S-PTAM code corresponding to RAS 2017 S-PTAM publication

.gitignore

@@ -6,6 +6,11 @@ CMakeScripts
 Makefile
 cmake_install.cmake
 install_manifest.txt
+CMakeLists.txt.user*
+
+# Documentation #
+#################
+doc/
 
 # Compiled source #
 ###################
@@ -60,13 +65,18 @@ install_manifest.txt
 # Logs and databases #
 ######################
 *.log
+*.dat
 
 # Images #
 ##########
-*.png
 *.pdf
 *.jpg
 
+# Project files #
+##################
+*.prj
+.geanyprj
+
 # Temporal files #
 ##################
 *.*~

.gitlab-ci.yml

@@ -0,0 +1,33 @@
+before_script:
+   - /prepare.sh
+   - apt-get install -y python-matplotlib
+
+build:
+  stage: build
+  tags:
+    - ros-kinetic
+  script:
+    # Build ROS in four configurations
+    - /build.sh --cmake-args -DSHOW_TRACKED_FRAMES=ON  -DSHOW_PROFILING=ON
+    - /build.sh --cmake-args -DSHOW_TRACKED_FRAMES=ON  -DSHOW_PROFILING=OFF
+    - /build.sh --cmake-args -DSHOW_TRACKED_FRAMES=OFF -DSHOW_PROFILING=ON
+    - /build.sh --cmake-args -DSHOW_TRACKED_FRAMES=OFF -DSHOW_PROFILING=OFF
+    # Build standalone in release config for running tests
+    - cd $CI_PROJECT_DIR/src/standAlone && mkdir -p build && cd build && 
+         cmake -DSHOW_TRACKED_FRAMES=OFF -DSHOW_PROFILING=ON -DCMAKE_BUILD_TYPE=Release .. && make
+    # Run KITTI 04 in standalone mode
+    - cd $CI_PROJECT_DIR/src/standAlone && 
+        ./build/sptam-stereo --timestamps /datasets/KITTI/04/times.txt
+                ../../configurationFiles/kitti.yaml
+                ../../configurationFiles/kitti_cam_04_to_12.yaml
+                /datasets/KITTI/04/image_0 /datasets/KITTI/04/image_1
+                dir
+    # Run plot-errors to compute errors and make plots
+    - $CI_PROJECT_DIR/plotters/plot-errors.py --savetofiles --kitti /datasets/KITTI/poses/04.txt $CI_PROJECT_DIR/src/standAlone/*.log > $CI_PROJECT_DIR/src/standAlone/errors.log
+  artifacts:
+    paths:
+      - $CI_PROJECT_DIR/src/standAlone/*.log
+      - $CI_PROJECT_DIR/src/standAlone/*.png
+    expire_in: '1 week'
+
+

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "bow_voc"]
+	path = bow_voc
+	url = https://github.com/lrse/bow_vocabularies.git

CMakeLists.txt

@@ -1,19 +1,10 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project( sptam )
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake-modules)
 
-# declare cache entry parameters
-SET(SHOW_TRACKED_FRAMES OFF CACHE BOOL "Enable/Disable OpenCV frame visualization for the tracker.")
-SET(SHOW_PROFILING ON CACHE BOOL "Enable/Disable Profiling of each step.")
-
-if( SHOW_TRACKED_FRAMES )
-  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DSHOW_TRACKED_FRAMES")
-endif()
-
-if( SHOW_PROFILING )
-  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DSHOW_PROFILING")
-endif()
+# include macros for program options
+include( options )
 
 ## Find catkin macros and libraries
 find_package( catkin REQUIRED COMPONENTS
@@ -27,9 +18,13 @@ find_package( catkin REQUIRED COMPONENTS
   image_geometry
   pcl_ros
   nav_msgs
-  tf_conversions
+  tf2
+  tf2_geometry_msgs
+  tf2_ros
   image_transport
+  nodelet
 )
+include_directories(${catkin_INCLUDE_DIRS})
 
 # Find Boost Library
 find_package(Boost COMPONENTS thread system regex REQUIRED)
@@ -40,22 +35,20 @@ find_package(PkgConfig)
 pkg_check_modules(YamlCpp yaml-cpp)
 
 # Find OpenCV library
-find_package(OpenCV REQUIRED)
-
-# Find PCL library
-find_package(PCL 1.7 REQUIRED)
-include_directories(${PCL_INCLUDE_DIRS})
-link_directories(${PCL_LIBRARY_DIRS})
-add_definitions(${PCL_DEFINITIONS})
+FIND_PACKAGE(OpenCV REQUIRED) # OpenCV 3
+#FIND_PACKAGE(OpenCV 2 REQUIRED) # OpenCV 2
+include_directories(${OpenCV_INCLUDE_DIRS})
 
 # Find Suitesparse library
 find_package(SuiteSparse REQUIRED)
+include_directories(${CSPARSE_INCLUDE_DIR})
 include_directories(${CHOLMOD_INCLUDE_DIR})
 
 # Find G2O Library
 find_package(G2O REQUIRED)
 # select required components
-SET(G2O_LIBRARIES ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_CSPARSE_EXTENSION} ${G2O_TYPES_SBA})
+SET(G2O_LIBRARIES ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_CSPARSE_EXTENSION} ${G2O_TYPES_SBA} ${G2O_TYPES_SLAM3D})
+include_directories(${G2O_INCLUDE_DIR})
 
 ###################################
 ## catkin specific configuration ##
@@ -69,10 +62,11 @@ SET(G2O_LIBRARIES ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CSPARSE}
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES sptam
-   CATKIN_DEPENDS roscpp std_msgs sensor_msgs geometry_msgs cv_bridge message_filters image_geometry pcl_ros nav_msgs tf_conversions
+   CATKIN_DEPENDS roscpp std_msgs sensor_msgs geometry_msgs cv_bridge message_filters image_geometry pcl_ros nav_msgs tf2 tf2_geometry_msgs tf2_ros nodelet
 #  DEPENDS system_lib
 )
 
+
 ###########
 ## Build ##
 ###########
@@ -87,6 +81,7 @@ set( SPTAM_LIBRARIES
   ${catkin_LIBRARIES}
   ${G2O_LIBRARIES}
   ${SUITESPARSE_LIBRARIES}
+  ${CHOLMOD_LIBRARIES}
   ${YamlCpp_LIBRARIES}
   cxsparse
   sptam