diff --git a/include/ChArUco.h b/include/ChArUco.h index 0619e8f50b..5327429d8f 100644 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ // // Created by parallels on 7/16/18. // diff --git a/include/Hashing.h b/include/Hashing.h index 6a5bdd0a7b..58e143cdda 100755 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + /** * This file is developed based on MILD. * diff --git a/include/Observability.h b/include/Observability.h index 1d7cd5241c..24106a972d 100755 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #ifndef OBSERVABILITY_H #define OBSERVABILITY_H diff --git a/include/Util.hpp b/include/Util.hpp index 9c8a8832a0..c26cf8fd90 100644 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #ifndef UTIL_HPP #define UTIL_HPP diff --git a/include/Util_cuda.hpp b/include/Util_cuda.hpp index b5aba9e129..0c34b2614d 100644 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #ifndef UTIL_CUDA_HPP #define UTIL_CUDA_HPP diff --git a/include/cuda/Allocator.hpp b/include/cuda/Allocator.hpp index 686e61c4a7..ecd4366887 100644 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #pragma once #ifndef __ALLOCATOR_HPP__ #define __ALLOCATOR_HPP__ diff --git a/include/cuda/Cuda.hpp b/include/cuda/Cuda.hpp index abaea2afa3..fa650b94d3 100644 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #pragma once #ifndef __ORB_SLAM2_CUDA_HPP__ #define __ORB_SLAM2_CUDA_HPP__ diff --git a/include/cuda/Fast.hpp b/include/cuda/Fast.hpp index acf72d606e..544e358cfa 100644 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #pragma once #ifndef __FAST_HPP__ #define __FAST_HPP__ diff --git a/include/cuda/Orb.hpp b/include/cuda/Orb.hpp index 3c40456384..256e68afa3 100644 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #pragma once #ifndef __ORB_HPP__ #define __ORB_HPP__ diff --git a/maphash_demo b/maphash_demo new file mode 100644 index 0000000000..fea32c2a88 Binary files /dev/null and b/maphash_demo differ diff --git a/src/ChArUco.cc b/src/ChArUco.cc index fbeae74d89..311e2259e1 100644 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #include "ChArUco.h" namespace ORB_SLAM2 diff --git a/src/Hashing.cc b/src/Hashing.cc index 0a1025ee75..c3ea196f43 100755 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + +/** +* This file is developed based on MILD. +* +* Copyright (C) 2017 Lei Han and Lu Fang (Hong Kong University of Science and Technology) +* For more information see +* +* 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 diff --git a/src/Observability.cc b/src/Observability.cc index 41b79ceb24..b53ec2afa3 100755 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #include "Observability.h" #include #include diff --git a/src/cuda/Allocator_gpu.cu b/src/cuda/Allocator_gpu.cu index 8e92519633..f3a8cac810 100644 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #include #include #include diff --git a/src/cuda/Cuda.cu b/src/cuda/Cuda.cu index c44b0b8e1f..00a9b5ff08 100644 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #include #include diff --git a/test/main.cpp b/test/main.cpp index 419b71c52d..888dbba97a 100644 --- 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 +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #include "gtest/gtest.h" int main(int argc, char **argv) diff --git a/tools/bin_vocabulary.cc b/tools/bin_vocabulary.cc index e77b9b668a..678ace6b1e 100644 --- a/tools/bin_vocabulary.cc +++ b/tools/bin_vocabulary.cc @@ -1,3 +1,25 @@ +/** +* This file is part of GF-ORB-SLAM2. +* +* Copyright (C) 2019 Yipu Zhao +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #include #include "ORBVocabulary.h" diff --git a/tools/calibrate_camera_charuco.cpp b/tools/calibrate_camera_charuco.cpp index 9fb5c29453..7fe09b0322 100644 --- a/tools/calibrate_camera_charuco.cpp +++ b/tools/calibrate_camera_charuco.cpp @@ -1,3 +1,25 @@ +/** +* This file is part of GF-ORB-SLAM2. +* +* Copyright (C) 2019 Yipu Zhao +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ + #include #include #include diff --git a/tools/main.cpp b/tools/main.cpp index 552443a733..52ef73e540 100644 --- a/tools/main.cpp +++ b/tools/main.cpp @@ -1,5 +1,26 @@ -#include "ChArUco.h" +/** +* This file is part of GF-ORB-SLAM2. +* +* Copyright (C) 2019 Yipu Zhao +* (Georgia Institute of Technology) +* For more information see +* +* +* 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 . +*/ +#include "ChArUco.h" int main(int argc, char **argv){