diff --git a/Forster2014ICRA.pdf b/CPU_version/Forster2014ICRA.pdf old mode 100644 new mode 100755 similarity index 100% rename from Forster2014ICRA.pdf rename to CPU_version/Forster2014ICRA.pdf diff --git a/LICENCE b/CPU_version/LICENCE old mode 100644 new mode 100755 similarity index 100% rename from LICENCE rename to CPU_version/LICENCE diff --git a/README.md b/CPU_version/README.md old mode 100644 new mode 100755 similarity index 88% rename from README.md rename to CPU_version/README.md index 1e098a9..1d27172 --- a/README.md +++ b/CPU_version/README.md @@ -1,7 +1,7 @@ SVO === -This code implements a semi-direct monocular visual odometry pipeline. +This code implements a semi-direct monocular visual odometry pipeline which has been integrated with GTSAM to infused IMU as well. Video: http://youtu.be/2YnIMfw6bJY @@ -32,10 +32,11 @@ If you use SVO in an academic context, please cite the following publication: #### Documentation The API is documented here: http://uzh-rpg.github.io/rpg_svo/doc/ +The GTSAM documentation https://gtsam.org/tutorials/ #### Instructions -See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki +See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and https://gtsam.org/get_started/ #### Contributing diff --git a/rqt_svo/src/rqt_svo/__init__.py b/CPU_version/__init__.py similarity index 100% rename from rqt_svo/src/rqt_svo/__init__.py rename to CPU_version/__init__.py diff --git a/svo/.idea/.gitignore b/CPU_version/svo/.idea/.gitignore similarity index 100% rename from svo/.idea/.gitignore rename to CPU_version/svo/.idea/.gitignore diff --git a/svo/.idea/misc.xml b/CPU_version/svo/.idea/misc.xml similarity index 100% rename from svo/.idea/misc.xml rename to CPU_version/svo/.idea/misc.xml diff --git a/svo/.idea/modules.xml b/CPU_version/svo/.idea/modules.xml similarity index 100% rename from svo/.idea/modules.xml rename to CPU_version/svo/.idea/modules.xml diff --git a/svo/.idea/svo.iml b/CPU_version/svo/.idea/svo.iml similarity index 100% rename from svo/.idea/svo.iml rename to CPU_version/svo/.idea/svo.iml diff --git a/svo/.idea/vcs.xml b/CPU_version/svo/.idea/vcs.xml similarity index 100% rename from svo/.idea/vcs.xml rename to CPU_version/svo/.idea/vcs.xml diff --git a/svo/CMakeLists.txt b/CPU_version/svo/CMakeLists.txt similarity index 91% rename from svo/CMakeLists.txt rename to CPU_version/svo/CMakeLists.txt index ff39094..5ecd775 100644 --- a/svo/CMakeLists.txt +++ b/CPU_version/svo/CMakeLists.txt @@ -71,7 +71,7 @@ ENDIF() # Include dirs INCLUDE_DIRECTORIES( - include + include ${Eigen_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${Sophus_INCLUDE_DIRS} @@ -96,20 +96,20 @@ ENDIF() # Set sourcefiles LIST(APPEND SOURCEFILES - src/frame_handler_mono.cpp - src/frame_handler_base.cpp - src/frame.cpp - src/point.cpp - src/map.cpp - src/pose_optimizer.cpp - src/initialization.cpp - src/matcher.cpp - src/reprojector.cpp - src/feature_alignment.cpp - src/feature_detection.cpp - src/depth_filter.cpp - src/config.cpp - src/sparse_img_align.cpp src/imu_integration.cpp) + src/frame_handler_mono.cpp + src/frame_handler_base.cpp + src/frame.cpp + src/point.cpp + src/map.cpp + src/pose_optimizer.cpp + src/initialization.cpp + src/matcher.cpp + src/reprojector.cpp + src/feature_alignment.cpp + src/feature_detection.cpp + src/depth_filter.cpp + src/config.cpp + src/sparse_img_align.cpp src/imu_integration.cpp) # Add g2o if available IF(HAVE_G2O) diff --git a/svo/CMakeModules/FindEigen.cmake b/CPU_version/svo/CMakeModules/FindEigen.cmake similarity index 100% rename from svo/CMakeModules/FindEigen.cmake rename to CPU_version/svo/CMakeModules/FindEigen.cmake diff --git a/svo/CMakeModules/FindG2O.cmake b/CPU_version/svo/CMakeModules/FindG2O.cmake similarity index 100% rename from svo/CMakeModules/FindG2O.cmake rename to CPU_version/svo/CMakeModules/FindG2O.cmake diff --git a/svo/Doxyfile b/CPU_version/svo/Doxyfile similarity index 100% rename from svo/Doxyfile rename to CPU_version/svo/Doxyfile diff --git a/svo/doc/.gitignore b/CPU_version/svo/doc/.gitignore similarity index 50% rename from svo/doc/.gitignore rename to CPU_version/svo/doc/.gitignore index c96a04f..cf57c3b 100644 --- a/svo/doc/.gitignore +++ b/CPU_version/svo/doc/.gitignore @@ -1,2 +1,2 @@ -* +.gitignore !.gitignore \ No newline at end of file diff --git a/svo/include/svo/bundle_adjustment.h b/CPU_version/svo/include/svo/bundle_adjustment.h similarity index 100% rename from svo/include/svo/bundle_adjustment.h rename to CPU_version/svo/include/svo/bundle_adjustment.h diff --git a/svo/include/svo/config.h b/CPU_version/svo/include/svo/config.h similarity index 100% rename from svo/include/svo/config.h rename to CPU_version/svo/include/svo/config.h diff --git a/svo/include/svo/depth_filter.h b/CPU_version/svo/include/svo/depth_filter.h similarity index 100% rename from svo/include/svo/depth_filter.h rename to CPU_version/svo/include/svo/depth_filter.h diff --git a/svo/include/svo/feature.h b/CPU_version/svo/include/svo/feature.h similarity index 100% rename from svo/include/svo/feature.h rename to CPU_version/svo/include/svo/feature.h diff --git a/svo/include/svo/feature_alignment.h b/CPU_version/svo/include/svo/feature_alignment.h similarity index 100% rename from svo/include/svo/feature_alignment.h rename to CPU_version/svo/include/svo/feature_alignment.h diff --git a/svo/include/svo/feature_detection.h b/CPU_version/svo/include/svo/feature_detection.h similarity index 100% rename from svo/include/svo/feature_detection.h rename to CPU_version/svo/include/svo/feature_detection.h diff --git a/svo/include/svo/frame.h b/CPU_version/svo/include/svo/frame.h similarity index 100% rename from svo/include/svo/frame.h rename to CPU_version/svo/include/svo/frame.h diff --git a/svo/include/svo/frame_handler_base.h b/CPU_version/svo/include/svo/frame_handler_base.h similarity index 100% rename from svo/include/svo/frame_handler_base.h rename to CPU_version/svo/include/svo/frame_handler_base.h diff --git a/svo/include/svo/frame_handler_mono.h b/CPU_version/svo/include/svo/frame_handler_mono.h similarity index 100% rename from svo/include/svo/frame_handler_mono.h rename to CPU_version/svo/include/svo/frame_handler_mono.h diff --git a/svo/include/svo/global.h b/CPU_version/svo/include/svo/global.h similarity index 100% rename from svo/include/svo/global.h rename to CPU_version/svo/include/svo/global.h diff --git a/svo/include/svo/imu_integration.h b/CPU_version/svo/include/svo/imu_integration.h similarity index 100% rename from svo/include/svo/imu_integration.h rename to CPU_version/svo/include/svo/imu_integration.h diff --git a/svo/include/svo/initialization.h b/CPU_version/svo/include/svo/initialization.h similarity index 100% rename from svo/include/svo/initialization.h rename to CPU_version/svo/include/svo/initialization.h diff --git a/svo/include/svo/map.h b/CPU_version/svo/include/svo/map.h similarity index 100% rename from svo/include/svo/map.h rename to CPU_version/svo/include/svo/map.h diff --git a/svo/include/svo/matcher.h b/CPU_version/svo/include/svo/matcher.h similarity index 100% rename from svo/include/svo/matcher.h rename to CPU_version/svo/include/svo/matcher.h diff --git a/svo/include/svo/point.h b/CPU_version/svo/include/svo/point.h similarity index 100% rename from svo/include/svo/point.h rename to CPU_version/svo/include/svo/point.h diff --git a/svo/include/svo/pose_optimizer.h b/CPU_version/svo/include/svo/pose_optimizer.h similarity index 100% rename from svo/include/svo/pose_optimizer.h rename to CPU_version/svo/include/svo/pose_optimizer.h diff --git a/svo/include/svo/reprojector.h b/CPU_version/svo/include/svo/reprojector.h similarity index 100% rename from svo/include/svo/reprojector.h rename to CPU_version/svo/include/svo/reprojector.h diff --git a/svo/include/svo/sparse_img_align.h b/CPU_version/svo/include/svo/sparse_img_align.h similarity index 100% rename from svo/include/svo/sparse_img_align.h rename to CPU_version/svo/include/svo/sparse_img_align.h diff --git a/svo/include/svo/svoVisionFactor.h b/CPU_version/svo/include/svo/svoVisionFactor.h similarity index 100% rename from svo/include/svo/svoVisionFactor.h rename to CPU_version/svo/include/svo/svoVisionFactor.h diff --git a/svo/package.xml b/CPU_version/svo/package.xml similarity index 100% rename from svo/package.xml rename to CPU_version/svo/package.xml diff --git a/svo/src/bundle_adjustment.cpp b/CPU_version/svo/src/bundle_adjustment.cpp similarity index 100% rename from svo/src/bundle_adjustment.cpp rename to CPU_version/svo/src/bundle_adjustment.cpp diff --git a/svo/src/config.cpp b/CPU_version/svo/src/config.cpp similarity index 100% rename from svo/src/config.cpp rename to CPU_version/svo/src/config.cpp diff --git a/svo/src/depth_filter.cpp b/CPU_version/svo/src/depth_filter.cpp similarity index 100% rename from svo/src/depth_filter.cpp rename to CPU_version/svo/src/depth_filter.cpp diff --git a/svo/src/feature_alignment.cpp b/CPU_version/svo/src/feature_alignment.cpp similarity index 100% rename from svo/src/feature_alignment.cpp rename to CPU_version/svo/src/feature_alignment.cpp diff --git a/svo/src/feature_detection.cpp b/CPU_version/svo/src/feature_detection.cpp similarity index 100% rename from svo/src/feature_detection.cpp rename to CPU_version/svo/src/feature_detection.cpp diff --git a/svo/src/frame.cpp b/CPU_version/svo/src/frame.cpp similarity index 99% rename from svo/src/frame.cpp rename to CPU_version/svo/src/frame.cpp index 0779891..44ddab6 100644 --- a/svo/src/frame.cpp +++ b/CPU_version/svo/src/frame.cpp @@ -19,7 +19,6 @@ #include #include #include -#include #include #include #include diff --git a/svo/src/frame_handler_base.cpp b/CPU_version/svo/src/frame_handler_base.cpp similarity index 100% rename from svo/src/frame_handler_base.cpp rename to CPU_version/svo/src/frame_handler_base.cpp diff --git a/svo/src/frame_handler_mono.cpp b/CPU_version/svo/src/frame_handler_mono.cpp similarity index 100% rename from svo/src/frame_handler_mono.cpp rename to CPU_version/svo/src/frame_handler_mono.cpp diff --git a/svo/src/imu_integration.cpp b/CPU_version/svo/src/imu_integration.cpp similarity index 100% rename from svo/src/imu_integration.cpp rename to CPU_version/svo/src/imu_integration.cpp diff --git a/svo/src/initialization.cpp b/CPU_version/svo/src/initialization.cpp similarity index 100% rename from svo/src/initialization.cpp rename to CPU_version/svo/src/initialization.cpp diff --git a/svo/src/map.cpp b/CPU_version/svo/src/map.cpp similarity index 100% rename from svo/src/map.cpp rename to CPU_version/svo/src/map.cpp diff --git a/svo/src/matcher.cpp b/CPU_version/svo/src/matcher.cpp similarity index 100% rename from svo/src/matcher.cpp rename to CPU_version/svo/src/matcher.cpp diff --git a/svo/src/point.cpp b/CPU_version/svo/src/point.cpp similarity index 100% rename from svo/src/point.cpp rename to CPU_version/svo/src/point.cpp diff --git a/svo/src/pose_optimizer.cpp b/CPU_version/svo/src/pose_optimizer.cpp similarity index 100% rename from svo/src/pose_optimizer.cpp rename to CPU_version/svo/src/pose_optimizer.cpp diff --git a/svo/src/reprojector.cpp b/CPU_version/svo/src/reprojector.cpp similarity index 100% rename from svo/src/reprojector.cpp rename to CPU_version/svo/src/reprojector.cpp diff --git a/svo/src/sparse_img_align.cpp b/CPU_version/svo/src/sparse_img_align.cpp similarity index 100% rename from svo/src/sparse_img_align.cpp rename to CPU_version/svo/src/sparse_img_align.cpp diff --git a/svo/test/README.md b/CPU_version/svo/test/README.md similarity index 100% rename from svo/test/README.md rename to CPU_version/svo/test/README.md diff --git a/svo/test/benchmark.csv b/CPU_version/svo/test/benchmark.csv similarity index 100% rename from svo/test/benchmark.csv rename to CPU_version/svo/test/benchmark.csv diff --git a/svo/test/data/.gitignore b/CPU_version/svo/test/data/.gitignore similarity index 50% rename from svo/test/data/.gitignore rename to CPU_version/svo/test/data/.gitignore index c96a04f..cf57c3b 100644 --- a/svo/test/data/.gitignore +++ b/CPU_version/svo/test/data/.gitignore @@ -1,2 +1,2 @@ -* +.gitignore !.gitignore \ No newline at end of file diff --git a/svo/test/results/.gitignore b/CPU_version/svo/test/results/.gitignore similarity index 50% rename from svo/test/results/.gitignore rename to CPU_version/svo/test/results/.gitignore index c96a04f..cf57c3b 100644 --- a/svo/test/results/.gitignore +++ b/CPU_version/svo/test/results/.gitignore @@ -1,2 +1,2 @@ -* +.gitignore !.gitignore \ No newline at end of file diff --git a/svo/test/test_depth_filter.cpp b/CPU_version/svo/test/test_depth_filter.cpp similarity index 100% rename from svo/test/test_depth_filter.cpp rename to CPU_version/svo/test/test_depth_filter.cpp diff --git a/svo/test/test_feature_alignment.cpp b/CPU_version/svo/test/test_feature_alignment.cpp similarity index 100% rename from svo/test/test_feature_alignment.cpp rename to CPU_version/svo/test/test_feature_alignment.cpp diff --git a/svo/test/test_feature_detection.cpp b/CPU_version/svo/test/test_feature_detection.cpp similarity index 100% rename from svo/test/test_feature_detection.cpp rename to CPU_version/svo/test/test_feature_detection.cpp diff --git a/svo/test/test_matcher.cpp b/CPU_version/svo/test/test_matcher.cpp similarity index 100% rename from svo/test/test_matcher.cpp rename to CPU_version/svo/test/test_matcher.cpp diff --git a/svo/test/test_pipeline.cpp b/CPU_version/svo/test/test_pipeline.cpp similarity index 100% rename from svo/test/test_pipeline.cpp rename to CPU_version/svo/test/test_pipeline.cpp diff --git a/svo/test/test_pose_optimizer.cpp b/CPU_version/svo/test/test_pose_optimizer.cpp similarity index 100% rename from svo/test/test_pose_optimizer.cpp rename to CPU_version/svo/test/test_pose_optimizer.cpp diff --git a/svo/test/test_sparse_img_align.cpp b/CPU_version/svo/test/test_sparse_img_align.cpp similarity index 100% rename from svo/test/test_sparse_img_align.cpp rename to CPU_version/svo/test/test_sparse_img_align.cpp diff --git a/svo/test/test_utils.h b/CPU_version/svo/test/test_utils.h similarity index 100% rename from svo/test/test_utils.h rename to CPU_version/svo/test/test_utils.h diff --git a/rqt_svo/src/rqt_svo/.gitignore b/CPU_version/svo_analysis/.gitignore similarity index 100% rename from rqt_svo/src/rqt_svo/.gitignore rename to CPU_version/svo_analysis/.gitignore diff --git a/svo_analysis/CMakeLists.txt b/CPU_version/svo_analysis/CMakeLists.txt similarity index 100% rename from svo_analysis/CMakeLists.txt rename to CPU_version/svo_analysis/CMakeLists.txt diff --git a/svo_analysis/README.md b/CPU_version/svo_analysis/README.md similarity index 100% rename from svo_analysis/README.md rename to CPU_version/svo_analysis/README.md diff --git a/svo_analysis/src/svo_analysis/__init__.py b/CPU_version/svo_analysis/__init__.py similarity index 100% rename from svo_analysis/src/svo_analysis/__init__.py rename to CPU_version/svo_analysis/__init__.py diff --git a/svo_analysis/comparisons/speed.yaml b/CPU_version/svo_analysis/comparisons/speed.yaml similarity index 100% rename from svo_analysis/comparisons/speed.yaml rename to CPU_version/svo_analysis/comparisons/speed.yaml diff --git a/svo_analysis/comparisons/textures.yaml b/CPU_version/svo_analysis/comparisons/textures.yaml similarity index 100% rename from svo_analysis/comparisons/textures.yaml rename to CPU_version/svo_analysis/comparisons/textures.yaml diff --git a/svo_analysis/experiments/.gitignore b/CPU_version/svo_analysis/experiments/.gitignore similarity index 100% rename from svo_analysis/experiments/.gitignore rename to CPU_version/svo_analysis/experiments/.gitignore diff --git a/svo_analysis/package.xml b/CPU_version/svo_analysis/package.xml similarity index 100% rename from svo_analysis/package.xml rename to CPU_version/svo_analysis/package.xml diff --git a/svo_analysis/results/.gitignore b/CPU_version/svo_analysis/results/.gitignore similarity index 52% rename from svo_analysis/results/.gitignore rename to CPU_version/svo_analysis/results/.gitignore index d6b7ef3..c1aefd2 100644 --- a/svo_analysis/results/.gitignore +++ b/CPU_version/svo_analysis/results/.gitignore @@ -1,2 +1,2 @@ -* +.gitignore !.gitignore diff --git a/CPU_version/svo_analysis/scripts/__init__.py b/CPU_version/svo_analysis/scripts/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/svo_analysis/scripts/benchmark.py b/CPU_version/svo_analysis/scripts/benchmark.py similarity index 100% rename from svo_analysis/scripts/benchmark.py rename to CPU_version/svo_analysis/scripts/benchmark.py diff --git a/svo_analysis/scripts/compare_results.py b/CPU_version/svo_analysis/scripts/compare_results.py similarity index 100% rename from svo_analysis/scripts/compare_results.py rename to CPU_version/svo_analysis/scripts/compare_results.py diff --git a/svo_analysis/scripts/comparison.py b/CPU_version/svo_analysis/scripts/comparison.py similarity index 100% rename from svo_analysis/scripts/comparison.py rename to CPU_version/svo_analysis/scripts/comparison.py diff --git a/svo_analysis/scripts/evaluate.py b/CPU_version/svo_analysis/scripts/evaluate.py similarity index 100% rename from svo_analysis/scripts/evaluate.py rename to CPU_version/svo_analysis/scripts/evaluate.py diff --git a/svo_analysis/setup.py b/CPU_version/svo_analysis/setup.py similarity index 100% rename from svo_analysis/setup.py rename to CPU_version/svo_analysis/setup.py diff --git a/CPU_version/svo_analysis/src/__init__.py b/CPU_version/svo_analysis/src/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/CPU_version/svo_analysis/src/svo_analysis/__init__.py b/CPU_version/svo_analysis/src/svo_analysis/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/svo_analysis/src/svo_analysis/analyse_dataset.py b/CPU_version/svo_analysis/src/svo_analysis/analyse_dataset.py similarity index 100% rename from svo_analysis/src/svo_analysis/analyse_dataset.py rename to CPU_version/svo_analysis/src/svo_analysis/analyse_dataset.py diff --git a/svo_analysis/src/svo_analysis/analyse_depth.py b/CPU_version/svo_analysis/src/svo_analysis/analyse_depth.py similarity index 100% rename from svo_analysis/src/svo_analysis/analyse_depth.py rename to CPU_version/svo_analysis/src/svo_analysis/analyse_depth.py diff --git a/svo_analysis/src/svo_analysis/analyse_logs.py b/CPU_version/svo_analysis/src/svo_analysis/analyse_logs.py similarity index 100% rename from svo_analysis/src/svo_analysis/analyse_logs.py rename to CPU_version/svo_analysis/src/svo_analysis/analyse_logs.py diff --git a/svo_analysis/src/svo_analysis/analyse_timing.py b/CPU_version/svo_analysis/src/svo_analysis/analyse_timing.py similarity index 100% rename from svo_analysis/src/svo_analysis/analyse_timing.py rename to CPU_version/svo_analysis/src/svo_analysis/analyse_timing.py diff --git a/svo_analysis/src/svo_analysis/analyse_trajectory.py b/CPU_version/svo_analysis/src/svo_analysis/analyse_trajectory.py similarity index 100% rename from svo_analysis/src/svo_analysis/analyse_trajectory.py rename to CPU_version/svo_analysis/src/svo_analysis/analyse_trajectory.py diff --git a/svo_analysis/src/svo_analysis/filter_groundtruth_smooth.py b/CPU_version/svo_analysis/src/svo_analysis/filter_groundtruth_smooth.py similarity index 100% rename from svo_analysis/src/svo_analysis/filter_groundtruth_smooth.py rename to CPU_version/svo_analysis/src/svo_analysis/filter_groundtruth_smooth.py diff --git a/svo_analysis/src/svo_analysis/hand_eye_calib.py b/CPU_version/svo_analysis/src/svo_analysis/hand_eye_calib.py similarity index 100% rename from svo_analysis/src/svo_analysis/hand_eye_calib.py rename to CPU_version/svo_analysis/src/svo_analysis/hand_eye_calib.py diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/__init__.py b/CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/__init__.py similarity index 100% rename from svo_analysis/src/svo_analysis/tum_benchmark_tools/__init__.py rename to CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/__init__.py diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py b/CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py similarity index 100% rename from svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py rename to CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/associate.py diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py b/CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py similarity index 97% rename from svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py rename to CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py index 683b598..a8b2ca9 100755 --- a/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py +++ b/CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_ate.py @@ -129,7 +129,7 @@ if __name__=="__main__": first_list = associate.read_file_list(args.first_file) second_list = associate.read_file_list(args.second_file) - matches = associate.associate(first_list, second_list,float(args.offset),float(args.max_difference)) + matches = associate.associate(first_list, second_list, float(args.offset), float(args.max_difference)) if len(matches)<2: sys.exit("Couldn't find matching timestamp pairs between groundtruth and estimated trajectory! Did you choose the correct sequence?") @@ -175,8 +175,7 @@ if __name__=="__main__": import matplotlib matplotlib.use('Agg') import matplotlib.pyplot as plt - import matplotlib.pylab as pylab - from matplotlib.patches import Ellipse + fig = plt.figure() ax = fig.add_subplot(111) plot_traj(ax,first_stamps,first_xyz_full.transpose().A,'-',"black","ground truth") diff --git a/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_rpe.py b/CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_rpe.py similarity index 100% rename from svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_rpe.py rename to CPU_version/svo_analysis/src/svo_analysis/tum_benchmark_tools/evaluate_rpe.py diff --git a/svo_msgs/.idea/.gitignore b/CPU_version/svo_msgs/.idea/.gitignore similarity index 100% rename from svo_msgs/.idea/.gitignore rename to CPU_version/svo_msgs/.idea/.gitignore diff --git a/svo_msgs/.idea/misc.xml b/CPU_version/svo_msgs/.idea/misc.xml similarity index 100% rename from svo_msgs/.idea/misc.xml rename to CPU_version/svo_msgs/.idea/misc.xml diff --git a/svo_msgs/.idea/modules.xml b/CPU_version/svo_msgs/.idea/modules.xml similarity index 100% rename from svo_msgs/.idea/modules.xml rename to CPU_version/svo_msgs/.idea/modules.xml diff --git a/svo_msgs/.idea/svo_msgs.iml b/CPU_version/svo_msgs/.idea/svo_msgs.iml similarity index 100% rename from svo_msgs/.idea/svo_msgs.iml rename to CPU_version/svo_msgs/.idea/svo_msgs.iml diff --git a/svo_msgs/.idea/vcs.xml b/CPU_version/svo_msgs/.idea/vcs.xml similarity index 100% rename from svo_msgs/.idea/vcs.xml rename to CPU_version/svo_msgs/.idea/vcs.xml diff --git a/svo_msgs/CMakeLists.txt b/CPU_version/svo_msgs/CMakeLists.txt similarity index 91% rename from svo_msgs/CMakeLists.txt rename to CPU_version/svo_msgs/CMakeLists.txt index 23d4e3b..06bb680 100644 --- a/svo_msgs/CMakeLists.txt +++ b/CPU_version/svo_msgs/CMakeLists.txt @@ -9,7 +9,7 @@ find_package(catkin REQUIRED COMPONENTS ) # search for all msg files -FILE(GLOB messages_to_build RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}/msg" +FILE(GLOB messages_to_build RELATIVE "msg" "${CMAKE_CURRENT_SOURCE_DIR}/msg/*.msg") # notify catkin to look at the previously found msg files diff --git a/svo_msgs/msg/DenseInput.msg b/CPU_version/svo_msgs/msg/DenseInput.msg similarity index 100% rename from svo_msgs/msg/DenseInput.msg rename to CPU_version/svo_msgs/msg/DenseInput.msg diff --git a/svo_msgs/msg/Feature.msg b/CPU_version/svo_msgs/msg/Feature.msg similarity index 100% rename from svo_msgs/msg/Feature.msg rename to CPU_version/svo_msgs/msg/Feature.msg diff --git a/svo_msgs/msg/Info.msg b/CPU_version/svo_msgs/msg/Info.msg similarity index 100% rename from svo_msgs/msg/Info.msg rename to CPU_version/svo_msgs/msg/Info.msg diff --git a/svo_msgs/msg/NbvTrajectory.msg b/CPU_version/svo_msgs/msg/NbvTrajectory.msg similarity index 100% rename from svo_msgs/msg/NbvTrajectory.msg rename to CPU_version/svo_msgs/msg/NbvTrajectory.msg diff --git a/svo_msgs/package.xml b/CPU_version/svo_msgs/package.xml similarity index 100% rename from svo_msgs/package.xml rename to CPU_version/svo_msgs/package.xml diff --git a/svo_ros/.idea/modules.xml b/CPU_version/svo_ros/.idea/modules.xml similarity index 100% rename from svo_ros/.idea/modules.xml rename to CPU_version/svo_ros/.idea/modules.xml diff --git a/svo_ros/.idea/svo_ros.iml b/CPU_version/svo_ros/.idea/svo_ros.iml similarity index 100% rename from svo_ros/.idea/svo_ros.iml rename to CPU_version/svo_ros/.idea/svo_ros.iml diff --git a/svo_ros/.idea/vcs.xml b/CPU_version/svo_ros/.idea/vcs.xml similarity index 100% rename from svo_ros/.idea/vcs.xml rename to CPU_version/svo_ros/.idea/vcs.xml diff --git a/svo_ros/.idea/workspace.xml b/CPU_version/svo_ros/.idea/workspace.xml similarity index 100% rename from svo_ros/.idea/workspace.xml rename to CPU_version/svo_ros/.idea/workspace.xml diff --git a/vio_svo/.idea/.gitignore b/CPU_version/vio_svo/.idea/.gitignore similarity index 100% rename from vio_svo/.idea/.gitignore rename to CPU_version/vio_svo/.idea/.gitignore diff --git a/vio_svo/.idea/misc.xml b/CPU_version/vio_svo/.idea/misc.xml similarity index 100% rename from vio_svo/.idea/misc.xml rename to CPU_version/vio_svo/.idea/misc.xml diff --git a/vio_svo/.idea/modules.xml b/CPU_version/vio_svo/.idea/modules.xml similarity index 100% rename from vio_svo/.idea/modules.xml rename to CPU_version/vio_svo/.idea/modules.xml diff --git a/vio_svo/.idea/svo_ros.iml b/CPU_version/vio_svo/.idea/svo_ros.iml similarity index 100% rename from vio_svo/.idea/svo_ros.iml rename to CPU_version/vio_svo/.idea/svo_ros.iml diff --git a/vio_svo/.idea/vcs.xml b/CPU_version/vio_svo/.idea/vcs.xml similarity index 100% rename from vio_svo/.idea/vcs.xml rename to CPU_version/vio_svo/.idea/vcs.xml diff --git a/vio_svo/CMakeLists.txt b/CPU_version/vio_svo/CMakeLists.txt similarity index 95% rename from vio_svo/CMakeLists.txt rename to CPU_version/vio_svo/CMakeLists.txt index bb8fdc9..b57bcfc 100644 --- a/vio_svo/CMakeLists.txt +++ b/CPU_version/vio_svo/CMakeLists.txt @@ -54,7 +54,7 @@ catkin_package( # Include dirs INCLUDE_DIRECTORIES( - include + include ${Eigen_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${Sophus_INCLUDE_DIRS} @@ -77,5 +77,3 @@ TARGET_LINK_LIBRARIES(svo_visualizer ${LINK_LIBS} gtsam) # Create Executables ADD_EXECUTABLE(vo src/vo_node.cpp) TARGET_LINK_LIBRARIES(vo svo_visualizer ${LINK_LIBS}) -#ADD_EXECUTABLE(benchmark src/benchmark_node.cpp) -#TARGET_LINK_LIBRARIES(benchmark svo_visualizer) diff --git a/vio_svo/include/vio_svo/visualizer.h b/CPU_version/vio_svo/include/vio_svo/visualizer.h similarity index 91% rename from vio_svo/include/vio_svo/visualizer.h rename to CPU_version/vio_svo/include/vio_svo/visualizer.h index 4a09a8d..1b730ee 100644 --- a/vio_svo/include/vio_svo/visualizer.h +++ b/CPU_version/vio_svo/include/vio_svo/visualizer.h @@ -22,16 +22,10 @@ #include #include #include -#include -#include -#include -#include -#include #include #include #include #include -#include namespace svo { diff --git a/vio_svo/launch/Px30.launch b/CPU_version/vio_svo/launch/Px30.launch similarity index 100% rename from vio_svo/launch/Px30.launch rename to CPU_version/vio_svo/launch/Px30.launch diff --git a/vio_svo/launch/live.launch b/CPU_version/vio_svo/launch/live.launch similarity index 100% rename from vio_svo/launch/live.launch rename to CPU_version/vio_svo/launch/live.launch diff --git a/vio_svo/launch/test.launch b/CPU_version/vio_svo/launch/test.launch similarity index 100% rename from vio_svo/launch/test.launch rename to CPU_version/vio_svo/launch/test.launch diff --git a/vio_svo/launch/unity.launch b/CPU_version/vio_svo/launch/unity.launch similarity index 100% rename from vio_svo/launch/unity.launch rename to CPU_version/vio_svo/launch/unity.launch diff --git a/vio_svo/package.xml b/CPU_version/vio_svo/package.xml similarity index 100% rename from vio_svo/package.xml rename to CPU_version/vio_svo/package.xml diff --git a/vio_svo/param/camera_atan.yaml b/CPU_version/vio_svo/param/camera_atan.yaml similarity index 100% rename from vio_svo/param/camera_atan.yaml rename to CPU_version/vio_svo/param/camera_atan.yaml diff --git a/vio_svo/param/camera_pinhole.yaml b/CPU_version/vio_svo/param/camera_pinhole.yaml similarity index 100% rename from vio_svo/param/camera_pinhole.yaml rename to CPU_version/vio_svo/param/camera_pinhole.yaml diff --git a/vio_svo/param/px30.yaml b/CPU_version/vio_svo/param/px30.yaml similarity index 100% rename from vio_svo/param/px30.yaml rename to CPU_version/vio_svo/param/px30.yaml diff --git a/vio_svo/param/unity.yaml b/CPU_version/vio_svo/param/unity.yaml similarity index 100% rename from vio_svo/param/unity.yaml rename to CPU_version/vio_svo/param/unity.yaml diff --git a/vio_svo/param/vo_accurate.yaml b/CPU_version/vio_svo/param/vo_accurate.yaml similarity index 100% rename from vio_svo/param/vo_accurate.yaml rename to CPU_version/vio_svo/param/vo_accurate.yaml diff --git a/vio_svo/param/vo_fast.yaml b/CPU_version/vio_svo/param/vo_fast.yaml similarity index 100% rename from vio_svo/param/vo_fast.yaml rename to CPU_version/vio_svo/param/vo_fast.yaml diff --git a/vio_svo/rqt.perspective b/CPU_version/vio_svo/rqt.perspective similarity index 100% rename from vio_svo/rqt.perspective rename to CPU_version/vio_svo/rqt.perspective diff --git a/vio_svo/rviz_config.rviz b/CPU_version/vio_svo/rviz_config.rviz similarity index 100% rename from vio_svo/rviz_config.rviz rename to CPU_version/vio_svo/rviz_config.rviz diff --git a/vio_svo/src/visualizer.cpp b/CPU_version/vio_svo/src/visualizer.cpp similarity index 99% rename from vio_svo/src/visualizer.cpp rename to CPU_version/vio_svo/src/visualizer.cpp index 511c167..4d3a631 100644 --- a/vio_svo/src/visualizer.cpp +++ b/CPU_version/vio_svo/src/visualizer.cpp @@ -16,7 +16,6 @@ #include #include -#include #include #include #include diff --git a/vio_svo/src/vo_node.cpp b/CPU_version/vio_svo/src/vo_node.cpp similarity index 88% rename from vio_svo/src/vo_node.cpp rename to CPU_version/vio_svo/src/vo_node.cpp index 2f98da0..9779f3e 100644 --- a/vio_svo/src/vo_node.cpp +++ b/CPU_version/vio_svo/src/vo_node.cpp @@ -16,21 +16,16 @@ #include #include #include -#include #include #include #include #include -#include -#include -#include #include #include #include #include #include #include -#include #include @@ -52,6 +47,8 @@ public: void imgCb(const sensor_msgs::ImageConstPtr& msg); void imuCb(const sensor_msgs::ImuPtr& imu); void imu(); +private: + double* imu_; }; VoNode::VoNode() : @@ -61,6 +58,7 @@ VoNode::VoNode() : quit_(false) { // Create Camera + imu_=(double *)calloc(static_cast(6), sizeof(double)); if(!vk::camera_loader::loadFromRosNs("vio", cam_)) throw std::runtime_error("Camera model not correctly specified."); // Get initial position and orientation @@ -75,7 +73,7 @@ VoNode::VoNode() : vo_ = new svo::FrameHandlerMono(cam_,visualizer_.T_world_from_vision_); vo_->start(); imu_th=new boost::thread(&VoNode::imu,this); - logtime = fopen((std::string(getenv("HOME"))+"/Project/time.txt").c_str(), "w+"); + logtime = fopen((std::string(getenv("HOME"))+"/time.txt").c_str(), "w+"); } @@ -109,17 +107,17 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg) } void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) { double imu_in[6]; - imu_in[0] = imu->linear_acceleration.x; - imu_in[1] = imu->linear_acceleration.y; - imu_in[2] = imu->linear_acceleration.z; - imu_in[3] = imu->angular_velocity.x; - imu_in[4] = imu->angular_velocity.y; - imu_in[5] = imu->angular_velocity.z; + imu_in[0] = 0.1*imu_[0]+0.9*imu->linear_acceleration.x; + imu_in[1] = 0.1*imu_[1]+0.9*imu->linear_acceleration.y; + imu_in[2] = 0.1*imu_[2]+0.9*imu->linear_acceleration.z; + imu_in[3] = 0.1*imu_[3]+0.9*imu->angular_velocity.x; + imu_in[4] = 0.1*imu_[4]+0.9*imu->angular_velocity.y; + imu_in[5] = 0.1*imu_[5]+0.9*imu->angular_velocity.z; + memcpy(imu_, imu_in, static_cast(6*sizeof(double))); vo_->imu_integPtr_->update(imu_in); } void VoNode::imu(){ ros::NodeHandle nh; - std::cout << "create vo_node" << std::endl; // subscribe to cam msgs image_transport::ImageTransport it(nh); image_transport::Subscriber it_sub = it.subscribe(vk::getParam("vio/cam_topic", "camera/image_raw"), 1, &svo::VoNode::imgCb, this); diff --git a/rqt_svo/CMakeLists.txt b/rqt_svo/CMakeLists.txt deleted file mode 100644 index b199493..0000000 --- a/rqt_svo/CMakeLists.txt +++ /dev/null @@ -1,22 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(rqt_svo) - -find_package(catkin REQUIRED COMPONENTS - rospy - rqt_gui - rqt_gui_py -) -catkin_package() -catkin_python_setup() - -install(FILES plugin.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY resource - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(PROGRAMS scripts/rqt_svo - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) \ No newline at end of file diff --git a/rqt_svo/README.md b/rqt_svo/README.md deleted file mode 100644 index 574a497..0000000 --- a/rqt_svo/README.md +++ /dev/null @@ -1,10 +0,0 @@ -run with: - - rosrun rqt_svo rqt_svo - -or start `rqt` and display the widget. - -If it does not work, try this: - - rm ~/.config/ros.org/rqt_gui.ini - rqt \ No newline at end of file diff --git a/rqt_svo/package.xml b/rqt_svo/package.xml deleted file mode 100644 index 862112a..0000000 --- a/rqt_svo/package.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - rqt_svo - 0.0.0 - The rqt_svo package - - cforster - - - TODO - - catkin - rospy - rqt_gui - rqt_gui_py - rospy - rqt_gui - rqt_gui_py - - - - - - - \ No newline at end of file diff --git a/rqt_svo/plugin.xml b/rqt_svo/plugin.xml deleted file mode 100644 index fd6b605..0000000 --- a/rqt_svo/plugin.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - Plugin for SVO - Semi-Direct Visual Odometry - - - - system-help - Great user interface to provide real value. - - - \ No newline at end of file diff --git a/rqt_svo/resource/widget.ui b/rqt_svo/resource/widget.ui deleted file mode 100644 index 7808e37..0000000 --- a/rqt_svo/resource/widget.ui +++ /dev/null @@ -1,101 +0,0 @@ - - - SvoWidget - - - - 0 - 0 - 467 - 140 - - - - SVO - - - - - - - - SVO Namespace: - - - - - - - Topic to send Twist message to - - - - - - - - - - - - - - Current angular velocity - - - Status Message - - - - - - - - - - - 100 - - - 100 - - - %p% - - - - - - - - - - - Start - - - - - - - Reset velocities to zero - - - Reset - - - - - - - Quit - - - - - - - - - - diff --git a/rqt_svo/scripts/rqt_svo b/rqt_svo/scripts/rqt_svo deleted file mode 100755 index 753dcb5..0000000 --- a/rqt_svo/scripts/rqt_svo +++ /dev/null @@ -1,10 +0,0 @@ -#!/usr/bin/env python - -import sys - -from rqt_svo.svo import Svo -from rqt_gui.main import Main - -plugin = 'rqt_svo' -main = Main(filename=plugin) -sys.exit(main.main(sys.argv, standalone=plugin)) # , plugin_argument_provider=Svo.add_arguments \ No newline at end of file diff --git a/rqt_svo/setup.py b/rqt_svo/setup.py deleted file mode 100644 index e07a5df..0000000 --- a/rqt_svo/setup.py +++ /dev/null @@ -1,12 +0,0 @@ -#!/usr/bin/env python - -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -d = generate_distutils_setup( - packages=['rqt_svo'], - package_dir={'': 'src'}, - scripts=['scripts/rqt_svo'] -) - -setup(**d) \ No newline at end of file diff --git a/rqt_svo/src/rqt_svo/svo.py b/rqt_svo/src/rqt_svo/svo.py deleted file mode 100644 index bbbb8c6..0000000 --- a/rqt_svo/src/rqt_svo/svo.py +++ /dev/null @@ -1,81 +0,0 @@ -#!/usr/bin/env python -import os -import rospy -import argparse -from qt_gui.plugin import Plugin -from .svo_widget import SvoWidget - -class Svo(Plugin): - """ - Subclass of Plugin to display SVO status - """ - def __init__(self, context): - - # Init Plugin - super(Svo, self).__init__(context) - self.setObjectName('SvoPlugin') - - # Load arguments - # TODO load topic name from args - args = self._parse_args(context.argv()) - - # Create QWidget - self._widget = SvoWidget() - - # Show _widget.windowTitle on left-top of each plugin (when - # it's set in _widget). This is useful when you open multiple - # plugins at once. Also if you open multiple instances of your - # plugin at once, these lines add number to make it easy to - # tell from pane to pane. - if context.serial_number() > 1: - self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) - - # Add widget to the user interface - context.add_widget(self._widget) - - def _parse_args(self, argv): - parser = argparse.ArgumentParser(prog='rqt_svo', add_help=False) - group = parser.add_argument_group('Options for rqt_svo plugin') - group.add_argument('topic', type=argparse.FileType('r'), nargs='*', default=[], help='Svo Info Topic to display') - return parser.parse_args(argv) - - def save_settings(self, plugin_settings, instance_settings): - # TODO save intrinsic configuration, usually using: - # instance_settings.set_value(k, v) - print('Saving namespace') - namespace = self._widget._svo_namespace - instance_settings.set_value('namespace', namespace) - pass -# - def restore_settings(self, plugin_settings, instance_settings): - # TODO restore intrinsic configuration, usually using: - # v = instance_settings.value(k) - namespace = instance_settings.value('namespace', 'default') - self._widget.topic_line_edit.setText(namespace) - pass - -# def shutdown_plugin(self): -# # self._unregister_publisher() -# pass -# -# def save_settings(self, plugin_settings, instance_settings): -# # TODO save intrinsic configuration, usually using: -# # instance_settings.set_value(k, v) -# pass -# -# def restore_settings(self, plugin_settings, instance_settings): -# # TODO restore intrinsic configuration, usually using: -# # v = instance_settings.value(k) -# pass - - -# def _unregister_publisher(self): -# if self._publisher is not None: -# self._publisher.unregister() -# self._publisher = None - - - #def trigger_configuration(self): - # Comment in to signal that the plugin has a way to configure - # This will enable a setting button (gear icon) in each dock widget title bar - # Usually used to open a modal configuration dialog diff --git a/rqt_svo/src/rqt_svo/svo_widget.py b/rqt_svo/src/rqt_svo/svo_widget.py deleted file mode 100644 index 57b88f3..0000000 --- a/rqt_svo/src/rqt_svo/svo_widget.py +++ /dev/null @@ -1,126 +0,0 @@ -#!/usr/bin/env python -import os -import rospy -import rospkg -import numpy as np -from python_qt_binding import loadUi -from python_qt_binding.QtGui import QWidget -from python_qt_binding.QtCore import QTimer, Slot -from svo_msgs.msg import Info -from std_msgs.msg import String - -class SvoWidget(QWidget): - _last_info_msg = Info() - _publisher = None - _subscriber = None - _num_received_msgs = 0 - _svo_namespace = None - def __init__(self, svo_namespace='svo'): - - # Init QWidget - super(SvoWidget, self).__init__() - self.setObjectName('SvoWidget') - - # load UI - ui_file = os.path.join(rospkg.RosPack().get_path('rqt_svo'), 'resource', 'widget.ui') - loadUi(ui_file, self) - - # init and start update timer for data, the timer calls the function update_info all 40ms - self._update_info_timer = QTimer(self) - self._update_info_timer.timeout.connect(self.update_info) - self._update_info_timer.start(40) - - # set the functions that are called when a button is pressed - self.button_start.pressed.connect(self.on_start_button_pressed) - self.button_reset.pressed.connect(self.on_reset_button_pressed) - self.button_quit.pressed.connect(self.on_quit_button_pressed) - - # set callback for changed topic - self.topic_line_edit.setText(svo_namespace) - self.register(svo_namespace) - self.topic_line_edit.textChanged.connect(self._on_topic_changed) - - # TODO: set a timer when the last message was received and give a warning if it is too long ago! - - @Slot(str) - def _on_topic_changed(self, topic): - self._svo_namespace = str(topic) - self.unregister() - self.register(self._svo_namespace) - - def register(self, svo_namespace): - # Load parameters - max_num_features = rospy.get_param(svo_namespace+'/max_fts', 120) - - # Feature bar - self.num_tracked_bar.setMaximum(max_num_features) - print('set maximum number of features to '+str(max_num_features)) - - # Subscribe to ROS Info topic and register callback - self._subscriber = rospy.Subscriber(svo_namespace+'/info', Info, self.info_cb) - - # Initialize Publisher - self._publisher = rospy.Publisher(svo_namespace+'/remote_key', String) - - def unregister(self): - if self._publisher is not None: - self._publisher.unregister() - self._publisher = None - - if self._subscriber is not None: - self._subscriber.unregister() - self._subscriber = None - - - def info_cb(self, msg): - self._last_info_msg = msg - self._num_received_msgs += 1 - - def update_info(self): - info_text = 'Not Connected' - if self._num_received_msgs > 0: - fps = 0 - if self._last_info_msg.processing_time > 0: - fps = 1.0/self._last_info_msg.processing_time - info_text = 'fps = %.2f' % fps - info_text += '\t #Features = ' + str(self._last_info_msg.num_matches) - info_text += '\t' - if self._last_info_msg.stage == 0: - info_text += '\t PAUSED' - elif self._last_info_msg.stage == 1: - info_text += '\t FIRST_FRAME' - elif self._last_info_msg.stage == 2: - info_text += '\t SECOND_FRAME' - elif self._last_info_msg.stage == 3: - info_text += '\t RUNNING' - if self._last_info_msg.tracking_quality == 0: - info_text += '\t CRITICAL' - elif self._last_info_msg.tracking_quality == 1: - info_text += '\t BAD TRACKING' - elif self._last_info_msg.tracking_quality == 2: - info_text += '\t GOOD TRACKING' - - # set info text - self.svo_info_label.setText(info_text) - - # set progress bar - self.num_tracked_bar.setValue(self._last_info_msg.num_matches) - - def on_start_button_pressed(self): - print('START SLAM') - self.send_command('s') - - def on_reset_button_pressed(self): - print('RESET SLAM') - self.send_command('r') - - def on_quit_button_pressed(self): - print('QUIT SLAM') - self.send_command('q') - - def send_command(self, cmd): - if self._publisher is None: - return - self._publisher.publish(String(cmd)) - - diff --git a/svo/doc/notation.ipe b/svo/doc/notation.ipe deleted file mode 100644 index f8c1efe..0000000 --- a/svo/doc/notation.ipe +++ /dev/null @@ -1,312 +0,0 @@ - - - - - - - -0 0 m --1 0.333 l --1 -0.333 l -h - - - - -0 0 m --1 0.333 l --1 -0.333 l -h - - - - -0.6 0 0 0.6 0 0 e -0.4 0 0 0.4 0 0 e - - - - -0.6 0 0 0.6 0 0 e - - - - - -0.6 0 0 0.6 0 0 e -0.4 0 0 0.4 0 0 e - - -0.4 0 0 0.4 0 0 e - - - - - --0.6 -0.6 m -0.6 -0.6 l -0.6 0.6 l --0.6 0.6 l -h --0.4 -0.4 m -0.4 -0.4 l -0.4 0.4 l --0.4 0.4 l -h - - - - --0.6 -0.6 m -0.6 -0.6 l -0.6 0.6 l --0.6 0.6 l -h - - - - - --0.6 -0.6 m -0.6 -0.6 l -0.6 0.6 l --0.6 0.6 l -h --0.4 -0.4 m -0.4 -0.4 l -0.4 0.4 l --0.4 0.4 l -h - - --0.4 -0.4 m -0.4 -0.4 l -0.4 0.4 l --0.4 0.4 l -h - - - - - - --0.43 -0.57 m -0.57 0.43 l -0.43 0.57 l --0.57 -0.43 l -h - - --0.43 0.57 m -0.57 -0.43 l -0.43 -0.57 l --0.57 0.43 l -h - - - - - -0 0 m --1 0.333 l --1 -0.333 l -h - - - - -0 0 m --1 0.333 l --0.8 0 l --1 -0.333 l -h - - - - -0 0 m --1 0.333 l --0.8 0 l --1 -0.333 l -h - - - - --1 0.333 m -0 0 l --1 -0.333 l - - - - -0 0 m --1 0.333 l --1 -0.333 l -h --1 0 m --2 0.333 l --2 -0.333 l -h - - - - -0 0 m --1 0.333 l --1 -0.333 l -h --1 0 m --2 0.333 l --2 -0.333 l -h - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -$_w\mathtt{p}$ -$\overrightarrow{\mathcal{F}}_w$ - -64 576 m -96 576 l - - -64 576 m -64 608 l - - -64 576 m -80 592 l - - -144 688 m -176 688 l - - -144 688 m -144 720 l - - -144 688 m -160 704 l - - -285.262 759.615 m -162.017 735.456 -129.232 628.801 s - - -$\mathtt{T}_{f,w}$ - -128.441 626.745 m -320.625 647.224 l - - -331.681 587.399 m -331.681 587.399 l - -$x$ -$z$ -$y$ - -256 736 m -224 704 l -320 704 l -352 736 l -h - - -285.262 759.265 m -322.176 651.119 l - -$\mathtt{px}$ - -285.612 758.915 m -315.723 669.632 l - -$\mathtt{f}$ -$\overrightarrow{\mathcal{F}}_f$ - -255.668 719.918 m -274.728 719.957 l - - -256.107 720.028 m -246.655 710.527 l - -$v$ -$u$ - -$\mathbf{p}$ -$_f\mathtt{p}$ - - diff --git a/svo/doc/notation.pdf b/svo/doc/notation.pdf deleted file mode 100644 index 3bc3fcd..0000000 Binary files a/svo/doc/notation.pdf and /dev/null differ diff --git a/svo/doc/notation.png b/svo/doc/notation.png deleted file mode 100644 index d613b70..0000000 Binary files a/svo/doc/notation.png and /dev/null differ diff --git a/svo_analysis/.gitignore b/svo_analysis/.gitignore deleted file mode 100644 index 7e99e36..0000000 --- a/svo_analysis/.gitignore +++ /dev/null @@ -1 +0,0 @@ -*.pyc \ No newline at end of file diff --git a/svo_analysis/experiments/asl2_acc.yaml b/svo_analysis/experiments/asl2_acc.yaml deleted file mode 100644 index 9e05b2e..0000000 --- a/svo_analysis/experiments/asl2_acc.yaml +++ /dev/null @@ -1,3 +0,0 @@ -dataset: asl_vicon_d2 -param_settings: vo_accurate -experiment_label: 'svo acc' \ No newline at end of file diff --git a/svo_analysis/experiments/asl2_fast.yaml b/svo_analysis/experiments/asl2_fast.yaml deleted file mode 100644 index 529b6bf..0000000 --- a/svo_analysis/experiments/asl2_fast.yaml +++ /dev/null @@ -1,3 +0,0 @@ -dataset: asl_vicon_d2 -param_settings: vo_fast -experiment_label: 'svo fast' \ No newline at end of file diff --git a/svo_analysis/experiments/flying_room_1_fast.yaml b/svo_analysis/experiments/flying_room_1_fast.yaml deleted file mode 100644 index 20a9f9d..0000000 --- a/svo_analysis/experiments/flying_room_1_fast.yaml +++ /dev/null @@ -1,3 +0,0 @@ -dataset: flying_room_1_rig_1 -param_settings: vo_fast -experiment_label: 'svo fast' \ No newline at end of file diff --git a/svo_analysis/experiments/synthetic.yaml b/svo_analysis/experiments/synthetic.yaml deleted file mode 100644 index e58ff7a..0000000 --- a/svo_analysis/experiments/synthetic.yaml +++ /dev/null @@ -1,10 +0,0 @@ -experiment_label: 'svo fast' -param_settings: vo_fast -datasets: - - 1404102247_fr1_straight - - 1404102220_fr1_straight - - 1404102129_fr1_straight - - 1404091756_fr1_straight - - 1404091807_fr1_straight_rot - - 1404091819_fr1_sine_2d - - 1404091831_fr1_sine_3d diff --git a/vio_svo/include/vio_svo/dataset_img.h b/vio_svo/include/vio_svo/dataset_img.h deleted file mode 100644 index 4bdbc1f..0000000 --- a/vio_svo/include/vio_svo/dataset_img.h +++ /dev/null @@ -1,62 +0,0 @@ -// This file is part of SVO - Semi-direct Visual Odometry. -// -// Copyright (C) 2014 Christian Forster -// (Robotics and Perception Group, University of Zurich, Switzerland). -// -// SVO 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 any later version. -// -// SVO 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 . - -#ifndef DATASET_IMG_H -#define DATASET_IMG_H - -namespace FileType { - -#include -#include -#include - -using ::Eigen::Quaterniond; -using ::Eigen::Vector3d; - -/// Specification of Dataset which contains: Camera Image, Gyroscope Rotation -class DatasetImg -{ -public: - DatasetImg() {} - virtual ~DatasetImg() {} - - double timestamp_; - std::string image_name_; - - friend std::ostream& operator <<(std::ostream& out, const DatasetImg& pair); - friend std::istream& operator >>(std::istream& in, DatasetImg& pair); -}; - -std::ostream& operator <<(std::ostream& out, const DatasetImg& gt) -{ - out - << gt.timestamp_ << " " - << gt.image_name_ << " " - << std::endl; - return out; -} - -std::istream& operator >>(std::istream& in, DatasetImg& gt) -{ - in >> gt.timestamp_; - in >> gt.image_name_; - return in; -} - -} // end namespace FileType - - -#endif /* DATASET_IMG_H */