added orbslam files

.gitignore

@@ -74,4 +74,93 @@ build.sh
 run.sh
 
 ################## Test #####################
-dataset-corridor4_512_16/
+dataset-corridor4_512_16/
+rgbd_dataset_freiburg1_xyz/
+
+
+CMakeLists.txt.user
+CMakeLists_modified.txt
+
+Examples/RGB-D/rgbd_tum
+Examples/RGB-D/rgbd_realsense_D435i
+
+Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i
+
+Examples/Monocular/mono_realsense_D435i
+Examples/Monocular/mono_euroc
+Examples/Monocular/mono_kitti
+Examples/Monocular/mono_tum
+Examples/Monocular/mono_tum_vi
+Examples/Monocular/mono_realsense_t265
+
+Examples/Stereo/stereo_euroc
+Examples/Stereo/stereo_kitti
+Examples/Stereo/stereo_tum_vi
+Examples/Stereo/stereo_realsense_t265
+Examples/Stereo/stereo_realsense_D435i
+
+Examples/Monocular-Inertial/mono_inertial_euroc
+Examples/Monocular-Inertial/mono_inertial_tum_vi
+Examples/Monocular-Inertial/mono_inertial_realsense_t265
+Examples/Monocular-Inertial/mono_inertial_realsense_D435i
+Examples/Monocular-Inertial/mono_inertial_realsense_D435i_2
+
+Examples/Stereo-Inertial/stereo_inertial_euroc
+Examples/Stereo-Inertial/stereo_inertial_tum_vi
+Examples/Stereo-Inertial/stereo_inertial_realsense_t265
+Examples/Stereo-Inertial/stereo_inertial_realsense_D435i
+
+
+Examples/ROS/ORB_SLAM3/Mono
+Examples/ROS/ORB_SLAM3/Mono_Inertial
+Examples/ROS/ORB_SLAM3/MonoAR
+Examples/ROS/ORB_SLAM3/RGBD
+Examples/ROS/ORB_SLAM3/Stereo
+Examples/ROS/ORB_SLAM3/Stereo_Inertial
+
+Examples/Calibration/recorder_realsense_D435i
+
+Examples/Tests/viewer_dataset
+Examples/Tests/sophus_test
+
+Examples/ROS/ORB_SLAM3/CMakeLists.txt.user
+Examples/ROS/ORB_SLAM3/build/
+
+KeyFrameTrajectory.txt
+CameraTrajectory.txt
+kf_*.txt
+f_*.txt
+Thirdparty/DBoW2/build/
+Thirdparty/DBoW2/lib/
+Thirdparty/g2o/build/
+Thirdparty/g2o/config.h
+Thirdparty/g2o/lib/
+Vocabulary/ORBvoc.txt
+build/
+
+lib/
+
+cmake_modules/
+cmake-build-debug/
+
+ExecMean.txt
+SessionInfo.txt
+Results_Euroc.txt
+LBA_Stats.txt
+LocalMapTimeStats.txt
+TrackLocalMapStats.txt
+TrackingTimeStats.txt
+time*
+Time*
+Table_Euroc
+Table_TUMVI_rooms/
+*.pyc
+*.osa
+.idea/
+my_settings.txt
+
+borrar/*
+
+*/ExecMean.txt
+
+KeyFrameTrajectory.txt

CMakeLists.txt

@@ -47,7 +47,10 @@ include_directories(
     ${OpenCV_INCLUDE_DIR}
     ${Pangolin_INCLUDE_DIRS}
 
+    ${PROJECT_SOURCE_DIR}
     ${PROJECT_SOURCE_DIR}/include
+    ${PROJECT_SOURCE_DIR}/include/CameraModels
+
     ${PROJECT_SOURCE_DIR}/thirdparty/
     ${PROJECT_SOURCE_DIR}/thirdparty/g2o/
     ${PROJECT_SOURCE_DIR}/thirdparty/DBoW2/
@@ -57,12 +60,69 @@ include_directories(
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 
 add_library(${PROJECT_NAME} SHARED
+    src/System.cc
+    src/Tracking.cc
+    src/LocalMapping.cc
+    src/LoopClosing.cc
+    src/ORBextractor.cc
+    src/ORBmatcher.cc
+    src/FrameDrawer.cc
+    src/Converter.cc
+    src/MapPoint.cc
+    src/KeyFrame.cc
+    src/Atlas.cc
+    src/Map.cc
+    src/MapDrawer.cc
+    src/Optimizer.cc
+    src/Frame.cc
+    src/KeyFrameDatabase.cc
+    src/Sim3Solver.cc
+    src/Viewer.cc
+    src/ImuTypes.cc
+    src/G2oTypes.cc
+    src/CameraModels/Pinhole.cpp
+    src/CameraModels/KannalaBrandt8.cpp
+    src/OptimizableTypes.cpp
+    src/MLPnPsolver.cpp
+    src/GeometricTools.cc
+    src/TwoViewReconstruction.cc
+    src/Config.cc
+    src/Settings.cc
     src/XFeat.cc
     src/XFextractor.cc
-    src/ORBextractor.cc
+
+    include/System.h
+    include/Tracking.h
+    include/LocalMapping.h
+    include/LoopClosing.h
+    include/ORBextractor.h
+    include/ORBmatcher.h
+    include/FrameDrawer.h
+    include/Converter.h
+    include/MapPoint.h
+    include/KeyFrame.h
+    include/Atlas.h
+    include/Map.h
+    include/MapDrawer.h
+    include/Optimizer.h
+    include/Frame.h
+    include/KeyFrameDatabase.h
+    include/Sim3Solver.h
+    include/Viewer.h
+    include/ImuTypes.h
+    include/G2oTypes.h
+    include/CameraModels/GeometricCamera.h
+    include/CameraModels/Pinhole.h
+    include/CameraModels/KannalaBrandt8.h
+    include/OptimizableTypes.h
+    include/MLPnPsolver.h
+    include/GeometricTools.h
+    include/TwoViewReconstruction.h
+    include/SerializationUtils.h
+    include/Config.h
+    include/Settings.h
     include/XFeat.h
     include/XFextractor.h
-    include/ORBextractor.h
 )
 
 target_link_libraries(${PROJECT_NAME}
@@ -72,6 +132,8 @@ target_link_libraries(${PROJECT_NAME}
 
     ${PROJECT_SOURCE_DIR}/thirdparty/g2o/lib/libg2o${CMAKE_SHARED_LIBRARY_SUFFIX}
     ${PROJECT_SOURCE_DIR}/thirdparty/DBoW2/lib/libDBoW2${CMAKE_SHARED_LIBRARY_SUFFIX}
+    -lboost_serialization
+    -lcrypto
 )
 
 add_subdirectory(examples)

examples/Monocular/EuRoC.yaml

@@ -0,0 +1,78 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# System config
+#--------------------------------------------------------------------------------------------
+
+# When the variables are commented, the system doesn't load a previous session or not store the current one
+
+# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
+#System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Mono"
+
+# The store file is created from the current session, if a file with the same name exists it is deleted
+#System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Mono"
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera1.fx: 458.654
+Camera1.fy: 457.296
+Camera1.cx: 367.215
+Camera1.cy: 248.375
+
+Camera1.k1: -0.28340811
+Camera1.k2: 0.07395907
+Camera1.p1: 0.00019359
+Camera1.p2: 1.76187114e-05
+
+Camera.width: 752
+Camera.height: 480
+
+Camera.newWidth: 600
+Camera.newHeight: 350
+
+# Camera frames per second 
+Camera.fps: 20
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+#--------------------------------------------------------------------------------------------
+# 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: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500.0
+