update submodules

README.md

@@ -36,7 +36,7 @@ The Boost library is used to launch different threads of the SLAM system.
 ```
 sudo apt-get install libboost-all-dev
 ```
-## 2.2 OpenCV 2.4.x
+## 2.2 OpenCV (>=3.0)
 
 OpenCV is mainly used for feature extraction, and matching. It can be installed via:
 ```

Thirdparty/DBoW2/CMakeLists.txt

@@ -37,3 +37,4 @@ 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})
+

Thirdparty/DBoW2/DBoW2/FClass.h

@@ -10,7 +10,7 @@
 #ifndef __D_T_FCLASS__
 #define __D_T_FCLASS__
 
-#include <opencv/cv.h>
+#include <opencv2/core/core.hpp>
 #include <vector>
 #include <string>
 

Thirdparty/DBoW2/DBoW2/FORB.h

@@ -10,7 +10,7 @@
 #ifndef __D_T_F_ORB__
 #define __D_T_F_ORB__
 
-#include <opencv/cv.h>
+#include <opencv2/core/core.hpp>
 #include <vector>
 #include <string>
 

Thirdparty/DBoW2/DBoW2/ScoringObject.h

@@ -39,7 +39,9 @@ class GeneralScoring
 	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(){}
+
+  virtual ~GeneralScoring() {} //!< Required for virtual base classes
+
 };
 
 /** 

Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h

@@ -24,7 +24,7 @@
 #include <fstream>
 #include <string>
 #include <algorithm>
-#include <opencv/cv.h>
+#include <opencv2/core/core.hpp>
 #include <limits>
 
 #include "FeatureVector.h"
@@ -1384,7 +1384,8 @@ bool TemplatedVocabulary<TDescriptor,F>::loadFromTextFile(const std::string &fil
 
         int nid = m_nodes.size();
         m_nodes.resize(m_nodes.size()+1);
-		m_nodes[nid].id = nid;
+	m_nodes[nid].id = nid;
+
         int pid ;
         ssnode >> pid;
         m_nodes[nid].parent = pid;
@@ -1399,7 +1400,7 @@ bool TemplatedVocabulary<TDescriptor,F>::loadFromTextFile(const std::string &fil
             string sElement;
             ssnode >> sElement;
             ssd << sElement << " ";
-		}
+	}
         F::fromString(m_nodes[nid].descriptor, ssd.str());
 
         ssnode >> m_nodes[nid].weight;

Thirdparty/DBoW2/LICENSE.txt

@@ -1,14 +1,8 @@
-This is a modified version of:
-
 DBoW2: bag-of-words library for C++ with generic descriptors
 
-Copyright (c) 2015 Dorian Galvez-Lopez. http://doriangalvez.com
+Copyright (c) 2015 Dorian Galvez-Lopez <http://doriangalvez.com> (Universidad de Zaragoza)
 All rights reserved.
 
-This version contains only a subset of the original components of the library
-and DBoW2/FORB.cpp has been modified (see the file for details).
-
-
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions
 are met:
@@ -17,9 +11,7 @@ are met:
 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. The original author of the work must be notified of any 
-   redistribution of source code or in binary form.
-4. Neither the name of copyright holders nor the names of its
+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.
 

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

Thirdparty/vio_common/CMakeLists.txt

@@ -24,19 +24,20 @@ ENDIF()
 SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
 
 # Add plain cmake packages 
-FIND_PACKAGE(OpenCV REQUIRED)
+find_package(OpenCV REQUIRED)
+message ("opencv include dir " ${OpenCV_INCLUDE_DIRS})
 FIND_PACKAGE(Eigen REQUIRED)
 
 # Include dirs
-INCLUDE_DIRECTORIES(
-  include
+LIST(APPEND vio_common_INCLUDE_DIR
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
   ${Eigen_INCLUDE_DIRS}
-  ${OpenCV_INCLUDE_DIRS}  
+  ${OpenCV_INCLUDE_DIRS}
 )
 
 IF(USE_ROS)
   FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp cmake_modules)
-  LIST(APPEND INCLUDE_DIRECTORIES ${catkin_INCLUDE_DIRS})
+  LIST(APPEND vio_common_INCLUDE_DIR ${catkin_INCLUDE_DIRS})
   catkin_package(
     DEPENDS Eigen OpenCV
     CATKIN_DEPENDS roscpp
@@ -62,17 +63,17 @@ src/FrameGrabber.cpp
 src/eigen_utils.cpp
 include/vio/PointStatistics.h
 include/vio/IMUErrorModel.h
-include/vio/IMUErrorModel.cpp
 )
 
 IF(USE_GPSTK)
   ADD_DEFINITIONS(-DHAVE_GPSTK)
-  SET(GPSTK_INCLUDE_DIRS $ENV{HOME}/ScaViSLAM/svslocal/include)
-  INCLUDE_DIRECTORIES(${GPSTK_INCLUDE_DIRS})
-  SET(GPSTK_LIB $ENV{HOME}/ScaViSLAM/svslocal/lib/libgpstk.so)
+  SET(GPSTK_INCLUDE_DIRS $ENV{HOME}/workspace/local_install/gpstk/include)
+  LIST(APPEND vio_common_INCLUDE_DIR ${GPSTK_INCLUDE_DIRS})
+  SET(GPSTK_LIB $ENV{HOME}/workspace/local_install/gpstk/lib/libgpstk.so)
 ENDIF()
 
 # Create library
+INCLUDE_DIRECTORIES(${vio_common_INCLUDE_DIR})
 ADD_LIBRARY(${PROJECT_NAME} SHARED ${SOURCEFILES})
 TARGET_LINK_LIBRARIES(${PROJECT_NAME}
   ${OpenCV_LIBS})
@@ -104,12 +105,33 @@ TARGET_LINK_LIBRARIES(testeigeninverse ${PROJECT_NAME})
 ################################################################################
 # Create the vio_commonConfig.cmake file for other cmake projects.
 IF(NOT USE_ROS)
-  SET(vio_common_LIBRARIES ${PROJECT_SOURCE_DIR}/lib/libvio_common.so)
+  # Export package for use from the build tree
+  EXPORT( PACKAGE vio_common )
+
+  # Create the vio_commonConfig.cmake file for other cmake projects.
+  # ... for the build tree
+  SET( CONFIG_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+  SET( CONFIG_DIR ${CMAKE_CURRENT_BINARY_DIR})
+  SET(vio_common_LIBRARY ${PROJECT_SOURCE_DIR}/lib/libvio_common.so)
   SET(vio_common_LIBRARY_DIR ${PROJECT_SOURCE_DIR}/lib)
-  SET(vio_common_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/include")
   CONFIGURE_FILE( ${CMAKE_CURRENT_SOURCE_DIR}/vio_commonConfig.cmake.in
       ${CMAKE_CURRENT_BINARY_DIR}/vio_commonConfig.cmake @ONLY IMMEDIATE )
-  export( PACKAGE vio_common )
+
+  # ... for the install tree
+  SET( CMAKECONFIG_INSTALL_DIR lib/cmake/vio_common )
+  FILE( RELATIVE_PATH REL_INCLUDE_DIR
+      "${CMAKE_INSTALL_PREFIX}/${CMAKECONFIG_INSTALL_DIR}"
+      "${CMAKE_INSTALL_PREFIX}/include" )
+
+  SET( vio_common_INCLUDE_DIR "\${vio_common_CMAKE_DIR}/${REL_INCLUDE_DIR}" ) 
+  SET( vio_common_LIBRARY_DIR "\${vio_common_CMAKE_DIR}/../.." )
+  SET( vio_common_LIBRARY "\${vio_common_CMAKE_DIR}/../../libvio_common.so" )
+  SET( CONFIG_SOURCE_DIR )
+  SET( CONFIG_DIR )
+  CONFIGURE_FILE( ${CMAKE_CURRENT_SOURCE_DIR}/vio_commonConfig.cmake.in
+      ${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/vio_commonConfig.cmake @ONLY )
+  INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/vio_commonConfig.cmake"
+        DESTINATION ${CMAKECONFIG_INSTALL_DIR} )
 
   INSTALL(DIRECTORY include/vio DESTINATION ${CMAKE_INSTALL_PREFIX}/include FILES_MATCHING PATTERN "*.h" )
   INSTALL(TARGETS ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )

Thirdparty/vio_common/README.md

@@ -1 +1,28 @@
 vio_common
+
+# Build instructions
+
+1. Install opencv 2.4 and eigen 3.3
+
+```
+#e.g., 
+sudo apt-get install libopencv-dev libeigen3-dev
+```
+
+If you want to install a specific version of these libraries or install to a specific path(note -DCMAKE\_INSTALL\_PREFIX), you may build them from source.
+
+2. Build vio_common
+
+```
+cd 
+cd workspace
+git clone https://github.com/JzHuai0108/vio_common.git vio_common
+mkdir build && cd build
+#cmake .. -DOpenCV_DIR=/folder/of/OpenCVConfig.cmake -DEIGEN_INCLUDE_DIR=/folder/of/Eigen -DCMAKE_INSTALL_PREFIX=$HOME/workspace/local_install/vio_common
+#e.g.,
+cmake .. -DOpenCV_DIR=$HOME/workspace/local_install/opencv/share/OpenCV -DEIGEN_INCLUDE_DIR=$HOME/workspace/local_install/eigen -DCMAKE_INSTALL_PREFIX=$HOME/workspace/local_install/vio_common
+make
+make install
+```
+
+

Thirdparty/vio_common/include/vio/CsvReader.h

@@ -11,7 +11,8 @@
 namespace vio{
 enum OUTPUT_FILE_TYPE{OKVIS_OUTPUT_FILE=0};
 class CsvReader:DataGrabber{
-public:    
+public: 
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW   
     class LinePattern{
         virtual std::ostream& print(std::ostream &) const=0;
         virtual std::istream& read(std::istream &)=0;
@@ -29,7 +30,7 @@ class CsvReader:DataGrabber{
         virtual double getTime()=0;
     };
 
-     class OkvisOutputPattern: public LinePattern{
+    class OkvisOutputPattern: public LinePattern{
 
         virtual std::ostream& print(std::ostream &) const;
         virtual std::istream& read(std::istream &);
@@ -70,6 +71,7 @@ void loadCsvData(std::string csvFile, std::vector<Eigen::Matrix<double, 19, 1> >
 
 class ViclamOutputReader:vio::DataGrabber{
 public:
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
     class ViclamOutputPattern{
 
         virtual std::ostream& print(std::ostream &) const;

Thirdparty/vio_common/include/vio/DataGrabber.h

@@ -4,7 +4,6 @@
 
 #include <iostream>
 #include <fstream>
-#include <Eigen/Dense>
 
 namespace vio{
 

Thirdparty/vio_common/include/vio/FrameGrabber.h

@@ -37,6 +37,8 @@ class FrameGrabber{
      */
     bool grabFrame(cv::Mat & frame, double & tk);
     int getCurrentId(){return mnCurrentId - 1;} //because it's incremented once a frame is obtained
+    //queryIndex is zero based, currently only supports video not image sequences
+    bool grabFrameByIndex(const int queryIndex, cv::Mat & left_img, double & tk);
 protected:
     bool is_measurement_good;         //does the measurement fit our requirements?
     std::string mVideoFile;

Thirdparty/vio_common/include/vio/GPSGrabber.h

@@ -13,6 +13,7 @@ namespace vio{
 enum GPSSolutionType{TOW_ECEF=0, TOW_NED, UTC_ECEF, UTC_NED};
 class GPSGrabber:vio::DataGrabber{
 public:    
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
     // GPS TOW
     class RtklibPosPattern{
         virtual std::ostream& print(std::ostream &) const;

Thirdparty/vio_common/include/vio/IMUErrorModel.h

@@ -10,6 +10,7 @@ template <class Scalar>
 class IMUErrorModel
 {
 public:
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
     //a volatile class to estimate linear acceleration and angular rate given measurements, or predict measurements given estimated values
     Eigen::Matrix<Scalar, 3,1> b_g;
     Eigen::Matrix<Scalar, 3, 1> b_a;
@@ -60,4 +61,5 @@ class IMUErrorModel
     void dwa_B_dbgbaSTS(Eigen::Matrix<Scalar, 6, 27+6> & output);
 };
 
+#include "implementation/IMUErrorModel.h"
 #endif