init GPU

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
 

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_mono.cpp
-  src/frame_handler_base.cpp
+        src/frame_handler_base.cpp
-  src/frame.cpp
+        src/frame.cpp
-  src/point.cpp
+        src/point.cpp
-  src/map.cpp
+        src/map.cpp
-  src/pose_optimizer.cpp
+        src/pose_optimizer.cpp
-  src/initialization.cpp
+        src/initialization.cpp
-  src/matcher.cpp
+        src/matcher.cpp
-  src/reprojector.cpp
+        src/reprojector.cpp
-  src/feature_alignment.cpp
+        src/feature_alignment.cpp
-  src/feature_detection.cpp
+        src/feature_detection.cpp
-  src/depth_filter.cpp
+        src/depth_filter.cpp
-  src/config.cpp
+        src/config.cpp
-  src/sparse_img_align.cpp src/imu_integration.cpp)
+        src/sparse_img_align.cpp src/imu_integration.cpp)
 
 # Add g2o if available
 IF(HAVE_G2O)

CPU_version/svo/doc/.gitignore

@@ -1,2 +1,2 @@
-*
+.gitignore
 !.gitignore

CPU_version/svo/src/frame.cpp

@@ -19,7 +19,6 @@
 #include <svo/feature.h>
 #include <svo/point.h>
 #include <svo/config.h>
-#include <boost/bind.hpp>
 #include <vikit/math_utils.h>
 #include <vikit/vision.h>
 #include <vikit/performance_monitor.h>

CPU_version/svo/test/data/.gitignore

@@ -1,2 +1,2 @@
-*
+.gitignore
 !.gitignore

CPU_version/svo/test/results/.gitignore

@@ -1,2 +1,2 @@
-*
+.gitignore
 !.gitignore

CPU_version/svo_analysis/results/.gitignore

@@ -1,2 +1,2 @@
-*
+.gitignore
 !.gitignore

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")

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