include license

ivalab · Jun 5, 2019 · 3f152d7 · 3f152d7
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diff --git a/include/ChArUco.h b/include/ChArUco.h
@@ -1,3 +1,24 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
 //
 // Created by parallels on 7/16/18.
 //

diff --git a/include/Hashing.h b/include/Hashing.h
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 /**
 * This file is developed based on MILD.
 *

diff --git a/include/Observability.h b/include/Observability.h
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #ifndef OBSERVABILITY_H
 #define OBSERVABILITY_H
 

diff --git a/include/Util.hpp b/include/Util.hpp
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #ifndef UTIL_HPP
 #define UTIL_HPP
 

diff --git a/include/Util_cuda.hpp b/include/Util_cuda.hpp
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #ifndef UTIL_CUDA_HPP
 #define UTIL_CUDA_HPP
 

diff --git a/include/cuda/Allocator.hpp b/include/cuda/Allocator.hpp
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #pragma once
 #ifndef __ALLOCATOR_HPP__
 #define __ALLOCATOR_HPP__

diff --git a/include/cuda/Cuda.hpp b/include/cuda/Cuda.hpp
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #pragma once
 #ifndef __ORB_SLAM2_CUDA_HPP__
 #define __ORB_SLAM2_CUDA_HPP__

diff --git a/include/cuda/Fast.hpp b/include/cuda/Fast.hpp
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #pragma once
 #ifndef __FAST_HPP__
 #define __FAST_HPP__

diff --git a/include/cuda/Orb.hpp b/include/cuda/Orb.hpp
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #pragma once
 #ifndef __ORB_HPP__
 #define __ORB_HPP__

diff --git a/maphash_demo b/maphash_demo
diff --git a/src/ChArUco.cc b/src/ChArUco.cc
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #include "ChArUco.h"
 
 namespace ORB_SLAM2

diff --git a/src/Hashing.cc b/src/Hashing.cc
@@ -1,3 +1,36 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+* This file is developed based on MILD.
+*
+* Copyright (C) 2017 Lei Han and Lu Fang <[email protected]; [email protected]> (Hong Kong University of Science and Technology)
+* For more information see <https://github.com/lhanaf/MILD>
+*
+* Related papers:
+* [1] Multi-Index Hashing for Loop closure Detection. International Conference on Multimedia Expo, 2017. Best Student Paper Awards.
+* [2] Beyond SIFT Using Binary features in Loop Closure Detection. IROS 2017.
+*/
+
 #include "Hashing.h"
 
 #include <bitset>

diff --git a/src/Observability.cc b/src/Observability.cc
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #include "Observability.h"
 #include <sstream>
 #include <iomanip>

diff --git a/src/cuda/Allocator_gpu.cu b/src/cuda/Allocator_gpu.cu
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #include <cassert>
 #include <helper_cuda.h>
 #include <cuda/Allocator.hpp>

diff --git a/src/cuda/Cuda.cu b/src/cuda/Cuda.cu
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #include <helper_cuda.h>
 #include <cuda/Cuda.hpp>
 

diff --git a/test/main.cpp b/test/main.cpp
@@ -1,3 +1,25 @@
+/**
+* This file is part of GF-ORB-SLAM2.
+*
+* Copyright (C) 2019 Yipu Zhao <yipu dot zhao at gatech dot edu> 
+* (Georgia Institute of Technology)
+* For more information see 
+* <https://sites.google.com/site/zhaoyipu/good-feature-visual-slam>
+*
+* GF-ORB-SLAM2 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
+* (at your option) any later version.
+*
+* GF-ORB-SLAM 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 GF-ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
 #include "gtest/gtest.h"
 
 int main(int argc, char **argv)