Merge branch 'master' of https://github.com/raulmur/ORB_SLAM

Need to keep ORB-SLAM up to date with the original

CMakeLists.txt

@@ -18,12 +18,10 @@ LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
 find_package(OpenCV REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(Cholmod REQUIRED)
 
 include_directories(
 ${PROJECT_SOURCE_DIR}
 ${EIGEN3_INCLUDE_DIR}
-${CHOLMOD_INCLUDE_DIR}
 )
 
 rosbuild_add_executable(${PROJECT_NAME}
@@ -52,14 +50,7 @@ rosbuild_link_boost(${PROJECT_NAME} thread)
 target_link_libraries(${PROJECT_NAME}
 ${OpenCV_LIBS}
 ${EIGEN3_LIBS}
-cholmod
 ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_core.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_solver_cholmod.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_solver_dense.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_stuff.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_types_sba.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_types_sim3.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_types_slam3d.so
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
 )
 

Changelog.md

@@ -0,0 +1,11 @@
+#Changelog of ORB-SLAM Monocular
+
+## 1.0.1 (18-01-2016)
+- Save/load vocabulary from text file instead of cv::FileStorage. 
+- Unused files from Thirdparty/DBoW2 and Thirdparty/g2o have been removed. g2o files have been reorganized and we compile only
+one library libg2o.so instead of four libraries (libg2o_core.so, libg2o_types.so, etc)
+- We use now Eigen solver instead of Cholmod solver in g2o. Removed dependency on Suitesparse and Cholmod.
+- Several bugs have been fixed.
+
+## 1.0.0 (03-03-2015)
+First ORB-SLAM Monocular version

Dependencies.md

@@ -0,0 +1,49 @@
+##List of Known Dependencies
+###ORB-SLAM Monocular 1.0.1
+
+In this document we list all the pieces of code included  by ORB-SLAM Monocular and linked libraries which are not property of the authors of ORB-SLAM Monocular.
+
+
+#####Code in **src** and **include** folders
+
+* *ORBextractor.cc*.
+This is a modified version of orb.cpp of OpenCV library. The original code is BSD licensed.
+
+* *PnPsolver.h, PnPsolver.cc*.
+This is a modified version of the epnp.h and epnp.cc of Vincent Lepetit. 
+This code can be found in popular BSD licensed computer vision libraries as [OpenCV](https://github.com/Itseez/opencv/blob/master/modules/calib3d/src/epnp.cpp) and [OpenGV](https://github.com/laurentkneip/opengv/blob/master/src/absolute_pose/modules/Epnp.cpp). The original code is FreeBSD.
+
+* Function *ORBmatcher::DescriptorDistance* in *ORBmatcher.cc*.
+The code is from: http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel.
+The code is in the public domain.
+
+#####Code in Thirdparty folder
+
+* All code in **DBoW2** folder.
+This is a modified version of [DBoW2](https://github.com/dorian3d/DBoW2) and [DLib](https://github.com/dorian3d/DLib) library. All files included are BSD licensed.
+
+* All code in **g2o** folder.
+This is a modified version of [g2o](https://github.com/RainerKuemmerle/g2o). All files included are BSD licensed.
+
+#####Library dependencies 
+
+* **Boost**. [Boost Software License](http://www.boost.org/users/license.html).
+
+* **OpenCV**.
+BSD licensed.
+
+* **Eigen3**.
+For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3.
+
+* **BLAS** (required by g2o).
+[Freely-available software](http://www.netlib.org/blas/#_licensing).
+
+* **LAPACK**(required by g2o).
+BSD licensed. 
+
+* **ROS**.
+BSD licensed. In the manifest.xml the only declared package dependencies are roscpp, tf, sensor_msgs, opencv2, image_transport, cv_bridge, which are all BSD licensed.
+
+
+
+Updated: 19/01/2016 Raúl Mur Artal

LICENSE.txt

@@ -1,5 +1,5 @@
 ORB-SLAM is released under a GPLv3 license (see License-gpl.txt).
-Please note that we provide along ORB-SLAM a modified version of g2o and DBoW2 which are both BSD.
+Please see Dependencies.md for a list of all included code and library dependencies which are not property of the authors of ORB-SLAM.
 
 For a closed-source version of ORB-SLAM for commercial purposes, please contact the authors.
 

README.md

@@ -1,4 +1,5 @@
-# ORB_SLAM
+# ORB-SLAM Monocular
+#### Current version: 1.0.1 (see [Changelog.md](https://github.com/raulmur/ORB_SLAM/blob/master/Changelog.md))
 
 ORB-SLAM is a versatile and accurate Monocular SLAM solution able to compute in real-time the camera trajectory and a sparse 3D reconstruction of the scene in a wide variety of environments, ranging from small hand-held sequences to a car driven around several city blocks. It is able to close large loops and perform global relocalisation in real-time and from wide baselines.
 
@@ -15,7 +16,7 @@ Link to pdf: http://webdiis.unizar.es/~raulmur/MurMontielTardosTRO15.pdf
 
 #1. License
 
-ORB-SLAM is released under a GPLv3 license. Please note that we provide along ORB-SLAM a modified version of g2o and DBoW2 which are both BSD. 
+ORB-SLAM is released under a [GPLv3 license](https://github.com/raulmur/ORB_SLAM/blob/master/License-gpl.txt). For a list of all code/library dependencies (and associated licenses), please see [Dependencies.md](https://github.com/raulmur/ORB_SLAM/blob/master/Dependencies.md).
 
 For a closed-source version of ORB-SLAM for commercial purposes, please contact the authors. 
 
@@ -48,30 +49,32 @@ If you do not have already installed ROS in your computer, we recommend you to i
 
 **If you use ROS Indigo, remove the depency of opencv2 in the manifest.xml.**
 
-##2.3 g2o (included)
-We use g2o to perform several optimizations. We include a modified copy of the library including only the components we need 
-and also some changes that are listed in `Thirdparty/g2o/Changes.txt`. 
-In order to compile g2o you will need to have installed CHOLMOD, BLAS, LAPACK and Eigen3.
+##2.3 OpenCV
+We use OpenCV to manipulate images and features. If you use a ROS version older than ROS Indigo, OpenCV is already included in the ROS distribution. In newer version of ROS, OpenCV is not included and you will need to install it. **We tested OpenCV 2.4**. Dowload and install instructions can be found at: http://opencv.org/
+
+##2.4 g2o (included in Thirdparty)
+We use a modified version of g2o (see original at https://github.com/RainerKuemmerle/g2o) to perform optimizations.
+In order to compile g2o you will need to have installed BLAS, LAPACK and Eigen3 (at least 3.1.0).
 
-	sudo apt-get install libsuitesparse-dev
 	sudo apt-get install libblas-dev
 	sudo apt-get install liblapack-dev
 	sudo apt-get install libeigen3-dev
 
-##2.4 DBoW2 (included)
-We make use of some components of the DBoW2 library (https://github.com/dorian3d/DBoW2) for place recognition and feature matching. We include a modified copy of the library including only the components we need and also some modifications that are listed in `Thirdparty/DBoW2/LICENSE.txt`. 
-It only depends on OpenCV, but it should be included in the ROS distribution.
+##2.5 DBoW2 (included in Thirdparty)
+We make use of some components of the DBoW2 and DLib library (see original at https://github.com/dorian3d/DBoW2) for place recognition and feature matching. There are no additional dependencies to compile DBoW2.
 
 
 #3. Installation
 
-1. Make sure you have installed ROS and all library dependencies (boost, eigen3, cholmod, blas, lapack).
+1. Make sure you have installed ROS and all library dependencies (boost, eigen3, opencv, blas, lapack).
 
 2. Clone the repository:
 
 		git clone https://github.com/raulmur/ORB_SLAM.git ORB_SLAM
 		
-3. Add the path where you cloned ORB-SLAM to the `ROS_PACKAGE_PATH` environment variable (better if you add the export line to your .bashrc file)
+3. Add the path where you cloned ORB-SLAM to the `ROS_PACKAGE_PATH` environment variable. To do this, modify your .bashrc and add at the bottom the following line (replace PATH_TO_PARENT_OF_ORB_SLAM):
+
+		export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH_TO_PARENT_OF_ORB_SLAM
 
 4. Build g2o. Go into `Thirdparty/g2o/` and execute:
 
@@ -80,7 +83,7 @@ It only depends on OpenCV, but it should be included in the ROS distribution.
 		cmake .. -DCMAKE_BUILD_TYPE=Release
 		make 
 
-	*Tip: To achieve the best performance in your computer, set your favorite compilation flags in line 97 and 98 of* `Thirdparty/g2o/CMakeLists.txt` 
+	*Tip: To achieve the best performance in your computer, set your favorite compilation flags in line 61 and 62 of* `Thirdparty/g2o/CMakeLists.txt` 
 		  (by default -03 -march=native)
 
 5. Build DBoW2. Go into Thirdparty/DBoW2/ and execute: