the solution vector (x) and b + size_t vectorSize() const { return _xSize;} + + //! the optimizer (graph) on which the solver works + SparseOptimizer* optimizer() const { return _optimizer;} + void setOptimizer(SparseOptimizer* optimizer); + + //! the system is Levenberg-Marquardt + bool levenberg() const { return _isLevenberg;} + void setLevenberg(bool levenberg); + + /** + * does this solver support the Schur complement for solving a system consisting of poses and + * landmarks. Re-implemement in a derived solver, if your solver supports it. + */ + virtual bool supportsSchur() {return false;} + + //! should the solver perform the schur complement or not + virtual bool schur()=0; + virtual void setSchur(bool s)=0; + + size_t additionalVectorSpace() const { return _additionalVectorSpace;} + void setAdditionalVectorSpace(size_t s); + + /** + * write debug output of the Hessian if system is not positive definite + */ + virtual void setWriteDebug(bool) = 0; + virtual bool writeDebug() const = 0; + + //! write the hessian to disk using the specified file name + virtual bool saveHessian(const std::string& /*fileName*/) const = 0; + + protected: + SparseOptimizer* _optimizer; + double* _x; + double* _b; + size_t _xSize, _maxXSize; + bool _isLevenberg; ///< the system we gonna solve is a Levenberg-Marquardt system + size_t _additionalVectorSpace; + + void resizeVector(size_t sx); + + private: + // Disable the copy constructor and assignment operator + Solver(const Solver&) { } + Solver& operator= (const Solver&) { return *this; } + }; +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix.h new file mode 100644 index 0000000..8e9b5ef --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix.h @@ -0,0 +1,231 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_SPARSE_BLOCK_MATRIX_ +#define G2O_SPARSE_BLOCK_MATRIX_ + +#include +#include +#include +#include +#include +#include +#include + +#include "sparse_block_matrix_ccs.h" +#include "matrix_structure.h" +#include "matrix_operations.h" +#include "../../config.h" + +namespace g2o { + using namespace Eigen; +/** + * \brief Sparse matrix which uses blocks + * + * Template class that specifies a sparse block matrix. A block + * matrix is a sparse matrix made of dense blocks. These blocks + * cannot have a random pattern, but follow a (variable) grid + * structure. This structure is specified by a partition of the rows + * and the columns of the matrix. The blocks are represented by the + * Eigen::Matrix structure, thus they can be statically or dynamically + * allocated. For efficiency reasons it is convenient to allocate them + * statically, when possible. A static block matrix has all blocks of + * the same size, and the size of the block is specified by the + * template argument. If this is not the case, and you have different + * block sizes than you have to use a dynamic-block matrix (default + * template argument). + */ +template +class SparseBlockMatrix { + + public: + //! this is the type of the elementary block, it is an Eigen::Matrix. + typedef MatrixType SparseMatrixBlock; + + //! columns of the matrix + inline int cols() const {return _colBlockIndices.size() ? _colBlockIndices.back() : 0;} + //! rows of the matrix + inline int rows() const {return _rowBlockIndices.size() ? _rowBlockIndices.back() : 0;} + + typedef std::map IntBlockMap; + + /** + * constructs a sparse block matrix having a specific layout + * @param rbi: array of int containing the row layout of the blocks. + * the component i of the array should contain the index of the first row of the block i+1. + * @param rbi: array of int containing the column layout of the blocks. + * the component i of the array should contain the index of the first col of the block i+1. + * @param rb: number of row blocks + * @param cb: number of col blocks + * @param hasStorage: set it to true if the matrix "owns" the blocks, thus it deletes it on destruction. + * if false the matrix is only a "view" over an existing structure. + */ + SparseBlockMatrix( const int * rbi, const int* cbi, int rb, int cb, bool hasStorage=true); + + SparseBlockMatrix(); + + ~SparseBlockMatrix(); + + + //! this zeroes all the blocks. If dealloc=true the blocks are removed from memory + void clear(bool dealloc=false) ; + + //! returns the block at location r,c. if alloc=true he block is created if it does not exist + SparseMatrixBlock* block(int r, int c, bool alloc=false); + //! returns the block at location r,c + const SparseMatrixBlock* block(int r, int c) const; + + //! how many rows does the block at block-row r has? + inline int rowsOfBlock(int r) const { return r ? _rowBlockIndices[r] - _rowBlockIndices[r-1] : _rowBlockIndices[0] ; } + + //! how many cols does the block at block-col c has? + inline int colsOfBlock(int c) const { return c ? _colBlockIndices[c] - _colBlockIndices[c-1] : _colBlockIndices[0]; } + + //! where does the row at block-row r starts? + inline int rowBaseOfBlock(int r) const { return r ? _rowBlockIndices[r-1] : 0 ; } + + //! where does the col at block-col r starts? + inline int colBaseOfBlock(int c) const { return c ? _colBlockIndices[c-1] : 0 ; } + + //! number of non-zero elements + size_t nonZeros() const; + //! number of allocated blocks + size_t nonZeroBlocks() const; + + //! deep copy of a sparse-block-matrix; + SparseBlockMatrix* clone() const ; + + /** + * returns a view or a copy of the block matrix + * @param rmin: starting block row + * @param rmax: ending block row + * @param cmin: starting block col + * @param cmax: ending block col + * @param alloc: if true it makes a deep copy, if false it creates a view. + */ + SparseBlockMatrix* slice(int rmin, int rmax, int cmin, int cmax, bool alloc=true) const; + + //! transposes a block matrix, The transposed type should match the argument false on failure + template + bool transpose(SparseBlockMatrix*& dest) const; + + //! adds the current matrix to the destination + bool add(SparseBlockMatrix*& dest) const ; + + //! dest = (*this) * M + template + bool multiply(SparseBlockMatrix *& dest, const SparseBlockMatrix* M) const; + + //! dest = (*this) * src + void multiply(double*& dest, const double* src) const; + + /** + * compute dest = (*this) * src + * However, assuming that this is a symmetric matrix where only the upper triangle is stored + */ + void multiplySymmetricUpperTriangle(double*& dest, const double* src) const; + + //! dest = M * (*this) + void rightMultiply(double*& dest, const double* src) const; + + //! *this *= a + void scale( double a); + + /** + * writes in dest a block permutaton specified by pinv. + * @param pinv: array such that new_block[i] = old_block[pinv[i]] + */ + bool symmPermutation(SparseBlockMatrix*& dest, const int* pinv, bool onlyUpper=false) const; + + /** + * fill the CCS arrays of a matrix, arrays have to be allocated beforehand + */ + int fillCCS(int* Cp, int* Ci, double* Cx, bool upperTriangle = false) const; + + /** + * fill the CCS arrays of a matrix, arrays have to be allocated beforehand. This function only writes + * the values and assumes that column and row structures have already been written. + */ + int fillCCS(double* Cx, bool upperTriangle = false) const; + + //! exports the non zero blocks in the structure matrix ms + void fillBlockStructure(MatrixStructure& ms) const; + + //! the block matrices per block-column + const std::vector& blockCols() const { return _blockCols;} + std::vector& blockCols() { return _blockCols;} + + //! indices of the row blocks + const std::vector& rowBlockIndices() const { return _rowBlockIndices;} + std::vector& rowBlockIndices() { return _rowBlockIndices;} + + //! indices of the column blocks + const std::vector& colBlockIndices() const { return _colBlockIndices;} + std::vector& colBlockIndices() { return _colBlockIndices;} + + /** + * write the content of this matrix to a stream loadable by Octave + * @param upperTriangle does this matrix store only the upper triangular blocks + */ + bool writeOctave(const char* filename, bool upperTriangle = true) const; + + /** + * copy into CCS structure + * @return number of processed blocks, -1 on error + */ + int fillSparseBlockMatrixCCS(SparseBlockMatrixCCS& blockCCS) const; + + /** + * copy as transposed into a CCS structure + * @return number of processed blocks, -1 on error + */ + int fillSparseBlockMatrixCCSTransposed(SparseBlockMatrixCCS& blockCCS) const; + + /** + * take over the memory and matrix pattern from a hash matrix. + * The structure of the hash matrix will be cleared. + */ + void takePatternFromHash(SparseBlockMatrixHashMap& hashMatrix); + + protected: + std::vector _rowBlockIndices; ///< vector of the indices of the blocks along the rows. + std::vector _colBlockIndices; ///< vector of the indices of the blocks along the cols + //! array of maps of blocks. The index of the array represent a block column of the matrix + //! and the block column is stored as a map row_block -> matrix_block_ptr. + std::vector _blockCols; + bool _hasStorage; +}; + +template < class MatrixType > +std::ostream& operator << (std::ostream&, const SparseBlockMatrix& m); + + typedef SparseBlockMatrix SparseBlockMatrixXd; + +} //end namespace + +#include "sparse_block_matrix.hpp" + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp new file mode 100644 index 0000000..8dfa99c --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp @@ -0,0 +1,657 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +namespace g2o { + using namespace Eigen; + + namespace { + struct TripletEntry + { + int r, c; + double x; + TripletEntry(int r_, int c_, double x_) : r(r_), c(c_), x(x_) {} + }; + struct TripletColSort + { + bool operator()(const TripletEntry& e1, const TripletEntry& e2) const + { + return e1.c < e2.c || (e1.c == e2.c && e1.r < e2.r); + } + }; + /** Helper class to sort pair based on first elem */ + template > + struct CmpPairFirst { + bool operator()(const std::pair& left, const std::pair& right) { + return Pred()(left.first, right.first); + } + }; + } + + template + SparseBlockMatrix::SparseBlockMatrix( const int * rbi, const int* cbi, int rb, int cb, bool hasStorage): + _rowBlockIndices(rbi,rbi+rb), + _colBlockIndices(cbi,cbi+cb), + _blockCols(cb), _hasStorage(hasStorage) + { + } + + template + SparseBlockMatrix::SparseBlockMatrix( ): + _blockCols(0), _hasStorage(true) + { + } + + template + void SparseBlockMatrix::clear(bool dealloc) { +# ifdef G2O_OPENMP +# pragma omp parallel for default (shared) if (_blockCols.size() > 100) +# endif + for (int i=0; i < static_cast(_blockCols.size()); ++i) { + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){ + typename SparseBlockMatrix::SparseMatrixBlock* b=it->second; + if (_hasStorage && dealloc) + delete b; + else + b->setZero(); + } + if (_hasStorage && dealloc) + _blockCols[i].clear(); + } + } + + template + SparseBlockMatrix::~SparseBlockMatrix(){ + if (_hasStorage) + clear(true); + } + + template + typename SparseBlockMatrix::SparseMatrixBlock* SparseBlockMatrix::block(int r, int c, bool alloc) { + typename SparseBlockMatrix::IntBlockMap::iterator it =_blockCols[c].find(r); + typename SparseBlockMatrix::SparseMatrixBlock* _block=0; + if (it==_blockCols[c].end()){ + if (!_hasStorage && ! alloc ) + return 0; + else { + int rb=rowsOfBlock(r); + int cb=colsOfBlock(c); + _block=new typename SparseBlockMatrix::SparseMatrixBlock(rb,cb); + _block->setZero(); + std::pair < typename SparseBlockMatrix::IntBlockMap::iterator, bool> result + =_blockCols[c].insert(std::make_pair(r,_block)); (void) result; + assert (result.second); + } + } else { + _block=it->second; + } + return _block; + } + + template + const typename SparseBlockMatrix::SparseMatrixBlock* SparseBlockMatrix::block(int r, int c) const { + typename SparseBlockMatrix::IntBlockMap::const_iterator it =_blockCols[c].find(r); + if (it==_blockCols[c].end()) + return 0; + return it->second; + } + + + template + SparseBlockMatrix* SparseBlockMatrix::clone() const { + SparseBlockMatrix* ret= new SparseBlockMatrix(&_rowBlockIndices[0], &_colBlockIndices[0], _rowBlockIndices.size(), _colBlockIndices.size()); + for (size_t i=0; i<_blockCols.size(); ++i){ + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){ + typename SparseBlockMatrix::SparseMatrixBlock* b=new typename SparseBlockMatrix::SparseMatrixBlock(*it->second); + ret->_blockCols[i].insert(std::make_pair(it->first, b)); + } + } + ret->_hasStorage=true; + return ret; + } + + + template + template + bool SparseBlockMatrix::transpose(SparseBlockMatrix*& dest) const { + if (! dest){ + dest=new SparseBlockMatrix(&_colBlockIndices[0], &_rowBlockIndices[0], _colBlockIndices.size(), _rowBlockIndices.size()); + } else { + if (! dest->_hasStorage) + return false; + if(_rowBlockIndices.size()!=dest->_colBlockIndices.size()) + return false; + if (_colBlockIndices.size()!=dest->_rowBlockIndices.size()) + return false; + for (size_t i=0; i<_rowBlockIndices.size(); ++i){ + if(_rowBlockIndices[i]!=dest->_colBlockIndices[i]) + return false; + } + for (size_t i=0; i<_colBlockIndices.size(); ++i){ + if(_colBlockIndices[i]!=dest->_rowBlockIndices[i]) + return false; + } + } + + for (size_t i=0; i<_blockCols.size(); ++i){ + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){ + typename SparseBlockMatrix::SparseMatrixBlock* s=it->second; + typename SparseBlockMatrix::SparseMatrixBlock* d=dest->block(i,it->first,true); + *d = s->transpose(); + } + } + return true; + } + + template + bool SparseBlockMatrix::add(SparseBlockMatrix*& dest) const { + if (! dest){ + dest=new SparseBlockMatrix(&_rowBlockIndices[0], &_colBlockIndices[0], _rowBlockIndices.size(), _colBlockIndices.size()); + } else { + if (! dest->_hasStorage) + return false; + if(_rowBlockIndices.size()!=dest->_rowBlockIndices.size()) + return false; + if (_colBlockIndices.size()!=dest->_colBlockIndices.size()) + return false; + for (size_t i=0; i<_rowBlockIndices.size(); ++i){ + if(_rowBlockIndices[i]!=dest->_rowBlockIndices[i]) + return false; + } + for (size_t i=0; i<_colBlockIndices.size(); ++i){ + if(_colBlockIndices[i]!=dest->_colBlockIndices[i]) + return false; + } + } + for (size_t i=0; i<_blockCols.size(); ++i){ + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){ + typename SparseBlockMatrix::SparseMatrixBlock* s=it->second; + typename SparseBlockMatrix::SparseMatrixBlock* d=dest->block(it->first,i,true); + (*d)+=*s; + } + } + return true; + } + + template + template < class MatrixResultType, class MatrixFactorType > + bool SparseBlockMatrix::multiply(SparseBlockMatrix*& dest, const SparseBlockMatrix * M) const { + // sanity check + if (_colBlockIndices.size()!=M->_rowBlockIndices.size()) + return false; + for (size_t i=0; i<_colBlockIndices.size(); ++i){ + if (_colBlockIndices[i]!=M->_rowBlockIndices[i]) + return false; + } + if (! dest) { + dest=new SparseBlockMatrix(&_rowBlockIndices[0],&(M->_colBlockIndices[0]), _rowBlockIndices.size(), M->_colBlockIndices.size() ); + } + if (! dest->_hasStorage) + return false; + for (size_t i=0; i_blockCols.size(); ++i){ + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it=M->_blockCols[i].begin(); it!=M->_blockCols[i].end(); ++it){ + // look for a non-zero block in a row of column it + int colM=i; + const typename SparseBlockMatrix::SparseMatrixBlock *b=it->second; + typename SparseBlockMatrix::IntBlockMap::const_iterator rbt=_blockCols[it->first].begin(); + while(rbt!=_blockCols[it->first].end()){ + //int colA=it->first; + int rowA=rbt->first; + typename SparseBlockMatrix::SparseMatrixBlock *a=rbt->second; + typename SparseBlockMatrix::SparseMatrixBlock *c=dest->block(rowA,colM,true); + assert (c->rows()==a->rows()); + assert (c->cols()==b->cols()); + ++rbt; + (*c)+=(*a)*(*b); + } + } + } + return false; + } + + template + void SparseBlockMatrix::multiply(double*& dest, const double* src) const { + if (! dest){ + dest=new double [_rowBlockIndices[_rowBlockIndices.size()-1] ]; + memset(dest,0, _rowBlockIndices[_rowBlockIndices.size()-1]*sizeof(double)); + } + + // map the memory by Eigen + Eigen::Map destVec(dest, rows()); + const Eigen::Map srcVec(src, cols()); + + for (size_t i=0; i<_blockCols.size(); ++i){ + int srcOffset = i ? _colBlockIndices[i-1] : 0; + + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){ + const typename SparseBlockMatrix::SparseMatrixBlock* a=it->second; + int destOffset = it->first ? _rowBlockIndices[it->first - 1] : 0; + // destVec += *a * srcVec (according to the sub-vector parts) + internal::axpy(*a, srcVec, srcOffset, destVec, destOffset); + } + } + } + + template + void SparseBlockMatrix::multiplySymmetricUpperTriangle(double*& dest, const double* src) const + { + if (! dest){ + dest=new double [_rowBlockIndices[_rowBlockIndices.size()-1] ]; + memset(dest,0, _rowBlockIndices[_rowBlockIndices.size()-1]*sizeof(double)); + } + + // map the memory by Eigen + Eigen::Map destVec(dest, rows()); + const Eigen::Map srcVec(src, cols()); + + for (size_t i=0; i<_blockCols.size(); ++i){ + int srcOffset = colBaseOfBlock(i); + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){ + const typename SparseBlockMatrix::SparseMatrixBlock* a=it->second; + int destOffset = rowBaseOfBlock(it->first); + if (destOffset > srcOffset) // only upper triangle + break; + // destVec += *a * srcVec (according to the sub-vector parts) + internal::axpy(*a, srcVec, srcOffset, destVec, destOffset); + if (destOffset < srcOffset) + internal::atxpy(*a, srcVec, destOffset, destVec, srcOffset); + } + } + } + + template + void SparseBlockMatrix::rightMultiply(double*& dest, const double* src) const { + int destSize=cols(); + + if (! dest){ + dest=new double [ destSize ]; + memset(dest,0, destSize*sizeof(double)); + } + + // map the memory by Eigen + Eigen::Map destVec(dest, destSize); + Eigen::Map srcVec(src, rows()); + +# ifdef G2O_OPENMP +# pragma omp parallel for default (shared) schedule(dynamic, 10) +# endif + for (int i=0; i < static_cast(_blockCols.size()); ++i){ + int destOffset = colBaseOfBlock(i); + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it=_blockCols[i].begin(); + it!=_blockCols[i].end(); + ++it){ + const typename SparseBlockMatrix::SparseMatrixBlock* a=it->second; + int srcOffset = rowBaseOfBlock(it->first); + // destVec += *a.transpose() * srcVec (according to the sub-vector parts) + internal::atxpy(*a, srcVec, srcOffset, destVec, destOffset); + } + } + + } + + template + void SparseBlockMatrix::scale(double a_) { + for (size_t i=0; i<_blockCols.size(); ++i){ + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){ + typename SparseBlockMatrix::SparseMatrixBlock* a=it->second; + *a *= a_; + } + } + } + + template + SparseBlockMatrix* SparseBlockMatrix::slice(int rmin, int rmax, int cmin, int cmax, bool alloc) const { + int m=rmax-rmin; + int n=cmax-cmin; + int rowIdx [m]; + rowIdx[0] = rowsOfBlock(rmin); + for (int i=1; i::SparseBlockMatrix* s=new SparseBlockMatrix(rowIdx, colIdx, m, n, true); + for (int i=0; i::IntBlockMap::const_iterator it=_blockCols[mc].begin(); it!=_blockCols[mc].end(); ++it){ + if (it->first >= rmin && it->first < rmax){ + typename SparseBlockMatrix::SparseMatrixBlock* b = alloc ? new typename SparseBlockMatrix::SparseMatrixBlock (* (it->second) ) : it->second; + s->_blockCols[i].insert(std::make_pair(it->first-rmin, b)); + } + } + } + s->_hasStorage=alloc; + return s; + } + + template + size_t SparseBlockMatrix::nonZeroBlocks() const { + size_t count=0; + for (size_t i=0; i<_blockCols.size(); ++i) + count+=_blockCols[i].size(); + return count; + } + + template + size_t SparseBlockMatrix::nonZeros() const{ + if (MatrixType::SizeAtCompileTime != Eigen::Dynamic) { + size_t nnz = nonZeroBlocks() * MatrixType::SizeAtCompileTime; + return nnz; + } else { + size_t count=0; + for (size_t i=0; i<_blockCols.size(); ++i){ + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){ + const typename SparseBlockMatrix::SparseMatrixBlock* a=it->second; + count += a->cols()*a->rows(); + } + } + return count; + } + } + + template + std::ostream& operator << (std::ostream& os, const SparseBlockMatrix& m){ + os << "RBI: " << m.rowBlockIndices().size(); + for (size_t i=0; i::IntBlockMap::const_iterator it=m.blockCols()[i].begin(); it!=m.blockCols()[i].end(); ++it){ + const typename SparseBlockMatrix::SparseMatrixBlock* b=it->second; + os << "BLOCK: " << it->first << " " << i << std::endl; + os << *b << std::endl; + } + } + return os; + } + + template + bool SparseBlockMatrix::symmPermutation(SparseBlockMatrix*& dest, const int* pinv, bool upperTriangle) const{ + // compute the permuted version of the new row/column layout + size_t n=_rowBlockIndices.size(); + // computed the block sizes + int blockSizes[_rowBlockIndices.size()]; + blockSizes[0]=_rowBlockIndices[0]; + for (size_t i=1; i_rowBlockIndices.size()!=n) + return false; + if (dest->_colBlockIndices.size()!=n) + return false; + for (size_t i=0; i_rowBlockIndices[i]!=pBlockIndices[i]) + return false; + if (dest->_colBlockIndices[i]!=pBlockIndices[i]) + return false; + } + dest->clear(); + } + // now ready to permute the columns + for (size_t i=0; i::IntBlockMap::const_iterator it=_blockCols[i].begin(); + it!=_blockCols[i].end(); ++it){ + int pj=pinv[it->first]; + + const typename SparseBlockMatrix::SparseMatrixBlock* s=it->second; + + typename SparseBlockMatrix::SparseMatrixBlock* b=0; + if (! upperTriangle || pj<=pi) { + b=dest->block(pj,pi,true); + assert(b->cols()==s->cols()); + assert(b->rows()==s->rows()); + *b=*s; + } else { + b=dest->block(pi,pj,true); + assert(b); + assert(b->rows()==s->cols()); + assert(b->cols()==s->rows()); + *b=s->transpose(); + } + } + //cerr << endl; + // within each row, + } + return true; + + } + + template + int SparseBlockMatrix::fillCCS(double* Cx, bool upperTriangle) const + { + assert(Cx && "Target destination is NULL"); + double* CxStart = Cx; + for (size_t i=0; i<_blockCols.size(); ++i){ + int cstart=i ? _colBlockIndices[i-1] : 0; + int csize=colsOfBlock(i); + for (int c=0; c::IntBlockMap::const_iterator it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){ + const typename SparseBlockMatrix::SparseMatrixBlock* b=it->second; + int rstart=it->first ? _rowBlockIndices[it->first-1] : 0; + + int elemsToCopy = b->rows(); + if (upperTriangle && rstart == cstart) + elemsToCopy = c + 1; + memcpy(Cx, b->data() + c*b->rows(), elemsToCopy * sizeof(double)); + Cx += elemsToCopy; + + } + } + } + return Cx - CxStart; + } + + template + int SparseBlockMatrix::fillCCS(int* Cp, int* Ci, double* Cx, bool upperTriangle) const + { + assert(Cp && Ci && Cx && "Target destination is NULL"); + int nz=0; + for (size_t i=0; i<_blockCols.size(); ++i){ + int cstart=i ? _colBlockIndices[i-1] : 0; + int csize=colsOfBlock(i); + for (int c=0; c::IntBlockMap::const_iterator it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){ + const typename SparseBlockMatrix::SparseMatrixBlock* b=it->second; + int rstart=it->first ? _rowBlockIndices[it->first-1] : 0; + + int elemsToCopy = b->rows(); + if (upperTriangle && rstart == cstart) + elemsToCopy = c + 1; + for (int r=0; r + void SparseBlockMatrix::fillBlockStructure(MatrixStructure& ms) const + { + int n = _colBlockIndices.size(); + int nzMax = (int)nonZeroBlocks(); + + ms.alloc(n, nzMax); + ms.m = _rowBlockIndices.size(); + + int nz = 0; + int* Cp = ms.Ap; + int* Ci = ms.Aii; + for (int i = 0; i < static_cast(_blockCols.size()); ++i){ + *Cp = nz; + const int& c = i; + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it) { + const int& r = it->first; + if (r <= c) { + *Ci++ = r; + ++nz; + } + } + Cp++; + } + *Cp=nz; + assert(nz <= nzMax); + } + + template + bool SparseBlockMatrix::writeOctave(const char* filename, bool upperTriangle) const + { + std::string name = filename; + std::string::size_type lastDot = name.find_last_of('.'); + if (lastDot != std::string::npos) + name = name.substr(0, lastDot); + + std::vector entries; + for (size_t i = 0; i<_blockCols.size(); ++i){ + const int& c = i; + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it) { + const int& r = it->first; + const MatrixType& m = *(it->second); + for (int cc = 0; cc < m.cols(); ++cc) + for (int rr = 0; rr < m.rows(); ++rr) { + int aux_r = rowBaseOfBlock(r) + rr; + int aux_c = colBaseOfBlock(c) + cc; + entries.push_back(TripletEntry(aux_r, aux_c, m(rr, cc))); + if (upperTriangle && r != c) { + entries.push_back(TripletEntry(aux_c, aux_r, m(rr, cc))); + } + } + } + } + + int nz = entries.size(); + std::sort(entries.begin(), entries.end(), TripletColSort()); + + std::ofstream fout(filename); + fout << "# name: " << name << std::endl; + fout << "# type: sparse matrix" << std::endl; + fout << "# nnz: " << nz << std::endl; + fout << "# rows: " << rows() << std::endl; + fout << "# columns: " << cols() << std::endl; + fout << std::setprecision(9) << std::fixed << std::endl; + + for (std::vector::const_iterator it = entries.begin(); it != entries.end(); ++it) { + const TripletEntry& entry = *it; + fout << entry.r+1 << " " << entry.c+1 << " " << entry.x << std::endl; + } + return fout.good(); + } + + template + int SparseBlockMatrix::fillSparseBlockMatrixCCS(SparseBlockMatrixCCS& blockCCS) const + { + blockCCS.blockCols().resize(blockCols().size()); + int numblocks = 0; + for (size_t i = 0; i < blockCols().size(); ++i) { + const IntBlockMap& row = blockCols()[i]; + typename SparseBlockMatrixCCS::SparseColumn& dest = blockCCS.blockCols()[i]; + dest.clear(); + dest.reserve(row.size()); + for (typename IntBlockMap::const_iterator it = row.begin(); it != row.end(); ++it) { + dest.push_back(typename SparseBlockMatrixCCS::RowBlock(it->first, it->second)); + ++numblocks; + } + } + return numblocks; + } + + template + int SparseBlockMatrix::fillSparseBlockMatrixCCSTransposed(SparseBlockMatrixCCS& blockCCS) const + { + blockCCS.blockCols().clear(); + blockCCS.blockCols().resize(_rowBlockIndices.size()); + int numblocks = 0; + for (size_t i = 0; i < blockCols().size(); ++i) { + const IntBlockMap& row = blockCols()[i]; + for (typename IntBlockMap::const_iterator it = row.begin(); it != row.end(); ++it) { + typename SparseBlockMatrixCCS::SparseColumn& dest = blockCCS.blockCols()[it->first]; + dest.push_back(typename SparseBlockMatrixCCS::RowBlock(i, it->second)); + ++numblocks; + } + } + return numblocks; + } + + template + void SparseBlockMatrix::takePatternFromHash(SparseBlockMatrixHashMap& hashMatrix) + { + // sort the sparse columns and add them to the map structures by + // exploiting that we are inserting a sorted structure + typedef std::pair SparseColumnPair; + typedef typename SparseBlockMatrixHashMap::SparseColumn HashSparseColumn; + for (size_t i = 0; i < hashMatrix.blockCols().size(); ++i) { + // prepare a temporary vector for sorting + HashSparseColumn& column = hashMatrix.blockCols()[i]; + if (column.size() == 0) + continue; + std::vector sparseRowSorted; // temporary structure + sparseRowSorted.reserve(column.size()); + for (typename HashSparseColumn::const_iterator it = column.begin(); it != column.end(); ++it) + sparseRowSorted.push_back(*it); + std::sort(sparseRowSorted.begin(), sparseRowSorted.end(), CmpPairFirst()); + // try to free some memory early + HashSparseColumn aux; + swap(aux, column); + // now insert sorted vector to the std::map structure + IntBlockMap& destColumnMap = blockCols()[i]; + destColumnMap.insert(sparseRowSorted[0]); + for (size_t j = 1; j < sparseRowSorted.size(); ++j) { + typename SparseBlockMatrix::IntBlockMap::iterator hint = destColumnMap.end(); + --hint; // cppreference says the element goes after the hint (until C++11) + destColumnMap.insert(hint, sparseRowSorted[j]); + } + } + } + +}// end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix_ccs.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix_ccs.h new file mode 100644 index 0000000..eb9042c --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix_ccs.h @@ -0,0 +1,282 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_SPARSE_BLOCK_MATRIX_CCS_H +#define G2O_SPARSE_BLOCK_MATRIX_CCS_H + +#include +#include +#include + +#include "../../config.h" +#include "matrix_operations.h" + +#ifdef _MSC_VER +#include +#else +#include +#endif + +namespace g2o { + + /** + * \brief Sparse matrix which uses blocks + * + * This class is used as a const view on a SparseBlockMatrix + * which allows a faster iteration over the elements of the + * matrix. + */ + template + class SparseBlockMatrixCCS + { + public: + //! this is the type of the elementary block, it is an Eigen::Matrix. + typedef MatrixType SparseMatrixBlock; + + //! columns of the matrix + int cols() const {return _colBlockIndices.size() ? _colBlockIndices.back() : 0;} + //! rows of the matrix + int rows() const {return _rowBlockIndices.size() ? _rowBlockIndices.back() : 0;} + + /** + * \brief A block within a column + */ + struct RowBlock + { + int row; ///< row of the block + MatrixType* block; ///< matrix pointer for the block + RowBlock() : row(-1), block(0) {} + RowBlock(int r, MatrixType* b) : row(r), block(b) {} + bool operator<(const RowBlock& other) const { return row < other.row;} + }; + typedef std::vector SparseColumn; + + SparseBlockMatrixCCS(const std::vector& rowIndices, const std::vector& colIndices) : + _rowBlockIndices(rowIndices), _colBlockIndices(colIndices) + {} + + //! how many rows does the block at block-row r has? + int rowsOfBlock(int r) const { return r ? _rowBlockIndices[r] - _rowBlockIndices[r-1] : _rowBlockIndices[0] ; } + + //! how many cols does the block at block-col c has? + int colsOfBlock(int c) const { return c ? _colBlockIndices[c] - _colBlockIndices[c-1] : _colBlockIndices[0]; } + + //! where does the row at block-row r start? + int rowBaseOfBlock(int r) const { return r ? _rowBlockIndices[r-1] : 0 ; } + + //! where does the col at block-col r start? + int colBaseOfBlock(int c) const { return c ? _colBlockIndices[c-1] : 0 ; } + + //! the block matrices per block-column + const std::vector& blockCols() const { return _blockCols;} + std::vector& blockCols() { return _blockCols;} + + //! indices of the row blocks + const std::vector& rowBlockIndices() const { return _rowBlockIndices;} + + //! indices of the column blocks + const std::vector& colBlockIndices() const { return _colBlockIndices;} + + void rightMultiply(double*& dest, const double* src) const + { + int destSize=cols(); + + if (! dest){ + dest=new double [ destSize ]; + memset(dest,0, destSize*sizeof(double)); + } + + // map the memory by Eigen + Eigen::Map destVec(dest, destSize); + Eigen::Map srcVec(src, rows()); + +# ifdef G2O_OPENMP +# pragma omp parallel for default (shared) schedule(dynamic, 10) +# endif + for (int i=0; i < static_cast(_blockCols.size()); ++i){ + int destOffset = colBaseOfBlock(i); + for (typename SparseColumn::const_iterator it = _blockCols[i].begin(); it!=_blockCols[i].end(); ++it) { + const SparseMatrixBlock* a = it->block; + int srcOffset = rowBaseOfBlock(it->row); + // destVec += *a.transpose() * srcVec (according to the sub-vector parts) + internal::atxpy(*a, srcVec, srcOffset, destVec, destOffset); + } + } + } + + /** + * sort the blocks in each column + */ + void sortColumns() + { + for (int i=0; i < static_cast(_blockCols.size()); ++i){ + std::sort(_blockCols[i].begin(), _blockCols[i].end()); + } + } + + /** + * fill the CCS arrays of a matrix, arrays have to be allocated beforehand + */ + int fillCCS(int* Cp, int* Ci, double* Cx, bool upperTriangle = false) const + { + assert(Cp && Ci && Cx && "Target destination is NULL"); + int nz=0; + for (size_t i=0; i<_blockCols.size(); ++i){ + int cstart=i ? _colBlockIndices[i-1] : 0; + int csize=colsOfBlock(i); + for (int c=0; cblock; + int rstart=it->row ? _rowBlockIndices[it->row-1] : 0; + + int elemsToCopy = b->rows(); + if (upperTriangle && rstart == cstart) + elemsToCopy = c + 1; + for (int r=0; rblock; + int rstart = it->row ? _rowBlockIndices[it->row-1] : 0; + + int elemsToCopy = b->rows(); + if (upperTriangle && rstart == cstart) + elemsToCopy = c + 1; + memcpy(Cx, b->data() + c*b->rows(), elemsToCopy * sizeof(double)); + Cx += elemsToCopy; + + } + } + cstart = _colBlockIndices[i]; + } + return Cx - CxStart; + } + + protected: + const std::vector& _rowBlockIndices; ///< vector of the indices of the blocks along the rows. + const std::vector& _colBlockIndices; ///< vector of the indices of the blocks along the cols + std::vector _blockCols; ///< the matrices stored in CCS order + }; + + + + /** + * \brief Sparse matrix which uses blocks based on hash structures + * + * This class is used to construct the pattern of a sparse block matrix + */ + template + class SparseBlockMatrixHashMap + { + public: + //! this is the type of the elementary block, it is an Eigen::Matrix. + typedef MatrixType SparseMatrixBlock; + + //! columns of the matrix + int cols() const {return _colBlockIndices.size() ? _colBlockIndices.back() : 0;} + //! rows of the matrix + int rows() const {return _rowBlockIndices.size() ? _rowBlockIndices.back() : 0;} + + typedef std::tr1::unordered_map SparseColumn; + + SparseBlockMatrixHashMap(const std::vector& rowIndices, const std::vector& colIndices) : + _rowBlockIndices(rowIndices), _colBlockIndices(colIndices) + {} + + //! how many rows does the block at block-row r has? + int rowsOfBlock(int r) const { return r ? _rowBlockIndices[r] - _rowBlockIndices[r-1] : _rowBlockIndices[0] ; } + + //! how many cols does the block at block-col c has? + int colsOfBlock(int c) const { return c ? _colBlockIndices[c] - _colBlockIndices[c-1] : _colBlockIndices[0]; } + + //! where does the row at block-row r start? + int rowBaseOfBlock(int r) const { return r ? _rowBlockIndices[r-1] : 0 ; } + + //! where does the col at block-col r start? + int colBaseOfBlock(int c) const { return c ? _colBlockIndices[c-1] : 0 ; } + + //! the block matrices per block-column + const std::vector& blockCols() const { return _blockCols;} + std::vector& blockCols() { return _blockCols;} + + //! indices of the row blocks + const std::vector& rowBlockIndices() const { return _rowBlockIndices;} + + //! indices of the column blocks + const std::vector& colBlockIndices() const { return _colBlockIndices;} + + /** + * add a block to the pattern, return a pointer to the added block + */ + MatrixType* addBlock(int r, int c, bool zeroBlock = false) + { + assert(c <(int)_blockCols.size() && "accessing column which is not available"); + SparseColumn& sparseColumn = _blockCols[c]; + typename SparseColumn::iterator foundIt = sparseColumn.find(r); + if (foundIt == sparseColumn.end()) { + int rb = rowsOfBlock(r); + int cb = colsOfBlock(c); + MatrixType* m = new MatrixType(rb, cb); + if (zeroBlock) + m->setZero(); + sparseColumn[r] = m; + return m; + } + return foundIt->second; + } + + protected: + const std::vector& _rowBlockIndices; ///< vector of the indices of the blocks along the rows. + const std::vector& _colBlockIndices; ///< vector of the indices of the blocks along the cols + std::vector _blockCols; ///< the matrices stored in CCS order + }; + +} //end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix_diagonal.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix_diagonal.h new file mode 100644 index 0000000..7b13b9f --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix_diagonal.h @@ -0,0 +1,108 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_SPARSE_BLOCK_MATRIX_DIAGONAL_H +#define G2O_SPARSE_BLOCK_MATRIX_DIAGONAL_H + +#include +#include +#include + +#include "../../config.h" +#include "matrix_operations.h" + +namespace g2o { + + /** + * \brief Sparse matrix which uses blocks on the diagonal + * + * This class is used as a const view on a SparseBlockMatrix + * which allows a faster iteration over the elements of the + * matrix. + */ + template + class SparseBlockMatrixDiagonal + { + public: + //! this is the type of the elementary block, it is an Eigen::Matrix. + typedef MatrixType SparseMatrixBlock; + + //! columns of the matrix + int cols() const {return _blockIndices.size() ? _blockIndices.back() : 0;} + //! rows of the matrix + int rows() const {return _blockIndices.size() ? _blockIndices.back() : 0;} + + typedef std::vector > DiagonalVector; + + SparseBlockMatrixDiagonal(const std::vector& blockIndices) : + _blockIndices(blockIndices) + {} + + //! how many rows/cols does the block at block-row / block-column r has? + inline int dimOfBlock(int r) const { return r ? _blockIndices[r] - _blockIndices[r-1] : _blockIndices[0] ; } + + //! where does the row /col at block-row / block-column r starts? + inline int baseOfBlock(int r) const { return r ? _blockIndices[r-1] : 0 ; } + + //! the block matrices per block-column + const DiagonalVector& diagonal() const { return _diagonal;} + DiagonalVector& diagonal() { return _diagonal;} + + //! indices of the row blocks + const std::vector& blockIndices() const { return _blockIndices;} + + void multiply(double*& dest, const double* src) const + { + int destSize=cols(); + if (! dest) { + dest=new double[destSize]; + memset(dest,0, destSize*sizeof(double)); + } + + // map the memory by Eigen + Eigen::Map destVec(dest, destSize); + Eigen::Map srcVec(src, rows()); + +# ifdef G2O_OPENMP +# pragma omp parallel for default (shared) schedule(dynamic, 10) +# endif + for (int i=0; i < static_cast(_diagonal.size()); ++i){ + int destOffset = baseOfBlock(i); + int srcOffset = destOffset; + const SparseMatrixBlock& A = _diagonal[i]; + // destVec += *A.transpose() * srcVec (according to the sub-vector parts) + internal::axpy(A, srcVec, srcOffset, destVec, destOffset); + } + } + + protected: + const std::vector& _blockIndices; ///< vector of the indices of the blocks along the diagonal + DiagonalVector _diagonal; + }; + +} //end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix_test.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix_test.cpp new file mode 100644 index 0000000..42a4560 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_block_matrix_test.cpp @@ -0,0 +1,107 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "sparse_block_matrix.h" +#include + +using namespace std; +using namespace g2o; +using namespace Eigen; + +typedef SparseBlockMatrix< MatrixXd > +SparseBlockMatrixX; + +std::ostream& operator << (std::ostream& os, const SparseBlockMatrixX::SparseMatrixBlock& m) { + for (int i=0; iblock(0,0, true); + cerr << b->rows() << " " << b->cols() << endl; + for (int i=0; irows(); ++i) + for (int j=0; jcols(); ++j){ + (*b)(i,j)=i*b->cols()+j; + } + + + cerr << "block access 2" << endl; + b=M->block(0,2, true); + cerr << b->rows() << " " << b->cols() << endl; + for (int i=0; irows(); ++i) + for (int j=0; jcols(); ++j){ + (*b)(i,j)=i*b->cols()+j; + } + + b=M->block(3,2, true); + cerr << b->rows() << " " << b->cols() << endl; + for (int i=0; irows(); ++i) + for (int j=0; jcols(); ++j){ + (*b)(i,j)=i*b->cols()+j; + } + + cerr << *M << endl; + + cerr << "SUM" << endl; + + SparseBlockMatrixX* Ms=0; + M->add(Ms); + M->add(Ms); + cerr << *Ms; + + SparseBlockMatrixX* Mt=0; + M->transpose(Mt); + cerr << *Mt << endl; + + SparseBlockMatrixX* Mp=0; + M->multiply(Mp, Mt); + cerr << *Mp << endl; + + int iperm[]={3,2,1,0}; + SparseBlockMatrixX* PMp=0; + + Mp->symmPermutation(PMp,iperm, false); + cerr << *PMp << endl; + + PMp->clear(true); + Mp->block(3,0)->fill(0.); + Mp->symmPermutation(PMp,iperm, true); + cerr << *PMp << endl; + + + +} diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_optimizer.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_optimizer.cpp new file mode 100644 index 0000000..7c316e6 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_optimizer.cpp @@ -0,0 +1,615 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "sparse_optimizer.h" + +#include +#include +#include +#include +#include +#include + +#include "estimate_propagator.h" +#include "optimization_algorithm.h" +#include "batch_stats.h" +#include "hyper_graph_action.h" +#include "robust_kernel.h" +#include "../stuff/timeutil.h" +#include "../stuff/macros.h" +#include "../stuff/misc.h" +#include "../../config.h" + +namespace g2o{ + using namespace std; + + + SparseOptimizer::SparseOptimizer() : + _forceStopFlag(0), _verbose(false), _algorithm(0), _computeBatchStatistics(false) + { + _graphActions.resize(AT_NUM_ELEMENTS); + } + + SparseOptimizer::~SparseOptimizer(){ + delete _algorithm; + G2OBatchStatistics::setGlobalStats(0); + } + + void SparseOptimizer::computeActiveErrors() + { + // call the callbacks in case there is something registered + HyperGraphActionSet& actions = _graphActions[AT_COMPUTEACTIVERROR]; + if (actions.size() > 0) { + for (HyperGraphActionSet::iterator it = actions.begin(); it != actions.end(); ++it) + (*(*it))(this); + } + +# ifdef G2O_OPENMP +# pragma omp parallel for default (shared) if (_activeEdges.size() > 50) +# endif + for (int k = 0; k < static_cast(_activeEdges.size()); ++k) { + OptimizableGraph::Edge* e = _activeEdges[k]; + e->computeError(); + } + +# ifndef NDEBUG + for (int k = 0; k < static_cast(_activeEdges.size()); ++k) { + OptimizableGraph::Edge* e = _activeEdges[k]; + bool hasNan = arrayHasNaN(e->errorData(), e->dimension()); + if (hasNan) { + cerr << "computeActiveErrors(): found NaN in error for edge " << e << endl; + } + } +# endif + + } + + double SparseOptimizer::activeChi2( ) const + { + double chi = 0.0; + for (EdgeContainer::const_iterator it = _activeEdges.begin(); it != _activeEdges.end(); ++it) { + const OptimizableGraph::Edge* e = *it; + chi += e->chi2(); + } + return chi; + } + + double SparseOptimizer::activeRobustChi2() const + { + Eigen::Vector3d rho; + double chi = 0.0; + for (EdgeContainer::const_iterator it = _activeEdges.begin(); it != _activeEdges.end(); ++it) { + const OptimizableGraph::Edge* e = *it; + if (e->robustKernel()) { + e->robustKernel()->robustify(e->chi2(), rho); + chi += rho[0]; + } + else + chi += e->chi2(); + } + return chi; + } + + OptimizableGraph::Vertex* SparseOptimizer::findGauge(){ + if (vertices().empty()) + return 0; + + int maxDim=0; + for (HyperGraph::VertexIDMap::iterator it=vertices().begin(); it!=vertices().end(); ++it){ + OptimizableGraph::Vertex* v=static_cast(it->second); + maxDim=std::max(maxDim,v->dimension()); + } + + OptimizableGraph::Vertex* rut=0; + for (HyperGraph::VertexIDMap::iterator it=vertices().begin(); it!=vertices().end(); ++it){ + OptimizableGraph::Vertex* v=static_cast(it->second); + if (v->dimension()==maxDim){ + rut=v; + break; + } + } + return rut; + } + + bool SparseOptimizer::gaugeFreedom() + { + if (vertices().empty()) + return false; + + int maxDim=0; + for (HyperGraph::VertexIDMap::iterator it=vertices().begin(); it!=vertices().end(); ++it){ + OptimizableGraph::Vertex* v=static_cast(it->second); + maxDim = std::max(maxDim,v->dimension()); + } + + for (HyperGraph::VertexIDMap::iterator it=vertices().begin(); it!=vertices().end(); ++it){ + OptimizableGraph::Vertex* v=static_cast(it->second); + if (v->dimension() == maxDim) { + // test for fixed vertex + if (v->fixed()) { + return false; + } + // test for full dimension prior + for (HyperGraph::EdgeSet::const_iterator eit = v->edges().begin(); eit != v->edges().end(); ++eit) { + OptimizableGraph::Edge* e = static_cast(*eit); + if (e->vertices().size() == 1 && e->dimension() == maxDim) + return false; + } + } + } + return true; + } + + bool SparseOptimizer::buildIndexMapping(SparseOptimizer::VertexContainer& vlist){ + if (! vlist.size()){ + _ivMap.clear(); + return false; + } + + _ivMap.resize(vlist.size()); + size_t i = 0; + for (int k=0; k<2; k++) + for (VertexContainer::iterator it=vlist.begin(); it!=vlist.end(); ++it){ + OptimizableGraph::Vertex* v = *it; + if (! v->fixed()){ + if (static_cast(v->marginalized()) == k){ + v->setHessianIndex(i); + _ivMap[i]=v; + i++; + } + } + else { + v->setHessianIndex(-1); + } + } + _ivMap.resize(i); + return true; + } + + void SparseOptimizer::clearIndexMapping(){ + for (size_t i=0; i<_ivMap.size(); ++i){ + _ivMap[i]->setHessianIndex(-1); + _ivMap[i]=0; + } + } + + bool SparseOptimizer::initializeOptimization(int level){ + HyperGraph::VertexSet vset; + for (VertexIDMap::iterator it=vertices().begin(); it!=vertices().end(); ++it) + vset.insert(it->second); + return initializeOptimization(vset,level); + } + + bool SparseOptimizer::initializeOptimization(HyperGraph::VertexSet& vset, int level){ + if (edges().size() == 0) { + cerr << __PRETTY_FUNCTION__ << ": Attempt to initialize an empty graph" << endl; + return false; + } + bool workspaceAllocated = _jacobianWorkspace.allocate(); (void) workspaceAllocated; + assert(workspaceAllocated && "Error while allocating memory for the Jacobians"); + clearIndexMapping(); + _activeVertices.clear(); + _activeVertices.reserve(vset.size()); + _activeEdges.clear(); + set auxEdgeSet; // temporary structure to avoid duplicates + for (HyperGraph::VertexSet::iterator it=vset.begin(); it!=vset.end(); ++it){ + OptimizableGraph::Vertex* v= (OptimizableGraph::Vertex*) *it; + const OptimizableGraph::EdgeSet& vEdges=v->edges(); + // count if there are edges in that level. If not remove from the pool + int levelEdges=0; + for (OptimizableGraph::EdgeSet::const_iterator it=vEdges.begin(); it!=vEdges.end(); ++it){ + OptimizableGraph::Edge* e=reinterpret_cast(*it); + if (level < 0 || e->level() == level) { + + bool allVerticesOK = true; + for (vector::const_iterator vit = e->vertices().begin(); vit != e->vertices().end(); ++vit) { + if (vset.find(*vit) == vset.end()) { + allVerticesOK = false; + break; + } + } + if (allVerticesOK && !e->allVerticesFixed()) { + auxEdgeSet.insert(e); + levelEdges++; + } + + } + } + if (levelEdges){ + _activeVertices.push_back(v); + + // test for NANs in the current estimate if we are debugging +# ifndef NDEBUG + int estimateDim = v->estimateDimension(); + if (estimateDim > 0) { + Eigen::VectorXd estimateData(estimateDim); + if (v->getEstimateData(estimateData.data()) == true) { + int k; + bool hasNan = arrayHasNaN(estimateData.data(), estimateDim, &k); + if (hasNan) + cerr << __PRETTY_FUNCTION__ << ": Vertex " << v->id() << " contains a nan entry at index " << k << endl; + } + } +# endif + + } + } + + _activeEdges.reserve(auxEdgeSet.size()); + for (set::iterator it = auxEdgeSet.begin(); it != auxEdgeSet.end(); ++it) + _activeEdges.push_back(*it); + + sortVectorContainers(); + return buildIndexMapping(_activeVertices); + } + + bool SparseOptimizer::initializeOptimization(HyperGraph::EdgeSet& eset){ + bool workspaceAllocated = _jacobianWorkspace.allocate(); (void) workspaceAllocated; + assert(workspaceAllocated && "Error while allocating memory for the Jacobians"); + clearIndexMapping(); + _activeVertices.clear(); + _activeEdges.clear(); + _activeEdges.reserve(eset.size()); + set auxVertexSet; // temporary structure to avoid duplicates + for (HyperGraph::EdgeSet::iterator it=eset.begin(); it!=eset.end(); ++it){ + OptimizableGraph::Edge* e=(OptimizableGraph::Edge*)(*it); + for (vector::const_iterator vit = e->vertices().begin(); vit != e->vertices().end(); ++vit) { + auxVertexSet.insert(static_cast(*vit)); + } + _activeEdges.push_back(reinterpret_cast(*it)); + } + + _activeVertices.reserve(auxVertexSet.size()); + for (set::iterator it = auxVertexSet.begin(); it != auxVertexSet.end(); ++it) + _activeVertices.push_back(*it); + + sortVectorContainers(); + return buildIndexMapping(_activeVertices); + } + + void SparseOptimizer::setToOrigin(){ + for (VertexIDMap::iterator it=vertices().begin(); it!=vertices().end(); ++it) { + OptimizableGraph::Vertex* v = static_cast(it->second); + v->setToOrigin(); + } + } + + void SparseOptimizer::computeInitialGuess() + { + EstimatePropagator::PropagateCost costFunction(this); + computeInitialGuess(costFunction); + } + + void SparseOptimizer::computeInitialGuess(EstimatePropagatorCost& costFunction) + { + OptimizableGraph::VertexSet emptySet; + std::set backupVertices; + HyperGraph::VertexSet fixedVertices; // these are the root nodes where to start the initialization + for (EdgeContainer::iterator it = _activeEdges.begin(); it != _activeEdges.end(); ++it) { + OptimizableGraph::Edge* e = *it; + for (size_t i = 0; i < e->vertices().size(); ++i) { + OptimizableGraph::Vertex* v = static_cast(e->vertex(i)); + if (v->fixed()) + fixedVertices.insert(v); + else { // check for having a prior which is able to fully initialize a vertex + for (EdgeSet::const_iterator vedgeIt = v->edges().begin(); vedgeIt != v->edges().end(); ++vedgeIt) { + OptimizableGraph::Edge* vedge = static_cast(*vedgeIt); + if (vedge->vertices().size() == 1 && vedge->initialEstimatePossible(emptySet, v) > 0.) { + //cerr << "Initialize with prior for " << v->id() << endl; + vedge->initialEstimate(emptySet, v); + fixedVertices.insert(v); + } + } + } + if (v->hessianIndex() == -1) { + std::set::const_iterator foundIt = backupVertices.find(v); + if (foundIt == backupVertices.end()) { + v->push(); + backupVertices.insert(v); + } + } + } + } + + EstimatePropagator estimatePropagator(this); + estimatePropagator.propagate(fixedVertices, costFunction); + + // restoring the vertices that should not be initialized + for (std::set::iterator it = backupVertices.begin(); it != backupVertices.end(); ++it) { + Vertex* v = *it; + v->pop(); + } + if (verbose()) { + computeActiveErrors(); + cerr << "iteration= -1\t chi2= " << activeChi2() + << "\t time= 0.0" + << "\t cumTime= 0.0" + << "\t (using initial guess from " << costFunction.name() << ")" << endl; + } + } + + int SparseOptimizer::optimize(int iterations, bool online) + { + if (_ivMap.size() == 0) { + cerr << __PRETTY_FUNCTION__ << ": 0 vertices to optimize, maybe forgot to call initializeOptimization()" << endl; + return -1; + } + + int cjIterations=0; + double cumTime=0; + bool ok=true; + + ok = _algorithm->init(online); + if (! ok) { + cerr << __PRETTY_FUNCTION__ << " Error while initializing" << endl; + return -1; + } + + _batchStatistics.clear(); + if (_computeBatchStatistics) + _batchStatistics.resize(iterations); + + OptimizationAlgorithm::SolverResult result = OptimizationAlgorithm::OK; + for (int i=0; isolve(i, online); + ok = ( result == OptimizationAlgorithm::OK ); + + bool errorComputed = false; + if (_computeBatchStatistics) { + computeActiveErrors(); + errorComputed = true; + _batchStatistics[i].chi2 = activeRobustChi2(); + _batchStatistics[i].timeIteration = get_monotonic_time()-ts; + } + + if (verbose()){ + double dts = get_monotonic_time()-ts; + cumTime += dts; + if (! errorComputed) + computeActiveErrors(); + cerr << "iteration= " << i + << "\t chi2= " << FIXED(activeRobustChi2()) + << "\t time= " << dts + << "\t cumTime= " << cumTime + << "\t edges= " << _activeEdges.size(); + _algorithm->printVerbose(cerr); + cerr << endl; + } + ++cjIterations; + postIteration(i); + } + if (result == OptimizationAlgorithm::Fail) { + return 0; + } + return cjIterations; + } + + + void SparseOptimizer::update(const double* update) + { + // update the graph by calling oplus on the vertices + for (size_t i=0; i < _ivMap.size(); ++i) { + OptimizableGraph::Vertex* v= _ivMap[i]; +#ifndef NDEBUG + bool hasNan = arrayHasNaN(update, v->dimension()); + if (hasNan) + cerr << __PRETTY_FUNCTION__ << ": Update contains a nan for vertex " << v->id() << endl; +#endif + v->oplus(update); + update += v->dimension(); + } + } + + void SparseOptimizer::setComputeBatchStatistics(bool computeBatchStatistics) + { + if ((_computeBatchStatistics == true) && (computeBatchStatistics == false)) { + G2OBatchStatistics::setGlobalStats(0); + _batchStatistics.clear(); + } + _computeBatchStatistics = computeBatchStatistics; + } + + bool SparseOptimizer::updateInitialization(HyperGraph::VertexSet& vset, HyperGraph::EdgeSet& eset) + { + std::vector newVertices; + newVertices.reserve(vset.size()); + _activeVertices.reserve(_activeVertices.size() + vset.size()); + _activeEdges.reserve(_activeEdges.size() + eset.size()); + for (HyperGraph::EdgeSet::iterator it = eset.begin(); it != eset.end(); ++it) { + OptimizableGraph::Edge* e = static_cast(*it); + if (!e->allVerticesFixed()) _activeEdges.push_back(e); + } + + // update the index mapping + size_t next = _ivMap.size(); + for (HyperGraph::VertexSet::iterator it = vset.begin(); it != vset.end(); ++it) { + OptimizableGraph::Vertex* v=static_cast(*it); + if (! v->fixed()){ + if (! v->marginalized()){ + v->setHessianIndex(next); + _ivMap.push_back(v); + newVertices.push_back(v); + _activeVertices.push_back(v); + next++; + } + else // not supported right now + abort(); + } + else { + v->setHessianIndex(-1); + } + } + + //if (newVertices.size() != vset.size()) + //cerr << __PRETTY_FUNCTION__ << ": something went wrong " << PVAR(vset.size()) << " " << PVAR(newVertices.size()) << endl; + return _algorithm->updateStructure(newVertices, eset); + } + + void SparseOptimizer::sortVectorContainers() + { + // sort vector structures to get deterministic ordering based on IDs + sort(_activeVertices.begin(), _activeVertices.end(), VertexIDCompare()); + sort(_activeEdges.begin(), _activeEdges.end(), EdgeIDCompare()); + } + + void SparseOptimizer::clear() { + _ivMap.clear(); + _activeVertices.clear(); + _activeEdges.clear(); + OptimizableGraph::clear(); + } + + SparseOptimizer::VertexContainer::const_iterator SparseOptimizer::findActiveVertex(const OptimizableGraph::Vertex* v) const + { + VertexContainer::const_iterator lower = lower_bound(_activeVertices.begin(), _activeVertices.end(), v, VertexIDCompare()); + if (lower == _activeVertices.end()) + return _activeVertices.end(); + if ((*lower) == v) + return lower; + return _activeVertices.end(); + } + + SparseOptimizer::EdgeContainer::const_iterator SparseOptimizer::findActiveEdge(const OptimizableGraph::Edge* e) const + { + EdgeContainer::const_iterator lower = lower_bound(_activeEdges.begin(), _activeEdges.end(), e, EdgeIDCompare()); + if (lower == _activeEdges.end()) + return _activeEdges.end(); + if ((*lower) == e) + return lower; + return _activeEdges.end(); + } + + void SparseOptimizer::push(SparseOptimizer::VertexContainer& vlist) + { + for (VertexContainer::iterator it = vlist.begin(); it != vlist.end(); ++it) + (*it)->push(); + } + + void SparseOptimizer::pop(SparseOptimizer::VertexContainer& vlist) + { + for (VertexContainer::iterator it = vlist.begin(); it != vlist.end(); ++it) + (*it)->pop(); + } + + void SparseOptimizer::push(HyperGraph::VertexSet& vlist) + { + for (HyperGraph::VertexSet::iterator it = vlist.begin(); it != vlist.end(); ++it) { + OptimizableGraph::Vertex* v = dynamic_cast(*it); + if (v) + v->push(); + else + cerr << __FUNCTION__ << ": FATAL PUSH SET" << endl; + } + } + + void SparseOptimizer::pop(HyperGraph::VertexSet& vlist) + { + for (HyperGraph::VertexSet::iterator it = vlist.begin(); it != vlist.end(); ++it){ + OptimizableGraph::Vertex* v = dynamic_cast (*it); + if (v) + v->pop(); + else + cerr << __FUNCTION__ << ": FATAL POP SET" << endl; + } + } + + void SparseOptimizer::discardTop(SparseOptimizer::VertexContainer& vlist) + { + for (VertexContainer::iterator it = vlist.begin(); it != vlist.end(); ++it) + (*it)->discardTop(); + } + + void SparseOptimizer::setVerbose(bool verbose) + { + _verbose = verbose; + } + + void SparseOptimizer::setAlgorithm(OptimizationAlgorithm* algorithm) + { + if (_algorithm) // reset the optimizer for the formerly used solver + _algorithm->setOptimizer(0); + _algorithm = algorithm; + if (_algorithm) + _algorithm->setOptimizer(this); + } + + bool SparseOptimizer::computeMarginals(SparseBlockMatrix& spinv, const std::vector >& blockIndices){ + return _algorithm->computeMarginals(spinv, blockIndices); + } + + void SparseOptimizer::setForceStopFlag(bool* flag) + { + _forceStopFlag=flag; + } + + bool SparseOptimizer::removeVertex(HyperGraph::Vertex* v) + { + OptimizableGraph::Vertex* vv = static_cast(v); + if (vv->hessianIndex() >= 0) { + clearIndexMapping(); + _ivMap.clear(); + } + return HyperGraph::removeVertex(v); + } + + bool SparseOptimizer::addComputeErrorAction(HyperGraphAction* action) + { + std::pair insertResult = _graphActions[AT_COMPUTEACTIVERROR].insert(action); + return insertResult.second; + } + + bool SparseOptimizer::removeComputeErrorAction(HyperGraphAction* action) + { + return _graphActions[AT_COMPUTEACTIVERROR].erase(action) > 0; + } + + void SparseOptimizer::push() + { + push(_activeVertices); + } + + void SparseOptimizer::pop() + { + pop(_activeVertices); + } + + void SparseOptimizer::discardTop() + { + discardTop(_activeVertices); + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_optimizer.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_optimizer.h new file mode 100644 index 0000000..3b09f5a --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/core/sparse_optimizer.h @@ -0,0 +1,312 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_GRAPH_OPTIMIZER_CHOL_H_ +#define G2O_GRAPH_OPTIMIZER_CHOL_H_ + +#include "../stuff/macros.h" + +#include "optimizable_graph.h" +#include "sparse_block_matrix.h" +#include "batch_stats.h" + +#include + +namespace g2o { + + // forward declaration + class ActivePathCostFunction; + class OptimizationAlgorithm; + class EstimatePropagatorCost; + + class SparseOptimizer : public OptimizableGraph { + + public: + enum { + AT_COMPUTEACTIVERROR = OptimizableGraph::AT_NUM_ELEMENTS, + AT_NUM_ELEMENTS, // keep as last element + }; + + friend class ActivePathCostFunction; + + // Attention: _solver & _statistics is own by SparseOptimizer and will be + // deleted in its destructor. + SparseOptimizer(); + virtual ~SparseOptimizer(); + + // new interface for the optimizer + // the old functions will be dropped + /** + * Initializes the structures for optimizing a portion of the graph specified by a subset of edges. + * Before calling it be sure to invoke marginalized() and fixed() to the vertices you want to include in the + * schur complement or to set as fixed during the optimization. + * @param eset: the subgraph to be optimized. + * @returns false if somethings goes wrong + */ + virtual bool initializeOptimization(HyperGraph::EdgeSet& eset); + + /** + * Initializes the structures for optimizing a portion of the graph specified by a subset of vertices. + * Before calling it be sure to invoke marginalized() and fixed() to the vertices you want to include in the + * schur complement or to set as fixed during the optimization. + * @param vset: the subgraph to be optimized. + * @param level: is the level (in multilevel optimization) + * @returns false if somethings goes wrong + */ + virtual bool initializeOptimization(HyperGraph::VertexSet& vset, int level=0); + + /** + * Initializes the structures for optimizing the whole graph. + * Before calling it be sure to invoke marginalized() and fixed() to the vertices you want to include in the + * schur complement or to set as fixed during the optimization. + * @param level: is the level (in multilevel optimization) + * @returns false if somethings goes wrong + */ + virtual bool initializeOptimization(int level=0); + + /** + * HACK updating the internal structures for online processing + */ + virtual bool updateInitialization(HyperGraph::VertexSet& vset, HyperGraph::EdgeSet& eset); + + /** + * Propagates an initial guess from the vertex specified as origin. + * It should be called after initializeOptimization(...), as it relies on the _activeVertices/_edges structures. + * It constructs a set of trees starting from the nodes in the graph which are fixed and eligible for preforming optimization. + * The trees are constructed by utlizing a cost-function specified. + * @param costFunction: the cost function used + * @patam maxDistance: the distance where to stop the search + */ + virtual void computeInitialGuess(); + + /** + * Same as above but using a specific propagator + */ + virtual void computeInitialGuess(EstimatePropagatorCost& propagator); + + /** + * sets all vertices to their origin. + */ + virtual void setToOrigin(); + + + /** + * starts one optimization run given the current configuration of the graph, + * and the current settings stored in the class instance. + * It can be called only after initializeOptimization + */ + int optimize(int iterations, bool online = false); + + /** + * computes the blocks of the inverse of the specified pattern. + * the pattern is given via pairs of the blocks in the hessian + * @param blockIndices: the pattern + * @param spinv: the sparse block matrix with the result + * @returns false if the operation is not supported by the solver + */ + bool computeMarginals(SparseBlockMatrix& spinv, const std::vector >& blockIndices); + + /** + * computes the inverse of the specified vertex. + * @param vertex: the vertex whose state is to be marginalised + * @param spinv: the sparse block matrix with the result + * @returns false if the operation is not supported by the solver + */ + bool computeMarginals(SparseBlockMatrix& spinv, const Vertex* vertex) { + if (vertex->hessianIndex() < 0) { + return false; + } + std::vector > index; + index.push_back(std::pair(vertex->hessianIndex(), vertex->hessianIndex())); + return computeMarginals(spinv, index); + } + + /** + * computes the inverse of the set specified vertices, assembled into a single covariance matrix. + * @param vertex: the pattern + * @param spinv: the sparse block matrix with the result + * @returns false if the operation is not supported by the solver + */ + bool computeMarginals(SparseBlockMatrix& spinv, const VertexContainer& vertices) { + std::vector > indices; + for (VertexContainer::const_iterator it = vertices.begin(); it != vertices.end(); ++it) { + indices.push_back(std::pair((*it)->hessianIndex(),(*it)->hessianIndex())); + } + return computeMarginals(spinv, indices); + } + + //! finds a gauge in the graph to remove the undefined dof. + // The gauge should be fixed() and then the optimization can work (if no additional dof are in + // the system. The default implementation returns a node with maximum dimension. + virtual Vertex* findGauge(); + + bool gaugeFreedom(); + + /**returns the cached chi2 of the active portion of the graph*/ + double activeChi2() const; + /** + * returns the cached chi2 of the active portion of the graph. + * In contrast to activeChi2() this functions considers the weighting + * of the error according to the robustification of the error functions. + */ + double activeRobustChi2() const; + + //! verbose information during optimization + bool verbose() const {return _verbose;} + void setVerbose(bool verbose); + + /** + * sets a variable checked at every iteration to force a user stop. The iteration exits when the variable is true; + */ + void setForceStopFlag(bool* flag); + bool* forceStopFlag() const { return _forceStopFlag;}; + + //! if external stop flag is given, return its state. False otherwise + bool terminate() {return _forceStopFlag ? (*_forceStopFlag) : false; } + + //! the index mapping of the vertices + const VertexContainer& indexMapping() const {return _ivMap;} + //! the vertices active in the current optimization + const VertexContainer& activeVertices() const { return _activeVertices;} + //! the edges active in the current optimization + const EdgeContainer& activeEdges() const { return _activeEdges;} + + /** + * Remove a vertex. If the vertex is contained in the currently active set + * of vertices, then the internal temporary structures are cleaned, e.g., the index + * mapping is erased. In case you need the index mapping for manipulating the + * graph, you have to store it in your own copy. + */ + virtual bool removeVertex(HyperGraph::Vertex* v); + + /** + * search for an edge in _activeVertices and return the iterator pointing to it + * getActiveVertices().end() if not found + */ + VertexContainer::const_iterator findActiveVertex(const OptimizableGraph::Vertex* v) const; + /** + * search for an edge in _activeEdges and return the iterator pointing to it + * getActiveEdges().end() if not found + */ + EdgeContainer::const_iterator findActiveEdge(const OptimizableGraph::Edge* e) const; + + //! the solver used by the optimizer + const OptimizationAlgorithm* algorithm() const { return _algorithm;} + OptimizationAlgorithm* solver() { return _algorithm;} + void setAlgorithm(OptimizationAlgorithm* algorithm); + + //! push the estimate of a subset of the variables onto a stack + void push(SparseOptimizer::VertexContainer& vlist); + //! push the estimate of a subset of the variables onto a stack + void push(HyperGraph::VertexSet& vlist); + //! push all the active vertices onto a stack + void push(); + //! pop (restore) the estimate a subset of the variables from the stack + void pop(SparseOptimizer::VertexContainer& vlist); + //! pop (restore) the estimate a subset of the variables from the stack + void pop(HyperGraph::VertexSet& vlist); + //! pop (restore) the estimate of the active vertices from the stack + void pop(); + + //! ignore the latest stored element on the stack, remove it from the stack but do not restore the estimate + void discardTop(SparseOptimizer::VertexContainer& vlist); + //! same as above, but for the active vertices + void discardTop(); + using OptimizableGraph::discardTop; + + /** + * clears the graph, and polishes some intermediate structures + * Note that this only removes nodes / edges. Parameters can be removed + * with clearParameters(). + */ + virtual void clear(); + + /** + * computes the error vectors of all edges in the activeSet, and caches them + */ + void computeActiveErrors(); + + /** + * Linearizes the system by computing the Jacobians for the nodes + * and edges in the graph + */ + G2O_ATTRIBUTE_DEPRECATED(void linearizeSystem()) + { + // nothing needed, linearization is now done inside the solver + } + + /** + * update the estimate of the active vertices + * @param update: the double vector containing the stacked + * elements of the increments on the vertices. + */ + void update(const double* update); + + /** + returns the set of batch statistics about the optimisation + */ + const BatchStatisticsContainer& batchStatistics() const { return _batchStatistics;} + /** + returns the set of batch statistics about the optimisation + */ + BatchStatisticsContainer& batchStatistics() { return _batchStatistics;} + + void setComputeBatchStatistics(bool computeBatchStatistics); + + bool computeBatchStatistics() const { return _computeBatchStatistics;} + + /**** callbacks ****/ + //! add an action to be executed before the error vectors are computed + bool addComputeErrorAction(HyperGraphAction* action); + //! remove an action that should no longer be execured before computing the error vectors + bool removeComputeErrorAction(HyperGraphAction* action); + + + + protected: + bool* _forceStopFlag; + bool _verbose; + + VertexContainer _ivMap; + VertexContainer _activeVertices; ///< sorted according to VertexIDCompare + EdgeContainer _activeEdges; ///< sorted according to EdgeIDCompare + + void sortVectorContainers(); + + OptimizationAlgorithm* _algorithm; + + /** + * builds the mapping of the active vertices to the (block) row / column in the Hessian + */ + bool buildIndexMapping(SparseOptimizer::VertexContainer& vlist); + void clearIndexMapping(); + + BatchStatisticsContainer _batchStatistics; ///< global statistics of the optimizer, e.g., timing, num-non-zeros + bool _computeBatchStatistics; + }; +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/solvers/linear_solver_dense.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/solvers/linear_solver_dense.h new file mode 100644 index 0000000..b34674c --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/solvers/linear_solver_dense.h @@ -0,0 +1,125 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 H. Strasdat +// Copyright (C) 2012 R. Kümmerle +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_LINEAR_SOLVER_DENSE_H +#define G2O_LINEAR_SOLVER_DENSE_H + +#include "../core/linear_solver.h" +#include "../core/batch_stats.h" + +#include +#include +#include +#include + + +namespace g2o { + + /** + * \brief linear solver using dense cholesky decomposition + */ + template + class LinearSolverDense : public LinearSolver + { + public: + LinearSolverDense() : + LinearSolver(), + _reset(true) + { + } + + virtual ~LinearSolverDense() + { + } + + virtual bool init() + { + _reset = true; + return true; + } + + bool solve(const SparseBlockMatrix& A, double* x, double* b) + { + int n = A.cols(); + int m = A.cols(); + + Eigen::MatrixXd& H = _H; + if (H.cols() != n) { + H.resize(n, m); + _reset = true; + } + if (_reset) { + _reset = false; + H.setZero(); + } + + // copy the sparse block matrix into a dense matrix + int c_idx = 0; + for (size_t i = 0; i < A.blockCols().size(); ++i) { + int c_size = A.colsOfBlock(i); + assert(c_idx == A.colBaseOfBlock(i) && "mismatch in block indices"); + + const typename SparseBlockMatrix::IntBlockMap& col = A.blockCols()[i]; + if (col.size() > 0) { + typename SparseBlockMatrix::IntBlockMap::const_iterator it; + for (it = col.begin(); it != col.end(); ++it) { + int r_idx = A.rowBaseOfBlock(it->first); + // only the upper triangular block is processed + if (it->first <= (int)i) { + int r_size = A.rowsOfBlock(it->first); + H.block(r_idx, c_idx, r_size, c_size) = *(it->second); + if (r_idx != c_idx) // write the lower triangular block + H.block(c_idx, r_idx, c_size, r_size) = it->second->transpose(); + } + } + } + + c_idx += c_size; + } + + // solving via Cholesky decomposition + Eigen::VectorXd::MapType xvec(x, m); + Eigen::VectorXd::ConstMapType bvec(b, n); + _cholesky.compute(H); + if (_cholesky.isPositive()) { + xvec = _cholesky.solve(bvec); + return true; + } + return false; + } + + protected: + bool _reset; + Eigen::MatrixXd _H; + Eigen::LDLT _cholesky; + + }; + + +}// end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h new file mode 100644 index 0000000..1c2789a --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h @@ -0,0 +1,237 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_LINEAR_SOLVER_EIGEN_H +#define G2O_LINEAR_SOLVER_EIGEN_H + +#include +#include + +#include "../core/linear_solver.h" +#include "../core/batch_stats.h" +#include "../stuff/timeutil.h" + +#include "../core/eigen_types.h" + +#include +#include + +namespace g2o { + +/** + * \brief linear solver which uses the sparse Cholesky solver from Eigen + * + * Has no dependencies except Eigen. Hence, should compile almost everywhere + * without to much issues. Performance should be similar to CSparse, I guess. + */ +template +class LinearSolverEigen: public LinearSolver +{ + public: + typedef Eigen::SparseMatrix SparseMatrix; + typedef Eigen::Triplet Triplet; + typedef Eigen::PermutationMatrix PermutationMatrix; + /** + * \brief Sub-classing Eigen's SimplicialLDLT to perform ordering with a given ordering + */ + class CholeskyDecomposition : public Eigen::SimplicialLDLT + { + public: + CholeskyDecomposition() : Eigen::SimplicialLDLT() {} + using Eigen::SimplicialLDLT< SparseMatrix, Eigen::Upper>::analyzePattern_preordered; + + void analyzePatternWithPermutation(SparseMatrix& a, const PermutationMatrix& permutation) + { + m_Pinv = permutation; + m_P = permutation.inverse(); + int size = a.cols(); + SparseMatrix ap(size, size); + ap.selfadjointView() = a.selfadjointView().twistedBy(m_P); + analyzePattern_preordered(ap, true); + } + }; + + public: + LinearSolverEigen() : + LinearSolver(), + _init(true), _blockOrdering(false), _writeDebug(false) + { + } + + virtual ~LinearSolverEigen() + { + } + + virtual bool init() + { + _init = true; + return true; + } + + bool solve(const SparseBlockMatrix& A, double* x, double* b) + { + if (_init) + _sparseMatrix.resize(A.rows(), A.cols()); + fillSparseMatrix(A, !_init); + if (_init) // compute the symbolic composition once + computeSymbolicDecomposition(A); + _init = false; + + double t=get_monotonic_time(); + _cholesky.factorize(_sparseMatrix); + if (_cholesky.info() != Eigen::Success) { // the matrix is not positive definite + if (_writeDebug) { + std::cerr << "Cholesky failure, writing debug.txt (Hessian loadable by Octave)" << std::endl; + A.writeOctave("debug.txt"); + } + return false; + } + + // Solving the system + VectorXD::MapType xx(x, _sparseMatrix.cols()); + VectorXD::ConstMapType bb(b, _sparseMatrix.cols()); + xx = _cholesky.solve(bb); + G2OBatchStatistics* globalStats = G2OBatchStatistics::globalStats(); + if (globalStats) { + globalStats->timeNumericDecomposition = get_monotonic_time() - t; + globalStats->choleskyNNZ = _cholesky.matrixL().nestedExpression().nonZeros() + _sparseMatrix.cols(); // the elements of D + } + + return true; + } + + //! do the AMD ordering on the blocks or on the scalar matrix + bool blockOrdering() const { return _blockOrdering;} + void setBlockOrdering(bool blockOrdering) { _blockOrdering = blockOrdering;} + + //! write a debug dump of the system matrix if it is not SPD in solve + virtual bool writeDebug() const { return _writeDebug;} + virtual void setWriteDebug(bool b) { _writeDebug = b;} + + protected: + bool _init; + bool _blockOrdering; + bool _writeDebug; + SparseMatrix _sparseMatrix; + CholeskyDecomposition _cholesky; + + /** + * compute the symbolic decompostion of the matrix only once. + * Since A has the same pattern in all the iterations, we only + * compute the fill-in reducing ordering once and re-use for all + * the following iterations. + */ + void computeSymbolicDecomposition(const SparseBlockMatrix& A) + { + double t=get_monotonic_time(); + if (! _blockOrdering) { + _cholesky.analyzePattern(_sparseMatrix); + } else { + // block ordering with the Eigen Interface + // This is really ugly currently, as it calls internal functions from Eigen + // and modifies the SparseMatrix class + Eigen::PermutationMatrix blockP; + { + // prepare a block structure matrix for calling AMD + std::vector triplets; + for (size_t c = 0; c < A.blockCols().size(); ++c){ + const typename SparseBlockMatrix::IntBlockMap& column = A.blockCols()[c]; + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it = column.begin(); it != column.end(); ++it) { + const int& r = it->first; + if (r > static_cast(c)) // only upper triangle + break; + triplets.push_back(Triplet(r, c, 0.)); + } + } + + // call the AMD ordering on the block matrix. + // Relies on Eigen's internal stuff, probably bad idea + SparseMatrix auxBlockMatrix(A.blockCols().size(), A.blockCols().size()); + auxBlockMatrix.setFromTriplets(triplets.begin(), triplets.end()); + typename CholeskyDecomposition::CholMatrixType C; + C = auxBlockMatrix.selfadjointView(); + Eigen::internal::minimum_degree_ordering(C, blockP); + } + + int rows = A.rows(); + assert(rows == A.cols() && "Matrix A is not square"); + + // Adapt the block permutation to the scalar matrix + PermutationMatrix scalarP; + scalarP.resize(rows); + int scalarIdx = 0; + for (int i = 0; i < blockP.size(); ++i) { + const int& p = blockP.indices()(i); + int base = A.colBaseOfBlock(p); + int nCols = A.colsOfBlock(p); + for (int j = 0; j < nCols; ++j) + scalarP.indices()(scalarIdx++) = base++; + } + assert(scalarIdx == rows && "did not completely fill the permutation matrix"); + // analyze with the scalar permutation + _cholesky.analyzePatternWithPermutation(_sparseMatrix, scalarP); + + } + G2OBatchStatistics* globalStats = G2OBatchStatistics::globalStats(); + if (globalStats) + globalStats->timeSymbolicDecomposition = get_monotonic_time() - t; + } + + void fillSparseMatrix(const SparseBlockMatrix& A, bool onlyValues) + { + if (onlyValues) { + A.fillCCS(_sparseMatrix.valuePtr(), true); + } else { + + // create from triplet structure + std::vector triplets; + triplets.reserve(A.nonZeros()); + for (size_t c = 0; c < A.blockCols().size(); ++c) { + int colBaseOfBlock = A.colBaseOfBlock(c); + const typename SparseBlockMatrix::IntBlockMap& column = A.blockCols()[c]; + for (typename SparseBlockMatrix::IntBlockMap::const_iterator it = column.begin(); it != column.end(); ++it) { + int rowBaseOfBlock = A.rowBaseOfBlock(it->first); + const MatrixType& m = *(it->second); + for (int cc = 0; cc < m.cols(); ++cc) { + int aux_c = colBaseOfBlock + cc; + for (int rr = 0; rr < m.rows(); ++rr) { + int aux_r = rowBaseOfBlock + rr; + if (aux_r > aux_c) + break; + triplets.push_back(Triplet(aux_r, aux_c, m(rr, cc))); + } + } + } + } + _sparseMatrix.setFromTriplets(triplets.begin(), triplets.end()); + + } + } +}; + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/color_macros.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/color_macros.h new file mode 100644 index 0000000..7115bbe --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/color_macros.h @@ -0,0 +1,65 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_COLOR_MACROS_H +#define G2O_COLOR_MACROS_H + +// font attributes +#define FT_BOLD "\033[1m" +#define FT_UNDERLINE "\033[4m" + +//background color +#define BG_BLACK "\033[40m" +#define BG_RED "\033[41m" +#define BG_GREEN "\033[42m" +#define BG_YELLOW "\033[43m" +#define BG_LIGHTBLUE "\033[44m" +#define BG_MAGENTA "\033[45m" +#define BG_BLUE "\033[46m" +#define BG_WHITE "\033[47m" + +// font color +#define CL_BLACK(s) "\033[30m" << s << "\033[0m" +#define CL_RED(s) "\033[31m" << s << "\033[0m" +#define CL_GREEN(s) "\033[32m" << s << "\033[0m" +#define CL_YELLOW(s) "\033[33m" << s << "\033[0m" +#define CL_LIGHTBLUE(s) "\033[34m" << s << "\033[0m" +#define CL_MAGENTA(s) "\033[35m" << s << "\033[0m" +#define CL_BLUE(s) "\033[36m" << s << "\033[0m" +#define CL_WHITE(s) "\033[37m" << s << "\033[0m" + +#define FG_BLACK "\033[30m" +#define FG_RED "\033[31m" +#define FG_GREEN "\033[32m" +#define FG_YELLOW "\033[33m" +#define FG_LIGHTBLUE "\033[34m" +#define FG_MAGENTA "\033[35m" +#define FG_BLUE "\033[36m" +#define FG_WHITE "\033[37m" + +#define FG_NORM "\033[0m" + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/macros.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/macros.h new file mode 100644 index 0000000..be4a245 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/macros.h @@ -0,0 +1,134 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_MACROS_H +#define G2O_MACROS_H + +#ifndef DEG2RAD +#define DEG2RAD(x) ((x) * 0.01745329251994329575) +#endif + +#ifndef RAD2DEG +#define RAD2DEG(x) ((x) * 57.29577951308232087721) +#endif + +// GCC the one and only +#if defined(__GNUC__) +# define G2O_ATTRIBUTE_CONSTRUCTOR(func) \ + static void func(void)__attribute__ ((constructor)); \ + static void func(void) + +# define G2O_ATTRIBUTE_UNUSED __attribute__((unused)) +# define G2O_ATTRIBUTE_FORMAT12 __attribute__ ((format (printf, 1, 2))) +# define G2O_ATTRIBUTE_FORMAT23 __attribute__ ((format (printf, 2, 3))) +# define G2O_ATTRIBUTE_WARNING(func) func __attribute__((warning)) +# define G2O_ATTRIBUTE_DEPRECATED(func) func __attribute__((deprecated)) + +#ifdef ANDROID +# define g2o_isnan(x) isnan(x) +# define g2o_isinf(x) isinf(x) +# define g2o_isfinite(x) isfinite(x) +#else +# define g2o_isnan(x) std::isnan(x) +# define g2o_isinf(x) std::isinf(x) +# define g2o_isfinite(x) std::isfinite(x) +#endif + +// MSVC on Windows +#elif defined _MSC_VER +# define __PRETTY_FUNCTION__ __FUNCTION__ + +/** +Modified by Mark Pupilli from: + + "Initializer/finalizer sample for MSVC and GCC. + 2010 Joe Lowe. Released into the public domain." + + "For MSVC, places a ptr to the function in the user initializer section (.CRT$XCU), basically the same thing the compiler does for the constructor calls for static C++ objects. For GCC, uses a constructor attribute." + + (As posted on Stack OVerflow) +*/ +# define G2O_ATTRIBUTE_CONSTRUCTOR(f) \ + __pragma(section(".CRT$XCU",read)) \ + static void __cdecl f(void); \ + __declspec(allocate(".CRT$XCU")) void (__cdecl*f##_)(void) = f; \ + static void __cdecl f(void) + +# define G2O_ATTRIBUTE_UNUSED +# define G2O_ATTRIBUTE_FORMAT12 +# define G2O_ATTRIBUTE_FORMAT23 +# define G2O_ATTRIBUTE_WARNING(func) func +# define G2O_ATTRIBUTE_DEPRECATED(func) func + +#include + +# define g2o_isnan(x) _isnan(x) +# define g2o_isinf(x) (_finite(x) == 0) +# define g2o_isfinite(x) (_finite(x) != 0) + +// unknown compiler +#else +# ifndef __PRETTY_FUNCTION__ +# define __PRETTY_FUNCTION__ "" +# endif +# define G2O_ATTRIBUTE_CONSTRUCTOR(func) func +# define G2O_ATTRIBUTE_UNUSED +# define G2O_ATTRIBUTE_FORMAT12 +# define G2O_ATTRIBUTE_FORMAT23 +# define G2O_ATTRIBUTE_WARNING(func) func +# define G2O_ATTRIBUTE_DEPRECATED(func) func + +#include +#define g2o_isnan(x) isnan(x) +#define g2o_isinf(x) isinf(x) +#define g2o_isfinite(x) isfinite(x) + +#endif + +// some macros that are only useful for c++ +#ifdef __cplusplus + +#define G2O_FSKIP_LINE(f) \ + {char c=' ';while(c != '\n' && f.good() && !(f).eof()) (f).get(c);} + +#ifndef PVAR + #define PVAR(s) \ + #s << " = " << (s) << std::flush +#endif + +#ifndef PVARA +#define PVARA(s) \ + #s << " = " << RAD2DEG(s) << "deg" << std::flush +#endif + +#ifndef FIXED +#define FIXED(s) \ + std::fixed << s << std::resetiosflags(std::ios_base::fixed) +#endif + +#endif // __cplusplus + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/misc.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/misc.h new file mode 100644 index 0000000..4fa4ff3 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/misc.h @@ -0,0 +1,206 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_STUFF_MISC_H +#define G2O_STUFF_MISC_H + +#include "macros.h" +#include + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +/** @addtogroup utils **/ +// @{ + +/** \file misc.h + * \brief some general case utility functions + * + * This file specifies some general case utility functions + **/ + +namespace g2o { + +/** + * return the square value + */ +template +inline T square(T x) +{ + return x*x; +} + +/** + * return the hypot of x and y + */ +template +inline T hypot(T x, T y) +{ + return (T) (sqrt(x*x + y*y)); +} + +/** + * return the squared hypot of x and y + */ +template +inline T hypot_sqr(T x, T y) +{ + return x*x + y*y; +} + +/** + * convert from degree to radian + */ +inline double deg2rad(double degree) +{ + return degree * 0.01745329251994329576; +} + +/** + * convert from radian to degree + */ +inline double rad2deg(double rad) +{ + return rad * 57.29577951308232087721; +} + +/** + * normalize the angle + */ +inline double normalize_theta(double theta) +{ + if (theta >= -M_PI && theta < M_PI) + return theta; + + double multiplier = floor(theta / (2*M_PI)); + theta = theta - multiplier*2*M_PI; + if (theta >= M_PI) + theta -= 2*M_PI; + if (theta < -M_PI) + theta += 2*M_PI; + + return theta; +} + +/** + * inverse of an angle, i.e., +180 degree + */ +inline double inverse_theta(double th) +{ + return normalize_theta(th + M_PI); +} + +/** + * average two angles + */ +inline double average_angle(double theta1, double theta2) +{ + double x, y; + + x = cos(theta1) + cos(theta2); + y = sin(theta1) + sin(theta2); + if(x == 0 && y == 0) + return 0; + else + return std::atan2(y, x); +} + +/** + * sign function. + * @return the sign of x. +1 for x > 0, -1 for x < 0, 0 for x == 0 + */ +template +inline int sign(T x) +{ + if (x > 0) + return 1; + else if (x < 0) + return -1; + else + return 0; +} + +/** + * clamp x to the interval [l, u] + */ +template +inline T clamp(T l, T x, T u) +{ + if (x < l) + return l; + if (x > u) + return u; + return x; +} + +/** + * wrap x to be in the interval [l, u] + */ +template +inline T wrap(T l, T x, T u) +{ + T intervalWidth = u - l; + while (x < l) + x += intervalWidth; + while (x > u) + x -= intervalWidth; + return x; +} + +/** + * tests whether there is a NaN in the array + */ +inline bool arrayHasNaN(const double* array, int size, int* nanIndex = 0) +{ + for (int i = 0; i < size; ++i) + if (g2o_isnan(array[i])) { + if (nanIndex) + *nanIndex = i; + return true; + } + return false; +} + +/** + * The following two functions are used to force linkage with static libraries. + */ +extern "C" +{ + typedef void (* ForceLinkFunction) (void); +} + +struct ForceLinker +{ + ForceLinker(ForceLinkFunction function) { (function)(); } +}; + + +} // end namespace + +// @} + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/os_specific.c b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/os_specific.c new file mode 100644 index 0000000..85f9368 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/os_specific.c @@ -0,0 +1,64 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "os_specific.h" + +#ifdef WINDOWS + +int vasprintf(char** strp, const char* fmt, va_list ap) +{ + int n; + int size = 100; + char* p; + char* np; + + if ((p = (char*)malloc(size * sizeof(char))) == NULL) + return -1; + + while (1) { +#ifdef _MSC_VER + n = vsnprintf_s(p, size, size - 1, fmt, ap); +#else + n = vsnprintf(p, size, fmt, ap); +#endif + if (n > -1 && n < size) { + *strp = p; + return n; + } + if (n > -1) + size = n+1; + else + size *= 2; + if ((np = (char*)realloc (p, size * sizeof(char))) == NULL) { + free(p); + return -1; + } else + p = np; + } +} + + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/os_specific.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/os_specific.h new file mode 100644 index 0000000..89dd0cc --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/os_specific.h @@ -0,0 +1,56 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_OS_SPECIFIC_HH_ +#define G2O_OS_SPECIFIC_HH_ + +#ifdef WINDOWS +#include +#include +#include +#ifndef _WINDOWS +#include +#endif +#define drand48() ((double) rand()/(double)RAND_MAX) + +#ifdef __cplusplus +extern "C" { +#endif + +int vasprintf(char** strp, const char* fmt, va_list ap); + +#ifdef __cplusplus +} +#endif + +#endif + +#ifdef UNIX +#include +// nothing to do on real operating systems +#endif + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/property.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/property.cpp new file mode 100644 index 0000000..f13016e --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/property.cpp @@ -0,0 +1,105 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "property.h" + +#include +#include + +#include "macros.h" + +#include "string_tools.h" +using namespace std; + +namespace g2o { + + BaseProperty::BaseProperty(const std::string name_) :_name(name_){ + } + + BaseProperty::~BaseProperty(){} + + bool PropertyMap::addProperty(BaseProperty* p) { + std::pair result = insert(make_pair(p->name(), p)); + return result.second; + } + + bool PropertyMap::eraseProperty(const std::string& name) { + PropertyMapIterator it=find(name); + if (it==end()) + return false; + delete it->second; + erase(it); + return true; + } + + PropertyMap::~PropertyMap() { + for (PropertyMapIterator it=begin(); it!=end(); it++){ + if (it->second) + delete it->second; + } + } + + bool PropertyMap::updatePropertyFromString(const std::string& name, const std::string& value) + { + PropertyMapIterator it = find(name); + if (it == end()) + return false; + it->second->fromString(value); + return true; + } + + void PropertyMap::writeToCSV(std::ostream& os) const + { + for (PropertyMapConstIterator it=begin(); it!=end(); it++){ + BaseProperty* p =it->second; + os << p->name() << ", "; + } + os << std::endl; + for (PropertyMapConstIterator it=begin(); it!=end(); it++){ + BaseProperty* p =it->second; + os << p->toString() << ", "; + } + os << std::endl; + } + + bool PropertyMap::updateMapFromString(const std::string& values) + { + bool status = true; + vector valuesMap = strSplit(values, ","); + for (size_t i = 0; i < valuesMap.size(); ++i) { + vector m = strSplit(valuesMap[i], "="); + if (m.size() != 2) { + cerr << __PRETTY_FUNCTION__ << ": unable to extract name=value pair from " << valuesMap[i] << endl; + continue; + } + string name = trim(m[0]); + string value = trim(m[1]); + status = status && updatePropertyFromString(name, value); + } + return status; + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/property.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/property.h new file mode 100644 index 0000000..7b63878 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/property.h @@ -0,0 +1,158 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_PROPERTY_H_ +#define G2O_PROPERTY_H_ + +#include +#include +#include + +#include "string_tools.h" + +namespace g2o { + + class BaseProperty { + public: + BaseProperty(const std::string name_); + virtual ~BaseProperty(); + const std::string& name() {return _name;} + virtual std::string toString() const = 0; + virtual bool fromString(const std::string& s) = 0; + protected: + std::string _name; + }; + + template + class Property: public BaseProperty { + public: + typedef T ValueType; + Property(const std::string& name_): BaseProperty(name_){} + Property(const std::string& name_, const T& v): BaseProperty(name_), _value(v){} + void setValue(const T& v) {_value = v; } + const T& value() const {return _value;} + virtual std::string toString() const + { + std::stringstream sstr; + sstr << _value; + return sstr.str(); + } + virtual bool fromString(const std::string& s) + { + bool status = convertString(s, _value); + return status; + } + protected: + T _value; + }; + + /** + * \brief a collection of properties mapping from name to the property itself + */ + class PropertyMap : protected std::map + { + public: + typedef std::map BaseClass; + typedef BaseClass::iterator PropertyMapIterator; + typedef BaseClass::const_iterator PropertyMapConstIterator; + + ~PropertyMap(); + + /** + * add a property to the map + */ + bool addProperty(BaseProperty* p); + + /** + * remove a property from the map + */ + bool eraseProperty(const std::string& name_); + + /** + * return a property by its name + */ + template + P* getProperty(const std::string& name_) + { + PropertyMapIterator it=find(name_); + if (it==end()) + return 0; + return dynamic_cast(it->second); + } + template + const P* getProperty(const std::string& name_) const + { + PropertyMapConstIterator it=find(name_); + if (it==end()) + return 0; + return dynamic_cast(it->second); + } + + /** + * create a property and insert it + */ + template + P* makeProperty(const std::string& name_, const typename P::ValueType& v) + { + PropertyMapIterator it=find(name_); + if (it==end()){ + P* p=new P(name_, v); + addProperty(p); + return p; + } else + return dynamic_cast(it->second); + } + + /** + * update a specfic property with a new value + * @return true if the params is stored and update was carried out + */ + bool updatePropertyFromString(const std::string& name, const std::string& value); + + /** + * update the map based on a name=value string, e.g., name1=val1,name2=val2 + * @return true, if it was possible to update all parameters + */ + bool updateMapFromString(const std::string& values); + + void writeToCSV(std::ostream& os) const; + + using BaseClass::size; + using BaseClass::begin; + using BaseClass::end; + using BaseClass::iterator; + using BaseClass::const_iterator; + + }; + + typedef Property IntProperty; + typedef Property BoolProperty; + typedef Property FloatProperty; + typedef Property DoubleProperty; + typedef Property StringProperty; + +} // end namespace +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/string_tools.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/string_tools.cpp new file mode 100644 index 0000000..0a4f60a --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/string_tools.cpp @@ -0,0 +1,185 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "string_tools.h" +#include "os_specific.h" +#include "macros.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +#if (defined (UNIX) || defined(CYGWIN)) && !defined(ANDROID) +#include +#endif + +namespace g2o { + +using namespace std; + +std::string trim(const std::string& s) +{ + if(s.length() == 0) + return s; + string::size_type b = s.find_first_not_of(" \t\n"); + string::size_type e = s.find_last_not_of(" \t\n"); + if(b == string::npos) + return ""; + return std::string(s, b, e - b + 1); +} + +std::string trimLeft(const std::string& s) +{ + if(s.length() == 0) + return s; + string::size_type b = s.find_first_not_of(" \t\n"); + string::size_type e = s.length() - 1; + if(b == string::npos) + return ""; + return std::string(s, b, e - b + 1); +} + +std::string trimRight(const std::string& s) +{ + if(s.length() == 0) + return s; + string::size_type b = 0; + string::size_type e = s.find_last_not_of(" \t\n"); + if(b == string::npos) + return ""; + return std::string(s, b, e - b + 1); +} + +std::string strToLower(const std::string& s) +{ + string ret; + std::transform(s.begin(), s.end(), back_inserter(ret), (int(*)(int)) std::tolower); + return ret; +} + +std::string strToUpper(const std::string& s) +{ + string ret; + std::transform(s.begin(), s.end(), back_inserter(ret), (int(*)(int)) std::toupper); + return ret; +} + +std::string formatString(const char* fmt, ...) +{ + char* auxPtr = NULL; + va_list arg_list; + va_start(arg_list, fmt); + int numChar = vasprintf(&auxPtr, fmt, arg_list); + va_end(arg_list); + string retString; + if (numChar != -1) + retString = auxPtr; + else { + cerr << __PRETTY_FUNCTION__ << ": Error while allocating memory" << endl; + } + free(auxPtr); + return retString; +} + +int strPrintf(std::string& str, const char* fmt, ...) +{ + char* auxPtr = NULL; + va_list arg_list; + va_start(arg_list, fmt); + int numChars = vasprintf(&auxPtr, fmt, arg_list); + va_end(arg_list); + str = auxPtr; + free(auxPtr); + return numChars; +} + +std::string strExpandFilename(const std::string& filename) +{ +#if (defined (UNIX) || defined(CYGWIN)) && !defined(ANDROID) + string result = filename; + wordexp_t p; + + wordexp(filename.c_str(), &p, 0); + if(p.we_wordc > 0) { + result = p.we_wordv[0]; + } + wordfree(&p); + return result; +#else + (void) filename; + std::cerr << "WARNING: " << __PRETTY_FUNCTION__ << " not implemented" << std::endl; + return std::string(); +#endif +} + +std::vector strSplit(const std::string& str, const std::string& delimiters) +{ + std::vector tokens; + string::size_type lastPos = 0; + string::size_type pos = 0; + + do { + pos = str.find_first_of(delimiters, lastPos); + tokens.push_back(str.substr(lastPos, pos - lastPos)); + lastPos = pos + 1; + } while (string::npos != pos); + + return tokens; +} + +bool strStartsWith(const std::string& s, const std::string& start) +{ + if (s.size() < start.size()) + return false; + return equal(start.begin(), start.end(), s.begin()); +} + +bool strEndsWith(const std::string& s, const std::string& end) +{ + if (s.size() < end.size()) + return false; + return equal(end.rbegin(), end.rend(), s.rbegin()); +} + +int readLine(std::istream& is, std::stringstream& currentLine) +{ + if (is.eof()) + return -1; + currentLine.str(""); + currentLine.clear(); + is.get(*currentLine.rdbuf()); + if (is.fail()) // fail is set on empty lines + is.clear(); + G2O_FSKIP_LINE(is); // read \n not read by get() + return static_cast(currentLine.str().size()); +} + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/string_tools.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/string_tools.h new file mode 100644 index 0000000..226208f --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/string_tools.h @@ -0,0 +1,176 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_STRING_TOOLS_H +#define G2O_STRING_TOOLS_H + +#include +#include +#include +#include + +#include "macros.h" + +namespace g2o { + +/** @addtogroup utils **/ +// @{ + +/** \file stringTools.h + * \brief utility functions for handling strings + */ + +/** + * remove whitespaces from the start/end of a string + */ + std::string trim(const std::string& s); + +/** + * remove whitespaces from the left side of the string + */ + std::string trimLeft(const std::string& s); + +/** + * remove whitespaced from the right side of the string + */ + std::string trimRight(const std::string& s); + +/** + * convert the string to lower case + */ + std::string strToLower(const std::string& s); + +/** + * convert a string to upper case + */ + std::string strToUpper(const std::string& s); + +/** + * read integer values (seperated by spaces) from a string and store + * them in the given OutputIterator. + */ +template +OutputIterator readInts(const char* str, OutputIterator out) +{ + char* cl = (char*)str; + char* cle = cl; + while (1) { + int id = strtol(cl, &cle, 10); + if (cl == cle) + break; + *out++ = id; + cl = cle; + } + return out; +} + +/** + * read float values (seperated by spaces) from a string and store + * them in the given OutputIterator. + */ +template +OutputIterator readFloats(const char* str, OutputIterator out) +{ + char* cl = (char*)str; + char* cle = cl; + while (1) { + double val = strtod(cl, &cle); + if (cl == cle) + break; + *out++ = val; + cl = cle; + } + return out; +} + +/** + * format a string and return a std::string. + * Format is just like printf, see man 3 printf + */ + std::string formatString(const char* fmt, ...) G2O_ATTRIBUTE_FORMAT12; + +/** + * replacement function for sprintf which fills a std::string instead of a char* + */ + int strPrintf(std::string& str, const char* fmt, ...) G2O_ATTRIBUTE_FORMAT23; + +/** + * convert a string into an other type. + */ +template +bool convertString(const std::string& s, T& x, bool failIfLeftoverChars = true) +{ + std::istringstream i(s); + char c; + if (!(i >> x) || (failIfLeftoverChars && i.get(c))) + return false; + return true; +} + +/** + * convert a string into an other type. + * Return the converted value. Throw error if parsing is wrong. + */ +template +T stringToType(const std::string& s, bool failIfLeftoverChars = true) +{ + T x; + convertString(s, x, failIfLeftoverChars); + return x; +} + +/** + * return true, if str starts with substr + */ + bool strStartsWith(const std::string & str, const std::string& substr); + +/** + * return true, if str ends with substr + */ + bool strEndsWith(const std::string & str, const std::string& substr); + +/** + * expand the given filename like a posix shell, e.g., ~ $CARMEN_HOME and other will get expanded. + * Also command substitution, e.g. `pwd` will give the current directory. + */ + std::string strExpandFilename(const std::string& filename); + +/** + * split a string into token based on the characters given in delim + */ + std::vector strSplit(const std::string& s, const std::string& delim); + +/** + * read a line from is into currentLine. + * @return the number of characters read into currentLine (excluding newline), -1 on eof() + */ + int readLine(std::istream& is, std::stringstream& currentLine); + +// @} + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/timeutil.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/timeutil.cpp new file mode 100644 index 0000000..ec19051 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/timeutil.cpp @@ -0,0 +1,124 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#include "timeutil.h" +#include + +#ifdef _WINDOWS +#include +#include +#endif + +#ifdef UNIX +#include +#endif + +namespace g2o { + +#ifdef _WINDOWS +#if defined(_MSC_VER) || defined(_MSC_EXTENSIONS) + #define DELTA_EPOCH_IN_MICROSECS 11644473600000000Ui64 +#else + #define DELTA_EPOCH_IN_MICROSECS 11644473600000000ULL +#endif + +struct timezone +{ + int tz_minuteswest; /* minutes W of Greenwich */ + int tz_dsttime; /* type of dst correction */ +}; + +int gettimeofday(struct timeval *tv, struct timezone *tz) +{ +// Define a structure to receive the current Windows filetime + FILETIME ft; + +// Initialize the present time to 0 and the timezone to UTC + unsigned __int64 tmpres = 0; + static int tzflag = 0; + + if (NULL != tv) + { + GetSystemTimeAsFileTime(&ft); + +// The GetSystemTimeAsFileTime returns the number of 100 nanosecond +// intervals since Jan 1, 1601 in a structure. Copy the high bits to +// the 64 bit tmpres, shift it left by 32 then or in the low 32 bits. + tmpres |= ft.dwHighDateTime; + tmpres <<= 32; + tmpres |= ft.dwLowDateTime; + +// Convert to microseconds by dividing by 10 + tmpres /= 10; + +// The Unix epoch starts on Jan 1 1970. Need to subtract the difference +// in seconds from Jan 1 1601. + tmpres -= DELTA_EPOCH_IN_MICROSECS; + +// Finally change microseconds to seconds and place in the seconds value. +// The modulus picks up the microseconds. + tv->tv_sec = (long)(tmpres / 1000000UL); + tv->tv_usec = (long)(tmpres % 1000000UL); + } + + if (NULL != tz) { + if (!tzflag) { + _tzset(); + tzflag++; + } + + long sec; + int hours; + _get_timezone(&sec); + _get_daylight(&hours); + +// Adjust for the timezone west of Greenwich + tz->tz_minuteswest = sec / 60; + tz->tz_dsttime = hours; + } + + return 0; +} +#endif + +ScopeTime::ScopeTime(const char* title) : _title(title), _startTime(get_monotonic_time()) {} + +ScopeTime::~ScopeTime() { + std::cerr << _title<<" took "<<1000*(get_monotonic_time()-_startTime)<<"ms.\n"; +} + +double get_monotonic_time() +{ +#if (defined(_POSIX_TIMERS) && (_POSIX_TIMERS+0 >= 0) && defined(_POSIX_MONOTONIC_CLOCK)) + struct timespec ts; + clock_gettime(CLOCK_MONOTONIC, &ts); + return ts.tv_sec + ts.tv_nsec*1e-9; +#else + return get_time(); +#endif +} + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/timeutil.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/timeutil.h new file mode 100644 index 0000000..bde8e31 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/stuff/timeutil.h @@ -0,0 +1,132 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_TIMEUTIL_H +#define G2O_TIMEUTIL_H + +#ifdef _WINDOWS +#include +#else +#include +#endif + +#include + + +/** @addtogroup utils **/ +// @{ + +/** \file timeutil.h + * \brief utility functions for handling time related stuff + */ + +/// Executes code, only if secs are gone since last exec. +/// extended version, in which the current time is given, e.g., timestamp of IPC message +#ifndef DO_EVERY_TS +#define DO_EVERY_TS(secs, currentTime, code) \ +if (1) {\ + static double s_lastDone_ = (currentTime); \ + double s_now_ = (currentTime); \ + if (s_lastDone_ > s_now_) \ + s_lastDone_ = s_now_; \ + if (s_now_ - s_lastDone_ > (secs)) { \ + code; \ + s_lastDone_ = s_now_; \ + }\ +} else \ + (void)0 +#endif + +/// Executes code, only if secs are gone since last exec. +#ifndef DO_EVERY +#define DO_EVERY(secs, code) DO_EVERY_TS(secs, g2o::get_time(), code) +#endif + +#ifndef MEASURE_TIME +#define MEASURE_TIME(text, code) \ + if(1) { \ + double _start_time_ = g2o::get_time(); \ + code; \ + fprintf(stderr, "%s took %f sec\n", text, g2o::get_time() - _start_time_); \ + } else \ + (void) 0 +#endif + +namespace g2o { + +#ifdef _WINDOWS +typedef struct timeval { + long tv_sec; + long tv_usec; +} timeval; + int gettimeofday(struct timeval *tv, struct timezone *tz); +#endif + +/** + * return the current time in seconds since 1. Jan 1970 + */ +inline double get_time() +{ + struct timeval ts; + gettimeofday(&ts,0); + return ts.tv_sec + ts.tv_usec*1e-6; +} + +/** + * return a monotonic increasing time which basically does not need to + * have a reference point. Consider this for measuring how long some + * code fragments required to execute. + * + * On Linux we call clock_gettime() on other systems we currently + * call get_time(). + */ + double get_monotonic_time(); + +/** + * \brief Class to measure the time spent in a scope + * + * To use this class, e.g. to measure the time spent in a function, + * just create and instance at the beginning of the function. + */ +class ScopeTime { + public: + ScopeTime(const char* title); + ~ScopeTime(); + private: + std::string _title; + double _startTime; +}; + +} // end namespace + +#ifndef MEASURE_FUNCTION_TIME +#define MEASURE_FUNCTION_TIME \ + g2o::ScopeTime scopeTime(__PRETTY_FUNCTION__) +#endif + + +// @} +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/se3_ops.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/se3_ops.h new file mode 100644 index 0000000..b5c59d3 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/se3_ops.h @@ -0,0 +1,47 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 H. Strasdat +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_MATH_STUFF +#define G2O_MATH_STUFF + +#include +#include + +namespace g2o { + using namespace Eigen; + + inline Matrix3d skew(const Vector3d&v); + inline Vector3d deltaR(const Matrix3d& R); + inline Vector2d project(const Vector3d&); + inline Vector3d project(const Vector4d&); + inline Vector3d unproject(const Vector2d&); + inline Vector4d unproject(const Vector3d&); + +#include "se3_ops.hpp" + +} + +#endif //MATH_STUFF diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/se3_ops.hpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/se3_ops.hpp new file mode 100644 index 0000000..c28860d --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/se3_ops.hpp @@ -0,0 +1,85 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 H. Strasdat +// 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. +// +// 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 +// HOLDER 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. + + Matrix3d skew(const Vector3d&v) + { + Matrix3d m; + m.fill(0.); + m(0,1) = -v(2); + m(0,2) = v(1); + m(1,2) = -v(0); + m(1,0) = v(2); + m(2,0) = -v(1); + m(2,1) = v(0); + return m; + } + + Vector3d deltaR(const Matrix3d& R) + { + Vector3d v; + v(0)=R(2,1)-R(1,2); + v(1)=R(0,2)-R(2,0); + v(2)=R(1,0)-R(0,1); + return v; + } + + Vector2d project(const Vector3d& v) + { + Vector2d res; + res(0) = v(0)/v(2); + res(1) = v(1)/v(2); + return res; + } + + Vector3d project(const Vector4d& v) + { + Vector3d res; + res(0) = v(0)/v(3); + res(1) = v(1)/v(3); + res(2) = v(2)/v(3); + return res; + } + + Vector3d unproject(const Vector2d& v) + { + Vector3d res; + res(0) = v(0); + res(1) = v(1); + res(2) = 1; + return res; + } + + Vector4d unproject(const Vector3d& v) + { + Vector4d res; + res(0) = v(0); + res(1) = v(1); + res(2) = v(2); + res(3) = 1; + return res; + } + + diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/se3quat.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/se3quat.h new file mode 100644 index 0000000..ac5ec57 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/se3quat.h @@ -0,0 +1,306 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 H. Strasdat +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_SE3QUAT_H_ +#define G2O_SE3QUAT_H_ + +#include "se3_ops.h" + +#include +#include + +namespace g2o { + using namespace Eigen; + + typedef Matrix Vector6d; + typedef Matrix Vector7d; + + class SE3Quat { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW; + + + protected: + + Quaterniond _r; + Vector3d _t; + + + public: + SE3Quat(){ + _r.setIdentity(); + _t.setZero(); + } + + SE3Quat(const Matrix3d& R, const Vector3d& t):_r(Quaterniond(R)),_t(t){ + normalizeRotation(); + } + + SE3Quat(const Quaterniond& q, const Vector3d& t):_r(q),_t(t){ + normalizeRotation(); + } + + /** + * templaized constructor which allows v to be an arbitrary Eigen Vector type, e.g., Vector6d or Map + */ + template + explicit SE3Quat(const MatrixBase& v) + { + assert((v.size() == 6 || v.size() == 7) && "Vector dimension does not match"); + if (v.size() == 6) { + for (int i=0; i<3; i++){ + _t[i]=v[i]; + _r.coeffs()(i)=v[i+3]; + } + _r.w() = 0.; // recover the positive w + if (_r.norm()>1.){ + _r.normalize(); + } else { + double w2=1.-_r.squaredNorm(); + _r.w()= (w2<0.) ? 0. : sqrt(w2); + } + } + else if (v.size() == 7) { + int idx = 0; + for (int i=0; i<3; ++i, ++idx) + _t(i) = v(idx); + for (int i=0; i<4; ++i, ++idx) + _r.coeffs()(i) = v(idx); + normalizeRotation(); + } + } + + inline const Vector3d& translation() const {return _t;} + + inline void setTranslation(const Vector3d& t_) {_t = t_;} + + inline const Quaterniond& rotation() const {return _r;} + + void setRotation(const Quaterniond& r_) {_r=r_;} + + inline SE3Quat operator* (const SE3Quat& tr2) const{ + SE3Quat result(*this); + result._t += _r*tr2._t; + result._r*=tr2._r; + result.normalizeRotation(); + return result; + } + + inline SE3Quat& operator*= (const SE3Quat& tr2){ + _t+=_r*tr2._t; + _r*=tr2._r; + normalizeRotation(); + return *this; + } + + inline Vector3d operator* (const Vector3d& v) const { + return _t+_r*v; + } + + inline SE3Quat inverse() const{ + SE3Quat ret; + ret._r=_r.conjugate(); + ret._t=ret._r*(_t*-1.); + return ret; + } + + inline double operator [](int i) const { + assert(i<7); + if (i<3) + return _t[i]; + return _r.coeffs()[i-3]; + } + + + inline Vector7d toVector() const{ + Vector7d v; + v[0]=_t(0); + v[1]=_t(1); + v[2]=_t(2); + v[3]=_r.x(); + v[4]=_r.y(); + v[5]=_r.z(); + v[6]=_r.w(); + return v; + } + + inline void fromVector(const Vector7d& v){ + _r=Quaterniond(v[6], v[3], v[4], v[5]); + _t=Vector3d(v[0], v[1], v[2]); + } + + inline Vector6d toMinimalVector() const{ + Vector6d v; + v[0]=_t(0); + v[1]=_t(1); + v[2]=_t(2); + v[3]=_r.x(); + v[4]=_r.y(); + v[5]=_r.z(); + return v; + } + + inline void fromMinimalVector(const Vector6d& v){ + double w = 1.-v[3]*v[3]-v[4]*v[4]-v[5]*v[5]; + if (w>0){ + _r=Quaterniond(sqrt(w), v[3], v[4], v[5]); + } else { + _r=Quaterniond(0, -v[3], -v[4], -v[5]); + } + _t=Vector3d(v[0], v[1], v[2]); + } + + + + Vector6d log() const { + Vector6d res; + Matrix3d _R = _r.toRotationMatrix(); + double d = 0.5*(_R(0,0)+_R(1,1)+_R(2,2)-1); + Vector3d omega; + Vector3d upsilon; + + + Vector3d dR = deltaR(_R); + Matrix3d V_inv; + + if (d>0.99999) + { + + omega=0.5*dR; + Matrix3d Omega = skew(omega); + V_inv = Matrix3d::Identity()- 0.5*Omega + (1./12.)*(Omega*Omega); + } + else + { + double theta = acos(d); + omega = theta/(2*sqrt(1-d*d))*dR; + Matrix3d Omega = skew(omega); + V_inv = ( Matrix3d::Identity() - 0.5*Omega + + ( 1-theta/(2*tan(theta/2)))/(theta*theta)*(Omega*Omega) ); + } + + upsilon = V_inv*_t; + for (int i=0; i<3;i++){ + res[i]=omega[i]; + } + for (int i=0; i<3;i++){ + res[i+3]=upsilon[i]; + } + + return res; + + } + + Vector3d map(const Vector3d & xyz) const + { + return _r*xyz + _t; + } + + + static SE3Quat exp(const Vector6d & update) + { + Vector3d omega; + for (int i=0; i<3; i++) + omega[i]=update[i]; + Vector3d upsilon; + for (int i=0; i<3; i++) + upsilon[i]=update[i+3]; + + double theta = omega.norm(); + Matrix3d Omega = skew(omega); + + Matrix3d R; + Matrix3d V; + if (theta<0.00001) + { + //TODO: CHECK WHETHER THIS IS CORRECT!!! + R = (Matrix3d::Identity() + Omega + Omega*Omega); + + V = R; + } + else + { + Matrix3d Omega2 = Omega*Omega; + + R = (Matrix3d::Identity() + + sin(theta)/theta *Omega + + (1-cos(theta))/(theta*theta)*Omega2); + + V = (Matrix3d::Identity() + + (1-cos(theta))/(theta*theta)*Omega + + (theta-sin(theta))/(pow(theta,3))*Omega2); + } + return SE3Quat(Quaterniond(R),V*upsilon); + } + + Matrix adj() const + { + Matrix3d R = _r.toRotationMatrix(); + Matrix res; + res.block(0,0,3,3) = R; + res.block(3,3,3,3) = R; + res.block(3,0,3,3) = skew(_t)*R; + res.block(0,3,3,3) = Matrix3d::Zero(3,3); + return res; + } + + Matrix to_homogeneous_matrix() const + { + Matrix homogeneous_matrix; + homogeneous_matrix.setIdentity(); + homogeneous_matrix.block(0,0,3,3) = _r.toRotationMatrix(); + homogeneous_matrix.col(3).head(3) = translation(); + + return homogeneous_matrix; + } + + void normalizeRotation(){ + if (_r.w()<0){ + _r.coeffs() *= -1; + } + _r.normalize(); + } + + /** + * cast SE3Quat into an Eigen::Isometry3d + */ + operator Eigen::Isometry3d() const + { + Eigen::Isometry3d result = (Eigen::Isometry3d) rotation(); + result.translation() = translation(); + return result; + } + }; + + inline std::ostream& operator <<(std::ostream& out_str, const SE3Quat& se3) + { + out_str << se3.to_homogeneous_matrix() << std::endl; + return out_str; + } + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/sim3.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/sim3.h new file mode 100644 index 0000000..cfd6d5e --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/sim3.h @@ -0,0 +1,307 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 H. Strasdat +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_SIM_3 +#define G2O_SIM_3 + +#include "se3_ops.h" +#include + +namespace g2o +{ + using namespace Eigen; + + typedef Matrix Vector7d; + typedef Matrix Matrix7d; + + + struct Sim3 + { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + protected: + Quaterniond r; + Vector3d t; + double s; + + +public: + Sim3() + { + r.setIdentity(); + t.fill(0.); + s=1.; + } + + Sim3(const Quaterniond & r, const Vector3d & t, double s) + : r(r),t(t),s(s) + { + } + + Sim3(const Matrix3d & R, const Vector3d & t, double s) + : r(Quaterniond(R)),t(t),s(s) + { + } + + + Sim3(const Vector7d & update) + { + + Vector3d omega; + for (int i=0; i<3; i++) + omega[i]=update[i]; + + Vector3d upsilon; + for (int i=0; i<3; i++) + upsilon[i]=update[i+3]; + + double sigma = update[6]; + double theta = omega.norm(); + Matrix3d Omega = skew(omega); + s = std::exp(sigma); + Matrix3d Omega2 = Omega*Omega; + Matrix3d I; + I.setIdentity(); + Matrix3d R; + + double eps = 0.00001; + double A,B,C; + if (fabs(sigma)1-eps) + { + omega=0.5*deltaR(R); + Omega = skew(omega); + A = 1./2.; + B = 1./6.; + } + else + { + double theta = acos(d); + double theta2 = theta*theta; + omega = theta/(2*sqrt(1-d*d))*deltaR(R); + Omega = skew(omega); + A = (1-cos(theta))/(theta2); + B = (theta-sin(theta))/(theta2*theta); + } + } + else + { + C=(s-1)/sigma; + if (d>1-eps) + { + + double sigma2 = sigma*sigma; + omega=0.5*deltaR(R); + Omega = skew(omega); + A = ((sigma-1)*s+1)/(sigma2); + B = ((0.5*sigma2-sigma+1)*s)/(sigma2*sigma); + } + else + { + double theta = acos(d); + omega = theta/(2*sqrt(1-d*d))*deltaR(R); + Omega = skew(omega); + double theta2 = theta*theta; + double a=s*sin(theta); + double b=s*cos(theta); + double c=theta2 + sigma*sigma; + A = (a*sigma+ (1-b)*theta)/(theta*c); + B = (C-((b-1)*sigma+a*theta)/(c))*1./(theta2); + } + } + + Matrix3d W = A*Omega + B*Omega*Omega + C*I; + + upsilon = W.lu().solve(t); + + + for (int i=0; i<3; i++) + res[i] = omega[i]; + + for (int i=0; i<3; i++) + res[i+3] = upsilon[i]; + + res[6] = sigma; + + return res; + + } + + + Sim3 inverse() const + { + return Sim3(r.conjugate(), r.conjugate()*((-1./s)*t), 1./s); + } + + + double operator[](int i) const + { + assert(i<8); + if (i<4){ + + return r.coeffs()[i]; + } + if (i<7){ + return t[i-4]; + } + return s; + } + + double& operator[](int i) + { + assert(i<8); + if (i<4){ + + return r.coeffs()[i]; + } + if (i<7) + { + return t[i-4]; + } + return s; + } + + Sim3 operator *(const Sim3& other) const { + Sim3 ret; + ret.r = r*other.r; + ret.t=s*(r*other.t)+t; + ret.s=s*other.s; + return ret; + } + + Sim3& operator *=(const Sim3& other){ + Sim3 ret=(*this)*other; + *this=ret; + return *this; + } + + inline const Vector3d& translation() const {return t;} + + inline Vector3d& translation() {return t;} + + inline const Quaterniond& rotation() const {return r;} + + inline Quaterniond& rotation() {return r;} + + inline const double& scale() const {return s;} + + inline double& scale() {return s;} + + }; + + inline std::ostream& operator <<(std::ostream& out_str, + const Sim3& sim3) + { + out_str << sim3.rotation().coeffs() << std::endl; + out_str << sim3.translation() << std::endl; + out_str << sim3.scale() << std::endl; + + return out_str; + } + +} // end namespace + + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_sba.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_sba.cpp new file mode 100644 index 0000000..d91b498 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_sba.cpp @@ -0,0 +1,56 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 Kurt Konolige +// 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. +// +// 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 +// HOLDER 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. + +#include "types_sba.h" +#include + +namespace g2o { + + using namespace std; + + + VertexSBAPointXYZ::VertexSBAPointXYZ() : BaseVertex<3, Vector3d>() + { + } + + bool VertexSBAPointXYZ::read(std::istream& is) + { + Vector3d lv; + for (int i=0; i<3; i++) + is >> _estimate[i]; + return true; + } + + bool VertexSBAPointXYZ::write(std::ostream& os) const + { + Vector3d lv=estimate(); + for (int i=0; i<3; i++){ + os << lv[i] << " "; + } + return os.good(); + } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_sba.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_sba.h new file mode 100644 index 0000000..bb419df --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_sba.h @@ -0,0 +1,61 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 Kurt Konolige +// 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. +// +// 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 +// HOLDER 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. + +#ifndef G2O_SBA_TYPES +#define G2O_SBA_TYPES + +#include "../core/base_vertex.h" + +#include +#include + +namespace g2o { + +/** + * \brief Point vertex, XYZ + */ + class VertexSBAPointXYZ : public BaseVertex<3, Vector3d> +{ + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + VertexSBAPointXYZ(); + virtual bool read(std::istream& is); + virtual bool write(std::ostream& os) const; + + virtual void setToOriginImpl() { + _estimate.fill(0.); + } + + virtual void oplusImpl(const double* update) + { + Eigen::Map v(update); + _estimate += v; + } +}; + +} // end namespace + +#endif // SBA_TYPES diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp new file mode 100644 index 0000000..abf1b1d --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp @@ -0,0 +1,239 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 H. Strasdat +// 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. +// +// 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 +// HOLDER 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. + +#include "types_seven_dof_expmap.h" + +namespace g2o { + + VertexSim3Expmap::VertexSim3Expmap() : BaseVertex<7, Sim3>() + { + _marginalized=false; + _fix_scale = false; + } + + + EdgeSim3::EdgeSim3() : + BaseBinaryEdge<7, Sim3, VertexSim3Expmap, VertexSim3Expmap>() + { + } + + + bool VertexSim3Expmap::read(std::istream& is) + { + Vector7d cam2world; + for (int i=0; i<6; i++){ + is >> cam2world[i]; + } + is >> cam2world[6]; +// if (! is) { +// // if the scale is not specified we set it to 1; +// std::cerr << "!s"; +// cam2world[6]=0.; +// } + + for (int i=0; i<2; i++) + { + is >> _focal_length1[i]; + } + for (int i=0; i<2; i++) + { + is >> _principle_point1[i]; + } + + setEstimate(Sim3(cam2world).inverse()); + return true; + } + + bool VertexSim3Expmap::write(std::ostream& os) const + { + Sim3 cam2world(estimate().inverse()); + Vector7d lv=cam2world.log(); + for (int i=0; i<7; i++){ + os << lv[i] << " "; + } + for (int i=0; i<2; i++) + { + os << _focal_length1[i] << " "; + } + for (int i=0; i<2; i++) + { + os << _principle_point1[i] << " "; + } + return os.good(); + } + + bool EdgeSim3::read(std::istream& is) + { + Vector7d v7; + for (int i=0; i<7; i++){ + is >> v7[i]; + } + + Sim3 cam2world(v7); + setMeasurement(cam2world.inverse()); + + for (int i=0; i<7; i++) + for (int j=i; j<7; j++) + { + is >> information()(i,j); + if (i!=j) + information()(j,i)=information()(i,j); + } + return true; + } + + bool EdgeSim3::write(std::ostream& os) const + { + Sim3 cam2world(measurement().inverse()); + Vector7d v7 = cam2world.log(); + for (int i=0; i<7; i++) + { + os << v7[i] << " "; + } + for (int i=0; i<7; i++) + for (int j=i; j<7; j++){ + os << " " << information()(i,j); + } + return os.good(); + } + + /**Sim3ProjectXYZ*/ + + EdgeSim3ProjectXYZ::EdgeSim3ProjectXYZ() : + BaseBinaryEdge<2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap>() + { + } + + bool EdgeSim3ProjectXYZ::read(std::istream& is) + { + for (int i=0; i<2; i++) + { + is >> _measurement[i]; + } + + for (int i=0; i<2; i++) + for (int j=i; j<2; j++) { + is >> information()(i,j); + if (i!=j) + information()(j,i)=information()(i,j); + } + return true; + } + + bool EdgeSim3ProjectXYZ::write(std::ostream& os) const + { + for (int i=0; i<2; i++){ + os << _measurement[i] << " "; + } + + for (int i=0; i<2; i++) + for (int j=i; j<2; j++){ + os << " " << information()(i,j); + } + return os.good(); + } + +/**InverseSim3ProjectXYZ*/ + + EdgeInverseSim3ProjectXYZ::EdgeInverseSim3ProjectXYZ() : + BaseBinaryEdge<2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap>() + { + } + + bool EdgeInverseSim3ProjectXYZ::read(std::istream& is) + { + for (int i=0; i<2; i++) + { + is >> _measurement[i]; + } + + for (int i=0; i<2; i++) + for (int j=i; j<2; j++) { + is >> information()(i,j); + if (i!=j) + information()(j,i)=information()(i,j); + } + return true; + } + + bool EdgeInverseSim3ProjectXYZ::write(std::ostream& os) const + { + for (int i=0; i<2; i++){ + os << _measurement[i] << " "; + } + + for (int i=0; i<2; i++) + for (int j=i; j<2; j++){ + os << " " << information()(i,j); + } + return os.good(); + } + + +// void EdgeSim3ProjectXYZ::linearizeOplus() +// { +// VertexSim3Expmap * vj = static_cast(_vertices[1]); +// Sim3 T = vj->estimate(); + +// VertexPointXYZ* vi = static_cast(_vertices[0]); +// Vector3d xyz = vi->estimate(); +// Vector3d xyz_trans = T.map(xyz); + +// double x = xyz_trans[0]; +// double y = xyz_trans[1]; +// double z = xyz_trans[2]; +// double z_2 = z*z; + +// Matrix tmp; +// tmp(0,0) = _focal_length(0); +// tmp(0,1) = 0; +// tmp(0,2) = -x/z*_focal_length(0); + +// tmp(1,0) = 0; +// tmp(1,1) = _focal_length(1); +// tmp(1,2) = -y/z*_focal_length(1); + +// _jacobianOplusXi = -1./z * tmp * T.rotation().toRotationMatrix(); + +// _jacobianOplusXj(0,0) = x*y/z_2 * _focal_length(0); +// _jacobianOplusXj(0,1) = -(1+(x*x/z_2)) *_focal_length(0); +// _jacobianOplusXj(0,2) = y/z *_focal_length(0); +// _jacobianOplusXj(0,3) = -1./z *_focal_length(0); +// _jacobianOplusXj(0,4) = 0; +// _jacobianOplusXj(0,5) = x/z_2 *_focal_length(0); +// _jacobianOplusXj(0,6) = 0; // scale is ignored + + +// _jacobianOplusXj(1,0) = (1+y*y/z_2) *_focal_length(1); +// _jacobianOplusXj(1,1) = -x*y/z_2 *_focal_length(1); +// _jacobianOplusXj(1,2) = -x/z *_focal_length(1); +// _jacobianOplusXj(1,3) = 0; +// _jacobianOplusXj(1,4) = -1./z *_focal_length(1); +// _jacobianOplusXj(1,5) = y/z_2 *_focal_length(1); +// _jacobianOplusXj(1,6) = 0; // scale is ignored +// } + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h new file mode 100644 index 0000000..b63a585 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h @@ -0,0 +1,176 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 H. Strasdat +// 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. +// +// 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 +// HOLDER 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. + +// Modified by Raúl Mur Artal (2014) +// - Added EdgeInverseSim3ProjectXYZ +// - Modified VertexSim3Expmap to represent relative transformation between two cameras. Includes calibration of both cameras. + +#ifndef G2O_SEVEN_DOF_EXPMAP_TYPES +#define G2O_SEVEN_DOF_EXPMAP_TYPES + +#include "../core/base_vertex.h" +#include "../core/base_binary_edge.h" +#include "types_six_dof_expmap.h" +#include "sim3.h" + +namespace g2o { + + using namespace Eigen; + + /** + * \brief Sim3 Vertex, (x,y,z,qw,qx,qy,qz) + * the parameterization for the increments constructed is a 7d vector + * (x,y,z,qx,qy,qz) (note that we leave out the w part of the quaternion. + */ + class VertexSim3Expmap : public BaseVertex<7, Sim3> + { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + VertexSim3Expmap(); + virtual bool read(std::istream& is); + virtual bool write(std::ostream& os) const; + + virtual void setToOriginImpl() { + _estimate = Sim3(); + } + + virtual void oplusImpl(const double* update_) + { + Eigen::Map update(const_cast(update_)); + + if (_fix_scale) + update[6] = 0; + + Sim3 s(update); + setEstimate(s*estimate()); + } + + Vector2d _principle_point1, _principle_point2; + Vector2d _focal_length1, _focal_length2; + + Vector2d cam_map1(const Vector2d & v) const + { + Vector2d res; + res[0] = v[0]*_focal_length1[0] + _principle_point1[0]; + res[1] = v[1]*_focal_length1[1] + _principle_point1[1]; + return res; + } + + Vector2d cam_map2(const Vector2d & v) const + { + Vector2d res; + res[0] = v[0]*_focal_length2[0] + _principle_point2[0]; + res[1] = v[1]*_focal_length2[1] + _principle_point2[1]; + return res; + } + + bool _fix_scale; + + + protected: + }; + + /** + * \brief 7D edge between two Vertex7 + */ + class EdgeSim3 : public BaseBinaryEdge<7, Sim3, VertexSim3Expmap, VertexSim3Expmap> + { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + EdgeSim3(); + virtual bool read(std::istream& is); + virtual bool write(std::ostream& os) const; + void computeError() + { + const VertexSim3Expmap* v1 = static_cast(_vertices[0]); + const VertexSim3Expmap* v2 = static_cast(_vertices[1]); + + Sim3 C(_measurement); + Sim3 error_=C*v1->estimate()*v2->estimate().inverse(); + _error = error_.log(); + } + + virtual double initialEstimatePossible(const OptimizableGraph::VertexSet& , OptimizableGraph::Vertex* ) { return 1.;} + virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* /*to*/) + { + VertexSim3Expmap* v1 = static_cast(_vertices[0]); + VertexSim3Expmap* v2 = static_cast(_vertices[1]); + if (from.count(v1) > 0) + v2->setEstimate(measurement()*v1->estimate()); + else + v1->setEstimate(measurement().inverse()*v2->estimate()); + } + }; + + +/**/ +class EdgeSim3ProjectXYZ : public BaseBinaryEdge<2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap> +{ + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + EdgeSim3ProjectXYZ(); + virtual bool read(std::istream& is); + virtual bool write(std::ostream& os) const; + + void computeError() + { + const VertexSim3Expmap* v1 = static_cast(_vertices[1]); + const VertexSBAPointXYZ* v2 = static_cast(_vertices[0]); + + Vector2d obs(_measurement); + _error = obs-v1->cam_map1(project(v1->estimate().map(v2->estimate()))); + } + + // virtual void linearizeOplus(); + +}; + +/**/ +class EdgeInverseSim3ProjectXYZ : public BaseBinaryEdge<2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap> +{ + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + EdgeInverseSim3ProjectXYZ(); + virtual bool read(std::istream& is); + virtual bool write(std::ostream& os) const; + + void computeError() + { + const VertexSim3Expmap* v1 = static_cast(_vertices[1]); + const VertexSBAPointXYZ* v2 = static_cast(_vertices[0]); + + Vector2d obs(_measurement); + _error = obs-v1->cam_map2(project(v1->estimate().inverse().map(v2->estimate()))); + } + + // virtual void linearizeOplus(); + +}; + +} // end namespace + +#endif + diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp new file mode 100644 index 0000000..498508c --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp @@ -0,0 +1,367 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 H. Strasdat +// 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. +// +// 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 +// HOLDER 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. + +#include "types_six_dof_expmap.h" + +#include "../core/factory.h" +#include "../stuff/macros.h" + +namespace g2o { + +using namespace std; + + +Vector2d project2d(const Vector3d& v) { + Vector2d res; + res(0) = v(0)/v(2); + res(1) = v(1)/v(2); + return res; +} + +Vector3d unproject2d(const Vector2d& v) { + Vector3d res; + res(0) = v(0); + res(1) = v(1); + res(2) = 1; + return res; +} + +VertexSE3Expmap::VertexSE3Expmap() : BaseVertex<6, SE3Quat>() { +} + +bool VertexSE3Expmap::read(std::istream& is) { + Vector7d est; + for (int i=0; i<7; i++) + is >> est[i]; + SE3Quat cam2world; + cam2world.fromVector(est); + setEstimate(cam2world.inverse()); + return true; +} + +bool VertexSE3Expmap::write(std::ostream& os) const { + SE3Quat cam2world(estimate().inverse()); + for (int i=0; i<7; i++) + os << cam2world[i] << " "; + return os.good(); +} + + +EdgeSE3ProjectXYZ::EdgeSE3ProjectXYZ() : BaseBinaryEdge<2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap>() { +} + +bool EdgeSE3ProjectXYZ::read(std::istream& is){ + for (int i=0; i<2; i++){ + is >> _measurement[i]; + } + for (int i=0; i<2; i++) + for (int j=i; j<2; j++) { + is >> information()(i,j); + if (i!=j) + information()(j,i)=information()(i,j); + } + return true; +} + +bool EdgeSE3ProjectXYZ::write(std::ostream& os) const { + + for (int i=0; i<2; i++){ + os << measurement()[i] << " "; + } + + for (int i=0; i<2; i++) + for (int j=i; j<2; j++){ + os << " " << information()(i,j); + } + return os.good(); +} + + +void EdgeSE3ProjectXYZ::linearizeOplus() { + VertexSE3Expmap * vj = static_cast(_vertices[1]); + SE3Quat T(vj->estimate()); + VertexSBAPointXYZ* vi = static_cast(_vertices[0]); + Vector3d xyz = vi->estimate(); + Vector3d xyz_trans = T.map(xyz); + + double x = xyz_trans[0]; + double y = xyz_trans[1]; + double z = xyz_trans[2]; + double z_2 = z*z; + + Matrix tmp; + tmp(0,0) = fx; + tmp(0,1) = 0; + tmp(0,2) = -x/z*fx; + + tmp(1,0) = 0; + tmp(1,1) = fy; + tmp(1,2) = -y/z*fy; + + _jacobianOplusXi = -1./z * tmp * T.rotation().toRotationMatrix(); + + _jacobianOplusXj(0,0) = x*y/z_2 *fx; + _jacobianOplusXj(0,1) = -(1+(x*x/z_2)) *fx; + _jacobianOplusXj(0,2) = y/z *fx; + _jacobianOplusXj(0,3) = -1./z *fx; + _jacobianOplusXj(0,4) = 0; + _jacobianOplusXj(0,5) = x/z_2 *fx; + + _jacobianOplusXj(1,0) = (1+y*y/z_2) *fy; + _jacobianOplusXj(1,1) = -x*y/z_2 *fy; + _jacobianOplusXj(1,2) = -x/z *fy; + _jacobianOplusXj(1,3) = 0; + _jacobianOplusXj(1,4) = -1./z *fy; + _jacobianOplusXj(1,5) = y/z_2 *fy; +} + +Vector2d EdgeSE3ProjectXYZ::cam_project(const Vector3d & trans_xyz) const{ + Vector2d proj = project2d(trans_xyz); + Vector2d res; + res[0] = proj[0]*fx + cx; + res[1] = proj[1]*fy + cy; + return res; +} + + +Vector3d EdgeStereoSE3ProjectXYZ::cam_project(const Vector3d & trans_xyz, const float &bf) const{ + const float invz = 1.0f/trans_xyz[2]; + Vector3d res; + res[0] = trans_xyz[0]*invz*fx + cx; + res[1] = trans_xyz[1]*invz*fy + cy; + res[2] = res[0] - bf*invz; + return res; +} + +EdgeStereoSE3ProjectXYZ::EdgeStereoSE3ProjectXYZ() : BaseBinaryEdge<3, Vector3d, VertexSBAPointXYZ, VertexSE3Expmap>() { +} + +bool EdgeStereoSE3ProjectXYZ::read(std::istream& is){ + for (int i=0; i<=3; i++){ + is >> _measurement[i]; + } + for (int i=0; i<=2; i++) + for (int j=i; j<=2; j++) { + is >> information()(i,j); + if (i!=j) + information()(j,i)=information()(i,j); + } + return true; +} + +bool EdgeStereoSE3ProjectXYZ::write(std::ostream& os) const { + + for (int i=0; i<=3; i++){ + os << measurement()[i] << " "; + } + + for (int i=0; i<=2; i++) + for (int j=i; j<=2; j++){ + os << " " << information()(i,j); + } + return os.good(); +} + +void EdgeStereoSE3ProjectXYZ::linearizeOplus() { + VertexSE3Expmap * vj = static_cast(_vertices[1]); + SE3Quat T(vj->estimate()); + VertexSBAPointXYZ* vi = static_cast(_vertices[0]); + Vector3d xyz = vi->estimate(); + Vector3d xyz_trans = T.map(xyz); + + const Matrix3d R = T.rotation().toRotationMatrix(); + + double x = xyz_trans[0]; + double y = xyz_trans[1]; + double z = xyz_trans[2]; + double z_2 = z*z; + + _jacobianOplusXi(0,0) = -fx*R(0,0)/z+fx*x*R(2,0)/z_2; + _jacobianOplusXi(0,1) = -fx*R(0,1)/z+fx*x*R(2,1)/z_2; + _jacobianOplusXi(0,2) = -fx*R(0,2)/z+fx*x*R(2,2)/z_2; + + _jacobianOplusXi(1,0) = -fy*R(1,0)/z+fy*y*R(2,0)/z_2; + _jacobianOplusXi(1,1) = -fy*R(1,1)/z+fy*y*R(2,1)/z_2; + _jacobianOplusXi(1,2) = -fy*R(1,2)/z+fy*y*R(2,2)/z_2; + + _jacobianOplusXi(2,0) = _jacobianOplusXi(0,0)-bf*R(2,0)/z_2; + _jacobianOplusXi(2,1) = _jacobianOplusXi(0,1)-bf*R(2,1)/z_2; + _jacobianOplusXi(2,2) = _jacobianOplusXi(0,2)-bf*R(2,2)/z_2; + + _jacobianOplusXj(0,0) = x*y/z_2 *fx; + _jacobianOplusXj(0,1) = -(1+(x*x/z_2)) *fx; + _jacobianOplusXj(0,2) = y/z *fx; + _jacobianOplusXj(0,3) = -1./z *fx; + _jacobianOplusXj(0,4) = 0; + _jacobianOplusXj(0,5) = x/z_2 *fx; + + _jacobianOplusXj(1,0) = (1+y*y/z_2) *fy; + _jacobianOplusXj(1,1) = -x*y/z_2 *fy; + _jacobianOplusXj(1,2) = -x/z *fy; + _jacobianOplusXj(1,3) = 0; + _jacobianOplusXj(1,4) = -1./z *fy; + _jacobianOplusXj(1,5) = y/z_2 *fy; + + _jacobianOplusXj(2,0) = _jacobianOplusXj(0,0)-bf*y/z_2; + _jacobianOplusXj(2,1) = _jacobianOplusXj(0,1)+bf*x/z_2; + _jacobianOplusXj(2,2) = _jacobianOplusXj(0,2); + _jacobianOplusXj(2,3) = _jacobianOplusXj(0,3); + _jacobianOplusXj(2,4) = 0; + _jacobianOplusXj(2,5) = _jacobianOplusXj(0,5)-bf/z_2; +} + + +//Only Pose + +bool EdgeSE3ProjectXYZOnlyPose::read(std::istream& is){ + for (int i=0; i<2; i++){ + is >> _measurement[i]; + } + for (int i=0; i<2; i++) + for (int j=i; j<2; j++) { + is >> information()(i,j); + if (i!=j) + information()(j,i)=information()(i,j); + } + return true; +} + +bool EdgeSE3ProjectXYZOnlyPose::write(std::ostream& os) const { + + for (int i=0; i<2; i++){ + os << measurement()[i] << " "; + } + + for (int i=0; i<2; i++) + for (int j=i; j<2; j++){ + os << " " << information()(i,j); + } + return os.good(); +} + + +void EdgeSE3ProjectXYZOnlyPose::linearizeOplus() { + VertexSE3Expmap * vi = static_cast(_vertices[0]); + Vector3d xyz_trans = vi->estimate().map(Xw); + + double x = xyz_trans[0]; + double y = xyz_trans[1]; + double invz = 1.0/xyz_trans[2]; + double invz_2 = invz*invz; + + _jacobianOplusXi(0,0) = x*y*invz_2 *fx; + _jacobianOplusXi(0,1) = -(1+(x*x*invz_2)) *fx; + _jacobianOplusXi(0,2) = y*invz *fx; + _jacobianOplusXi(0,3) = -invz *fx; + _jacobianOplusXi(0,4) = 0; + _jacobianOplusXi(0,5) = x*invz_2 *fx; + + _jacobianOplusXi(1,0) = (1+y*y*invz_2) *fy; + _jacobianOplusXi(1,1) = -x*y*invz_2 *fy; + _jacobianOplusXi(1,2) = -x*invz *fy; + _jacobianOplusXi(1,3) = 0; + _jacobianOplusXi(1,4) = -invz *fy; + _jacobianOplusXi(1,5) = y*invz_2 *fy; +} + +Vector2d EdgeSE3ProjectXYZOnlyPose::cam_project(const Vector3d & trans_xyz) const{ + Vector2d proj = project2d(trans_xyz); + Vector2d res; + res[0] = proj[0]*fx + cx; + res[1] = proj[1]*fy + cy; + return res; +} + + +Vector3d EdgeStereoSE3ProjectXYZOnlyPose::cam_project(const Vector3d & trans_xyz) const{ + const float invz = 1.0f/trans_xyz[2]; + Vector3d res; + res[0] = trans_xyz[0]*invz*fx + cx; + res[1] = trans_xyz[1]*invz*fy + cy; + res[2] = res[0] - bf*invz; + return res; +} + + +bool EdgeStereoSE3ProjectXYZOnlyPose::read(std::istream& is){ + for (int i=0; i<=3; i++){ + is >> _measurement[i]; + } + for (int i=0; i<=2; i++) + for (int j=i; j<=2; j++) { + is >> information()(i,j); + if (i!=j) + information()(j,i)=information()(i,j); + } + return true; +} + +bool EdgeStereoSE3ProjectXYZOnlyPose::write(std::ostream& os) const { + + for (int i=0; i<=3; i++){ + os << measurement()[i] << " "; + } + + for (int i=0; i<=2; i++) + for (int j=i; j<=2; j++){ + os << " " << information()(i,j); + } + return os.good(); +} + +void EdgeStereoSE3ProjectXYZOnlyPose::linearizeOplus() { + VertexSE3Expmap * vi = static_cast(_vertices[0]); + Vector3d xyz_trans = vi->estimate().map(Xw); + + double x = xyz_trans[0]; + double y = xyz_trans[1]; + double invz = 1.0/xyz_trans[2]; + double invz_2 = invz*invz; + + _jacobianOplusXi(0,0) = x*y*invz_2 *fx; + _jacobianOplusXi(0,1) = -(1+(x*x*invz_2)) *fx; + _jacobianOplusXi(0,2) = y*invz *fx; + _jacobianOplusXi(0,3) = -invz *fx; + _jacobianOplusXi(0,4) = 0; + _jacobianOplusXi(0,5) = x*invz_2 *fx; + + _jacobianOplusXi(1,0) = (1+y*y*invz_2) *fy; + _jacobianOplusXi(1,1) = -x*y*invz_2 *fy; + _jacobianOplusXi(1,2) = -x*invz *fy; + _jacobianOplusXi(1,3) = 0; + _jacobianOplusXi(1,4) = -invz *fy; + _jacobianOplusXi(1,5) = y*invz_2 *fy; + + _jacobianOplusXi(2,0) = _jacobianOplusXi(0,0)-bf*y*invz_2; + _jacobianOplusXi(2,1) = _jacobianOplusXi(0,1)+bf*x*invz_2; + _jacobianOplusXi(2,2) = _jacobianOplusXi(0,2); + _jacobianOplusXi(2,3) = _jacobianOplusXi(0,3); + _jacobianOplusXi(2,4) = 0; + _jacobianOplusXi(2,5) = _jacobianOplusXi(0,5)-bf*invz_2; +} + + +} // end namespace diff --git a/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h new file mode 100644 index 0000000..be765f1 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h @@ -0,0 +1,208 @@ +// g2o - General Graph Optimization +// Copyright (C) 2011 H. Strasdat +// 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. +// +// 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 +// HOLDER 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. + +// Modified by Raúl Mur Artal (2014) +// Added EdgeSE3ProjectXYZ (project using focal_length in x,y directions) +// Modified by Raúl Mur Artal (2016) +// Added EdgeStereoSE3ProjectXYZ (project using focal_length in x,y directions) +// Added EdgeSE3ProjectXYZOnlyPose (unary edge to optimize only the camera pose) +// Added EdgeStereoSE3ProjectXYZOnlyPose (unary edge to optimize only the camera pose) + +#ifndef G2O_SIX_DOF_TYPES_EXPMAP +#define G2O_SIX_DOF_TYPES_EXPMAP + +#include "../core/base_vertex.h" +#include "../core/base_binary_edge.h" +#include "../core/base_unary_edge.h" +#include "se3_ops.h" +#include "se3quat.h" +#include "types_sba.h" +#include + +namespace g2o { +namespace types_six_dof_expmap { +void init(); +} + +using namespace Eigen; + +typedef Matrix Matrix6d; + + +/** + * \brief SE3 Vertex parameterized internally with a transformation matrix + and externally with its exponential map + */ +class VertexSE3Expmap : public BaseVertex<6, SE3Quat>{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + VertexSE3Expmap(); + + bool read(std::istream& is); + + bool write(std::ostream& os) const; + + virtual void setToOriginImpl() { + _estimate = SE3Quat(); + } + + virtual void oplusImpl(const double* update_) { + Eigen::Map update(update_); + setEstimate(SE3Quat::exp(update)*estimate()); + } +}; + + +class EdgeSE3ProjectXYZ: public BaseBinaryEdge<2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap>{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + EdgeSE3ProjectXYZ(); + + bool read(std::istream& is); + + bool write(std::ostream& os) const; + + void computeError() { + const VertexSE3Expmap* v1 = static_cast(_vertices[1]); + const VertexSBAPointXYZ* v2 = static_cast(_vertices[0]); + Vector2d obs(_measurement); + _error = obs-cam_project(v1->estimate().map(v2->estimate())); + } + + bool isDepthPositive() { + const VertexSE3Expmap* v1 = static_cast(_vertices[1]); + const VertexSBAPointXYZ* v2 = static_cast(_vertices[0]); + return (v1->estimate().map(v2->estimate()))(2)>0.0; + } + + + virtual void linearizeOplus(); + + Vector2d cam_project(const Vector3d & trans_xyz) const; + + double fx, fy, cx, cy; +}; + + +class EdgeStereoSE3ProjectXYZ: public BaseBinaryEdge<3, Vector3d, VertexSBAPointXYZ, VertexSE3Expmap>{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + EdgeStereoSE3ProjectXYZ(); + + bool read(std::istream& is); + + bool write(std::ostream& os) const; + + void computeError() { + const VertexSE3Expmap* v1 = static_cast(_vertices[1]); + const VertexSBAPointXYZ* v2 = static_cast(_vertices[0]); + Vector3d obs(_measurement); + _error = obs - cam_project(v1->estimate().map(v2->estimate()),bf); + } + + bool isDepthPositive() { + const VertexSE3Expmap* v1 = static_cast(_vertices[1]); + const VertexSBAPointXYZ* v2 = static_cast(_vertices[0]); + return (v1->estimate().map(v2->estimate()))(2)>0.0; + } + + + virtual void linearizeOplus(); + + Vector3d cam_project(const Vector3d & trans_xyz, const float &bf) const; + + double fx, fy, cx, cy, bf; +}; + +class EdgeSE3ProjectXYZOnlyPose: public BaseUnaryEdge<2, Vector2d, VertexSE3Expmap>{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + EdgeSE3ProjectXYZOnlyPose(){} + + bool read(std::istream& is); + + bool write(std::ostream& os) const; + + void computeError() { + const VertexSE3Expmap* v1 = static_cast(_vertices[0]); + Vector2d obs(_measurement); + _error = obs-cam_project(v1->estimate().map(Xw)); + } + + bool isDepthPositive() { + const VertexSE3Expmap* v1 = static_cast(_vertices[0]); + return (v1->estimate().map(Xw))(2)>0.0; + } + + + virtual void linearizeOplus(); + + Vector2d cam_project(const Vector3d & trans_xyz) const; + + Vector3d Xw; + double fx, fy, cx, cy; +}; + + +class EdgeStereoSE3ProjectXYZOnlyPose: public BaseUnaryEdge<3, Vector3d, VertexSE3Expmap>{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + EdgeStereoSE3ProjectXYZOnlyPose(){} + + bool read(std::istream& is); + + bool write(std::ostream& os) const; + + void computeError() { + const VertexSE3Expmap* v1 = static_cast(_vertices[0]); + Vector3d obs(_measurement); + _error = obs - cam_project(v1->estimate().map(Xw)); + } + + bool isDepthPositive() { + const VertexSE3Expmap* v1 = static_cast(_vertices[0]); + return (v1->estimate().map(Xw))(2)>0.0; + } + + + virtual void linearizeOplus(); + + Vector3d cam_project(const Vector3d & trans_xyz) const; + + Vector3d Xw; + double fx, fy, cx, cy, bf; +}; + + + +} // end namespace + +#endif diff --git a/MyCode/src/my-slam/Thirdparty/g2o/lib/libg2o.so b/MyCode/src/my-slam/Thirdparty/g2o/lib/libg2o.so new file mode 100644 index 0000000..e233198 Binary files /dev/null and b/MyCode/src/my-slam/Thirdparty/g2o/lib/libg2o.so differ diff --git a/MyCode/src/my-slam/Thirdparty/g2o/license-bsd.txt b/MyCode/src/my-slam/Thirdparty/g2o/license-bsd.txt new file mode 100644 index 0000000..b9b8846 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/g2o/license-bsd.txt @@ -0,0 +1,27 @@ +g2o - General Graph Optimization +Copyright (C) 2011 Rainer Kuemmerle, Giorgio Grisetti, Hauke Strasdat, +Kurt Konolige, and Wolfram Burgard +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. + +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 +HOLDER 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. + diff --git a/MyCode/src/my-slam/Thirdparty/ncnn b/MyCode/src/my-slam/Thirdparty/ncnn new file mode 160000 index 0000000..1b7e635 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/ncnn @@ -0,0 +1 @@ +Subproject commit 1b7e6358c96e164131873dd5e252d22e7b2a7f87 diff --git a/MyCode/src/my-slam/Thirdparty/ncnn_model/mobilenetv3_ssdlite_voc.bin b/MyCode/src/my-slam/Thirdparty/ncnn_model/mobilenetv3_ssdlite_voc.bin new file mode 100644 index 0000000..1316452 Binary files /dev/null and b/MyCode/src/my-slam/Thirdparty/ncnn_model/mobilenetv3_ssdlite_voc.bin differ diff --git a/MyCode/src/my-slam/Thirdparty/ncnn_model/mobilenetv3_ssdlite_voc.binZone.Identifier b/MyCode/src/my-slam/Thirdparty/ncnn_model/mobilenetv3_ssdlite_voc.binZone.Identifier new file mode 100644 index 0000000..bf643e2 --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/ncnn_model/mobilenetv3_ssdlite_voc.binZone.Identifier @@ -0,0 +1,4 @@ +[ZoneTransfer] +ZoneId=3 +ReferrerUrl=https://github.com/silencht/SG-SLAM +HostUrl=https://codeload.github.com/silencht/SG-SLAM/zip/refs/heads/main diff --git a/MyCode/src/my-slam/Thirdparty/ncnn_model/mobilenetv3_ssdlite_voc.param b/MyCode/src/my-slam/Thirdparty/ncnn_model/mobilenetv3_ssdlite_voc.param new file mode 100644 index 0000000..700fa4d --- /dev/null +++ b/MyCode/src/my-slam/Thirdparty/ncnn_model/mobilenetv3_ssdlite_voc.param @@ -0,0 +1,410 @@ +7767517 +408 470 +Input input 0 1 input +MemoryData 582 0 1 582 0=1 +MemoryData 586 0 1 586 0=1 +MemoryData 627 0 1 627 0=1 +MemoryData 630 0 1 630 0=1 +MemoryData 646 0 1 646 0=1 +MemoryData 649 0 1 649 0=1 +MemoryData 666 0 1 666 0=1 +MemoryData 669 0 1 669 0=1 +MemoryData 675 0 1 675 0=1 +MemoryData 679 0 1 679 0=1 +MemoryData 683 0 1 683 0=1 +MemoryData 687 0 1 687 0=1 +MemoryData 693 0 1 693 0=1 +MemoryData 697 0 1 697 0=1 +MemoryData 701 0 1 701 0=1 +MemoryData 705 0 1 705 0=1 +MemoryData 712 0 1 712 0=1 +MemoryData 716 0 1 716 0=1 +MemoryData 720 0 1 720 0=1 +MemoryData 724 0 1 724 0=1 +MemoryData 731 0 1 731 0=1 +MemoryData 735 0 1 735 0=1 +MemoryData 739 0 1 739 0=1 +MemoryData 743 0 1 743 0=1 +MemoryData 750 0 1 750 0=1 +MemoryData 754 0 1 754 0=1 +MemoryData 758 0 1 758 0=1 +MemoryData 762 0 1 762 0=1 +MemoryData 771 0 1 771 0=1 +MemoryData 774 0 1 774 0=1 +MemoryData 782 0 1 782 0=1 +MemoryData 786 0 1 786 0=1 +MemoryData 790 0 1 790 0=1 +MemoryData 794 0 1 794 0=1 +MemoryData 803 0 1 803 0=1 +MemoryData 806 0 1 806 0=1 +MemoryData 812 0 1 812 0=1 +MemoryData 816 0 1 816 0=1 +MemoryData 820 0 1 820 0=1 +MemoryData 824 0 1 824 0=1 +MemoryData 833 0 1 833 0=1 +MemoryData 836 0 1 836 0=1 +MemoryData 844 0 1 844 0=1 +MemoryData 848 0 1 848 0=1 +MemoryData 852 0 1 852 0=1 +MemoryData 856 0 1 856 0=1 +MemoryData 865 0 1 865 0=1 +MemoryData 868 0 1 868 0=1 +MemoryData 873 0 1 873 0=1 +MemoryData 877 0 1 877 0=1 +MemoryData 881 0 1 881 0=1 +MemoryData 885 0 1 885 0=1 +MemoryData 894 0 1 894 0=1 +MemoryData 897 0 1 897 0=1 +MemoryData 903 0 1 903 0=1 +MemoryData 907 0 1 907 0=1 +Split splitncnn_data 1 7 input data_splitncnn_0 data_splitncnn_1 data_splitncnn_2 data_splitncnn_3 data_splitncnn_4 data_splitncnn_5 data_splitncnn_6 +Convolution 580 1 1 data_splitncnn_6 580 0=16 1=3 11=3 2=1 12=1 3=2 13=2 4=1 14=1 5=1 6=432 +Split splitncnn_0 1 2 580 580_splitncnn_0 580_splitncnn_1 +BinaryOp 583 2 1 580_splitncnn_1 582 583 0=0 +Clip 584 1 1 583 584 0=0.000000 1=6.000000 +BinaryOp 585 2 1 580_splitncnn_0 584 585 0=2 +BinaryOp 587 2 1 585 586 587 0=3 +Split splitncnn_1 1 2 587 587_splitncnn_0 587_splitncnn_1 +Convolution 588 1 1 587_splitncnn_1 588 0=16 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=256 +ReLU 590 1 1 588 590 +ConvolutionDepthWise 591 1 1 590 591 0=16 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=144 7=16 +ReLU 593 1 1 591 593 +Convolution 594 1 1 593 594 0=16 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=256 +BinaryOp 596 2 1 594 587_splitncnn_0 596 0=0 +Convolution 597 1 1 596 597 0=64 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=1024 +ReLU 599 1 1 597 599 +ConvolutionDepthWise 600 1 1 599 600 0=64 1=3 11=3 2=1 12=1 3=2 13=2 4=1 14=1 5=1 6=576 7=64 +ReLU 602 1 1 600 602 +Convolution 603 1 1 602 603 0=24 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=1536 +Split splitncnn_2 1 2 603 603_splitncnn_0 603_splitncnn_1 +Convolution 605 1 1 603_splitncnn_1 605 0=72 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=1728 +ReLU 607 1 1 605 607 +ConvolutionDepthWise 608 1 1 607 608 0=72 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=648 7=72 +ReLU 610 1 1 608 610 +Convolution 611 1 1 610 611 0=24 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=1728 +BinaryOp 613 2 1 611 603_splitncnn_0 613 0=0 +Convolution 614 1 1 613 614 0=72 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=1728 +ReLU 616 1 1 614 616 +ConvolutionDepthWise 617 1 1 616 617 0=72 1=5 11=5 2=1 12=1 3=2 13=2 4=2 14=2 5=1 6=1800 7=72 +ReLU 619 1 1 617 619 +Convolution 620 1 1 619 620 0=40 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=2880 +Split splitncnn_3 1 2 620 620_splitncnn_0 620_splitncnn_1 +Convolution 622 1 1 620_splitncnn_1 622 0=10 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=400 +ReLU 624 1 1 622 624 +Convolution 625 1 1 624 625 0=40 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=400 +BinaryOp 628 2 1 625 627 628 0=0 +Clip 629 1 1 628 629 0=0.000000 1=6.000000 +BinaryOp 631 2 1 629 630 631 0=3 +BinaryOp 632 2 1 620_splitncnn_0 631 632 0=2 +Split splitncnn_4 1 2 632 632_splitncnn_0 632_splitncnn_1 +Convolution 633 1 1 632_splitncnn_1 633 0=120 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=4800 +ReLU 635 1 1 633 635 +ConvolutionDepthWise 636 1 1 635 636 0=120 1=5 11=5 2=1 12=1 3=1 13=1 4=2 14=2 5=1 6=3000 7=120 +ReLU 638 1 1 636 638 +Convolution 639 1 1 638 639 0=40 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=4800 +Split splitncnn_5 1 2 639 639_splitncnn_0 639_splitncnn_1 +Convolution 641 1 1 639_splitncnn_1 641 0=10 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=400 +ReLU 643 1 1 641 643 +Convolution 644 1 1 643 644 0=40 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=400 +BinaryOp 647 2 1 644 646 647 0=0 +Clip 648 1 1 647 648 0=0.000000 1=6.000000 +BinaryOp 650 2 1 648 649 650 0=3 +BinaryOp 651 2 1 639_splitncnn_0 650 651 0=2 +BinaryOp 652 2 1 651 632_splitncnn_0 652 0=0 +Split splitncnn_6 1 2 652 652_splitncnn_0 652_splitncnn_1 +Convolution 653 1 1 652_splitncnn_1 653 0=120 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=4800 +ReLU 655 1 1 653 655 +ConvolutionDepthWise 656 1 1 655 656 0=120 1=5 11=5 2=1 12=1 3=1 13=1 4=2 14=2 5=1 6=3000 7=120 +ReLU 658 1 1 656 658 +Convolution 659 1 1 658 659 0=40 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=4800 +Split splitncnn_7 1 2 659 659_splitncnn_0 659_splitncnn_1 +Convolution 661 1 1 659_splitncnn_1 661 0=10 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=400 +ReLU 663 1 1 661 663 +Convolution 664 1 1 663 664 0=40 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=400 +BinaryOp 667 2 1 664 666 667 0=0 +Clip 668 1 1 667 668 0=0.000000 1=6.000000 +BinaryOp 670 2 1 668 669 670 0=3 +BinaryOp 671 2 1 659_splitncnn_0 670 671 0=2 +BinaryOp 672 2 1 671 652_splitncnn_0 672 0=0 +Convolution 673 1 1 672 673 0=240 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=9600 +Split splitncnn_8 1 2 673 673_splitncnn_0 673_splitncnn_1 +BinaryOp 676 2 1 673_splitncnn_1 675 676 0=0 +Clip 677 1 1 676 677 0=0.000000 1=6.000000 +BinaryOp 678 2 1 673_splitncnn_0 677 678 0=2 +BinaryOp 680 2 1 678 679 680 0=3 +ConvolutionDepthWise 681 1 1 680 681 0=240 1=3 11=3 2=1 12=1 3=2 13=2 4=1 14=1 5=1 6=2160 7=240 +Split splitncnn_9 1 2 681 681_splitncnn_0 681_splitncnn_1 +BinaryOp 684 2 1 681_splitncnn_1 683 684 0=0 +Clip 685 1 1 684 685 0=0.000000 1=6.000000 +BinaryOp 686 2 1 681_splitncnn_0 685 686 0=2 +BinaryOp 688 2 1 686 687 688 0=3 +Convolution 689 1 1 688 689 0=80 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=19200 +Split splitncnn_10 1 2 689 689_splitncnn_0 689_splitncnn_1 +Convolution 691 1 1 689_splitncnn_1 691 0=200 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=16000 +Split splitncnn_11 1 2 691 691_splitncnn_0 691_splitncnn_1 +BinaryOp 694 2 1 691_splitncnn_1 693 694 0=0 +Clip 695 1 1 694 695 0=0.000000 1=6.000000 +BinaryOp 696 2 1 691_splitncnn_0 695 696 0=2 +BinaryOp 698 2 1 696 697 698 0=3 +ConvolutionDepthWise 699 1 1 698 699 0=200 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=1800 7=200 +Split splitncnn_12 1 2 699 699_splitncnn_0 699_splitncnn_1 +BinaryOp 702 2 1 699_splitncnn_1 701 702 0=0 +Clip 703 1 1 702 703 0=0.000000 1=6.000000 +BinaryOp 704 2 1 699_splitncnn_0 703 704 0=2 +BinaryOp 706 2 1 704 705 706 0=3 +Convolution 707 1 1 706 707 0=80 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=16000 +BinaryOp 709 2 1 707 689_splitncnn_0 709 0=0 +Split splitncnn_13 1 2 709 709_splitncnn_0 709_splitncnn_1 +Convolution 710 1 1 709_splitncnn_1 710 0=184 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=14720 +Split splitncnn_14 1 2 710 710_splitncnn_0 710_splitncnn_1 +BinaryOp 713 2 1 710_splitncnn_1 712 713 0=0 +Clip 714 1 1 713 714 0=0.000000 1=6.000000 +BinaryOp 715 2 1 710_splitncnn_0 714 715 0=2 +BinaryOp 717 2 1 715 716 717 0=3 +ConvolutionDepthWise 718 1 1 717 718 0=184 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=1656 7=184 +Split splitncnn_15 1 2 718 718_splitncnn_0 718_splitncnn_1 +BinaryOp 721 2 1 718_splitncnn_1 720 721 0=0 +Clip 722 1 1 721 722 0=0.000000 1=6.000000 +BinaryOp 723 2 1 718_splitncnn_0 722 723 0=2 +BinaryOp 725 2 1 723 724 725 0=3 +Convolution 726 1 1 725 726 0=80 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=14720 +BinaryOp 728 2 1 726 709_splitncnn_0 728 0=0 +Split splitncnn_16 1 2 728 728_splitncnn_0 728_splitncnn_1 +Convolution 729 1 1 728_splitncnn_1 729 0=184 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=14720 +Split splitncnn_17 1 2 729 729_splitncnn_0 729_splitncnn_1 +BinaryOp 732 2 1 729_splitncnn_1 731 732 0=0 +Clip 733 1 1 732 733 0=0.000000 1=6.000000 +BinaryOp 734 2 1 729_splitncnn_0 733 734 0=2 +BinaryOp 736 2 1 734 735 736 0=3 +ConvolutionDepthWise 737 1 1 736 737 0=184 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=1656 7=184 +Split splitncnn_18 1 2 737 737_splitncnn_0 737_splitncnn_1 +BinaryOp 740 2 1 737_splitncnn_1 739 740 0=0 +Clip 741 1 1 740 741 0=0.000000 1=6.000000 +BinaryOp 742 2 1 737_splitncnn_0 741 742 0=2 +BinaryOp 744 2 1 742 743 744 0=3 +Convolution 745 1 1 744 745 0=80 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=14720 +BinaryOp 747 2 1 745 728_splitncnn_0 747 0=0 +Split splitncnn_19 1 2 747 747_splitncnn_0 747_splitncnn_1 +Convolution 748 1 1 747_splitncnn_1 748 0=480 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=38400 +Split splitncnn_20 1 2 748 748_splitncnn_0 748_splitncnn_1 +BinaryOp 751 2 1 748_splitncnn_1 750 751 0=0 +Clip 752 1 1 751 752 0=0.000000 1=6.000000 +BinaryOp 753 2 1 748_splitncnn_0 752 753 0=2 +BinaryOp 755 2 1 753 754 755 0=3 +ConvolutionDepthWise 756 1 1 755 756 0=480 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=4320 7=480 +Split splitncnn_21 1 2 756 756_splitncnn_0 756_splitncnn_1 +BinaryOp 759 2 1 756_splitncnn_1 758 759 0=0 +Clip 760 1 1 759 760 0=0.000000 1=6.000000 +BinaryOp 761 2 1 756_splitncnn_0 760 761 0=2 +BinaryOp 763 2 1 761 762 763 0=3 +Convolution 764 1 1 763 764 0=112 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=53760 +Split splitncnn_22 1 2 764 764_splitncnn_0 764_splitncnn_1 +Convolution 766 1 1 764_splitncnn_1 766 0=28 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=3136 +ReLU 768 1 1 766 768 +Convolution 769 1 1 768 769 0=112 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=3136 +BinaryOp 772 2 1 769 771 772 0=0 +Clip 773 1 1 772 773 0=0.000000 1=6.000000 +BinaryOp 775 2 1 773 774 775 0=3 +BinaryOp 776 2 1 764_splitncnn_0 775 776 0=2 +Convolution 777 1 1 747_splitncnn_0 777 0=112 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=8960 +BinaryOp 779 2 1 776 777 779 0=0 +Split splitncnn_23 1 2 779 779_splitncnn_0 779_splitncnn_1 +Convolution 780 1 1 779_splitncnn_1 780 0=672 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=75264 +Split splitncnn_24 1 2 780 780_splitncnn_0 780_splitncnn_1 +BinaryOp 783 2 1 780_splitncnn_1 782 783 0=0 +Clip 784 1 1 783 784 0=0.000000 1=6.000000 +BinaryOp 785 2 1 780_splitncnn_0 784 785 0=2 +BinaryOp 787 2 1 785 786 787 0=3 +ConvolutionDepthWise 788 1 1 787 788 0=672 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=6048 7=672 +Split splitncnn_25 1 2 788 788_splitncnn_0 788_splitncnn_1 +BinaryOp 791 2 1 788_splitncnn_1 790 791 0=0 +Clip 792 1 1 791 792 0=0.000000 1=6.000000 +BinaryOp 793 2 1 788_splitncnn_0 792 793 0=2 +BinaryOp 795 2 1 793 794 795 0=3 +Convolution 796 1 1 795 796 0=112 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=75264 +Split splitncnn_26 1 2 796 796_splitncnn_0 796_splitncnn_1 +Convolution 798 1 1 796_splitncnn_1 798 0=28 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=3136 +ReLU 800 1 1 798 800 +Convolution 801 1 1 800 801 0=112 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=3136 +BinaryOp 804 2 1 801 803 804 0=0 +Clip 805 1 1 804 805 0=0.000000 1=6.000000 +BinaryOp 807 2 1 805 806 807 0=3 +BinaryOp 808 2 1 796_splitncnn_0 807 808 0=2 +BinaryOp 809 2 1 808 779_splitncnn_0 809 0=0 +Split splitncnn_27 1 2 809 809_splitncnn_0 809_splitncnn_1 +Convolution 810 1 1 809_splitncnn_1 810 0=672 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=75264 +Split splitncnn_28 1 2 810 810_splitncnn_0 810_splitncnn_1 +BinaryOp 813 2 1 810_splitncnn_1 812 813 0=0 +Clip 814 1 1 813 814 0=0.000000 1=6.000000 +BinaryOp 815 2 1 810_splitncnn_0 814 815 0=2 +BinaryOp 817 2 1 815 816 817 0=3 +ConvolutionDepthWise 818 1 1 817 818 0=672 1=5 11=5 2=1 12=1 3=1 13=1 4=2 14=2 5=1 6=16800 7=672 +Split splitncnn_29 1 2 818 818_splitncnn_0 818_splitncnn_1 +BinaryOp 821 2 1 818_splitncnn_1 820 821 0=0 +Clip 822 1 1 821 822 0=0.000000 1=6.000000 +BinaryOp 823 2 1 818_splitncnn_0 822 823 0=2 +BinaryOp 825 2 1 823 824 825 0=3 +Convolution 826 1 1 825 826 0=160 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=107520 +Split splitncnn_30 1 2 826 826_splitncnn_0 826_splitncnn_1 +Convolution 828 1 1 826_splitncnn_1 828 0=40 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=6400 +ReLU 830 1 1 828 830 +Convolution 831 1 1 830 831 0=160 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=6400 +BinaryOp 834 2 1 831 833 834 0=0 +Clip 835 1 1 834 835 0=0.000000 1=6.000000 +BinaryOp 837 2 1 835 836 837 0=3 +BinaryOp 838 2 1 826_splitncnn_0 837 838 0=2 +Convolution 839 1 1 809_splitncnn_0 839 0=160 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=17920 +BinaryOp 841 2 1 838 839 841 0=0 +Convolution 842 1 1 841 842 0=672 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=107520 +Split splitncnn_31 1 2 842 842_splitncnn_0 842_splitncnn_1 +BinaryOp 845 2 1 842_splitncnn_1 844 845 0=0 +Clip 846 1 1 845 846 0=0.000000 1=6.000000 +BinaryOp 847 2 1 842_splitncnn_0 846 847 0=2 +BinaryOp 849 2 1 847 848 849 0=3 +Split splitncnn_32 1 4 849 849_splitncnn_0 849_splitncnn_1 849_splitncnn_2 849_splitncnn_3 +ConvolutionDepthWise 850 1 1 849_splitncnn_2 850 0=672 1=5 11=5 2=1 12=1 3=2 13=2 4=2 14=2 5=1 6=16800 7=672 +Split splitncnn_33 1 2 850 850_splitncnn_0 850_splitncnn_1 +BinaryOp 853 2 1 850_splitncnn_1 852 853 0=0 +Clip 854 1 1 853 854 0=0.000000 1=6.000000 +BinaryOp 855 2 1 850_splitncnn_0 854 855 0=2 +BinaryOp 857 2 1 855 856 857 0=3 +Convolution 858 1 1 857 858 0=160 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=107520 +Split splitncnn_34 1 2 858 858_splitncnn_0 858_splitncnn_1 +Convolution 860 1 1 858_splitncnn_1 860 0=40 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=6400 +ReLU 862 1 1 860 862 +Convolution 863 1 1 862 863 0=160 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=6400 +BinaryOp 866 2 1 863 865 866 0=0 +Clip 867 1 1 866 867 0=0.000000 1=6.000000 +BinaryOp 869 2 1 867 868 869 0=3 +BinaryOp 870 2 1 858_splitncnn_0 869 870 0=2 +Split splitncnn_35 1 2 870 870_splitncnn_0 870_splitncnn_1 +Convolution 871 1 1 870_splitncnn_1 871 0=960 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=153600 +Split splitncnn_36 1 2 871 871_splitncnn_0 871_splitncnn_1 +BinaryOp 874 2 1 871_splitncnn_1 873 874 0=0 +Clip 875 1 1 874 875 0=0.000000 1=6.000000 +BinaryOp 876 2 1 871_splitncnn_0 875 876 0=2 +BinaryOp 878 2 1 876 877 878 0=3 +ConvolutionDepthWise 879 1 1 878 879 0=960 1=5 11=5 2=1 12=1 3=1 13=1 4=2 14=2 5=1 6=24000 7=960 +Split splitncnn_37 1 2 879 879_splitncnn_0 879_splitncnn_1 +BinaryOp 882 2 1 879_splitncnn_1 881 882 0=0 +Clip 883 1 1 882 883 0=0.000000 1=6.000000 +BinaryOp 884 2 1 879_splitncnn_0 883 884 0=2 +BinaryOp 886 2 1 884 885 886 0=3 +Convolution 887 1 1 886 887 0=160 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=153600 +Split splitncnn_38 1 2 887 887_splitncnn_0 887_splitncnn_1 +Convolution 889 1 1 887_splitncnn_1 889 0=40 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=6400 +ReLU 891 1 1 889 891 +Convolution 892 1 1 891 892 0=160 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=6400 +BinaryOp 895 2 1 892 894 895 0=0 +Clip 896 1 1 895 896 0=0.000000 1=6.000000 +BinaryOp 898 2 1 896 897 898 0=3 +BinaryOp 899 2 1 887_splitncnn_0 898 899 0=2 +BinaryOp 900 2 1 899 870_splitncnn_0 900 0=0 +Convolution 901 1 1 900 901 0=960 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=153600 +Split splitncnn_39 1 2 901 901_splitncnn_0 901_splitncnn_1 +BinaryOp 904 2 1 901_splitncnn_1 903 904 0=0 +Clip 905 1 1 904 905 0=0.000000 1=6.000000 +BinaryOp 906 2 1 901_splitncnn_0 905 906 0=2 +BinaryOp 908 2 1 906 907 908 0=3 +Split splitncnn_40 1 4 908 908_splitncnn_0 908_splitncnn_1 908_splitncnn_2 908_splitncnn_3 +Convolution 909 1 1 908_splitncnn_2 909 0=256 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=245760 +Clip 911 1 1 909 911 0=0.000000 1=6.000000 +ConvolutionDepthWise 912 1 1 911 912 0=256 1=3 11=3 2=1 12=1 3=2 13=2 4=1 14=1 5=1 6=2304 7=256 +Clip 914 1 1 912 914 0=0.000000 1=6.000000 +Convolution 915 1 1 914 915 0=512 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=131072 +Clip 917 1 1 915 917 0=0.000000 1=6.000000 +Split splitncnn_41 1 4 917 917_splitncnn_0 917_splitncnn_1 917_splitncnn_2 917_splitncnn_3 +Convolution 918 1 1 917_splitncnn_2 918 0=128 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=65536 +Clip 920 1 1 918 920 0=0.000000 1=6.000000 +ConvolutionDepthWise 921 1 1 920 921 0=128 1=3 11=3 2=1 12=1 3=2 13=2 4=1 14=1 5=1 6=1152 7=128 +Clip 923 1 1 921 923 0=0.000000 1=6.000000 +Convolution 924 1 1 923 924 0=256 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=32768 +Clip 926 1 1 924 926 0=0.000000 1=6.000000 +Split splitncnn_42 1 4 926 926_splitncnn_0 926_splitncnn_1 926_splitncnn_2 926_splitncnn_3 +Convolution 927 1 1 926_splitncnn_2 927 0=128 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=32768 +Clip 929 1 1 927 929 0=0.000000 1=6.000000 +ConvolutionDepthWise 930 1 1 929 930 0=128 1=3 11=3 2=1 12=1 3=2 13=2 4=1 14=1 5=1 6=1152 7=128 +Clip 932 1 1 930 932 0=0.000000 1=6.000000 +Convolution 933 1 1 932 933 0=256 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=32768 +Clip 935 1 1 933 935 0=0.000000 1=6.000000 +Split splitncnn_43 1 4 935 935_splitncnn_0 935_splitncnn_1 935_splitncnn_2 935_splitncnn_3 +Convolution 936 1 1 935_splitncnn_2 936 0=64 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=16384 +Clip 938 1 1 936 938 0=0.000000 1=6.000000 +ConvolutionDepthWise 939 1 1 938 939 0=64 1=3 11=3 2=1 12=1 3=2 13=2 4=1 14=1 5=1 6=576 7=64 +Clip 941 1 1 939 941 0=0.000000 1=6.000000 +Convolution 942 1 1 941 942 0=128 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=8192 +Clip 944 1 1 942 944 0=0.000000 1=6.000000 +Split splitncnn_44 1 3 944 944_splitncnn_0 944_splitncnn_1 944_splitncnn_2 +ConvolutionDepthWise 945 1 1 849_splitncnn_1 945 0=672 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=6048 7=672 +Clip 947 1 1 945 947 0=0.000000 1=6.000000 +Convolution output 1 1 947 output 0=84 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=56448 +Permute P1_conf 1 1 output P1_conf 0=3 +Flatten F1_conf 1 1 P1_conf F1_conf +ConvolutionDepthWise 949 1 1 849_splitncnn_0 949 0=672 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=6048 7=672 +Clip 951 1 1 949 951 0=0.000000 1=6.000000 +Convolution 952 1 1 951 952 0=16 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=10752 +Permute P1_loc 1 1 952 P1_loc 0=3 +Flatten F1_loc 1 1 P1_loc F1_loc +PriorBox priorbox_1 2 1 849_splitncnn_3 data_splitncnn_5 priorbox_1 -23300=1,60.000000 -23301=1,105.0 -23302=1,2.000000 3=0.100000 4=0.100000 5=0.200000 6=0.200000 7=1 8=0 9=-233 10=-233 11=-233 12=-233 13=0.500000 14=1 15=1 +ConvolutionDepthWise 953 1 1 908_splitncnn_1 953 0=960 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=8640 7=960 +Clip 955 1 1 953 955 0=0.000000 1=6.000000 +Convolution 956 1 1 955 956 0=126 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=120960 +Permute P2_conf 1 1 956 P2_conf 0=3 +Flatten F2_conf 1 1 P2_conf F2_conf +ConvolutionDepthWise 957 1 1 908_splitncnn_0 957 0=960 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=8640 7=960 +Clip 959 1 1 957 959 0=0.000000 1=6.000000 +Convolution 960 1 1 959 960 0=24 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=23040 +Permute P2_loc 1 1 960 P2_loc 0=3 +Flatten F2_loc 1 1 P2_loc F2_loc +PriorBox priorbox_2 2 1 908_splitncnn_3 data_splitncnn_4 priorbox_2 -23300=1,105.000000 -23301=1,150.00000 -23302=2,2.000000,3.0 3=0.100000 4=0.100000 5=0.200000 6=0.200000 7=1 8=0 9=-233 10=-233 11=-233.000000 12=-233.000000 13=0.500000 14=1 15=1 +ConvolutionDepthWise 961 1 1 917_splitncnn_1 961 0=512 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=4608 7=512 +Clip 963 1 1 961 963 0=0.000000 1=6.000000 +Convolution 964 1 1 963 964 0=126 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=64512 +Permute P3_conf 1 1 964 P3_conf 0=3 +Flatten F3_conf 1 1 P3_conf F3_conf +ConvolutionDepthWise 965 1 1 917_splitncnn_0 965 0=512 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=4608 7=512 +Clip 967 1 1 965 967 0=0.000000 1=6.000000 +Convolution 968 1 1 967 968 0=24 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=12288 +Permute P3_loc 1 1 968 P3_loc 0=3 +Flatten F3_loc 1 1 P3_loc F3_loc +PriorBox priorbox_3 2 1 917_splitncnn_3 data_splitncnn_3 priorbox_3 -23300=1,150.000000 -23301=1,195.0 -23302=2,2.000000,3.0 3=0.100000 4=0.100000 5=0.200000 6=0.200000 7=1 8=0 9=-233 10=-233 11=-233.000000 12=-233.000000 13=0.500000 14=1 15=1 +ConvolutionDepthWise 969 1 1 926_splitncnn_1 969 0=256 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=2304 7=256 +Clip 971 1 1 969 971 0=0.000000 1=6.000000 +Convolution 972 1 1 971 972 0=126 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=32256 +Permute P4_conf 1 1 972 P4_conf 0=3 +Flatten F4_conf 1 1 P4_conf F4_conf +ConvolutionDepthWise 973 1 1 926_splitncnn_0 973 0=256 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=2304 7=256 +Clip 975 1 1 973 975 0=0.000000 1=6.000000 +Convolution 976 1 1 975 976 0=24 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=6144 +Permute P4_loc 1 1 976 P4_loc 0=3 +Flatten F4_loc 1 1 P4_loc F4_loc +PriorBox priorbox_4 2 1 926_splitncnn_3 data_splitncnn_2 priorbox_4 -23300=1,195.000000 -23301=1,240.0 -23302=2,2.000000,3.0 3=0.100000 4=0.100000 5=0.200000 6=0.200000 7=1 8=0 9=-233 10=-233 11=-233.000000 12=-233.000000 13=0.500000 14=1 15=1 +ConvolutionDepthWise 977 1 1 935_splitncnn_1 977 0=256 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=2304 7=256 +Clip 979 1 1 977 979 0=0.000000 1=6.000000 +Convolution 980 1 1 979 980 0=84 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=21504 +Permute P5_conf 1 1 980 P5_conf 0=3 +Flatten F5_conf 1 1 P5_conf F5_conf +ConvolutionDepthWise 981 1 1 935_splitncnn_0 981 0=256 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=2304 7=256 +Clip 983 1 1 981 983 0=0.000000 1=6.000000 +Convolution 984 1 1 983 984 0=16 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=4096 +Permute P5_loc 1 1 984 P5_loc 0=3 +Flatten F5_loc 1 1 P5_loc F5_loc +PriorBox priorbox_5 2 1 935_splitncnn_3 data_splitncnn_1 priorbox_5 -23300=1,240.000000 -23301=1,285.0 -23302=1,2.000000 3=0.100000 4=0.100000 5=0.200000 6=0.200000 7=1 8=0 9=-233 10=-233 11=-233.000000 12=-233.000000 13=0.500000 14=1 15=1 +ConvolutionDepthWise 985 1 1 944_splitncnn_1 985 0=128 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=1152 7=128 +Clip 987 1 1 985 987 0=0.000000 1=6.000000 +Convolution 988 1 1 987 988 0=84 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=10752 +Permute P6_conf 1 1 988 P6_conf 0=3 +Flatten F6_conf 1 1 P6_conf F6_conf +ConvolutionDepthWise 989 1 1 944_splitncnn_0 989 0=128 1=3 11=3 2=1 12=1 3=1 13=1 4=1 14=1 5=1 6=1152 7=128 +Clip 991 1 1 989 991 0=0.000000 1=6.000000 +Convolution 992 1 1 991 992 0=16 1=1 11=1 2=1 12=1 3=1 13=1 4=0 14=0 5=1 6=2048 +Permute P6_loc 1 1 992 P6_loc 0=3 +Flatten F6_loc 1 1 P6_loc F6_loc +PriorBox priorbox_6 2 1 944_splitncnn_2 data_splitncnn_0 priorbox_6 -23300=1,285.000000 -23301=1,300.0 -23302=1,2.000000 3=0.100000 4=0.100000 5=0.200000 6=0.200000 7=1 8=0 9=-233 10=-233 11=-233.000000 12=-233.000000 13=0.500000 14=1 15=1 +Concat mbox_loc 6 1 F1_loc F2_loc F3_loc F4_loc F5_loc F6_loc mbox_loc 0=0 +Concat mbox_conf 6 1 F1_conf F2_conf F3_conf F4_conf F5_conf F6_conf mbox_conf 0=0 +Concat mbox_priorbox 6 1 priorbox_1 priorbox_2 priorbox_3 priorbox_4 priorbox_5 priorbox_6 mbox_priorbox 0=1 +Reshape mbox_conf_reshape 1 1 mbox_conf mbox_conf_reshape 0=21 1=-1 +Softmax mbox_conf_softmax 1 1 mbox_conf_reshape mbox_conf_softmax 0=1 1=1 +Flatten mbox_conf_flatten 1 1 mbox_conf_softmax mbox_conf_flatten +DetectionOutput detection_out 3 1 mbox_loc mbox_conf_flatten mbox_priorbox detection_out 0=21 1=0.450000 2=300 3=100 4=0.010000 5=0.1 6=0.1 7=0.2 8=0.2 diff --git a/MyCode/src/my-slam/ThirdpartyBuild.sh b/MyCode/src/my-slam/ThirdpartyBuild.sh new file mode 100644 index 0000000..4f37743 --- /dev/null +++ b/MyCode/src/my-slam/ThirdpartyBuild.sh @@ -0,0 +1,25 @@ +echo "Configuring and building Thirdparty/DBoW2 ..." +cd Thirdparty/DBoW2 +mkdir build +cd build +cmake .. -DCMAKE_BUILD_TYPE=Release +make -j4 + +cd ../../g2o + +echo "Configuring and building Thirdparty/g2o ..." + +mkdir build +cd build +cmake .. -DCMAKE_BUILD_TYPE=Release +make -j4 + +cd ../../ + +echo "building Thirdparty/ncnn ..." + +git clone https://github.com/Tencent/ncnn +cd ncnn +git submodule update --init + +echo "Please continue to manually configure your ncnn ..." diff --git a/MyCode/src/my-slam/Vocabulary/ORBvoc.bin b/MyCode/src/my-slam/Vocabulary/ORBvoc.bin new file mode 100644 index 0000000..e64a379 Binary files /dev/null and b/MyCode/src/my-slam/Vocabulary/ORBvoc.bin differ diff --git a/MyCode/src/my-slam/build/.cmake/api/v1/query/client-vscode/query.json b/MyCode/src/my-slam/build/.cmake/api/v1/query/client-vscode/query.json new file mode 100644 index 0000000..82bb964 --- /dev/null +++ b/MyCode/src/my-slam/build/.cmake/api/v1/query/client-vscode/query.json @@ -0,0 +1 @@ +{"requests":[{"kind":"cache","version":2},{"kind":"codemodel","version":2},{"kind":"toolchains","version":1},{"kind":"cmakeFiles","version":1}]} \ No newline at end of file diff --git a/MyCode/src/my-slam/build/CMakeCache.txt b/MyCode/src/my-slam/build/CMakeCache.txt new file mode 100644 index 0000000..d314bc9 --- /dev/null +++ b/MyCode/src/my-slam/build/CMakeCache.txt @@ -0,0 +1,332 @@ +# This is 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SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#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(__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 DEC(__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__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#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_CC = 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__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__open_xl__) && defined(__clang__) +# define COMPILER_ID "IBMClang" +# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) +# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) +# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# 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_MAJOR) +# 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(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(1) +# if defined(__LCC__) +# define COMPILER_VERSION_MINOR DEC(__LCC__- 100) +# endif +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# 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 + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __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) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#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 "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#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(__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" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#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_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# 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. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(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 a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_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 "]"; + + + +#if !defined(__STDC__) && !defined(__clang__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif __STDC_VERSION__ > 201710L +# define C_VERSION "23" +#elif __STDC_VERSION__ >= 201710L +# define C_VERSION "17" +#elif __STDC_VERSION__ >= 201000L +# define C_VERSION "11" +#elif __STDC_VERSION__ >= 199901L +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; 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Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +#if !defined(__has_include) +/* If the compiler does not have __has_include, pretend the answer is + always no. */ +# define __has_include(x) 0 +#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" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, + except that a few beta releases use the old format with V=2021. */ +# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) + /* The third version component from --version is an update index, + but no macro is provided for it. */ +# define COMPILER_VERSION_PATCH DEC(0) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#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(__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 DEC(__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__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#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__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__open_xl__) && defined(__clang__) +# define COMPILER_ID "IBMClang" +# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) +# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) +# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# 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_MAJOR) +# 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(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(1) +# if defined(__LCC__) +# define COMPILER_VERSION_MINOR DEC(__LCC__- 100) +# endif +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# 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 + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __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) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#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 "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#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(__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" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#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_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# 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. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(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 a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_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 "]"; + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > 202002L + "23" +#elif CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +const char* 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/Ob0 /Oy- /D _MBCS /D WIN32 /D _WINDOWS /D "CMAKE_INTDIR=\"Debug\"" /Gm- /EHsc /RTC1 /MDd /GS /fp:precise /Zc:wchar_t /Zc:forScope /Zc:inline /GR /Fo"cmTC_f9e25.dir\Debug\\" /Fd"cmTC_f9e25.dir\Debug\vc143.pdb" /external:W3 /Gd /TP /analyze- /errorReport:queue "E:\Something\Visual Studio\2022\Community\Common7\IDE\CommonExtensions\Microsoft\CMake\CMake\share\cmake-3.23\Modules\CMakeCXXCompilerABI.cpp" + cmTC_f9e25.vcxproj -> C:\Users\23819\Desktop\SG-SLAM-main\src\sg-slam\build\CMakeFiles\CMakeTmp\Debug\cmTC_f9e25.exe + + + diff --git a/MyCode/src/my-slam/build/CMakeFiles/cmake.check_cache b/MyCode/src/my-slam/build/CMakeFiles/cmake.check_cache new file mode 100644 index 0000000..3dccd73 --- /dev/null +++ b/MyCode/src/my-slam/build/CMakeFiles/cmake.check_cache @@ -0,0 +1 @@ +# This file is generated by cmake for dependency checking of the CMakeCache.txt file diff --git a/MyCode/src/my-slam/core b/MyCode/src/my-slam/core new file mode 100644 index 0000000..636b0df Binary files /dev/null and b/MyCode/src/my-slam/core differ diff --git a/MyCode/src/my-slam/include/Converter.h b/MyCode/src/my-slam/include/Converter.h new file mode 100644 index 0000000..0002ad6 --- /dev/null +++ b/MyCode/src/my-slam/include/Converter.h @@ -0,0 +1,57 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#ifndef CONVERTER_H +#define CONVERTER_H + +#include + +#include +#include"Thirdparty/g2o/g2o/types/types_six_dof_expmap.h" +#include"Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h" + +namespace ORB_SLAM2 +{ + +class Converter +{ +public: + static std::vector toDescriptorVector(const cv::Mat &Descriptors); + + static g2o::SE3Quat toSE3Quat(const cv::Mat &cvT); + static g2o::SE3Quat toSE3Quat(const g2o::Sim3 &gSim3); + + static cv::Mat toCvMat(const g2o::SE3Quat &SE3); + static cv::Mat toCvMat(const g2o::Sim3 &Sim3); + static cv::Mat toCvMat(const Eigen::Matrix &m); + static cv::Mat toCvMat(const Eigen::Matrix3d &m); + static cv::Mat toCvMat(const Eigen::Matrix &m); + static cv::Mat toCvSE3(const Eigen::Matrix &R, const Eigen::Matrix &t); + + static Eigen::Matrix toVector3d(const cv::Mat &cvVector); + static Eigen::Matrix toVector3d(const cv::Point3f &cvPoint); + static Eigen::Matrix toMatrix3d(const cv::Mat &cvMat3); + + static std::vector toQuaternion(const cv::Mat &M); +}; + +}// namespace ORB_SLAM + +#endif // CONVERTER_H diff --git a/MyCode/src/my-slam/include/Detector2D.h b/MyCode/src/my-slam/include/Detector2D.h new file mode 100644 index 0000000..b16d9c5 --- /dev/null +++ b/MyCode/src/my-slam/include/Detector2D.h @@ -0,0 +1,110 @@ +#ifndef DETECTOR2D_H +#define DETECTOR2D_H + +#include "net.h" +#include "gpu.h" + + +#include +#include +#include + +#include +#include "iostream" +#include "unistd.h" + +// thread +#include +#include + +#include "inference.h" +#include "yolov8_seg_onnx.h" +#include "yolov8_seg_utils.h" + +template +const T& clamp(const T& v, const T& lo, const T& hi) +{ + assert(!(hi < lo)); + return v < lo ? lo : hi < v ? hi : v; +} + +//检测目标结果 +typedef struct Object2D +{ + cv::Rect_ rect; + float prob; + std::string name; + int id; + cv::Mat mask; + cv::Scalar color; + cv::Mat colorHit; +} Object2D; + + +namespace ORB_SLAM2 { + + class Tracking; + class Detector2D{ + public: + + Detector2D(float detection_confidence_threshold_,float dynamic_detection_confidence_threshold_); + ~Detector2D(); + + //czd 9-9 + Detector2D(float hight, float width, bool flag); + void detect(const cv::Mat &bgr, bool flag); + // void detect(const cv::Mat &bgr, bool infereence, bool flag); + void PutObject(std::vector result, cv::Mat img); + cv::Mat DealMask(OutputSeg result, cv::Mat img, cv::Mat depth); + cv::Mat getColorHistogram(cv::Mat img, cv::Mat mask); //计算物体的颜色直方图 + double compareHistogram(const cv::Mat& hist1, const cv::Mat& hist2); //比较两个颜色直方图差距 + void OverSegment(std::vector result); + void put2Object2D(std::vector result); + + void detect(const cv::Mat &bgr); + void draw_objects(cv::Mat &bgr); + void Run(); + void SetTracker(Tracking *pTracker); + bool isNewImageArrived(); + void ImageDetectFinished(); + cv::Mat pad_image(const cv::Mat& input_image, int target_width, int target_height); + cv::Mat restore_image(const cv::Mat& padded_image, int original_width, int original_height, int top, int bottom, int left, int right); + + cv::Mat mImageToDetect; + cv::Mat mDepthImage; + std::mutex mMutexGetNewImage; + std::mutex mMutexImageDetectFinished; + bool mbNewImageFlag; + Tracking* mpTracker; + + std::vector mvObjects2D; + std::vector mvObjects2D_to_View; + + bool mbHaveDynamicObjectForMapping = false; + bool mbHaveDynamicObjectForRmDynamicFeature = false; + std::vector > mvPotentialDynamicBorderForMapping; + std::vector > mvPotentialDynamicBorderForRmDynamicFeature; + + private: + const int target_size = 300; + const float mean_vals[3] = {123.675f, 116.28f, 103.53f}; + const float norm_vals[3] = {1.0f, 1.0f, 1.0f}; + + ncnn::Net *detect_net_ptr; + ncnn::Mat *net_in_ptr; + static const char *class_names[]; + + float detection_confidence_threshold = 0.98; + float dynamic_detection_confidence_threshold = 0.1; + + float img_hight, img_width; + // Inference *inf; + // Inference inf2 = Inference("/home/test/My/yolov8n-seg.onnx", cv::Size(640, 480), "classes.txt", true); + // Inference inf2 = Inference("/home/test/My/yolov8n-seg.onnx", cv::Size(640, 640), "classes.txt", true); + + Yolov8SegOnnx test; + std::vector output; //存每一次识别的mask结果 + }; + +} +#endif diff --git a/MyCode/src/my-slam/include/Detector3D.h b/MyCode/src/my-slam/include/Detector3D.h new file mode 100644 index 0000000..249228d --- /dev/null +++ b/MyCode/src/my-slam/include/Detector3D.h @@ -0,0 +1,77 @@ +#ifndef DETECTOR3D_H +#define DETECTOR3D_H + +#ifndef PCL_NO_PRECOMPILE +#define PCL_NO_PRECOMPILE +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "ObjectDatabase.h" +#include "Detector2D.h" + +struct SemanticObject; +class ObjectDatabase; + +struct PointXYZPixel +{ + PCL_ADD_POINT4D; + // PCL_ADD_RGB; + uint32_t pixel_x; + uint32_t pixel_y; + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +} EIGEN_ALIGN16; + +POINT_CLOUD_REGISTER_POINT_STRUCT(PointXYZPixel, + (float, x, x) + (float, y, y) + (float, z, z) + // (uint8_t, b, b) + // (uint8_t, g, g) + // (uint8_t, r, r) + (uint32_t, pixel_x, pixel_x) + (uint32_t, pixel_y, pixel_y) +) + +class Detector3D +{ + +public: + typedef pcl::PointXYZRGB PointT; + typedef pcl::PointCloud PointCloud; + Detector3D(int Detect3D_Sor_MeanK_,double Detect3D_Sor_StddevMulThresh_,float Detect3D_Voxel_LeafSize_, + float EuclideanClusterTolerance_,int EuclideanClusterMinSize_,int EuclideanClusterMaxSize_, + float DetectSimilarCompareRatio_); + ~Detector3D(); + void Detect(std::vector& vobject2d, cv::Mat &depth, PointCloud::ConstPtr map_point_cloud, int KFid); + ObjectDatabase* mpObjectDatabase; + +private: + bool DetectOne(Object2D& object2d, SemanticObject& semantic_object, cv::Mat &depth_img, + PointCloud::ConstPtr map_point_cloud, int KFid); + + // from https://github.com/Ewenwan/ORB_SLAM2_SSD_Semantic/blob/master/perfect/src/MergeSG.cc + bool GetProjectedROI(const pcl::PointCloud::ConstPtr point_cloud,cv::Rect_ & roi); + float GetSimilarity(const cv::Rect_ & r1, const cv::Rect_ & r2, size_t points_num); + void PointCloudAddPixel(const PointCloud::ConstPtr orig, const std::vector& indices, + pcl::PointCloud::Ptr dest); + + pcl::ExtractIndices mExtractInd; + pcl::VoxelGrid mVoxel_Detect3D; + pcl::StatisticalOutlierRemoval mSor_Detect3D; + pcl::EuclideanClusterExtraction ec; + + float camera_valid_depth_Min = 0.5; //相机的测量范围最小值 + float camera_valid_depth_Max = 5.0; //相机的测量范围最大值 + float DetectSimilarCompareRatio = 0.5; +}; + +#endif + diff --git a/MyCode/src/my-slam/include/Frame.h b/MyCode/src/my-slam/include/Frame.h new file mode 100644 index 0000000..333e8d9 --- /dev/null +++ b/MyCode/src/my-slam/include/Frame.h @@ -0,0 +1,228 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#ifndef FRAME_H +#define FRAME_H + +#include + +#include "MapPoint.h" +#include "Thirdparty/DBoW2/DBoW2/BowVector.h" +#include "Thirdparty/DBoW2/DBoW2/FeatureVector.h" +#include "ORBVocabulary.h" +#include "KeyFrame.h" +#include "ORBextractor.h" +#include +#include "Detector2D.h" + +#include + +namespace ORB_SLAM2 +{ +#define FRAME_GRID_ROWS 48 +#define FRAME_GRID_COLS 64 + +class MapPoint; +class KeyFrame; +class Tracking; + +class Frame +{ +public: + + Frame(); + + // Copy constructor. + Frame(const Frame &frame); + + // Constructor for stereo cameras. + Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeStamp, ORBextractor* extractorLeft, ORBextractor* extractorRight, ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth); + + // Constructor for RGB-D cameras. new fix + Frame(Tracking* pTracker, cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth,Frame &F1); + + // Constructor for Monocular cameras. + Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth); + + // Extract ORB on the image. 0 for left image and 1 for right image. + void ExtractORB(int flag, const cv::Mat &im);//default version + int RmDynamicPointWithSemanticAndGeometry(const cv::Mat &imGrayPre, const cv::Mat &imGray); + bool CheckEpiLineDistToRmDynamicPoint(const cv::KeyPoint &kp1,const cv::Point2f &kp2, cv::Mat &F12 + ,const double threshold = 1.0); + bool isInDynamicRegion(const cv::Point2f &kp,const std::vector >& vDynamicBorder_); + bool isInDynamicRegion(const cv::KeyPoint &kp,const std::vector >& vDynamicBorder_); + // Compute Bag of Words representation. + void ComputeBoW(); + + // Set the camera pose. + void SetPose(cv::Mat Tcw); + + // Computes rotation, translation and camera center matrices from the camera pose. + void UpdatePoseMatrices(); + + // Returns the camera center. + inline cv::Mat GetCameraCenter(){ + return mOw.clone(); + } + + // Returns inverse of rotation + inline cv::Mat GetRotationInverse(){ + return mRwc.clone(); + } + + // Check if a MapPoint is in the frustum of the camera + // and fill variables of the MapPoint to be used by the tracking + bool isInFrustum(MapPoint* pMP, float viewingCosLimit); + + // Compute the cell of a keypoint (return false if outside the grid) + bool PosInGrid(const cv::KeyPoint &kp, int &posX, int &posY); + + vector GetFeaturesInArea(const float &x, const float &y, const float &r, const int minLevel=-1, const int maxLevel=-1) const; + + // Search a match for each keypoint in the left image to a keypoint in the right image. + // If there is a match, depth is computed and the right coordinate associated to the left keypoint is stored. + void ComputeStereoMatches(); + + // Associate a "right" coordinate to a keypoint if there is valid depth in the depthmap. + void ComputeStereoFromRGBD(const cv::Mat &imDepth); + + // Backprojects a keypoint (if stereo/depth info available) into 3D world coordinates. + cv::Mat UnprojectStereo(const int &i); + +public: + Tracking* mpTracker; + std::vector mvObjects2D; + bool mbHaveDynamicObjectForMapping; + bool mbHaveDynamicObjectForRmDynamicFeature; + std::vector > mvPotentialDynamicBorderForMapping; + std::vector > mvPotentialDynamicBorderForRmDynamicFeature; + + // Vocabulary used for relocalization. + ORBVocabulary* mpORBvocabulary; + + // Feature extractor. The right is used only in the stereo case. + ORBextractor* mpORBextractorLeft, *mpORBextractorRight; + + // Frame timestamp. + double mTimeStamp; + + // Calibration matrix and OpenCV distortion parameters. + cv::Mat mK; + static float fx; + static float fy; + static float cx; + static float cy; + static float invfx; + static float invfy; + cv::Mat mDistCoef; + + // Stereo baseline multiplied by fx. + float mbf; + + // Stereo baseline in meters. + float mb; + + // Threshold close/far points. Close points are inserted from 1 view. + // Far points are inserted as in the monocular case from 2 views. + float mThDepth; + + // Number of KeyPoints. + int N; + + // Vector of keypoints (original for visualization) and undistorted (actually used by the system). + // In the stereo case, mvKeysUn is redundant as images must be rectified. + // In the RGB-D case, RGB images can be distorted. + std::vector mvKeys, mvKeysRight; + std::vector mvKeysUn; + + // Corresponding stereo coordinate and depth for each keypoint. + // "Monocular" keypoints have a negative value. + std::vector mvuRight; + std::vector mvDepth; + + // Bag of Words Vector structures. + DBoW2::BowVector mBowVec; + DBoW2::FeatureVector mFeatVec; + + // ORB descriptor, each row associated to a keypoint. + cv::Mat mDescriptors, mDescriptorsRight; + + // MapPoints associated to keypoints, NULL pointer if no association. + std::vector mvpMapPoints; + + // Flag to identify outlier associations. + std::vector mvbOutlier; + + // Keypoints are assigned to cells in a grid to reduce matching complexity when projecting MapPoints. + static float mfGridElementWidthInv; + static float mfGridElementHeightInv; + std::vector mGrid[FRAME_GRID_COLS][FRAME_GRID_ROWS]; + + // Camera pose. + cv::Mat mTcw; + + // Current and Next Frame id. + static long unsigned int nNextId; + long unsigned int mnId; + + // Reference Keyframe. + KeyFrame* mpReferenceKF; + + // Scale pyramid info. + int mnScaleLevels; + float mfScaleFactor; + float mfLogScaleFactor; + vector mvScaleFactors; + vector mvInvScaleFactors; + vector mvLevelSigma2; + vector mvInvLevelSigma2; + + // Undistorted Image Bounds (computed once). + static float mnMinX; + static float mnMaxX; + static float mnMinY; + static float mnMaxY; + + static bool mbInitialComputations; + + +private: + + // Undistort keypoints given OpenCV distortion parameters. + // Only for the RGB-D case. Stereo must be already rectified! + // (called in the constructor). + void UndistortKeyPoints(); + + // Computes image bounds for the undistorted image (called in the constructor). + void ComputeImageBounds(const cv::Mat &imLeft); + + // Assign keypoints to the grid for speed up feature matching (called in the constructor). + void AssignFeaturesToGrid(); + + // Rotation, translation and camera center + cv::Mat mRcw; + cv::Mat mtcw; + cv::Mat mRwc; + cv::Mat mOw; //==mtwc +}; + +}// namespace ORB_SLAM + +#endif // FRAME_H diff --git a/MyCode/src/my-slam/include/FrameDrawer.h b/MyCode/src/my-slam/include/FrameDrawer.h new file mode 100644 index 0000000..6505176 --- /dev/null +++ b/MyCode/src/my-slam/include/FrameDrawer.h @@ -0,0 +1,73 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#ifndef FRAMEDRAWER_H +#define FRAMEDRAWER_H + +#include "Tracking.h" +#include "MapPoint.h" +#include "Map.h" + +#include +#include + +#include + + +namespace ORB_SLAM2 +{ + +class Tracking; +class Viewer; + +class FrameDrawer +{ +public: + FrameDrawer(Map* pMap); + + // Update info from the last processed frame. + void Update(Tracking *pTracker); + + // Draw last processed frame. + cv::Mat DrawFrame(); + +protected: + + void DrawTextInfo(cv::Mat &im, int nState, cv::Mat &imText); + + // Info of the frame to be drawn + cv::Mat mIm; + int N; + vector mvCurrentKeys; + vector mvbMap, mvbVO; + bool mbOnlyTracking; + int mnTracked, mnTrackedVO; + vector mvIniKeys; + vector mvIniMatches; + int mState; + + Map* mpMap; + + std::mutex mMutex; +}; + +} //namespace ORB_SLAM + +#endif // FRAMEDRAWER_H diff --git a/MyCode/src/my-slam/include/Initializer.h b/MyCode/src/my-slam/include/Initializer.h new file mode 100644 index 0000000..09b27a6 --- /dev/null +++ b/MyCode/src/my-slam/include/Initializer.h @@ -0,0 +1,101 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ +#ifndef INITIALIZER_H +#define INITIALIZER_H + +#include +#include "Frame.h" + + +namespace ORB_SLAM2 +{ + +// THIS IS THE INITIALIZER FOR MONOCULAR SLAM. NOT USED IN THE STEREO OR RGBD CASE. +class Initializer +{ + typedef pair Match; + +public: + + // Fix the reference frame + Initializer(const Frame &ReferenceFrame, float sigma = 1.0, int iterations = 200); + + // Computes in parallel a fundamental matrix and a homography + // Selects a model and tries to recover the motion and the structure from motion + bool Initialize(const Frame &CurrentFrame, const vector &vMatches12, + cv::Mat &R21, cv::Mat &t21, vector &vP3D, vector &vbTriangulated); + + +private: + + void FindHomography(vector &vbMatchesInliers, float &score, cv::Mat &H21); + void FindFundamental(vector &vbInliers, float &score, cv::Mat &F21); + + cv::Mat ComputeH21(const vector &vP1, const vector &vP2); + cv::Mat ComputeF21(const vector &vP1, const vector &vP2); + + float CheckHomography(const cv::Mat &H21, const cv::Mat &H12, vector &vbMatchesInliers, float sigma); + + float CheckFundamental(const cv::Mat &F21, vector &vbMatchesInliers, float sigma); + + bool ReconstructF(vector &vbMatchesInliers, cv::Mat &F21, cv::Mat &K, + cv::Mat &R21, cv::Mat &t21, vector &vP3D, vector &vbTriangulated, float minParallax, int minTriangulated); + + bool ReconstructH(vector &vbMatchesInliers, cv::Mat &H21, cv::Mat &K, + cv::Mat &R21, cv::Mat &t21, vector &vP3D, vector &vbTriangulated, float minParallax, int minTriangulated); + + void Triangulate(const cv::KeyPoint &kp1, const cv::KeyPoint &kp2, const cv::Mat &P1, const cv::Mat &P2, cv::Mat &x3D); + + void Normalize(const vector &vKeys, vector &vNormalizedPoints, cv::Mat &T); + + int CheckRT(const cv::Mat &R, const cv::Mat &t, const vector &vKeys1, const vector &vKeys2, + const vector &vMatches12, vector &vbInliers, + const cv::Mat &K, vector &vP3D, float th2, vector &vbGood, float ¶llax); + + void DecomposeE(const cv::Mat &E, cv::Mat &R1, cv::Mat &R2, cv::Mat &t); + + + // Keypoints from Reference Frame (Frame 1) + vector mvKeys1; + + // Keypoints from Current Frame (Frame 2) + vector mvKeys2; + + // Current Matches from Reference to Current + vector mvMatches12; + vector mvbMatched1; + + // Calibration + cv::Mat mK; + + // Standard Deviation and Variance + float mSigma, mSigma2; + + // Ransac max iterations + int mMaxIterations; + + // Ransac sets + vector > mvSets; + +}; + +} //namespace ORB_SLAM + +#endif // INITIALIZER_H diff --git a/MyCode/src/my-slam/include/KeyFrame.h b/MyCode/src/my-slam/include/KeyFrame.h new file mode 100644 index 0000000..7332fbd --- /dev/null +++ b/MyCode/src/my-slam/include/KeyFrame.h @@ -0,0 +1,248 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#ifndef KEYFRAME_H +#define KEYFRAME_H + +#include "MapPoint.h" +#include "Thirdparty/DBoW2/DBoW2/BowVector.h" +#include "Thirdparty/DBoW2/DBoW2/FeatureVector.h" +#include "ORBVocabulary.h" +#include "ORBextractor.h" +#include "Frame.h" +#include "KeyFrameDatabase.h" +#include "Detector2D.h" +#include // for ros::time + +#include + + +namespace ORB_SLAM2 +{ + +class Map; +class MapPoint; +class Frame; +class KeyFrameDatabase; + +class KeyFrame +{ +public: + KeyFrame(Frame &F, Map* pMap, KeyFrameDatabase* pKFDB); + + // Pose functions + void SetPose(const cv::Mat &Tcw); + cv::Mat GetPose(); + cv::Mat GetPoseInverse(); + cv::Mat GetCameraCenter(); + cv::Mat GetStereoCenter(); + cv::Mat GetRotation(); + cv::Mat GetTranslation(); + + // Bag of Words Representation + void ComputeBoW(); + + // Covisibility graph functions + void AddConnection(KeyFrame* pKF, const int &weight); + void EraseConnection(KeyFrame* pKF); + void UpdateConnections(); + void UpdateBestCovisibles(); + std::set GetConnectedKeyFrames(); + std::vector GetVectorCovisibleKeyFrames(); + std::vector GetBestCovisibilityKeyFrames(const int &N); + std::vector GetCovisiblesByWeight(const int &w); + int GetWeight(KeyFrame* pKF); + + // Spanning tree functions + void AddChild(KeyFrame* pKF); + void EraseChild(KeyFrame* pKF); + void ChangeParent(KeyFrame* pKF); + std::set GetChilds(); + KeyFrame* GetParent(); + bool hasChild(KeyFrame* pKF); + + // Loop Edges + void AddLoopEdge(KeyFrame* pKF); + std::set GetLoopEdges(); + + // MapPoint observation functions + void AddMapPoint(MapPoint* pMP, const size_t &idx); + void EraseMapPointMatch(const size_t &idx); + void EraseMapPointMatch(MapPoint* pMP); + void ReplaceMapPointMatch(const size_t &idx, MapPoint* pMP); + std::set GetMapPoints(); + std::vector GetMapPointMatches(); + int TrackedMapPoints(const int &minObs); + MapPoint* GetMapPoint(const size_t &idx); + + // KeyPoint functions + std::vector GetFeaturesInArea(const float &x, const float &y, const float &r) const; + cv::Mat UnprojectStereo(int i); + + // Image + bool IsInImage(const float &x, const float &y) const; + + // Enable/Disable bad flag changes + void SetNotErase(); + void SetErase(); + + // Set/check bad flag + void SetBadFlag(); + bool isBad(); + + // Compute Scene Depth (q=2 median). Used in monocular. + float ComputeSceneMedianDepth(const int q); + + static bool weightComp( int a, int b){ + return a>b; + } + + static bool lId(KeyFrame* pKF1, KeyFrame* pKF2){ + return pKF1->mnIdmnId; + } + + + // The following variables are accesed from only 1 thread or never change (no mutex needed). +public: + + static long unsigned int nNextId; + long unsigned int mnId; + const long unsigned int mnFrameId; + + const double mTimeStamp; + + // Grid (to speed up feature matching) + const int mnGridCols; + const int mnGridRows; + const float mfGridElementWidthInv; + const float mfGridElementHeightInv; + + // Variables used by the tracking + long unsigned int mnTrackReferenceForFrame; + long unsigned int mnFuseTargetForKF; + + // Variables used by the local mapping + long unsigned int mnBALocalForKF; + long unsigned int mnBAFixedForKF; + + // Variables used by the keyframe database + long unsigned int mnLoopQuery; + int mnLoopWords; + float mLoopScore; + long unsigned int mnRelocQuery; + int mnRelocWords; + float mRelocScore; + + // Variables used by loop closing + cv::Mat mTcwGBA; + cv::Mat mTcwBefGBA; + long unsigned int mnBAGlobalForKF; + + // Calibration parameters + const float fx, fy, cx, cy, invfx, invfy, mbf, mb, mThDepth; + + // Number of KeyPoints + const int N; + + // KeyPoints, stereo coordinate and descriptors (all associated by an index) + const std::vector mvKeys; + const std::vector mvKeysUn; + const std::vector mvuRight; // negative value for monocular points + const std::vector mvDepth; // negative value for monocular points + const cv::Mat mDescriptors; + + //BoW + DBoW2::BowVector mBowVec; + DBoW2::FeatureVector mFeatVec; + + // Pose relative to parent (this is computed when bad flag is activated) + cv::Mat mTcp; + + // Scale + const int mnScaleLevels; + const float mfScaleFactor; + const float mfLogScaleFactor; + const std::vector mvScaleFactors; + const std::vector mvLevelSigma2; + const std::vector mvInvLevelSigma2; + + // Image bounds and calibration + const int mnMinX; + const int mnMinY; + const int mnMaxX; + const int mnMaxY; + const cv::Mat mK; + + cv::Mat mImRGB;//for pointcloudmapping + cv::Mat mImDep;//for pointcloudmapping + std::vector mvObjects2D; + bool mbHaveDynamicObjectForMapping; + std::vector > mvPotentialDynamicBorderForMapping; + ros::Time ros_time; + + + // The following variables need to be accessed trough a mutex to be thread safe. +protected: + + // SE3 Pose and camera center + cv::Mat Tcw; + cv::Mat Twc; + cv::Mat Ow; + + cv::Mat Cw; // Stereo middel point. Only for visualization + + // MapPoints associated to keypoints + std::vector mvpMapPoints; + + // BoW + KeyFrameDatabase* mpKeyFrameDB; + ORBVocabulary* mpORBvocabulary; + + // Grid over the image to speed up feature matching + std::vector< std::vector > > mGrid; + + std::map mConnectedKeyFrameWeights; + std::vector mvpOrderedConnectedKeyFrames; + std::vector mvOrderedWeights; + + // Spanning Tree and Loop Edges + bool mbFirstConnection; + KeyFrame* mpParent; + std::set mspChildrens; + std::set mspLoopEdges; + + // Bad flags + bool mbNotErase; + bool mbToBeErased; + bool mbBad; + + float mHalfBaseline; // Only for visualization + + Map* mpMap; + + std::mutex mMutexPose; + std::mutex mMutexConnections; + std::mutex mMutexFeatures; + +}; + +} //namespace ORB_SLAM + +#endif // KEYFRAME_H diff --git a/MyCode/src/my-slam/include/KeyFrameDatabase.h b/MyCode/src/my-slam/include/KeyFrameDatabase.h new file mode 100644 index 0000000..fa37357 --- /dev/null +++ b/MyCode/src/my-slam/include/KeyFrameDatabase.h @@ -0,0 +1,74 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#ifndef KEYFRAMEDATABASE_H +#define KEYFRAMEDATABASE_H + +#include +#include +#include + +#include "KeyFrame.h" +#include "Frame.h" +#include "ORBVocabulary.h" + +#include + + +namespace ORB_SLAM2 +{ + +class KeyFrame; +class Frame; + + +class KeyFrameDatabase +{ +public: + + KeyFrameDatabase(const ORBVocabulary &voc); + + void add(KeyFrame* pKF); + + void erase(KeyFrame* pKF); + + void clear(); + + // Loop Detection + std::vector DetectLoopCandidates(KeyFrame* pKF, float minScore); + + // Relocalization + std::vector DetectRelocalizationCandidates(Frame* F); + +protected: + + // Associated vocabulary + const ORBVocabulary* mpVoc; + + // Inverted file + std::vector > mvInvertedFile; + + // Mutex + std::mutex mMutex; +}; + +} //namespace ORB_SLAM + +#endif diff --git a/MyCode/src/my-slam/include/LocalMapping.h b/MyCode/src/my-slam/include/LocalMapping.h new file mode 100644 index 0000000..1361a57 --- /dev/null +++ b/MyCode/src/my-slam/include/LocalMapping.h @@ -0,0 +1,128 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#ifndef LOCALMAPPING_H +#define LOCALMAPPING_H + +#include "KeyFrame.h" +#include "Map.h" +#include "LoopClosing.h" +#include "Tracking.h" +#include "KeyFrameDatabase.h" + +#include + + +namespace ORB_SLAM2 +{ + +class Tracking; +class LoopClosing; +class Map; + +class LocalMapping +{ +public: + LocalMapping(Map* pMap, const float bMonocular); + + void SetLoopCloser(LoopClosing* pLoopCloser); + + void SetTracker(Tracking* pTracker); + + // Main function + void Run(); + + void InsertKeyFrame(KeyFrame* pKF); + + // Thread Synch + void RequestStop(); + void RequestReset(); + bool Stop(); + void Release(); + bool isStopped(); + bool stopRequested(); + bool AcceptKeyFrames(); + void SetAcceptKeyFrames(bool flag); + bool SetNotStop(bool flag); + + void InterruptBA(); + + void RequestFinish(); + bool isFinished(); + + int KeyframesInQueue(){ + unique_lock lock(mMutexNewKFs); + return mlNewKeyFrames.size(); + } + +protected: + + bool CheckNewKeyFrames(); + void ProcessNewKeyFrame(); + void CreateNewMapPoints(); + + void MapPointCulling(); + void SearchInNeighbors(); + + void KeyFrameCulling(); + + cv::Mat ComputeF12(KeyFrame* &pKF1, KeyFrame* &pKF2); + + cv::Mat SkewSymmetricMatrix(const cv::Mat &v); + + bool mbMonocular; + + void ResetIfRequested(); + bool mbResetRequested; + std::mutex mMutexReset; + + bool CheckFinish(); + void SetFinish(); + bool mbFinishRequested; + bool mbFinished; + std::mutex mMutexFinish; + + Map* mpMap; + + LoopClosing* mpLoopCloser; + Tracking* mpTracker; + + std::list mlNewKeyFrames; + + KeyFrame* mpCurrentKeyFrame; + + std::list mlpRecentAddedMapPoints; + + std::mutex mMutexNewKFs; + + bool mbAbortBA; + + bool mbStopped; + bool mbStopRequested; + bool mbNotStop; + std::mutex mMutexStop; + + bool mbAcceptKeyFrames; + std::mutex mMutexAccept; +}; + +} //namespace ORB_SLAM + +#endif // LOCALMAPPING_H diff --git a/MyCode/src/my-slam/include/LoopClosing.h b/MyCode/src/my-slam/include/LoopClosing.h new file mode 100644 index 0000000..a8dcef6 --- /dev/null +++ b/MyCode/src/my-slam/include/LoopClosing.h @@ -0,0 +1,160 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#ifndef LOOPCLOSING_H +#define LOOPCLOSING_H + +#include "KeyFrame.h" +#include "LocalMapping.h" +#include "Map.h" +#include "ORBVocabulary.h" +#include "Tracking.h" + +#include "KeyFrameDatabase.h" + +#include +#include +#include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h" + +#include +#include "Detector3D.h" + +#include "PointcloudMapping.h" +namespace ORB_SLAM2 +{ + +class Tracking; +class LocalMapping; +class KeyFrameDatabase; + + +class LoopClosing +{ +public: + + typedef pair,int> ConsistentGroup; + //typedef map, + // Eigen::aligned_allocator > > KeyFrameAndPose; + typedef map, + Eigen::aligned_allocator > > KeyFrameAndPose; +public: + + LoopClosing(Map* pMap, KeyFrameDatabase* pDB, ORBVocabulary* pVoc,const bool bFixScale, boost::shared_ptr pPointCloud); + + void SetTracker(Tracking* pTracker); + + void SetLocalMapper(LocalMapping* pLocalMapper); + + // Main function + void Run(); + + void InsertKeyFrame(KeyFrame *pKF); + + void RequestReset(); + + // This function will run in a separate thread + void RunGlobalBundleAdjustment(unsigned long nLoopKF); + + bool isRunningGBA(){ + unique_lock lock(mMutexGBA); + return mbRunningGBA; + } + bool isFinishedGBA(){ + unique_lock lock(mMutexGBA); + return mbFinishedGBA; + } + + void RequestFinish(); + + bool isFinished(); + + bool DetectWithObject(); + + boost::shared_ptr mpPointCloudMapper; + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +protected: + + bool CheckNewKeyFrames(); + + bool DetectLoop(); + + bool ComputeSim3(); + + void SearchAndFuse(const KeyFrameAndPose &CorrectedPosesMap); + + void CorrectLoop(); + + void ResetIfRequested(); + bool mbResetRequested; + std::mutex mMutexReset; + + bool CheckFinish(); + void SetFinish(); + bool mbFinishRequested; + bool mbFinished; + std::mutex mMutexFinish; + + Map* mpMap; + Tracking* mpTracker; + + KeyFrameDatabase* mpKeyFrameDB; + ORBVocabulary* mpORBVocabulary; + + LocalMapping *mpLocalMapper; + + std::list mlpLoopKeyFrameQueue; + + std::mutex mMutexLoopQueue; + + // Loop detector parameters + float mnCovisibilityConsistencyTh; + + // Loop detector variables + KeyFrame* mpCurrentKF; + KeyFrame* mpMatchedKF; + std::vector mvConsistentGroups; + std::vector mvpEnoughConsistentCandidates; + std::vector mvpCurrentConnectedKFs; + std::vector mvpCurrentMatchedPoints; + std::vector mvpLoopMapPoints; + cv::Mat mScw; + g2o::Sim3 mg2oScw; + + long unsigned int mLastLoopKFid; + + // Variables related to Global Bundle Adjustment + bool mbRunningGBA; + bool mbFinishedGBA; + bool mbStopGBA; + std::mutex mMutexGBA; + std::thread* mpThreadGBA; + + // Fix scale in the stereo/RGB-D case + bool mbFixScale; + + + bool mnFullBAIdx; +}; + +} //namespace ORB_SLAM + +#endif // LOOPCLOSING_H diff --git a/MyCode/src/my-slam/include/Map.h b/MyCode/src/my-slam/include/Map.h new file mode 100644 index 0000000..a75339f --- /dev/null +++ b/MyCode/src/my-slam/include/Map.h @@ -0,0 +1,85 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#ifndef MAP_H +#define MAP_H + +#include "MapPoint.h" +#include "KeyFrame.h" +#include + +#include + + + +namespace ORB_SLAM2 +{ + +class MapPoint; +class KeyFrame; + +class Map +{ +public: + Map(); + + void AddKeyFrame(KeyFrame* pKF); + void AddMapPoint(MapPoint* pMP); + void EraseMapPoint(MapPoint* pMP); + void EraseKeyFrame(KeyFrame* pKF); + void SetReferenceMapPoints(const std::vector &vpMPs); + void InformNewBigChange(); + int GetLastBigChangeIdx(); + + std::vector GetAllKeyFrames(); + std::vector GetAllMapPoints(); + std::vector GetReferenceMapPoints(); + + long unsigned int MapPointsInMap(); + long unsigned KeyFramesInMap(); + + long unsigned int GetMaxKFid(); + + void clear(); + + vector mvpKeyFrameOrigins; + + std::mutex mMutexMapUpdate; + + // This avoid that two points are created simultaneously in separate threads (id conflict) + std::mutex mMutexPointCreation; + +protected: + std::set mspMapPoints; + std::set mspKeyFrames; + + std::vector mvpReferenceMapPoints; + + long unsigned int mnMaxKFid; + + // Index related to a big change in the map (loop closure, global BA) + int mnBigChangeIdx; + + std::mutex mMutexMap; +}; + +} //namespace ORB_SLAM + +#endif // MAP_H diff --git a/MyCode/src/my-slam/include/MapDrawer.h b/MyCode/src/my-slam/include/MapDrawer.h new file mode 100644 index 0000000..83b2826 --- /dev/null +++ b/MyCode/src/my-slam/include/MapDrawer.h @@ -0,0 +1,64 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#ifndef MAPDRAWER_H +#define MAPDRAWER_H + +#include"Map.h" +#include"MapPoint.h" +#include"KeyFrame.h" +#include + +#include + +namespace ORB_SLAM2 +{ + +class MapDrawer +{ +public: + MapDrawer(Map* pMap, const string &strSettingPath); + + Map* mpMap; + + void DrawMapPoints(); + void DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph); + void DrawCurrentCamera(pangolin::OpenGlMatrix &Twc); + void SetCurrentCameraPose(const cv::Mat &Tcw); + void SetReferenceKeyFrame(KeyFrame *pKF); + void GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M); + +private: + + float mKeyFrameSize; + float mKeyFrameLineWidth; + float mGraphLineWidth; + float mPointSize; + float mCameraSize; + float mCameraLineWidth; + + cv::Mat mCameraPose; + + std::mutex mMutexCamera; +}; + +} //namespace ORB_SLAM + +#endif // MAPDRAWER_H diff --git a/MyCode/src/my-slam/include/MapPoint.h b/MyCode/src/my-slam/include/MapPoint.h new file mode 100644 index 0000000..f26893d --- /dev/null +++ b/MyCode/src/my-slam/include/MapPoint.h @@ -0,0 +1,152 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#ifndef MAPPOINT_H +#define MAPPOINT_H + +#include"KeyFrame.h" +#include"Frame.h" +#include"Map.h" + +#include +#include + +namespace ORB_SLAM2 +{ + +class KeyFrame; +class Map; +class Frame; + + +class MapPoint +{ +public: + MapPoint(const cv::Mat &Pos, KeyFrame* pRefKF, Map* pMap); + MapPoint(const cv::Mat &Pos, Map* pMap, Frame* pFrame, const int &idxF); + + void SetWorldPos(const cv::Mat &Pos); + cv::Mat GetWorldPos(); + + cv::Mat GetNormal(); + KeyFrame* GetReferenceKeyFrame(); + + std::map GetObservations(); + int Observations(); + + void AddObservation(KeyFrame* pKF,size_t idx); + void EraseObservation(KeyFrame* pKF); + + int GetIndexInKeyFrame(KeyFrame* pKF); + bool IsInKeyFrame(KeyFrame* pKF); + + void SetBadFlag(); + bool isBad(); + + void Replace(MapPoint* pMP); + MapPoint* GetReplaced(); + + void IncreaseVisible(int n=1); + void IncreaseFound(int n=1); + float GetFoundRatio(); + inline int GetFound(){ + return mnFound; + } + + void ComputeDistinctiveDescriptors(); + + cv::Mat GetDescriptor(); + + void UpdateNormalAndDepth(); + + float GetMinDistanceInvariance(); + float GetMaxDistanceInvariance(); + int PredictScale(const float ¤tDist, KeyFrame*pKF); + int PredictScale(const float ¤tDist, Frame* pF); + +public: + long unsigned int mnId; + static long unsigned int nNextId; + long int mnFirstKFid; + long int mnFirstFrame; + int nObs; + + // Variables used by the tracking + float mTrackProjX; + float mTrackProjY; + float mTrackProjXR; + bool mbTrackInView; + int mnTrackScaleLevel; + float mTrackViewCos; + long unsigned int mnTrackReferenceForFrame; + long unsigned int mnLastFrameSeen; + + // Variables used by local mapping + long unsigned int mnBALocalForKF; + long unsigned int mnFuseCandidateForKF; + + // Variables used by loop closing + long unsigned int mnLoopPointForKF; + long unsigned int mnCorrectedByKF; + long unsigned int mnCorrectedReference; + cv::Mat mPosGBA; + long unsigned int mnBAGlobalForKF; + + + static std::mutex mGlobalMutex; + +protected: + + // Position in absolute coordinates + cv::Mat mWorldPos; + + // Keyframes observing the point and associated index in keyframe + std::map mObservations; + + // Mean viewing direction + cv::Mat mNormalVector; + + // Best descriptor to fast matching + cv::Mat mDescriptor; + + // Reference KeyFrame + KeyFrame* mpRefKF; + + // Tracking counters + int mnVisible; + int mnFound; + + // Bad flag (we do not currently erase MapPoint from memory) + bool mbBad; + MapPoint* mpReplaced; + + // Scale invariance distances + float mfMinDistance; + float mfMaxDistance; + + Map* mpMap; + + std::mutex mMutexPos; + std::mutex mMutexFeatures; +}; + +} //namespace ORB_SLAM + +#endif // MAPPOINT_H diff --git a/MyCode/src/my-slam/include/ORBVocabulary.h b/MyCode/src/my-slam/include/ORBVocabulary.h new file mode 100644 index 0000000..ca5fa8d --- /dev/null +++ b/MyCode/src/my-slam/include/ORBVocabulary.h @@ -0,0 +1,36 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + + +#ifndef ORBVOCABULARY_H +#define ORBVOCABULARY_H + +#include"Thirdparty/DBoW2/DBoW2/FORB.h" +#include"Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h" + +namespace ORB_SLAM2 +{ + +typedef DBoW2::TemplatedVocabulary + ORBVocabulary; + +} //namespace ORB_SLAM + +#endif // ORBVOCABULARY_H diff --git a/MyCode/src/my-slam/include/ORBextractor.h b/MyCode/src/my-slam/include/ORBextractor.h new file mode 100644 index 0000000..0a70893 --- /dev/null +++ b/MyCode/src/my-slam/include/ORBextractor.h @@ -0,0 +1,116 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#ifndef ORBEXTRACTOR_H +#define ORBEXTRACTOR_H + +#include +#include +#include + + +namespace ORB_SLAM2 +{ + +class ExtractorNode +{ +public: + ExtractorNode():bNoMore(false){} + + void DivideNode(ExtractorNode &n1, ExtractorNode &n2, ExtractorNode &n3, ExtractorNode &n4); + + std::vector vKeys; + cv::Point2i UL, UR, BL, BR; + std::list::iterator lit; + bool bNoMore; +}; + +class ORBextractor +{ +public: + + enum {HARRIS_SCORE=0, FAST_SCORE=1 }; + + ORBextractor(int nfeatures, float scaleFactor, int nlevels, + int iniThFAST, int minThFAST); + + ~ORBextractor(){} + + void operator()( cv::InputArray image, cv::InputArray mask, + std::vector& keypoints, + cv::OutputArray descriptors); + + int inline GetLevels(){ + return nlevels;} + + float inline GetScaleFactor(){ + return scaleFactor;} + + std::vector inline GetScaleFactors(){ + return mvScaleFactor; + } + + std::vector inline GetInverseScaleFactors(){ + return mvInvScaleFactor; + } + + std::vector inline GetScaleSigmaSquares(){ + return mvLevelSigma2; + } + + std::vector inline GetInverseScaleSigmaSquares(){ + return mvInvLevelSigma2; + } + int inline GetnFeatures(){ + return nfeatures; + } + + std::vector mvImagePyramid; + +protected: + + void ComputePyramid(cv::Mat image); + void ComputeKeyPointsOctTree(std::vector >& allKeypoints); + std::vector DistributeOctTree(const std::vector& vToDistributeKeys, const int &minX, + const int &maxX, const int &minY, const int &maxY, const int &nFeatures, const int &level); + + void ComputeKeyPointsOld(std::vector >& allKeypoints); + std::vector pattern; + + int nfeatures; + double scaleFactor; + int nlevels; + int iniThFAST; + int minThFAST; + + std::vector mnFeaturesPerLevel; + + std::vector umax; + + std::vector mvScaleFactor; + std::vector mvInvScaleFactor; + std::vector mvLevelSigma2; + std::vector mvInvLevelSigma2; +}; + +} //namespace ORB_SLAM + +#endif + diff --git a/MyCode/src/my-slam/include/ORBmatcher.h b/MyCode/src/my-slam/include/ORBmatcher.h new file mode 100644 index 0000000..39de331 --- /dev/null +++ b/MyCode/src/my-slam/include/ORBmatcher.h @@ -0,0 +1,105 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + + +#ifndef ORBMATCHER_H +#define ORBMATCHER_H + +#include +#include +#include + +#include"MapPoint.h" +#include"KeyFrame.h" +#include"Frame.h" + + +namespace ORB_SLAM2 +{ + +class ORBmatcher +{ +public: + + ORBmatcher(float nnratio=0.6, bool checkOri=true); + + // Computes the Hamming distance between two ORB descriptors + static int DescriptorDistance(const cv::Mat &a, const cv::Mat &b); + + // Search matches between Frame keypoints and projected MapPoints. Returns number of matches + // Used to track the local map (Tracking) + int SearchByProjection(Frame &F, const std::vector &vpMapPoints, const float th=3); + + // Project MapPoints tracked in last frame into the current frame and search matches. + // Used to track from previous frame (Tracking) + int SearchByProjection(Frame &CurrentFrame, const Frame &LastFrame, const float th, const bool bMono); + + // Project MapPoints seen in KeyFrame into the Frame and search matches. + // Used in relocalisation (Tracking) + int SearchByProjection(Frame &CurrentFrame, KeyFrame* pKF, const std::set &sAlreadyFound, const float th, const int ORBdist); + + // Project MapPoints using a Similarity Transformation and search matches. + // Used in loop detection (Loop Closing) + int SearchByProjection(KeyFrame* pKF, cv::Mat Scw, const std::vector &vpPoints, std::vector &vpMatched, int th); + + // Search matches between MapPoints in a KeyFrame and ORB in a Frame. + // Brute force constrained to ORB that belong to the same vocabulary node (at a certain level) + // Used in Relocalisation and Loop Detection + int SearchByBoW(KeyFrame *pKF, Frame &F, std::vector &vpMapPointMatches); + int SearchByBoW(KeyFrame *pKF1, KeyFrame* pKF2, std::vector &vpMatches12); + + // Matching for the Map Initialization (only used in the monocular case) + int SearchForInitialization(Frame &F1, Frame &F2, std::vector &vbPrevMatched, std::vector &vnMatches12, int windowSize=10); + + // Matching to triangulate new MapPoints. Check Epipolar Constraint. + int SearchForTriangulation(KeyFrame *pKF1, KeyFrame* pKF2, cv::Mat F12, + std::vector > &vMatchedPairs, const bool bOnlyStereo); + + // Search matches between MapPoints seen in KF1 and KF2 transforming by a Sim3 [s12*R12|t12] + // In the stereo and RGB-D case, s12=1 + int SearchBySim3(KeyFrame* pKF1, KeyFrame* pKF2, std::vector &vpMatches12, const float &s12, const cv::Mat &R12, const cv::Mat &t12, const float th); + + // Project MapPoints into KeyFrame and search for duplicated MapPoints. + int Fuse(KeyFrame* pKF, const vector &vpMapPoints, const float th=3.0); + + // Project MapPoints into KeyFrame using a given Sim3 and search for duplicated MapPoints. + int Fuse(KeyFrame* pKF, cv::Mat Scw, const std::vector &vpPoints, float th, vector &vpReplacePoint); + +public: + + static const int TH_LOW; + static const int TH_HIGH; + static const int HISTO_LENGTH; + + +protected: + bool CheckDistEpipolarLine(const cv::KeyPoint &kp1, const cv::KeyPoint &kp2, const cv::Mat &F12, const KeyFrame *pKF); + + float RadiusByViewingCos(const float &viewCos); + + void ComputeThreeMaxima(std::vector* histo, const int L, int &ind1, int &ind2, int &ind3); + + float mfNNratio; + bool mbCheckOrientation; +}; + +}// namespace ORB_SLAM + +#endif // ORBMATCHER_H diff --git a/MyCode/src/my-slam/include/ObjectDatabase.h b/MyCode/src/my-slam/include/ObjectDatabase.h new file mode 100644 index 0000000..4cecf6f --- /dev/null +++ b/MyCode/src/my-slam/include/ObjectDatabase.h @@ -0,0 +1,68 @@ +#ifndef OBJECTDATABASE_H +#define OBJECTDATABASE_H + +#include "System.h" + +#include +#include +#include +#include +#include +#include + +typedef struct SemanticObject +{ + Eigen::Vector3f size; + Eigen::Vector3f centroid; + float prob; + std::string object_name; + int class_id; + int object_id; + bool operator ==(const std::string &name); + +//czd + double rotY; + int cloudNums; //记录当前点云的数量 + //记录物体最近观测到的frameid，只在mvactiveSemanticObject计算物体融合时用到，mvSemanticObject用不到 + int LastFrameID; + bool isDeactive = false; //用于是否不被观察到，并发布出去 + bool isPublished = false; //用于是否被发布过一次 + int NearObjNum = 0; //记录有多少个最近的物体，最多五个 + vector> NearestObj; //= { {0, 0}, {0, 0}, {0, 0}, {0, 0}, {0, 0} }; //物体编号和距离 + cv::Mat colorHit; + bool Nonce = false; + bool Stable = false; +} SemanticObject; + +class ObjectDatabase +{ +public: + typedef pcl::PointXYZRGB PointT; + typedef pcl::PointCloud PointCloud; + + + ObjectDatabase(); + ~ObjectDatabase(); + void addObject(SemanticObject& cluster, PointCloud::ConstPtr map_point_cloud); + cv::Scalar getObjectColor(int class_id); + float getObjectSize(int class_id); + + inline SemanticObject& getObjectByID(uint64_t id){return mvSemanticObject[id];} + inline int getDataBaseSize(){return DataBaseSize;} + //czd + void DelDeactiveObject(int KFid); + int getCloudNums(SemanticObject& cluster, PointCloud::ConstPtr map_point_cloud); + void SelectNearObject(); + pcl::PointXYZ toPCLPoint(const Eigen::Vector3f& centroid); + +private: + std::vector mvSemanticObject; + std::vector mvactiveSemanticObject; //维护当前最近几帧可见的物体 + + std::vector mvColors; + std::vector mvSizes; + uint64_t DataBaseSize; + +}; + +#endif // OBJECTDATABASE_H diff --git a/MyCode/src/my-slam/include/Optimizer.h b/MyCode/src/my-slam/include/Optimizer.h new file mode 100644 index 0000000..2c4378e --- /dev/null +++ b/MyCode/src/my-slam/include/Optimizer.h @@ -0,0 +1,62 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#ifndef OPTIMIZER_H +#define OPTIMIZER_H + +#include "Map.h" +#include "MapPoint.h" +#include "KeyFrame.h" +#include "LoopClosing.h" +#include "Frame.h" + +#include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h" + +namespace ORB_SLAM2 +{ + +class LoopClosing; + +class Optimizer +{ +public: + void static BundleAdjustment(const std::vector &vpKF, const std::vector &vpMP, + int nIterations = 5, bool *pbStopFlag=NULL, const unsigned long nLoopKF=0, + const bool bRobust = true); + void static GlobalBundleAdjustemnt(Map* pMap, int nIterations=5, bool *pbStopFlag=NULL, + const unsigned long nLoopKF=0, const bool bRobust = true); + void static LocalBundleAdjustment(KeyFrame* pKF, bool *pbStopFlag, Map *pMap); + int static PoseOptimization(Frame* pFrame); + + // if bFixScale is true, 6DoF optimization (stereo,rgbd), 7DoF otherwise (mono) + void static OptimizeEssentialGraph(Map* pMap, KeyFrame* pLoopKF, KeyFrame* pCurKF, + const LoopClosing::KeyFrameAndPose &NonCorrectedSim3, + const LoopClosing::KeyFrameAndPose &CorrectedSim3, + const map > &LoopConnections, + const bool &bFixScale); + + // if bFixScale is true, optimize SE3 (stereo,rgbd), Sim3 otherwise (mono) + static int OptimizeSim3(KeyFrame* pKF1, KeyFrame* pKF2, std::vector &vpMatches1, + g2o::Sim3 &g2oS12, const float th2, const bool bFixScale); +}; + +} //namespace ORB_SLAM + +#endif // OPTIMIZER_H diff --git a/MyCode/src/my-slam/include/PnPsolver.h b/MyCode/src/my-slam/include/PnPsolver.h new file mode 100644 index 0000000..f92544f --- /dev/null +++ b/MyCode/src/my-slam/include/PnPsolver.h @@ -0,0 +1,198 @@ +/** +* This file is part of ORB-SLAM2. +* This file is a modified version of EPnP , see FreeBSD license below. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +/** +* Copyright (c) 2009, V. Lepetit, EPFL +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* 2. 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. +* +* 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. +* +* The views and conclusions contained in the software and documentation are those +* of the authors and should not be interpreted as representing official policies, +* either expressed or implied, of the FreeBSD Project +*/ + +#ifndef PNPSOLVER_H +#define PNPSOLVER_H + +#include +#include "MapPoint.h" +#include "Frame.h" + +namespace ORB_SLAM2 +{ + +class PnPsolver { + public: + PnPsolver(const Frame &F, const vector &vpMapPointMatches); + + ~PnPsolver(); + + void SetRansacParameters(double probability = 0.99, int minInliers = 8 , int maxIterations = 300, int minSet = 4, float epsilon = 0.4, + float th2 = 5.991); + + cv::Mat find(vector &vbInliers, int &nInliers); + + cv::Mat iterate(int nIterations, bool &bNoMore, vector &vbInliers, int &nInliers); + + private: + + void CheckInliers(); + bool Refine(); + + // Functions from the original EPnP code + void set_maximum_number_of_correspondences(const int n); + void reset_correspondences(void); + void add_correspondence(const double X, const double Y, const double Z, + const double u, const double v); + + double compute_pose(double R[3][3], double T[3]); + + void relative_error(double & rot_err, double & transl_err, + const double Rtrue[3][3], const double ttrue[3], + const double Rest[3][3], const double test[3]); + + void print_pose(const double R[3][3], const double t[3]); + double reprojection_error(const double R[3][3], const double t[3]); + + void choose_control_points(void); + void compute_barycentric_coordinates(void); + void fill_M(CvMat * M, const int row, const double * alphas, const double u, const double v); + void compute_ccs(const double * betas, const double * ut); + void compute_pcs(void); + + void solve_for_sign(void); + + void find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho, double * betas); + void find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho, double * betas); + void find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho, double * betas); + void qr_solve(CvMat * A, CvMat * b, CvMat * X); + + double dot(const double * v1, const double * v2); + double dist2(const double * p1, const double * p2); + + void compute_rho(double * rho); + void compute_L_6x10(const double * ut, double * l_6x10); + + void gauss_newton(const CvMat * L_6x10, const CvMat * Rho, double current_betas[4]); + void compute_A_and_b_gauss_newton(const double * l_6x10, const double * rho, + double cb[4], CvMat * A, CvMat * b); + + double compute_R_and_t(const double * ut, const double * betas, + double R[3][3], double t[3]); + + void estimate_R_and_t(double R[3][3], double t[3]); + + void copy_R_and_t(const double R_dst[3][3], const double t_dst[3], + double R_src[3][3], double t_src[3]); + + void mat_to_quat(const double R[3][3], double q[4]); + + + double uc, vc, fu, fv; + + double * pws, * us, * alphas, * pcs; + int maximum_number_of_correspondences; + int number_of_correspondences; + + double cws[4][3], ccs[4][3]; + double cws_determinant; + + vector mvpMapPointMatches; + + // 2D Points + vector mvP2D; + vector mvSigma2; + + // 3D Points + vector mvP3Dw; + + // Index in Frame + vector mvKeyPointIndices; + + // Current Estimation + double mRi[3][3]; + double mti[3]; + cv::Mat mTcwi; + vector mvbInliersi; + int mnInliersi; + + // Current Ransac State + int mnIterations; + vector mvbBestInliers; + int mnBestInliers; + cv::Mat mBestTcw; + + // Refined + cv::Mat mRefinedTcw; + vector mvbRefinedInliers; + int mnRefinedInliers; + + // Number of Correspondences + int N; + + // Indices for random selection [0 .. N-1] + vector mvAllIndices; + + // RANSAC probability + double mRansacProb; + + // RANSAC min inliers + int mRansacMinInliers; + + // RANSAC max iterations + int mRansacMaxIts; + + // RANSAC expected inliers/total ratio + float mRansacEpsilon; + + // RANSAC Threshold inlier/outlier. Max error e = dist(P1,T_12*P2)^2 + float mRansacTh; + + // RANSAC Minimun Set used at each iteration + int mRansacMinSet; + + // Max square error associated with scale level. Max error = th*th*sigma(level)*sigma(level) + vector mvMaxError; + +}; + +} //namespace ORB_SLAM + +#endif //PNPSOLVER_H diff --git a/MyCode/src/my-slam/include/PointcloudMapping.h b/MyCode/src/my-slam/include/PointcloudMapping.h new file mode 100644 index 0000000..a3a7244 --- /dev/null +++ b/MyCode/src/my-slam/include/PointcloudMapping.h @@ -0,0 +1,158 @@ +/* + * + * 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 . + * + */ + +/* + *-------------------------------------------------------------------------------------------------- + * DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments +　*　Author(s): + * Chao Yu, Zuxin Liu, Xinjun Liu, Fugui Xie, Yi Yang, Qi Wei, Fei Qiao qiaofei@mail.tsinghua.edu.cn + * Created by Yu Chao@2018.12.03 + * -------------------------------------------------------------------------------------------------- + * DS-SLAM is a optimized SLAM system based on the famous ORB-SLAM2. If you haven't learn ORB_SLAM2 code, + * you'd better to be familiar with ORB_SLAM2 project first. Compared to ORB_SLAM2, + * we add anther two threads including semantic segmentation thread and densemap creation thread. + * You should pay attention to Frame.cc, ORBmatcher.cc, Pointcloudmapping.cc and Segment.cc. + * + *　@article{murORB2, + *　title={{ORB-SLAM2}: an Open-Source {SLAM} System for Monocular, Stereo and {RGB-D} Cameras}, +　*　author={Mur-Artal, Ra\'ul and Tard\'os, Juan D.}, +　* journal={IEEE Transactions on Robotics}, +　*　volume={33}, +　* number={5}, +　* pages={1255--1262}, +　* doi = {10.1109/TRO.2017.2705103}, +　* year={2017} + *　} + * -------------------------------------------------------------------------------------------------- + * Copyright (C) 2018, iVip Lab @ EE, THU (https://ivip-tsinghua.github.io/iViP-Homepage/) and + * Advanced Mechanism and Roboticized Equipment Lab. All rights reserved. + * + * Licensed under the GPLv3 License; + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * https://github.com/ivipsourcecode/DS-SLAM/blob/master/LICENSE + *-------------------------------------------------------------------------------------------------- + */ +#ifndef POINTCLOUDMAPPING_H +#define POINTCLOUDMAPPING_H + +#include "System.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include "Detector3D.h" + +using namespace ORB_SLAM2; +class Detector3D; + +class PointCloudMapping +{ + +public: + PointCloudMapping(int is_global_pc_reconstruction_,int is_octo_semantic_map_construction_, + int is_map_construction_consider_dynamic_,float camera_valid_depth_Min_, + float camera_valid_depth_Max_,int Sor_Local_MeanK_,double Sor_Local_StddevMulThresh_,float Voxel_Local_LeafSize_, + int Sor_Global_MeanK_,double Sor_Global_StddevMulThresh_,float Voxel_Global_LeafSize_,int Detect3D_Sor_MeanK_, + double Detect3D_Sor_StddevMulThresh_,float Detect3D_Voxel_LeafSize_,float Detect3D_EuclideanClusterTolerance_, + int Detect3D_EuclideanClusterMinSize_,int Detect3D_EuclideanClusterMaxSize_,float Detect3D_DetectSimilarCompareRatio_, + int global_pc_update_kf_threshold); + ~PointCloudMapping(); + + // Inserting a keyframe updates the map once + void insertKeyFrame(KeyFrame* pkf,cv::Mat& color, cv::Mat& depth); + void shutdown(); + void MapViewer(); + inline pcl::PointCloud get_globalMap(){return *globalMap;}; + Detector3D* mpDetector3D; + +protected: + void generatePointCloud(KeyFrame* kf ,pcl::PointCloud::Ptr camera_pc_, + pcl::PointCloud::Ptr world_pc_); + void generatePointCloudForDyamic(KeyFrame* kf ,pcl::PointCloud::Ptr camera_pc_, + pcl::PointCloud::Ptr world_pc_, + pcl::PointCloud::Ptr semanticobj_pc_); + void settingTextMarkerBasicParameter(double scale); + void settingCubeMarkerBasicParameter(); + enum Color {Red,Blue,Green,Yellow}; + void settingMarkerColor(Color color); + bool CheckNewKeyFrames(); + int NewKeyFramesSize(); + void slam_to_ros_mode_transform(pcl::PointCloud& source, pcl::PointCloud& out); + bool isInDynamicRegion(int x,int y,std::vector >& vDynamicBorder_); + + //这个只在有动态部分的时候才用到的 + pcl::PointCloud::Ptr semantic_objMap; + + + pcl::PointCloud::Ptr localMap; + pcl::PointCloud::Ptr globalMap; + pcl::PointCloud::Ptr temp_globalMap; + + boost::shared_ptr viewerThread; + + bool shutDownFlag = false; + bool is_global_pc_reconstruction = false; + bool is_octo_semantic_map_construction = false; + bool is_map_construction_consider_dynamic = false; + + std::mutex shutDownMutex; + + std::mutex keyFrameUpdateMutex; + + // Data to generate point clouds + KeyFrame* mpCurrentkeyFrame; + std::list mlNewKeyFrames; + std::mutex keyframeMutex; + + pcl::VoxelGrid voxel_local; + pcl::VoxelGrid voxel_global; + pcl::StatisticalOutlierRemoval sor_local; + pcl::StatisticalOutlierRemoval sor_global; + + tf::Transform camera_to_map_tf; + tf::TransformBroadcaster *camera_to_map_tfbroadcaster; + // ros::Publisher semantic_pcl_publisher; + ros::Publisher local_pcl_publisher; + ros::Publisher global_pcl_publisher; + ros::Publisher marker_publisher; + + sensor_msgs::PointCloud2 localMap_pcl_to_publish; + sensor_msgs::PointCloud2 globalMap_pcl_to_publish; + + visualization_msgs::Marker cube_marker_to_publish; + visualization_msgs::Marker text_marker_to_publish; + + uint16_t SemanticObject_Count = 0; + float camera_valid_depth_Min = 0.5; + float camera_valid_depth_Max = 5.0; + int global_pc_update_kf_threshold = 20; + + +}; + +#endif // POINTCLOUDMAPPING_H diff --git a/MyCode/src/my-slam/include/Sim3Solver.h b/MyCode/src/my-slam/include/Sim3Solver.h new file mode 100644 index 0000000..9af66cb --- /dev/null +++ b/MyCode/src/my-slam/include/Sim3Solver.h @@ -0,0 +1,133 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + + +#ifndef SIM3SOLVER_H +#define SIM3SOLVER_H + +#include +#include + +#include "KeyFrame.h" + + + +namespace ORB_SLAM2 +{ + +class Sim3Solver +{ +public: + + Sim3Solver(KeyFrame* pKF1, KeyFrame* pKF2, const std::vector &vpMatched12, const bool bFixScale = true); + + void SetRansacParameters(double probability = 0.99, int minInliers = 6 , int maxIterations = 300); + + cv::Mat find(std::vector &vbInliers12, int &nInliers); + + cv::Mat iterate(int nIterations, bool &bNoMore, std::vector &vbInliers, int &nInliers); + + cv::Mat GetEstimatedRotation(); + cv::Mat GetEstimatedTranslation(); + float GetEstimatedScale(); + + +protected: + + void ComputeCentroid(cv::Mat &P, cv::Mat &Pr, cv::Mat &C); + + void ComputeSim3(cv::Mat &P1, cv::Mat &P2); + + void CheckInliers(); + + void Project(const std::vector &vP3Dw, std::vector &vP2D, cv::Mat Tcw, cv::Mat K); + void FromCameraToImage(const std::vector &vP3Dc, std::vector &vP2D, cv::Mat K); + + +protected: + + // KeyFrames and matches + KeyFrame* mpKF1; + KeyFrame* mpKF2; + + std::vector mvX3Dc1; + std::vector mvX3Dc2; + std::vector mvpMapPoints1; + std::vector mvpMapPoints2; + std::vector mvpMatches12; + std::vector mvnIndices1; + std::vector mvSigmaSquare1; + std::vector mvSigmaSquare2; + std::vector mvnMaxError1; + std::vector mvnMaxError2; + + int N; + int mN1; + + // Current Estimation + cv::Mat mR12i; + cv::Mat mt12i; + float ms12i; + cv::Mat mT12i; + cv::Mat mT21i; + std::vector mvbInliersi; + int mnInliersi; + + // Current Ransac State + int mnIterations; + std::vector mvbBestInliers; + int mnBestInliers; + cv::Mat mBestT12; + cv::Mat mBestRotation; + cv::Mat mBestTranslation; + float mBestScale; + + // Scale is fixed to 1 in the stereo/RGBD case + bool mbFixScale; + + // Indices for random selection + std::vector mvAllIndices; + + // Projections + std::vector mvP1im1; + std::vector mvP2im2; + + // RANSAC probability + double mRansacProb; + + // RANSAC min inliers + int mRansacMinInliers; + + // RANSAC max iterations + int mRansacMaxIts; + + // Threshold inlier/outlier. e = dist(Pi,T_ij*Pj)^2 < 5.991*mSigma2 + float mTh; + float mSigma2; + + // Calibration + cv::Mat mK1; + cv::Mat mK2; + +}; + +} //namespace ORB_SLAM + +#endif // SIM3SOLVER_H diff --git a/MyCode/src/my-slam/include/System.h b/MyCode/src/my-slam/include/System.h new file mode 100644 index 0000000..19695a2 --- /dev/null +++ b/MyCode/src/my-slam/include/System.h @@ -0,0 +1,197 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + + +#ifndef SYSTEM_H +#define SYSTEM_H + +#include +#include +#include + +#include "Tracking.h" +#include "FrameDrawer.h" +#include "MapDrawer.h" +#include "Map.h" +#include "LocalMapping.h" +#include "LoopClosing.h" +#include "KeyFrameDatabase.h" +#include "ORBVocabulary.h" +#include "Viewer.h" +#include "Detector2D.h" +#include +#include "boost/make_shared.hpp" +#include "PointcloudMapping.h" + +class PointCloudMapping; + +namespace ORB_SLAM2 +{ +class Viewer; +class FrameDrawer; +class Map; +class Tracking; +class LocalMapping; +class LoopClosing; +class Detector2D; +class cuboid; + +class System +{ +public: + // Input sensor + enum eSensor{ + MONOCULAR=0, + STEREO=1, + RGBD=2 + }; + +public: + + // Initialize the SLAM system. It launches the Local Mapping, Loop Closing and Viewer threads. + System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor, const bool bUseViewer = true); + + // Proccess the given stereo frame. Images must be synchronized and rectified. + // Input images: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale. + // Returns the camera pose (empty if tracking fails). + cv::Mat TrackStereo(const cv::Mat &imLeft, const cv::Mat &imRight, const double ×tamp); + + // Process the given rgbd frame. Depthmap must be registered to the RGB frame. + // Input image: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale. + // Input depthmap: Float (CV_32F). + // Returns the camera pose (empty if tracking fails). + cv::Mat TrackRGBD(const cv::Mat &im, const cv::Mat &depthmap, const double ×tamp); + + // Proccess the given monocular frame + // Input images: RGB (CV_8UC3) or grayscale (CV_8U). RGB is converted to grayscale. + // Returns the camera pose (empty if tracking fails). + cv::Mat TrackMonocular(const cv::Mat &im, const double ×tamp); + + // This stops local mapping thread (map building) and performs only camera tracking. + void ActivateLocalizationMode(); + // This resumes local mapping thread and performs SLAM again. + void DeactivateLocalizationMode(); + + // Returns true if there have been a big map change (loop closure, global BA) + // since last call to this function + bool MapChanged(); + + // Reset the system (clear map) + void Reset(); + + // All threads will be requested to finish. + // It waits until all threads have finished. + // This function must be called before saving the trajectory. + void Shutdown(); + + // Save camera trajectory in the TUM RGB-D dataset format. + // Only for stereo and RGB-D. This method does not work for monocular. + // Call first Shutdown() + // See format details at: http://vision.in.tum.de/data/datasets/rgbd-dataset + void SaveTrajectoryTUM(const string &filename); + + // Save keyframe poses in the TUM RGB-D dataset format. + // This method works for all sensor input. + // Call first Shutdown() + // See format details at: http://vision.in.tum.de/data/datasets/rgbd-dataset + void SaveKeyFrameTrajectoryTUM(const string &filename); + + // Save camera trajectory in the KITTI dataset format. + // Only for stereo and RGB-D. This method does not work for monocular. + // Call first Shutdown() + // See format details at: http://www.cvlibs.net/datasets/kitti/eval_odometry.php + void SaveTrajectoryKITTI(const string &filename); + + // TODO: Save/Load functions + // SaveMap(const string &filename); + // LoadMap(const string &filename); + + // Information from most recent processed frame + // You can call this right after TrackMonocular (or stereo or RGBD) + int GetTrackingState(); + std::vector GetTrackedMapPoints(); + std::vector GetTrackedKeyPointsUn(); + + // Detecting + Detector2D* mpDetector2d; + std::thread* mptDetecting; + int is_global_pc_reconstruction; + inline boost::shared_ptr GetPointCloudMapper(){return mpPointCloudMapper;}; + +private: + + // Input sensor + eSensor mSensor; + + // ORB vocabulary used for place recognition and feature matching. + ORBVocabulary* mpVocabulary; + + // KeyFrame database for place recognition (relocalization and loop detection). + KeyFrameDatabase* mpKeyFrameDatabase; + + // Map structure that stores the pointers to all KeyFrames and MapPoints. + Map* mpMap; + + // Tracker. It receives a frame and computes the associated camera pose. + // It also decides when to insert a new keyframe, create some new MapPoints and + // performs relocalization if tracking fails. + Tracking* mpTracker; + + // Local Mapper. It manages the local map and performs local bundle adjustment. + LocalMapping* mpLocalMapper; + + // Loop Closer. It searches loops with every new keyframe. If there is a loop it performs + // a pose graph optimization and full bundle adjustment (in a new thread) afterwards. + LoopClosing* mpLoopCloser; + + // The viewer draws the map and the current camera pose. It uses Pangolin. + Viewer* mpViewer; + + FrameDrawer* mpFrameDrawer; + MapDrawer* mpMapDrawer; + + // System threads: Local Mapping, Loop Closing, Viewer. + // The Tracking thread "lives" in the main execution thread that creates the System object. + std::thread* mptLocalMapping; + std::thread* mptLoopClosing; + std::thread* mptViewer; + + // Reset flag + std::mutex mMutexReset; + bool mbReset; + + // Change mode flags + std::mutex mMutexMode; + bool mbActivateLocalizationMode; + bool mbDeactivateLocalizationMode; + + // Tracking state + int mTrackingState; + std::vector mTrackedMapPoints; + std::vector mTrackedKeyPointsUn; + std::mutex mMutexState; + + // point cloud mapping + boost::shared_ptr mpPointCloudMapper; +}; + +}// namespace ORB_SLAM + +#endif // SYSTEM_H diff --git a/MyCode/src/my-slam/include/Tracking.h b/MyCode/src/my-slam/include/Tracking.h new file mode 100644 index 0000000..8c16f6c --- /dev/null +++ b/MyCode/src/my-slam/include/Tracking.h @@ -0,0 +1,239 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + + +#ifndef TRACKING_H +#define TRACKING_H + +#include +#include + +#include"Detector2D.h" +#include"Viewer.h" +#include"FrameDrawer.h" +#include"Map.h" +#include"LocalMapping.h" +#include"LoopClosing.h" +#include"Frame.h" +#include"ORBVocabulary.h" +#include"KeyFrameDatabase.h" +#include"ORBextractor.h" +#include"Initializer.h" +#include"MapDrawer.h" +#include"System.h" + +#include "boost/make_shared.hpp" +#include + +class PointCloudMapping; + +namespace ORB_SLAM2 +{ + +class Viewer; +class FrameDrawer; +class Map; +class LocalMapping; +class LoopClosing; +class System; +class Detector2D; + +class Tracking +{ + +public: + Tracking(System* pSys, ORBVocabulary* pVoc, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Map* pMap, + KeyFrameDatabase* pKFDB, const string &strSettingPath, const int sensor , + boost::shared_ptr pPointCloudMapper); + + // Preprocess the input and call Track(). Extract features and performs stereo matching. + cv::Mat GrabImageStereo(const cv::Mat &imRectLeft,const cv::Mat &imRectRight, const double ×tamp); + cv::Mat GrabImageRGBD(const cv::Mat &imRGB,const cv::Mat &imD, const double ×tamp); + cv::Mat GrabImageMonocular(const cv::Mat &im, const double ×tamp); + + void SetLocalMapper(LocalMapping* pLocalMapper); + void SetLoopClosing(LoopClosing* pLoopClosing); + void SetViewer(Viewer* pViewer); + + void SetDetector2D(Detector2D* Detector2d); + void GetNewImage(const cv::Mat& img, const cv::Mat depthImg); + bool isDetectImageFinished(); + bool mbDetectImageFinishedFlag; + Detector2D* mpDetector2d; + + // Load new settings + // The focal length should be similar or scale prediction will fail when projecting points + // TODO: Modify MapPoint::PredictScale to take into account focal length + void ChangeCalibration(const string &strSettingPath); + + // Use this function if you have deactivated local mapping and you only want to localize the camera. + void InformOnlyTracking(const bool &flag); + + +public: + + // Tracking states + enum eTrackingState{ + SYSTEM_NOT_READY=-1, + NO_IMAGES_YET=0, + NOT_INITIALIZED=1, + OK=2, + LOST=3 + }; + + eTrackingState mState; + eTrackingState mLastProcessedState; + + // Input sensor + int mSensor; + + // Current Frame + Frame mCurrentFrame; + cv::Mat mImGray; + cv::Mat mImRGB;//for point cloud mapping + cv::Mat mImDepth;//for point cloud mapping + + + // Initialization Variables (Monocular) + std::vector mvIniLastMatches; + std::vector mvIniMatches; + std::vector mvbPrevMatched; + std::vector mvIniP3D; + Frame mInitialFrame; + + // Lists used to recover the full camera trajectory at the end of the execution. + // Basically we store the reference keyframe for each frame and its relative transformation + list mlRelativeFramePoses; + list mlpReferences; + list mlFrameTimes; + list mlbLost; + + // True if local mapping is deactivated and we are performing only localization + bool mbOnlyTracking; + + void Reset(); + +protected: + + // Main tracking function. It is independent of the input sensor. + void Track(); + + // Map initialization for stereo and RGB-D + void StereoInitialization(); + + // Map initialization for monocular + void MonocularInitialization(); + void CreateInitialMapMonocular(); + + void CheckReplacedInLastFrame(); + bool TrackReferenceKeyFrame(); + void UpdateLastFrame(); + bool TrackWithMotionModel(); + + bool Relocalization(); + + void UpdateLocalMap(); + void UpdateLocalPoints(); + void UpdateLocalKeyFrames(); + + bool TrackLocalMap(); + void SearchLocalPoints(); + + bool NeedNewKeyFrame(); + void CreateNewKeyFrame(); + + // In case of performing only localization, this flag is true when there are no matches to + // points in the map. Still tracking will continue if there are enough matches with temporal points. + // In that case we are doing visual odometry. The system will try to do relocalization to recover + // "zero-drift" localization to the map. + bool mbVO; + + //Other Thread Pointers + LocalMapping* mpLocalMapper; + LoopClosing* mpLoopClosing; + + //ORB + ORBextractor* mpORBextractorLeft, *mpORBextractorRight; + ORBextractor* mpIniORBextractor; + + //BoW + ORBVocabulary* mpORBVocabulary; + KeyFrameDatabase* mpKeyFrameDB; + + // Initalization (only for monocular) + Initializer* mpInitializer; + + //Local Map + KeyFrame* mpReferenceKF; + std::vector mvpLocalKeyFrames; + std::vector mvpLocalMapPoints; + + // System + System* mpSystem; + + //Drawers + Viewer* mpViewer; + FrameDrawer* mpFrameDrawer; + MapDrawer* mpMapDrawer; + + //Map + Map* mpMap; + + //Calibration matrix + cv::Mat mK; + cv::Mat mDistCoef; + float mbf; + + //New KeyFrame rules (according to fps) + int mMinFrames; + int mMaxFrames; + + // Threshold close/far points + // Points seen as close by the stereo/RGBD sensor are considered reliable + // and inserted from just one frame. Far points requiere a match in two keyframes. + float mThDepth; + + // For RGB-D inputs only. For some datasets (e.g. TUM) the depthmap values are scaled. + float mDepthMapFactor; + + //Current matches in frame + int mnMatchesInliers; + + //Last Frame, KeyFrame and Relocalisation Info + KeyFrame* mpLastKeyFrame; + Frame mLastFrame; + unsigned int mnLastKeyFrameId; + unsigned int mnLastRelocFrameId; + + //Motion Model + cv::Mat mVelocity; + + //Color order (true RGB, false BGR, ignored if grayscale) + bool mbRGB; + + // For point cloud viewing + boost::shared_ptr mpPointCloudMapper; + + list mlpTemporalPoints; +}; + +} //namespace ORB_SLAM + +#endif // TRACKING_H diff --git a/MyCode/src/my-slam/include/Viewer.h b/MyCode/src/my-slam/include/Viewer.h new file mode 100644 index 0000000..987ce46 --- /dev/null +++ b/MyCode/src/my-slam/include/Viewer.h @@ -0,0 +1,95 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + + +#ifndef VIEWER_H +#define VIEWER_H + +#include "FrameDrawer.h" +#include "MapDrawer.h" +#include "Tracking.h" +#include "System.h" + +#include + +namespace ORB_SLAM2 +{ + +class Tracking; +class FrameDrawer; +class MapDrawer; +class System; +class Detector2D; + +class Viewer +{ +public: + Viewer(System* pSystem, FrameDrawer* pFrameDrawer, MapDrawer* pMapDrawer, Tracking *pTracking, Detector2D *pObject2d, const string &strSettingPath); + + // Main thread function. Draw points, keyframes, the current camera pose and the last processed + // frame. Drawing is refreshed according to the camera fps. We use Pangolin. + void Run(); + + void RequestFinish(); + + void RequestStop(); + + bool isFinished(); + + bool isStopped(); + + void Release(); + +private: + + bool Stop(); + + System* mpSystem; + FrameDrawer* mpFrameDrawer; + MapDrawer* mpMapDrawer; + Tracking* mpTracker; + Detector2D* mpDetector2d; + + // 1/fps in ms + double mT; + float mImageWidth, mImageHeight; + + float mViewpointX, mViewpointY, mViewpointZ, mViewpointF; + + bool CheckFinish(); + void SetFinish(); + bool mbFinishRequested; + bool mbFinished; + std::mutex mMutexFinish; + + bool mbStopped; + bool mbStopRequested; + std::mutex mMutexStop; + + cv::Mat image_to_show; + +}; + +} + + +#endif // VIEWER_H + + diff --git a/MyCode/src/my-slam/include/inference.h b/MyCode/src/my-slam/include/inference.h new file mode 100644 index 0000000..326f8bf --- /dev/null +++ b/MyCode/src/my-slam/include/inference.h @@ -0,0 +1,60 @@ +#ifndef INFERENCE_H +#define INFERENCE_H + +// Cpp native +#include +#include +#include +#include + +// OpenCV / DNN / Inference +#include +#include +#include + +struct Detection +{ + int class_id{0}; + std::string className{}; + float confidence{0.0}; + cv::Scalar color{}; + cv::Rect box{}; +}; + +class Inference +{ +public: + Inference(const std::string &onnxModelPath, const cv::Size &modelInputShape = {640, 640}, const std::string &classesTxtFile = "", const bool &runWithCuda = true); + std::vector runInference(const cv::Mat &input); + +private: + void loadClassesFromFile(); + void loadOnnxNetwork(); + cv::Mat formatToSquare(const cv::Mat &source); + + std::string modelPath{}; + std::string classesPath{}; + bool cudaEnabled{}; + + // std::vector classes{"person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck", "boat", "traffic light", "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat", "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee", "skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove", "skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana", "apple", "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch", "potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse", "remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors", "teddy bear", "hair drier", "toothbrush"}; + std::vector classes{"background", + "aeroplane", "bicycle", "bird", "boat", + "bottle", "bus", "car", "cat", "chair", + "cow", "diningtable", "dog", "horse", + "motorbike", "person", "pottedplant", + "sheep", "sofa", "train", "tvmonitor"}; + cv::Size2f modelShape{}; + + float modelConfidenceThreshold {0.25}; + float modelScoreThreshold {0.45}; + float modelNMSThreshold {0.50}; + + bool letterBoxForSquare = true; + + cv::dnn::Net net; +}; + +#endif // INFERENCE_H + + + diff --git a/MyCode/src/my-slam/include/yolov8_seg_onnx.h b/MyCode/src/my-slam/include/yolov8_seg_onnx.h new file mode 100644 index 0000000..a4db163 --- /dev/null +++ b/MyCode/src/my-slam/include/yolov8_seg_onnx.h @@ -0,0 +1,154 @@ +#pragma once + +#include + +#include + +#include + +#include "yolov8_seg_utils.h" + +#include + +// #include //if use OrtTensorRTProviderOptionsV2 + +// #include + +class Yolov8SegOnnx +{ + +public: + Yolov8SegOnnx() : _OrtMemoryInfo(Ort::MemoryInfo::CreateCpu(OrtAllocatorType::OrtDeviceAllocator, OrtMemType::OrtMemTypeCPUOutput)) {}; + + ~Yolov8SegOnnx() {}; // delete _OrtMemoryInfo; + +public: + /** \brief Read onnx-model + + * \param[in] modelPath:onnx-model path + + * \param[in] isCuda:if true,use Ort-GPU,else run it on cpu. + + * \param[in] cudaID:if isCuda==true,run Ort-GPU on cudaID. + + * \param[in] warmUp:if isCuda==true,warm up GPU-model. + + */ + + bool ReadModel(const std::string &modelPath, bool isCuda = false, int cudaID = 0, bool warmUp = true); + + /** \brief detect. + + * \param[in] srcImg:a 3-channels image. + + * \param[out] output:detection results of input image. + + */ + + bool OnnxDetect(cv::Mat &srcImg, std::vector &output); + + /** \brief detect,batch size= _batchSize + + * \param[in] srcImg:A batch of images. + + * \param[out] output:detection results of input images. + + */ + + bool OnnxBatchDetect(std::vector &srcImg, std::vector> &output); + +private: + template + T VectorProduct(const std::vector &v) + { + return std::accumulate(v.begin(), v.end(), 1, std::multiplies()); + }; + int Preprocessing(const std::vector &SrcImgs, std::vector &OutSrcImgs, std::vector ¶ms); + +#if (defined YOLO_P6 && YOLO_P6 == true) + // const float _netAnchors[4][6] = { { 19,27, 44,40, 38,94 },{ 96,68, 86,152, 180,137 },{ 140,301, 303,264, 238,542 },{ 436,615, 739,380, 925,792 } }; + + const int _netWidth = 1280; // ONNX图片输入宽度 + const int _netHeight = 1280; // ONNX图片输入高度 + const int _segWidth = 320; //_segWidth=_netWidth/mask_ratio + const int _segHeight = 320; + const int _segChannels = 32; + +#else + + // const float _netAnchors[3][6] = { { 10,13, 16,30, 33,23 },{ 30,61, 62,45, 59,119 },{ 116,90, 156,198, 373,326 } }; + const int _netWidth = 640; // ONNX-net-input-width + const int _netHeight = 480; // ONNX-net-input-height + const int _segWidth = 160; //_segWidth=_netWidth/mask_ratio + const int _segHeight = 160; + const int _segChannels = 32; + +#endif // YOLO_P6 + + int _batchSize = 1; // if multi-batch,set this + + bool _isDynamicShape = false; // onnx support dynamic shape + + float _classThreshold = 0.5; + + float _nmsThreshold = 0.45; + + float _maskThreshold = 0.5; + + // ONNXRUNTIME + + Ort::Env _OrtEnv = Ort::Env(OrtLoggingLevel::ORT_LOGGING_LEVEL_ERROR, "Yolov5-Seg"); + + Ort::SessionOptions _OrtSessionOptions = Ort::SessionOptions(); + + Ort::Session *_OrtSession = nullptr; + + Ort::MemoryInfo _OrtMemoryInfo; + +#if ORT_API_VERSION < ORT_OLD_VISON + char *_inputName, *_output_name0, *_output_name1; +#else + std::shared_ptr _inputName, _output_name0, _output_name1; +#endif + + std::vector _inputNodeNames; // 输入节点名 + + std::vector _outputNodeNames; // 输出节点名 + + size_t _inputNodesNum = 0; // 输入节点数 + + size_t _outputNodesNum = 0; // 输出节点数 + + ONNXTensorElementDataType _inputNodeDataType; // 数据类型 + + ONNXTensorElementDataType _outputNodeDataType; + + std::vector _inputTensorShape; // 输入张量shape + + std::vector _outputTensorShape; + + std::vector _outputMaskTensorShape; + +public: + std::vector _className = { + + "person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck", "boat", "traffic light", + + "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat", "dog", "horse", "sheep", "cow", + + "elephant", "bear", "zebra", "giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee", + + "skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove", "skateboard", "surfboard", + + "tennis racket", "bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana", "apple", + + "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch", + + "potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse", "remote", "keyboard", "cell phone", + + "microwave", "oven", "toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors", "teddy bear", + + "hair drier", "toothbrush" + + }; +}; \ No newline at end of file diff --git a/MyCode/src/my-slam/include/yolov8_seg_utils.h b/MyCode/src/my-slam/include/yolov8_seg_utils.h new file mode 100644 index 0000000..d68b6e2 --- /dev/null +++ b/MyCode/src/my-slam/include/yolov8_seg_utils.h @@ -0,0 +1,45 @@ +#pragma once + +#include +#include +#include + +#define YOLO_P6 false // 是否使用P6模型 +#define ORT_OLD_VISON 12 // ort1.12.0 之前的版本为旧版本API + +struct OutputSeg +{ + int id; // 结果类别id + float confidence; // 结果置信度 + cv::Rect box; // 矩形框 + cv::Mat boxMask; // 矩形框内mask，节省内存空间和加快速度 +}; + +struct MaskParams +{ + int segChannels = 32; + int segWidth = 160; + int segHeight = 160; + int netWidth = 640; + int netHeight = 480; + float maskThreshold = 0.5; + cv::Size srcImgShape; + cv::Vec4d params; +}; + +bool CheckParams(int netHeight, int netWidth, const int *netStride, int strideSize); + +void DrawPred(cv::Mat &img, std::vector result, std::vector classNames, std::vector color); + +void LetterBox(const cv::Mat &image, cv::Mat &outImage, + cv::Vec4d ¶ms, //[ratio_x,ratio_y,dw,dh] + const cv::Size &newShape = cv::Size(640, 640), + bool autoShape = false, + bool scaleFill = false, + bool scaleUp = true, + int stride = 32, + const cv::Scalar &color = cv::Scalar(114, 114, 114)); + +void GetMask(const cv::Mat &maskProposals, const cv::Mat &maskProtos, std::vector &output, const MaskParams &maskParams); + +void GetMask2(const cv::Mat &maskProposals, const cv::Mat &maskProtos, OutputSeg &output, const MaskParams &maskParams); \ No newline at end of file diff --git a/MyCode/src/my-slam/lib/libsg-slam.so b/MyCode/src/my-slam/lib/libsg-slam.so new file mode 100644 index 0000000..f91f5cd Binary files /dev/null and b/MyCode/src/my-slam/lib/libsg-slam.so differ diff --git a/MyCode/src/my-slam/package.xml b/MyCode/src/my-slam/package.xml new file mode 100644 index 0000000..a67414b --- /dev/null +++ b/MyCode/src/my-slam/package.xml @@ -0,0 +1,87 @@ + + + sg-slam + 0.9.0 + SG-SLAM: A Real-Time RGB-D Visual SLAM towards Dynamic Scenes with Semantic and Geometric Information + + + + + wpr + + + + + + GPLv3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + message_generation + message_filters + image_transport + tf + geometry_msgs + pcl_ros + + roscpp + rospy + message_generation + message_filters + image_transport + tf + geometry_msgs + pcl_ros + grid_map_msgs + grid_map_core + grid_map_ros + + + roscpp + rospy + message_generation + message_filters + image_transport + tf + geometry_msgs + pcl_ros + + + + + + diff --git a/MyCode/src/my-slam/run_astra_pro_camera.sh b/MyCode/src/my-slam/run_astra_pro_camera.sh new file mode 100644 index 0000000..c6ad79b --- /dev/null +++ b/MyCode/src/my-slam/run_astra_pro_camera.sh @@ -0,0 +1 @@ +./Examples/sg_slam_ros_rgbd ./Vocabulary/ORBvoc.bin ./Examples/astra_pro_camera.yaml diff --git a/MyCode/src/my-slam/run_tum_walking_xyz.sh b/MyCode/src/my-slam/run_tum_walking_xyz.sh new file mode 100644 index 0000000..3469354 --- /dev/null +++ b/MyCode/src/my-slam/run_tum_walking_xyz.sh @@ -0,0 +1 @@ +./Examples/sg_slam_tum Vocabulary/ORBvoc.bin Examples/TUM3.yaml /home/test/rgbd_dataset_freiburg1_xyz /home/test/rgbd_dataset_freiburg1_xyz/associations.txt diff --git a/MyCode/src/my-slam/src/Converter.cc b/MyCode/src/my-slam/src/Converter.cc new file mode 100644 index 0000000..00ea8ee --- /dev/null +++ b/MyCode/src/my-slam/src/Converter.cc @@ -0,0 +1,151 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + + +#include "Converter.h" + +namespace ORB_SLAM2 +{ + +std::vector Converter::toDescriptorVector(const cv::Mat &Descriptors) +{ + std::vector vDesc; + vDesc.reserve(Descriptors.rows); + for (int j=0;j R; + R << cvT.at(0,0), cvT.at(0,1), cvT.at(0,2), + cvT.at(1,0), cvT.at(1,1), cvT.at(1,2), + cvT.at(2,0), cvT.at(2,1), cvT.at(2,2); + + Eigen::Matrix t(cvT.at(0,3), cvT.at(1,3), cvT.at(2,3)); + + return g2o::SE3Quat(R,t); +} + +cv::Mat Converter::toCvMat(const g2o::SE3Quat &SE3) +{ + Eigen::Matrix eigMat = SE3.to_homogeneous_matrix(); + return toCvMat(eigMat); +} + +cv::Mat Converter::toCvMat(const g2o::Sim3 &Sim3) +{ + Eigen::Matrix3d eigR = Sim3.rotation().toRotationMatrix(); + Eigen::Vector3d eigt = Sim3.translation(); + double s = Sim3.scale(); + return toCvSE3(s*eigR,eigt); +} + +cv::Mat Converter::toCvMat(const Eigen::Matrix &m) +{ + cv::Mat cvMat(4,4,CV_32F); + for(int i=0;i<4;i++) + for(int j=0; j<4; j++) + cvMat.at(i,j)=m(i,j); + + return cvMat.clone(); +} + +cv::Mat Converter::toCvMat(const Eigen::Matrix3d &m) +{ + cv::Mat cvMat(3,3,CV_32F); + for(int i=0;i<3;i++) + for(int j=0; j<3; j++) + cvMat.at(i,j)=m(i,j); + + return cvMat.clone(); +} + +cv::Mat Converter::toCvMat(const Eigen::Matrix &m) +{ + cv::Mat cvMat(3,1,CV_32F); + for(int i=0;i<3;i++) + cvMat.at(i)=m(i); + + return cvMat.clone(); +} + +cv::Mat Converter::toCvSE3(const Eigen::Matrix &R, const Eigen::Matrix &t) +{ + cv::Mat cvMat = cv::Mat::eye(4,4,CV_32F); + for(int i=0;i<3;i++) + { + for(int j=0;j<3;j++) + { + cvMat.at(i,j)=R(i,j); + } + } + for(int i=0;i<3;i++) + { + cvMat.at(i,3)=t(i); + } + + return cvMat.clone(); +} + +Eigen::Matrix Converter::toVector3d(const cv::Mat &cvVector) +{ + Eigen::Matrix v; + v << cvVector.at(0), cvVector.at(1), cvVector.at(2); + + return v; +} + +Eigen::Matrix Converter::toVector3d(const cv::Point3f &cvPoint) +{ + Eigen::Matrix v; + v << cvPoint.x, cvPoint.y, cvPoint.z; + + return v; +} + +Eigen::Matrix Converter::toMatrix3d(const cv::Mat &cvMat3) +{ + Eigen::Matrix M; + + M << cvMat3.at(0,0), cvMat3.at(0,1), cvMat3.at(0,2), + cvMat3.at(1,0), cvMat3.at(1,1), cvMat3.at(1,2), + cvMat3.at(2,0), cvMat3.at(2,1), cvMat3.at(2,2); + + return M; +} + +std::vector Converter::toQuaternion(const cv::Mat &M) +{ + Eigen::Matrix eigMat = toMatrix3d(M); + Eigen::Quaterniond q(eigMat); + + std::vector v(4); + v[0] = q.x(); + v[1] = q.y(); + v[2] = q.z(); + v[3] = q.w(); + + return v; +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/Detector2D.cc b/MyCode/src/my-slam/src/Detector2D.cc new file mode 100644 index 0000000..2564a54 --- /dev/null +++ b/MyCode/src/my-slam/src/Detector2D.cc @@ -0,0 +1,450 @@ +#include "Detector2D.h" +#include "Tracking.h" +#include "yolov8_seg_onnx.h" +#include "yolov8_seg_utils.h" +#include +// #include "inference.h" + +using namespace std; +using namespace cv; + +namespace ORB_SLAM2 +{ + + // 类别 + const char *Detector2D::class_names[] = {"background", + "aeroplane", "bicycle", "bird", "boat", + "bottle", "bus", "car", "cat", "chair", + "cow", "diningtable", "dog", "horse", + "motorbike", "person", "pottedplant", + "sheep", "sofa", "train", "tvmonitor"}; + + Detector2D::Detector2D(float detection_confidence_threshold_, float dynamic_detection_confidence_threshold_) : detection_confidence_threshold(detection_confidence_threshold_), + dynamic_detection_confidence_threshold(dynamic_detection_confidence_threshold_) + { + detect_net_ptr = new (ncnn::Net); + net_in_ptr = new (ncnn::Mat); + detect_net_ptr->opt.use_vulkan_compute = true; + + detect_net_ptr->load_param("./Thirdparty/ncnn_model/mobilenetv3_ssdlite_voc.param"); + detect_net_ptr->load_model("./Thirdparty/ncnn_model/mobilenetv3_ssdlite_voc.bin"); + mbNewImageFlag = false; + } + + Detector2D::Detector2D(float hight, float width, bool flag) : img_hight(hight), img_width(width) + { + bool runOnGPU = true; + + // 1. 设置你的onnx模型 + // Note that in this example the classes are hard-coded and 'classes.txt' is a place holder. + cout << "start inference ptr" << endl; + // *inf = Inference("/home/test/My/yolov8n-seg.onnx", cv::Size(img_hight, img_width), "classes.txt", runOnGPU); // classes.txt 可以缺失 + cout << "end inference ptr" << endl; + if (test.ReadModel("/home/test/My/yolov8n-seg.onnx", runOnGPU, 0, false)) + { + cout << "read net ok!\n"; + } + else + { + cout << "read net err!\n"; + } + } + + // void Detector2D::detect(const cv::Mat &bgr, bool infereence, bool flag){ + // cv::Mat frame = bgr.clone(); + + // if(bgr.empty()){ + // cout << "mat empty" << endl; + + // }else{ + // cout << bgr.size() << endl; + // // cout << "detect start" << endl; + // // Inference starts here... + // std::vector output = inf2.runInference(bgr); + + // int detections = output.size(); + // // std::cout << "Number of detections:" << detections << std::endl; + + // // 若矩形框位置不对，下面这行可能需要 + // //cv::resize(frame, frame, cv::Size(480, 640)); + // mvObjects2D.clear(); + // mbHaveDynamicObjectForMapping = false; + // mbHaveDynamicObjectForRmDynamicFeature = false; + // mvPotentialDynamicBorderForRmDynamicFeature.clear(); + // mvPotentialDynamicBorderForMapping.clear(); + + // for (int i = 0; i < detections; ++i) + // { + // Object2D object2d; + // Detection detection = output[i]; + + // //将检测的物体作为一个object2d + // cv::Rect box = detection.box; + // cv::Scalar color = detection.color; + // object2d.rect = box; + // object2d.id = detection.class_id; + // object2d.name = class_names[detection.class_id]; + // object2d.prob = detection.confidence; + // mvObjects2D.emplace_back(object2d); + + // // Detection box + // cv::rectangle(frame, box, color, 2); + + // // Detection box text + // std::string classString = detection.className + ' ' + std::to_string(detection.confidence).substr(0, 4); + // // std::cout << "*************" << detection.className << endl; + // cv::Size textSize = cv::getTextSize(classString, cv::FONT_HERSHEY_DUPLEX, 1, 2, 0); + // cv::Rect textBox(box.x, box.y - 40, textSize.width + 10, textSize.height + 20); + + // cv::rectangle(frame, textBox, color, cv::FILLED); + // cv::putText(frame, classString, cv::Point(box.x + 5, box.y - 10), cv::FONT_HERSHEY_DUPLEX, 1, cv::Scalar(0, 0, 0), 2, 0); + // } + // cout << "detect end" << endl; + // } + // } + + Detector2D::~Detector2D(){ + delete detect_net_ptr; + delete net_in_ptr; + } + + void Detector2D::PutObject(std::vector result, cv::Mat img){ + mvObjects2D.clear(); + mbHaveDynamicObjectForMapping = false; + mbHaveDynamicObjectForRmDynamicFeature = false; + mvPotentialDynamicBorderForRmDynamicFeature.clear(); + mvPotentialDynamicBorderForMapping.clear(); + + for (int i = 0; i < result.size(); i++) + { + DealMask(result[i], img, mDepthImage); + int left, top; + Object2D object2d; + //将检测的物体作为一个object2d + object2d.rect = result[i].box; + object2d.id = result[i].id; + object2d.name = test._className[result[i].id]; + object2d.prob = result[i].confidence; + object2d.mask = result[i].boxMask; + //取物体的平均颜色信息 + object2d.color = cv::mean(img, result[i].boxMask); + //取物体的颜色直方图 + object2d.colorHit = getColorHistogram(img, result[i].boxMask); + mvObjects2D.emplace_back(object2d); + } + } + + cv::Mat Detector2D::DealMask(OutputSeg result, cv::Mat img, cv::Mat depth){ + //TODO: 用深度图处理mask + cv::Mat full_mask = cv::Mat::zeros(depth.size(), CV_32F); + cv::Mat full_mask_8UC1 = cv::Mat::zeros(depth.size(), CV_8UC1); + cv::Rect box = result.box; // 检测框 + + result.boxMask.copyTo(full_mask(box)); // 将小 mask 复制到对应位置 + result.boxMask.copyTo(full_mask_8UC1(box)); // 将小 mask 复制到对应位置 + + // 1. 估计深度范围 + cv::Scalar mean, stddev; + cv::Mat valid_depth = (depth > 0); + Mat filtered_depth; + depth.copyTo(filtered_depth, valid_depth); + + // cv::meanStdDev(depth, mean, stddev, full_mask_8UC1); + cv::meanStdDev(filtered_depth, mean, stddev, full_mask_8UC1); + double depth_mean = mean[0]; + double depth_std = stddev[0]; + double depth_min = depth_mean - 2 * depth_std; + double depth_max = depth_mean + 2 * depth_std; + + // 2. 计算深度梯度和梯度阈值 + cv::Mat grad_x, grad_y, depth_gradient; + cv::Mat gradient_values; + cv::Sobel(depth, grad_x, CV_32F, 1, 0, 3); + cv::Sobel(depth, grad_y, CV_32F, 0, 1, 3); + cv::magnitude(grad_x, grad_y, depth_gradient); + + // 应用 mask 提取感兴趣区域的梯度 + cv::Mat gradient_masked = cv::Mat::zeros(depth_gradient.size(), CV_32F); + depth_gradient.copyTo(gradient_masked, full_mask_8UC1); // 只保留 mask 区域的梯度值 + cv::Mat test = depth_gradient(box); + + // 提取 mask 区域内的非零梯度值 + std::vector masked_gradients; + for (int i = 0; i < test.rows; ++i) { + for (int j = 0; j < test.cols; ++j) { + float value = test.at(i, j); + if (abs(value) > 1e-6) { + masked_gradients.push_back(value); + } + } + } + + // 对梯度值排序并计算 95% 阈值 + std::sort(masked_gradients.begin(), masked_gradients.end()); + float edge_thresh = masked_gradients[static_cast(0.95 * masked_gradients.size())]; + + // 3. 优化 mask + cv::Mat mask_refined = full_mask.clone(); + for (int y = 0; y < full_mask.rows; ++y) { + for (int x = 0; x < full_mask.cols; ++x) { + if (full_mask.at(y, x) > 0) { + float depth_value = depth.at(y, x); + if (depth_value < depth_min || depth_value > depth_max) { + mask_refined.at(y, x) = 0; // 剔除超出深度范围的像素 + } + } + } + } + Mat t; + mask_refined(box).convertTo(t, CV_8U); + // 使用梯度边缘优化 + cv::Mat depth_edges; + cv::threshold(depth_gradient, depth_edges, edge_thresh, 255, cv::THRESH_BINARY); + + cv::bitwise_and(mask_refined, ~depth_edges, mask_refined); // 去掉边缘噪声 + double minVal, maxVal; + cv::minMaxLoc(mask_refined, &minVal, &maxVal); // 获取最小值和最大值 + + // 将数据缩放到 [0, 255] 范围 + mask_refined.convertTo(mask_refined, CV_8U, 255.0 / (maxVal - minVal), + -minVal * 255.0 / (maxVal - minVal)); + cv::Mat temp; + mask_refined(box).convertTo(temp, CV_8U); + + return t.clone(); + } + + cv::Mat Detector2D::getColorHistogram(cv::Mat img, cv::Mat mask){ + //TODO: 物体对应的颜色直方图 + std::vector bgr_planes; + cv::split(img, bgr_planes); + + cv::Mat hist; + int histSize = 256; + float range[] = {0, 256}; + const float* histRange = {range}; + + cv::Mat histB, histG, histR; + cv::calcHist(&bgr_planes[0], 1, 0, mask, histB, 1, &histSize, &histRange); + cv::calcHist(&bgr_planes[1], 1, 0, mask, histG, 1, &histSize, &histRange); + cv::calcHist(&bgr_planes[2], 1, 0, mask, histR, 1, &histSize, &histRange); + + //归一化处理 + cv::normalize(histB, histB, 0, 1, cv::NORM_MINMAX); + cv::normalize(histG, histG, 0, 1, cv::NORM_MINMAX); + cv::normalize(histR, histR, 0, 1, cv::NORM_MINMAX); + + cv::vconcat(histB, histG, hist); + cv::vconcat(hist, histR, hist); + return hist; + } + + void Detector2D::OverSegment(std::vector result){ + + } + + void Detector2D::put2Object2D(std::vector result){ + + } + + double Detector2D::compareHistogram(const cv::Mat &hist1, const cv::Mat &hist2){ + return cv::compareHist(hist1, hist2, cv::HISTCMP_CORREL); //计算相关性，速度更快 越接近1表示约相同 + // return cv::compareHist(hist1, hist2, cv::HISTCMP_BHATTACHARYYA); // 计算巴氏距离/直方图重叠程度，对光照、噪声变化不敏感 + } + + void Detector2D::detect(const cv::Mat &bgr){ + vector color; + srand(time(0)); + for (int i = 0; i < 80; i++) + { + int b = rand() % 256; + int g = rand() % 256; + int r = rand() % 256; + color.push_back(Scalar(b, g, r)); + } + struct timeval t1, t2; + double timeuse; + cv::Mat frame = bgr.clone(); + //填充图像 + // frame = pad_image(frame, 640, 640); + + if (!frame.empty()){ + output.clear(); + gettimeofday(&t1, NULL); + bool find = test.OnnxDetect(frame, output); + gettimeofday(&t2, NULL); + if (find){ + for(int i=0;isubstract_mean_normalize(mean_vals, norm_vals); + ncnn::Extractor ex = detect_net_ptr->create_extractor(); + ex.set_light_mode(true); // 轻模式，每一层运算后自动回收中间结果内存 + ex.input("input", *net_in_ptr); + ncnn::Mat out; // 每一行对应一个目标检测到的目标 + ex.extract("detection_out", out); + + mvObjects2D.clear(); + mbHaveDynamicObjectForMapping = false; + mbHaveDynamicObjectForRmDynamicFeature = false; + mvPotentialDynamicBorderForRmDynamicFeature.clear(); + mvPotentialDynamicBorderForMapping.clear(); + for (int i = 0; i < out.h; i++){ + const float *values = out.row(i); + // If the object confidence is greater than detection_confidence_threshold, + // or if currently object is human and its confidence is greater than 0.2. + //(values[1]>0.2 && int(values[0])==15) is good for dynamic feature culling, but not good for mapping + if (values[1] > detection_confidence_threshold || (values[1] > dynamic_detection_confidence_threshold && int(values[0]) == 15)){ + Object2D object2d; + object2d.id = int(values[0]); + object2d.name = std::string(class_names[int(values[0])]); + object2d.prob = values[1]; + + float x1 = clamp(values[2] * target_size, 0.f, float(target_size - 1)) / target_size * img_w; + float y1 = clamp(values[3] * target_size, 0.f, float(target_size - 1)) / target_size * img_h; + float x2 = clamp(values[4] * target_size, 0.f, float(target_size - 1)) / target_size * img_w; + float y2 = clamp(values[5] * target_size, 0.f, float(target_size - 1)) / target_size * img_h; + + object2d.rect.x = x1; + object2d.rect.y = y1; + object2d.rect.width = x2 - x1; + object2d.rect.height = y2 - y1; + + mvObjects2D_to_View.push_back(object2d); + if (15 == object2d.id) + { + mbHaveDynamicObjectForMapping = true; + mvPotentialDynamicBorderForMapping.emplace_back(object2d.rect); + if (object2d.prob > 0.2) + { + mbHaveDynamicObjectForRmDynamicFeature = true; + mvPotentialDynamicBorderForRmDynamicFeature.emplace_back(object2d.rect); + } + // std::cout<<"find person."< detection_confidence_threshold){ + cv::rectangle(image, obj2d.rect, cv::Scalar(255, 0, 0), 3); + + char text[256]; + sprintf(text, "%s %.1f%%", obj2d.name.c_str(), obj2d.prob * 100); + + int baseLine = 0; + cv::Size label_size = cv::getTextSize(text, cv::FONT_HERSHEY_SIMPLEX, 0.7, 1.75, &baseLine); + + int x = obj2d.rect.x; + int y = obj2d.rect.y - label_size.height - baseLine; + if (y < 0) + y = 0; + if (x + label_size.width > image.cols) + x = image.cols - label_size.width; + + cv::rectangle(image, cv::Rect(cv::Point(x, y), cv::Size(label_size.width, label_size.height + baseLine)), + cv::Scalar(255, 255, 255), CV_FILLED); + + cv::putText(image, text, cv::Point(x, y + label_size.height), cv::FONT_HERSHEY_SIMPLEX, 0.7, cv::Scalar(0, 0, 0), 1.75); + } + } + mvObjects2D_to_View.clear(); + } + + void Detector2D::Run(){ + std::cout << "Detector2D Thread start ..." << std::endl; + while (1) + { + usleep(1); + if (!isNewImageArrived() || mImageToDetect.empty()) + continue; + // detect new image + detect(mImageToDetect); + ImageDetectFinished(); + } + } + + bool Detector2D::isNewImageArrived(){ + std::unique_lock lock(mMutexGetNewImage); + if (mbNewImageFlag) + { + mbNewImageFlag = false; + return true; + } + else + return false; + } + + void Detector2D::ImageDetectFinished(){ + std::unique_lock lock(mMutexImageDetectFinished); + mpTracker->mbDetectImageFinishedFlag = true; + } + + void Detector2D::SetTracker(Tracking *pTracker){ + mpTracker = pTracker; + } + + cv::Mat Detector2D::pad_image(const cv::Mat& input_image, int target_width, int target_height) { + int top = 0, bottom = 0, left = 0, right = 0; + + int width = input_image.cols; + int height = input_image.rows; + + float scale_width = (float)target_width / width; + float scale_height = (float)target_height / height; + + float scale = std::min(scale_width, scale_height); + int new_width = cvRound(width * scale); + int new_height = cvRound(height * scale); + + cv::Mat resized_image; + cv::resize(input_image, resized_image, cv::Size(new_width, new_height)); + + // 计算填充的宽度和高度 + left = (target_width - new_width) / 2; + right = target_width - new_width - left; + top = (target_height - new_height) / 2; + bottom = target_height - new_height - top; + + // 填充图像 + cv::Mat padded_image; + cv::copyMakeBorder(resized_image, padded_image, top, bottom, left, right, cv::BORDER_CONSTANT, cv::Scalar(0, 0, 0)); + + return padded_image; + } + + cv::Mat Detector2D::restore_image(const cv::Mat& padded_image, int original_width, int original_height, int top, int bottom, int left, int right) { + // 计算裁剪区域 + cv::Rect roi(left, top, original_width, original_height); + + // 从填充后的图像中裁剪出原始图像的部分 + cv::Mat restored_image = padded_image(roi); + + return restored_image; + } +} diff --git a/MyCode/src/my-slam/src/Detector3D.cc b/MyCode/src/my-slam/src/Detector3D.cc new file mode 100644 index 0000000..291e8eb --- /dev/null +++ b/MyCode/src/my-slam/src/Detector3D.cc @@ -0,0 +1,254 @@ +#include "Detector3D.h" +#include +#include +#include + +Detector3D::Detector3D(int Detect3D_Sor_MeanK_,double Detect3D_Sor_StddevMulThresh_,float Detect3D_Voxel_LeafSize_, +float EuclideanClusterTolerance_,int EuclideanClusterMinSize_,int EuclideanClusterMaxSize_,float DetectSimilarCompareRatio_) +{ + // 统计学滤波器，去除离群点 + mSor_Detect3D.setMeanK(Detect3D_Sor_MeanK_); + mSor_Detect3D.setStddevMulThresh(Detect3D_Sor_StddevMulThresh_); + //体素滤波 下采样，减少点云的数量 + mVoxel_Detect3D.setLeafSize(Detect3D_Voxel_LeafSize_, Detect3D_Voxel_LeafSize_, Detect3D_Voxel_LeafSize_); + + //做欧式距离聚类，半径、聚类尺寸 + ec.setClusterTolerance(EuclideanClusterTolerance_); + ec.setMinClusterSize(EuclideanClusterMinSize_); + ec.setMaxClusterSize(EuclideanClusterMaxSize_); + + DetectSimilarCompareRatio = DetectSimilarCompareRatio_; + mpObjectDatabase = new(ObjectDatabase); +} + +Detector3D::~Detector3D() +{ + delete mpObjectDatabase; +} + + +//将检测到的2D物体、点云、深度图进行语义检测 +void Detector3D::Detect(std::vector& vobject2d, cv::Mat &depth, PointCloud::ConstPtr map_point_cloud, int KFid) +{ + if(!vobject2d.empty()) + { + for(unsigned int i=0; iDelDeactiveObject(KFid); + + mpObjectDatabase->addObject(semantic_object, map_point_cloud); + } + } + mpObjectDatabase->SelectNearObject(); + } +} + +bool Detector3D::DetectOne(Object2D& object2d, SemanticObject& semantic_object, cv::Mat &depth_img, + PointCloud::ConstPtr map_point_cloud, int KFid) +{ + + float* depths = (float*)depth_img.data; + //存储左上角和长、宽信息 + cv::Rect_ rect2d = object2d.rect; + //bounding box的左上角点位置 + size_t beg = (size_t)rect2d.x + (size_t)rect2d.y * depth_img.cols; + + // 1. Collect point cloud indices from object2d boundingbox + pcl::PointIndices object2d_indices; + size_t row_beg = (size_t)rect2d.height*0.2; + size_t row_end = (size_t)rect2d.height*0.8; + size_t col_beg = (size_t)rect2d.width*0.2; + size_t col_end = (size_t)rect2d.width*0.8; + for(size_t k = row_beg; k < row_end; k++) + { + //深度图上框的一行起始和结束位置 + size_t start = beg + k * depth_img.cols + col_beg; + size_t end = beg + k * depth_img.cols + col_end ; + for(size_t j = start; j < end; j++) + { + float d = depths[j]; + if (d < camera_valid_depth_Min || d > camera_valid_depth_Max || isnan(d)) continue; + object2d_indices.indices.push_back(j); + } + } + // 3. Extract the point cloud using indices and Add pixel information + pcl::PointCloud::Ptr allpoint_cloud(new pcl::PointCloud); + PointCloudAddPixel(map_point_cloud,object2d_indices.indices,allpoint_cloud); + + // 4. Filter + if(!allpoint_cloud->empty()) + { + // todo: https://github.com/PointCloudLibrary/pcl/issues/2331 + + //体素滤波 + // mVoxel_Detect3D.setInputCloud(allpoint_cloud); + // mVoxel_Detect3D.filter(*allpoint_cloud); + //统计滤波 + mSor_Detect3D.setInputCloud(allpoint_cloud); + mSor_Detect3D.filter(*allpoint_cloud); + } + // 4. Euclidean Cluster Extraction / Segementation 聚类 + if(allpoint_cloud->empty()) return false; + pcl::search::KdTree::Ptr kdtree(new pcl::search::KdTree); + kdtree->setInputCloud(allpoint_cloud); + std::vector vcluster_indices; + ec.setSearchMethod(kdtree); + ec.setInputCloud(allpoint_cloud); + ec.extract(vcluster_indices); + // 5. Obtain every point cloud cluster + // int i = 0; + std::vector::Ptr> vcloud_cluster; + for(auto it = vcluster_indices.begin(); it != vcluster_indices.end(); ++it) + { + pcl::PointCloud::Ptr cloud_cluster(new pcl::PointCloud); + for(auto pit = it->indices.begin(); pit != it->indices.end(); pit++) + cloud_cluster->points.push_back(allpoint_cloud->points[*pit]); + + cloud_cluster->is_dense = true; + vcloud_cluster.emplace_back(cloud_cluster); + // std::cout<<"current cluster:"<size()<::Ptr object_cloud_cluster(new pcl::PointCloud); + + for(auto vit = vcloud_cluster.begin();vit != vcloud_cluster.end(); ++vit) + { + Eigen::Vector4f centeroid_; + //计算点云质心 + pcl::compute3DCentroid(**vit, centeroid_); + if(centeroid_[2] < camera_valid_depth_Min) continue; + + cv::Rect_ rect3d; + //点云的矩形框信息 + bool ok = GetProjectedROI(*vit,rect3d); + if(!ok) continue; + + size_t points_num = (**vit).points.size(); + float similar = GetSimilarity(rect2d,rect3d,points_num); + if(similar > best_similar1) + { + pcl::copyPointCloud(**vit,*object_cloud_cluster); + object_centeroid = centeroid_; + best_similar1 = similar; + } + else if(similar > best_similar2) + { + best_similar2 = similar; + } + } + if(best_similar1 * DetectSimilarCompareRatio < best_similar2 && best_similar2 > 0) + return false; + + PointXYZPixel minPt,maxPt; + pcl::getMinMax3D(*object_cloud_cluster, minPt, maxPt); + + semantic_object.object_name = object2d.name; + semantic_object.class_id = object2d.id; + semantic_object.prob = object2d.prob; + semantic_object.size = Eigen::Vector3f(maxPt.x-minPt.x,maxPt.y-minPt.y,maxPt.z-minPt.z); + semantic_object.centroid = Eigen::Vector3f(object_centeroid[0],object_centeroid[1],object_centeroid[2]); + semantic_object.LastFrameID = KFid; + semantic_object.cloudNums = mpObjectDatabase->getCloudNums(semantic_object, map_point_cloud); + semantic_object.colorHit = object2d.colorHit + /*visualization + pcl::visualization::PCLVisualizer viewer("PCLVisualizer"); + viewer.initCameraParameters(); + + int view1(0); + viewer.createViewPort(0.0, 0.0, 0.5, 1.0, view1); + viewer.setBackgroundColor(128.0 / 255.0, 138.0 / 255.0, 135.0 / 255.0, view1); + viewer.addText("Cloud before segmenting", 10, 10, "view1 test", view1); + viewer.addPointCloud(allpoint_cloud, "cloud", view1); + + int view2(0); + viewer.createViewPort(0.5, 0.0, 1.0, 1.0, view2); + viewer.setBackgroundColor(128.0 / 255.0, 138.0 / 255.0, 135.0 / 255.0, view2); + viewer.addText("Cloud after segmenting", 10, 10, "segment", view2); + for (int i = 0; i < vcloud_cluster.size(); i++) + { + string cstr = i + " cloud_segmented"; + pcl::visualization::PointCloudColorHandlerCustom color(vcloud_cluster[i], 255 * (1 - i)*(2 - i) / 2, 255 * i*(2 - i), 255 * i*(i - 1) / 2); + viewer.addPointCloud(vcloud_cluster[i], color, cstr, view2); + } + while (!viewer.wasStopped()) + { + viewer.spinOnce(100); + } + */ + return true; +} + +//获取点云的2D框信息 通过点云中保存的对应像素值计算像素平面的框 +bool Detector3D::GetProjectedROI(const pcl::PointCloud::ConstPtr point_cloud,cv::Rect_ & roi) +{ +// lambda function + auto cmp_x = [](PointXYZPixel const& l, PointXYZPixel const& r) {return l.pixel_x < r.pixel_x; }; +// return point_cloud 's min and max element + auto minmax_x = std::minmax_element(point_cloud->begin(), point_cloud->end(), cmp_x); +// left, roi_pixel_x_min + roi.x = minmax_x.first->pixel_x; +// right, roi_pixel_x_max + auto max_x = minmax_x.second->pixel_x; +// verify project parameter is valid + if(roi.x >= 0 && max_x >= roi.x) + { + roi.width = max_x - roi.x; + + auto cmp_y = [](PointXYZPixel const& l, PointXYZPixel const& r) { return l.pixel_y < r.pixel_y; }; + auto minmax_y = std::minmax_element(point_cloud->begin(), point_cloud->end(), cmp_y); + //top, roi_pixel_y_min + roi.y = minmax_y.first->pixel_y; + //down, roi_pixel_y_max + auto max_y = minmax_y.second->pixel_y; + // verify project parameter is valid + if(roi.y >= 0 && max_y >= roi.y) + { + roi.height = max_y - roi.y; + return true; + } + else + return false; + } + else + return false; +} + +//计算两个框相似性，IOU*点云数量/中心点距离 +float Detector3D::GetSimilarity(const cv::Rect_ & r1, const cv::Rect_ & r2, size_t points_num) +{ + cv::Rect2f ir1(r1), ir2(r2); + //中心点 + cv::Point2f c1(ir1.x + ir1.width / 2, ir1.y + ir1.height / 2); + cv::Point2f c2(ir2.x + ir2.width / 2, ir2.y + ir2.height / 2); + + float area1 = ir1.area(), area2 = ir2.area(), area0 = (ir1 & ir2).area(); + //IOU + float overlap = area0 / (area1 + area2 - area0); + // calculate the deviation between two centers 中心点距离 + float deviate = powf((c1.x - c2.x), 2) + powf((c1.y - c2.y), 2); + float points_num_score = float(points_num) / 10.0; //10 is just an order of magnitude lower + // The larger the area in the ROI, the closer it is to the center of the ROI, + // the more point clouds of cluster there are, the higher the similarity + return (overlap * points_num_score) / deviate; +} + +void Detector3D::PointCloudAddPixel(const PointCloud::ConstPtr orig, + const std::vector& indices, + pcl::PointCloud::Ptr dest) +{ + pcl::copyPointCloud(*orig, indices, *dest); + uint32_t width = orig->width; + for (uint32_t i = 0; i < indices.size(); i++) + { + dest->points[i].pixel_x = indices[i] % width;// col + dest->points[i].pixel_y = indices[i] / width;// row + } +} + diff --git a/MyCode/src/my-slam/src/Frame.cc b/MyCode/src/my-slam/src/Frame.cc new file mode 100644 index 0000000..853ba9e --- /dev/null +++ b/MyCode/src/my-slam/src/Frame.cc @@ -0,0 +1,940 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "Frame.h" +#include "Converter.h" +#include "ORBmatcher.h" +#include "Tracking.h" +#include + +// The previous image +std::vector Prepoint,PrepointRmDynamic,Curpoint,CurpointRmDynamic; +std::vector State; +std::vector Err; +cv::Mat imGrayPre; +bool bPreFrameHavePotentialDynamicObj; +std::vector > vPreFramePotentialDynamicBorder; + +namespace ORB_SLAM2 +{ + +long unsigned int Frame::nNextId=0; +bool Frame::mbInitialComputations=true; +float Frame::cx, Frame::cy, Frame::fx, Frame::fy, Frame::invfx, Frame::invfy; +float Frame::mnMinX, Frame::mnMinY, Frame::mnMaxX, Frame::mnMaxY; +float Frame::mfGridElementWidthInv, Frame::mfGridElementHeightInv; + +Frame::Frame() +{} + +//Copy Constructor +Frame::Frame(const Frame &frame) + :mpORBvocabulary(frame.mpORBvocabulary), mpORBextractorLeft(frame.mpORBextractorLeft), mpORBextractorRight(frame.mpORBextractorRight), + mTimeStamp(frame.mTimeStamp), mK(frame.mK.clone()), mDistCoef(frame.mDistCoef.clone()), + mbf(frame.mbf), mb(frame.mb), mThDepth(frame.mThDepth), N(frame.N), mvKeys(frame.mvKeys), + mvKeysRight(frame.mvKeysRight), mvKeysUn(frame.mvKeysUn), mvuRight(frame.mvuRight), + mvDepth(frame.mvDepth), mBowVec(frame.mBowVec), mFeatVec(frame.mFeatVec), + mDescriptors(frame.mDescriptors.clone()), mDescriptorsRight(frame.mDescriptorsRight.clone()), + mvpMapPoints(frame.mvpMapPoints), mvbOutlier(frame.mvbOutlier), mnId(frame.mnId), + mpReferenceKF(frame.mpReferenceKF), mnScaleLevels(frame.mnScaleLevels), + mfScaleFactor(frame.mfScaleFactor), mfLogScaleFactor(frame.mfLogScaleFactor), + mvScaleFactors(frame.mvScaleFactors), mvInvScaleFactors(frame.mvInvScaleFactors), + mvLevelSigma2(frame.mvLevelSigma2), mvInvLevelSigma2(frame.mvInvLevelSigma2) +{ + for(int i=0;i(NULL)) +{ + // Frame ID + mnId=nNextId++; + + // Scale Level Info + mnScaleLevels = mpORBextractorLeft->GetLevels(); + mfScaleFactor = mpORBextractorLeft->GetScaleFactor(); + mfLogScaleFactor = log(mfScaleFactor); + mvScaleFactors = mpORBextractorLeft->GetScaleFactors(); + mvInvScaleFactors = mpORBextractorLeft->GetInverseScaleFactors(); + mvLevelSigma2 = mpORBextractorLeft->GetScaleSigmaSquares(); + mvInvLevelSigma2 = mpORBextractorLeft->GetInverseScaleSigmaSquares(); + + // ORB extraction + thread threadLeft(&Frame::ExtractORB,this,0,imLeft); + thread threadRight(&Frame::ExtractORB,this,1,imRight); + threadLeft.join(); + threadRight.join(); + + N = mvKeys.size(); + + if(mvKeys.empty()) + return; + + UndistortKeyPoints(); + + ComputeStereoMatches(); + + mvpMapPoints = vector(N,static_cast(NULL)); + mvbOutlier = vector(N,false); + + + // This is done only for the first Frame (or after a change in the calibration) + if(mbInitialComputations) + { + ComputeImageBounds(imLeft); + + mfGridElementWidthInv=static_cast(FRAME_GRID_COLS)/(mnMaxX-mnMinX); + mfGridElementHeightInv=static_cast(FRAME_GRID_ROWS)/(mnMaxY-mnMinY); + + fx = K.at(0,0); + fy = K.at(1,1); + cx = K.at(0,2); + cy = K.at(1,2); + invfx = 1.0f/fx; + invfy = 1.0f/fy; + + mbInitialComputations=false; + } + + mb = mbf/fx; + + AssignFeaturesToGrid(); +} + +// For RGB-D +Frame::Frame(Tracking* pTracker, cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth,Frame &F1) + :mpTracker(pTracker),mpORBvocabulary(voc),mpORBextractorLeft(extractor),mpORBextractorRight(static_cast(NULL)), + mTimeStamp(timeStamp), mK(K.clone()),mDistCoef(distCoef.clone()), mbf(bf), mThDepth(thDepth) +{ + // Frame ID + mnId=nNextId++; + + // Scale Level Info + mnScaleLevels = mpORBextractorLeft->GetLevels(); + mfScaleFactor = mpORBextractorLeft->GetScaleFactor(); + mfLogScaleFactor = log(mfScaleFactor); + mvScaleFactors = mpORBextractorLeft->GetScaleFactors(); + mvInvScaleFactors = mpORBextractorLeft->GetInverseScaleFactors(); + mvLevelSigma2 = mpORBextractorLeft->GetScaleSigmaSquares(); + mvInvLevelSigma2 = mpORBextractorLeft->GetInverseScaleSigmaSquares(); + +// std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); + ExtractORB(0,imGray);//compute mvKeys and mDescriptors +/* + std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); + double tExtract= std::chrono::duration_cast >(t2 - t1).count(); + std::cout << "ExtractORB time =" << tExtract*1000 << std::endl; +*/ + +// std::chrono::steady_clock::time_point t3 = std::chrono::steady_clock::now(); + cv::Mat imGrayT = imGray; + if(imGrayPre.data) + { + RmDynamicPointWithSemanticAndGeometry(imGrayPre,imGray); + std::swap(imGrayPre, imGrayT); + } + else + { + std::swap(imGrayPre, imGrayT); + } +/* + std::chrono::steady_clock::time_point t4 = std::chrono::steady_clock::now(); + double tRmDynamic = std::chrono::duration_cast >(t4 - t3).count(); + std::cout << "RmDynamicPoint time =" << tRmDynamic*1000 << std::endl; +*/ + + N = mvKeys.size(); + + if(mvKeys.empty()) return; + UndistortKeyPoints(); + ComputeStereoFromRGBD(imDepth); + + mvpMapPoints = vector(N,static_cast(NULL)); + mvbOutlier = vector(N,false); + + // This is done only for the first Frame (or after a change in the calibration) + if(mbInitialComputations) + { + ComputeImageBounds(imGray); + + mfGridElementWidthInv=static_cast(FRAME_GRID_COLS)/static_cast(mnMaxX-mnMinX); + mfGridElementHeightInv=static_cast(FRAME_GRID_ROWS)/static_cast(mnMaxY-mnMinY); + + fx = K.at(0,0); + fy = K.at(1,1); + cx = K.at(0,2); + cy = K.at(1,2); + invfx = 1.0f/fx; + invfy = 1.0f/fy; + + mbInitialComputations=false; + } + mb = mbf/fx; + AssignFeaturesToGrid(); +} + + +Frame::Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth) + :mpORBvocabulary(voc),mpORBextractorLeft(extractor),mpORBextractorRight(static_cast(NULL)), + mTimeStamp(timeStamp), mK(K.clone()),mDistCoef(distCoef.clone()), mbf(bf), mThDepth(thDepth) +{ + // Frame ID + mnId=nNextId++; + + // Scale Level Info + mnScaleLevels = mpORBextractorLeft->GetLevels(); + mfScaleFactor = mpORBextractorLeft->GetScaleFactor(); + mfLogScaleFactor = log(mfScaleFactor); + mvScaleFactors = mpORBextractorLeft->GetScaleFactors(); + mvInvScaleFactors = mpORBextractorLeft->GetInverseScaleFactors(); + mvLevelSigma2 = mpORBextractorLeft->GetScaleSigmaSquares(); + mvInvLevelSigma2 = mpORBextractorLeft->GetInverseScaleSigmaSquares(); + + // ORB extraction + ExtractORB(0,imGray); + + N = mvKeys.size(); + + if(mvKeys.empty()) + return; + + UndistortKeyPoints(); + + // Set no stereo information + mvuRight = vector(N,-1); + mvDepth = vector(N,-1); + + mvpMapPoints = vector(N,static_cast(NULL)); + mvbOutlier = vector(N,false); + + // This is done only for the first Frame (or after a change in the calibration) + if(mbInitialComputations) + { + ComputeImageBounds(imGray); + + mfGridElementWidthInv=static_cast(FRAME_GRID_COLS)/static_cast(mnMaxX-mnMinX); + mfGridElementHeightInv=static_cast(FRAME_GRID_ROWS)/static_cast(mnMaxY-mnMinY); + + fx = K.at(0,0); + fy = K.at(1,1); + cx = K.at(0,2); + cy = K.at(1,2); + invfx = 1.0f/fx; + invfy = 1.0f/fy; + + mbInitialComputations=false; + } + + mb = mbf/fx; + + AssignFeaturesToGrid(); +} + +void Frame::AssignFeaturesToGrid() +{ + int nReserve = 0.5f*N/(FRAME_GRID_COLS*FRAME_GRID_ROWS); + for(unsigned int i=0; imbTrackInView = false; + + // 3D in absolute coordinates + cv::Mat P = pMP->GetWorldPos(); + + // 3D in camera coordinates + const cv::Mat Pc = mRcw*P+mtcw; + const float &PcX = Pc.at(0); + const float &PcY= Pc.at(1); + const float &PcZ = Pc.at(2); + + // Check positive depth + if(PcZ<0.0f) + return false; + + // Project in image and check it is not outside + const float invz = 1.0f/PcZ; + const float u=fx*PcX*invz+cx; + const float v=fy*PcY*invz+cy; + + if(umnMaxX) + return false; + if(vmnMaxY) + return false; + + // Check distance is in the scale invariance region of the MapPoint + const float maxDistance = pMP->GetMaxDistanceInvariance(); + const float minDistance = pMP->GetMinDistanceInvariance(); + const cv::Mat PO = P-mOw; + const float dist = cv::norm(PO); + + if(distmaxDistance) + return false; + + // Check viewing angle + cv::Mat Pn = pMP->GetNormal(); + + const float viewCos = PO.dot(Pn)/dist; + + if(viewCosPredictScale(dist,this); + + // Data used by the tracking + pMP->mbTrackInView = true; + pMP->mTrackProjX = u; + pMP->mTrackProjXR = u - mbf*invz; + pMP->mTrackProjY = v; + pMP->mnTrackScaleLevel= nPredictedLevel; + pMP->mTrackViewCos = viewCos; + + return true; +} + +vector Frame::GetFeaturesInArea(const float &x, const float &y, const float &r, const int minLevel, const int maxLevel) const +{ + vector vIndices; + vIndices.reserve(N); + + const int nMinCellX = max(0,(int)floor((x-mnMinX-r)*mfGridElementWidthInv)); + if(nMinCellX>=FRAME_GRID_COLS) + return vIndices; + + const int nMaxCellX = min((int)FRAME_GRID_COLS-1,(int)ceil((x-mnMinX+r)*mfGridElementWidthInv)); + if(nMaxCellX<0) + return vIndices; + + const int nMinCellY = max(0,(int)floor((y-mnMinY-r)*mfGridElementHeightInv)); + if(nMinCellY>=FRAME_GRID_ROWS) + return vIndices; + + const int nMaxCellY = min((int)FRAME_GRID_ROWS-1,(int)ceil((y-mnMinY+r)*mfGridElementHeightInv)); + if(nMaxCellY<0) + return vIndices; + + const bool bCheckLevels = (minLevel>0) || (maxLevel>=0); + + for(int ix = nMinCellX; ix<=nMaxCellX; ix++) + { + for(int iy = nMinCellY; iy<=nMaxCellY; iy++) + { + const vector vCell = mGrid[ix][iy]; + if(vCell.empty()) + continue; + + for(size_t j=0, jend=vCell.size(); j=0) + if(kpUn.octave>maxLevel) + continue; + } + + const float distx = kpUn.pt.x-x; + const float disty = kpUn.pt.y-y; + + if(fabs(distx)=FRAME_GRID_COLS || posY<0 || posY>=FRAME_GRID_ROWS) + return false; + + return true; +} + + +void Frame::ComputeBoW() +{ + if(mBowVec.empty()) + { + vector vCurrentDesc = Converter::toDescriptorVector(mDescriptors); + mpORBvocabulary->transform(vCurrentDesc,mBowVec,mFeatVec,4); + } +} + +//语义和几何动态点 +int Frame::RmDynamicPointWithSemanticAndGeometry(const cv::Mat &imGrayPre, const cv::Mat &imGray) +{ + //transform CurrentFrame's mvKeys to Currentpoint + Curpoint.clear(); + Prepoint.clear(); + CurpointRmDynamic.clear(); + PrepointRmDynamic.clear(); + + for(auto it = mvKeys.begin(); it != mvKeys.end(); ++it) + { + Curpoint.push_back(it->pt); + } + //double mom = nmatches; + + //std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); + cv::calcOpticalFlowPyrLK(imGray, imGrayPre, Curpoint, Prepoint, State, Err, cv::Size(21, 21), 3, cv::TermCriteria(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 30, 0.01)); + /* + std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); + double ttrack= std::chrono::duration_cast >(t2 - t1).count(); + std::cout << "calcOpticalFlow time =" << ttrack*1000 << std::endl; + */ + int Cur_keypoint_sum = Curpoint.size(); + int Pre_keypoint_sum; + cv::Mat FundMat; + if(bPreFrameHavePotentialDynamicObj) + { + for(auto itc = Curpoint.begin(), itp = Prepoint.begin(); itp != Prepoint.end(); ++itc,++itp) + { + if(!isInDynamicRegion(*itp,vPreFramePotentialDynamicBorder)) + { + CurpointRmDynamic.push_back(*itc); + PrepointRmDynamic.push_back(*itp); + } + } + Pre_keypoint_sum = PrepointRmDynamic.size(); + } + else + Pre_keypoint_sum = Prepoint.size(); + + if(Pre_keypoint_sum > 20 && bPreFrameHavePotentialDynamicObj) + FundMat = cv::findFundamentalMat(CurpointRmDynamic, PrepointRmDynamic, cv::FM_RANSAC, 1.0, 0.99); + else + FundMat = cv::findFundamentalMat(Curpoint, Prepoint, cv::FM_RANSAC, 1.0, 0.99); + + int offset = 0; + auto it_cur = mvKeys.begin(); + auto it_pre = Prepoint.begin(); + // std::chrono::steady_clock::time_point t3 = std::chrono::steady_clock::now(); + while (!mpTracker->isDetectImageFinished()) + { + usleep(1); + } + if(!mpTracker->mpDetector2d->mvObjects2D.empty()) + { + mvObjects2D = mpTracker->mpDetector2d->mvObjects2D; + mbHaveDynamicObjectForRmDynamicFeature = mpTracker->mpDetector2d->mbHaveDynamicObjectForRmDynamicFeature; + mbHaveDynamicObjectForMapping = mpTracker->mpDetector2d->mbHaveDynamicObjectForMapping; + //Record the dynamic information for previous frame + bPreFrameHavePotentialDynamicObj = mbHaveDynamicObjectForRmDynamicFeature; + } + else + bPreFrameHavePotentialDynamicObj = false; + + if(mbHaveDynamicObjectForRmDynamicFeature) + { + mvPotentialDynamicBorderForRmDynamicFeature = mpTracker->mpDetector2d->mvPotentialDynamicBorderForRmDynamicFeature; + //Record the dynamic information for previous frame + vPreFramePotentialDynamicBorder = mvPotentialDynamicBorderForRmDynamicFeature; + } + if(mbHaveDynamicObjectForMapping) + mvPotentialDynamicBorderForMapping = mpTracker->mpDetector2d->mvPotentialDynamicBorderForMapping; + +/* + std::chrono::steady_clock::time_point t4 = std::chrono::steady_clock::now(); + double tDetect= std::chrono::duration_cast >(t4 - t3).count(); + std::cout << "DetectImage time =" << tDetect*1000 << std::endl; +*/ + + +/* version1: only detect object and remove in-object keypoints. + cv::Mat mDescriptors_Temp; + while (it_cur != mvKeys.end()) { + if (mbHaveDynamicObjectForRmDynamicFeature && isInDynamicRegion(*it_cur,mvPotentialDynamicBorderForRmDynamicFeature)) + { + mvKeys.erase(it_cur); + it_pre++; + Cur_keypoint_sum--; + } + else + { + mDescriptors_Temp.push_back(mDescriptors.row(offset)); + it_cur++; + it_pre++; + } + offset++; + } + mDescriptors = mDescriptors_Temp; +*/ + + +/*version2: only detect EpiLineDist and remove Dynamic keypoints. + cv::Mat mDescriptors_Temp; + std::vector mvKeys_Temp = mvKeys; + while(it_cur != mvKeys.end()) + { + if(!CheckEpiLineDistToRmDynamicPoint(*it_cur,*it_pre,FundMat,0.2)) + { + mvKeys.erase(it_cur); + it_pre++; + Cur_keypoint_sum--; + } + else + { + mDescriptors_Temp.push_back(mDescriptors.row(offset)); + it_cur++; + it_pre++; + } + offset++; + } + if(Cur_keypoint_sum < mpORBextractorLeft->GetnFeatures()*0.1) + { + //std::cout<<"Cur_keypoint_sum: "< mvKeys_Temp = mvKeys; + + while (it_cur != mvKeys.end()) + { + if(mbHaveDynamicObjectForRmDynamicFeature && isInDynamicRegion(*it_cur,mvPotentialDynamicBorderForRmDynamicFeature)) + { + if (!CheckEpiLineDistToRmDynamicPoint(*it_cur, *it_pre, FundMat, 0.2)) + { + mvKeys.erase(it_cur); + it_pre++; + Cur_keypoint_sum--; + } + else + { + mDescriptors_Temp.push_back(mDescriptors.row(offset)); + it_cur++; + it_pre++; + } + } + else + { + if (!CheckEpiLineDistToRmDynamicPoint(*it_cur, *it_pre, FundMat, 1.0)) + { + mvKeys.erase(it_cur); + it_pre++; + Cur_keypoint_sum--; + } + else + { + mDescriptors_Temp.push_back(mDescriptors.row(offset)); + it_cur++; + it_pre++; + } + + } + offset++; + } + + if(mbHaveDynamicObjectForRmDynamicFeature && Cur_keypoint_sum < mpORBextractorLeft->GetnFeatures()*0.1) //0.5 + { + std::swap(mvKeys, mvKeys_Temp); + } + else + std::swap(mDescriptors, mDescriptors_Temp); + + // std::cout<<"Cur_keypoint_sum: "<(0,0)+kp1.pt.y*F12.at(0,1)+F12.at(0,2); + double b = kp1.pt.x*F12.at(1,0)+kp1.pt.y*F12.at(1,1)+F12.at(1,2); + double c = kp1.pt.x*F12.at(2,0)+kp1.pt.y*F12.at(2,1)+F12.at(2,2); + double son = fabs(a*kp2.x + b*kp2.y + c); + double mom = sqrt(a*a + b*b); + double dist = son / mom; + + //return dist < 1.0; + return dist < threshold; +} + +//点在框内 +// if in DynamicRegion,return true, otherwise return fasle. +bool Frame::isInDynamicRegion(const cv::Point2f &kp,const std::vector >& vDynamicBorder_) +{ + float x = kp.x; + float y = kp.y; + for(unsigned int i = 0; i < vDynamicBorder_.size(); i++) + { + cv::Rect_ rect2d = vDynamicBorder_[i]; + if(x > rect2d.x && x < rect2d.x + rect2d.width && y > rect2d.y && y < rect2d.y + rect2d.height) + return true; + } + return false; +} + +bool Frame::isInDynamicRegion(const cv::KeyPoint &kp,const std::vector >& vDynamicBorder_) +{ + float x = kp.pt.x; + float y = kp.pt.y; + for(unsigned int i = 0; i < vDynamicBorder_.size(); i++) + { + cv::Rect_ rect2d = vDynamicBorder_[i]; + if(x > rect2d.x && x < rect2d.x + rect2d.width && y > rect2d.y && y < rect2d.y + rect2d.height) + return true; + } + return false; +} + +void Frame::UndistortKeyPoints() +{ + if(mDistCoef.at(0)==0.0) + { + mvKeysUn=mvKeys; + return; + } + + // Fill matrix with points + cv::Mat mat(N,2,CV_32F); + for(int i=0; i(i,0)=mvKeys[i].pt.x; + mat.at(i,1)=mvKeys[i].pt.y; + } + + // Undistort points + mat=mat.reshape(2); + cv::undistortPoints(mat,mat,mK,mDistCoef,cv::Mat(),mK); + mat=mat.reshape(1); + + // Fill undistorted keypoint vector + mvKeysUn.resize(N); + for(int i=0; i(i,0); + kp.pt.y=mat.at(i,1); + mvKeysUn[i]=kp; + } +} + +//计算图像的边界，畸变矫正 +void Frame::ComputeImageBounds(const cv::Mat &imLeft) +{ + if(mDistCoef.at(0)!=0.0) + { + cv::Mat mat(4,2,CV_32F); + mat.at(0,0)=0.0; mat.at(0,1)=0.0; + mat.at(1,0)=imLeft.cols; mat.at(1,1)=0.0; + mat.at(2,0)=0.0; mat.at(2,1)=imLeft.rows; + mat.at(3,0)=imLeft.cols; mat.at(3,1)=imLeft.rows; + + // Undistort corners + mat=mat.reshape(2); + cv::undistortPoints(mat,mat,mK,mDistCoef,cv::Mat(),mK); + mat=mat.reshape(1); + + mnMinX = min(mat.at(0,0),mat.at(2,0)); + mnMaxX = max(mat.at(1,0),mat.at(3,0)); + mnMinY = min(mat.at(0,1),mat.at(1,1)); + mnMaxY = max(mat.at(2,1),mat.at(3,1)); + + } + else + { + mnMinX = 0.0f; + mnMaxX = imLeft.cols; + mnMinY = 0.0f; + mnMaxY = imLeft.rows; + } +} + +void Frame::ComputeStereoMatches() +{ + mvuRight = vector(N,-1.0f); + mvDepth = vector(N,-1.0f); + + const int thOrbDist = (ORBmatcher::TH_HIGH+ORBmatcher::TH_LOW)/2; + + const int nRows = mpORBextractorLeft->mvImagePyramid[0].rows; + + //Assign keypoints to row table + vector > vRowIndices(nRows,vector()); + + for(int i=0; i > vDistIdx; + vDistIdx.reserve(N); + + for(int iL=0; iL &vCandidates = vRowIndices[vL]; + + if(vCandidates.empty()) + continue; + + const float minU = uL-maxD; + const float maxU = uL-minD; + + if(maxU<0) + continue; + + int bestDist = ORBmatcher::TH_HIGH; + size_t bestIdxR = 0; + + const cv::Mat &dL = mDescriptors.row(iL); + + // Compare descriptor to right keypoints + for(size_t iC=0; iClevelL+1) + continue; + + const float &uR = kpR.pt.x; + + if(uR>=minU && uR<=maxU) + { + const cv::Mat &dR = mDescriptorsRight.row(iR); + const int dist = ORBmatcher::DescriptorDistance(dL,dR); + + if(distmvImagePyramid[kpL.octave].rowRange(scaledvL-w,scaledvL+w+1).colRange(scaleduL-w,scaleduL+w+1); + IL.convertTo(IL,CV_32F); + IL = IL - IL.at(w,w) *cv::Mat::ones(IL.rows,IL.cols,CV_32F); + + int bestDist = INT_MAX; + int bestincR = 0; + const int L = 5; + vector vDists; + vDists.resize(2*L+1); + + const float iniu = scaleduR0+L-w; + const float endu = scaleduR0+L+w+1; + if(iniu<0 || endu >= mpORBextractorRight->mvImagePyramid[kpL.octave].cols) + continue; + + for(int incR=-L; incR<=+L; incR++) + { + cv::Mat IR = mpORBextractorRight->mvImagePyramid[kpL.octave].rowRange(scaledvL-w,scaledvL+w+1).colRange(scaleduR0+incR-w,scaleduR0+incR+w+1); + IR.convertTo(IR,CV_32F); + IR = IR - IR.at(w,w) *cv::Mat::ones(IR.rows,IR.cols,CV_32F); + + float dist = cv::norm(IL,IR,cv::NORM_L1); + if(dist1) + continue; + + // Re-scaled coordinate + float bestuR = mvScaleFactors[kpL.octave]*((float)scaleduR0+(float)bestincR+deltaR); + + float disparity = (uL-bestuR); + + if(disparity>=minD && disparity(bestDist,iL)); + } + } + } + + sort(vDistIdx.begin(),vDistIdx.end()); + const float median = vDistIdx[vDistIdx.size()/2].first; + const float thDist = 1.5f*1.4f*median; + + for(int i=vDistIdx.size()-1;i>=0;i--) + { + if(vDistIdx[i].first(N,-1); + mvDepth = vector(N,-1); + + for(int i=0; i(v,u); + + if(d>0) + { + mvDepth[i] = d; + mvuRight[i] = kpU.pt.x-mbf/d; + } + } +} + +cv::Mat Frame::UnprojectStereo(const int &i) +{ + const float z = mvDepth[i]; + if(z>0) + { + const float u = mvKeysUn[i].pt.x; + const float v = mvKeysUn[i].pt.y; + const float x = (u-cx)*z*invfx; + const float y = (v-cy)*z*invfy; + cv::Mat x3Dc = (cv::Mat_(3,1) << x, y, z); + return mRwc*x3Dc+mOw; + } + else + return cv::Mat(); +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/FrameDrawer.cc b/MyCode/src/my-slam/src/FrameDrawer.cc new file mode 100644 index 0000000..5fa4b3b --- /dev/null +++ b/MyCode/src/my-slam/src/FrameDrawer.cc @@ -0,0 +1,207 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "FrameDrawer.h" +#include "Tracking.h" + +#include +#include + +#include + +namespace ORB_SLAM2 +{ + +FrameDrawer::FrameDrawer(Map* pMap):mpMap(pMap) +{ + mState=Tracking::SYSTEM_NOT_READY; + mIm = cv::Mat(480,640,CV_8UC3, cv::Scalar(0,0,0)); +} + +cv::Mat FrameDrawer::DrawFrame() +{ + cv::Mat im; + vector vIniKeys; // Initialization: KeyPoints in reference frame + vector vMatches; // Initialization: correspondeces with reference keypoints + vector vCurrentKeys; // KeyPoints in current frame + vector vbVO, vbMap; // Tracked MapPoints in current frame + int state; // Tracking state + + //Copy variables within scoped mutex + { + unique_lock lock(mMutex); + state=mState; + if(mState==Tracking::SYSTEM_NOT_READY) + mState=Tracking::NO_IMAGES_YET; + + mIm.copyTo(im); + + if(mState==Tracking::NOT_INITIALIZED) + { + vCurrentKeys = mvCurrentKeys; + vIniKeys = mvIniKeys; + vMatches = mvIniMatches; + } + else if(mState==Tracking::OK) + { + vCurrentKeys = mvCurrentKeys; + vbVO = mvbVO; + vbMap = mvbMap; + } + else if(mState==Tracking::LOST) + { + vCurrentKeys = mvCurrentKeys; + } + } // destroy scoped mutex -> release mutex + + if(im.channels()<3) //this should be always true + cvtColor(im,im,CV_GRAY2BGR); + + + //Draw + if(state==Tracking::NOT_INITIALIZED) //INITIALIZING + { + for(unsigned int i=0; i=0) + { + cv::line(im,vIniKeys[i].pt,vCurrentKeys[vMatches[i]].pt, + cv::Scalar(0,255,0)); + } + } + } + else if(state==Tracking::OK) //TRACKING + { + mnTracked=0; + mnTrackedVO=0; + const float r = 5; + const int n = vCurrentKeys.size(); + for(int i=0;iKeyFramesInMap(); + int nMPs = mpMap->MapPointsInMap(); + s << "KFs: " << nKFs << ", MPs: " << nMPs << ", Matches: " << mnTracked; + if(mnTrackedVO>0) + s << ", + VO matches: " << mnTrackedVO; + } + else if(nState==Tracking::LOST) + { + s << " TRACK LOST. TRYING TO RELOCALIZE "; + } + else if(nState==Tracking::SYSTEM_NOT_READY) + { + s << " LOADING ORB VOCABULARY. PLEASE WAIT..."; + } + + int baseline=0; + cv::Size textSize = cv::getTextSize(s.str(),cv::FONT_HERSHEY_PLAIN,1,1,&baseline); + + imText = cv::Mat(im.rows+textSize.height+10,im.cols,im.type()); + im.copyTo(imText.rowRange(0,im.rows).colRange(0,im.cols)); + imText.rowRange(im.rows,imText.rows) = cv::Mat::zeros(textSize.height+10,im.cols,im.type()); + cv::putText(imText,s.str(),cv::Point(5,imText.rows-5),cv::FONT_HERSHEY_PLAIN,1,cv::Scalar(255,255,255),1,8); + +} + +void FrameDrawer::Update(Tracking *pTracker) +{ + unique_lock lock(mMutex); + pTracker->mImRGB.copyTo(mIm); + mvCurrentKeys=pTracker->mCurrentFrame.mvKeys; + N = mvCurrentKeys.size(); + mvbVO = vector(N,false); + mvbMap = vector(N,false); + mbOnlyTracking = pTracker->mbOnlyTracking; + + if(pTracker->mLastProcessedState==Tracking::NOT_INITIALIZED) + { + mvIniKeys=pTracker->mInitialFrame.mvKeys; + mvIniMatches=pTracker->mvIniMatches; + } + else if(pTracker->mLastProcessedState==Tracking::OK) + { + for(int i=0;imCurrentFrame.mvpMapPoints[i]; + if(pMP) + { + if(!pTracker->mCurrentFrame.mvbOutlier[i]) + { + if(pMP->Observations()>0) + mvbMap[i]=true; + else + mvbVO[i]=true; + } + } + } + } + mState=static_cast(pTracker->mLastProcessedState); +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/Initializer.cc b/MyCode/src/my-slam/src/Initializer.cc new file mode 100644 index 0000000..7d0816f --- /dev/null +++ b/MyCode/src/my-slam/src/Initializer.cc @@ -0,0 +1,931 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "Initializer.h" + +#include "Thirdparty/DBoW2/DUtils/Random.h" + +#include "Optimizer.h" +#include "ORBmatcher.h" + +#include + +namespace ORB_SLAM2 +{ + +Initializer::Initializer(const Frame &ReferenceFrame, float sigma, int iterations) +{ + mK = ReferenceFrame.mK.clone(); + + mvKeys1 = ReferenceFrame.mvKeysUn; + + mSigma = sigma; + mSigma2 = sigma*sigma; + mMaxIterations = iterations; +} + +bool Initializer::Initialize(const Frame &CurrentFrame, const vector &vMatches12, cv::Mat &R21, cv::Mat &t21, + vector &vP3D, vector &vbTriangulated) +{ + // Fill structures with current keypoints and matches with reference frame + // Reference Frame: 1, Current Frame: 2 + mvKeys2 = CurrentFrame.mvKeysUn; + + mvMatches12.clear(); + mvMatches12.reserve(mvKeys2.size()); + mvbMatched1.resize(mvKeys1.size()); + for(size_t i=0, iend=vMatches12.size();i=0) + { + mvMatches12.push_back(make_pair(i,vMatches12[i])); + mvbMatched1[i]=true; + } + else + mvbMatched1[i]=false; + } + + const int N = mvMatches12.size(); + + // Indices for minimum set selection + vector vAllIndices; + vAllIndices.reserve(N); + vector vAvailableIndices; + + for(int i=0; i >(mMaxIterations,vector(8,0)); + + DUtils::Random::SeedRandOnce(0); + + for(int it=0; it vbMatchesInliersH, vbMatchesInliersF; + float SH, SF; + cv::Mat H, F; + + thread threadH(&Initializer::FindHomography,this,ref(vbMatchesInliersH), ref(SH), ref(H)); + thread threadF(&Initializer::FindFundamental,this,ref(vbMatchesInliersF), ref(SF), ref(F)); + + // Wait until both threads have finished + threadH.join(); + threadF.join(); + + // Compute ratio of scores + float RH = SH/(SH+SF); + + // Try to reconstruct from homography or fundamental depending on the ratio (0.40-0.45) + if(RH>0.40) + return ReconstructH(vbMatchesInliersH,H,mK,R21,t21,vP3D,vbTriangulated,1.0,50); + else //if(pF_HF>0.6) + return ReconstructF(vbMatchesInliersF,F,mK,R21,t21,vP3D,vbTriangulated,1.0,50); + + return false; +} + + +void Initializer::FindHomography(vector &vbMatchesInliers, float &score, cv::Mat &H21) +{ + // Number of putative matches + const int N = mvMatches12.size(); + + // Normalize coordinates + vector vPn1, vPn2; + cv::Mat T1, T2; + Normalize(mvKeys1,vPn1, T1); + Normalize(mvKeys2,vPn2, T2); + cv::Mat T2inv = T2.inv(); + + // Best Results variables + score = 0.0; + vbMatchesInliers = vector(N,false); + + // Iteration variables + vector vPn1i(8); + vector vPn2i(8); + cv::Mat H21i, H12i; + vector vbCurrentInliers(N,false); + float currentScore; + + // Perform all RANSAC iterations and save the solution with highest score + for(int it=0; itscore) + { + H21 = H21i.clone(); + vbMatchesInliers = vbCurrentInliers; + score = currentScore; + } + } +} + + +void Initializer::FindFundamental(vector &vbMatchesInliers, float &score, cv::Mat &F21) +{ + // Number of putative matches + //const int N = vbMatchesInliers.size(); //源代码出错！请使用下面代替 + const int N = mvMatches12.size(); + // Normalize coordinates + vector vPn1, vPn2; + cv::Mat T1, T2; + Normalize(mvKeys1,vPn1, T1); + Normalize(mvKeys2,vPn2, T2); + cv::Mat T2t = T2.t(); + + // Best Results variables + score = 0.0; + vbMatchesInliers = vector(N,false); + + // Iteration variables + vector vPn1i(8); + vector vPn2i(8); + cv::Mat F21i; + vector vbCurrentInliers(N,false); + float currentScore; + + // Perform all RANSAC iterations and save the solution with highest score + for(int it=0; itscore) + { + F21 = F21i.clone(); + vbMatchesInliers = vbCurrentInliers; + score = currentScore; + } + } +} + + +cv::Mat Initializer::ComputeH21(const vector &vP1, const vector &vP2) +{ + const int N = vP1.size(); + + cv::Mat A(2*N,9,CV_32F); + + for(int i=0; i(2*i,0) = 0.0; + A.at(2*i,1) = 0.0; + A.at(2*i,2) = 0.0; + A.at(2*i,3) = -u1; + A.at(2*i,4) = -v1; + A.at(2*i,5) = -1; + A.at(2*i,6) = v2*u1; + A.at(2*i,7) = v2*v1; + A.at(2*i,8) = v2; + + A.at(2*i+1,0) = u1; + A.at(2*i+1,1) = v1; + A.at(2*i+1,2) = 1; + A.at(2*i+1,3) = 0.0; + A.at(2*i+1,4) = 0.0; + A.at(2*i+1,5) = 0.0; + A.at(2*i+1,6) = -u2*u1; + A.at(2*i+1,7) = -u2*v1; + A.at(2*i+1,8) = -u2; + + } + + cv::Mat u,w,vt; + + cv::SVDecomp(A,w,u,vt,cv::SVD::MODIFY_A | cv::SVD::FULL_UV); + + return vt.row(8).reshape(0, 3); +} + +cv::Mat Initializer::ComputeF21(const vector &vP1,const vector &vP2) +{ + const int N = vP1.size(); + + cv::Mat A(N,9,CV_32F); + + for(int i=0; i(i,0) = u2*u1; + A.at(i,1) = u2*v1; + A.at(i,2) = u2; + A.at(i,3) = v2*u1; + A.at(i,4) = v2*v1; + A.at(i,5) = v2; + A.at(i,6) = u1; + A.at(i,7) = v1; + A.at(i,8) = 1; + } + + cv::Mat u,w,vt; + + cv::SVDecomp(A,w,u,vt,cv::SVD::MODIFY_A | cv::SVD::FULL_UV); + + cv::Mat Fpre = vt.row(8).reshape(0, 3); + + cv::SVDecomp(Fpre,w,u,vt,cv::SVD::MODIFY_A | cv::SVD::FULL_UV); + + w.at(2)=0; + + return u*cv::Mat::diag(w)*vt; +} + +float Initializer::CheckHomography(const cv::Mat &H21, const cv::Mat &H12, vector &vbMatchesInliers, float sigma) +{ + const int N = mvMatches12.size(); + + const float h11 = H21.at(0,0); + const float h12 = H21.at(0,1); + const float h13 = H21.at(0,2); + const float h21 = H21.at(1,0); + const float h22 = H21.at(1,1); + const float h23 = H21.at(1,2); + const float h31 = H21.at(2,0); + const float h32 = H21.at(2,1); + const float h33 = H21.at(2,2); + + const float h11inv = H12.at(0,0); + const float h12inv = H12.at(0,1); + const float h13inv = H12.at(0,2); + const float h21inv = H12.at(1,0); + const float h22inv = H12.at(1,1); + const float h23inv = H12.at(1,2); + const float h31inv = H12.at(2,0); + const float h32inv = H12.at(2,1); + const float h33inv = H12.at(2,2); + + vbMatchesInliers.resize(N); + + float score = 0; + + const float th = 5.991; + + const float invSigmaSquare = 1.0/(sigma*sigma); + + for(int i=0; ith) + bIn = false; + else + score += th - chiSquare1; + + // Reprojection error in second image + // x1in2 = H21*x1 + + const float w1in2inv = 1.0/(h31*u1+h32*v1+h33); + const float u1in2 = (h11*u1+h12*v1+h13)*w1in2inv; + const float v1in2 = (h21*u1+h22*v1+h23)*w1in2inv; + + const float squareDist2 = (u2-u1in2)*(u2-u1in2)+(v2-v1in2)*(v2-v1in2); + + const float chiSquare2 = squareDist2*invSigmaSquare; + + if(chiSquare2>th) + bIn = false; + else + score += th - chiSquare2; + + if(bIn) + vbMatchesInliers[i]=true; + else + vbMatchesInliers[i]=false; + } + + return score; +} + +float Initializer::CheckFundamental(const cv::Mat &F21, vector &vbMatchesInliers, float sigma) +{ + const int N = mvMatches12.size(); + + const float f11 = F21.at(0,0); + const float f12 = F21.at(0,1); + const float f13 = F21.at(0,2); + const float f21 = F21.at(1,0); + const float f22 = F21.at(1,1); + const float f23 = F21.at(1,2); + const float f31 = F21.at(2,0); + const float f32 = F21.at(2,1); + const float f33 = F21.at(2,2); + + vbMatchesInliers.resize(N); + + float score = 0; + + const float th = 3.841; + const float thScore = 5.991; + + const float invSigmaSquare = 1.0/(sigma*sigma); + + for(int i=0; ith) + bIn = false; + else + score += thScore - chiSquare1; + + // Reprojection error in second image + // l1 =x2tF21=(a1,b1,c1) + + const float a1 = f11*u2+f21*v2+f31; + const float b1 = f12*u2+f22*v2+f32; + const float c1 = f13*u2+f23*v2+f33; + + const float num1 = a1*u1+b1*v1+c1; + + const float squareDist2 = num1*num1/(a1*a1+b1*b1); + + const float chiSquare2 = squareDist2*invSigmaSquare; + + if(chiSquare2>th) + bIn = false; + else + score += thScore - chiSquare2; + + if(bIn) + vbMatchesInliers[i]=true; + else + vbMatchesInliers[i]=false; + } + + return score; +} + +bool Initializer::ReconstructF(vector &vbMatchesInliers, cv::Mat &F21, cv::Mat &K, + cv::Mat &R21, cv::Mat &t21, vector &vP3D, vector &vbTriangulated, float minParallax, int minTriangulated) +{ + int N=0; + for(size_t i=0, iend = vbMatchesInliers.size() ; i vP3D1, vP3D2, vP3D3, vP3D4; + vector vbTriangulated1,vbTriangulated2,vbTriangulated3, vbTriangulated4; + float parallax1,parallax2, parallax3, parallax4; + + int nGood1 = CheckRT(R1,t1,mvKeys1,mvKeys2,mvMatches12,vbMatchesInliers,K, vP3D1, 4.0*mSigma2, vbTriangulated1, parallax1); + int nGood2 = CheckRT(R2,t1,mvKeys1,mvKeys2,mvMatches12,vbMatchesInliers,K, vP3D2, 4.0*mSigma2, vbTriangulated2, parallax2); + int nGood3 = CheckRT(R1,t2,mvKeys1,mvKeys2,mvMatches12,vbMatchesInliers,K, vP3D3, 4.0*mSigma2, vbTriangulated3, parallax3); + int nGood4 = CheckRT(R2,t2,mvKeys1,mvKeys2,mvMatches12,vbMatchesInliers,K, vP3D4, 4.0*mSigma2, vbTriangulated4, parallax4); + + int maxGood = max(nGood1,max(nGood2,max(nGood3,nGood4))); + + R21 = cv::Mat(); + t21 = cv::Mat(); + + int nMinGood = max(static_cast(0.9*N),minTriangulated); + + int nsimilar = 0; + if(nGood1>0.7*maxGood) + nsimilar++; + if(nGood2>0.7*maxGood) + nsimilar++; + if(nGood3>0.7*maxGood) + nsimilar++; + if(nGood4>0.7*maxGood) + nsimilar++; + + // If there is not a clear winner or not enough triangulated points reject initialization + if(maxGood1) + { + return false; + } + + // If best reconstruction has enough parallax initialize + if(maxGood==nGood1) + { + if(parallax1>minParallax) + { + vP3D = vP3D1; + vbTriangulated = vbTriangulated1; + + R1.copyTo(R21); + t1.copyTo(t21); + return true; + } + }else if(maxGood==nGood2) + { + if(parallax2>minParallax) + { + vP3D = vP3D2; + vbTriangulated = vbTriangulated2; + + R2.copyTo(R21); + t1.copyTo(t21); + return true; + } + }else if(maxGood==nGood3) + { + if(parallax3>minParallax) + { + vP3D = vP3D3; + vbTriangulated = vbTriangulated3; + + R1.copyTo(R21); + t2.copyTo(t21); + return true; + } + }else if(maxGood==nGood4) + { + if(parallax4>minParallax) + { + vP3D = vP3D4; + vbTriangulated = vbTriangulated4; + + R2.copyTo(R21); + t2.copyTo(t21); + return true; + } + } + + return false; +} + +bool Initializer::ReconstructH(vector &vbMatchesInliers, cv::Mat &H21, cv::Mat &K, + cv::Mat &R21, cv::Mat &t21, vector &vP3D, vector &vbTriangulated, float minParallax, int minTriangulated) +{ + int N=0; + for(size_t i=0, iend = vbMatchesInliers.size() ; i(0); + float d2 = w.at(1); + float d3 = w.at(2); + + if(d1/d2<1.00001 || d2/d3<1.00001) + { + return false; + } + + vector vR, vt, vn; + vR.reserve(8); + vt.reserve(8); + vn.reserve(8); + + //n'=[x1 0 x3] 4 posibilities e1=e3=1, e1=1 e3=-1, e1=-1 e3=1, e1=e3=-1 + float aux1 = sqrt((d1*d1-d2*d2)/(d1*d1-d3*d3)); + float aux3 = sqrt((d2*d2-d3*d3)/(d1*d1-d3*d3)); + float x1[] = {aux1,aux1,-aux1,-aux1}; + float x3[] = {aux3,-aux3,aux3,-aux3}; + + //case d'=d2 + float aux_stheta = sqrt((d1*d1-d2*d2)*(d2*d2-d3*d3))/((d1+d3)*d2); + + float ctheta = (d2*d2+d1*d3)/((d1+d3)*d2); + float stheta[] = {aux_stheta, -aux_stheta, -aux_stheta, aux_stheta}; + + for(int i=0; i<4; i++) + { + cv::Mat Rp=cv::Mat::eye(3,3,CV_32F); + Rp.at(0,0)=ctheta; + Rp.at(0,2)=-stheta[i]; + Rp.at(2,0)=stheta[i]; + Rp.at(2,2)=ctheta; + + cv::Mat R = s*U*Rp*Vt; + vR.push_back(R); + + cv::Mat tp(3,1,CV_32F); + tp.at(0)=x1[i]; + tp.at(1)=0; + tp.at(2)=-x3[i]; + tp*=d1-d3; + + cv::Mat t = U*tp; + vt.push_back(t/cv::norm(t)); + + cv::Mat np(3,1,CV_32F); + np.at(0)=x1[i]; + np.at(1)=0; + np.at(2)=x3[i]; + + cv::Mat n = V*np; + if(n.at(2)<0) + n=-n; + vn.push_back(n); + } + + //case d'=-d2 + float aux_sphi = sqrt((d1*d1-d2*d2)*(d2*d2-d3*d3))/((d1-d3)*d2); + + float cphi = (d1*d3-d2*d2)/((d1-d3)*d2); + float sphi[] = {aux_sphi, -aux_sphi, -aux_sphi, aux_sphi}; + + for(int i=0; i<4; i++) + { + cv::Mat Rp=cv::Mat::eye(3,3,CV_32F); + Rp.at(0,0)=cphi; + Rp.at(0,2)=sphi[i]; + Rp.at(1,1)=-1; + Rp.at(2,0)=sphi[i]; + Rp.at(2,2)=-cphi; + + cv::Mat R = s*U*Rp*Vt; + vR.push_back(R); + + cv::Mat tp(3,1,CV_32F); + tp.at(0)=x1[i]; + tp.at(1)=0; + tp.at(2)=x3[i]; + tp*=d1+d3; + + cv::Mat t = U*tp; + vt.push_back(t/cv::norm(t)); + + cv::Mat np(3,1,CV_32F); + np.at(0)=x1[i]; + np.at(1)=0; + np.at(2)=x3[i]; + + cv::Mat n = V*np; + if(n.at(2)<0) + n=-n; + vn.push_back(n); + } + + + int bestGood = 0; + int secondBestGood = 0; + int bestSolutionIdx = -1; + float bestParallax = -1; + vector bestP3D; + vector bestTriangulated; + + // Instead of applying the visibility constraints proposed in the Faugeras' paper (which could fail for points seen with low parallax) + // We reconstruct all hypotheses and check in terms of triangulated points and parallax + for(size_t i=0; i<8; i++) + { + float parallaxi; + vector vP3Di; + vector vbTriangulatedi; + int nGood = CheckRT(vR[i],vt[i],mvKeys1,mvKeys2,mvMatches12,vbMatchesInliers,K,vP3Di, 4.0*mSigma2, vbTriangulatedi, parallaxi); + + if(nGood>bestGood) + { + secondBestGood = bestGood; + bestGood = nGood; + bestSolutionIdx = i; + bestParallax = parallaxi; + bestP3D = vP3Di; + bestTriangulated = vbTriangulatedi; + } + else if(nGood>secondBestGood) + { + secondBestGood = nGood; + } + } + + + if(secondBestGood<0.75*bestGood && bestParallax>=minParallax && bestGood>minTriangulated && bestGood>0.9*N) + { + vR[bestSolutionIdx].copyTo(R21); + vt[bestSolutionIdx].copyTo(t21); + vP3D = bestP3D; + vbTriangulated = bestTriangulated; + + return true; + } + + return false; +} + +void Initializer::Triangulate(const cv::KeyPoint &kp1, const cv::KeyPoint &kp2, const cv::Mat &P1, const cv::Mat &P2, cv::Mat &x3D) +{ + cv::Mat A(4,4,CV_32F); + + A.row(0) = kp1.pt.x*P1.row(2)-P1.row(0); + A.row(1) = kp1.pt.y*P1.row(2)-P1.row(1); + A.row(2) = kp2.pt.x*P2.row(2)-P2.row(0); + A.row(3) = kp2.pt.y*P2.row(2)-P2.row(1); + + cv::Mat u,w,vt; + cv::SVD::compute(A,w,u,vt,cv::SVD::MODIFY_A| cv::SVD::FULL_UV); + x3D = vt.row(3).t(); + x3D = x3D.rowRange(0,3)/x3D.at(3); +} + +void Initializer::Normalize(const vector &vKeys, vector &vNormalizedPoints, cv::Mat &T) +{ + float meanX = 0; + float meanY = 0; + const int N = vKeys.size(); + + vNormalizedPoints.resize(N); + + for(int i=0; i(0,0) = sX; + T.at(1,1) = sY; + T.at(0,2) = -meanX*sX; + T.at(1,2) = -meanY*sY; +} + + +int Initializer::CheckRT(const cv::Mat &R, const cv::Mat &t, const vector &vKeys1, const vector &vKeys2, + const vector &vMatches12, vector &vbMatchesInliers, + const cv::Mat &K, vector &vP3D, float th2, vector &vbGood, float ¶llax) +{ + // Calibration parameters + const float fx = K.at(0,0); + const float fy = K.at(1,1); + const float cx = K.at(0,2); + const float cy = K.at(1,2); + + vbGood = vector(vKeys1.size(),false); + vP3D.resize(vKeys1.size()); + + vector vCosParallax; + vCosParallax.reserve(vKeys1.size()); + + // Camera 1 Projection Matrix K[I|0] + cv::Mat P1(3,4,CV_32F,cv::Scalar(0)); + K.copyTo(P1.rowRange(0,3).colRange(0,3)); + + cv::Mat O1 = cv::Mat::zeros(3,1,CV_32F); + + // Camera 2 Projection Matrix K[R|t] + cv::Mat P2(3,4,CV_32F); + R.copyTo(P2.rowRange(0,3).colRange(0,3)); + t.copyTo(P2.rowRange(0,3).col(3)); + P2 = K*P2; + + cv::Mat O2 = -R.t()*t; + + int nGood=0; + + for(size_t i=0, iend=vMatches12.size();i(0)) || !isfinite(p3dC1.at(1)) || !isfinite(p3dC1.at(2))) + { + vbGood[vMatches12[i].first]=false; + continue; + } + + // Check parallax + cv::Mat normal1 = p3dC1 - O1; + float dist1 = cv::norm(normal1); + + cv::Mat normal2 = p3dC1 - O2; + float dist2 = cv::norm(normal2); + + float cosParallax = normal1.dot(normal2)/(dist1*dist2); + + // Check depth in front of first camera (only if enough parallax, as "infinite" points can easily go to negative depth) + if(p3dC1.at(2)<=0 && cosParallax<0.99998) + continue; + + // Check depth in front of second camera (only if enough parallax, as "infinite" points can easily go to negative depth) + cv::Mat p3dC2 = R*p3dC1+t; + + if(p3dC2.at(2)<=0 && cosParallax<0.99998) + continue; + + // Check reprojection error in first image + float im1x, im1y; + float invZ1 = 1.0/p3dC1.at(2); + im1x = fx*p3dC1.at(0)*invZ1+cx; + im1y = fy*p3dC1.at(1)*invZ1+cy; + + float squareError1 = (im1x-kp1.pt.x)*(im1x-kp1.pt.x)+(im1y-kp1.pt.y)*(im1y-kp1.pt.y); + + if(squareError1>th2) + continue; + + // Check reprojection error in second image + float im2x, im2y; + float invZ2 = 1.0/p3dC2.at(2); + im2x = fx*p3dC2.at(0)*invZ2+cx; + im2y = fy*p3dC2.at(1)*invZ2+cy; + + float squareError2 = (im2x-kp2.pt.x)*(im2x-kp2.pt.x)+(im2y-kp2.pt.y)*(im2y-kp2.pt.y); + + if(squareError2>th2) + continue; + + vCosParallax.push_back(cosParallax); + vP3D[vMatches12[i].first] = cv::Point3f(p3dC1.at(0),p3dC1.at(1),p3dC1.at(2)); + nGood++; + + if(cosParallax<0.99998) + vbGood[vMatches12[i].first]=true; + } + + if(nGood>0) + { + sort(vCosParallax.begin(),vCosParallax.end()); + + size_t idx = min(50,int(vCosParallax.size()-1)); + parallax = acos(vCosParallax[idx])*180/CV_PI; + } + else + parallax=0; + + return nGood; +} + +void Initializer::DecomposeE(const cv::Mat &E, cv::Mat &R1, cv::Mat &R2, cv::Mat &t) +{ + cv::Mat u,w,vt; + cv::SVD::compute(E,w,u,vt); + + u.col(2).copyTo(t); + t=t/cv::norm(t); + + cv::Mat W(3,3,CV_32F,cv::Scalar(0)); + W.at(0,1)=-1; + W.at(1,0)=1; + W.at(2,2)=1; + + R1 = u*W*vt; + if(cv::determinant(R1)<0) + R1=-R1; + + R2 = u*W.t()*vt; + if(cv::determinant(R2)<0) + R2=-R2; +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/KeyFrame.cc b/MyCode/src/my-slam/src/KeyFrame.cc new file mode 100644 index 0000000..20dd7c8 --- /dev/null +++ b/MyCode/src/my-slam/src/KeyFrame.cc @@ -0,0 +1,666 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "KeyFrame.h" +#include "Converter.h" +#include "ORBmatcher.h" +#include + +namespace ORB_SLAM2 +{ + +long unsigned int KeyFrame::nNextId=0; + +KeyFrame::KeyFrame(Frame &F, Map *pMap, KeyFrameDatabase *pKFDB): + mnFrameId(F.mnId), mTimeStamp(F.mTimeStamp), mnGridCols(FRAME_GRID_COLS), mnGridRows(FRAME_GRID_ROWS), + mfGridElementWidthInv(F.mfGridElementWidthInv), mfGridElementHeightInv(F.mfGridElementHeightInv), + mnTrackReferenceForFrame(0), mnFuseTargetForKF(0), mnBALocalForKF(0), mnBAFixedForKF(0), + mnLoopQuery(0), mnLoopWords(0), mnRelocQuery(0), mnRelocWords(0), mnBAGlobalForKF(0), + fx(F.fx), fy(F.fy), cx(F.cx), cy(F.cy), invfx(F.invfx), invfy(F.invfy), + mbf(F.mbf), mb(F.mb), mThDepth(F.mThDepth), N(F.N), mvKeys(F.mvKeys), mvKeysUn(F.mvKeysUn), + mvuRight(F.mvuRight), mvDepth(F.mvDepth), mDescriptors(F.mDescriptors.clone()), + mBowVec(F.mBowVec), mFeatVec(F.mFeatVec), mnScaleLevels(F.mnScaleLevels), mfScaleFactor(F.mfScaleFactor), + mfLogScaleFactor(F.mfLogScaleFactor), mvScaleFactors(F.mvScaleFactors), mvLevelSigma2(F.mvLevelSigma2), + mvInvLevelSigma2(F.mvInvLevelSigma2), mnMinX(F.mnMinX), mnMinY(F.mnMinY), mnMaxX(F.mnMaxX), + mnMaxY(F.mnMaxY), mK(F.mK),mvObjects2D(F.mvObjects2D),mbHaveDynamicObjectForMapping(F.mbHaveDynamicObjectForMapping), + mvPotentialDynamicBorderForMapping(F.mvPotentialDynamicBorderForMapping),mvpMapPoints(F.mvpMapPoints), + mpKeyFrameDB(pKFDB),mpORBvocabulary(F.mpORBvocabulary), mbFirstConnection(true), + mpParent(NULL), mbNotErase(false), mbToBeErased(false), mbBad(false), mHalfBaseline(F.mb/2),mpMap(pMap) +{ + mnId=nNextId++; + + mGrid.resize(mnGridCols); + for(int i=0; i vCurrentDesc = Converter::toDescriptorVector(mDescriptors); + // Feature vector associate features with nodes in the 4th level (from leaves up) + // We assume the vocabulary tree has 6 levels, change the 4 otherwise + mpORBvocabulary->transform(vCurrentDesc,mBowVec,mFeatVec,4); + } +} + +void KeyFrame::SetPose(const cv::Mat &Tcw_) +{ + unique_lock lock(mMutexPose); + Tcw_.copyTo(Tcw); + cv::Mat Rcw = Tcw.rowRange(0,3).colRange(0,3); + cv::Mat tcw = Tcw.rowRange(0,3).col(3); + cv::Mat Rwc = Rcw.t(); + Ow = -Rwc*tcw; + + Twc = cv::Mat::eye(4,4,Tcw.type()); + Rwc.copyTo(Twc.rowRange(0,3).colRange(0,3)); + Ow.copyTo(Twc.rowRange(0,3).col(3)); + cv::Mat center = (cv::Mat_(4,1) << mHalfBaseline, 0 , 0, 1); + Cw = Twc*center; +} + +cv::Mat KeyFrame::GetPose() +{ + unique_lock lock(mMutexPose); + return Tcw.clone(); +} + +cv::Mat KeyFrame::GetPoseInverse() +{ + unique_lock lock(mMutexPose); + return Twc.clone(); +} + +cv::Mat KeyFrame::GetCameraCenter() +{ + unique_lock lock(mMutexPose); + return Ow.clone(); +} + +cv::Mat KeyFrame::GetStereoCenter() +{ + unique_lock lock(mMutexPose); + return Cw.clone(); +} + + +cv::Mat KeyFrame::GetRotation() +{ + unique_lock lock(mMutexPose); + return Tcw.rowRange(0,3).colRange(0,3).clone(); +} + +cv::Mat KeyFrame::GetTranslation() +{ + unique_lock lock(mMutexPose); + return Tcw.rowRange(0,3).col(3).clone(); +} + +void KeyFrame::AddConnection(KeyFrame *pKF, const int &weight) +{ + { + unique_lock lock(mMutexConnections); + if(!mConnectedKeyFrameWeights.count(pKF)) + mConnectedKeyFrameWeights[pKF]=weight; + else if(mConnectedKeyFrameWeights[pKF]!=weight) + mConnectedKeyFrameWeights[pKF]=weight; + else + return; + } + + UpdateBestCovisibles(); +} + +void KeyFrame::UpdateBestCovisibles() +{ + unique_lock lock(mMutexConnections); + vector > vPairs; + vPairs.reserve(mConnectedKeyFrameWeights.size()); + for(map::iterator mit=mConnectedKeyFrameWeights.begin(), mend=mConnectedKeyFrameWeights.end(); mit!=mend; mit++) + vPairs.push_back(make_pair(mit->second,mit->first)); + + sort(vPairs.begin(),vPairs.end()); + list lKFs; + list lWs; + for(size_t i=0, iend=vPairs.size(); i(lKFs.begin(),lKFs.end()); + mvOrderedWeights = vector(lWs.begin(), lWs.end()); +} + +set KeyFrame::GetConnectedKeyFrames() +{ + unique_lock lock(mMutexConnections); + set s; + for(map::iterator mit=mConnectedKeyFrameWeights.begin();mit!=mConnectedKeyFrameWeights.end();mit++) + s.insert(mit->first); + return s; +} + +vector KeyFrame::GetVectorCovisibleKeyFrames() +{ + unique_lock lock(mMutexConnections); + return mvpOrderedConnectedKeyFrames; +} + +vector KeyFrame::GetBestCovisibilityKeyFrames(const int &N) +{ + unique_lock lock(mMutexConnections); + if((int)mvpOrderedConnectedKeyFrames.size()(mvpOrderedConnectedKeyFrames.begin(),mvpOrderedConnectedKeyFrames.begin()+N); + +} + +vector KeyFrame::GetCovisiblesByWeight(const int &w) +{ + unique_lock lock(mMutexConnections); + + if(mvpOrderedConnectedKeyFrames.empty()) + return vector(); + + vector::iterator it = upper_bound(mvOrderedWeights.begin(),mvOrderedWeights.end(),w,KeyFrame::weightComp); + if(it==mvOrderedWeights.end()) + return vector(); + else + { + int n = it-mvOrderedWeights.begin(); + return vector(mvpOrderedConnectedKeyFrames.begin(), mvpOrderedConnectedKeyFrames.begin()+n); + } +} + +int KeyFrame::GetWeight(KeyFrame *pKF) +{ + unique_lock lock(mMutexConnections); + if(mConnectedKeyFrameWeights.count(pKF)) + return mConnectedKeyFrameWeights[pKF]; + else + return 0; +} + +void KeyFrame::AddMapPoint(MapPoint *pMP, const size_t &idx) +{ + unique_lock lock(mMutexFeatures); + mvpMapPoints[idx]=pMP; +} + +void KeyFrame::EraseMapPointMatch(const size_t &idx) +{ + unique_lock lock(mMutexFeatures); + mvpMapPoints[idx]=static_cast(NULL); +} + +void KeyFrame::EraseMapPointMatch(MapPoint* pMP) +{ + int idx = pMP->GetIndexInKeyFrame(this); + if(idx>=0) + mvpMapPoints[idx]=static_cast(NULL); +} + + +void KeyFrame::ReplaceMapPointMatch(const size_t &idx, MapPoint* pMP) +{ + mvpMapPoints[idx]=pMP; +} + +set KeyFrame::GetMapPoints() +{ + unique_lock lock(mMutexFeatures); + set s; + for(size_t i=0, iend=mvpMapPoints.size(); iisBad()) + s.insert(pMP); + } + return s; +} + +int KeyFrame::TrackedMapPoints(const int &minObs) +{ + unique_lock lock(mMutexFeatures); + + int nPoints=0; + const bool bCheckObs = minObs>0; + for(int i=0; iisBad()) + { + if(bCheckObs) + { + if(mvpMapPoints[i]->Observations()>=minObs) + nPoints++; + } + else + nPoints++; + } + } + } + + return nPoints; +} + +vector KeyFrame::GetMapPointMatches() +{ + unique_lock lock(mMutexFeatures); + return mvpMapPoints; +} + +MapPoint* KeyFrame::GetMapPoint(const size_t &idx) +{ + unique_lock lock(mMutexFeatures); + return mvpMapPoints[idx]; +} + +void KeyFrame::UpdateConnections() +{ + map KFcounter; + + vector vpMP; + + { + unique_lock lockMPs(mMutexFeatures); + vpMP = mvpMapPoints; + } + + //For all map points in keyframe check in which other keyframes are they seen + //Increase counter for those keyframes + for(vector::iterator vit=vpMP.begin(), vend=vpMP.end(); vit!=vend; vit++) + { + MapPoint* pMP = *vit; + + if(!pMP) + continue; + + if(pMP->isBad()) + continue; + + map observations = pMP->GetObservations(); + + for(map::iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++) + { + if(mit->first->mnId==mnId) + continue; + KFcounter[mit->first]++; + } + } + + // This should not happen + if(KFcounter.empty()) + return; + + //If the counter is greater than threshold add connection + //In case no keyframe counter is over threshold add the one with maximum counter + int nmax=0; + KeyFrame* pKFmax=NULL; + int th = 15; + + vector > vPairs; + vPairs.reserve(KFcounter.size()); + for(map::iterator mit=KFcounter.begin(), mend=KFcounter.end(); mit!=mend; mit++) + { + if(mit->second>nmax) + { + nmax=mit->second; + pKFmax=mit->first; + } + if(mit->second>=th) + { + vPairs.push_back(make_pair(mit->second,mit->first)); + (mit->first)->AddConnection(this,mit->second); + } + } + + if(vPairs.empty()) + { + vPairs.push_back(make_pair(nmax,pKFmax)); + pKFmax->AddConnection(this,nmax); + } + + sort(vPairs.begin(),vPairs.end()); + list lKFs; + list lWs; + for(size_t i=0; i lockCon(mMutexConnections); + + // mspConnectedKeyFrames = spConnectedKeyFrames; + mConnectedKeyFrameWeights = KFcounter; + mvpOrderedConnectedKeyFrames = vector(lKFs.begin(),lKFs.end()); + mvOrderedWeights = vector(lWs.begin(), lWs.end()); + + if(mbFirstConnection && mnId!=0) + { + mpParent = mvpOrderedConnectedKeyFrames.front(); + mpParent->AddChild(this); + mbFirstConnection = false; + } + + } +} + +void KeyFrame::AddChild(KeyFrame *pKF) +{ + unique_lock lockCon(mMutexConnections); + mspChildrens.insert(pKF); +} + +void KeyFrame::EraseChild(KeyFrame *pKF) +{ + unique_lock lockCon(mMutexConnections); + mspChildrens.erase(pKF); +} + +void KeyFrame::ChangeParent(KeyFrame *pKF) +{ + unique_lock lockCon(mMutexConnections); + mpParent = pKF; + pKF->AddChild(this); +} + +set KeyFrame::GetChilds() +{ + unique_lock lockCon(mMutexConnections); + return mspChildrens; +} + +KeyFrame* KeyFrame::GetParent() +{ + unique_lock lockCon(mMutexConnections); + return mpParent; +} + +bool KeyFrame::hasChild(KeyFrame *pKF) +{ + unique_lock lockCon(mMutexConnections); + return mspChildrens.count(pKF); +} + +void KeyFrame::AddLoopEdge(KeyFrame *pKF) +{ + unique_lock lockCon(mMutexConnections); + mbNotErase = true; + mspLoopEdges.insert(pKF); +} + +set KeyFrame::GetLoopEdges() +{ + unique_lock lockCon(mMutexConnections); + return mspLoopEdges; +} + +void KeyFrame::SetNotErase() +{ + unique_lock lock(mMutexConnections); + mbNotErase = true; +} + +void KeyFrame::SetErase() +{ + { + unique_lock lock(mMutexConnections); + if(mspLoopEdges.empty()) + { + mbNotErase = false; + } + } + + if(mbToBeErased) + { + SetBadFlag(); + } +} + +void KeyFrame::SetBadFlag() +{ + { + unique_lock lock(mMutexConnections); + if(mnId==0) + return; + else if(mbNotErase) + { + mbToBeErased = true; + return; + } + } + + for(map::iterator mit = mConnectedKeyFrameWeights.begin(), mend=mConnectedKeyFrameWeights.end(); mit!=mend; mit++) + mit->first->EraseConnection(this); + + for(size_t i=0; iEraseObservation(this); + { + unique_lock lock(mMutexConnections); + unique_lock lock1(mMutexFeatures); + + mConnectedKeyFrameWeights.clear(); + mvpOrderedConnectedKeyFrames.clear(); + + // Update Spanning Tree + set sParentCandidates; + sParentCandidates.insert(mpParent); + + // Assign at each iteration one children with a parent (the pair with highest covisibility weight) + // Include that children as new parent candidate for the rest + while(!mspChildrens.empty()) + { + bool bContinue = false; + + int max = -1; + KeyFrame* pC; + KeyFrame* pP; + + for(set::iterator sit=mspChildrens.begin(), send=mspChildrens.end(); sit!=send; sit++) + { + KeyFrame* pKF = *sit; + if(pKF->isBad()) + continue; + + // Check if a parent candidate is connected to the keyframe + vector vpConnected = pKF->GetVectorCovisibleKeyFrames(); + for(size_t i=0, iend=vpConnected.size(); i::iterator spcit=sParentCandidates.begin(), spcend=sParentCandidates.end(); spcit!=spcend; spcit++) + { + if(vpConnected[i]->mnId == (*spcit)->mnId) + { + int w = pKF->GetWeight(vpConnected[i]); + if(w>max) + { + pC = pKF; + pP = vpConnected[i]; + max = w; + bContinue = true; + } + } + } + } + } + + if(bContinue) + { + pC->ChangeParent(pP); + sParentCandidates.insert(pC); + mspChildrens.erase(pC); + } + else + break; + } + + // If a children has no covisibility links with any parent candidate, assign to the original parent of this KF + if(!mspChildrens.empty()) + for(set::iterator sit=mspChildrens.begin(); sit!=mspChildrens.end(); sit++) + { + (*sit)->ChangeParent(mpParent); + } + + mpParent->EraseChild(this); + mTcp = Tcw*mpParent->GetPoseInverse(); + mbBad = true; + } + + + mpMap->EraseKeyFrame(this); + mpKeyFrameDB->erase(this); +} + +bool KeyFrame::isBad() +{ + unique_lock lock(mMutexConnections); + return mbBad; +} + +void KeyFrame::EraseConnection(KeyFrame* pKF) +{ + bool bUpdate = false; + { + unique_lock lock(mMutexConnections); + if(mConnectedKeyFrameWeights.count(pKF)) + { + mConnectedKeyFrameWeights.erase(pKF); + bUpdate=true; + } + } + + if(bUpdate) + UpdateBestCovisibles(); +} + +vector KeyFrame::GetFeaturesInArea(const float &x, const float &y, const float &r) const +{ + vector vIndices; + vIndices.reserve(N); + + const int nMinCellX = max(0,(int)floor((x-mnMinX-r)*mfGridElementWidthInv)); + if(nMinCellX>=mnGridCols) + return vIndices; + + const int nMaxCellX = min((int)mnGridCols-1,(int)ceil((x-mnMinX+r)*mfGridElementWidthInv)); + if(nMaxCellX<0) + return vIndices; + + const int nMinCellY = max(0,(int)floor((y-mnMinY-r)*mfGridElementHeightInv)); + if(nMinCellY>=mnGridRows) + return vIndices; + + const int nMaxCellY = min((int)mnGridRows-1,(int)ceil((y-mnMinY+r)*mfGridElementHeightInv)); + if(nMaxCellY<0) + return vIndices; + + for(int ix = nMinCellX; ix<=nMaxCellX; ix++) + { + for(int iy = nMinCellY; iy<=nMaxCellY; iy++) + { + const vector vCell = mGrid[ix][iy]; + for(size_t j=0, jend=vCell.size(); j=mnMinX && x=mnMinY && y0) + { + const float u = mvKeys[i].pt.x; + const float v = mvKeys[i].pt.y; + const float x = (u-cx)*z*invfx; + const float y = (v-cy)*z*invfy; + cv::Mat x3Dc = (cv::Mat_(3,1) << x, y, z); + + unique_lock lock(mMutexPose); + return Twc.rowRange(0,3).colRange(0,3)*x3Dc+Twc.rowRange(0,3).col(3); + } + else + return cv::Mat(); +} + +float KeyFrame::ComputeSceneMedianDepth(const int q) +{ + vector vpMapPoints; + cv::Mat Tcw_; + { + unique_lock lock(mMutexFeatures); + unique_lock lock2(mMutexPose); + vpMapPoints = mvpMapPoints; + Tcw_ = Tcw.clone(); + } + + vector vDepths; + vDepths.reserve(N); + cv::Mat Rcw2 = Tcw_.row(2).colRange(0,3); + Rcw2 = Rcw2.t(); + float zcw = Tcw_.at(2,3); + for(int i=0; iGetWorldPos(); + float z = Rcw2.dot(x3Dw)+zcw; + vDepths.push_back(z); + } + } + + sort(vDepths.begin(),vDepths.end()); + + return vDepths[(vDepths.size()-1)/q]; +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/KeyFrameDatabase.cc b/MyCode/src/my-slam/src/KeyFrameDatabase.cc new file mode 100644 index 0000000..826860c --- /dev/null +++ b/MyCode/src/my-slam/src/KeyFrameDatabase.cc @@ -0,0 +1,311 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "KeyFrameDatabase.h" + +#include "KeyFrame.h" +#include "Thirdparty/DBoW2/DBoW2/BowVector.h" + +#include + +using namespace std; + +namespace ORB_SLAM2 +{ + +KeyFrameDatabase::KeyFrameDatabase (const ORBVocabulary &voc): + mpVoc(&voc) +{ + mvInvertedFile.resize(voc.size()); +} + + +void KeyFrameDatabase::add(KeyFrame *pKF) +{ + unique_lock lock(mMutex); + + for(DBoW2::BowVector::const_iterator vit= pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit!=vend; vit++) + mvInvertedFile[vit->first].push_back(pKF); +} + +void KeyFrameDatabase::erase(KeyFrame* pKF) +{ + unique_lock lock(mMutex); + + // Erase elements in the Inverse File for the entry + for(DBoW2::BowVector::const_iterator vit=pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit!=vend; vit++) + { + // List of keyframes that share the word + list &lKFs = mvInvertedFile[vit->first]; + + for(list::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++) + { + if(pKF==*lit) + { + lKFs.erase(lit); + break; + } + } + } +} + +void KeyFrameDatabase::clear() +{ + mvInvertedFile.clear(); + mvInvertedFile.resize(mpVoc->size()); +} + + +vector KeyFrameDatabase::DetectLoopCandidates(KeyFrame* pKF, float minScore) +{ + set spConnectedKeyFrames = pKF->GetConnectedKeyFrames(); + list lKFsSharingWords; + + // Search all keyframes that share a word with current keyframes + // Discard keyframes connected to the query keyframe + { + unique_lock lock(mMutex); + + for(DBoW2::BowVector::const_iterator vit=pKF->mBowVec.begin(), vend=pKF->mBowVec.end(); vit != vend; vit++) + { + list &lKFs = mvInvertedFile[vit->first]; + + for(list::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++) + { + KeyFrame* pKFi=*lit; + if(pKFi->mnLoopQuery!=pKF->mnId) + { + pKFi->mnLoopWords=0; + if(!spConnectedKeyFrames.count(pKFi)) + { + pKFi->mnLoopQuery=pKF->mnId; + lKFsSharingWords.push_back(pKFi); + } + } + pKFi->mnLoopWords++; + } + } + } + + if(lKFsSharingWords.empty()) + return vector(); + + list > lScoreAndMatch; + + // Only compare against those keyframes that share enough words + int maxCommonWords=0; + for(list::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++) + { + if((*lit)->mnLoopWords>maxCommonWords) + maxCommonWords=(*lit)->mnLoopWords; + } + + int minCommonWords = maxCommonWords*0.8f; + + int nscores=0; + + // Compute similarity score. Retain the matches whose score is higher than minScore + for(list::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++) + { + KeyFrame* pKFi = *lit; + + if(pKFi->mnLoopWords>minCommonWords) + { + nscores++; + + float si = mpVoc->score(pKF->mBowVec,pKFi->mBowVec); + + pKFi->mLoopScore = si; + if(si>=minScore) + lScoreAndMatch.push_back(make_pair(si,pKFi)); + } + } + + if(lScoreAndMatch.empty()) + return vector(); + + list > lAccScoreAndMatch; + float bestAccScore = minScore; + + // Lets now accumulate score by covisibility + for(list >::iterator it=lScoreAndMatch.begin(), itend=lScoreAndMatch.end(); it!=itend; it++) + { + KeyFrame* pKFi = it->second; + vector vpNeighs = pKFi->GetBestCovisibilityKeyFrames(10); + + float bestScore = it->first; + float accScore = it->first; + KeyFrame* pBestKF = pKFi; + for(vector::iterator vit=vpNeighs.begin(), vend=vpNeighs.end(); vit!=vend; vit++) + { + KeyFrame* pKF2 = *vit; + if(pKF2->mnLoopQuery==pKF->mnId && pKF2->mnLoopWords>minCommonWords) + { + accScore+=pKF2->mLoopScore; + if(pKF2->mLoopScore>bestScore) + { + pBestKF=pKF2; + bestScore = pKF2->mLoopScore; + } + } + } + + lAccScoreAndMatch.push_back(make_pair(accScore,pBestKF)); + if(accScore>bestAccScore) + bestAccScore=accScore; + } + + // Return all those keyframes with a score higher than 0.75*bestScore + float minScoreToRetain = 0.75f*bestAccScore; + + set spAlreadyAddedKF; + vector vpLoopCandidates; + vpLoopCandidates.reserve(lAccScoreAndMatch.size()); + + for(list >::iterator it=lAccScoreAndMatch.begin(), itend=lAccScoreAndMatch.end(); it!=itend; it++) + { + if(it->first>minScoreToRetain) + { + KeyFrame* pKFi = it->second; + if(!spAlreadyAddedKF.count(pKFi)) + { + vpLoopCandidates.push_back(pKFi); + spAlreadyAddedKF.insert(pKFi); + } + } + } + + + return vpLoopCandidates; +} + +vector KeyFrameDatabase::DetectRelocalizationCandidates(Frame *F) +{ + list lKFsSharingWords; + + // Search all keyframes that share a word with current frame + { + unique_lock lock(mMutex); + + for(DBoW2::BowVector::const_iterator vit=F->mBowVec.begin(), vend=F->mBowVec.end(); vit != vend; vit++) + { + list &lKFs = mvInvertedFile[vit->first]; + + for(list::iterator lit=lKFs.begin(), lend= lKFs.end(); lit!=lend; lit++) + { + KeyFrame* pKFi=*lit; + if(pKFi->mnRelocQuery!=F->mnId) + { + pKFi->mnRelocWords=0; + pKFi->mnRelocQuery=F->mnId; + lKFsSharingWords.push_back(pKFi); + } + pKFi->mnRelocWords++; + } + } + } + if(lKFsSharingWords.empty()) + return vector(); + + // Only compare against those keyframes that share enough words + int maxCommonWords=0; + for(list::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++) + { + if((*lit)->mnRelocWords>maxCommonWords) + maxCommonWords=(*lit)->mnRelocWords; + } + + int minCommonWords = maxCommonWords*0.8f; + + list > lScoreAndMatch; + + int nscores=0; + + // Compute similarity score. + for(list::iterator lit=lKFsSharingWords.begin(), lend= lKFsSharingWords.end(); lit!=lend; lit++) + { + KeyFrame* pKFi = *lit; + + if(pKFi->mnRelocWords>minCommonWords) + { + nscores++; + float si = mpVoc->score(F->mBowVec,pKFi->mBowVec); + pKFi->mRelocScore=si; + lScoreAndMatch.push_back(make_pair(si,pKFi)); + } + } + + if(lScoreAndMatch.empty()) + return vector(); + + list > lAccScoreAndMatch; + float bestAccScore = 0; + + // Lets now accumulate score by covisibility + for(list >::iterator it=lScoreAndMatch.begin(), itend=lScoreAndMatch.end(); it!=itend; it++) + { + KeyFrame* pKFi = it->second; + vector vpNeighs = pKFi->GetBestCovisibilityKeyFrames(10); + + float bestScore = it->first; + float accScore = bestScore; + KeyFrame* pBestKF = pKFi; + for(vector::iterator vit=vpNeighs.begin(), vend=vpNeighs.end(); vit!=vend; vit++) + { + KeyFrame* pKF2 = *vit; + if(pKF2->mnRelocQuery!=F->mnId) + continue; + + accScore+=pKF2->mRelocScore; + if(pKF2->mRelocScore>bestScore) + { + pBestKF=pKF2; + bestScore = pKF2->mRelocScore; + } + + } + lAccScoreAndMatch.push_back(make_pair(accScore,pBestKF)); + if(accScore>bestAccScore) + bestAccScore=accScore; + } + + // Return all those keyframes with a score higher than 0.75*bestScore + float minScoreToRetain = 0.75f*bestAccScore; + set spAlreadyAddedKF; + vector vpRelocCandidates; + vpRelocCandidates.reserve(lAccScoreAndMatch.size()); + for(list >::iterator it=lAccScoreAndMatch.begin(), itend=lAccScoreAndMatch.end(); it!=itend; it++) + { + const float &si = it->first; + if(si>minScoreToRetain) + { + KeyFrame* pKFi = it->second; + if(!spAlreadyAddedKF.count(pKFi)) + { + vpRelocCandidates.push_back(pKFi); + spAlreadyAddedKF.insert(pKFi); + } + } + } + + return vpRelocCandidates; +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/LocalMapping.cc b/MyCode/src/my-slam/src/LocalMapping.cc new file mode 100644 index 0000000..5427ecf --- /dev/null +++ b/MyCode/src/my-slam/src/LocalMapping.cc @@ -0,0 +1,762 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "LocalMapping.h" +#include "LoopClosing.h" +#include "ORBmatcher.h" +#include "Optimizer.h" + +#include + +namespace ORB_SLAM2 +{ + +LocalMapping::LocalMapping(Map *pMap, const float bMonocular): + mbMonocular(bMonocular), mbResetRequested(false), mbFinishRequested(false), mbFinished(true), mpMap(pMap), + mbAbortBA(false), mbStopped(false), mbStopRequested(false), mbNotStop(false), mbAcceptKeyFrames(true) +{ +} + +void LocalMapping::SetLoopCloser(LoopClosing* pLoopCloser) +{ + mpLoopCloser = pLoopCloser; +} + +void LocalMapping::SetTracker(Tracking *pTracker) +{ + mpTracker=pTracker; +} + +void LocalMapping::Run() +{ + + mbFinished = false; + + while(1) + { + // Tracking will see that Local Mapping is busy + SetAcceptKeyFrames(false); + + // Check if there are keyframes in the queue + if(CheckNewKeyFrames()) + { + // BoW conversion and insertion in Map + ProcessNewKeyFrame(); + + // Check recent MapPoints 剔除质量不好的地图点 + MapPointCulling(); + + // Triangulate new MapPoints 根据当前关键帧和相邻关键帧新增地图点 + CreateNewMapPoints(); + + if(!CheckNewKeyFrames()) + { + // Find more matches in neighbor keyframes and fuse point duplications + //检查并融合当前关键帧与相邻关键帧中重复的地图点 + SearchInNeighbors(); + } + + mbAbortBA = false; + + if(!CheckNewKeyFrames() && !stopRequested()) + { + // Local BA + if(mpMap->KeyFramesInMap()>2) + Optimizer::LocalBundleAdjustment(mpCurrentKeyFrame,&mbAbortBA, mpMap); + + // Check redundant local Keyframes + //检测并剔除当前帧相邻的冗余关键帧 + KeyFrameCulling(); + } + + mpLoopCloser->InsertKeyFrame(mpCurrentKeyFrame); + } + else if(Stop()) + { + // Safe area to stop + while(isStopped() && !CheckFinish()) + { + usleep(3000); + } + if(CheckFinish()) + break; + } + + ResetIfRequested(); + + // Tracking will see that Local Mapping is busy + SetAcceptKeyFrames(true); + + if(CheckFinish()) + break; + + usleep(3000); + } + + SetFinish(); +} + +void LocalMapping::InsertKeyFrame(KeyFrame *pKF) +{ + unique_lock lock(mMutexNewKFs); + mlNewKeyFrames.push_back(pKF); + mbAbortBA=true; +} + + +bool LocalMapping::CheckNewKeyFrames() +{ + unique_lock lock(mMutexNewKFs); + return(!mlNewKeyFrames.empty()); +} + +void LocalMapping::ProcessNewKeyFrame() +{ + { + unique_lock lock(mMutexNewKFs); + mpCurrentKeyFrame = mlNewKeyFrames.front(); + mlNewKeyFrames.pop_front(); + } + + // Compute Bags of Words structures + mpCurrentKeyFrame->ComputeBoW(); + + // Associate MapPoints to the new keyframe and update normal and descriptor + const vector vpMapPointMatches = mpCurrentKeyFrame->GetMapPointMatches(); + + for(size_t i=0; iisBad()) + { + if(!pMP->IsInKeyFrame(mpCurrentKeyFrame)) + { + pMP->AddObservation(mpCurrentKeyFrame, i); + pMP->UpdateNormalAndDepth(); + pMP->ComputeDistinctiveDescriptors(); + } + else // this can only happen for new stereo points inserted by the Tracking + { + mlpRecentAddedMapPoints.push_back(pMP); + } + } + } + } + + // Update links in the Covisibility Graph + mpCurrentKeyFrame->UpdateConnections(); + + // Insert Keyframe in Map + mpMap->AddKeyFrame(mpCurrentKeyFrame); +} + +void LocalMapping::MapPointCulling() +{ + // Check Recent Added MapPoints + list::iterator lit = mlpRecentAddedMapPoints.begin(); + const unsigned long int nCurrentKFid = mpCurrentKeyFrame->mnId; + + int nThObs; + if(mbMonocular) + nThObs = 2; + else + nThObs = 3; + const int cnThObs = nThObs; + + while(lit!=mlpRecentAddedMapPoints.end()) + { + MapPoint* pMP = *lit; + if(pMP->isBad()) + { + lit = mlpRecentAddedMapPoints.erase(lit); + } + else if(pMP->GetFoundRatio()<0.25f ) + { + pMP->SetBadFlag(); + lit = mlpRecentAddedMapPoints.erase(lit); + } + else if(((int)nCurrentKFid-(int)pMP->mnFirstKFid)>=2 && pMP->Observations()<=cnThObs) + { + pMP->SetBadFlag(); + lit = mlpRecentAddedMapPoints.erase(lit); + } + else if(((int)nCurrentKFid-(int)pMP->mnFirstKFid)>=3) + lit = mlpRecentAddedMapPoints.erase(lit); + else + lit++; + } +} + +void LocalMapping::CreateNewMapPoints() +{ + // Retrieve neighbor keyframes in covisibility graph + int nn = 10; + if(mbMonocular) + nn=20; + const vector vpNeighKFs = mpCurrentKeyFrame->GetBestCovisibilityKeyFrames(nn); + + ORBmatcher matcher(0.6,false); + + cv::Mat Rcw1 = mpCurrentKeyFrame->GetRotation(); + cv::Mat Rwc1 = Rcw1.t(); + cv::Mat tcw1 = mpCurrentKeyFrame->GetTranslation(); + cv::Mat Tcw1(3,4,CV_32F); + Rcw1.copyTo(Tcw1.colRange(0,3)); + tcw1.copyTo(Tcw1.col(3)); + cv::Mat Ow1 = mpCurrentKeyFrame->GetCameraCenter(); + + const float &fx1 = mpCurrentKeyFrame->fx; + const float &fy1 = mpCurrentKeyFrame->fy; + const float &cx1 = mpCurrentKeyFrame->cx; + const float &cy1 = mpCurrentKeyFrame->cy; + const float &invfx1 = mpCurrentKeyFrame->invfx; + const float &invfy1 = mpCurrentKeyFrame->invfy; + + const float ratioFactor = 1.5f*mpCurrentKeyFrame->mfScaleFactor; + + int nnew=0; + + // Search matches with epipolar restriction and triangulate + for(size_t i=0; i0 && CheckNewKeyFrames()) + return; + + KeyFrame* pKF2 = vpNeighKFs[i]; + + // Check first that baseline is not too short + cv::Mat Ow2 = pKF2->GetCameraCenter(); + cv::Mat vBaseline = Ow2-Ow1; + const float baseline = cv::norm(vBaseline); + + if(!mbMonocular) + { + if(baselinemb) + continue; + } + else + { + const float medianDepthKF2 = pKF2->ComputeSceneMedianDepth(2); + const float ratioBaselineDepth = baseline/medianDepthKF2; + + if(ratioBaselineDepth<0.01) + continue; + } + + // Compute Fundamental Matrix 计算两帧之间的基础矩阵 + cv::Mat F12 = ComputeF12(mpCurrentKeyFrame,pKF2); + + // Search matches that fullfil epipolar constraint + vector > vMatchedIndices; + matcher.SearchForTriangulation(mpCurrentKeyFrame,pKF2,F12,vMatchedIndices,false); + + cv::Mat Rcw2 = pKF2->GetRotation(); + cv::Mat Rwc2 = Rcw2.t(); + cv::Mat tcw2 = pKF2->GetTranslation(); + cv::Mat Tcw2(3,4,CV_32F); + Rcw2.copyTo(Tcw2.colRange(0,3)); + tcw2.copyTo(Tcw2.col(3)); + + const float &fx2 = pKF2->fx; + const float &fy2 = pKF2->fy; + const float &cx2 = pKF2->cx; + const float &cy2 = pKF2->cy; + const float &invfx2 = pKF2->invfx; + const float &invfy2 = pKF2->invfy; + + // Triangulate each match + const int nmatches = vMatchedIndices.size(); + for(int ikp=0; ikpmvKeysUn[idx1]; + const float kp1_ur=mpCurrentKeyFrame->mvuRight[idx1]; + bool bStereo1 = kp1_ur>=0; + + const cv::KeyPoint &kp2 = pKF2->mvKeysUn[idx2]; + const float kp2_ur = pKF2->mvuRight[idx2]; + bool bStereo2 = kp2_ur>=0; + + // Check parallax between rays + cv::Mat xn1 = (cv::Mat_(3,1) << (kp1.pt.x-cx1)*invfx1, (kp1.pt.y-cy1)*invfy1, 1.0); + cv::Mat xn2 = (cv::Mat_(3,1) << (kp2.pt.x-cx2)*invfx2, (kp2.pt.y-cy2)*invfy2, 1.0); + + cv::Mat ray1 = Rwc1*xn1; + cv::Mat ray2 = Rwc2*xn2; + const float cosParallaxRays = ray1.dot(ray2)/(cv::norm(ray1)*cv::norm(ray2)); + + float cosParallaxStereo = cosParallaxRays+1; + float cosParallaxStereo1 = cosParallaxStereo; + float cosParallaxStereo2 = cosParallaxStereo; + + if(bStereo1) + cosParallaxStereo1 = cos(2*atan2(mpCurrentKeyFrame->mb/2,mpCurrentKeyFrame->mvDepth[idx1])); + else if(bStereo2) + cosParallaxStereo2 = cos(2*atan2(pKF2->mb/2,pKF2->mvDepth[idx2])); + + cosParallaxStereo = min(cosParallaxStereo1,cosParallaxStereo2); + + cv::Mat x3D; + if(cosParallaxRays0 && (bStereo1 || bStereo2 || cosParallaxRays<0.9998)) + { + // Linear Triangulation Method + cv::Mat A(4,4,CV_32F); + A.row(0) = xn1.at(0)*Tcw1.row(2)-Tcw1.row(0); + A.row(1) = xn1.at(1)*Tcw1.row(2)-Tcw1.row(1); + A.row(2) = xn2.at(0)*Tcw2.row(2)-Tcw2.row(0); + A.row(3) = xn2.at(1)*Tcw2.row(2)-Tcw2.row(1); + + cv::Mat w,u,vt; + cv::SVD::compute(A,w,u,vt,cv::SVD::MODIFY_A| cv::SVD::FULL_UV); + + x3D = vt.row(3).t(); + + if(x3D.at(3)==0) + continue; + + // Euclidean coordinates + x3D = x3D.rowRange(0,3)/x3D.at(3); + + } + else if(bStereo1 && cosParallaxStereo1UnprojectStereo(idx1); + } + else if(bStereo2 && cosParallaxStereo2UnprojectStereo(idx2); + } + else + continue; //No stereo and very low parallax + + cv::Mat x3Dt = x3D.t(); + + //Check triangulation in front of cameras + float z1 = Rcw1.row(2).dot(x3Dt)+tcw1.at(2); + if(z1<=0) + continue; + + float z2 = Rcw2.row(2).dot(x3Dt)+tcw2.at(2); + if(z2<=0) + continue; + + //Check reprojection error in first keyframe + const float &sigmaSquare1 = mpCurrentKeyFrame->mvLevelSigma2[kp1.octave]; + const float x1 = Rcw1.row(0).dot(x3Dt)+tcw1.at(0); + const float y1 = Rcw1.row(1).dot(x3Dt)+tcw1.at(1); + const float invz1 = 1.0/z1; + + if(!bStereo1) + { + float u1 = fx1*x1*invz1+cx1; + float v1 = fy1*y1*invz1+cy1; + float errX1 = u1 - kp1.pt.x; + float errY1 = v1 - kp1.pt.y; + if((errX1*errX1+errY1*errY1)>5.991*sigmaSquare1) + continue; + } + else + { + float u1 = fx1*x1*invz1+cx1; + float u1_r = u1 - mpCurrentKeyFrame->mbf*invz1; + float v1 = fy1*y1*invz1+cy1; + float errX1 = u1 - kp1.pt.x; + float errY1 = v1 - kp1.pt.y; + float errX1_r = u1_r - kp1_ur; + if((errX1*errX1+errY1*errY1+errX1_r*errX1_r)>7.8*sigmaSquare1) + continue; + } + + //Check reprojection error in second keyframe + const float sigmaSquare2 = pKF2->mvLevelSigma2[kp2.octave]; + const float x2 = Rcw2.row(0).dot(x3Dt)+tcw2.at(0); + const float y2 = Rcw2.row(1).dot(x3Dt)+tcw2.at(1); + const float invz2 = 1.0/z2; + if(!bStereo2) + { + float u2 = fx2*x2*invz2+cx2; + float v2 = fy2*y2*invz2+cy2; + float errX2 = u2 - kp2.pt.x; + float errY2 = v2 - kp2.pt.y; + if((errX2*errX2+errY2*errY2)>5.991*sigmaSquare2) + continue; + } + else + { + float u2 = fx2*x2*invz2+cx2; + float u2_r = u2 - mpCurrentKeyFrame->mbf*invz2; + float v2 = fy2*y2*invz2+cy2; + float errX2 = u2 - kp2.pt.x; + float errY2 = v2 - kp2.pt.y; + float errX2_r = u2_r - kp2_ur; + if((errX2*errX2+errY2*errY2+errX2_r*errX2_r)>7.8*sigmaSquare2) + continue; + } + + //Check scale consistency + cv::Mat normal1 = x3D-Ow1; + float dist1 = cv::norm(normal1); + + cv::Mat normal2 = x3D-Ow2; + float dist2 = cv::norm(normal2); + + if(dist1==0 || dist2==0) + continue; + + const float ratioDist = dist2/dist1; + const float ratioOctave = mpCurrentKeyFrame->mvScaleFactors[kp1.octave]/pKF2->mvScaleFactors[kp2.octave]; + + /*if(fabs(ratioDist-ratioOctave)>ratioFactor) + continue;*/ + if(ratioDist*ratioFactorratioOctave*ratioFactor) + continue; + + // Triangulation is succesfull + MapPoint* pMP = new MapPoint(x3D,mpCurrentKeyFrame,mpMap); + + pMP->AddObservation(mpCurrentKeyFrame,idx1); + pMP->AddObservation(pKF2,idx2); + + mpCurrentKeyFrame->AddMapPoint(pMP,idx1); + pKF2->AddMapPoint(pMP,idx2); + + pMP->ComputeDistinctiveDescriptors(); + + pMP->UpdateNormalAndDepth(); + + mpMap->AddMapPoint(pMP); + mlpRecentAddedMapPoints.push_back(pMP); + + nnew++; + } + } +} + +void LocalMapping::SearchInNeighbors() +{ + // Retrieve neighbor keyframes + int nn = 10; + if(mbMonocular) + nn=20; + const vector vpNeighKFs = mpCurrentKeyFrame->GetBestCovisibilityKeyFrames(nn); + vector vpTargetKFs; + for(vector::const_iterator vit=vpNeighKFs.begin(), vend=vpNeighKFs.end(); vit!=vend; vit++) + { + KeyFrame* pKFi = *vit; + if(pKFi->isBad() || pKFi->mnFuseTargetForKF == mpCurrentKeyFrame->mnId) + continue; + vpTargetKFs.push_back(pKFi); + pKFi->mnFuseTargetForKF = mpCurrentKeyFrame->mnId; + + // Extend to some second neighbors + const vector vpSecondNeighKFs = pKFi->GetBestCovisibilityKeyFrames(5); + for(vector::const_iterator vit2=vpSecondNeighKFs.begin(), vend2=vpSecondNeighKFs.end(); vit2!=vend2; vit2++) + { + KeyFrame* pKFi2 = *vit2; + if(pKFi2->isBad() || pKFi2->mnFuseTargetForKF==mpCurrentKeyFrame->mnId || pKFi2->mnId==mpCurrentKeyFrame->mnId) + continue; + vpTargetKFs.push_back(pKFi2); + } + } + + + // Search matches by projection from current KF in target KFs + ORBmatcher matcher; + vector vpMapPointMatches = mpCurrentKeyFrame->GetMapPointMatches(); + for(vector::iterator vit=vpTargetKFs.begin(), vend=vpTargetKFs.end(); vit!=vend; vit++) + { + KeyFrame* pKFi = *vit; + + matcher.Fuse(pKFi,vpMapPointMatches); + } + + // Search matches by projection from target KFs in current KF + vector vpFuseCandidates; + vpFuseCandidates.reserve(vpTargetKFs.size()*vpMapPointMatches.size()); + + for(vector::iterator vitKF=vpTargetKFs.begin(), vendKF=vpTargetKFs.end(); vitKF!=vendKF; vitKF++) + { + KeyFrame* pKFi = *vitKF; + + vector vpMapPointsKFi = pKFi->GetMapPointMatches(); + + for(vector::iterator vitMP=vpMapPointsKFi.begin(), vendMP=vpMapPointsKFi.end(); vitMP!=vendMP; vitMP++) + { + MapPoint* pMP = *vitMP; + if(!pMP) + continue; + if(pMP->isBad() || pMP->mnFuseCandidateForKF == mpCurrentKeyFrame->mnId) + continue; + pMP->mnFuseCandidateForKF = mpCurrentKeyFrame->mnId; + vpFuseCandidates.push_back(pMP); + } + } + + matcher.Fuse(mpCurrentKeyFrame,vpFuseCandidates); + + + // Update points + vpMapPointMatches = mpCurrentKeyFrame->GetMapPointMatches(); + for(size_t i=0, iend=vpMapPointMatches.size(); iisBad()) + { + pMP->ComputeDistinctiveDescriptors(); + pMP->UpdateNormalAndDepth(); + } + } + } + + // Update connections in covisibility graph + mpCurrentKeyFrame->UpdateConnections(); +} + +cv::Mat LocalMapping::ComputeF12(KeyFrame *&pKF1, KeyFrame *&pKF2) +{ + cv::Mat R1w = pKF1->GetRotation(); + cv::Mat t1w = pKF1->GetTranslation(); + cv::Mat R2w = pKF2->GetRotation(); + cv::Mat t2w = pKF2->GetTranslation(); + + cv::Mat R12 = R1w*R2w.t(); + cv::Mat t12 = -R1w*R2w.t()*t2w+t1w; + + cv::Mat t12x = SkewSymmetricMatrix(t12); + + const cv::Mat &K1 = pKF1->mK; + const cv::Mat &K2 = pKF2->mK; + + + return K1.t().inv()*t12x*R12*K2.inv(); +} + +void LocalMapping::RequestStop() +{ + unique_lock lock(mMutexStop); + mbStopRequested = true; + unique_lock lock2(mMutexNewKFs); + mbAbortBA = true; +} + +bool LocalMapping::Stop() +{ + unique_lock lock(mMutexStop); + if(mbStopRequested && !mbNotStop) + { + mbStopped = true; + cout << "Local Mapping STOP" << endl; + return true; + } + + return false; +} + +bool LocalMapping::isStopped() +{ + unique_lock lock(mMutexStop); + return mbStopped; +} + +bool LocalMapping::stopRequested() +{ + unique_lock lock(mMutexStop); + return mbStopRequested; +} + +void LocalMapping::Release() +{ + unique_lock lock(mMutexStop); + unique_lock lock2(mMutexFinish); + if(mbFinished) + return; + mbStopped = false; + mbStopRequested = false; + for(list::iterator lit = mlNewKeyFrames.begin(), lend=mlNewKeyFrames.end(); lit!=lend; lit++) + delete *lit; + mlNewKeyFrames.clear(); + + cout << "Local Mapping RELEASE" << endl; +} + +bool LocalMapping::AcceptKeyFrames() +{ + unique_lock lock(mMutexAccept); + return mbAcceptKeyFrames; +} + +void LocalMapping::SetAcceptKeyFrames(bool flag) +{ + unique_lock lock(mMutexAccept); + mbAcceptKeyFrames=flag; +} + +bool LocalMapping::SetNotStop(bool flag) +{ + unique_lock lock(mMutexStop); + + if(flag && mbStopped) + return false; + + mbNotStop = flag; + + return true; +} + +void LocalMapping::InterruptBA() +{ + mbAbortBA = true; +} + +void LocalMapping::KeyFrameCulling() +{ + // Check redundant keyframes (only local keyframes) + // A keyframe is considered redundant if the 90% of the MapPoints it sees, are seen + // in at least other 3 keyframes (in the same or finer scale) + // We only consider close stereo points + vector vpLocalKeyFrames = mpCurrentKeyFrame->GetVectorCovisibleKeyFrames(); + + for(vector::iterator vit=vpLocalKeyFrames.begin(), vend=vpLocalKeyFrames.end(); vit!=vend; vit++) + { + KeyFrame* pKF = *vit; + if(pKF->mnId==0) + continue; + const vector vpMapPoints = pKF->GetMapPointMatches(); + + int nObs = 3; + const int thObs=nObs; + int nRedundantObservations=0; + int nMPs=0; + for(size_t i=0, iend=vpMapPoints.size(); iisBad()) + { + if(!mbMonocular) + { + if(pKF->mvDepth[i]>pKF->mThDepth || pKF->mvDepth[i]<0) + continue; + } + + nMPs++; + if(pMP->Observations()>thObs) + { + const int &scaleLevel = pKF->mvKeysUn[i].octave; + const map observations = pMP->GetObservations(); + int nObs=0; + for(map::const_iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++) + { + KeyFrame* pKFi = mit->first; + if(pKFi==pKF) + continue; + const int &scaleLeveli = pKFi->mvKeysUn[mit->second].octave; + + if(scaleLeveli<=scaleLevel+1) + { + nObs++; + if(nObs>=thObs) + break; + } + } + if(nObs>=thObs) + { + nRedundantObservations++; + } + } + } + } + } + + if(nRedundantObservations>0.9*nMPs) + pKF->SetBadFlag(); + } +} + +cv::Mat LocalMapping::SkewSymmetricMatrix(const cv::Mat &v) +{ + return (cv::Mat_(3,3) << 0, -v.at(2), v.at(1), + v.at(2), 0,-v.at(0), + -v.at(1), v.at(0), 0); +} + +void LocalMapping::RequestReset() +{ + { + unique_lock lock(mMutexReset); + mbResetRequested = true; + } + + while(1) + { + { + unique_lock lock2(mMutexReset); + if(!mbResetRequested) + break; + } + usleep(3000); + } +} + +void LocalMapping::ResetIfRequested() +{ + unique_lock lock(mMutexReset); + if(mbResetRequested) + { + mlNewKeyFrames.clear(); + mlpRecentAddedMapPoints.clear(); + mbResetRequested=false; + } +} + +void LocalMapping::RequestFinish() +{ + unique_lock lock(mMutexFinish); + mbFinishRequested = true; +} + +bool LocalMapping::CheckFinish() +{ + unique_lock lock(mMutexFinish); + return mbFinishRequested; +} + +void LocalMapping::SetFinish() +{ + unique_lock lock(mMutexFinish); + mbFinished = true; + unique_lock lock2(mMutexStop); + mbStopped = true; +} + +bool LocalMapping::isFinished() +{ + unique_lock lock(mMutexFinish); + return mbFinished; +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/LoopClosing.cc b/MyCode/src/my-slam/src/LoopClosing.cc new file mode 100644 index 0000000..8038fbc --- /dev/null +++ b/MyCode/src/my-slam/src/LoopClosing.cc @@ -0,0 +1,784 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "LoopClosing.h" + +#include "Sim3Solver.h" + +#include "Converter.h" + +#include "Optimizer.h" + +#include "ORBmatcher.h" + +#include +#include + + +namespace ORB_SLAM2 +{ + +LoopClosing::LoopClosing(Map *pMap, KeyFrameDatabase *pDB, ORBVocabulary *pVoc, const bool bFixScale, boost::shared_ptr pPointCloud): + mbResetRequested(false), mbFinishRequested(false), mbFinished(true), mpMap(pMap), + mpKeyFrameDB(pDB), mpORBVocabulary(pVoc), mpMatchedKF(NULL), mLastLoopKFid(0), mbRunningGBA(false), mbFinishedGBA(true), + mbStopGBA(false), mpThreadGBA(NULL), mbFixScale(bFixScale), mnFullBAIdx(0),mpPointCloudMapper(pPointCloud) +{ + mnCovisibilityConsistencyTh = 3; +} + +void LoopClosing::SetTracker(Tracking *pTracker) +{ + mpTracker=pTracker; +} + +void LoopClosing::SetLocalMapper(LocalMapping *pLocalMapper) +{ + mpLocalMapper=pLocalMapper; +} + + +void LoopClosing::Run() +{ + mbFinished =false; + + while(1) + { + // Check if there are keyframes in the queue + if(CheckNewKeyFrames()) + { + // Detect loop candidates and check covisibility consistency + if(DetectLoop()) + { + // Compute similarity transformation [sR|t] + // In the stereo/RGBD case s=1 + if(ComputeSim3()) + { + // Perform loop fusion and pose graph optimization + CorrectLoop(); + } + } + } + + ResetIfRequested(); + + if(CheckFinish()) + break; + + usleep(5000); + } + + SetFinish(); +} + +void LoopClosing::InsertKeyFrame(KeyFrame *pKF) +{ + unique_lock lock(mMutexLoopQueue); + if(pKF->mnId!=0) + mlpLoopKeyFrameQueue.push_back(pKF); +} + +bool LoopClosing::CheckNewKeyFrames() +{ + unique_lock lock(mMutexLoopQueue); + return(!mlpLoopKeyFrameQueue.empty()); +} + +bool LoopClosing::DetectLoop() +{ + { + unique_lock lock(mMutexLoopQueue); + mpCurrentKF = mlpLoopKeyFrameQueue.front(); + mlpLoopKeyFrameQueue.pop_front(); + // Avoid that a keyframe can be erased while it is being process by this thread + mpCurrentKF->SetNotErase(); + } + + //If the map contains less than 10 KF or less than 10 KF have passed from last loop detection + if(mpCurrentKF->mnIdadd(mpCurrentKF); + mpCurrentKF->SetErase(); + return false; + } + + //TODO:关键帧检测，使用物体地图 + if(DetectWithObject()){ + return true; + } + + // Compute reference BoW similarity score + // This is the lowest score to a connected keyframe in the covisibility graph + // We will impose loop candidates to have a higher similarity than this + const vector vpConnectedKeyFrames = mpCurrentKF->GetVectorCovisibleKeyFrames(); + const DBoW2::BowVector &CurrentBowVec = mpCurrentKF->mBowVec; + float minScore = 1; + for(size_t i=0; iisBad()) + continue; + const DBoW2::BowVector &BowVec = pKF->mBowVec; + + float score = mpORBVocabulary->score(CurrentBowVec, BowVec); + + if(score vpCandidateKFs = mpKeyFrameDB->DetectLoopCandidates(mpCurrentKF, minScore); + + // If there are no loop candidates, just add new keyframe and return false + if(vpCandidateKFs.empty()) + { + mpKeyFrameDB->add(mpCurrentKF); + mvConsistentGroups.clear(); + mpCurrentKF->SetErase(); + return false; + } + + // For each loop candidate check consistency with previous loop candidates + // Each candidate expands a covisibility group (keyframes connected to the loop candidate in the covisibility graph) + // A group is consistent with a previous group if they share at least a keyframe + // We must detect a consistent loop in several consecutive keyframes to accept it + mvpEnoughConsistentCandidates.clear(); + + vector vCurrentConsistentGroups; + vector vbConsistentGroup(mvConsistentGroups.size(),false); + for(size_t i=0, iend=vpCandidateKFs.size(); i spCandidateGroup = pCandidateKF->GetConnectedKeyFrames(); + spCandidateGroup.insert(pCandidateKF); + + bool bEnoughConsistent = false; + bool bConsistentForSomeGroup = false; + for(size_t iG=0, iendG=mvConsistentGroups.size(); iG sPreviousGroup = mvConsistentGroups[iG].first; + + bool bConsistent = false; + for(set::iterator sit=spCandidateGroup.begin(), send=spCandidateGroup.end(); sit!=send;sit++) + { + if(sPreviousGroup.count(*sit)) + { + bConsistent=true; + bConsistentForSomeGroup=true; + break; + } + } + + if(bConsistent) + { + int nPreviousConsistency = mvConsistentGroups[iG].second; + int nCurrentConsistency = nPreviousConsistency + 1; + if(!vbConsistentGroup[iG]) + { + ConsistentGroup cg = make_pair(spCandidateGroup,nCurrentConsistency); + vCurrentConsistentGroups.push_back(cg); + vbConsistentGroup[iG]=true; //this avoid to include the same group more than once + } + if(nCurrentConsistency>=mnCovisibilityConsistencyTh && !bEnoughConsistent) + { + mvpEnoughConsistentCandidates.push_back(pCandidateKF); + bEnoughConsistent=true; //this avoid to insert the same candidate more than once + } + } + } + + // If the group is not consistent with any previous group insert with consistency counter set to zero + if(!bConsistentForSomeGroup) + { + ConsistentGroup cg = make_pair(spCandidateGroup,0); + vCurrentConsistentGroups.push_back(cg); + } + } + + // Update Covisibility Consistent Groups + mvConsistentGroups = vCurrentConsistentGroups; + + + // Add Current Keyframe to database + mpKeyFrameDB->add(mpCurrentKF); + + if(mvpEnoughConsistentCandidates.empty()) + { + mpCurrentKF->SetErase(); + return false; + } + else + { + return true; + } + + mpCurrentKF->SetErase(); + return false; +} + +bool LoopClosing::ComputeSim3() +{ + // For each consistent loop candidate we try to compute a Sim3 + + const int nInitialCandidates = mvpEnoughConsistentCandidates.size(); + + // We compute first ORB matches for each candidate + // If enough matches are found, we setup a Sim3Solver + ORBmatcher matcher(0.75,true); + + vector vpSim3Solvers; + vpSim3Solvers.resize(nInitialCandidates); + + vector > vvpMapPointMatches; + vvpMapPointMatches.resize(nInitialCandidates); + + vector vbDiscarded; + vbDiscarded.resize(nInitialCandidates); + + int nCandidates=0; //candidates with enough matches + + for(int i=0; iSetNotErase(); + + if(pKF->isBad()) + { + vbDiscarded[i] = true; + continue; + } + + int nmatches = matcher.SearchByBoW(mpCurrentKF,pKF,vvpMapPointMatches[i]); + + if(nmatches<20) + { + vbDiscarded[i] = true; + continue; + } + else + { + Sim3Solver* pSolver = new Sim3Solver(mpCurrentKF,pKF,vvpMapPointMatches[i],mbFixScale); + pSolver->SetRansacParameters(0.99,20,300); + vpSim3Solvers[i] = pSolver; + } + + nCandidates++; + } + + bool bMatch = false; + + // Perform alternatively RANSAC iterations for each candidate + // until one is succesful or all fail + while(nCandidates>0 && !bMatch) + { + for(int i=0; i vbInliers; + int nInliers; + bool bNoMore; + + Sim3Solver* pSolver = vpSim3Solvers[i]; + cv::Mat Scm = pSolver->iterate(5,bNoMore,vbInliers,nInliers); + + // If Ransac reachs max. iterations discard keyframe + if(bNoMore) + { + vbDiscarded[i]=true; + nCandidates--; + } + + // If RANSAC returns a Sim3, perform a guided matching and optimize with all correspondences + if(!Scm.empty()) + { + vector vpMapPointMatches(vvpMapPointMatches[i].size(), static_cast(NULL)); + for(size_t j=0, jend=vbInliers.size(); jGetEstimatedRotation(); + cv::Mat t = pSolver->GetEstimatedTranslation(); + const float s = pSolver->GetEstimatedScale(); + matcher.SearchBySim3(mpCurrentKF,pKF,vpMapPointMatches,s,R,t,7.5); + + g2o::Sim3 gScm(Converter::toMatrix3d(R),Converter::toVector3d(t),s); + const int nInliers = Optimizer::OptimizeSim3(mpCurrentKF, pKF, vpMapPointMatches, gScm, 10, mbFixScale); + + // If optimization is succesful stop ransacs and continue + if(nInliers>=20) + { + bMatch = true; + mpMatchedKF = pKF; + g2o::Sim3 gSmw(Converter::toMatrix3d(pKF->GetRotation()),Converter::toVector3d(pKF->GetTranslation()),1.0); + mg2oScw = gScm*gSmw; + mScw = Converter::toCvMat(mg2oScw); + + mvpCurrentMatchedPoints = vpMapPointMatches; + break; + } + } + } + } + + if(!bMatch) + { + for(int i=0; iSetErase(); + mpCurrentKF->SetErase(); + return false; + } + + // Retrieve MapPoints seen in Loop Keyframe and neighbors + vector vpLoopConnectedKFs = mpMatchedKF->GetVectorCovisibleKeyFrames(); + vpLoopConnectedKFs.push_back(mpMatchedKF); + mvpLoopMapPoints.clear(); + for(vector::iterator vit=vpLoopConnectedKFs.begin(); vit!=vpLoopConnectedKFs.end(); vit++) + { + KeyFrame* pKF = *vit; + vector vpMapPoints = pKF->GetMapPointMatches(); + for(size_t i=0, iend=vpMapPoints.size(); iisBad() && pMP->mnLoopPointForKF!=mpCurrentKF->mnId) + { + mvpLoopMapPoints.push_back(pMP); + pMP->mnLoopPointForKF=mpCurrentKF->mnId; + } + } + } + } + + // Find more matches projecting with the computed Sim3 + matcher.SearchByProjection(mpCurrentKF, mScw, mvpLoopMapPoints, mvpCurrentMatchedPoints,10); + + // If enough matches accept Loop + int nTotalMatches = 0; + for(size_t i=0; i=40) + { + for(int i=0; iSetErase(); + return true; + } + else + { + for(int i=0; iSetErase(); + mpCurrentKF->SetErase(); + return false; + } + +} + +void LoopClosing::CorrectLoop() +{ + cout << "Loop detected!" << endl; + + // Send a stop signal to Local Mapping + // Avoid new keyframes are inserted while correcting the loop + mpLocalMapper->RequestStop(); + + // If a Global Bundle Adjustment is running, abort it + if(isRunningGBA()) + { + unique_lock lock(mMutexGBA); + mbStopGBA = true; + + mnFullBAIdx++; + + if(mpThreadGBA) + { + mpThreadGBA->detach(); + delete mpThreadGBA; + } + } + + // Wait until Local Mapping has effectively stopped + while(!mpLocalMapper->isStopped()) + { + usleep(1000); + } + + // Ensure current keyframe is updated + mpCurrentKF->UpdateConnections(); + + // Retrive keyframes connected to the current keyframe and compute corrected Sim3 pose by propagation + mvpCurrentConnectedKFs = mpCurrentKF->GetVectorCovisibleKeyFrames(); + mvpCurrentConnectedKFs.push_back(mpCurrentKF); + + KeyFrameAndPose CorrectedSim3, NonCorrectedSim3; + CorrectedSim3[mpCurrentKF]=mg2oScw; + cv::Mat Twc = mpCurrentKF->GetPoseInverse(); + + + { + // Get Map Mutex + unique_lock lock(mpMap->mMutexMapUpdate); + + for(vector::iterator vit=mvpCurrentConnectedKFs.begin(), vend=mvpCurrentConnectedKFs.end(); vit!=vend; vit++) + { + KeyFrame* pKFi = *vit; + + cv::Mat Tiw = pKFi->GetPose(); + + if(pKFi!=mpCurrentKF) + { + cv::Mat Tic = Tiw*Twc; + cv::Mat Ric = Tic.rowRange(0,3).colRange(0,3); + cv::Mat tic = Tic.rowRange(0,3).col(3); + g2o::Sim3 g2oSic(Converter::toMatrix3d(Ric),Converter::toVector3d(tic),1.0); + g2o::Sim3 g2oCorrectedSiw = g2oSic*mg2oScw; + //Pose corrected with the Sim3 of the loop closure + CorrectedSim3[pKFi]=g2oCorrectedSiw; + } + + cv::Mat Riw = Tiw.rowRange(0,3).colRange(0,3); + cv::Mat tiw = Tiw.rowRange(0,3).col(3); + g2o::Sim3 g2oSiw(Converter::toMatrix3d(Riw),Converter::toVector3d(tiw),1.0); + //Pose without correction + NonCorrectedSim3[pKFi]=g2oSiw; + } + + // Correct all MapPoints obsrved by current keyframe and neighbors, so that they align with the other side of the loop + for(KeyFrameAndPose::iterator mit=CorrectedSim3.begin(), mend=CorrectedSim3.end(); mit!=mend; mit++) + { + KeyFrame* pKFi = mit->first; + g2o::Sim3 g2oCorrectedSiw = mit->second; + g2o::Sim3 g2oCorrectedSwi = g2oCorrectedSiw.inverse(); + + g2o::Sim3 g2oSiw =NonCorrectedSim3[pKFi]; + + vector vpMPsi = pKFi->GetMapPointMatches(); + for(size_t iMP=0, endMPi = vpMPsi.size(); iMPisBad()) + continue; + if(pMPi->mnCorrectedByKF==mpCurrentKF->mnId) + continue; + + // Project with non-corrected pose and project back with corrected pose + cv::Mat P3Dw = pMPi->GetWorldPos(); + Eigen::Matrix eigP3Dw = Converter::toVector3d(P3Dw); + Eigen::Matrix eigCorrectedP3Dw = g2oCorrectedSwi.map(g2oSiw.map(eigP3Dw)); + + cv::Mat cvCorrectedP3Dw = Converter::toCvMat(eigCorrectedP3Dw); + pMPi->SetWorldPos(cvCorrectedP3Dw); + pMPi->mnCorrectedByKF = mpCurrentKF->mnId; + pMPi->mnCorrectedReference = pKFi->mnId; + pMPi->UpdateNormalAndDepth(); + } + + // Update keyframe pose with corrected Sim3. First transform Sim3 to SE3 (scale translation) + Eigen::Matrix3d eigR = g2oCorrectedSiw.rotation().toRotationMatrix(); + Eigen::Vector3d eigt = g2oCorrectedSiw.translation(); + double s = g2oCorrectedSiw.scale(); + + eigt *=(1./s); //[R t/s;0 1] + + cv::Mat correctedTiw = Converter::toCvSE3(eigR,eigt); + + pKFi->SetPose(correctedTiw); + + // Make sure connections are updated + pKFi->UpdateConnections(); + } + + // Start Loop Fusion + // Update matched map points and replace if duplicated + for(size_t i=0; iGetMapPoint(i); + if(pCurMP) + pCurMP->Replace(pLoopMP); + else + { + mpCurrentKF->AddMapPoint(pLoopMP,i); + pLoopMP->AddObservation(mpCurrentKF,i); + pLoopMP->ComputeDistinctiveDescriptors(); + } + } + } + + } + + // Project MapPoints observed in the neighborhood of the loop keyframe + // into the current keyframe and neighbors using corrected poses. + // Fuse duplications. + SearchAndFuse(CorrectedSim3); + + + // After the MapPoint fusion, new links in the covisibility graph will appear attaching both sides of the loop + map > LoopConnections; + + for(vector::iterator vit=mvpCurrentConnectedKFs.begin(), vend=mvpCurrentConnectedKFs.end(); vit!=vend; vit++) + { + KeyFrame* pKFi = *vit; + vector vpPreviousNeighbors = pKFi->GetVectorCovisibleKeyFrames(); + + // Update connections. Detect new links. + pKFi->UpdateConnections(); + LoopConnections[pKFi]=pKFi->GetConnectedKeyFrames(); + for(vector::iterator vit_prev=vpPreviousNeighbors.begin(), vend_prev=vpPreviousNeighbors.end(); vit_prev!=vend_prev; vit_prev++) + { + LoopConnections[pKFi].erase(*vit_prev); + } + for(vector::iterator vit2=mvpCurrentConnectedKFs.begin(), vend2=mvpCurrentConnectedKFs.end(); vit2!=vend2; vit2++) + { + LoopConnections[pKFi].erase(*vit2); + } + } + + // Optimize graph + Optimizer::OptimizeEssentialGraph(mpMap, mpMatchedKF, mpCurrentKF, NonCorrectedSim3, CorrectedSim3, LoopConnections, mbFixScale); + + mpMap->InformNewBigChange(); + + // Add loop edge + mpMatchedKF->AddLoopEdge(mpCurrentKF); + mpCurrentKF->AddLoopEdge(mpMatchedKF); + + // Launch a new thread to perform Global Bundle Adjustment + mbRunningGBA = true; + mbFinishedGBA = false; + mbStopGBA = false; + mpThreadGBA = new thread(&LoopClosing::RunGlobalBundleAdjustment,this,mpCurrentKF->mnId); + + // Loop closed. Release Local Mapping. + mpLocalMapper->Release(); + + mLastLoopKFid = mpCurrentKF->mnId; +} + +void LoopClosing::SearchAndFuse(const KeyFrameAndPose &CorrectedPosesMap) +{ + ORBmatcher matcher(0.8); + + for(KeyFrameAndPose::const_iterator mit=CorrectedPosesMap.begin(), mend=CorrectedPosesMap.end(); mit!=mend;mit++) + { + KeyFrame* pKF = mit->first; + + g2o::Sim3 g2oScw = mit->second; + cv::Mat cvScw = Converter::toCvMat(g2oScw); + + vector vpReplacePoints(mvpLoopMapPoints.size(),static_cast(NULL)); + matcher.Fuse(pKF,cvScw,mvpLoopMapPoints,4,vpReplacePoints); + + // Get Map Mutex + unique_lock lock(mpMap->mMutexMapUpdate); + const int nLP = mvpLoopMapPoints.size(); + for(int i=0; iReplace(mvpLoopMapPoints[i]); + } + } + } +} + + +void LoopClosing::RequestReset() +{ + { + unique_lock lock(mMutexReset); + mbResetRequested = true; + } + + while(1) + { + { + unique_lock lock2(mMutexReset); + if(!mbResetRequested) + break; + } + usleep(5000); + } +} + +void LoopClosing::ResetIfRequested() +{ + unique_lock lock(mMutexReset); + if(mbResetRequested) + { + mlpLoopKeyFrameQueue.clear(); + mLastLoopKFid=0; + mbResetRequested=false; + } +} + +void LoopClosing::RunGlobalBundleAdjustment(unsigned long nLoopKF) +{ + cout << "Starting Global Bundle Adjustment" << endl; + + int idx = mnFullBAIdx; + Optimizer::GlobalBundleAdjustemnt(mpMap,10,&mbStopGBA,nLoopKF,false); + + // Update all MapPoints and KeyFrames + // Local Mapping was active during BA, that means that there might be new keyframes + // not included in the Global BA and they are not consistent with the updated map. + // We need to propagate the correction through the spanning tree + { + unique_lock lock(mMutexGBA); + if(idx!=mnFullBAIdx) + return; + + if(!mbStopGBA) + { + cout << "Global Bundle Adjustment finished" << endl; + cout << "Updating map ..." << endl; + mpLocalMapper->RequestStop(); + // Wait until Local Mapping has effectively stopped + + while(!mpLocalMapper->isStopped() && !mpLocalMapper->isFinished()) + { + usleep(1000); + } + + // Get Map Mutex + unique_lock lock(mpMap->mMutexMapUpdate); + + // Correct keyframes starting at map first keyframe + list lpKFtoCheck(mpMap->mvpKeyFrameOrigins.begin(),mpMap->mvpKeyFrameOrigins.end()); + + while(!lpKFtoCheck.empty()) + { + KeyFrame* pKF = lpKFtoCheck.front(); + const set sChilds = pKF->GetChilds(); + cv::Mat Twc = pKF->GetPoseInverse(); + for(set::const_iterator sit=sChilds.begin();sit!=sChilds.end();sit++) + { + KeyFrame* pChild = *sit; + if(pChild->mnBAGlobalForKF!=nLoopKF) + { + cv::Mat Tchildc = pChild->GetPose()*Twc; + pChild->mTcwGBA = Tchildc*pKF->mTcwGBA;//*Tcorc*pKF->mTcwGBA; + pChild->mnBAGlobalForKF=nLoopKF; + + } + lpKFtoCheck.push_back(pChild); + } + + pKF->mTcwBefGBA = pKF->GetPose(); + pKF->SetPose(pKF->mTcwGBA); + lpKFtoCheck.pop_front(); + } + + // Correct MapPoints + const vector vpMPs = mpMap->GetAllMapPoints(); + + for(size_t i=0; iisBad()) + continue; + + if(pMP->mnBAGlobalForKF==nLoopKF) + { + // If optimized by Global BA, just update + pMP->SetWorldPos(pMP->mPosGBA); + } + else + { + // Update according to the correction of its reference keyframe + KeyFrame* pRefKF = pMP->GetReferenceKeyFrame(); + + if(pRefKF->mnBAGlobalForKF!=nLoopKF) + continue; + + // Map to non-corrected camera + cv::Mat Rcw = pRefKF->mTcwBefGBA.rowRange(0,3).colRange(0,3); + cv::Mat tcw = pRefKF->mTcwBefGBA.rowRange(0,3).col(3); + cv::Mat Xc = Rcw*pMP->GetWorldPos()+tcw; + + // Backproject using corrected camera + cv::Mat Twc = pRefKF->GetPoseInverse(); + cv::Mat Rwc = Twc.rowRange(0,3).colRange(0,3); + cv::Mat twc = Twc.rowRange(0,3).col(3); + + pMP->SetWorldPos(Rwc*Xc+twc); + } + } + + mpMap->InformNewBigChange(); + + mpLocalMapper->Release(); + + cout << "Map updated!" << endl; + } + + mbFinishedGBA = true; + mbRunningGBA = false; + } +} + +void LoopClosing::RequestFinish() +{ + unique_lock lock(mMutexFinish); + mbFinishRequested = true; +} + +bool LoopClosing::CheckFinish() +{ + unique_lock lock(mMutexFinish); + return mbFinishRequested; +} + +void LoopClosing::SetFinish() +{ + unique_lock lock(mMutexFinish); + mbFinished = true; +} + +bool LoopClosing::isFinished() +{ + unique_lock lock(mMutexFinish); + return mbFinished; +} + +bool LoopClosing::DetectWithObject(){ + //TODO:实现物体检测 +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/Map.cc b/MyCode/src/my-slam/src/Map.cc new file mode 100644 index 0000000..15fcd86 --- /dev/null +++ b/MyCode/src/my-slam/src/Map.cc @@ -0,0 +1,133 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "Map.h" + +#include + +namespace ORB_SLAM2 +{ + +Map::Map():mnMaxKFid(0),mnBigChangeIdx(0) +{ +} + +void Map::AddKeyFrame(KeyFrame *pKF) +{ + unique_lock lock(mMutexMap); + mspKeyFrames.insert(pKF); + if(pKF->mnId>mnMaxKFid) + mnMaxKFid=pKF->mnId; +} + +void Map::AddMapPoint(MapPoint *pMP) +{ + unique_lock lock(mMutexMap); + mspMapPoints.insert(pMP); +} + +void Map::EraseMapPoint(MapPoint *pMP) +{ + unique_lock lock(mMutexMap); + mspMapPoints.erase(pMP); + + // TODO: This only erase the pointer. + // Delete the MapPoint +} + +void Map::EraseKeyFrame(KeyFrame *pKF) +{ + unique_lock lock(mMutexMap); + mspKeyFrames.erase(pKF); + + // TODO: This only erase the pointer. + // Delete the MapPoint +} + +void Map::SetReferenceMapPoints(const vector &vpMPs) +{ + unique_lock lock(mMutexMap); + mvpReferenceMapPoints = vpMPs; +} + +void Map::InformNewBigChange() +{ + unique_lock lock(mMutexMap); + mnBigChangeIdx++; +} + +int Map::GetLastBigChangeIdx() +{ + unique_lock lock(mMutexMap); + return mnBigChangeIdx; +} + +vector Map::GetAllKeyFrames() +{ + unique_lock lock(mMutexMap); + return vector(mspKeyFrames.begin(),mspKeyFrames.end()); +} + +vector Map::GetAllMapPoints() +{ + unique_lock lock(mMutexMap); + return vector(mspMapPoints.begin(),mspMapPoints.end()); +} + +long unsigned int Map::MapPointsInMap() +{ + unique_lock lock(mMutexMap); + return mspMapPoints.size(); +} + +long unsigned int Map::KeyFramesInMap() +{ + unique_lock lock(mMutexMap); + return mspKeyFrames.size(); +} + +vector Map::GetReferenceMapPoints() +{ + unique_lock lock(mMutexMap); + return mvpReferenceMapPoints; +} + +long unsigned int Map::GetMaxKFid() +{ + unique_lock lock(mMutexMap); + return mnMaxKFid; +} + +void Map::clear() +{ + for(set::iterator sit=mspMapPoints.begin(), send=mspMapPoints.end(); sit!=send; sit++) + delete *sit; + + for(set::iterator sit=mspKeyFrames.begin(), send=mspKeyFrames.end(); sit!=send; sit++) + delete *sit; + + mspMapPoints.clear(); + mspKeyFrames.clear(); + mnMaxKFid = 0; + mvpReferenceMapPoints.clear(); + mvpKeyFrameOrigins.clear(); +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/MapDrawer.cc b/MyCode/src/my-slam/src/MapDrawer.cc new file mode 100644 index 0000000..eee0125 --- /dev/null +++ b/MyCode/src/my-slam/src/MapDrawer.cc @@ -0,0 +1,265 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "MapDrawer.h" +#include "MapPoint.h" +#include "KeyFrame.h" +#include +#include +#include + + +namespace ORB_SLAM2 +{ + +MapDrawer::MapDrawer(Map* pMap, const string &strSettingPath):mpMap(pMap) +{ + cv::FileStorage fSettings(strSettingPath, cv::FileStorage::READ); + + mKeyFrameSize = fSettings["Viewer.KeyFrameSize"]; + mKeyFrameLineWidth = fSettings["Viewer.KeyFrameLineWidth"]; + mGraphLineWidth = fSettings["Viewer.GraphLineWidth"]; + mPointSize = fSettings["Viewer.PointSize"]; + mCameraSize = fSettings["Viewer.CameraSize"]; + mCameraLineWidth = fSettings["Viewer.CameraLineWidth"]; + +} + +void MapDrawer::DrawMapPoints() +{ + const vector &vpMPs = mpMap->GetAllMapPoints(); + const vector &vpRefMPs = mpMap->GetReferenceMapPoints(); + + set spRefMPs(vpRefMPs.begin(), vpRefMPs.end()); + + if(vpMPs.empty()) + return; + + glPointSize(mPointSize); + glBegin(GL_POINTS); + glColor3f(0.0,0.0,0.0); + + for(size_t i=0, iend=vpMPs.size(); iisBad() || spRefMPs.count(vpMPs[i])) + continue; + cv::Mat pos = vpMPs[i]->GetWorldPos(); + glVertex3f(pos.at(0),pos.at(1),pos.at(2)); + } + glEnd(); + + glPointSize(mPointSize); + glBegin(GL_POINTS); + glColor3f(1.0,0.0,0.0); + + for(set::iterator sit=spRefMPs.begin(), send=spRefMPs.end(); sit!=send; sit++) + { + if((*sit)->isBad()) + continue; + cv::Mat pos = (*sit)->GetWorldPos(); + glVertex3f(pos.at(0),pos.at(1),pos.at(2)); + + } + + glEnd(); +} + +void MapDrawer::DrawKeyFrames(const bool bDrawKF, const bool bDrawGraph) +{ + const float &w = mKeyFrameSize; + const float h = w*0.75; + const float z = w*0.6; + + const vector vpKFs = mpMap->GetAllKeyFrames(); + + if(bDrawKF) + { + for(size_t i=0; iGetPoseInverse().t(); + + glPushMatrix(); + + glMultMatrixf(Twc.ptr(0)); + + glLineWidth(mKeyFrameLineWidth); + glColor3f(0.0f,0.0f,1.0f); + glBegin(GL_LINES); + glVertex3f(0,0,0); + glVertex3f(w,h,z); + glVertex3f(0,0,0); + glVertex3f(w,-h,z); + glVertex3f(0,0,0); + glVertex3f(-w,-h,z); + glVertex3f(0,0,0); + glVertex3f(-w,h,z); + + glVertex3f(w,h,z); + glVertex3f(w,-h,z); + + glVertex3f(-w,h,z); + glVertex3f(-w,-h,z); + + glVertex3f(-w,h,z); + glVertex3f(w,h,z); + + glVertex3f(-w,-h,z); + glVertex3f(w,-h,z); + glEnd(); + + glPopMatrix(); + } + } + + if(bDrawGraph) + { + glLineWidth(mGraphLineWidth); + glColor4f(0.0f,1.0f,0.0f,0.6f); + glBegin(GL_LINES); + + for(size_t i=0; i vCovKFs = vpKFs[i]->GetCovisiblesByWeight(100); + cv::Mat Ow = vpKFs[i]->GetCameraCenter(); + if(!vCovKFs.empty()) + { + for(vector::const_iterator vit=vCovKFs.begin(), vend=vCovKFs.end(); vit!=vend; vit++) + { + if((*vit)->mnIdmnId) + continue; + cv::Mat Ow2 = (*vit)->GetCameraCenter(); + glVertex3f(Ow.at(0),Ow.at(1),Ow.at(2)); + glVertex3f(Ow2.at(0),Ow2.at(1),Ow2.at(2)); + } + } + + // Spanning tree + KeyFrame* pParent = vpKFs[i]->GetParent(); + if(pParent) + { + cv::Mat Owp = pParent->GetCameraCenter(); + glVertex3f(Ow.at(0),Ow.at(1),Ow.at(2)); + glVertex3f(Owp.at(0),Owp.at(1),Owp.at(2)); + } + + // Loops + set sLoopKFs = vpKFs[i]->GetLoopEdges(); + for(set::iterator sit=sLoopKFs.begin(), send=sLoopKFs.end(); sit!=send; sit++) + { + if((*sit)->mnIdmnId) + continue; + cv::Mat Owl = (*sit)->GetCameraCenter(); + glVertex3f(Ow.at(0),Ow.at(1),Ow.at(2)); + glVertex3f(Owl.at(0),Owl.at(1),Owl.at(2)); + } + } + + glEnd(); + } +} + +void MapDrawer::DrawCurrentCamera(pangolin::OpenGlMatrix &Twc) +{ + const float &w = mCameraSize; + const float h = w*0.75; + const float z = w*0.6; + + glPushMatrix(); + +#ifdef HAVE_GLES + glMultMatrixf(Twc.m); +#else + glMultMatrixd(Twc.m); +#endif + + glLineWidth(mCameraLineWidth); + glColor3f(0.0f,1.0f,0.0f); + glBegin(GL_LINES); + glVertex3f(0,0,0); + glVertex3f(w,h,z); + glVertex3f(0,0,0); + glVertex3f(w,-h,z); + glVertex3f(0,0,0); + glVertex3f(-w,-h,z); + glVertex3f(0,0,0); + glVertex3f(-w,h,z); + + glVertex3f(w,h,z); + glVertex3f(w,-h,z); + + glVertex3f(-w,h,z); + glVertex3f(-w,-h,z); + + glVertex3f(-w,h,z); + glVertex3f(w,h,z); + + glVertex3f(-w,-h,z); + glVertex3f(w,-h,z); + glEnd(); + + glPopMatrix(); +} + + +void MapDrawer::SetCurrentCameraPose(const cv::Mat &Tcw) +{ + unique_lock lock(mMutexCamera); + mCameraPose = Tcw.clone(); +} + +void MapDrawer::GetCurrentOpenGLCameraMatrix(pangolin::OpenGlMatrix &M) +{ + if(!mCameraPose.empty()) + { + cv::Mat Rwc(3,3,CV_32F); + cv::Mat twc(3,1,CV_32F); + { + unique_lock lock(mMutexCamera); + Rwc = mCameraPose.rowRange(0,3).colRange(0,3).t(); + twc = -Rwc*mCameraPose.rowRange(0,3).col(3); + } + + M.m[0] = Rwc.at(0,0); + M.m[1] = Rwc.at(1,0); + M.m[2] = Rwc.at(2,0); + M.m[3] = 0.0; + + M.m[4] = Rwc.at(0,1); + M.m[5] = Rwc.at(1,1); + M.m[6] = Rwc.at(2,1); + M.m[7] = 0.0; + + M.m[8] = Rwc.at(0,2); + M.m[9] = Rwc.at(1,2); + M.m[10] = Rwc.at(2,2); + M.m[11] = 0.0; + + M.m[12] = twc.at(0); + M.m[13] = twc.at(1); + M.m[14] = twc.at(2); + M.m[15] = 1.0; + } + else + M.SetIdentity(); +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/MapPoint.cc b/MyCode/src/my-slam/src/MapPoint.cc new file mode 100644 index 0000000..3b29211 --- /dev/null +++ b/MyCode/src/my-slam/src/MapPoint.cc @@ -0,0 +1,421 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "MapPoint.h" +#include "ORBmatcher.h" + +#include + +namespace ORB_SLAM2 +{ + +long unsigned int MapPoint::nNextId=0; +mutex MapPoint::mGlobalMutex; + +MapPoint::MapPoint(const cv::Mat &Pos, KeyFrame *pRefKF, Map* pMap): + mnFirstKFid(pRefKF->mnId), mnFirstFrame(pRefKF->mnFrameId), nObs(0), mnTrackReferenceForFrame(0), + mnLastFrameSeen(0), mnBALocalForKF(0), mnFuseCandidateForKF(0), mnLoopPointForKF(0), mnCorrectedByKF(0), + mnCorrectedReference(0), mnBAGlobalForKF(0), mpRefKF(pRefKF), mnVisible(1), mnFound(1), mbBad(false), + mpReplaced(static_cast(NULL)), mfMinDistance(0), mfMaxDistance(0), mpMap(pMap) +{ + Pos.copyTo(mWorldPos); + mNormalVector = cv::Mat::zeros(3,1,CV_32F); + + // MapPoints can be created from Tracking and Local Mapping. This mutex avoid conflicts with id. + unique_lock lock(mpMap->mMutexPointCreation); + mnId=nNextId++; +} + +MapPoint::MapPoint(const cv::Mat &Pos, Map* pMap, Frame* pFrame, const int &idxF): + mnFirstKFid(-1), mnFirstFrame(pFrame->mnId), nObs(0), mnTrackReferenceForFrame(0), mnLastFrameSeen(0), + mnBALocalForKF(0), mnFuseCandidateForKF(0),mnLoopPointForKF(0), mnCorrectedByKF(0), + mnCorrectedReference(0), mnBAGlobalForKF(0), mpRefKF(static_cast(NULL)), mnVisible(1), + mnFound(1), mbBad(false), mpReplaced(NULL), mpMap(pMap) +{ + Pos.copyTo(mWorldPos); + cv::Mat Ow = pFrame->GetCameraCenter(); + mNormalVector = mWorldPos - Ow; + mNormalVector = mNormalVector/cv::norm(mNormalVector); + + cv::Mat PC = Pos - Ow; + const float dist = cv::norm(PC); + const int level = pFrame->mvKeysUn[idxF].octave; + const float levelScaleFactor = pFrame->mvScaleFactors[level]; + const int nLevels = pFrame->mnScaleLevels; + + mfMaxDistance = dist*levelScaleFactor; + mfMinDistance = mfMaxDistance/pFrame->mvScaleFactors[nLevels-1]; + + pFrame->mDescriptors.row(idxF).copyTo(mDescriptor); + + // MapPoints can be created from Tracking and Local Mapping. This mutex avoid conflicts with id. + unique_lock lock(mpMap->mMutexPointCreation); + mnId=nNextId++; +} + +void MapPoint::SetWorldPos(const cv::Mat &Pos) +{ + unique_lock lock2(mGlobalMutex); + unique_lock lock(mMutexPos); + Pos.copyTo(mWorldPos); +} + +cv::Mat MapPoint::GetWorldPos() +{ + unique_lock lock(mMutexPos); + return mWorldPos.clone(); +} + +cv::Mat MapPoint::GetNormal() +{ + unique_lock lock(mMutexPos); + return mNormalVector.clone(); +} + +KeyFrame* MapPoint::GetReferenceKeyFrame() +{ + unique_lock lock(mMutexFeatures); + return mpRefKF; +} + +void MapPoint::AddObservation(KeyFrame* pKF, size_t idx) +{ + unique_lock lock(mMutexFeatures); + if(mObservations.count(pKF)) + return; + mObservations[pKF]=idx; + + if(pKF->mvuRight[idx]>=0) + nObs+=2; + else + nObs++; +} + +void MapPoint::EraseObservation(KeyFrame* pKF) +{ + bool bBad=false; + { + unique_lock lock(mMutexFeatures); + if(mObservations.count(pKF)) + { + int idx = mObservations[pKF]; + if(pKF->mvuRight[idx]>=0) + nObs-=2; + else + nObs--; + + mObservations.erase(pKF); + + if(mpRefKF==pKF) + mpRefKF=mObservations.begin()->first; + + // If only 2 observations or less, discard point + if(nObs<=2) + bBad=true; + } + } + + if(bBad) + SetBadFlag(); +} + +map MapPoint::GetObservations() +{ + unique_lock lock(mMutexFeatures); + return mObservations; +} + +int MapPoint::Observations() +{ + unique_lock lock(mMutexFeatures); + return nObs; +} + +void MapPoint::SetBadFlag() +{ + map obs; + { + unique_lock lock1(mMutexFeatures); + unique_lock lock2(mMutexPos); + mbBad=true; + obs = mObservations; + mObservations.clear(); + } + for(map::iterator mit=obs.begin(), mend=obs.end(); mit!=mend; mit++) + { + KeyFrame* pKF = mit->first; + pKF->EraseMapPointMatch(mit->second); + } + + mpMap->EraseMapPoint(this); +} + +MapPoint* MapPoint::GetReplaced() +{ + unique_lock lock1(mMutexFeatures); + unique_lock lock2(mMutexPos); + return mpReplaced; +} + +void MapPoint::Replace(MapPoint* pMP) +{ + if(pMP->mnId==this->mnId) + return; + + int nvisible, nfound; + map obs; + { + unique_lock lock1(mMutexFeatures); + unique_lock lock2(mMutexPos); + obs=mObservations; + mObservations.clear(); + mbBad=true; + nvisible = mnVisible; + nfound = mnFound; + mpReplaced = pMP; + } + + for(map::iterator mit=obs.begin(), mend=obs.end(); mit!=mend; mit++) + { + // Replace measurement in keyframe + KeyFrame* pKF = mit->first; + + if(!pMP->IsInKeyFrame(pKF)) + { + pKF->ReplaceMapPointMatch(mit->second, pMP); + pMP->AddObservation(pKF,mit->second); + } + else + { + pKF->EraseMapPointMatch(mit->second); + } + } + pMP->IncreaseFound(nfound); + pMP->IncreaseVisible(nvisible); + pMP->ComputeDistinctiveDescriptors(); + + mpMap->EraseMapPoint(this); +} + +bool MapPoint::isBad() +{ + unique_lock lock(mMutexFeatures); + unique_lock lock2(mMutexPos); + return mbBad; +} + +void MapPoint::IncreaseVisible(int n) +{ + unique_lock lock(mMutexFeatures); + mnVisible+=n; +} + +void MapPoint::IncreaseFound(int n) +{ + unique_lock lock(mMutexFeatures); + mnFound+=n; +} + +float MapPoint::GetFoundRatio() +{ + unique_lock lock(mMutexFeatures); + return static_cast(mnFound)/mnVisible; +} + +void MapPoint::ComputeDistinctiveDescriptors() +{ + // Retrieve all observed descriptors + vector vDescriptors; + + map observations; + + { + unique_lock lock1(mMutexFeatures); + if(mbBad) + return; + observations=mObservations; + } + + if(observations.empty()) + return; + + vDescriptors.reserve(observations.size()); + + for(map::iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++) + { + KeyFrame* pKF = mit->first; + + if(!pKF->isBad()) + vDescriptors.push_back(pKF->mDescriptors.row(mit->second)); + } + + if(vDescriptors.empty()) + return; + + // Compute distances between them + const size_t N = vDescriptors.size(); + + float Distances[N][N]; + for(size_t i=0;i vDists(Distances[i],Distances[i]+N); + sort(vDists.begin(),vDists.end()); + int median = vDists[0.5*(N-1)]; + + if(median lock(mMutexFeatures); + mDescriptor = vDescriptors[BestIdx].clone(); + } +} + +cv::Mat MapPoint::GetDescriptor() +{ + unique_lock lock(mMutexFeatures); + return mDescriptor.clone(); +} + +int MapPoint::GetIndexInKeyFrame(KeyFrame *pKF) +{ + unique_lock lock(mMutexFeatures); + if(mObservations.count(pKF)) + return mObservations[pKF]; + else + return -1; +} + +bool MapPoint::IsInKeyFrame(KeyFrame *pKF) +{ + unique_lock lock(mMutexFeatures); + return (mObservations.count(pKF)); +} + +void MapPoint::UpdateNormalAndDepth() +{ + map observations; + KeyFrame* pRefKF; + cv::Mat Pos; + { + unique_lock lock1(mMutexFeatures); + unique_lock lock2(mMutexPos); + if(mbBad) + return; + observations=mObservations; + pRefKF=mpRefKF; + Pos = mWorldPos.clone(); + } + + if(observations.empty()) + return; + + cv::Mat normal = cv::Mat::zeros(3,1,CV_32F); + int n=0; + for(map::iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++) + { + KeyFrame* pKF = mit->first; + cv::Mat Owi = pKF->GetCameraCenter(); + cv::Mat normali = mWorldPos - Owi; + normal = normal + normali/cv::norm(normali); + n++; + } + + cv::Mat PC = Pos - pRefKF->GetCameraCenter(); + const float dist = cv::norm(PC); + const int level = pRefKF->mvKeysUn[observations[pRefKF]].octave; + const float levelScaleFactor = pRefKF->mvScaleFactors[level]; + const int nLevels = pRefKF->mnScaleLevels; + + { + unique_lock lock3(mMutexPos); + mfMaxDistance = dist*levelScaleFactor; + mfMinDistance = mfMaxDistance/pRefKF->mvScaleFactors[nLevels-1]; + mNormalVector = normal/n; + } +} + +float MapPoint::GetMinDistanceInvariance() +{ + unique_lock lock(mMutexPos); + return 0.8f*mfMinDistance; +} + +float MapPoint::GetMaxDistanceInvariance() +{ + unique_lock lock(mMutexPos); + return 1.2f*mfMaxDistance; +} + +int MapPoint::PredictScale(const float ¤tDist, KeyFrame* pKF) +{ + float ratio; + { + unique_lock lock(mMutexPos); + ratio = mfMaxDistance/currentDist; + } + + int nScale = ceil(log(ratio)/pKF->mfLogScaleFactor); + if(nScale<0) + nScale = 0; + else if(nScale>=pKF->mnScaleLevels) + nScale = pKF->mnScaleLevels-1; + + return nScale; +} + +int MapPoint::PredictScale(const float ¤tDist, Frame* pF) +{ + float ratio; + { + unique_lock lock(mMutexPos); + ratio = mfMaxDistance/currentDist; + } + + int nScale = ceil(log(ratio)/pF->mfLogScaleFactor); + if(nScale<0) + nScale = 0; + else if(nScale>=pF->mnScaleLevels) + nScale = pF->mnScaleLevels-1; + + return nScale; +} + + + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/ORBextractor.cc b/MyCode/src/my-slam/src/ORBextractor.cc new file mode 100644 index 0000000..37c76f0 --- /dev/null +++ b/MyCode/src/my-slam/src/ORBextractor.cc @@ -0,0 +1,1149 @@ +/** +* This file is part of ORB-SLAM2. +* This file is based on the file orb.cpp from the OpenCV library (see BSD license below). +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ +/** +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 the Willow Garage 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. +* +*/ + + +#include +#include +#include +#include +#include + +#include "ORBextractor.h" + +#include "iostream" + +using namespace cv; +using namespace std; + +namespace ORB_SLAM2 +{ + +const int PATCH_SIZE = 31; +const int HALF_PATCH_SIZE = 15; +const int EDGE_THRESHOLD = 19; + +//计算特征点主方向（质心，中心） +//返回特征点的角度，范围为[0,360)角度，精度为0.3° +static float IC_Angle(const Mat& image, Point2f pt, const vector & u_max) +{ + int m_01 = 0, m_10 = 0; + + //获得这个特征点所在的图像块的中心点坐标灰度值的指针center + const uchar* center = &image.at (cvRound(pt.y), cvRound(pt.x)); + + // Treat the center line differently, v=0 + for (int u = -HALF_PATCH_SIZE; u <= HALF_PATCH_SIZE; ++u) + m_10 += u * center[u]; + + // Go line by line in the circuI853lar patch + //step1表示这个图像一行包含的字节总数 + int step = (int)image.step1(); + for (int v = 1; v <= HALF_PATCH_SIZE; ++v) + { + // Proceed over the two lines + int v_sum = 0; + int d = u_max[v]; + for (int u = -d; u <= d; ++u) + { + int val_plus = center[u + v*step], val_minus = center[u - v*step]; + v_sum += (val_plus - val_minus); + m_10 += u * (val_plus + val_minus); + } + m_01 += v * v_sum; + } + + return fastAtan2((float)m_01, (float)m_10); +} + + +const float factorPI = (float)(CV_PI/180.f); + +//计算描述子 +static void computeOrbDescriptor(const KeyPoint& kpt, + const Mat& img, const Point* pattern, + uchar* desc) +{ + float angle = (float)kpt.angle*factorPI; + float a = (float)cos(angle), b = (float)sin(angle); + + const uchar* center = &img.at(cvRound(kpt.pt.y), cvRound(kpt.pt.x)); + const int step = (int)img.step; + + #define GET_VALUE(idx) \ + center[cvRound(pattern[idx].x*b + pattern[idx].y*a)*step + \ + cvRound(pattern[idx].x*a - pattern[idx].y*b)] + + + for (int i = 0; i < 32; ++i, pattern += 16) + { + int t0, t1, val; + t0 = GET_VALUE(0); t1 = GET_VALUE(1); + val = t0 < t1; + t0 = GET_VALUE(2); t1 = GET_VALUE(3); + val |= (t0 < t1) << 1; + t0 = GET_VALUE(4); t1 = GET_VALUE(5); + val |= (t0 < t1) << 2; + t0 = GET_VALUE(6); t1 = GET_VALUE(7); + val |= (t0 < t1) << 3; + t0 = GET_VALUE(8); t1 = GET_VALUE(9); + val |= (t0 < t1) << 4; + t0 = GET_VALUE(10); t1 = GET_VALUE(11); + val |= (t0 < t1) << 5; + t0 = GET_VALUE(12); t1 = GET_VALUE(13); + val |= (t0 < t1) << 6; + t0 = GET_VALUE(14); t1 = GET_VALUE(15); + val |= (t0 < t1) << 7; + + desc[i] = (uchar)val; + } + + #undef GET_VALUE +} + + +static int bit_pattern_31_[256*4] = +{ + 8,-3, 9,5/*mean (0), correlation (0)*/, + 4,2, 7,-12/*mean (1.12461e-05), correlation (0.0437584)*/, + -11,9, -8,2/*mean (3.37382e-05), correlation (0.0617409)*/, + 7,-12, 12,-13/*mean (5.62303e-05), correlation (0.0636977)*/, + 2,-13, 2,12/*mean (0.000134953), correlation (0.085099)*/, + 1,-7, 1,6/*mean (0.000528565), correlation (0.0857175)*/, + -2,-10, -2,-4/*mean (0.0188821), correlation (0.0985774)*/, + -13,-13, -11,-8/*mean (0.0363135), correlation (0.0899616)*/, + -13,-3, -12,-9/*mean (0.121806), correlation (0.099849)*/, + 10,4, 11,9/*mean (0.122065), correlation (0.093285)*/, + -13,-8, -8,-9/*mean (0.162787), correlation (0.0942748)*/, + -11,7, -9,12/*mean (0.21561), correlation (0.0974438)*/, + 7,7, 12,6/*mean (0.160583), correlation (0.130064)*/, + -4,-5, -3,0/*mean (0.228171), correlation (0.132998)*/, + -13,2, -12,-3/*mean (0.00997526), correlation (0.145926)*/, + -9,0, -7,5/*mean (0.198234), correlation (0.143636)*/, + 12,-6, 12,-1/*mean (0.0676226), correlation (0.16689)*/, + -3,6, -2,12/*mean (0.166847), correlation (0.171682)*/, + -6,-13, -4,-8/*mean (0.101215), correlation (0.179716)*/, + 11,-13, 12,-8/*mean (0.200641), correlation (0.192279)*/, + 4,7, 5,1/*mean (0.205106), correlation (0.186848)*/, + 5,-3, 10,-3/*mean (0.234908), correlation (0.192319)*/, + 3,-7, 6,12/*mean (0.0709964), correlation (0.210872)*/, + -8,-7, -6,-2/*mean (0.0939834), correlation (0.212589)*/, + -2,11, -1,-10/*mean (0.127778), correlation (0.20866)*/, + -13,12, -8,10/*mean (0.14783), correlation (0.206356)*/, + -7,3, -5,-3/*mean (0.182141), correlation (0.198942)*/, + -4,2, -3,7/*mean (0.188237), correlation (0.21384)*/, + -10,-12, -6,11/*mean (0.14865), correlation (0.23571)*/, + 5,-12, 6,-7/*mean (0.222312), correlation (0.23324)*/, + 5,-6, 7,-1/*mean (0.229082), correlation (0.23389)*/, + 1,0, 4,-5/*mean (0.241577), correlation (0.215286)*/, + 9,11, 11,-13/*mean (0.00338507), correlation (0.251373)*/, + 4,7, 4,12/*mean (0.131005), correlation (0.257622)*/, + 2,-1, 4,4/*mean (0.152755), correlation (0.255205)*/, + -4,-12, -2,7/*mean (0.182771), correlation (0.244867)*/, + -8,-5, -7,-10/*mean (0.186898), correlation (0.23901)*/, + 4,11, 9,12/*mean (0.226226), correlation (0.258255)*/, + 0,-8, 1,-13/*mean (0.0897886), correlation (0.274827)*/, + -13,-2, -8,2/*mean (0.148774), correlation (0.28065)*/, + -3,-2, -2,3/*mean (0.153048), correlation (0.283063)*/, + -6,9, -4,-9/*mean (0.169523), correlation (0.278248)*/, + 8,12, 10,7/*mean (0.225337), correlation (0.282851)*/, + 0,9, 1,3/*mean (0.226687), correlation (0.278734)*/, + 7,-5, 11,-10/*mean (0.00693882), correlation (0.305161)*/, + -13,-6, -11,0/*mean (0.0227283), correlation (0.300181)*/, + 10,7, 12,1/*mean (0.125517), correlation (0.31089)*/, + -6,-3, -6,12/*mean (0.131748), correlation (0.312779)*/, + 10,-9, 12,-4/*mean (0.144827), correlation (0.292797)*/, + -13,8, -8,-12/*mean (0.149202), correlation (0.308918)*/, + -13,0, -8,-4/*mean (0.160909), correlation (0.310013)*/, + 3,3, 7,8/*mean (0.177755), correlation (0.309394)*/, + 5,7, 10,-7/*mean (0.212337), correlation (0.310315)*/, + -1,7, 1,-12/*mean (0.214429), correlation (0.311933)*/, + 3,-10, 5,6/*mean (0.235807), correlation (0.313104)*/, + 2,-4, 3,-10/*mean (0.00494827), correlation (0.344948)*/, + -13,0, -13,5/*mean (0.0549145), correlation (0.344675)*/, + -13,-7, -12,12/*mean (0.103385), correlation (0.342715)*/, + -13,3, -11,8/*mean (0.134222), correlation (0.322922)*/, + -7,12, -4,7/*mean (0.153284), correlation (0.337061)*/, + 6,-10, 12,8/*mean (0.154881), correlation (0.329257)*/, + -9,-1, -7,-6/*mean (0.200967), correlation (0.33312)*/, + -2,-5, 0,12/*mean (0.201518), correlation (0.340635)*/, + -12,5, -7,5/*mean (0.207805), correlation (0.335631)*/, + 3,-10, 8,-13/*mean (0.224438), correlation (0.34504)*/, + -7,-7, -4,5/*mean (0.239361), correlation (0.338053)*/, + -3,-2, -1,-7/*mean (0.240744), correlation (0.344322)*/, + 2,9, 5,-11/*mean (0.242949), correlation (0.34145)*/, + -11,-13, -5,-13/*mean (0.244028), correlation (0.336861)*/, + -1,6, 0,-1/*mean (0.247571), correlation (0.343684)*/, + 5,-3, 5,2/*mean (0.000697256), correlation (0.357265)*/, + -4,-13, -4,12/*mean (0.00213675), correlation (0.373827)*/, + -9,-6, -9,6/*mean (0.0126856), correlation (0.373938)*/, + -12,-10, -8,-4/*mean (0.0152497), correlation (0.364237)*/, + 10,2, 12,-3/*mean (0.0299933), correlation (0.345292)*/, + 7,12, 12,12/*mean (0.0307242), correlation (0.366299)*/, + -7,-13, -6,5/*mean (0.0534975), correlation (0.368357)*/, + -4,9, -3,4/*mean (0.099865), correlation (0.372276)*/, + 7,-1, 12,2/*mean (0.117083), correlation (0.364529)*/, + -7,6, -5,1/*mean (0.126125), correlation (0.369606)*/, + -13,11, -12,5/*mean (0.130364), correlation (0.358502)*/, + -3,7, -2,-6/*mean (0.131691), correlation (0.375531)*/, + 7,-8, 12,-7/*mean (0.160166), correlation (0.379508)*/, + -13,-7, -11,-12/*mean (0.167848), correlation (0.353343)*/, + 1,-3, 12,12/*mean (0.183378), correlation (0.371916)*/, + 2,-6, 3,0/*mean (0.228711), correlation (0.371761)*/, + -4,3, -2,-13/*mean (0.247211), correlation (0.364063)*/, + -1,-13, 1,9/*mean (0.249325), correlation (0.378139)*/, + 7,1, 8,-6/*mean (0.000652272), correlation (0.411682)*/, + 1,-1, 3,12/*mean (0.00248538), correlation (0.392988)*/, + 9,1, 12,6/*mean (0.0206815), correlation (0.386106)*/, + -1,-9, -1,3/*mean (0.0364485), correlation (0.410752)*/, + -13,-13, -10,5/*mean (0.0376068), correlation (0.398374)*/, + 7,7, 10,12/*mean (0.0424202), correlation (0.405663)*/, + 12,-5, 12,9/*mean (0.0942645), correlation (0.410422)*/, + 6,3, 7,11/*mean (0.1074), correlation (0.413224)*/, + 5,-13, 6,10/*mean (0.109256), correlation (0.408646)*/, + 2,-12, 2,3/*mean (0.131691), correlation (0.416076)*/, + 3,8, 4,-6/*mean (0.165081), correlation (0.417569)*/, + 2,6, 12,-13/*mean (0.171874), correlation (0.408471)*/, + 9,-12, 10,3/*mean (0.175146), correlation (0.41296)*/, + -8,4, -7,9/*mean (0.183682), correlation (0.402956)*/, + -11,12, -4,-6/*mean (0.184672), correlation (0.416125)*/, + 1,12, 2,-8/*mean (0.191487), correlation (0.386696)*/, + 6,-9, 7,-4/*mean (0.192668), correlation (0.394771)*/, + 2,3, 3,-2/*mean (0.200157), correlation (0.408303)*/, + 6,3, 11,0/*mean (0.204588), correlation (0.411762)*/, + 3,-3, 8,-8/*mean (0.205904), correlation (0.416294)*/, + 7,8, 9,3/*mean (0.213237), correlation (0.409306)*/, + -11,-5, -6,-4/*mean (0.243444), correlation (0.395069)*/, + -10,11, -5,10/*mean (0.247672), correlation (0.413392)*/, + -5,-8, -3,12/*mean (0.24774), correlation (0.411416)*/, + -10,5, -9,0/*mean (0.00213675), correlation (0.454003)*/, + 8,-1, 12,-6/*mean (0.0293635), correlation (0.455368)*/, + 4,-6, 6,-11/*mean (0.0404971), correlation (0.457393)*/, + -10,12, -8,7/*mean (0.0481107), correlation (0.448364)*/, + 4,-2, 6,7/*mean (0.050641), correlation (0.455019)*/, + -2,0, -2,12/*mean (0.0525978), correlation (0.44338)*/, + -5,-8, -5,2/*mean (0.0629667), correlation (0.457096)*/, + 7,-6, 10,12/*mean (0.0653846), correlation (0.445623)*/, + -9,-13, -8,-8/*mean (0.0858749), correlation (0.449789)*/, + -5,-13, -5,-2/*mean (0.122402), correlation (0.450201)*/, + 8,-8, 9,-13/*mean (0.125416), correlation (0.453224)*/, + -9,-11, -9,0/*mean (0.130128), correlation (0.458724)*/, + 1,-8, 1,-2/*mean (0.132467), correlation (0.440133)*/, + 7,-4, 9,1/*mean (0.132692), correlation (0.454)*/, + -2,1, -1,-4/*mean (0.135695), correlation (0.455739)*/, + 11,-6, 12,-11/*mean (0.142904), correlation (0.446114)*/, + -12,-9, -6,4/*mean (0.146165), correlation (0.451473)*/, + 3,7, 7,12/*mean (0.147627), correlation (0.456643)*/, + 5,5, 10,8/*mean (0.152901), correlation (0.455036)*/, + 0,-4, 2,8/*mean (0.167083), correlation (0.459315)*/, + -9,12, -5,-13/*mean (0.173234), correlation (0.454706)*/, + 0,7, 2,12/*mean (0.18312), correlation (0.433855)*/, + -1,2, 1,7/*mean (0.185504), correlation (0.443838)*/, + 5,11, 7,-9/*mean (0.185706), correlation (0.451123)*/, + 3,5, 6,-8/*mean (0.188968), correlation (0.455808)*/, + -13,-4, -8,9/*mean (0.191667), correlation (0.459128)*/, + -5,9, -3,-3/*mean (0.193196), correlation (0.458364)*/, + -4,-7, -3,-12/*mean (0.196536), correlation (0.455782)*/, + 6,5, 8,0/*mean (0.1972), correlation (0.450481)*/, + -7,6, -6,12/*mean (0.199438), correlation (0.458156)*/, + -13,6, -5,-2/*mean (0.211224), correlation (0.449548)*/, + 1,-10, 3,10/*mean (0.211718), correlation (0.440606)*/, + 4,1, 8,-4/*mean (0.213034), correlation (0.443177)*/, + -2,-2, 2,-13/*mean (0.234334), correlation (0.455304)*/, + 2,-12, 12,12/*mean (0.235684), correlation (0.443436)*/, + -2,-13, 0,-6/*mean (0.237674), correlation (0.452525)*/, + 4,1, 9,3/*mean (0.23962), correlation (0.444824)*/, + -6,-10, -3,-5/*mean (0.248459), correlation (0.439621)*/, + -3,-13, -1,1/*mean (0.249505), correlation (0.456666)*/, + 7,5, 12,-11/*mean (0.00119208), correlation (0.495466)*/, + 4,-2, 5,-7/*mean (0.00372245), correlation (0.484214)*/, + -13,9, -9,-5/*mean (0.00741116), correlation (0.499854)*/, + 7,1, 8,6/*mean (0.0208952), correlation (0.499773)*/, + 7,-8, 7,6/*mean (0.0220085), correlation (0.501609)*/, + -7,-4, -7,1/*mean (0.0233806), correlation (0.496568)*/, + -8,11, -7,-8/*mean (0.0236505), correlation (0.489719)*/, + -13,6, -12,-8/*mean (0.0268781), correlation (0.503487)*/, + 2,4, 3,9/*mean (0.0323324), correlation (0.501938)*/, + 10,-5, 12,3/*mean (0.0399235), correlation (0.494029)*/, + -6,-5, -6,7/*mean (0.0420153), correlation (0.486579)*/, + 8,-3, 9,-8/*mean (0.0548021), correlation (0.484237)*/, + 2,-12, 2,8/*mean (0.0616622), correlation (0.496642)*/, + -11,-2, -10,3/*mean (0.0627755), correlation (0.498563)*/, + -12,-13, -7,-9/*mean (0.0829622), correlation (0.495491)*/, + -11,0, -10,-5/*mean (0.0843342), correlation (0.487146)*/, + 5,-3, 11,8/*mean (0.0929937), correlation (0.502315)*/, + -2,-13, -1,12/*mean (0.113327), correlation (0.48941)*/, + -1,-8, 0,9/*mean (0.132119), correlation (0.467268)*/, + -13,-11, -12,-5/*mean (0.136269), correlation (0.498771)*/, + -10,-2, -10,11/*mean (0.142173), correlation (0.498714)*/, + -3,9, -2,-13/*mean (0.144141), correlation (0.491973)*/, + 2,-3, 3,2/*mean (0.14892), correlation (0.500782)*/, + -9,-13, -4,0/*mean (0.150371), correlation (0.498211)*/, + -4,6, -3,-10/*mean (0.152159), correlation (0.495547)*/, + -4,12, -2,-7/*mean (0.156152), correlation (0.496925)*/, + -6,-11, -4,9/*mean (0.15749), correlation (0.499222)*/, + 6,-3, 6,11/*mean (0.159211), correlation (0.503821)*/, + -13,11, -5,5/*mean (0.162427), correlation (0.501907)*/, + 11,11, 12,6/*mean (0.16652), correlation (0.497632)*/, + 7,-5, 12,-2/*mean (0.169141), correlation (0.484474)*/, + -1,12, 0,7/*mean (0.169456), correlation (0.495339)*/, + -4,-8, -3,-2/*mean (0.171457), correlation (0.487251)*/, + -7,1, -6,7/*mean (0.175), correlation (0.500024)*/, + -13,-12, -8,-13/*mean (0.175866), correlation (0.497523)*/, + -7,-2, -6,-8/*mean (0.178273), correlation (0.501854)*/, + -8,5, -6,-9/*mean (0.181107), correlation (0.494888)*/, + -5,-1, -4,5/*mean (0.190227), correlation (0.482557)*/, + -13,7, -8,10/*mean (0.196739), correlation (0.496503)*/, + 1,5, 5,-13/*mean (0.19973), correlation (0.499759)*/, + 1,0, 10,-13/*mean (0.204465), correlation (0.49873)*/, + 9,12, 10,-1/*mean (0.209334), correlation (0.49063)*/, + 5,-8, 10,-9/*mean (0.211134), correlation (0.503011)*/, + -1,11, 1,-13/*mean (0.212), correlation (0.499414)*/, + -9,-3, -6,2/*mean (0.212168), correlation (0.480739)*/, + -1,-10, 1,12/*mean (0.212731), correlation (0.502523)*/, + -13,1, -8,-10/*mean (0.21327), correlation (0.489786)*/, + 8,-11, 10,-6/*mean (0.214159), correlation (0.488246)*/, + 2,-13, 3,-6/*mean (0.216993), correlation (0.50287)*/, + 7,-13, 12,-9/*mean (0.223639), correlation (0.470502)*/, + -10,-10, -5,-7/*mean (0.224089), correlation (0.500852)*/, + -10,-8, -8,-13/*mean (0.228666), correlation (0.502629)*/, + 4,-6, 8,5/*mean (0.22906), correlation (0.498305)*/, + 3,12, 8,-13/*mean (0.233378), correlation (0.503825)*/, + -4,2, -3,-3/*mean (0.234323), correlation (0.476692)*/, + 5,-13, 10,-12/*mean (0.236392), correlation (0.475462)*/, + 4,-13, 5,-1/*mean (0.236842), correlation (0.504132)*/, + -9,9, -4,3/*mean (0.236977), correlation (0.497739)*/, + 0,3, 3,-9/*mean (0.24314), correlation (0.499398)*/, + -12,1, -6,1/*mean (0.243297), correlation (0.489447)*/, + 3,2, 4,-8/*mean (0.00155196), correlation (0.553496)*/, + -10,-10, -10,9/*mean (0.00239541), correlation (0.54297)*/, + 8,-13, 12,12/*mean (0.0034413), correlation (0.544361)*/, + -8,-12, -6,-5/*mean (0.003565), correlation (0.551225)*/, + 2,2, 3,7/*mean (0.00835583), correlation (0.55285)*/, + 10,6, 11,-8/*mean (0.00885065), correlation (0.540913)*/, + 6,8, 8,-12/*mean (0.0101552), correlation (0.551085)*/, + -7,10, -6,5/*mean (0.0102227), correlation (0.533635)*/, + -3,-9, -3,9/*mean (0.0110211), correlation (0.543121)*/, + -1,-13, -1,5/*mean (0.0113473), correlation (0.550173)*/, + -3,-7, -3,4/*mean (0.0140913), correlation (0.554774)*/, + -8,-2, -8,3/*mean (0.017049), correlation (0.55461)*/, + 4,2, 12,12/*mean (0.01778), correlation (0.546921)*/, + 2,-5, 3,11/*mean (0.0224022), correlation (0.549667)*/, + 6,-9, 11,-13/*mean (0.029161), correlation (0.546295)*/, + 3,-1, 7,12/*mean (0.0303081), correlation (0.548599)*/, + 11,-1, 12,4/*mean (0.0355151), correlation (0.523943)*/, + -3,0, -3,6/*mean (0.0417904), correlation (0.543395)*/, + 4,-11, 4,12/*mean (0.0487292), correlation (0.542818)*/, + 2,-4, 2,1/*mean (0.0575124), correlation (0.554888)*/, + -10,-6, -8,1/*mean (0.0594242), correlation (0.544026)*/, + -13,7, -11,1/*mean (0.0597391), correlation (0.550524)*/, + -13,12, -11,-13/*mean (0.0608974), correlation (0.55383)*/, + 6,0, 11,-13/*mean (0.065126), correlation (0.552006)*/, + 0,-1, 1,4/*mean (0.074224), correlation (0.546372)*/, + -13,3, -9,-2/*mean (0.0808592), correlation (0.554875)*/, + -9,8, -6,-3/*mean (0.0883378), correlation (0.551178)*/, + -13,-6, -8,-2/*mean (0.0901035), correlation (0.548446)*/, + 5,-9, 8,10/*mean (0.0949843), correlation (0.554694)*/, + 2,7, 3,-9/*mean (0.0994152), correlation (0.550979)*/, + -1,-6, -1,-1/*mean (0.10045), correlation (0.552714)*/, + 9,5, 11,-2/*mean (0.100686), correlation (0.552594)*/, + 11,-3, 12,-8/*mean (0.101091), correlation (0.532394)*/, + 3,0, 3,5/*mean (0.101147), correlation (0.525576)*/, + -1,4, 0,10/*mean (0.105263), correlation (0.531498)*/, + 3,-6, 4,5/*mean (0.110785), correlation (0.540491)*/, + -13,0, -10,5/*mean (0.112798), correlation (0.536582)*/, + 5,8, 12,11/*mean (0.114181), correlation (0.555793)*/, + 8,9, 9,-6/*mean (0.117431), correlation (0.553763)*/, + 7,-4, 8,-12/*mean (0.118522), correlation (0.553452)*/, + -10,4, -10,9/*mean (0.12094), correlation (0.554785)*/, + 7,3, 12,4/*mean (0.122582), correlation (0.555825)*/, + 9,-7, 10,-2/*mean (0.124978), correlation (0.549846)*/, + 7,0, 12,-2/*mean (0.127002), correlation (0.537452)*/, + -1,-6, 0,-11/*mean (0.127148), correlation (0.547401)*/ +}; + +ORBextractor::ORBextractor(int _nfeatures, float _scaleFactor, int _nlevels, + int _iniThFAST, int _minThFAST): + nfeatures(_nfeatures), scaleFactor(_scaleFactor), nlevels(_nlevels), + iniThFAST(_iniThFAST), minThFAST(_minThFAST) +{ + //金字塔缩小倍率 + mvScaleFactor.resize(nlevels); + mvLevelSigma2.resize(nlevels); + mvScaleFactor[0]=1.0f; + mvLevelSigma2[0]=1.0f; + for(int i=1; i= vmin; --v) + { + while (umax[v0] == umax[v0 + 1]) + ++v0; + umax[v] = v0; + ++v0; + } +} + +static void computeOrientation(const Mat& image, vector& keypoints, const vector& umax) +{ + for (vector::iterator keypoint = keypoints.begin(), + keypointEnd = keypoints.end(); keypoint != keypointEnd; ++keypoint) + { + keypoint->angle = IC_Angle(image, keypoint->pt, umax); + } +} + +//四叉树中将提取器节点分成4个子节点，同时也完成图像区域的划分、特征点归属的划分，以及相关标志位的置位 +void ExtractorNode::DivideNode(ExtractorNode &n1, ExtractorNode &n2, ExtractorNode &n3, ExtractorNode &n4) +{ + const int halfX = ceil(static_cast(UR.x-UL.x)/2); + const int halfY = ceil(static_cast(BR.y-UL.y)/2); + + //Define boundaries of childs + n1.UL = UL; + n1.UR = cv::Point2i(UL.x+halfX,UL.y); + n1.BL = cv::Point2i(UL.x,UL.y+halfY); + n1.BR = cv::Point2i(UL.x+halfX,UL.y+halfY); + n1.vKeys.reserve(vKeys.size()); + + n2.UL = n1.UR; + n2.UR = UR; + n2.BL = n1.BR; + n2.BR = cv::Point2i(UR.x,UL.y+halfY); + n2.vKeys.reserve(vKeys.size()); + + n3.UL = n1.BL; + n3.UR = n1.BR; + n3.BL = BL; + n3.BR = cv::Point2i(n1.BR.x,BL.y); + n3.vKeys.reserve(vKeys.size()); + + n4.UL = n3.UR; + n4.UR = n2.BR; + n4.BL = n3.BR; + n4.BR = BR; + n4.vKeys.reserve(vKeys.size()); + + //Associate points to childs + for(size_t i=0;i ORBextractor::DistributeOctTree(const vector& vToDistributeKeys, const int &minX, + const int &maxX, const int &minY, const int &maxY, const int &N, const int &level) +{ + // Compute how many initial nodes + const int nIni = round(static_cast(maxX-minX)/(maxY-minY)); + + const float hX = static_cast(maxX-minX)/nIni; + + list lNodes; + + vector vpIniNodes; + vpIniNodes.resize(nIni); + + for(int i=0; i(i),0); + ni.UR = cv::Point2i(hX*static_cast(i+1),0); + ni.BL = cv::Point2i(ni.UL.x,maxY-minY); + ni.BR = cv::Point2i(ni.UR.x,maxY-minY); + ni.vKeys.reserve(vToDistributeKeys.size()); + + lNodes.push_back(ni); + vpIniNodes[i] = &lNodes.back(); + } + + //Associate points to childs + for(size_t i=0;ivKeys.push_back(kp); + } + + list::iterator lit = lNodes.begin(); + + while(lit!=lNodes.end()) + { + if(lit->vKeys.size()==1) + { + lit->bNoMore=true; + lit++; + } + else if(lit->vKeys.empty()) + lit = lNodes.erase(lit); + else + lit++; + } + + bool bFinish = false; + + int iteration = 0; + + vector > vSizeAndPointerToNode; + vSizeAndPointerToNode.reserve(lNodes.size()*4); + + while(!bFinish) + { + iteration++; + + int prevSize = lNodes.size(); + + lit = lNodes.begin(); + + int nToExpand = 0; + + vSizeAndPointerToNode.clear(); + + while(lit!=lNodes.end()) + { + if(lit->bNoMore) + { + // If node only contains one point do not subdivide and continue + lit++; + continue; + } + else + { + // If more than one point, subdivide + ExtractorNode n1,n2,n3,n4; + lit->DivideNode(n1,n2,n3,n4); + + // Add childs if they contain points + if(n1.vKeys.size()>0) + { + lNodes.push_front(n1); + if(n1.vKeys.size()>1) + { + nToExpand++; + vSizeAndPointerToNode.push_back(make_pair(n1.vKeys.size(),&lNodes.front())); + lNodes.front().lit = lNodes.begin(); + } + } + if(n2.vKeys.size()>0) + { + lNodes.push_front(n2); + if(n2.vKeys.size()>1) + { + nToExpand++; + vSizeAndPointerToNode.push_back(make_pair(n2.vKeys.size(),&lNodes.front())); + lNodes.front().lit = lNodes.begin(); + } + } + if(n3.vKeys.size()>0) + { + lNodes.push_front(n3); + if(n3.vKeys.size()>1) + { + nToExpand++; + vSizeAndPointerToNode.push_back(make_pair(n3.vKeys.size(),&lNodes.front())); + lNodes.front().lit = lNodes.begin(); + } + } + if(n4.vKeys.size()>0) + { + lNodes.push_front(n4); + if(n4.vKeys.size()>1) + { + nToExpand++; + vSizeAndPointerToNode.push_back(make_pair(n4.vKeys.size(),&lNodes.front())); + lNodes.front().lit = lNodes.begin(); + } + } + + lit=lNodes.erase(lit); + continue; + } + } + + // Finish if there are more nodes than required features + // or all nodes contain just one point + if((int)lNodes.size()>=N || (int)lNodes.size()==prevSize) + { + bFinish = true; + } + else if(((int)lNodes.size()+nToExpand*3)>N) + { + + while(!bFinish) + { + + prevSize = lNodes.size(); + + vector > vPrevSizeAndPointerToNode = vSizeAndPointerToNode; + vSizeAndPointerToNode.clear(); + + stable_sort(vPrevSizeAndPointerToNode.begin(),vPrevSizeAndPointerToNode.end()); + for(int j=vPrevSizeAndPointerToNode.size()-1;j>=0;j--) + { + ExtractorNode n1,n2,n3,n4; + vPrevSizeAndPointerToNode[j].second->DivideNode(n1,n2,n3,n4); + + // Add childs if they contain points + if(n1.vKeys.size()>0) + { + lNodes.push_front(n1); + if(n1.vKeys.size()>1) + { + vSizeAndPointerToNode.push_back(make_pair(n1.vKeys.size(),&lNodes.front())); + lNodes.front().lit = lNodes.begin(); + } + } + if(n2.vKeys.size()>0) + { + lNodes.push_front(n2); + if(n2.vKeys.size()>1) + { + vSizeAndPointerToNode.push_back(make_pair(n2.vKeys.size(),&lNodes.front())); + lNodes.front().lit = lNodes.begin(); + } + } + if(n3.vKeys.size()>0) + { + lNodes.push_front(n3); + if(n3.vKeys.size()>1) + { + vSizeAndPointerToNode.push_back(make_pair(n3.vKeys.size(),&lNodes.front())); + lNodes.front().lit = lNodes.begin(); + } + } + if(n4.vKeys.size()>0) + { + lNodes.push_front(n4); + if(n4.vKeys.size()>1) + { + vSizeAndPointerToNode.push_back(make_pair(n4.vKeys.size(),&lNodes.front())); + lNodes.front().lit = lNodes.begin(); + } + } + + lNodes.erase(vPrevSizeAndPointerToNode[j].second->lit); + + if((int)lNodes.size()>=N) + break; + } + + if((int)lNodes.size()>=N || (int)lNodes.size()==prevSize) + bFinish = true; + + } + } + } + + // Retain the best point in each node + vector vResultKeys; + vResultKeys.reserve(nfeatures); + for(list::iterator lit=lNodes.begin(); lit!=lNodes.end(); lit++) + { + vector &vNodeKeys = lit->vKeys; + cv::KeyPoint* pKP = &vNodeKeys[0]; + float maxResponse = pKP->response; + + for(size_t k=1;kmaxResponse) + { + pKP = &vNodeKeys[k]; + maxResponse = vNodeKeys[k].response; + } + } + + vResultKeys.push_back(*pKP); + } + + return vResultKeys; +} + +//将每层图像金字塔图像分成一个个小块、并对对每一块用FAST算法提取特征点 +void ORBextractor::ComputeKeyPointsOctTree(vector >& allKeypoints) +{ + allKeypoints.resize(nlevels); + + const float W = 30; + + for (int level = 0; level < nlevels; ++level) + { + const int minBorderX = EDGE_THRESHOLD-3; + const int minBorderY = minBorderX; + const int maxBorderX = mvImagePyramid[level].cols-EDGE_THRESHOLD+3; + const int maxBorderY = mvImagePyramid[level].rows-EDGE_THRESHOLD+3; + + vector vToDistributeKeys; + vToDistributeKeys.reserve(nfeatures*10); + + const float width = (maxBorderX-minBorderX); + const float height = (maxBorderY-minBorderY); + + const int nCols = width/W; + const int nRows = height/W; + const int wCell = ceil(width/nCols); + const int hCell = ceil(height/nRows); + + for(int i=0; i=maxBorderY-3) + continue; + if(maxY>maxBorderY) + maxY = maxBorderY; + + for(int j=0; j=maxBorderX-6) + continue; + if(maxX>maxBorderX) + maxX = maxBorderX; + + vector vKeysCell; + FAST(mvImagePyramid[level].rowRange(iniY,maxY).colRange(iniX,maxX), + vKeysCell,iniThFAST,true); + + if(vKeysCell.empty()) + { + FAST(mvImagePyramid[level].rowRange(iniY,maxY).colRange(iniX,maxX), + vKeysCell,minThFAST,true); + } + + if(!vKeysCell.empty()) + { + for(vector::iterator vit=vKeysCell.begin(); vit!=vKeysCell.end();vit++) + { + (*vit).pt.x+=j*wCell; + (*vit).pt.y+=i*hCell; + vToDistributeKeys.push_back(*vit); + } + } + + } + } + + vector & keypoints = allKeypoints[level]; + keypoints.reserve(nfeatures); + + keypoints = DistributeOctTree(vToDistributeKeys, minBorderX, maxBorderX, + minBorderY, maxBorderY,mnFeaturesPerLevel[level], level); + + const int scaledPatchSize = PATCH_SIZE*mvScaleFactor[level]; + + // Add border to coordinates and scale information + const int nkps = keypoints.size(); + for(int i=0; i > &allKeypoints) +{ + allKeypoints.resize(nlevels); + + float imageRatio = (float)mvImagePyramid[0].cols/mvImagePyramid[0].rows; + + for (int level = 0; level < nlevels; ++level) + { + const int nDesiredFeatures = mnFeaturesPerLevel[level]; + + const int levelCols = sqrt((float)nDesiredFeatures/(5*imageRatio)); + const int levelRows = imageRatio*levelCols; + + const int minBorderX = EDGE_THRESHOLD; + const int minBorderY = minBorderX; + const int maxBorderX = mvImagePyramid[level].cols-EDGE_THRESHOLD; + const int maxBorderY = mvImagePyramid[level].rows-EDGE_THRESHOLD; + + const int W = maxBorderX - minBorderX; + const int H = maxBorderY - minBorderY; + const int cellW = ceil((float)W/levelCols); + const int cellH = ceil((float)H/levelRows); + + const int nCells = levelRows*levelCols; + const int nfeaturesCell = ceil((float)nDesiredFeatures/nCells); + + vector > > cellKeyPoints(levelRows, vector >(levelCols)); + + vector > nToRetain(levelRows,vector(levelCols,0)); + vector > nTotal(levelRows,vector(levelCols,0)); + vector > bNoMore(levelRows,vector(levelCols,false)); + vector iniXCol(levelCols); + vector iniYRow(levelRows); + int nNoMore = 0; + int nToDistribute = 0; + + + float hY = cellH + 6; + + for(int i=0; infeaturesCell) + { + nToRetain[i][j] = nfeaturesCell; + bNoMore[i][j] = false; + } + else + { + nToRetain[i][j] = nKeys; + nToDistribute += nfeaturesCell-nKeys; + bNoMore[i][j] = true; + nNoMore++; + } + + } + } + + + // Retain by score + + while(nToDistribute>0 && nNoMorenNewFeaturesCell) + { + nToRetain[i][j] = nNewFeaturesCell; + bNoMore[i][j] = false; + } + else + { + nToRetain[i][j] = nTotal[i][j]; + nToDistribute += nNewFeaturesCell-nTotal[i][j]; + bNoMore[i][j] = true; + nNoMore++; + } + } + } + } + } + + vector & keypoints = allKeypoints[level]; + keypoints.reserve(nDesiredFeatures*2); + + const int scaledPatchSize = PATCH_SIZE*mvScaleFactor[level]; + + // Retain by score and transform coordinates + for(int i=0; i &keysCell = cellKeyPoints[i][j]; + KeyPointsFilter::retainBest(keysCell,nToRetain[i][j]); + if((int)keysCell.size()>nToRetain[i][j]) + keysCell.resize(nToRetain[i][j]); + + + for(size_t k=0, kend=keysCell.size(); knDesiredFeatures) + { + KeyPointsFilter::retainBest(keypoints,nDesiredFeatures); + keypoints.resize(nDesiredFeatures); + } + } + + // and compute orientations + for (int level = 0; level < nlevels; ++level) + computeOrientation(mvImagePyramid[level], allKeypoints[level], umax); +} + +//计算描述子 +static void computeDescriptors(const Mat& image, vector& keypoints, Mat& descriptors, + const vector& pattern) +{ + descriptors = Mat::zeros((int)keypoints.size(), 32, CV_8UC1); + + for (size_t i = 0; i < keypoints.size(); i++) + computeOrbDescriptor(keypoints[i], image, &pattern[0], descriptors.ptr((int)i)); +} + +//default version 仿函数类型，对输入的图像提取特征点、计算描述子。 +void ORBextractor::operator()( InputArray _image, InputArray _mask, vector& _keypoints, + OutputArray _descriptors) +{ + if(_image.empty()) return; + + Mat image = _image.getMat(); + assert(image.type() == CV_8UC1 ); + + // Pre-compute the scale pyramid + ComputePyramid(image); + + vector < vector > allKeypoints; + ComputeKeyPointsOctTree(allKeypoints); + //ComputeKeyPointsOld(allKeypoints); + + Mat descriptors; + + int nkeypoints = 0; + for (int level = 0; level < nlevels; ++level) + nkeypoints += (int)allKeypoints[level].size(); + if( nkeypoints == 0 ) + _descriptors.release(); + else + { + _descriptors.create(nkeypoints, 32, CV_8U); + descriptors = _descriptors.getMat(); + } + + _keypoints.clear(); + _keypoints.reserve(nkeypoints); + + int offset = 0; + for (int level = 0; level < nlevels; ++level) + { + vector& keypoints = allKeypoints[level]; + int nkeypointsLevel = (int)keypoints.size(); + + if(nkeypointsLevel==0) + continue; + + // preprocess the resized image + Mat workingMat = mvImagePyramid[level].clone(); + GaussianBlur(workingMat, workingMat, Size(7, 7), 2, 2, BORDER_REFLECT_101); + + // Compute the descriptors + Mat desc = descriptors.rowRange(offset, offset + nkeypointsLevel); + computeDescriptors(workingMat, keypoints, desc, pattern); + + offset += nkeypointsLevel; + + // Scale keypoint coordinates + if (level != 0) + { + float scale = mvScaleFactor[level]; //getScale(level, firstLevel, scaleFactor); + for (vector::iterator keypoint = keypoints.begin(), + keypointEnd = keypoints.end(); keypoint != keypointEnd; ++keypoint) + keypoint->pt *= scale; + } + // And add the keypoints to the output + _keypoints.insert(_keypoints.end(), keypoints.begin(), keypoints.end()); + } +} + +void ORBextractor::ComputePyramid(cv::Mat image) +{ + for (int level = 0; level < nlevels; ++level) + { + float scale = mvInvScaleFactor[level]; + Size sz(cvRound((float)image.cols*scale), cvRound((float)image.rows*scale)); + Size wholeSize(sz.width + EDGE_THRESHOLD*2, sz.height + EDGE_THRESHOLD*2); + Mat temp(wholeSize, image.type()), masktemp; + mvImagePyramid[level] = temp(Rect(EDGE_THRESHOLD, EDGE_THRESHOLD, sz.width, sz.height)); + + // Compute the resized image + if( level != 0 ) + { + resize(mvImagePyramid[level-1], mvImagePyramid[level], sz, 0, 0, INTER_LINEAR); + + copyMakeBorder(mvImagePyramid[level], temp, EDGE_THRESHOLD, EDGE_THRESHOLD, EDGE_THRESHOLD, EDGE_THRESHOLD, + BORDER_REFLECT_101+BORDER_ISOLATED); + } + else + { + copyMakeBorder(image, temp, EDGE_THRESHOLD, EDGE_THRESHOLD, EDGE_THRESHOLD, EDGE_THRESHOLD, + BORDER_REFLECT_101); + } + } + +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/ORBmatcher.cc b/MyCode/src/my-slam/src/ORBmatcher.cc new file mode 100644 index 0000000..23fe065 --- /dev/null +++ b/MyCode/src/my-slam/src/ORBmatcher.cc @@ -0,0 +1,1667 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "ORBmatcher.h" + +#include + +#include +#include + +#include "Thirdparty/DBoW2/DBoW2/FeatureVector.h" + +#include + +using namespace std; + +namespace ORB_SLAM2 +{ + +const int ORBmatcher::TH_HIGH = 100; +const int ORBmatcher::TH_LOW = 50; +const int ORBmatcher::HISTO_LENGTH = 30; + +ORBmatcher::ORBmatcher(float nnratio, bool checkOri): mfNNratio(nnratio), mbCheckOrientation(checkOri) +{ +} + +int ORBmatcher::SearchByProjection(Frame &F, const vector &vpMapPoints, const float th) +{ + int nmatches=0; + + const bool bFactor = th!=1.0; + + for(size_t iMP=0; iMPmbTrackInView) + continue; + + if(pMP->isBad()) + continue; + + const int &nPredictedLevel = pMP->mnTrackScaleLevel; + + // The size of the window will depend on the viewing direction + float r = RadiusByViewingCos(pMP->mTrackViewCos); + + if(bFactor) + r*=th; + + const vector vIndices = + F.GetFeaturesInArea(pMP->mTrackProjX,pMP->mTrackProjY,r*F.mvScaleFactors[nPredictedLevel],nPredictedLevel-1,nPredictedLevel); + + if(vIndices.empty()) + continue; + + const cv::Mat MPdescriptor = pMP->GetDescriptor(); + + int bestDist=256; + int bestLevel= -1; + int bestDist2=256; + int bestLevel2 = -1; + int bestIdx =-1 ; + + // Get best and second matches with near keypoints + for(vector::const_iterator vit=vIndices.begin(), vend=vIndices.end(); vit!=vend; vit++) + { + const size_t idx = *vit; + + if(F.mvpMapPoints[idx]) + if(F.mvpMapPoints[idx]->Observations()>0) + continue; + + if(F.mvuRight[idx]>0) + { + const float er = fabs(pMP->mTrackProjXR-F.mvuRight[idx]); + if(er>r*F.mvScaleFactors[nPredictedLevel]) + continue; + } + + const cv::Mat &d = F.mDescriptors.row(idx); + + const int dist = DescriptorDistance(MPdescriptor,d); + + if(distmfNNratio*bestDist2) + continue; + + F.mvpMapPoints[bestIdx]=pMP; + nmatches++; + } + } + + return nmatches; +} + +float ORBmatcher::RadiusByViewingCos(const float &viewCos) +{ + if(viewCos>0.998) + return 2.5; + else + return 4.0; +} + + +bool ORBmatcher::CheckDistEpipolarLine(const cv::KeyPoint &kp1,const cv::KeyPoint &kp2,const cv::Mat &F12,const KeyFrame* pKF2) +{ + // Epipolar line in second image l = x1'F12 = [a b c] + const float a = kp1.pt.x*F12.at(0,0)+kp1.pt.y*F12.at(1,0)+F12.at(2,0); + const float b = kp1.pt.x*F12.at(0,1)+kp1.pt.y*F12.at(1,1)+F12.at(2,1); + const float c = kp1.pt.x*F12.at(0,2)+kp1.pt.y*F12.at(1,2)+F12.at(2,2); + + const float num = a*kp2.pt.x+b*kp2.pt.y+c; + + const float den = a*a+b*b; + + if(den==0) + return false; + + const float dsqr = num*num/den; + + return dsqr<3.84*pKF2->mvLevelSigma2[kp2.octave]; +} + +int ORBmatcher::SearchByBoW(KeyFrame* pKF,Frame &F, vector &vpMapPointMatches) +{ + const vector vpMapPointsKF = pKF->GetMapPointMatches(); + + vpMapPointMatches = vector(F.N,static_cast(NULL)); + + const DBoW2::FeatureVector &vFeatVecKF = pKF->mFeatVec; + + int nmatches=0; + + vector rotHist[HISTO_LENGTH]; + for(int i=0;i > + DBoW2::FeatureVector::const_iterator KFit = vFeatVecKF.begin(); + DBoW2::FeatureVector::const_iterator Fit = F.mFeatVec.begin(); + DBoW2::FeatureVector::const_iterator KFend = vFeatVecKF.end(); + DBoW2::FeatureVector::const_iterator Fend = F.mFeatVec.end(); + + while(KFit != KFend && Fit != Fend) + { + //分别取出属于同一node的ORB特征点(只有属于同一node，才有可能是匹配点) + if(KFit->first == Fit->first) + { + const vector vIndicesKF = KFit->second;//KF特征点的索引向量 + const vector vIndicesF = Fit->second; //F特征点的索引向量 + + //遍历KF中属于该node的特征点 + for(size_t iKF=0; iKFisBad()) + continue; + + const cv::Mat &dKF= pKF->mDescriptors.row(realIdxKF);//KF该索引对应的描述子 + + int bestDist1=256; + int bestIdxF =-1 ; + int bestDist2=256; + + //遍历 F中属于该node的特征点，寻找最佳匹配点 + for(size_t iF=0; iF(bestDist1)(bestDist2)) + { + //记录成功匹配特征点的对应的地图点(来自关键帧) + vpMapPointMatches[bestIdxF]=pMP;//F特征点bestIdxF索引匹配到的最佳地图点pMP + + const cv::KeyPoint &kp = pKF->mvKeysUn[realIdxKF];//KF的特征点的矫正后的关键点 + if(mbCheckOrientation) + { + float rot = kp.angle-F.mvKeysUn[bestIdxF].angle;//KF与F匹配特征点之间的旋转角度差 + if(rot<0.0) rot+=360.0f; + int bin = round(rot*factor); + if(bin==HISTO_LENGTH) bin=0; + assert(bin>=0 && binfirst < Fit->first) + { + KFit = vFeatVecKF.lower_bound(Fit->first); + } + else + { + Fit = F.mFeatVec.lower_bound(KFit->first); + } + } + + if(mbCheckOrientation) + { + int ind1=-1; + int ind2=-1; + int ind3=-1; + + ComputeThreeMaxima(rotHist,HISTO_LENGTH,ind1,ind2,ind3); + + for(int i=0; i(NULL); + nmatches--; + } + } + } + return nmatches; +} + +int ORBmatcher::SearchByProjection(KeyFrame* pKF, cv::Mat Scw, const vector &vpPoints, vector &vpMatched, int th) +{ + // Get Calibration Parameters for later projection + const float &fx = pKF->fx; + const float &fy = pKF->fy; + const float &cx = pKF->cx; + const float &cy = pKF->cy; + + // Decompose Scw + cv::Mat sRcw = Scw.rowRange(0,3).colRange(0,3); + const float scw = sqrt(sRcw.row(0).dot(sRcw.row(0))); + cv::Mat Rcw = sRcw/scw; + cv::Mat tcw = Scw.rowRange(0,3).col(3)/scw; + cv::Mat Ow = -Rcw.t()*tcw; + + // Set of MapPoints already found in the KeyFrame + set spAlreadyFound(vpMatched.begin(), vpMatched.end()); + spAlreadyFound.erase(static_cast(NULL)); + + int nmatches=0; + + // For each Candidate MapPoint Project and Match + for(int iMP=0, iendMP=vpPoints.size(); iMPisBad() || spAlreadyFound.count(pMP)) + continue; + + // Get 3D Coords. + cv::Mat p3Dw = pMP->GetWorldPos(); + + // Transform into Camera Coords. + cv::Mat p3Dc = Rcw*p3Dw+tcw; + + // Depth must be positive + if(p3Dc.at(2)<0.0) + continue; + + // Project into Image + const float invz = 1/p3Dc.at(2); + const float x = p3Dc.at(0)*invz; + const float y = p3Dc.at(1)*invz; + + const float u = fx*x+cx; + const float v = fy*y+cy; + + // Point must be inside the image + if(!pKF->IsInImage(u,v)) + continue; + + // Depth must be inside the scale invariance region of the point + const float maxDistance = pMP->GetMaxDistanceInvariance(); + const float minDistance = pMP->GetMinDistanceInvariance(); + cv::Mat PO = p3Dw-Ow; + const float dist = cv::norm(PO); + + if(distmaxDistance) + continue; + + // Viewing angle must be less than 60 deg + cv::Mat Pn = pMP->GetNormal(); + + if(PO.dot(Pn)<0.5*dist) + continue; + + int nPredictedLevel = pMP->PredictScale(dist,pKF); + + // Search in a radius + const float radius = th*pKF->mvScaleFactors[nPredictedLevel]; + + const vector vIndices = pKF->GetFeaturesInArea(u,v,radius); + + if(vIndices.empty()) + continue; + + // Match to the most similar keypoint in the radius + const cv::Mat dMP = pMP->GetDescriptor(); + + int bestDist = 256; + int bestIdx = -1; + for(vector::const_iterator vit=vIndices.begin(), vend=vIndices.end(); vit!=vend; vit++) + { + const size_t idx = *vit; + if(vpMatched[idx]) + continue; + + const int &kpLevel= pKF->mvKeysUn[idx].octave; + + if(kpLevelnPredictedLevel) + continue; + + const cv::Mat &dKF = pKF->mDescriptors.row(idx); + + const int dist = DescriptorDistance(dMP,dKF); + + if(dist &vbPrevMatched, vector &vnMatches12, int windowSize) +{ + int nmatches=0; + vnMatches12 = vector(F1.mvKeysUn.size(),-1); + + vector rotHist[HISTO_LENGTH]; + for(int i=0;i vMatchedDistance(F2.mvKeysUn.size(),INT_MAX); + vector vnMatches21(F2.mvKeysUn.size(),-1); + + for(size_t i1=0, iend1=F1.mvKeysUn.size(); i10) + continue; + + vector vIndices2 = F2.GetFeaturesInArea(vbPrevMatched[i1].x,vbPrevMatched[i1].y, windowSize,level1,level1); + + if(vIndices2.empty()) + continue; + + cv::Mat d1 = F1.mDescriptors.row(i1); + + int bestDist = INT_MAX; + int bestDist2 = INT_MAX; + int bestIdx2 = -1; + + for(vector::iterator vit=vIndices2.begin(); vit!=vIndices2.end(); vit++) + { + size_t i2 = *vit; + + cv::Mat d2 = F2.mDescriptors.row(i2); + + int dist = DescriptorDistance(d1,d2); + + if(vMatchedDistance[i2]<=dist) + continue; + + if(dist=0) + { + vnMatches12[vnMatches21[bestIdx2]]=-1; + nmatches--; + } + vnMatches12[i1]=bestIdx2; + vnMatches21[bestIdx2]=i1; + vMatchedDistance[bestIdx2]=bestDist; + nmatches++; + + if(mbCheckOrientation) + { + float rot = F1.mvKeysUn[i1].angle-F2.mvKeysUn[bestIdx2].angle; + if(rot<0.0) + rot+=360.0f; + int bin = round(rot*factor); + if(bin==HISTO_LENGTH) + bin=0; + assert(bin>=0 && bin=0) + { + vnMatches12[idx1]=-1; + nmatches--; + } + } + } + + } + + //Update prev matched + for(size_t i1=0, iend1=vnMatches12.size(); i1=0) + vbPrevMatched[i1]=F2.mvKeysUn[vnMatches12[i1]].pt; + + return nmatches; +} + +int ORBmatcher::SearchByBoW(KeyFrame *pKF1, KeyFrame *pKF2, vector &vpMatches12) +{ + const vector &vKeysUn1 = pKF1->mvKeysUn; + const DBoW2::FeatureVector &vFeatVec1 = pKF1->mFeatVec; + const vector vpMapPoints1 = pKF1->GetMapPointMatches(); + const cv::Mat &Descriptors1 = pKF1->mDescriptors; + + const vector &vKeysUn2 = pKF2->mvKeysUn; + const DBoW2::FeatureVector &vFeatVec2 = pKF2->mFeatVec; + const vector vpMapPoints2 = pKF2->GetMapPointMatches(); + const cv::Mat &Descriptors2 = pKF2->mDescriptors; + + vpMatches12 = vector(vpMapPoints1.size(),static_cast(NULL)); + vector vbMatched2(vpMapPoints2.size(),false); + + vector rotHist[HISTO_LENGTH]; + for(int i=0;ifirst == f2it->first) + { + for(size_t i1=0, iend1=f1it->second.size(); i1second[i1]; + + MapPoint* pMP1 = vpMapPoints1[idx1]; + if(!pMP1) + continue; + if(pMP1->isBad()) + continue; + + const cv::Mat &d1 = Descriptors1.row(idx1); + + int bestDist1=256; + int bestIdx2 =-1 ; + int bestDist2=256; + + for(size_t i2=0, iend2=f2it->second.size(); i2second[i2]; + + MapPoint* pMP2 = vpMapPoints2[idx2]; + + if(vbMatched2[idx2] || !pMP2) + continue; + + if(pMP2->isBad()) + continue; + + const cv::Mat &d2 = Descriptors2.row(idx2); + + int dist = DescriptorDistance(d1,d2); + + if(dist(bestDist1)(bestDist2)) + { + vpMatches12[idx1]=vpMapPoints2[bestIdx2]; + vbMatched2[bestIdx2]=true; + + if(mbCheckOrientation) + { + float rot = vKeysUn1[idx1].angle-vKeysUn2[bestIdx2].angle; + if(rot<0.0) + rot+=360.0f; + int bin = round(rot*factor); + if(bin==HISTO_LENGTH) + bin=0; + assert(bin>=0 && binfirst < f2it->first) + { + f1it = vFeatVec1.lower_bound(f2it->first); + } + else + { + f2it = vFeatVec2.lower_bound(f1it->first); + } + } + + if(mbCheckOrientation) + { + int ind1=-1; + int ind2=-1; + int ind3=-1; + + ComputeThreeMaxima(rotHist,HISTO_LENGTH,ind1,ind2,ind3); + + for(int i=0; i(NULL); + nmatches--; + } + } + } + + return nmatches; +} + +int ORBmatcher::SearchForTriangulation(KeyFrame *pKF1, KeyFrame *pKF2, cv::Mat F12, + vector > &vMatchedPairs, const bool bOnlyStereo) +{ + const DBoW2::FeatureVector &vFeatVec1 = pKF1->mFeatVec; + const DBoW2::FeatureVector &vFeatVec2 = pKF2->mFeatVec; + + //Compute epipole in second image + cv::Mat Cw = pKF1->GetCameraCenter(); + cv::Mat R2w = pKF2->GetRotation(); + cv::Mat t2w = pKF2->GetTranslation(); + cv::Mat C2 = R2w*Cw+t2w; + const float invz = 1.0f/C2.at(2); + const float ex =pKF2->fx*C2.at(0)*invz+pKF2->cx; + const float ey =pKF2->fy*C2.at(1)*invz+pKF2->cy; + + // Find matches between not tracked keypoints + // Matching speed-up by ORB Vocabulary + // Compare only ORB that share the same node + + int nmatches=0; + vector vbMatched2(pKF2->N,false); + vector vMatches12(pKF1->N,-1); + + vector rotHist[HISTO_LENGTH]; + for(int i=0;ifirst == f2it->first) + { + for(size_t i1=0, iend1=f1it->second.size(); i1second[i1]; + + MapPoint* pMP1 = pKF1->GetMapPoint(idx1); + + // If there is already a MapPoint skip + if(pMP1) + continue; + + const bool bStereo1 = pKF1->mvuRight[idx1]>=0; + + if(bOnlyStereo) + if(!bStereo1) + continue; + + const cv::KeyPoint &kp1 = pKF1->mvKeysUn[idx1]; + + const cv::Mat &d1 = pKF1->mDescriptors.row(idx1); + + int bestDist = TH_LOW; + int bestIdx2 = -1; + + for(size_t i2=0, iend2=f2it->second.size(); i2second[i2]; + + MapPoint* pMP2 = pKF2->GetMapPoint(idx2); + + // If we have already matched or there is a MapPoint skip + if(vbMatched2[idx2] || pMP2) + continue; + + const bool bStereo2 = pKF2->mvuRight[idx2]>=0; + + if(bOnlyStereo) + if(!bStereo2) + continue; + + const cv::Mat &d2 = pKF2->mDescriptors.row(idx2); + + const int dist = DescriptorDistance(d1,d2); + + if(dist>TH_LOW || dist>bestDist) + continue; + + const cv::KeyPoint &kp2 = pKF2->mvKeysUn[idx2]; + + if(!bStereo1 && !bStereo2) + { + const float distex = ex-kp2.pt.x; + const float distey = ey-kp2.pt.y; + if(distex*distex+distey*distey<100*pKF2->mvScaleFactors[kp2.octave]) + continue; + } + + if(CheckDistEpipolarLine(kp1,kp2,F12,pKF2)) + { + bestIdx2 = idx2; + bestDist = dist; + } + } + + if(bestIdx2>=0) + { + const cv::KeyPoint &kp2 = pKF2->mvKeysUn[bestIdx2]; + vMatches12[idx1]=bestIdx2; + vbMatched2[bestIdx2]=true; // debug!记录已经匹配，避免重复匹配。原作者漏掉！ + nmatches++; + + if(mbCheckOrientation) + { + float rot = kp1.angle-kp2.angle; + if(rot<0.0) + rot+=360.0f; + int bin = round(rot*factor); + if(bin==HISTO_LENGTH) + bin=0; + assert(bin>=0 && binfirst < f2it->first) + { + f1it = vFeatVec1.lower_bound(f2it->first); + } + else + { + f2it = vFeatVec2.lower_bound(f1it->first); + } + } + + if(mbCheckOrientation) + { + int ind1=-1; + int ind2=-1; + int ind3=-1; + + ComputeThreeMaxima(rotHist,HISTO_LENGTH,ind1,ind2,ind3); + + for(int i=0; i &vpMapPoints, const float th) +{ + cv::Mat Rcw = pKF->GetRotation(); + cv::Mat tcw = pKF->GetTranslation(); + + const float &fx = pKF->fx; + const float &fy = pKF->fy; + const float &cx = pKF->cx; + const float &cy = pKF->cy; + const float &bf = pKF->mbf; + + cv::Mat Ow = pKF->GetCameraCenter(); + + int nFused=0; + + const int nMPs = vpMapPoints.size(); + + for(int i=0; iisBad() || pMP->IsInKeyFrame(pKF)) + continue; + + cv::Mat p3Dw = pMP->GetWorldPos(); + cv::Mat p3Dc = Rcw*p3Dw + tcw; + + // Depth must be positive + if(p3Dc.at(2)<0.0f) + continue; + + const float invz = 1/p3Dc.at(2); + const float x = p3Dc.at(0)*invz; + const float y = p3Dc.at(1)*invz; + + const float u = fx*x+cx; + const float v = fy*y+cy; + + // Point must be inside the image + if(!pKF->IsInImage(u,v)) + continue; + + const float ur = u-bf*invz; + + const float maxDistance = pMP->GetMaxDistanceInvariance(); + const float minDistance = pMP->GetMinDistanceInvariance(); + cv::Mat PO = p3Dw-Ow; + const float dist3D = cv::norm(PO); + + // Depth must be inside the scale pyramid of the image + if(dist3DmaxDistance ) + continue; + + // Viewing angle must be less than 60 deg + cv::Mat Pn = pMP->GetNormal(); + + if(PO.dot(Pn)<0.5*dist3D) + continue; + + int nPredictedLevel = pMP->PredictScale(dist3D,pKF); + + // Search in a radius + const float radius = th*pKF->mvScaleFactors[nPredictedLevel]; + + const vector vIndices = pKF->GetFeaturesInArea(u,v,radius); + + if(vIndices.empty()) + continue; + + // Match to the most similar keypoint in the radius + + const cv::Mat dMP = pMP->GetDescriptor(); + + int bestDist = 256; + int bestIdx = -1; + for(vector::const_iterator vit=vIndices.begin(), vend=vIndices.end(); vit!=vend; vit++) + { + const size_t idx = *vit; + + const cv::KeyPoint &kp = pKF->mvKeysUn[idx]; + + const int &kpLevel= kp.octave; + + if(kpLevelnPredictedLevel) + continue; + + if(pKF->mvuRight[idx]>=0) + { + // Check reprojection error in stereo + const float &kpx = kp.pt.x; + const float &kpy = kp.pt.y; + const float &kpr = pKF->mvuRight[idx]; + const float ex = u-kpx; + const float ey = v-kpy; + const float er = ur-kpr; + const float e2 = ex*ex+ey*ey+er*er; + + if(e2*pKF->mvInvLevelSigma2[kpLevel]>7.8) + continue; + } + else + { + const float &kpx = kp.pt.x; + const float &kpy = kp.pt.y; + const float ex = u-kpx; + const float ey = v-kpy; + const float e2 = ex*ex+ey*ey; + + if(e2*pKF->mvInvLevelSigma2[kpLevel]>5.99) + continue; + } + + const cv::Mat &dKF = pKF->mDescriptors.row(idx); + + const int dist = DescriptorDistance(dMP,dKF); + + if(distGetMapPoint(bestIdx); + if(pMPinKF) + { + if(!pMPinKF->isBad()) + { + if(pMPinKF->Observations()>pMP->Observations()) + pMP->Replace(pMPinKF); + else + pMPinKF->Replace(pMP); + } + } + else + { + pMP->AddObservation(pKF,bestIdx); + pKF->AddMapPoint(pMP,bestIdx); + } + nFused++; + } + } + + return nFused; +} + +int ORBmatcher::Fuse(KeyFrame *pKF, cv::Mat Scw, const vector &vpPoints, float th, vector &vpReplacePoint) +{ + // Get Calibration Parameters for later projection + const float &fx = pKF->fx; + const float &fy = pKF->fy; + const float &cx = pKF->cx; + const float &cy = pKF->cy; + + // Decompose Scw + cv::Mat sRcw = Scw.rowRange(0,3).colRange(0,3); + const float scw = sqrt(sRcw.row(0).dot(sRcw.row(0))); + cv::Mat Rcw = sRcw/scw; + cv::Mat tcw = Scw.rowRange(0,3).col(3)/scw; + cv::Mat Ow = -Rcw.t()*tcw; + + // Set of MapPoints already found in the KeyFrame + const set spAlreadyFound = pKF->GetMapPoints(); + + int nFused=0; + + const int nPoints = vpPoints.size(); + + // For each candidate MapPoint project and match + for(int iMP=0; iMPisBad() || spAlreadyFound.count(pMP)) + continue; + + // Get 3D Coords. + cv::Mat p3Dw = pMP->GetWorldPos(); + + // Transform into Camera Coords. + cv::Mat p3Dc = Rcw*p3Dw+tcw; + + // Depth must be positive + if(p3Dc.at(2)<0.0f) + continue; + + // Project into Image + const float invz = 1.0/p3Dc.at(2); + const float x = p3Dc.at(0)*invz; + const float y = p3Dc.at(1)*invz; + + const float u = fx*x+cx; + const float v = fy*y+cy; + + // Point must be inside the image + if(!pKF->IsInImage(u,v)) + continue; + + // Depth must be inside the scale pyramid of the image + const float maxDistance = pMP->GetMaxDistanceInvariance(); + const float minDistance = pMP->GetMinDistanceInvariance(); + cv::Mat PO = p3Dw-Ow; + const float dist3D = cv::norm(PO); + + if(dist3DmaxDistance) + continue; + + // Viewing angle must be less than 60 deg + cv::Mat Pn = pMP->GetNormal(); + + if(PO.dot(Pn)<0.5*dist3D) + continue; + + // Compute predicted scale level + const int nPredictedLevel = pMP->PredictScale(dist3D,pKF); + + // Search in a radius + const float radius = th*pKF->mvScaleFactors[nPredictedLevel]; + + const vector vIndices = pKF->GetFeaturesInArea(u,v,radius); + + if(vIndices.empty()) + continue; + + // Match to the most similar keypoint in the radius + + const cv::Mat dMP = pMP->GetDescriptor(); + + int bestDist = INT_MAX; + int bestIdx = -1; + for(vector::const_iterator vit=vIndices.begin(); vit!=vIndices.end(); vit++) + { + const size_t idx = *vit; + const int &kpLevel = pKF->mvKeysUn[idx].octave; + + if(kpLevelnPredictedLevel) + continue; + + const cv::Mat &dKF = pKF->mDescriptors.row(idx); + + int dist = DescriptorDistance(dMP,dKF); + + if(distGetMapPoint(bestIdx); + if(pMPinKF) + { + if(!pMPinKF->isBad()) + vpReplacePoint[iMP] = pMPinKF; + } + else + { + pMP->AddObservation(pKF,bestIdx); + pKF->AddMapPoint(pMP,bestIdx); + } + nFused++; + } + } + + return nFused; +} + +int ORBmatcher::SearchBySim3(KeyFrame *pKF1, KeyFrame *pKF2, vector &vpMatches12, + const float &s12, const cv::Mat &R12, const cv::Mat &t12, const float th) +{ + const float &fx = pKF1->fx; + const float &fy = pKF1->fy; + const float &cx = pKF1->cx; + const float &cy = pKF1->cy; + + // Camera 1 from world + cv::Mat R1w = pKF1->GetRotation(); + cv::Mat t1w = pKF1->GetTranslation(); + + //Camera 2 from world + cv::Mat R2w = pKF2->GetRotation(); + cv::Mat t2w = pKF2->GetTranslation(); + + //Transformation between cameras + cv::Mat sR12 = s12*R12; + cv::Mat sR21 = (1.0/s12)*R12.t(); + cv::Mat t21 = -sR21*t12; + + const vector vpMapPoints1 = pKF1->GetMapPointMatches(); + const int N1 = vpMapPoints1.size(); + + const vector vpMapPoints2 = pKF2->GetMapPointMatches(); + const int N2 = vpMapPoints2.size(); + + vector vbAlreadyMatched1(N1,false); + vector vbAlreadyMatched2(N2,false); + + for(int i=0; iGetIndexInKeyFrame(pKF2); + if(idx2>=0 && idx2 vnMatch1(N1,-1); + vector vnMatch2(N2,-1); + + // Transform from KF1 to KF2 and search + for(int i1=0; i1isBad()) + continue; + + cv::Mat p3Dw = pMP->GetWorldPos(); + cv::Mat p3Dc1 = R1w*p3Dw + t1w; + cv::Mat p3Dc2 = sR21*p3Dc1 + t21; + + // Depth must be positive + if(p3Dc2.at(2)<0.0) + continue; + + const float invz = 1.0/p3Dc2.at(2); + const float x = p3Dc2.at(0)*invz; + const float y = p3Dc2.at(1)*invz; + + const float u = fx*x+cx; + const float v = fy*y+cy; + + // Point must be inside the image + if(!pKF2->IsInImage(u,v)) + continue; + + const float maxDistance = pMP->GetMaxDistanceInvariance(); + const float minDistance = pMP->GetMinDistanceInvariance(); + const float dist3D = cv::norm(p3Dc2); + + // Depth must be inside the scale invariance region + if(dist3DmaxDistance ) + continue; + + // Compute predicted octave + const int nPredictedLevel = pMP->PredictScale(dist3D,pKF2); + + // Search in a radius + const float radius = th*pKF2->mvScaleFactors[nPredictedLevel]; + + const vector vIndices = pKF2->GetFeaturesInArea(u,v,radius); + + if(vIndices.empty()) + continue; + + // Match to the most similar keypoint in the radius + const cv::Mat dMP = pMP->GetDescriptor(); + + int bestDist = INT_MAX; + int bestIdx = -1; + for(vector::const_iterator vit=vIndices.begin(), vend=vIndices.end(); vit!=vend; vit++) + { + const size_t idx = *vit; + + const cv::KeyPoint &kp = pKF2->mvKeysUn[idx]; + + if(kp.octavenPredictedLevel) + continue; + + const cv::Mat &dKF = pKF2->mDescriptors.row(idx); + + const int dist = DescriptorDistance(dMP,dKF); + + if(distisBad()) + continue; + + cv::Mat p3Dw = pMP->GetWorldPos(); + cv::Mat p3Dc2 = R2w*p3Dw + t2w; + cv::Mat p3Dc1 = sR12*p3Dc2 + t12; + + // Depth must be positive + if(p3Dc1.at(2)<0.0) + continue; + + const float invz = 1.0/p3Dc1.at(2); + const float x = p3Dc1.at(0)*invz; + const float y = p3Dc1.at(1)*invz; + + const float u = fx*x+cx; + const float v = fy*y+cy; + + // Point must be inside the image + if(!pKF1->IsInImage(u,v)) + continue; + + const float maxDistance = pMP->GetMaxDistanceInvariance(); + const float minDistance = pMP->GetMinDistanceInvariance(); + const float dist3D = cv::norm(p3Dc1); + + // Depth must be inside the scale pyramid of the image + if(dist3DmaxDistance) + continue; + + // Compute predicted octave + const int nPredictedLevel = pMP->PredictScale(dist3D,pKF1); + + // Search in a radius of 2.5*sigma(ScaleLevel) + const float radius = th*pKF1->mvScaleFactors[nPredictedLevel]; + + const vector vIndices = pKF1->GetFeaturesInArea(u,v,radius); + + if(vIndices.empty()) + continue; + + // Match to the most similar keypoint in the radius + const cv::Mat dMP = pMP->GetDescriptor(); + + int bestDist = INT_MAX; + int bestIdx = -1; + for(vector::const_iterator vit=vIndices.begin(), vend=vIndices.end(); vit!=vend; vit++) + { + const size_t idx = *vit; + + const cv::KeyPoint &kp = pKF1->mvKeysUn[idx]; + + if(kp.octavenPredictedLevel) + continue; + + const cv::Mat &dKF = pKF1->mDescriptors.row(idx); + + const int dist = DescriptorDistance(dMP,dKF); + + if(dist=0) + { + int idx1 = vnMatch2[idx2]; + if(idx1==i1) + { + vpMatches12[i1] = vpMapPoints2[idx2]; + nFound++; + } + } + } + + return nFound; +} + +int ORBmatcher::SearchByProjection(Frame &CurrentFrame, const Frame &LastFrame, const float th, const bool bMono) +{ + int nmatches = 0; + + // Rotation Histogram (to check rotation consistency) + vector rotHist[HISTO_LENGTH]; + for(int i=0;i(2)>CurrentFrame.mb && !bMono; + const bool bBackward = -tlc.at(2)>CurrentFrame.mb && !bMono; + + for(int i=0; iGetWorldPos(); + cv::Mat x3Dc = Rcw*x3Dw+tcw; + + const float xc = x3Dc.at(0); + const float yc = x3Dc.at(1); + const float invzc = 1.0/x3Dc.at(2); + + if(invzc<0) + continue; + + float u = CurrentFrame.fx*xc*invzc+CurrentFrame.cx; + float v = CurrentFrame.fy*yc*invzc+CurrentFrame.cy; + + if(uCurrentFrame.mnMaxX) + continue; + if(vCurrentFrame.mnMaxY) + continue; + + int nLastOctave = LastFrame.mvKeys[i].octave; + + // Search in a window. Size depends on scale + float radius = th*CurrentFrame.mvScaleFactors[nLastOctave]; + + vector vIndices2; + + if(bForward) + vIndices2 = CurrentFrame.GetFeaturesInArea(u,v, radius, nLastOctave); + else if(bBackward) + vIndices2 = CurrentFrame.GetFeaturesInArea(u,v, radius, 0, nLastOctave); + else + vIndices2 = CurrentFrame.GetFeaturesInArea(u,v, radius, nLastOctave-1, nLastOctave+1); + + if(vIndices2.empty()) + continue; + + const cv::Mat dMP = pMP->GetDescriptor(); + + int bestDist = 256; + int bestIdx2 = -1; + + for(vector::const_iterator vit=vIndices2.begin(), vend=vIndices2.end(); vit!=vend; vit++) + { + const size_t i2 = *vit; + if(CurrentFrame.mvpMapPoints[i2]) + if(CurrentFrame.mvpMapPoints[i2]->Observations()>0) + continue; + + if(CurrentFrame.mvuRight[i2]>0) + { + const float ur = u - CurrentFrame.mbf*invzc; + const float er = fabs(ur - CurrentFrame.mvuRight[i2]); + if(er>radius) + continue; + } + + const cv::Mat &d = CurrentFrame.mDescriptors.row(i2); + + const int dist = DescriptorDistance(dMP,d); + + if(dist=0 && bin(NULL); + nmatches--; + } + } + } + } + return nmatches; +} + +int ORBmatcher::SearchByProjection(Frame &CurrentFrame, KeyFrame *pKF, const set &sAlreadyFound, const float th , const int ORBdist) +{ + int nmatches = 0; + + const cv::Mat Rcw = CurrentFrame.mTcw.rowRange(0,3).colRange(0,3); + const cv::Mat tcw = CurrentFrame.mTcw.rowRange(0,3).col(3); + const cv::Mat Ow = -Rcw.t()*tcw; + + // Rotation Histogram (to check rotation consistency) + vector rotHist[HISTO_LENGTH]; + for(int i=0;i vpMPs = pKF->GetMapPointMatches(); + + for(size_t i=0, iend=vpMPs.size(); iisBad() && !sAlreadyFound.count(pMP)) + { + //Project + cv::Mat x3Dw = pMP->GetWorldPos(); + cv::Mat x3Dc = Rcw*x3Dw+tcw; + + const float xc = x3Dc.at(0); + const float yc = x3Dc.at(1); + const float invzc = 1.0/x3Dc.at(2); + + const float u = CurrentFrame.fx*xc*invzc+CurrentFrame.cx; + const float v = CurrentFrame.fy*yc*invzc+CurrentFrame.cy; + + if(uCurrentFrame.mnMaxX) + continue; + if(vCurrentFrame.mnMaxY) + continue; + + // Compute predicted scale level + cv::Mat PO = x3Dw-Ow; + float dist3D = cv::norm(PO); + + const float maxDistance = pMP->GetMaxDistanceInvariance(); + const float minDistance = pMP->GetMinDistanceInvariance(); + + // Depth must be inside the scale pyramid of the image + if(dist3DmaxDistance) + continue; + + int nPredictedLevel = pMP->PredictScale(dist3D,&CurrentFrame); + + // Search in a window + const float radius = th*CurrentFrame.mvScaleFactors[nPredictedLevel]; + + const vector vIndices2 = CurrentFrame.GetFeaturesInArea(u, v, radius, nPredictedLevel-1, nPredictedLevel+1); + + if(vIndices2.empty()) + continue; + + const cv::Mat dMP = pMP->GetDescriptor(); + + int bestDist = 256; + int bestIdx2 = -1; + + for(vector::const_iterator vit=vIndices2.begin(); vit!=vIndices2.end(); vit++) + { + const size_t i2 = *vit; + if(CurrentFrame.mvpMapPoints[i2]) + continue; + + const cv::Mat &d = CurrentFrame.mDescriptors.row(i2); + + const int dist = DescriptorDistance(dMP,d); + + if(distmvKeysUn[i].angle-CurrentFrame.mvKeysUn[bestIdx2].angle; + if(rot<0.0) + rot+=360.0f; + int bin = round(rot*factor); + if(bin==HISTO_LENGTH) + bin=0; + assert(bin>=0 && bin* histo, const int L, int &ind1, int &ind2, int &ind3) +{ + int max1=0; + int max2=0; + int max3=0; + + for(int i=0; imax1) + { + max3=max2; + max2=max1; + max1=s; + ind3=ind2; + ind2=ind1; + ind1=i; + } + else if(s>max2) + { + max3=max2; + max2=s; + ind3=ind2; + ind2=i; + } + else if(s>max3) + { + max3=s; + ind3=i; + } + } + + if(max2<0.1f*(float)max1) + { + ind2=-1; + ind3=-1; + } + else if(max3<0.1f*(float)max1) + { + ind3=-1; + } +} + + +// Bit set count operation from +// http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel +int ORBmatcher::DescriptorDistance(const cv::Mat &a, const cv::Mat &b) +{ + const int *pa = a.ptr(); + const int *pb = b.ptr(); + + int dist=0; + + for(int i=0; i<8; i++, pa++, pb++) + { + unsigned int v = *pa ^ *pb; + v = v - ((v >> 1) & 0x55555555); + v = (v & 0x33333333) + ((v >> 2) & 0x33333333); + dist += (((v + (v >> 4)) & 0xF0F0F0F) * 0x1010101) >> 24; + } + + return dist; +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/ObjectDatabase.cc b/MyCode/src/my-slam/src/ObjectDatabase.cc new file mode 100644 index 0000000..8b8b6c7 --- /dev/null +++ b/MyCode/src/my-slam/src/ObjectDatabase.cc @@ -0,0 +1,333 @@ +#include "ObjectDatabase.h" +#include +#include + +bool SemanticObject::operator ==(const std::string &name){ + return(this->object_name == name); +} + +ObjectDatabase::ObjectDatabase() +{ + DataBaseSize = 0; + mvSemanticObject.clear(); + mvactiveSemanticObject.clear(); //czd + + for (int i = 0; i < 21; i++) + { + mvColors.push_back(cv::Scalar(255 * (1 - i)*(2 - i) / 2, 255 * i*(2 - i), 255 * i*(i - 1) / 2)); + } + mvColors[5] = cv::Scalar(255,0,255); // bottle pink + mvColors[9] = cv::Scalar(255,0,0); // chair blue + mvColors[15] = cv::Scalar(0,0,255); // people red + mvColors[20] = cv::Scalar(0,255,0); // tvmonitor green + + for (int i = 0; i < 21; i++) + { + mvSizes.push_back(0.6); + } + mvSizes[5] = 0.3; // bottle + mvSizes[9] = 0.8; // chair + mvSizes[20] = 1.5; // tvmonitor +} + +ObjectDatabase::~ObjectDatabase() +{ +} + +cv::Scalar ObjectDatabase::getObjectColor(int class_id) +{ + return mvColors[class_id]; +} + +float ObjectDatabase::getObjectSize(int class_id) +{ + return mvSizes[class_id]; +} + +//cluster 是当前帧的一个物体 +void ObjectDatabase::addObject(SemanticObject& cluster, PointCloud::ConstPtr map_point_cloud) +{ + /* + // 1. If the database is empty, it is added directly + if(!mvSemanticObject.size()) + { + DataBaseSize++; + cluster.object_id = DataBaseSize; + mvSemanticObject.push_back(cluster); + return; + } + else + { + // 2. If object already exist in the database, check whether the new object already exists in the database + std::vector::iterator iter = mvSemanticObject.begin()-1; + std::vector::iterator it_end = mvSemanticObject.end(); + std::vector::iterator> likely_obj; + while(true) + { + iter = find(++iter, it_end, cluster.object_name); + if (iter != it_end) + likely_obj.push_back(iter); + else break; + } + // 3. If not, add it directly to the database + std::vector::iterator best_close; + float center_distance=100; + if(!likely_obj.size()) // 没有相同name的物体就直接加入该物体 + { + DataBaseSize++; + cluster.object_id = DataBaseSize; + mvSemanticObject.push_back(cluster); + return; + } + else + { + //TODO: 通过的各种判断条件去匹配是不是同一个物体 + // 4. Go through every object with the same name and find the nearest center + // Todo: The Kuhn－Munkres algorithm with various weight information such as + // color/size/position is used for matching + for(unsigned int j=0; j::iterator& temp_iter = likely_obj[j]; + SemanticObject& temp_cluster = *temp_iter; + Eigen::Vector3f dis_vec = cluster.centroid - temp_cluster.centroid; + float dist = dis_vec.norm(); + if(dist < center_distance) + { + center_distance = dist; // Shortest distance + best_close = temp_iter; + } + } + // 5. If the distance is less than the size of the object, + // it is considered to be the same object in the same space, + // and the information of the object is updated in the database(a simple mean filtering) + if(center_distance < mvSizes[cluster.class_id]) + { + best_close->prob = (best_close->prob + cluster.prob)/2.0; + best_close->centroid = (best_close->centroid + cluster.centroid)/2.0; + best_close->size = (best_close->size + cluster.size)/2.0; + } + else + { + DataBaseSize++; + cluster.object_id = DataBaseSize; + mvSemanticObject.push_back(cluster); + } + } + } + return; + */ + if(!mvactiveSemanticObject.size()){ + DataBaseSize++; + cluster.object_id = DataBaseSize; + mvSemanticObject.push_back(cluster); + mvactiveSemanticObject.push_back(cluster); + return; + }else{ + std::vector::iterator iter = mvactiveSemanticObject.begin()-1; + std::vector::iterator it_end = mvactiveSemanticObject.end(); + std::vector::iterator> likely_obj; + while(true) + { + iter = find(++iter, it_end, cluster.object_name); + if (iter != it_end) + likely_obj.push_back(iter); + else break; + } + + std::vector::iterator best_close; + float center_distance=100; + if(!likely_obj.size()) // 没有相同name的物体就直接加入该物体 + { + DataBaseSize++; + cluster.object_id = DataBaseSize; + mvSemanticObject.push_back(cluster); + mvactiveSemanticObject.push_back(cluster); + return; + } + else + { + //TODO: 通过的各种判断条件去匹配是不是同一个物体 + for(unsigned int j=0; j::iterator& temp_iter = likely_obj[j]; + SemanticObject& temp_cluster = *temp_iter; + Eigen::Vector3f dis_vec = cluster.centroid - temp_cluster.centroid; + float dist = dis_vec.norm(); + if(dist < center_distance) + { + center_distance = dist; // Shortest distance + best_close = temp_iter; + } + } + + if(center_distance < mvSizes[cluster.class_id]) //同一个物体，更新物体 + { + if(cluster.cloudNums*0.4 > best_close->cloudNums){ //数量多于已有的物体则替换否则融合 + int ind = best_close->object_id; + mvactiveSemanticObject.erase(best_close); + cluster.object_id = ind; + for(auto it=mvSemanticObject.begin();it != mvSemanticObject.end();it++){ + if(it->object_id == ind){ + mvSemanticObject.erase(it); + mvSemanticObject.push_back(cluster); + + break; + } + } + mvactiveSemanticObject.push_back(cluster); + }else{ + best_close->prob = (best_close->prob + cluster.prob) / 2.0; + best_close->centroid = (best_close->centroid + cluster.centroid) / 2.0; + Eigen::Vector3f tmpSize = best_close->size; + best_close->size = (best_close->size + cluster.size) / 2.0; + //更新最近帧 + best_close->LastFrameID = cluster.LastFrameID; + //TODO:计算点云数量 + pcl::PointCloud::Ptr cloud(new pcl::PointCloud); + pcl::CropBox crop; + crop.setInputCloud(cloud); + float min_x = best_close->centroid[0] - best_close->size[0] /2; + float min_y = best_close->centroid[1] - best_close->size[1] /2; + float min_z = best_close->centroid[2] - best_close->size[2] /2; + float max_x = best_close->centroid[0] + best_close->size[0] /2; + float max_y = best_close->centroid[1] + best_close->size[1] /2; + float max_z = best_close->centroid[2] + best_close->size[2] /2; + crop.setMin(Eigen::Vector4f(min_x, min_y, min_z, 1.0)); + crop.setMax(Eigen::Vector4f(max_x, max_y, max_z, 1.0)); + crop.filter(*cloud); + best_close->cloudNums = cloud->size(); + best_close->colorHit = ColorAlpha * best_close->colorHit + (1 - ColorAlpha) * cluster.colorHit + best_close->Nonce = true; + //TODO:比较两个size是否稳定 + if(true){ + best_close->Stable = true; + } + // best_close->cloudNums = (best_close->cloudNums + cluster.cloudNums) / 2.0; + // int ind = best_close->object_id; + // for(auto it=mvSemanticObject.begin();it != mvSemanticObject.end();it++){ + // if(it->object_id == ind){ + // *it = *best_close; + // break; + // } + // } + + } + + } + else + { + DataBaseSize++; + cluster.object_id = DataBaseSize; + mvSemanticObject.push_back(cluster); + mvactiveSemanticObject.push_back(cluster); + } + } + } +} + +//czd +void ObjectDatabase::DelDeactiveObject(int KFid){ + std::vector::iterator iter = mvactiveSemanticObject.begin(); + std::vector::iterator it_end = mvactiveSemanticObject.end(); + + while(iter != it_end){ + if(!iter->Nonce && iter->LastFrameID + 5 < KFid){ + auto tmp = iter; + iter++; + tmp->isDeactive = true; + mvactiveSemanticObject.erase(tmp); + }else if(iter->LastFrameID + 25 < KFid){//观测在10帧以前 + auto tmp = iter; + iter++; + tmp->isDeactive = true; + mvactiveSemanticObject.erase(tmp); + }else + iter++; + } + + std::vector::iterator Siter = mvSemanticObject.begin(); + std::vector::iterator Sit_end = mvSemanticObject.end(); + while(Siter != Siter_end){ + if(Siter->Nonce){ + Siter++; + continue; + } + if(Siter->LastFrameID + 3 < KFid){ + auto tmp = Siter; + Siter++; + mvSemanticObject.erase(tmp); + } + } +} + +int ObjectDatabase::getCloudNums(SemanticObject& cluster, PointCloud::ConstPtr map_point_cloud) +{ + double min_x = cluster.centroid(0) - cluster.size(0) /2; + double max_x = cluster.centroid(0) + cluster.size(0) /2; + double min_y = cluster.centroid(1) - cluster.size(1) /2; + double max_y = cluster.centroid(1) + cluster.size(1) /2; + double min_z = cluster.centroid(2) - cluster.size(2) /2; + double max_z = cluster.centroid(2) + cluster.size(2) /2; + + // 创建裁剪对象并设置裁剪范围 + PointCloud::Ptr tmpCloud(new PointCloud); + pcl::CropBox crop; + crop.setInputCloud(map_point_cloud); + crop.setMin(Eigen::Vector4f(min_x, min_y, min_z, 1.0)); + crop.setMax(Eigen::Vector4f(max_x, max_y, max_z, 1.0)); + crop.filter(*tmpCloud); + + return tmpCloud->size(); +} + +void ObjectDatabase::SelectNearObject(){ + if(mvSemanticObject.size() > 6){ + pcl::PointCloud::Ptr cloud(new pcl::PointCloud); + for(int i=0;i < mvSemanticObject.size();i++){ + cloud->push_back(toPCLPoint(mvSemanticObject[i].centroid)); + } + // 创建 KD-Tree + pcl::KdTreeFLANN kdtree; + kdtree.setInputCloud(cloud); + + // 遍历所有物体，查询最近邻 + for (size_t i = 0; i < mvSemanticObject.size(); ++i) { + std::vector nearest_indices(6); // 存储最近的物体索引 + std::vector nearest_distances(6); // 存储距离 + + // 使用 KD-Tree 查找物体 i 最近的 5 个邻居 + pcl::PointXYZ search_point = toPCLPoint(mvSemanticObject[i].centroid); // 查询点（物体质心） + int num_neighbors = kdtree.nearestKSearch(search_point, 6, nearest_indices, nearest_distances); + + // 更新最近邻物体 + mvSemanticObject[i].NearestObj.clear(); + mvSemanticObject[i].NearObjNum = num_neighbors; + for (int j = 0; j < num_neighbors; ++j) { + if (nearest_indices[j] != i) { // 排除自己 + mvSemanticObject[i].NearestObj.push_back( + {nearest_indices[j], sqrt(nearest_distances[j])}); + } + } + } + }else{ + for(int i=0;i (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "Optimizer.h" + +#include "Thirdparty/g2o/g2o/core/block_solver.h" +#include "Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h" +#include "Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h" +#include "Thirdparty/g2o/g2o/types/types_six_dof_expmap.h" +#include "Thirdparty/g2o/g2o/core/robust_kernel_impl.h" +#include "Thirdparty/g2o/g2o/solvers/linear_solver_dense.h" +#include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h" + +#include + +#include "Converter.h" + +#include + +namespace ORB_SLAM2 +{ + + +void Optimizer::GlobalBundleAdjustemnt(Map* pMap, int nIterations, bool* pbStopFlag, const unsigned long nLoopKF, const bool bRobust) +{ + vector vpKFs = pMap->GetAllKeyFrames(); + vector vpMP = pMap->GetAllMapPoints(); + BundleAdjustment(vpKFs,vpMP,nIterations,pbStopFlag, nLoopKF, bRobust); +} + + +void Optimizer::BundleAdjustment(const vector &vpKFs, const vector &vpMP, + int nIterations, bool* pbStopFlag, const unsigned long nLoopKF, const bool bRobust) +{ + vector vbNotIncludedMP; + vbNotIncludedMP.resize(vpMP.size()); + + g2o::SparseOptimizer optimizer; + g2o::BlockSolver_6_3::LinearSolverType * linearSolver; + + linearSolver = new g2o::LinearSolverEigen(); + + g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver); + + g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); + optimizer.setAlgorithm(solver); + + if(pbStopFlag) + optimizer.setForceStopFlag(pbStopFlag); + + long unsigned int maxKFid = 0; + + // Set KeyFrame vertices + for(size_t i=0; iisBad()) + continue; + g2o::VertexSE3Expmap * vSE3 = new g2o::VertexSE3Expmap(); + vSE3->setEstimate(Converter::toSE3Quat(pKF->GetPose())); + vSE3->setId(pKF->mnId); + vSE3->setFixed(pKF->mnId==0); + optimizer.addVertex(vSE3); + if(pKF->mnId>maxKFid) + maxKFid=pKF->mnId; + } + + const float thHuber2D = sqrt(5.99); + const float thHuber3D = sqrt(7.815); + + // Set MapPoint vertices + for(size_t i=0; iisBad()) + continue; + g2o::VertexSBAPointXYZ* vPoint = new g2o::VertexSBAPointXYZ(); + vPoint->setEstimate(Converter::toVector3d(pMP->GetWorldPos())); + const int id = pMP->mnId+maxKFid+1; + vPoint->setId(id); + vPoint->setMarginalized(true); + optimizer.addVertex(vPoint); + + const map observations = pMP->GetObservations(); + + int nEdges = 0; + //SET EDGES + for(map::const_iterator mit=observations.begin(); mit!=observations.end(); mit++) + { + + KeyFrame* pKF = mit->first; + if(pKF->isBad() || pKF->mnId>maxKFid) + continue; + + nEdges++; + + const cv::KeyPoint &kpUn = pKF->mvKeysUn[mit->second]; + + if(pKF->mvuRight[mit->second]<0) + { + Eigen::Matrix obs; + obs << kpUn.pt.x, kpUn.pt.y; + + g2o::EdgeSE3ProjectXYZ* e = new g2o::EdgeSE3ProjectXYZ(); + + e->setVertex(0, dynamic_cast(optimizer.vertex(id))); + e->setVertex(1, dynamic_cast(optimizer.vertex(pKF->mnId))); + e->setMeasurement(obs); + const float &invSigma2 = pKF->mvInvLevelSigma2[kpUn.octave]; + e->setInformation(Eigen::Matrix2d::Identity()*invSigma2); + + if(bRobust) + { + g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber; + e->setRobustKernel(rk); + rk->setDelta(thHuber2D); + } + + e->fx = pKF->fx; + e->fy = pKF->fy; + e->cx = pKF->cx; + e->cy = pKF->cy; + + optimizer.addEdge(e); + } + else + { + Eigen::Matrix obs; + const float kp_ur = pKF->mvuRight[mit->second]; + obs << kpUn.pt.x, kpUn.pt.y, kp_ur; + + g2o::EdgeStereoSE3ProjectXYZ* e = new g2o::EdgeStereoSE3ProjectXYZ(); + + e->setVertex(0, dynamic_cast(optimizer.vertex(id))); + e->setVertex(1, dynamic_cast(optimizer.vertex(pKF->mnId))); + e->setMeasurement(obs); + const float &invSigma2 = pKF->mvInvLevelSigma2[kpUn.octave]; + Eigen::Matrix3d Info = Eigen::Matrix3d::Identity()*invSigma2; + e->setInformation(Info); + + if(bRobust) + { + g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber; + e->setRobustKernel(rk); + rk->setDelta(thHuber3D); + } + + e->fx = pKF->fx; + e->fy = pKF->fy; + e->cx = pKF->cx; + e->cy = pKF->cy; + e->bf = pKF->mbf; + + optimizer.addEdge(e); + } + } + + if(nEdges==0) + { + optimizer.removeVertex(vPoint); + vbNotIncludedMP[i]=true; + } + else + { + vbNotIncludedMP[i]=false; + } + } + + // Optimize! + optimizer.initializeOptimization(); + optimizer.optimize(nIterations); + + // Recover optimized data + + //Keyframes + for(size_t i=0; iisBad()) + continue; + g2o::VertexSE3Expmap* vSE3 = static_cast(optimizer.vertex(pKF->mnId)); + g2o::SE3Quat SE3quat = vSE3->estimate(); + if(nLoopKF==0) + { + pKF->SetPose(Converter::toCvMat(SE3quat)); + } + else + { + pKF->mTcwGBA.create(4,4,CV_32F); + Converter::toCvMat(SE3quat).copyTo(pKF->mTcwGBA); + pKF->mnBAGlobalForKF = nLoopKF; + } + } + + //Points + for(size_t i=0; iisBad()) + continue; + g2o::VertexSBAPointXYZ* vPoint = static_cast(optimizer.vertex(pMP->mnId+maxKFid+1)); + + if(nLoopKF==0) + { + pMP->SetWorldPos(Converter::toCvMat(vPoint->estimate())); + pMP->UpdateNormalAndDepth(); + } + else + { + pMP->mPosGBA.create(3,1,CV_32F); + Converter::toCvMat(vPoint->estimate()).copyTo(pMP->mPosGBA); + pMP->mnBAGlobalForKF = nLoopKF; + } + } + +} + +int Optimizer::PoseOptimization(Frame *pFrame) +{ + g2o::SparseOptimizer optimizer; + g2o::BlockSolver_6_3::LinearSolverType * linearSolver; + + linearSolver = new g2o::LinearSolverDense(); + + g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver); + + g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); + optimizer.setAlgorithm(solver); + + int nInitialCorrespondences=0; + + // Set Frame vertex + g2o::VertexSE3Expmap * vSE3 = new g2o::VertexSE3Expmap(); + vSE3->setEstimate(Converter::toSE3Quat(pFrame->mTcw)); + vSE3->setId(0); + vSE3->setFixed(false); + optimizer.addVertex(vSE3); + + // Set MapPoint vertices + const int N = pFrame->N; + + vector vpEdgesMono; + vector vnIndexEdgeMono; + vpEdgesMono.reserve(N); + vnIndexEdgeMono.reserve(N); + + vector vpEdgesStereo; + vector vnIndexEdgeStereo; + vpEdgesStereo.reserve(N); + vnIndexEdgeStereo.reserve(N); + + const float deltaMono = sqrt(5.991); + const float deltaStereo = sqrt(7.815); + + + { + unique_lock lock(MapPoint::mGlobalMutex); + + for(int i=0; imvpMapPoints[i]; + if(pMP) + { + // Monocular observation + if(pFrame->mvuRight[i]<0) + { + nInitialCorrespondences++; + pFrame->mvbOutlier[i] = false; + + Eigen::Matrix obs; + const cv::KeyPoint &kpUn = pFrame->mvKeysUn[i]; + obs << kpUn.pt.x, kpUn.pt.y; + + g2o::EdgeSE3ProjectXYZOnlyPose* e = new g2o::EdgeSE3ProjectXYZOnlyPose(); + + e->setVertex(0, dynamic_cast(optimizer.vertex(0))); + e->setMeasurement(obs); + const float invSigma2 = pFrame->mvInvLevelSigma2[kpUn.octave]; + e->setInformation(Eigen::Matrix2d::Identity()*invSigma2); + + g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber; + e->setRobustKernel(rk); + rk->setDelta(deltaMono); + + e->fx = pFrame->fx; + e->fy = pFrame->fy; + e->cx = pFrame->cx; + e->cy = pFrame->cy; + cv::Mat Xw = pMP->GetWorldPos(); + e->Xw[0] = Xw.at(0); + e->Xw[1] = Xw.at(1); + e->Xw[2] = Xw.at(2); + + optimizer.addEdge(e); + + vpEdgesMono.push_back(e); + vnIndexEdgeMono.push_back(i); + } + else // Stereo observation + { + nInitialCorrespondences++; + pFrame->mvbOutlier[i] = false; + + //SET EDGE + Eigen::Matrix obs; + const cv::KeyPoint &kpUn = pFrame->mvKeysUn[i]; + const float &kp_ur = pFrame->mvuRight[i]; + obs << kpUn.pt.x, kpUn.pt.y, kp_ur; + + g2o::EdgeStereoSE3ProjectXYZOnlyPose* e = new g2o::EdgeStereoSE3ProjectXYZOnlyPose(); + + e->setVertex(0, dynamic_cast(optimizer.vertex(0))); + e->setMeasurement(obs); + const float invSigma2 = pFrame->mvInvLevelSigma2[kpUn.octave]; + Eigen::Matrix3d Info = Eigen::Matrix3d::Identity()*invSigma2; + e->setInformation(Info); + + g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber; + e->setRobustKernel(rk); + rk->setDelta(deltaStereo); + + e->fx = pFrame->fx; + e->fy = pFrame->fy; + e->cx = pFrame->cx; + e->cy = pFrame->cy; + e->bf = pFrame->mbf; + cv::Mat Xw = pMP->GetWorldPos(); + e->Xw[0] = Xw.at(0); + e->Xw[1] = Xw.at(1); + e->Xw[2] = Xw.at(2); + + optimizer.addEdge(e); + + vpEdgesStereo.push_back(e); + vnIndexEdgeStereo.push_back(i); + } + } + + } + } + + + if(nInitialCorrespondences<3) + return 0; + + // We perform 4 optimizations, after each optimization we classify observation as inlier/outlier + // At the next optimization, outliers are not included, but at the end they can be classified as inliers again. + const float chi2Mono[4]={5.991,5.991,5.991,5.991}; + const float chi2Stereo[4]={7.815,7.815,7.815, 7.815}; + const int its[4]={10,10,10,10}; + + int nBad=0; + for(size_t it=0; it<4; it++) + { + + vSE3->setEstimate(Converter::toSE3Quat(pFrame->mTcw)); + optimizer.initializeOptimization(0); + optimizer.optimize(its[it]); + + nBad=0; + for(size_t i=0, iend=vpEdgesMono.size(); imvbOutlier[idx]) + { + e->computeError(); + } + + const float chi2 = e->chi2(); + + if(chi2>chi2Mono[it]) + { + pFrame->mvbOutlier[idx]=true; + e->setLevel(1); + nBad++; + } + else + { + pFrame->mvbOutlier[idx]=false; + e->setLevel(0); + } + + if(it==2) + e->setRobustKernel(0); + } + + for(size_t i=0, iend=vpEdgesStereo.size(); imvbOutlier[idx]) + { + e->computeError(); + } + + const float chi2 = e->chi2(); + + if(chi2>chi2Stereo[it]) + { + pFrame->mvbOutlier[idx]=true; + e->setLevel(1); + nBad++; + } + else + { + e->setLevel(0); + pFrame->mvbOutlier[idx]=false; + } + + if(it==2) + e->setRobustKernel(0); + } + + if(optimizer.edges().size()<10) + break; + } + + // Recover optimized pose and return number of inliers + g2o::VertexSE3Expmap* vSE3_recov = static_cast(optimizer.vertex(0)); + g2o::SE3Quat SE3quat_recov = vSE3_recov->estimate(); + cv::Mat pose = Converter::toCvMat(SE3quat_recov); + pFrame->SetPose(pose); + + return nInitialCorrespondences-nBad; +} + +void Optimizer::LocalBundleAdjustment(KeyFrame *pKF, bool* pbStopFlag, Map* pMap) +{ + // Local KeyFrames: First Breath Search from Current Keyframe + list lLocalKeyFrames; + + lLocalKeyFrames.push_back(pKF); + pKF->mnBALocalForKF = pKF->mnId; + + const vector vNeighKFs = pKF->GetVectorCovisibleKeyFrames(); + for(int i=0, iend=vNeighKFs.size(); imnBALocalForKF = pKF->mnId; + if(!pKFi->isBad()) + lLocalKeyFrames.push_back(pKFi); + } + + // Local MapPoints seen in Local KeyFrames + list lLocalMapPoints; + for(list::iterator lit=lLocalKeyFrames.begin() , lend=lLocalKeyFrames.end(); lit!=lend; lit++) + { + vector vpMPs = (*lit)->GetMapPointMatches(); + for(vector::iterator vit=vpMPs.begin(), vend=vpMPs.end(); vit!=vend; vit++) + { + MapPoint* pMP = *vit; + if(pMP) + if(!pMP->isBad()) + if(pMP->mnBALocalForKF!=pKF->mnId) + { + lLocalMapPoints.push_back(pMP); + pMP->mnBALocalForKF=pKF->mnId; + } + } + } + + // Fixed Keyframes. Keyframes that see Local MapPoints but that are not Local Keyframes + list lFixedCameras; + for(list::iterator lit=lLocalMapPoints.begin(), lend=lLocalMapPoints.end(); lit!=lend; lit++) + { + map observations = (*lit)->GetObservations(); + for(map::iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++) + { + KeyFrame* pKFi = mit->first; + + if(pKFi->mnBALocalForKF!=pKF->mnId && pKFi->mnBAFixedForKF!=pKF->mnId) + { + pKFi->mnBAFixedForKF=pKF->mnId; + if(!pKFi->isBad()) + lFixedCameras.push_back(pKFi); + } + } + } + + // Setup optimizer + g2o::SparseOptimizer optimizer; + g2o::BlockSolver_6_3::LinearSolverType * linearSolver; + + linearSolver = new g2o::LinearSolverEigen(); + + g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver); + + g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); + optimizer.setAlgorithm(solver); + + if(pbStopFlag) + optimizer.setForceStopFlag(pbStopFlag); + + unsigned long maxKFid = 0; + + // Set Local KeyFrame vertices + for(list::iterator lit=lLocalKeyFrames.begin(), lend=lLocalKeyFrames.end(); lit!=lend; lit++) + { + KeyFrame* pKFi = *lit; + g2o::VertexSE3Expmap * vSE3 = new g2o::VertexSE3Expmap(); + vSE3->setEstimate(Converter::toSE3Quat(pKFi->GetPose())); + vSE3->setId(pKFi->mnId); + vSE3->setFixed(pKFi->mnId==0); + optimizer.addVertex(vSE3); + if(pKFi->mnId>maxKFid) + maxKFid=pKFi->mnId; + } + + // Set Fixed KeyFrame vertices + for(list::iterator lit=lFixedCameras.begin(), lend=lFixedCameras.end(); lit!=lend; lit++) + { + KeyFrame* pKFi = *lit; + g2o::VertexSE3Expmap * vSE3 = new g2o::VertexSE3Expmap(); + vSE3->setEstimate(Converter::toSE3Quat(pKFi->GetPose())); + vSE3->setId(pKFi->mnId); + vSE3->setFixed(true); + optimizer.addVertex(vSE3); + if(pKFi->mnId>maxKFid) + maxKFid=pKFi->mnId; + } + + // Set MapPoint vertices + const int nExpectedSize = (lLocalKeyFrames.size()+lFixedCameras.size())*lLocalMapPoints.size(); + + vector vpEdgesMono; + vpEdgesMono.reserve(nExpectedSize); + + vector vpEdgeKFMono; + vpEdgeKFMono.reserve(nExpectedSize); + + vector vpMapPointEdgeMono; + vpMapPointEdgeMono.reserve(nExpectedSize); + + vector vpEdgesStereo; + vpEdgesStereo.reserve(nExpectedSize); + + vector vpEdgeKFStereo; + vpEdgeKFStereo.reserve(nExpectedSize); + + vector vpMapPointEdgeStereo; + vpMapPointEdgeStereo.reserve(nExpectedSize); + + const float thHuberMono = sqrt(5.991); + const float thHuberStereo = sqrt(7.815); + + for(list::iterator lit=lLocalMapPoints.begin(), lend=lLocalMapPoints.end(); lit!=lend; lit++) + { + MapPoint* pMP = *lit; + g2o::VertexSBAPointXYZ* vPoint = new g2o::VertexSBAPointXYZ(); + vPoint->setEstimate(Converter::toVector3d(pMP->GetWorldPos())); + int id = pMP->mnId+maxKFid+1; + vPoint->setId(id); + vPoint->setMarginalized(true); + optimizer.addVertex(vPoint); + + const map observations = pMP->GetObservations(); + + //Set edges + for(map::const_iterator mit=observations.begin(), mend=observations.end(); mit!=mend; mit++) + { + KeyFrame* pKFi = mit->first; + + if(!pKFi->isBad()) + { + const cv::KeyPoint &kpUn = pKFi->mvKeysUn[mit->second]; + + // Monocular observation + if(pKFi->mvuRight[mit->second]<0) + { + Eigen::Matrix obs; + obs << kpUn.pt.x, kpUn.pt.y; + + g2o::EdgeSE3ProjectXYZ* e = new g2o::EdgeSE3ProjectXYZ(); + + e->setVertex(0, dynamic_cast(optimizer.vertex(id))); + e->setVertex(1, dynamic_cast(optimizer.vertex(pKFi->mnId))); + e->setMeasurement(obs); + const float &invSigma2 = pKFi->mvInvLevelSigma2[kpUn.octave]; + e->setInformation(Eigen::Matrix2d::Identity()*invSigma2); + + g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber; + e->setRobustKernel(rk); + rk->setDelta(thHuberMono); + + e->fx = pKFi->fx; + e->fy = pKFi->fy; + e->cx = pKFi->cx; + e->cy = pKFi->cy; + + optimizer.addEdge(e); + vpEdgesMono.push_back(e); + vpEdgeKFMono.push_back(pKFi); + vpMapPointEdgeMono.push_back(pMP); + } + else // Stereo observation + { + Eigen::Matrix obs; + const float kp_ur = pKFi->mvuRight[mit->second]; + obs << kpUn.pt.x, kpUn.pt.y, kp_ur; + + g2o::EdgeStereoSE3ProjectXYZ* e = new g2o::EdgeStereoSE3ProjectXYZ(); + + e->setVertex(0, dynamic_cast(optimizer.vertex(id))); + e->setVertex(1, dynamic_cast(optimizer.vertex(pKFi->mnId))); + e->setMeasurement(obs); + const float &invSigma2 = pKFi->mvInvLevelSigma2[kpUn.octave]; + Eigen::Matrix3d Info = Eigen::Matrix3d::Identity()*invSigma2; + e->setInformation(Info); + + g2o::RobustKernelHuber* rk = new g2o::RobustKernelHuber; + e->setRobustKernel(rk); + rk->setDelta(thHuberStereo); + + e->fx = pKFi->fx; + e->fy = pKFi->fy; + e->cx = pKFi->cx; + e->cy = pKFi->cy; + e->bf = pKFi->mbf; + + optimizer.addEdge(e); + vpEdgesStereo.push_back(e); + vpEdgeKFStereo.push_back(pKFi); + vpMapPointEdgeStereo.push_back(pMP); + } + } + } + } + + if(pbStopFlag) + if(*pbStopFlag) + return; + + optimizer.initializeOptimization(); + optimizer.optimize(5); + + bool bDoMore= true; + + if(pbStopFlag) + if(*pbStopFlag) + bDoMore = false; + + if(bDoMore) + { + + // Check inlier observations + for(size_t i=0, iend=vpEdgesMono.size(); iisBad()) + continue; + + if(e->chi2()>5.991 || !e->isDepthPositive()) + { + e->setLevel(1); + } + + e->setRobustKernel(0); + } + + for(size_t i=0, iend=vpEdgesStereo.size(); iisBad()) + continue; + + if(e->chi2()>7.815 || !e->isDepthPositive()) + { + e->setLevel(1); + } + + e->setRobustKernel(0); + } + + // Optimize again without the outliers + + optimizer.initializeOptimization(0); + optimizer.optimize(10); + + } + + vector > vToErase; + vToErase.reserve(vpEdgesMono.size()+vpEdgesStereo.size()); + + // Check inlier observations + for(size_t i=0, iend=vpEdgesMono.size(); iisBad()) + continue; + + if(e->chi2()>5.991 || !e->isDepthPositive()) + { + KeyFrame* pKFi = vpEdgeKFMono[i]; + vToErase.push_back(make_pair(pKFi,pMP)); + } + } + + for(size_t i=0, iend=vpEdgesStereo.size(); iisBad()) + continue; + + if(e->chi2()>7.815 || !e->isDepthPositive()) + { + KeyFrame* pKFi = vpEdgeKFStereo[i]; + vToErase.push_back(make_pair(pKFi,pMP)); + } + } + + // Get Map Mutex + unique_lock lock(pMap->mMutexMapUpdate); + + if(!vToErase.empty()) + { + for(size_t i=0;iEraseMapPointMatch(pMPi); + pMPi->EraseObservation(pKFi); + } + } + + // Recover optimized data + + //Keyframes + for(list::iterator lit=lLocalKeyFrames.begin(), lend=lLocalKeyFrames.end(); lit!=lend; lit++) + { + KeyFrame* pKF = *lit; + g2o::VertexSE3Expmap* vSE3 = static_cast(optimizer.vertex(pKF->mnId)); + g2o::SE3Quat SE3quat = vSE3->estimate(); + pKF->SetPose(Converter::toCvMat(SE3quat)); + } + + //Points + for(list::iterator lit=lLocalMapPoints.begin(), lend=lLocalMapPoints.end(); lit!=lend; lit++) + { + MapPoint* pMP = *lit; + g2o::VertexSBAPointXYZ* vPoint = static_cast(optimizer.vertex(pMP->mnId+maxKFid+1)); + pMP->SetWorldPos(Converter::toCvMat(vPoint->estimate())); + pMP->UpdateNormalAndDepth(); + } +} + + +void Optimizer::OptimizeEssentialGraph(Map* pMap, KeyFrame* pLoopKF, KeyFrame* pCurKF, + const LoopClosing::KeyFrameAndPose &NonCorrectedSim3, + const LoopClosing::KeyFrameAndPose &CorrectedSim3, + const map > &LoopConnections, const bool &bFixScale) +{ + // Setup optimizer + g2o::SparseOptimizer optimizer; + optimizer.setVerbose(false); + g2o::BlockSolver_7_3::LinearSolverType * linearSolver = + new g2o::LinearSolverEigen(); + g2o::BlockSolver_7_3 * solver_ptr= new g2o::BlockSolver_7_3(linearSolver); + g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); + + solver->setUserLambdaInit(1e-16); + optimizer.setAlgorithm(solver); + + const vector vpKFs = pMap->GetAllKeyFrames(); + const vector vpMPs = pMap->GetAllMapPoints(); + + const unsigned int nMaxKFid = pMap->GetMaxKFid(); + + vector > vScw(nMaxKFid+1); + vector > vCorrectedSwc(nMaxKFid+1); + vector vpVertices(nMaxKFid+1); + + const int minFeat = 100; + + // Set KeyFrame vertices + for(size_t i=0, iend=vpKFs.size(); iisBad()) + continue; + g2o::VertexSim3Expmap* VSim3 = new g2o::VertexSim3Expmap(); + + const int nIDi = pKF->mnId; + + LoopClosing::KeyFrameAndPose::const_iterator it = CorrectedSim3.find(pKF); + + if(it!=CorrectedSim3.end()) + { + vScw[nIDi] = it->second; + VSim3->setEstimate(it->second); + } + else + { + Eigen::Matrix Rcw = Converter::toMatrix3d(pKF->GetRotation()); + Eigen::Matrix tcw = Converter::toVector3d(pKF->GetTranslation()); + g2o::Sim3 Siw(Rcw,tcw,1.0); + vScw[nIDi] = Siw; + VSim3->setEstimate(Siw); + } + + if(pKF==pLoopKF) + VSim3->setFixed(true); + + VSim3->setId(nIDi); + VSim3->setMarginalized(false); + VSim3->_fix_scale = bFixScale; + + optimizer.addVertex(VSim3); + + vpVertices[nIDi]=VSim3; + } + + + set > sInsertedEdges; + + const Eigen::Matrix matLambda = Eigen::Matrix::Identity(); + + // Set Loop edges + for(map >::const_iterator mit = LoopConnections.begin(), mend=LoopConnections.end(); mit!=mend; mit++) + { + KeyFrame* pKF = mit->first; + const long unsigned int nIDi = pKF->mnId; + const set &spConnections = mit->second; + const g2o::Sim3 Siw = vScw[nIDi]; + const g2o::Sim3 Swi = Siw.inverse(); + + for(set::const_iterator sit=spConnections.begin(), send=spConnections.end(); sit!=send; sit++) + { + const long unsigned int nIDj = (*sit)->mnId; + if((nIDi!=pCurKF->mnId || nIDj!=pLoopKF->mnId) && pKF->GetWeight(*sit)setVertex(1, dynamic_cast(optimizer.vertex(nIDj))); + e->setVertex(0, dynamic_cast(optimizer.vertex(nIDi))); + e->setMeasurement(Sji); + + e->information() = matLambda; + + optimizer.addEdge(e); + + sInsertedEdges.insert(make_pair(min(nIDi,nIDj),max(nIDi,nIDj))); + } + } + + // Set normal edges + for(size_t i=0, iend=vpKFs.size(); imnId; + + g2o::Sim3 Swi; + + LoopClosing::KeyFrameAndPose::const_iterator iti = NonCorrectedSim3.find(pKF); + + if(iti!=NonCorrectedSim3.end()) + Swi = (iti->second).inverse(); + else + Swi = vScw[nIDi].inverse(); + + KeyFrame* pParentKF = pKF->GetParent(); + + // Spanning tree edge + if(pParentKF) + { + int nIDj = pParentKF->mnId; + + g2o::Sim3 Sjw; + + LoopClosing::KeyFrameAndPose::const_iterator itj = NonCorrectedSim3.find(pParentKF); + + if(itj!=NonCorrectedSim3.end()) + Sjw = itj->second; + else + Sjw = vScw[nIDj]; + + g2o::Sim3 Sji = Sjw * Swi; + + g2o::EdgeSim3* e = new g2o::EdgeSim3(); + e->setVertex(1, dynamic_cast(optimizer.vertex(nIDj))); + e->setVertex(0, dynamic_cast(optimizer.vertex(nIDi))); + e->setMeasurement(Sji); + + e->information() = matLambda; + optimizer.addEdge(e); + } + + // Loop edges + const set sLoopEdges = pKF->GetLoopEdges(); + for(set::const_iterator sit=sLoopEdges.begin(), send=sLoopEdges.end(); sit!=send; sit++) + { + KeyFrame* pLKF = *sit; + if(pLKF->mnIdmnId) + { + g2o::Sim3 Slw; + + LoopClosing::KeyFrameAndPose::const_iterator itl = NonCorrectedSim3.find(pLKF); + + if(itl!=NonCorrectedSim3.end()) + Slw = itl->second; + else + Slw = vScw[pLKF->mnId]; + + g2o::Sim3 Sli = Slw * Swi; + g2o::EdgeSim3* el = new g2o::EdgeSim3(); + el->setVertex(1, dynamic_cast(optimizer.vertex(pLKF->mnId))); + el->setVertex(0, dynamic_cast(optimizer.vertex(nIDi))); + el->setMeasurement(Sli); + el->information() = matLambda; + optimizer.addEdge(el); + } + } + + // Covisibility graph edges + const vector vpConnectedKFs = pKF->GetCovisiblesByWeight(minFeat); + for(vector::const_iterator vit=vpConnectedKFs.begin(); vit!=vpConnectedKFs.end(); vit++) + { + KeyFrame* pKFn = *vit; + if(pKFn && pKFn!=pParentKF && !pKF->hasChild(pKFn) && !sLoopEdges.count(pKFn)) + { + if(!pKFn->isBad() && pKFn->mnIdmnId) + { + if(sInsertedEdges.count(make_pair(min(pKF->mnId,pKFn->mnId),max(pKF->mnId,pKFn->mnId)))) + continue; + + g2o::Sim3 Snw; + + LoopClosing::KeyFrameAndPose::const_iterator itn = NonCorrectedSim3.find(pKFn); + + if(itn!=NonCorrectedSim3.end()) + Snw = itn->second; + else + Snw = vScw[pKFn->mnId]; + + g2o::Sim3 Sni = Snw * Swi; + + g2o::EdgeSim3* en = new g2o::EdgeSim3(); + en->setVertex(1, dynamic_cast(optimizer.vertex(pKFn->mnId))); + en->setVertex(0, dynamic_cast(optimizer.vertex(nIDi))); + en->setMeasurement(Sni); + en->information() = matLambda; + optimizer.addEdge(en); + } + } + } + } + + // Optimize! + optimizer.initializeOptimization(); + optimizer.optimize(20); + + unique_lock lock(pMap->mMutexMapUpdate); + + // SE3 Pose Recovering. Sim3:[sR t;0 1] -> SE3:[R t/s;0 1] + for(size_t i=0;imnId; + + g2o::VertexSim3Expmap* VSim3 = static_cast(optimizer.vertex(nIDi)); + g2o::Sim3 CorrectedSiw = VSim3->estimate(); + vCorrectedSwc[nIDi]=CorrectedSiw.inverse(); + Eigen::Matrix3d eigR = CorrectedSiw.rotation().toRotationMatrix(); + Eigen::Vector3d eigt = CorrectedSiw.translation(); + double s = CorrectedSiw.scale(); + + eigt *=(1./s); //[R t/s;0 1] + + cv::Mat Tiw = Converter::toCvSE3(eigR,eigt); + + pKFi->SetPose(Tiw); + } + + // Correct points. Transform to "non-optimized" reference keyframe pose and transform back with optimized pose + for(size_t i=0, iend=vpMPs.size(); iisBad()) + continue; + + int nIDr; + if(pMP->mnCorrectedByKF==pCurKF->mnId) + { + nIDr = pMP->mnCorrectedReference; + } + else + { + KeyFrame* pRefKF = pMP->GetReferenceKeyFrame(); + nIDr = pRefKF->mnId; + } + + + g2o::Sim3 Srw = vScw[nIDr]; + g2o::Sim3 correctedSwr = vCorrectedSwc[nIDr]; + + cv::Mat P3Dw = pMP->GetWorldPos(); + Eigen::Matrix eigP3Dw = Converter::toVector3d(P3Dw); + Eigen::Matrix eigCorrectedP3Dw = correctedSwr.map(Srw.map(eigP3Dw)); + + cv::Mat cvCorrectedP3Dw = Converter::toCvMat(eigCorrectedP3Dw); + pMP->SetWorldPos(cvCorrectedP3Dw); + + pMP->UpdateNormalAndDepth(); + } +} + +int Optimizer::OptimizeSim3(KeyFrame *pKF1, KeyFrame *pKF2, vector &vpMatches1, g2o::Sim3 &g2oS12, const float th2, const bool bFixScale) +{ + g2o::SparseOptimizer optimizer; + g2o::BlockSolverX::LinearSolverType * linearSolver; + + linearSolver = new g2o::LinearSolverDense(); + + g2o::BlockSolverX * solver_ptr = new g2o::BlockSolverX(linearSolver); + + g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr); + optimizer.setAlgorithm(solver); + + // Calibration + const cv::Mat &K1 = pKF1->mK; + const cv::Mat &K2 = pKF2->mK; + + // Camera poses + const cv::Mat R1w = pKF1->GetRotation(); + const cv::Mat t1w = pKF1->GetTranslation(); + const cv::Mat R2w = pKF2->GetRotation(); + const cv::Mat t2w = pKF2->GetTranslation(); + + // Set Sim3 vertex + g2o::VertexSim3Expmap * vSim3 = new g2o::VertexSim3Expmap(); + vSim3->_fix_scale=bFixScale; + vSim3->setEstimate(g2oS12); + vSim3->setId(0); + vSim3->setFixed(false); + vSim3->_principle_point1[0] = K1.at(0,2); + vSim3->_principle_point1[1] = K1.at(1,2); + vSim3->_focal_length1[0] = K1.at(0,0); + vSim3->_focal_length1[1] = K1.at(1,1); + vSim3->_principle_point2[0] = K2.at(0,2); + vSim3->_principle_point2[1] = K2.at(1,2); + vSim3->_focal_length2[0] = K2.at(0,0); + vSim3->_focal_length2[1] = K2.at(1,1); + optimizer.addVertex(vSim3); + + // Set MapPoint vertices + const int N = vpMatches1.size(); + const vector vpMapPoints1 = pKF1->GetMapPointMatches(); + vector vpEdges12; + vector vpEdges21; + vector vnIndexEdge; + + vnIndexEdge.reserve(2*N); + vpEdges12.reserve(2*N); + vpEdges21.reserve(2*N); + + const float deltaHuber = sqrt(th2); + + int nCorrespondences = 0; + + for(int i=0; iGetIndexInKeyFrame(pKF2); + + if(pMP1 && pMP2) + { + if(!pMP1->isBad() && !pMP2->isBad() && i2>=0) + { + g2o::VertexSBAPointXYZ* vPoint1 = new g2o::VertexSBAPointXYZ(); + cv::Mat P3D1w = pMP1->GetWorldPos(); + cv::Mat P3D1c = R1w*P3D1w + t1w; + vPoint1->setEstimate(Converter::toVector3d(P3D1c)); + vPoint1->setId(id1); + vPoint1->setFixed(true); + optimizer.addVertex(vPoint1); + + g2o::VertexSBAPointXYZ* vPoint2 = new g2o::VertexSBAPointXYZ(); + cv::Mat P3D2w = pMP2->GetWorldPos(); + cv::Mat P3D2c = R2w*P3D2w + t2w; + vPoint2->setEstimate(Converter::toVector3d(P3D2c)); + vPoint2->setId(id2); + vPoint2->setFixed(true); + optimizer.addVertex(vPoint2); + } + else + continue; + } + else + continue; + + nCorrespondences++; + + // Set edge x1 = S12*X2 + Eigen::Matrix obs1; + const cv::KeyPoint &kpUn1 = pKF1->mvKeysUn[i]; + obs1 << kpUn1.pt.x, kpUn1.pt.y; + + g2o::EdgeSim3ProjectXYZ* e12 = new g2o::EdgeSim3ProjectXYZ(); + e12->setVertex(0, dynamic_cast(optimizer.vertex(id2))); + e12->setVertex(1, dynamic_cast(optimizer.vertex(0))); + e12->setMeasurement(obs1); + const float &invSigmaSquare1 = pKF1->mvInvLevelSigma2[kpUn1.octave]; + e12->setInformation(Eigen::Matrix2d::Identity()*invSigmaSquare1); + + g2o::RobustKernelHuber* rk1 = new g2o::RobustKernelHuber; + e12->setRobustKernel(rk1); + rk1->setDelta(deltaHuber); + optimizer.addEdge(e12); + + // Set edge x2 = S21*X1 + Eigen::Matrix obs2; + const cv::KeyPoint &kpUn2 = pKF2->mvKeysUn[i2]; + obs2 << kpUn2.pt.x, kpUn2.pt.y; + + g2o::EdgeInverseSim3ProjectXYZ* e21 = new g2o::EdgeInverseSim3ProjectXYZ(); + + e21->setVertex(0, dynamic_cast(optimizer.vertex(id1))); + e21->setVertex(1, dynamic_cast(optimizer.vertex(0))); + e21->setMeasurement(obs2); + float invSigmaSquare2 = pKF2->mvInvLevelSigma2[kpUn2.octave]; + e21->setInformation(Eigen::Matrix2d::Identity()*invSigmaSquare2); + + g2o::RobustKernelHuber* rk2 = new g2o::RobustKernelHuber; + e21->setRobustKernel(rk2); + rk2->setDelta(deltaHuber); + optimizer.addEdge(e21); + + vpEdges12.push_back(e12); + vpEdges21.push_back(e21); + vnIndexEdge.push_back(i); + } + + // Optimize! + optimizer.initializeOptimization(); + optimizer.optimize(5); + + // Check inliers + int nBad=0; + for(size_t i=0; ichi2()>th2 || e21->chi2()>th2) + { + size_t idx = vnIndexEdge[i]; + vpMatches1[idx]=static_cast(NULL); + optimizer.removeEdge(e12); + optimizer.removeEdge(e21); + vpEdges12[i]=static_cast(NULL); + vpEdges21[i]=static_cast(NULL); + nBad++; + } + } + + int nMoreIterations; + if(nBad>0) + nMoreIterations=10; + else + nMoreIterations=5; + + if(nCorrespondences-nBad<10) + return 0; + + // Optimize again only with inliers + + optimizer.initializeOptimization(); + optimizer.optimize(nMoreIterations); + + int nIn = 0; + for(size_t i=0; ichi2()>th2 || e21->chi2()>th2) + { + size_t idx = vnIndexEdge[i]; + vpMatches1[idx]=static_cast(NULL); + } + else + nIn++; + } + + // Recover optimized Sim3 + g2o::VertexSim3Expmap* vSim3_recov = static_cast(optimizer.vertex(0)); + g2oS12= vSim3_recov->estimate(); + + return nIn; +} + + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/PnPsolver.cc b/MyCode/src/my-slam/src/PnPsolver.cc new file mode 100644 index 0000000..af3511b --- /dev/null +++ b/MyCode/src/my-slam/src/PnPsolver.cc @@ -0,0 +1,1022 @@ +/** +* This file is part of ORB-SLAM2. +* This file is a modified version of EPnP , see FreeBSD license below. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +/** +* Copyright (c) 2009, V. Lepetit, EPFL +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* 2. 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. +* +* 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. +* +* The views and conclusions contained in the software and documentation are those +* of the authors and should not be interpreted as representing official policies, +* either expressed or implied, of the FreeBSD Project +*/ + +#include + +#include "PnPsolver.h" + +#include +#include +#include +#include "Thirdparty/DBoW2/DUtils/Random.h" +#include + +using namespace std; + +namespace ORB_SLAM2 +{ + + +PnPsolver::PnPsolver(const Frame &F, const vector &vpMapPointMatches): + pws(0), us(0), alphas(0), pcs(0), maximum_number_of_correspondences(0), number_of_correspondences(0), mnInliersi(0), + mnIterations(0), mnBestInliers(0), N(0) +{ + mvpMapPointMatches = vpMapPointMatches; + mvP2D.reserve(F.mvpMapPoints.size()); + mvSigma2.reserve(F.mvpMapPoints.size()); + mvP3Dw.reserve(F.mvpMapPoints.size()); + mvKeyPointIndices.reserve(F.mvpMapPoints.size()); + mvAllIndices.reserve(F.mvpMapPoints.size()); + + int idx=0; + for(size_t i=0, iend=vpMapPointMatches.size(); iisBad()) + { + const cv::KeyPoint &kp = F.mvKeysUn[i]; + + mvP2D.push_back(kp.pt); + mvSigma2.push_back(F.mvLevelSigma2[kp.octave]); + + cv::Mat Pos = pMP->GetWorldPos(); + mvP3Dw.push_back(cv::Point3f(Pos.at(0),Pos.at(1), Pos.at(2))); + + mvKeyPointIndices.push_back(i); + mvAllIndices.push_back(idx); + + idx++; + } + } + } + + // Set camera calibration parameters + fu = F.fx; + fv = F.fy; + uc = F.cx; + vc = F.cy; + + SetRansacParameters(); +} + +PnPsolver::~PnPsolver() +{ + delete [] pws; + delete [] us; + delete [] alphas; + delete [] pcs; +} + + +void PnPsolver::SetRansacParameters(double probability, int minInliers, int maxIterations, int minSet, float epsilon, float th2) +{ + mRansacProb = probability; + mRansacMinInliers = minInliers; + mRansacMaxIts = maxIterations; + mRansacEpsilon = epsilon; + mRansacMinSet = minSet; + + N = mvP2D.size(); // number of correspondences + + mvbInliersi.resize(N); + + // Adjust Parameters according to number of correspondences + int nMinInliers = N*mRansacEpsilon; + if(nMinInliers &vbInliers, int &nInliers) +{ + bool bFlag; + return iterate(mRansacMaxIts,bFlag,vbInliers,nInliers); +} + +cv::Mat PnPsolver::iterate(int nIterations, bool &bNoMore, vector &vbInliers, int &nInliers) +{ + bNoMore = false; + vbInliers.clear(); + nInliers=0; + + set_maximum_number_of_correspondences(mRansacMinSet); + + if(N vAvailableIndices; + + int nCurrentIterations = 0; + while(mnIterations=mRansacMinInliers) + { + // If it is the best solution so far, save it + if(mnInliersi>mnBestInliers) + { + mvbBestInliers = mvbInliersi; + mnBestInliers = mnInliersi; + + cv::Mat Rcw(3,3,CV_64F,mRi); + cv::Mat tcw(3,1,CV_64F,mti); + Rcw.convertTo(Rcw,CV_32F); + tcw.convertTo(tcw,CV_32F); + mBestTcw = cv::Mat::eye(4,4,CV_32F); + Rcw.copyTo(mBestTcw.rowRange(0,3).colRange(0,3)); + tcw.copyTo(mBestTcw.rowRange(0,3).col(3)); + } + + if(Refine()) + { + nInliers = mnRefinedInliers; + vbInliers = vector(mvpMapPointMatches.size(),false); + for(int i=0; i=mRansacMaxIts) + { + bNoMore=true; + if(mnBestInliers>=mRansacMinInliers) + { + nInliers=mnBestInliers; + vbInliers = vector(mvpMapPointMatches.size(),false); + for(int i=0; i vIndices; + vIndices.reserve(mvbBestInliers.size()); + + for(size_t i=0; imRansacMinInliers) + { + cv::Mat Rcw(3,3,CV_64F,mRi); + cv::Mat tcw(3,1,CV_64F,mti); + Rcw.convertTo(Rcw,CV_32F); + tcw.convertTo(tcw,CV_32F); + mRefinedTcw = cv::Mat::eye(4,4,CV_32F); + Rcw.copyTo(mRefinedTcw.rowRange(0,3).colRange(0,3)); + tcw.copyTo(mRefinedTcw.rowRange(0,3).col(3)); + return true; + } + + return false; +} + + +void PnPsolver::CheckInliers() +{ + mnInliersi=0; + + for(int i=0; idata.db[3 * i + j] = pws[3 * i + j] - cws[0][j]; + + cvMulTransposed(PW0, &PW0tPW0, 1); + cvSVD(&PW0tPW0, &DC, &UCt, 0, CV_SVD_MODIFY_A | CV_SVD_U_T); + + cvReleaseMat(&PW0); + + for(int i = 1; i < 4; i++) { + double k = sqrt(dc[i - 1] / number_of_correspondences); + for(int j = 0; j < 3; j++) + cws[i][j] = cws[0][j] + k * uct[3 * (i - 1) + j]; + } +} + +void PnPsolver::compute_barycentric_coordinates(void) +{ + double cc[3 * 3], cc_inv[3 * 3]; + CvMat CC = cvMat(3, 3, CV_64F, cc); + CvMat CC_inv = cvMat(3, 3, CV_64F, cc_inv); + + for(int i = 0; i < 3; i++) + for(int j = 1; j < 4; j++) + cc[3 * i + j - 1] = cws[j][i] - cws[0][i]; + + cvInvert(&CC, &CC_inv, CV_SVD); + double * ci = cc_inv; + for(int i = 0; i < number_of_correspondences; i++) { + double * pi = pws + 3 * i; + double * a = alphas + 4 * i; + + for(int j = 0; j < 3; j++) + a[1 + j] = + ci[3 * j ] * (pi[0] - cws[0][0]) + + ci[3 * j + 1] * (pi[1] - cws[0][1]) + + ci[3 * j + 2] * (pi[2] - cws[0][2]); + a[0] = 1.0f - a[1] - a[2] - a[3]; + } +} + +void PnPsolver::fill_M(CvMat * M, + const int row, const double * as, const double u, const double v) +{ + double * M1 = M->data.db + row * 12; + double * M2 = M1 + 12; + + for(int i = 0; i < 4; i++) { + M1[3 * i ] = as[i] * fu; + M1[3 * i + 1] = 0.0; + M1[3 * i + 2] = as[i] * (uc - u); + + M2[3 * i ] = 0.0; + M2[3 * i + 1] = as[i] * fv; + M2[3 * i + 2] = as[i] * (vc - v); + } +} + +void PnPsolver::compute_ccs(const double * betas, const double * ut) +{ + for(int i = 0; i < 4; i++) + ccs[i][0] = ccs[i][1] = ccs[i][2] = 0.0f; + + for(int i = 0; i < 4; i++) { + const double * v = ut + 12 * (11 - i); + for(int j = 0; j < 4; j++) + for(int k = 0; k < 3; k++) + ccs[j][k] += betas[i] * v[3 * j + k]; + } +} + +void PnPsolver::compute_pcs(void) +{ + for(int i = 0; i < number_of_correspondences; i++) { + double * a = alphas + 4 * i; + double * pc = pcs + 3 * i; + + for(int j = 0; j < 3; j++) + pc[j] = a[0] * ccs[0][j] + a[1] * ccs[1][j] + a[2] * ccs[2][j] + a[3] * ccs[3][j]; + } +} + +double PnPsolver::compute_pose(double R[3][3], double t[3]) +{ + choose_control_points(); + compute_barycentric_coordinates(); + + CvMat * M = cvCreateMat(2 * number_of_correspondences, 12, CV_64F); + + for(int i = 0; i < number_of_correspondences; i++) + fill_M(M, 2 * i, alphas + 4 * i, us[2 * i], us[2 * i + 1]); + + double mtm[12 * 12], d[12], ut[12 * 12]; + CvMat MtM = cvMat(12, 12, CV_64F, mtm); + CvMat D = cvMat(12, 1, CV_64F, d); + CvMat Ut = cvMat(12, 12, CV_64F, ut); + + cvMulTransposed(M, &MtM, 1); + cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T); + cvReleaseMat(&M); + + double l_6x10[6 * 10], rho[6]; + CvMat L_6x10 = cvMat(6, 10, CV_64F, l_6x10); + CvMat Rho = cvMat(6, 1, CV_64F, rho); + + compute_L_6x10(ut, l_6x10); + compute_rho(rho); + + double Betas[4][4], rep_errors[4]; + double Rs[4][3][3], ts[4][3]; + + find_betas_approx_1(&L_6x10, &Rho, Betas[1]); + gauss_newton(&L_6x10, &Rho, Betas[1]); + rep_errors[1] = compute_R_and_t(ut, Betas[1], Rs[1], ts[1]); + + find_betas_approx_2(&L_6x10, &Rho, Betas[2]); + gauss_newton(&L_6x10, &Rho, Betas[2]); + rep_errors[2] = compute_R_and_t(ut, Betas[2], Rs[2], ts[2]); + + find_betas_approx_3(&L_6x10, &Rho, Betas[3]); + gauss_newton(&L_6x10, &Rho, Betas[3]); + rep_errors[3] = compute_R_and_t(ut, Betas[3], Rs[3], ts[3]); + + int N = 1; + if (rep_errors[2] < rep_errors[1]) N = 2; + if (rep_errors[3] < rep_errors[N]) N = 3; + + copy_R_and_t(Rs[N], ts[N], R, t); + + return rep_errors[N]; +} + +void PnPsolver::copy_R_and_t(const double R_src[3][3], const double t_src[3], + double R_dst[3][3], double t_dst[3]) +{ + for(int i = 0; i < 3; i++) { + for(int j = 0; j < 3; j++) + R_dst[i][j] = R_src[i][j]; + t_dst[i] = t_src[i]; + } +} + +double PnPsolver::dist2(const double * p1, const double * p2) +{ + return + (p1[0] - p2[0]) * (p1[0] - p2[0]) + + (p1[1] - p2[1]) * (p1[1] - p2[1]) + + (p1[2] - p2[2]) * (p1[2] - p2[2]); +} + +double PnPsolver::dot(const double * v1, const double * v2) +{ + return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2]; +} + +double PnPsolver::reprojection_error(const double R[3][3], const double t[3]) +{ + double sum2 = 0.0; + + for(int i = 0; i < number_of_correspondences; i++) { + double * pw = pws + 3 * i; + double Xc = dot(R[0], pw) + t[0]; + double Yc = dot(R[1], pw) + t[1]; + double inv_Zc = 1.0 / (dot(R[2], pw) + t[2]); + double ue = uc + fu * Xc * inv_Zc; + double ve = vc + fv * Yc * inv_Zc; + double u = us[2 * i], v = us[2 * i + 1]; + + sum2 += sqrt( (u - ue) * (u - ue) + (v - ve) * (v - ve) ); + } + + return sum2 / number_of_correspondences; +} + +void PnPsolver::estimate_R_and_t(double R[3][3], double t[3]) +{ + double pc0[3], pw0[3]; + + pc0[0] = pc0[1] = pc0[2] = 0.0; + pw0[0] = pw0[1] = pw0[2] = 0.0; + + for(int i = 0; i < number_of_correspondences; i++) { + const double * pc = pcs + 3 * i; + const double * pw = pws + 3 * i; + + for(int j = 0; j < 3; j++) { + pc0[j] += pc[j]; + pw0[j] += pw[j]; + } + } + for(int j = 0; j < 3; j++) { + pc0[j] /= number_of_correspondences; + pw0[j] /= number_of_correspondences; + } + + double abt[3 * 3], abt_d[3], abt_u[3 * 3], abt_v[3 * 3]; + CvMat ABt = cvMat(3, 3, CV_64F, abt); + CvMat ABt_D = cvMat(3, 1, CV_64F, abt_d); + CvMat ABt_U = cvMat(3, 3, CV_64F, abt_u); + CvMat ABt_V = cvMat(3, 3, CV_64F, abt_v); + + cvSetZero(&ABt); + for(int i = 0; i < number_of_correspondences; i++) { + double * pc = pcs + 3 * i; + double * pw = pws + 3 * i; + + for(int j = 0; j < 3; j++) { + abt[3 * j ] += (pc[j] - pc0[j]) * (pw[0] - pw0[0]); + abt[3 * j + 1] += (pc[j] - pc0[j]) * (pw[1] - pw0[1]); + abt[3 * j + 2] += (pc[j] - pc0[j]) * (pw[2] - pw0[2]); + } + } + + cvSVD(&ABt, &ABt_D, &ABt_U, &ABt_V, CV_SVD_MODIFY_A); + + for(int i = 0; i < 3; i++) + for(int j = 0; j < 3; j++) + R[i][j] = dot(abt_u + 3 * i, abt_v + 3 * j); + + const double det = + R[0][0] * R[1][1] * R[2][2] + R[0][1] * R[1][2] * R[2][0] + R[0][2] * R[1][0] * R[2][1] - + R[0][2] * R[1][1] * R[2][0] - R[0][1] * R[1][0] * R[2][2] - R[0][0] * R[1][2] * R[2][1]; + + if (det < 0) { + R[2][0] = -R[2][0]; + R[2][1] = -R[2][1]; + R[2][2] = -R[2][2]; + } + + t[0] = pc0[0] - dot(R[0], pw0); + t[1] = pc0[1] - dot(R[1], pw0); + t[2] = pc0[2] - dot(R[2], pw0); +} + +void PnPsolver::print_pose(const double R[3][3], const double t[3]) +{ + cout << R[0][0] << " " << R[0][1] << " " << R[0][2] << " " << t[0] << endl; + cout << R[1][0] << " " << R[1][1] << " " << R[1][2] << " " << t[1] << endl; + cout << R[2][0] << " " << R[2][1] << " " << R[2][2] << " " << t[2] << endl; +} + +void PnPsolver::solve_for_sign(void) +{ + if (pcs[2] < 0.0) { + for(int i = 0; i < 4; i++) + for(int j = 0; j < 3; j++) + ccs[i][j] = -ccs[i][j]; + + for(int i = 0; i < number_of_correspondences; i++) { + pcs[3 * i ] = -pcs[3 * i]; + pcs[3 * i + 1] = -pcs[3 * i + 1]; + pcs[3 * i + 2] = -pcs[3 * i + 2]; + } + } +} + +double PnPsolver::compute_R_and_t(const double * ut, const double * betas, + double R[3][3], double t[3]) +{ + compute_ccs(betas, ut); + compute_pcs(); + + solve_for_sign(); + + estimate_R_and_t(R, t); + + return reprojection_error(R, t); +} + +// betas10 = [B11 B12 B22 B13 B23 B33 B14 B24 B34 B44] +// betas_approx_1 = [B11 B12 B13 B14] + +void PnPsolver::find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho, + double * betas) +{ + double l_6x4[6 * 4], b4[4]; + CvMat L_6x4 = cvMat(6, 4, CV_64F, l_6x4); + CvMat B4 = cvMat(4, 1, CV_64F, b4); + + for(int i = 0; i < 6; i++) { + cvmSet(&L_6x4, i, 0, cvmGet(L_6x10, i, 0)); + cvmSet(&L_6x4, i, 1, cvmGet(L_6x10, i, 1)); + cvmSet(&L_6x4, i, 2, cvmGet(L_6x10, i, 3)); + cvmSet(&L_6x4, i, 3, cvmGet(L_6x10, i, 6)); + } + + cvSolve(&L_6x4, Rho, &B4, CV_SVD); + + if (b4[0] < 0) { + betas[0] = sqrt(-b4[0]); + betas[1] = -b4[1] / betas[0]; + betas[2] = -b4[2] / betas[0]; + betas[3] = -b4[3] / betas[0]; + } else { + betas[0] = sqrt(b4[0]); + betas[1] = b4[1] / betas[0]; + betas[2] = b4[2] / betas[0]; + betas[3] = b4[3] / betas[0]; + } +} + +// betas10 = [B11 B12 B22 B13 B23 B33 B14 B24 B34 B44] +// betas_approx_2 = [B11 B12 B22 ] + +void PnPsolver::find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho, + double * betas) +{ + double l_6x3[6 * 3], b3[3]; + CvMat L_6x3 = cvMat(6, 3, CV_64F, l_6x3); + CvMat B3 = cvMat(3, 1, CV_64F, b3); + + for(int i = 0; i < 6; i++) { + cvmSet(&L_6x3, i, 0, cvmGet(L_6x10, i, 0)); + cvmSet(&L_6x3, i, 1, cvmGet(L_6x10, i, 1)); + cvmSet(&L_6x3, i, 2, cvmGet(L_6x10, i, 2)); + } + + cvSolve(&L_6x3, Rho, &B3, CV_SVD); + + if (b3[0] < 0) { + betas[0] = sqrt(-b3[0]); + betas[1] = (b3[2] < 0) ? sqrt(-b3[2]) : 0.0; + } else { + betas[0] = sqrt(b3[0]); + betas[1] = (b3[2] > 0) ? sqrt(b3[2]) : 0.0; + } + + if (b3[1] < 0) betas[0] = -betas[0]; + + betas[2] = 0.0; + betas[3] = 0.0; +} + +// betas10 = [B11 B12 B22 B13 B23 B33 B14 B24 B34 B44] +// betas_approx_3 = [B11 B12 B22 B13 B23 ] + +void PnPsolver::find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho, + double * betas) +{ + double l_6x5[6 * 5], b5[5]; + CvMat L_6x5 = cvMat(6, 5, CV_64F, l_6x5); + CvMat B5 = cvMat(5, 1, CV_64F, b5); + + for(int i = 0; i < 6; i++) { + cvmSet(&L_6x5, i, 0, cvmGet(L_6x10, i, 0)); + cvmSet(&L_6x5, i, 1, cvmGet(L_6x10, i, 1)); + cvmSet(&L_6x5, i, 2, cvmGet(L_6x10, i, 2)); + cvmSet(&L_6x5, i, 3, cvmGet(L_6x10, i, 3)); + cvmSet(&L_6x5, i, 4, cvmGet(L_6x10, i, 4)); + } + + cvSolve(&L_6x5, Rho, &B5, CV_SVD); + + if (b5[0] < 0) { + betas[0] = sqrt(-b5[0]); + betas[1] = (b5[2] < 0) ? sqrt(-b5[2]) : 0.0; + } else { + betas[0] = sqrt(b5[0]); + betas[1] = (b5[2] > 0) ? sqrt(b5[2]) : 0.0; + } + if (b5[1] < 0) betas[0] = -betas[0]; + betas[2] = b5[3] / betas[0]; + betas[3] = 0.0; +} + +void PnPsolver::compute_L_6x10(const double * ut, double * l_6x10) +{ + const double * v[4]; + + v[0] = ut + 12 * 11; + v[1] = ut + 12 * 10; + v[2] = ut + 12 * 9; + v[3] = ut + 12 * 8; + + double dv[4][6][3]; + + for(int i = 0; i < 4; i++) { + int a = 0, b = 1; + for(int j = 0; j < 6; j++) { + dv[i][j][0] = v[i][3 * a ] - v[i][3 * b]; + dv[i][j][1] = v[i][3 * a + 1] - v[i][3 * b + 1]; + dv[i][j][2] = v[i][3 * a + 2] - v[i][3 * b + 2]; + + b++; + if (b > 3) { + a++; + b = a + 1; + } + } + } + + for(int i = 0; i < 6; i++) { + double * row = l_6x10 + 10 * i; + + row[0] = dot(dv[0][i], dv[0][i]); + row[1] = 2.0f * dot(dv[0][i], dv[1][i]); + row[2] = dot(dv[1][i], dv[1][i]); + row[3] = 2.0f * dot(dv[0][i], dv[2][i]); + row[4] = 2.0f * dot(dv[1][i], dv[2][i]); + row[5] = dot(dv[2][i], dv[2][i]); + row[6] = 2.0f * dot(dv[0][i], dv[3][i]); + row[7] = 2.0f * dot(dv[1][i], dv[3][i]); + row[8] = 2.0f * dot(dv[2][i], dv[3][i]); + row[9] = dot(dv[3][i], dv[3][i]); + } +} + +void PnPsolver::compute_rho(double * rho) +{ + rho[0] = dist2(cws[0], cws[1]); + rho[1] = dist2(cws[0], cws[2]); + rho[2] = dist2(cws[0], cws[3]); + rho[3] = dist2(cws[1], cws[2]); + rho[4] = dist2(cws[1], cws[3]); + rho[5] = dist2(cws[2], cws[3]); +} + +void PnPsolver::compute_A_and_b_gauss_newton(const double * l_6x10, const double * rho, + double betas[4], CvMat * A, CvMat * b) +{ + for(int i = 0; i < 6; i++) { + const double * rowL = l_6x10 + i * 10; + double * rowA = A->data.db + i * 4; + + rowA[0] = 2 * rowL[0] * betas[0] + rowL[1] * betas[1] + rowL[3] * betas[2] + rowL[6] * betas[3]; + rowA[1] = rowL[1] * betas[0] + 2 * rowL[2] * betas[1] + rowL[4] * betas[2] + rowL[7] * betas[3]; + rowA[2] = rowL[3] * betas[0] + rowL[4] * betas[1] + 2 * rowL[5] * betas[2] + rowL[8] * betas[3]; + rowA[3] = rowL[6] * betas[0] + rowL[7] * betas[1] + rowL[8] * betas[2] + 2 * rowL[9] * betas[3]; + + cvmSet(b, i, 0, rho[i] - + ( + rowL[0] * betas[0] * betas[0] + + rowL[1] * betas[0] * betas[1] + + rowL[2] * betas[1] * betas[1] + + rowL[3] * betas[0] * betas[2] + + rowL[4] * betas[1] * betas[2] + + rowL[5] * betas[2] * betas[2] + + rowL[6] * betas[0] * betas[3] + + rowL[7] * betas[1] * betas[3] + + rowL[8] * betas[2] * betas[3] + + rowL[9] * betas[3] * betas[3] + )); + } +} + +void PnPsolver::gauss_newton(const CvMat * L_6x10, const CvMat * Rho, + double betas[4]) +{ + const int iterations_number = 5; + + double a[6*4], b[6], x[4]; + CvMat A = cvMat(6, 4, CV_64F, a); + CvMat B = cvMat(6, 1, CV_64F, b); + CvMat X = cvMat(4, 1, CV_64F, x); + + for(int k = 0; k < iterations_number; k++) { + compute_A_and_b_gauss_newton(L_6x10->data.db, Rho->data.db, + betas, &A, &B); + qr_solve(&A, &B, &X); + + for(int i = 0; i < 4; i++) + betas[i] += x[i]; + } +} + +void PnPsolver::qr_solve(CvMat * A, CvMat * b, CvMat * X) +{ + static int max_nr = 0; + static double * A1, * A2; + + const int nr = A->rows; + const int nc = A->cols; + + if (max_nr != 0 && max_nr < nr) { + delete [] A1; + delete [] A2; + } + if (max_nr < nr) { + max_nr = nr; + A1 = new double[nr]; + A2 = new double[nr]; + } + + double * pA = A->data.db, * ppAkk = pA; + for(int k = 0; k < nc; k++) { + double * ppAik = ppAkk, eta = fabs(*ppAik); + for(int i = k + 1; i < nr; i++) { + double elt = fabs(*ppAik); + if (eta < elt) eta = elt; + ppAik += nc; + } + + if (eta == 0) { + A1[k] = A2[k] = 0.0; + cerr << "God damnit, A is singular, this shouldn't happen." << endl; + return; + } else { + double * ppAik = ppAkk, sum = 0.0, inv_eta = 1. / eta; + for(int i = k; i < nr; i++) { + *ppAik *= inv_eta; + sum += *ppAik * *ppAik; + ppAik += nc; + } + double sigma = sqrt(sum); + if (*ppAkk < 0) + sigma = -sigma; + *ppAkk += sigma; + A1[k] = sigma * *ppAkk; + A2[k] = -eta * sigma; + for(int j = k + 1; j < nc; j++) { + double * ppAik = ppAkk, sum = 0; + for(int i = k; i < nr; i++) { + sum += *ppAik * ppAik[j - k]; + ppAik += nc; + } + double tau = sum / A1[k]; + ppAik = ppAkk; + for(int i = k; i < nr; i++) { + ppAik[j - k] -= tau * *ppAik; + ppAik += nc; + } + } + } + ppAkk += nc + 1; + } + + // b <- Qt b + double * ppAjj = pA, * pb = b->data.db; + for(int j = 0; j < nc; j++) { + double * ppAij = ppAjj, tau = 0; + for(int i = j; i < nr; i++) { + tau += *ppAij * pb[i]; + ppAij += nc; + } + tau /= A1[j]; + ppAij = ppAjj; + for(int i = j; i < nr; i++) { + pb[i] -= tau * *ppAij; + ppAij += nc; + } + ppAjj += nc + 1; + } + + // X = R-1 b + double * pX = X->data.db; + pX[nc - 1] = pb[nc - 1] / A2[nc - 1]; + for(int i = nc - 2; i >= 0; i--) { + double * ppAij = pA + i * nc + (i + 1), sum = 0; + + for(int j = i + 1; j < nc; j++) { + sum += *ppAij * pX[j]; + ppAij++; + } + pX[i] = (pb[i] - sum) / A2[i]; + } +} + + + +void PnPsolver::relative_error(double & rot_err, double & transl_err, + const double Rtrue[3][3], const double ttrue[3], + const double Rest[3][3], const double test[3]) +{ + double qtrue[4], qest[4]; + + mat_to_quat(Rtrue, qtrue); + mat_to_quat(Rest, qest); + + double rot_err1 = sqrt((qtrue[0] - qest[0]) * (qtrue[0] - qest[0]) + + (qtrue[1] - qest[1]) * (qtrue[1] - qest[1]) + + (qtrue[2] - qest[2]) * (qtrue[2] - qest[2]) + + (qtrue[3] - qest[3]) * (qtrue[3] - qest[3]) ) / + sqrt(qtrue[0] * qtrue[0] + qtrue[1] * qtrue[1] + qtrue[2] * qtrue[2] + qtrue[3] * qtrue[3]); + + double rot_err2 = sqrt((qtrue[0] + qest[0]) * (qtrue[0] + qest[0]) + + (qtrue[1] + qest[1]) * (qtrue[1] + qest[1]) + + (qtrue[2] + qest[2]) * (qtrue[2] + qest[2]) + + (qtrue[3] + qest[3]) * (qtrue[3] + qest[3]) ) / + sqrt(qtrue[0] * qtrue[0] + qtrue[1] * qtrue[1] + qtrue[2] * qtrue[2] + qtrue[3] * qtrue[3]); + + rot_err = min(rot_err1, rot_err2); + + transl_err = + sqrt((ttrue[0] - test[0]) * (ttrue[0] - test[0]) + + (ttrue[1] - test[1]) * (ttrue[1] - test[1]) + + (ttrue[2] - test[2]) * (ttrue[2] - test[2])) / + sqrt(ttrue[0] * ttrue[0] + ttrue[1] * ttrue[1] + ttrue[2] * ttrue[2]); +} + +void PnPsolver::mat_to_quat(const double R[3][3], double q[4]) +{ + double tr = R[0][0] + R[1][1] + R[2][2]; + double n4; + + if (tr > 0.0f) { + q[0] = R[1][2] - R[2][1]; + q[1] = R[2][0] - R[0][2]; + q[2] = R[0][1] - R[1][0]; + q[3] = tr + 1.0f; + n4 = q[3]; + } else if ( (R[0][0] > R[1][1]) && (R[0][0] > R[2][2]) ) { + q[0] = 1.0f + R[0][0] - R[1][1] - R[2][2]; + q[1] = R[1][0] + R[0][1]; + q[2] = R[2][0] + R[0][2]; + q[3] = R[1][2] - R[2][1]; + n4 = q[0]; + } else if (R[1][1] > R[2][2]) { + q[0] = R[1][0] + R[0][1]; + q[1] = 1.0f + R[1][1] - R[0][0] - R[2][2]; + q[2] = R[2][1] + R[1][2]; + q[3] = R[2][0] - R[0][2]; + n4 = q[1]; + } else { + q[0] = R[2][0] + R[0][2]; + q[1] = R[2][1] + R[1][2]; + q[2] = 1.0f + R[2][2] - R[0][0] - R[1][1]; + q[3] = R[0][1] - R[1][0]; + n4 = q[2]; + } + double scale = 0.5f / double(sqrt(n4)); + + q[0] *= scale; + q[1] *= scale; + q[2] *= scale; + q[3] *= scale; +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/PointcloudMapping.cc b/MyCode/src/my-slam/src/PointcloudMapping.cc new file mode 100644 index 0000000..b56e227 --- /dev/null +++ b/MyCode/src/my-slam/src/PointcloudMapping.cc @@ -0,0 +1,494 @@ +#include "PointcloudMapping.h" + +#include "ros/ros.h" +#include "sensor_msgs/PointCloud2.h" +#include "Converter.h" +#include + + +PointCloudMapping::PointCloudMapping(int is_global_pc_reconstruction_,int is_octo_semantic_map_construction_, +int is_map_construction_consider_dynamic_, float camera_valid_depth_Min_, +float camera_valid_depth_Max_,int Sor_Local_MeanK_,double Sor_Local_StddevMulThresh_,float Voxel_Local_LeafSize_, +int Sor_Global_MeanK_,double Sor_Global_StddevMulThresh_,float Voxel_Global_LeafSize_,int Detect3D_Sor_MeanK_, +double Detect3D_Sor_StddevMulThresh_,float Detect3D_Voxel_LeafSize_,float Detect3D_EuclideanClusterTolerance_, +int Detect3D_EuclideanClusterMinSize_,int Detect3D_EuclideanClusterMaxSize_,float Detect3D_DetectSimilarCompareRatio_, +int global_pc_update_kf_threshold_): +is_global_pc_reconstruction(is_global_pc_reconstruction_), +is_octo_semantic_map_construction(is_octo_semantic_map_construction_), +is_map_construction_consider_dynamic(is_map_construction_consider_dynamic_), +camera_valid_depth_Min(camera_valid_depth_Min_), +camera_valid_depth_Max(camera_valid_depth_Max_), +global_pc_update_kf_threshold(global_pc_update_kf_threshold_) +{ + semantic_objMap = boost::make_shared< pcl::PointCloud >( ); + localMap = boost::make_shared< pcl::PointCloud >( ); + temp_globalMap = boost::make_shared< pcl::PointCloud >( ); + + if(is_global_pc_reconstruction) + { + globalMap = boost::make_shared< pcl::PointCloud >( ); + voxel_global.setLeafSize(Voxel_Global_LeafSize_,Voxel_Global_LeafSize_,Voxel_Global_LeafSize_); + sor_global.setMeanK(Sor_Global_MeanK_); + sor_global.setStddevMulThresh(Sor_Global_StddevMulThresh_); + } + + if(is_octo_semantic_map_construction) + { + mpDetector3D = new Detector3D(Detect3D_Sor_MeanK_,Detect3D_Sor_StddevMulThresh_,Detect3D_Voxel_LeafSize_, + Detect3D_EuclideanClusterTolerance_,Detect3D_EuclideanClusterMinSize_, + Detect3D_EuclideanClusterMaxSize_,Detect3D_DetectSimilarCompareRatio_); + voxel_local.setLeafSize(Voxel_Local_LeafSize_, Voxel_Local_LeafSize_, Voxel_Local_LeafSize_); + sor_local.setMeanK(Sor_Local_MeanK_); + sor_local.setStddevMulThresh(Sor_Local_StddevMulThresh_); + }else{ + mpDetector3D = nullptr; + } + + viewerThread = boost::make_shared(bind(&PointCloudMapping::MapViewer,this)); +} + +PointCloudMapping::~PointCloudMapping() +{ + delete mpDetector3D; +} + +void PointCloudMapping::insertKeyFrame(KeyFrame* pkf, cv::Mat& color, cv::Mat& depth) +{ + unique_lock lck(keyframeMutex); + mlNewKeyFrames.push_back(pkf); + pkf->ros_time = ros::Time::now(); + color.copyTo(pkf->mImRGB); + depth.copyTo(pkf->mImDep); +} + +bool PointCloudMapping::CheckNewKeyFrames() +{ + unique_lock lock(keyframeMutex); + return(!mlNewKeyFrames.empty()); +} + +//considering dynamic objects version +void PointCloudMapping::generatePointCloudForDyamic(KeyFrame* pkf ,pcl::PointCloud::Ptr camera_pc_ , +pcl::PointCloud::Ptr world_pc_ ,pcl::PointCloud::Ptr semanticobj_pc_) +{ + camera_pc_->resize(pkf->mImDep.rows * pkf->mImDep.cols); + camera_pc_->width = pkf->mImDep.cols; + camera_pc_->height = pkf->mImDep.rows; + camera_pc_->is_dense = false;//false if have points are invalid (e.g., have NaN or Inf values). + + if(pkf->mbHaveDynamicObjectForMapping) + { + semanticobj_pc_->resize(pkf->mImDep.rows * pkf->mImDep.cols); + semanticobj_pc_->width = pkf->mImDep.cols; + semanticobj_pc_->height = pkf->mImDep.rows; + semanticobj_pc_->is_dense = false; + std::cout<<"????"<mImDep.rows; m++) + { + for (int n = 0; n < pkf->mImDep.cols; n++) + { + float d = pkf->mImDep.ptr(m)[n]; + if(d < camera_valid_depth_Min || d > camera_valid_depth_Max || isnan(d)) continue; + //notice: x is col, y is row,so there is (n,m),and not (m,n) + //if this point is in dynamic boundingbox + size_t index = m * pkf->mImDep.cols + n; + if(isInDynamicRegion(n,m,pkf->mvPotentialDynamicBorderForMapping)) + { + semanticobj_pc_->points[index].z = d; + semanticobj_pc_->points[index].x = ( n - pkf->cx) * d / pkf->fx; + semanticobj_pc_->points[index].y = ( m - pkf->cy) * d / pkf->fy; + semanticobj_pc_->points[index].r = pkf->mImRGB.ptr(m)[n*3+2]; + semanticobj_pc_->points[index].g = pkf->mImRGB.ptr(m)[n*3+1]; + semanticobj_pc_->points[index].b = pkf->mImRGB.ptr(m)[n*3+0]; + } + else + { + semanticobj_pc_->points[index].z = d; + semanticobj_pc_->points[index].x = ( n - pkf->cx) * d / pkf->fx; + semanticobj_pc_->points[index].y = ( m - pkf->cy) * d / pkf->fy; + semanticobj_pc_->points[index].r = pkf->mImRGB.ptr(m)[n*3+2]; + semanticobj_pc_->points[index].g = pkf->mImRGB.ptr(m)[n*3+1]; + semanticobj_pc_->points[index].b = pkf->mImRGB.ptr(m)[n*3+0]; + camera_pc_->points[index].z = semanticobj_pc_->points[index].z; + camera_pc_->points[index].x = semanticobj_pc_->points[index].x; + camera_pc_->points[index].y = semanticobj_pc_->points[index].y; + camera_pc_->points[index].r = semanticobj_pc_->points[index].r; + camera_pc_->points[index].g = semanticobj_pc_->points[index].g; + camera_pc_->points[index].b = semanticobj_pc_->points[index].b; + } + } + } + } + else + { + for (int m=0; mmImDep.rows; m++) + { + for (int n=0; nmImDep.cols; n++) + { + float d = pkf->mImDep.ptr(m)[n]; + if(d < camera_valid_depth_Min || d > camera_valid_depth_Max || isnan(d)) continue; + + size_t index = m * pkf->mImDep.cols + n; + camera_pc_->points[index].z = d; + camera_pc_->points[index].x = ( n - pkf->cx) * d / pkf->fx; + camera_pc_->points[index].y = ( m - pkf->cy) * d / pkf->fy; + camera_pc_->points[index].r = pkf->mImRGB.ptr(m)[n*3+2]; + camera_pc_->points[index].g = pkf->mImRGB.ptr(m)[n*3+1]; + camera_pc_->points[index].b = pkf->mImRGB.ptr(m)[n*3+0]; + } + } + } + + //P_{world) = Twc * P_{camera} + Eigen::Isometry3d Twc = ORB_SLAM2::Converter::toSE3Quat( pkf->GetPoseInverse() ); + pcl::transformPointCloud(*camera_pc_, *world_pc_, Twc.matrix()); + + //3D Semantic Object Detect + if(pkf->mvObjects2D.size() > 0 && is_octo_semantic_map_construction && pkf->mbHaveDynamicObjectForMapping) + { + pcl::transformPointCloud(*semanticobj_pc_, *semanticobj_pc_, Twc.matrix()); + // mpDetector3D->Detect(pkf->mvObjects2D,pkf->mImDep,semanticobj_pc_); + //czd + mpDetector3D->Detect(pkf->mvObjects2D,pkf->mImDep,semanticobj_pc_, pkf->mnId); + } + else if(pkf->mvObjects2D.size() > 0 && is_octo_semantic_map_construction && !pkf->mbHaveDynamicObjectForMapping) + //mpDetector3D->Detect(pkf->mvObjects2D,pkf->mImDep,world_pc_); + //czd + mpDetector3D->Detect(pkf->mvObjects2D,pkf->mImDep,world_pc_,pkf->mnId); + + //3D Global point cloud reconstrution + if(is_global_pc_reconstruction) + slam_to_ros_mode_transform(*world_pc_, *world_pc_); +} + + +// Not considering dynamic objects version +void PointCloudMapping::generatePointCloud(KeyFrame* pkf ,pcl::PointCloud::Ptr camera_pc_ , +pcl::PointCloud::Ptr world_pc_) +{ + camera_pc_->resize(pkf->mImDep.rows * pkf->mImDep.cols); + camera_pc_->width = pkf->mImDep.cols; + camera_pc_->height = pkf->mImDep.rows; + camera_pc_->is_dense = false;//false if have points are invalid (e.g., have NaN or Inf values). + + for ( int m=0; mmImDep.rows; m+=1) + { + for ( int n=0; nmImDep.cols; n+=1) + { + float d = pkf->mImDep.ptr(m)[n]; + if(d < camera_valid_depth_Min || d > camera_valid_depth_Max || isnan(d)) continue; + + size_t index = m * pkf->mImDep.cols + n; + camera_pc_->points[index].z = d; + camera_pc_->points[index].x = ( n - pkf->cx) * d / pkf->fx; + camera_pc_->points[index].y = ( m - pkf->cy) * d / pkf->fy; + camera_pc_->points[index].r = pkf->mImRGB.ptr(m)[n*3+2]; + camera_pc_->points[index].g = pkf->mImRGB.ptr(m)[n*3+1]; + camera_pc_->points[index].b = pkf->mImRGB.ptr(m)[n*3+0]; + } + } + //P_{world) = Twc * P_{camera} + Eigen::Isometry3d Twc = ORB_SLAM2::Converter::toSE3Quat( pkf->GetPoseInverse() ); + pcl::transformPointCloud(*camera_pc_, *world_pc_, Twc.matrix()); + + //3D Semantic Object Detect + if(pkf->mvObjects2D.size() > 0 && is_octo_semantic_map_construction) + //czd + // mpDetector3D->Detect(pkf->mvObjects2D,pkf->mImDep,world_pc_); + mpDetector3D->Detect(pkf->mvObjects2D,pkf->mImDep,world_pc_, pkf->mnId); + + if(is_global_pc_reconstruction) + slam_to_ros_mode_transform(*world_pc_, *world_pc_); + +} + + +void PointCloudMapping::MapViewer() +{ + std::cout<<"Start PointCloudMapping Viewer..."<< std::endl; + ros::NodeHandle nh; + cv::Mat Keyframe_Pose; + + + // semantic_pcl_publisher = nh.advertise("/SG_SLAM/Semantic_Point_Clouds",10); + if(is_octo_semantic_map_construction) + { + local_pcl_publisher = nh.advertise("/SG_SLAM/Local_Point_Clouds",10); + marker_publisher= nh.advertise("/SG_SLAM/Semantic_Objects",10); + settingTextMarkerBasicParameter(0.2); + settingCubeMarkerBasicParameter(); + } + if(is_global_pc_reconstruction) + global_pcl_publisher = nh.advertise("/SG_SLAM/Global_Point_Clouds",10); + + ros::Rate r(50); + while(1) + { + // cout << "start" << endl; + { + unique_lock lck_shutdown( shutDownMutex ); + if (shutDownFlag && !CheckNewKeyFrames()) + { + break; + } + } + + // cout << "start1" << endl; + // cout << "kf size: "<< mlNewKeyFrames.size() << endl; + if(CheckNewKeyFrames()) + { + // cout << "END" << endl; + { + unique_lock lock(keyframeMutex); + mpCurrentkeyFrame = mlNewKeyFrames.front(); + mlNewKeyFrames.pop_front(); + } + + localMap->clear(); + temp_globalMap->clear(); + // cout << "END1" << endl; + if(is_map_construction_consider_dynamic) + { + semantic_objMap->clear(); + generatePointCloudForDyamic(mpCurrentkeyFrame,localMap,temp_globalMap,semantic_objMap); + } + else + generatePointCloud(mpCurrentkeyFrame,localMap,temp_globalMap); + // cout << "end cloud" << endl; + Keyframe_Pose = mpCurrentkeyFrame->GetPose(); + } + else + { + usleep(10); + continue; + } + // cout << "start2" << endl; + + if(localMap->empty()) + cout << "empty" <empty()) + { + //compute Transform "camera_to_map (ros mode)" for octomap_server + cv::Mat Rwc(3,3,CV_32F); + cv::Mat twc(3,1,CV_32F); + Eigen::Matrix RotationMat; + Rwc = Keyframe_Pose.rowRange(0,3).colRange(0,3).t(); + twc = -Rwc * Keyframe_Pose.rowRange(0,3).col(3); + RotationMat << Rwc.at(0,0), Rwc.at(0,1), Rwc.at(0,2), + Rwc.at(1,0), Rwc.at(1,1), Rwc.at(1,2), + Rwc.at(2,0), Rwc.at(2,1), Rwc.at(2,2); + Eigen::Quaterniond Q(RotationMat); + camera_to_map_tf.setOrigin(tf::Vector3(twc.at(2), -twc.at(0), -twc.at(1))); + camera_to_map_tf.setRotation(tf::Quaternion(Q.z(), -Q.x(), -Q.y(), Q.w())); + + //filter + voxel_local.setInputCloud(localMap); + voxel_local.filter(*localMap); + sor_local.setInputCloud(localMap); + sor_local.filter(*localMap); //slam mode + + // publish localmap to octomap_server + slam_to_ros_mode_transform(*localMap, *localMap);// slam mode trans to ros mode + pcl::toROSMsg(*localMap, localMap_pcl_to_publish); + localMap_pcl_to_publish.header.frame_id = "/camera_sensor"; //ros mode,camera_sensor frame_id + + if(localMap_pcl_to_publish.data.size()) + { + camera_to_map_tfbroadcaster = new tf::TransformBroadcaster; + localMap_pcl_to_publish.header.stamp = mpCurrentkeyFrame->ros_time; + local_pcl_publisher.publish(localMap_pcl_to_publish); + camera_to_map_tfbroadcaster->sendTransform( + tf::StampedTransform(camera_to_map_tf, mpCurrentkeyFrame->ros_time, "map", "/camera_sensor")); + delete camera_to_map_tfbroadcaster; + } + + //publish semantic object + int obj_counts = mpDetector3D->mpObjectDatabase->getDataBaseSize(); + if(obj_counts == 0) + cout << "obj empty" << endl; + + for(uint16_t id = 0; id < obj_counts; ++id) + { + cube_marker_to_publish.id = id+1; + + //只有不被维护在active的物体才会被发布，并且如果被发布过一次，就不再重新发布 + if(mpDetector3D->mpObjectDatabase->getObjectByID(id).isDeactive && mpDetector3D->mpObjectDatabase->getObjectByID(id).isPublished) + continue; + + std::string name; + + name = mpDetector3D->mpObjectDatabase->getObjectByID(id).object_name; + cout << name << endl; + //cout << mpDetector3D->mpObjectDatabase->getObjectByID(id).class_id << "****"; + + if (name == "chair")settingMarkerColor(Blue); + else if(name == "tvmonitor")settingMarkerColor(Red); + else if(name == "bottle")settingMarkerColor(Green); + else settingMarkerColor(Yellow); + + // Set the pose of the marker. This is a full 6DOF pose relative to the frame/time specified in the header + // x->2,y->-0,z->-1 is slam mode to ros mode + cube_marker_to_publish.pose.position.x = mpDetector3D->mpObjectDatabase->getObjectByID(id).centroid[2]; + cube_marker_to_publish.pose.position.y = -mpDetector3D->mpObjectDatabase->getObjectByID(id).centroid[0]; + cube_marker_to_publish.pose.position.z = -mpDetector3D->mpObjectDatabase->getObjectByID(id).centroid[1]; + //"Uninitialized quaternion, assuming identity" warning in rviz can be eliminated. + cube_marker_to_publish.pose.orientation.w = 1; + + cube_marker_to_publish.scale.x = mpDetector3D->mpObjectDatabase->getObjectByID(id).size[2]; + cube_marker_to_publish.scale.y = -mpDetector3D->mpObjectDatabase->getObjectByID(id).size[0]; + cube_marker_to_publish.scale.z = -mpDetector3D->mpObjectDatabase->getObjectByID(id).size[1]; + + // 0.75 is just a meaningless coefficient in order to reduce the volume value + // cube_marker_to_publish.scale.x = mpDetector3D->mpObjectDatabase->getObjectSize(id)*0.75; + // cube_marker_to_publish.scale.y = mpDetector3D->mpObjectDatabase->getObjectSize(id)*0.75; + // cube_marker_to_publish.scale.z = mpDetector3D->mpObjectDatabase->getObjectSize(id)*0.75; + marker_publisher.publish(cube_marker_to_publish); + + //发布了一次 + mpDetector3D->mpObjectDatabase->getObjectByID(id).isPublished = true; + + + //加上一些文本信息 + text_marker_to_publish.id = id+1; + text_marker_to_publish.text = name + ",id:" + to_string(text_marker_to_publish.id) +":("+ + to_string(mpDetector3D->mpObjectDatabase->getObjectByID(id).centroid[2])+","+ + to_string(-mpDetector3D->mpObjectDatabase->getObjectByID(id).centroid[0])+","+ + to_string(-mpDetector3D->mpObjectDatabase->getObjectByID(id).centroid[1])+")"; + text_marker_to_publish.pose.position.x = mpDetector3D->mpObjectDatabase->getObjectByID(id).centroid[2]; + text_marker_to_publish.pose.position.y = -mpDetector3D->mpObjectDatabase->getObjectByID(id).centroid[0]; + text_marker_to_publish.pose.position.z = -mpDetector3D->mpObjectDatabase->getObjectByID(id).centroid[1]; + marker_publisher.publish(text_marker_to_publish); + } + } + + if(is_global_pc_reconstruction && !temp_globalMap->empty()) + { + static int count = 0; + voxel_global.setInputCloud(temp_globalMap); + voxel_global.filter(*temp_globalMap); + sor_global.setInputCloud(temp_globalMap); + sor_global.filter(*temp_globalMap); //ros mode + *globalMap += *temp_globalMap; + + // + if(!CheckNewKeyFrames() || (count > global_pc_update_kf_threshold)) + { + + voxel_global.setInputCloud(globalMap); + voxel_global.filter(*globalMap); + sor_global.setInputCloud(globalMap); + sor_global.filter(*globalMap); //ros mode + + pcl::toROSMsg(*globalMap, globalMap_pcl_to_publish); + globalMap_pcl_to_publish.header.stamp = ros::Time::now(); + globalMap_pcl_to_publish.header.frame_id = "map";//ros mode,map frame_id + if(globalMap_pcl_to_publish.data.size()) + { + global_pcl_publisher.publish(globalMap_pcl_to_publish); + count = 0; + } + } + count++; + } + } +} + +void PointCloudMapping::slam_to_ros_mode_transform(pcl::PointCloud& source, pcl::PointCloud& out) +{ + Eigen::Matrix4f T_slam_to_ros; + + T_slam_to_ros<< 0,0,1,0, + -1,0,0,0, + 0,-1,0,0, + 0,0,0,0; + + Eigen::Affine3f transform(T_slam_to_ros); + pcl::transformPointCloud(source, out, transform); +} + +void PointCloudMapping::shutdown() +{ + { + unique_lock lck(shutDownMutex); + shutDownFlag = true; + } + viewerThread->join(); +} + +void PointCloudMapping::settingTextMarkerBasicParameter(double scale) +{ + text_marker_to_publish.header.frame_id="map"; + text_marker_to_publish.ns = "sematic_objects_coordinate"; + text_marker_to_publish.type = visualization_msgs::Marker::TEXT_VIEW_FACING; + text_marker_to_publish.action = visualization_msgs::Marker::ADD; + // Set the scale of the marker -- 1x1x1 here means 1m on a side + text_marker_to_publish.scale.x = scale; + text_marker_to_publish.scale.y = scale; + text_marker_to_publish.scale.z = scale; + + text_marker_to_publish.color.r = 0.0f; + text_marker_to_publish.color.g = 0.0f; + text_marker_to_publish.color.b = 0.0f; + text_marker_to_publish.color.a = 1.0; +} + +void PointCloudMapping::settingCubeMarkerBasicParameter() +{ + + cube_marker_to_publish.header.frame_id="map"; + cube_marker_to_publish.ns = "sematic_objects"; + cube_marker_to_publish.type = visualization_msgs::Marker::CUBE; + cube_marker_to_publish.action = visualization_msgs::Marker::ADD; +} + +void PointCloudMapping::settingMarkerColor(Color color) +{ + // Set the color -- be sure to set alpha to something non-zero! + if(color == Red) + { + cube_marker_to_publish.color.r = 1.0f; + cube_marker_to_publish.color.g = 0.0f; + cube_marker_to_publish.color.b = 0.0f; + cube_marker_to_publish.color.a = 0.25; + } else if (color == Blue) + { + cube_marker_to_publish.color.r = 0.0f; + cube_marker_to_publish.color.g = 0.0f; + cube_marker_to_publish.color.b = 1.0f; + cube_marker_to_publish.color.a = 0.25; + } + else if (color == Green) + { + cube_marker_to_publish.color.r = 0.0f; + cube_marker_to_publish.color.g = 1.0f; + cube_marker_to_publish.color.b = 0.0f; + cube_marker_to_publish.color.a = 0.25; + } + else if (color == Yellow) + { + cube_marker_to_publish.color.r = 1.0f; + cube_marker_to_publish.color.g = 1.0f; + cube_marker_to_publish.color.b = 0.0f; + cube_marker_to_publish.color.a = 0.25; + } + else + { + cube_marker_to_publish.color.r = 0.8f; + cube_marker_to_publish.color.g = 0.6f; + cube_marker_to_publish.color.b = 0.3f; + cube_marker_to_publish.color.a = 0.25; + } +} + +// if in DynamicRegion,return true, otherwise return fasle. +bool PointCloudMapping::isInDynamicRegion(int x,int y,std::vector >& vDynamicBorder_) +{ + for(unsigned int i = 0; i < vDynamicBorder_.size(); i++) + { + cv::Rect_ rect2d = vDynamicBorder_[i]; + if(x > int(rect2d.x) && x < int(rect2d.x + rect2d.width) && y > int(rect2d.y) && y < int(rect2d.y + rect2d.height)) + return true; + } + return false; +} \ No newline at end of file diff --git a/MyCode/src/my-slam/src/Sim3Solver.cc b/MyCode/src/my-slam/src/Sim3Solver.cc new file mode 100644 index 0000000..4ad44ff --- /dev/null +++ b/MyCode/src/my-slam/src/Sim3Solver.cc @@ -0,0 +1,425 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + + +#include "Sim3Solver.h" + +#include +#include +#include + +#include "KeyFrame.h" +#include "ORBmatcher.h" + +#include "Thirdparty/DBoW2/DUtils/Random.h" + +namespace ORB_SLAM2 +{ + + +Sim3Solver::Sim3Solver(KeyFrame *pKF1, KeyFrame *pKF2, const vector &vpMatched12, const bool bFixScale): + mnIterations(0), mnBestInliers(0), mbFixScale(bFixScale) +{ + mpKF1 = pKF1; + mpKF2 = pKF2; + + vector vpKeyFrameMP1 = pKF1->GetMapPointMatches(); + + mN1 = vpMatched12.size(); + + mvpMapPoints1.reserve(mN1); + mvpMapPoints2.reserve(mN1); + mvpMatches12 = vpMatched12; + mvnIndices1.reserve(mN1); + mvX3Dc1.reserve(mN1); + mvX3Dc2.reserve(mN1); + + cv::Mat Rcw1 = pKF1->GetRotation(); + cv::Mat tcw1 = pKF1->GetTranslation(); + cv::Mat Rcw2 = pKF2->GetRotation(); + cv::Mat tcw2 = pKF2->GetTranslation(); + + mvAllIndices.reserve(mN1); + + size_t idx=0; + for(int i1=0; i1isBad() || pMP2->isBad()) + continue; + + int indexKF1 = pMP1->GetIndexInKeyFrame(pKF1); + int indexKF2 = pMP2->GetIndexInKeyFrame(pKF2); + + if(indexKF1<0 || indexKF2<0) + continue; + + const cv::KeyPoint &kp1 = pKF1->mvKeysUn[indexKF1]; + const cv::KeyPoint &kp2 = pKF2->mvKeysUn[indexKF2]; + + const float sigmaSquare1 = pKF1->mvLevelSigma2[kp1.octave]; + const float sigmaSquare2 = pKF2->mvLevelSigma2[kp2.octave]; + + mvnMaxError1.push_back(9.210*sigmaSquare1); + mvnMaxError2.push_back(9.210*sigmaSquare2); + + mvpMapPoints1.push_back(pMP1); + mvpMapPoints2.push_back(pMP2); + mvnIndices1.push_back(i1); + + cv::Mat X3D1w = pMP1->GetWorldPos(); + mvX3Dc1.push_back(Rcw1*X3D1w+tcw1); + + cv::Mat X3D2w = pMP2->GetWorldPos(); + mvX3Dc2.push_back(Rcw2*X3D2w+tcw2); + + mvAllIndices.push_back(idx); + idx++; + } + } + + mK1 = pKF1->mK; + mK2 = pKF2->mK; + + FromCameraToImage(mvX3Dc1,mvP1im1,mK1); + FromCameraToImage(mvX3Dc2,mvP2im2,mK2); + + SetRansacParameters(); +} + +void Sim3Solver::SetRansacParameters(double probability, int minInliers, int maxIterations) +{ + mRansacProb = probability; + mRansacMinInliers = minInliers; + mRansacMaxIts = maxIterations; + + N = mvpMapPoints1.size(); // number of correspondences + + mvbInliersi.resize(N); + + // Adjust Parameters according to number of correspondences + float epsilon = (float)mRansacMinInliers/N; + + // Set RANSAC iterations according to probability, epsilon, and max iterations + int nIterations; + + if(mRansacMinInliers==N) + nIterations=1; + else + nIterations = ceil(log(1-mRansacProb)/log(1-pow(epsilon,3))); + + mRansacMaxIts = max(1,min(nIterations,mRansacMaxIts)); + + mnIterations = 0; +} + +cv::Mat Sim3Solver::iterate(int nIterations, bool &bNoMore, vector &vbInliers, int &nInliers) +{ + bNoMore = false; + vbInliers = vector(mN1,false); + nInliers=0; + + if(N vAvailableIndices; + + cv::Mat P3Dc1i(3,3,CV_32F); + cv::Mat P3Dc2i(3,3,CV_32F); + + int nCurrentIterations = 0; + while(mnIterations=mnBestInliers) + { + mvbBestInliers = mvbInliersi; + mnBestInliers = mnInliersi; + mBestT12 = mT12i.clone(); + mBestRotation = mR12i.clone(); + mBestTranslation = mt12i.clone(); + mBestScale = ms12i; + + if(mnInliersi>mRansacMinInliers) + { + nInliers = mnInliersi; + for(int i=0; i=mRansacMaxIts) + bNoMore=true; + + return cv::Mat(); +} + +cv::Mat Sim3Solver::find(vector &vbInliers12, int &nInliers) +{ + bool bFlag; + return iterate(mRansacMaxIts,bFlag,vbInliers12,nInliers); +} + +void Sim3Solver::ComputeCentroid(cv::Mat &P, cv::Mat &Pr, cv::Mat &C) +{ + cv::reduce(P,C,1,CV_REDUCE_SUM); + C = C/P.cols; + + for(int i=0; i(0,0)+M.at(1,1)+M.at(2,2); + N12 = M.at(1,2)-M.at(2,1); + N13 = M.at(2,0)-M.at(0,2); + N14 = M.at(0,1)-M.at(1,0); + N22 = M.at(0,0)-M.at(1,1)-M.at(2,2); + N23 = M.at(0,1)+M.at(1,0); + N24 = M.at(2,0)+M.at(0,2); + N33 = -M.at(0,0)+M.at(1,1)-M.at(2,2); + N34 = M.at(1,2)+M.at(2,1); + N44 = -M.at(0,0)-M.at(1,1)+M.at(2,2); + + N = (cv::Mat_(4,4) << N11, N12, N13, N14, + N12, N22, N23, N24, + N13, N23, N33, N34, + N14, N24, N34, N44); + + + // Step 4: Eigenvector of the highest eigenvalue + + cv::Mat eval, evec; + + cv::eigen(N,eval,evec); //evec[0] is the quaternion of the desired rotation + + cv::Mat vec(1,3,evec.type()); + (evec.row(0).colRange(1,4)).copyTo(vec); //extract imaginary part of the quaternion (sin*axis) + + // Rotation angle. sin is the norm of the imaginary part, cos is the real part + double ang=atan2(norm(vec),evec.at(0,0)); + + vec = 2*ang*vec/norm(vec); //Angle-axis representation. quaternion angle is the half + + mR12i.create(3,3,P1.type()); + + cv::Rodrigues(vec,mR12i); // computes the rotation matrix from angle-axis + + // Step 5: Rotate set 2 + + cv::Mat P3 = mR12i*Pr2; + + // Step 6: Scale + + if(!mbFixScale) + { + double nom = Pr1.dot(P3); + cv::Mat aux_P3(P3.size(),P3.type()); + aux_P3=P3; + cv::pow(P3,2,aux_P3); + double den = 0; + + for(int i=0; i(i,j); + } + } + + ms12i = nom/den; + } + else + ms12i = 1.0f; + + // Step 7: Translation + + mt12i.create(1,3,P1.type()); + mt12i = O1 - ms12i*mR12i*O2; + + // Step 8: Transformation + + // Step 8.1 T12 + mT12i = cv::Mat::eye(4,4,P1.type()); + + cv::Mat sR = ms12i*mR12i; + + sR.copyTo(mT12i.rowRange(0,3).colRange(0,3)); + mt12i.copyTo(mT12i.rowRange(0,3).col(3)); + + // Step 8.2 T21 + + mT21i = cv::Mat::eye(4,4,P1.type()); + + cv::Mat sRinv = (1.0/ms12i)*mR12i.t(); + + sRinv.copyTo(mT21i.rowRange(0,3).colRange(0,3)); + cv::Mat tinv = -sRinv*mt12i; + tinv.copyTo(mT21i.rowRange(0,3).col(3)); +} + + +void Sim3Solver::CheckInliers() +{ + vector vP1im2, vP2im1; + Project(mvX3Dc2,vP2im1,mT12i,mK1); + Project(mvX3Dc1,vP1im2,mT21i,mK2); + + mnInliersi=0; + + for(size_t i=0; i &vP3Dw, vector &vP2D, cv::Mat Tcw, cv::Mat K) +{ + cv::Mat Rcw = Tcw.rowRange(0,3).colRange(0,3); + cv::Mat tcw = Tcw.rowRange(0,3).col(3); + const float &fx = K.at(0,0); + const float &fy = K.at(1,1); + const float &cx = K.at(0,2); + const float &cy = K.at(1,2); + + vP2D.clear(); + vP2D.reserve(vP3Dw.size()); + + for(size_t i=0, iend=vP3Dw.size(); i(2)); + const float x = P3Dc.at(0)*invz; + const float y = P3Dc.at(1)*invz; + + vP2D.push_back((cv::Mat_(2,1) << fx*x+cx, fy*y+cy)); + } +} + +void Sim3Solver::FromCameraToImage(const vector &vP3Dc, vector &vP2D, cv::Mat K) +{ + const float &fx = K.at(0,0); + const float &fy = K.at(1,1); + const float &cx = K.at(0,2); + const float &cy = K.at(1,2); + + vP2D.clear(); + vP2D.reserve(vP3Dc.size()); + + for(size_t i=0, iend=vP3Dc.size(); i(2)); + const float x = vP3Dc[i].at(0)*invz; + const float y = vP3Dc[i].at(1)*invz; + + vP2D.push_back((cv::Mat_(2,1) << fx*x+cx, fy*y+cy)); + } +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/System.cc b/MyCode/src/my-slam/src/System.cc new file mode 100644 index 0000000..4cdb9ec --- /dev/null +++ b/MyCode/src/my-slam/src/System.cc @@ -0,0 +1,582 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + + + +#include "System.h" +#include "Converter.h" +#include +#include +#include + +//判断是否有子串suffix，std::string::npos是最大值，即表示不存在 +bool has_suffix(const std::string &str, const std::string &suffix) { + std::size_t index = str.find(suffix, str.size() - suffix.size()); + return (index != std::string::npos); +} + +namespace ORB_SLAM2 +{ + +System::System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor, + const bool bUseViewer):mSensor(sensor), mpViewer(static_cast(NULL)), mbReset(false),mbActivateLocalizationMode(false), + mbDeactivateLocalizationMode(false) +{ + // Output welcome message + cout << endl << + "ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza." << endl << + "This program comes with ABSOLUTELY NO WARRANTY;" << endl << + "This is free software, and you are welcome to redistribute it" << endl << + "under certain conditions. See LICENSE.txt." << endl << endl; + + cout << "Input sensor was set to: "; + + if(mSensor==MONOCULAR) + cout << "Monocular" << endl; + else if(mSensor==STEREO) + cout << "Stereo" << endl; + else if(mSensor==RGBD) + cout << "RGB-D" << endl; + + //Check settings file + cv::FileStorage fsSettings(strSettingsFile.c_str(), cv::FileStorage::READ); + if(!fsSettings.isOpened()) + { + cerr << "Failed to open settings file at: " << strSettingsFile << endl; + exit(-1); + } + + //Load ORB Vocabulary：https://github.com/raulmur/ORB_SLAM2/pull/21/ + cout << endl << "Loading ORB Vocabulary. This could take a while..." << endl; + + //TODO: 加载词袋，ORBVocabulary是DBoW2中的 + mpVocabulary = new ORBVocabulary(); + +// bool bVocLoad = mpVocabulary->loadFromTextFile(strVocFile); + bool bVocLoad = false; // chose loading method based on file extension + if (has_suffix(strVocFile, ".txt")) + bVocLoad = mpVocabulary->loadFromTextFile(strVocFile); + else + bVocLoad = mpVocabulary->loadFromBinaryFile(strVocFile); + if(!bVocLoad) + { + cerr << "Wrong path to vocabulary. " << endl; + cerr << "Falied to open at: " << strVocFile << endl; + exit(-1); + } + cout << "Vocabulary loaded!" << endl << endl; + + //Create KeyFrame Database + mpKeyFrameDatabase = new KeyFrameDatabase(*mpVocabulary); + + //Create the Map + mpMap = new Map(); + + //Create Drawers. These are used by the Viewer + mpFrameDrawer = new FrameDrawer(mpMap); + mpMapDrawer = new MapDrawer(mpMap, strSettingsFile); + + //Read parameters from yaml for PointCloudMapping and Detector3D + int is_map_construction_consider_dynamic = fsSettings["PointCloudMapping.is_map_construction_consider_dynamic"]; + is_global_pc_reconstruction = fsSettings["PointCloudMapping.is_global_pc_reconstruction"]; + int is_octo_semantic_map_construction = fsSettings["PointCloudMapping.is_octo_semantic_map_construction"]; + float camera_valid_depth_Min = fsSettings["PointCloudMapping.camera_valid_depth_Min"]; + float camera_valid_depth_Max = fsSettings["PointCloudMapping.camera_valid_depth_Max"]; + + float Sor_Local_MeanK = fsSettings["PointCloudMapping.Sor_Local_MeanK"]; + double Sor_Local_StddevMulThresh = fsSettings["PointCloudMapping.Sor_Local_StddevMulThresh"]; + float Voxel_Local_LeafSize = fsSettings["PointCloudMapping.Voxel_Local_LeafSize"]; + + float Sor_Global_MeanK = fsSettings["PointCloudMapping.Sor_Global_MeanK"]; + double Sor_Global_StddevMulThresh = fsSettings["PointCloudMapping.Sor_Global_StddevMulThresh"]; + float Voxel_Global_LeafSize = fsSettings["PointCloudMapping.Voxel_Global_LeafSize"]; + + float Detector3D_Sor_MeanK = fsSettings["Detector3D.Sor_MeanK"]; + double Detector3D_Sor_StddevMulThresh = fsSettings["Detector3D.Sor_StddevMulThresh"]; + float Detector3D_Voxel_LeafSize = fsSettings["Detector3D.Voxel_LeafSize"]; + float Detect3D_EuclideanClusterTolerance = fsSettings["Detector3D.EuclideanClusterTolerance"]; + int Detect3D_EuclideanClusterMinSize = fsSettings["Detector3D.EuclideanClusterMinSize"]; + int Detect3D_EuclideanClusterMaxSize = fsSettings["Detector3D.EuclideanClusterMaxSize"]; + float Detect3D_DetectSimilarCompareRatio = fsSettings["Detector3D.DetectSimilarCompareRatio"]; + int global_pc_update_kf_threshold = fsSettings["Detector3D.global_pc_update_kf_threshold"]; + + cout << endl << "is map construction consider dynamic: " << is_map_construction_consider_dynamic; + cout << endl << "is global pointcloud reconstruction: " << is_global_pc_reconstruction; + cout << endl << "is octomap semanticObject map construction: " << is_octo_semantic_map_construction; + cout << endl << "camera_valid_depth_Min is " << camera_valid_depth_Min; + cout << endl << "camera_valid_depth_Max is " << camera_valid_depth_Max; + cout << endl << "Sor_Local_MeanK is " << Sor_Local_MeanK; + cout << endl << "Sor_Local_StddevMulThresh is " << Sor_Local_StddevMulThresh; + cout << endl << "Voxel_Local_LeafSize is " << Voxel_Local_LeafSize; + cout << endl << "Sor_Global_MeanK is " << Sor_Global_MeanK; + cout << endl << "Sor_Global_StddevMulThresh is " << Sor_Global_StddevMulThresh; + cout << endl << "Voxel_Global_LeafSize is " << Voxel_Global_LeafSize; + cout << endl << "Detector3D_Sor_MeanK is " << Detector3D_Sor_MeanK; + cout << endl << "Detector3D_Sor_StddevMulThresh is " << Detector3D_Sor_StddevMulThresh; + cout << endl << "Detector3D_Voxel_LeafSize is " << Detector3D_Voxel_LeafSize; + cout << endl << "Detect3D_EuclideanClusterTolerance is " << Detect3D_EuclideanClusterTolerance; + cout << endl << "Detect3D_EuclideanClusterMinSize is " << Detect3D_EuclideanClusterMinSize; + cout << endl << "Detect3D_EuclideanClusterMaxSize is " << Detect3D_EuclideanClusterMaxSize; + cout << endl << "Detect3D_DetectSimilarCompareRatio is " << Detect3D_DetectSimilarCompareRatio; + cout << endl << "global_pc_update_kf_threshold is " << global_pc_update_kf_threshold<(is_global_pc_reconstruction, + is_octo_semantic_map_construction,is_map_construction_consider_dynamic, + camera_valid_depth_Min,camera_valid_depth_Max,Sor_Local_MeanK,Sor_Local_StddevMulThresh, + Voxel_Local_LeafSize,Sor_Global_MeanK,Sor_Global_StddevMulThresh, + Voxel_Global_LeafSize,Detector3D_Sor_MeanK,Detector3D_Sor_StddevMulThresh,Detector3D_Voxel_LeafSize, + Detect3D_EuclideanClusterTolerance,Detect3D_EuclideanClusterMinSize, + Detect3D_EuclideanClusterMaxSize,Detect3D_DetectSimilarCompareRatio, + global_pc_update_kf_threshold); + + //TODO: 做跟踪、回环和建图 + //Initialize the Tracking thread + //(it will live in the main thread of execution, the one that called this constructor) + mpTracker = new Tracking(this, mpVocabulary, mpFrameDrawer, mpMapDrawer, + mpMap, mpKeyFrameDatabase, strSettingsFile, mSensor, mpPointCloudMapper); + + //Initialize the Local Mapping thread and launch + mpLocalMapper = new LocalMapping(mpMap, mSensor==MONOCULAR); + mptLocalMapping = new thread(&ORB_SLAM2::LocalMapping::Run,mpLocalMapper); + + //Initialize the Loop Closing thread and launch + mpLoopCloser = new LoopClosing(mpMap, mpKeyFrameDatabase, mpVocabulary, mSensor!=MONOCULAR,mpPointCloudMapper); + mptLoopClosing = new thread(&ORB_SLAM2::LoopClosing::Run, mpLoopCloser); + + + //Read parameters from yaml for Detector2D + float detection_confidence_threshold = fsSettings["Detector2D.detection_confidence_threshold"]; + cout << endl << "detection_confidence_threshold is " << detection_confidence_threshold << endl; + float dynamic_detection_confidence_threshold = fsSettings["Detector2D.dynamic_detection_confidence_threshold"]; + cout << endl << "dynamic_detection_confidence_threshold is " << dynamic_detection_confidence_threshold << endl; + + //TODO: 新增的目标检测的线程 + //Initialize the Detecting thread and launch + // mpDetector2d = new Detector2D(detection_confidence_threshold,dynamic_detection_confidence_threshold); + mpDetector2d = new Detector2D(640,480,true); + mptDetecting = new thread(&ORB_SLAM2::Detector2D::Run, mpDetector2d); + + //Initialize the Viewer thread and launch + if(bUseViewer) + { + mpViewer = new Viewer(this, mpFrameDrawer,mpMapDrawer,mpTracker,mpDetector2d,strSettingsFile); + mptViewer = new thread(&Viewer::Run, mpViewer); + mpTracker->SetViewer(mpViewer); + } + + //Set pointers between threads + mpTracker->SetLocalMapper(mpLocalMapper); + mpTracker->SetLoopClosing(mpLoopCloser); + mpTracker->SetDetector2D(mpDetector2d); + + mpLocalMapper->SetTracker(mpTracker); + mpLocalMapper->SetLoopCloser(mpLoopCloser); + + mpLoopCloser->SetTracker(mpTracker); + mpLoopCloser->SetLocalMapper(mpLocalMapper); + + mpDetector2d->SetTracker(mpTracker); +} + +cv::Mat System::TrackStereo(const cv::Mat &imLeft, const cv::Mat &imRight, const double ×tamp) +{ + if(mSensor!=STEREO) + { + cerr << "ERROR: you called TrackStereo but input sensor was not set to STEREO." << endl; + exit(-1); + } + + // Check mode change + { + unique_lock lock(mMutexMode); + if(mbActivateLocalizationMode) + { + mpLocalMapper->RequestStop(); + + // Wait until Local Mapping has effectively stopped + while(!mpLocalMapper->isStopped()) + { + usleep(1000); + } + + mpTracker->InformOnlyTracking(true); + mbActivateLocalizationMode = false; + } + if(mbDeactivateLocalizationMode) + { + mpTracker->InformOnlyTracking(false); + mpLocalMapper->Release(); + mbDeactivateLocalizationMode = false; + } + } + + // Check reset + { + unique_lock lock(mMutexReset); + if(mbReset) + { + mpTracker->Reset(); + mbReset = false; + } + } + + cv::Mat Tcw = mpTracker->GrabImageStereo(imLeft,imRight,timestamp); + + unique_lock lock2(mMutexState); + mTrackingState = mpTracker->mState; + mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints; + mTrackedKeyPointsUn = mpTracker->mCurrentFrame.mvKeysUn; + return Tcw; +} + +cv::Mat System::TrackRGBD(const cv::Mat &im, const cv::Mat &depthmap, const double ×tamp) +{ + if(mSensor!=RGBD) + { + cerr << "ERROR: you called TrackRGBD but input sensor was not set to RGBD." << endl; + exit(-1); + } + + // Check mode change + { + unique_lock lock(mMutexMode); + if(mbActivateLocalizationMode) + { + mpLocalMapper->RequestStop(); + + // Wait until Local Mapping has effectively stopped + while(!mpLocalMapper->isStopped()) + { + usleep(1000); + } + + mpTracker->InformOnlyTracking(true); + mbActivateLocalizationMode = false; + } + if(mbDeactivateLocalizationMode) + { + mpTracker->InformOnlyTracking(false); + mpLocalMapper->Release(); + mbDeactivateLocalizationMode = false; + } + } + + // Check reset + { + unique_lock lock(mMutexReset); + if(mbReset) + { + mpTracker->Reset(); + mbReset = false; + } + } + + mpTracker->GetNewImage(im, depthmap); + cv::Mat Tcw = mpTracker->GrabImageRGBD(im,depthmap,timestamp); + + unique_lock lock2(mMutexState); + mTrackingState = mpTracker->mState; + mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints; + mTrackedKeyPointsUn = mpTracker->mCurrentFrame.mvKeysUn; + return Tcw; +} + +cv::Mat System::TrackMonocular(const cv::Mat &im, const double ×tamp) +{ + if(mSensor!=MONOCULAR) + { + cerr << "ERROR: you called TrackMonocular but input sensor was not set to Monocular." << endl; + exit(-1); + } + + // Check mode change + { + unique_lock lock(mMutexMode); + if(mbActivateLocalizationMode) + { + mpLocalMapper->RequestStop(); + + // Wait until Local Mapping has effectively stopped + while(!mpLocalMapper->isStopped()) + { + usleep(1000); + } + + mpTracker->InformOnlyTracking(true); + mbActivateLocalizationMode = false; + } + if(mbDeactivateLocalizationMode) + { + mpTracker->InformOnlyTracking(false); + mpLocalMapper->Release(); + mbDeactivateLocalizationMode = false; + } + } + + // Check reset + { + unique_lock lock(mMutexReset); + if(mbReset) + { + mpTracker->Reset(); + mbReset = false; + } + } + + cv::Mat Tcw = mpTracker->GrabImageMonocular(im,timestamp); + + unique_lock lock2(mMutexState); + mTrackingState = mpTracker->mState; + mTrackedMapPoints = mpTracker->mCurrentFrame.mvpMapPoints; + mTrackedKeyPointsUn = mpTracker->mCurrentFrame.mvKeysUn; + + return Tcw; +} + +void System::ActivateLocalizationMode() +{ + unique_lock lock(mMutexMode); + mbActivateLocalizationMode = true; +} + +void System::DeactivateLocalizationMode() +{ + unique_lock lock(mMutexMode); + mbDeactivateLocalizationMode = true; +} + +bool System::MapChanged() +{ + static int n=0; + int curn = mpMap->GetLastBigChangeIdx(); + if(n lock(mMutexReset); + mbReset = true; +} + +// 关闭所有的线程 +void System::Shutdown() +{ + mpLocalMapper->RequestFinish(); + mpLoopCloser->RequestFinish(); + mpPointCloudMapper->shutdown(); + if(mpViewer) + { + mpViewer->RequestFinish(); + while(!mpViewer->isFinished()) + usleep(5000); + } + + // Wait until all thread have effectively stopped + while(!mpLocalMapper->isFinished() || !mpLoopCloser->isFinished() || mpLoopCloser->isRunningGBA()) + { + usleep(5000); + } + + if(mpViewer) + pangolin::BindToContext("ORB-SLAM2: Map Viewer"); +} + +//TODO: 没太看懂？？？ +void System::SaveTrajectoryTUM(const string &filename) +{ + cout << endl << "Saving camera trajectory to " << filename << " ..." << endl; + if(mSensor==MONOCULAR) + { + cerr << "ERROR: SaveTrajectoryTUM cannot be used for monocular." << endl; + return; + } + + vector vpKFs = mpMap->GetAllKeyFrames(); + sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId); + + // Transform all keyframes so that the first keyframe is at the origin. + // After a loop closure the first keyframe might not be at the origin. + cv::Mat Two = vpKFs[0]->GetPoseInverse(); + + ofstream f; + f.open(filename.c_str()); + f << fixed; + + // Frame pose is stored relative to its reference keyframe (which is optimized by BA and pose graph). + // We need to get first the keyframe pose and then concatenate the relative transformation. + // Frames not localized (tracking failure) are not saved. + + // For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag + // which is true when tracking failed (lbL). + list::iterator lRit = mpTracker->mlpReferences.begin(); + list::iterator lT = mpTracker->mlFrameTimes.begin(); + list::iterator lbL = mpTracker->mlbLost.begin(); + for(list::iterator lit=mpTracker->mlRelativeFramePoses.begin(), + lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++, lbL++) + { + if(*lbL) + continue; + + KeyFrame* pKF = *lRit; + + cv::Mat Trw = cv::Mat::eye(4,4,CV_32F); + + // If the reference keyframe was culled, traverse the spanning tree to get a suitable keyframe. + while(pKF->isBad()) + { + Trw = Trw*pKF->mTcp; + pKF = pKF->GetParent(); + } + + //世界坐标系中的相机位姿 + Trw = Trw*pKF->GetPose()*Two; + + //计算相机坐标系中的位姿 + cv::Mat Tcw = (*lit)*Trw; + //世界到相机的旋转矩阵 + cv::Mat Rwc = Tcw.rowRange(0,3).colRange(0,3).t(); + //世界下的平移 + cv::Mat twc = -Rwc*Tcw.rowRange(0,3).col(3); + //转换四元数 + vector q = Converter::toQuaternion(Rwc); + + f << setprecision(6) << *lT << " " << setprecision(9) << twc.at(0) << " " << twc.at(1) << " " << twc.at(2) << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << endl; + } + f.close(); + cout << endl << "trajectory saved!" << endl; +} + + +void System::SaveKeyFrameTrajectoryTUM(const string &filename) +{ + cout << endl << "Saving keyframe trajectory to " << filename << " ..." << endl; + + vector vpKFs = mpMap->GetAllKeyFrames(); + sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId); + + // Transform all keyframes so that the first keyframe is at the origin. + // After a loop closure the first keyframe might not be at the origin. + //cv::Mat Two = vpKFs[0]->GetPoseInverse(); + + ofstream f; + f.open(filename.c_str()); + f << fixed; + + for(size_t i=0; iSetPose(pKF->GetPose()*Two); + + if(pKF->isBad()) + continue; + + cv::Mat R = pKF->GetRotation().t(); + vector q = Converter::toQuaternion(R); + cv::Mat t = pKF->GetCameraCenter(); + f << setprecision(6) << pKF->mTimeStamp << setprecision(7) << " " << t.at(0) << " " << t.at(1) << " " << t.at(2) + << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << endl; + + } + + f.close(); + cout << endl << "trajectory saved!" << endl; +} + +void System::SaveTrajectoryKITTI(const string &filename) +{ + cout << endl << "Saving camera trajectory to " << filename << " ..." << endl; + if(mSensor==MONOCULAR) + { + cerr << "ERROR: SaveTrajectoryKITTI cannot be used for monocular." << endl; + return; + } + + vector vpKFs = mpMap->GetAllKeyFrames(); + sort(vpKFs.begin(),vpKFs.end(),KeyFrame::lId); + + // Transform all keyframes so that the first keyframe is at the origin. + // After a loop closure the first keyframe might not be at the origin. + cv::Mat Two = vpKFs[0]->GetPoseInverse(); + + ofstream f; + f.open(filename.c_str()); + f << fixed; + + // Frame pose is stored relative to its reference keyframe (which is optimized by BA and pose graph). + // We need to get first the keyframe pose and then concatenate the relative transformation. + // Frames not localized (tracking failure) are not saved. + + // For each frame we have a reference keyframe (lRit), the timestamp (lT) and a flag + // which is true when tracking failed (lbL). + list::iterator lRit = mpTracker->mlpReferences.begin(); + list::iterator lT = mpTracker->mlFrameTimes.begin(); + for(list::iterator lit=mpTracker->mlRelativeFramePoses.begin(), lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++) + { + ORB_SLAM2::KeyFrame* pKF = *lRit; + + cv::Mat Trw = cv::Mat::eye(4,4,CV_32F); + + while(pKF->isBad()) + { + // cout << "bad parent" << endl; + Trw = Trw*pKF->mTcp; + pKF = pKF->GetParent(); + } + + Trw = Trw*pKF->GetPose()*Two; + + cv::Mat Tcw = (*lit)*Trw; + cv::Mat Rwc = Tcw.rowRange(0,3).colRange(0,3).t(); + cv::Mat twc = -Rwc*Tcw.rowRange(0,3).col(3); + + f << setprecision(9) << Rwc.at(0,0) << " " << Rwc.at(0,1) << " " << Rwc.at(0,2) << " " << twc.at(0) << " " << + Rwc.at(1,0) << " " << Rwc.at(1,1) << " " << Rwc.at(1,2) << " " << twc.at(1) << " " << + Rwc.at(2,0) << " " << Rwc.at(2,1) << " " << Rwc.at(2,2) << " " << twc.at(2) << endl; + } + f.close(); + cout << endl << "trajectory saved!" << endl; +} + +int System::GetTrackingState() +{ + unique_lock lock(mMutexState); + return mTrackingState; +} + +vector System::GetTrackedMapPoints() +{ + unique_lock lock(mMutexState); + return mTrackedMapPoints; +} + +vector System::GetTrackedKeyPointsUn() +{ + unique_lock lock(mMutexState); + return mTrackedKeyPointsUn; +} + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/Tracking.cc b/MyCode/src/my-slam/src/Tracking.cc new file mode 100644 index 0000000..bb27790 --- /dev/null +++ b/MyCode/src/my-slam/src/Tracking.cc @@ -0,0 +1,1729 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + + +#include "Tracking.h" + +#include +#include + +#include"ORBmatcher.h" +#include"FrameDrawer.h" +#include"Converter.h" +#include"Map.h" +#include"Initializer.h" + +#include"Optimizer.h" +#include"PnPsolver.h" + +#include + +#include + + +using namespace std; + +namespace ORB_SLAM2 +{ + +Tracking::Tracking(System *pSys, ORBVocabulary* pVoc, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Map *pMap, KeyFrameDatabase* pKFDB, const string &strSettingPath, const int sensor, boost::shared_ptr pPointCloud): + mState(NO_IMAGES_YET), mSensor(sensor), mbOnlyTracking(false), mbVO(false), mpORBVocabulary(pVoc), + mpKeyFrameDB(pKFDB), mpInitializer(static_cast(NULL)), mpSystem(pSys), mpViewer(NULL), + mpFrameDrawer(pFrameDrawer), mpMapDrawer(pMapDrawer), mpMap(pMap), mnLastRelocFrameId(0), mpPointCloudMapper( pPointCloud ) +{ + // Load camera parameters from settings file + + cv::FileStorage fSettings(strSettingPath, cv::FileStorage::READ); + float fx = fSettings["Camera.fx"]; + float fy = fSettings["Camera.fy"]; + float cx = fSettings["Camera.cx"]; + float cy = fSettings["Camera.cy"]; + + cv::Mat K = cv::Mat::eye(3,3,CV_32F); + K.at(0,0) = fx; + K.at(1,1) = fy; + K.at(0,2) = cx; + K.at(1,2) = cy; + K.copyTo(mK); + + cv::Mat DistCoef(4,1,CV_32F); + DistCoef.at(0) = fSettings["Camera.k1"]; + DistCoef.at(1) = fSettings["Camera.k2"]; + DistCoef.at(2) = fSettings["Camera.p1"]; + DistCoef.at(3) = fSettings["Camera.p2"]; + const float k3 = fSettings["Camera.k3"]; + if(k3!=0) + { + DistCoef.resize(5); + DistCoef.at(4) = k3; + } + DistCoef.copyTo(mDistCoef); + + mbf = fSettings["Camera.bf"]; + + float fps = fSettings["Camera.fps"]; + if(fps==0) + fps=30; + + // Max/Min Frames to insert keyframes and to check relocalisation + mMinFrames = 0; + mMaxFrames = fps*0.5;//there is no *0.5 before + + cout << endl << "Camera Parameters: " << endl; + cout << "- fx: " << fx << endl; + cout << "- fy: " << fy << endl; + cout << "- cx: " << cx << endl; + cout << "- cy: " << cy << endl; + cout << "- k1: " << DistCoef.at(0) << endl; + cout << "- k2: " << DistCoef.at(1) << endl; + if(DistCoef.rows==5) + cout << "- k3: " << DistCoef.at(4) << endl; + cout << "- p1: " << DistCoef.at(2) << endl; + cout << "- p2: " << DistCoef.at(3) << endl; + cout << "- fps: " << fps << endl; + + + int nRGB = fSettings["Camera.RGB"]; + mbRGB = nRGB; + + if(mbRGB) + cout << "- color order: RGB (ignored if grayscale)" << endl; + else + cout << "- color order: BGR (ignored if grayscale)" << endl; + + // Load ORB parameters + + int nFeatures = fSettings["ORBextractor.nFeatures"]; + float fScaleFactor = fSettings["ORBextractor.scaleFactor"]; + int nLevels = fSettings["ORBextractor.nLevels"]; + int fIniThFAST = fSettings["ORBextractor.iniThFAST"]; + int fMinThFAST = fSettings["ORBextractor.minThFAST"]; + + mpORBextractorLeft = new ORBextractor(nFeatures,fScaleFactor,nLevels,fIniThFAST,fMinThFAST); + + if(sensor==System::STEREO) + mpORBextractorRight = new ORBextractor(nFeatures,fScaleFactor,nLevels,fIniThFAST,fMinThFAST); + + //？？？ + if(sensor==System::MONOCULAR) + mpIniORBextractor = new ORBextractor(2*nFeatures,fScaleFactor,nLevels,fIniThFAST,fMinThFAST); + + cout << endl << "ORB Extractor Parameters: " << endl; + cout << "- Number of Features: " << nFeatures << endl; + cout << "- Scale Levels: " << nLevels << endl; + cout << "- Scale Factor: " << fScaleFactor << endl; + cout << "- Initial Fast Threshold: " << fIniThFAST << endl; + cout << "- Minimum Fast Threshold: " << fMinThFAST << endl; + + if(sensor==System::STEREO || sensor==System::RGBD) + { + mThDepth = mbf*(float)fSettings["ThDepth"]/fx; + cout << endl << "Depth Threshold (Close/Far Points): " << mThDepth << endl; + } + + if(sensor==System::RGBD) + { + mDepthMapFactor = fSettings["DepthMapFactor"]; + if(fabs(mDepthMapFactor)<1e-5) + mDepthMapFactor=1; + else + mDepthMapFactor = 1.0f/mDepthMapFactor; + } +} + +void Tracking::SetLocalMapper(LocalMapping *pLocalMapper) +{ + mpLocalMapper=pLocalMapper; +} + +void Tracking::SetLoopClosing(LoopClosing *pLoopClosing) +{ + mpLoopClosing=pLoopClosing; +} + +void Tracking::SetViewer(Viewer *pViewer) +{ + mpViewer=pViewer; +} + + +cv::Mat Tracking::GrabImageStereo(const cv::Mat &imRectLeft, const cv::Mat &imRectRight, const double ×tamp) +{ + mImGray = imRectLeft; + cv::Mat imGrayRight = imRectRight; + + if(mImGray.channels()==3) + { + if(mbRGB) + { + cvtColor(mImGray,mImGray,CV_RGB2GRAY); + cvtColor(imGrayRight,imGrayRight,CV_RGB2GRAY); + } + else + { + cvtColor(mImGray,mImGray,CV_BGR2GRAY); + cvtColor(imGrayRight,imGrayRight,CV_BGR2GRAY); + } + } + else if(mImGray.channels()==4) + { + if(mbRGB) + { + cvtColor(mImGray,mImGray,CV_RGBA2GRAY); + cvtColor(imGrayRight,imGrayRight,CV_RGBA2GRAY); + } + else + { + cvtColor(mImGray,mImGray,CV_BGRA2GRAY); + cvtColor(imGrayRight,imGrayRight,CV_BGRA2GRAY); + } + } + + mCurrentFrame = Frame(mImGray,imGrayRight,timestamp,mpORBextractorLeft,mpORBextractorRight,mpORBVocabulary,mK,mDistCoef,mbf,mThDepth); + + Track(); + + return mCurrentFrame.mTcw.clone(); +} + + +cv::Mat Tracking::GrabImageRGBD(const cv::Mat &imRGB,const cv::Mat &imD, const double ×tamp) +{ + mImGray = imRGB; + mImRGB = imRGB; + mImDepth = imD; + + //filter depth image to remove outliers. + //cv::medianBlur(imD,mImDepth,5); + if(mImGray.channels()==3) + { + if(mbRGB) + cvtColor(mImGray,mImGray,CV_RGB2GRAY); + else + cvtColor(mImGray,mImGray,CV_BGR2GRAY); + } + else if(mImGray.channels()==4) + { + if(mbRGB) + cvtColor(mImGray,mImGray,CV_RGBA2GRAY); + else + cvtColor(mImGray,mImGray,CV_BGRA2GRAY); + } + + if( mDepthMapFactor!=1 || mImDepth.type()!=CV_32F) + mImDepth.convertTo(mImDepth,CV_32F,mDepthMapFactor); + + //std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); + mCurrentFrame = Frame(this,mImGray,mImDepth,timestamp,mpORBextractorLeft,mpORBVocabulary,mK,mDistCoef,mbf,mThDepth,mLastFrame); +/* + std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); + double tFrame= std::chrono::duration_cast >(t2 - t1).count(); + std::cout << "Frame time =" << tFrame*1000 << std::endl; +*/ + + + //std::chrono::steady_clock::time_point t3 = std::chrono::steady_clock::now(); + Track(); + /* + std::chrono::steady_clock::time_point t4 = std::chrono::steady_clock::now(); + double tTrack= std::chrono::duration_cast >(t4 - t3).count(); + std::cout << "Track time =" << tTrack*1000 << std::endl; + */ + + + return mCurrentFrame.mTcw.clone(); +} + + +cv::Mat Tracking::GrabImageMonocular(const cv::Mat &im, const double ×tamp) +{ + mImGray = im; + + if(mImGray.channels()==3) + { + if(mbRGB) + cvtColor(mImGray,mImGray,CV_RGB2GRAY); + else + cvtColor(mImGray,mImGray,CV_BGR2GRAY); + } + else if(mImGray.channels()==4) + { + if(mbRGB) + cvtColor(mImGray,mImGray,CV_RGBA2GRAY); + else + cvtColor(mImGray,mImGray,CV_BGRA2GRAY); + } + + if(mState==NOT_INITIALIZED || mState==NO_IMAGES_YET) + mCurrentFrame = Frame(mImGray,timestamp,mpIniORBextractor,mpORBVocabulary,mK,mDistCoef,mbf,mThDepth); + else + mCurrentFrame = Frame(mImGray,timestamp,mpORBextractorLeft,mpORBVocabulary,mK,mDistCoef,mbf,mThDepth); + + Track(); + + return mCurrentFrame.mTcw.clone(); +} + +void Tracking::SetDetector2D(Detector2D* Detector2d) +{ + mpDetector2d = Detector2d; +} + +bool Tracking::isDetectImageFinished() +{ + std::unique_lock lock(mpDetector2d->mMutexImageDetectFinished); + if(mbDetectImageFinishedFlag) + { + mbDetectImageFinishedFlag=false; + return true; + } + else + { + return false; + } +} + +void Tracking::GetNewImage(const cv::Mat& img, const cv::Mat depthImg) +{ + unique_lock lock(mpDetector2d->mMutexGetNewImage); + mpDetector2d->mbNewImageFlag=true; + img.copyTo(mpDetector2d->mImageToDetect); + depthImg.copyTo(mpDetector2d->mDepthImage); +} + +//跟踪过程，包括恒速模型跟踪、参考关键帧跟踪、局部地图跟踪 +// track包含两部分：估计运动、跟踪局部地图 +void Tracking::Track() +{ + //第一帧初始化 + if(mState==NO_IMAGES_YET) + { + mState = NOT_INITIALIZED; + } + + mLastProcessedState=mState; + + // Get Map Mutex -> Map cannot be changed + unique_lock lock(mpMap->mMutexMapUpdate); + + //初始化 + if(mState==NOT_INITIALIZED) + { + if(mSensor==System::STEREO || mSensor==System::RGBD) + StereoInitialization(); + else + MonocularInitialization(); + + mpFrameDrawer->Update(this); + + //初始化是否成功 + if(mState!=OK) + return; + } + else + { + // System is initialized. Track Frame. + bool bOK; + + // Initial camera pose estimation using motion model or relocalization (if tracking is lost) + if(!mbOnlyTracking) + { + // Local Mapping is activated. This is the normal behaviour, unless + // you explicitly activate the "only tracking" mode. + + if(mState==OK) + { + // Local Mapping might have changed some MapPoints tracked in last frame + // 局部建图线程则可能会对原有的地图点进行替换.在这里进行检查 + CheckReplacedInLastFrame(); + + if(mVelocity.empty() || mCurrentFrame.mnId vpMPsMM; + vector vbOutMM; + cv::Mat TcwMM; + if(!mVelocity.empty()) + { + bOKMM = TrackWithMotionModel(); + vpMPsMM = mCurrentFrame.mvpMapPoints; + vbOutMM = mCurrentFrame.mvbOutlier; + TcwMM = mCurrentFrame.mTcw.clone(); + } + bOKReloc = Relocalization(); + + if(bOKMM && !bOKReloc) + { + mCurrentFrame.SetPose(TcwMM); + mCurrentFrame.mvpMapPoints = vpMPsMM; + mCurrentFrame.mvbOutlier = vbOutMM; + + if(mbVO) + { + for(int i =0; iIncreaseFound(); + } + } + } + } + else if(bOKReloc) + { + mbVO = false; + } + + bOK = bOKReloc || bOKMM; + } + } + } + + mCurrentFrame.mpReferenceKF = mpReferenceKF; + + // If we have an initial estimation of the camera pose and matching. Track the local map. + if(!mbOnlyTracking) + { + if(bOK) + bOK = TrackLocalMap(); + } + else + { + // mbVO true means that there are few matches to MapPoints in the map. We cannot retrieve + // a local map and therefore we do not perform TrackLocalMap(). Once the system relocalizes + // the camera we will use the local map again. + if(bOK && !mbVO) + bOK = TrackLocalMap(); + } + + if(bOK) + mState = OK; + else + mState=LOST; + + // Update drawer + mpFrameDrawer->Update(this); + // If tracking were good, check if we insert a keyframe + if(bOK) + { + // Update motion model + if(!mLastFrame.mTcw.empty()) + { + cv::Mat LastTwc = cv::Mat::eye(4,4,CV_32F); + mLastFrame.GetRotationInverse().copyTo(LastTwc.rowRange(0,3).colRange(0,3)); + mLastFrame.GetCameraCenter().copyTo(LastTwc.rowRange(0,3).col(3)); + mVelocity = mCurrentFrame.mTcw*LastTwc; + } + else + mVelocity = cv::Mat(); + + mpMapDrawer->SetCurrentCameraPose(mCurrentFrame.mTcw); + + // Clean VO matches + for(int i=0; iObservations()<1) + { + mCurrentFrame.mvbOutlier[i] = false; + mCurrentFrame.mvpMapPoints[i]=static_cast(NULL); + } + } + + // Delete temporal MapPoints + for(list::iterator lit = mlpTemporalPoints.begin(), lend = mlpTemporalPoints.end(); lit!=lend; lit++) + { + MapPoint* pMP = *lit; + delete pMP; + } + mlpTemporalPoints.clear(); + + // Check if we need to insert a new keyframe + if(NeedNewKeyFrame()) + CreateNewKeyFrame(); + + // We allow points with high innovation (considererd outliers by the Huber Function) + // pass to the new keyframe, so that bundle adjustment will finally decide + // if they are outliers or not. We don't want next frame to estimate its position + // with those points so we discard them in the frame. + for(int i=0; i(NULL); + } + } + + // Reset if the camera get lost soon after initialization + if(mState==LOST) + { + if(mpMap->KeyFramesInMap()<=5) + { + cout << "Track lost soon after initialisation, reseting..." << endl; + mpSystem->Reset(); + return; + } + } + + if(!mCurrentFrame.mpReferenceKF) + mCurrentFrame.mpReferenceKF = mpReferenceKF; + + mLastFrame = Frame(mCurrentFrame); + } + // Store frame pose information to retrieve the complete camera trajectory afterwards. + if(!mCurrentFrame.mTcw.empty()) + { + cv::Mat Tcr = mCurrentFrame.mTcw*mCurrentFrame.mpReferenceKF->GetPoseInverse(); + mlRelativeFramePoses.push_back(Tcr); + mlpReferences.push_back(mpReferenceKF); + mlFrameTimes.push_back(mCurrentFrame.mTimeStamp); + mlbLost.push_back(mState==LOST); + } + else + { + // This can happen if tracking is lost + mlRelativeFramePoses.push_back(mlRelativeFramePoses.back()); + mlpReferences.push_back(mlpReferences.back()); + mlFrameTimes.push_back(mlFrameTimes.back()); + mlbLost.push_back(mState==LOST); + } +} + +//双目初始化/rgbd初始化 +void Tracking::StereoInitialization() +{ + if(mCurrentFrame.N>500) + { + // Set Frame pose to the origin + mCurrentFrame.SetPose(cv::Mat::eye(4,4,CV_32F)); + + // Create KeyFrame + KeyFrame* pKFini = new KeyFrame(mCurrentFrame,mpMap,mpKeyFrameDB); + + // Insert KeyFrame in the map + mpMap->AddKeyFrame(pKFini); + + // Create MapPoints and asscoiate to KeyFrame + for(int i=0; i0) + { + cv::Mat x3D = mCurrentFrame.UnprojectStereo(i); + MapPoint* pNewMP = new MapPoint(x3D,pKFini,mpMap); + pNewMP->AddObservation(pKFini,i); + pKFini->AddMapPoint(pNewMP,i); + pNewMP->ComputeDistinctiveDescriptors(); + pNewMP->UpdateNormalAndDepth(); + mpMap->AddMapPoint(pNewMP); + + mCurrentFrame.mvpMapPoints[i]=pNewMP; + } + } + + cout << "New map created with " << mpMap->MapPointsInMap() << " points" << endl; + + mpLocalMapper->InsertKeyFrame(pKFini); + + mLastFrame = Frame(mCurrentFrame); + mnLastKeyFrameId=mCurrentFrame.mnId; + mpLastKeyFrame = pKFini; + + mvpLocalKeyFrames.push_back(pKFini); + mvpLocalMapPoints=mpMap->GetAllMapPoints(); + mpReferenceKF = pKFini; + mCurrentFrame.mpReferenceKF = pKFini; + + mpMap->SetReferenceMapPoints(mvpLocalMapPoints); + + mpMap->mvpKeyFrameOrigins.push_back(pKFini); + + mpMapDrawer->SetCurrentCameraPose(mCurrentFrame.mTcw); + + mState=OK; + } +} + +//没看单目初始化 +void Tracking::MonocularInitialization() +{ + + if(!mpInitializer) + { + // Set Reference Frame + if(mCurrentFrame.mvKeys.size()>100) + { + mInitialFrame = Frame(mCurrentFrame); + mLastFrame = Frame(mCurrentFrame); + mvbPrevMatched.resize(mCurrentFrame.mvKeysUn.size()); + for(size_t i=0; i(NULL); + fill(mvIniMatches.begin(),mvIniMatches.end(),-1); + return; + } + + // Find correspondences + ORBmatcher matcher(0.9,true); + int nmatches = matcher.SearchForInitialization(mInitialFrame,mCurrentFrame,mvbPrevMatched,mvIniMatches,100); + + // Check if there are enough correspondences + if(nmatches<100) + { + delete mpInitializer; + mpInitializer = static_cast(NULL); + return; + } + + cv::Mat Rcw; // Current Camera Rotation + cv::Mat tcw; // Current Camera Translation + vector vbTriangulated; // Triangulated Correspondences (mvIniMatches) + + if(mpInitializer->Initialize(mCurrentFrame, mvIniMatches, Rcw, tcw, mvIniP3D, vbTriangulated)) + { + for(size_t i=0, iend=mvIniMatches.size(); i=0 && !vbTriangulated[i]) + { + mvIniMatches[i]=-1; + nmatches--; + } + } + + // Set Frame Poses + mInitialFrame.SetPose(cv::Mat::eye(4,4,CV_32F)); + cv::Mat Tcw = cv::Mat::eye(4,4,CV_32F); + Rcw.copyTo(Tcw.rowRange(0,3).colRange(0,3)); + tcw.copyTo(Tcw.rowRange(0,3).col(3)); + mCurrentFrame.SetPose(Tcw); + + CreateInitialMapMonocular(); + } + } +} + +//单目的map初始化 +void Tracking::CreateInitialMapMonocular() +{ + // Create KeyFrames + KeyFrame* pKFini = new KeyFrame(mInitialFrame,mpMap,mpKeyFrameDB); + KeyFrame* pKFcur = new KeyFrame(mCurrentFrame,mpMap,mpKeyFrameDB); + + + pKFini->ComputeBoW(); + pKFcur->ComputeBoW(); + + // Insert KFs in the map + mpMap->AddKeyFrame(pKFini); + mpMap->AddKeyFrame(pKFcur); + + // Create MapPoints and asscoiate to keyframes + for(size_t i=0; iAddMapPoint(pMP,i); + pKFcur->AddMapPoint(pMP,mvIniMatches[i]); + + pMP->AddObservation(pKFini,i); + pMP->AddObservation(pKFcur,mvIniMatches[i]); + + pMP->ComputeDistinctiveDescriptors(); + pMP->UpdateNormalAndDepth(); + + //Fill Current Frame structure + mCurrentFrame.mvpMapPoints[mvIniMatches[i]] = pMP; + mCurrentFrame.mvbOutlier[mvIniMatches[i]] = false; + + //Add to Map + mpMap->AddMapPoint(pMP); + } + + // Update Connections + pKFini->UpdateConnections(); + pKFcur->UpdateConnections(); + + // Bundle Adjustment + cout << "New Map created with " << mpMap->MapPointsInMap() << " points" << endl; + + Optimizer::GlobalBundleAdjustemnt(mpMap,20); + + // Set median depth to 1 + float medianDepth = pKFini->ComputeSceneMedianDepth(2); + float invMedianDepth = 1.0f/medianDepth; + + if(medianDepth<0 || pKFcur->TrackedMapPoints(1)<100) + { + cout << "Wrong initialization, reseting..." << endl; + Reset(); + return; + } + + // Scale initial baseline + cv::Mat Tc2w = pKFcur->GetPose(); + Tc2w.col(3).rowRange(0,3) = Tc2w.col(3).rowRange(0,3)*invMedianDepth; + pKFcur->SetPose(Tc2w); + + // Scale points + vector vpAllMapPoints = pKFini->GetMapPointMatches(); + for(size_t iMP=0; iMPSetWorldPos(pMP->GetWorldPos()*invMedianDepth); + } + } + + mpLocalMapper->InsertKeyFrame(pKFini); + mpLocalMapper->InsertKeyFrame(pKFcur); + + mCurrentFrame.SetPose(pKFcur->GetPose()); + mnLastKeyFrameId=mCurrentFrame.mnId; + mpLastKeyFrame = pKFcur; + + mvpLocalKeyFrames.push_back(pKFcur); + mvpLocalKeyFrames.push_back(pKFini); + mvpLocalMapPoints=mpMap->GetAllMapPoints(); + mpReferenceKF = pKFcur; + mCurrentFrame.mpReferenceKF = pKFcur; + + mLastFrame = Frame(mCurrentFrame); + + mpMap->SetReferenceMapPoints(mvpLocalMapPoints); + + mpMapDrawer->SetCurrentCameraPose(pKFcur->GetPose()); + + mpMap->mvpKeyFrameOrigins.push_back(pKFini); + + mState=OK; +} + +//TODO: ？？？查看上一帧是否修改了mappoint +void Tracking::CheckReplacedInLastFrame() +{ + for(int i =0; iGetReplaced(); + if(pRep) + { + mLastFrame.mvpMapPoints[i] = pRep; + } + } + } +} + +bool Tracking::TrackReferenceKeyFrame() +{ + // Compute Bag of Words vector + mCurrentFrame.ComputeBoW(); + + // We perform first an ORB matching with the reference keyframe + // If enough matches are found we setup a PnP solver + ORBmatcher matcher(0.7,true); + vector vpMapPointMatches; + + //在当前帧和上一帧匹配关键点 + int nmatches = matcher.SearchByBoW(mpReferenceKF,mCurrentFrame,vpMapPointMatches); + + if(nmatches<15) + return false; + + mCurrentFrame.mvpMapPoints = vpMapPointMatches; + mCurrentFrame.SetPose(mLastFrame.mTcw); + + Optimizer::PoseOptimization(&mCurrentFrame); + + // Discard outliers + int nmatchesMap = 0; + for(int i =0; i(NULL); + mCurrentFrame.mvbOutlier[i]=false; + pMP->mbTrackInView = false; + pMP->mnLastFrameSeen = mCurrentFrame.mnId; + nmatches--; + } + else if(mCurrentFrame.mvpMapPoints[i]->Observations()>0) + nmatchesMap++; + } + } + + return nmatchesMap>=10; +} + +void Tracking::UpdateLastFrame() +{ + // Update pose according to reference keyframe + KeyFrame* pRef = mLastFrame.mpReferenceKF; + cv::Mat Tlr = mlRelativeFramePoses.back(); + + mLastFrame.SetPose(Tlr*pRef->GetPose()); + + if(mnLastKeyFrameId==mLastFrame.mnId || mSensor==System::MONOCULAR || !mbOnlyTracking) + return; + + // Create "visual odometry" MapPoints + // We sort points according to their measured depth by the stereo/RGB-D sensor + vector > vDepthIdx; + vDepthIdx.reserve(mLastFrame.N); + for(int i=0; i0) + { + vDepthIdx.push_back(make_pair(z,i)); + } + } + + if(vDepthIdx.empty()) + return; + + sort(vDepthIdx.begin(),vDepthIdx.end()); + + // We insert all close points (depthObservations()<1) + { + bCreateNew = true; + } + + if(bCreateNew) + { + cv::Mat x3D = mLastFrame.UnprojectStereo(i); + MapPoint* pNewMP = new MapPoint(x3D,mpMap,&mLastFrame,i); + + mLastFrame.mvpMapPoints[i]=pNewMP; + + mlpTemporalPoints.push_back(pNewMP); + nPoints++; + } + else + { + nPoints++; + } + + if(vDepthIdx[j].first>mThDepth && nPoints>100) + break; + } +} + +bool Tracking::TrackWithMotionModel() +{ + ORBmatcher matcher(0.9,true); + + // Update last frame pose according to its reference keyframe + // Create "visual odometry" points if in Localization Mode + UpdateLastFrame(); + + mCurrentFrame.SetPose(mVelocity*mLastFrame.mTcw); + + fill(mCurrentFrame.mvpMapPoints.begin(),mCurrentFrame.mvpMapPoints.end(),static_cast(NULL)); + + // Project points seen in previous frame + int th; + if(mSensor!=System::STEREO) + th=15; + else + th=7; + int nmatches = matcher.SearchByProjection(mCurrentFrame,mLastFrame,th,mSensor==System::MONOCULAR); + + // If few matches, uses a wider window search + if(nmatches<20) + { + fill(mCurrentFrame.mvpMapPoints.begin(),mCurrentFrame.mvpMapPoints.end(),static_cast(NULL)); + nmatches = matcher.SearchByProjection(mCurrentFrame,mLastFrame,2*th,mSensor==System::MONOCULAR); + } + + if(nmatches<20) + return false; + + // Optimize frame pose with all matches + Optimizer::PoseOptimization(&mCurrentFrame); + + // Discard outliers + int nmatchesMap = 0; + for(int i =0; i(NULL); + mCurrentFrame.mvbOutlier[i]=false; + pMP->mbTrackInView = false; + pMP->mnLastFrameSeen = mCurrentFrame.mnId; + nmatches--; + } + else if(mCurrentFrame.mvpMapPoints[i]->Observations()>0) + nmatchesMap++; + } + } + + if(mbOnlyTracking) + { + mbVO = nmatchesMap<10; + return nmatches>20; + } + + return nmatchesMap>=10; +} + +bool Tracking::TrackLocalMap() +{ + // We have an estimation of the camera pose and some map points tracked in the frame. + // We retrieve the local map and try to find matches to points in the local map. + + UpdateLocalMap(); + + SearchLocalPoints(); + + // Optimize Pose + Optimizer::PoseOptimization(&mCurrentFrame); + mnMatchesInliers = 0; + + // Update MapPoints Statistics + for(int i=0; iIncreaseFound(); + if(!mbOnlyTracking) + { + if(mCurrentFrame.mvpMapPoints[i]->Observations()>0) + mnMatchesInliers++; + } + else + mnMatchesInliers++; + } + else if(mSensor==System::STEREO) + mCurrentFrame.mvpMapPoints[i] = static_cast(NULL); + + } + } + + // Decide if the tracking was succesful + // More restrictive if there was a relocalization recently + if(mCurrentFrame.mnIdisStopped() || mpLocalMapper->stopRequested()) + return false; + + const int nKFs = mpMap->KeyFramesInMap(); + + // Do not insert keyframes if not enough frames have passed from last relocalisation + // mnLastRelocFrameId是最近一次重定位帧的ID + if(mCurrentFrame.mnIdmMaxFrames) + return false; + + // Tracked MapPoints in the reference keyframe + int nMinObs = 3; + if(nKFs<=2) + nMinObs=2; + // 参考关键帧地图点中观测的数目>= nMinObs的地图点数目 + int nRefMatches = mpReferenceKF->TrackedMapPoints(nMinObs); + + // Local Mapping accept keyframes? + bool bLocalMappingIdle = mpLocalMapper->AcceptKeyFrames(); + + // below is DS-SLAM source code + // Stereo & RGB-D: Ratio of close "matches to map"/"total matches" + // "total matches = matches to map + visual odometry matches" + // Visual odometry matches will become MapPoints if we insert a keyframe. + // This ratio measures how many MapPoints we could create if we insert a keyframe. + int nMap = 0; + int nTotal= 0; + if(mSensor!=System::MONOCULAR) + { + for(int i =0; i0 && mCurrentFrame.mvDepth[i]Observations()>0) + nMap++; + } + } + } + else + { + // There are no visual odometry matches in the monocular case + nMap=1; + nTotal=1; + } + + const float ratioMap = (float)nMap/fmax(1.0f,nTotal); + + // Thresholds + float thRefRatio = 0.75f; + if(nKFs<2) + thRefRatio = 0.4f; + + if(mSensor==System::MONOCULAR) + thRefRatio = 0.9f; + + float thMapRatio = 0.35f; + if(mnMatchesInliers>300) + thMapRatio = 0.20f; + + //插入关键帧的条件 + // Condition 1a: More than "MaxFrames" have passed from last keyframe insertion + const bool c1a = mCurrentFrame.mnId>=mnLastKeyFrameId+mMaxFrames; + // Condition 1b: More than "MinFrames" have passed and Local Mapping is idle (空闲) + const bool c1b = (mCurrentFrame.mnId>=mnLastKeyFrameId+mMinFrames && bLocalMappingIdle); + // Condition 1c: tracking is weak + const bool c1c = mSensor!=System::MONOCULAR && (mnMatchesInliers15); + + if((c1a||c1b||c1c)&&c2) + { + // If the mapping accepts keyframes, insert keyframe. + // Otherwise send a signal to interrupt BA + if(bLocalMappingIdle) + { + return true; + } + else + { + mpLocalMapper->InterruptBA(); + if(mSensor!=System::MONOCULAR) + { + if(mpLocalMapper->KeyframesInQueue()<3) + return true; + else + return false; + } + else + return false; + } + } + else + return false; + + /*below is original orbslam2 source code + // Check how many "close" points are being tracked and how many could be potentially created. + int nNonTrackedClose = 0; + int nTrackedClose= 0; + if(mSensor!=System::MONOCULAR) + { + for(int i =0; i0 && mCurrentFrame.mvDepth[i]70); + + // Thresholds + float thRefRatio = 0.75f; + if(nKFs<2) + thRefRatio = 0.4f; + + if(mSensor==System::MONOCULAR) + thRefRatio = 0.9f; + + // Condition 1a: More than "MaxFrames" have passed from last keyframe insertion + const bool c1a = mCurrentFrame.mnId>=mnLastKeyFrameId+mMaxFrames; + // Condition 1b: More than "MinFrames" have passed and Local Mapping is idle + const bool c1b = (mCurrentFrame.mnId>=mnLastKeyFrameId+mMinFrames && bLocalMappingIdle); + //Condition 1c: tracking is weak + const bool c1c = mSensor!=System::MONOCULAR && (mnMatchesInliers15); + + if((c1a||c1b||c1c)&&c2) + { + // If the mapping accepts keyframes, insert keyframe. + // Otherwise send a signal to interrupt BA + if(bLocalMappingIdle) + { + return true; + } + else + { + mpLocalMapper->InterruptBA(); + if(mSensor!=System::MONOCULAR) + { + if(mpLocalMapper->KeyframesInQueue()<3) + return true; + else + return false; + } + else + return false; + } + } + else + return false; + */ +} + +void Tracking::CreateNewKeyFrame() +{ + if(!mpLocalMapper->SetNotStop(true)) + return; + + KeyFrame* pKF = new KeyFrame(mCurrentFrame,mpMap,mpKeyFrameDB); + + mpReferenceKF = pKF; + mCurrentFrame.mpReferenceKF = pKF; + + if(mSensor!=System::MONOCULAR) + { + mCurrentFrame.UpdatePoseMatrices(); + + // We sort points by the measured depth by the stereo/RGBD sensor. + // We create all those MapPoints whose depth < mThDepth. + // If there are less than 100 close points we create the 100 closest. + vector > vDepthIdx; + vDepthIdx.reserve(mCurrentFrame.N); + for(int i=0; i0) + { + vDepthIdx.push_back(make_pair(z,i)); + } + } + + if(!vDepthIdx.empty()) + { + sort(vDepthIdx.begin(),vDepthIdx.end()); + + int nPoints = 0; + for(size_t j=0; jObservations()<1) //没被观测到 + { + bCreateNew = true; + mCurrentFrame.mvpMapPoints[i] = static_cast(NULL); + } + + if(bCreateNew) + { + cv::Mat x3D = mCurrentFrame.UnprojectStereo(i); + MapPoint* pNewMP = new MapPoint(x3D,pKF,mpMap); + pNewMP->AddObservation(pKF,i); + pKF->AddMapPoint(pNewMP,i); + pNewMP->ComputeDistinctiveDescriptors(); + pNewMP->UpdateNormalAndDepth(); + mpMap->AddMapPoint(pNewMP); + + mCurrentFrame.mvpMapPoints[i]=pNewMP; + nPoints++; + } + else + { + nPoints++; + } + + if(vDepthIdx[j].first>mThDepth && nPoints>100) + break; + } + } + } + //cout << "new kf" << endl; + + mpLocalMapper->InsertKeyFrame(pKF); + + mpLocalMapper->SetNotStop(false); + + // insert Key Frame into pointcloud viewer + mpPointCloudMapper->insertKeyFrame(pKF,this->mImRGB,this->mImDepth); + + mnLastKeyFrameId = mCurrentFrame.mnId; + mpLastKeyFrame = pKF; +} + +void Tracking::SearchLocalPoints() +{ + // Do not search map points already matched + for(vector::iterator vit=mCurrentFrame.mvpMapPoints.begin(), vend=mCurrentFrame.mvpMapPoints.end(); vit!=vend; vit++) + { + MapPoint* pMP = *vit; + if(pMP) + { + if(pMP->isBad()) + { + *vit = static_cast(NULL); + } + else + { + pMP->IncreaseVisible(); + pMP->mnLastFrameSeen = mCurrentFrame.mnId; + pMP->mbTrackInView = false; + } + } + } + + int nToMatch=0; + + // Project points in frame and check its visibility + for(vector::iterator vit=mvpLocalMapPoints.begin(), vend=mvpLocalMapPoints.end(); vit!=vend; vit++) + { + MapPoint* pMP = *vit; + if(pMP->mnLastFrameSeen == mCurrentFrame.mnId) + continue; + if(pMP->isBad()) + continue; + // Project (this fills MapPoint variables for matching) + if(mCurrentFrame.isInFrustum(pMP,0.5)) + { + pMP->IncreaseVisible(); + nToMatch++; + } + } + + if(nToMatch>0) + { + ORBmatcher matcher(0.8); + int th = 1; + if(mSensor==System::RGBD) + th=3; + // If the camera has been relocalised recently, perform a coarser search + if(mCurrentFrame.mnIdSetReferenceMapPoints(mvpLocalMapPoints); + + // Update + UpdateLocalKeyFrames(); + UpdateLocalPoints(); +} + +void Tracking::UpdateLocalPoints() +{ + mvpLocalMapPoints.clear(); + + for(vector::const_iterator itKF=mvpLocalKeyFrames.begin(), itEndKF=mvpLocalKeyFrames.end(); itKF!=itEndKF; itKF++) + { + KeyFrame* pKF = *itKF; + const vector vpMPs = pKF->GetMapPointMatches(); + + for(vector::const_iterator itMP=vpMPs.begin(), itEndMP=vpMPs.end(); itMP!=itEndMP; itMP++) + { + MapPoint* pMP = *itMP; + if(!pMP) + continue; + if(pMP->mnTrackReferenceForFrame==mCurrentFrame.mnId) + continue; + if(!pMP->isBad()) + { + mvpLocalMapPoints.push_back(pMP); + pMP->mnTrackReferenceForFrame=mCurrentFrame.mnId; + } + } + } +} + + +void Tracking::UpdateLocalKeyFrames() +{ + // Each map point vote for the keyframes in which it has been observed + map keyframeCounter; + for(int i=0; iisBad()) + { + const map observations = pMP->GetObservations(); + for(map::const_iterator it=observations.begin(), itend=observations.end(); it!=itend; it++) + keyframeCounter[it->first]++; + } + else + { + mCurrentFrame.mvpMapPoints[i]=NULL; + } + } + } + + if(keyframeCounter.empty()) + return; + + int max=0; + KeyFrame* pKFmax= static_cast(NULL); + + mvpLocalKeyFrames.clear(); + mvpLocalKeyFrames.reserve(3*keyframeCounter.size()); + + // All keyframes that observe a map point are included in the local map. Also check which keyframe shares most points + for(map::const_iterator it=keyframeCounter.begin(), itEnd=keyframeCounter.end(); it!=itEnd; it++) + { + KeyFrame* pKF = it->first; + + if(pKF->isBad()) + continue; + + if(it->second>max) + { + max=it->second; + pKFmax=pKF; + } + + mvpLocalKeyFrames.push_back(it->first); + pKF->mnTrackReferenceForFrame = mCurrentFrame.mnId; + } + + + // Include also some not-already-included keyframes that are neighbors to already-included keyframes + for(vector::const_iterator itKF=mvpLocalKeyFrames.begin(), itEndKF=mvpLocalKeyFrames.end(); itKF!=itEndKF; itKF++) + { + // Limit the number of keyframes + if(mvpLocalKeyFrames.size()>80) + break; + + KeyFrame* pKF = *itKF; + + const vector vNeighs = pKF->GetBestCovisibilityKeyFrames(10); + + for(vector::const_iterator itNeighKF=vNeighs.begin(), itEndNeighKF=vNeighs.end(); itNeighKF!=itEndNeighKF; itNeighKF++) + { + KeyFrame* pNeighKF = *itNeighKF; + if(!pNeighKF->isBad()) + { + if(pNeighKF->mnTrackReferenceForFrame!=mCurrentFrame.mnId) + { + mvpLocalKeyFrames.push_back(pNeighKF); + pNeighKF->mnTrackReferenceForFrame=mCurrentFrame.mnId; + break; + } + } + } + + const set spChilds = pKF->GetChilds(); + for(set::const_iterator sit=spChilds.begin(), send=spChilds.end(); sit!=send; sit++) + { + KeyFrame* pChildKF = *sit; + if(!pChildKF->isBad()) + { + if(pChildKF->mnTrackReferenceForFrame!=mCurrentFrame.mnId) + { + mvpLocalKeyFrames.push_back(pChildKF); + pChildKF->mnTrackReferenceForFrame=mCurrentFrame.mnId; + break; + } + } + } + + KeyFrame* pParent = pKF->GetParent(); + if(pParent) + { + if(pParent->mnTrackReferenceForFrame!=mCurrentFrame.mnId) + { + mvpLocalKeyFrames.push_back(pParent); + pParent->mnTrackReferenceForFrame=mCurrentFrame.mnId; + break; + } + } + + } + + if(pKFmax) + { + mpReferenceKF = pKFmax; + mCurrentFrame.mpReferenceKF = mpReferenceKF; + } +} + +bool Tracking::Relocalization() +{ + // Compute Bag of Words Vector + mCurrentFrame.ComputeBoW(); + + // Relocalization is performed when tracking is lost + // Track Lost: Query KeyFrame Database for keyframe candidates for relocalisation + vector vpCandidateKFs = mpKeyFrameDB->DetectRelocalizationCandidates(&mCurrentFrame); + + if(vpCandidateKFs.empty()) + return false; + + const int nKFs = vpCandidateKFs.size(); + + // We perform first an ORB matching with each candidate + // If enough matches are found we setup a PnP solver + ORBmatcher matcher(0.75,true); + + vector vpPnPsolvers; + vpPnPsolvers.resize(nKFs); + + vector > vvpMapPointMatches; + vvpMapPointMatches.resize(nKFs); + + vector vbDiscarded; + vbDiscarded.resize(nKFs); + + int nCandidates=0; + + for(int i=0; iisBad()) + vbDiscarded[i] = true; + else + { + int nmatches = matcher.SearchByBoW(pKF,mCurrentFrame,vvpMapPointMatches[i]); + if(nmatches<15) + { + vbDiscarded[i] = true; + continue; + } + else + { + PnPsolver* pSolver = new PnPsolver(mCurrentFrame,vvpMapPointMatches[i]); + pSolver->SetRansacParameters(0.99,10,300,4,0.5,5.991); + vpPnPsolvers[i] = pSolver; + nCandidates++; + } + } + } + + // Alternatively perform some iterations of P4P RANSAC + // Until we found a camera pose supported by enough inliers + bool bMatch = false; + ORBmatcher matcher2(0.9,true); + + while(nCandidates>0 && !bMatch) + { + for(int i=0; i vbInliers; + int nInliers; + bool bNoMore; + + PnPsolver* pSolver = vpPnPsolvers[i]; + cv::Mat Tcw = pSolver->iterate(5,bNoMore,vbInliers,nInliers); + + // If Ransac reachs max. iterations discard keyframe + if(bNoMore) + { + vbDiscarded[i]=true; + nCandidates--; + } + + // If a Camera Pose is computed, optimize + if(!Tcw.empty()) + { + Tcw.copyTo(mCurrentFrame.mTcw); + + set sFound; + + const int np = vbInliers.size(); + + for(int j=0; j(NULL); + + // If few inliers, search by projection in a coarse window and optimize again + if(nGood<50) + { + int nadditional =matcher2.SearchByProjection(mCurrentFrame,vpCandidateKFs[i],sFound,10,100); + + if(nadditional+nGood>=50) + { + nGood = Optimizer::PoseOptimization(&mCurrentFrame); + + // If many inliers but still not enough, search by projection again in a narrower window + // the camera has been already optimized with many points + if(nGood>30 && nGood<50) + { + sFound.clear(); + for(int ip =0; ip=50) + { + nGood = Optimizer::PoseOptimization(&mCurrentFrame); + + for(int io =0; io=50) + { + bMatch = true; + break; + } + } + } + } + + if(!bMatch) + { + return false; + } + else + { + mnLastRelocFrameId = mCurrentFrame.mnId; + return true; + } + +} + +void Tracking::Reset() +{ + + cout << "System Reseting" << endl; + if(mpViewer) + { + mpViewer->RequestStop(); + while(!mpViewer->isStopped()) + usleep(3000); + } + + // Reset Local Mapping + cout << "Reseting Local Mapper..."; + mpLocalMapper->RequestReset(); + cout << " done" << endl; + + // Reset Loop Closing + cout << "Reseting Loop Closing..."; + mpLoopClosing->RequestReset(); + cout << " done" << endl; + + // Clear BoW Database + cout << "Reseting Database..."; + mpKeyFrameDB->clear(); + cout << " done" << endl; + + // Clear Map (this erase MapPoints and KeyFrames) + mpMap->clear(); + + KeyFrame::nNextId = 0; + Frame::nNextId = 0; + mState = NO_IMAGES_YET; + + if(mpInitializer) + { + delete mpInitializer; + mpInitializer = static_cast(NULL); + } + + mlRelativeFramePoses.clear(); + mlpReferences.clear(); + mlFrameTimes.clear(); + mlbLost.clear(); + + if(mpViewer) + mpViewer->Release(); +} + +void Tracking::ChangeCalibration(const string &strSettingPath) +{ + cv::FileStorage fSettings(strSettingPath, cv::FileStorage::READ); + float fx = fSettings["Camera.fx"]; + float fy = fSettings["Camera.fy"]; + float cx = fSettings["Camera.cx"]; + float cy = fSettings["Camera.cy"]; + + cv::Mat K = cv::Mat::eye(3,3,CV_32F); + K.at(0,0) = fx; + K.at(1,1) = fy; + K.at(0,2) = cx; + K.at(1,2) = cy; + K.copyTo(mK); + + cv::Mat DistCoef(4,1,CV_32F); + DistCoef.at(0) = fSettings["Camera.k1"]; + DistCoef.at(1) = fSettings["Camera.k2"]; + DistCoef.at(2) = fSettings["Camera.p1"]; + DistCoef.at(3) = fSettings["Camera.p2"]; + const float k3 = fSettings["Camera.k3"]; + if(k3!=0) + { + DistCoef.resize(5); + DistCoef.at(4) = k3; + } + DistCoef.copyTo(mDistCoef); + + mbf = fSettings["Camera.bf"]; + + Frame::mbInitialComputations = true; +} + +void Tracking::InformOnlyTracking(const bool &flag) +{ + mbOnlyTracking = flag; +} + + + +} //namespace ORB_SLAM diff --git a/MyCode/src/my-slam/src/Viewer.cc b/MyCode/src/my-slam/src/Viewer.cc new file mode 100644 index 0000000..6c681e8 --- /dev/null +++ b/MyCode/src/my-slam/src/Viewer.cc @@ -0,0 +1,235 @@ +/** +* This file is part of ORB-SLAM2. +* +* Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) +* For more information see +* +* ORB-SLAM2 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. +* +* ORB-SLAM2 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 ORB-SLAM2. If not, see . +*/ + +#include "Viewer.h" +#include +#include + +namespace ORB_SLAM2 +{ + +Viewer::Viewer(System* pSystem, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Tracking *pTracking, Detector2D *pObject2d, const string &strSettingPath): + mpSystem(pSystem), mpFrameDrawer(pFrameDrawer),mpMapDrawer(pMapDrawer), mpTracker(pTracking),mpDetector2d(pObject2d), + mbFinishRequested(false), mbFinished(true), mbStopped(true), mbStopRequested(false) +{ + cv::FileStorage fSettings(strSettingPath, cv::FileStorage::READ); + + float fps = fSettings["Camera.fps"]; + if(fps<1) + fps=30; + mT = 1e3/fps; + + mImageWidth = fSettings["Camera.width"]; + mImageHeight = fSettings["Camera.height"]; + if(mImageWidth<1 || mImageHeight<1) + { + mImageWidth = 640; + mImageHeight = 480; + } + + mViewpointX = fSettings["Viewer.ViewpointX"]; + mViewpointY = fSettings["Viewer.ViewpointY"]; + mViewpointZ = fSettings["Viewer.ViewpointZ"]; + mViewpointF = fSettings["Viewer.ViewpointF"]; +} + +void Viewer::Run() +{ + mbFinished = false; + mbStopped = false; + + pangolin::CreateWindowAndBind("SG-SLAM: Map Viewer",1024,768); + + // 3D Mouse handler requires depth testing to be enabled + glEnable(GL_DEPTH_TEST); + + // Issue specific OpenGl we might need + glEnable (GL_BLEND); + glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + + pangolin::CreatePanel("menu").SetBounds(0.0,1.0,0.0,pangolin::Attach::Pix(175)); + pangolin::Var menuFollowCamera("menu.Follow Camera",true,true); + pangolin::Var menuShowPoints("menu.Show Points",true,true); + pangolin::Var menuShowKeyFrames("menu.Show KeyFrames",true,true); + pangolin::Var menuShowGraph("menu.Show Graph",true,true); + pangolin::Var menuLocalizationMode("menu.Localization Mode",false,true); + pangolin::Var menuReset("menu.Reset",false,false); + + // Define Camera Render Object (for view / scene browsing) + pangolin::OpenGlRenderState s_cam( + pangolin::ProjectionMatrix(1024,768,mViewpointF,mViewpointF,512,389,0.1,1000), + pangolin::ModelViewLookAt(mViewpointX,mViewpointY,mViewpointZ, 0,0,0,0.0,-1.0, 0.0) + ); + + // Add named OpenGL viewport to window and provide 3D Handler + pangolin::View& d_cam = pangolin::CreateDisplay() + .SetBounds(0.0, 1.0, pangolin::Attach::Pix(175), 1.0, -1024.0f/768.0f) + .SetHandler(new pangolin::Handler3D(s_cam)); + + pangolin::OpenGlMatrix Twc; + Twc.SetIdentity(); + + cv::namedWindow("SG-SLAM: Current Frame"); + + bool bFollow = true; + bool bLocalizationMode = false; + + while(1) + { + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + + mpMapDrawer->GetCurrentOpenGLCameraMatrix(Twc); + + if(menuFollowCamera && bFollow) + { + s_cam.Follow(Twc); + } + else if(menuFollowCamera && !bFollow) + { + s_cam.SetModelViewMatrix(pangolin::ModelViewLookAt(mViewpointX,mViewpointY,mViewpointZ, 0,0,0,0.0,-1.0, 0.0)); + s_cam.Follow(Twc); + bFollow = true; + } + else if(!menuFollowCamera && bFollow) + { + bFollow = false; + } + + if(menuLocalizationMode && !bLocalizationMode) + { + mpSystem->ActivateLocalizationMode(); + bLocalizationMode = true; + } + else if(!menuLocalizationMode && bLocalizationMode) + { + mpSystem->DeactivateLocalizationMode(); + bLocalizationMode = false; + } + + d_cam.Activate(s_cam); + glClearColor(1.0f,1.0f,1.0f,1.0f); + mpMapDrawer->DrawCurrentCamera(Twc); + if(menuShowKeyFrames || menuShowGraph) + mpMapDrawer->DrawKeyFrames(menuShowKeyFrames,menuShowGraph); + if(menuShowPoints) + mpMapDrawer->DrawMapPoints(); + + //mpMapDrawer->DrawObject(); //draw Object in pangolin window + + pangolin::FinishFrame(); + + image_to_show = mpFrameDrawer->DrawFrame(); + mpDetector2d->draw_objects(image_to_show); //draw object boundingbox + + cv::imshow("SG-SLAM: Current Frame",image_to_show); + cv::waitKey(mT); + + if(menuReset) + { + menuShowGraph = true; + menuShowKeyFrames = true; + menuShowPoints = true; + menuLocalizationMode = false; + if(bLocalizationMode) + mpSystem->DeactivateLocalizationMode(); + bLocalizationMode = false; + bFollow = true; + menuFollowCamera = true; + mpSystem->Reset(); + menuReset = false; + } + + if(Stop()) + { + while(isStopped()) + { + usleep(3000); + } + } + + if(CheckFinish()) + break; + } + + SetFinish(); +} + +void Viewer::RequestFinish() +{ + unique_lock lock(mMutexFinish); + mbFinishRequested = true; +} + +bool Viewer::CheckFinish() +{ + unique_lock lock(mMutexFinish); + return mbFinishRequested; +} + +void Viewer::SetFinish() +{ + unique_lock lock(mMutexFinish); + mbFinished = true; +} + +bool Viewer::isFinished() +{ + unique_lock lock(mMutexFinish); + return mbFinished; +} + +void Viewer::RequestStop() +{ + unique_lock lock(mMutexStop); + if(!mbStopped) + mbStopRequested = true; +} + +bool Viewer::isStopped() +{ + unique_lock lock(mMutexStop); + return mbStopped; +} + +bool Viewer::Stop() +{ + unique_lock lock(mMutexStop); + unique_lock lock2(mMutexFinish); + + if(mbFinishRequested) + return false; + else if(mbStopRequested) + { + mbStopped = true; + mbStopRequested = false; + return true; + } + + return false; + +} + +void Viewer::Release() +{ + unique_lock lock(mMutexStop); + mbStopped = false; +} + +} diff --git a/MyCode/src/my-slam/src/cub.cc b/MyCode/src/my-slam/src/cub.cc new file mode 100644 index 0000000..88b8795 --- /dev/null +++ b/MyCode/src/my-slam/src/cub.cc @@ -0,0 +1,19 @@ +#pragma once + +#include + +// Eigen +#include +#include + +#include +#include +#include "cub.h" + +void cuboid::print_cuboid(){ + +} + +int cuboid::getObjectId(){ + return object_id; +} \ No newline at end of file diff --git a/MyCode/src/my-slam/src/detection_yolo.cc b/MyCode/src/my-slam/src/detection_yolo.cc new file mode 100644 index 0000000..a85d237 --- /dev/null +++ b/MyCode/src/my-slam/src/detection_yolo.cc @@ -0,0 +1,56 @@ +#include +#include +#include +#include +#include + +class YOLOv8Node { +public: + YOLOv8Node() + : it_(nh_) { + image_sub_ = it_.subscribe("input_image_topic", 1, &YOLOv8Node::imageCallback, this); + mask_pub_ = it_.advertise("output_mask_topic", 1); + + // 初始化YOLOv8 + yolo_ = new YOLOv8("/home/czd/project/My/src/sg-slam/yolov8n-seg.pt"); + } + + ~YOLOv8Node() { + delete yolo_; + } + +private: + void imageCallback(const sensor_msgs::ImageConstPtr& msg) { + cv_bridge::CvImagePtr cv_ptr; + try { + cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8); + } catch (cv_bridge::Exception& e) { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return; + } + + // 使用YOLOv8进行目标检测 + cv::Mat mask; + yolo_->detect(cv_ptr->image, mask); + + // 将mask发布出去 + cv_bridge::CvImage mask_msg; + mask_msg.header = cv_ptr->header; + mask_msg.encoding = sensor_msgs::image_encodings::MONO8; + mask_msg.image = mask; + mask_pub_.publish(mask_msg.toImageMsg()); + } + + ros::NodeHandle nh_; + image_transport::ImageTransport it_; + image_transport::Subscriber image_sub_; + image_transport::Publisher mask_pub_; + YOLOv8* yolo_; +}; + +int main(int argc, char** argv) { + ros::init(argc, argv, "yolov8_node"); + YOLOv8Node yolo_node; + ros::spin(); + return 0; +} diff --git a/MyCode/src/my-slam/src/inference.cc b/MyCode/src/my-slam/src/inference.cc new file mode 100644 index 0000000..532d525 --- /dev/null +++ b/MyCode/src/my-slam/src/inference.cc @@ -0,0 +1,196 @@ +#include "inference.h" + +Inference::Inference(const std::string &onnxModelPath, const cv::Size &modelInputShape, const std::string &classesTxtFile, const bool &runWithCuda) +{ + modelPath = onnxModelPath; + modelShape = modelInputShape; + classesPath = classesTxtFile; + cudaEnabled = runWithCuda; + + loadOnnxNetwork(); + // loadClassesFromFile(); The classes are hard-coded for this example + // std::cout << "no 0" << std::endl; +} + +std::vector Inference::runInference(const cv::Mat &input) +{ + cv::Mat modelInput = input; + if (letterBoxForSquare && modelShape.width == modelShape.height) + modelInput = formatToSquare(modelInput); + + // std::cout << "test1" << std::endl; + cv::Mat blob; + cv::dnn::blobFromImage(modelInput, blob, 1.0/255.0, modelShape, cv::Scalar(), true, false); + net.setInput(blob); + // std::cout << "test2" << std::endl; + + std::vector outputs; + net.forward(outputs, net.getUnconnectedOutLayersNames()); + + // std::cout << "test3" << std::endl; + + int rows = outputs[0].size[1]; + int dimensions = outputs[0].size[2]; + + bool yolov8 = false; + // yolov5 has an output of shape (batchSize, 25200, 85) (Num classes + box[x,y,w,h] + confidence[c]) + // yolov8 has an output of shape (batchSize, 84, 8400) (Num classes + box[x,y,w,h]) + if (dimensions > rows) // Check if the shape[2] is more than shape[1] (yolov8) + { + yolov8 = true; + rows = outputs[0].size[2]; + dimensions = outputs[0].size[1]; + + outputs[0] = outputs[0].reshape(1, dimensions); + cv::transpose(outputs[0], outputs[0]); + } + float *data = (float *)outputs[0].data; + + float x_factor = modelInput.cols / modelShape.width; + float y_factor = modelInput.rows / modelShape.height; + //std::cout< class_ids; + std::vector confidences; + std::vector boxes; + std::cout< modelScoreThreshold) + { + confidences.push_back(maxClassScore); + class_ids.push_back(class_id.x); + + float x = data[0]; + float y = data[1]; + float w = data[2]; + float h = data[3]; + + int left = int((x - 0.5 * w) * x_factor); + int top = int((y - 0.5 * h) * y_factor); + + int width = int(w * x_factor); + int height = int(h * y_factor); + //std::cout<= modelConfidenceThreshold) + { + float *classes_scores = data+5; + + cv::Mat scores(1, classes.size(), CV_32FC1, classes_scores); + cv::Point class_id; + double max_class_score; + + minMaxLoc(scores, 0, &max_class_score, 0, &class_id); + + if (max_class_score > modelScoreThreshold) + { + confidences.push_back(confidence); + class_ids.push_back(class_id.x); + + float x = data[0]; + float y = data[1]; + float w = data[2]; + float h = data[3]; + + int left = int((x - 0.5 * w) * x_factor); + int top = int((y - 0.5 * h) * y_factor); + + int width = int(w * x_factor); + int height = int(h * y_factor); + + boxes.push_back(cv::Rect(left, top, width, height)); + } + } + } + + data += dimensions; + } + + std::vector nms_result; + cv::dnn::NMSBoxes(boxes, confidences, modelScoreThreshold, modelNMSThreshold, nms_result); + + std::vector detections{}; + for (unsigned long i = 0; i < nms_result.size(); ++i) + { + int idx = nms_result[i]; + + Detection result; + result.class_id = class_ids[idx]; + result.confidence = confidences[idx]; + + std::random_device rd; + std::mt19937 gen(rd()); + std::uniform_int_distribution dis(100, 255); + result.color = cv::Scalar(dis(gen), + dis(gen), + dis(gen)); + + result.className = classes[result.class_id]; + result.box = boxes[idx]; + + detections.push_back(result); + } + + return detections; +} + +void Inference::loadClassesFromFile() +{ + std::ifstream inputFile(classesPath); + if (inputFile.is_open()) + { + std::string classLine; + while (std::getline(inputFile, classLine)) + classes.push_back(classLine); + inputFile.close(); + } +} + +void Inference::loadOnnxNetwork() +{ + net = cv::dnn::readNetFromONNX(modelPath); + if (cudaEnabled) + { + std::cout << "\nRunning on CUDA" << std::endl; + net.setPreferableBackend(cv::dnn::DNN_BACKEND_CUDA); + // std::cout << "backend" << std::endl; + net.setPreferableTarget(cv::dnn::DNN_TARGET_CUDA); + // std::cout << "target" << std::endl; + } + else + { + std::cout << "\nRunning on CPU" << std::endl; + net.setPreferableBackend(cv::dnn::DNN_BACKEND_OPENCV); + net.setPreferableTarget(cv::dnn::DNN_TARGET_CPU); + } +} + +cv::Mat Inference::formatToSquare(const cv::Mat &source) +{ + int col = source.cols; + int row = source.rows; + int _max = MAX(col, row); + cv::Mat result = cv::Mat::zeros(_max, _max, CV_8UC3); + source.copyTo(result(cv::Rect(0, 0, col, row))); + return result; +} + + diff --git a/MyCode/src/my-slam/src/yolov8_seg_onnx.cpp b/MyCode/src/my-slam/src/yolov8_seg_onnx.cpp new file mode 100644 index 0000000..eeaeec5 --- /dev/null +++ b/MyCode/src/my-slam/src/yolov8_seg_onnx.cpp @@ -0,0 +1,442 @@ +#include "yolov8_seg_onnx.h" + +using namespace std; +using namespace cv; +using namespace cv::dnn; +using namespace Ort; + +bool Yolov8SegOnnx::ReadModel(const std::string &modelPath, bool isCuda, int cudaID, bool warmUp) +{ + if (_batchSize < 1) + _batchSize = 1; + try + { + std::vector available_providers = GetAvailableProviders(); + auto cuda_available = std::find(available_providers.begin(), available_providers.end(), "CUDAExecutionProvider"); + if (isCuda && (cuda_available == available_providers.end())) + { + std::cout << "Your ORT build without GPU. Change to CPU." << std::endl; + std::cout << "************* Infer model on CPU! *************" << std::endl; + } + else if (isCuda && (cuda_available != available_providers.end())) + { + std::cout << "************* Infer model on GPU! *************" << std::endl; + } + else + { + std::cout << "************* Infer model on CPU! *************" << std::endl; + } + // + _OrtSessionOptions.SetGraphOptimizationLevel(GraphOptimizationLevel::ORT_ENABLE_EXTENDED); + +#ifdef _WIN32 + std::wstring model_path(modelPath.begin(), modelPath.end()); + _OrtSession = new Ort::Session(_OrtEnv, model_path.c_str(), _OrtSessionOptions); +#else + _OrtSession = new Ort::Session(_OrtEnv, modelPath.c_str(), _OrtSessionOptions); +#endif + std::cout << "1" << std::endl; + Ort::AllocatorWithDefaultOptions allocator; + + // init input + + _inputNodesNum = _OrtSession->GetInputCount(); + +#if ORT_API_VERSION < ORT_OLD_VISON + _inputName = _OrtSession->GetInputName(0, allocator); + _inputNodeNames.push_back(_inputName); +#else + _inputName = std::move(_OrtSession->GetInputNameAllocated(0, allocator)); + _inputNodeNames.push_back(_inputName.get()); +#endif + + std::cout << "2" << std::endl; + Ort::TypeInfo inputTypeInfo = _OrtSession->GetInputTypeInfo(0); + + auto input_tensor_info = inputTypeInfo.GetTensorTypeAndShapeInfo(); + _inputNodeDataType = input_tensor_info.GetElementType(); + _inputTensorShape = input_tensor_info.GetShape(); + if (_inputTensorShape[0] == -1) + { + _isDynamicShape = true; + _inputTensorShape[0] = _batchSize; + } + if (_inputTensorShape[2] == -1 || _inputTensorShape[3] == -1) + { + _isDynamicShape = true; + _inputTensorShape[2] = _netHeight; + _inputTensorShape[3] = _netWidth; + } + + // init output + std::cout << "3" << std::endl; + _outputNodesNum = _OrtSession->GetOutputCount(); + + if (_outputNodesNum != 2) + { + cout << "This model has " << _outputNodesNum << "output, which is not a segmentation model.Please check your model name or path!" << endl; + return false; + } + +#if ORT_API_VERSION < ORT_OLD_VISON + _output_name0 = _OrtSession->GetOutputName(0, allocator); + _output_name1 = _OrtSession->GetOutputName(1, allocator); +#else + _output_name0 = std::move(_OrtSession->GetOutputNameAllocated(0, allocator)); + _output_name1 = std::move(_OrtSession->GetOutputNameAllocated(1, allocator)); +#endif + std::cout << "4" << std::endl; + Ort::TypeInfo type_info_output0(nullptr); + Ort::TypeInfo type_info_output1(nullptr); + bool flag = false; + +#if ORT_API_VERSION < ORT_OLD_VISON + flag = strcmp(_output_name0, _output_name1) < 0; +#else + flag = strcmp(_output_name0.get(), _output_name1.get()) < 0; +#endif + + if (flag) // make sure "output0" is in front of "output1" + { + type_info_output0 = _OrtSession->GetOutputTypeInfo(0); // output0 + type_info_output1 = _OrtSession->GetOutputTypeInfo(1); // output1 +#if ORT_API_VERSION < ORT_OLD_VISON + _outputNodeNames.push_back(_output_name0); + _outputNodeNames.push_back(_output_name1); +#else + _outputNodeNames.push_back(_output_name0.get()); + _outputNodeNames.push_back(_output_name1.get()); +#endif + } + else + { + type_info_output0 = _OrtSession->GetOutputTypeInfo(1); // output0 + type_info_output1 = _OrtSession->GetOutputTypeInfo(0); // output1 +#if ORT_API_VERSION < ORT_OLD_VISON + _outputNodeNames.push_back(_output_name1); + _outputNodeNames.push_back(_output_name0); +#else + _outputNodeNames.push_back(_output_name1.get()); + _outputNodeNames.push_back(_output_name0.get()); +#endif + } + std::cout << "5" << std::endl; + auto tensor_info_output0 = type_info_output0.GetTensorTypeAndShapeInfo(); + _outputNodeDataType = tensor_info_output0.GetElementType(); + _outputTensorShape = tensor_info_output0.GetShape(); + auto tensor_info_output1 = type_info_output1.GetTensorTypeAndShapeInfo(); + + //_outputMaskNodeDataType = tensor_info_output1.GetElementType(); //the same as output0 + //_outputMaskTensorShape = tensor_info_output1.GetShape(); + // if (_outputTensorShape[0] == -1) + //{ + // _outputTensorShape[0] = _batchSize; + // _outputMaskTensorShape[0] = _batchSize; + //} + // if (_outputMaskTensorShape[2] == -1) { + // //size_t ouput_rows = 0; + // //for (int i = 0; i < _strideSize; ++i) { + // // ouput_rows += 3 * (_netWidth / _netStride[i]) * _netHeight / _netStride[i]; + // //} + // //_outputTensorShape[1] = ouput_rows; + // _outputMaskTensorShape[2] = _segHeight; + // _outputMaskTensorShape[3] = _segWidth; + + //} + + // warm up + std::cout << "61" << std::endl; + if (isCuda && warmUp) + { + // draw run + cout << "Start warming up" << endl; + size_t input_tensor_length = VectorProduct(_inputTensorShape); + float *temp = new float[input_tensor_length]; + std::vector input_tensors; + std::vector output_tensors; + input_tensors.push_back(Ort::Value::CreateTensor( + _OrtMemoryInfo, temp, input_tensor_length, _inputTensorShape.data(), + _inputTensorShape.size())); + + for (int i = 0; i < 3; ++i) + { + output_tensors = _OrtSession->Run(Ort::RunOptions{nullptr}, + _inputNodeNames.data(), + input_tensors.data(), + _inputNodeNames.size(), + _outputNodeNames.data(), + _outputNodeNames.size()); + } + delete[] temp; + } + } + catch (const std::exception &) + { + return false; + } + std::cout << "true" << std::endl; + return true; +} + +int Yolov8SegOnnx::Preprocessing(const std::vector &srcImgs, std::vector &outSrcImgs, std::vector ¶ms) +{ + + outSrcImgs.clear(); + + Size input_size = Size(_netWidth, _netHeight); + + for (int i = 0; i < srcImgs.size(); ++i) + { + + Mat temp_img = srcImgs[i]; + + Vec4d temp_param = {1, 1, 0, 0}; + + if (temp_img.size() != input_size) + { + + Mat borderImg; + + LetterBox(temp_img, borderImg, temp_param, input_size, false, false, true, 32); + + // cout << borderImg.size() << endl; + + outSrcImgs.push_back(borderImg); + + params.push_back(temp_param); + } + + else + { + + outSrcImgs.push_back(temp_img); + + params.push_back(temp_param); + } + } + + int lack_num = srcImgs.size() % _batchSize; + + if (lack_num != 0) + { + + for (int i = 0; i < lack_num; ++i) + { + + Mat temp_img = Mat::zeros(input_size, CV_8UC3); + + Vec4d temp_param = {1, 1, 0, 0}; + + outSrcImgs.push_back(temp_img); + + params.push_back(temp_param); + } + } + + return 0; +} + +bool Yolov8SegOnnx::OnnxDetect(cv::Mat &srcImg, std::vector &output) +{ + + std::vector input_data = {srcImg}; + + std::vector> tenp_output; + + if (OnnxBatchDetect(input_data, tenp_output)) + { + + output = tenp_output[0]; + + return true; + } + + else + return false; +} + +bool Yolov8SegOnnx::OnnxBatchDetect(std::vector &srcImgs, std::vector> &output) +{ + + vector params; + + vector input_images; + + cv::Size input_size(_netWidth, _netHeight); + + // preprocessing + + Preprocessing(srcImgs, input_images, params); + + cv::Mat blob = cv::dnn::blobFromImages(input_images, 1 / 255.0, input_size, Scalar(0, 0, 0), true, false); + + int64_t input_tensor_length = VectorProduct(_inputTensorShape); + + std::vector input_tensors; + + std::vector output_tensors; + + input_tensors.push_back(Ort::Value::CreateTensor(_OrtMemoryInfo, (float *)blob.data, input_tensor_length, _inputTensorShape.data(), _inputTensorShape.size())); + + output_tensors = _OrtSession->Run(Ort::RunOptions{nullptr}, + + _inputNodeNames.data(), + + input_tensors.data(), + + _inputNodeNames.size(), + + _outputNodeNames.data(), + + _outputNodeNames.size() + + ); + + // post-process + + int net_width = _className.size() + 4 + _segChannels; + + float *all_data = output_tensors[0].GetTensorMutableData(); + + _outputTensorShape = output_tensors[0].GetTensorTypeAndShapeInfo().GetShape(); + + _outputMaskTensorShape = output_tensors[1].GetTensorTypeAndShapeInfo().GetShape(); + + vector mask_protos_shape = {1, (int)_outputMaskTensorShape[1], (int)_outputMaskTensorShape[2], (int)_outputMaskTensorShape[3]}; + + int mask_protos_length = VectorProduct(mask_protos_shape); + + int64_t one_output_length = VectorProduct(_outputTensorShape) / _outputTensorShape[0]; + + for (int img_index = 0; img_index < srcImgs.size(); ++img_index) + { + + Mat output0 = Mat(Size((int)_outputTensorShape[2], (int)_outputTensorShape[1]), CV_32F, all_data).t(); //[bs,116,8400]=>[bs,8400,116] + + all_data += one_output_length; + + float *pdata = (float *)output0.data; + + int rows = output0.rows; + + std::vector class_ids; //\BD\E1\B9\FBid\CA\FD\D7\E9 + + std::vector confidences; //\BD\E1\B9\FBÿ\B8\F6id\B6\D4Ӧ\D6\C3\D0Ŷ\C8\CA\FD\D7\E9 + + std::vector boxes; // ÿ\B8\F6id\BE\D8\D0ο\F2 + + std::vector> picked_proposals; // output0[:,:, 5 + _className.size():net_width]===> for mask + + for (int r = 0; r < rows; ++r) + { // stride + + cv::Mat scores(1, _className.size(), CV_32F, pdata + 4); + + Point classIdPoint; + + double max_class_socre; + + minMaxLoc(scores, 0, &max_class_socre, 0, &classIdPoint); + + max_class_socre = (float)max_class_socre; + + if (max_class_socre >= _classThreshold) + { + + vector temp_proto(pdata + 4 + _className.size(), pdata + net_width); + + picked_proposals.push_back(temp_proto); + + // rect [x,y,w,h] + + float x = (pdata[0] - params[img_index][2]) / params[img_index][0]; // x + + float y = (pdata[1] - params[img_index][3]) / params[img_index][1]; // y + + float w = pdata[2] / params[img_index][0]; // w + + float h = pdata[3] / params[img_index][1]; // h + + int left = MAX(int(x - 0.5 * w + 0.5), 0); + + int top = MAX(int(y - 0.5 * h + 0.5), 0); + + class_ids.push_back(classIdPoint.x); + + confidences.push_back(max_class_socre); + + boxes.push_back(Rect(left, top, int(w + 0.5), int(h + 0.5))); + } + + pdata += net_width; //\CF\C2һ\D0\D0 + } + + vector nms_result; + + cv::dnn::NMSBoxes(boxes, confidences, _classThreshold, _nmsThreshold, nms_result); + + std::vector> temp_mask_proposals; + + cv::Rect holeImgRect(0, 0, srcImgs[img_index].cols, srcImgs[img_index].rows); + + std::vector temp_output; + + for (int i = 0; i < nms_result.size(); ++i) + { + + int idx = nms_result[i]; + + OutputSeg result; + + result.id = class_ids[idx]; + + result.confidence = confidences[idx]; + + result.box = boxes[idx] & holeImgRect; + + temp_mask_proposals.push_back(picked_proposals[idx]); + + temp_output.push_back(result); + } + + MaskParams mask_params; + + mask_params.params = params[img_index]; + + mask_params.srcImgShape = srcImgs[img_index].size(); + + Mat mask_protos = Mat(mask_protos_shape, CV_32F, output_tensors[1].GetTensorMutableData() + img_index * mask_protos_length); + + for (int i = 0; i < temp_mask_proposals.size(); ++i) + { + + GetMask2(Mat(temp_mask_proposals[i]).t(), mask_protos, temp_output[i], mask_params); + } + + //******************** **************** + + // \C0ϰ汾\B5ķ\BD\B0\B8\A3\AC\C8\E7\B9\FB\C9\CF\C3\E6\D4ڿ\AA\C6\F4\CE\D2ע\CA͵IJ\BF\B7\D6֮\BA\F3\BB\B9һֱ\B1\A8\B4\ED\A3\AC\BD\A8\D2\E9ʹ\D3\C3\D5\E2\B8\F6\A1\A3 + + // If the GetMask2() still reports errors , it is recommended to use GetMask(). + + // Mat mask_proposals; + + // for (int i = 0; i < temp_mask_proposals.size(); ++i) + + // mask_proposals.push_back(Mat(temp_mask_proposals[i]).t()); + + // GetMask(mask_proposals, mask_protos, output, mask_params); + + //*****************************************************/ + + output.push_back(temp_output); + } + + if (output.size()) + + return true; + + else + + return false; +} \ No newline at end of file diff --git a/MyCode/src/my-slam/src/yolov8_seg_utils.cpp b/MyCode/src/my-slam/src/yolov8_seg_utils.cpp new file mode 100644 index 0000000..39534f7 --- /dev/null +++ b/MyCode/src/my-slam/src/yolov8_seg_utils.cpp @@ -0,0 +1,320 @@ +#pragma once + +#include "yolov8_seg_utils.h" + +using namespace cv; + +using namespace std; + +bool CheckParams(int netHeight, int netWidth, const int *netStride, int strideSize) +{ + + if (netHeight % netStride[strideSize - 1] != 0 || netWidth % netStride[strideSize - 1] != 0) + + { + + cout << "Error:_netHeight and _netWidth must be multiple of max stride " << netStride[strideSize - 1] << "!" << endl; + + return false; + } + + return true; +} + +void LetterBox(const cv::Mat &image, cv::Mat &outImage, cv::Vec4d ¶ms, const cv::Size &newShape, + + bool autoShape, bool scaleFill, bool scaleUp, int stride, const cv::Scalar &color) + +{ + + if (false) + { + + int maxLen = MAX(image.rows, image.cols); + + outImage = Mat::zeros(Size(maxLen, maxLen), CV_8UC3); + + image.copyTo(outImage(Rect(0, 0, image.cols, image.rows))); + + params[0] = 1; + + params[1] = 1; + + params[3] = 0; + + params[2] = 0; + } + + cv::Size shape = image.size(); + + float r = std::min((float)newShape.height / (float)shape.height, + + (float)newShape.width / (float)shape.width); + + if (!scaleUp) + + r = std::min(r, 1.0f); + + float ratio[2]{r, r}; + + int new_un_pad[2] = {(int)std::round((float)shape.width * r), (int)std::round((float)shape.height * r)}; + + auto dw = (float)(newShape.width - new_un_pad[0]); + + auto dh = (float)(newShape.height - new_un_pad[1]); + + if (autoShape) + + { + + dw = (float)((int)dw % stride); + + dh = (float)((int)dh % stride); + } + + else if (scaleFill) + + { + + dw = 0.0f; + + dh = 0.0f; + + new_un_pad[0] = newShape.width; + + new_un_pad[1] = newShape.height; + + ratio[0] = (float)newShape.width / (float)shape.width; + + ratio[1] = (float)newShape.height / (float)shape.height; + } + + dw /= 2.0f; + + dh /= 2.0f; + + if (shape.width != new_un_pad[0] && shape.height != new_un_pad[1]) + + { + + cv::resize(image, outImage, cv::Size(new_un_pad[0], new_un_pad[1])); + } + + else + { + + outImage = image.clone(); + } + + int top = int(std::round(dh - 0.1f)); + + int bottom = int(std::round(dh + 0.1f)); + + int left = int(std::round(dw - 0.1f)); + + int right = int(std::round(dw + 0.1f)); + + params[0] = ratio[0]; + + params[1] = ratio[1]; + + params[2] = left; + + params[3] = top; + + cv::copyMakeBorder(outImage, outImage, top, bottom, left, right, cv::BORDER_CONSTANT, color); +} + +void GetMask(const cv::Mat &maskProposals, const cv::Mat &maskProtos, std::vector &output, const MaskParams &maskParams) +{ + + // cout << maskProtos.size << endl; + + int seg_channels = maskParams.segChannels; + + int net_width = maskParams.netWidth; + + int seg_width = maskParams.segWidth; + + int net_height = maskParams.netHeight; + + int seg_height = maskParams.segHeight; + + float mask_threshold = maskParams.maskThreshold; + + Vec4f params = maskParams.params; + + Size src_img_shape = maskParams.srcImgShape; + + Mat protos = maskProtos.reshape(0, {seg_channels, seg_width * seg_height}); + + Mat matmul_res = (maskProposals * protos).t(); + + Mat masks = matmul_res.reshape(output.size(), {seg_width, seg_height}); + + vector maskChannels; + + split(masks, maskChannels); + + for (int i = 0; i < output.size(); ++i) + { + + Mat dest, mask; + + // sigmoid + + cv::exp(-maskChannels[i], dest); + + dest = 1.0 / (1.0 + dest); + + Rect roi(int(params[2] / net_width * seg_width), int(params[3] / net_height * seg_height), int(seg_width - params[2] / 2), int(seg_height - params[3] / 2)); + + dest = dest(roi); + + resize(dest, mask, src_img_shape, INTER_NEAREST); + + // crop + + Rect temp_rect = output[i].box; + + mask = mask(temp_rect) > mask_threshold; + + output[i].boxMask = mask; + } +} + +void GetMask2(const Mat &maskProposals, const Mat &mask_protos, OutputSeg &output, const MaskParams &maskParams) +{ + + int seg_channels = maskParams.segChannels; + + int net_width = maskParams.netWidth; + + int seg_width = maskParams.segWidth; + + int net_height = maskParams.netHeight; + + int seg_height = maskParams.segHeight; + + float mask_threshold = maskParams.maskThreshold; + + Vec4f params = maskParams.params; + + Size src_img_shape = maskParams.srcImgShape; + + Rect temp_rect = output.box; + + // crop from mask_protos + + int rang_x = floor((temp_rect.x * params[0] + params[2]) / net_width * seg_width); + + int rang_y = floor((temp_rect.y * params[1] + params[3]) / net_height * seg_height); + + int rang_w = ceil(((temp_rect.x + temp_rect.width) * params[0] + params[2]) / net_width * seg_width) - rang_x; + + int rang_h = ceil(((temp_rect.y + temp_rect.height) * params[1] + params[3]) / net_height * seg_height) - rang_y; + + // 如果下面的 mask_protos(roi_rangs).clone()位置报错，说明你的output.box数据不对，或者矩形框就1个像素的，开启下面的注释部分防止报错。 + + rang_w = MAX(rang_w, 1); + + rang_h = MAX(rang_h, 1); + + if (rang_x + rang_w > seg_width) + { + + if (seg_width - rang_x > 0) + + rang_w = seg_width - rang_x; + + else + + rang_x -= 1; + } + + if (rang_y + rang_h > seg_height) + { + + if (seg_height - rang_y > 0) + + rang_h = seg_height - rang_y; + + else + + rang_y -= 1; + } + + vector roi_rangs; + + roi_rangs.push_back(Range(0, 1)); + + roi_rangs.push_back(Range::all()); + + roi_rangs.push_back(Range(rang_y, rang_h + rang_y)); + + roi_rangs.push_back(Range(rang_x, rang_w + rang_x)); + + // crop + + Mat temp_mask_protos = mask_protos(roi_rangs).clone(); + + Mat protos = temp_mask_protos.reshape(0, {seg_channels, rang_w * rang_h}); + + Mat matmul_res = (maskProposals * protos).t(); + + Mat masks_feature = matmul_res.reshape(1, {rang_h, rang_w}); + + Mat dest, mask; + + // sigmoid + + cv::exp(-masks_feature, dest); + + dest = 1.0 / (1.0 + dest); + + int left = floor((net_width / seg_width * rang_x - params[2]) / params[0]); + + int top = floor((net_height / seg_height * rang_y - params[3]) / params[1]); + + int width = ceil(net_width / seg_width * rang_w / params[0]); + + int height = ceil(net_height / seg_height * rang_h / params[1]); + + resize(dest, mask, Size(width, height), INTER_NEAREST); + + mask = mask(temp_rect - Point(left, top)) > mask_threshold; + + output.boxMask = mask; +} + +void DrawPred(Mat &img, vector result, std::vector classNames, vector color) +{ + + Mat mask = img.clone(); + + for (int i = 0; i < result.size(); i++){ + int left, top; + left = result[i].box.x; + top = result[i].box.y; + int color_num = i; + rectangle(img, result[i].box, color[result[i].id], 2, 8); + + if (result[i].boxMask.rows && result[i].boxMask.cols > 0) + mask(result[i].box).setTo(color[result[i].id], result[i].boxMask); + + string label = classNames[result[i].id] + ":" + to_string(result[i].confidence); + + std::cout << "*****" << label << std::endl; + int baseLine; + Size labelSize = getTextSize(label, FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine); + top = max(top, labelSize.height); + // rectangle(frame, Point(left, top - int(1.5 * labelSize.height)), Point(left + int(1.5 * labelSize.width), top + baseLine), Scalar(0, 255, 0), FILLED); + putText(img, label, Point(left, top), FONT_HERSHEY_SIMPLEX, 1, color[result[i].id], 2); + } + + addWeighted(img, 0.5, mask, 0.5, 0, img); // add mask to src + // imshow("1", img); + // imwrite("out.bmp", img); + // waitKey(); + // destroyAllWindows(); +} \ No newline at end of file diff --git a/MyCode/src/my-slam/yolov8n-seg.pt b/MyCode/src/my-slam/yolov8n-seg.pt new file mode 100644 index 0000000..6d8d8b5 Binary files /dev/null and b/MyCode/src/my-slam/yolov8n-seg.pt differ diff --git a/MyCode/src/my_cv_bridge/CHANGELOG.rst b/MyCode/src/my_cv_bridge/CHANGELOG.rst new file mode 100644 index 0000000..02d6057 --- /dev/null +++ b/MyCode/src/my_cv_bridge/CHANGELOG.rst @@ -0,0 +1,456 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package cv_bridge +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.16.2 (2022-10-03) +------------------- + +1.16.1 (2022-09-06) +------------------- +* Fix 16U encoding type (`#445 `_) +* Add header arg to cv2_to_imgmsg (`#326 `_) +* Contributors: Ibrahim Essam, Kenji Brameld, Naoya Yamaguchi + +1.16.0 (2021-11-23) +------------------- +* prevent conversion of single channel 16bit integer images to/from colour (`#412 `_) +* decode images in mode IMREAD_UNCHANGED (`#228 `_) +* Optimize includes (`#354 `_) + As suggested by include-what-you-use +* Fix Python linking on OSX (`#331 `_) +* Fix typo (`#333 `_) +* Contributors: Christian Rauch, Markus Vieth, Matthijs van der Burgh, Tobias Fischer + +1.15.0 (2020-05-19) +------------------- +* [Noetic] Use opencv3 on buster (`#330 `_) +* more portable fixes. (`#328 `_) +* Contributors: Sean Yen, Shane Loretz + +1.14.0 (2020-04-06) +------------------- +* Noetic release (`#323 `_) +* update CMakeLists.txt for Windows build environment (`#265 `_) +* remove path splash separator from 'package_dir' (`#267 `_) +* fix travis. (`#269 `_) +* Contributors: Alejandro Hernández Cordero, James Xu, Sean Yen + +1.13.0 (2018-04-30) +------------------- +* Use rosdep OpenCV and not ROS one. + We defintely don't need the whole OpenCV. + We need to clean the rosdep keys. +* Contributors: Vincent Rabaud + +1.12.8 (2018-04-17) +------------------- +* Merge pull request `#191 `_ from patrickelectric/kinetic + cv2_to_imgmsg: step must be int +* cv2_to_imgmsg: step must be int + Signed-off-by: Patrick José Pereira +* Contributors: Patrick José Pereira, Vincent Rabaud + +1.12.7 (2017-11-12) +------------------- + +1.12.6 (2017-11-11) +------------------- +* fix endianness issues +* Contributors: Vincent Rabaud + +1.12.5 (2017-11-05) +------------------- +* add version_gte for opencv3 + @vrabaud If you'll update opencv3 version as discussed in https://discourse.ros.org/t/opencv-3-3/2674/4, I think we'd better to add 'version_gte' tag so that apt-get install ros-kinetic-cv-bridge also pulls openv3.3 from repository, to avoid API breaking issue between opencv2 and opencv3. +* Simplify the dependency components of cv_bridge + Fixes `#183 `_ +* Fixes `#177 `_ + The Python bridge was wrong on OpenCV2 with mono8 (and any Mat + with only two dimensions btw). Took the official Python bridge + from OpenCV. +* Add missing test file + This fixes `#171 `_ +* Properly deal with alpha in image compression. + That fixes `#169 `_ +* Silence warnings about un-used variables +* export OpenCV variables +* Contributors: Kei Okada, Victor Lamoine, Vincent Rabaud + +1.12.4 (2017-01-29) +------------------- +* properly find Boost Python 2 or 3 + This fixes `#158 `_ +* Contributors: Vincent Rabaud + +1.12.3 (2016-12-04) +------------------- +* Use api in sensor_msgs to get byte_depth and num channels +* Implement cpp conversion of N channel image + This is cpp version of https://github.com/ros-perception/vision_opencv/pull/141, + which is one for python. +* Fill black color to depth nan region +* address gcc6 build error in cv_bridge and tune + With gcc6, compiling fails with `stdlib.h: No such file or directory`, + as including '-isystem /usr/include' breaks with gcc6, cf., + https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129 + This commit addresses this issue for cv_bridge in the same way + it was done in the commit ead421b8 [1] for image_geometry. + This issue was also addressed in various other ROS packages. + A list of related commits and pull requests is at: + https://github.com/ros/rosdistro/issues/12783 + [1] https://github.com/ros-perception/vision_opencv/commit/ead421b85eeb750cbf7988657015296ed6789bcf + Signed-off-by: Lukas Bulwahn +* cv_bridge: Add missing test_depend on numpy +* Contributors: Kentaro Wada, Lukas Bulwahn, Maarten de Vries + +1.12.2 (2016-09-24) +------------------- +* Specify background label when colorizing label image +* Adjust to arbitrary image channels like 32FC40 + Proper fix for `#141 `_ +* Remove unexpectedly included print statement +* Contributors: Kentaro Wada, Vincent Rabaud + +1.12.1 (2016-07-11) +------------------- +* split the conversion tests out of enumerants +* support is_bigendian in Python + Fixes `#114 `_ + Also fixes mono16 test +* Support compressed Images messages in python for indigo + - Add cv2_to_comprssed_imgmsg: Convert from cv2 image to compressed image ros msg. + - Add comprssed_imgmsg_to_cv2: Convert the compress message to a new image. + - Add compressed image tests. + - Add time to msgs (compressed and regular). + add enumerants test for compressed image. + merge the compressed tests with the regular ones. + better comment explanation. I will squash this commit. + Fix indentation + fix typo mistage: from .imgmsg_to_compressed_cv2 to .compressed_imgmsg_to_cv2. + remove cv2.CV_8UC1 + remove rospy and time depndency. + change from IMREAD_COLOR to IMREAD_ANYCOLOR. + - make indentaion of 4. + - remove space trailer. + - remove space from empty lines. + - another set of for loops, it will make things easier to track. In that new set, just have the number of channels in ([],1,3,4) (ignore two for jpg). from: https://github.com/ros-perception/vision_opencv/pull/132#discussion_r66721943 + - keep the OpenCV error message. from: https://github.com/ros-perception/vision_opencv/pull/132#discussion_r66721013 + add debug print for test. + add case for 4 channels in test. + remove 4 channels case from compressed test. + add debug print for test. + change typo of format. + fix typo in format. change from dip to dib. + change to IMREAD_ANYCOLOR as python code. (as it should). + rename TIFF to tiff + Sperate the tests one for regular images and one for compressed. + update comment +* Add CvtColorForDisplayOptions with new colormap param +* fix doc jobs +* Add python binding for cv_bridge::cvtColorForDisplay +* Don't colorize float image as label image + This is a bug and image whose encoding is other than 32SC1 should not be + colorized. (currently, depth images with 32FC1 is also colorized.) +* Fix compilation of cv_bridge with opencv3 and python3. +* Contributors: Kentaro Wada, Maarten de Vries, Vincent Rabaud, talregev + +1.12.0 (2016-03-18) +------------------- +* depend on OpenCV3 only +* Contributors: Vincent Rabaud + +1.11.12 (2016-03-10) +-------------------- +* Fix my typo +* Remove another eval + Because `cvtype2_to_dtype_with_channels('8UCimport os; os.system("rm -rf /")')` should never have a chance of happening. +* Remove eval, and other fixes + Also, extend from object, so as not to get a python 2.2-style class, and use the new-style raise statement +* Contributors: Eric Wieser + +1.11.11 (2016-01-31) +-------------------- +* clean up the doc files +* fix a few warnings in doc jobs +* Contributors: Vincent Rabaud + +1.11.10 (2016-01-16) +-------------------- +* fix OpenCV3 build +* Describe about converting label to bgr image in cvtColorForDisplay +* Convert label to BGR image to display +* Add test for rgb_colors.cpp +* Add rgb_colors util +* Update doc for converting to BGR in cvtColorForDisplay +* Convert to BGR from any encoding +* Refactor: sensor_msgs::image_encodings -> enc +* Contributors: Kentaro Wada, Vincent Rabaud + +1.11.9 (2015-11-29) +------------------- +* deal with endianness +* add cvtColorForDisplay +* Improved efficiency by using toCvShare instead of toCvCopy. +* Add format enum for easy use and choose format. +* fix compilation warnings +* start to extend the cv_bridge with cvCompressedImage class, that will convert from cv::Mat opencv images to CompressedImage ros messages and vice versa +* Contributors: Carlos Costa, Vincent Rabaud, talregev + +1.11.8 (2015-07-15) +------------------- +* Simplify some OpenCV3 distinction +* fix tests +* fix test under OpenCV3 +* Remove Python for Android +* Contributors: Gary Servin, Vincent Rabaud + +1.11.7 (2014-12-14) +------------------- +* check that the type is indeed a Numpy one + This is in response to `#51 `_ +* Contributors: Vincent Rabaud + +1.11.6 (2014-11-16) +------------------- +* chnage the behavior when there is only one channel +* cleanup tests +* Contributors: Vincent Rabaud + +1.11.5 (2014-09-21) +------------------- +* get code to work with OpenCV3 + actually fixes `#46 `_ properly +* Contributors: Vincent Rabaud + +1.11.4 (2014-07-27) +------------------- +* Fix `#42 `_ +* Contributors: Libor Wagner + +1.11.3 (2014-06-08) +------------------- +* Correct dependency from non-existent package to cv_bridge +* Contributors: Isaac Isao Saito + +1.11.2 (2014-04-28) +------------------- +* Add depend on python for cv_bridge +* Contributors: Scott K Logan + +1.11.1 (2014-04-16) +------------------- +* fixes `#34 `_ +* Contributors: Vincent Rabaud + +1.11.0 (2014-02-15) +------------------- +* remove deprecated API and fixes `#33 `_ +* fix OpenCV dependencies +* Contributors: Vincent Rabaud + +1.10.15 (2014-02-07) +-------------------- +* fix python 3 error at configure time +* Contributors: Dirk Thomas + +1.10.14 (2013-11-23 16:17) +-------------------------- +* update changelog +* Find NumPy include directory +* Contributors: Brian Jensen, Vincent Rabaud + +1.10.13 (2013-11-23 09:19) +-------------------------- +* fix compilation on older NumPy +* Contributors: Vincent Rabaud + +1.10.12 (2013-11-22) +-------------------- +* bump changelog +* Fixed issue with image message step size +* fix crash for non char data +* fix `#26 `_ +* Contributors: Brian Jensen, Vincent Rabaud + +1.10.11 (2013-10-23) +-------------------- +* fix bad image check and improve it too +* Contributors: Vincent Rabaud + +1.10.10 (2013-10-19) +-------------------- +* fixes `#25 `_ +* Contributors: Vincent Rabaud + +1.10.9 (2013-10-07) +------------------- +* fixes `#20 `_ +* Contributors: Vincent Rabaud + +1.10.8 (2013-09-09) +------------------- +* fixes `#22 `_ +* fixes `#17 `_ +* check for CATKIN_ENABLE_TESTING +* fixes `#16 `_ +* update email address +* Contributors: Lukas Bulwahn, Vincent Rabaud + +1.10.7 (2013-07-17) +------------------- + +1.10.6 (2013-03-01) +------------------- +* make sure conversion are applied for depth differences +* Contributors: Vincent Rabaud + +1.10.5 (2013-02-11) +------------------- + +1.10.4 (2013-02-02) +------------------- +* fix installation of the boost package +* Contributors: Vincent Rabaud + +1.10.3 (2013-01-17) +------------------- +* Link against PTYHON_LIBRARIES +* Contributors: William Woodall + +1.10.2 (2013-01-13) +------------------- +* use CATKIN_DEVEL_PREFIX instead of obsolete CATKIN_BUILD_PREFIX +* Contributors: Dirk Thomas + +1.10.1 (2013-01-10) +------------------- +* add licenses +* fixes `#5 `_ by removing the logic from Python and using wrapped C++ and adding a test for it +* fix a bug discovered when running the opencv_tests +* use some C++ logic +* add a Boost Python module to have the C++ logix used directly in Python +* Contributors: Vincent Rabaud + +1.10.0 (2013-01-03) +------------------- +* add conversion from Bayer to gray +* Contributors: Vincent Rabaud + +1.9.15 (2013-01-02) +------------------- +* use the reverted isColor behavior +* Contributors: Vincent Rabaud + +1.9.14 (2012-12-30) +------------------- + +1.9.13 (2012-12-15) +------------------- +* use the catkin macros for the setup.py +* fix `#3 `_ +* Contributors: Vincent Rabaud + +1.9.12 (2012-12-14) +------------------- +* buildtool_depend catkin fix +* CMakeLists.txt clean up. +* Contributors: William Woodall + +1.9.11 (2012-12-10) +------------------- +* fix issue `#1 `_ +* Cleanup of package.xml +* Contributors: Vincent Rabaud, William Woodall + +1.9.10 (2012-10-04) +------------------- +* fix the bad include folder +* Contributors: Vincent Rabaud + +1.9.9 (2012-10-01) +------------------ +* fix dependencies +* Contributors: Vincent Rabaud + +1.9.8 (2012-09-30) +------------------ +* fix some dependencies +* add rosconsole as a dependency +* fix missing Python at install and fix some dependencies +* Contributors: Vincent Rabaud + +1.9.7 (2012-09-28 21:07) +------------------------ +* add missing stuff +* make sure we find catkin +* Contributors: Vincent Rabaud + +1.9.6 (2012-09-28 15:17) +------------------------ +* move the test to where it belongs +* fix the tests and the API to not handle conversion from CV_TYPE to Color type (does not make sense) +* comply to the new Catkin API +* backport the YUV422 bug fix from Fuerte +* apply patch from https://code.ros.org/trac/ros-pkg/ticket/5556 +* Contributors: Vincent Rabaud + +1.9.5 (2012-09-15) +------------------ +* remove dependencies to the opencv2 ROS package +* Contributors: Vincent Rabaud + +1.9.4 (2012-09-13) +------------------ +* make sure the include folders are copied to the right place +* Contributors: Vincent Rabaud + +1.9.3 (2012-09-12) +------------------ + +1.9.2 (2012-09-07) +------------------ +* be more compliant to the latest catkin +* added catkin_project() to cv_bridge, image_geometry, and opencv_tests +* Contributors: Jonathan Binney, Vincent Rabaud + +1.9.1 (2012-08-28 22:06) +------------------------ +* remove things that were marked as ROS_DEPRECATED +* Contributors: Vincent Rabaud + +1.9.0 (2012-08-28 14:29) +------------------------ +* catkinized opencv_tests by Jon Binney +* catkinized cv_bridge package... others disable for now by Jon Binney +* remove the version check, let's trust OpenCV :) +* revert the removal of opencv2 +* vision_opencv: Export OpenCV flags in manifests for image_geometry, cv_bridge. +* finally get rid of opencv2 as it is a system dependency now +* bump REQUIRED version of OpenCV to 2.3.2, which is what's in ros-fuerte-opencv +* switch rosdep name to opencv2, to refer to ros-fuerte-opencv2 +* added missing header +* Added constructor to CvImage to make converting a cv::Mat to sensor_msgs::Image less verbose. +* cv_bridge: Added unit test for `#5206 `_ +* cv_bridge: Applied patch from mdesnoyer to fix handling of non-continuous OpenCV images. `#5206 `_ +* Adding opencv2 to all manifests, so that client packages may + not break when using them. +* baking in opencv debs and attempting a pre-release +* cv_bridge: Support for new 16-bit encodings. +* cv_bridge: Deprecate old C++ cv_bridge API. +* cv_bridge: Correctly scale for MONO8 <-> MONO16 conversions. +* cv_bridge: Fixed issue where pointer version to toCvCopy would ignore the requested encoding (http://answers.ros.org/question/258/converting-kinect-rgb-image-to-opencv-gives-wrong). +* fixed doc build by taking a static snapshot +* cv_bridge: Marking doc reviewed. +* cv_bridge: Tweaks to make docs look better. +* cv_bridge: Added cvtColor(). License notices. Documented that CvBridge class is obsolete. +* cv_bridge: Added redesigned C++ cv_bridge. +* Doc cleanup +* Trigger doc rebuild +* mono16 -> bgr conversion tested and fixed in C +* Added Ubuntu platform tags to manifest +* Handle mono16 properly +* Raise exception when imgMsgToCv() gets an image encoding it does not recognise, `#3489 `_ +* Remove use of deprecated rosbuild macros +* Fixed example +* cv_bridge split from opencv2 +* Contributors: Vincent Rabaud, ethanrublee, gerkey, jamesb, mihelich, vrabaud, wheeler diff --git a/MyCode/src/my_cv_bridge/CMakeLists.txt b/MyCode/src/my_cv_bridge/CMakeLists.txt new file mode 100644 index 0000000..b57a1ef --- /dev/null +++ b/MyCode/src/my_cv_bridge/CMakeLists.txt @@ -0,0 +1,60 @@ +cmake_minimum_required(VERSION 3.0.2) +project(cv_bridge) + +find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs) + +if(NOT ANDROID) + find_package(PythonLibs) + + if(PYTHONLIBS_VERSION_STRING VERSION_LESS "3.8") + # Debian Buster + find_package(Boost REQUIRED python3) + else() + # Ubuntu Focal + find_package(Boost REQUIRED python) + endif() +else() +find_package(Boost REQUIRED) +endif() + +set(_opencv_version 4) +find_package(OpenCV 4 QUIET) +if(NOT OpenCV_FOUND) + message(STATUS "Did not find OpenCV 4, trying OpenCV 3") + set(_opencv_version 3) +endif() + +find_package(OpenCV ${_opencv_version} REQUIRED + COMPONENTS + opencv_core + opencv_imgproc + opencv_imgcodecs + CONFIG +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS rosconsole sensor_msgs + DEPENDS OpenCV + CFG_EXTRAS cv_bridge-extras.cmake +) + +catkin_python_setup() + +include_directories(include ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}) +link_directories(${Boost_LIBRARY_DIRS}) + +if(NOT ANDROID) +add_subdirectory(python) +endif() +add_subdirectory(src) +if(CATKIN_ENABLE_TESTING) + add_subdirectory(test) +endif() + +# install the include folder +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) diff --git a/MyCode/src/my_cv_bridge/cmake/cv_bridge-extras.cmake.in b/MyCode/src/my_cv_bridge/cmake/cv_bridge-extras.cmake.in new file mode 100644 index 0000000..a4beda5 --- /dev/null +++ b/MyCode/src/my_cv_bridge/cmake/cv_bridge-extras.cmake.in @@ -0,0 +1,12 @@ +set(OpenCV_VERSION @OpenCV_VERSION@) +set(OpenCV_VERSION_MAJOR @OpenCV_VERSION_MAJOR@) +set(OpenCV_VERSION_MINOR @OpenCV_VERSION_MINOR@) +set(OpenCV_VERSION_PATCH @OpenCV_VERSION_PATCH@) +set(OpenCV_SHARED @OpenCV_SHARED@) +set(OpenCV_CONFIG_PATH @OpenCV_CONFIG_PATH@) +set(OpenCV_INSTALL_PATH @OpenCV_INSTALL_PATH@) +set(OpenCV_LIB_COMPONENTS @OpenCV_LIB_COMPONENTS@) +set(OpenCV_USE_MANGLED_PATHS @OpenCV_USE_MANGLED_PATHS@) +set(OpenCV_MODULES_SUFFIX @OpenCV_MODULES_SUFFIX@) + + diff --git a/MyCode/src/my_cv_bridge/doc/conf.py b/MyCode/src/my_cv_bridge/doc/conf.py new file mode 100644 index 0000000..c2af74f --- /dev/null +++ b/MyCode/src/my_cv_bridge/doc/conf.py @@ -0,0 +1,201 @@ +# -*- coding: utf-8 -*- +# +# cv_bridge documentation build configuration file, created by +# sphinx-quickstart on Mon Jun 1 14:21:53 2009. +# +# This file is execfile()d with the current directory set to its containing dir. +# +# Note that not all possible configuration values are present in this +# autogenerated file. +# +# All configuration values have a default; values that are commented out +# serve to show the default. + +import sys, os + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +#sys.path.append(os.path.abspath('.')) + +# -- General configuration ----------------------------------------------------- + +# Add any Sphinx extension module names here, as strings. They can be extensions +# coming with Sphinx (named 'sphinx.ext.*') or your custom ones. +extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.intersphinx', 'sphinx.ext.pngmath'] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# The suffix of source filenames. +source_suffix = '.rst' + +# The encoding of source files. +#source_encoding = 'utf-8' + +# The master toctree document. +master_doc = 'index' + +# General information about the project. +project = u'cv_bridge' +copyright = u'2009, Willow Garage, Inc.' + +# The version info for the project you're documenting, acts as replacement for +# |version| and |release|, also used in various other places throughout the +# built documents. +# +# The short X.Y version. +version = '0.1' +# The full version, including alpha/beta/rc tags. +release = '0.1.0' + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +#language = None + +# There are two options for replacing |today|: either, you set today to some +# non-false value, then it is used: +#today = '' +# Else, today_fmt is used as the format for a strftime call. +#today_fmt = '%B %d, %Y' + +# List of documents that shouldn't be included in the build. +#unused_docs = [] + +# List of directories, relative to source directory, that shouldn't be searched +# for source files. +exclude_trees = ['_build'] + +# The reST default role (used for this markup: `text`) to use for all documents. +#default_role = None + +# If true, '()' will be appended to :func: etc. cross-reference text. +#add_function_parentheses = True + +# If true, the current module name will be prepended to all description +# unit titles (such as .. function::). +#add_module_names = True + +# If true, sectionauthor and moduleauthor directives will be shown in the +# output. They are ignored by default. +#show_authors = False + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = 'sphinx' + +# A list of ignored prefixes for module index sorting. +#modindex_common_prefix = [] + + +# -- Options for HTML output --------------------------------------------------- + +# The theme to use for HTML and HTML Help pages. Major themes that come with +# Sphinx are currently 'default' and 'sphinxdoc'. +html_theme = 'default' + +# Theme options are theme-specific and customize the look and feel of a theme +# further. For a list of options available for each theme, see the +# documentation. +#html_theme_options = {} + +# Add any paths that contain custom themes here, relative to this directory. +#html_theme_path = [] + +# The name for this set of Sphinx documents. If None, it defaults to +# " v documentation". +#html_title = None + +# A shorter title for the navigation bar. Default is the same as html_title. +#html_short_title = None + +# The name of an image file (relative to this directory) to place at the top +# of the sidebar. +#html_logo = None + +# The name of an image file (within the static path) to use as favicon of the +# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 +# pixels large. +#html_favicon = None + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +#html_static_path = ['_static'] + +# If not '', a 'Last updated on:' timestamp is inserted at every page bottom, +# using the given strftime format. +#html_last_updated_fmt = '%b %d, %Y' + +# If true, SmartyPants will be used to convert quotes and dashes to +# typographically correct entities. +#html_use_smartypants = True + +# Custom sidebar templates, maps document names to template names. +#html_sidebars = {} + +# Additional templates that should be rendered to pages, maps page names to +# template names. +#html_additional_pages = {} + +# If false, no module index is generated. +#html_use_modindex = True + +# If false, no index is generated. +#html_use_index = True + +# If true, the index is split into individual pages for each letter. +#html_split_index = False + +# If true, links to the reST sources are added to the pages. +#html_show_sourcelink = True + +# If true, an OpenSearch description file will be output, and all pages will +# contain a tag referring to it. The value of this option must be the +# base URL from which the finished HTML is served. +#html_use_opensearch = '' + +# If nonempty, this is the file name suffix for HTML files (e.g. ".xhtml"). +#html_file_suffix = '' + +# Output file base name for HTML help builder. +htmlhelp_basename = 'cv_bridgedoc' + + +# -- Options for LaTeX output -------------------------------------------------- + +# The paper size ('letter' or 'a4'). +#latex_paper_size = 'letter' + +# The font size ('10pt', '11pt' or '12pt'). +#latex_font_size = '10pt' + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, author, documentclass [howto/manual]). +latex_documents = [ + ('index', 'cv_bridge.tex', u'stereo\\_utils Documentation', + u'James Bowman', 'manual'), +] + +# The name of an image file (relative to this directory) to place at the top of +# the title page. +#latex_logo = None + +# For "manual" documents, if this is true, then toplevel headings are parts, +# not chapters. +#latex_use_parts = False + +# Additional stuff for the LaTeX preamble. +#latex_preamble = '' + +# Documents to append as an appendix to all manuals. +#latex_appendices = [] + +# If false, no module index is generated. +#latex_use_modindex = True + + +# Example configuration for intersphinx: refer to the Python standard library. +intersphinx_mapping = { + 'http://docs.python.org/': None, + 'http://docs.scipy.org/doc/numpy' : None, + } diff --git a/MyCode/src/my_cv_bridge/doc/index.rst b/MyCode/src/my_cv_bridge/doc/index.rst new file mode 100644 index 0000000..c455220 --- /dev/null +++ b/MyCode/src/my_cv_bridge/doc/index.rst @@ -0,0 +1,18 @@ +cv_bridge +========= + +``cv_bridge`` contains a single class :class:`CvBridge` that converts ROS Image messages to +OpenCV images. + +.. module:: cv_bridge + +.. autoclass:: cv_bridge.CvBridge + :members: + +.. autoclass:: cv_bridge.CvBridgeError + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`search` diff --git a/MyCode/src/my_cv_bridge/doc/mainpage.dox b/MyCode/src/my_cv_bridge/doc/mainpage.dox new file mode 100644 index 0000000..e4ed1cb --- /dev/null +++ b/MyCode/src/my_cv_bridge/doc/mainpage.dox @@ -0,0 +1,14 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b cv_bridge contains classes for easily converting between ROS +sensor_msgs/Image messages and OpenCV images. + +\section codeapi Code API + + - cv_bridge::CvImage + - toCvCopy() + - toCvShare() + +*/ diff --git a/MyCode/src/my_cv_bridge/include/cv_bridge/cv_bridge.h b/MyCode/src/my_cv_bridge/include/cv_bridge/cv_bridge.h new file mode 100644 index 0000000..3e7b9aa --- /dev/null +++ b/MyCode/src/my_cv_bridge/include/cv_bridge/cv_bridge.h @@ -0,0 +1,429 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2011, Willow Garage, Inc, +* Copyright (c) 2015, Tal Regev. +* 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 the Willow Garage 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. +*********************************************************************/ + +#ifndef CV_BRIDGE_CV_BRIDGE_H +#define CV_BRIDGE_CV_BRIDGE_H + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace cv_bridge { + +class Exception : public std::runtime_error +{ +public: + Exception(const std::string& description) : std::runtime_error(description) {} +}; + +class CvImage; + +typedef boost::shared_ptr CvImagePtr; +typedef boost::shared_ptr CvImageConstPtr; + +//from: http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags) +typedef enum { + BMP, DIB, + JPG, JPEG, JPE, + JP2, + PNG, + PBM, PGM, PPM, + SR, RAS, + TIFF, TIF, +} Format; + +/** + * \brief Image message class that is interoperable with sensor_msgs/Image but uses a + * more convenient cv::Mat representation for the image data. + */ +class CvImage +{ +public: + std_msgs::Header header; //!< ROS header + std::string encoding; //!< Image encoding ("mono8", "bgr8", etc.) + cv::Mat image; //!< Image data for use with OpenCV + + /** + * \brief Empty constructor. + */ + CvImage() {} + + /** + * \brief Constructor. + */ + CvImage(const std_msgs::Header& header, const std::string& encoding, + const cv::Mat& image = cv::Mat()) + : header(header), encoding(encoding), image(image) + { + } + + /** + * \brief Convert this message to a ROS sensor_msgs::Image message. + * + * The returned sensor_msgs::Image message contains a copy of the image data. + */ + sensor_msgs::ImagePtr toImageMsg() const; + + /** + * dst_format is compress the image to desire format. + * Default value is empty string that will convert to jpg format. + * can be: jpg, jp2, bmp, png, tif at the moment + * support this format from opencv: + * http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags) + */ + sensor_msgs::CompressedImagePtr toCompressedImageMsg(const Format dst_format = JPG) const; + + /** + * \brief Copy the message data to a ROS sensor_msgs::Image message. + * + * This overload is intended mainly for aggregate messages such as stereo_msgs::DisparityImage, + * which contains a sensor_msgs::Image as a data member. + */ + void toImageMsg(sensor_msgs::Image& ros_image) const; + + /** + * dst_format is compress the image to desire format. + * Default value is empty string that will convert to jpg format. + * can be: jpg, jp2, bmp, png, tif at the moment + * support this format from opencv: + * http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags) + */ + void toCompressedImageMsg(sensor_msgs::CompressedImage& ros_image, const Format dst_format = JPG) const; + + + typedef boost::shared_ptr Ptr; + typedef boost::shared_ptr ConstPtr; + +protected: + boost::shared_ptr tracked_object_; // for sharing ownership + + /// @cond DOXYGEN_IGNORE + friend + CvImageConstPtr toCvShare(const sensor_msgs::Image& source, + const boost::shared_ptr& tracked_object, + const std::string& encoding); + /// @endcond +}; + + +/** + * \brief Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the + * image data. + * + * \param source A shared_ptr to a sensor_msgs::Image message + * \param encoding The desired encoding of the image data, one of the following strings: + * - \c "mono8" + * - \c "bgr8" + * - \c "bgra8" + * - \c "rgb8" + * - \c "rgba8" + * - \c "mono16" + * + * If \a encoding is the empty string (the default), the returned CvImage has the same encoding + * as \a source. + */ +CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr& source, + const std::string& encoding = std::string()); + +CvImagePtr toCvCopy(const sensor_msgs::CompressedImageConstPtr& source, + const std::string& encoding = std::string()); + +/** + * \brief Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the + * image data. + * + * \param source A sensor_msgs::Image message + * \param encoding The desired encoding of the image data, one of the following strings: + * - \c "mono8" + * - \c "bgr8" + * - \c "bgra8" + * - \c "rgb8" + * - \c "rgba8" + * - \c "mono16" + * + * If \a encoding is the empty string (the default), the returned CvImage has the same encoding + * as \a source. + * If the source is 8bit and the encoding 16 or vice-versa, a scaling is applied (65535/255 and + * 255/65535 respectively). Otherwise, no scaling is applied and the rules from the convertTo OpenCV + * function are applied (capping): http://docs.opencv.org/modules/core/doc/basic_structures.html#mat-convertto + */ +CvImagePtr toCvCopy(const sensor_msgs::Image& source, + const std::string& encoding = std::string()); + +CvImagePtr toCvCopy(const sensor_msgs::CompressedImage& source, + const std::string& encoding = std::string()); + +/** + * \brief Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing + * the image data if possible. + * + * If the source encoding and desired encoding are the same, the returned CvImage will share + * the image data with \a source without copying it. The returned CvImage cannot be modified, as that + * could modify the \a source data. + * + * \param source A shared_ptr to a sensor_msgs::Image message + * \param encoding The desired encoding of the image data, one of the following strings: + * - \c "mono8" + * - \c "bgr8" + * - \c "bgra8" + * - \c "rgb8" + * - \c "rgba8" + * - \c "mono16" + * + * If \a encoding is the empty string (the default), the returned CvImage has the same encoding + * as \a source. + */ +CvImageConstPtr toCvShare(const sensor_msgs::ImageConstPtr& source, + const std::string& encoding = std::string()); + +/** + * \brief Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing + * the image data if possible. + * + * If the source encoding and desired encoding are the same, the returned CvImage will share + * the image data with \a source without copying it. The returned CvImage cannot be modified, as that + * could modify the \a source data. + * + * This overload is useful when you have a shared_ptr to a message that contains a + * sensor_msgs::Image, and wish to share ownership with the containing message. + * + * \param source The sensor_msgs::Image message + * \param tracked_object A shared_ptr to an object owning the sensor_msgs::Image + * \param encoding The desired encoding of the image data, one of the following strings: + * - \c "mono8" + * - \c "bgr8" + * - \c "bgra8" + * - \c "rgb8" + * - \c "rgba8" + * - \c "mono16" + * + * If \a encoding is the empty string (the default), the returned CvImage has the same encoding + * as \a source. + */ +CvImageConstPtr toCvShare(const sensor_msgs::Image& source, + const boost::shared_ptr& tracked_object, + const std::string& encoding = std::string()); + +/** + * \brief Convert a CvImage to another encoding using the same rules as toCvCopy + */ +CvImagePtr cvtColor(const CvImageConstPtr& source, + const std::string& encoding); + +struct CvtColorForDisplayOptions { + CvtColorForDisplayOptions() : + do_dynamic_scaling(false), + min_image_value(0.0), + max_image_value(0.0), + colormap(-1), + bg_label(-1) {} + bool do_dynamic_scaling; + double min_image_value; + double max_image_value; + int colormap; + int bg_label; +}; + + +/** + * \brief Converts an immutable sensor_msgs::Image message to another CvImage for display purposes, + * using practical conversion rules if needed. + * + * Data will be shared between input and output if possible. + * + * Recall: sensor_msgs::image_encodings::isColor and isMono tell whether an image contains R,G,B,A, mono + * (or any combination/subset) with 8 or 16 bit depth. + * + * The following rules apply: + * - if the output encoding is empty, the fact that the input image is mono or multiple-channel is + * preserved in the ouput image. The bit depth will be 8. it tries to convert to BGR no matter what + * encoding image is passed. + * - if the output encoding is not empty, it must have sensor_msgs::image_encodings::isColor and + * isMono return true. It must also be 8 bit in depth + * - if the input encoding is an OpenCV format (e.g. 8UC1), and if we have 1,3 or 4 channels, it is + * respectively converted to mono, BGR or BGRA. + * - if the input encoding is 32SC1, this estimate that image as label image and will convert it as + * bgr image with different colors for each label. + * + * \param source A shared_ptr to a sensor_msgs::Image message + * \param encoding Either an encoding string that returns true in sensor_msgs::image_encodings::isColor + * isMono or the empty string as explained above. + * \param options (cv_bridge::CvtColorForDisplayOptions) Options to convert the source image with. + * - do_dynamic_scaling If true, the image is dynamically scaled between its minimum and maximum value + * before being converted to its final encoding. + * - min_image_value Independently from do_dynamic_scaling, if min_image_value and max_image_value are + * different, the image is scaled between these two values before being converted to its final encoding. + * - max_image_value Maximum image value + * - colormap Colormap which the source image converted with. + */ +CvImageConstPtr cvtColorForDisplay(const CvImageConstPtr& source, + const std::string& encoding = std::string(), + const CvtColorForDisplayOptions options = CvtColorForDisplayOptions()); + +/** + * \brief Get the OpenCV type enum corresponding to the encoding. + * + * For example, "bgr8" -> CV_8UC3, "32FC1" -> CV_32FC1, and "32FC10" -> CV_32FC10. + */ +int getCvType(const std::string& encoding); + +} // namespace cv_bridge + + +// CvImage as a first class message type + +// The rest of this file hooks into the roscpp serialization API to make CvImage +// a first-class message type you can publish and subscribe to directly. +// Unfortunately this doesn't yet work with image_transport, so don't rewrite all +// your callbacks to use CvImage! It might be useful for specific tasks, like +// processing bag files. + +/// @cond DOXYGEN_IGNORE +namespace ros { + +namespace message_traits { + +template<> struct MD5Sum +{ + static const char* value() { return MD5Sum::value(); } + static const char* value(const cv_bridge::CvImage&) { return value(); } + + static const uint64_t static_value1 = MD5Sum::static_value1; + static const uint64_t static_value2 = MD5Sum::static_value2; + + // If the definition of sensor_msgs/Image changes, we'll get a compile error here. + ROS_STATIC_ASSERT(MD5Sum::static_value1 == 0x060021388200f6f0ULL); + ROS_STATIC_ASSERT(MD5Sum::static_value2 == 0xf447d0fcd9c64743ULL); +}; + +template<> struct DataType +{ + static const char* value() { return DataType::value(); } + static const char* value(const cv_bridge::CvImage&) { return value(); } +}; + +template<> struct Definition +{ + static const char* value() { return Definition::value(); } + static const char* value(const cv_bridge::CvImage&) { return value(); } +}; + +template<> struct HasHeader : TrueType {}; + +} // namespace ros::message_traits + +namespace serialization { + +template<> struct Serializer +{ + /// @todo Still ignoring endianness... + + template + inline static void write(Stream& stream, const cv_bridge::CvImage& m) + { + stream.next(m.header); + stream.next((uint32_t)m.image.rows); // height + stream.next((uint32_t)m.image.cols); // width + stream.next(m.encoding); + uint8_t is_bigendian = 0; + stream.next(is_bigendian); + stream.next((uint32_t)m.image.step); + size_t data_size = m.image.step*m.image.rows; + stream.next((uint32_t)data_size); + if (data_size > 0) + memcpy(stream.advance(data_size), m.image.data, data_size); + } + + template + inline static void read(Stream& stream, cv_bridge::CvImage& m) + { + stream.next(m.header); + uint32_t height, width; + stream.next(height); + stream.next(width); + stream.next(m.encoding); + uint8_t is_bigendian; + stream.next(is_bigendian); + uint32_t step, data_size; + stream.next(step); + stream.next(data_size); + int type = cv_bridge::getCvType(m.encoding); + // Construct matrix pointing to the stream data, then copy it to m.image + cv::Mat tmp((int)height, (int)width, type, stream.advance(data_size), (size_t)step); + tmp.copyTo(m.image); + } + + inline static uint32_t serializedLength(const cv_bridge::CvImage& m) + { + size_t data_size = m.image.step*m.image.rows; + return serializationLength(m.header) + serializationLength(m.encoding) + 17 + data_size; + } +}; + +} // namespace ros::serialization + +namespace message_operations { + +template<> struct Printer +{ + template + static void stream(Stream&, const std::string&, const cv_bridge::CvImage&) + { + /// @todo Replicate printing for sensor_msgs::Image + } +}; + +} // namespace ros::message_operations + +} // namespace ros + +namespace cv_bridge { + +inline std::ostream& operator<<(std::ostream& s, const CvImage& m) +{ + ros::message_operations::Printer::stream(s, "", m); + return s; +} + +} // namespace cv_bridge + +/// @endcond + +#endif diff --git a/MyCode/src/my_cv_bridge/include/cv_bridge/rgb_colors.h b/MyCode/src/my_cv_bridge/include/cv_bridge/rgb_colors.h new file mode 100644 index 0000000..c50d10f --- /dev/null +++ b/MyCode/src/my_cv_bridge/include/cv_bridge/rgb_colors.h @@ -0,0 +1,211 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Original color definition is at scikit-image distributed with + * following license disclaimer: + * + * Copyright (C) 2011, the scikit-image team + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are + * met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of skimage 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 AUTHOR ``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 AUTHOR 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. + *********************************************************************/ + +#ifndef CV_BRIDGE_RGB_COLORS_H_ +#define CV_BRIDGE_RGB_COLORS_H_ + +#include + + +namespace cv_bridge +{ + +namespace rgb_colors +{ + + /** + * @brief + * 146 rgb colors + */ + enum Colors { + ALICEBLUE, + ANTIQUEWHITE, + AQUA, + AQUAMARINE, + AZURE, + BEIGE, + BISQUE, + BLACK, + BLANCHEDALMOND, + BLUE, + BLUEVIOLET, + BROWN, + BURLYWOOD, + CADETBLUE, + CHARTREUSE, + CHOCOLATE, + CORAL, + CORNFLOWERBLUE, + CORNSILK, + CRIMSON, + CYAN, + DARKBLUE, + DARKCYAN, + DARKGOLDENROD, + DARKGRAY, + DARKGREEN, + DARKGREY, + DARKKHAKI, + DARKMAGENTA, + DARKOLIVEGREEN, + DARKORANGE, + DARKORCHID, + DARKRED, + DARKSALMON, + DARKSEAGREEN, + DARKSLATEBLUE, + DARKSLATEGRAY, + DARKSLATEGREY, + DARKTURQUOISE, + DARKVIOLET, + DEEPPINK, + DEEPSKYBLUE, + DIMGRAY, + DIMGREY, + DODGERBLUE, + FIREBRICK, + FLORALWHITE, + FORESTGREEN, + FUCHSIA, + GAINSBORO, + GHOSTWHITE, + GOLD, + GOLDENROD, + GRAY, + GREEN, + GREENYELLOW, + GREY, + HONEYDEW, + HOTPINK, + INDIANRED, + INDIGO, + IVORY, + KHAKI, + LAVENDER, + LAVENDERBLUSH, + LAWNGREEN, + LEMONCHIFFON, + LIGHTBLUE, + LIGHTCORAL, + LIGHTCYAN, + LIGHTGOLDENRODYELLOW, + LIGHTGRAY, + LIGHTGREEN, + LIGHTGREY, + LIGHTPINK, + LIGHTSALMON, + LIGHTSEAGREEN, + LIGHTSKYBLUE, + LIGHTSLATEGRAY, + LIGHTSLATEGREY, + LIGHTSTEELBLUE, + LIGHTYELLOW, + LIME, + LIMEGREEN, + LINEN, + MAGENTA, + MAROON, + MEDIUMAQUAMARINE, + MEDIUMBLUE, + MEDIUMORCHID, + MEDIUMPURPLE, + MEDIUMSEAGREEN, + MEDIUMSLATEBLUE, + MEDIUMSPRINGGREEN, + MEDIUMTURQUOISE, + MEDIUMVIOLETRED, + MIDNIGHTBLUE, + MINTCREAM, + MISTYROSE, + MOCCASIN, + NAVAJOWHITE, + NAVY, + OLDLACE, + OLIVE, + OLIVEDRAB, + ORANGE, + ORANGERED, + ORCHID, + PALEGOLDENROD, + PALEGREEN, + PALEVIOLETRED, + PAPAYAWHIP, + PEACHPUFF, + PERU, + PINK, + PLUM, + POWDERBLUE, + PURPLE, + RED, + ROSYBROWN, + ROYALBLUE, + SADDLEBROWN, + SALMON, + SANDYBROWN, + SEAGREEN, + SEASHELL, + SIENNA, + SILVER, + SKYBLUE, + SLATEBLUE, + SLATEGRAY, + SLATEGREY, + SNOW, + SPRINGGREEN, + STEELBLUE, + TAN, + TEAL, + THISTLE, + TOMATO, + TURQUOISE, + VIOLET, + WHEAT, + WHITE, + WHITESMOKE, + YELLOW, + YELLOWGREEN, + }; + + /** + * @brief + * get rgb color with enum. + */ + cv::Vec3d getRGBColor(const int color); + +} // namespace rgb_colors + +} // namespace cv_bridge + +#endif diff --git a/MyCode/src/my_cv_bridge/package.xml b/MyCode/src/my_cv_bridge/package.xml new file mode 100644 index 0000000..bb6c734 --- /dev/null +++ b/MyCode/src/my_cv_bridge/package.xml @@ -0,0 +1,41 @@ + + cv_bridge + 1.16.2 + + This contains CvBridge, which converts between ROS + Image messages and OpenCV images. + + Patrick Mihelich + James Bowman + Vincent Rabaud + BSD + http://www.ros.org/wiki/cv_bridge + https://github.com/ros-perception/vision_opencv + https://github.com/ros-perception/vision_opencv/issues + + + + + + catkin + + boost + libopencv-dev + python3 + python3-opencv + rosconsole + sensor_msgs + + boost + libopencv-dev + python3 + python3-opencv + rosconsole + libopencv-dev + sensor_msgs + + rostest + python3-numpy + + dvipng + diff --git a/MyCode/src/my_cv_bridge/python/CMakeLists.txt b/MyCode/src/my_cv_bridge/python/CMakeLists.txt new file mode 100644 index 0000000..1b677d3 --- /dev/null +++ b/MyCode/src/my_cv_bridge/python/CMakeLists.txt @@ -0,0 +1,8 @@ +configure_file(__init__.py.plain.in + ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/boost/__init__.py + @ONLY +) + +install(FILES ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/boost/__init__.py + DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}/boost/ +) diff --git a/MyCode/src/my_cv_bridge/python/__init__.py.plain.in b/MyCode/src/my_cv_bridge/python/__init__.py.plain.in new file mode 100644 index 0000000..e69de29 diff --git a/MyCode/src/my_cv_bridge/python/cv_bridge/__init__.py b/MyCode/src/my_cv_bridge/python/cv_bridge/__init__.py new file mode 100644 index 0000000..5189c1a --- /dev/null +++ b/MyCode/src/my_cv_bridge/python/cv_bridge/__init__.py @@ -0,0 +1,8 @@ +from .core import CvBridge, CvBridgeError + +# python bindings +try: + # This try is just to satisfy doc jobs that are built differently. + from cv_bridge.boost.cv_bridge_boost import cvtColorForDisplay, getCvType +except ImportError: + pass diff --git a/MyCode/src/my_cv_bridge/python/cv_bridge/core.py b/MyCode/src/my_cv_bridge/python/cv_bridge/core.py new file mode 100644 index 0000000..423aa54 --- /dev/null +++ b/MyCode/src/my_cv_bridge/python/cv_bridge/core.py @@ -0,0 +1,273 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2011, Willow Garage, Inc. +# Copyright (c) 2016, Tal Regev. +# 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 Willow Garage, Inc. 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. + +import sensor_msgs.msg +import sys + + +class CvBridgeError(TypeError): + """ + This is the error raised by :class:`cv_bridge.CvBridge` methods when they fail. + """ + pass + + +class CvBridge(object): + """ + The CvBridge is an object that converts between OpenCV Images and ROS Image messages. + + .. doctest:: + :options: -ELLIPSIS, +NORMALIZE_WHITESPACE + + >>> import cv2 + >>> import numpy as np + >>> from cv_bridge import CvBridge + >>> br = CvBridge() + >>> dtype, n_channels = br.encoding_as_cvtype2('8UC3') + >>> im = np.ndarray(shape=(480, 640, n_channels), dtype=dtype) + >>> msg = br.cv2_to_imgmsg(im) # Convert the image to a message + >>> im2 = br.imgmsg_to_cv2(msg) # Convert the message to a new image + >>> cmprsmsg = br.cv2_to_compressed_imgmsg(im) # Convert the image to a compress message + >>> im22 = br.compressed_imgmsg_to_cv2(msg) # Convert the compress message to a new image + >>> cv2.imwrite("this_was_a_message_briefly.png", im2) + + """ + + def __init__(self): + import cv2 + self.cvtype_to_name = {} + self.cvdepth_to_numpy_depth = {cv2.CV_8U: 'uint8', cv2.CV_8S: 'int8', cv2.CV_16U: 'uint16', + cv2.CV_16S: 'int16', cv2.CV_32S:'int32', cv2.CV_32F:'float32', + cv2.CV_64F: 'float64'} + + for t in ["8U", "8S", "16U", "16S", "32S", "32F", "64F"]: + for c in [1, 2, 3, 4]: + nm = "%sC%d" % (t, c) + self.cvtype_to_name[getattr(cv2, "CV_%s" % nm)] = nm + + self.numpy_type_to_cvtype = {'uint8': '8U', 'int8': '8S', 'uint16': '16U', + 'int16': '16S', 'int32': '32S', 'float32': '32F', + 'float64': '64F'} + self.numpy_type_to_cvtype.update(dict((v, k) for (k, v) in self.numpy_type_to_cvtype.items())) + + def dtype_with_channels_to_cvtype2(self, dtype, n_channels): + return '%sC%d' % (self.numpy_type_to_cvtype[dtype.name], n_channels) + + def cvtype2_to_dtype_with_channels(self, cvtype): + from cv_bridge.boost.cv_bridge_boost import CV_MAT_CNWrap, CV_MAT_DEPTHWrap + return self.cvdepth_to_numpy_depth[CV_MAT_DEPTHWrap(cvtype)], CV_MAT_CNWrap(cvtype) + + def encoding_to_cvtype2(self, encoding): + from cv_bridge.boost.cv_bridge_boost import getCvType + + try: + return getCvType(encoding) + except RuntimeError as e: + raise CvBridgeError(e) + + def encoding_to_dtype_with_channels(self, encoding): + return self.cvtype2_to_dtype_with_channels(self.encoding_to_cvtype2(encoding)) + + def compressed_imgmsg_to_cv2(self, cmprs_img_msg, desired_encoding = "passthrough"): + """ + Convert a sensor_msgs::CompressedImage message to an OpenCV :cpp:type:`cv::Mat`. + + :param cmprs_img_msg: A :cpp:type:`sensor_msgs::CompressedImage` message + :param desired_encoding: The encoding of the image data, one of the following strings: + + * ``"passthrough"`` + * one of the standard strings in sensor_msgs/image_encodings.h + + :rtype: :cpp:type:`cv::Mat` + :raises CvBridgeError: when conversion is not possible. + + If desired_encoding is ``"passthrough"``, then the returned image has the same format as img_msg. + Otherwise desired_encoding must be one of the standard image encodings + + This function returns an OpenCV :cpp:type:`cv::Mat` message on success, or raises :exc:`cv_bridge.CvBridgeError` on failure. + + If the image only has one channel, the shape has size 2 (width and height) + """ + import cv2 + import numpy as np + + str_msg = cmprs_img_msg.data + buf = np.ndarray(shape=(1, len(str_msg)), + dtype=np.uint8, buffer=cmprs_img_msg.data) + im = cv2.imdecode(buf, cv2.IMREAD_UNCHANGED) + + if desired_encoding == "passthrough": + return im + + from cv_bridge.boost.cv_bridge_boost import cvtColor2 + + try: + res = cvtColor2(im, "bgr8", desired_encoding) + except RuntimeError as e: + raise CvBridgeError(e) + + return res + + def imgmsg_to_cv2(self, img_msg, desired_encoding = "passthrough"): + """ + Convert a sensor_msgs::Image message to an OpenCV :cpp:type:`cv::Mat`. + + :param img_msg: A :cpp:type:`sensor_msgs::Image` message + :param desired_encoding: The encoding of the image data, one of the following strings: + + * ``"passthrough"`` + * one of the standard strings in sensor_msgs/image_encodings.h + + :rtype: :cpp:type:`cv::Mat` + :raises CvBridgeError: when conversion is not possible. + + If desired_encoding is ``"passthrough"``, then the returned image has the same format as img_msg. + Otherwise desired_encoding must be one of the standard image encodings + + This function returns an OpenCV :cpp:type:`cv::Mat` message on success, or raises :exc:`cv_bridge.CvBridgeError` on failure. + + If the image only has one channel, the shape has size 2 (width and height) + """ + import cv2 + import numpy as np + dtype, n_channels = self.encoding_to_dtype_with_channels(img_msg.encoding) + dtype = np.dtype(dtype) + dtype = dtype.newbyteorder('>' if img_msg.is_bigendian else '<') + if n_channels == 1: + im = np.ndarray(shape=(img_msg.height, img_msg.width), + dtype=dtype, buffer=img_msg.data) + else: + if(type(img_msg.data) == str): + im = np.ndarray(shape=(img_msg.height, img_msg.width, n_channels), + dtype=dtype, buffer=img_msg.data.encode()) + else: + im = np.ndarray(shape=(img_msg.height, img_msg.width, n_channels), + dtype=dtype, buffer=img_msg.data) + # If the byt order is different between the message and the system. + if img_msg.is_bigendian == (sys.byteorder == 'little'): + im = im.byteswap().newbyteorder() + + if desired_encoding == "passthrough": + return im + + from cv_bridge.boost.cv_bridge_boost import cvtColor2 + + try: + res = cvtColor2(im, img_msg.encoding, desired_encoding) + except RuntimeError as e: + raise CvBridgeError(e) + + return res + + def cv2_to_compressed_imgmsg(self, cvim, dst_format = "jpg"): + """ + Convert an OpenCV :cpp:type:`cv::Mat` type to a ROS sensor_msgs::CompressedImage message. + + :param cvim: An OpenCV :cpp:type:`cv::Mat` + :param dst_format: The format of the image data, one of the following strings: + + * from http://docs.opencv.org/2.4/modules/highgui/doc/reading_and_writing_images_and_video.html + * from http://docs.opencv.org/2.4/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags) + * bmp, dib + * jpeg, jpg, jpe + * jp2 + * png + * pbm, pgm, ppm + * sr, ras + * tiff, tif + + :rtype: A sensor_msgs.msg.CompressedImage message + :raises CvBridgeError: when the ``cvim`` has a type that is incompatible with ``format`` + + + This function returns a sensor_msgs::Image message on success, or raises :exc:`cv_bridge.CvBridgeError` on failure. + """ + import cv2 + import numpy as np + if not isinstance(cvim, (np.ndarray, np.generic)): + raise TypeError('Your input type is not a numpy array') + cmprs_img_msg = sensor_msgs.msg.CompressedImage() + cmprs_img_msg.format = dst_format + ext_format = '.' + dst_format + try: + cmprs_img_msg.data = np.array(cv2.imencode(ext_format, cvim)[1]).tostring() + except RuntimeError as e: + raise CvBridgeError(e) + + return cmprs_img_msg + + def cv2_to_imgmsg(self, cvim, encoding = "passthrough", header = None): + """ + Convert an OpenCV :cpp:type:`cv::Mat` type to a ROS sensor_msgs::Image message. + + :param cvim: An OpenCV :cpp:type:`cv::Mat` + :param encoding: The encoding of the image data, one of the following strings: + + * ``"passthrough"`` + * one of the standard strings in sensor_msgs/image_encodings.h + :param header: A std_msgs.msg.Header message + + :rtype: A sensor_msgs.msg.Image message + :raises CvBridgeError: when the ``cvim`` has a type that is incompatible with ``encoding`` + + If encoding is ``"passthrough"``, then the message has the same encoding as the image's OpenCV type. + Otherwise desired_encoding must be one of the standard image encodings + + This function returns a sensor_msgs::Image message on success, or raises :exc:`cv_bridge.CvBridgeError` on failure. + """ + import cv2 + import numpy as np + if not isinstance(cvim, (np.ndarray, np.generic)): + raise TypeError('Your input type is not a numpy array') + img_msg = sensor_msgs.msg.Image() + img_msg.height = cvim.shape[0] + img_msg.width = cvim.shape[1] + if header is not None: + img_msg.header = header + if len(cvim.shape) < 3: + cv_type = self.dtype_with_channels_to_cvtype2(cvim.dtype, 1) + else: + cv_type = self.dtype_with_channels_to_cvtype2(cvim.dtype, cvim.shape[2]) + if encoding == "passthrough": + img_msg.encoding = cv_type + else: + img_msg.encoding = encoding + # Verify that the supplied encoding is compatible with the type of the OpenCV image + if self.cvtype_to_name[self.encoding_to_cvtype2(encoding)] != cv_type: + raise CvBridgeError("encoding specified as %s, but image has incompatible type %s" % (encoding, cv_type)) + if cvim.dtype.byteorder == '>': + img_msg.is_bigendian = True + img_msg.data = cvim.tostring() + img_msg.step = len(img_msg.data) // img_msg.height + + return img_msg diff --git a/MyCode/src/my_cv_bridge/rosdoc.yaml b/MyCode/src/my_cv_bridge/rosdoc.yaml new file mode 100644 index 0000000..0efc7fd --- /dev/null +++ b/MyCode/src/my_cv_bridge/rosdoc.yaml @@ -0,0 +1,8 @@ + - builder: doxygen + name: C++ API + output_dir: c++ + file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox' + - builder: sphinx + name: Python API + output_dir: python + sphinx_root_dir: doc diff --git a/MyCode/src/my_cv_bridge/setup.py b/MyCode/src/my_cv_bridge/setup.py new file mode 100644 index 0000000..f8812a2 --- /dev/null +++ b/MyCode/src/my_cv_bridge/setup.py @@ -0,0 +1,10 @@ +#!/usr/bin/env python +from setuptools import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup() + +d['packages'] = ['cv_bridge'] +d['package_dir'] = {'' : 'python'} + +setup(**d) diff --git a/MyCode/src/my_cv_bridge/src/CMakeLists.txt b/MyCode/src/my_cv_bridge/src/CMakeLists.txt new file mode 100644 index 0000000..d104692 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/CMakeLists.txt @@ -0,0 +1,66 @@ +# add library +include_directories(./) +add_library(${PROJECT_NAME} cv_bridge.cpp rgb_colors.cpp) +add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ${catkin_LIBRARIES}) + +install(TARGETS ${PROJECT_NAME} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +if(NOT ANDROID) +# add a Boost Python library +find_package(PythonInterp REQUIRED) +find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}") + +#Get the numpy include directory from its python module +if(NOT PYTHON_NUMPY_INCLUDE_DIR) + execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import numpy; print(numpy.get_include())" + RESULT_VARIABLE PYTHON_NUMPY_PROCESS + OUTPUT_VARIABLE PYTHON_NUMPY_INCLUDE_DIR + OUTPUT_STRIP_TRAILING_WHITESPACE) + + if(PYTHON_NUMPY_PROCESS EQUAL 0) + file(TO_CMAKE_PATH "${PYTHON_NUMPY_INCLUDE_DIR}" PYTHON_NUMPY_INCLUDE_CMAKE_PATH) + set(PYTHON_NUMPY_INCLUDE_DIR ${PYTHON_NUMPY_INCLUDE_CMAKE_PATH} CACHE PATH "Numpy include directory") + else(PYTHON_NUMPY_PROCESS EQUAL 0) + message(SEND_ERROR "Could not determine the NumPy include directory, verify that NumPy was installed correctly.") + endif(PYTHON_NUMPY_PROCESS EQUAL 0) + endif(NOT PYTHON_NUMPY_INCLUDE_DIR) + +include_directories(${PYTHON_INCLUDE_PATH} ${Boost_INCLUDE_DIRS} ${PYTHON_NUMPY_INCLUDE_DIR}) + +if (PYTHON_VERSION_MAJOR VERSION_EQUAL 3) + add_definitions(-DPYTHON3) +endif() + +add_library(${PROJECT_NAME}_boost module.cpp module_opencv4.cpp) +target_link_libraries(${PROJECT_NAME}_boost ${Boost_LIBRARIES} + ${catkin_LIBRARIES} + ${PROJECT_NAME} +) + +if(NOT APPLE) + target_link_libraries(${PROJECT_NAME}_boost ${PYTHON_LIBRARIES}) +endif() + +set_target_properties(${PROJECT_NAME}_boost PROPERTIES + LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/${PROJECT_NAME}/boost/ + RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/${PROJECT_NAME}/boost/ + PREFIX "" +) +if(APPLE) + set_target_properties(${PROJECT_NAME}_boost PROPERTIES + SUFFIX ".so") + set_target_properties(${PROJECT_NAME}_boost PROPERTIES + LINK_FLAGS "-undefined dynamic_lookup") +endif() +if(MSVC) + set_target_properties(${PROJECT_NAME}_boost PROPERTIES + SUFFIX ".pyd") +endif() + +install(TARGETS ${PROJECT_NAME}_boost DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}/boost/) +endif() diff --git a/MyCode/src/my_cv_bridge/src/boost/README b/MyCode/src/my_cv_bridge/src/boost/README new file mode 100644 index 0000000..f3a3d3c --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/README @@ -0,0 +1,2 @@ +this code is taken from Boost at https://github.com/boostorg/endian.git +We should remove this folder once Boost 1.58 or above is the default. diff --git a/MyCode/src/my_cv_bridge/src/boost/core/scoped_enum.hpp b/MyCode/src/my_cv_bridge/src/boost/core/scoped_enum.hpp new file mode 100644 index 0000000..78c548b --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/core/scoped_enum.hpp @@ -0,0 +1,192 @@ +// scoped_enum.hpp ---------------------------------------------------------// + +// Copyright Beman Dawes, 2009 +// Copyright (C) 2011-2012 Vicente J. Botet Escriba +// Copyright (C) 2012 Anthony Williams + +// Distributed under the Boost Software License, Version 1.0. +// See http://www.boost.org/LICENSE_1_0.txt + +#ifndef BOOST_CORE_SCOPED_ENUM_HPP +#define BOOST_CORE_SCOPED_ENUM_HPP + +#include + +#ifdef BOOST_HAS_PRAGMA_ONCE +#pragma once +#endif + +namespace boost +{ + +#ifdef BOOST_NO_CXX11_SCOPED_ENUMS + + /** + * Meta-function to get the native enum type associated to an enum class or its emulation. + */ + template + struct native_type + { + /** + * The member typedef type names the native enum type associated to the scoped enum, + * which is it self if the compiler supports scoped enums or EnumType::enum_type if it is an emulated scoped enum. + */ + typedef typename EnumType::enum_type type; + }; + + /** + * Casts a scoped enum to its underlying type. + * + * This function is useful when working with scoped enum classes, which doens't implicitly convert to the underlying type. + * @param v A scoped enum. + * @returns The underlying type. + * @throws No-throws. + */ + template + UnderlyingType underlying_cast(EnumType v) + { + return v.get_underlying_value_(); + } + + /** + * Casts a scoped enum to its native enum type. + * + * This function is useful to make programs portable when the scoped enum emulation can not be use where native enums can. + * + * EnumType the scoped enum type + * + * @param v A scoped enum. + * @returns The native enum value. + * @throws No-throws. + */ + template + inline + typename EnumType::enum_type native_value(EnumType e) + { + return e.get_native_value_(); + } + +#else // BOOST_NO_CXX11_SCOPED_ENUMS + + template + struct native_type + { + typedef EnumType type; + }; + + template + UnderlyingType underlying_cast(EnumType v) + { + return static_cast(v); + } + + template + inline + EnumType native_value(EnumType e) + { + return e; + } + +#endif // BOOST_NO_CXX11_SCOPED_ENUMS +} + + +#ifdef BOOST_NO_CXX11_SCOPED_ENUMS + +#ifndef BOOST_NO_CXX11_EXPLICIT_CONVERSION_OPERATORS + +#define BOOST_SCOPED_ENUM_UT_DECLARE_CONVERSION_OPERATOR \ + explicit operator underlying_type() const BOOST_NOEXCEPT { return get_underlying_value_(); } + +#else + +#define BOOST_SCOPED_ENUM_UT_DECLARE_CONVERSION_OPERATOR + +#endif + +/** + * Start a declaration of a scoped enum. + * + * @param EnumType The new scoped enum. + * @param UnderlyingType The underlying type. + */ +#define BOOST_SCOPED_ENUM_UT_DECLARE_BEGIN(EnumType, UnderlyingType) \ + struct EnumType { \ + typedef void is_boost_scoped_enum_tag; \ + typedef UnderlyingType underlying_type; \ + EnumType() BOOST_NOEXCEPT {} \ + explicit EnumType(underlying_type v) BOOST_NOEXCEPT : v_(v) {} \ + underlying_type get_underlying_value_() const BOOST_NOEXCEPT { return v_; } \ + BOOST_SCOPED_ENUM_UT_DECLARE_CONVERSION_OPERATOR \ + private: \ + underlying_type v_; \ + typedef EnumType self_type; \ + public: \ + enum enum_type + +#define BOOST_SCOPED_ENUM_DECLARE_END2() \ + enum_type get_native_value_() const BOOST_NOEXCEPT { return enum_type(v_); } \ + friend bool operator ==(self_type lhs, self_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)==enum_type(rhs.v_); } \ + friend bool operator ==(self_type lhs, enum_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)==rhs; } \ + friend bool operator ==(enum_type lhs, self_type rhs) BOOST_NOEXCEPT { return lhs==enum_type(rhs.v_); } \ + friend bool operator !=(self_type lhs, self_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)!=enum_type(rhs.v_); } \ + friend bool operator !=(self_type lhs, enum_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)!=rhs; } \ + friend bool operator !=(enum_type lhs, self_type rhs) BOOST_NOEXCEPT { return lhs!=enum_type(rhs.v_); } \ + friend bool operator <(self_type lhs, self_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)(self_type lhs, self_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)>enum_type(rhs.v_); } \ + friend bool operator >(self_type lhs, enum_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)>rhs; } \ + friend bool operator >(enum_type lhs, self_type rhs) BOOST_NOEXCEPT { return lhs>enum_type(rhs.v_); } \ + friend bool operator >=(self_type lhs, self_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)>=enum_type(rhs.v_); } \ + friend bool operator >=(self_type lhs, enum_type rhs) BOOST_NOEXCEPT { return enum_type(lhs.v_)>=rhs; } \ + friend bool operator >=(enum_type lhs, self_type rhs) BOOST_NOEXCEPT { return lhs>=enum_type(rhs.v_); } \ + }; + +#define BOOST_SCOPED_ENUM_DECLARE_END(EnumType) \ + ; \ + EnumType(enum_type v) BOOST_NOEXCEPT : v_(v) {} \ + BOOST_SCOPED_ENUM_DECLARE_END2() + +/** + * Starts a declaration of a scoped enum with the default int underlying type. + * + * @param EnumType The new scoped enum. + */ +#define BOOST_SCOPED_ENUM_DECLARE_BEGIN(EnumType) \ + BOOST_SCOPED_ENUM_UT_DECLARE_BEGIN(EnumType,int) + +/** + * Name of the native enum type. + * + * @param EnumType The new scoped enum. + */ +#define BOOST_SCOPED_ENUM_NATIVE(EnumType) EnumType::enum_type +/** + * Forward declares an scoped enum. + * + * @param EnumType The scoped enum. + */ +#define BOOST_SCOPED_ENUM_FORWARD_DECLARE(EnumType) struct EnumType + +#else // BOOST_NO_CXX11_SCOPED_ENUMS + +#define BOOST_SCOPED_ENUM_UT_DECLARE_BEGIN(EnumType,UnderlyingType) enum class EnumType : UnderlyingType +#define BOOST_SCOPED_ENUM_DECLARE_BEGIN(EnumType) enum class EnumType +#define BOOST_SCOPED_ENUM_DECLARE_END2() +#define BOOST_SCOPED_ENUM_DECLARE_END(EnumType) ; + +#define BOOST_SCOPED_ENUM_NATIVE(EnumType) EnumType +#define BOOST_SCOPED_ENUM_FORWARD_DECLARE(EnumType) enum class EnumType + +#endif // BOOST_NO_CXX11_SCOPED_ENUMS + +// Deprecated macros +#define BOOST_SCOPED_ENUM_START(name) BOOST_SCOPED_ENUM_DECLARE_BEGIN(name) +#define BOOST_SCOPED_ENUM_END BOOST_SCOPED_ENUM_DECLARE_END2() +#define BOOST_SCOPED_ENUM(name) BOOST_SCOPED_ENUM_NATIVE(name) + +#endif // BOOST_CORE_SCOPED_ENUM_HPP diff --git a/MyCode/src/my_cv_bridge/src/boost/endian/conversion.hpp b/MyCode/src/my_cv_bridge/src/boost/endian/conversion.hpp new file mode 100644 index 0000000..7c145d9 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/endian/conversion.hpp @@ -0,0 +1,488 @@ +// boost/endian/conversion.hpp -------------------------------------------------------// + +// Copyright Beman Dawes 2010, 2011, 2014 + +// Distributed under the Boost Software License, Version 1.0. +// http://www.boost.org/LICENSE_1_0.txt + +#ifndef BOOST_ENDIAN_CONVERSION_HPP +#define BOOST_ENDIAN_CONVERSION_HPP + +#include +#include +#include +#include +#include +#include +#include +#include // for memcpy + +//------------------------------------- synopsis ---------------------------------------// + +namespace boost +{ +namespace endian +{ + BOOST_SCOPED_ENUM_START(order) + { + big, little, +# ifdef BOOST_BIG_ENDIAN + native = big +# else + native = little +# endif + }; BOOST_SCOPED_ENUM_END + +//--------------------------------------------------------------------------------------// +// // +// return-by-value interfaces // +// suggested by Phil Endecott // +// // +// user-defined types (UDTs) // +// // +// All return-by-value conversion function templates are required to be implemented in // +// terms of an unqualified call to "endian_reverse(x)", a function returning the // +// value of x with endianness reversed. This provides a customization point for any // +// UDT that provides a "endian_reverse" free-function meeting the requirements. // +// It must be defined in the same namespace as the UDT itself so that it will be found // +// by argument dependent lookup (ADL). // +// // +//--------------------------------------------------------------------------------------// + + // customization for exact-length arithmetic types. See doc/conversion.html/#FAQ. + // Note: The omission of an overloads for the arithmetic type (typically long, or + // long long) not assigned to one of the exact length typedefs is a deliberate + // design decision. Such overloads would be non-portable and thus error prone. + + inline int8_t endian_reverse(int8_t x) BOOST_NOEXCEPT; + inline int16_t endian_reverse(int16_t x) BOOST_NOEXCEPT; + inline int32_t endian_reverse(int32_t x) BOOST_NOEXCEPT; + inline int64_t endian_reverse(int64_t x) BOOST_NOEXCEPT; + inline uint8_t endian_reverse(uint8_t x) BOOST_NOEXCEPT; + inline uint16_t endian_reverse(uint16_t x) BOOST_NOEXCEPT; + inline uint32_t endian_reverse(uint32_t x) BOOST_NOEXCEPT; + inline uint64_t endian_reverse(uint64_t x) BOOST_NOEXCEPT; + + // reverse byte order unless native endianness is big + template + inline EndianReversible big_to_native(EndianReversible x) BOOST_NOEXCEPT; + // Returns: x if native endian order is big, otherwise endian_reverse(x) + template + inline EndianReversible native_to_big(EndianReversible x) BOOST_NOEXCEPT; + // Returns: x if native endian order is big, otherwise endian_reverse(x) + + // reverse byte order unless native endianness is little + template + inline EndianReversible little_to_native(EndianReversible x) BOOST_NOEXCEPT; + // Returns: x if native endian order is little, otherwise endian_reverse(x) + template + inline EndianReversible native_to_little(EndianReversible x) BOOST_NOEXCEPT; + // Returns: x if native endian order is little, otherwise endian_reverse(x) + + // generic conditional reverse byte order + template + inline EndianReversible conditional_reverse(EndianReversible from) BOOST_NOEXCEPT; + // Returns: If From == To have different values, from. + // Otherwise endian_reverse(from). + // Remarks: The From == To test, and as a consequence which form the return takes, is + // is determined at compile time. + + // runtime conditional reverse byte order + template + inline EndianReversible conditional_reverse(EndianReversible from, + BOOST_SCOPED_ENUM(order) from_order, BOOST_SCOPED_ENUM(order) to_order) + BOOST_NOEXCEPT; + // Returns: from_order == to_order ? from : endian_reverse(from). + + //------------------------------------------------------------------------------------// + + + // Q: What happended to bswap, htobe, and the other synonym functions based on names + // popularized by BSD, OS X, and Linux? + // A: Turned out these may be implemented as macros on some systems. Ditto POSIX names + // for such functionality. Since macros would cause endless problems with functions + // of the same names, and these functions are just synonyms anyhow, they have been + // removed. + + + //------------------------------------------------------------------------------------// + // // + // reverse in place interfaces // + // // + // user-defined types (UDTs) // + // // + // All reverse in place function templates are required to be implemented in terms // + // of an unqualified call to "endian_reverse_inplace(x)", a function reversing // + // the endianness of x, which is a non-const reference. This provides a // + // customization point for any UDT that provides a "reverse_inplace" free-function // + // meeting the requirements. The free-function must be declared in the same // + // namespace as the UDT itself so that it will be found by argument-dependent // + // lookup (ADL). // + // // + //------------------------------------------------------------------------------------// + + // reverse in place + template + inline void endian_reverse_inplace(EndianReversible& x) BOOST_NOEXCEPT; + // Effects: x = endian_reverse(x) + + // reverse in place unless native endianness is big + template + inline void big_to_native_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT; + // Effects: none if native byte-order is big, otherwise endian_reverse_inplace(x) + template + inline void native_to_big_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT; + // Effects: none if native byte-order is big, otherwise endian_reverse_inplace(x) + + // reverse in place unless native endianness is little + template + inline void little_to_native_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT; + // Effects: none if native byte-order is little, otherwise endian_reverse_inplace(x); + template + inline void native_to_little_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT; + // Effects: none if native byte-order is little, otherwise endian_reverse_inplace(x); + + // generic conditional reverse in place + template + inline void conditional_reverse_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT; + + // runtime reverse in place + template + inline void conditional_reverse_inplace(EndianReversibleInplace& x, + BOOST_SCOPED_ENUM(order) from_order, BOOST_SCOPED_ENUM(order) to_order) + BOOST_NOEXCEPT; + +//----------------------------------- end synopsis -------------------------------------// + + namespace detail + { + // generic reverse function template implementation approach using std::reverse + // suggested by Mathias Gaunard. Primary motivation for inclusion is to have an + // independent implementation to test against. + + template + inline T std_endian_reverse(T x) BOOST_NOEXCEPT + { + T tmp(x); + std::reverse( + reinterpret_cast(&tmp), + reinterpret_cast(&tmp) + sizeof(T)); + return tmp; + } + + // conditional unaligned reverse copy, patterned after std::reverse_copy + template + inline void big_reverse_copy(T from, char* to) BOOST_NOEXCEPT; + template + inline void big_reverse_copy(const char* from, T& to) BOOST_NOEXCEPT; + template + inline void little_reverse_copy(T from, char* to) BOOST_NOEXCEPT; + template + inline void little_reverse_copy(const char* from, T& to) BOOST_NOEXCEPT; + } // namespace detail + +//--------------------------------------------------------------------------------------// +// // +// return-by-value implementation // +// // +// -- portable approach suggested by tymofey, with avoidance of undefined behavior // +// as suggested by Giovanni Piero Deretta, with a further refinement suggested // +// by Pyry Jahkola. // +// -- intrinsic approach suggested by reviewers, and by David Stone, who provided // +// his Boost licensed macro implementation (detail/intrinsic.hpp) // +// // +//--------------------------------------------------------------------------------------// + + inline int8_t endian_reverse(int8_t x) BOOST_NOEXCEPT + { + return x; + } + + inline int16_t endian_reverse(int16_t x) BOOST_NOEXCEPT + { +# ifdef BOOST_ENDIAN_NO_INTRINSICS + return (static_cast(x) << 8) + | (static_cast(x) >> 8); +# else + return BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_2(static_cast(x)); +# endif + } + + inline int32_t endian_reverse(int32_t x) BOOST_NOEXCEPT + { +# ifdef BOOST_ENDIAN_NO_INTRINSICS + uint32_t step16; + step16 = static_cast(x) << 16 | static_cast(x) >> 16; + return + ((static_cast(step16) << 8) & 0xff00ff00) + | ((static_cast(step16) >> 8) & 0x00ff00ff); +# else + return BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_4(static_cast(x)); +# endif + } + + inline int64_t endian_reverse(int64_t x) BOOST_NOEXCEPT + { +# ifdef BOOST_ENDIAN_NO_INTRINSICS + uint64_t step32, step16; + step32 = static_cast(x) << 32 | static_cast(x) >> 32; + step16 = (step32 & 0x0000FFFF0000FFFFULL) << 16 + | (step32 & 0xFFFF0000FFFF0000ULL) >> 16; + return static_cast((step16 & 0x00FF00FF00FF00FFULL) << 8 + | (step16 & 0xFF00FF00FF00FF00ULL) >> 8); +# else + return BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_8(static_cast(x)); +# endif + } + + inline uint8_t endian_reverse(uint8_t x) BOOST_NOEXCEPT + { + return x; + } + + inline uint16_t endian_reverse(uint16_t x) BOOST_NOEXCEPT + { +# ifdef BOOST_ENDIAN_NO_INTRINSICS + return (x << 8) + | (x >> 8); +# else + return BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_2(x); +# endif + } + + inline uint32_t endian_reverse(uint32_t x) BOOST_NOEXCEPT + { +# ifdef BOOST_ENDIAN_NO_INTRINSICS + uint32_t step16; + step16 = x << 16 | x >> 16; + return + ((step16 << 8) & 0xff00ff00) + | ((step16 >> 8) & 0x00ff00ff); +# else + return BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_4(x); +# endif + } + + inline uint64_t endian_reverse(uint64_t x) BOOST_NOEXCEPT + { +# ifdef BOOST_ENDIAN_NO_INTRINSICS + uint64_t step32, step16; + step32 = x << 32 | x >> 32; + step16 = (step32 & 0x0000FFFF0000FFFFULL) << 16 + | (step32 & 0xFFFF0000FFFF0000ULL) >> 16; + return (step16 & 0x00FF00FF00FF00FFULL) << 8 + | (step16 & 0xFF00FF00FF00FF00ULL) >> 8; +# else + return BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_8(x); +# endif + } + + template + inline EndianReversible big_to_native(EndianReversible x) BOOST_NOEXCEPT + { +# ifdef BOOST_BIG_ENDIAN + return x; +# else + return endian_reverse(x); +# endif + } + + template + inline EndianReversible native_to_big(EndianReversible x) BOOST_NOEXCEPT + { +# ifdef BOOST_BIG_ENDIAN + return x; +# else + return endian_reverse(x); +# endif + } + + template + inline EndianReversible little_to_native(EndianReversible x) BOOST_NOEXCEPT + { +# ifdef BOOST_LITTLE_ENDIAN + return x; +# else + return endian_reverse(x); +# endif + } + + template + inline EndianReversible native_to_little(EndianReversible x) BOOST_NOEXCEPT + { +# ifdef BOOST_LITTLE_ENDIAN + return x; +# else + return endian_reverse(x); +# endif + } + + namespace detail + { + // Primary template and specializations to support endian_reverse(). + // See rationale in endian_reverse() below. + template + class value_converter ; // primary template + template class value_converter + {public: T operator()(T x) BOOST_NOEXCEPT {return x;}}; + template class value_converter + {public: T operator()(T x) BOOST_NOEXCEPT {return x;}}; + template class value_converter + {public: T operator()(T x) BOOST_NOEXCEPT {return endian_reverse(x);}}; + template class value_converter + {public: T operator()(T x) BOOST_NOEXCEPT {return endian_reverse(x);}}; + } + + // generic conditional reverse + template + inline EndianReversible conditional_reverse(EndianReversible from) BOOST_NOEXCEPT { + // work around lack of function template partial specialization by instantiating + // a function object of a class that is partially specialized on the two order + // template parameters, and then calling its operator(). + detail::value_converter tmp; + return tmp(from); + } + + // runtime conditional reverse + template + inline EndianReversible conditional_reverse(EndianReversible from, + BOOST_SCOPED_ENUM(order) from_order, BOOST_SCOPED_ENUM(order) to_order) BOOST_NOEXCEPT + { + return from_order == to_order ? from : endian_reverse(from); + } + +//--------------------------------------------------------------------------------------// +// reverse-in-place implementation // +//--------------------------------------------------------------------------------------// + + // reverse in place + template + inline void endian_reverse_inplace(EndianReversible& x) BOOST_NOEXCEPT + { + x = endian_reverse(x); + } + + template +# ifdef BOOST_BIG_ENDIAN + inline void big_to_native_inplace(EndianReversibleInplace&) BOOST_NOEXCEPT {} +# else + inline void big_to_native_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT + { endian_reverse_inplace(x); } +# endif + template +# ifdef BOOST_BIG_ENDIAN + inline void native_to_big_inplace(EndianReversibleInplace&) BOOST_NOEXCEPT {} +# else + inline void native_to_big_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT + { + endian_reverse_inplace(x); + } +# endif + + template +# ifdef BOOST_LITTLE_ENDIAN + inline void little_to_native_inplace(EndianReversibleInplace&) BOOST_NOEXCEPT {} +# else + inline void little_to_native_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT + { endian_reverse_inplace(x); } +# endif + template +# ifdef BOOST_LITTLE_ENDIAN + inline void native_to_little_inplace(EndianReversibleInplace&) BOOST_NOEXCEPT {} +# else + inline void native_to_little_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT + { + endian_reverse_inplace(x); + } +# endif + + namespace detail + { + // Primary template and specializations support generic + // endian_reverse_inplace(). + // See rationale in endian_reverse_inplace() below. + template + class converter; // primary template + template class converter + {public: void operator()(T&) BOOST_NOEXCEPT {/*no effect*/}}; + template class converter + {public: void operator()(T&) BOOST_NOEXCEPT {/*no effect*/}}; + template class converter + {public: void operator()(T& x) BOOST_NOEXCEPT { endian_reverse_inplace(x); }}; + template class converter + {public: void operator()(T& x) BOOST_NOEXCEPT { endian_reverse_inplace(x); }}; + } // namespace detail + + // generic conditional reverse in place + template + inline void conditional_reverse_inplace(EndianReversibleInplace& x) BOOST_NOEXCEPT + { + // work around lack of function template partial specialization by instantiating + // a function object of a class that is partially specialized on the two order + // template parameters, and then calling its operator(). + detail::converter tmp; + tmp(x); // call operator () + } + + // runtime reverse in place + template + inline void conditional_reverse_inplace(EndianReversibleInplace& x, + BOOST_SCOPED_ENUM(order) from_order, BOOST_SCOPED_ENUM(order) to_order) + BOOST_NOEXCEPT + { + if (from_order != to_order) + endian_reverse_inplace(x); + } + + + namespace detail + { + template + inline void big_reverse_copy(T from, char* to) BOOST_NOEXCEPT + { +# ifdef BOOST_BIG_ENDIAN + std::memcpy(to, reinterpret_cast(&from), sizeof(T)); +# else + std::reverse_copy(reinterpret_cast(&from), + reinterpret_cast(&from) + sizeof(T), to); +# endif + } + template + inline void big_reverse_copy(const char* from, T& to) BOOST_NOEXCEPT + { +# ifdef BOOST_BIG_ENDIAN + std::memcpy(reinterpret_cast(&to), from, sizeof(T)); +# else + std::reverse_copy(from, from + sizeof(T), reinterpret_cast(&to)); +# endif + } + template + inline void little_reverse_copy(T from, char* to) BOOST_NOEXCEPT + { +# ifdef BOOST_LITTLE_ENDIAN + std::memcpy(to, reinterpret_cast(&from), sizeof(T)); +# else + std::reverse_copy(reinterpret_cast(&from), + reinterpret_cast(&from) + sizeof(T), to); +# endif + } + template + inline void little_reverse_copy(const char* from, T& to) BOOST_NOEXCEPT + { +# ifdef BOOST_LITTLE_ENDIAN + std::memcpy(reinterpret_cast(&to), from, sizeof(T)); +# else + std::reverse_copy(from, from + sizeof(T), reinterpret_cast(&to)); +# endif + } + } // namespace detail +} // namespace endian +} // namespace boost + +#endif // BOOST_ENDIAN_CONVERSION_HPP diff --git a/MyCode/src/my_cv_bridge/src/boost/endian/detail/intrinsic.hpp b/MyCode/src/my_cv_bridge/src/boost/endian/detail/intrinsic.hpp new file mode 100644 index 0000000..6ead681 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/endian/detail/intrinsic.hpp @@ -0,0 +1,64 @@ +// endian/detail/intrinsic.hpp -------------------------------------------------------// + +// Copyright (C) 2012 David Stone +// Copyright Beman Dawes 2013 + +// Distributed under the Boost Software License, Version 1.0. +// http://www.boost.org/LICENSE_1_0.txt + +#ifndef BOOST_ENDIAN_INTRINSIC_HPP +#define BOOST_ENDIAN_INTRINSIC_HPP + +// Allow user to force BOOST_ENDIAN_NO_INTRINSICS in case they aren't available for a +// particular platform/compiler combination. Please report such platform/compiler +// combinations to the Boost mailing list. +#ifndef BOOST_ENDIAN_NO_INTRINSICS + +#ifndef __has_builtin // Optional of course + #define __has_builtin(x) 0 // Compatibility with non-clang compilers +#endif + +// GCC and Clang recent versions provide intrinsic byte swaps via builtins +#if (defined(__clang__) && __has_builtin(__builtin_bswap32) && __has_builtin(__builtin_bswap64)) \ + || (defined(__GNUC__ ) && \ + (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3))) +# define BOOST_ENDIAN_INTRINSIC_MSG "__builtin_bswap16, etc." +// prior to 4.8, gcc did not provide __builtin_bswap16 on some platforms so we emulate it +// see http://gcc.gnu.org/bugzilla/show_bug.cgi?id=52624 +// Clang has a similar problem, but their feature test macros make it easier to detect +# if (defined(__clang__) && __has_builtin(__builtin_bswap16)) \ + || (defined(__GNUC__) &&(__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8))) +# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_2(x) __builtin_bswap16(x) +# else +# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_2(x) __builtin_bswap32((x) << 16) +# endif +# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_4(x) __builtin_bswap32(x) +# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_8(x) __builtin_bswap64(x) + +// Linux systems provide the byteswap.h header, with +#elif defined(__linux__) +// don't check for obsolete forms defined(linux) and defined(__linux) on the theory that +// compilers that predefine only these are so old that byteswap.h probably isn't present. +# define BOOST_ENDIAN_INTRINSIC_MSG "byteswap.h bswap_16, etc." +# include +# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_2(x) bswap_16(x) +# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_4(x) bswap_32(x) +# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_8(x) bswap_64(x) + +#elif defined(_MSC_VER) +// Microsoft documents these as being compatible since Windows 95 and specificly +// lists runtime library support since Visual Studio 2003 (aka 7.1). +# define BOOST_ENDIAN_INTRINSIC_MSG "cstdlib _byteswap_ushort, etc." +# include +# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_2(x) _byteswap_ushort(x) +# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_4(x) _byteswap_ulong(x) +# define BOOST_ENDIAN_INTRINSIC_BYTE_SWAP_8(x) _byteswap_uint64(x) +#else +# define BOOST_ENDIAN_NO_INTRINSICS +# define BOOST_ENDIAN_INTRINSIC_MSG "no byte swap intrinsics" +#endif + +#elif !defined(BOOST_ENDIAN_INTRINSIC_MSG) +# define BOOST_ENDIAN_INTRINSIC_MSG "no byte swap intrinsics" +#endif // BOOST_ENDIAN_NO_INTRINSICS +#endif // BOOST_ENDIAN_INTRINSIC_HPP diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/detail/_cassert.h b/MyCode/src/my_cv_bridge/src/boost/predef/detail/_cassert.h new file mode 100644 index 0000000..940e944 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/detail/_cassert.h @@ -0,0 +1,17 @@ +/* +Copyright Rene Rivera 2011-2012 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_DETAIL__CASSERT_H +#define BOOST_PREDEF_DETAIL__CASSERT_H + +#if defined(__cplusplus) +#include +#else +#include +#endif + +#endif diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/detail/endian_compat.h b/MyCode/src/my_cv_bridge/src/boost/predef/detail/endian_compat.h new file mode 100644 index 0000000..7725e68 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/detail/endian_compat.h @@ -0,0 +1,26 @@ +/* +Copyright Rene Rivera 2013 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_DETAIL_ENDIAN_COMPAT_H +#define BOOST_PREDEF_DETAIL_ENDIAN_COMPAT_H + +#include + +#if BOOST_ENDIAN_BIG_BYTE +# define BOOST_BIG_ENDIAN +# define BOOST_BYTE_ORDER 4321 +#endif +#if BOOST_ENDIAN_LITTLE_BYTE +# define BOOST_LITTLE_ENDIAN +# define BOOST_BYTE_ORDER 1234 +#endif +#if BOOST_ENDIAN_LITTLE_WORD +# define BOOST_PDP_ENDIAN +# define BOOST_BYTE_ORDER 2134 +#endif + +#endif diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/detail/test.h b/MyCode/src/my_cv_bridge/src/boost/predef/detail/test.h new file mode 100644 index 0000000..546a9e4 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/detail/test.h @@ -0,0 +1,17 @@ +/* +Copyright Rene Rivera 2011-2012 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_DETAIL_TEST_H +#define BOOST_PREDEF_DETAIL_TEST_H + +#if !defined(BOOST_PREDEF_INTERNAL_GENERATE_TESTS) + +#define BOOST_PREDEF_DECLARE_TEST(x,s) + +#endif + +#endif diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/library/c/_prefix.h b/MyCode/src/my_cv_bridge/src/boost/predef/library/c/_prefix.h new file mode 100644 index 0000000..12bcb0f --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/library/c/_prefix.h @@ -0,0 +1,13 @@ +/* +Copyright Rene Rivera 2008-2013 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_LIBRARY_C__PREFIX_H +#define BOOST_PREDEF_LIBRARY_C__PREFIX_H + +#include + +#endif diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/library/c/gnu.h b/MyCode/src/my_cv_bridge/src/boost/predef/library/c/gnu.h new file mode 100644 index 0000000..9e4ca89 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/library/c/gnu.h @@ -0,0 +1,61 @@ +/* +Copyright Rene Rivera 2008-2015 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_LIBRARY_C_GNU_H +#define BOOST_PREDEF_LIBRARY_C_GNU_H + +#include +#include + +#include + +#if defined(__STDC__) +#include +#elif defined(__cplusplus) +#include +#endif + +/*` +[heading `BOOST_LIB_C_GNU`] + +[@http://en.wikipedia.org/wiki/Glibc GNU glibc] Standard C library. +Version number available as major, and minor. + +[table + [[__predef_symbol__] [__predef_version__]] + + [[`__GLIBC__`] [__predef_detection__]] + [[`__GNU_LIBRARY__`] [__predef_detection__]] + + [[`__GLIBC__`, `__GLIBC_MINOR__`] [V.R.0]] + [[`__GNU_LIBRARY__`, `__GNU_LIBRARY_MINOR__`] [V.R.0]] + ] + */ + +#define BOOST_LIB_C_GNU BOOST_VERSION_NUMBER_NOT_AVAILABLE + +#if defined(__GLIBC__) || defined(__GNU_LIBRARY__) +# undef BOOST_LIB_C_GNU +# if defined(__GLIBC__) +# define BOOST_LIB_C_GNU \ + BOOST_VERSION_NUMBER(__GLIBC__,__GLIBC_MINOR__,0) +# else +# define BOOST_LIB_C_GNU \ + BOOST_VERSION_NUMBER(__GNU_LIBRARY__,__GNU_LIBRARY_MINOR__,0) +# endif +#endif + +#if BOOST_LIB_C_GNU +# define BOOST_LIB_C_GNU_AVAILABLE +#endif + +#define BOOST_LIB_C_GNU_NAME "GNU" + +#endif + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_LIB_C_GNU,BOOST_LIB_C_GNU_NAME) diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/make.h b/MyCode/src/my_cv_bridge/src/boost/predef/make.h new file mode 100644 index 0000000..4f2f9ee --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/make.h @@ -0,0 +1,89 @@ +/* +Copyright Rene Rivera 2008-2015 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ +#include + +#ifndef BOOST_PREDEF_MAKE_H +#define BOOST_PREDEF_MAKE_H + +/* +Shorthands for the common version number formats used by vendors... +*/ + +/*` +[heading `BOOST_PREDEF_MAKE_..` macros] + +These set of macros decompose common vendor version number +macros which are composed version, revision, and patch digits. +The naming convention indicates: + +* The base of the specified version number. "`BOOST_PREDEF_MAKE_0X`" for + hexadecimal digits, and "`BOOST_PREDEF_MAKE_10`" for decimal digits. +* The format of the vendor version number. Where "`V`" indicates the version digits, + "`R`" indicates the revision digits, "`P`" indicates the patch digits, and "`0`" + indicates an ignored digit. + +Macros are: +*/ +/*` `BOOST_PREDEF_MAKE_0X_VRP(V)` */ +#define BOOST_PREDEF_MAKE_0X_VRP(V) BOOST_VERSION_NUMBER((V&0xF00)>>8,(V&0xF0)>>4,(V&0xF)) +/*` `BOOST_PREDEF_MAKE_0X_VVRP(V)` */ +#define BOOST_PREDEF_MAKE_0X_VVRP(V) BOOST_VERSION_NUMBER((V&0xFF00)>>8,(V&0xF0)>>4,(V&0xF)) +/*` `BOOST_PREDEF_MAKE_0X_VRPP(V)` */ +#define BOOST_PREDEF_MAKE_0X_VRPP(V) BOOST_VERSION_NUMBER((V&0xF000)>>12,(V&0xF00)>>8,(V&0xFF)) +/*` `BOOST_PREDEF_MAKE_0X_VVRR(V)` */ +#define BOOST_PREDEF_MAKE_0X_VVRR(V) BOOST_VERSION_NUMBER((V&0xFF00)>>8,(V&0xFF),0) +/*` `BOOST_PREDEF_MAKE_0X_VRRPPPP(V)` */ +#define BOOST_PREDEF_MAKE_0X_VRRPPPP(V) BOOST_VERSION_NUMBER((V&0xF000000)>>24,(V&0xFF0000)>>16,(V&0xFFFF)) +/*` `BOOST_PREDEF_MAKE_0X_VVRRP(V)` */ +#define BOOST_PREDEF_MAKE_0X_VVRRP(V) BOOST_VERSION_NUMBER((V&0xFF000)>>12,(V&0xFF0)>>4,(V&0xF)) +/*` `BOOST_PREDEF_MAKE_0X_VRRPP000(V)` */ +#define BOOST_PREDEF_MAKE_0X_VRRPP000(V) BOOST_VERSION_NUMBER((V&0xF0000000)>>28,(V&0xFF00000)>>20,(V&0xFF000)>>12) +/*` `BOOST_PREDEF_MAKE_0X_VVRRPP(V)` */ +#define BOOST_PREDEF_MAKE_0X_VVRRPP(V) BOOST_VERSION_NUMBER((V&0xFF0000)>>16,(V&0xFF00)>>8,(V&0xFF)) +/*` `BOOST_PREDEF_MAKE_10_VPPP(V)` */ +#define BOOST_PREDEF_MAKE_10_VPPP(V) BOOST_VERSION_NUMBER(((V)/1000)%10,0,(V)%1000) +/*` `BOOST_PREDEF_MAKE_10_VRP(V)` */ +#define BOOST_PREDEF_MAKE_10_VRP(V) BOOST_VERSION_NUMBER(((V)/100)%10,((V)/10)%10,(V)%10) +/*` `BOOST_PREDEF_MAKE_10_VRP000(V)` */ +#define BOOST_PREDEF_MAKE_10_VRP000(V) BOOST_VERSION_NUMBER(((V)/100000)%10,((V)/10000)%10,((V)/1000)%10) +/*` `BOOST_PREDEF_MAKE_10_VRPP(V)` */ +#define BOOST_PREDEF_MAKE_10_VRPP(V) BOOST_VERSION_NUMBER(((V)/1000)%10,((V)/100)%10,(V)%100) +/*` `BOOST_PREDEF_MAKE_10_VRR(V)` */ +#define BOOST_PREDEF_MAKE_10_VRR(V) BOOST_VERSION_NUMBER(((V)/100)%10,(V)%100,0) +/*` `BOOST_PREDEF_MAKE_10_VRRPP(V)` */ +#define BOOST_PREDEF_MAKE_10_VRRPP(V) BOOST_VERSION_NUMBER(((V)/10000)%10,((V)/100)%100,(V)%100) +/*` `BOOST_PREDEF_MAKE_10_VRR000(V)` */ +#define BOOST_PREDEF_MAKE_10_VRR000(V) BOOST_VERSION_NUMBER(((V)/100000)%10,((V)/1000)%100,0) +/*` `BOOST_PREDEF_MAKE_10_VV00(V)` */ +#define BOOST_PREDEF_MAKE_10_VV00(V) BOOST_VERSION_NUMBER(((V)/100)%100,0,0) +/*` `BOOST_PREDEF_MAKE_10_VVRR(V)` */ +#define BOOST_PREDEF_MAKE_10_VVRR(V) BOOST_VERSION_NUMBER(((V)/100)%100,(V)%100,0) +/*` `BOOST_PREDEF_MAKE_10_VVRRPP(V)` */ +#define BOOST_PREDEF_MAKE_10_VVRRPP(V) BOOST_VERSION_NUMBER(((V)/10000)%100,((V)/100)%100,(V)%100) +/*` `BOOST_PREDEF_MAKE_10_VVRR0PP00(V)` */ +#define BOOST_PREDEF_MAKE_10_VVRR0PP00(V) BOOST_VERSION_NUMBER(((V)/10000000)%100,((V)/100000)%100,((V)/100)%100) +/*` `BOOST_PREDEF_MAKE_10_VVRR0PPPP(V)` */ +#define BOOST_PREDEF_MAKE_10_VVRR0PPPP(V) BOOST_VERSION_NUMBER(((V)/10000000)%100,((V)/100000)%100,(V)%10000) +/*` `BOOST_PREDEF_MAKE_10_VVRR00PP00(V)` */ +#define BOOST_PREDEF_MAKE_10_VVRR00PP00(V) BOOST_VERSION_NUMBER(((V)/100000000)%100,((V)/1000000)%100,((V)/100)%100) +/*` +[heading `BOOST_PREDEF_MAKE_*..` date macros] + +Date decomposition macros return a date in the relative to the 1970 +Epoch date. If the month is not available, January 1st is used as the month and day. +If the day is not available, but the month is, the 1st of the month is used as the day. +*/ +/*` `BOOST_PREDEF_MAKE_DATE(Y,M,D)` */ +#define BOOST_PREDEF_MAKE_DATE(Y,M,D) BOOST_VERSION_NUMBER((Y)%10000-1970,(M)%100,(D)%100) +/*` `BOOST_PREDEF_MAKE_YYYYMMDD(V)` */ +#define BOOST_PREDEF_MAKE_YYYYMMDD(V) BOOST_PREDEF_MAKE_DATE(((V)/10000)%10000,((V)/100)%100,(V)%100) +/*` `BOOST_PREDEF_MAKE_YYYY(V)` */ +#define BOOST_PREDEF_MAKE_YYYY(V) BOOST_PREDEF_MAKE_DATE(V,1,1) +/*` `BOOST_PREDEF_MAKE_YYYYMM(V)` */ +#define BOOST_PREDEF_MAKE_YYYYMM(V) BOOST_PREDEF_MAKE_DATE((V)/100,(V)%100,1) + +#endif diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/os/android.h b/MyCode/src/my_cv_bridge/src/boost/predef/os/android.h new file mode 100644 index 0000000..00836e7 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/os/android.h @@ -0,0 +1,45 @@ +/* +Copyright Rene Rivera 2015 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_OS_ADROID_H +#define BOOST_PREDEF_OS_ADROID_H + +#include +#include + +/*` +[heading `BOOST_OS_ANDROID`] + +[@http://en.wikipedia.org/wiki/Android_%28operating_system%29 Android] operating system. + +[table + [[__predef_symbol__] [__predef_version__]] + + [[`__ANDROID__`] [__predef_detection__]] + ] + */ + +#define BOOST_OS_ANDROID BOOST_VERSION_NUMBER_NOT_AVAILABLE + +#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \ + defined(__ANDROID__) \ + ) +# undef BOOST_OS_ANDROID +# define BOOST_OS_ANDROID BOOST_VERSION_NUMBER_AVAILABLE +#endif + +#if BOOST_OS_ANDROID +# define BOOST_OS_ANDROID_AVAILABLE +# include +#endif + +#define BOOST_OS_ANDROID_NAME "Android" + +#endif + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_OS_ANDROID,BOOST_OS_ANDROID_NAME) diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd.h b/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd.h new file mode 100644 index 0000000..fad9aed --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd.h @@ -0,0 +1,103 @@ +/* +Copyright Rene Rivera 2008-2015 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_OS_BSD_H +#define BOOST_PREDEF_OS_BSD_H + +/* Special case: OSX will define BSD predefs if the sys/param.h + * header is included. We can guard against that, but only if we + * detect OSX first. Hence we will force include OSX detection + * before doing any BSD detection. + */ +#include + +#include +#include + +/*` +[heading `BOOST_OS_BSD`] + +[@http://en.wikipedia.org/wiki/Berkeley_Software_Distribution BSD] operating system. + +BSD has various branch operating systems possible and each detected +individually. This detects the following variations and sets a specific +version number macro to match: + +* `BOOST_OS_BSD_DRAGONFLY` [@http://en.wikipedia.org/wiki/DragonFly_BSD DragonFly BSD] +* `BOOST_OS_BSD_FREE` [@http://en.wikipedia.org/wiki/Freebsd FreeBSD] +* `BOOST_OS_BSD_BSDI` [@http://en.wikipedia.org/wiki/BSD/OS BSDi BSD/OS] +* `BOOST_OS_BSD_NET` [@http://en.wikipedia.org/wiki/Netbsd NetBSD] +* `BOOST_OS_BSD_OPEN` [@http://en.wikipedia.org/wiki/Openbsd OpenBSD] + +[note The general `BOOST_OS_BSD` is set in all cases to indicate some form +of BSD. If the above variants is detected the corresponding macro is also set.] + +[table + [[__predef_symbol__] [__predef_version__]] + + [[`BSD`] [__predef_detection__]] + [[`_SYSTYPE_BSD`] [__predef_detection__]] + + [[`BSD4_2`] [4.2.0]] + [[`BSD4_3`] [4.3.0]] + [[`BSD4_4`] [4.4.0]] + [[`BSD`] [V.R.0]] + ] + */ + +#include +#include +#include +#include +#include + +#ifndef BOOST_OS_BSD +#define BOOST_OS_BSD BOOST_VERSION_NUMBER_NOT_AVAILABLE +#endif + +#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \ + defined(BSD) || \ + defined(_SYSTYPE_BSD) \ + ) +# undef BOOST_OS_BSD +# include +# if !defined(BOOST_OS_BSD) && defined(BSD4_4) +# define BOOST_OS_BSD BOOST_VERSION_NUMBER(4,4,0) +# endif +# if !defined(BOOST_OS_BSD) && defined(BSD4_3) +# define BOOST_OS_BSD BOOST_VERSION_NUMBER(4,3,0) +# endif +# if !defined(BOOST_OS_BSD) && defined(BSD4_2) +# define BOOST_OS_BSD BOOST_VERSION_NUMBER(4,2,0) +# endif +# if !defined(BOOST_OS_BSD) && defined(BSD) +# define BOOST_OS_BSD BOOST_PREDEF_MAKE_10_VVRR(BSD) +# endif +# if !defined(BOOST_OS_BSD) +# define BOOST_OS_BSD BOOST_VERSION_NUMBER_AVAILABLE +# endif +#endif + +#if BOOST_OS_BSD +# define BOOST_OS_BSD_AVAILABLE +# include +#endif + +#define BOOST_OS_BSD_NAME "BSD" + +#else + +#include +#include +#include +#include +#include + +#endif + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_OS_BSD,BOOST_OS_BSD_NAME) diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/bsdi.h b/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/bsdi.h new file mode 100644 index 0000000..afdcd3e --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/bsdi.h @@ -0,0 +1,48 @@ +/* +Copyright Rene Rivera 2012-2015 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_OS_BSD_BSDI_H +#define BOOST_PREDEF_OS_BSD_BSDI_H + +#include + +/*` +[heading `BOOST_OS_BSD_BSDI`] + +[@http://en.wikipedia.org/wiki/BSD/OS BSDi BSD/OS] operating system. + +[table + [[__predef_symbol__] [__predef_version__]] + + [[`__bsdi__`] [__predef_detection__]] + ] + */ + +#define BOOST_OS_BSD_BSDI BOOST_VERSION_NUMBER_NOT_AVAILABLE + +#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \ + defined(__bsdi__) \ + ) +# ifndef BOOST_OS_BSD_AVAILABLE +# define BOOST_OS_BSD BOOST_VERSION_NUMBER_AVAILABLE +# define BOOST_OS_BSD_AVAILABLE +# endif +# undef BOOST_OS_BSD_BSDI +# define BOOST_OS_BSD_BSDI BOOST_VERSION_NUMBER_AVAILABLE +#endif + +#if BOOST_OS_BSD_BSDI +# define BOOST_OS_BSD_BSDI_AVAILABLE +# include +#endif + +#define BOOST_OS_BSD_BSDI_NAME "BSDi BSD/OS" + +#endif + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_OS_BSD_BSDI,BOOST_OS_BSD_BSDI_NAME) diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/dragonfly.h b/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/dragonfly.h new file mode 100644 index 0000000..1d07579 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/dragonfly.h @@ -0,0 +1,50 @@ +/* +Copyright Rene Rivera 2012-2015 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_OS_BSD_DRAGONFLY_H +#define BOOST_PREDEF_OS_BSD_DRAGONFLY_H + +#include + +/*` +[heading `BOOST_OS_BSD_DRAGONFLY`] + +[@http://en.wikipedia.org/wiki/DragonFly_BSD DragonFly BSD] operating system. + +[table + [[__predef_symbol__] [__predef_version__]] + + [[`__DragonFly__`] [__predef_detection__]] + ] + */ + +#define BOOST_OS_BSD_DRAGONFLY BOOST_VERSION_NUMBER_NOT_AVAILABLE + +#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \ + defined(__DragonFly__) \ + ) +# ifndef BOOST_OS_BSD_AVAILABLE +# define BOOST_OS_BSD BOOST_VERSION_NUMBER_AVAILABLE +# define BOOST_OS_BSD_AVAILABLE +# endif +# undef BOOST_OS_BSD_DRAGONFLY +# if defined(__DragonFly__) +# define BOOST_OS_DRAGONFLY_BSD BOOST_VERSION_NUMBER_AVAILABLE +# endif +#endif + +#if BOOST_OS_BSD_DRAGONFLY +# define BOOST_OS_BSD_DRAGONFLY_AVAILABLE +# include +#endif + +#define BOOST_OS_BSD_DRAGONFLY_NAME "DragonFly BSD" + +#endif + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_OS_BSD_DRAGONFLY,BOOST_OS_BSD_DRAGONFLY_NAME) diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/free.h b/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/free.h new file mode 100644 index 0000000..248011a --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/free.h @@ -0,0 +1,60 @@ +/* +Copyright Rene Rivera 2012-2015 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_OS_BSD_FREE_H +#define BOOST_PREDEF_OS_BSD_FREE_H + +#include + +/*` +[heading `BOOST_OS_BSD_FREE`] + +[@http://en.wikipedia.org/wiki/Freebsd FreeBSD] operating system. + +[table + [[__predef_symbol__] [__predef_version__]] + + [[`__FreeBSD__`] [__predef_detection__]] + + [[`__FreeBSD_version`] [V.R.P]] + ] + */ + +#define BOOST_OS_BSD_FREE BOOST_VERSION_NUMBER_NOT_AVAILABLE + +#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \ + defined(__FreeBSD__) \ + ) +# ifndef BOOST_OS_BSD_AVAILABLE +# define BOOST_OS_BSD BOOST_VERSION_NUMBER_AVAILABLE +# define BOOST_OS_BSD_AVAILABLE +# endif +# undef BOOST_OS_BSD_FREE +# if defined(__FreeBSD_version) +# if __FreeBSD_version < 500000 +# define BOOST_OS_BSD_FREE \ + BOOST_PREDEF_MAKE_10_VRP000(__FreeBSD_version) +# else +# define BOOST_OS_BSD_FREE \ + BOOST_PREDEF_MAKE_10_VRR000(__FreeBSD_version) +# endif +# else +# define BOOST_OS_BSD_FREE BOOST_VERSION_NUMBER_AVAILABLE +# endif +#endif + +#if BOOST_OS_BSD_FREE +# define BOOST_OS_BSD_FREE_AVAILABLE +# include +#endif + +#define BOOST_OS_BSD_FREE_NAME "Free BSD" + +#endif + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_OS_BSD_FREE,BOOST_OS_BSD_FREE_NAME) diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/net.h b/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/net.h new file mode 100644 index 0000000..387cbde --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/net.h @@ -0,0 +1,84 @@ +/* +Copyright Rene Rivera 2012-2015 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_OS_BSD_NET_H +#define BOOST_PREDEF_OS_BSD_NET_H + +#include + +/*` +[heading `BOOST_OS_BSD_NET`] + +[@http://en.wikipedia.org/wiki/Netbsd NetBSD] operating system. + +[table + [[__predef_symbol__] [__predef_version__]] + + [[`__NETBSD__`] [__predef_detection__]] + [[`__NetBSD__`] [__predef_detection__]] + + [[`__NETBSD_version`] [V.R.P]] + [[`NetBSD0_8`] [0.8.0]] + [[`NetBSD0_9`] [0.9.0]] + [[`NetBSD1_0`] [1.0.0]] + [[`__NetBSD_Version`] [V.R.P]] + ] + */ + +#define BOOST_OS_BSD_NET BOOST_VERSION_NUMBER_NOT_AVAILABLE + +#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \ + defined(__NETBSD__) || defined(__NetBSD__) \ + ) +# ifndef BOOST_OS_BSD_AVAILABLE +# define BOOST_OS_BSD BOOST_VERSION_NUMBER_AVAILABLE +# define BOOST_OS_BSD_AVAILABLE +# endif +# undef BOOST_OS_BSD_NET +# if defined(__NETBSD__) +# if defined(__NETBSD_version) +# if __NETBSD_version < 500000 +# define BOOST_OS_BSD_NET \ + BOOST_PREDEF_MAKE_10_VRP000(__NETBSD_version) +# else +# define BOOST_OS_BSD_NET \ + BOOST_PREDEF_MAKE_10_VRR000(__NETBSD_version) +# endif +# else +# define BOOST_OS_BSD_NET BOOST_VERSION_NUMBER_AVAILABLE +# endif +# elif defined(__NetBSD__) +# if !defined(BOOST_OS_BSD_NET) && defined(NetBSD0_8) +# define BOOST_OS_BSD_NET BOOST_VERSION_NUMBER(0,8,0) +# endif +# if !defined(BOOST_OS_BSD_NET) && defined(NetBSD0_9) +# define BOOST_OS_BSD_NET BOOST_VERSION_NUMBER(0,9,0) +# endif +# if !defined(BOOST_OS_BSD_NET) && defined(NetBSD1_0) +# define BOOST_OS_BSD_NET BOOST_VERSION_NUMBER(1,0,0) +# endif +# if !defined(BOOST_OS_BSD_NET) && defined(__NetBSD_Version) +# define BOOST_OS_BSD_NET \ + BOOST_PREDEF_MAKE_10_VVRR00PP00(__NetBSD_Version) +# endif +# if !defined(BOOST_OS_BSD_NET) +# define BOOST_OS_BSD_NET BOOST_VERSION_NUMBER_AVAILABLE +# endif +# endif +#endif + +#if BOOST_OS_BSD_NET +# define BOOST_OS_BSD_NET_AVAILABLE +# include +#endif + +#define BOOST_OS_BSD_NET_NAME "DragonFly BSD" + +#endif + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_OS_BSD_NET,BOOST_OS_BSD_NET_NAME) diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/open.h b/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/open.h new file mode 100644 index 0000000..423103a --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/os/bsd/open.h @@ -0,0 +1,171 @@ +/* +Copyright Rene Rivera 2012-2015 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_OS_BSD_OPEN_H +#define BOOST_PREDEF_OS_BSD_OPEN_H + +#include + +/*` +[heading `BOOST_OS_BSD_OPEN`] + +[@http://en.wikipedia.org/wiki/Openbsd OpenBSD] operating system. + +[table + [[__predef_symbol__] [__predef_version__]] + + [[`__OpenBSD__`] [__predef_detection__]] + + [[`OpenBSD2_0`] [2.0.0]] + [[`OpenBSD2_1`] [2.1.0]] + [[`OpenBSD2_2`] [2.2.0]] + [[`OpenBSD2_3`] [2.3.0]] + [[`OpenBSD2_4`] [2.4.0]] + [[`OpenBSD2_5`] [2.5.0]] + [[`OpenBSD2_6`] [2.6.0]] + [[`OpenBSD2_7`] [2.7.0]] + [[`OpenBSD2_8`] [2.8.0]] + [[`OpenBSD2_9`] [2.9.0]] + [[`OpenBSD3_0`] [3.0.0]] + [[`OpenBSD3_1`] [3.1.0]] + [[`OpenBSD3_2`] [3.2.0]] + [[`OpenBSD3_3`] [3.3.0]] + [[`OpenBSD3_4`] [3.4.0]] + [[`OpenBSD3_5`] [3.5.0]] + [[`OpenBSD3_6`] [3.6.0]] + [[`OpenBSD3_7`] [3.7.0]] + [[`OpenBSD3_8`] [3.8.0]] + [[`OpenBSD3_9`] [3.9.0]] + [[`OpenBSD4_0`] [4.0.0]] + [[`OpenBSD4_1`] [4.1.0]] + [[`OpenBSD4_2`] [4.2.0]] + [[`OpenBSD4_3`] [4.3.0]] + [[`OpenBSD4_4`] [4.4.0]] + [[`OpenBSD4_5`] [4.5.0]] + [[`OpenBSD4_6`] [4.6.0]] + [[`OpenBSD4_7`] [4.7.0]] + [[`OpenBSD4_8`] [4.8.0]] + [[`OpenBSD4_9`] [4.9.0]] + ] + */ + +#define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER_NOT_AVAILABLE + +#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \ + defined(__OpenBSD__) \ + ) +# ifndef BOOST_OS_BSD_AVAILABLE +# define BOOST_OS_BSD BOOST_VERSION_NUMBER_AVAILABLE +# define BOOST_OS_BSD_AVAILABLE +# endif +# undef BOOST_OS_BSD_OPEN +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_0) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,0,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_1) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,1,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_2) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,2,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_3) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,3,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_4) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,4,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_5) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,5,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_6) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,6,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_7) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,7,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_8) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,8,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD2_9) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(2,9,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_0) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,0,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_1) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,1,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_2) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,2,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_3) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,3,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_4) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,4,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_5) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,5,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_6) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,6,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_7) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,7,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_8) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,8,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD3_9) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(3,9,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_0) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,0,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_1) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,1,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_2) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,2,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_3) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,3,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_4) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,4,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_5) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,5,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_6) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,6,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_7) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,7,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_8) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,8,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) && defined(OpenBSD4_9) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER(4,9,0) +# endif +# if !defined(BOOST_OS_BSD_OPEN) +# define BOOST_OS_BSD_OPEN BOOST_VERSION_NUMBER_AVAILABLE +# endif +#endif + +#if BOOST_OS_BSD_OPEN +# define BOOST_OS_BSD_OPEN_AVAILABLE +# include +#endif + +#define BOOST_OS_BSD_OPEN_NAME "OpenBSD" + +#endif + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_OS_BSD_OPEN,BOOST_OS_BSD_OPEN_NAME) diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/os/ios.h b/MyCode/src/my_cv_bridge/src/boost/predef/os/ios.h new file mode 100644 index 0000000..f853815 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/os/ios.h @@ -0,0 +1,51 @@ +/* +Copyright Franz Detro 2014 +Copyright Rene Rivera 2015 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_OS_IOS_H +#define BOOST_PREDEF_OS_IOS_H + +#include +#include + +/*` +[heading `BOOST_OS_IOS`] + +[@http://en.wikipedia.org/wiki/iOS iOS] operating system. + +[table + [[__predef_symbol__] [__predef_version__]] + + [[`__APPLE__`] [__predef_detection__]] + [[`__MACH__`] [__predef_detection__]] + [[`__ENVIRONMENT_IPHONE_OS_VERSION_MIN_REQUIRED__`] [__predef_detection__]] + + [[`__ENVIRONMENT_IPHONE_OS_VERSION_MIN_REQUIRED__`] [__ENVIRONMENT_IPHONE_OS_VERSION_MIN_REQUIRED__*1000]] + ] + */ + +#define BOOST_OS_IOS BOOST_VERSION_NUMBER_NOT_AVAILABLE + +#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \ + defined(__APPLE__) && defined(__MACH__) && \ + defined(__ENVIRONMENT_IPHONE_OS_VERSION_MIN_REQUIRED__) \ + ) +# undef BOOST_OS_IOS +# define BOOST_OS_IOS (__ENVIRONMENT_IPHONE_OS_VERSION_MIN_REQUIRED__*1000) +#endif + +#if BOOST_OS_IOS +# define BOOST_OS_IOS_AVAILABLE +# include +#endif + +#define BOOST_OS_IOS_NAME "iOS" + +#endif + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_OS_IOS,BOOST_OS_IOS_NAME) diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/os/macos.h b/MyCode/src/my_cv_bridge/src/boost/predef/os/macos.h new file mode 100644 index 0000000..4afb30d --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/os/macos.h @@ -0,0 +1,65 @@ +/* +Copyright Rene Rivera 2008-2015 +Copyright Franz Detro 2014 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_OS_MACOS_H +#define BOOST_PREDEF_OS_MACOS_H + +/* Special case: iOS will define the same predefs as MacOS, and additionally + '__ENVIRONMENT_IPHONE_OS_VERSION_MIN_REQUIRED__'. We can guard against that, + but only if we detect iOS first. Hence we will force include iOS detection + * before doing any MacOS detection. + */ +#include + +#include +#include + +/*` +[heading `BOOST_OS_MACOS`] + +[@http://en.wikipedia.org/wiki/Mac_OS Mac OS] operating system. + +[table + [[__predef_symbol__] [__predef_version__]] + + [[`macintosh`] [__predef_detection__]] + [[`Macintosh`] [__predef_detection__]] + [[`__APPLE__`] [__predef_detection__]] + [[`__MACH__`] [__predef_detection__]] + + [[`__APPLE__`, `__MACH__`] [10.0.0]] + [[ /otherwise/ ] [9.0.0]] + ] + */ + +#define BOOST_OS_MACOS BOOST_VERSION_NUMBER_NOT_AVAILABLE + +#if !defined(BOOST_PREDEF_DETAIL_OS_DETECTED) && ( \ + defined(macintosh) || defined(Macintosh) || \ + (defined(__APPLE__) && defined(__MACH__)) \ + ) +# undef BOOST_OS_MACOS +# if !defined(BOOST_OS_MACOS) && defined(__APPLE__) && defined(__MACH__) +# define BOOST_OS_MACOS BOOST_VERSION_NUMBER(10,0,0) +# endif +# if !defined(BOOST_OS_MACOS) +# define BOOST_OS_MACOS BOOST_VERSION_NUMBER(9,0,0) +# endif +#endif + +#if BOOST_OS_MACOS +# define BOOST_OS_MACOS_AVAILABLE +# include +#endif + +#define BOOST_OS_MACOS_NAME "Mac OS" + +#endif + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_OS_MACOS,BOOST_OS_MACOS_NAME) diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/other/endian.h b/MyCode/src/my_cv_bridge/src/boost/predef/other/endian.h new file mode 100644 index 0000000..6d1f43f --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/other/endian.h @@ -0,0 +1,204 @@ +/* +Copyright Rene Rivera 2013-2015 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_ENDIAN_H +#define BOOST_PREDEF_ENDIAN_H + +#include +#include +#include +#include +#include +#include + +/*` +[heading `BOOST_ENDIAN_*`] + +Detection of endian memory ordering. There are four defined macros +in this header that define the various generally possible endian +memory orderings: + +* `BOOST_ENDIAN_BIG_BYTE`, byte-swapped big-endian. +* `BOOST_ENDIAN_BIG_WORD`, word-swapped big-endian. +* `BOOST_ENDIAN_LITTLE_BYTE`, byte-swapped little-endian. +* `BOOST_ENDIAN_LITTLE_WORD`, word-swapped little-endian. + +The detection is conservative in that it only identifies endianness +that it knows for certain. In particular bi-endianness is not +indicated as is it not practically possible to determine the +endianness from anything but an operating system provided +header. And the currently known headers do not define that +programatic bi-endianness is available. + +This implementation is a compilation of various publicly available +information and acquired knowledge: + +# The indispensable documentation of "Pre-defined Compiler Macros" + [@http://sourceforge.net/p/predef/wiki/Endianness Endianness]. +# The various endian specifications available in the + [@http://wikipedia.org/ Wikipedia] computer architecture pages. +# Generally available searches for headers that define endianness. + */ + +#define BOOST_ENDIAN_BIG_BYTE BOOST_VERSION_NUMBER_NOT_AVAILABLE +#define BOOST_ENDIAN_BIG_WORD BOOST_VERSION_NUMBER_NOT_AVAILABLE +#define BOOST_ENDIAN_LITTLE_BYTE BOOST_VERSION_NUMBER_NOT_AVAILABLE +#define BOOST_ENDIAN_LITTLE_WORD BOOST_VERSION_NUMBER_NOT_AVAILABLE + +/* GNU libc provides a header defining __BYTE_ORDER, or _BYTE_ORDER. + * And some OSs provide some for of endian header also. + */ +#if !BOOST_ENDIAN_BIG_BYTE && !BOOST_ENDIAN_BIG_WORD && \ + !BOOST_ENDIAN_LITTLE_BYTE && !BOOST_ENDIAN_LITTLE_WORD +# if BOOST_LIB_C_GNU || BOOST_OS_ANDROID +# include +# else +# if BOOST_OS_MACOS +# include +# else +# if BOOST_OS_BSD +# if BOOST_OS_BSD_OPEN +# include +# else +# include +# endif +# endif +# endif +# endif +# if defined(__BYTE_ORDER) +# if defined(__BIG_ENDIAN) && (__BYTE_ORDER == __BIG_ENDIAN) +# undef BOOST_ENDIAN_BIG_BYTE +# define BOOST_ENDIAN_BIG_BYTE BOOST_VERSION_NUMBER_AVAILABLE +# endif +# if defined(__LITTLE_ENDIAN) && (__BYTE_ORDER == __LITTLE_ENDIAN) +# undef BOOST_ENDIAN_LITTLE_BYTE +# define BOOST_ENDIAN_LITTLE_BYTE BOOST_VERSION_NUMBER_AVAILABLE +# endif +# if defined(__PDP_ENDIAN) && (__BYTE_ORDER == __PDP_ENDIAN) +# undef BOOST_ENDIAN_LITTLE_WORD +# define BOOST_ENDIAN_LITTLE_WORD BOOST_VERSION_NUMBER_AVAILABLE +# endif +# endif +# if !defined(__BYTE_ORDER) && defined(_BYTE_ORDER) +# if defined(_BIG_ENDIAN) && (_BYTE_ORDER == _BIG_ENDIAN) +# undef BOOST_ENDIAN_BIG_BYTE +# define BOOST_ENDIAN_BIG_BYTE BOOST_VERSION_NUMBER_AVAILABLE +# endif +# if defined(_LITTLE_ENDIAN) && (_BYTE_ORDER == _LITTLE_ENDIAN) +# undef BOOST_ENDIAN_LITTLE_BYTE +# define BOOST_ENDIAN_LITTLE_BYTE BOOST_VERSION_NUMBER_AVAILABLE +# endif +# if defined(_PDP_ENDIAN) && (_BYTE_ORDER == _PDP_ENDIAN) +# undef BOOST_ENDIAN_LITTLE_WORD +# define BOOST_ENDIAN_LITTLE_WORD BOOST_VERSION_NUMBER_AVAILABLE +# endif +# endif +#endif + +/* Built-in byte-swpped big-endian macros. + */ +#if !BOOST_ENDIAN_BIG_BYTE && !BOOST_ENDIAN_BIG_WORD && \ + !BOOST_ENDIAN_LITTLE_BYTE && !BOOST_ENDIAN_LITTLE_WORD +# if (defined(__BIG_ENDIAN__) && !defined(__LITTLE_ENDIAN__)) || \ + (defined(_BIG_ENDIAN) && !defined(_LITTLE_ENDIAN)) || \ + defined(__ARMEB__) || \ + defined(__THUMBEB__) || \ + defined(__AARCH64EB__) || \ + defined(_MIPSEB) || \ + defined(__MIPSEB) || \ + defined(__MIPSEB__) +# undef BOOST_ENDIAN_BIG_BYTE +# define BOOST_ENDIAN_BIG_BYTE BOOST_VERSION_NUMBER_AVAILABLE +# endif +#endif + +/* Built-in byte-swpped little-endian macros. + */ +#if !BOOST_ENDIAN_BIG_BYTE && !BOOST_ENDIAN_BIG_WORD && \ + !BOOST_ENDIAN_LITTLE_BYTE && !BOOST_ENDIAN_LITTLE_WORD +# if (defined(__LITTLE_ENDIAN__) && !defined(__BIG_ENDIAN__)) || \ + (defined(_LITTLE_ENDIAN) && !defined(_BIG_ENDIAN)) || \ + defined(__ARMEL__) || \ + defined(__THUMBEL__) || \ + defined(__AARCH64EL__) || \ + defined(_MIPSEL) || \ + defined(__MIPSEL) || \ + defined(__MIPSEL__) +# undef BOOST_ENDIAN_LITTLE_BYTE +# define BOOST_ENDIAN_LITTLE_BYTE BOOST_VERSION_NUMBER_AVAILABLE +# endif +#endif + +/* Some architectures are strictly one endianess (as opposed + * the current common bi-endianess). + */ +#if !BOOST_ENDIAN_BIG_BYTE && !BOOST_ENDIAN_BIG_WORD && \ + !BOOST_ENDIAN_LITTLE_BYTE && !BOOST_ENDIAN_LITTLE_WORD +# include +# if BOOST_ARCH_M68K || \ + BOOST_ARCH_PARISC || \ + BOOST_ARCH_SPARC || \ + BOOST_ARCH_SYS370 || \ + BOOST_ARCH_SYS390 || \ + BOOST_ARCH_Z +# undef BOOST_ENDIAN_BIG_BYTE +# define BOOST_ENDIAN_BIG_BYTE BOOST_VERSION_NUMBER_AVAILABLE +# endif +# if BOOST_ARCH_AMD64 || \ + BOOST_ARCH_IA64 || \ + BOOST_ARCH_X86 || \ + BOOST_ARCH_BLACKFIN +# undef BOOST_ENDIAN_LITTLE_BYTE +# define BOOST_ENDIAN_LITTLE_BYTE BOOST_VERSION_NUMBER_AVAILABLE +# endif +#endif + +/* Windows on ARM, if not otherwise detected/specified, is always + * byte-swaped little-endian. + */ +#if !BOOST_ENDIAN_BIG_BYTE && !BOOST_ENDIAN_BIG_WORD && \ + !BOOST_ENDIAN_LITTLE_BYTE && !BOOST_ENDIAN_LITTLE_WORD +# if BOOST_ARCH_ARM +# include +# if BOOST_OS_WINDOWS +# undef BOOST_ENDIAN_LITTLE_BYTE +# define BOOST_ENDIAN_LITTLE_BYTE BOOST_VERSION_NUMBER_AVAILABLE +# endif +# endif +#endif + +#if BOOST_ENDIAN_BIG_BYTE +# define BOOST_ENDIAN_BIG_BYTE_AVAILABLE +#endif +#if BOOST_ENDIAN_BIG_WORD +# define BOOST_ENDIAN_BIG_WORD_BYTE_AVAILABLE +#endif +#if BOOST_ENDIAN_LITTLE_BYTE +# define BOOST_ENDIAN_LITTLE_BYTE_AVAILABLE +#endif +#if BOOST_ENDIAN_LITTLE_WORD +# define BOOST_ENDIAN_LITTLE_WORD_BYTE_AVAILABLE +#endif + +#define BOOST_ENDIAN_BIG_BYTE_NAME "Byte-Swapped Big-Endian" +#define BOOST_ENDIAN_BIG_WORD_NAME "Word-Swapped Big-Endian" +#define BOOST_ENDIAN_LITTLE_BYTE_NAME "Byte-Swapped Little-Endian" +#define BOOST_ENDIAN_LITTLE_WORD_NAME "Word-Swapped Little-Endian" + +#endif + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_ENDIAN_BIG_BYTE,BOOST_ENDIAN_BIG_BYTE_NAME) + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_ENDIAN_BIG_WORD,BOOST_ENDIAN_BIG_WORD_NAME) + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_ENDIAN_LITTLE_BYTE,BOOST_ENDIAN_LITTLE_BYTE_NAME) + +#include +BOOST_PREDEF_DECLARE_TEST(BOOST_ENDIAN_LITTLE_WORD,BOOST_ENDIAN_LITTLE_WORD_NAME) diff --git a/MyCode/src/my_cv_bridge/src/boost/predef/version_number.h b/MyCode/src/my_cv_bridge/src/boost/predef/version_number.h new file mode 100644 index 0000000..3903a36 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/boost/predef/version_number.h @@ -0,0 +1,53 @@ +/* +Copyright Rene Rivera 2005, 2008-2013 +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or copy at +http://www.boost.org/LICENSE_1_0.txt) +*/ + +#ifndef BOOST_PREDEF_VERSION_NUMBER_H +#define BOOST_PREDEF_VERSION_NUMBER_H + +/*` +[heading `BOOST_VERSION_NUMBER`] + +`` +BOOST_VERSION_NUMBER(major,minor,patch) +`` + +Defines standard version numbers, with these properties: + +* Decimal base whole numbers in the range \[0,1000000000). + The number range is designed to allow for a (2,2,5) triplet. + Which fits within a 32 bit value. +* The `major` number can be in the \[0,99\] range. +* The `minor` number can be in the \[0,99\] range. +* The `patch` number can be in the \[0,99999\] range. +* Values can be specified in any base. As the defined value + is an constant expression. +* Value can be directly used in both preprocessor and compiler + expressions for comparison to other similarly defined values. +* The implementation enforces the individual ranges for the + major, minor, and patch numbers. And values over the ranges + are truncated (modulo). + +*/ +#define BOOST_VERSION_NUMBER(major,minor,patch) \ + ( (((major)%100)*10000000) + (((minor)%100)*100000) + ((patch)%100000) ) + +#define BOOST_VERSION_NUMBER_MAX \ + BOOST_VERSION_NUMBER(99,99,99999) + +#define BOOST_VERSION_NUMBER_ZERO \ + BOOST_VERSION_NUMBER(0,0,0) + +#define BOOST_VERSION_NUMBER_MIN \ + BOOST_VERSION_NUMBER(0,0,1) + +#define BOOST_VERSION_NUMBER_AVAILABLE \ + BOOST_VERSION_NUMBER_MIN + +#define BOOST_VERSION_NUMBER_NOT_AVAILABLE \ + BOOST_VERSION_NUMBER_ZERO + +#endif diff --git a/MyCode/src/my_cv_bridge/src/cv_bridge.cpp b/MyCode/src/my_cv_bridge/src/cv_bridge.cpp new file mode 100644 index 0000000..44f23a3 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/cv_bridge.cpp @@ -0,0 +1,704 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2011, Willow Garage, Inc. +* Copyright (c) 2015, Tal Regev. +* 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 the Willow Garage 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. +*********************************************************************/ + +#include "boost/endian/conversion.hpp" + +#include + +#include +#include + +#include +#include + +#include + +#include +#include + +namespace enc = sensor_msgs::image_encodings; + +namespace cv_bridge { + +static int depthStrToInt(const std::string depth) { + if (depth == "8U") { + return 0; + } else if (depth == "8S") { + return 1; + } else if (depth == "16U") { + return 2; + } else if (depth == "16S") { + return 3; + } else if (depth == "32S") { + return 4; + } else if (depth == "32F") { + return 5; + } + return 6; +} + +int getCvType(const std::string& encoding) +{ + // Check for the most common encodings first + if (encoding == enc::BGR8) return CV_8UC3; + if (encoding == enc::MONO8) return CV_8UC1; + if (encoding == enc::RGB8) return CV_8UC3; + if (encoding == enc::MONO16) return CV_16UC1; + if (encoding == enc::BGR16) return CV_16UC3; + if (encoding == enc::RGB16) return CV_16UC3; + if (encoding == enc::BGRA8) return CV_8UC4; + if (encoding == enc::RGBA8) return CV_8UC4; + if (encoding == enc::BGRA16) return CV_16UC4; + if (encoding == enc::RGBA16) return CV_16UC4; + + // For bayer, return one-channel + if (encoding == enc::BAYER_RGGB8) return CV_8UC1; + if (encoding == enc::BAYER_BGGR8) return CV_8UC1; + if (encoding == enc::BAYER_GBRG8) return CV_8UC1; + if (encoding == enc::BAYER_GRBG8) return CV_8UC1; + if (encoding == enc::BAYER_RGGB16) return CV_16UC1; + if (encoding == enc::BAYER_BGGR16) return CV_16UC1; + if (encoding == enc::BAYER_GBRG16) return CV_16UC1; + if (encoding == enc::BAYER_GRBG16) return CV_16UC1; + + // Miscellaneous + if (encoding == enc::YUV422) return CV_8UC2; + + // Check all the generic content encodings + boost::cmatch m; + + if (boost::regex_match(encoding.c_str(), m, + boost::regex("(8U|8S|16U|16S|32S|32F|64F)C([0-9]+)"))) { + return CV_MAKETYPE(depthStrToInt(m[1].str()), atoi(m[2].str().c_str())); + } + + if (boost::regex_match(encoding.c_str(), m, + boost::regex("(8U|8S|16U|16S|32S|32F|64F)"))) { + return CV_MAKETYPE(depthStrToInt(m[1].str()), 1); + } + + throw Exception("Unrecognized image encoding [" + encoding + "]"); +} + +/// @cond DOXYGEN_IGNORE + +enum Encoding { INVALID = -1, GRAY = 0, RGB, BGR, RGBA, BGRA, YUV422, BAYER_RGGB, BAYER_BGGR, BAYER_GBRG, BAYER_GRBG}; + +Encoding getEncoding(const std::string& encoding) +{ + if ((encoding == enc::MONO8) || (encoding == enc::MONO16)) return GRAY; + if ((encoding == enc::BGR8) || (encoding == enc::BGR16)) return BGR; + if ((encoding == enc::RGB8) || (encoding == enc::RGB16)) return RGB; + if ((encoding == enc::BGRA8) || (encoding == enc::BGRA16)) return BGRA; + if ((encoding == enc::RGBA8) || (encoding == enc::RGBA16)) return RGBA; + if (encoding == enc::YUV422) return YUV422; + + if ((encoding == enc::BAYER_RGGB8) || (encoding == enc::BAYER_RGGB16)) return BAYER_RGGB; + if ((encoding == enc::BAYER_BGGR8) || (encoding == enc::BAYER_BGGR16)) return BAYER_BGGR; + if ((encoding == enc::BAYER_GBRG8) || (encoding == enc::BAYER_GBRG16)) return BAYER_GBRG; + if ((encoding == enc::BAYER_GRBG8) || (encoding == enc::BAYER_GRBG16)) return BAYER_GRBG; + + // We don't support conversions to/from other types + return INVALID; +} + +static const int SAME_FORMAT = -1; + +/** Return a lit of OpenCV conversion codes to get from one Format to the other + * The key is a pair: and the value a succession of OpenCV code conversion + * It's not efficient code but it is only called once and the structure is small enough + */ +std::map, std::vector > getConversionCodes() { + std::map, std::vector > res; + for(int i=0; i<=5; ++i) + res[std::pair(Encoding(i),Encoding(i))].push_back(SAME_FORMAT); + + res[std::make_pair(GRAY, RGB)].push_back(cv::COLOR_GRAY2RGB); + res[std::make_pair(GRAY, BGR)].push_back(cv::COLOR_GRAY2BGR); + res[std::make_pair(GRAY, RGBA)].push_back(cv::COLOR_GRAY2RGBA); + res[std::make_pair(GRAY, BGRA)].push_back(cv::COLOR_GRAY2BGRA); + + res[std::make_pair(RGB, GRAY)].push_back(cv::COLOR_RGB2GRAY); + res[std::make_pair(RGB, BGR)].push_back(cv::COLOR_RGB2BGR); + res[std::make_pair(RGB, RGBA)].push_back(cv::COLOR_RGB2RGBA); + res[std::make_pair(RGB, BGRA)].push_back(cv::COLOR_RGB2BGRA); + + res[std::make_pair(BGR, GRAY)].push_back(cv::COLOR_BGR2GRAY); + res[std::make_pair(BGR, RGB)].push_back(cv::COLOR_BGR2RGB); + res[std::make_pair(BGR, RGBA)].push_back(cv::COLOR_BGR2RGBA); + res[std::make_pair(BGR, BGRA)].push_back(cv::COLOR_BGR2BGRA); + + res[std::make_pair(RGBA, GRAY)].push_back(cv::COLOR_RGBA2GRAY); + res[std::make_pair(RGBA, RGB)].push_back(cv::COLOR_RGBA2RGB); + res[std::make_pair(RGBA, BGR)].push_back(cv::COLOR_RGBA2BGR); + res[std::make_pair(RGBA, BGRA)].push_back(cv::COLOR_RGBA2BGRA); + + res[std::make_pair(BGRA, GRAY)].push_back(cv::COLOR_BGRA2GRAY); + res[std::make_pair(BGRA, RGB)].push_back(cv::COLOR_BGRA2RGB); + res[std::make_pair(BGRA, BGR)].push_back(cv::COLOR_BGRA2BGR); + res[std::make_pair(BGRA, RGBA)].push_back(cv::COLOR_BGRA2RGBA); + + res[std::make_pair(YUV422, GRAY)].push_back(cv::COLOR_YUV2GRAY_UYVY); + res[std::make_pair(YUV422, RGB)].push_back(cv::COLOR_YUV2RGB_UYVY); + res[std::make_pair(YUV422, BGR)].push_back(cv::COLOR_YUV2BGR_UYVY); + res[std::make_pair(YUV422, RGBA)].push_back(cv::COLOR_YUV2RGBA_UYVY); + res[std::make_pair(YUV422, BGRA)].push_back(cv::COLOR_YUV2BGRA_UYVY); + + // Deal with Bayer + res[std::make_pair(BAYER_RGGB, GRAY)].push_back(cv::COLOR_BayerBG2GRAY); + res[std::make_pair(BAYER_RGGB, RGB)].push_back(cv::COLOR_BayerBG2RGB); + res[std::make_pair(BAYER_RGGB, BGR)].push_back(cv::COLOR_BayerBG2BGR); + + res[std::make_pair(BAYER_BGGR, GRAY)].push_back(cv::COLOR_BayerRG2GRAY); + res[std::make_pair(BAYER_BGGR, RGB)].push_back(cv::COLOR_BayerRG2RGB); + res[std::make_pair(BAYER_BGGR, BGR)].push_back(cv::COLOR_BayerRG2BGR); + + res[std::make_pair(BAYER_GBRG, GRAY)].push_back(cv::COLOR_BayerGR2GRAY); + res[std::make_pair(BAYER_GBRG, RGB)].push_back(cv::COLOR_BayerGR2RGB); + res[std::make_pair(BAYER_GBRG, BGR)].push_back(cv::COLOR_BayerGR2BGR); + + res[std::make_pair(BAYER_GRBG, GRAY)].push_back(cv::COLOR_BayerGB2GRAY); + res[std::make_pair(BAYER_GRBG, RGB)].push_back(cv::COLOR_BayerGB2RGB); + res[std::make_pair(BAYER_GRBG, BGR)].push_back(cv::COLOR_BayerGB2BGR); + + return res; +} + +const std::vector getConversionCode(std::string src_encoding, std::string dst_encoding) +{ + Encoding src_encod = getEncoding(src_encoding); + Encoding dst_encod = getEncoding(dst_encoding); + bool is_src_color_format = enc::isColor(src_encoding) || enc::isMono(src_encoding) || + enc::isBayer(src_encoding) || (src_encoding == enc::YUV422); + bool is_dst_color_format = enc::isColor(dst_encoding) || enc::isMono(dst_encoding) || + enc::isBayer(dst_encoding) || (dst_encoding == enc::YUV422); + bool is_num_channels_the_same = (enc::numChannels(src_encoding) == enc::numChannels(dst_encoding)); + + // If we have no color info in the source, we can only convert to the same format which + // was resolved in the previous condition. Otherwise, fail + if (!is_src_color_format) { + if (is_dst_color_format) + throw Exception("[" + src_encoding + "] is not a color format. but [" + dst_encoding + + "] is. The conversion does not make sense"); + if (!is_num_channels_the_same) + throw Exception("[" + src_encoding + "] and [" + dst_encoding + "] do not have the same number of channel"); + return std::vector(1, SAME_FORMAT); + } + + // If we are converting from a color type to a non color type, we can only do so if we stick + // to the number of channels + if (!is_dst_color_format) { + if (!is_num_channels_the_same) + throw Exception("[" + src_encoding + "] is a color format but [" + dst_encoding + "] " + + "is not so they must have the same OpenCV type, CV_8UC3, CV16UC1 ...."); + return std::vector(1, SAME_FORMAT); + } + + // If we are converting from a color type to another type, then everything is fine + static const std::map, std::vector > CONVERSION_CODES = getConversionCodes(); + + std::pair key(src_encod, dst_encod); + std::map, std::vector >::const_iterator val = CONVERSION_CODES.find(key); + if (val == CONVERSION_CODES.end()) + throw Exception("Unsupported conversion from [" + src_encoding + + "] to [" + dst_encoding + "]"); + + // And deal with depth differences if the colors are different + std::vector res = val->second; + if ((enc::bitDepth(src_encoding) != enc::bitDepth(dst_encoding)) && (getEncoding(src_encoding) != getEncoding(dst_encoding))) + res.push_back(SAME_FORMAT); + + return res; +} + +/////////////////////////////////////// Image /////////////////////////////////////////// + +// Converts a ROS Image to a cv::Mat by sharing the data or changing its endianness if needed +cv::Mat matFromImage(const sensor_msgs::Image& source) +{ + int source_type = getCvType(source.encoding); + int byte_depth = enc::bitDepth(source.encoding) / 8; + int num_channels = enc::numChannels(source.encoding); + + if (source.step < source.width * byte_depth * num_channels) + { + std::stringstream ss; + ss << "Image is wrongly formed: step < width * byte_depth * num_channels or " << source.step << " != " << + source.width << " * " << byte_depth << " * " << num_channels; + throw Exception(ss.str()); + } + + if (source.height * source.step != source.data.size()) + { + std::stringstream ss; + ss << "Image is wrongly formed: height * step != size or " << source.height << " * " << + source.step << " != " << source.data.size(); + throw Exception(ss.str()); + } + + // If the endianness is the same as locally, share the data + cv::Mat mat(source.height, source.width, source_type, const_cast(&source.data[0]), source.step); + if ((boost::endian::order::native == boost::endian::order::big && source.is_bigendian) || + (boost::endian::order::native == boost::endian::order::little && !source.is_bigendian) || + byte_depth == 1) + return mat; + + // Otherwise, reinterpret the data as bytes and switch the channels accordingly + mat = cv::Mat(source.height, source.width, CV_MAKETYPE(CV_8U, num_channels*byte_depth), + const_cast(&source.data[0]), source.step); + cv::Mat mat_swap(source.height, source.width, mat.type()); + + std::vector fromTo; + fromTo.reserve(num_channels*byte_depth); + for(int i = 0; i < num_channels; ++i) + for(int j = 0; j < byte_depth; ++j) + { + fromTo.push_back(byte_depth*i + j); + fromTo.push_back(byte_depth*i + byte_depth - 1 - j); + } + cv::mixChannels(std::vector(1, mat), std::vector(1, mat_swap), fromTo); + + // Interpret mat_swap back as the proper type + mat_swap.reshape(num_channels); + + return mat_swap; +} + +// Internal, used by toCvCopy and cvtColor +CvImagePtr toCvCopyImpl(const cv::Mat& source, + const std_msgs::Header& src_header, + const std::string& src_encoding, + const std::string& dst_encoding) +{ + // Copy metadata + CvImagePtr ptr = boost::make_shared(); + ptr->header = src_header; + + // Copy to new buffer if same encoding requested + if (dst_encoding.empty() || dst_encoding == src_encoding) + { + ptr->encoding = src_encoding; + source.copyTo(ptr->image); + } + else + { + // Convert the source data to the desired encoding + const std::vector conversion_codes = getConversionCode(src_encoding, dst_encoding); + cv::Mat image1 = source; + cv::Mat image2; + for(size_t i=0; iimage = image2; + ptr->encoding = dst_encoding; + } + + return ptr; +} + +/// @endcond + +sensor_msgs::ImagePtr CvImage::toImageMsg() const +{ + sensor_msgs::ImagePtr ptr = boost::make_shared(); + toImageMsg(*ptr); + return ptr; +} + +void CvImage::toImageMsg(sensor_msgs::Image& ros_image) const +{ + ros_image.header = header; + ros_image.height = image.rows; + ros_image.width = image.cols; + ros_image.encoding = encoding; + ros_image.is_bigendian = (boost::endian::order::native == boost::endian::order::big); + ros_image.step = image.cols * image.elemSize(); + size_t size = ros_image.step * image.rows; + ros_image.data.resize(size); + + if (image.isContinuous()) + { + memcpy((char*)(&ros_image.data[0]), image.data, size); + } + else + { + // Copy by row by row + uchar* ros_data_ptr = (uchar*)(&ros_image.data[0]); + uchar* cv_data_ptr = image.data; + for (int i = 0; i < image.rows; ++i) + { + memcpy(ros_data_ptr, cv_data_ptr, ros_image.step); + ros_data_ptr += ros_image.step; + cv_data_ptr += image.step; + } + } +} + +// Deep copy data, returnee is mutable +CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr& source, + const std::string& encoding) +{ + return toCvCopy(*source, encoding); +} + +CvImagePtr toCvCopy(const sensor_msgs::Image& source, + const std::string& encoding) +{ + // Construct matrix pointing to source data + return toCvCopyImpl(matFromImage(source), source.header, source.encoding, encoding); +} + +// Share const data, returnee is immutable +CvImageConstPtr toCvShare(const sensor_msgs::ImageConstPtr& source, + const std::string& encoding) +{ + return toCvShare(*source, source, encoding); +} + +CvImageConstPtr toCvShare(const sensor_msgs::Image& source, + const boost::shared_ptr& tracked_object, + const std::string& encoding) +{ + // If the encoding different or the endianness different, you have to copy + if ((!encoding.empty() && source.encoding != encoding) || (source.is_bigendian && + (boost::endian::order::native != boost::endian::order::big))) + return toCvCopy(source, encoding); + + CvImagePtr ptr = boost::make_shared(); + ptr->header = source.header; + ptr->encoding = source.encoding; + ptr->tracked_object_ = tracked_object; + ptr->image = matFromImage(source); + return ptr; +} + +CvImagePtr cvtColor(const CvImageConstPtr& source, + const std::string& encoding) +{ + return toCvCopyImpl(source->image, source->header, source->encoding, encoding); +} + +/////////////////////////////////////// CompressedImage /////////////////////////////////////////// + +sensor_msgs::CompressedImagePtr CvImage::toCompressedImageMsg(const Format dst_format) const +{ + sensor_msgs::CompressedImagePtr ptr = boost::make_shared(); + toCompressedImageMsg(*ptr,dst_format); + return ptr; +} + +std::string getFormat(Format format) { + + switch (format) { + case DIB: + return "dib"; + case BMP: + return "bmp"; + case JPG: + return "jpg"; + case JPEG: + return "jpeg"; + case JPE: + return "jpe"; + case JP2: + return "jp2"; + case PNG: + return "png"; + case PBM: + return "pbm"; + case PGM: + return "pgm"; + case PPM: + return "ppm"; + case RAS: + return "ras"; + case SR: + return "sr"; + case TIF: + return "tif"; + case TIFF: + return "tiff"; + } + + throw Exception("Unrecognized image format"); +} + +void CvImage::toCompressedImageMsg(sensor_msgs::CompressedImage& ros_image, const Format dst_format) const +{ + ros_image.header = header; + cv::Mat image; + if (encoding == enc::BGR8 || encoding == enc::BGRA8 || encoding == enc::MONO8 || encoding == enc::MONO16) + { + image = this->image; + } + else + { + CvImagePtr tempThis = boost::make_shared(*this); + CvImagePtr temp; + if (enc::hasAlpha(encoding)) + { + temp = cvtColor(tempThis, enc::BGRA8); + } + else + { + temp = cvtColor(tempThis, enc::BGR8); + } + image = temp->image; + } + + std::string format = getFormat(dst_format); + ros_image.format = format; + cv::imencode("." + format, image, ros_image.data); +} + +// Deep copy data, returnee is mutable +CvImagePtr toCvCopy(const sensor_msgs::CompressedImageConstPtr& source, + const std::string& encoding) +{ + return toCvCopy(*source, encoding); +} + +CvImagePtr toCvCopy(const sensor_msgs::CompressedImage& source, const std::string& encoding) +{ + // Construct matrix pointing to source data + const cv::Mat_ in(1, source.data.size(), const_cast(&source.data[0])); + // Loads as BGR or BGRA. + const cv::Mat rgb_a = cv::imdecode(in, cv::IMREAD_UNCHANGED); + + if (encoding != enc::MONO16) { + switch (rgb_a.channels()) + { + case 4: + return toCvCopyImpl(rgb_a, source.header, enc::BGRA8, encoding); + break; + case 3: + return toCvCopyImpl(rgb_a, source.header, enc::BGR8, encoding); + break; + case 1: + return toCvCopyImpl(rgb_a, source.header, enc::MONO8, encoding); + break; + default: + return CvImagePtr(); + } + } + else { + return toCvCopyImpl(rgb_a, source.header, enc::MONO16, encoding); + } +} + +CvImageConstPtr cvtColorForDisplay(const CvImageConstPtr& source, + const std::string& encoding_out, + const CvtColorForDisplayOptions options) +{ + double min_image_value = options.min_image_value; + double max_image_value = options.max_image_value; + + if (!source) + throw Exception("cv_bridge.cvtColorForDisplay() called with empty image."); + // let's figure out what to do with the empty encoding + std::string encoding = encoding_out; + if (encoding.empty()) + { + try + { + // Let's decide upon an output format + if (enc::numChannels(source->encoding) == 1) + { + if ((source->encoding == enc::TYPE_32SC1) || + (enc::bitDepth(source->encoding) == 8) || + (enc::bitDepth(source->encoding) == 16) || + (enc::bitDepth(source->encoding) == 32)) + encoding = enc::BGR8; + else + throw std::runtime_error("Unsupported depth of the source encoding " + encoding); + } + else + { + // We choose BGR by default here as we assume people will use OpenCV + if ((enc::bitDepth(source->encoding) == 8) || + (enc::bitDepth(source->encoding) == 16)) + encoding = enc::BGR8; + else + throw std::runtime_error("Unsupported depth of the source encoding " + encoding); + } + } + // We could have cv_bridge exception or std_runtime_error from sensor_msgs::image_codings routines + catch (const std::runtime_error& e) + { + throw Exception("cv_bridge.cvtColorForDisplay() output encoding is empty and cannot be guessed."); + } + } + else + { + if ((!enc::isColor(encoding_out) && !enc::isMono(encoding_out)) || + (enc::bitDepth(encoding) != 8)) + throw Exception("cv_bridge.cvtColorForDisplay() does not have an output encoding that is color or mono, and has is bit in depth"); + + } + + // Convert label to bgr image + if (encoding == sensor_msgs::image_encodings::BGR8 && + source->encoding == enc::TYPE_32SC1) + { + CvImagePtr result(new CvImage()); + result->header = source->header; + result->encoding = encoding; + result->image = cv::Mat(source->image.rows, source->image.cols, CV_8UC3); + for (size_t j = 0; j < source->image.rows; ++j) { + for (size_t i = 0; i < source->image.cols; ++i) { + int label = source->image.at(j, i); + if (label == options.bg_label) { // background label + result->image.at(j, i) = cv::Vec3b(0, 0, 0); + } + else + { + cv::Vec3d rgb = rgb_colors::getRGBColor(label); + // result image should be BGR + result->image.at(j, i) = cv::Vec3b(int(rgb[2] * 255), int(rgb[1] * 255), int(rgb[0] * 255)); + } + } + } + return result; + } + + // Perform scaling if asked for + if (options.do_dynamic_scaling) + { + cv::minMaxLoc(source->image, &min_image_value, &max_image_value); + if (min_image_value == max_image_value) + { + CvImagePtr result(new CvImage()); + result->header = source->header; + result->encoding = encoding; + if (enc::bitDepth(encoding) == 1) + { + result->image = cv::Mat(source->image.size(), CV_8UC1); + result->image.setTo(255./2.); + } else { + result->image = cv::Mat(source->image.size(), CV_8UC3); + result->image.setTo(cv::Scalar(1., 1., 1.)*255./2.); + } + return result; + } + } + + if (min_image_value != max_image_value) + { + if (enc::numChannels(source->encoding) != 1) + throw Exception("cv_bridge.cvtColorForDisplay() scaling for images with more than one channel is unsupported"); + CvImagePtr img_scaled(new CvImage()); + img_scaled->header = source->header; + if (options.colormap == -1) { + img_scaled->encoding = enc::MONO8; + cv::Mat(source->image-min_image_value).convertTo(img_scaled->image, CV_8UC1, 255.0 / + (max_image_value - min_image_value)); + } else { + img_scaled->encoding = enc::BGR8; + cv::Mat(source->image-min_image_value).convertTo(img_scaled->image, CV_8UC3, 255.0 / + (max_image_value - min_image_value)); + cv::applyColorMap(img_scaled->image, img_scaled->image, options.colormap); + // Fill black color to the nan region. + if (source->encoding == enc::TYPE_32FC1) { + for (size_t j = 0; j < source->image.rows; ++j) { + for (size_t i = 0; i < source->image.cols; ++i) { + float float_value = source->image.at(j, i); + if (std::isnan(float_value)) { + img_scaled->image.at(j, i) = cv::Vec3b(0, 0, 0); + } + } + } + } + } + return cvtColor(img_scaled, encoding); + } + + // If no color conversion is possible, we must "guess" the input format + CvImagePtr source_typed(new CvImage()); + source_typed->image = source->image; + source_typed->header = source->header; + source_typed->encoding = source->encoding; + + // If we get the OpenCV format, if we have 1,3 or 4 channels, we are most likely in mono, BGR or BGRA modes + if (source->encoding == "CV_8UC1") + source_typed->encoding = enc::MONO8; + else if (source->encoding == "16UC1") + source_typed->encoding = enc::MONO16; + else if (source->encoding == "CV_8UC3") + source_typed->encoding = enc::BGR8; + else if (source->encoding == "CV_8UC4") + source_typed->encoding = enc::BGRA8; + else if (source->encoding == "CV_16UC3") + source_typed->encoding = enc::BGR16; + else if (source->encoding == "CV_16UC4") + source_typed->encoding = enc::BGRA16; + + // If no conversion is needed, don't convert + if (source_typed->encoding == encoding) + return source; + + try + { + // Now that the output is a proper color format, try to see if any conversion is possible + return cvtColor(source_typed, encoding); + } + catch (cv_bridge::Exception& e) + { + throw Exception("cv_bridge.cvtColorForDisplay() while trying to convert image from '" + source->encoding + "' to '" + encoding + "' an exception was thrown (" + e.what() + ")"); + } +} + +} //namespace cv_bridge diff --git a/MyCode/src/my_cv_bridge/src/module.cpp b/MyCode/src/my_cv_bridge/src/module.cpp new file mode 100644 index 0000000..c123198 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/module.cpp @@ -0,0 +1,110 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2012, Willow Garage, Inc. +* 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 the Willow Garage 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. +*********************************************************************/ + +#include "module.hpp" + +PyObject *mod_opencv; + +bp::object +cvtColor2Wrap(bp::object obj_in, const std::string & encoding_in, const std::string & encoding_out) { + // Convert the Python input to an image + cv::Mat mat_in; + convert_to_CvMat2(obj_in.ptr(), mat_in); + + // Call cv_bridge for color conversion + cv_bridge::CvImagePtr cv_image(new cv_bridge::CvImage(std_msgs::Header(), encoding_in, mat_in)); + + cv::Mat mat = cv_bridge::cvtColor(cv_image, encoding_out)->image; + + return bp::object(boost::python::handle<>(pyopencv_from(mat))); +} + +bp::object +cvtColorForDisplayWrap(bp::object obj_in, + const std::string & encoding_in, + const std::string & encoding_out, + bool do_dynamic_scaling = false, + double min_image_value = 0.0, + double max_image_value = 0.0) { + // Convert the Python input to an image + cv::Mat mat_in; + convert_to_CvMat2(obj_in.ptr(), mat_in); + + cv_bridge::CvImagePtr cv_image(new cv_bridge::CvImage(std_msgs::Header(), encoding_in, mat_in)); + + cv_bridge::CvtColorForDisplayOptions options; + options.do_dynamic_scaling = do_dynamic_scaling; + options.min_image_value = min_image_value; + options.max_image_value = max_image_value; + cv::Mat mat = cv_bridge::cvtColorForDisplay(/*source=*/cv_image, + /*encoding_out=*/encoding_out, + /*options=*/options)->image; + + return bp::object(boost::python::handle<>(pyopencv_from(mat))); +} + +BOOST_PYTHON_FUNCTION_OVERLOADS(cvtColorForDisplayWrap_overloads, cvtColorForDisplayWrap, 3, 6) + +int CV_MAT_CNWrap(int i) { + return CV_MAT_CN(i); +} + +int CV_MAT_DEPTHWrap(int i) { + return CV_MAT_DEPTH(i); +} + +BOOST_PYTHON_MODULE(cv_bridge_boost) +{ + do_numpy_import(); + mod_opencv = PyImport_ImportModule("cv2"); + + // Wrap the function to get encodings as OpenCV types + boost::python::def("getCvType", cv_bridge::getCvType); + boost::python::def("cvtColor2", cvtColor2Wrap); + boost::python::def("CV_MAT_CNWrap", CV_MAT_CNWrap); + boost::python::def("CV_MAT_DEPTHWrap", CV_MAT_DEPTHWrap); + boost::python::def("cvtColorForDisplay", cvtColorForDisplayWrap, + cvtColorForDisplayWrap_overloads( + boost::python::args("source", "encoding_in", "encoding_out", "do_dynamic_scaling", + "min_image_value", "max_image_value"), + "Convert image to display with specified encodings.\n\n" + "Args:\n" + " - source (numpy.ndarray): input image\n" + " - encoding_in (str): input image encoding\n" + " - encoding_out (str): encoding to which the image conveted\n" + " - do_dynamic_scaling (bool): flag to do dynamic scaling with min/max value\n" + " - min_image_value (float): minimum pixel value for dynamic scaling\n" + " - max_image_value (float): maximum pixel value for dynamic scaling\n" + )); +} diff --git a/MyCode/src/my_cv_bridge/src/module.hpp b/MyCode/src/my_cv_bridge/src/module.hpp new file mode 100644 index 0000000..7afd37e --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/module.hpp @@ -0,0 +1,49 @@ +/* + * Copyright 2014 Open Source Robotics Foundation, Inc. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef CV_BRIDGE_MODULE_HPP_ +#define CV_BRIDGE_MODULE_HPP_ + +#define NUMPY_IMPORT_ARRAY_RETVAL NULL + +#include +#include +#include +#include + +#define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION +#include + +#include + +namespace bp = boost::python; + +int convert_to_CvMat2(const PyObject* o, cv::Mat& m); + +PyObject* pyopencv_from(const cv::Mat& m); + +static void * do_numpy_import( ) +{ + // import_array( ); + if (_import_array() < 0) { + PyErr_Print(); + PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); + return nullptr; + } + return nullptr; +} + +#endif diff --git a/MyCode/src/my_cv_bridge/src/module_opencv4.cpp b/MyCode/src/my_cv_bridge/src/module_opencv4.cpp new file mode 100644 index 0000000..c4ec5a2 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/module_opencv4.cpp @@ -0,0 +1,372 @@ +// Taken from opencv/modules/python/src2/cv2.cpp + +#include "module.hpp" + +#include "opencv2/core/types_c.h" + +#include "opencv2/opencv_modules.hpp" + +#include "pycompat.hpp" + +static PyObject* opencv_error = 0; + +static int failmsg(const char *fmt, ...) +{ + char str[1000]; + + va_list ap; + va_start(ap, fmt); + vsnprintf(str, sizeof(str), fmt, ap); + va_end(ap); + + PyErr_SetString(PyExc_TypeError, str); + return 0; +} + +struct ArgInfo +{ + const char * name; + bool outputarg; + // more fields may be added if necessary + + ArgInfo(const char * name_, bool outputarg_) + : name(name_) + , outputarg(outputarg_) {} + + // to match with older pyopencv_to function signature + operator const char *() const { return name; } +}; + +class PyAllowThreads +{ +public: + PyAllowThreads() : _state(PyEval_SaveThread()) {} + ~PyAllowThreads() + { + PyEval_RestoreThread(_state); + } +private: + PyThreadState* _state; +}; + +class PyEnsureGIL +{ +public: + PyEnsureGIL() : _state(PyGILState_Ensure()) {} + ~PyEnsureGIL() + { + PyGILState_Release(_state); + } +private: + PyGILState_STATE _state; +}; + +#define ERRWRAP2(expr) \ +try \ +{ \ + PyAllowThreads allowThreads; \ + expr; \ +} \ +catch (const cv::Exception &e) \ +{ \ + PyErr_SetString(opencv_error, e.what()); \ + return 0; \ +} + +using namespace cv; + +static PyObject* failmsgp(const char *fmt, ...) +{ + char str[1000]; + + va_list ap; + va_start(ap, fmt); + vsnprintf(str, sizeof(str), fmt, ap); + va_end(ap); + + PyErr_SetString(PyExc_TypeError, str); + return 0; +} + +class NumpyAllocator : public MatAllocator +{ +#if CV_MAJOR_VERSION == 3 +protected: + typedef int AccessFlag; +#endif + +public: + NumpyAllocator() { stdAllocator = Mat::getStdAllocator(); } + ~NumpyAllocator() {} + + UMatData* allocate(PyObject* o, int dims, const int* sizes, int type, size_t* step) const + { + UMatData* u = new UMatData(this); + u->data = u->origdata = (uchar*)PyArray_DATA((PyArrayObject*) o); + npy_intp* _strides = PyArray_STRIDES((PyArrayObject*) o); + for( int i = 0; i < dims - 1; i++ ) + step[i] = (size_t)_strides[i]; + step[dims-1] = CV_ELEM_SIZE(type); + u->size = sizes[0]*step[0]; + u->userdata = o; + return u; + } + + UMatData* allocate(int dims0, const int* sizes, int type, void* data, size_t* step, AccessFlag flags, UMatUsageFlags usageFlags) const + { + if( data != 0 ) + { + CV_Error(Error::StsAssert, "The data should normally be NULL!"); + // probably this is safe to do in such extreme case + return stdAllocator->allocate(dims0, sizes, type, data, step, flags, usageFlags); + } + PyEnsureGIL gil; + + int depth = CV_MAT_DEPTH(type); + int cn = CV_MAT_CN(type); + const int f = (int)(sizeof(size_t)/8); + int typenum = depth == CV_8U ? NPY_UBYTE : depth == CV_8S ? NPY_BYTE : + depth == CV_16U ? NPY_USHORT : depth == CV_16S ? NPY_SHORT : + depth == CV_32S ? NPY_INT : depth == CV_32F ? NPY_FLOAT : + depth == CV_64F ? NPY_DOUBLE : f*NPY_ULONGLONG + (f^1)*NPY_UINT; + int i, dims = dims0; + cv::AutoBuffer _sizes(dims + 1); + for( i = 0; i < dims; i++ ) + _sizes[i] = sizes[i]; + if( cn > 1 ) + _sizes[dims++] = cn; + PyObject* o = PyArray_SimpleNew(dims, _sizes, typenum); + if(!o) + CV_Error_(Error::StsError, ("The numpy array of typenum=%d, ndims=%d can not be created", typenum, dims)); + return allocate(o, dims0, sizes, type, step); + } + + bool allocate(UMatData* u, AccessFlag accessFlags, UMatUsageFlags usageFlags) const + { + return stdAllocator->allocate(u, accessFlags, usageFlags); + } + + void deallocate(UMatData* u) const + { + if(u) + { + PyEnsureGIL gil; + PyObject* o = (PyObject*)u->userdata; + Py_XDECREF(o); + delete u; + } + } + + const MatAllocator* stdAllocator; +}; + +NumpyAllocator g_numpyAllocator; + + +template static +bool pyopencv_to(PyObject* obj, T& p, const char* name = ""); + +template static +PyObject* pyopencv_from(const T& src); + +enum { ARG_NONE = 0, ARG_MAT = 1, ARG_SCALAR = 2 }; + +// special case, when the convertor needs full ArgInfo structure +static bool pyopencv_to(PyObject* o, Mat& m, const ArgInfo info) +{ + // to avoid PyArray_Check() to crash even with valid array + do_numpy_import( ); + + + bool allowND = true; + if(!o || o == Py_None) + { + if( !m.data ) + m.allocator = &g_numpyAllocator; + return true; + } + + if( PyInt_Check(o) ) + { + double v[] = {(double)PyInt_AsLong((PyObject*)o), 0., 0., 0.}; + m = Mat(4, 1, CV_64F, v).clone(); + return true; + } + if( PyFloat_Check(o) ) + { + double v[] = {PyFloat_AsDouble((PyObject*)o), 0., 0., 0.}; + m = Mat(4, 1, CV_64F, v).clone(); + return true; + } + if( PyTuple_Check(o) ) + { + int i, sz = (int)PyTuple_Size((PyObject*)o); + m = Mat(sz, 1, CV_64F); + for( i = 0; i < sz; i++ ) + { + PyObject* oi = PyTuple_GET_ITEM(o, i); + if( PyInt_Check(oi) ) + m.at(i) = (double)PyInt_AsLong(oi); + else if( PyFloat_Check(oi) ) + m.at(i) = (double)PyFloat_AsDouble(oi); + else + { + failmsg("%s is not a numerical tuple", info.name); + m.release(); + return false; + } + } + return true; + } + + if( !PyArray_Check(o) ) + { + failmsg("%s is not a numpy array, neither a scalar", info.name); + return false; + } + + PyArrayObject* oarr = (PyArrayObject*) o; + + bool needcopy = false, needcast = false; + int typenum = PyArray_TYPE(oarr), new_typenum = typenum; + int type = typenum == NPY_UBYTE ? CV_8U : + typenum == NPY_BYTE ? CV_8S : + typenum == NPY_USHORT ? CV_16U : + typenum == NPY_SHORT ? CV_16S : + typenum == NPY_INT ? CV_32S : + typenum == NPY_INT32 ? CV_32S : + typenum == NPY_FLOAT ? CV_32F : + typenum == NPY_DOUBLE ? CV_64F : -1; + + if( type < 0 ) + { + if( typenum == NPY_INT64 || typenum == NPY_UINT64 || type == NPY_LONG ) + { + needcopy = needcast = true; + new_typenum = NPY_INT; + type = CV_32S; + } + else + { + failmsg("%s data type = %d is not supported", info.name, typenum); + return false; + } + } + +#ifndef CV_MAX_DIM + const int CV_MAX_DIM = 32; +#endif + + int ndims = PyArray_NDIM(oarr); + if(ndims >= CV_MAX_DIM) + { + failmsg("%s dimensionality (=%d) is too high", info.name, ndims); + return false; + } + + int size[CV_MAX_DIM+1]; + size_t step[CV_MAX_DIM+1]; + size_t elemsize = CV_ELEM_SIZE1(type); + const npy_intp* _sizes = PyArray_DIMS(oarr); + const npy_intp* _strides = PyArray_STRIDES(oarr); + bool ismultichannel = ndims == 3 && _sizes[2] <= CV_CN_MAX; + + for( int i = ndims-1; i >= 0 && !needcopy; i-- ) + { + // these checks handle cases of + // a) multi-dimensional (ndims > 2) arrays, as well as simpler 1- and 2-dimensional cases + // b) transposed arrays, where _strides[] elements go in non-descending order + // c) flipped arrays, where some of _strides[] elements are negative + if( (i == ndims-1 && (size_t)_strides[i] != elemsize) || + (i < ndims-1 && _strides[i] < _strides[i+1]) ) + needcopy = true; + } + + if( ismultichannel && _strides[1] != (npy_intp)elemsize*_sizes[2] ) + needcopy = true; + + if (needcopy) + { + if (info.outputarg) + { + failmsg("Layout of the output array %s is incompatible with cv::Mat (step[ndims-1] != elemsize or step[1] != elemsize*nchannels)", info.name); + return false; + } + + if( needcast ) { + o = PyArray_Cast(oarr, new_typenum); + oarr = (PyArrayObject*) o; + } + else { + oarr = PyArray_GETCONTIGUOUS(oarr); + o = (PyObject*) oarr; + } + + _strides = PyArray_STRIDES(oarr); + } + + for(int i = 0; i < ndims; i++) + { + size[i] = (int)_sizes[i]; + step[i] = (size_t)_strides[i]; + } + + // handle degenerate case + if( ndims == 0) { + size[ndims] = 1; + step[ndims] = elemsize; + ndims++; + } + + if( ismultichannel ) + { + ndims--; + type |= CV_MAKETYPE(0, size[2]); + } + + if( ndims > 2 && !allowND ) + { + failmsg("%s has more than 2 dimensions", info.name); + return false; + } + + m = Mat(ndims, size, type, PyArray_DATA(oarr), step); + m.u = g_numpyAllocator.allocate(o, ndims, size, type, step); + m.addref(); + + if( !needcopy ) + { + Py_INCREF(o); + } + m.allocator = &g_numpyAllocator; + + return true; +} + +template<> +bool pyopencv_to(PyObject* o, Mat& m, const char* name) +{ + return pyopencv_to(o, m, ArgInfo(name, 0)); +} + +PyObject* pyopencv_from(const Mat& m) +{ + if( !m.data ) + Py_RETURN_NONE; + Mat temp, *p = (Mat*)&m; + if(!p->u || p->allocator != &g_numpyAllocator) + { + temp.allocator = &g_numpyAllocator; + ERRWRAP2(m.copyTo(temp)); + p = &temp; + } + PyObject* o = (PyObject*)p->u->userdata; + Py_INCREF(o); + return o; +} + +int convert_to_CvMat2(const PyObject* o, cv::Mat& m) +{ + pyopencv_to(const_cast(o), m, "unknown"); + return 0; +} diff --git a/MyCode/src/my_cv_bridge/src/pycompat.hpp b/MyCode/src/my_cv_bridge/src/pycompat.hpp new file mode 100644 index 0000000..f4ebea6 --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/pycompat.hpp @@ -0,0 +1,70 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. +// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's 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. +// +// * The name of the copyright holders may not 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 Intel Corporation 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. +// +//M*/ + +// Defines for Python 2/3 compatibility. +#ifndef __PYCOMPAT_HPP__ +#define __PYCOMPAT_HPP__ + +#if PY_MAJOR_VERSION >= 3 +// Python3 treats all ints as longs, PyInt_X functions have been removed. +#define PyInt_Check PyLong_Check +#define PyInt_CheckExact PyLong_CheckExact +#define PyInt_AsLong PyLong_AsLong +#define PyInt_AS_LONG PyLong_AS_LONG +#define PyInt_FromLong PyLong_FromLong +#define PyNumber_Int PyNumber_Long + +// Python3 strings are unicode, these defines mimic the Python2 functionality. +#define PyString_Check PyUnicode_Check +#define PyString_FromString PyUnicode_FromString +#define PyString_FromStringAndSize PyUnicode_FromStringAndSize +#define PyString_Size PyUnicode_GET_SIZE + +// PyUnicode_AsUTF8 isn't available until Python 3.3 +#if (PY_VERSION_HEX < 0x03030000) +#define PyString_AsString _PyUnicode_AsString +#else +#define PyString_AsString PyUnicode_AsUTF8 +#endif +#endif + +#endif // END HEADER GUARD diff --git a/MyCode/src/my_cv_bridge/src/rgb_colors.cpp b/MyCode/src/my_cv_bridge/src/rgb_colors.cpp new file mode 100644 index 0000000..67b08ea --- /dev/null +++ b/MyCode/src/my_cv_bridge/src/rgb_colors.cpp @@ -0,0 +1,201 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Original color definition is at scikit-image distributed with + * following license disclaimer: + * + * Copyright (C) 2011, the scikit-image team + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are + * met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of skimage 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 AUTHOR ``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 AUTHOR 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. + *********************************************************************/ + +#include "cv_bridge/rgb_colors.h" + + +namespace cv_bridge +{ + +namespace rgb_colors +{ + + cv::Vec3d getRGBColor(const int color) + { + cv::Vec3d c; + switch (color % 146) { + case ALICEBLUE: c = cv::Vec3d(0.941, 0.973, 1); break; + case ANTIQUEWHITE: c = cv::Vec3d(0.98, 0.922, 0.843); break; + case AQUA: c = cv::Vec3d(0, 1, 1); break; + case AQUAMARINE: c = cv::Vec3d(0.498, 1, 0.831); break; + case AZURE: c = cv::Vec3d(0.941, 1, 1); break; + case BEIGE: c = cv::Vec3d(0.961, 0.961, 0.863); break; + case BISQUE: c = cv::Vec3d(1, 0.894, 0.769); break; + case BLACK: c = cv::Vec3d(0, 0, 0); break; + case BLANCHEDALMOND: c = cv::Vec3d(1, 0.922, 0.804); break; + case BLUE: c = cv::Vec3d(0, 0, 1); break; + case BLUEVIOLET: c = cv::Vec3d(0.541, 0.169, 0.886); break; + case BROWN: c = cv::Vec3d(0.647, 0.165, 0.165); break; + case BURLYWOOD: c = cv::Vec3d(0.871, 0.722, 0.529); break; + case CADETBLUE: c = cv::Vec3d(0.373, 0.62, 0.627); break; + case CHARTREUSE: c = cv::Vec3d(0.498, 1, 0); break; + case CHOCOLATE: c = cv::Vec3d(0.824, 0.412, 0.118); break; + case CORAL: c = cv::Vec3d(1, 0.498, 0.314); break; + case CORNFLOWERBLUE: c = cv::Vec3d(0.392, 0.584, 0.929); break; + case CORNSILK: c = cv::Vec3d(1, 0.973, 0.863); break; + case CRIMSON: c = cv::Vec3d(0.863, 0.0784, 0.235); break; + case CYAN: c = cv::Vec3d(0, 1, 1); break; + case DARKBLUE: c = cv::Vec3d(0, 0, 0.545); break; + case DARKCYAN: c = cv::Vec3d(0, 0.545, 0.545); break; + case DARKGOLDENROD: c = cv::Vec3d(0.722, 0.525, 0.0431); break; + case DARKGRAY: c = cv::Vec3d(0.663, 0.663, 0.663); break; + case DARKGREEN: c = cv::Vec3d(0, 0.392, 0); break; + case DARKGREY: c = cv::Vec3d(0.663, 0.663, 0.663); break; + case DARKKHAKI: c = cv::Vec3d(0.741, 0.718, 0.42); break; + case DARKMAGENTA: c = cv::Vec3d(0.545, 0, 0.545); break; + case DARKOLIVEGREEN: c = cv::Vec3d(0.333, 0.42, 0.184); break; + case DARKORANGE: c = cv::Vec3d(1, 0.549, 0); break; + case DARKORCHID: c = cv::Vec3d(0.6, 0.196, 0.8); break; + case DARKRED: c = cv::Vec3d(0.545, 0, 0); break; + case DARKSALMON: c = cv::Vec3d(0.914, 0.588, 0.478); break; + case DARKSEAGREEN: c = cv::Vec3d(0.561, 0.737, 0.561); break; + case DARKSLATEBLUE: c = cv::Vec3d(0.282, 0.239, 0.545); break; + case DARKSLATEGRAY: c = cv::Vec3d(0.184, 0.31, 0.31); break; + case DARKSLATEGREY: c = cv::Vec3d(0.184, 0.31, 0.31); break; + case DARKTURQUOISE: c = cv::Vec3d(0, 0.808, 0.82); break; + case DARKVIOLET: c = cv::Vec3d(0.58, 0, 0.827); break; + case DEEPPINK: c = cv::Vec3d(1, 0.0784, 0.576); break; + case DEEPSKYBLUE: c = cv::Vec3d(0, 0.749, 1); break; + case DIMGRAY: c = cv::Vec3d(0.412, 0.412, 0.412); break; + case DIMGREY: c = cv::Vec3d(0.412, 0.412, 0.412); break; + case DODGERBLUE: c = cv::Vec3d(0.118, 0.565, 1); break; + case FIREBRICK: c = cv::Vec3d(0.698, 0.133, 0.133); break; + case FLORALWHITE: c = cv::Vec3d(1, 0.98, 0.941); break; + case FORESTGREEN: c = cv::Vec3d(0.133, 0.545, 0.133); break; + case FUCHSIA: c = cv::Vec3d(1, 0, 1); break; + case GAINSBORO: c = cv::Vec3d(0.863, 0.863, 0.863); break; + case GHOSTWHITE: c = cv::Vec3d(0.973, 0.973, 1); break; + case GOLD: c = cv::Vec3d(1, 0.843, 0); break; + case GOLDENROD: c = cv::Vec3d(0.855, 0.647, 0.125); break; + case GRAY: c = cv::Vec3d(0.502, 0.502, 0.502); break; + case GREEN: c = cv::Vec3d(0, 0.502, 0); break; + case GREENYELLOW: c = cv::Vec3d(0.678, 1, 0.184); break; + case GREY: c = cv::Vec3d(0.502, 0.502, 0.502); break; + case HONEYDEW: c = cv::Vec3d(0.941, 1, 0.941); break; + case HOTPINK: c = cv::Vec3d(1, 0.412, 0.706); break; + case INDIANRED: c = cv::Vec3d(0.804, 0.361, 0.361); break; + case INDIGO: c = cv::Vec3d(0.294, 0, 0.51); break; + case IVORY: c = cv::Vec3d(1, 1, 0.941); break; + case KHAKI: c = cv::Vec3d(0.941, 0.902, 0.549); break; + case LAVENDER: c = cv::Vec3d(0.902, 0.902, 0.98); break; + case LAVENDERBLUSH: c = cv::Vec3d(1, 0.941, 0.961); break; + case LAWNGREEN: c = cv::Vec3d(0.486, 0.988, 0); break; + case LEMONCHIFFON: c = cv::Vec3d(1, 0.98, 0.804); break; + case LIGHTBLUE: c = cv::Vec3d(0.678, 0.847, 0.902); break; + case LIGHTCORAL: c = cv::Vec3d(0.941, 0.502, 0.502); break; + case LIGHTCYAN: c = cv::Vec3d(0.878, 1, 1); break; + case LIGHTGOLDENRODYELLOW: c = cv::Vec3d(0.98, 0.98, 0.824); break; + case LIGHTGRAY: c = cv::Vec3d(0.827, 0.827, 0.827); break; + case LIGHTGREEN: c = cv::Vec3d(0.565, 0.933, 0.565); break; + case LIGHTGREY: c = cv::Vec3d(0.827, 0.827, 0.827); break; + case LIGHTPINK: c = cv::Vec3d(1, 0.714, 0.757); break; + case LIGHTSALMON: c = cv::Vec3d(1, 0.627, 0.478); break; + case LIGHTSEAGREEN: c = cv::Vec3d(0.125, 0.698, 0.667); break; + case LIGHTSKYBLUE: c = cv::Vec3d(0.529, 0.808, 0.98); break; + case LIGHTSLATEGRAY: c = cv::Vec3d(0.467, 0.533, 0.6); break; + case LIGHTSLATEGREY: c = cv::Vec3d(0.467, 0.533, 0.6); break; + case LIGHTSTEELBLUE: c = cv::Vec3d(0.69, 0.769, 0.871); break; + case LIGHTYELLOW: c = cv::Vec3d(1, 1, 0.878); break; + case LIME: c = cv::Vec3d(0, 1, 0); break; + case LIMEGREEN: c = cv::Vec3d(0.196, 0.804, 0.196); break; + case LINEN: c = cv::Vec3d(0.98, 0.941, 0.902); break; + case MAGENTA: c = cv::Vec3d(1, 0, 1); break; + case MAROON: c = cv::Vec3d(0.502, 0, 0); break; + case MEDIUMAQUAMARINE: c = cv::Vec3d(0.4, 0.804, 0.667); break; + case MEDIUMBLUE: c = cv::Vec3d(0, 0, 0.804); break; + case MEDIUMORCHID: c = cv::Vec3d(0.729, 0.333, 0.827); break; + case MEDIUMPURPLE: c = cv::Vec3d(0.576, 0.439, 0.859); break; + case MEDIUMSEAGREEN: c = cv::Vec3d(0.235, 0.702, 0.443); break; + case MEDIUMSLATEBLUE: c = cv::Vec3d(0.482, 0.408, 0.933); break; + case MEDIUMSPRINGGREEN: c = cv::Vec3d(0, 0.98, 0.604); break; + case MEDIUMTURQUOISE: c = cv::Vec3d(0.282, 0.82, 0.8); break; + case MEDIUMVIOLETRED: c = cv::Vec3d(0.78, 0.0824, 0.522); break; + case MIDNIGHTBLUE: c = cv::Vec3d(0.098, 0.098, 0.439); break; + case MINTCREAM: c = cv::Vec3d(0.961, 1, 0.98); break; + case MISTYROSE: c = cv::Vec3d(1, 0.894, 0.882); break; + case MOCCASIN: c = cv::Vec3d(1, 0.894, 0.71); break; + case NAVAJOWHITE: c = cv::Vec3d(1, 0.871, 0.678); break; + case NAVY: c = cv::Vec3d(0, 0, 0.502); break; + case OLDLACE: c = cv::Vec3d(0.992, 0.961, 0.902); break; + case OLIVE: c = cv::Vec3d(0.502, 0.502, 0); break; + case OLIVEDRAB: c = cv::Vec3d(0.42, 0.557, 0.137); break; + case ORANGE: c = cv::Vec3d(1, 0.647, 0); break; + case ORANGERED: c = cv::Vec3d(1, 0.271, 0); break; + case ORCHID: c = cv::Vec3d(0.855, 0.439, 0.839); break; + case PALEGOLDENROD: c = cv::Vec3d(0.933, 0.91, 0.667); break; + case PALEGREEN: c = cv::Vec3d(0.596, 0.984, 0.596); break; + case PALEVIOLETRED: c = cv::Vec3d(0.686, 0.933, 0.933); break; + case PAPAYAWHIP: c = cv::Vec3d(1, 0.937, 0.835); break; + case PEACHPUFF: c = cv::Vec3d(1, 0.855, 0.725); break; + case PERU: c = cv::Vec3d(0.804, 0.522, 0.247); break; + case PINK: c = cv::Vec3d(1, 0.753, 0.796); break; + case PLUM: c = cv::Vec3d(0.867, 0.627, 0.867); break; + case POWDERBLUE: c = cv::Vec3d(0.69, 0.878, 0.902); break; + case PURPLE: c = cv::Vec3d(0.502, 0, 0.502); break; + case RED: c = cv::Vec3d(1, 0, 0); break; + case ROSYBROWN: c = cv::Vec3d(0.737, 0.561, 0.561); break; + case ROYALBLUE: c = cv::Vec3d(0.255, 0.412, 0.882); break; + case SADDLEBROWN: c = cv::Vec3d(0.545, 0.271, 0.0745); break; + case SALMON: c = cv::Vec3d(0.98, 0.502, 0.447); break; + case SANDYBROWN: c = cv::Vec3d(0.98, 0.643, 0.376); break; + case SEAGREEN: c = cv::Vec3d(0.18, 0.545, 0.341); break; + case SEASHELL: c = cv::Vec3d(1, 0.961, 0.933); break; + case SIENNA: c = cv::Vec3d(0.627, 0.322, 0.176); break; + case SILVER: c = cv::Vec3d(0.753, 0.753, 0.753); break; + case SKYBLUE: c = cv::Vec3d(0.529, 0.808, 0.922); break; + case SLATEBLUE: c = cv::Vec3d(0.416, 0.353, 0.804); break; + case SLATEGRAY: c = cv::Vec3d(0.439, 0.502, 0.565); break; + case SLATEGREY: c = cv::Vec3d(0.439, 0.502, 0.565); break; + case SNOW: c = cv::Vec3d(1, 0.98, 0.98); break; + case SPRINGGREEN: c = cv::Vec3d(0, 1, 0.498); break; + case STEELBLUE: c = cv::Vec3d(0.275, 0.51, 0.706); break; + case TAN: c = cv::Vec3d(0.824, 0.706, 0.549); break; + case TEAL: c = cv::Vec3d(0, 0.502, 0.502); break; + case THISTLE: c = cv::Vec3d(0.847, 0.749, 0.847); break; + case TOMATO: c = cv::Vec3d(1, 0.388, 0.278); break; + case TURQUOISE: c = cv::Vec3d(0.251, 0.878, 0.816); break; + case VIOLET: c = cv::Vec3d(0.933, 0.51, 0.933); break; + case WHEAT: c = cv::Vec3d(0.961, 0.871, 0.702); break; + case WHITE: c = cv::Vec3d(1, 1, 1); break; + case WHITESMOKE: c = cv::Vec3d(0.961, 0.961, 0.961); break; + case YELLOW: c = cv::Vec3d(1, 1, 0); break; + case YELLOWGREEN: c = cv::Vec3d(0.604, 0.804, 0.196); break; + } // switch + return c; + } + +} // namespace rgb_colors + +} // namespace cv_bridge diff --git a/MyCode/src/my_cv_bridge/test/CMakeLists.txt b/MyCode/src/my_cv_bridge/test/CMakeLists.txt new file mode 100644 index 0000000..7497d45 --- /dev/null +++ b/MyCode/src/my_cv_bridge/test/CMakeLists.txt @@ -0,0 +1,15 @@ +# add the tests + +# add boost directories for now +include_directories("../src") + +catkin_add_gtest(${PROJECT_NAME}-utest test_endian.cpp test_compression.cpp utest.cpp utest2.cpp test_rgb_colors.cpp) +target_link_libraries(${PROJECT_NAME}-utest + ${PROJECT_NAME} + ${OpenCV_LIBRARIES} + ${catkin_LIBRARIES} +) + +catkin_add_nosetests(enumerants.py) +catkin_add_nosetests(conversions.py) +catkin_add_nosetests(python_bindings.py) diff --git a/MyCode/src/my_cv_bridge/test/conversions.py b/MyCode/src/my_cv_bridge/test/conversions.py new file mode 100644 index 0000000..bddc178 --- /dev/null +++ b/MyCode/src/my_cv_bridge/test/conversions.py @@ -0,0 +1,87 @@ +#!/usr/bin/env python +import rostest +import unittest + +import numpy as np + +import sensor_msgs.msg + +from cv_bridge import CvBridge, CvBridgeError + +class TestConversions(unittest.TestCase): + + def test_mono16_cv2(self): + import numpy as np + br = CvBridge() + im = np.uint8(np.random.randint(0, 255, size=(480, 640, 3))) + self.assertRaises(CvBridgeError, lambda: br.imgmsg_to_cv2(br.cv2_to_imgmsg(im), "mono16")) + br.imgmsg_to_cv2(br.cv2_to_imgmsg(im,"rgb8"), "mono16") + + def test_encode_decode_cv2(self): + import cv2 + import numpy as np + fmts = [cv2.CV_8U, cv2.CV_8S, cv2.CV_16U, cv2.CV_16S, cv2.CV_32S, cv2.CV_32F, cv2.CV_64F] + + cvb_en = CvBridge() + cvb_de = CvBridge() + + for w in range(100, 800, 100): + for h in range(100, 800, 100): + for f in fmts: + for channels in ([], 1, 2, 3, 4, 5): + if channels == []: + original = np.uint8(np.random.randint(0, 255, size=(h, w))) + else: + original = np.uint8(np.random.randint(0, 255, size=(h, w, channels))) + rosmsg = cvb_en.cv2_to_imgmsg(original) + newimg = cvb_de.imgmsg_to_cv2(rosmsg) + + self.assert_(original.dtype == newimg.dtype) + if channels == 1: + # in that case, a gray image has a shape of size 2 + self.assert_(original.shape[:2] == newimg.shape[:2]) + else: + self.assert_(original.shape == newimg.shape) + self.assert_(len(original.tostring()) == len(newimg.tostring())) + + def test_encode_decode_cv2_compressed(self): + import numpy as np + # from: http://docs.opencv.org/2.4/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags) + # NOTE: remove jp2(a.k.a JPEG2000) as its JASPER codec is disabled within Ubuntu opencv library + # due to security issues, but it works once you rebuild your opencv library with JASPER enabled + formats = ["jpg", "jpeg", "jpe", "png", "bmp", "dib", + "sr", "ras", "tif", "tiff"] # this formats rviz is not support + + cvb_en = CvBridge() + cvb_de = CvBridge() + + for w in range(100, 800, 100): + for h in range(100, 800, 100): + for f in formats: + for channels in ([], 1, 3): + if channels == []: + original = np.uint8(np.random.randint(0, 255, size=(h, w))) + else: + original = np.uint8(np.random.randint(0, 255, size=(h, w, channels))) + compress_rosmsg = cvb_en.cv2_to_compressed_imgmsg(original, f) + newimg = cvb_de.compressed_imgmsg_to_cv2(compress_rosmsg) + self.assert_(original.dtype == newimg.dtype) + if channels == 1: + # in that case, a gray image has a shape of size 2 + self.assert_(original.shape[:2] == newimg.shape[:2]) + else: + self.assert_(original.shape == newimg.shape) + self.assert_(len(original.tostring()) == len(newimg.tostring())) + + def test_endianness(self): + br = CvBridge() + dtype = np.dtype('int32') + # Set to big endian. + dtype = dtype.newbyteorder('>') + img = np.random.randint(0, 255, size=(30, 40)) + msg = br.cv2_to_imgmsg(img.astype(dtype)) + self.assert_(msg.is_bigendian == True) + self.assert_((br.imgmsg_to_cv2(msg) == img).all()) + +if __name__ == '__main__': + rosunit.unitrun('opencv_tests', 'conversions', TestConversions) diff --git a/MyCode/src/my_cv_bridge/test/enumerants.py b/MyCode/src/my_cv_bridge/test/enumerants.py new file mode 100644 index 0000000..dbb3363 --- /dev/null +++ b/MyCode/src/my_cv_bridge/test/enumerants.py @@ -0,0 +1,47 @@ +#!/usr/bin/env python +import rostest +import unittest + +import numpy as np +import cv2 + +import sensor_msgs.msg + +from cv_bridge import CvBridge, CvBridgeError, getCvType + +class TestEnumerants(unittest.TestCase): + + def test_enumerants_cv2(self): + img_msg = sensor_msgs.msg.Image() + img_msg.width = 640 + img_msg.height = 480 + img_msg.encoding = "rgba8" + img_msg.step = 640*4 + img_msg.data = (640 * 480) * "1234" + + bridge_ = CvBridge() + cvim = bridge_.imgmsg_to_cv2(img_msg, "rgb8") + import sys + self.assert_(sys.getrefcount(cvim) == 2) + + # A 3 channel image cannot be sent as an rgba8 + self.assertRaises(CvBridgeError, lambda: bridge_.cv2_to_imgmsg(cvim, "rgba8")) + + # but it can be sent as rgb8 and bgr8 + bridge_.cv2_to_imgmsg(cvim, "rgb8") + bridge_.cv2_to_imgmsg(cvim, "bgr8") + + self.assert_(getCvType("32FC4") == cv2.CV_32FC4) + self.assert_(getCvType("8UC1") == cv2.CV_8UC1) + self.assert_(getCvType("8U") == cv2.CV_8UC1) + + def test_numpy_types(self): + import cv2 + import numpy as np + bridge_ = CvBridge() + self.assertRaises(TypeError, lambda: bridge_.cv2_to_imgmsg(1, "rgba8")) + if hasattr(cv2, 'cv'): + self.assertRaises(TypeError, lambda: bridge_.cv2_to_imgmsg(cv2.cv(), "rgba8")) + +if __name__ == '__main__': + rosunit.unitrun('opencv_tests', 'enumerants', TestEnumerants) diff --git a/MyCode/src/my_cv_bridge/test/python_bindings.py b/MyCode/src/my_cv_bridge/test/python_bindings.py new file mode 100644 index 0000000..3d94f4e --- /dev/null +++ b/MyCode/src/my_cv_bridge/test/python_bindings.py @@ -0,0 +1,35 @@ +from nose.tools import assert_equal +import numpy as np + +import cv_bridge + + +def test_cvtColorForDisplay(): + # convert label image to display + label = np.zeros((480, 640), dtype=np.int32) + height, width = label.shape[:2] + label_value = 0 + grid_num_y, grid_num_x = 3, 4 + for grid_row in range(grid_num_y): + grid_size_y = height / grid_num_y + min_y = grid_size_y * grid_row + max_y = min_y + grid_size_y + for grid_col in range(grid_num_x): + grid_size_x = width / grid_num_x + min_x = grid_size_x * grid_col + max_x = min_x + grid_size_x + label[int(min_y):int(max_y), int(min_x):int(max_x)] = label_value + label_value += 1 + label_viz = cv_bridge.cvtColorForDisplay(label, '32SC1', 'bgr8') + assert_equal(label_viz.dtype, np.uint8) + assert_equal(label_viz.min(), 0) + assert_equal(label_viz.max(), 255) + + # Check that mono8 conversion returns the right shape. + bridge = cv_bridge.CvBridge() + mono = np.random.random((100, 100)) * 255 + mono = mono.astype(np.uint8) + + input_msg = bridge.cv2_to_imgmsg(mono, encoding='mono8') + output = bridge.imgmsg_to_cv2(input_msg, desired_encoding='mono8') + assert_equal(output.shape, (100,100)) diff --git a/MyCode/src/my_cv_bridge/test/test_compression.cpp b/MyCode/src/my_cv_bridge/test/test_compression.cpp new file mode 100644 index 0000000..5be403e --- /dev/null +++ b/MyCode/src/my_cv_bridge/test/test_compression.cpp @@ -0,0 +1,36 @@ +#include +#include +#include + +TEST(CvBridgeTest, compression) +{ + cv::RNG rng(0); + std_msgs::Header header; + + // Test 3 channel images. + for (int i = 0; i < 2; ++i) + { + const std::string format = (i == 0) ? "bgr8" : "rgb8"; + cv::Mat_ in(10, 10); + rng.fill(in, cv::RNG::UNIFORM, 0, 256); + + sensor_msgs::CompressedImagePtr msg = cv_bridge::CvImage(header, format, in).toCompressedImageMsg(cv_bridge::PNG); + const cv_bridge::CvImageConstPtr out = cv_bridge::toCvCopy(msg, format); + + EXPECT_EQ(out->image.channels(), 3); + EXPECT_EQ(cv::norm(out->image, in), 0); + } + + // Test 4 channel images. + for (int i = 0; i < 2; ++i) + { + const std::string format = (i == 0) ? "bgra8" : "rgba8"; + cv::Mat_ in(10, 10); + rng.fill(in, cv::RNG::UNIFORM, 0, 256); + + sensor_msgs::CompressedImagePtr msg = cv_bridge::CvImage(header, format, in).toCompressedImageMsg(cv_bridge::PNG); + const cv_bridge::CvImageConstPtr out = cv_bridge::toCvCopy(msg, format); + EXPECT_EQ(out->image.channels(), 4); + EXPECT_EQ(cv::norm(out->image, in), 0); + } +} diff --git a/MyCode/src/my_cv_bridge/test/test_endian.cpp b/MyCode/src/my_cv_bridge/test/test_endian.cpp new file mode 100644 index 0000000..58a1f50 --- /dev/null +++ b/MyCode/src/my_cv_bridge/test/test_endian.cpp @@ -0,0 +1,38 @@ +#include "boost/endian/conversion.hpp" +#include +#include +#include + +TEST(CvBridgeTest, endianness) +{ + using namespace boost::endian; + + // Create an image of the type opposite to the platform + sensor_msgs::Image msg; + msg.height = 1; + msg.width = 1; + msg.encoding = "32SC2"; + msg.step = 8; + + msg.data.resize(msg.step); + int32_t* data = reinterpret_cast(&msg.data[0]); + + // Write 1 and 2 in order, but with an endianness opposite to the platform + if (order::native == order::little) + { + msg.is_bigendian = true; + *(data++) = native_to_big(static_cast(1)); + *data = native_to_big(static_cast(2)); + } else { + msg.is_bigendian = false; + *(data++) = native_to_little(static_cast(1)); + *data = native_to_little(static_cast(2)); + } + + // Make sure the values are still the same + cv_bridge::CvImageConstPtr img = cv_bridge::toCvShare(boost::make_shared(msg)); + EXPECT_EQ(img->image.at(0, 0)[0], 1); + EXPECT_EQ(img->image.at(0, 0)[1], 2); + // Make sure we cannot share data + EXPECT_NE(img->image.data, &msg.data[0]); +} diff --git a/MyCode/src/my_cv_bridge/test/test_rgb_colors.cpp b/MyCode/src/my_cv_bridge/test/test_rgb_colors.cpp new file mode 100644 index 0000000..090e667 --- /dev/null +++ b/MyCode/src/my_cv_bridge/test/test_rgb_colors.cpp @@ -0,0 +1,19 @@ +#include "cv_bridge/rgb_colors.h" +#include +#include + + +TEST(RGBColors, testGetRGBColor) +{ + cv::Vec3d color; + // red + color = cv_bridge::rgb_colors::getRGBColor(cv_bridge::rgb_colors::RED); + EXPECT_EQ(1, color[0]); + EXPECT_EQ(0, color[1]); + EXPECT_EQ(0, color[2]); + // gray + color = cv_bridge::rgb_colors::getRGBColor(cv_bridge::rgb_colors::GRAY); + EXPECT_EQ(0.502, color[0]); + EXPECT_EQ(0.502, color[1]); + EXPECT_EQ(0.502, color[2]); +} diff --git a/MyCode/src/my_cv_bridge/test/utest.cpp b/MyCode/src/my_cv_bridge/test/utest.cpp new file mode 100644 index 0000000..d74be56 --- /dev/null +++ b/MyCode/src/my_cv_bridge/test/utest.cpp @@ -0,0 +1,141 @@ +#include "cv_bridge/cv_bridge.h" +#include +#include + + +// Tests conversion of non-continuous cv::Mat. #5206 +TEST(CvBridgeTest, NonContinuous) +{ + cv::Mat full = cv::Mat::eye(8, 8, CV_16U); + cv::Mat partial = full.colRange(2, 5); + + cv_bridge::CvImage cvi; + cvi.encoding = sensor_msgs::image_encodings::MONO16; + cvi.image = partial; + + sensor_msgs::ImagePtr msg = cvi.toImageMsg(); + EXPECT_EQ(msg->height, 8); + EXPECT_EQ(msg->width, 3); + EXPECT_EQ(msg->encoding, cvi.encoding); + EXPECT_EQ(msg->step, 6); +} + +TEST(CvBridgeTest, ChannelOrder) +{ + cv::Mat_ mat(200, 200); + mat.setTo(cv::Scalar(1000,0,0,0)); + sensor_msgs::ImagePtr image(new sensor_msgs::Image()); + + image = cv_bridge::CvImage(image->header, sensor_msgs::image_encodings::MONO16, mat).toImageMsg(); + + cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(image); + + cv_bridge::CvImagePtr res = cv_bridge::cvtColor(cv_ptr, sensor_msgs::image_encodings::BGR8); + EXPECT_EQ(res->encoding, sensor_msgs::image_encodings::BGR8); + EXPECT_EQ(res->image.type(), cv_bridge::getCvType(res->encoding)); + EXPECT_EQ(res->image.channels(), sensor_msgs::image_encodings::numChannels(res->encoding)); + EXPECT_EQ(res->image.depth(), CV_8U); + + // The matrix should be the following + cv::Mat_ gt(200, 200); + gt.setTo(cv::Scalar(1, 1, 1)*1000.*255./65535.); + + ASSERT_EQ(res->image.type(), gt.type()); + EXPECT_EQ(cv::norm(res->image, gt, cv::NORM_INF), 0); +} + +TEST(CvBridgeTest, initialization) +{ + sensor_msgs::Image image; + cv_bridge::CvImagePtr cv_ptr; + + image.encoding = "bgr8"; + image.height = 200; + image.width = 200; + + try { + cv_ptr = cv_bridge::toCvCopy(image, "mono8"); + // Before the fix, it would never get here, as it would segfault + EXPECT_EQ(1, 0); + } catch (cv_bridge::Exception& e) { + EXPECT_EQ(1, 1); + } + + // Check some normal images with different ratios + for(int height = 100; height <= 300; ++height) { + image.encoding = sensor_msgs::image_encodings::RGB8; + image.step = image.width*3; + image.data.resize(image.height*image.step); + cv_ptr = cv_bridge::toCvCopy(image, "mono8"); + } +} + +TEST(CvBridgeTest, imageMessageStep) +{ + // Test 1: image step is padded + sensor_msgs::Image image; + cv_bridge::CvImagePtr cv_ptr; + + image.encoding = "mono8"; + image.height = 220; + image.width = 200; + image.is_bigendian = false; + image.step = 208; + + image.data.resize(image.height*image.step); + + ASSERT_NO_THROW(cv_ptr = cv_bridge::toCvCopy(image, "mono8")); + ASSERT_EQ(220, cv_ptr->image.rows); + ASSERT_EQ(200, cv_ptr->image.cols); + //OpenCV copyTo argument removes the stride + ASSERT_EQ(200, cv_ptr->image.step[0]); + + //Test 2: image step is invalid + image.step = 199; + + ASSERT_THROW(cv_ptr = cv_bridge::toCvCopy(image, "mono8"), cv_bridge::Exception); + + //Test 3: image step == image.width * element size * number of channels + image.step = 200; + image.data.resize(image.height*image.step); + + ASSERT_NO_THROW(cv_ptr = cv_bridge::toCvCopy(image, "mono8")); + ASSERT_EQ(220, cv_ptr->image.rows); + ASSERT_EQ(200, cv_ptr->image.cols); + ASSERT_EQ(200, cv_ptr->image.step[0]); +} + +TEST(CvBridgeTest, imageMessageConversion) +{ + sensor_msgs::Image imgmsg; + cv_bridge::CvImagePtr cv_ptr; + imgmsg.height = 220; + imgmsg.width = 200; + imgmsg.is_bigendian = false; + + // image with data type float32 and 1 channels + imgmsg.encoding = "32FC1"; + imgmsg.step = imgmsg.width * 32 / 8 * 1; + imgmsg.data.resize(imgmsg.height * imgmsg.step); + ASSERT_NO_THROW(cv_ptr = cv_bridge::toCvCopy(imgmsg, imgmsg.encoding)); + ASSERT_EQ(imgmsg.height, cv_ptr->image.rows); + ASSERT_EQ(imgmsg.width, cv_ptr->image.cols); + ASSERT_EQ(1, cv_ptr->image.channels()); + ASSERT_EQ(imgmsg.step, cv_ptr->image.step[0]); + + // image with data type float32 and 10 channels + imgmsg.encoding = "32FC10"; + imgmsg.step = imgmsg.width * 32 / 8 * 10; + imgmsg.data.resize(imgmsg.height * imgmsg.step); + ASSERT_NO_THROW(cv_ptr = cv_bridge::toCvCopy(imgmsg, imgmsg.encoding)); + ASSERT_EQ(imgmsg.height, cv_ptr->image.rows); + ASSERT_EQ(imgmsg.width, cv_ptr->image.cols); + ASSERT_EQ(10, cv_ptr->image.channels()); + ASSERT_EQ(imgmsg.step, cv_ptr->image.step[0]); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/MyCode/src/my_cv_bridge/test/utest2.cpp b/MyCode/src/my_cv_bridge/test/utest2.cpp new file mode 100644 index 0000000..d41c976 --- /dev/null +++ b/MyCode/src/my_cv_bridge/test/utest2.cpp @@ -0,0 +1,150 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 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 the Willow Garage 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. +*********************************************************************/ + +#include +#include +#include + +#include "opencv2/core/core.hpp" + +#include "cv_bridge/cv_bridge.h" +#include +#include + +using namespace sensor_msgs::image_encodings; + +bool isUnsigned(const std::string & encoding) { + return encoding == RGB8 || encoding == RGBA8 || encoding == RGB16 || encoding == RGBA16 || encoding == BGR8 || encoding == BGRA8 || encoding == BGR16 || encoding == BGRA16 || encoding == MONO8 || encoding == MONO16 || + encoding == MONO8 || encoding == MONO16 || encoding == TYPE_8UC1 || encoding == TYPE_8UC2 || encoding == TYPE_8UC3 || encoding == TYPE_8UC4 || + encoding == TYPE_16UC1 || encoding == TYPE_16UC2 || encoding == TYPE_16UC3 || encoding == TYPE_16UC4; + //BAYER_RGGB8, BAYER_BGGR8, BAYER_GBRG8, BAYER_GRBG8, BAYER_RGGB16, BAYER_BGGR16, BAYER_GBRG16, BAYER_GRBG16, + //YUV422 +} +std::vector +getEncodings() { +// TODO for Groovy, the following types should be uncommented +std::string encodings[] = { RGB8, RGBA8, RGB16, RGBA16, BGR8, BGRA8, BGR16, BGRA16, MONO8, MONO16, + TYPE_8UC1, /*TYPE_8UC2,*/ TYPE_8UC3, TYPE_8UC4, + TYPE_8SC1, /*TYPE_8SC2,*/ TYPE_8SC3, TYPE_8SC4, + TYPE_16UC1, /*TYPE_16UC2,*/ TYPE_16UC3, TYPE_16UC4, + TYPE_16SC1, /*TYPE_16SC2,*/ TYPE_16SC3, TYPE_16SC4, + TYPE_32SC1, /*TYPE_32SC2,*/ TYPE_32SC3, TYPE_32SC4, + TYPE_32FC1, /*TYPE_32FC2,*/ TYPE_32FC3, TYPE_32FC4, + TYPE_64FC1, /*TYPE_64FC2,*/ TYPE_64FC3, TYPE_64FC4, + //BAYER_RGGB8, BAYER_BGGR8, BAYER_GBRG8, BAYER_GRBG8, BAYER_RGGB16, BAYER_BGGR16, BAYER_GBRG16, BAYER_GRBG16, + YUV422 + }; +return std::vector(encodings, encodings+47-8-7); +} + +TEST(OpencvTests, testCase_encode_decode) +{ + std::vector encodings = getEncodings(); + for(size_t i=0; iimage, cv_bridge::Exception); + continue; + } + // We do not support conversion to YUV422 for now, except from YUV422 + if ((dst_encoding == YUV422) && (src_encoding != YUV422)) { + EXPECT_THROW(cv_bridge::toCvShare(image_msg, dst_encoding), cv_bridge::Exception); + continue; + } + + cv_image = cv_bridge::toCvShare(image_msg, dst_encoding); + + // We do not support conversion to YUV422 for now, except from YUV422 + if ((src_encoding == YUV422) && (dst_encoding != YUV422)) { + EXPECT_THROW(cvtColor(cv_image, src_encoding)->image, cv_bridge::Exception); + continue; + } + } + // And convert back to a cv::Mat + image_back = cvtColor(cv_image, src_encoding)->image; + + // If the number of channels,s different some information got lost at some point, so no possible test + if (!is_num_channels_the_same) + continue; + if (bitDepth(src_encoding) >= 32) { + // In the case where the input has floats, we will lose precision but no more than 1 + EXPECT_LT(cv::norm(image_original, image_back, cv::NORM_INF), 1) << "problem converting from " << src_encoding << " to " << dst_encoding << " and back."; + } else if ((bitDepth(src_encoding) == 16) && (bitDepth(dst_encoding) == 8)) { + // In the case where the input has floats, we will lose precision but no more than 1 * max(127) + EXPECT_LT(cv::norm(image_original, image_back, cv::NORM_INF), 128) << "problem converting from " << src_encoding << " to " << dst_encoding << " and back."; + } else { + EXPECT_EQ(cv::norm(image_original, image_back, cv::NORM_INF), 0) << "problem converting from " << src_encoding << " to " << dst_encoding << " and back."; + } + } + } +} diff --git a/MyCode/src/octomap_server/CHANGELOG.rst b/MyCode/src/octomap_server/CHANGELOG.rst new file mode 100644 index 0000000..e953c02 --- /dev/null +++ b/MyCode/src/octomap_server/CHANGELOG.rst @@ -0,0 +1,255 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package octomap_server +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.6.6 (2020-12-08) +------------------ +* Update CI, package format, dependencies to address dependency issue on Debian Buster (`#79 `_) +* Contributors: Wolfgang Merkt + +0.6.5 (2020-04-23) +------------------ +* Add color server nodelet (`#68 `_, `#67 `_) +* Updated maintainer email +* Contributors: clunietp, Wolfgang Merkt + +0.6.4 (2020-01-08) +------------------ +* Add private node handle to fix nodelet support (`#61 `_), fixes `#39 `_ +* Add octomap_server_color library by default (`#60 `_) - by Matthew Powelson +* Check if part of a voxel is in occupancy range (`#59 `_) - by Jasper v. B. +* Contributors: Matthew Powelson, Wolfgang Merkt, Jasper v. B. + +0.6.3 (2019-01-28) +------------------ +* Fix compilation on Debian Stretch +* Get rgb from point cloud iterator without byte shift +* Contributors: Kentaro Wada, Wolfgang Merkt + +0.6.2 (2019-01-27) +------------------ +* Update maintainer email (Wolfgang Merkt) +* Change catkin_package `DEPENDS` to `OCTOMAP` to avoid CMake warning +* Update maintainer email (Arming Hornung) +* Update to use non deprecated pluginlib macro +* Fixed memory leak of colors pointer if COLOR_OCTOMAP_SERVER defined +* Contributors: Armin Hornung, Mikael Arguedas, Ronky, Wolfgang Merkt + +0.6.1 (2016-10-19) +------------------ +* Fix for Colored Octomap: Use PCLPoint everywhere + Fixes compiler error when enabling the define + for color. +* Fixed maxRange bug in OctomapServer.cpp for clearing +* Adjust maintainer email +* Contributors: Armin Hornung, Brandon Kinman, Felix Endres + +0.6.0 (2016-03-25) +------------------ +* Add sensor model parameters to dynamic_reconfigure +* Load map file from rosparam +* Add x and y filter for pointcloud +* Preparations for ColorOctomapServer (compile option, from source) +* Fix iterator in OctomapServer +* TrackingOctomapServer: Publish node center rather than index, prevent from publishing empty cloud +* Contributors: Armin Hornung, Javier V. Gomez, JJeremie Deray, MasakiMurooka, Shohei Fujii, Wolfgang Merkt + +0.5.3 (2014-01-09) +------------------ +* Fixing PCL linking errors on build farm + +0.5.2 (2014-01-09) +------------------ +* Fixing PCL linking errors on build farm + +0.5.1 (2013-11-25) +------------------ +* Fix missing nodelet plugin from install + +0.5.0 (2013-10-24) +------------------ +* Small fix in octomap_server_static usage +* Catkinization, remove support for arm_navigation + +0.4.9 (2013-06-27) +------------------ +* cleanup of unused functions +* Parameters, reading .bt files in octomap_server_static +* added simple octomap_server_static node to serve OctoMaps from .ot files (no scan integration) +* Fix for incremental 2D projection map updates (thx to B.Coenen for the report) +* Publish free space as MarkerArray and CollisionMap (set parameter ~publish_free_space=True to enable). Thx to I. Wieser! +* renamed OctomapServer's NodeHandle constructor parameter to be more clear, added the same to OctomapServerMultilayer + +0.4.8 (2013-01-08) +------------------ +* Applied patch from issue `#7 `_: Nodelet version of octomap_server + Modified to not change the global namespace +* fixes for cmake / catkin +* fixed octomap_server for OctoMap 1.5 (deprecations), adjusted to new msg format +* changed message format to contain only data, meta information stored in new message fields (untested for Groovy) + +0.4.6 (2013-01-28) +------------------ +* Added NodeHandle parameter to OctomapServerMultilayer constructor +* Commited patch `#7 `_, contributed by M. Liebhardt: Nodelet version of the octomap server +* octomap_server and octomap_saver now fully support both binary and full occupancy maps +* octomap_server can now open .ot files properly, updated octomap_ros to new-style stack.xml +* deprecated OctomapROS in octomap_ros => directly use octomap lib and conversions.h +* removed OctomapROS wrapper from octomap_server classes +* octomap_server manifest exports dynamic_reconfigure path in cppflags +* parameter in launch file adjusted + +0.4.5 (2012-06-18) +------------------ +* new parameter to enable incremental 2D mapping (experimental, default: false) +* bug fix for OctomapServer map projection +* Fixed OctomapServer not clearing obstacles in projected 2D map properly +* fixed map reset and incremental 2D updates +* added arm layer height lookup +* Fixed resolution change (dynamic_reconfigure) and dynamic map size w. incremental updates +* incremental update of projected 2D maps only in updated 3D region, map dynamically grows +* increased Electric compatibility of octomap_server +* OctomapServer keeps track of update region for downprojected 2D map + +0.4.4 (2012-04-20) +------------------ +* Turned octomap_msgs and octomap_ros into unary stacks, code in octomap_mapping adjusted + +0.4.3 (2012-04-17) +------------------ +* Merged rev 2477:2613 from trunk: + - fixed ground filter + - added missing license headers, improved code layout to ROS standard + - adjusted to OctoMap 1.4 changes + - collision map publisher & eraser script ported from branch + - disabled lazy update temporarily (needs param) + - dynamic reconfigure interface to limit query depth (and voxel resolution) on the fly + +0.4.2 (2012-03-16) +------------------ +* fixed ground filter (from trunk, electric)\nVersion increased to 0.4.2 + +0.4.1 (2012-02-21 16:50) +------------------------ +* switched octomap_ros and octomap_server to pure CMake-style linking, version 0.4.1 +* removed uneccesary FindEigen.cmake files + +0.4.0 (2012-02-21 15:37) +------------------------ +* removed eigen package from depends +* Transitioned octomap package to deprecated, now forwards flags with pkg-config to system dependency + +0.3.8 (2012-04-26) +------------------ +* increased octomap version to 1.4.2, stack version 0.3.8 + +0.3.7 (2012-02-22) +------------------ +* removed temp. workaround for unstable (Eigen for PCL included), increased stack version to 0.3.7 +* server/client architecture for octomap_server +* octomap_server: ground plane filter defaults to false, base_footprint frame now only required when filtering + +0.3.6 (2012-01-09) +------------------ +* changed to Eigen rosdep for electric and fuerte + +0.3.5 (2011-10-30) +------------------ +* added OctomapServerMultilayer as stub +* More refactoring of octomap_server, added hooks for node traversal +* OctomapServerCombined is now OctomapServer +* cleanup of octomap_server +* - adjusted octomap_mapping trunk to compile against ROS electric (only affects octomap_server). + => use branch for diamondback! + +0.3.4 (2011-10-12) +------------------ +* publish empty map (+vis) after reset +* OctomapServerCombined: Drop old octree completely when resetting +* OctomapServerCombined: Parameter for latching topics, reset service +* added srv and service implementation to clear a bbx region in OctomapServerCombined +* OctomapServer: + private -> protected + added default constructor +* octomap_server: + - fixed 2D map for larger volumes + - now handles an initial file always as static, topics are published latched then +* removed debug PCD writing +* - ground filter now more reliable, filtering in base frame of robot instead of global frame. + - more parameters for ground filter + +0.3.3 (2011-08-17 07:41) +------------------------ +* octomap package udpate to use new OctoMap 1.2 library only (no visualization). Removed dependency on Qt / QGLViewer. +* fixed ground plane appearing as occupied + +0.3.2 (2011-08-09) +------------------ +* merged in changes of octomap_mapping trunk (up to rev 1781): + - octomap updated to 1.1.1 (testing), tarball URL on ros.org + - ground plane extraction OctomapServerCombined, configurable using PCL + - fixes and cleanup in OctomapServerCombined +* parameters for ground plane filtering +* Ground plane extraction improved +* Ground plane extraction (pcl) for testing +* - octomap: use OctoMap 1.1.1 (testing) + - octomap_server: handle larger pruned nodes in 2D map projection +* refactoring & cleanup of OctomapServerCombined, ready for ground plane extraction +* merged back octomap_server from experimental branch: + - proper class with more capabilities + - now sends out map in various representations / visualizations + - subscribes to PointCloud2 with tf::MessageFilter + - uses octomap_ros wrapper / conversions + - OctomapServerCombined (experimental): also builds downprojected 2D map +* added MoveMap.msg from octomap2, extended conversions.h +* templated octomapMsg conversion functions +* octomap_saver adjusted to moved locations +* Moved messages and conversions to octomap_ros from octomap_server +* Removed unnecessary exports in manifests +* - fixes in mainfest / stack.xml for ROS 1.3 + - doxygen properly configured with rosdoc + - stack release 0.1.2 prep +* Preparations for .deb releases +* License in cpp files, restored compatibility with boxturtle +* Adjusted license to BSD, more parameters in octomap_server +* OctoMap server (copied from octomap repo, trunk) +* Initial checkin of octomap stack (nearly empty at the moment) + +0.3.1 (2011-07-15) +------------------ +* Patched for arm_navigation changes in "unstable" + +0.3.0 (2011-06-28) +------------------ +* merged back octomap_server from experimental branch: + - proper class with more capabilities + - now sends out map in various representations / visualizations + - subscribes to PointCloud2 with tf::MessageFilter + - uses octomap_ros wrapper / conversions + - OctomapServerCombined (experimental): also builds downprojected 2D map +* added MoveMap.msg from octomap2, extended conversions.h +* templated octomapMsg conversion functions + +0.2.0 (2011-03-16) +------------------ +* updated stack.xml for cturtle only +* octomap_saver adjusted to moved locations +* Moved messages and conversions to octomap_ros from octomap_server +* Removed unnecessary exports in manifests + +0.1.2 (2010-11-23) +------------------ +* - fixes in mainfest / stack.xml for ROS 1.3 + - doxygen properly configured with rosdoc + - stack release 0.1.2 prep + +0.1.1 (2010-11-17) +------------------ + +0.1.0 (2010-11-16) +------------------ +* Preparations for .deb releases +* License in cpp files, restored compatibility with boxturtle +* Adjusted license to BSD, more parameters in octomap_server +* OctoMap server (copied from octomap repo, trunk) +* Initial checkin of octomap stack (nearly empty at the moment) diff --git a/MyCode/src/octomap_server/CMakeLists.txt b/MyCode/src/octomap_server/CMakeLists.txt new file mode 100644 index 0000000..0f5d0c2 --- /dev/null +++ b/MyCode/src/octomap_server/CMakeLists.txt @@ -0,0 +1,105 @@ +cmake_minimum_required(VERSION 3.0.2) +project(octomap_server) + +set(PACKAGE_DEPENDENCIES + roscpp + visualization_msgs + sensor_msgs + pcl_ros + pcl_conversions + nav_msgs + std_msgs + std_srvs + octomap_ros + octomap_msgs + dynamic_reconfigure + nodelet +) + +find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES}) + +find_package(octomap REQUIRED) +add_definitions(-DOCTOMAP_NODEBUGOUT) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${OCTOMAP_INCLUDE_DIRS} +) + +generate_dynamic_reconfigure_options(cfg/OctomapServer.cfg) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS ${PACKAGE_DEPENDENCIES} + DEPENDS OCTOMAP +) + +set(LINK_LIBS + ${OCTOMAP_LIBRARIES} + ${catkin_LIBRARIES} +) + +add_library(${PROJECT_NAME} src/OctomapServer.cpp src/OctomapServerMultilayer.cpp src/TrackingOctomapServer.cpp) +target_link_libraries(${PROJECT_NAME} ${LINK_LIBS}) +add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg) + +add_library(${PROJECT_NAME}_color src/OctomapServer.cpp src/OctomapServerMultilayer.cpp src/TrackingOctomapServer.cpp) +target_link_libraries(${PROJECT_NAME}_color ${LINK_LIBS}) +add_dependencies(${PROJECT_NAME}_color ${PROJECT_NAME}_gencfg) +target_compile_definitions(${PROJECT_NAME}_color PUBLIC COLOR_OCTOMAP_SERVER) + +add_executable(octomap_server_node src/octomap_server_node.cpp) +target_link_libraries(octomap_server_node ${PROJECT_NAME} ${LINK_LIBS}) + +add_executable(octomap_color_server_node src/octomap_server_node.cpp) +target_link_libraries(octomap_color_server_node ${PROJECT_NAME}_color ${LINK_LIBS}) + +add_executable(octomap_server_static src/octomap_server_static.cpp) +target_link_libraries(octomap_server_static ${PROJECT_NAME} ${LINK_LIBS}) + +add_executable(octomap_server_multilayer src/octomap_server_multilayer.cpp) +target_link_libraries(octomap_server_multilayer ${PROJECT_NAME} ${LINK_LIBS}) + +add_executable(octomap_saver src/octomap_saver.cpp) +target_link_libraries(octomap_saver ${PROJECT_NAME} ${LINK_LIBS}) + +add_executable(octomap_tracking_server_node src/octomap_tracking_server_node.cpp) +target_link_libraries(octomap_tracking_server_node ${PROJECT_NAME} ${LINK_LIBS}) + +# Nodelet +add_library(octomap_server_nodelet src/octomap_server_nodelet.cpp) +target_link_libraries(octomap_server_nodelet ${PROJECT_NAME} ${LINK_LIBS}) + +add_library(octomap_color_server_nodelet src/octomap_server_nodelet.cpp) +target_link_libraries(octomap_color_server_nodelet ${PROJECT_NAME}_color ${LINK_LIBS}) + +# install targets: +install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_color + octomap_server_node + octomap_color_server_node + octomap_server_static + octomap_server_multilayer + octomap_saver + octomap_tracking_server_node + octomap_server_nodelet + octomap_color_server_nodelet + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch +) + +install(FILES + nodelet_plugins.xml + color_nodelet_plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/MyCode/src/octomap_server/cfg/OctomapServer.cfg b/MyCode/src/octomap_server/cfg/OctomapServer.cfg new file mode 100644 index 0000000..025f03a --- /dev/null +++ b/MyCode/src/octomap_server/cfg/OctomapServer.cfg @@ -0,0 +1,26 @@ +#!/usr/bin/env python +PACKAGE = "octomap_server" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("compress_map", bool_t, 0, "Compresses the map losslessly", True) +gen.add("incremental_2D_projection", bool_t, 0, "Incremental 2D projection", False) +gen.add("filter_speckles", bool_t, 0, "Filter speckle nodes (with no neighbors)", False) +gen.add("max_depth", int_t, 0, "Maximum depth when traversing the octree to send out markers. 16: full depth / max. resolution", 16, 1, 16) +gen.add("pointcloud_min_z", double_t, 0, "Minimum height of points to consider for insertion", -100, -100, 100) +gen.add("pointcloud_max_z", double_t, 0, "Maximum height of points to consider for insertion", 100, -100, 100) +gen.add("occupancy_min_z", double_t, 0, "Minimum height of occupied cells to consider in the final map", -100, -100, 100) +gen.add("occupancy_max_z", double_t, 0, "Maximum height of occupied cells to consider in the final map", 100, -100, 100) +gen.add("sensor_model_max_range", double_t, 0, "Sensor maximum range", -1.0, -1.0, 100) +gen.add("sensor_model_hit", double_t, 0, "Probabilities for hits in the sensor model when dynamically building a map", 0.7, 0.5, 1.0) +gen.add("sensor_model_miss", double_t, 0, "Probabilities for misses in the sensor model when dynamically building a map", 0.4, 0.0, 0.5) +gen.add("sensor_model_min", double_t, 0, "Minimum probability for clamping when dynamically building a map", 0.12, 0.0, 1.0) +gen.add("sensor_model_max", double_t, 0, "Maximum probability for clamping when dynamically building a map", 0.97, 0.0, 1.0) +gen.add("filter_ground", bool_t, 0, "Filter ground plane", False) +gen.add("ground_filter_distance", double_t, 0, "Distance threshold to consider a point as ground", 0.04, 0.001, 1) +gen.add("ground_filter_angle", double_t, 0, "Angular threshold of the detected plane from the horizontal plane to be detected as ground ", 0.15, 0.001, 15) +gen.add("ground_filter_plane_distance", double_t, 0, "Distance threshold from z=0 for a plane to be detected as ground", 0.07, 0.001, 1) + +exit(gen.generate(PACKAGE, "octomap_server_node", "OctomapServer")) diff --git a/MyCode/src/octomap_server/color_nodelet_plugins.xml b/MyCode/src/octomap_server/color_nodelet_plugins.xml new file mode 100644 index 0000000..ef0ba54 --- /dev/null +++ b/MyCode/src/octomap_server/color_nodelet_plugins.xml @@ -0,0 +1,7 @@ + + + + Nodelet for running the color Octomap server + + + \ No newline at end of file diff --git a/MyCode/src/octomap_server/include/octomap_server/OctomapServer.h b/MyCode/src/octomap_server/include/octomap_server/OctomapServer.h new file mode 100644 index 0000000..9daafad --- /dev/null +++ b/MyCode/src/octomap_server/include/octomap_server/OctomapServer.h @@ -0,0 +1,269 @@ +/* + * Copyright (c) 2010-2013, A. Hornung, University of Freiburg + * 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 the University of Freiburg 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. + */ + +#ifndef OCTOMAP_SERVER_OCTOMAPSERVER_H +#define OCTOMAP_SERVER_OCTOMAPSERVER_H + +#include +#include +#include +#include + +// #include +// #include +#include +#include +#include +#include + +#include +#include +#include +#include + +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" // pcl::SAC_SAMPLE_SIZE is protected since PCL 1.8.0 +#include +#pragma GCC diagnostic pop + +#include +#include +#include +#include +#include + + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#define COLOR_OCTOMAP_SERVER // switch color here - easier maintenance, only maintain OctomapServer. Two targets are defined in the cmake, octomap_server_color and octomap_server. One has this defined, and the other doesn't + +#ifdef COLOR_OCTOMAP_SERVER +#include +#endif + +namespace octomap_server { +class OctomapServer { + +public: +#ifdef COLOR_OCTOMAP_SERVER + typedef pcl::PointXYZRGB PCLPoint; + typedef pcl::PointCloud PCLPointCloud; + typedef octomap::ColorOcTree OcTreeT; +#else + typedef pcl::PointXYZ PCLPoint; + typedef pcl::PointCloud PCLPointCloud; + typedef octomap::OcTree OcTreeT; +#endif + typedef octomap_msgs::GetOctomap OctomapSrv; + typedef octomap_msgs::BoundingBoxQuery BBXSrv; + + OctomapServer(const ros::NodeHandle private_nh_ = ros::NodeHandle("~"), const ros::NodeHandle &nh_ = ros::NodeHandle()); + virtual ~OctomapServer(); + virtual bool octomapBinarySrv(OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res); + virtual bool octomapFullSrv(OctomapSrv::Request &req, OctomapSrv::GetOctomap::Response &res); + bool clearBBXSrv(BBXSrv::Request& req, BBXSrv::Response& resp); + bool resetSrv(std_srvs::Empty::Request& req, std_srvs::Empty::Response& resp); + + virtual void insertCloudCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud); + virtual bool openFile(const std::string& filename); + +protected: + inline static void updateMinKey(const octomap::OcTreeKey& in, octomap::OcTreeKey& min) { + for (unsigned i = 0; i < 3; ++i) + min[i] = std::min(in[i], min[i]); + }; + + inline static void updateMaxKey(const octomap::OcTreeKey& in, octomap::OcTreeKey& max) { + for (unsigned i = 0; i < 3; ++i) + max[i] = std::max(in[i], max[i]); + }; + + /// Test if key is within update area of map (2D, ignores height) + inline bool isInUpdateBBX(const OcTreeT::iterator& it) const { + // 2^(tree_depth-depth) voxels wide: + unsigned voxelWidth = (1 << (m_maxTreeDepth - it.getDepth())); + octomap::OcTreeKey key = it.getIndexKey(); // lower corner of voxel + return (key[0] + voxelWidth >= m_updateBBXMin[0] + && key[1] + voxelWidth >= m_updateBBXMin[1] + && key[0] <= m_updateBBXMax[0] + && key[1] <= m_updateBBXMax[1]); + } + + void reconfigureCallback(octomap_server::OctomapServerConfig& config, uint32_t level); + void publishBinaryOctoMap(const ros::Time& rostime = ros::Time::now()) const; + void publishFullOctoMap(const ros::Time& rostime = ros::Time::now()) const; + virtual void publishAll(const ros::Time& rostime = ros::Time::now()); + + /** + * @brief update occupancy map with a scan labeled as ground and nonground. + * The scans should be in the global map frame. + * + * @param sensorOrigin origin of the measurements for raycasting + * @param ground scan endpoints on the ground plane (only clear space) + * @param nonground all other endpoints (clear up to occupied endpoint) + */ + virtual void insertScan(const tf::Point& sensorOrigin, const PCLPointCloud& ground, const PCLPointCloud& nonground); + + /// label the input cloud "pc" into ground and nonground. Should be in the robot's fixed frame (not world!) + void filterGroundPlane(const PCLPointCloud& pc, PCLPointCloud& ground, PCLPointCloud& nonground) const; + + /** + * @brief Find speckle nodes (single occupied voxels with no neighbors). Only works on lowest resolution! + * @param key + * @return + */ + bool isSpeckleNode(const octomap::OcTreeKey& key) const; + + /// hook that is called before traversing all nodes + virtual void handlePreNodeTraversal(const ros::Time& rostime); + + /// hook that is called when traversing all nodes of the updated Octree (does nothing here) + virtual void handleNode(const OcTreeT::iterator& it) {}; + + /// hook that is called when traversing all nodes of the updated Octree in the updated area (does nothing here) + virtual void handleNodeInBBX(const OcTreeT::iterator& it) {}; + + /// hook that is called when traversing occupied nodes of the updated Octree + virtual void handleOccupiedNode(const OcTreeT::iterator& it); + + /// hook that is called when traversing occupied nodes in the updated area (updates 2D map projection here) + virtual void handleOccupiedNodeInBBX(const OcTreeT::iterator& it); + + /// hook that is called when traversing free nodes of the updated Octree + virtual void handleFreeNode(const OcTreeT::iterator& it); + + /// hook that is called when traversing free nodes in the updated area (updates 2D map projection here) + virtual void handleFreeNodeInBBX(const OcTreeT::iterator& it); + + /// hook that is called after traversing all nodes + virtual void handlePostNodeTraversal(const ros::Time& rostime); + + /// updates the downprojected 2D map as either occupied or free + virtual void update2DMap(const OcTreeT::iterator& it, bool occupied); + + inline unsigned mapIdx(int i, int j) const { + return m_gridmap.info.width * j + i; + } + + inline unsigned mapIdx(const octomap::OcTreeKey& key) const { + return mapIdx((key[0] - m_paddedMinKey[0]) / m_multires2DScale, + (key[1] - m_paddedMinKey[1]) / m_multires2DScale); + + } + + /** + * Adjust data of map due to a change in its info properties (origin or size, + * resolution needs to stay fixed). map already contains the new map info, + * but the data is stored according to oldMapInfo. + */ + + void adjustMapData(nav_msgs::OccupancyGrid& map, const nav_msgs::MapMetaData& oldMapInfo) const; + + inline bool mapChanged(const nav_msgs::MapMetaData& oldMapInfo, const nav_msgs::MapMetaData& newMapInfo) { + return ( oldMapInfo.height != newMapInfo.height + || oldMapInfo.width != newMapInfo.width + || oldMapInfo.origin.position.x != newMapInfo.origin.position.x + || oldMapInfo.origin.position.y != newMapInfo.origin.position.y); + } + + static std_msgs::ColorRGBA heightMapColor(double h); + ros::NodeHandle m_nh; + ros::NodeHandle m_nh_private; + ros::Publisher m_markerPub, m_binaryMapPub, m_fullMapPub, m_pointCloudPub, m_collisionObjectPub, m_mapPub, m_cmapPub, m_fmapPub, m_fmarkerPub; + message_filters::Subscriber* m_pointCloudSub; + tf::MessageFilter* m_tfPointCloudSub; + ros::ServiceServer m_octomapBinaryService, m_octomapFullService, m_clearBBXService, m_resetService; + tf::TransformListener m_tfListener; + boost::recursive_mutex m_config_mutex; + dynamic_reconfigure::Server m_reconfigureServer; + + OcTreeT* m_octree; + octomap::KeyRay m_keyRay; // temp storage for ray casting + octomap::OcTreeKey m_updateBBXMin; + octomap::OcTreeKey m_updateBBXMax; + + double m_maxRange; + std::string m_worldFrameId; // the map frame + std::string m_baseFrameId; // base of the robot for ground plane filtering + bool m_useHeightMap; + std_msgs::ColorRGBA m_color; + std_msgs::ColorRGBA m_colorFree; + double m_colorFactor; + + bool m_latchedTopics; + bool m_publishFreeSpace; + + double m_res; + unsigned m_treeDepth; + unsigned m_maxTreeDepth; + + double m_pointcloudMinX; + double m_pointcloudMaxX; + double m_pointcloudMinY; + double m_pointcloudMaxY; + double m_pointcloudMinZ; + double m_pointcloudMaxZ; + double m_occupancyMinZ; + double m_occupancyMaxZ; + double m_minSizeX; + double m_minSizeY; + bool m_filterSpeckles; + + bool m_filterGroundPlane; + double m_groundFilterDistance; + double m_groundFilterAngle; + double m_groundFilterPlaneDistance; + + bool m_compressMap; + + bool m_initConfig; + + // downprojected 2D map: + bool m_incrementalUpdate; + nav_msgs::OccupancyGrid m_gridmap; + bool m_publish2DMap; + bool m_mapOriginChanged; + octomap::OcTreeKey m_paddedMinKey; + unsigned m_multires2DScale; + bool m_projectCompleteMap; + bool m_useColoredMap; +}; +} + +#endif diff --git a/MyCode/src/octomap_server/include/octomap_server/OctomapServerMultilayer.h b/MyCode/src/octomap_server/include/octomap_server/OctomapServerMultilayer.h new file mode 100644 index 0000000..0449c47 --- /dev/null +++ b/MyCode/src/octomap_server/include/octomap_server/OctomapServerMultilayer.h @@ -0,0 +1,73 @@ +/* + * Copyright (c) 2010-2013, A. Hornung, M. Philips + * 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 the University of Freiburg 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. + */ +#ifndef OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H +#define OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H + +#include + +namespace octomap_server { +class OctomapServerMultilayer : public OctomapServer{ + +public: + OctomapServerMultilayer(ros::NodeHandle private_nh_ = ros::NodeHandle("~")); + virtual ~OctomapServerMultilayer(); + +protected: + struct ProjectedMap{ + double minZ; + double maxZ; + double z; // for visualization + std::string name; + nav_msgs::OccupancyGrid map; + }; + typedef std::vector MultilevelGrid; + + /// hook that is called after traversing all nodes + virtual void handlePreNodeTraversal(const ros::Time& rostime); + + /// updates the downprojected 2D map as either occupied or free + virtual void update2DMap(const OcTreeT::iterator& it, bool occupied); + + /// hook that is called after traversing all nodes + virtual void handlePostNodeTraversal(const ros::Time& rostime); + + std::vector m_multiMapPub; + ros::Subscriber m_attachedObjectsSub; + + std::vector m_armLinks; + std::vector m_armLinkOffsets; + + MultilevelGrid m_multiGridmap; + + +}; +} + +#endif + diff --git a/MyCode/src/octomap_server/include/octomap_server/TrackingOctomapServer.h b/MyCode/src/octomap_server/include/octomap_server/TrackingOctomapServer.h new file mode 100644 index 0000000..32daae3 --- /dev/null +++ b/MyCode/src/octomap_server/include/octomap_server/TrackingOctomapServer.h @@ -0,0 +1,59 @@ +/* + * Copyright (c) 2012, D. Kuhner, P. Ruchti, University of Freiburg + * 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 the University of Freiburg 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. + */ + +#ifndef OCTOMAP_SERVER_TRACKINGOCTOMAPSERVER_H_ +#define OCTOMAP_SERVER_TRACKINGOCTOMAPSERVER_H_ + +#include "octomap_server/OctomapServer.h" + +namespace octomap_server { + +class TrackingOctomapServer: public OctomapServer { +public: + TrackingOctomapServer(const std::string& filename = ""); + virtual ~TrackingOctomapServer(); + + void trackCallback(sensor_msgs::PointCloud2Ptr cloud); + void insertScan(const tf::Point& sensorOrigin, const PCLPointCloud& ground, const PCLPointCloud& nonground); + +protected: + void trackChanges(); + + bool listen_changes; + bool track_changes; + int min_change_pub; + std::string change_id_frame; + ros::Publisher pubFreeChangeSet; + ros::Publisher pubChangeSet; + ros::Subscriber subChangeSet; + ros::Subscriber subFreeChanges; +}; + +} /* namespace octomap */ +#endif /* TRACKINGOCTOMAPSERVER_H_ */ diff --git a/MyCode/src/octomap_server/launch/octomap.launch b/MyCode/src/octomap_server/launch/octomap.launch new file mode 100644 index 0000000..91b2253 --- /dev/null +++ b/MyCode/src/octomap_server/launch/octomap.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/MyCode/src/octomap_server/mainpage.dox b/MyCode/src/octomap_server/mainpage.dox new file mode 100644 index 0000000..2d8a6bc --- /dev/null +++ b/MyCode/src/octomap_server/mainpage.dox @@ -0,0 +1,30 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b octomap_server is ... + + + + +\section codeapi Code API + + + + +*/ \ No newline at end of file diff --git a/MyCode/src/octomap_server/nodelet_plugins.xml b/MyCode/src/octomap_server/nodelet_plugins.xml new file mode 100644 index 0000000..783d76e --- /dev/null +++ b/MyCode/src/octomap_server/nodelet_plugins.xml @@ -0,0 +1,8 @@ + + + + Nodelet for running the Octomap server + + + + diff --git a/MyCode/src/octomap_server/package.xml b/MyCode/src/octomap_server/package.xml new file mode 100644 index 0000000..b38c6b8 --- /dev/null +++ b/MyCode/src/octomap_server/package.xml @@ -0,0 +1,48 @@ + + octomap_server + 0.6.6 + + octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format. It also allows to incrementally build 3D OctoMaps, and provides map saving in the node octomap_saver. + + Armin Hornung + Wolfgang Merkt + BSD + http://www.ros.org/wiki/octomap_server + https://github.com/OctoMap/octomap_mapping/issues + https://github.com/OctoMap/octomap_mapping + + + + + + + catkin + + roscpp + visualization_msgs + sensor_msgs + pcl_ros + pcl_conversions + nav_msgs + std_msgs + std_srvs + octomap + octomap_msgs + octomap_ros + dynamic_reconfigure + nodelet + + roscpp + visualization_msgs + sensor_msgs + pcl_ros + pcl_conversions + nav_msgs + std_msgs + std_srvs + octomap + octomap_msgs + octomap_ros + dynamic_reconfigure + nodelet + diff --git a/MyCode/src/octomap_server/params/default.yaml b/MyCode/src/octomap_server/params/default.yaml new file mode 100644 index 0000000..3834a2f --- /dev/null +++ b/MyCode/src/octomap_server/params/default.yaml @@ -0,0 +1 @@ +# Empty file to load default parameters. diff --git a/MyCode/src/octomap_server/scripts/octomap_eraser_cli.py b/MyCode/src/octomap_server/scripts/octomap_eraser_cli.py new file mode 100644 index 0000000..407f282 --- /dev/null +++ b/MyCode/src/octomap_server/scripts/octomap_eraser_cli.py @@ -0,0 +1,31 @@ +#!/usr/bin/env python + +"""Clear a region specified by a global axis-aligned bounding box in stored +OctoMap. + +""" + +import sys +from time import sleep + +import roslib +roslib.load_manifest('octomap_server') +from geometry_msgs.msg import Point +import octomap_msgs.srv +import rospy + + +SRV_NAME = '/octomap_server/clear_bbx' +SRV_INTERFACE = octomap_msgs.srv.BoundingBoxQuery + + +if __name__ == '__main__': + min = Point(*[float(x) for x in sys.argv[1:4]]) + max = Point(*[float(x) for x in sys.argv[4:7]]) + + rospy.init_node('octomap_eraser_cli', anonymous=True) + sleep(1) + service = rospy.ServiceProxy(SRV_NAME, SRV_INTERFACE) + rospy.loginfo("Connected to %s service." % SRV_NAME) + + service(min, max) diff --git a/MyCode/src/octomap_server/src/OctomapServer.cpp b/MyCode/src/octomap_server/src/OctomapServer.cpp new file mode 100644 index 0000000..7504657 --- /dev/null +++ b/MyCode/src/octomap_server/src/OctomapServer.cpp @@ -0,0 +1,1281 @@ +/* + * Copyright (c) 2010-2013, A. Hornung, University of Freiburg + * 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 the University of Freiburg 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. + */ + +#include + +using namespace octomap; +using octomap_msgs::Octomap; + +bool is_equal (double a, double b, double epsilon = 1.0e-7) +{ + return std::abs(a - b) < epsilon; +} + +namespace octomap_server{ + +OctomapServer::OctomapServer(const ros::NodeHandle private_nh_, const ros::NodeHandle &nh_) +: m_nh(nh_), + m_nh_private(private_nh_), + m_pointCloudSub(NULL), + m_tfPointCloudSub(NULL), + m_reconfigureServer(m_config_mutex, private_nh_), + m_octree(NULL), + m_maxRange(-1.0), + m_worldFrameId("map"), m_baseFrameId("base_footprint"), + m_useHeightMap(true), + m_useColoredMap(false), + m_colorFactor(0.8), + m_latchedTopics(true), + m_publishFreeSpace(false), + m_res(0.05), + m_treeDepth(0), + m_maxTreeDepth(0), + m_pointcloudMinX(-std::numeric_limits::max()), + m_pointcloudMaxX(std::numeric_limits::max()), + m_pointcloudMinY(-std::numeric_limits::max()), + m_pointcloudMaxY(std::numeric_limits::max()), + m_pointcloudMinZ(-std::numeric_limits::max()), + m_pointcloudMaxZ(std::numeric_limits::max()), + m_occupancyMinZ(-std::numeric_limits::max()), + m_occupancyMaxZ(std::numeric_limits::max()), + m_minSizeX(0.0), m_minSizeY(0.0), + m_filterSpeckles(false), m_filterGroundPlane(false), + m_groundFilterDistance(0.04), m_groundFilterAngle(0.15), m_groundFilterPlaneDistance(0.07), + m_compressMap(true), + m_incrementalUpdate(false), + m_initConfig(true) +{ + double probHit, probMiss, thresMin, thresMax; + + m_nh_private.param("frame_id", m_worldFrameId, m_worldFrameId); + m_nh_private.param("base_frame_id", m_baseFrameId, m_baseFrameId); + m_nh_private.param("height_map", m_useHeightMap, m_useHeightMap); + m_nh_private.param("colored_map", m_useColoredMap, m_useColoredMap); + m_nh_private.param("color_factor", m_colorFactor, m_colorFactor); + + m_nh_private.param("pointcloud_min_x", m_pointcloudMinX,m_pointcloudMinX); + m_nh_private.param("pointcloud_max_x", m_pointcloudMaxX,m_pointcloudMaxX); + m_nh_private.param("pointcloud_min_y", m_pointcloudMinY,m_pointcloudMinY); + m_nh_private.param("pointcloud_max_y", m_pointcloudMaxY,m_pointcloudMaxY); + m_nh_private.param("pointcloud_min_z", m_pointcloudMinZ,m_pointcloudMinZ); + m_nh_private.param("pointcloud_max_z", m_pointcloudMaxZ,m_pointcloudMaxZ); + m_nh_private.param("occupancy_min_z", m_occupancyMinZ,m_occupancyMinZ); + m_nh_private.param("occupancy_max_z", m_occupancyMaxZ,m_occupancyMaxZ); + m_nh_private.param("min_x_size", m_minSizeX,m_minSizeX); + m_nh_private.param("min_y_size", m_minSizeY,m_minSizeY); + + m_nh_private.param("filter_speckles", m_filterSpeckles, m_filterSpeckles); + m_nh_private.param("filter_ground", m_filterGroundPlane, m_filterGroundPlane); + // distance of points from plane for RANSAC + m_nh_private.param("ground_filter/distance", m_groundFilterDistance, m_groundFilterDistance); + // angular derivation of found plane: + m_nh_private.param("ground_filter/angle", m_groundFilterAngle, m_groundFilterAngle); + // distance of found plane from z=0 to be detected as ground (e.g. to exclude tables) + m_nh_private.param("ground_filter/plane_distance", m_groundFilterPlaneDistance, m_groundFilterPlaneDistance); + + m_nh_private.param("sensor_model/max_range", m_maxRange, m_maxRange); + + m_nh_private.param("resolution", m_res, m_res); + m_nh_private.param("sensor_model/hit", probHit, 0.7); + m_nh_private.param("sensor_model/miss", probMiss, 0.4); + m_nh_private.param("sensor_model/min", thresMin, 0.12); + m_nh_private.param("sensor_model/max", thresMax, 0.97); + m_nh_private.param("compress_map", m_compressMap, m_compressMap); + m_nh_private.param("incremental_2D_projection", m_incrementalUpdate, m_incrementalUpdate); + + if (m_filterGroundPlane && (m_pointcloudMinZ > 0.0 || m_pointcloudMaxZ < 0.0)){ + ROS_WARN_STREAM("You enabled ground filtering but incoming pointclouds will be pre-filtered in [" + <setProbHit(probHit); + m_octree->setProbMiss(probMiss); + m_octree->setClampingThresMin(thresMin); + m_octree->setClampingThresMax(thresMax); + m_treeDepth = m_octree->getTreeDepth(); + m_maxTreeDepth = m_treeDepth; + m_gridmap.info.resolution = m_res; + + double r, g, b, a; + m_nh_private.param("color/r", r, 0.0); + m_nh_private.param("color/g", g, 0.0); + m_nh_private.param("color/b", b, 1.0); + m_nh_private.param("color/a", a, 1.0); + m_color.r = r; + m_color.g = g; + m_color.b = b; + m_color.a = a; + + m_nh_private.param("color_free/r", r, 0.0); + m_nh_private.param("color_free/g", g, 1.0); + m_nh_private.param("color_free/b", b, 0.0); + m_nh_private.param("color_free/a", a, 1.0); + m_colorFree.r = r; + m_colorFree.g = g; + m_colorFree.b = b; + m_colorFree.a = a; + + m_nh_private.param("publish_free_space", m_publishFreeSpace, m_publishFreeSpace); + + m_nh_private.param("latch", m_latchedTopics, m_latchedTopics); + if (m_latchedTopics){ + ROS_INFO("Publishing latched (single publish will take longer, all topics are prepared)"); + } else + ROS_INFO("Publishing non-latched (topics are only prepared as needed, will only be re-published on map change"); + + m_markerPub = m_nh.advertise("occupied_cells_vis_array", 1, m_latchedTopics); + m_binaryMapPub = m_nh.advertise("octomap_binary", 1, m_latchedTopics); + m_fullMapPub = m_nh.advertise("octomap_full", 1, m_latchedTopics); + m_pointCloudPub = m_nh.advertise("octomap_point_cloud_centers", 1, m_latchedTopics); + m_mapPub = m_nh.advertise("projected_map", 5, m_latchedTopics); + m_fmarkerPub = m_nh.advertise("free_cells_vis_array", 1, m_latchedTopics); + + m_pointCloudSub = new message_filters::Subscriber (m_nh, "cloud_in", 5); + m_tfPointCloudSub = new tf::MessageFilter (*m_pointCloudSub, m_tfListener, m_worldFrameId, 5); + m_tfPointCloudSub->registerCallback(boost::bind(&OctomapServer::insertCloudCallback, this, _1)); + + m_octomapBinaryService = m_nh.advertiseService("octomap_binary", &OctomapServer::octomapBinarySrv, this); + m_octomapFullService = m_nh.advertiseService("octomap_full", &OctomapServer::octomapFullSrv, this); + m_clearBBXService = m_nh_private.advertiseService("clear_bbx", &OctomapServer::clearBBXSrv, this); + m_resetService = m_nh_private.advertiseService("reset", &OctomapServer::resetSrv, this); + + dynamic_reconfigure::Server::CallbackType f; + f = boost::bind(&OctomapServer::reconfigureCallback, this, _1, _2); + m_reconfigureServer.setCallback(f); +} + +OctomapServer::~OctomapServer(){ + if (m_tfPointCloudSub){ + delete m_tfPointCloudSub; + m_tfPointCloudSub = NULL; + } + + if (m_pointCloudSub){ + delete m_pointCloudSub; + m_pointCloudSub = NULL; + } + + + if (m_octree){ + delete m_octree; + m_octree = NULL; + } + +} + +bool OctomapServer::openFile(const std::string& filename){ + if (filename.length() <= 3) + return false; + + std::string suffix = filename.substr(filename.length()-3, 3); + if (suffix== ".bt"){ + if (!m_octree->readBinary(filename)){ + return false; + } + } else if (suffix == ".ot"){ + AbstractOcTree* tree = AbstractOcTree::read(filename); + if (!tree){ + return false; + } + if (m_octree){ + delete m_octree; + m_octree = NULL; + } + m_octree = dynamic_cast(tree); + if (!m_octree){ + ROS_ERROR("Could not read OcTree in file, currently there are no other types supported in .ot"); + return false; + } + + } else{ + return false; + } + + ROS_INFO("Octomap file %s loaded (%zu nodes).", filename.c_str(),m_octree->size()); + + m_treeDepth = m_octree->getTreeDepth(); + m_maxTreeDepth = m_treeDepth; + m_res = m_octree->getResolution(); + m_gridmap.info.resolution = m_res; + double minX, minY, minZ; + double maxX, maxY, maxZ; + m_octree->getMetricMin(minX, minY, minZ); + m_octree->getMetricMax(maxX, maxY, maxZ); + + m_updateBBXMin[0] = m_octree->coordToKey(minX); + m_updateBBXMin[1] = m_octree->coordToKey(minY); + m_updateBBXMin[2] = m_octree->coordToKey(minZ); + + m_updateBBXMax[0] = m_octree->coordToKey(maxX); + m_updateBBXMax[1] = m_octree->coordToKey(maxY); + m_updateBBXMax[2] = m_octree->coordToKey(maxZ); + + publishAll(); + + return true; + +} + +void OctomapServer::insertCloudCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud){ + ros::WallTime startTime = ros::WallTime::now(); + + + // + // ground filtering in base frame + // + PCLPointCloud pc; // input cloud for filtering and ground-detection + pcl::fromROSMsg(*cloud, pc); + + tf::StampedTransform sensorToWorldTf; + + try { + m_tfListener.lookupTransform(m_worldFrameId, cloud->header.frame_id, cloud->header.stamp, sensorToWorldTf); + } catch(tf::TransformException& ex){ + ROS_ERROR_STREAM( "Transform error of sensor data: " << ex.what() << ", quitting callback"); + return; + } + + Eigen::Matrix4f sensorToWorld; + pcl_ros::transformAsMatrix(sensorToWorldTf, sensorToWorld); + + + // set up filter for height range, also removes NANs: + pcl::PassThrough pass_x; + pass_x.setFilterFieldName("x"); + pass_x.setFilterLimits(m_pointcloudMinX, m_pointcloudMaxX); + pcl::PassThrough pass_y; + pass_y.setFilterFieldName("y"); + pass_y.setFilterLimits(m_pointcloudMinY, m_pointcloudMaxY); + pcl::PassThrough pass_z; + pass_z.setFilterFieldName("z"); + pass_z.setFilterLimits(m_pointcloudMinZ, m_pointcloudMaxZ); + + PCLPointCloud pc_ground; // segmented ground plane + PCLPointCloud pc_nonground; // everything else + + if (m_filterGroundPlane){ + tf::StampedTransform sensorToBaseTf, baseToWorldTf; + try{ + m_tfListener.waitForTransform(m_baseFrameId, cloud->header.frame_id, cloud->header.stamp, ros::Duration(0.2)); + m_tfListener.lookupTransform(m_baseFrameId, cloud->header.frame_id, cloud->header.stamp, sensorToBaseTf); + m_tfListener.lookupTransform(m_worldFrameId, m_baseFrameId, cloud->header.stamp, baseToWorldTf); + + + }catch(tf::TransformException& ex){ + ROS_ERROR_STREAM( "Transform error for ground plane filter: " << ex.what() << ", quitting callback.\n" + "You need to set the base_frame_id or disable filter_ground."); + } + + + Eigen::Matrix4f sensorToBase, baseToWorld; + pcl_ros::transformAsMatrix(sensorToBaseTf, sensorToBase); + pcl_ros::transformAsMatrix(baseToWorldTf, baseToWorld); + + // transform pointcloud from sensor frame to fixed robot frame + pcl::transformPointCloud(pc, pc, sensorToBase); + pass_x.setInputCloud(pc.makeShared()); + pass_x.filter(pc); + pass_y.setInputCloud(pc.makeShared()); + pass_y.filter(pc); + pass_z.setInputCloud(pc.makeShared()); + pass_z.filter(pc); + filterGroundPlane(pc, pc_ground, pc_nonground); + + // transform clouds to world frame for insertion + pcl::transformPointCloud(pc_ground, pc_ground, baseToWorld); + pcl::transformPointCloud(pc_nonground, pc_nonground, baseToWorld); + } else { + // directly transform to map frame: + pcl::transformPointCloud(pc, pc, sensorToWorld); + + // just filter height range: + pass_x.setInputCloud(pc.makeShared()); + pass_x.filter(pc); + pass_y.setInputCloud(pc.makeShared()); + pass_y.filter(pc); + pass_z.setInputCloud(pc.makeShared()); + pass_z.filter(pc); + + pc_nonground = pc; + // pc_nonground is empty without ground segmentation + pc_ground.header = pc.header; + pc_nonground.header = pc.header; + } + + + insertScan(sensorToWorldTf.getOrigin(), pc_ground, pc_nonground); + + double total_elapsed = (ros::WallTime::now() - startTime).toSec(); + ROS_DEBUG("Pointcloud insertion in OctomapServer done (%zu+%zu pts (ground/nonground), %f sec)", pc_ground.size(), pc_nonground.size(), total_elapsed); + + publishAll(cloud->header.stamp); +} + +void OctomapServer::insertScan(const tf::Point& sensorOriginTf, const PCLPointCloud& ground, const PCLPointCloud& nonground){ + point3d sensorOrigin = pointTfToOctomap(sensorOriginTf); + + if (!m_octree->coordToKeyChecked(sensorOrigin, m_updateBBXMin) + || !m_octree->coordToKeyChecked(sensorOrigin, m_updateBBXMax)) + { + ROS_ERROR_STREAM("Could not generate Key for origin "<x, it->y, it->z); + // maxrange check + if ((m_maxRange > 0.0) && ((point - sensorOrigin).norm() > m_maxRange) ) { + point = sensorOrigin + (point - sensorOrigin).normalized() * m_maxRange; + } + + // only clear space (ground points) + if (m_octree->computeRayKeys(sensorOrigin, point, m_keyRay)){ + free_cells.insert(m_keyRay.begin(), m_keyRay.end()); + } + + octomap::OcTreeKey endKey; + if (m_octree->coordToKeyChecked(point, endKey)){ + updateMinKey(endKey, m_updateBBXMin); + updateMaxKey(endKey, m_updateBBXMax); + } else{ + ROS_ERROR_STREAM("Could not generate Key for endpoint "<x, it->y, it->z); + // maxrange check + if ((m_maxRange < 0.0) || ((point - sensorOrigin).norm() <= m_maxRange) ) { + + // free cells + if (m_octree->computeRayKeys(sensorOrigin, point, m_keyRay)){ + free_cells.insert(m_keyRay.begin(), m_keyRay.end()); + } + // occupied endpoint + OcTreeKey key; + if (m_octree->coordToKeyChecked(point, key)){ + occupied_cells.insert(key); + + updateMinKey(key, m_updateBBXMin); + updateMaxKey(key, m_updateBBXMax); + +#ifdef COLOR_OCTOMAP_SERVER // NB: Only read and interpret color if it's an occupied node + m_octree->averageNodeColor(it->x, it->y, it->z, /*r=*/it->r, /*g=*/it->g, /*b=*/it->b); +#endif + } + } else {// ray longer than maxrange:; + point3d new_end = sensorOrigin + (point - sensorOrigin).normalized() * m_maxRange; + if (m_octree->computeRayKeys(sensorOrigin, new_end, m_keyRay)){ + free_cells.insert(m_keyRay.begin(), m_keyRay.end()); + + octomap::OcTreeKey endKey; + if (m_octree->coordToKeyChecked(new_end, endKey)){ + free_cells.insert(endKey); + updateMinKey(endKey, m_updateBBXMin); + updateMaxKey(endKey, m_updateBBXMax); + } else{ + ROS_ERROR_STREAM("Could not generate Key for endpoint "<updateNode(*it, false); + } + } + + // now mark all occupied cells: + for (KeySet::iterator it = occupied_cells.begin(), end=occupied_cells.end(); it!= end; it++) { + m_octree->updateNode(*it, true); + } + + // TODO: eval lazy+updateInner vs. proper insertion + // non-lazy by default (updateInnerOccupancy() too slow for large maps) + //m_octree->updateInnerOccupancy(); + octomap::point3d minPt, maxPt; + ROS_DEBUG_STREAM("Bounding box keys (before): " << m_updateBBXMin[0] << " " <getNodeSize( m_maxTreeDepth ) - 1; +// tmpMax[1]+= m_octree->getNodeSize( m_maxTreeDepth ) - 1; +// tmpMax[2]+= m_octree->getNodeSize( m_maxTreeDepth ) - 1; +// m_updateBBXMin = tmpMin; +// m_updateBBXMax = tmpMax; +// } + + // TODO: we could also limit the bbx to be within the map bounds here (see publishing check) + minPt = m_octree->keyToCoord(m_updateBBXMin); + maxPt = m_octree->keyToCoord(m_updateBBXMax); + ROS_DEBUG_STREAM("Updated area bounding box: "<< minPt << " - "<prune(); + +#ifdef COLOR_OCTOMAP_SERVER + if (colors) + { + delete[] colors; + colors = NULL; + } +#endif +} + + + +void OctomapServer::publishAll(const ros::Time& rostime){ + ros::WallTime startTime = ros::WallTime::now(); + size_t octomapSize = m_octree->size(); + // TODO: estimate num occ. voxels for size of arrays (reserve) + if (octomapSize <= 1){ + ROS_WARN("Nothing to publish, octree is empty"); + return; + } + + bool publishFreeMarkerArray = m_publishFreeSpace && (m_latchedTopics || m_fmarkerPub.getNumSubscribers() > 0); + bool publishMarkerArray = (m_latchedTopics || m_markerPub.getNumSubscribers() > 0); + bool publishPointCloud = (m_latchedTopics || m_pointCloudPub.getNumSubscribers() > 0); + bool publishBinaryMap = (m_latchedTopics || m_binaryMapPub.getNumSubscribers() > 0); + bool publishFullMap = (m_latchedTopics || m_fullMapPub.getNumSubscribers() > 0); + m_publish2DMap = (m_latchedTopics || m_mapPub.getNumSubscribers() > 0); + + // init markers for free space: + visualization_msgs::MarkerArray freeNodesVis; + // each array stores all cubes of a different size, one for each depth level: + freeNodesVis.markers.resize(m_treeDepth+1); + + geometry_msgs::Pose pose; + pose.orientation = tf::createQuaternionMsgFromYaw(0.0); + + // init markers: + visualization_msgs::MarkerArray occupiedNodesVis; + // each array stores all cubes of a different size, one for each depth level: + occupiedNodesVis.markers.resize(m_treeDepth+1); + + // init pointcloud: + pcl::PointCloud pclCloud; + + // call pre-traversal hook: + handlePreNodeTraversal(rostime); + + // now, traverse all leafs in the tree: + for (OcTreeT::iterator it = m_octree->begin(m_maxTreeDepth), + end = m_octree->end(); it != end; ++it) + { + bool inUpdateBBX = isInUpdateBBX(it); + + // call general hook: + handleNode(it); + if (inUpdateBBX) + handleNodeInBBX(it); + + if (m_octree->isNodeOccupied(*it)){ + double z = it.getZ(); + double half_size = it.getSize() / 2.0; + if (z + half_size > m_occupancyMinZ && z - half_size < m_occupancyMaxZ) + { + double size = it.getSize(); + double x = it.getX(); + double y = it.getY(); +#ifdef COLOR_OCTOMAP_SERVER + int r = it->getColor().r; + int g = it->getColor().g; + int b = it->getColor().b; +#endif + + // Ignore speckles in the map: + if (m_filterSpeckles && (it.getDepth() == m_treeDepth +1) && isSpeckleNode(it.getKey())){ + ROS_DEBUG("Ignoring single speckle at (%f,%f,%f)", x, y, z); + continue; + } // else: current octree node is no speckle, send it out + + handleOccupiedNode(it); + if (inUpdateBBX) + handleOccupiedNodeInBBX(it); + + + //create marker: + if (publishMarkerArray){ + unsigned idx = it.getDepth(); + assert(idx < occupiedNodesVis.markers.size()); + + geometry_msgs::Point cubeCenter; + cubeCenter.x = x; + cubeCenter.y = y; + cubeCenter.z = z; + + occupiedNodesVis.markers[idx].points.push_back(cubeCenter); + if (m_useHeightMap){ + double minX, minY, minZ, maxX, maxY, maxZ; + m_octree->getMetricMin(minX, minY, minZ); + m_octree->getMetricMax(maxX, maxY, maxZ); + + double h = (1.0 - std::min(std::max((cubeCenter.z-minZ)/ (maxZ - minZ), 0.0), 1.0)) *m_colorFactor; + occupiedNodesVis.markers[idx].colors.push_back(heightMapColor(h)); + } + +#ifdef COLOR_OCTOMAP_SERVER + if (m_useColoredMap) { + std_msgs::ColorRGBA _color; _color.r = (r / 255.); _color.g = (g / 255.); _color.b = (b / 255.); _color.a = 1.0; // TODO/EVALUATE: potentially use occupancy as measure for alpha channel? + occupiedNodesVis.markers[idx].colors.push_back(_color); + } +#endif + } + + // insert into pointcloud: + if (publishPointCloud) { +#ifdef COLOR_OCTOMAP_SERVER + PCLPoint _point = PCLPoint(); + _point.x = x; _point.y = y; _point.z = z; + _point.r = r; _point.g = g; _point.b = b; + pclCloud.push_back(_point); +#else + pclCloud.push_back(PCLPoint(x, y, z)); +#endif + } + + } + } else{ // node not occupied => mark as free in 2D map if unknown so far + double z = it.getZ(); + double half_size = it.getSize() / 2.0; + if (z + half_size > m_occupancyMinZ && z - half_size < m_occupancyMaxZ) + { + handleFreeNode(it); + if (inUpdateBBX) + handleFreeNodeInBBX(it); + + if (m_publishFreeSpace){ + double x = it.getX(); + double y = it.getY(); + + //create marker for free space: + if (publishFreeMarkerArray){ + unsigned idx = it.getDepth(); + assert(idx < freeNodesVis.markers.size()); + + geometry_msgs::Point cubeCenter; + cubeCenter.x = x; + cubeCenter.y = y; + cubeCenter.z = z; + + freeNodesVis.markers[idx].points.push_back(cubeCenter); + } + } + + } + } + } + + // call post-traversal hook: + handlePostNodeTraversal(rostime); + + // finish MarkerArray: + if (publishMarkerArray){ + for (unsigned i= 0; i < occupiedNodesVis.markers.size(); ++i){ + double size = m_octree->getNodeSize(i); + + occupiedNodesVis.markers[i].header.frame_id = m_worldFrameId; + occupiedNodesVis.markers[i].header.stamp = rostime; + occupiedNodesVis.markers[i].ns = "map"; + occupiedNodesVis.markers[i].id = i; + occupiedNodesVis.markers[i].type = visualization_msgs::Marker::CUBE_LIST; + occupiedNodesVis.markers[i].scale.x = size; + occupiedNodesVis.markers[i].scale.y = size; + occupiedNodesVis.markers[i].scale.z = size; + if (!m_useColoredMap) + occupiedNodesVis.markers[i].color = m_color; + + + if (occupiedNodesVis.markers[i].points.size() > 0) + occupiedNodesVis.markers[i].action = visualization_msgs::Marker::ADD; + else + occupiedNodesVis.markers[i].action = visualization_msgs::Marker::DELETE; + } + + m_markerPub.publish(occupiedNodesVis); + } + + + // finish FreeMarkerArray: + if (publishFreeMarkerArray){ + for (unsigned i= 0; i < freeNodesVis.markers.size(); ++i){ + double size = m_octree->getNodeSize(i); + + freeNodesVis.markers[i].header.frame_id = m_worldFrameId; + freeNodesVis.markers[i].header.stamp = rostime; + freeNodesVis.markers[i].ns = "map"; + freeNodesVis.markers[i].id = i; + freeNodesVis.markers[i].type = visualization_msgs::Marker::CUBE_LIST; + freeNodesVis.markers[i].scale.x = size; + freeNodesVis.markers[i].scale.y = size; + freeNodesVis.markers[i].scale.z = size; + freeNodesVis.markers[i].color = m_colorFree; + + + if (freeNodesVis.markers[i].points.size() > 0) + freeNodesVis.markers[i].action = visualization_msgs::Marker::ADD; + else + freeNodesVis.markers[i].action = visualization_msgs::Marker::DELETE; + } + + m_fmarkerPub.publish(freeNodesVis); + } + + + // finish pointcloud: + if (publishPointCloud){ + sensor_msgs::PointCloud2 cloud; + pcl::toROSMsg (pclCloud, cloud); + cloud.header.frame_id = m_worldFrameId; + cloud.header.stamp = rostime; + m_pointCloudPub.publish(cloud); + } + + if (publishBinaryMap) + publishBinaryOctoMap(rostime); + + if (publishFullMap) + publishFullOctoMap(rostime); + + + double total_elapsed = (ros::WallTime::now() - startTime).toSec(); + ROS_DEBUG("Map publishing in OctomapServer took %f sec", total_elapsed); + +} + + +bool OctomapServer::octomapBinarySrv(OctomapSrv::Request &req, + OctomapSrv::Response &res) +{ + ros::WallTime startTime = ros::WallTime::now(); + ROS_INFO("Sending binary map data on service request"); + res.map.header.frame_id = m_worldFrameId; + res.map.header.stamp = ros::Time::now(); + if (!octomap_msgs::binaryMapToMsg(*m_octree, res.map)) + return false; + + double total_elapsed = (ros::WallTime::now() - startTime).toSec(); + ROS_INFO("Binary octomap sent in %f sec", total_elapsed); + return true; +} + +bool OctomapServer::octomapFullSrv(OctomapSrv::Request &req, + OctomapSrv::Response &res) +{ + ROS_INFO("Sending full map data on service request"); + res.map.header.frame_id = m_worldFrameId; + res.map.header.stamp = ros::Time::now(); + + + if (!octomap_msgs::fullMapToMsg(*m_octree, res.map)) + return false; + + return true; +} + +bool OctomapServer::clearBBXSrv(BBXSrv::Request& req, BBXSrv::Response& resp){ + point3d min = pointMsgToOctomap(req.min); + point3d max = pointMsgToOctomap(req.max); + + double thresMin = m_octree->getClampingThresMin(); + for(OcTreeT::leaf_bbx_iterator it = m_octree->begin_leafs_bbx(min,max), + end=m_octree->end_leafs_bbx(); it!= end; ++it){ + + it->setLogOdds(octomap::logodds(thresMin)); + // m_octree->updateNode(it.getKey(), -6.0f); + } + // TODO: eval which is faster (setLogOdds+updateInner or updateNode) + m_octree->updateInnerOccupancy(); + + publishAll(ros::Time::now()); + + return true; +} + +bool OctomapServer::resetSrv(std_srvs::Empty::Request& req, std_srvs::Empty::Response& resp) { + visualization_msgs::MarkerArray occupiedNodesVis; + occupiedNodesVis.markers.resize(m_treeDepth +1); + ros::Time rostime = ros::Time::now(); + m_octree->clear(); + // clear 2D map: + m_gridmap.data.clear(); + m_gridmap.info.height = 0.0; + m_gridmap.info.width = 0.0; + m_gridmap.info.resolution = 0.0; + m_gridmap.info.origin.position.x = 0.0; + m_gridmap.info.origin.position.y = 0.0; + + ROS_INFO("Cleared octomap"); + publishAll(rostime); + + publishBinaryOctoMap(rostime); + for (unsigned i= 0; i < occupiedNodesVis.markers.size(); ++i){ + + occupiedNodesVis.markers[i].header.frame_id = m_worldFrameId; + occupiedNodesVis.markers[i].header.stamp = rostime; + occupiedNodesVis.markers[i].ns = "map"; + occupiedNodesVis.markers[i].id = i; + occupiedNodesVis.markers[i].type = visualization_msgs::Marker::CUBE_LIST; + occupiedNodesVis.markers[i].action = visualization_msgs::Marker::DELETE; + } + + m_markerPub.publish(occupiedNodesVis); + + visualization_msgs::MarkerArray freeNodesVis; + freeNodesVis.markers.resize(m_treeDepth +1); + + for (unsigned i= 0; i < freeNodesVis.markers.size(); ++i){ + + freeNodesVis.markers[i].header.frame_id = m_worldFrameId; + freeNodesVis.markers[i].header.stamp = rostime; + freeNodesVis.markers[i].ns = "map"; + freeNodesVis.markers[i].id = i; + freeNodesVis.markers[i].type = visualization_msgs::Marker::CUBE_LIST; + freeNodesVis.markers[i].action = visualization_msgs::Marker::DELETE; + } + m_fmarkerPub.publish(freeNodesVis); + + return true; +} + +void OctomapServer::publishBinaryOctoMap(const ros::Time& rostime) const{ + + Octomap map; + map.header.frame_id = m_worldFrameId; + map.header.stamp = rostime; + + if (octomap_msgs::binaryMapToMsg(*m_octree, map)) + m_binaryMapPub.publish(map); + else + ROS_ERROR("Error serializing OctoMap"); +} + +void OctomapServer::publishFullOctoMap(const ros::Time& rostime) const{ + + Octomap map; + map.header.frame_id = m_worldFrameId; + map.header.stamp = rostime; + + if (octomap_msgs::fullMapToMsg(*m_octree, map)) + m_fullMapPub.publish(map); + else + ROS_ERROR("Error serializing OctoMap"); + +} + + +void OctomapServer::filterGroundPlane(const PCLPointCloud& pc, PCLPointCloud& ground, PCLPointCloud& nonground) const{ + ground.header = pc.header; + nonground.header = pc.header; + + if (pc.size() < 50){ + ROS_WARN("Pointcloud in OctomapServer too small, skipping ground plane extraction"); + nonground = pc; + } else { + // plane detection for ground plane removal: + pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients); + pcl::PointIndices::Ptr inliers (new pcl::PointIndices); + + // Create the segmentation object and set up: + pcl::SACSegmentation seg; + seg.setOptimizeCoefficients (true); + // TODO: maybe a filtering based on the surface normals might be more robust / accurate? + seg.setModelType(pcl::SACMODEL_PERPENDICULAR_PLANE); + seg.setMethodType(pcl::SAC_RANSAC); + seg.setMaxIterations(200); + seg.setDistanceThreshold (m_groundFilterDistance); + seg.setAxis(Eigen::Vector3f(0,0,1)); + seg.setEpsAngle(m_groundFilterAngle); + + + PCLPointCloud cloud_filtered(pc); + // Create the filtering object + pcl::ExtractIndices extract; + bool groundPlaneFound = false; + + while(cloud_filtered.size() > 10 && !groundPlaneFound){ + seg.setInputCloud(cloud_filtered.makeShared()); + seg.segment (*inliers, *coefficients); + if (inliers->indices.size () == 0){ + ROS_INFO("PCL segmentation did not find any plane."); + + break; + } + + extract.setInputCloud(cloud_filtered.makeShared()); + extract.setIndices(inliers); + + if (std::abs(coefficients->values.at(3)) < m_groundFilterPlaneDistance){ + ROS_DEBUG("Ground plane found: %zu/%zu inliers. Coeff: %f %f %f %f", inliers->indices.size(), cloud_filtered.size(), + coefficients->values.at(0), coefficients->values.at(1), coefficients->values.at(2), coefficients->values.at(3)); + extract.setNegative (false); + extract.filter (ground); + + // remove ground points from full pointcloud: + // workaround for PCL bug: + if(inliers->indices.size() != cloud_filtered.size()){ + extract.setNegative(true); + PCLPointCloud cloud_out; + extract.filter(cloud_out); + nonground += cloud_out; + cloud_filtered = cloud_out; + } + + groundPlaneFound = true; + } else{ + ROS_DEBUG("Horizontal plane (not ground) found: %zu/%zu inliers. Coeff: %f %f %f %f", inliers->indices.size(), cloud_filtered.size(), + coefficients->values.at(0), coefficients->values.at(1), coefficients->values.at(2), coefficients->values.at(3)); + pcl::PointCloud cloud_out; + extract.setNegative (false); + extract.filter(cloud_out); + nonground +=cloud_out; + // debug + // pcl::PCDWriter writer; + // writer.write("nonground_plane.pcd",cloud_out, false); + + // remove current plane from scan for next iteration: + // workaround for PCL bug: + if(inliers->indices.size() != cloud_filtered.size()){ + extract.setNegative(true); + cloud_out.points.clear(); + extract.filter(cloud_out); + cloud_filtered = cloud_out; + } else{ + cloud_filtered.points.clear(); + } + } + + } + // TODO: also do this if overall starting pointcloud too small? + if (!groundPlaneFound){ // no plane found or remaining points too small + ROS_WARN("No ground plane found in scan"); + + // do a rough fitlering on height to prevent spurious obstacles + pcl::PassThrough second_pass; + second_pass.setFilterFieldName("z"); + second_pass.setFilterLimits(-m_groundFilterPlaneDistance, m_groundFilterPlaneDistance); + second_pass.setInputCloud(pc.makeShared()); + second_pass.filter(ground); + + second_pass.setFilterLimitsNegative (true); + second_pass.filter(nonground); + } + + // debug: + // pcl::PCDWriter writer; + // if (pc_ground.size() > 0) + // writer.write("ground.pcd",pc_ground, false); + // if (pc_nonground.size() > 0) + // writer.write("nonground.pcd",pc_nonground, false); + + } + + +} + +void OctomapServer::handlePreNodeTraversal(const ros::Time& rostime){ + if (m_publish2DMap){ + // init projected 2D map: + m_gridmap.header.frame_id = m_worldFrameId; + m_gridmap.header.stamp = rostime; + nav_msgs::MapMetaData oldMapInfo = m_gridmap.info; + + // TODO: move most of this stuff into c'tor and init map only once (adjust if size changes) + double minX, minY, minZ, maxX, maxY, maxZ; + m_octree->getMetricMin(minX, minY, minZ); + m_octree->getMetricMax(maxX, maxY, maxZ); + + octomap::point3d minPt(minX, minY, minZ); + octomap::point3d maxPt(maxX, maxY, maxZ); + octomap::OcTreeKey minKey = m_octree->coordToKey(minPt, m_maxTreeDepth); + octomap::OcTreeKey maxKey = m_octree->coordToKey(maxPt, m_maxTreeDepth); + + ROS_DEBUG("MinKey: %d %d %d / MaxKey: %d %d %d", minKey[0], minKey[1], minKey[2], maxKey[0], maxKey[1], maxKey[2]); + + // add padding if requested (= new min/maxPts in x&y): + double halfPaddedX = 0.5*m_minSizeX; + double halfPaddedY = 0.5*m_minSizeY; + minX = std::min(minX, -halfPaddedX); + maxX = std::max(maxX, halfPaddedX); + minY = std::min(minY, -halfPaddedY); + maxY = std::max(maxY, halfPaddedY); + minPt = octomap::point3d(minX, minY, minZ); + maxPt = octomap::point3d(maxX, maxY, maxZ); + + OcTreeKey paddedMaxKey; + if (!m_octree->coordToKeyChecked(minPt, m_maxTreeDepth, m_paddedMinKey)){ + ROS_ERROR("Could not create padded min OcTree key at %f %f %f", minPt.x(), minPt.y(), minPt.z()); + return; + } + if (!m_octree->coordToKeyChecked(maxPt, m_maxTreeDepth, paddedMaxKey)){ + ROS_ERROR("Could not create padded max OcTree key at %f %f %f", maxPt.x(), maxPt.y(), maxPt.z()); + return; + } + + ROS_DEBUG("Padded MinKey: %d %d %d / padded MaxKey: %d %d %d", m_paddedMinKey[0], m_paddedMinKey[1], m_paddedMinKey[2], paddedMaxKey[0], paddedMaxKey[1], paddedMaxKey[2]); + assert(paddedMaxKey[0] >= maxKey[0] && paddedMaxKey[1] >= maxKey[1]); + + m_multires2DScale = 1 << (m_treeDepth - m_maxTreeDepth); + m_gridmap.info.width = (paddedMaxKey[0] - m_paddedMinKey[0])/m_multires2DScale +1; + m_gridmap.info.height = (paddedMaxKey[1] - m_paddedMinKey[1])/m_multires2DScale +1; + + int mapOriginX = minKey[0] - m_paddedMinKey[0]; + int mapOriginY = minKey[1] - m_paddedMinKey[1]; + assert(mapOriginX >= 0 && mapOriginY >= 0); + + // might not exactly be min / max of octree: + octomap::point3d origin = m_octree->keyToCoord(m_paddedMinKey, m_treeDepth); + double gridRes = m_octree->getNodeSize(m_maxTreeDepth); + m_projectCompleteMap = (!m_incrementalUpdate || (std::abs(gridRes-m_gridmap.info.resolution) > 1e-6)); + m_gridmap.info.resolution = gridRes; + m_gridmap.info.origin.position.x = origin.x() - gridRes*0.5; + m_gridmap.info.origin.position.y = origin.y() - gridRes*0.5; + if (m_maxTreeDepth != m_treeDepth){ + m_gridmap.info.origin.position.x -= m_res/2.0; + m_gridmap.info.origin.position.y -= m_res/2.0; + } + + // workaround for multires. projection not working properly for inner nodes: + // force re-building complete map + if (m_maxTreeDepth < m_treeDepth) + m_projectCompleteMap = true; + + + if(m_projectCompleteMap){ + ROS_DEBUG("Rebuilding complete 2D map"); + m_gridmap.data.clear(); + // init to unknown: + m_gridmap.data.resize(m_gridmap.info.width * m_gridmap.info.height, -1); + + } else { + + if (mapChanged(oldMapInfo, m_gridmap.info)){ + ROS_DEBUG("2D grid map size changed to %dx%d", m_gridmap.info.width, m_gridmap.info.height); + adjustMapData(m_gridmap, oldMapInfo); + } + nav_msgs::OccupancyGrid::_data_type::iterator startIt; + size_t mapUpdateBBXMinX = std::max(0, (int(m_updateBBXMin[0]) - int(m_paddedMinKey[0]))/int(m_multires2DScale)); + size_t mapUpdateBBXMinY = std::max(0, (int(m_updateBBXMin[1]) - int(m_paddedMinKey[1]))/int(m_multires2DScale)); + size_t mapUpdateBBXMaxX = std::min(int(m_gridmap.info.width-1), (int(m_updateBBXMax[0]) - int(m_paddedMinKey[0]))/int(m_multires2DScale)); + size_t mapUpdateBBXMaxY = std::min(int(m_gridmap.info.height-1), (int(m_updateBBXMax[1]) - int(m_paddedMinKey[1]))/int(m_multires2DScale)); + + assert(mapUpdateBBXMaxX > mapUpdateBBXMinX); + assert(mapUpdateBBXMaxY > mapUpdateBBXMinY); + + size_t numCols = mapUpdateBBXMaxX-mapUpdateBBXMinX +1; + + // test for max idx: + uint max_idx = m_gridmap.info.width*mapUpdateBBXMaxY + mapUpdateBBXMaxX; + if (max_idx >= m_gridmap.data.size()) + ROS_ERROR("BBX index not valid: %d (max index %zu for size %d x %d) update-BBX is: [%zu %zu]-[%zu %zu]", max_idx, m_gridmap.data.size(), m_gridmap.info.width, m_gridmap.info.height, mapUpdateBBXMinX, mapUpdateBBXMinY, mapUpdateBBXMaxX, mapUpdateBBXMaxY); + + // reset proj. 2D map in bounding box: + for (unsigned int j = mapUpdateBBXMinY; j <= mapUpdateBBXMaxY; ++j){ + std::fill_n(m_gridmap.data.begin() + m_gridmap.info.width*j+mapUpdateBBXMinX, + numCols, -1); + } + + } + + + + } + +} + +void OctomapServer::handlePostNodeTraversal(const ros::Time& rostime){ + + if (m_publish2DMap) + m_mapPub.publish(m_gridmap); +} + +void OctomapServer::handleOccupiedNode(const OcTreeT::iterator& it){ + + if (m_publish2DMap && m_projectCompleteMap){ + update2DMap(it, true); + } +} + +void OctomapServer::handleFreeNode(const OcTreeT::iterator& it){ + + if (m_publish2DMap && m_projectCompleteMap){ + update2DMap(it, false); + } +} + +void OctomapServer::handleOccupiedNodeInBBX(const OcTreeT::iterator& it){ + + if (m_publish2DMap && !m_projectCompleteMap){ + update2DMap(it, true); + } +} + +void OctomapServer::handleFreeNodeInBBX(const OcTreeT::iterator& it){ + + if (m_publish2DMap && !m_projectCompleteMap){ + update2DMap(it, false); + } +} + +void OctomapServer::update2DMap(const OcTreeT::iterator& it, bool occupied){ + + // update 2D map (occupied always overrides): + + if (it.getDepth() == m_maxTreeDepth){ + unsigned idx = mapIdx(it.getKey()); + if (occupied) + m_gridmap.data[mapIdx(it.getKey())] = 100; + else if (m_gridmap.data[idx] == -1){ + m_gridmap.data[idx] = 0; + } + + } else{ + int intSize = 1 << (m_maxTreeDepth - it.getDepth()); + octomap::OcTreeKey minKey=it.getIndexKey(); + for(int dx=0; dx < intSize; dx++){ + int i = (minKey[0]+dx - m_paddedMinKey[0])/m_multires2DScale; + for(int dy=0; dy < intSize; dy++){ + unsigned idx = mapIdx(i, (minKey[1]+dy - m_paddedMinKey[1])/m_multires2DScale); + if (occupied) + m_gridmap.data[idx] = 100; + else if (m_gridmap.data[idx] == -1){ + m_gridmap.data[idx] = 0; + } + } + } + } + + +} + + + +bool OctomapServer::isSpeckleNode(const OcTreeKey&nKey) const { + OcTreeKey key; + bool neighborFound = false; + for (key[2] = nKey[2] - 1; !neighborFound && key[2] <= nKey[2] + 1; ++key[2]){ + for (key[1] = nKey[1] - 1; !neighborFound && key[1] <= nKey[1] + 1; ++key[1]){ + for (key[0] = nKey[0] - 1; !neighborFound && key[0] <= nKey[0] + 1; ++key[0]){ + if (key != nKey){ + OcTreeNode* node = m_octree->search(key); + if (node && m_octree->isNodeOccupied(node)){ + // we have a neighbor => break! + neighborFound = true; + } + } + } + } + } + + return neighborFound; +} + +void OctomapServer::reconfigureCallback(octomap_server::OctomapServerConfig& config, uint32_t level){ + if (m_maxTreeDepth != unsigned(config.max_depth)) + m_maxTreeDepth = unsigned(config.max_depth); + else{ + m_pointcloudMinZ = config.pointcloud_min_z; + m_pointcloudMaxZ = config.pointcloud_max_z; + m_occupancyMinZ = config.occupancy_min_z; + m_occupancyMaxZ = config.occupancy_max_z; + m_filterSpeckles = config.filter_speckles; + m_filterGroundPlane = config.filter_ground; + m_compressMap = config.compress_map; + m_incrementalUpdate = config.incremental_2D_projection; + + // Parameters with a namespace require an special treatment at the beginning, as dynamic reconfigure + // will overwrite them because the server is not able to match parameters' names. + if (m_initConfig){ + // If parameters do not have the default value, dynamic reconfigure server should be updated. + if(!is_equal(m_groundFilterDistance, 0.04)) + config.ground_filter_distance = m_groundFilterDistance; + if(!is_equal(m_groundFilterAngle, 0.15)) + config.ground_filter_angle = m_groundFilterAngle; + if(!is_equal( m_groundFilterPlaneDistance, 0.07)) + config.ground_filter_plane_distance = m_groundFilterPlaneDistance; + if(!is_equal(m_maxRange, -1.0)) + config.sensor_model_max_range = m_maxRange; + if(!is_equal(m_octree->getProbHit(), 0.7)) + config.sensor_model_hit = m_octree->getProbHit(); + if(!is_equal(m_octree->getProbMiss(), 0.4)) + config.sensor_model_miss = m_octree->getProbMiss(); + if(!is_equal(m_octree->getClampingThresMin(), 0.12)) + config.sensor_model_min = m_octree->getClampingThresMin(); + if(!is_equal(m_octree->getClampingThresMax(), 0.97)) + config.sensor_model_max = m_octree->getClampingThresMax(); + m_initConfig = false; + + boost::recursive_mutex::scoped_lock reconf_lock(m_config_mutex); + m_reconfigureServer.updateConfig(config); + } + else{ + m_groundFilterDistance = config.ground_filter_distance; + m_groundFilterAngle = config.ground_filter_angle; + m_groundFilterPlaneDistance = config.ground_filter_plane_distance; + m_maxRange = config.sensor_model_max_range; + m_octree->setClampingThresMin(config.sensor_model_min); + m_octree->setClampingThresMax(config.sensor_model_max); + + // Checking values that might create unexpected behaviors. + if (is_equal(config.sensor_model_hit, 1.0)) + config.sensor_model_hit -= 1.0e-6; + m_octree->setProbHit(config.sensor_model_hit); + if (is_equal(config.sensor_model_miss, 0.0)) + config.sensor_model_miss += 1.0e-6; + m_octree->setProbMiss(config.sensor_model_miss); + } + } + publishAll(); +} + +void OctomapServer::adjustMapData(nav_msgs::OccupancyGrid& map, const nav_msgs::MapMetaData& oldMapInfo) const{ + if (map.info.resolution != oldMapInfo.resolution){ + ROS_ERROR("Resolution of map changed, cannot be adjusted"); + return; + } + + int i_off = int((oldMapInfo.origin.position.x - map.info.origin.position.x)/map.info.resolution +0.5); + int j_off = int((oldMapInfo.origin.position.y - map.info.origin.position.y)/map.info.resolution +0.5); + + if (i_off < 0 || j_off < 0 + || oldMapInfo.width + i_off > map.info.width + || oldMapInfo.height + j_off > map.info.height) + { + ROS_ERROR("New 2D map does not contain old map area, this case is not implemented"); + return; + } + + nav_msgs::OccupancyGrid::_data_type oldMapData = map.data; + + map.data.clear(); + // init to unknown: + map.data.resize(map.info.width * map.info.height, -1); + + nav_msgs::OccupancyGrid::_data_type::iterator fromStart, fromEnd, toStart; + + for (int j =0; j < int(oldMapInfo.height); ++j ){ + // copy chunks, row by row: + fromStart = oldMapData.begin() + j*oldMapInfo.width; + fromEnd = fromStart + oldMapInfo.width; + toStart = map.data.begin() + ((j+j_off)*m_gridmap.info.width + i_off); + copy(fromStart, fromEnd, toStart); + +// for (int i =0; i < int(oldMapInfo.width); ++i){ +// map.data[m_gridmap.info.width*(j+j_off) +i+i_off] = oldMapData[oldMapInfo.width*j +i]; +// } + + } + +} + + +std_msgs::ColorRGBA OctomapServer::heightMapColor(double h) { + + std_msgs::ColorRGBA color; + color.a = 1.0; + // blend over HSV-values (more colors) + + double s = 1.0; + double v = 1.0; + + h -= floor(h); + h *= 6; + int i; + double m, n, f; + + i = floor(h); + f = h - i; + if (!(i & 1)) + f = 1 - f; // if i is even + m = v * (1 - s); + n = v * (1 - s * f); + + switch (i) { + case 6: + case 0: + color.r = v; color.g = n; color.b = m; + break; + case 1: + color.r = n; color.g = v; color.b = m; + break; + case 2: + color.r = m; color.g = v; color.b = n; + break; + case 3: + color.r = m; color.g = n; color.b = v; + break; + case 4: + color.r = n; color.g = m; color.b = v; + break; + case 5: + color.r = v; color.g = m; color.b = n; + break; + default: + color.r = 1; color.g = 0.5; color.b = 0.5; + break; + } + + return color; +} +} + + + diff --git a/MyCode/src/octomap_server/src/OctomapServerMultilayer.cpp b/MyCode/src/octomap_server/src/OctomapServerMultilayer.cpp new file mode 100644 index 0000000..8b5c822 --- /dev/null +++ b/MyCode/src/octomap_server/src/OctomapServerMultilayer.cpp @@ -0,0 +1,268 @@ +/* + * Copyright (c) 2011-2013, A. Hornung, M. Philips + * 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 the University of Freiburg 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. + */ + +#include + +using namespace octomap; + +namespace octomap_server{ + + + +OctomapServerMultilayer::OctomapServerMultilayer(ros::NodeHandle private_nh_) +: OctomapServer(private_nh_) +{ + + // TODO: callback for arm_navigation attached objects was removed, is + // there a replacement functionality? + + // TODO: param maps, limits + // right now 0: base, 1: spine, 2: arms + ProjectedMap m; + m.name = "projected_base_map"; + m.minZ = 0.0; + m.maxZ = 0.3; + m.z = 0.0; + m_multiGridmap.push_back(m); + + m.name = "projected_spine_map"; + m.minZ = 0.25; + m.maxZ = 1.4; + m.z = 0.6; + m_multiGridmap.push_back(m); + + m.name = "projected_arm_map"; + m.minZ = 0.7; + m.maxZ = 0.9; + m.z = 0.8; + m_multiGridmap.push_back(m); + + + for (unsigned i = 0; i < m_multiGridmap.size(); ++i){ + ros::Publisher* pub = new ros::Publisher(m_nh.advertise(m_multiGridmap.at(i).name, 5, m_latchedTopics)); + m_multiMapPub.push_back(pub); + } + + // init arm links (could be params as well) + m_armLinks.push_back("l_elbow_flex_link"); + m_armLinkOffsets.push_back(0.10); + m_armLinks.push_back("l_gripper_l_finger_tip_link"); + m_armLinkOffsets.push_back(0.03); + m_armLinks.push_back("l_gripper_r_finger_tip_link"); + m_armLinkOffsets.push_back(0.03); + m_armLinks.push_back("l_upper_arm_roll_link"); + m_armLinkOffsets.push_back(0.16); + m_armLinks.push_back("l_wrist_flex_link"); + m_armLinkOffsets.push_back(0.05); + m_armLinks.push_back("r_elbow_flex_link"); + m_armLinkOffsets.push_back(0.10); + m_armLinks.push_back("r_gripper_l_finger_tip_link"); + m_armLinkOffsets.push_back(0.03); + m_armLinks.push_back("r_gripper_r_finger_tip_link"); + m_armLinkOffsets.push_back(0.03); + m_armLinks.push_back("r_upper_arm_roll_link"); + m_armLinkOffsets.push_back(0.16); + m_armLinks.push_back("r_wrist_flex_link"); + m_armLinkOffsets.push_back(0.05); + + +} + +OctomapServerMultilayer::~OctomapServerMultilayer(){ + for (unsigned i = 0; i < m_multiMapPub.size(); ++i){ + delete m_multiMapPub[i]; + } + +} + +void OctomapServerMultilayer::handlePreNodeTraversal(const ros::Time& rostime){ + // multilayer server always publishes 2D maps: + m_publish2DMap = true; + nav_msgs::MapMetaData gridmapInfo = m_gridmap.info; + + OctomapServer::handlePreNodeTraversal(rostime); + + + // recalculate height of arm layer (stub, TODO) + geometry_msgs::PointStamped vin; + vin.point.x = 0; + vin.point.y = 0; + vin.point.z = 0; + vin.header.stamp = rostime; + double link_padding = 0.03; + + double minArmHeight = 2.0; + double maxArmHeight = 0.0; + + for (unsigned i = 0; i < m_armLinks.size(); ++i){ + vin.header.frame_id = m_armLinks[i]; + geometry_msgs::PointStamped vout; + const bool found_trans = + m_tfListener.waitForTransform("base_footprint", m_armLinks.at(i), + ros::Time(0), ros::Duration(1.0)); + ROS_ASSERT_MSG(found_trans, "Timed out waiting for transform to %s", + m_armLinks[i].c_str()); + m_tfListener.transformPoint("base_footprint",vin,vout); + maxArmHeight = std::max(maxArmHeight, vout.point.z + (m_armLinkOffsets.at(i) + link_padding)); + minArmHeight = std::min(minArmHeight, vout.point.z - (m_armLinkOffsets.at(i) + link_padding)); + } + ROS_INFO("Arm layer interval adjusted to (%f,%f)", minArmHeight, maxArmHeight); + m_multiGridmap.at(2).minZ = minArmHeight; + m_multiGridmap.at(2).maxZ = maxArmHeight; + m_multiGridmap.at(2).z = (maxArmHeight+minArmHeight)/2.0; + + + + + + // TODO: also clear multilevel maps in BBX region (see OctomapServer.cpp)? + + bool mapInfoChanged = mapChanged(gridmapInfo, m_gridmap.info); + + for (MultilevelGrid::iterator it = m_multiGridmap.begin(); it != m_multiGridmap.end(); ++it){ + it->map.header = m_gridmap.header; + it->map.info = m_gridmap.info; + it->map.info.origin.position.z = it->z; + if (m_projectCompleteMap){ + ROS_INFO("Map resolution changed, rebuilding complete 2D maps"); + it->map.data.clear(); + // init to unknown: + it->map.data.resize(it->map.info.width * it->map.info.height, -1); + } else if (mapInfoChanged){ + adjustMapData(it->map, gridmapInfo); + } + } +} + +void OctomapServerMultilayer::handlePostNodeTraversal(const ros::Time& rostime){ + + // TODO: calc tall / short obs. cells for arm layer, => temp arm layer +// std::vector shortObsCells; +// for(unsigned int i=0; i 0.8) +// arm_map.data[i] = 101; +// else{ +// arm_map.data[i] = 100; +// shortObsCells.push_back(i); +// } +// } +// +// std::vector tallObsCells; +// tallObsCells.reserve(shortObsCells.size()); +// int dxy[8] = {-arm_map.info.width-1, -arm_map.info.width, -arm_map.info.width+1, -1, 1, arm_map.info.width-1, arm_map.info.width, arm_map.info.width+1}; +// for(unsigned int i=0; i=arm_map.data.size()) +// continue; +// if(arm_map.data[temp]==101){ +// tallObsCells.push_back(shortObsCells[i]); +// break; +// } +// } +// } +// for(unsigned int i=0; ipublish(m_multiGridmap.at(i).map); + } + +} +void OctomapServerMultilayer::update2DMap(const OcTreeT::iterator& it, bool occupied){ + double z = it.getZ(); + double s2 = it.getSize()/2.0; + + // create a mask on which maps to update: + std::vector inMapLevel(m_multiGridmap.size(), false); + for (unsigned i = 0; i < m_multiGridmap.size(); ++i){ + if (z+s2 >= m_multiGridmap[i].minZ && z-s2 <= m_multiGridmap[i].maxZ){ + inMapLevel[i] = true; + } + } + + if (it.getDepth() == m_maxTreeDepth){ + unsigned idx = mapIdx(it.getKey()); + if (occupied) + m_gridmap.data[idx] = 100; + else if (m_gridmap.data[idx] == -1){ + m_gridmap.data[idx] = 0; + } + + for (unsigned i = 0; i < inMapLevel.size(); ++i){ + if (inMapLevel[i]){ + if (occupied) + m_multiGridmap[i].map.data[idx] = 100; + else if (m_multiGridmap[i].map.data[idx] == -1) + m_multiGridmap[i].map.data[idx] = 0; + } + } + + } else { + int intSize = 1 << (m_treeDepth - it.getDepth()); + octomap::OcTreeKey minKey=it.getIndexKey(); + for(int dx=0; dx < intSize; dx++){ + int i = (minKey[0]+dx - m_paddedMinKey[0])/m_multires2DScale; + for(int dy=0; dy < intSize; dy++){ + unsigned idx = mapIdx(i, (minKey[1]+dy - m_paddedMinKey[1])/m_multires2DScale); + if (occupied) + m_gridmap.data[idx] = 100; + else if (m_gridmap.data[idx] == -1){ + m_gridmap.data[idx] = 0; + } + + for (unsigned i = 0; i < inMapLevel.size(); ++i){ + if (inMapLevel[i]){ + if (occupied) + m_multiGridmap[i].map.data[idx] = 100; + else if (m_multiGridmap[i].map.data[idx] == -1) + m_multiGridmap[i].map.data[idx] = 0; + } + } + } + } + } + + +} + +} + + + diff --git a/MyCode/src/octomap_server/src/TrackingOctomapServer.cpp b/MyCode/src/octomap_server/src/TrackingOctomapServer.cpp new file mode 100644 index 0000000..0b0090e --- /dev/null +++ b/MyCode/src/octomap_server/src/TrackingOctomapServer.cpp @@ -0,0 +1,155 @@ +/* + * Copyright (c) 2012, D. Kuhner, P. Ruchti, University of Freiburg + * 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 the University of Freiburg 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. + */ + +#include +#include + +using namespace octomap; + +namespace octomap_server { + +TrackingOctomapServer::TrackingOctomapServer(const std::string& filename) : + OctomapServer() +{ + //read tree if necessary + if (filename != "") { + if (m_octree->readBinary(filename)) { + ROS_INFO("Octomap file %s loaded (%zu nodes).", filename.c_str(), m_octree->size()); + m_treeDepth = m_octree->getTreeDepth(); + m_res = m_octree->getResolution(); + m_gridmap.info.resolution = m_res; + + publishAll(); + } else { + ROS_ERROR("Could not open requested file %s, exiting.", filename.c_str()); + exit(-1); + } + } + + ros::NodeHandle private_nh("~"); + + std::string changeSetTopic = "changes"; + std::string changeIdFrame = "/talker/changes"; + + private_nh.param("topic_changes", changeSetTopic, changeSetTopic); + private_nh.param("change_id_frame", change_id_frame, changeIdFrame); + private_nh.param("track_changes", track_changes, false); + private_nh.param("listen_changes", listen_changes, false); + private_nh.param("min_change_pub", min_change_pub, 0); + + if (track_changes && listen_changes) { + ROS_WARN("OctoMapServer: It might not be useful to publish changes and at the same time listen to them." + "Setting 'track_changes' to false!"); + track_changes = false; + } + + if (track_changes) { + ROS_INFO("starting server"); + pubChangeSet = private_nh.advertise( + changeSetTopic, 1); + m_octree->enableChangeDetection(true); + } + + if (listen_changes) { + ROS_INFO("starting client"); + subChangeSet = private_nh.subscribe(changeSetTopic, 1, + &TrackingOctomapServer::trackCallback, this); + } +} + +TrackingOctomapServer::~TrackingOctomapServer() { +} + +void TrackingOctomapServer::insertScan(const tf::Point & sensorOrigin, const PCLPointCloud & ground, const PCLPointCloud & nonground) { + OctomapServer::insertScan(sensorOrigin, ground, nonground); + + if (track_changes) { + trackChanges(); + } +} + +void TrackingOctomapServer::trackChanges() { + KeyBoolMap::const_iterator startPnt = m_octree->changedKeysBegin(); + KeyBoolMap::const_iterator endPnt = m_octree->changedKeysEnd(); + + pcl::PointCloud changedCells = pcl::PointCloud(); + + int c = 0; + for (KeyBoolMap::const_iterator iter = startPnt; iter != endPnt; ++iter) { + ++c; + OcTreeNode* node = m_octree->search(iter->first); + + bool occupied = m_octree->isNodeOccupied(node); + + point3d center = m_octree->keyToCoord(iter->first); + + pcl::PointXYZI pnt; + pnt.x = center(0); + pnt.y = center(1); + pnt.z = center(2); + + if (occupied) { + pnt.intensity = 1000; + } + else { + pnt.intensity = -1000; + } + + changedCells.push_back(pnt); + } + + if (c > min_change_pub) + { + sensor_msgs::PointCloud2 changed; + pcl::toROSMsg(changedCells, changed); + changed.header.frame_id = change_id_frame; + changed.header.stamp = ros::Time().now(); + pubChangeSet.publish(changed); + ROS_DEBUG("[server] sending %d changed entries", (int)changedCells.size()); + + m_octree->resetChangeDetection(); + ROS_DEBUG("[server] octomap size after updating: %d", (int)m_octree->calcNumNodes()); + } +} + +void TrackingOctomapServer::trackCallback(sensor_msgs::PointCloud2Ptr cloud) { + pcl::PointCloud cells; + pcl::fromROSMsg(*cloud, cells); + ROS_DEBUG("[client] size of newly occupied cloud: %i", (int)cells.points.size()); + + for (size_t i = 0; i < cells.points.size(); i++) { + pcl::PointXYZI& pnt = cells.points[i]; + m_octree->updateNode(m_octree->coordToKey(pnt.x, pnt.y, pnt.z), pnt.intensity, false); + } + + m_octree->updateInnerOccupancy(); + ROS_DEBUG("[client] octomap size after updating: %d", (int)m_octree->calcNumNodes()); +} + +} /* namespace octomap */ diff --git a/MyCode/src/octomap_server/src/octomap_saver.cpp b/MyCode/src/octomap_server/src/octomap_saver.cpp new file mode 100644 index 0000000..99194fe --- /dev/null +++ b/MyCode/src/octomap_server/src/octomap_saver.cpp @@ -0,0 +1,124 @@ +/* + * Copyright (c) 2010-2013, A. Hornung, University of Freiburg + * 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 the University of Freiburg 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. + */ + +#include +#include +#include +#include + +#include +using octomap_msgs::GetOctomap; + +#define USAGE "\nUSAGE: octomap_saver [-f] \n" \ + " -f: Query for the full occupancy octree, instead of just the compact binary one\n" \ + " mapfile.bt: filename of map to be saved (.bt: binary tree, .ot: general octree)\n" + +using namespace std; +using namespace octomap; + +class MapSaver{ +public: + MapSaver(const std::string& mapname, bool full){ + ros::NodeHandle n; + std::string servname = "octomap_binary"; + if (full) + servname = "octomap_full"; + ROS_INFO("Requesting the map from %s...", n.resolveName(servname).c_str()); + GetOctomap::Request req; + GetOctomap::Response resp; + while(n.ok() && !ros::service::call(servname, req, resp)) + { + ROS_WARN("Request to %s failed; trying again...", n.resolveName(servname).c_str()); + usleep(1000000); + } + + if (n.ok()){ // skip when CTRL-C + + AbstractOcTree* tree = octomap_msgs::msgToMap(resp.map); + AbstractOccupancyOcTree* octree = NULL; + if (tree){ + octree = dynamic_cast(tree); + } else { + ROS_ERROR("Error creating octree from received message"); + if (resp.map.id == "ColorOcTree") + ROS_WARN("You requested a binary map for a ColorOcTree - this is currently not supported. Please add -f to request a full map"); + } + + if (octree){ + ROS_INFO("Map received (%zu nodes, %f m res), saving to %s", octree->size(), octree->getResolution(), mapname.c_str()); + + std::string suffix = mapname.substr(mapname.length()-3, 3); + if (suffix== ".bt"){ // write to binary file: + if (!octree->writeBinary(mapname)){ + ROS_ERROR("Error writing to file %s", mapname.c_str()); + } + } else if (suffix == ".ot"){ // write to full .ot file: + if (!octree->write(mapname)){ + ROS_ERROR("Error writing to file %s", mapname.c_str()); + } + } else{ + ROS_ERROR("Unknown file extension, must be either .bt or .ot"); + } + + + } else{ + ROS_ERROR("Error reading OcTree from stream"); + } + + delete octree; + + } + } +}; + +int main(int argc, char** argv){ + ros::init(argc, argv, "octomap_saver"); + std::string mapFilename(""); + bool fullmap = false; + if (argc == 3 && strcmp(argv[1], "-f")==0){ + fullmap = true; + mapFilename = std::string(argv[2]); + } else if (argc == 2) + mapFilename = std::string(argv[1]); + else{ + ROS_ERROR("%s", USAGE); + exit(1); + } + + try{ + MapSaver ms(mapFilename, fullmap); + }catch(std::runtime_error& e){ + ROS_ERROR("octomap_saver exception: %s", e.what()); + exit(2); + } + + exit(0); +} + + diff --git a/MyCode/src/octomap_server/src/octomap_server_multilayer.cpp b/MyCode/src/octomap_server/src/octomap_server_multilayer.cpp new file mode 100644 index 0000000..cf87400 --- /dev/null +++ b/MyCode/src/octomap_server/src/octomap_server_multilayer.cpp @@ -0,0 +1,71 @@ +/* + * Copyright (c) 2009-2013, A. Hornung, University of Freiburg + * 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 the University of Freiburg 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. + */ + + +#include +#include + +#define USAGE "\nUSAGE: octomap_server_multilayer \n" \ + " map.bt: inital octomap 3D map file to read\n" + +using namespace octomap_server; + +int main(int argc, char** argv){ + ros::init(argc, argv, "octomap_server_multilayer"); + std::string mapFilename(""); + + if (argc > 2 || (argc == 2 && std::string(argv[1]) == "-h")){ + ROS_ERROR("%s", USAGE); + exit(-1); + } + + + OctomapServerMultilayer server; + ros::spinOnce(); + + if (argc == 2){ + mapFilename = std::string(argv[1]); + if (!server.openFile(mapFilename)){ + ROS_ERROR("Could not open file %s", mapFilename.c_str()); + exit(1); + } + } + + + + + try{ + ros::spin(); + }catch(std::runtime_error& e){ + ROS_ERROR("octomap_server_multilayer exception: %s", e.what()); + return -1; + } + + return 0; +} diff --git a/MyCode/src/octomap_server/src/octomap_server_node.cpp b/MyCode/src/octomap_server/src/octomap_server_node.cpp new file mode 100644 index 0000000..b3c5dda --- /dev/null +++ b/MyCode/src/octomap_server/src/octomap_server_node.cpp @@ -0,0 +1,88 @@ +/** +* octomap_server: A Tool to serve 3D OctoMaps in ROS (binary and as visualization) +* (inspired by the ROS map_saver) +* @author A. Hornung, University of Freiburg, Copyright (C) 2009 - 2012. +* @see http://octomap.sourceforge.net/ +* License: BSD +*/ + +/* + * Copyright (c) 2009-2012, A. Hornung, University of Freiburg + * 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 the University of Freiburg 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. + */ + + +#include +#include + +#define USAGE "\nUSAGE: octomap_server \n" \ + " map.bt: inital octomap 3D map file to read\n" + +using namespace octomap_server; + +int main(int argc, char** argv){ + ros::init(argc, argv, "octomap_server"); + const ros::NodeHandle nh; + const ros::NodeHandle private_nh("~"); + std::string mapFilename(""), mapFilenameParam(""); + + if (argc > 2 || (argc == 2 && std::string(argv[1]) == "-h")){ + ROS_ERROR("%s", USAGE); + exit(-1); + } + + OctomapServer server(private_nh, nh); + ros::spinOnce(); + + if (argc == 2){ + mapFilename = std::string(argv[1]); + } + + if (private_nh.getParam("map_file", mapFilenameParam)) { + if (mapFilename != "") { + ROS_WARN("map_file is specified by the argument '%s' and rosparam '%s'. now loads '%s'", mapFilename.c_str(), mapFilenameParam.c_str(), mapFilename.c_str()); + } else { + mapFilename = mapFilenameParam; + } + } + + if (mapFilename != "") { + if (!server.openFile(mapFilename)){ + ROS_ERROR("Could not open file %s", mapFilename.c_str()); + exit(1); + } + } + + try{ + ros::spin(); + }catch(std::runtime_error& e){ + ROS_ERROR("octomap_server exception: %s", e.what()); + return -1; + } + + return 0; +} diff --git a/MyCode/src/octomap_server/src/octomap_server_nodelet.cpp b/MyCode/src/octomap_server/src/octomap_server_nodelet.cpp new file mode 100644 index 0000000..dfe09d6 --- /dev/null +++ b/MyCode/src/octomap_server/src/octomap_server_nodelet.cpp @@ -0,0 +1,69 @@ +/** +* octomap_server_nodelet: A nodelet version of A. Hornung's octomap server +* @author Marcus Liebhardt +* License: BSD +*/ + +/* + * Copyright (c) 2012, Marcus Liebhardt, Yujin Robot + * 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 Yujin Robot 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. + */ + + +#include +#include +#include +#include + + +namespace octomap_server +{ + +class OctomapServerNodelet : public nodelet::Nodelet +{ +public: + virtual void onInit() + { + NODELET_DEBUG("Initializing octomap server nodelet ..."); + ros::NodeHandle& nh = this->getNodeHandle(); + ros::NodeHandle& private_nh = this->getPrivateNodeHandle(); + server_.reset(new OctomapServer(private_nh, nh)); + + std::string mapFilename(""); + if (private_nh.getParam("map_file", mapFilename)) { + if (!server_->openFile(mapFilename)){ + NODELET_WARN("Could not open file %s", mapFilename.c_str()); + } + } + } +private: + boost::shared_ptr server_; +}; + +} // namespace + +PLUGINLIB_EXPORT_CLASS(octomap_server::OctomapServerNodelet, nodelet::Nodelet) diff --git a/MyCode/src/octomap_server/src/octomap_server_static.cpp b/MyCode/src/octomap_server/src/octomap_server_static.cpp new file mode 100644 index 0000000..7a1d6f0 --- /dev/null +++ b/MyCode/src/octomap_server/src/octomap_server_static.cpp @@ -0,0 +1,156 @@ +/* + * Copyright (c) 2013, A. Hornung, University of Freiburg + * 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 the University of Freiburg 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. + */ + +#include +#include +#include +#include + +#include +using octomap_msgs::GetOctomap; + +#define USAGE "\nUSAGE: octomap_server_static \n" \ + " mapfile.bt: OctoMap filename to be loaded (.bt: binary tree, .ot: general octree)\n" + +using namespace std; +using namespace octomap; + +class OctomapServerStatic{ +public: + OctomapServerStatic(const std::string& filename) + : m_octree(NULL), m_worldFrameId("map") + { + + ros::NodeHandle private_nh("~"); + private_nh.param("frame_id", m_worldFrameId, m_worldFrameId); + + + // open file: + if (filename.length() <= 3){ + ROS_ERROR("Octree file does not have .ot extension"); + exit(1); + } + + std::string suffix = filename.substr(filename.length()-3, 3); + + // .bt files only as OcTree, all other classes need to be in .ot files: + if (suffix == ".bt"){ + OcTree* octree = new OcTree(filename); + + m_octree = octree; + } else if (suffix == ".ot"){ + AbstractOcTree* tree = AbstractOcTree::read(filename); + if (!tree){ + ROS_ERROR("Could not read octree from file"); + exit(1); + } + + m_octree = dynamic_cast(tree); + + } else{ + ROS_ERROR("Octree file does not have .bt or .ot extension"); + exit(1); + } + + if (!m_octree ){ + ROS_ERROR("Could not read right octree class in file"); + exit(1); + } + + ROS_INFO("Read octree type \"%s\" from file %s", m_octree->getTreeType().c_str(), filename.c_str()); + ROS_INFO("Octree resultion: %f, size: %zu", m_octree->getResolution(), m_octree->size()); + + + m_octomapBinaryService = m_nh.advertiseService("octomap_binary", &OctomapServerStatic::octomapBinarySrv, this); + m_octomapFullService = m_nh.advertiseService("octomap_full", &OctomapServerStatic::octomapFullSrv, this); + + } + + ~OctomapServerStatic(){ + + + } + + bool octomapBinarySrv(GetOctomap::Request &req, + GetOctomap::Response &res) + { + ROS_INFO("Sending binary map data on service request"); + res.map.header.frame_id = m_worldFrameId; + res.map.header.stamp = ros::Time::now(); + if (!octomap_msgs::binaryMapToMsg(*m_octree, res.map)) + return false; + + return true; + } + + bool octomapFullSrv(GetOctomap::Request &req, + GetOctomap::Response &res) + { + ROS_INFO("Sending full map data on service request"); + res.map.header.frame_id = m_worldFrameId; + res.map.header.stamp = ros::Time::now(); + + + if (!octomap_msgs::fullMapToMsg(*m_octree, res.map)) + return false; + + return true; + } + +private: + ros::ServiceServer m_octomapBinaryService, m_octomapFullService; + ros::NodeHandle m_nh; + std::string m_worldFrameId; + AbstractOccupancyOcTree* m_octree; + +}; + +int main(int argc, char** argv){ + ros::init(argc, argv, "octomap_server_static"); + std::string mapFilename(""); + + if (argc == 2) + mapFilename = std::string(argv[1]); + else{ + ROS_ERROR("%s", USAGE); + exit(1); + } + + try{ + OctomapServerStatic ms(mapFilename); + ros::spin(); + }catch(std::runtime_error& e){ + ROS_ERROR("octomap_server_static exception: %s", e.what()); + exit(2); + } + + exit(0); +} + + diff --git a/MyCode/src/octomap_server/src/octomap_tracking_server_node.cpp b/MyCode/src/octomap_server/src/octomap_tracking_server_node.cpp new file mode 100644 index 0000000..6acce66 --- /dev/null +++ b/MyCode/src/octomap_server/src/octomap_tracking_server_node.cpp @@ -0,0 +1,59 @@ +/* + * Copyright (c) 2012, D. Kuhner, P. Ruchti, University of Freiburg + * 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 the University of Freiburg 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. + */ + +#include +#include + +#define USAGE "\nUSAGE: octomap_tracking_server \n" \ + " map.bt: octomap 3D map file to read\n" + +using namespace octomap_server; + +int main(int argc, char** argv){ + ros::init(argc, argv, "octomap_tracking_server"); + std::string mapFilename(""); + + if (argc > 2 || (argc == 2 && std::string(argv[1]) == "-h")){ + ROS_ERROR("%s", USAGE); + exit(-1); + } + + if (argc == 2) + mapFilename = std::string(argv[1]); + + try{ + TrackingOctomapServer ms(mapFilename); + ros::spin(); + }catch(std::runtime_error& e){ + ROS_ERROR("octomap_server exception: %s", e.what()); + return -1; + } + + return 0; +} diff --git a/MyCode/src/test.py b/MyCode/src/test.py new file mode 100644 index 0000000..4d0d0b7 --- /dev/null +++ b/MyCode/src/test.py @@ -0,0 +1,12 @@ +import torch + +# 检查torch是否有CUDA支持，即是否能用GPU +print(torch.cuda.is_available()) + +# 如果CUDA可用，它还会打印出当前默认的CUDA设备（通常是第一个GPU） +if torch.cuda.is_available(): + print(torch.cuda.get_device_name(0)) +print(torch.version.cuda) + +device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") +print(device) diff --git a/MyCode/yolov8n-seg.onnx b/MyCode/yolov8n-seg.onnx new file mode 100644 index 0000000..fdb46a6 Binary files /dev/null and b/MyCode/yolov8n-seg.onnx differ