diff --git a/.dockerignore b/.dockerignore index 32db23515..30e355b6b 100644 --- a/.dockerignore +++ b/.dockerignore @@ -4,7 +4,7 @@ .idea/ .vscode/ -# not needed for building OpenVSLAM +# not needed for building Dockerfile* LICENSE README.md diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md index d83510ed0..1f893e244 100644 --- a/.github/ISSUE_TEMPLATE/bug_report.md +++ b/.github/ISSUE_TEMPLATE/bug_report.md @@ -8,7 +8,7 @@ assignees: '' --- @@ -16,7 +16,9 @@ Please complete the following information. ## To Reproduce + Steps to reproduce the behavior: + 1. Go to '...' 2. Click on '....' 3. Scroll down to '....' @@ -35,13 +37,14 @@ Camera: ## Screenshots or videos -## Environment: - - Hardware: [e.g. PC, Raspberry Pi 4, Jetson Nano] - - CPU: [e.g. Intel Core i7-11700] - - OS: [e.g. Ubuntu 20.04] - - Commit id: [e.g. openvslam=577cb04d9245aa68b0905212293a802292d01787, openvslam_ros=fdbd287d80a3a5cc4ac1a143dc937adb4697b120] - - Install procedure: [docker or native] - - dataset: [e.g. EuRoC MH_01] +## Environment + +- Hardware: [e.g. PC, Raspberry Pi 4, Jetson Nano] +- CPU: [e.g. Intel Core i7-11700] +- OS: [e.g. Ubuntu 20.04] +- Commit id: [e.g. stella_vslam=577cb04d9245aa68b0905212293a802292d01787, stella_vslam_ros=fdbd287d80a3a5cc4ac1a143dc937adb4697b120] +- Install procedure: [docker or native] +- dataset: [e.g. EuRoC MH_01] ## Additional context diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md index 747d1f303..b871dec7d 100644 --- a/.github/ISSUE_TEMPLATE/feature_request.md +++ b/.github/ISSUE_TEMPLATE/feature_request.md @@ -8,7 +8,7 @@ assignees: '' --- ## Is your feature request related to a problem? diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 897a30d5c..21f385ec8 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -41,7 +41,7 @@ jobs: run: shell: bash container: - image: ghcr.io/ymd-stella/openvslam-community/openvslam:latest + image: ghcr.io/ymd-stella/stella-cv/stella_vslam:latest steps: - uses: actions/checkout@v2 - name: cmake and make with pangolin viewer @@ -62,7 +62,7 @@ jobs: run: shell: bash container: - image: ghcr.io/ymd-stella/openvslam-community/openvslam:latest + image: ghcr.io/ymd-stella/stella-cv/stella_vslam:latest steps: - uses: actions/checkout@v2 - name: cmake and make @@ -205,7 +205,7 @@ jobs: run: shell: bash container: - image: ghcr.io/ymd-stella/openvslam-community/openvslam:latest + image: ghcr.io/ymd-stella/stella-cv/stella_vslam:latest steps: - uses: actions/checkout@v2 - name: cmake and make @@ -235,14 +235,14 @@ jobs: run: shell: bash container: - image: ghcr.io/ymd-stella/openvslam-community/ros:foxy-ros-base + image: ghcr.io/ymd-stella/stella-cv/ros:foxy-ros-base steps: - uses: actions/checkout@v2 - name: build ros2 packages run: | mkdir -p /ros_ws/src - cp -r . /ros_ws/src/openvslam - cd /ros_ws/src/openvslam + cp -r . /ros_ws/src/stella_vslam + cd /ros_ws/src/stella_vslam git submodule update -i --recursive cd ../.. rosdep update diff --git a/.gitmodules b/.gitmodules index f86549c15..b64bbc84b 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,3 @@ [submodule "3rd/FBoW"] path = 3rd/FBoW - url = https://github.com/OpenVSLAM-Community/FBoW.git + url = https://github.com/stella-cv/FBoW.git diff --git a/CMakeLists.txt b/CMakeLists.txt index f643791a1..bbdb52851 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.1) -project(openvslam LANGUAGES CXX C) +project(stella_vslam LANGUAGES CXX C) set(CMAKE_CXX_STANDARD 11) set(CMAKE_CXX_STANDARD_REQUIRED ON) @@ -21,7 +21,7 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) endif() message(STATUS "Build type: ${CMAKE_BUILD_TYPE}") -option(BUILD_SHARED_LIBS "Build OpenVSLAM as a shared library" ON) +option(BUILD_SHARED_LIBS "Build stella_vslam as a shared library" ON) # ----- Build selection ----- @@ -119,27 +119,27 @@ message(STATUS "Use OpenCV ${OpenCV_VERSION}") include(CMakePackageConfigHelpers) # Generate cmake configuration scripts -set(OPENVSLAM_GENERATED_DIR ${CMAKE_CURRENT_BINARY_DIR}/generated) -set(OPENVSLAM_VERSION_CONFIG ${OPENVSLAM_GENERATED_DIR}/${PROJECT_NAME}ConfigVersion.cmake) -set(OPENVSLAM_PROJECT_CONFIG ${OPENVSLAM_GENERATED_DIR}/${PROJECT_NAME}Config.cmake) -set(OPENVSLAM_TARGETS_EXPORT_NAME ${PROJECT_NAME}Targets) -set(OPENVSLAM_CONFIG_INSTALL_DIR lib/cmake/${PROJECT_NAME}) -set(OPENVSLAM_NAMESPACE "${PROJECT_NAME}::") -set(OPENVSLAM_VERSION 0.3.0) +set(STELLA_VSLAM_GENERATED_DIR ${CMAKE_CURRENT_BINARY_DIR}/generated) +set(STELLA_VSLAM_VERSION_CONFIG ${STELLA_VSLAM_GENERATED_DIR}/${PROJECT_NAME}ConfigVersion.cmake) +set(STELLA_VSLAM_PROJECT_CONFIG ${STELLA_VSLAM_GENERATED_DIR}/${PROJECT_NAME}Config.cmake) +set(STELLA_VSLAM_TARGETS_EXPORT_NAME ${PROJECT_NAME}Targets) +set(STELLA_VSLAM_CONFIG_INSTALL_DIR lib/cmake/${PROJECT_NAME}) +set(STELLA_VSLAM_NAMESPACE "${PROJECT_NAME}::") +set(STELLA_VSLAM_VERSION 0.3.0) # Create a version config file -write_basic_package_version_file(${OPENVSLAM_VERSION_CONFIG} - VERSION ${OPENVSLAM_VERSION} +write_basic_package_version_file(${STELLA_VSLAM_VERSION_CONFIG} + VERSION ${STELLA_VSLAM_VERSION} COMPATIBILITY SameMajorVersion) # Create a project config file -configure_file(${PROJECT_SOURCE_DIR}/cmake/Config.cmake.in ${OPENVSLAM_PROJECT_CONFIG} @ONLY) +configure_file(${PROJECT_SOURCE_DIR}/cmake/Config.cmake.in ${STELLA_VSLAM_PROJECT_CONFIG} @ONLY) # Install to the specified directory -install(FILES ${OPENVSLAM_VERSION_CONFIG} ${OPENVSLAM_PROJECT_CONFIG} - DESTINATION ${OPENVSLAM_CONFIG_INSTALL_DIR}) -install(EXPORT ${OPENVSLAM_TARGETS_EXPORT_NAME} - NAMESPACE ${OPENVSLAM_NAMESPACE} - DESTINATION ${OPENVSLAM_CONFIG_INSTALL_DIR}) +install(FILES ${STELLA_VSLAM_VERSION_CONFIG} ${STELLA_VSLAM_PROJECT_CONFIG} + DESTINATION ${STELLA_VSLAM_CONFIG_INSTALL_DIR}) +install(EXPORT ${STELLA_VSLAM_TARGETS_EXPORT_NAME} + NAMESPACE ${STELLA_VSLAM_NAMESPACE} + DESTINATION ${STELLA_VSLAM_CONFIG_INSTALL_DIR}) # Set standard installation directories set(RUNTIME_DESTINATION bin) diff --git a/Dockerfile.desktop b/Dockerfile.desktop index 0e3e40cf8..ad4dcc6d7 100644 --- a/Dockerfile.desktop +++ b/Dockerfile.desktop @@ -200,9 +200,9 @@ RUN set -x && \ cd /tmp && \ rm -rf * -# OpenVSLAM -COPY . /openvslam/ -WORKDIR /openvslam/ +# stella_vslam +COPY . /stella_vslam/ +WORKDIR /stella_vslam/ RUN set -x && \ mkdir -p build && \ cd build && \ @@ -216,5 +216,5 @@ RUN set -x && \ rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && \ chmod -R 777 ./* -WORKDIR /openvslam/build/ +WORKDIR /stella_vslam/build/ ENTRYPOINT ["/bin/bash"] diff --git a/Dockerfile.socket b/Dockerfile.socket index 7f1e40b82..17d6e53bc 100644 --- a/Dockerfile.socket +++ b/Dockerfile.socket @@ -194,9 +194,9 @@ RUN set -x && \ cd /tmp && \ rm -rf * -# OpenVSLAM -COPY . /openvslam/ -WORKDIR /openvslam/ +# stella_vslam +COPY . /stella_vslam/ +WORKDIR /stella_vslam/ RUN set -x && \ mkdir -p build && \ cd build && \ @@ -210,5 +210,5 @@ RUN set -x && \ rm -rf CMakeCache.txt CMakeFiles Makefile cmake_install.cmake example src && \ chmod -R 777 ./* -WORKDIR /openvslam/build/ +WORKDIR /stella_vslam/build/ ENTRYPOINT ["/bin/bash"] diff --git a/LICENSE.fork b/LICENSE.fork index 2a5fa3cb2..6e0ddcc45 100644 --- a/LICENSE.fork +++ b/LICENSE.fork @@ -1,6 +1,6 @@ BSD 2-Clause License -Copyright (c) 2022, OpenVSLAM-Community, All rights reserved. +Copyright (c) 2022, stella-cv, All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: diff --git a/README.md b/README.md index 47a49ae69..cbc609b42 100644 --- a/README.md +++ b/README.md @@ -1,15 +1,12 @@ -

- -

+# stella_vslam -# OpenVSLAM: A Versatile Visual SLAM Framework -[![CI](https://github.com/OpenVSLAM-Community/openvslam/actions/workflows/main.yml/badge.svg)](https://github.com/OpenVSLAM-Community/openvslam/actions/workflows/main.yml) -[![Documentation Status](https://readthedocs.org/projects/openvslam-community/badge/?version=latest)](https://openvslam-community.readthedocs.io/en/latest/?badge=latest) +[![CI](https://github.com/stella-cv/stella_vslam/actions/workflows/main.yml/badge.svg)](https://github.com/stella-cv/stella_vslam/actions/workflows/main.yml) +[![Documentation Status](https://readthedocs.org/projects/stella-cv/badge/?version=latest)](https://stella-cv.readthedocs.io/en/latest/?badge=latest) [![License](https://img.shields.io/badge/License-BSD%202--Clause-orange.svg)](https://opensource.org/licenses/BSD-2-Clause) --- -> *NOTE:* This is a community fork of [xdspacelab/openvslam](https://github.com/xdspacelab/openvslam). It was created to continue active development of OpenVSLAM on Jan 31, 2021. The original repository is no longer available. Please read the [official statement of termination](https://github.com/xdspacelab/openvslam/wiki/Termination-of-the-release) carefully and understand it before using this. The similarities with ORB_SLAM2 in the original version have been removed by [#252](https://github.com/OpenVSLAM-Community/openvslam/pull/252). If you find any other issues with the license, please point them out. See [#37](https://github.com/OpenVSLAM-Community/openvslam/issues/37) and [#249](https://github.com/OpenVSLAM-Community/openvslam/issues/249) for discussion so far. +> *NOTE:* This is a community fork of [xdspacelab/openvslam](https://github.com/xdspacelab/openvslam). It was created to continue active development of OpenVSLAM on Jan 31, 2021. The original repository is no longer available. Please read the [official statement of termination](https://github.com/xdspacelab/openvslam/wiki/Termination-of-the-release) carefully and understand it before using this. The similarities with ORB_SLAM2 in the original version have been removed by [#252](https://github.com/stella-cv/stella_vslam/pull/252). If you find any other issues with the license, please point them out. See [#37](https://github.com/stella-cv/stella_vslam/issues/37) and [#249](https://github.com/stella-cv/stella_vslam/issues/249) for discussion so far. *Versions earlier than 0.3 are deprecated. If you use them, please use them as a derivative of ORB_SLAM2 under the GPL license.* @@ -17,29 +14,29 @@ ## Overview -[](https://arxiv.org/abs/1910.01122) +[](https://arxiv.org/abs/1910.01122) [**[PrePrint]**](https://arxiv.org/abs/1910.01122) [**[YouTube]**](https://www.youtube.com/watch?v=Ro_s3Lbx5ms) -OpenVSLAM is a monocular, stereo, and RGBD visual SLAM system. +stella_vslam is a monocular, stereo, and RGBD visual SLAM system. ### Features The notable features are: - It is compatible with **various type of camera models** and can be easily customized for other camera models. -- Created maps can be **stored and loaded**, then OpenVSLAM can **localize new images** based on the prebuilt maps. +- Created maps can be **stored and loaded**, then stella_vslam can **localize new images** based on the prebuilt maps. - The system is fully modular. It is designed by encapsulating several functions in separated components with easy-to-understand APIs. - We provided **some code snippets** to understand the core functionalities of this system. -One of the noteworthy features of OpenVSLAM is that the system can deal with various type of camera models, such as perspective, fisheye, and equirectangular. +One of the noteworthy features of stella_vslam is that the system can deal with various type of camera models, such as perspective, fisheye, and equirectangular. If needed, users can implement extra camera models (e.g. dual fisheye, catadioptric) with ease. For example, visual SLAM algorithm using **equirectangular camera models** (e.g. RICOH THETA series, insta360 series, etc) is shown above. -We provided [documentation](https://openvslam-community.readthedocs.io/) for installation and tutorial. -The repository for the ROS wrapper is [openvslam_ros](https://github.com/OpenVSLAM-Community/openvslam_ros). +We provided [documentation](https://stella-cv.readthedocs.io/) for installation and tutorial. +The repository for the ROS wrapper is [stella_vslam_ros](https://github.com/stella-cv/stella_vslam_ros). ### Acknowledgements @@ -52,32 +49,26 @@ ProSLAM has implemented a highly modular and easily understood system earlier. Some code snippets to understand the core functionalities of the system are provided. You can employ these snippets for in your own programs. -Please see the `*.cc` files in `./example` directory or check [Simple Tutorial](https://openvslam-community.readthedocs.io/en/latest/simple_tutorial.html) and [Example](https://openvslam-community.readthedocs.io/en/latest/example.html). - -## Motivation - -Visual SLAM is regarded as a next-generation technology for supporting industries such as automotives, robotics, and xR. -We released OpenVSLAM as an opensource project with the aim of collaborating with people around the world to accelerate the development of this field. -In return, we hope this project will bring safe and reliable technologies for a better society. +Please see the `*.cc` files in `./example` directory or check [Simple Tutorial](https://stella-cv.readthedocs.io/en/latest/simple_tutorial.html) and [Example](https://stella-cv.readthedocs.io/en/latest/example.html). ## Installation -Please see [**Installation**](https://openvslam-community.readthedocs.io/en/latest/installation.html) chapter in the [documentation](https://openvslam-community.readthedocs.io/). +Please see [**Installation**](https://stella-cv.readthedocs.io/en/latest/installation.html) chapter in the [documentation](https://stella-cv.readthedocs.io/). -[**The instructions for Docker users**](https://openvslam-community.readthedocs.io/en/latest/docker.html) are also provided. +[**The instructions for Docker users**](https://stella-cv.readthedocs.io/en/latest/docker.html) are also provided. ## Tutorial -Please see [**Simple Tutorial**](https://openvslam-community.readthedocs.io/en/latest/simple_tutorial.html) chapter in the [documentation](https://openvslam-community.readthedocs.io/). +Please see [**Simple Tutorial**](https://stella-cv.readthedocs.io/en/latest/simple_tutorial.html) chapter in the [documentation](https://stella-cv.readthedocs.io/). -A sample ORB vocabulary file can be downloaded from [here](https://github.com/OpenVSLAM-Community/FBoW_orb_vocab/raw/main/orb_vocab.fbow). +A sample ORB vocabulary file can be downloaded from [here](https://github.com/stella-cv/FBoW_orb_vocab/raw/main/orb_vocab.fbow). Sample datasets are also provided at [here](https://drive.google.com/open?id=1A_gq8LYuENePhNHsuscLZQPhbJJwzAq4). -If you would like to run visual SLAM with standard benchmarking datasets (e.g. KITTI Odometry dataset), please see [**SLAM with standard datasets**](https://openvslam-community.readthedocs.io/en/latest/example.html#slam-with-standard-datasets) section in the [documentation](https://openvslam-community.readthedocs.io/). +If you would like to run visual SLAM with standard benchmarking datasets (e.g. KITTI Odometry dataset), please see [**SLAM with standard datasets**](https://stella-cv.readthedocs.io/en/latest/example.html#slam-with-standard-datasets) section in the [documentation](https://stella-cv.readthedocs.io/). ## Community -Please contact us via [GitHub Discussions](https://github.com/OpenVSLAM-Community/openvslam/discussions) if you have any questions or notice any bugs about the software. +Please contact us via [GitHub Discussions](https://github.com/stella-cv/stella_vslam/discussions) if you have any questions or notice any bugs about the software. ## Currently working on @@ -97,9 +88,9 @@ The following files are derived from third-party libraries. - `./3rd/json` : [nlohmann/json \[v3.6.1\]](https://github.com/nlohmann/json) (MIT license) - `./3rd/popl` : [badaix/popl \[v1.2.0\]](https://github.com/badaix/popl) (MIT license) - `./3rd/spdlog` : [gabime/spdlog \[v1.3.1\]](https://github.com/gabime/spdlog) (MIT license) -- `./src/openvslam/solver/pnp_solver.cc` : part of [laurentkneip/opengv](https://github.com/laurentkneip/opengv) (3-clause BSD license) -- `./src/openvslam/feature/orb_extractor.cc` : part of [opencv/opencv](https://github.com/opencv/opencv) (3-clause BSD License) -- `./src/openvslam/feature/orb_point_pairs.h` : part of [opencv/opencv](https://github.com/opencv/opencv) (3-clause BSD License) +- `./src/stella_vslam/solver/pnp_solver.cc` : part of [laurentkneip/opengv](https://github.com/laurentkneip/opengv) (3-clause BSD license) +- `./src/stella_vslam/feature/orb_extractor.cc` : part of [opencv/opencv](https://github.com/opencv/opencv) (3-clause BSD License) +- `./src/stella_vslam/feature/orb_point_pairs.h` : part of [opencv/opencv](https://github.com/opencv/opencv) (3-clause BSD License) - `./viewer/public/js/lib/dat.gui.min.js` : [dataarts/dat.gui](https://github.com/dataarts/dat.gui) (Apache License 2.0) - `./viewer/public/js/lib/protobuf.min.js` : [protobufjs/protobuf.js](https://github.com/protobufjs/protobuf.js) (3-clause BSD License) - `./viewer/public/js/lib/stats.min.js` : [mrdoob/stats.js](https://github.com/mrdoob/stats.js) (MIT license) @@ -107,13 +98,13 @@ The following files are derived from third-party libraries. Please use `g2o` as the dynamic link library because `csparse_extension` module of `g2o` is LGPLv3+. -## Contributors +## Authors of the original version of OpenVSLAM - Shinya Sumikura ([@shinsumicco](https://github.com/shinsumicco)) - Mikiya Shibuya ([@MikiyaShibuya](https://github.com/MikiyaShibuya)) - Ken Sakurada ([@kensakurada](https://github.com/kensakurada)) -## Citation +## Citation of original version of OpenVSLAM OpenVSLAM **won first place** at **ACM Multimedia 2019 Open Source Software Competition**. @@ -146,6 +137,6 @@ The preprint can be found [here](https://arxiv.org/abs/1910.01122). - Raúl Mur-Artal and Juan D. Tardós. 2017. ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras. IEEE Transactions on Robotics 33, 5 (2017), 1255–1262. - Dominik Schlegel, Mirco Colosi, and Giorgio Grisetti. 2018. ProSLAM: Graph SLAM from a Programmer’s Perspective. In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). 1–9. - Rafael Muñoz-Salinas and Rafael Medina Carnicer. 2019. UcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints and Squared Planar Markers. arXiv:1902.03729. -- Mapillary AB. 2019. OpenSfM. https://github.com/mapillary/OpenSfM. +- Mapillary AB. 2019. OpenSfM. . - Giorgio Grisetti, Rainer Kümmerle, Cyrill Stachniss, and Wolfram Burgard. 2010. A Tutorial on Graph-Based SLAM. IEEE Transactions on Intelligent Transportation SystemsMagazine 2, 4 (2010), 31–43. - Rainer Kümmerle, Giorgio Grisetti, Hauke Strasdat, Kurt Konolige, and Wolfram Burgard. 2011. g2o: A general framework for graph optimization. In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). 3607–3613. diff --git a/cmake/Config.cmake.in b/cmake/Config.cmake.in index 89aea2240..1c0cc897d 100644 --- a/cmake/Config.cmake.in +++ b/cmake/Config.cmake.in @@ -21,7 +21,7 @@ elseif(@BOW_FRAMEWORK@ MATCHES "FBoW") find_dependency(fbow) endif() -include("${CMAKE_CURRENT_LIST_DIR}/@OPENVSLAM_TARGETS_EXPORT_NAME@.cmake") +include("${CMAKE_CURRENT_LIST_DIR}/@STELLA_VSLAM_TARGETS_EXPORT_NAME@.cmake") include_directories("@CMAKE_INSTALL_PREFIX@/include") diff --git a/docs/conf.py b/docs/conf.py index dbaac1c55..55bf2be22 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -17,8 +17,8 @@ # -- Project information ----------------------------------------------------- -project = 'OpenVSLAM' -copyright = '2019, National Institute of Advanced Industrial Science and Technology (AIST). For the changes after forking, Copyright (C) 2022, OpenVSLAM-Community, All rights reserved.' +project = 'stella_vslam' +copyright = '2019, National Institute of Advanced Industrial Science and Technology (AIST). For the changes after forking, Copyright (C) 2022, stella-cv, All rights reserved.' author = 'Shinya Sumikura' diff --git a/docs/docker.rst b/docs/docker.rst index c2812d89f..c62a1bf66 100644 --- a/docs/docker.rst +++ b/docs/docker.rst @@ -34,10 +34,10 @@ Execute the following commands: .. code-block:: bash - git clone https://github.com/OpenVSLAM-Community/openvslam.git - cd openvslam + git clone https://github.com/stella-cv/stella_vslam.git + cd stella_vslam git submodule update -i --recursive - docker build -t openvslam-desktop -f Dockerfile.desktop . + docker build -t stella_vslam-desktop -f Dockerfile.desktop . You can accelerate the build of the docker image with ``--build-arg NUM_THREADS=`` option. For example: @@ -45,7 +45,7 @@ You can accelerate the build of the docker image with ``--build-arg NUM_THREADS= .. code-block:: bash # building the docker image with four threads - docker build -t openvslam-desktop -f Dockerfile.desktop . --build-arg NUM_THREADS=`expr $(nproc) - 1` + docker build -t stella_vslam-desktop -f Dockerfile.desktop . --build-arg NUM_THREADS=`expr $(nproc) - 1` Starting Docker Container ^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -57,7 +57,7 @@ In order to enable X11 forwarding, supplemental options (``-e DISPLAY=$DISPLAY`` # before launching the container, allow display access from local users xhost +local: # launch the container - docker run -it --rm -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix:ro openvslam-desktop + docker run -it --rm -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix:ro stella_vslam-desktop .. NOTE :: @@ -70,7 +70,7 @@ After launching the container, the shell interface will be launched in the docke .. code-block:: bash - root@ddad048b5fff:/openvslam/build# ls + root@ddad048b5fff:/stella_vslam/build# ls lib run_image_slam run_video_slam run_euroc_slam run_kitti_slam run_tum_slam run_image_localization run_video_localization run_tum_rgbd_localization @@ -95,15 +95,15 @@ This chapter provides instructions on building and running examples with SocketV Building Docker Images ^^^^^^^^^^^^^^^^^^^^^^ -Docker Image of OpenVSLAM +Docker Image of stella_vslam ````````````````````````` Execute the following commands: .. code-block:: bash - cd /path/to/openvslam - docker build -t openvslam-socket -f Dockerfile.socket . + cd /path/to/stella_vslam + docker build -t stella_vslam-socket -f Dockerfile.socket . You can accelerate the build of the docker image with ``--build-arg NUM_THREADS=`` option. For example: @@ -111,7 +111,7 @@ You can accelerate the build of the docker image with ``--build-arg NUM_THREADS= .. code-block:: bash # building the docker image with four threads - docker build -t openvslam-socket -f Dockerfile.socket . --build-arg NUM_THREADS=`expr $(nproc) - 1` + docker build -t stella_vslam-socket -f Dockerfile.socket . --build-arg NUM_THREADS=`expr $(nproc) - 1` Docker Image of Server `````````````````````` @@ -120,9 +120,9 @@ Execute the following commands: .. code-block:: bash - cd /path/to/openvslam + cd /path/to/stella_vslam cd viewer - docker build -t openvslam-server . + docker build -t stella_vslam-server . Starting Docker Containers ^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -135,19 +135,19 @@ Please specify ``--net=host`` in order to share the network with the host machin .. code-block:: bash - $ docker run --rm -it --name openvslam-server --net=host openvslam-server + $ docker run --rm -it --name stella_vslam-server --net=host stella_vslam-server WebSocket: listening on *:3000 HTTP server: listening on *:3001 After launching, access to ``http://localhost:3001/`` with the web browser. -Next, launch the container of OpenVSLAM. +Next, launch the container of stella_vslam. The shell interface will be launched in the docker container. .. code-block:: bash - $ docker run --rm -it --name openvslam-socket --net=host openvslam-socket - root@hostname:/openvslam/build# + $ docker run --rm -it --name stella_vslam-socket --net=host stella_vslam-socket + root@hostname:/stella_vslam/build# See :ref:`Tutorial ` to run SLAM examples in the container. @@ -161,23 +161,23 @@ Please specify ``-p 3001:3001`` for port-forwarding. .. code-block:: bash - $ docker run --rm -it --name openvslam-server -p 3001:3001 openvslam-server + $ docker run --rm -it --name stella_vslam-server -p 3001:3001 stella_vslam-server WebSocket: listening on *:3000 HTTP server: listening on *:3001 After launching, access to ``http://localhost:3001/`` with the web browser. -Then, inspect the container's IP address and append the ``SocketPublisher.server_uri`` entry to the YAML config file of OpenVSLAM. +Then, inspect the container's IP address and append the ``SocketPublisher.server_uri`` entry to the YAML config file of stella_vslam. .. code-block:: bash # inspect the server's IP address - $ docker inspect openvslam-server | grep -m 1 \"IPAddress\" | sed 's/ //g' | sed 's/,//g' + $ docker inspect stella_vslam-server | grep -m 1 \"IPAddress\" | sed 's/ //g' | sed 's/,//g' "IPAddress": "172.17.0.2" .. code-block:: yaml - # config file of OpenVSLAM + # config file of stella_vslam ... @@ -188,13 +188,13 @@ Then, inspect the container's IP address and append the ``SocketPublisher.server # append this entry SocketPublisher.server_uri: "http://172.17.0.2:3000" -Next, launch the container of OpenVSLAM. +Next, launch the container of stella_vslam. The shell interface will be launched in the docker container. .. code-block:: bash - $ docker run --rm -it --name openvslam-socket openvslam-socket - root@hostname:/openvslam/build# + $ docker run --rm -it --name stella_vslam-socket stella_vslam-socket + root@hostname:/stella_vslam/build# | See :ref:`Tutorial ` to run SLAM examples in the container. | Please don't forget to append ``SocketPublisher.server_uri`` entry to the ``config.yaml`` if you use the downloaded datasets in the tutorial. @@ -213,22 +213,22 @@ For example: .. code-block:: bash - # launch a container of openvslam-desktop with --volume option + # launch a container of stella_vslam-desktop with --volume option $ docker run -it --rm --runtime=nvidia -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix:ro \ --volume /path/to/dataset/dir/:/dataset:ro \ --volume /path/to/vocab/dir:/vocab:ro \ - openvslam-desktop + stella_vslam-desktop # dataset/ and vocab/ are found at the root directory in the container root@0c0c9f115d74:/# ls / ... dataset/ vocab/ ... .. code-block:: bash - # launch a container of openvslam-socket with --volume option - $ docker run --rm -it --name openvslam-socket --net=host \ + # launch a container of stella_vslam-socket with --volume option + $ docker run --rm -it --name stella_vslam-socket --net=host \ --volume /path/to/dataset/dir/:/dataset:ro \ --volume /path/to/vocab/dir:/vocab:ro \ - openvslam-socket + stella_vslam-socket # dataset/ and vocab/ are found at the root directory in the container root@0c0c9f115d74:/# ls / ... dataset/ vocab/ ... diff --git a/docs/example.rst b/docs/example.rst index 3ed418013..b93613015 100644 --- a/docs/example.rst +++ b/docs/example.rst @@ -4,7 +4,7 @@ Example ======= -We provided example code snippets for running OpenVSLAM with variety of datasets. +We provided example code snippets for running stella_vslam with variety of datasets. .. _section-example-video: @@ -35,7 +35,7 @@ The following options are allowed: -p, --map-db arg store a map database at this path after SLAM | The camera that captures the video file must be calibrated. Create a config file (``.yaml``) according to the camera parameters. -| We provided a vocabulary file for FBoW at `here `__. +| We provided a vocabulary file for FBoW at `here `__. Localization ^^^^^^^^^^^^ @@ -61,7 +61,7 @@ The following options are allowed: --debug debug mode | The camera that captures the video file must be calibrated. Create a config file (``.yaml``) according to the camera parameters. -| We provided a vocabulary file for FBoW at `here `__. +| We provided a vocabulary file for FBoW at `here `__. You can create a map database file by running one of the ``run_****_slam`` executables with ``--map-db map_file_name.msg`` option. @@ -94,7 +94,7 @@ The following options are allowed: -p, --map-db arg store a map database at this path after SLAM | The camera that captures the video file must be calibrated. Create a config file (``.yaml``) according to the camera parameters. -| We provided a vocabulary file for FBoW at `here `__. +| We provided a vocabulary file for FBoW at `here `__. Localization ^^^^^^^^^^^^ @@ -120,7 +120,7 @@ The following options are allowed: --debug debug mode | The camera that captures the video file must be calibrated. Create a config file (``.yaml``) according to the camera parameters. -| We provided a vocabulary file for FBoW at `here `__. +| We provided a vocabulary file for FBoW at `here `__. You can create a map database file by running one of the ``run_****_slam`` executables with ``--map-db map_file_name.msg`` option. @@ -148,7 +148,7 @@ After downloading and uncompressing it, you will find several sequences under th $ ls sequences/ 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 -In addition, download a vocabulary file for FBoW from `here `__. +In addition, download a vocabulary file for FBoW from `here `__. A configuration file for each sequence is contained under ``./example/kitti/``. @@ -156,7 +156,7 @@ If you built examples with Pangolin Viewer support, a map viewer and frame viewe .. code-block:: bash - # at the build directory of OpenVSLAM + # at the build directory of stella_vslam $ ls ... run_kitti_slam @@ -208,7 +208,7 @@ After downloading and uncompressing it, you will find several directories under $ ls mav0/ body.yaml cam0 cam1 imu0 leica0 state_groundtruth_estimate0 -In addition, download a vocabulary file for FBoW from `here `__. +In addition, download a vocabulary file for FBoW from `here `__. We provided the two config files for EuRoC, ``./example/euroc/EuRoC_mono.yaml`` for monocular and ``./example/euroc/EuRoC_stereo.yaml`` for stereo. @@ -216,7 +216,7 @@ If you have built examples with Pangolin Viewer support, a map viewer and frame .. code-block:: bash - # at the build directory of OpenVSLAM + # at the build directory of stella_vslam $ ls ... run_euroc_slam @@ -270,7 +270,7 @@ After downloading and uncompressing it, you will find two directories and few te If you would like to preprocess dataset then you can usee tool from `here `__. -In addition, download a vocabulary file for FBoW from `here `__. +In addition, download a vocabulary file for FBoW from `here `__. We provided the config files for RGBD dataset at, ``./example/tum_rgbd``. @@ -281,7 +281,7 @@ Tracking and Mapping .. code-block:: bash - # at the build directory of OpenVSLAM + # at the build directory of stella_vslam $ ls ... run_tum_rgbd_slam @@ -326,7 +326,7 @@ Localization .. code-block:: bash - # at the build directory of OpenVSLAM + # at the build directory of stella_vslam $ ls ... run_tum_rgbd_localization @@ -394,7 +394,7 @@ The following options are allowed: | Please specify the camera number you want to use by ``-n`` option. | The camera must be calibrated. Create a config file (``.yaml``) according to the camera parameters. | You can scale input images to the performance of your machine by ``-s`` option. Please modify the config accordingly. -| We provided a vocabulary file for FBoW at `here `__. +| We provided a vocabulary file for FBoW at `here `__. Localization ^^^^^^^^^^^^ @@ -420,4 +420,4 @@ The following options are allowed: | Please specify the camera number you want to use by ``-n`` option. | The camera must be calibrated. Create a config file (``.yaml``) according to the camera parameters. | You can scale input images to the performance of your machine by ``-s`` option. Please modify the config accordingly. -| We provided a vocabulary file for FBoW at `here `__. +| We provided a vocabulary file for FBoW at `here `__. diff --git a/docs/index.rst b/docs/index.rst index 963658f8c..85b7c3398 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -1,12 +1,8 @@ -.. OpenVSLAM documentation master file, created by +.. stella_vslam documentation master file, created by sphinx-quickstart on Sun May 19 18:46:30 2019. You can adapt this file completely to your liking, but it should at least contain the root `toctree` directive. -.. image:: ./img/logo.png - :width: 435px - :align: center - | .. image:: https://j.gifs.com/81m1QL.gif @@ -15,7 +11,11 @@ | -This is the `OpenVSLAM `_ documentation. +This is the `stella_vslam `_ documentation. +NOTE: This is a community fork of xdspacelab/openvslam. +It was created to continue active development of OpenVSLAM on Jan 31, 2021. +The original repository is no longer available. +Please read README.md in `stella_vslam `. Contents -------- @@ -39,10 +39,8 @@ Contents ./relocalization ./trouble_shooting -Citation --------- - -If you use OpenVSLAM for a publication, please cite it as: +Citation of original version of OpenVSLAM (xdspacelab/openvslam) +---------------------------------------------------------------- .. code-block:: bibtex diff --git a/docs/installation.rst b/docs/installation.rst index 8937cf5e5..e444d9b3c 100644 --- a/docs/installation.rst +++ b/docs/installation.rst @@ -10,18 +10,18 @@ Installation Source code =========== -The source code can be viewed from this `GitHub repository `_. +The source code can be viewed from this `GitHub repository `_. Cloning the repository: .. code-block:: bash - git clone https://github.com/OpenVSLAM-Community/openvslam.git - cd openvslam + git clone https://github.com/stella-cv/stella_vslam.git + cd stella_vslam git submodule update -i --recursive -If you are Windows 10 user, please install the dependencies and OpenVSLAM with :ref:`SocketViewer support ` on `Windows Subsystem for Linux (WSL) `__. -We have checked the correct operation of OpenVSLAM and SocketViewer on Ubuntu 16.04 running on WSL. +If you are Windows 10 user, please install the dependencies and stella_vslam with :ref:`SocketViewer support ` on `Windows Subsystem for Linux (WSL) `__. +We have checked the correct operation of stella_vslam and SocketViewer on Ubuntu 16.04 running on WSL. :ref:`Docker ` systems can be used instead of preparing the dependencies manually. @@ -30,10 +30,10 @@ We have checked the correct operation of OpenVSLAM and SocketViewer on Ubuntu 16 Dependencies ============ -OpenVSLAM requires a **C++11-compliant** compiler. +stella_vslam requires a **C++11-compliant** compiler. It relies on several open-source libraries as shown below. -Requirements for OpenVSLAM +Requirements for stella_vslam ^^^^^^^^^^^^^^^^^^^^^^^^^^ * `Eigen `_ : version 3.3.0 or later. @@ -42,7 +42,7 @@ Requirements for OpenVSLAM * `SuiteSparse `_ : Required by g2o. -* `FBoW `_ : **Please use the custom version of FBoW** released in `https://github.com/OpenVSLAM-Community/FBoW `_. +* `FBoW `_ : **Please use the custom version of FBoW** released in `https://github.com/stella-cv/FBoW `_. * `yaml-cpp `_ : version 0.6.0 or later. @@ -235,7 +235,7 @@ Download, build and install **the custom FBoW** from source. .. code-block:: bash cd /path/to/working/dir - git clone https://github.com/OpenVSLAM-Community/FBoW.git + git clone https://github.com/stella-cv/FBoW.git cd FBoW mkdir build && cd build cmake \ @@ -339,7 +339,7 @@ When building with support for PangolinViewer, please specify the following cmak .. code-block:: bash - cd /path/to/openvslam + cd /path/to/stella_vslam mkdir build && cd build cmake \ -DUSE_PANGOLIN_VIEWER=ON \ @@ -355,7 +355,7 @@ When building with support for SocketViewer, please specify the following cmake .. code-block:: bash - cd /path/to/openvslam + cd /path/to/stella_vslam mkdir build && cd build cmake \ -DUSE_PANGOLIN_VIEWER=OFF \ @@ -394,7 +394,7 @@ If you plan on using SocketViewer, please setup the environment for the server w .. code-block:: bash - $ cd /path/to/openvslam/viewer + $ cd /path/to/stella_vslam/viewer $ ls Dockerfile app.js package.json public views $ npm install @@ -407,7 +407,7 @@ Then, launch the server with ``node app.js``. .. code-block:: bash - $ cd /path/to/openvslam/viewer + $ cd /path/to/stella_vslam/viewer $ ls Dockerfile app.js node_modules package-lock.json package.json public views $ node app.js diff --git a/docs/overview.rst b/docs/overview.rst index 1f085b88f..7164d938e 100644 --- a/docs/overview.rst +++ b/docs/overview.rst @@ -12,16 +12,16 @@ Overview :width: 640px :align: center -OpenVSLAM is a monocular, stereo, and RGBD visual SLAM system. +stella_vslam is a monocular, stereo, and RGBD visual SLAM system. The notable features are: * It is compatible with **various type of camera models** and can be easily customized for other camera models. -* Created maps can be **stored and loaded**, then OpenVSLAM can **localize new images** based on the prebuilt maps. +* Created maps can be **stored and loaded**, then stella_vslam can **localize new images** based on the prebuilt maps. * The system is fully modular. It is designed by encapsulating several functions in separated components with easy-to-understand APIs. * We provided **some code snippets** to understand the core functionalities of this system. -OpenVSLAM is based on an indirect SLAM algorithm with sparse features, such as ORB-SLAM, ProSLAM, and UcoSLAM. -One of the noteworthy features of OpenVSLAM is that the system can deal with various type of camera models, such as perspective, fisheye, and equirectangular. +stella_vslam is based on an indirect SLAM algorithm with sparse features, such as ORB-SLAM, ProSLAM, and UcoSLAM. +One of the noteworthy features of stella_vslam is that the system can deal with various type of camera models, such as perspective, fisheye, and equirectangular. If needed, users can implement extra camera models (e.g. dual fisheye, catadioptric) with ease. For example, visual SLAM algorithm using **equirectangular camera models** (e.g. RICOH THETA series, insta360 series, etc) is shown above. @@ -29,10 +29,10 @@ Some code snippets to understand the core functionalities of the system are prov You can employ these snippets for in your own programs. Please see the ``*.cc`` files in ``./example`` directory or check :ref:`Simple Tutorial ` and :ref:`Example `. -Also, some examples to run OpenVSLAM on ROS framework are provided. +Also, some examples to run stella_vslam on ROS framework are provided. Please check :ref:`ROS Package `. -Please contact us via `GitHub issues `__ if you have any questions or notice any bugs about the software. +Please contact us via `GitHub issues `__ if you have any questions or notice any bugs about the software. .. _section-overview-installation: @@ -50,7 +50,7 @@ Tutorial Please see :ref:`Simple Tutorial `. -| A sample ORB vocabulary file can be downloaded from `here `__. +| A sample ORB vocabulary file can be downloaded from `here `__. | Sample datasets are also provided at `here `__. If you would like to run visual SLAM with standard benchmarking datasets (e.g. KITTI Odometry dataset), please see :ref:`SLAM with standard datasets `. diff --git a/docs/relocalization.rst b/docs/relocalization.rst index 3d627e3f9..b27b4b7e4 100644 --- a/docs/relocalization.rst +++ b/docs/relocalization.rst @@ -52,5 +52,5 @@ Steps in Relocalization .. _section-run-relocalizatoin: -| See the details on how to run the relocalization at `here `__. +| See the details on how to run the relocalization at `here `__. diff --git a/docs/ros.rst b/docs/ros.rst index bb640f502..5166b23f0 100644 --- a/docs/ros.rst +++ b/docs/ros.rst @@ -4,7 +4,7 @@ Running on ROS ============== -We provide ROS and ROS2 package examples to help you run OpenVSLAM on ROS framework. +We provide ROS and ROS2 package examples to help you run stella_vslam on ROS framework. .. toctree:: :maxdepth: 2 diff --git a/docs/ros2_package.rst b/docs/ros2_package.rst index 5fb90271d..71b1c451b 100644 --- a/docs/ros2_package.rst +++ b/docs/ros2_package.rst @@ -14,11 +14,11 @@ Requirements * `ROS2 `_ : ``foxy`` or later. -* :ref:`OpenVSLAM ` +* :ref:`stella_vslam ` * `image_common `_ : Required by this ROS package examples. -* `vision_opencv `_ : Please build it with the same version of OpenCV used in OpenVSLAM. +* `vision_opencv `_ : Please build it with the same version of OpenCV used in stella_vslam. * `image_tools `_ : An optional requirement to use USB cameras. @@ -33,11 +33,11 @@ Please install the following dependencies. * ROS2 : Please follow `Installation of ROS2 `_. -* OpenVSLAM : Please follow :ref:`Installation of OpenVSLAM `. +* stella_vslam : Please follow :ref:`Installation of stella_vslam `. .. NOTE :: - Please build OpenVSLAM with PangolinViewer or SocketViewer if you plan on using it for the examples. + Please build stella_vslam with PangolinViewer or SocketViewer if you plan on using it for the examples. Download repositories of ``image_common`` and ``vision_opencv``. @@ -60,13 +60,13 @@ For using USB cam as a image source, donload a repository of ``demos`` and pick Build Instructions ^^^^^^^^^^^^^^^^^^ -When building with support for PangolinViewer, please specify the following cmake options: ``-DUSE_PANGOLIN_VIEWER=ON`` and ``-DUSE_SOCKET_PUBLISHER=OFF`` as described in :ref:`build of OpenVSLAM `. -openvslam and openvslam_ros need to be built with the same options. +When building with support for PangolinViewer, please specify the following cmake options: ``-DUSE_PANGOLIN_VIEWER=ON`` and ``-DUSE_SOCKET_PUBLISHER=OFF`` as described in :ref:`build of stella_vslam `. +stella_vslam and stella_vslam_ros need to be built with the same options. .. code-block:: bash cd ~/catkin_ws/src - git clone --branch ros2 --depth 1 https://github.com/OpenVSLAM-Community/openvslam_ros.git + git clone --branch ros2 --depth 1 https://github.com/stella-cv/stella_vslam_ros.git cd ~/ros2_ws colcon build --symlink-install --cmake-args -DUSE_PANGOLIN_VIEWER=ON -DUSE_SOCKET_PUBLISHER=OFF @@ -76,7 +76,7 @@ Examples Publisher ^^^^^^^^^ -If you want to input image sequences or videos into openvslam_ros, please refer to `dataset_publisher_ros2 `_. +If you want to input image sequences or videos into stella_vslam_ros, please refer to `dataset_publisher_ros2 `_. Publish Images Captured by a USB Camera ------------------------------ @@ -102,18 +102,18 @@ Please execute one of the following command snippets in the new terminal. .. NOTE :: - Option arguments are the same as :ref:`the examples of OpenVSLAM `. + Option arguments are the same as :ref:`the examples of stella_vslam `. Tracking and Mapping -------------------- We provide an example snippet for visual SLAM. -The source code is placed at ``openvslam_ros/src/run_slam.cc``. +The source code is placed at ``stella_vslam_ros/src/run_slam.cc``. .. code-block:: bash source ~/ros2_ws/install/setup.bash - ros2 run openvslam_ros run_slam \ + ros2 run stella_vslam_ros run_slam \ -v /path/to/orb_vocab.fbow \ -c /path/to/config.yaml @@ -121,12 +121,12 @@ Localization ------------ We provide an example snippet for localization based on a prebuilt map. -The source code is placed at ``openvslam_ros/src/run_localization.cc``. +The source code is placed at ``stella_vslam_ros/src/run_localization.cc``. .. code-block:: bash source ~/ros2_ws/install/setup.bash - ros2 run openvslam_ros run_localization \ + ros2 run stella_vslam_ros run_localization \ -v /path/to/orb_vocab.fbow \ -c /path/to/config.yaml \ --map-db /path/to/map.msg diff --git a/docs/ros_package.rst b/docs/ros_package.rst index a6d3b84e3..d83f47558 100644 --- a/docs/ros_package.rst +++ b/docs/ros_package.rst @@ -14,11 +14,11 @@ Requirements * `ROS `_ : ``noetic`` is recommended. (If you have built OpenCV (3.3.1 or later) manually, you can use ``melodic`` or later.) -* :ref:`OpenVSLAM ` +* :ref:`stella_vslam ` * `image_transport `_ : Required by this ROS package examples. -* `cv_bridge `_ : Please build it with the same version of OpenCV used in OpenVSLAM. +* `cv_bridge `_ : Please build it with the same version of OpenCV used in stella_vslam. .. _section-prerequisites: @@ -31,11 +31,11 @@ Please install the following dependencies. * ROS : Please follow `Installation of ROS `_. -* OpenVSLAM : Please follow :ref:`Installation of OpenVSLAM `. +* stella_vslam : Please follow :ref:`Installation of stella_vslam `. .. NOTE :: - Please build OpenVSLAM with PangolinViewer or SocketViewer if you plan on using it for the examples. + Please build stella_vslam with PangolinViewer or SocketViewer if you plan on using it for the examples. Install the dependencies via ``apt``. @@ -56,13 +56,13 @@ Download the source of ``cv_bridge``. Build Instructions ^^^^^^^^^^^^^^^^^^ -When building with support for PangolinViewer, please specify the following cmake options: ``-DUSE_PANGOLIN_VIEWER=ON`` and ``-DUSE_SOCKET_PUBLISHER=OFF`` as described in :ref:`build of OpenVSLAM `. -openvslam and openvslam_ros need to be built with the same options. +When building with support for PangolinViewer, please specify the following cmake options: ``-DUSE_PANGOLIN_VIEWER=ON`` and ``-DUSE_SOCKET_PUBLISHER=OFF`` as described in :ref:`build of stella_vslam `. +stella_vslam and stella_vslam_ros need to be built with the same options. .. code-block:: bash cd ~/catkin_ws/src - git clone --branch ros --depth 1 https://github.com/OpenVSLAM-Community/openvslam_ros.git + git clone --branch ros --depth 1 https://github.com/stella-cv/stella_vslam_ros.git cd ~/catkin_ws catkin_make -DUSE_PANGOLIN_VIEWER=ON -DUSE_SOCKET_PUBLISHER=OFF @@ -82,7 +82,7 @@ Run the core program required for ROS-based system in advance. Publisher ^^^^^^^^^ -If you want to input image sequences or videos into openvslam_ros, please use ROS2. +If you want to input image sequences or videos into stella_vslam_ros, please use ROS2. Publish Images of a USB Camera ------------------------------ @@ -113,18 +113,18 @@ Please execute one of the following command snippets in the new terminal. .. NOTE :: - Option arguments are the same as :ref:`the examples of OpenVSLAM `. + Option arguments are the same as :ref:`the examples of stella_vslam `. Tracking and Mapping -------------------- We provide an example snippet for visual SLAM. -The source code is placed at ``openvslam_ros/src/run_slam.cc``. +The source code is placed at ``stella_vslam_ros/src/run_slam.cc``. .. code-block:: bash source ~/catkin_ws/devel/setup.bash - rosrun openvslam_ros run_slam \ + rosrun stella_vslam_ros run_slam \ -v /path/to/orb_vocab.fbow \ -c /path/to/config.yaml @@ -132,12 +132,12 @@ Localization ------------ We provide an example snippet for localization based on a prebuilt map. -The source code is placed at ``openvslam_ros/src/run_localization.cc``. +The source code is placed at ``stella_vslam_ros/src/run_localization.cc``. .. code-block:: bash source ~/catkin_ws/devel/setup.bash - rosrun openvslam_ros run_localization \ + rosrun stella_vslam_ros run_localization \ -v /path/to/orb_vocab.fbow \ -c /path/to/config.yaml \ --map-db /path/to/map.msg diff --git a/docs/simple_tutorial.rst b/docs/simple_tutorial.rst index 52ee4698d..ebb9b8130 100644 --- a/docs/simple_tutorial.rst +++ b/docs/simple_tutorial.rst @@ -11,19 +11,19 @@ TL; DR If you use :ref:`SocketViewer `, please launch the server in the other terminal and access to it with the web browser **in advance**. -Running the following commands will give a feel for what OpenVSLAM can do. +Running the following commands will give a feel for what stella_vslam can do. The later parts of this chapter explains what each of the commands do in more detail. .. code-block:: bash - # at the build directory of openvslam ... + # at the build directory of stella_vslam ... $ pwd - /path/to/openvslam/build/ + /path/to/stella_vslam/build/ $ ls run_video_slam run_video_localization lib/ ... # download an ORB vocabulary from GitHub - curl -sL "https://github.com/OpenVSLAM-Community/FBoW_orb_vocab/raw/main/orb_vocab.fbow" -o orb_vocab.fbow + curl -sL "https://github.com/stella-cv/FBoW_orb_vocab/raw/main/orb_vocab.fbow" -o orb_vocab.fbow # download a sample dataset from Google Drive FILE_ID="1d8kADKWBptEqTF7jEVhKatBEdN7g0ikY" @@ -51,8 +51,8 @@ The later parts of this chapter explains what each of the commands do in more de Sample Datasets ^^^^^^^^^^^^^^^ -You can use OpenVSLAM with various video datasets. -If you want to run OpenVSLAM with standard benchmarking detasets, please see :ref:`this section `. +You can use stella_vslam with various video datasets. +If you want to run stella_vslam with standard benchmarking detasets, please see :ref:`this section `. Start by downloading some datasets you like. @@ -224,7 +224,7 @@ After downloading and uncompressing a zip file, you will find a video file and a You can put the dataset in any directory where you have access to. -| Additionally, please download a vocabulary file for FBoW from `here `__. +| Additionally, please download a vocabulary file for FBoW from `here `__. For the rest of this chapter, we will use ``aist_living_lab_1`` and ``aist_living_lab_2`` datasets for our example. @@ -238,7 +238,7 @@ You can use ``./run_video_slam`` to run SLAM with the video file. .. code-block:: bash - # at the build directory of OpenVSLAM + # at the build directory of stella_vslam $ ls ... run_video_slam @@ -266,7 +266,7 @@ The paths should be changed accordingly. $ ./run_video_slam \ -v /path/to/orb_vocab/orb_vocab.fbow \ - -c /path/to/openvslam/example/aist/equirectangular.yaml \ + -c /path/to/stella_vslam/example/aist/equirectangular.yaml \ -m /path/to/aist_living_lab_1/video.mp4 \ --frame-skip 3 \ --map-db aist_living_lab_1_map.msg @@ -288,7 +288,7 @@ If the two viewers are not launching correctly, check if you launched the comman .. code-block:: none - [2019-05-20 17:52:41.677] [I] config file loaded: /path/to/openvslam/example/aist/equirectangular.yaml + [2019-05-20 17:52:41.677] [I] config file loaded: /path/to/stella_vslam/example/aist/equirectangular.yaml ___ __ _____ _ _ __ __ / _ \ _ __ ___ _ _\ \ / / __| | /_\ | \/ | | (_) | '_ \/ -_) ' \\ V /\__ \ |__ / _ \| |\/| | @@ -299,7 +299,7 @@ If the two viewers are not launching correctly, check if you launched the comman National Institute of Advanced Industrial Science and Technology (AIST) All rights reserved. For the changes after forking, - Copyright (C) 2022, OpenVSLAM-Community, All rights reserved. + Copyright (C) 2022, stella-cv, All rights reserved. This is free software, and you are welcome to redistribute it under certain conditions. @@ -368,7 +368,7 @@ After terminating, you will find a map database file ``aist_living_lab_1_map.msg ... -The format of map database files is `MessagePack `_, so you can reuse created maps for any third-party applications other than OpenVSLAM. +The format of map database files is `MessagePack `_, so you can reuse created maps for any third-party applications other than stella_vslam. Localization @@ -403,7 +403,7 @@ The paths should be changed accordingly. $ ./run_video_localization \ -v /path/to/orb_vocab/orb_vocab.fbow \ - -c /path/to/openvslam/example/aist/equirectangular.yaml \ + -c /path/to/stella_vslam/example/aist/equirectangular.yaml \ -m /path/to/aist_living_lab_2/video.mp4 \ --frame-skip 3 \ --map-db aist_living_lab_1_map.msg @@ -423,7 +423,7 @@ You can see if the current frame is being localized, based on the prebuild map. .. code-block:: none - [2019-05-20 17:58:54.728] [I] config file loaded: /path/to/openvslam/example/aist/equirectangular.yaml + [2019-05-20 17:58:54.728] [I] config file loaded: /path/to/stella_vslam/example/aist/equirectangular.yaml ___ __ _____ _ _ __ __ / _ \ _ __ ___ _ _\ \ / / __| | /_\ | \/ | | (_) | '_ \/ -_) ' \\ V /\__ \ |__ / _ \| |\/| | @@ -434,7 +434,7 @@ You can see if the current frame is being localized, based on the prebuild map. National Institute of Advanced Industrial Science and Technology (AIST) All rights reserved. For the changes after forking, - Copyright (C) 2022, OpenVSLAM-Community, All rights reserved. + Copyright (C) 2022, stella-cv, All rights reserved. This is free software, and you are welcome to redistribute it under certain conditions. diff --git a/docs/trouble_shooting.rst b/docs/trouble_shooting.rst index 4a9caac5b..bea9386ab 100644 --- a/docs/trouble_shooting.rst +++ b/docs/trouble_shooting.rst @@ -10,9 +10,9 @@ Trouble Shooting For building ============ -#. OpenVSLAM terminates abnormaly soon after **launching** or **optimization with g2o**. +#. stella_vslam terminates abnormaly soon after **launching** or **optimization with g2o**. - Please configure and rebuild g2o and OpenVSLAM with ``-DBUILD_WITH_MARCH_NATIVE=OFF`` option for ``cmake``. + Please configure and rebuild g2o and stella_vslam with ``-DBUILD_WITH_MARCH_NATIVE=OFF`` option for ``cmake``. .. _section-trouble-slam: diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt index ffb32fba6..0d5bf70dd 100644 --- a/example/CMakeLists.txt +++ b/example/CMakeLists.txt @@ -101,7 +101,7 @@ foreach(EXECUTABLE_TARGET IN LISTS EXECUTABLE_TARGETS) target_link_libraries(${EXECUTABLE_TARGET} PRIVATE ${GPERFTOOLS_LIBRARIES}) endif() - # Link OpenVSLAM + # Link stella_vslam target_link_libraries(${EXECUTABLE_TARGET} PRIVATE ${PROJECT_NAME} diff --git a/example/run_camera_localization.cc b/example/run_camera_localization.cc index 825b8fb53..640e88cc6 100644 --- a/example/run_camera_localization.cc +++ b/example/run_camera_localization.cc @@ -4,9 +4,9 @@ #include "socket_publisher/publisher.h" #endif -#include "openvslam/system.h" -#include "openvslam/config.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/config.h" +#include "stella_vslam/util/yaml.h" #include #include @@ -27,14 +27,14 @@ #include #endif -void mono_localization(const std::shared_ptr& cfg, +void mono_localization(const std::shared_ptr& cfg, const std::string& vocab_file_path, const unsigned int cam_num, const std::string& mask_img_path, const float scale, const std::string& map_db_path, const bool mapping) { // load the mask image const cv::Mat mask = mask_img_path.empty() ? cv::Mat{} : cv::imread(mask_img_path, cv::IMREAD_GRAYSCALE); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // load the prebuilt map SLAM.load_map_database(map_db_path); // startup the SLAM process (it does not need initialization of a map) @@ -51,10 +51,10 @@ void mono_localization(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif auto video = cv::VideoCapture(cam_num); @@ -174,9 +174,9 @@ int main(int argc, char* argv[]) { } // load configuration - std::shared_ptr cfg; + std::shared_ptr cfg; try { - cfg = std::make_shared(config_file_path->value()); + cfg = std::make_shared(config_file_path->value()); } catch (const std::exception& e) { std::cerr << e.what() << std::endl; @@ -188,7 +188,7 @@ int main(int argc, char* argv[]) { #endif // run localization - if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Monocular) { + if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Monocular) { mono_localization(cfg, vocab_file_path->value(), cam_num->value(), mask_img_path->value(), scale->value(), map_db_path->value(), mapping->is_set()); } diff --git a/example/run_camera_slam.cc b/example/run_camera_slam.cc index 5bf6191fe..510a9bfe1 100644 --- a/example/run_camera_slam.cc +++ b/example/run_camera_slam.cc @@ -4,10 +4,10 @@ #include "socket_publisher/publisher.h" #endif -#include "openvslam/system.h" -#include "openvslam/config.h" -#include "openvslam/util/stereo_rectifier.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/config.h" +#include "stella_vslam/util/stereo_rectifier.h" +#include "stella_vslam/util/yaml.h" #include #include @@ -28,14 +28,14 @@ #include #endif -void mono_tracking(const std::shared_ptr& cfg, +void mono_tracking(const std::shared_ptr& cfg, const std::string& vocab_file_path, const unsigned int cam_num, const std::string& mask_img_path, const float scale, const std::string& map_db_path) { // load the mask image const cv::Mat mask = mask_img_path.empty() ? cv::Mat{} : cv::imread(mask_img_path, cv::IMREAD_GRAYSCALE); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // startup the SLAM process SLAM.startup(); @@ -43,10 +43,10 @@ void mono_tracking(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif auto video = cv::VideoCapture(cam_num); @@ -122,12 +122,12 @@ void mono_tracking(const std::shared_ptr& cfg, std::cout << "mean tracking time: " << total_track_time / track_times.size() << "[s]" << std::endl; } -void stereo_tracking(const std::shared_ptr& cfg, +void stereo_tracking(const std::shared_ptr& cfg, const std::string& vocab_file_path, const unsigned int cam_num, const std::string& mask_img_path, const float scale, const std::string& map_db_path) { const cv::Mat mask = mask_img_path.empty() ? cv::Mat{} : cv::imread(mask_img_path, cv::IMREAD_GRAYSCALE); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // startup the SLAM process SLAM.startup(); @@ -135,10 +135,10 @@ void stereo_tracking(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif cv::VideoCapture videos[2]; @@ -151,7 +151,7 @@ void stereo_tracking(const std::shared_ptr& cfg, } } - const openvslam::util::stereo_rectifier rectifier(cfg); + const stella_vslam::util::stereo_rectifier rectifier(cfg); cv::Mat frames[2]; cv::Mat frames_rectified[2]; @@ -270,9 +270,9 @@ int main(int argc, char* argv[]) { } // load configuration - std::shared_ptr cfg; + std::shared_ptr cfg; try { - cfg = std::make_shared(config_file_path->value()); + cfg = std::make_shared(config_file_path->value()); } catch (const std::exception& e) { std::cerr << e.what() << std::endl; @@ -284,11 +284,11 @@ int main(int argc, char* argv[]) { #endif // run tracking - if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Monocular) { + if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Monocular) { mono_tracking(cfg, vocab_file_path->value(), cam_num->value(), mask_img_path->value(), scale->value(), map_db_path->value()); } - else if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Stereo) { + else if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Stereo) { stereo_tracking(cfg, vocab_file_path->value(), cam_num->value(), mask_img_path->value(), scale->value(), map_db_path->value()); } diff --git a/example/run_euroc_localization.cc b/example/run_euroc_localization.cc index 9693a7d32..f68552568 100644 --- a/example/run_euroc_localization.cc +++ b/example/run_euroc_localization.cc @@ -6,11 +6,11 @@ #include "socket_publisher/publisher.h" #endif -#include "openvslam/system.h" -#include "openvslam/config.h" -#include "openvslam/util/stereo_rectifier.h" -#include "openvslam/util/image_converter.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/config.h" +#include "stella_vslam/util/stereo_rectifier.h" +#include "stella_vslam/util/image_converter.h" +#include "stella_vslam/util/yaml.h" #include #include @@ -32,7 +32,7 @@ #include #endif -void mono_localization(const std::shared_ptr& cfg, +void mono_localization(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& sequence_dir_path, const unsigned int frame_skip, const bool no_sleep, const bool auto_term, const bool eval_log, const std::string& map_db_path, const bool mapping, @@ -41,7 +41,7 @@ void mono_localization(const std::shared_ptr& cfg, const auto frames = sequence.get_frames(); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // load the prebuilt map SLAM.load_map_database(map_db_path); // startup the SLAM process (it does not need initialization of a map) @@ -58,10 +58,10 @@ void mono_localization(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif std::vector track_times; @@ -74,7 +74,7 @@ void mono_localization(const std::shared_ptr& cfg, cv::Mat img; if (equal_hist) { img = cv::imread(frame.left_img_path_, cv::IMREAD_UNCHANGED); - openvslam::util::equalize_histogram(img); + stella_vslam::util::equalize_histogram(img); } else { img = cv::imread(frame.left_img_path_, cv::IMREAD_GRAYSCALE); @@ -214,9 +214,9 @@ int main(int argc, char* argv[]) { } // load configuration - std::shared_ptr cfg; + std::shared_ptr cfg; try { - cfg = std::make_shared(config_file_path->value()); + cfg = std::make_shared(config_file_path->value()); } catch (const std::exception& e) { std::cerr << e.what() << std::endl; @@ -228,7 +228,7 @@ int main(int argc, char* argv[]) { #endif // run tracking - if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Monocular) { + if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Monocular) { mono_localization(cfg, vocab_file_path->value(), data_dir_path->value(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set(), eval_log->is_set(), map_db_path->value(), mapping->is_set(), diff --git a/example/run_euroc_slam.cc b/example/run_euroc_slam.cc index 006ed1603..7abf5b016 100644 --- a/example/run_euroc_slam.cc +++ b/example/run_euroc_slam.cc @@ -6,11 +6,11 @@ #include "socket_publisher/publisher.h" #endif -#include "openvslam/system.h" -#include "openvslam/config.h" -#include "openvslam/util/stereo_rectifier.h" -#include "openvslam/util/image_converter.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/config.h" +#include "stella_vslam/util/stereo_rectifier.h" +#include "stella_vslam/util/image_converter.h" +#include "stella_vslam/util/yaml.h" #include #include @@ -32,7 +32,7 @@ #include #endif -void mono_tracking(const std::shared_ptr& cfg, +void mono_tracking(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& sequence_dir_path, const unsigned int frame_skip, const bool no_sleep, const bool auto_term, const bool eval_log, const std::string& map_db_path, const bool equal_hist) { @@ -40,7 +40,7 @@ void mono_tracking(const std::shared_ptr& cfg, const auto frames = sequence.get_frames(); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // startup the SLAM process SLAM.startup(); @@ -48,10 +48,10 @@ void mono_tracking(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif std::vector track_times; @@ -64,7 +64,7 @@ void mono_tracking(const std::shared_ptr& cfg, cv::Mat img; if (equal_hist) { img = cv::imread(frame.left_img_path_, cv::IMREAD_UNCHANGED); - openvslam::util::equalize_histogram(img); + stella_vslam::util::equalize_histogram(img); } else { img = cv::imread(frame.left_img_path_, cv::IMREAD_GRAYSCALE); @@ -152,17 +152,17 @@ void mono_tracking(const std::shared_ptr& cfg, std::cout << "mean tracking time: " << total_track_time / track_times.size() << "[s]" << std::endl; } -void stereo_tracking(const std::shared_ptr& cfg, +void stereo_tracking(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& sequence_dir_path, const unsigned int frame_skip, const bool no_sleep, const bool auto_term, const bool eval_log, const std::string& map_db_path, const bool equal_hist) { const euroc_sequence sequence(sequence_dir_path); const auto frames = sequence.get_frames(); - const openvslam::util::stereo_rectifier rectifier(cfg); + const stella_vslam::util::stereo_rectifier rectifier(cfg); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // startup the SLAM process SLAM.startup(); @@ -170,10 +170,10 @@ void stereo_tracking(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif std::vector track_times; @@ -189,8 +189,8 @@ void stereo_tracking(const std::shared_ptr& cfg, if (equal_hist) { left_img = cv::imread(frame.left_img_path_, cv::IMREAD_UNCHANGED); right_img = cv::imread(frame.right_img_path_, cv::IMREAD_UNCHANGED); - openvslam::util::equalize_histogram(left_img); - openvslam::util::equalize_histogram(right_img); + stella_vslam::util::equalize_histogram(left_img); + stella_vslam::util::equalize_histogram(right_img); } else { left_img = cv::imread(frame.left_img_path_, cv::IMREAD_GRAYSCALE); @@ -336,9 +336,9 @@ int main(int argc, char* argv[]) { } // load configuration - std::shared_ptr cfg; + std::shared_ptr cfg; try { - cfg = std::make_shared(config_file_path->value()); + cfg = std::make_shared(config_file_path->value()); } catch (const std::exception& e) { std::cerr << e.what() << std::endl; @@ -350,12 +350,12 @@ int main(int argc, char* argv[]) { #endif // run tracking - if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Monocular) { + if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Monocular) { mono_tracking(cfg, vocab_file_path->value(), data_dir_path->value(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set(), eval_log->is_set(), map_db_path->value(), equal_hist->is_set()); } - else if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Stereo) { + else if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Stereo) { stereo_tracking(cfg, vocab_file_path->value(), data_dir_path->value(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set(), eval_log->is_set(), map_db_path->value(), equal_hist->is_set()); diff --git a/example/run_image_localization.cc b/example/run_image_localization.cc index 4bfca112c..41ee33b5a 100644 --- a/example/run_image_localization.cc +++ b/example/run_image_localization.cc @@ -6,9 +6,9 @@ #include "socket_publisher/publisher.h" #endif -#include "openvslam/system.h" -#include "openvslam/config.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/config.h" +#include "stella_vslam/util/yaml.h" #include #include @@ -27,7 +27,7 @@ #include #endif -void mono_localization(const std::shared_ptr& cfg, +void mono_localization(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& image_dir_path, const std::string& mask_img_path, const std::string& map_db_path, const bool mapping, const unsigned int frame_skip, const bool no_sleep, const bool auto_term) { @@ -38,7 +38,7 @@ void mono_localization(const std::shared_ptr& cfg, const auto frames = sequence.get_frames(); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // load the prebuilt map SLAM.load_map_database(map_db_path); // startup the SLAM process (it does not need initialization of a map) @@ -55,10 +55,10 @@ void mono_localization(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif std::vector track_times; @@ -184,9 +184,9 @@ int main(int argc, char* argv[]) { } // load configuration - std::shared_ptr cfg; + std::shared_ptr cfg; try { - cfg = std::make_shared(config_file_path->value()); + cfg = std::make_shared(config_file_path->value()); } catch (const std::exception& e) { std::cerr << e.what() << std::endl; @@ -198,7 +198,7 @@ int main(int argc, char* argv[]) { #endif // run localization - if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Monocular) { + if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Monocular) { mono_localization(cfg, vocab_file_path->value(), img_dir_path->value(), mask_img_path->value(), map_db_path->value(), mapping->is_set(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set()); diff --git a/example/run_image_slam.cc b/example/run_image_slam.cc index 8feea92eb..711bc4c86 100644 --- a/example/run_image_slam.cc +++ b/example/run_image_slam.cc @@ -6,9 +6,9 @@ #include "socket_publisher/publisher.h" #endif -#include "openvslam/system.h" -#include "openvslam/config.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/config.h" +#include "stella_vslam/util/yaml.h" #include #include @@ -28,7 +28,7 @@ #include #endif -void mono_tracking(const std::shared_ptr& cfg, +void mono_tracking(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& image_dir_path, const std::string& mask_img_path, const unsigned int frame_skip, const bool no_sleep, const bool auto_term, const bool eval_log, const std::string& map_db_path) { @@ -39,16 +39,16 @@ void mono_tracking(const std::shared_ptr& cfg, const auto frames = sequence.get_frames(); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // startup the SLAM process SLAM.startup(); #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif std::vector track_times; @@ -192,9 +192,9 @@ int main(int argc, char* argv[]) { } // load configuration - std::shared_ptr cfg; + std::shared_ptr cfg; try { - cfg = std::make_shared(config_file_path->value()); + cfg = std::make_shared(config_file_path->value()); } catch (const std::exception& e) { std::cerr << e.what() << std::endl; @@ -206,7 +206,7 @@ int main(int argc, char* argv[]) { #endif // run tracking - if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Monocular) { + if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Monocular) { mono_tracking(cfg, vocab_file_path->value(), img_dir_path->value(), mask_img_path->value(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set(), eval_log->is_set(), map_db_path->value()); diff --git a/example/run_kitti_slam.cc b/example/run_kitti_slam.cc index 4c1ba02c5..a9cbef449 100644 --- a/example/run_kitti_slam.cc +++ b/example/run_kitti_slam.cc @@ -6,9 +6,9 @@ #include "socket_publisher/publisher.h" #endif -#include "openvslam/system.h" -#include "openvslam/config.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/config.h" +#include "stella_vslam/util/yaml.h" #include #include @@ -30,7 +30,7 @@ #include #endif -void mono_tracking(const std::shared_ptr& cfg, +void mono_tracking(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& sequence_dir_path, const unsigned int frame_skip, const bool no_sleep, const bool auto_term, const bool eval_log, const std::string& map_db_path) { @@ -38,7 +38,7 @@ void mono_tracking(const std::shared_ptr& cfg, const auto frames = sequence.get_frames(); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // startup the SLAM process SLAM.startup(); @@ -46,10 +46,10 @@ void mono_tracking(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif std::vector track_times; @@ -143,7 +143,7 @@ void mono_tracking(const std::shared_ptr& cfg, std::cout << "mean tracking time: " << total_track_time / track_times.size() << "[s]" << std::endl; } -void stereo_tracking(const std::shared_ptr& cfg, +void stereo_tracking(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& sequence_dir_path, const unsigned int frame_skip, const bool no_sleep, const bool auto_term, const bool eval_log, const std::string& map_db_path) { @@ -151,7 +151,7 @@ void stereo_tracking(const std::shared_ptr& cfg, const auto frames = sequence.get_frames(); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // startup the SLAM process SLAM.startup(); @@ -159,10 +159,10 @@ void stereo_tracking(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif std::vector track_times; @@ -306,9 +306,9 @@ int main(int argc, char* argv[]) { } // load configuration - std::shared_ptr cfg; + std::shared_ptr cfg; try { - cfg = std::make_shared(config_file_path->value()); + cfg = std::make_shared(config_file_path->value()); } catch (const std::exception& e) { std::cerr << e.what() << std::endl; @@ -320,12 +320,12 @@ int main(int argc, char* argv[]) { #endif // run tracking - if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Monocular) { + if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Monocular) { mono_tracking(cfg, vocab_file_path->value(), data_dir_path->value(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set(), eval_log->is_set(), map_db_path->value()); } - else if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Stereo) { + else if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Stereo) { stereo_tracking(cfg, vocab_file_path->value(), data_dir_path->value(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set(), eval_log->is_set(), map_db_path->value()); diff --git a/example/run_tum_rgbd_localization.cc b/example/run_tum_rgbd_localization.cc index 7206bdbfc..08d825b58 100644 --- a/example/run_tum_rgbd_localization.cc +++ b/example/run_tum_rgbd_localization.cc @@ -6,9 +6,9 @@ #include "socket_publisher/publisher.h" #endif -#include "openvslam/system.h" -#include "openvslam/config.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/config.h" +#include "stella_vslam/util/yaml.h" #include #include @@ -30,7 +30,7 @@ #include #endif -void mono_localization(const std::shared_ptr& cfg, +void mono_localization(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& sequence_dir_path, const unsigned int frame_skip, const bool no_sleep, const bool auto_term, const bool mapping, const std::string& map_db_path) { @@ -38,7 +38,7 @@ void mono_localization(const std::shared_ptr& cfg, const auto frames = sequence.get_frames(); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // load the prebuilt map SLAM.load_map_database(map_db_path); // startup the SLAM process (it does not need initialization of a map) @@ -55,10 +55,10 @@ void mono_localization(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif std::vector track_times; @@ -133,7 +133,7 @@ void mono_localization(const std::shared_ptr& cfg, std::cout << "mean tracking time: " << total_track_time / track_times.size() << "[s]" << std::endl; } -void rgbd_localization(const std::shared_ptr& cfg, +void rgbd_localization(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& sequence_dir_path, const unsigned int frame_skip, const bool no_sleep, const bool auto_term, const bool mapping, const std::string& map_db_path) { @@ -141,7 +141,7 @@ void rgbd_localization(const std::shared_ptr& cfg, const auto frames = sequence.get_frames(); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // load the prebuilt map SLAM.load_map_database(map_db_path); // startup the SLAM process (it does not need initialization of a map) @@ -158,10 +158,10 @@ void rgbd_localization(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif std::vector track_times; @@ -287,9 +287,9 @@ int main(int argc, char* argv[]) { } // load configuration - std::shared_ptr cfg; + std::shared_ptr cfg; try { - cfg = std::make_shared(config_file_path->value()); + cfg = std::make_shared(config_file_path->value()); } catch (const std::exception& e) { std::cerr << e.what() << std::endl; @@ -301,12 +301,12 @@ int main(int argc, char* argv[]) { #endif // run localization - if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Monocular) { + if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Monocular) { mono_localization(cfg, vocab_file_path->value(), data_dir_path->value(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set(), mapping->is_set(), map_db_path->value()); } - else if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::RGBD) { + else if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::RGBD) { rgbd_localization(cfg, vocab_file_path->value(), data_dir_path->value(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set(), mapping->is_set(), map_db_path->value()); @@ -320,4 +320,4 @@ int main(int argc, char* argv[]) { #endif return EXIT_SUCCESS; -} \ No newline at end of file +} diff --git a/example/run_tum_rgbd_slam.cc b/example/run_tum_rgbd_slam.cc index f2c1ed905..bae747ce8 100644 --- a/example/run_tum_rgbd_slam.cc +++ b/example/run_tum_rgbd_slam.cc @@ -6,9 +6,9 @@ #include "socket_publisher/publisher.h" #endif -#include "openvslam/system.h" -#include "openvslam/config.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/config.h" +#include "stella_vslam/util/yaml.h" #include #include @@ -30,7 +30,7 @@ #include #endif -void mono_tracking(const std::shared_ptr& cfg, +void mono_tracking(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& sequence_dir_path, const unsigned int frame_skip, const bool no_sleep, const bool auto_term, const bool eval_log, const std::string& map_db_path) { @@ -38,7 +38,7 @@ void mono_tracking(const std::shared_ptr& cfg, const auto frames = sequence.get_frames(); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // startup the SLAM process SLAM.startup(); @@ -46,10 +46,10 @@ void mono_tracking(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif std::vector track_times; @@ -143,7 +143,7 @@ void mono_tracking(const std::shared_ptr& cfg, std::cout << "mean tracking time: " << total_track_time / track_times.size() << "[s]" << std::endl; } -void rgbd_tracking(const std::shared_ptr& cfg, +void rgbd_tracking(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& sequence_dir_path, const unsigned int frame_skip, const bool no_sleep, const bool auto_term, const bool eval_log, const std::string& map_db_path) { @@ -151,7 +151,7 @@ void rgbd_tracking(const std::shared_ptr& cfg, const auto frames = sequence.get_frames(); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // startup the SLAM process SLAM.startup(); @@ -159,10 +159,10 @@ void rgbd_tracking(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif std::vector track_times; @@ -306,9 +306,9 @@ int main(int argc, char* argv[]) { } // load configuration - std::shared_ptr cfg; + std::shared_ptr cfg; try { - cfg = std::make_shared(config_file_path->value()); + cfg = std::make_shared(config_file_path->value()); } catch (const std::exception& e) { std::cerr << e.what() << std::endl; @@ -320,12 +320,12 @@ int main(int argc, char* argv[]) { #endif // run tracking - if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Monocular) { + if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Monocular) { mono_tracking(cfg, vocab_file_path->value(), data_dir_path->value(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set(), eval_log->is_set(), map_db_path->value()); } - else if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::RGBD) { + else if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::RGBD) { rgbd_tracking(cfg, vocab_file_path->value(), data_dir_path->value(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set(), eval_log->is_set(), map_db_path->value()); diff --git a/example/run_video_localization.cc b/example/run_video_localization.cc index fc0b40164..1129b6652 100644 --- a/example/run_video_localization.cc +++ b/example/run_video_localization.cc @@ -4,9 +4,9 @@ #include "socket_publisher/publisher.h" #endif -#include "openvslam/system.h" -#include "openvslam/config.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/config.h" +#include "stella_vslam/util/yaml.h" #include #include @@ -26,7 +26,7 @@ #include #endif -void mono_localization(const std::shared_ptr& cfg, +void mono_localization(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& video_file_path, const std::string& mask_img_path, const std::string& map_db_path, const bool mapping, const unsigned int frame_skip, const bool no_sleep, const bool auto_term) { @@ -34,7 +34,7 @@ void mono_localization(const std::shared_ptr& cfg, const cv::Mat mask = mask_img_path.empty() ? cv::Mat{} : cv::imread(mask_img_path, cv::IMREAD_GRAYSCALE); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // load the prebuilt map SLAM.load_map_database(map_db_path); // startup the SLAM process (it does not need initialization of a map) @@ -51,10 +51,10 @@ void mono_localization(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif auto video = cv::VideoCapture(video_file_path, cv::CAP_FFMPEG); @@ -188,9 +188,9 @@ int main(int argc, char* argv[]) { } // load configuration - std::shared_ptr cfg; + std::shared_ptr cfg; try { - cfg = std::make_shared(config_file_path->value()); + cfg = std::make_shared(config_file_path->value()); } catch (const std::exception& e) { std::cerr << e.what() << std::endl; @@ -202,7 +202,7 @@ int main(int argc, char* argv[]) { #endif // run localization - if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Monocular) { + if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Monocular) { mono_localization(cfg, vocab_file_path->value(), video_file_path->value(), mask_img_path->value(), map_db_path->value(), mapping->is_set(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set()); diff --git a/example/run_video_slam.cc b/example/run_video_slam.cc index 739ce2f85..36da30828 100644 --- a/example/run_video_slam.cc +++ b/example/run_video_slam.cc @@ -4,9 +4,9 @@ #include "socket_publisher/publisher.h" #endif -#include "openvslam/system.h" -#include "openvslam/config.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/config.h" +#include "stella_vslam/util/yaml.h" #include #include @@ -27,7 +27,7 @@ #include #endif -void mono_tracking(const std::shared_ptr& cfg, +void mono_tracking(const std::shared_ptr& cfg, const std::string& vocab_file_path, const std::string& video_file_path, const std::string& mask_img_path, const unsigned int frame_skip, const bool no_sleep, const bool auto_term, const bool eval_log, const std::string& map_db_path) { @@ -35,7 +35,7 @@ void mono_tracking(const std::shared_ptr& cfg, const cv::Mat mask = mask_img_path.empty() ? cv::Mat{} : cv::imread(mask_img_path, cv::IMREAD_GRAYSCALE); // build a SLAM system - openvslam::system SLAM(cfg, vocab_file_path); + stella_vslam::system SLAM(cfg, vocab_file_path); // startup the SLAM process SLAM.startup(); @@ -43,10 +43,10 @@ void mono_tracking(const std::shared_ptr& cfg, // and pass the frame_publisher and the map_publisher #ifdef USE_PANGOLIN_VIEWER pangolin_viewer::viewer viewer( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "PangolinViewer"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #elif USE_SOCKET_PUBLISHER socket_publisher::publisher publisher( - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "SocketPublisher"), &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher()); #endif auto video = cv::VideoCapture(video_file_path, cv::CAP_FFMPEG); @@ -198,9 +198,9 @@ int main(int argc, char* argv[]) { } // load configuration - std::shared_ptr cfg; + std::shared_ptr cfg; try { - cfg = std::make_shared(config_file_path->value()); + cfg = std::make_shared(config_file_path->value()); } catch (const std::exception& e) { std::cerr << e.what() << std::endl; @@ -212,7 +212,7 @@ int main(int argc, char* argv[]) { #endif // run tracking - if (cfg->camera_->setup_type_ == openvslam::camera::setup_type_t::Monocular) { + if (cfg->camera_->setup_type_ == stella_vslam::camera::setup_type_t::Monocular) { mono_tracking(cfg, vocab_file_path->value(), video_file_path->value(), mask_img_path->value(), frame_skip->value(), no_sleep->is_set(), auto_term->is_set(), eval_log->is_set(), map_db_path->value()); diff --git a/package.xml b/package.xml index 18348ee9a..10c52d5de 100644 --- a/package.xml +++ b/package.xml @@ -1,17 +1,20 @@ - openvslam + stella_vslam 0.3.0 - OpenVSLAM: A Versatile Visual SLAM Framework + fork of OpenVSLAM + Shinya Sumikura Mikiya Shibuya Ken Sakurada + + ymd-stella ymd-stella 2-clause BSD - https://openvslam-community.readthedocs.io/ + https://stella.readthedocs.io/ cmake diff --git a/scripts/docker/ci/Dockerfile.desktop.ci b/scripts/docker/ci/Dockerfile.desktop.ci index bc39a846d..1a7a0870c 100644 --- a/scripts/docker/ci/Dockerfile.desktop.ci +++ b/scripts/docker/ci/Dockerfile.desktop.ci @@ -143,7 +143,7 @@ ENV OpenCV_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/opencv4 ARG FBoW_COMMIT=30f45f1d97314145f81b49617bb37846a861dfe7 WORKDIR /tmp RUN set -x && \ - git clone https://github.com/OpenVSLAM-Community/FBoW.git && \ + git clone https://github.com/stella-cv/FBoW.git && \ cd FBoW && \ git checkout ${FBoW_COMMIT} && \ mkdir -p build && \ @@ -158,25 +158,6 @@ RUN set -x && \ rm -rf * ENV FBoW_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/FBoW -# DBoW2 -ARG DBOW2_COMMIT=687fcb74dd13717c46add667e3fbfa9828a7019f -WORKDIR /tmp -RUN set -x && \ - git clone https://github.com/OpenVSLAM-Community/DBoW2.git && \ - cd DBoW2 && \ - git checkout ${DBOW2_COMMIT} && \ - mkdir -p build && \ - cd build && \ - cmake \ - -DCMAKE_BUILD_TYPE=Release \ - -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} \ - .. && \ - make -j${NUM_THREADS} && \ - make install && \ - cd /tmp && \ - rm -rf * -ENV DBoW2_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/DBoW2 - # Pangolin ARG PANGOLIN_COMMIT=ad8b5f83222291c51b4800d5a5873b0e90a0cf81 WORKDIR /tmp diff --git a/scripts/ubuntu/README.md b/scripts/ubuntu/README.md index 2d4681678..df38d837f 100644 --- a/scripts/ubuntu/README.md +++ b/scripts/ubuntu/README.md @@ -1,15 +1,14 @@ -# This is an easy scripts to run samples from scratch for Ubuntu users. - +# This is an easy scripts to run samples from scratch for Ubuntu users # Steps -## Clone the OpenVSLAM +## Clone the stella_vslam Probablly you already run git clone, but I redisplay the procedure to show you complete steps. ```shell -git clone https://github.com/OpenVSLAM-Community/openvslam.git -cd openvslam +git clone https://github.com/stella-cv/stella_vslam.git +cd stella_vslam git submodule update -i --recursive ``` @@ -30,6 +29,7 @@ If you use a machine equipped with nvidia GPUs, it is recommended to utilize nvi ``` #### note + - If you encounter the error: "Got permission denied while trying to connect to the Docker daemon socket", you might need to reboot not just to logout and log in back. ## Download sample data to run tests @@ -41,23 +41,24 @@ Please run below: ./download_sampledata.sh ``` -## Build OpenVSLAM +## Build stella_vslam Now buid and start docker container as below. ```shell -./build_openvslam_docker.sh +./build_stella_vslam_docker.sh ``` ## Run samples -If you finish all the above procedure, you will see the terminal inside a docker as "root@*****:/openvslam/build#". Please input below commands in the terminal. +If you finish all the above procedure, you will see the terminal inside a docker as "root@*****:/stella_vslam/build#". Please input below commands in the terminal. #### run tracking and mapping ```shell ./run_video_slam -v /vocab/orb_vocab.fbow -m /dataset/aist_living_lab_1/video.mp4 -c ../example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --map-db map.msg ``` + After you see the window is stopped, press "Terminate" button in the left pane. You will get "map.msg" in the current directory. You can use it for the below tracking demo. @@ -68,14 +69,14 @@ You can use it for the below tracking demo. ./run_video_localization -v /vocab/orb_vocab.fbow -m /dataset/aist_living_lab_2/video.mp4 -c ../example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --map-db map.msg ``` -## Run OpenVSLAM on your own video - -If you want to run OpenVSLAM for your own mp4 video, for example equirectangular camera, put the panoramic transformed mp4 video in /dataset, and copy example/aist/equirectangular.yaml to example/yourown.yaml and edit the image size. -Then run ./scripts/ubuntu/build_openvslam_docker.sh and run the above "run tracking and mapping" command but changing to your mp4 and yaml file. -For other camera type like perspective, fisheye, stereo, and RGBD, it will be almost the same procedure but copy other yaml file instead of example/aist/equirectangular.yaml. You can find several examples in openvslam/examples. +## Run stella_vslam on your own video +If you want to run stella_vslam for your own mp4 video, for example equirectangular camera, put the panoramic transformed mp4 video in /dataset, and copy example/aist/equirectangular.yaml to example/yourown.yaml and edit the image size. +Then run ./scripts/ubuntu/build_stella_vslam_docker.sh and run the above "run tracking and mapping" command but changing to your mp4 and yaml file. +For other camera type like perspective, fisheye, stereo, and RGBD, it will be almost the same procedure but copy other yaml file instead of example/aist/equirectangular.yaml. You can find several examples in stella_vslam/examples. # confirmed environment + - OS： Linux 5.8.0-59-generic - Distribution: Ubuntu 20.04 - GPU: GTX1060, RTX3070 diff --git a/scripts/ubuntu/build_openvslam_docker.sh b/scripts/ubuntu/build_stella_vslam_docker.sh similarity index 54% rename from scripts/ubuntu/build_openvslam_docker.sh rename to scripts/ubuntu/build_stella_vslam_docker.sh index a6a78f4c4..2f6ce26a4 100755 --- a/scripts/ubuntu/build_openvslam_docker.sh +++ b/scripts/ubuntu/build_stella_vslam_docker.sh @@ -1,12 +1,12 @@ #!/bin/sh -TOPDIR="$(dirname $(realpath "$0"))"/../../ #openvslam directory +TOPDIR="$(dirname $(realpath "$0"))"/../../ #stella_vslam directory ( cd $TOPDIR # Building Docker Image - docker build -t openvslam-desktop -f Dockerfile.desktop . --build-arg NUM_THREADS=`expr $(nproc) - 1` + docker build -t stella_vslam-desktop -f Dockerfile.desktop . --build-arg NUM_THREADS=`expr $(nproc) - 1` # Starting Docker Container # before launching the container, allow display access from local users @@ -16,10 +16,10 @@ TOPDIR="$(dirname $(realpath "$0"))"/../../ #openvslam directory if command -v nvidia-container-toolkit &> /dev/null ; then GPU_OPTION="--gpus all" fi - docker run -it --rm ${GPU_OPTION} -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix:ro --volume ${TOPDIR}/dataset:/dataset:ro --volume ${TOPDIR}/vocab:/vocab:ro openvslam-desktop + docker run -it --rm ${GPU_OPTION} -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix:ro --volume ${TOPDIR}/dataset:/dataset:ro --volume ${TOPDIR}/vocab:/vocab:ro stella_vslam-desktop ) # reference -## https://openvslam-community.readthedocs.io/en/latest/installation.html#chapter-installation -## https://openvslam-community.readthedocs.io/en/latest/docker.html +## https://stella-cv.readthedocs.io/en/latest/installation.html#chapter-installation +## https://stella-cv.readthedocs.io/en/latest/docker.html diff --git a/scripts/ubuntu/download_sampledata.sh b/scripts/ubuntu/download_sampledata.sh index 6a6845cf2..fbf236dda 100755 --- a/scripts/ubuntu/download_sampledata.sh +++ b/scripts/ubuntu/download_sampledata.sh @@ -1,6 +1,6 @@ #!/bin/sh -TOPDIR="$(dirname $(realpath "$0"))"/../../ #openvslam directory +TOPDIR="$(dirname $(realpath "$0"))"/../../ #stella_vslam directory # create data directory to store downloaded data mkdir $TOPDIR/dataset @@ -10,7 +10,7 @@ mkdir $TOPDIR/vocab # download an ORB vocabulary from GitHub ( cd ${TOPDIR}/vocab - curl -sL "https://github.com/OpenVSLAM-Community/FBoW_orb_vocab/raw/main/orb_vocab.fbow" -o orb_vocab.fbow + curl -sL "https://github.com/stella-cv/FBoW_orb_vocab/raw/main/orb_vocab.fbow" -o orb_vocab.fbow ) # download a sample dataset from Google Drive @@ -30,4 +30,4 @@ mkdir $TOPDIR/vocab ) # reference -## https://openvslam-community.readthedocs.io/en/latest/simple_tutorial.html#chapter-simple-tutorial +## https://stella-cv.readthedocs.io/en/latest/simple_tutorial.html#chapter-simple-tutorial diff --git a/scripts/windows/Build.bat b/scripts/windows/Build.bat index 9d1b54521..e68ad2fbe 100644 --- a/scripts/windows/Build.bat +++ b/scripts/windows/Build.bat @@ -2,17 +2,17 @@ set param_1=%1 -set openvslam_root="%~dp0\..\.." +set stella_vslam_root="%~dp0\..\.." -cd %openvslam_root% +cd %stella_vslam_root% if "%param_1%" == "" ( echo No option specified echo options are: echo. - echo setup Build dependencies for openvslam - echo debug Build openvslam in debug mode - echo release Build openvslam in release mode + echo setup Build dependencies for stella_vslam + echo debug Build stella_vslam in debug mode + echo release Build stella_vslam in release mode echo develop Setup Visual Studio solution file echo clean Clean build and install directory echo. @@ -92,4 +92,4 @@ if "%param_1%" == "clean" ( if exist install ( rmdir /s/q install ) -) \ No newline at end of file +) diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index a9100a9c2..c18a87488 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,4 +1,4 @@ -add_subdirectory(openvslam) +add_subdirectory(stella_vslam) if(USE_PANGOLIN_VIEWER) add_subdirectory(pangolin_viewer) diff --git a/src/pangolin_viewer/CMakeLists.txt b/src/pangolin_viewer/CMakeLists.txt index 5b56868de..8ba945eda 100644 --- a/src/pangolin_viewer/CMakeLists.txt +++ b/src/pangolin_viewer/CMakeLists.txt @@ -32,7 +32,7 @@ if(INSTALL_PANGOLIN_VIEWER) set(PANGOLIN_VIEWER_INCLUDE_INSTALL_DIR ${INCLUDES_DESTINATION}/pangolin_viewer) install(TARGETS pangolin_viewer - EXPORT ${OPENVSLAM_TARGETS_EXPORT_NAME} + EXPORT ${STELLA_VSLAM_TARGETS_EXPORT_NAME} RUNTIME DESTINATION ${RUNTIME_DESTINATION} LIBRARY DESTINATION ${LIBRARY_DESTINATION} ARCHIVE DESTINATION ${ARCHIVE_DESTINATION} diff --git a/src/pangolin_viewer/viewer.cc b/src/pangolin_viewer/viewer.cc index e6ab9a3a4..a2eff3eb0 100644 --- a/src/pangolin_viewer/viewer.cc +++ b/src/pangolin_viewer/viewer.cc @@ -1,20 +1,20 @@ #include "pangolin_viewer/viewer.h" -#include "openvslam/config.h" -#include "openvslam/system.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/publish/frame_publisher.h" -#include "openvslam/publish/map_publisher.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/config.h" +#include "stella_vslam/system.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/publish/frame_publisher.h" +#include "stella_vslam/publish/map_publisher.h" +#include "stella_vslam/util/yaml.h" #include namespace pangolin_viewer { -viewer::viewer(const YAML::Node& yaml_node, openvslam::system* system, - const std::shared_ptr& frame_publisher, - const std::shared_ptr& map_publisher) +viewer::viewer(const YAML::Node& yaml_node, stella_vslam::system* system, + const std::shared_ptr& frame_publisher, + const std::shared_ptr& map_publisher) : system_(system), frame_publisher_(frame_publisher), map_publisher_(map_publisher), interval_ms_(1000.0f / yaml_node["fps"].as(30.0)), viewpoint_x_(yaml_node["viewpoint_x"].as(0.0)), @@ -202,7 +202,7 @@ void viewer::draw_keyframes() { // frustum size of keyframes const float w = keyfrm_size_ * *menu_frm_size_; - std::vector> keyfrms; + std::vector> keyfrms; map_publisher_->get_keyframes(keyfrms); if (*menu_show_keyfrms_) { @@ -220,7 +220,7 @@ void viewer::draw_keyframes() { glLineWidth(graph_line_width_); glColor4fv(cs_.graph_line_.data()); - const auto draw_edge = [](const openvslam::Vec3_t& cam_center_1, const openvslam::Vec3_t& cam_center_2) { + const auto draw_edge = [](const stella_vslam::Vec3_t& cam_center_1, const stella_vslam::Vec3_t& cam_center_2) { glVertex3fv(cam_center_1.cast().eval().data()); glVertex3fv(cam_center_2.cast().eval().data()); }; @@ -232,7 +232,7 @@ void viewer::draw_keyframes() { continue; } - const openvslam::Vec3_t cam_center_1 = keyfrm->get_cam_center(); + const stella_vslam::Vec3_t cam_center_1 = keyfrm->get_cam_center(); // covisibility graph const auto covisibilities = keyfrm->graph_node_->get_covisibilities_over_weight(100); @@ -244,7 +244,7 @@ void viewer::draw_keyframes() { if (covisibility->id_ < keyfrm->id_) { continue; } - const openvslam::Vec3_t cam_center_2 = covisibility->get_cam_center(); + const stella_vslam::Vec3_t cam_center_2 = covisibility->get_cam_center(); draw_edge(cam_center_1, cam_center_2); } } @@ -252,7 +252,7 @@ void viewer::draw_keyframes() { // spanning tree auto spanning_parent = keyfrm->graph_node_->get_spanning_parent(); if (spanning_parent) { - const openvslam::Vec3_t cam_center_2 = spanning_parent->get_cam_center(); + const stella_vslam::Vec3_t cam_center_2 = spanning_parent->get_cam_center(); draw_edge(cam_center_1, cam_center_2); } @@ -265,7 +265,7 @@ void viewer::draw_keyframes() { if (loop_edge->id_ < keyfrm->id_) { continue; } - const openvslam::Vec3_t cam_center_2 = loop_edge->get_cam_center(); + const stella_vslam::Vec3_t cam_center_2 = loop_edge->get_cam_center(); draw_edge(cam_center_1, cam_center_2); } } @@ -279,8 +279,8 @@ void viewer::draw_landmarks() { return; } - std::vector> landmarks; - std::set> local_landmarks; + std::vector> landmarks; + std::set> local_landmarks; map_publisher_->get_landmarks(landmarks, local_landmarks); @@ -300,7 +300,7 @@ void viewer::draw_landmarks() { if (*menu_show_local_map_ && local_landmarks.count(lm)) { continue; } - const openvslam::Vec3_t pos_w = lm->get_pos_in_world(); + const stella_vslam::Vec3_t pos_w = lm->get_pos_in_world(); glVertex3fv(pos_w.cast().eval().data()); } @@ -319,7 +319,7 @@ void viewer::draw_landmarks() { if (local_lm->will_be_erased()) { continue; } - const openvslam::Vec3_t pos_w = local_lm->get_pos_in_world(); + const stella_vslam::Vec3_t pos_w = local_lm->get_pos_in_world(); glVertex3fv(pos_w.cast().eval().data()); } @@ -341,7 +341,7 @@ void viewer::draw_camera(const pangolin::OpenGlMatrix& gl_cam_pose_wc, const flo glPopMatrix(); } -void viewer::draw_camera(const openvslam::Mat44_t& cam_pose_wc, const float width) const { +void viewer::draw_camera(const stella_vslam::Mat44_t& cam_pose_wc, const float width) const { glPushMatrix(); glMultMatrixf(cam_pose_wc.transpose().cast().eval().data()); diff --git a/src/pangolin_viewer/viewer.h b/src/pangolin_viewer/viewer.h index 67ade175d..003201524 100644 --- a/src/pangolin_viewer/viewer.h +++ b/src/pangolin_viewer/viewer.h @@ -3,15 +3,15 @@ #include "pangolin_viewer/color_scheme.h" -#include "openvslam/type.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/type.h" +#include "stella_vslam/util/yaml.h" #include #include #include -namespace openvslam { +namespace stella_vslam { class config; class system; @@ -21,7 +21,7 @@ class frame_publisher; class map_publisher; } // namespace publish -} // namespace openvslam +} // namespace stella_vslam namespace pangolin_viewer { @@ -34,9 +34,9 @@ class viewer { * @param frame_publisher * @param map_publisher */ - viewer(const YAML::Node& yaml_node, openvslam::system* system, - const std::shared_ptr& frame_publisher, - const std::shared_ptr& map_publisher); + viewer(const YAML::Node& yaml_node, stella_vslam::system* system, + const std::shared_ptr& frame_publisher, + const std::shared_ptr& map_publisher); /** * Main loop for window refresh @@ -106,7 +106,7 @@ class viewer { * @param gl_cam_pose_wc * @param width */ - void draw_camera(const openvslam::Mat44_t& cam_pose_wc, const float width) const; + void draw_camera(const stella_vslam::Mat44_t& cam_pose_wc, const float width) const; /** * Draw a frustum of a camera @@ -131,11 +131,11 @@ class viewer { void check_state_transition(); //! system - openvslam::system* system_; + stella_vslam::system* system_; //! frame publisher - const std::shared_ptr frame_publisher_; + const std::shared_ptr frame_publisher_; //! map publisher - const std::shared_ptr map_publisher_; + const std::shared_ptr map_publisher_; const unsigned int interval_ms_; diff --git a/src/socket_publisher/CMakeLists.txt b/src/socket_publisher/CMakeLists.txt index eecc2e0b1..04cce56db 100644 --- a/src/socket_publisher/CMakeLists.txt +++ b/src/socket_publisher/CMakeLists.txt @@ -55,7 +55,7 @@ if(INSTALL_SOCKET_PUBLISHER) set(SOCKER_PUBLISHER_INCLUDE_INSTALL_DIR ${INCLUDES_DESTINATION}/socket_publisher) install(TARGETS socket_publisher - EXPORT ${OPENVSLAM_TARGETS_EXPORT_NAME} + EXPORT ${STELLA_VSLAM_TARGETS_EXPORT_NAME} RUNTIME DESTINATION ${RUNTIME_DESTINATION} LIBRARY DESTINATION ${LIBRARY_DESTINATION} ARCHIVE DESTINATION ${ARCHIVE_DESTINATION} diff --git a/src/socket_publisher/data_serializer.cc b/src/socket_publisher/data_serializer.cc index 33515a727..484c04a8e 100644 --- a/src/socket_publisher/data_serializer.cc +++ b/src/socket_publisher/data_serializer.cc @@ -1,9 +1,9 @@ #include "socket_publisher/data_serializer.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/publish/frame_publisher.h" -#include "openvslam/publish/map_publisher.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/publish/frame_publisher.h" +#include "stella_vslam/publish/map_publisher.h" #include @@ -16,8 +16,8 @@ namespace socket_publisher { std::string data_serializer::serialized_reset_signal_{}; -data_serializer::data_serializer(const std::shared_ptr& frame_publisher, - const std::shared_ptr& map_publisher, +data_serializer::data_serializer(const std::shared_ptr& frame_publisher, + const std::shared_ptr& map_publisher, bool publish_points) : frame_publisher_(frame_publisher), map_publisher_(map_publisher), publish_points_(publish_points), keyframe_hash_map_(new std::unordered_map), point_hash_map_(new std::unordered_map) { @@ -45,11 +45,11 @@ std::string data_serializer::serialize_messages(const std::vector& } std::string data_serializer::serialize_map_diff() { - std::vector> keyframes; + std::vector> keyframes; map_publisher_->get_keyframes(keyframes); - std::vector> all_landmarks; - std::set> local_landmarks; + std::vector> all_landmarks; + std::set> local_landmarks; if (publish_points_) { map_publisher_->get_landmarks(all_landmarks, local_landmarks); } @@ -76,10 +76,10 @@ std::string data_serializer::serialize_latest_frame(const unsigned int image_qua return base64_serial; } -std::string data_serializer::serialize_as_protobuf(const std::vector>& keyfrms, - const std::vector>& all_landmarks, - const std::set>& local_landmarks, - const openvslam::Mat44_t& current_camera_pose) { +std::string data_serializer::serialize_as_protobuf(const std::vector>& keyfrms, + const std::vector>& all_landmarks, + const std::set>& local_landmarks, + const stella_vslam::Mat44_t& current_camera_pose) { map_segment::map map; auto message = map.add_messages(); message->set_tag("0"); diff --git a/src/socket_publisher/data_serializer.h b/src/socket_publisher/data_serializer.h index 8d6a80833..0460d416d 100644 --- a/src/socket_publisher/data_serializer.h +++ b/src/socket_publisher/data_serializer.h @@ -1,7 +1,7 @@ #ifndef SOCKET_PUBLISHER_DATA_SERIALIZER_H #define SOCKET_PUBLISHER_DATA_SERIALIZER_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include @@ -9,7 +9,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { class config; @@ -23,14 +23,14 @@ class frame_publisher; class map_publisher; } // namespace publish -} // namespace openvslam +} // namespace stella_vslam namespace socket_publisher { class data_serializer { public: - data_serializer(const std::shared_ptr& frame_publisher, - const std::shared_ptr& map_publisher, + data_serializer(const std::shared_ptr& frame_publisher, + const std::shared_ptr& map_publisher, bool publish_points); std::string serialize_messages(const std::vector& tags, const std::vector& messages); @@ -42,8 +42,8 @@ class data_serializer { static std::string serialized_reset_signal_; private: - const std::shared_ptr frame_publisher_; - const std::shared_ptr map_publisher_; + const std::shared_ptr frame_publisher_; + const std::shared_ptr map_publisher_; bool publish_points_ = true; std::unique_ptr> keyframe_hash_map_; std::unique_ptr> point_hash_map_; @@ -51,18 +51,18 @@ class data_serializer { double current_pose_hash_ = 0; int frame_hash_ = 0; - inline double get_vec_hash(const openvslam::Vec3_t& point) { + inline double get_vec_hash(const stella_vslam::Vec3_t& point) { return point[0] + point[1] + point[2]; } - inline double get_mat_hash(const openvslam::Mat44_t& pose) { + inline double get_mat_hash(const stella_vslam::Mat44_t& pose) { return pose(0, 3) + pose(1, 3) + pose(2, 3); } - std::string serialize_as_protobuf(const std::vector>& keyfrms, - const std::vector>& all_landmarks, - const std::set>& local_landmarks, - const openvslam::Mat44_t& current_camera_pose); + std::string serialize_as_protobuf(const std::vector>& keyfrms, + const std::vector>& all_landmarks, + const std::set>& local_landmarks, + const stella_vslam::Mat44_t& current_camera_pose); std::string base64_encode(unsigned char const* bytes_to_encode, unsigned int in_len); }; diff --git a/src/socket_publisher/publisher.cc b/src/socket_publisher/publisher.cc index 1ac186fd5..c39bcefb4 100644 --- a/src/socket_publisher/publisher.cc +++ b/src/socket_publisher/publisher.cc @@ -1,14 +1,14 @@ #include "socket_publisher/publisher.h" -#include "openvslam/system.h" -#include "openvslam/publish/frame_publisher.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/publish/frame_publisher.h" +#include "stella_vslam/util/yaml.h" namespace socket_publisher { -publisher::publisher(const YAML::Node& yaml_node, openvslam::system* system, - const std::shared_ptr& frame_publisher, - const std::shared_ptr& map_publisher) +publisher::publisher(const YAML::Node& yaml_node, stella_vslam::system* system, + const std::shared_ptr& frame_publisher, + const std::shared_ptr& map_publisher) : system_(system), emitting_interval_(yaml_node["emitting_interval"].as(15000)), image_quality_(yaml_node["image_quality"].as(20)), diff --git a/src/socket_publisher/publisher.h b/src/socket_publisher/publisher.h index fd6e40dee..fefa802af 100644 --- a/src/socket_publisher/publisher.h +++ b/src/socket_publisher/publisher.h @@ -7,7 +7,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { class config; class system; @@ -17,15 +17,15 @@ class frame_publisher; class map_publisher; } // namespace publish -} // namespace openvslam +} // namespace stella_vslam namespace socket_publisher { class publisher { public: - publisher(const YAML::Node& yaml_node, openvslam::system* system, - const std::shared_ptr& frame_publisher, - const std::shared_ptr& map_publisher); + publisher(const YAML::Node& yaml_node, stella_vslam::system* system, + const std::shared_ptr& frame_publisher, + const std::shared_ptr& map_publisher); void run(); @@ -37,7 +37,7 @@ class publisher { bool is_terminated(); private: - openvslam::system* system_; + stella_vslam::system* system_; const unsigned int emitting_interval_; const unsigned int image_quality_; diff --git a/src/socket_publisher/socket_client.h b/src/socket_publisher/socket_client.h index ba7cdb6f8..0429387f4 100644 --- a/src/socket_publisher/socket_client.h +++ b/src/socket_publisher/socket_client.h @@ -1,13 +1,13 @@ #ifndef SOCKET_PUBLISHER_SOCKET_CLIENT_H #define SOCKET_PUBLISHER_SOCKET_CLIENT_H -#include "openvslam/config.h" +#include "stella_vslam/config.h" #include -namespace openvslam { +namespace stella_vslam { class config; -} // namespace openvslam +} // namespace stella_vslam namespace socket_publisher { diff --git a/src/openvslam/CMakeLists.txt b/src/stella_vslam/CMakeLists.txt similarity index 89% rename from src/openvslam/CMakeLists.txt rename to src/stella_vslam/CMakeLists.txt index 5e604503d..2f5f8c7c9 100644 --- a/src/openvslam/CMakeLists.txt +++ b/src/stella_vslam/CMakeLists.txt @@ -52,7 +52,7 @@ else() message(FATAL_ERROR "Invalid BoW framework: ${BOW_FRAMEWORK}") endif() -# ----- Create OpenVSLAM library ----- +# ----- Create stella_vslam library ----- add_library(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/config.h @@ -69,7 +69,7 @@ add_library(${PROJECT_NAME} # Set output directory of the library set_target_properties(${PROJECT_NAME} PROPERTIES - OUTPUT_NAME openvslam + OUTPUT_NAME stella_vslam ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib) @@ -122,7 +122,7 @@ else() message(FATAL_ERROR "Invalid BoW framework: ${BOW_FRAMEWORK}") endif() -# ----- Configure OpenVSLAM library ----- +# ----- Configure stella_vslam library ----- # Include directories target_include_directories(${PROJECT_NAME} @@ -130,8 +130,8 @@ target_include_directories(${PROJECT_NAME} "$" "$" "$" - "$" - "$" + "$" + "$" "$") # Link to required libraries @@ -160,25 +160,25 @@ target_link_libraries(${PROJECT_NAME} # ----- Install configuration ----- -set(OPENVSLAM_INCLUDE_INSTALL_DIR ${INCLUDES_DESTINATION}/openvslam) +set(STELLA_VSLAM_INCLUDE_INSTALL_DIR ${INCLUDES_DESTINATION}/stella_vslam) -# Install OpenVSLAM library +# Install stella_vslam library install(TARGETS ${PROJECT_NAME} - EXPORT ${OPENVSLAM_TARGETS_EXPORT_NAME} + EXPORT ${STELLA_VSLAM_TARGETS_EXPORT_NAME} RUNTIME DESTINATION ${RUNTIME_DESTINATION} LIBRARY DESTINATION ${LIBRARY_DESTINATION} ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}) -# Install OpenVSLAM headers +# Install stella_vslam headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}) # Install 3rd party headers install(FILES ${json_INCLUDE_DIR}/nlohmann/json.hpp ${json_INCLUDE_DIR}/nlohmann/json_fwd.hpp - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/3rd/json/include/nlohmann) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/3rd/json/include/nlohmann) install(DIRECTORY ${spdlog_INCLUDE_DIR} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/3rd/spdlog) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/3rd/spdlog) # ----- Append subdirectory ----- diff --git a/src/openvslam/camera/CMakeLists.txt b/src/stella_vslam/camera/CMakeLists.txt similarity index 91% rename from src/openvslam/camera/CMakeLists.txt rename to src/stella_vslam/camera/CMakeLists.txt index 65c1788a4..6e74b851a 100644 --- a/src/openvslam/camera/CMakeLists.txt +++ b/src/stella_vslam/camera/CMakeLists.txt @@ -15,4 +15,4 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/camera) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/camera) diff --git a/src/openvslam/camera/base.cc b/src/stella_vslam/camera/base.cc similarity index 98% rename from src/openvslam/camera/base.cc rename to src/stella_vslam/camera/base.cc index e5e8f1556..97d56fd13 100644 --- a/src/openvslam/camera/base.cc +++ b/src/stella_vslam/camera/base.cc @@ -1,10 +1,10 @@ -#include "openvslam/camera/base.h" +#include "stella_vslam/camera/base.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace camera { base::base(const std::string& name, const setup_type_t setup_type, const model_type_t model_type, const color_order_t color_order, @@ -162,4 +162,4 @@ void base::convert_bearings_to_points(const eigen_alloc_vector& bearings } } // namespace camera -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/camera/base.h b/src/stella_vslam/camera/base.h similarity index 97% rename from src/openvslam/camera/base.h rename to src/stella_vslam/camera/base.h index 1f9f3bafd..5e3ce1bce 100644 --- a/src/openvslam/camera/base.h +++ b/src/stella_vslam/camera/base.h @@ -1,7 +1,7 @@ -#ifndef OPENVSLAM_CAMERA_BASE_H -#define OPENVSLAM_CAMERA_BASE_H +#ifndef STELLA_VSLAM_CAMERA_BASE_H +#define STELLA_VSLAM_CAMERA_BASE_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include #include @@ -10,7 +10,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { namespace camera { enum class setup_type_t { @@ -188,6 +188,6 @@ class base { std::ostream& operator<<(std::ostream& os, const base& params); } // namespace camera -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_CAMERA_BASE_H +#endif // STELLA_VSLAM_CAMERA_BASE_H diff --git a/src/openvslam/camera/equirectangular.cc b/src/stella_vslam/camera/equirectangular.cc similarity index 97% rename from src/openvslam/camera/equirectangular.cc rename to src/stella_vslam/camera/equirectangular.cc index f9e3f4a2f..9fdab0066 100644 --- a/src/openvslam/camera/equirectangular.cc +++ b/src/stella_vslam/camera/equirectangular.cc @@ -1,9 +1,9 @@ -#include "openvslam/camera/equirectangular.h" +#include "stella_vslam/camera/equirectangular.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace camera { equirectangular::equirectangular(const std::string& name, const color_order_t& color_order, @@ -119,4 +119,4 @@ void equirectangular::undistort_keypoints(const std::vector& dist_ } } // namespace camera -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/camera/equirectangular.h b/src/stella_vslam/camera/equirectangular.h similarity index 86% rename from src/openvslam/camera/equirectangular.h rename to src/stella_vslam/camera/equirectangular.h index 8935c80b8..8182f6e41 100644 --- a/src/openvslam/camera/equirectangular.h +++ b/src/stella_vslam/camera/equirectangular.h @@ -1,9 +1,9 @@ -#ifndef OPENVSLAM_CAMERA_EQUIRECTANGULAR_H -#define OPENVSLAM_CAMERA_EQUIRECTANGULAR_H +#ifndef STELLA_VSLAM_CAMERA_EQUIRECTANGULAR_H +#define STELLA_VSLAM_CAMERA_EQUIRECTANGULAR_H -#include "openvslam/camera/base.h" +#include "stella_vslam/camera/base.h" -namespace openvslam { +namespace stella_vslam { namespace camera { class equirectangular final : public base { @@ -39,6 +39,6 @@ class equirectangular final : public base { std::ostream& operator<<(std::ostream& os, const equirectangular& params); } // namespace camera -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_CAMERA_EQUIRECTANGULAR_H +#endif // STELLA_VSLAM_CAMERA_EQUIRECTANGULAR_H diff --git a/src/openvslam/camera/fisheye.cc b/src/stella_vslam/camera/fisheye.cc similarity index 99% rename from src/openvslam/camera/fisheye.cc rename to src/stella_vslam/camera/fisheye.cc index 690771654..42dfc8e5b 100644 --- a/src/openvslam/camera/fisheye.cc +++ b/src/stella_vslam/camera/fisheye.cc @@ -1,11 +1,11 @@ -#include "openvslam/camera/fisheye.h" +#include "stella_vslam/camera/fisheye.h" #include #include #include -namespace openvslam { +namespace stella_vslam { namespace camera { fisheye::fisheye(const std::string& name, const setup_type_t& setup_type, const color_order_t& color_order, @@ -314,4 +314,4 @@ void fisheye::undistort_keypoints(const std::vector& dist_keypt, s } } // namespace camera -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/camera/fisheye.h b/src/stella_vslam/camera/fisheye.h similarity index 91% rename from src/openvslam/camera/fisheye.h rename to src/stella_vslam/camera/fisheye.h index f3ae30688..f8b9432f6 100644 --- a/src/openvslam/camera/fisheye.h +++ b/src/stella_vslam/camera/fisheye.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_CAMERA_FISHEYE_H -#define OPENVSLAM_CAMERA_FISHEYE_H +#ifndef STELLA_VSLAM_CAMERA_FISHEYE_H +#define STELLA_VSLAM_CAMERA_FISHEYE_H -#include "openvslam/camera/base.h" +#include "stella_vslam/camera/base.h" #include -namespace openvslam { +namespace stella_vslam { namespace camera { class fisheye final : public base { @@ -72,6 +72,6 @@ class fisheye final : public base { std::ostream& operator<<(std::ostream& os, const fisheye& params); } // namespace camera -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_CAMERA_FISHEYE_H +#endif // STELLA_VSLAM_CAMERA_FISHEYE_H diff --git a/src/openvslam/camera/perspective.cc b/src/stella_vslam/camera/perspective.cc similarity index 99% rename from src/openvslam/camera/perspective.cc rename to src/stella_vslam/camera/perspective.cc index fca14b00d..68912b9fc 100644 --- a/src/openvslam/camera/perspective.cc +++ b/src/stella_vslam/camera/perspective.cc @@ -1,11 +1,11 @@ -#include "openvslam/camera/perspective.h" +#include "stella_vslam/camera/perspective.h" #include #include #include -namespace openvslam { +namespace stella_vslam { namespace camera { perspective::perspective(const std::string& name, const setup_type_t& setup_type, const color_order_t& color_order, @@ -279,4 +279,4 @@ void perspective::undistort_keypoints(const std::vector& dist_keyp } } // namespace camera -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/camera/perspective.h b/src/stella_vslam/camera/perspective.h similarity index 92% rename from src/openvslam/camera/perspective.h rename to src/stella_vslam/camera/perspective.h index e2d41dcff..dbfaa7360 100644 --- a/src/openvslam/camera/perspective.h +++ b/src/stella_vslam/camera/perspective.h @@ -1,7 +1,7 @@ -#ifndef OPENVSLAM_CAMERA_PERSPECTIVE_H -#define OPENVSLAM_CAMERA_PERSPECTIVE_H +#ifndef STELLA_VSLAM_CAMERA_PERSPECTIVE_H +#define STELLA_VSLAM_CAMERA_PERSPECTIVE_H -#include "openvslam/camera/base.h" +#include "stella_vslam/camera/base.h" #if CV_MAJOR_VERSION == 3 #include @@ -9,7 +9,7 @@ #include #endif -namespace openvslam { +namespace stella_vslam { namespace camera { class perspective final : public base { @@ -77,6 +77,6 @@ class perspective final : public base { std::ostream& operator<<(std::ostream& os, const perspective& params); } // namespace camera -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_CAMERA_PERSPECTIVE_H +#endif // STELLA_VSLAM_CAMERA_PERSPECTIVE_H diff --git a/src/openvslam/camera/radial_division.cc b/src/stella_vslam/camera/radial_division.cc similarity index 98% rename from src/openvslam/camera/radial_division.cc rename to src/stella_vslam/camera/radial_division.cc index 3be18f93b..f78398e83 100644 --- a/src/openvslam/camera/radial_division.cc +++ b/src/stella_vslam/camera/radial_division.cc @@ -1,13 +1,13 @@ // Created by Steffen Urban June 2019, urbste@googlemail.com, github.com/urbste -#include "openvslam/camera/radial_division.h" +#include "stella_vslam/camera/radial_division.h" #include #include #include -namespace openvslam { +namespace stella_vslam { namespace camera { radial_division::radial_division(const std::string& name, const setup_type_t& setup_type, const color_order_t& color_order, @@ -178,4 +178,4 @@ nlohmann::json radial_division::to_json() const { } } // namespace camera -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/camera/radial_division.h b/src/stella_vslam/camera/radial_division.h similarity index 90% rename from src/openvslam/camera/radial_division.h rename to src/stella_vslam/camera/radial_division.h index a2e8d9539..a6f1817c2 100644 --- a/src/openvslam/camera/radial_division.h +++ b/src/stella_vslam/camera/radial_division.h @@ -1,9 +1,9 @@ -#ifndef OPENVSLAM_CAMERA_RADIAL_DIVISION_H -#define OPENVSLAM_CAMERA_RADIAL_DIVISION_H +#ifndef STELLA_VSLAM_CAMERA_RADIAL_DIVISION_H +#define STELLA_VSLAM_CAMERA_RADIAL_DIVISION_H -#include "openvslam/camera/base.h" +#include "stella_vslam/camera/base.h" -namespace openvslam { +namespace stella_vslam { namespace camera { // This class implements the camera model presented in: @@ -62,6 +62,6 @@ class radial_division final : public base { }; } // namespace camera -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_CAMERA_RADIAL_DIVISION_H +#endif // STELLA_VSLAM_CAMERA_RADIAL_DIVISION_H diff --git a/src/openvslam/config.cc b/src/stella_vslam/config.cc similarity index 88% rename from src/openvslam/config.cc rename to src/stella_vslam/config.cc index c9f10b3fd..6370fae46 100644 --- a/src/openvslam/config.cc +++ b/src/stella_vslam/config.cc @@ -1,17 +1,17 @@ -#include "openvslam/config.h" -#include "openvslam/camera/perspective.h" -#include "openvslam/camera/fisheye.h" -#include "openvslam/camera/equirectangular.h" -#include "openvslam/camera/radial_division.h" -#include "openvslam/util/string.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/config.h" +#include "stella_vslam/camera/perspective.h" +#include "stella_vslam/camera/fisheye.h" +#include "stella_vslam/camera/equirectangular.h" +#include "stella_vslam/camera/radial_division.h" +#include "stella_vslam/util/string.h" +#include "stella_vslam/util/yaml.h" #include #include #include -namespace openvslam { +namespace stella_vslam { config::config(const std::string& config_file_path) : config(YAML::LoadFile(config_file_path), config_file_path) {} @@ -94,4 +94,4 @@ std::ostream& operator<<(std::ostream& os, const config& cfg) { return os; } -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/config.h b/src/stella_vslam/config.h similarity index 72% rename from src/openvslam/config.h rename to src/stella_vslam/config.h index f5a25cf43..256aaa3a7 100644 --- a/src/openvslam/config.h +++ b/src/stella_vslam/config.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_CONFIG_H -#define OPENVSLAM_CONFIG_H +#ifndef STELLA_VSLAM_CONFIG_H +#define STELLA_VSLAM_CONFIG_H -#include "openvslam/camera/base.h" -#include "openvslam/feature/orb_params.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/feature/orb_params.h" #include -namespace openvslam { +namespace stella_vslam { class config { public: @@ -32,6 +32,6 @@ class config { feature::orb_params* orb_params_ = nullptr; }; -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_CONFIG_H +#endif // STELLA_VSLAM_CONFIG_H diff --git a/src/openvslam/data/CMakeLists.txt b/src/stella_vslam/data/CMakeLists.txt similarity index 96% rename from src/openvslam/data/CMakeLists.txt rename to src/stella_vslam/data/CMakeLists.txt index 8cb5ea4d0..3362ffe18 100644 --- a/src/openvslam/data/CMakeLists.txt +++ b/src/stella_vslam/data/CMakeLists.txt @@ -28,4 +28,4 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/data) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/data) diff --git a/src/openvslam/data/bow_database.cc b/src/stella_vslam/data/bow_database.cc similarity index 98% rename from src/openvslam/data/bow_database.cc rename to src/stella_vslam/data/bow_database.cc index 9f7422c9b..4cf67872e 100644 --- a/src/openvslam/data/bow_database.cc +++ b/src/stella_vslam/data/bow_database.cc @@ -1,10 +1,10 @@ -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/bow_database.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/bow_database.h" #include -namespace openvslam { +namespace stella_vslam { namespace data { bow_database::bow_database(bow_vocabulary* bow_vocab, @@ -350,4 +350,4 @@ float bow_database::align_total_scores_and_keyframes(const unsigned int min_num_ } } // namespace data -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/data/bow_database.h b/src/stella_vslam/data/bow_database.h similarity index 95% rename from src/openvslam/data/bow_database.h rename to src/stella_vslam/data/bow_database.h index 08c7c409d..b9fd5f8ae 100644 --- a/src/openvslam/data/bow_database.h +++ b/src/stella_vslam/data/bow_database.h @@ -1,7 +1,7 @@ -#ifndef OPENVSLAM_DATA_BOW_DATABASE_H -#define OPENVSLAM_DATA_BOW_DATABASE_H +#ifndef STELLA_VSLAM_DATA_BOW_DATABASE_H +#define STELLA_VSLAM_DATA_BOW_DATABASE_H -#include "openvslam/data/bow_vocabulary.h" +#include "stella_vslam/data/bow_vocabulary.h" #include #include @@ -11,7 +11,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -156,6 +156,6 @@ class bow_database { }; } // namespace data -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_DATA_BOW_DATABASE_H +#endif // STELLA_VSLAM_DATA_BOW_DATABASE_H diff --git a/src/openvslam/data/bow_vocabulary.cc b/src/stella_vslam/data/bow_vocabulary.cc similarity index 81% rename from src/openvslam/data/bow_vocabulary.cc rename to src/stella_vslam/data/bow_vocabulary.cc index ebc66fbe4..54191cdd6 100644 --- a/src/openvslam/data/bow_vocabulary.cc +++ b/src/stella_vslam/data/bow_vocabulary.cc @@ -1,6 +1,6 @@ -#include "openvslam/data/bow_vocabulary.h" +#include "stella_vslam/data/bow_vocabulary.h" -namespace openvslam { +namespace stella_vslam { namespace data { namespace bow_vocabulary_util { @@ -14,4 +14,4 @@ void compute_bow(data::bow_vocabulary* bow_vocab, const cv::Mat& descriptors, da }; // namespace bow_vocabulary_util }; // namespace data -}; // namespace openvslam +}; // namespace stella_vslam diff --git a/src/openvslam/data/bow_vocabulary.h b/src/stella_vslam/data/bow_vocabulary.h similarity index 62% rename from src/openvslam/data/bow_vocabulary.h rename to src/stella_vslam/data/bow_vocabulary.h index aac067230..dc8126941 100644 --- a/src/openvslam/data/bow_vocabulary.h +++ b/src/stella_vslam/data/bow_vocabulary.h @@ -1,7 +1,7 @@ -#ifndef OPENVSLAM_DATA_BOW_VOCABULARY_H -#define OPENVSLAM_DATA_BOW_VOCABULARY_H +#ifndef STELLA_VSLAM_DATA_BOW_VOCABULARY_H +#define STELLA_VSLAM_DATA_BOW_VOCABULARY_H -#include "openvslam/data/bow_vocabulary_fwd.h" +#include "stella_vslam/data/bow_vocabulary_fwd.h" #ifdef USE_DBOW2 #include @@ -10,7 +10,7 @@ #include #endif // USE_DBOW2 -namespace openvslam { +namespace stella_vslam { namespace data { namespace bow_vocabulary_util { @@ -18,6 +18,6 @@ void compute_bow(data::bow_vocabulary* bow_vocab, const cv::Mat& descriptors, da }; // namespace bow_vocabulary_util }; // namespace data -}; // namespace openvslam +}; // namespace stella_vslam -#endif // OPENVSLAM_DATA_BOW_VOCABULARY_H +#endif // STELLA_VSLAM_DATA_BOW_VOCABULARY_H diff --git a/src/openvslam/data/bow_vocabulary_fwd.h b/src/stella_vslam/data/bow_vocabulary_fwd.h similarity index 80% rename from src/openvslam/data/bow_vocabulary_fwd.h rename to src/stella_vslam/data/bow_vocabulary_fwd.h index 14ef18881..502c78e9a 100644 --- a/src/openvslam/data/bow_vocabulary_fwd.h +++ b/src/stella_vslam/data/bow_vocabulary_fwd.h @@ -1,5 +1,5 @@ -#ifndef OPENVSLAM_DATA_BOW_VOCABULARY_FWD_H -#define OPENVSLAM_DATA_BOW_VOCABULARY_FWD_H +#ifndef STELLA_VSLAM_DATA_BOW_VOCABULARY_FWD_H +#define STELLA_VSLAM_DATA_BOW_VOCABULARY_FWD_H #ifdef USE_DBOW2 #include @@ -20,7 +20,7 @@ class BoWFeatVector; } // namespace fbow #endif // USE_DBOW2 -namespace openvslam { +namespace stella_vslam { namespace data { #ifdef USE_DBOW2 @@ -39,6 +39,6 @@ typedef fbow::BoWFeatVector bow_feature_vector; #endif // USE_DBOW2 } // namespace data -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_DATA_BOW_VOCABULARY_FWD_H +#endif // STELLA_VSLAM_DATA_BOW_VOCABULARY_FWD_H diff --git a/src/openvslam/data/camera_database.cc b/src/stella_vslam/data/camera_database.cc similarity index 95% rename from src/openvslam/data/camera_database.cc rename to src/stella_vslam/data/camera_database.cc index a31d204b3..22aefb47c 100644 --- a/src/openvslam/data/camera_database.cc +++ b/src/stella_vslam/data/camera_database.cc @@ -1,14 +1,14 @@ -#include "openvslam/camera/base.h" -#include "openvslam/camera/perspective.h" -#include "openvslam/camera/fisheye.h" -#include "openvslam/camera/equirectangular.h" -#include "openvslam/camera/radial_division.h" -#include "openvslam/data/camera_database.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/camera/perspective.h" +#include "stella_vslam/camera/fisheye.h" +#include "stella_vslam/camera/equirectangular.h" +#include "stella_vslam/camera/radial_division.h" +#include "stella_vslam/data/camera_database.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace data { camera_database::camera_database(camera::base* curr_camera) @@ -139,4 +139,4 @@ nlohmann::json camera_database::to_json() const { } } // namespace data -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/data/camera_database.h b/src/stella_vslam/data/camera_database.h similarity index 84% rename from src/openvslam/data/camera_database.h rename to src/stella_vslam/data/camera_database.h index 7b71f5c64..adc1a6f97 100644 --- a/src/openvslam/data/camera_database.h +++ b/src/stella_vslam/data/camera_database.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_DATA_CAMERA_DATABASE_H -#define OPENVSLAM_DATA_CAMERA_DATABASE_H +#ifndef STELLA_VSLAM_DATA_CAMERA_DATABASE_H +#define STELLA_VSLAM_DATA_CAMERA_DATABASE_H #include #include #include -namespace openvslam { +namespace stella_vslam { namespace camera { class base; @@ -40,6 +40,6 @@ class camera_database { }; } // namespace data -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_DATA_CAMERA_DATABASE_H +#endif // STELLA_VSLAM_DATA_CAMERA_DATABASE_H diff --git a/src/openvslam/data/common.cc b/src/stella_vslam/data/common.cc similarity index 98% rename from src/openvslam/data/common.cc rename to src/stella_vslam/data/common.cc index 2c5552077..f689079d6 100644 --- a/src/openvslam/data/common.cc +++ b/src/stella_vslam/data/common.cc @@ -1,8 +1,8 @@ -#include "openvslam/data/common.h" +#include "stella_vslam/data/common.h" #include -namespace openvslam { +namespace stella_vslam { namespace data { nlohmann::json convert_rotation_to_json(const Mat33_t& rot_cw) { @@ -186,4 +186,4 @@ std::vector get_keypoints_in_cell(camera::base* camera, const std: } } // namespace data -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/data/common.h b/src/stella_vslam/data/common.h similarity index 92% rename from src/openvslam/data/common.h rename to src/stella_vslam/data/common.h index f97c9e005..d070a1cf6 100644 --- a/src/openvslam/data/common.h +++ b/src/stella_vslam/data/common.h @@ -1,13 +1,13 @@ -#ifndef OPENVSLAM_DATA_COMMON_H -#define OPENVSLAM_DATA_COMMON_H +#ifndef STELLA_VSLAM_DATA_COMMON_H +#define STELLA_VSLAM_DATA_COMMON_H -#include "openvslam/type.h" -#include "openvslam/camera/base.h" +#include "stella_vslam/type.h" +#include "stella_vslam/camera/base.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace data { nlohmann::json convert_rotation_to_json(const Mat33_t& rot_cw); @@ -81,6 +81,6 @@ std::vector get_keypoints_in_cell(camera::base* camera, const std: const int min_level = -1, const int max_level = -1); } // namespace data -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_DATA_COMMON_H +#endif // STELLA_VSLAM_DATA_COMMON_H diff --git a/src/openvslam/data/frame.cc b/src/stella_vslam/data/frame.cc similarity index 92% rename from src/openvslam/data/frame.cc rename to src/stella_vslam/data/frame.cc index 179dba8e9..d8d733e7d 100644 --- a/src/openvslam/data/frame.cc +++ b/src/stella_vslam/data/frame.cc @@ -1,19 +1,19 @@ -#include "openvslam/camera/perspective.h" -#include "openvslam/camera/fisheye.h" -#include "openvslam/camera/equirectangular.h" -#include "openvslam/camera/radial_division.h" -#include "openvslam/data/common.h" -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/feature/orb_extractor.h" -#include "openvslam/match/stereo.h" +#include "stella_vslam/camera/perspective.h" +#include "stella_vslam/camera/fisheye.h" +#include "stella_vslam/camera/equirectangular.h" +#include "stella_vslam/camera/radial_division.h" +#include "stella_vslam/data/common.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/feature/orb_extractor.h" +#include "stella_vslam/match/stereo.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace data { std::atomic frame::next_id_{0}; @@ -165,4 +165,4 @@ Vec3_t frame::triangulate_stereo(const unsigned int idx) const { } } // namespace data -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/data/frame.h b/src/stella_vslam/data/frame.h similarity index 90% rename from src/openvslam/data/frame.h rename to src/stella_vslam/data/frame.h index f6933729c..479e46d2c 100644 --- a/src/openvslam/data/frame.h +++ b/src/stella_vslam/data/frame.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_DATA_FRAME_H -#define OPENVSLAM_DATA_FRAME_H +#ifndef STELLA_VSLAM_DATA_FRAME_H +#define STELLA_VSLAM_DATA_FRAME_H -#include "openvslam/type.h" -#include "openvslam/camera/base.h" -#include "openvslam/feature/orb_params.h" -#include "openvslam/util/converter.h" -#include "openvslam/data/frame_observation.h" -#include "openvslam/data/bow_vocabulary.h" +#include "stella_vslam/type.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/feature/orb_params.h" +#include "stella_vslam/util/converter.h" +#include "stella_vslam/data/frame_observation.h" +#include "stella_vslam/data/bow_vocabulary.h" #include #include @@ -23,7 +23,7 @@ #include #endif -namespace openvslam { +namespace stella_vslam { namespace camera { class base; @@ -184,6 +184,6 @@ class frame { }; } // namespace data -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_DATA_FRAME_H +#endif // STELLA_VSLAM_DATA_FRAME_H diff --git a/src/openvslam/data/frame_observation.h b/src/stella_vslam/data/frame_observation.h similarity index 86% rename from src/openvslam/data/frame_observation.h rename to src/stella_vslam/data/frame_observation.h index bd782066b..a9194eef1 100644 --- a/src/openvslam/data/frame_observation.h +++ b/src/stella_vslam/data/frame_observation.h @@ -1,9 +1,9 @@ -#ifndef OPENVSLAM_DATA_FRAME_OBSERVATION_H -#define OPENVSLAM_DATA_FRAME_OBSERVATION_H +#ifndef STELLA_VSLAM_DATA_FRAME_OBSERVATION_H +#define STELLA_VSLAM_DATA_FRAME_OBSERVATION_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" -namespace openvslam { +namespace stella_vslam { namespace data { struct frame_observation { @@ -36,6 +36,6 @@ struct frame_observation { }; } // namespace data -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_DATA_FRAME_OBSERVATION_H +#endif // STELLA_VSLAM_DATA_FRAME_OBSERVATION_H diff --git a/src/openvslam/data/frame_statistics.cc b/src/stella_vslam/data/frame_statistics.cc similarity index 95% rename from src/openvslam/data/frame_statistics.cc rename to src/stella_vslam/data/frame_statistics.cc index a7922e981..01d8fcc55 100644 --- a/src/openvslam/data/frame_statistics.cc +++ b/src/stella_vslam/data/frame_statistics.cc @@ -1,8 +1,8 @@ -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/frame_statistics.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/frame_statistics.h" -namespace openvslam { +namespace stella_vslam { namespace data { void frame_statistics::update_frame_statistics(const data::frame& frm, const bool is_lost) { @@ -97,4 +97,4 @@ void frame_statistics::clear() { } } // namespace data -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/data/frame_statistics.h b/src/stella_vslam/data/frame_statistics.h similarity index 92% rename from src/openvslam/data/frame_statistics.h rename to src/stella_vslam/data/frame_statistics.h index 2b83d31a3..6f5898f82 100644 --- a/src/openvslam/data/frame_statistics.h +++ b/src/stella_vslam/data/frame_statistics.h @@ -1,13 +1,13 @@ -#ifndef OPENVSLAM_DATA_FRAME_STATISTICS_H -#define OPENVSLAM_DATA_FRAME_STATISTICS_H +#ifndef STELLA_VSLAM_DATA_FRAME_STATISTICS_H +#define STELLA_VSLAM_DATA_FRAME_STATISTICS_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include #include #include -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -99,6 +99,6 @@ class frame_statistics { }; } // namespace data -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_DATA_FRAME_STATISTICS_H +#endif // STELLA_VSLAM_DATA_FRAME_STATISTICS_H diff --git a/src/openvslam/data/graph_node.cc b/src/stella_vslam/data/graph_node.cc similarity index 98% rename from src/openvslam/data/graph_node.cc rename to src/stella_vslam/data/graph_node.cc index a443ea76b..e52040903 100644 --- a/src/openvslam/data/graph_node.cc +++ b/src/stella_vslam/data/graph_node.cc @@ -1,8 +1,8 @@ -#include "openvslam/data/keyframe.h" -#include "openvslam/data/graph_node.h" -#include "openvslam/data/landmark.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/graph_node.h" +#include "stella_vslam/data/landmark.h" -namespace openvslam { +namespace stella_vslam { namespace data { graph_node::graph_node(std::shared_ptr& keyfrm, const bool spanning_parent_is_not_set) @@ -377,4 +377,4 @@ std::vector> graph_node::extract_intersection(const T& } } // namespace data -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/data/graph_node.h b/src/stella_vslam/data/graph_node.h similarity index 96% rename from src/openvslam/data/graph_node.h rename to src/stella_vslam/data/graph_node.h index 0c19846d4..e0e1f9a7b 100644 --- a/src/openvslam/data/graph_node.h +++ b/src/stella_vslam/data/graph_node.h @@ -1,5 +1,5 @@ -#ifndef OPENVSLAM_DATA_GRAPH_NODE_H -#define OPENVSLAM_DATA_GRAPH_NODE_H +#ifndef STELLA_VSLAM_DATA_GRAPH_NODE_H +#define STELLA_VSLAM_DATA_GRAPH_NODE_H #include #include @@ -7,7 +7,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { namespace data { class keyframe; @@ -181,6 +181,6 @@ class graph_node { }; } // namespace data -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_DATA_GRAPH_NODE_H +#endif // STELLA_VSLAM_DATA_GRAPH_NODE_H diff --git a/src/openvslam/data/keyframe.cc b/src/stella_vslam/data/keyframe.cc similarity index 95% rename from src/openvslam/data/keyframe.cc rename to src/stella_vslam/data/keyframe.cc index 973c22b5b..b7151de26 100644 --- a/src/openvslam/data/keyframe.cc +++ b/src/stella_vslam/data/keyframe.cc @@ -1,19 +1,19 @@ -#include "openvslam/camera/perspective.h" -#include "openvslam/camera/fisheye.h" -#include "openvslam/camera/equirectangular.h" -#include "openvslam/camera/radial_division.h" -#include "openvslam/data/common.h" -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/map_database.h" -#include "openvslam/data/bow_database.h" -#include "openvslam/feature/orb_params.h" -#include "openvslam/util/converter.h" +#include "stella_vslam/camera/perspective.h" +#include "stella_vslam/camera/fisheye.h" +#include "stella_vslam/camera/equirectangular.h" +#include "stella_vslam/camera/radial_division.h" +#include "stella_vslam/data/common.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/data/bow_database.h" +#include "stella_vslam/feature/orb_params.h" +#include "stella_vslam/util/converter.h" #include -namespace openvslam { +namespace stella_vslam { namespace data { std::atomic keyframe::next_id_{0}; @@ -52,7 +52,7 @@ keyframe::~keyframe() {} std::shared_ptr keyframe::make_keyframe(const frame& frm) { auto ptr = std::allocate_shared(Eigen::aligned_allocator(), frm); // covisibility graph node (connections is not assigned yet) - ptr->graph_node_ = openvslam::make_unique(ptr, true); + ptr->graph_node_ = stella_vslam::make_unique(ptr, true); return ptr; } @@ -67,7 +67,7 @@ std::shared_ptr keyframe::make_keyframe( cam_pose_cw, camera, orb_params, frm_obs, bow_vec, bow_feat_vec); // covisibility graph node (connections is not assigned yet) - ptr->graph_node_ = openvslam::make_unique(ptr, false); + ptr->graph_node_ = stella_vslam::make_unique(ptr, false); return ptr; } @@ -418,4 +418,4 @@ bool keyframe::will_be_erased() { } } // namespace data -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/data/keyframe.h b/src/stella_vslam/data/keyframe.h similarity index 94% rename from src/openvslam/data/keyframe.h rename to src/stella_vslam/data/keyframe.h index 36d83c01f..878e08cb7 100644 --- a/src/openvslam/data/keyframe.h +++ b/src/stella_vslam/data/keyframe.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_DATA_KEYFRAME_H -#define OPENVSLAM_DATA_KEYFRAME_H +#ifndef STELLA_VSLAM_DATA_KEYFRAME_H +#define STELLA_VSLAM_DATA_KEYFRAME_H -#include "openvslam/type.h" -#include "openvslam/camera/base.h" -#include "openvslam/feature/orb_params.h" -#include "openvslam/data/graph_node.h" -#include "openvslam/data/bow_vocabulary.h" -#include "openvslam/data/frame_observation.h" +#include "stella_vslam/type.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/feature/orb_params.h" +#include "stella_vslam/data/graph_node.h" +#include "stella_vslam/data/bow_vocabulary.h" +#include "stella_vslam/data/frame_observation.h" #include #include @@ -24,7 +24,7 @@ #include #endif -namespace openvslam { +namespace stella_vslam { namespace camera { class base; @@ -290,6 +290,6 @@ class keyframe : public std::enable_shared_from_this { }; } // namespace data -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_DATA_KEYFRAME_H +#endif // STELLA_VSLAM_DATA_KEYFRAME_H diff --git a/src/openvslam/data/landmark.cc b/src/stella_vslam/data/landmark.cc similarity index 97% rename from src/openvslam/data/landmark.cc rename to src/stella_vslam/data/landmark.cc index 79f5e1197..439e36930 100644 --- a/src/openvslam/data/landmark.cc +++ b/src/stella_vslam/data/landmark.cc @@ -1,12 +1,12 @@ -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/map_database.h" -#include "openvslam/match/base.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/match/base.h" #include -namespace openvslam { +namespace stella_vslam { namespace data { std::atomic landmark::next_id_{0}; @@ -343,4 +343,4 @@ nlohmann::json landmark::to_json() const { } } // namespace data -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/data/landmark.h b/src/stella_vslam/data/landmark.h similarity index 96% rename from src/openvslam/data/landmark.h rename to src/stella_vslam/data/landmark.h index 14fc59d4b..cddea018b 100644 --- a/src/openvslam/data/landmark.h +++ b/src/stella_vslam/data/landmark.h @@ -1,7 +1,7 @@ -#ifndef OPENVSLAM_DATA_LANDMARK_H -#define OPENVSLAM_DATA_LANDMARK_H +#ifndef STELLA_VSLAM_DATA_LANDMARK_H +#define STELLA_VSLAM_DATA_LANDMARK_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include #include @@ -11,7 +11,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -149,6 +149,6 @@ class landmark { }; } // namespace data -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_DATA_LANDMARK_H +#endif // STELLA_VSLAM_DATA_LANDMARK_H diff --git a/src/openvslam/data/map_database.cc b/src/stella_vslam/data/map_database.cc similarity index 97% rename from src/openvslam/data/map_database.cc rename to src/stella_vslam/data/map_database.cc index 9d2a06e9e..80b8b3570 100644 --- a/src/openvslam/data/map_database.cc +++ b/src/stella_vslam/data/map_database.cc @@ -1,18 +1,18 @@ -#include "openvslam/camera/base.h" -#include "openvslam/data/common.h" -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/camera_database.h" -#include "openvslam/data/orb_params_database.h" -#include "openvslam/data/map_database.h" -#include "openvslam/data/bow_vocabulary.h" -#include "openvslam/util/converter.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/data/common.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/camera_database.h" +#include "stella_vslam/data/orb_params_database.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/data/bow_vocabulary.h" +#include "stella_vslam/util/converter.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace data { std::mutex map_database::mtx_database_; @@ -407,4 +407,4 @@ void map_database::to_json(nlohmann::json& json_keyfrms, nlohmann::json& json_la } } // namespace data -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/data/map_database.h b/src/stella_vslam/data/map_database.h similarity index 96% rename from src/openvslam/data/map_database.h rename to src/stella_vslam/data/map_database.h index 57100bffa..af2802b3e 100644 --- a/src/openvslam/data/map_database.h +++ b/src/stella_vslam/data/map_database.h @@ -1,8 +1,8 @@ -#ifndef OPENVSLAM_DATA_MAP_DATABASE_H -#define OPENVSLAM_DATA_MAP_DATABASE_H +#ifndef STELLA_VSLAM_DATA_MAP_DATABASE_H +#define STELLA_VSLAM_DATA_MAP_DATABASE_H -#include "openvslam/data/bow_vocabulary_fwd.h" -#include "openvslam/data/frame_statistics.h" +#include "stella_vslam/data/bow_vocabulary_fwd.h" +#include "stella_vslam/data/frame_statistics.h" #include #include @@ -11,7 +11,7 @@ #include -namespace openvslam { +namespace stella_vslam { namespace camera { class base; @@ -249,6 +249,6 @@ class map_database { }; } // namespace data -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_DATA_MAP_DATABASE_H +#endif // STELLA_VSLAM_DATA_MAP_DATABASE_H diff --git a/src/openvslam/data/orb_params_database.cc b/src/stella_vslam/data/orb_params_database.cc similarity index 96% rename from src/openvslam/data/orb_params_database.cc rename to src/stella_vslam/data/orb_params_database.cc index d049fa2b0..6b66cb03d 100644 --- a/src/openvslam/data/orb_params_database.cc +++ b/src/stella_vslam/data/orb_params_database.cc @@ -1,10 +1,10 @@ -#include "openvslam/data/orb_params_database.h" -#include "openvslam/feature/orb_params.h" +#include "stella_vslam/data/orb_params_database.h" +#include "stella_vslam/feature/orb_params.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace data { orb_params_database::orb_params_database(feature::orb_params* curr_orb_params) @@ -88,4 +88,4 @@ nlohmann::json orb_params_database::to_json() const { } } // namespace data -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/data/orb_params_database.h b/src/stella_vslam/data/orb_params_database.h similarity index 84% rename from src/openvslam/data/orb_params_database.h rename to src/stella_vslam/data/orb_params_database.h index 97822c28b..a48e9e2f5 100644 --- a/src/openvslam/data/orb_params_database.h +++ b/src/stella_vslam/data/orb_params_database.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_DATA_ORB_PARAMS_DATABASE_H -#define OPENVSLAM_DATA_ORB_PARAMS_DATABASE_H +#ifndef STELLA_VSLAM_DATA_ORB_PARAMS_DATABASE_H +#define STELLA_VSLAM_DATA_ORB_PARAMS_DATABASE_H #include #include #include -namespace openvslam { +namespace stella_vslam { namespace feature { class orb_params; @@ -40,6 +40,6 @@ class orb_params_database { }; } // namespace data -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_DATA_ORB_PARAMS_DATABASE_H +#endif // STELLA_VSLAM_DATA_ORB_PARAMS_DATABASE_H diff --git a/src/openvslam/feature/CMakeLists.txt b/src/stella_vslam/feature/CMakeLists.txt similarity index 89% rename from src/openvslam/feature/CMakeLists.txt rename to src/stella_vslam/feature/CMakeLists.txt index 985a329fa..db2b259a7 100644 --- a/src/openvslam/feature/CMakeLists.txt +++ b/src/stella_vslam/feature/CMakeLists.txt @@ -11,4 +11,4 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/feature) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/feature) diff --git a/src/openvslam/feature/orb_extractor.cc b/src/stella_vslam/feature/orb_extractor.cc similarity index 99% rename from src/openvslam/feature/orb_extractor.cc rename to src/stella_vslam/feature/orb_extractor.cc index 7f2106de3..385e44ba7 100644 --- a/src/openvslam/feature/orb_extractor.cc +++ b/src/stella_vslam/feature/orb_extractor.cc @@ -33,10 +33,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ -#include "openvslam/feature/orb_extractor.h" -#include "openvslam/feature/orb_point_pairs.h" -#include "openvslam/util/trigonometric.h" -#include "openvslam/type.h" +#include "stella_vslam/feature/orb_extractor.h" +#include "stella_vslam/feature/orb_point_pairs.h" +#include "stella_vslam/util/trigonometric.h" +#include "stella_vslam/type.h" #include #include @@ -52,7 +52,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include -namespace openvslam { +namespace stella_vslam { namespace feature { orb_extractor::orb_extractor(const orb_params* orb_params, @@ -649,4 +649,4 @@ void orb_extractor::compute_orb_descriptor(const cv::KeyPoint& keypt, const cv:: } } // namespace feature -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/feature/orb_extractor.h b/src/stella_vslam/feature/orb_extractor.h similarity index 93% rename from src/openvslam/feature/orb_extractor.h rename to src/stella_vslam/feature/orb_extractor.h index bfa10821b..38efdfe60 100644 --- a/src/openvslam/feature/orb_extractor.h +++ b/src/stella_vslam/feature/orb_extractor.h @@ -1,13 +1,13 @@ -#ifndef OPENVSLAM_FEATURE_ORB_EXTRACTOR_H -#define OPENVSLAM_FEATURE_ORB_EXTRACTOR_H +#ifndef STELLA_VSLAM_FEATURE_ORB_EXTRACTOR_H +#define STELLA_VSLAM_FEATURE_ORB_EXTRACTOR_H -#include "openvslam/feature/orb_params.h" -#include "openvslam/feature/orb_extractor_node.h" +#include "stella_vslam/feature/orb_params.h" +#include "stella_vslam/feature/orb_extractor_node.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace feature { class orb_extractor { @@ -111,6 +111,6 @@ class orb_extractor { }; } // namespace feature -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_FEATURE_ORB_EXTRACTOR_H +#endif // STELLA_VSLAM_FEATURE_ORB_EXTRACTOR_H diff --git a/src/openvslam/feature/orb_extractor_node.cc b/src/stella_vslam/feature/orb_extractor_node.cc similarity index 94% rename from src/openvslam/feature/orb_extractor_node.cc rename to src/stella_vslam/feature/orb_extractor_node.cc index 6a5a88671..20aa8f908 100644 --- a/src/openvslam/feature/orb_extractor_node.cc +++ b/src/stella_vslam/feature/orb_extractor_node.cc @@ -1,6 +1,6 @@ -#include "openvslam/feature/orb_extractor_node.h" +#include "stella_vslam/feature/orb_extractor_node.h" -namespace openvslam { +namespace stella_vslam { namespace feature { std::array orb_extractor_node::divide_node() { @@ -50,4 +50,4 @@ std::array orb_extractor_node::divide_node() { } } // namespace feature -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/feature/orb_extractor_node.h b/src/stella_vslam/feature/orb_extractor_node.h similarity index 77% rename from src/openvslam/feature/orb_extractor_node.h rename to src/stella_vslam/feature/orb_extractor_node.h index d12c7a40d..f7648b10d 100644 --- a/src/openvslam/feature/orb_extractor_node.h +++ b/src/stella_vslam/feature/orb_extractor_node.h @@ -1,5 +1,5 @@ -#ifndef OPENVSLAM_FEATURE_ORB_EXTRACTOR_NODE_H -#define OPENVSLAM_FEATURE_ORB_EXTRACTOR_NODE_H +#ifndef STELLA_VSLAM_FEATURE_ORB_EXTRACTOR_NODE_H +#define STELLA_VSLAM_FEATURE_ORB_EXTRACTOR_NODE_H #include #include @@ -7,7 +7,7 @@ #include -namespace openvslam { +namespace stella_vslam { namespace feature { class orb_extractor_node { @@ -32,6 +32,6 @@ class orb_extractor_node { }; } // namespace feature -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_FEATURE_ORB_EXTRACTOR_NODE_H +#endif // STELLA_VSLAM_FEATURE_ORB_EXTRACTOR_NODE_H diff --git a/src/openvslam/feature/orb_params.cc b/src/stella_vslam/feature/orb_params.cc similarity index 97% rename from src/openvslam/feature/orb_params.cc rename to src/stella_vslam/feature/orb_params.cc index 028f4dacb..76f5479ac 100644 --- a/src/openvslam/feature/orb_params.cc +++ b/src/stella_vslam/feature/orb_params.cc @@ -1,9 +1,9 @@ -#include "openvslam/feature/orb_params.h" +#include "stella_vslam/feature/orb_params.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace feature { orb_params::orb_params(const std::string& name) @@ -79,4 +79,4 @@ std::ostream& operator<<(std::ostream& os, const orb_params& oparam) { } } // namespace feature -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/feature/orb_params.h b/src/stella_vslam/feature/orb_params.h similarity index 91% rename from src/openvslam/feature/orb_params.h rename to src/stella_vslam/feature/orb_params.h index b0edab9c9..03bfc72ca 100644 --- a/src/openvslam/feature/orb_params.h +++ b/src/stella_vslam/feature/orb_params.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_FEATURE_ORB_PARAMS_H -#define OPENVSLAM_FEATURE_ORB_PARAMS_H +#ifndef STELLA_VSLAM_FEATURE_ORB_PARAMS_H +#define STELLA_VSLAM_FEATURE_ORB_PARAMS_H #include #include #include -namespace openvslam { +namespace stella_vslam { namespace feature { struct orb_params { @@ -56,6 +56,6 @@ struct orb_params { std::ostream& operator<<(std::ostream& os, const orb_params& oparam); } // namespace feature -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_FEATURE_ORB_PARAMS_H +#endif // STELLA_VSLAM_FEATURE_ORB_PARAMS_H diff --git a/src/openvslam/feature/orb_point_pairs.h b/src/stella_vslam/feature/orb_point_pairs.h similarity index 99% rename from src/openvslam/feature/orb_point_pairs.h rename to src/stella_vslam/feature/orb_point_pairs.h index a4549ac74..db3b51b7d 100644 --- a/src/openvslam/feature/orb_point_pairs.h +++ b/src/stella_vslam/feature/orb_point_pairs.h @@ -33,10 +33,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ -#ifndef OPENVSLAM_FEATURE_ORB_POINT_PAIRS_H -#define OPENVSLAM_FEATURE_ORB_POINT_PAIRS_H +#ifndef STELLA_VSLAM_FEATURE_ORB_POINT_PAIRS_H +#define STELLA_VSLAM_FEATURE_ORB_POINT_PAIRS_H -namespace openvslam { +namespace stella_vslam { namespace feature { // (X, Y) x 2 points x 256 bits = 1024 @@ -304,6 +304,6 @@ alignas(16) static constexpr float orb_point_pairs[orb_point_pairs_size] = { }; } // namespace feature -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_FEATURE_ORB_POINT_PAIRS_H +#endif // STELLA_VSLAM_FEATURE_ORB_POINT_PAIRS_H diff --git a/src/openvslam/global_optimization_module.cc b/src/stella_vslam/global_optimization_module.cc similarity index 98% rename from src/openvslam/global_optimization_module.cc rename to src/stella_vslam/global_optimization_module.cc index 7982090e9..23e9aa132 100644 --- a/src/openvslam/global_optimization_module.cc +++ b/src/stella_vslam/global_optimization_module.cc @@ -1,15 +1,15 @@ -#include "openvslam/mapping_module.h" -#include "openvslam/global_optimization_module.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/map_database.h" -#include "openvslam/match/fuse.h" -#include "openvslam/util/converter.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/mapping_module.h" +#include "stella_vslam/global_optimization_module.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/match/fuse.h" +#include "stella_vslam/util/converter.h" +#include "stella_vslam/util/yaml.h" #include -namespace openvslam { +namespace stella_vslam { global_optimization_module::global_optimization_module(data::map_database* map_db, data::bow_database* bow_db, data::bow_vocabulary* bow_vocab, const YAML::Node& yaml_node, @@ -493,4 +493,4 @@ void global_optimization_module::abort_loop_BA() { loop_bundle_adjuster_->abort(); } -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/global_optimization_module.h b/src/stella_vslam/global_optimization_module.h similarity index 93% rename from src/openvslam/global_optimization_module.h rename to src/stella_vslam/global_optimization_module.h index 8066c474e..3ae327297 100644 --- a/src/openvslam/global_optimization_module.h +++ b/src/stella_vslam/global_optimization_module.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_GLOBAL_OPTIMIZATION_MODULE_H -#define OPENVSLAM_GLOBAL_OPTIMIZATION_MODULE_H +#ifndef STELLA_VSLAM_GLOBAL_OPTIMIZATION_MODULE_H +#define STELLA_VSLAM_GLOBAL_OPTIMIZATION_MODULE_H -#include "openvslam/type.h" -#include "openvslam/data/bow_vocabulary.h" -#include "openvslam/module/type.h" -#include "openvslam/module/loop_detector.h" -#include "openvslam/module/loop_bundle_adjuster.h" -#include "openvslam/optimize/graph_optimizer.h" +#include "stella_vslam/type.h" +#include "stella_vslam/data/bow_vocabulary.h" +#include "stella_vslam/module/type.h" +#include "stella_vslam/module/loop_detector.h" +#include "stella_vslam/module/loop_bundle_adjuster.h" +#include "stella_vslam/optimize/graph_optimizer.h" #include #include @@ -14,7 +14,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { class tracking_module; class mapping_module; @@ -224,6 +224,6 @@ class global_optimization_module { std::unique_ptr thread_for_loop_BA_ = nullptr; }; -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_GLOBAL_OPTIMIZATION_MODULE_H +#endif // STELLA_VSLAM_GLOBAL_OPTIMIZATION_MODULE_H diff --git a/src/openvslam/initialize/CMakeLists.txt b/src/stella_vslam/initialize/CMakeLists.txt similarity index 88% rename from src/openvslam/initialize/CMakeLists.txt rename to src/stella_vslam/initialize/CMakeLists.txt index 43f1cc129..2383b082e 100644 --- a/src/openvslam/initialize/CMakeLists.txt +++ b/src/stella_vslam/initialize/CMakeLists.txt @@ -11,4 +11,4 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/initialize) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/initialize) diff --git a/src/openvslam/initialize/base.cc b/src/stella_vslam/initialize/base.cc similarity index 97% rename from src/openvslam/initialize/base.cc rename to src/stella_vslam/initialize/base.cc index bd73f1c9c..2117473d9 100644 --- a/src/openvslam/initialize/base.cc +++ b/src/stella_vslam/initialize/base.cc @@ -1,8 +1,8 @@ -#include "openvslam/data/frame.h" -#include "openvslam/initialize/base.h" -#include "openvslam/solve/triangulator.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/initialize/base.h" +#include "stella_vslam/solve/triangulator.h" -namespace openvslam { +namespace stella_vslam { namespace initialize { base::base(const data::frame& ref_frm, @@ -194,4 +194,4 @@ unsigned int base::check_pose(const Mat33_t& rot_ref_to_cur, const Vec3_t& trans } } // namespace initialize -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/initialize/base.h b/src/stella_vslam/initialize/base.h similarity index 94% rename from src/openvslam/initialize/base.h rename to src/stella_vslam/initialize/base.h index 32246154e..035c21e53 100644 --- a/src/openvslam/initialize/base.h +++ b/src/stella_vslam/initialize/base.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_INITIALIZE_BASE_H -#define OPENVSLAM_INITIALIZE_BASE_H +#ifndef STELLA_VSLAM_INITIALIZE_BASE_H +#define STELLA_VSLAM_INITIALIZE_BASE_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include -namespace openvslam { +namespace stella_vslam { namespace camera { class base; @@ -109,6 +109,6 @@ class base { }; } // namespace initialize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_INITIALIZE_BASE_H +#endif // STELLA_VSLAM_INITIALIZE_BASE_H diff --git a/src/openvslam/initialize/bearing_vector.cc b/src/stella_vslam/initialize/bearing_vector.cc similarity index 93% rename from src/openvslam/initialize/bearing_vector.cc rename to src/stella_vslam/initialize/bearing_vector.cc index 95a3b2106..2bf4fca2b 100644 --- a/src/openvslam/initialize/bearing_vector.cc +++ b/src/stella_vslam/initialize/bearing_vector.cc @@ -1,10 +1,10 @@ -#include "openvslam/data/frame.h" -#include "openvslam/initialize/bearing_vector.h" -#include "openvslam/solve/essential_solver.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/initialize/bearing_vector.h" +#include "stella_vslam/solve/essential_solver.h" #include -namespace openvslam { +namespace stella_vslam { namespace initialize { bearing_vector::bearing_vector(const data::frame& ref_frm, @@ -74,4 +74,4 @@ bool bearing_vector::reconstruct_with_E(const Mat33_t& E_ref_to_cur, const std:: } } // namespace initialize -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/initialize/bearing_vector.h b/src/stella_vslam/initialize/bearing_vector.h similarity index 79% rename from src/openvslam/initialize/bearing_vector.h rename to src/stella_vslam/initialize/bearing_vector.h index 29590d1e4..ad775e798 100644 --- a/src/openvslam/initialize/bearing_vector.h +++ b/src/stella_vslam/initialize/bearing_vector.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_INITIALIZE_BEARING_VECTOR_H -#define OPENVSLAM_INITIALIZE_BEARING_VECTOR_H +#ifndef STELLA_VSLAM_INITIALIZE_BEARING_VECTOR_H +#define STELLA_VSLAM_INITIALIZE_BEARING_VECTOR_H -#include "openvslam/type.h" -#include "openvslam/initialize/base.h" +#include "stella_vslam/type.h" +#include "stella_vslam/initialize/base.h" #include -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -42,6 +42,6 @@ class bearing_vector final : public base { }; } // namespace initialize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_INITIALIZE_BEARING_VECTOR_H +#endif // STELLA_VSLAM_INITIALIZE_BEARING_VECTOR_H diff --git a/src/openvslam/initialize/perspective.cc b/src/stella_vslam/initialize/perspective.cc similarity index 93% rename from src/openvslam/initialize/perspective.cc rename to src/stella_vslam/initialize/perspective.cc index 3035e51d8..72c5ea5be 100644 --- a/src/openvslam/initialize/perspective.cc +++ b/src/stella_vslam/initialize/perspective.cc @@ -1,16 +1,16 @@ -#include "openvslam/camera/perspective.h" -#include "openvslam/camera/radial_division.h" -#include "openvslam/camera/fisheye.h" -#include "openvslam/data/frame.h" -#include "openvslam/initialize/perspective.h" -#include "openvslam/solve/homography_solver.h" -#include "openvslam/solve/fundamental_solver.h" +#include "stella_vslam/camera/perspective.h" +#include "stella_vslam/camera/radial_division.h" +#include "stella_vslam/camera/fisheye.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/initialize/perspective.h" +#include "stella_vslam/solve/homography_solver.h" +#include "stella_vslam/solve/fundamental_solver.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace initialize { perspective::perspective(const data::frame& ref_frm, @@ -142,4 +142,4 @@ Mat33_t perspective::get_camera_matrix(camera::base* camera) { } } // namespace initialize -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/initialize/perspective.h b/src/stella_vslam/initialize/perspective.h similarity index 84% rename from src/openvslam/initialize/perspective.h rename to src/stella_vslam/initialize/perspective.h index 135c410a2..614ffe3f5 100644 --- a/src/openvslam/initialize/perspective.h +++ b/src/stella_vslam/initialize/perspective.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_INITIALIZE_PERSPECTIVE_H -#define OPENVSLAM_INITIALIZE_PERSPECTIVE_H +#ifndef STELLA_VSLAM_INITIALIZE_PERSPECTIVE_H +#define STELLA_VSLAM_INITIALIZE_PERSPECTIVE_H -#include "openvslam/type.h" -#include "openvslam/initialize/base.h" +#include "stella_vslam/type.h" +#include "stella_vslam/initialize/base.h" #include -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -53,6 +53,6 @@ class perspective final : public base { }; } // namespace initialize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_INITIALIZE_PERSPECTIVE_H +#endif // STELLA_VSLAM_INITIALIZE_PERSPECTIVE_H diff --git a/src/openvslam/io/CMakeLists.txt b/src/stella_vslam/io/CMakeLists.txt similarity index 87% rename from src/openvslam/io/CMakeLists.txt rename to src/stella_vslam/io/CMakeLists.txt index 842d8e21b..a980be19a 100644 --- a/src/openvslam/io/CMakeLists.txt +++ b/src/stella_vslam/io/CMakeLists.txt @@ -9,4 +9,4 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/io) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/io) diff --git a/src/openvslam/io/map_database_io.cc b/src/stella_vslam/io/map_database_io.cc similarity index 89% rename from src/openvslam/io/map_database_io.cc rename to src/stella_vslam/io/map_database_io.cc index f0e2c4ddf..d841f1f94 100644 --- a/src/openvslam/io/map_database_io.cc +++ b/src/stella_vslam/io/map_database_io.cc @@ -1,18 +1,18 @@ -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/camera_database.h" -#include "openvslam/data/orb_params_database.h" -#include "openvslam/data/bow_database.h" -#include "openvslam/data/map_database.h" -#include "openvslam/io/map_database_io.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/camera_database.h" +#include "stella_vslam/data/orb_params_database.h" +#include "stella_vslam/data/bow_database.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/io/map_database_io.h" #include #include #include -namespace openvslam { +namespace stella_vslam { namespace io { map_database_io::map_database_io(data::camera_database* cam_db, data::orb_params_database* orb_params_db, data::map_database* map_db, @@ -104,4 +104,4 @@ void map_database_io::load_message_pack(const std::string& path) { } } // namespace io -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/io/map_database_io.h b/src/stella_vslam/io/map_database_io.h similarity index 83% rename from src/openvslam/io/map_database_io.h rename to src/stella_vslam/io/map_database_io.h index bfc998b8f..486c8010c 100644 --- a/src/openvslam/io/map_database_io.h +++ b/src/stella_vslam/io/map_database_io.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_IO_MAP_DATABASE_IO_H -#define OPENVSLAM_IO_MAP_DATABASE_IO_H +#ifndef STELLA_VSLAM_IO_MAP_DATABASE_IO_H +#define STELLA_VSLAM_IO_MAP_DATABASE_IO_H -#include "openvslam/data/bow_vocabulary.h" +#include "stella_vslam/data/bow_vocabulary.h" #include -namespace openvslam { +namespace stella_vslam { namespace data { class camera_database; @@ -52,6 +52,6 @@ class map_database_io { }; } // namespace io -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_IO_MAP_DATABASE_IO_H +#endif // STELLA_VSLAM_IO_MAP_DATABASE_IO_H diff --git a/src/openvslam/io/trajectory_io.cc b/src/stella_vslam/io/trajectory_io.cc similarity index 96% rename from src/openvslam/io/trajectory_io.cc rename to src/stella_vslam/io/trajectory_io.cc index 9c3d80066..04d2c4f2f 100644 --- a/src/openvslam/io/trajectory_io.cc +++ b/src/stella_vslam/io/trajectory_io.cc @@ -1,7 +1,7 @@ -#include "openvslam/data/keyframe.h" -#include "openvslam/data/map_database.h" -#include "openvslam/io/trajectory_io.h" -#include "openvslam/util/converter.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/io/trajectory_io.h" +#include "stella_vslam/util/converter.h" #include #include @@ -11,7 +11,7 @@ #include -namespace openvslam { +namespace stella_vslam { namespace io { trajectory_io::trajectory_io(data::map_database* map_db) @@ -166,4 +166,4 @@ void trajectory_io::save_keyframe_trajectory(const std::string& path, const std: } } // namespace io -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/io/trajectory_io.h b/src/stella_vslam/io/trajectory_io.h similarity index 80% rename from src/openvslam/io/trajectory_io.h rename to src/stella_vslam/io/trajectory_io.h index 80b0d8142..f55e63ecd 100644 --- a/src/openvslam/io/trajectory_io.h +++ b/src/stella_vslam/io/trajectory_io.h @@ -1,9 +1,9 @@ -#ifndef OPENVSLAM_IO_TRAJECTORY_IO_H -#define OPENVSLAM_IO_TRAJECTORY_IO_H +#ifndef STELLA_VSLAM_IO_TRAJECTORY_IO_H +#define STELLA_VSLAM_IO_TRAJECTORY_IO_H #include -namespace openvslam { +namespace stella_vslam { namespace data { class map_database; @@ -39,6 +39,6 @@ class trajectory_io { }; } // namespace io -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_IO_TRAJECTORY_IO_H +#endif // STELLA_VSLAM_IO_TRAJECTORY_IO_H diff --git a/src/openvslam/mapping_module.cc b/src/stella_vslam/mapping_module.cc similarity index 97% rename from src/openvslam/mapping_module.cc rename to src/stella_vslam/mapping_module.cc index a741aa9e5..7c447766d 100644 --- a/src/openvslam/mapping_module.cc +++ b/src/stella_vslam/mapping_module.cc @@ -1,20 +1,20 @@ -#include "openvslam/type.h" -#include "openvslam/mapping_module.h" -#include "openvslam/global_optimization_module.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/map_database.h" -#include "openvslam/match/fuse.h" -#include "openvslam/match/robust.h" -#include "openvslam/module/two_view_triangulator.h" -#include "openvslam/solve/essential_solver.h" +#include "stella_vslam/type.h" +#include "stella_vslam/mapping_module.h" +#include "stella_vslam/global_optimization_module.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/match/fuse.h" +#include "stella_vslam/match/robust.h" +#include "stella_vslam/module/two_view_triangulator.h" +#include "stella_vslam/solve/essential_solver.h" #include #include #include -namespace openvslam { +namespace stella_vslam { mapping_module::mapping_module(const YAML::Node& yaml_node, data::map_database* map_db, data::bow_database* bow_db, data::bow_vocabulary* bow_vocab) : local_map_cleaner_(new module::local_map_cleaner(map_db, bow_db, yaml_node["redundant_obs_ratio_thr"].as(0.9))), @@ -551,4 +551,4 @@ void mapping_module::terminate() { promises_terminate_.clear(); } -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/mapping_module.h b/src/stella_vslam/mapping_module.h similarity index 95% rename from src/openvslam/mapping_module.h rename to src/stella_vslam/mapping_module.h index 0ec6d47a7..c11259b20 100644 --- a/src/openvslam/mapping_module.h +++ b/src/stella_vslam/mapping_module.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_MAPPING_MODULE_H -#define OPENVSLAM_MAPPING_MODULE_H +#ifndef STELLA_VSLAM_MAPPING_MODULE_H +#define STELLA_VSLAM_MAPPING_MODULE_H -#include "openvslam/config.h" -#include "openvslam/camera/base.h" -#include "openvslam/module/local_map_cleaner.h" -#include "openvslam/optimize/local_bundle_adjuster.h" -#include "openvslam/data/bow_vocabulary_fwd.h" +#include "stella_vslam/config.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/module/local_map_cleaner.h" +#include "stella_vslam/optimize/local_bundle_adjuster.h" +#include "stella_vslam/data/bow_vocabulary_fwd.h" #include #include @@ -14,7 +14,7 @@ #include -namespace openvslam { +namespace stella_vslam { class config; class tracking_module; @@ -264,6 +264,6 @@ class mapping_module { const unsigned int queue_threshold_ = 2; }; -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MAPPING_MODULE_H +#endif // STELLA_VSLAM_MAPPING_MODULE_H diff --git a/src/openvslam/match/CMakeLists.txt b/src/stella_vslam/match/CMakeLists.txt similarity index 92% rename from src/openvslam/match/CMakeLists.txt rename to src/stella_vslam/match/CMakeLists.txt index cb06c8f59..2a2897d7c 100644 --- a/src/openvslam/match/CMakeLists.txt +++ b/src/stella_vslam/match/CMakeLists.txt @@ -17,4 +17,4 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/match) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/match) diff --git a/src/openvslam/match/angle_checker.h b/src/stella_vslam/match/angle_checker.h similarity index 96% rename from src/openvslam/match/angle_checker.h rename to src/stella_vslam/match/angle_checker.h index b63820c08..1faf788b2 100644 --- a/src/openvslam/match/angle_checker.h +++ b/src/stella_vslam/match/angle_checker.h @@ -1,5 +1,5 @@ -#ifndef OPENVSLAM_MATCH_ANGLE_CHECKER_H -#define OPENVSLAM_MATCH_ANGLE_CHECKER_H +#ifndef STELLA_VSLAM_MATCH_ANGLE_CHECKER_H +#define STELLA_VSLAM_MATCH_ANGLE_CHECKER_H #include #include @@ -8,7 +8,7 @@ #include -namespace openvslam { +namespace stella_vslam { namespace match { template @@ -134,6 +134,6 @@ std::vector angle_checker::index_sort_by_size(const std::vector } } // namespace match -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MATCH_ANGLE_CHECKER_H +#endif // STELLA_VSLAM_MATCH_ANGLE_CHECKER_H diff --git a/src/openvslam/match/area.cc b/src/stella_vslam/match/area.cc similarity index 96% rename from src/openvslam/match/area.cc rename to src/stella_vslam/match/area.cc index c67bd3c0b..eaa4586b6 100644 --- a/src/openvslam/match/area.cc +++ b/src/stella_vslam/match/area.cc @@ -1,8 +1,8 @@ -#include "openvslam/data/frame.h" -#include "openvslam/match/area.h" -#include "openvslam/match/angle_checker.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/match/area.h" +#include "stella_vslam/match/angle_checker.h" -namespace openvslam { +namespace stella_vslam { namespace match { unsigned int area::match_in_consistent_area(data::frame& frm_1, data::frame& frm_2, std::vector& prev_matched_pts, @@ -112,4 +112,4 @@ unsigned int area::match_in_consistent_area(data::frame& frm_1, data::frame& frm } } // namespace match -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/match/area.h b/src/stella_vslam/match/area.h similarity index 72% rename from src/openvslam/match/area.h rename to src/stella_vslam/match/area.h index d4d7acf80..39d2a85c8 100644 --- a/src/openvslam/match/area.h +++ b/src/stella_vslam/match/area.h @@ -1,9 +1,9 @@ -#ifndef OPENVSLAM_MATCH_AREA_H -#define OPENVSLAM_MATCH_AREA_H +#ifndef STELLA_VSLAM_MATCH_AREA_H +#define STELLA_VSLAM_MATCH_AREA_H -#include "openvslam/match/base.h" +#include "stella_vslam/match/base.h" -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -23,6 +23,6 @@ class area final : public base { }; } // namespace match -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MATCH_AREA_H +#endif // STELLA_VSLAM_MATCH_AREA_H diff --git a/src/openvslam/match/base.h b/src/stella_vslam/match/base.h similarity index 93% rename from src/openvslam/match/base.h rename to src/stella_vslam/match/base.h index c0291cf9f..b2573f598 100644 --- a/src/openvslam/match/base.h +++ b/src/stella_vslam/match/base.h @@ -1,5 +1,5 @@ -#ifndef OPENVSLAM_MATCH_BASE_H -#define OPENVSLAM_MATCH_BASE_H +#ifndef STELLA_VSLAM_MATCH_BASE_H +#define STELLA_VSLAM_MATCH_BASE_H #include #include @@ -7,7 +7,7 @@ #include -namespace openvslam { +namespace stella_vslam { namespace match { static constexpr unsigned int HAMMING_DIST_THR_LOW = 50; @@ -75,6 +75,6 @@ class base { }; } // namespace match -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MATCH_BASE_H +#endif // STELLA_VSLAM_MATCH_BASE_H diff --git a/src/openvslam/match/bow_tree.cc b/src/stella_vslam/match/bow_tree.cc similarity index 97% rename from src/openvslam/match/bow_tree.cc rename to src/stella_vslam/match/bow_tree.cc index 767879390..befef9745 100644 --- a/src/openvslam/match/bow_tree.cc +++ b/src/stella_vslam/match/bow_tree.cc @@ -1,8 +1,8 @@ -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/match/bow_tree.h" -#include "openvslam/match/angle_checker.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/match/bow_tree.h" +#include "stella_vslam/match/angle_checker.h" #ifdef USE_DBOW2 #include @@ -10,7 +10,7 @@ #include #endif -namespace openvslam { +namespace stella_vslam { namespace match { unsigned int bow_tree::match_frame_and_keyframe(const std::shared_ptr& keyfrm, data::frame& frm, std::vector>& matched_lms_in_frm) const { @@ -250,4 +250,4 @@ unsigned int bow_tree::match_keyframes(const std::shared_ptr& ke } } // namespace match -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/match/bow_tree.h b/src/stella_vslam/match/bow_tree.h similarity index 88% rename from src/openvslam/match/bow_tree.h rename to src/stella_vslam/match/bow_tree.h index 5faf0ba20..1c721414e 100644 --- a/src/openvslam/match/bow_tree.h +++ b/src/stella_vslam/match/bow_tree.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_MATCH_BOW_TREE_H -#define OPENVSLAM_MATCH_BOW_TREE_H +#ifndef STELLA_VSLAM_MATCH_BOW_TREE_H +#define STELLA_VSLAM_MATCH_BOW_TREE_H -#include "openvslam/match/base.h" +#include "stella_vslam/match/base.h" #include -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -34,6 +34,6 @@ class bow_tree final : public base { }; } // namespace match -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MATCH_BOW_TREE_H +#endif // STELLA_VSLAM_MATCH_BOW_TREE_H diff --git a/src/openvslam/match/fuse.cc b/src/stella_vslam/match/fuse.cc similarity index 98% rename from src/openvslam/match/fuse.cc rename to src/stella_vslam/match/fuse.cc index 27fee01a0..8654d17d3 100644 --- a/src/openvslam/match/fuse.cc +++ b/src/stella_vslam/match/fuse.cc @@ -1,12 +1,12 @@ -#include "openvslam/match/fuse.h" -#include "openvslam/camera/base.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" +#include "stella_vslam/match/fuse.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace match { unsigned int fuse::detect_duplication(const std::shared_ptr& keyfrm, const Mat44_t& Sim3_cw, const std::vector>& landmarks_to_check, @@ -269,4 +269,4 @@ template unsigned int fuse::replace_duplication(const std::shared_ptr&, const std::unordered_set>&, const float); } // namespace match -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/match/fuse.h b/src/stella_vslam/match/fuse.h similarity index 86% rename from src/openvslam/match/fuse.h rename to src/stella_vslam/match/fuse.h index 5f32286e5..3d537c10b 100644 --- a/src/openvslam/match/fuse.h +++ b/src/stella_vslam/match/fuse.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_MATCH_FUSE_H -#define OPENVSLAM_MATCH_FUSE_H +#ifndef STELLA_VSLAM_MATCH_FUSE_H +#define STELLA_VSLAM_MATCH_FUSE_H -#include "openvslam/type.h" -#include "openvslam/match/base.h" +#include "stella_vslam/type.h" +#include "stella_vslam/match/base.h" #include -namespace openvslam { +namespace stella_vslam { namespace data { class keyframe; @@ -37,6 +37,6 @@ class fuse final : public base { }; } // namespace match -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MATCH_FUSE_H +#endif // STELLA_VSLAM_MATCH_FUSE_H diff --git a/src/openvslam/match/projection.cc b/src/stella_vslam/match/projection.cc similarity index 98% rename from src/openvslam/match/projection.cc rename to src/stella_vslam/match/projection.cc index 32f3846cb..e56681990 100644 --- a/src/openvslam/match/projection.cc +++ b/src/stella_vslam/match/projection.cc @@ -1,11 +1,11 @@ -#include "openvslam/camera/base.h" -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/match/projection.h" -#include "openvslam/match/angle_checker.h" - -namespace openvslam { +#include "stella_vslam/camera/base.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/match/projection.h" +#include "stella_vslam/match/angle_checker.h" + +namespace stella_vslam { namespace match { unsigned int projection::match_frame_and_landmarks(data::frame& frm, @@ -642,4 +642,4 @@ unsigned int projection::match_keyframes_mutually(const std::shared_ptr #include -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -53,6 +53,6 @@ class projection final : public base { }; } // namespace match -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MATCH_PROJECTION_H +#endif // STELLA_VSLAM_MATCH_PROJECTION_H diff --git a/src/openvslam/match/robust.cc b/src/stella_vslam/match/robust.cc similarity index 97% rename from src/openvslam/match/robust.cc rename to src/stella_vslam/match/robust.cc index 19295709f..23325617c 100644 --- a/src/openvslam/match/robust.cc +++ b/src/stella_vslam/match/robust.cc @@ -1,10 +1,10 @@ -#include "openvslam/camera/base.h" -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/match/robust.h" -#include "openvslam/match/angle_checker.h" -#include "openvslam/solve/essential_solver.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/match/robust.h" +#include "stella_vslam/match/angle_checker.h" +#include "stella_vslam/solve/essential_solver.h" #ifdef USE_DBOW2 #include @@ -12,7 +12,7 @@ #include #endif -namespace openvslam { +namespace stella_vslam { namespace match { unsigned int robust::match_for_triangulation(const std::shared_ptr& keyfrm_1, const std::shared_ptr& keyfrm_2, const Mat33_t& E_12, @@ -340,4 +340,4 @@ bool robust::check_epipolar_constraint(const Vec3_t& bearing_1, const Vec3_t& be } } // namespace match -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/match/robust.h b/src/stella_vslam/match/robust.h similarity index 83% rename from src/openvslam/match/robust.h rename to src/stella_vslam/match/robust.h index 4220b8262..461982e3d 100644 --- a/src/openvslam/match/robust.h +++ b/src/stella_vslam/match/robust.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_MATCH_ROBUST_H -#define OPENVSLAM_MATCH_ROBUST_H +#ifndef STELLA_VSLAM_MATCH_ROBUST_H +#define STELLA_VSLAM_MATCH_ROBUST_H -#include "openvslam/type.h" -#include "openvslam/match/base.h" +#include "stella_vslam/type.h" +#include "stella_vslam/match/base.h" #include -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -37,6 +37,6 @@ class robust final : public base { }; } // namespace match -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MATCH_ROBUST_H +#endif // STELLA_VSLAM_MATCH_ROBUST_H diff --git a/src/openvslam/match/stereo.cc b/src/stella_vslam/match/stereo.cc similarity index 99% rename from src/openvslam/match/stereo.cc rename to src/stella_vslam/match/stereo.cc index 81ccc53ef..2cf37e0d5 100644 --- a/src/openvslam/match/stereo.cc +++ b/src/stella_vslam/match/stereo.cc @@ -1,6 +1,6 @@ -#include "openvslam/match/stereo.h" +#include "stella_vslam/match/stereo.h" -namespace openvslam { +namespace stella_vslam { namespace match { stereo::stereo(const std::vector& left_image_pyramid, const std::vector& right_image_pyramid, @@ -249,4 +249,4 @@ bool stereo::compute_subpixel_disparity(const cv::KeyPoint& keypt_left, const cv } } // namespace match -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/match/stereo.h b/src/stella_vslam/match/stereo.h similarity index 94% rename from src/openvslam/match/stereo.h rename to src/stella_vslam/match/stereo.h index 0a347e9d7..d442743ff 100644 --- a/src/openvslam/match/stereo.h +++ b/src/stella_vslam/match/stereo.h @@ -1,9 +1,9 @@ -#ifndef OPENVSLAM_MATCH_STEREO_H -#define OPENVSLAM_MATCH_STEREO_H +#ifndef STELLA_VSLAM_MATCH_STEREO_H +#define STELLA_VSLAM_MATCH_STEREO_H -#include "openvslam/match/base.h" +#include "stella_vslam/match/base.h" -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -100,6 +100,6 @@ class stereo { }; } // namespace match -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MATCH_STEREO_H +#endif // STELLA_VSLAM_MATCH_STEREO_H diff --git a/src/openvslam/module/CMakeLists.txt b/src/stella_vslam/module/CMakeLists.txt similarity index 95% rename from src/openvslam/module/CMakeLists.txt rename to src/stella_vslam/module/CMakeLists.txt index f92b83fa6..e0cc8bf86 100644 --- a/src/openvslam/module/CMakeLists.txt +++ b/src/stella_vslam/module/CMakeLists.txt @@ -23,4 +23,4 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/module) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/module) diff --git a/src/openvslam/module/frame_tracker.cc b/src/stella_vslam/module/frame_tracker.cc similarity index 93% rename from src/openvslam/module/frame_tracker.cc rename to src/stella_vslam/module/frame_tracker.cc index 801b3a6f3..e195a3bcc 100644 --- a/src/openvslam/module/frame_tracker.cc +++ b/src/stella_vslam/module/frame_tracker.cc @@ -1,15 +1,15 @@ -#include "openvslam/camera/base.h" -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/match/bow_tree.h" -#include "openvslam/match/projection.h" -#include "openvslam/match/robust.h" -#include "openvslam/module/frame_tracker.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/match/bow_tree.h" +#include "stella_vslam/match/projection.h" +#include "stella_vslam/match/robust.h" +#include "stella_vslam/module/frame_tracker.h" #include -namespace openvslam { +namespace stella_vslam { namespace module { frame_tracker::frame_tracker(camera::base* camera, const unsigned int num_matches_thr) @@ -146,4 +146,4 @@ unsigned int frame_tracker::discard_outliers(data::frame& curr_frm, std::unorder } } // namespace module -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/module/frame_tracker.h b/src/stella_vslam/module/frame_tracker.h similarity index 81% rename from src/openvslam/module/frame_tracker.h rename to src/stella_vslam/module/frame_tracker.h index d2dfd8fbe..c563d7fda 100644 --- a/src/openvslam/module/frame_tracker.h +++ b/src/stella_vslam/module/frame_tracker.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_MODULE_FRAME_TRACKER_H -#define OPENVSLAM_MODULE_FRAME_TRACKER_H +#ifndef STELLA_VSLAM_MODULE_FRAME_TRACKER_H +#define STELLA_VSLAM_MODULE_FRAME_TRACKER_H -#include "openvslam/type.h" -#include "openvslam/optimize/pose_optimizer.h" +#include "stella_vslam/type.h" +#include "stella_vslam/optimize/pose_optimizer.h" #include -namespace openvslam { +namespace stella_vslam { namespace camera { class base; @@ -43,6 +43,6 @@ class frame_tracker { }; } // namespace module -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MODULE_FRAME_TRACKER_H +#endif // STELLA_VSLAM_MODULE_FRAME_TRACKER_H diff --git a/src/openvslam/module/initializer.cc b/src/stella_vslam/module/initializer.cc similarity index 96% rename from src/openvslam/module/initializer.cc rename to src/stella_vslam/module/initializer.cc index cabb35090..7b8751d1b 100644 --- a/src/openvslam/module/initializer.cc +++ b/src/stella_vslam/module/initializer.cc @@ -1,16 +1,16 @@ -#include "openvslam/config.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/map_database.h" -#include "openvslam/initialize/bearing_vector.h" -#include "openvslam/initialize/perspective.h" -#include "openvslam/match/area.h" -#include "openvslam/module/initializer.h" -#include "openvslam/optimize/global_bundle_adjuster.h" +#include "stella_vslam/config.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/initialize/bearing_vector.h" +#include "stella_vslam/initialize/perspective.h" +#include "stella_vslam/match/area.h" +#include "stella_vslam/module/initializer.h" +#include "stella_vslam/optimize/global_bundle_adjuster.h" #include -namespace openvslam { +namespace stella_vslam { namespace module { initializer::initializer(data::map_database* map_db, data::bow_database* bow_db, @@ -345,4 +345,4 @@ bool initializer::create_map_for_stereo(data::bow_vocabulary* bow_vocab, data::f } } // namespace module -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/module/initializer.h b/src/stella_vslam/module/initializer.h similarity index 92% rename from src/openvslam/module/initializer.h rename to src/stella_vslam/module/initializer.h index 76c171ec8..a2ed0ae66 100644 --- a/src/openvslam/module/initializer.h +++ b/src/stella_vslam/module/initializer.h @@ -1,13 +1,13 @@ -#ifndef OPENVSLAM_MODULE_INITIALIZER_H -#define OPENVSLAM_MODULE_INITIALIZER_H +#ifndef STELLA_VSLAM_MODULE_INITIALIZER_H +#define STELLA_VSLAM_MODULE_INITIALIZER_H -#include "openvslam/data/frame.h" -#include "openvslam/initialize/base.h" -#include "openvslam/data/bow_vocabulary_fwd.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/initialize/base.h" +#include "stella_vslam/data/bow_vocabulary_fwd.h" #include -namespace openvslam { +namespace stella_vslam { class config; @@ -126,6 +126,6 @@ class initializer { }; } // namespace module -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MODULE_INITIALIZER_H +#endif // STELLA_VSLAM_MODULE_INITIALIZER_H diff --git a/src/openvslam/module/keyframe_inserter.cc b/src/stella_vslam/module/keyframe_inserter.cc similarity index 96% rename from src/openvslam/module/keyframe_inserter.cc rename to src/stella_vslam/module/keyframe_inserter.cc index dd5d5a4fc..101f2c549 100644 --- a/src/openvslam/module/keyframe_inserter.cc +++ b/src/stella_vslam/module/keyframe_inserter.cc @@ -1,11 +1,11 @@ -#include "openvslam/mapping_module.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/map_database.h" -#include "openvslam/module/keyframe_inserter.h" +#include "stella_vslam/mapping_module.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/module/keyframe_inserter.h" #include -namespace openvslam { +namespace stella_vslam { namespace module { keyframe_inserter::keyframe_inserter(const double max_interval, @@ -145,4 +145,4 @@ void keyframe_inserter::queue_keyframe(const std::shared_ptr& ke } } // namespace module -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/module/keyframe_inserter.h b/src/stella_vslam/module/keyframe_inserter.h similarity index 84% rename from src/openvslam/module/keyframe_inserter.h rename to src/stella_vslam/module/keyframe_inserter.h index 093d4ee56..b7daec55e 100644 --- a/src/openvslam/module/keyframe_inserter.h +++ b/src/stella_vslam/module/keyframe_inserter.h @@ -1,13 +1,13 @@ -#ifndef OPENVSLAM_MODULE_KEYFRAME_INSERTER_H -#define OPENVSLAM_MODULE_KEYFRAME_INSERTER_H +#ifndef STELLA_VSLAM_MODULE_KEYFRAME_INSERTER_H +#define STELLA_VSLAM_MODULE_KEYFRAME_INSERTER_H -#include "openvslam/camera/base.h" -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" #include -namespace openvslam { +namespace stella_vslam { class mapping_module; @@ -62,6 +62,6 @@ class keyframe_inserter { }; } // namespace module -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MODULE_KEYFRAME_INSERTER_H +#endif // STELLA_VSLAM_MODULE_KEYFRAME_INSERTER_H diff --git a/src/openvslam/module/local_map_cleaner.cc b/src/stella_vslam/module/local_map_cleaner.cc similarity index 97% rename from src/openvslam/module/local_map_cleaner.cc rename to src/stella_vslam/module/local_map_cleaner.cc index 2143011cd..4c25a5e0d 100644 --- a/src/openvslam/module/local_map_cleaner.cc +++ b/src/stella_vslam/module/local_map_cleaner.cc @@ -1,8 +1,8 @@ -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/module/local_map_cleaner.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/module/local_map_cleaner.h" -namespace openvslam { +namespace stella_vslam { namespace module { local_map_cleaner::local_map_cleaner(data::map_database* map_db, data::bow_database* bow_db, double redundant_obs_ratio_thr) @@ -174,4 +174,4 @@ void local_map_cleaner::count_redundant_observations(const std::shared_ptr #include -namespace openvslam { +namespace stella_vslam { namespace data { class keyframe; @@ -78,6 +78,6 @@ class local_map_cleaner { }; } // namespace module -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MODULE_LOCAL_MAP_CLEANER_H +#endif // STELLA_VSLAM_MODULE_LOCAL_MAP_CLEANER_H diff --git a/src/openvslam/module/local_map_updater.cc b/src/stella_vslam/module/local_map_updater.cc similarity index 96% rename from src/openvslam/module/local_map_updater.cc rename to src/stella_vslam/module/local_map_updater.cc index 884f0a16a..7022a1787 100644 --- a/src/openvslam/module/local_map_updater.cc +++ b/src/stella_vslam/module/local_map_updater.cc @@ -1,9 +1,9 @@ -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/module/local_map_updater.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/module/local_map_updater.h" -namespace openvslam { +namespace stella_vslam { namespace module { local_map_updater::local_map_updater(const data::frame& curr_frm, const unsigned int max_num_local_keyfrms) @@ -174,4 +174,4 @@ bool local_map_updater::find_local_landmarks(std::unordered_set& o } } // namespace module -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/module/local_map_updater.h b/src/stella_vslam/module/local_map_updater.h similarity index 92% rename from src/openvslam/module/local_map_updater.h rename to src/stella_vslam/module/local_map_updater.h index 2326c4e55..e27478028 100644 --- a/src/openvslam/module/local_map_updater.h +++ b/src/stella_vslam/module/local_map_updater.h @@ -1,9 +1,9 @@ -#ifndef OPENVSLAM_MODULE_LOCAL_MAP_UPDATER_H -#define OPENVSLAM_MODULE_LOCAL_MAP_UPDATER_H +#ifndef STELLA_VSLAM_MODULE_LOCAL_MAP_UPDATER_H +#define STELLA_VSLAM_MODULE_LOCAL_MAP_UPDATER_H #include -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -73,6 +73,6 @@ class local_map_updater { }; } // namespace module -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MODULE_LOCAL_MAP_UPDATER_H +#endif // STELLA_VSLAM_MODULE_LOCAL_MAP_UPDATER_H diff --git a/src/openvslam/module/loop_bundle_adjuster.cc b/src/stella_vslam/module/loop_bundle_adjuster.cc similarity index 94% rename from src/openvslam/module/loop_bundle_adjuster.cc rename to src/stella_vslam/module/loop_bundle_adjuster.cc index 08b4bb2d4..8936679f8 100644 --- a/src/openvslam/module/loop_bundle_adjuster.cc +++ b/src/stella_vslam/module/loop_bundle_adjuster.cc @@ -1,15 +1,15 @@ -#include "openvslam/mapping_module.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/map_database.h" -#include "openvslam/module/loop_bundle_adjuster.h" -#include "openvslam/optimize/global_bundle_adjuster.h" +#include "stella_vslam/mapping_module.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/module/loop_bundle_adjuster.h" +#include "stella_vslam/optimize/global_bundle_adjuster.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace module { loop_bundle_adjuster::loop_bundle_adjuster(data::map_database* map_db, const unsigned int num_iter) @@ -156,4 +156,4 @@ void loop_bundle_adjuster::optimize() { } } // namespace module -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/module/loop_bundle_adjuster.h b/src/stella_vslam/module/loop_bundle_adjuster.h similarity index 87% rename from src/openvslam/module/loop_bundle_adjuster.h rename to src/stella_vslam/module/loop_bundle_adjuster.h index 567018ddd..6f61d7d0f 100644 --- a/src/openvslam/module/loop_bundle_adjuster.h +++ b/src/stella_vslam/module/loop_bundle_adjuster.h @@ -1,7 +1,7 @@ -#ifndef OPENVSLAM_MODULE_LOOP_BUNDLE_ADJUSTER_H -#define OPENVSLAM_MODULE_LOOP_BUNDLE_ADJUSTER_H +#ifndef STELLA_VSLAM_MODULE_LOOP_BUNDLE_ADJUSTER_H +#define STELLA_VSLAM_MODULE_LOOP_BUNDLE_ADJUSTER_H -namespace openvslam { +namespace stella_vslam { class mapping_module; @@ -75,6 +75,6 @@ class loop_bundle_adjuster { }; } // namespace module -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MODULE_LOOP_BUNDLE_ADJUSTER_H +#endif // STELLA_VSLAM_MODULE_LOOP_BUNDLE_ADJUSTER_H diff --git a/src/openvslam/module/loop_detector.cc b/src/stella_vslam/module/loop_detector.cc similarity index 97% rename from src/openvslam/module/loop_detector.cc rename to src/stella_vslam/module/loop_detector.cc index 92acbd8e2..72c0cd07a 100644 --- a/src/openvslam/module/loop_detector.cc +++ b/src/stella_vslam/module/loop_detector.cc @@ -1,15 +1,15 @@ -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/bow_database.h" -#include "openvslam/match/bow_tree.h" -#include "openvslam/match/projection.h" -#include "openvslam/module/loop_detector.h" -#include "openvslam/solve/sim3_solver.h" -#include "openvslam/util/converter.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/bow_database.h" +#include "stella_vslam/match/bow_tree.h" +#include "stella_vslam/match/projection.h" +#include "stella_vslam/module/loop_detector.h" +#include "stella_vslam/solve/sim3_solver.h" +#include "stella_vslam/util/converter.h" #include -namespace openvslam { +namespace stella_vslam { namespace module { loop_detector::loop_detector(data::bow_database* bow_db, data::bow_vocabulary* bow_vocab, const YAML::Node& yaml_node, const bool fix_scale_in_Sim3_estimation) @@ -370,4 +370,4 @@ void loop_detector::set_loop_correct_keyframe_id(const unsigned int loop_correct } } // namespace module -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/module/loop_detector.h b/src/stella_vslam/module/loop_detector.h similarity index 93% rename from src/openvslam/module/loop_detector.h rename to src/stella_vslam/module/loop_detector.h index 3c5f476fb..9270a3c93 100644 --- a/src/openvslam/module/loop_detector.h +++ b/src/stella_vslam/module/loop_detector.h @@ -1,14 +1,14 @@ -#ifndef OPENVSLAM_MODULE_LOOP_DETECTOR_H -#define OPENVSLAM_MODULE_LOOP_DETECTOR_H +#ifndef STELLA_VSLAM_MODULE_LOOP_DETECTOR_H +#define STELLA_VSLAM_MODULE_LOOP_DETECTOR_H -#include "openvslam/data/bow_vocabulary.h" -#include "openvslam/module/type.h" -#include "openvslam/optimize/transform_optimizer.h" +#include "stella_vslam/data/bow_vocabulary.h" +#include "stella_vslam/module/type.h" +#include "stella_vslam/optimize/transform_optimizer.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace data { class keyframe; @@ -160,6 +160,6 @@ class loop_detector { }; } // namespace module -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MODULE_LOOP_DETECTOR_H +#endif // STELLA_VSLAM_MODULE_LOOP_DETECTOR_H diff --git a/src/openvslam/module/relocalizer.cc b/src/stella_vslam/module/relocalizer.cc similarity index 96% rename from src/openvslam/module/relocalizer.cc rename to src/stella_vslam/module/relocalizer.cc index 76fb2a806..b8362f131 100644 --- a/src/openvslam/module/relocalizer.cc +++ b/src/stella_vslam/module/relocalizer.cc @@ -1,13 +1,13 @@ -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/bow_database.h" -#include "openvslam/module/relocalizer.h" -#include "openvslam/util/fancy_index.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/bow_database.h" +#include "stella_vslam/module/relocalizer.h" +#include "stella_vslam/util/fancy_index.h" #include -namespace openvslam { +namespace stella_vslam { namespace module { relocalizer::relocalizer(const double bow_match_lowe_ratio, const double proj_match_lowe_ratio, @@ -43,7 +43,7 @@ bool relocalizer::relocalize(data::bow_database* bow_db, data::frame& curr_frm) } bool relocalizer::reloc_by_candidates(data::frame& curr_frm, - const std::vector>& reloc_candidates, + const std::vector>& reloc_candidates, bool use_robust_matcher) { const auto num_candidates = reloc_candidates.size(); @@ -210,4 +210,4 @@ std::unique_ptr relocalizer::setup_pnp_solver(const std::vect } } // namespace module -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/module/relocalizer.h b/src/stella_vslam/module/relocalizer.h similarity index 80% rename from src/openvslam/module/relocalizer.h rename to src/stella_vslam/module/relocalizer.h index 683c61f1d..f837d7550 100644 --- a/src/openvslam/module/relocalizer.h +++ b/src/stella_vslam/module/relocalizer.h @@ -1,15 +1,15 @@ -#ifndef OPENVSLAM_MODULE_RELOCALIZER_H -#define OPENVSLAM_MODULE_RELOCALIZER_H +#ifndef STELLA_VSLAM_MODULE_RELOCALIZER_H +#define STELLA_VSLAM_MODULE_RELOCALIZER_H -#include "openvslam/match/bow_tree.h" -#include "openvslam/match/projection.h" -#include "openvslam/match/robust.h" -#include "openvslam/optimize/pose_optimizer.h" -#include "openvslam/solve/pnp_solver.h" +#include "stella_vslam/match/bow_tree.h" +#include "stella_vslam/match/projection.h" +#include "stella_vslam/match/robust.h" +#include "stella_vslam/optimize/pose_optimizer.h" +#include "stella_vslam/solve/pnp_solver.h" #include -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -35,7 +35,7 @@ class relocalizer { //! Relocalize the specified frame by given candidates list bool reloc_by_candidates(data::frame& curr_frm, - const std::vector>& reloc_candidates, + const std::vector>& reloc_candidates, bool use_robust_matcher = false); private: @@ -65,6 +65,6 @@ class relocalizer { }; } // namespace module -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MODULE_RELOCALIZER_H +#endif // STELLA_VSLAM_MODULE_RELOCALIZER_H diff --git a/src/openvslam/module/two_view_triangulator.cc b/src/stella_vslam/module/two_view_triangulator.cc similarity index 96% rename from src/openvslam/module/two_view_triangulator.cc rename to src/stella_vslam/module/two_view_triangulator.cc index d43db17a0..7e9a1342c 100644 --- a/src/openvslam/module/two_view_triangulator.cc +++ b/src/stella_vslam/module/two_view_triangulator.cc @@ -1,8 +1,8 @@ -#include "openvslam/data/keyframe.h" -#include "openvslam/module/two_view_triangulator.h" -#include "openvslam/solve/triangulator.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/module/two_view_triangulator.h" +#include "stella_vslam/solve/triangulator.h" -namespace openvslam { +namespace stella_vslam { namespace module { two_view_triangulator::two_view_triangulator(const std::shared_ptr& keyfrm_1, const std::shared_ptr& keyfrm_2, @@ -120,4 +120,4 @@ bool two_view_triangulator::check_reprojection_error(const Vec3_t& pos_w, const } } // namespace module -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/module/two_view_triangulator.h b/src/stella_vslam/module/two_view_triangulator.h similarity index 93% rename from src/openvslam/module/two_view_triangulator.h rename to src/stella_vslam/module/two_view_triangulator.h index a1c46866e..b35c45aa3 100644 --- a/src/openvslam/module/two_view_triangulator.h +++ b/src/stella_vslam/module/two_view_triangulator.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_MODULE_TWO_VIEW_TRIANGULATOR_H -#define OPENVSLAM_MODULE_TWO_VIEW_TRIANGULATOR_H +#ifndef STELLA_VSLAM_MODULE_TWO_VIEW_TRIANGULATOR_H +#define STELLA_VSLAM_MODULE_TWO_VIEW_TRIANGULATOR_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include -namespace openvslam { +namespace stella_vslam { namespace camera { class base; @@ -108,6 +108,6 @@ inline bool two_view_triangulator::check_scale_factors(const Vec3_t& pos_w, cons } } // namespace module -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MODULE_TWO_VIEW_TRIANGULATOR_H +#endif // STELLA_VSLAM_MODULE_TWO_VIEW_TRIANGULATOR_H diff --git a/src/openvslam/module/type.h b/src/stella_vslam/module/type.h similarity index 90% rename from src/openvslam/module/type.h rename to src/stella_vslam/module/type.h index 61407acea..a1b334ae1 100644 --- a/src/openvslam/module/type.h +++ b/src/stella_vslam/module/type.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_MODULE_TYPE_H -#define OPENVSLAM_MODULE_TYPE_H +#ifndef STELLA_VSLAM_MODULE_TYPE_H +#define STELLA_VSLAM_MODULE_TYPE_H #include #include -namespace openvslam { +namespace stella_vslam { namespace module { // 相互参照を避けるためにここでtypedefしておく @@ -40,6 +40,6 @@ struct keyframe_set { using keyframe_sets = eigen_alloc_vector; } // namespace module -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_MODULE_TYPE_H +#endif // STELLA_VSLAM_MODULE_TYPE_H diff --git a/src/openvslam/optimize/CMakeLists.txt b/src/stella_vslam/optimize/CMakeLists.txt similarity index 92% rename from src/openvslam/optimize/CMakeLists.txt rename to src/stella_vslam/optimize/CMakeLists.txt index 72679e3ac..36b604b50 100644 --- a/src/openvslam/optimize/CMakeLists.txt +++ b/src/stella_vslam/optimize/CMakeLists.txt @@ -15,7 +15,7 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/optimize) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/optimize) # Append subdirectory add_subdirectory(internal) diff --git a/src/openvslam/optimize/global_bundle_adjuster.cc b/src/stella_vslam/optimize/global_bundle_adjuster.cc similarity index 94% rename from src/openvslam/optimize/global_bundle_adjuster.cc rename to src/stella_vslam/optimize/global_bundle_adjuster.cc index acfa26cef..ed0133d52 100644 --- a/src/openvslam/optimize/global_bundle_adjuster.cc +++ b/src/stella_vslam/optimize/global_bundle_adjuster.cc @@ -1,11 +1,11 @@ -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/map_database.h" -#include "openvslam/optimize/global_bundle_adjuster.h" -#include "openvslam/optimize/internal/landmark_vertex_container.h" -#include "openvslam/optimize/internal/se3/shot_vertex_container.h" -#include "openvslam/optimize/internal/se3/reproj_edge_wrapper.h" -#include "openvslam/util/converter.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/optimize/global_bundle_adjuster.h" +#include "stella_vslam/optimize/internal/landmark_vertex_container.h" +#include "stella_vslam/optimize/internal/se3/shot_vertex_container.h" +#include "stella_vslam/optimize/internal/se3/reproj_edge_wrapper.h" +#include "stella_vslam/util/converter.h" #include #include @@ -16,7 +16,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { namespace optimize { void optimize_impl(g2o::SparseOptimizer& optimizer, @@ -236,4 +236,4 @@ void global_bundle_adjuster::optimize(std::unordered_set& optimize } } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/optimize/global_bundle_adjuster.h b/src/stella_vslam/optimize/global_bundle_adjuster.h similarity index 86% rename from src/openvslam/optimize/global_bundle_adjuster.h rename to src/stella_vslam/optimize/global_bundle_adjuster.h index ebbe3b3f5..169f27253 100644 --- a/src/openvslam/optimize/global_bundle_adjuster.h +++ b/src/stella_vslam/optimize/global_bundle_adjuster.h @@ -1,7 +1,7 @@ -#ifndef OPENVSLAM_OPTIMIZE_GLOBAL_BUNDLE_ADJUSTER_H -#define OPENVSLAM_OPTIMIZE_GLOBAL_BUNDLE_ADJUSTER_H +#ifndef STELLA_VSLAM_OPTIMIZE_GLOBAL_BUNDLE_ADJUSTER_H +#define STELLA_VSLAM_OPTIMIZE_GLOBAL_BUNDLE_ADJUSTER_H -namespace openvslam { +namespace stella_vslam { namespace data { class map_database; @@ -52,6 +52,6 @@ class global_bundle_adjuster { }; } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZE_GLOBAL_BUNDLE_ADJUSTER_H +#endif // STELLA_VSLAM_OPTIMIZE_GLOBAL_BUNDLE_ADJUSTER_H diff --git a/src/openvslam/optimize/graph_optimizer.cc b/src/stella_vslam/optimize/graph_optimizer.cc similarity index 96% rename from src/openvslam/optimize/graph_optimizer.cc rename to src/stella_vslam/optimize/graph_optimizer.cc index 904d51beb..89c7cfc1f 100644 --- a/src/openvslam/optimize/graph_optimizer.cc +++ b/src/stella_vslam/optimize/graph_optimizer.cc @@ -1,10 +1,10 @@ -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/map_database.h" -#include "openvslam/optimize/graph_optimizer.h" -#include "openvslam/optimize/internal/sim3/shot_vertex.h" -#include "openvslam/optimize/internal/sim3/graph_opt_edge.h" -#include "openvslam/util/converter.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/optimize/graph_optimizer.h" +#include "stella_vslam/optimize/internal/sim3/shot_vertex.h" +#include "stella_vslam/optimize/internal/sim3/graph_opt_edge.h" +#include "stella_vslam/util/converter.h" #include #include @@ -14,7 +14,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { namespace optimize { graph_optimizer::graph_optimizer(data::map_database* map_db, const bool fix_scale) @@ -280,4 +280,4 @@ void graph_optimizer::optimize(const std::shared_ptr& loop_keyfr } } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/optimize/graph_optimizer.h b/src/stella_vslam/optimize/graph_optimizer.h similarity index 85% rename from src/openvslam/optimize/graph_optimizer.h rename to src/stella_vslam/optimize/graph_optimizer.h index db16f604f..54eeb82f6 100644 --- a/src/openvslam/optimize/graph_optimizer.h +++ b/src/stella_vslam/optimize/graph_optimizer.h @@ -1,13 +1,13 @@ -#ifndef OPENVSLAM_OPTIMIZE_GRAPH_OPTIMIZER_H -#define OPENVSLAM_OPTIMIZE_GRAPH_OPTIMIZER_H +#ifndef STELLA_VSLAM_OPTIMIZE_GRAPH_OPTIMIZER_H +#define STELLA_VSLAM_OPTIMIZE_GRAPH_OPTIMIZER_H -#include "openvslam/module/type.h" +#include "stella_vslam/module/type.h" #include #include #include -namespace openvslam { +namespace stella_vslam { namespace data { class keyframe; @@ -53,6 +53,6 @@ class graph_optimizer { }; } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_GRAPH_OPTIMIZER_H +#endif // STELLA_VSLAM_GRAPH_OPTIMIZER_H diff --git a/src/openvslam/optimize/internal/CMakeLists.txt b/src/stella_vslam/optimize/internal/CMakeLists.txt similarity index 82% rename from src/openvslam/optimize/internal/CMakeLists.txt rename to src/stella_vslam/optimize/internal/CMakeLists.txt index 3dd186c93..6422cd5be 100644 --- a/src/openvslam/optimize/internal/CMakeLists.txt +++ b/src/stella_vslam/optimize/internal/CMakeLists.txt @@ -7,7 +7,7 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/optimize/internal) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/optimize/internal) # Append subdirectory add_subdirectory(se3) diff --git a/src/openvslam/optimize/internal/landmark_vertex.h b/src/stella_vslam/optimize/internal/landmark_vertex.h similarity index 81% rename from src/openvslam/optimize/internal/landmark_vertex.h rename to src/stella_vslam/optimize/internal/landmark_vertex.h index 55c202c3d..b4a0888db 100644 --- a/src/openvslam/optimize/internal/landmark_vertex.h +++ b/src/stella_vslam/optimize/internal/landmark_vertex.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_OPTIMIZER_G2O_LANDMARK_VERTEX_H -#define OPENVSLAM_OPTIMIZER_G2O_LANDMARK_VERTEX_H +#ifndef STELLA_VSLAM_OPTIMIZER_G2O_LANDMARK_VERTEX_H +#define STELLA_VSLAM_OPTIMIZER_G2O_LANDMARK_VERTEX_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include -namespace openvslam { +namespace stella_vslam { namespace optimize { namespace internal { @@ -54,6 +54,6 @@ inline void landmark_vertex::oplusImpl(const double* update) { } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZER_G2O_LANDMARK_VERTEX_H +#endif // STELLA_VSLAM_OPTIMIZER_G2O_LANDMARK_VERTEX_H diff --git a/src/openvslam/optimize/internal/landmark_vertex_container.h b/src/stella_vslam/optimize/internal/landmark_vertex_container.h similarity index 92% rename from src/openvslam/optimize/internal/landmark_vertex_container.h rename to src/stella_vslam/optimize/internal/landmark_vertex_container.h index 73112d104..e4044e40b 100644 --- a/src/openvslam/optimize/internal/landmark_vertex_container.h +++ b/src/stella_vslam/optimize/internal/landmark_vertex_container.h @@ -1,14 +1,14 @@ -#ifndef OPENVSLAM_OPTIMIZE_G2O_LANDMARK_VERTEX_CONTAINER_H -#define OPENVSLAM_OPTIMIZE_G2O_LANDMARK_VERTEX_CONTAINER_H +#ifndef STELLA_VSLAM_OPTIMIZE_G2O_LANDMARK_VERTEX_CONTAINER_H +#define STELLA_VSLAM_OPTIMIZE_G2O_LANDMARK_VERTEX_CONTAINER_H -#include "openvslam/type.h" -#include "openvslam/data/landmark.h" -#include "openvslam/optimize/internal/landmark_vertex.h" +#include "stella_vslam/type.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/optimize/internal/landmark_vertex.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace data { class landmark; @@ -148,6 +148,6 @@ inline landmark_vertex_container::const_iterator landmark_vertex_container::end( } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZE_G2O_LANDMARK_VERTEX_CONTAINER_H +#endif // STELLA_VSLAM_OPTIMIZE_G2O_LANDMARK_VERTEX_CONTAINER_H diff --git a/src/openvslam/optimize/internal/se3/CMakeLists.txt b/src/stella_vslam/optimize/internal/se3/CMakeLists.txt similarity index 89% rename from src/openvslam/optimize/internal/se3/CMakeLists.txt rename to src/stella_vslam/optimize/internal/se3/CMakeLists.txt index 8882b6a48..eced7cc0a 100644 --- a/src/openvslam/optimize/internal/se3/CMakeLists.txt +++ b/src/stella_vslam/optimize/internal/se3/CMakeLists.txt @@ -13,4 +13,4 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/optimize/internal/se3) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/optimize/internal/se3) diff --git a/src/openvslam/optimize/internal/se3/equirectangular_pose_opt_edge.h b/src/stella_vslam/optimize/internal/se3/equirectangular_pose_opt_edge.h similarity index 90% rename from src/openvslam/optimize/internal/se3/equirectangular_pose_opt_edge.h rename to src/stella_vslam/optimize/internal/se3/equirectangular_pose_opt_edge.h index 84f718fee..324745458 100644 --- a/src/openvslam/optimize/internal/se3/equirectangular_pose_opt_edge.h +++ b/src/stella_vslam/optimize/internal/se3/equirectangular_pose_opt_edge.h @@ -1,13 +1,13 @@ -#ifndef OPENVSLAM_OPTIMIZER_G2O_SE3_EQUIRECTANGULAR_POSE_OPT_EDGE_H -#define OPENVSLAM_OPTIMIZER_G2O_SE3_EQUIRECTANGULAR_POSE_OPT_EDGE_H +#ifndef STELLA_VSLAM_OPTIMIZER_G2O_SE3_EQUIRECTANGULAR_POSE_OPT_EDGE_H +#define STELLA_VSLAM_OPTIMIZER_G2O_SE3_EQUIRECTANGULAR_POSE_OPT_EDGE_H -#include "openvslam/type.h" -#include "openvslam/optimize/internal/landmark_vertex.h" -#include "openvslam/optimize/internal/se3/shot_vertex.h" +#include "stella_vslam/type.h" +#include "stella_vslam/optimize/internal/landmark_vertex.h" +#include "stella_vslam/optimize/internal/se3/shot_vertex.h" #include -namespace openvslam { +namespace stella_vslam { namespace optimize { namespace internal { namespace se3 { @@ -123,6 +123,6 @@ inline Vec2_t equirectangular_pose_opt_edge::cam_project(const Vec3_t& pos_c) co } // namespace se3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif //OPENVSLAM_EQUIRECTANGULAR_POSE_OPT_EDGE_H +#endif //STELLA_VSLAM_EQUIRECTANGULAR_POSE_OPT_EDGE_H diff --git a/src/openvslam/optimize/internal/se3/equirectangular_reproj_edge.h b/src/stella_vslam/optimize/internal/se3/equirectangular_reproj_edge.h similarity index 91% rename from src/openvslam/optimize/internal/se3/equirectangular_reproj_edge.h rename to src/stella_vslam/optimize/internal/se3/equirectangular_reproj_edge.h index 748cb5c7c..73897568f 100644 --- a/src/openvslam/optimize/internal/se3/equirectangular_reproj_edge.h +++ b/src/stella_vslam/optimize/internal/se3/equirectangular_reproj_edge.h @@ -1,13 +1,13 @@ -#ifndef OPENVSLAM_OPTIMIZER_G2O_SE3_EQUIRECTANGULAR_REPROJ_EDGE_H -#define OPENVSLAM_OPTIMIZER_G2O_SE3_EQUIRECTANGULAR_REPROJ_EDGE_H +#ifndef STELLA_VSLAM_OPTIMIZER_G2O_SE3_EQUIRECTANGULAR_REPROJ_EDGE_H +#define STELLA_VSLAM_OPTIMIZER_G2O_SE3_EQUIRECTANGULAR_REPROJ_EDGE_H -#include "openvslam/type.h" -#include "openvslam/optimize/internal/landmark_vertex.h" -#include "openvslam/optimize/internal/se3/shot_vertex.h" +#include "stella_vslam/type.h" +#include "stella_vslam/optimize/internal/landmark_vertex.h" +#include "stella_vslam/optimize/internal/se3/shot_vertex.h" #include -namespace openvslam { +namespace stella_vslam { namespace optimize { namespace internal { namespace se3 { @@ -136,6 +136,6 @@ inline Vec2_t equirectangular_reproj_edge::cam_project(const Vec3_t& pos_c) cons } // namespace se3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZER_G2O_SE3_EQUIRECTANGULAR_REPROJ_EDGE_H +#endif // STELLA_VSLAM_OPTIMIZER_G2O_SE3_EQUIRECTANGULAR_REPROJ_EDGE_H diff --git a/src/openvslam/optimize/internal/se3/perspective_pose_opt_edge.h b/src/stella_vslam/optimize/internal/se3/perspective_pose_opt_edge.h similarity index 94% rename from src/openvslam/optimize/internal/se3/perspective_pose_opt_edge.h rename to src/stella_vslam/optimize/internal/se3/perspective_pose_opt_edge.h index 25b241742..314af3b46 100644 --- a/src/openvslam/optimize/internal/se3/perspective_pose_opt_edge.h +++ b/src/stella_vslam/optimize/internal/se3/perspective_pose_opt_edge.h @@ -1,14 +1,14 @@ -#ifndef OPENVSLAM_OPTIMIZER_G2O_SE3_PERSPECTIVE_POSE_OPT_EDGE_H -#define OPENVSLAM_OPTIMIZER_G2O_SE3_PERSPECTIVE_POSE_OPT_EDGE_H +#ifndef STELLA_VSLAM_OPTIMIZER_G2O_SE3_PERSPECTIVE_POSE_OPT_EDGE_H +#define STELLA_VSLAM_OPTIMIZER_G2O_SE3_PERSPECTIVE_POSE_OPT_EDGE_H -#include "openvslam/type.h" -#include "openvslam/optimize/internal/landmark_vertex.h" -#include "openvslam/optimize/internal/se3/shot_vertex.h" +#include "stella_vslam/type.h" +#include "stella_vslam/optimize/internal/landmark_vertex.h" +#include "stella_vslam/optimize/internal/se3/shot_vertex.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace optimize { namespace internal { namespace se3 { @@ -208,6 +208,6 @@ inline Vec3_t stereo_perspective_pose_opt_edge::cam_project(const Vec3_t& pos_c) } // namespace se3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZER_G2O_SE3_PERSPECTIVE_POSE_OPT_EDGE_H +#endif // STELLA_VSLAM_OPTIMIZER_G2O_SE3_PERSPECTIVE_POSE_OPT_EDGE_H diff --git a/src/openvslam/optimize/internal/se3/perspective_reproj_edge.h b/src/stella_vslam/optimize/internal/se3/perspective_reproj_edge.h similarity index 95% rename from src/openvslam/optimize/internal/se3/perspective_reproj_edge.h rename to src/stella_vslam/optimize/internal/se3/perspective_reproj_edge.h index 23db2605c..126b4304b 100644 --- a/src/openvslam/optimize/internal/se3/perspective_reproj_edge.h +++ b/src/stella_vslam/optimize/internal/se3/perspective_reproj_edge.h @@ -1,14 +1,14 @@ -#ifndef OPENVSLAM_OPTIMIZER_G2O_SE3_PERSPECTIVE_REPROJ_EDGE_H -#define OPENVSLAM_OPTIMIZER_G2O_SE3_PERSPECTIVE_REPROJ_EDGE_H +#ifndef STELLA_VSLAM_OPTIMIZER_G2O_SE3_PERSPECTIVE_REPROJ_EDGE_H +#define STELLA_VSLAM_OPTIMIZER_G2O_SE3_PERSPECTIVE_REPROJ_EDGE_H -#include "openvslam/type.h" -#include "openvslam/optimize/internal/landmark_vertex.h" -#include "openvslam/optimize/internal/se3/shot_vertex.h" +#include "stella_vslam/type.h" +#include "stella_vslam/optimize/internal/landmark_vertex.h" +#include "stella_vslam/optimize/internal/se3/shot_vertex.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace optimize { namespace internal { namespace se3 { @@ -240,6 +240,6 @@ inline Vec3_t stereo_perspective_reproj_edge::cam_project(const Vec3_t& pos_c) c } // namespace se3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZER_G2O_SE3_PERSPECTIVE_REPROJ_EDGE_H +#endif // STELLA_VSLAM_OPTIMIZER_G2O_SE3_PERSPECTIVE_REPROJ_EDGE_H diff --git a/src/openvslam/optimize/internal/se3/pose_opt_edge_wrapper.h b/src/stella_vslam/optimize/internal/se3/pose_opt_edge_wrapper.h similarity index 93% rename from src/openvslam/optimize/internal/se3/pose_opt_edge_wrapper.h rename to src/stella_vslam/optimize/internal/se3/pose_opt_edge_wrapper.h index f3ee09143..0bab51eba 100644 --- a/src/openvslam/optimize/internal/se3/pose_opt_edge_wrapper.h +++ b/src/stella_vslam/optimize/internal/se3/pose_opt_edge_wrapper.h @@ -1,16 +1,16 @@ -#ifndef OPENVSLAM_OPTIMIZE_G2O_SE3_POSE_OPT_EDGE_WRAPPER_H -#define OPENVSLAM_OPTIMIZE_G2O_SE3_POSE_OPT_EDGE_WRAPPER_H +#ifndef STELLA_VSLAM_OPTIMIZE_G2O_SE3_POSE_OPT_EDGE_WRAPPER_H +#define STELLA_VSLAM_OPTIMIZE_G2O_SE3_POSE_OPT_EDGE_WRAPPER_H -#include "openvslam/camera/perspective.h" -#include "openvslam/camera/fisheye.h" -#include "openvslam/camera/equirectangular.h" -#include "openvslam/camera/radial_division.h" -#include "openvslam/optimize/internal/se3/perspective_pose_opt_edge.h" -#include "openvslam/optimize/internal/se3/equirectangular_pose_opt_edge.h" +#include "stella_vslam/camera/perspective.h" +#include "stella_vslam/camera/fisheye.h" +#include "stella_vslam/camera/equirectangular.h" +#include "stella_vslam/camera/radial_division.h" +#include "stella_vslam/optimize/internal/se3/perspective_pose_opt_edge.h" +#include "stella_vslam/optimize/internal/se3/equirectangular_pose_opt_edge.h" #include -namespace openvslam { +namespace stella_vslam { namespace data { class landmark; @@ -267,6 +267,6 @@ inline bool pose_opt_edge_wrapper::depth_is_positive() const { } // namespace se3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZE_G2O_SE3_POSE_OPT_EDGE_WRAPPER_H +#endif // STELLA_VSLAM_OPTIMIZE_G2O_SE3_POSE_OPT_EDGE_WRAPPER_H diff --git a/src/openvslam/optimize/internal/se3/reproj_edge_wrapper.h b/src/stella_vslam/optimize/internal/se3/reproj_edge_wrapper.h similarity index 93% rename from src/openvslam/optimize/internal/se3/reproj_edge_wrapper.h rename to src/stella_vslam/optimize/internal/se3/reproj_edge_wrapper.h index f7f210b26..67850dd80 100644 --- a/src/openvslam/optimize/internal/se3/reproj_edge_wrapper.h +++ b/src/stella_vslam/optimize/internal/se3/reproj_edge_wrapper.h @@ -1,18 +1,18 @@ -#ifndef OPENVSLAM_OPTIMIZE_G2O_SE3_REPROJ_EDGE_WRAPPER_H -#define OPENVSLAM_OPTIMIZE_G2O_SE3_REPROJ_EDGE_WRAPPER_H +#ifndef STELLA_VSLAM_OPTIMIZE_G2O_SE3_REPROJ_EDGE_WRAPPER_H +#define STELLA_VSLAM_OPTIMIZE_G2O_SE3_REPROJ_EDGE_WRAPPER_H -#include "openvslam/camera/perspective.h" -#include "openvslam/camera/fisheye.h" -#include "openvslam/camera/equirectangular.h" -#include "openvslam/camera/radial_division.h" -#include "openvslam/optimize/internal/se3/perspective_reproj_edge.h" -#include "openvslam/optimize/internal/se3/equirectangular_reproj_edge.h" +#include "stella_vslam/camera/perspective.h" +#include "stella_vslam/camera/fisheye.h" +#include "stella_vslam/camera/equirectangular.h" +#include "stella_vslam/camera/radial_division.h" +#include "stella_vslam/optimize/internal/se3/perspective_reproj_edge.h" +#include "stella_vslam/optimize/internal/se3/equirectangular_reproj_edge.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace data { class landmark; @@ -267,6 +267,6 @@ inline bool reproj_edge_wrapper::depth_is_positive() const { } // namespace se3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZE_G2O_SE3_REPROJ_EDGE_WRAPPER_H +#endif // STELLA_VSLAM_OPTIMIZE_G2O_SE3_REPROJ_EDGE_WRAPPER_H diff --git a/src/openvslam/optimize/internal/se3/shot_vertex.h b/src/stella_vslam/optimize/internal/se3/shot_vertex.h similarity index 85% rename from src/openvslam/optimize/internal/se3/shot_vertex.h rename to src/stella_vslam/optimize/internal/se3/shot_vertex.h index fa4730439..558f53201 100644 --- a/src/openvslam/optimize/internal/se3/shot_vertex.h +++ b/src/stella_vslam/optimize/internal/se3/shot_vertex.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_OPTIMIZER_G2O_SE3_SHOT_VERTEX_H -#define OPENVSLAM_OPTIMIZER_G2O_SE3_SHOT_VERTEX_H +#ifndef STELLA_VSLAM_OPTIMIZER_G2O_SE3_SHOT_VERTEX_H +#define STELLA_VSLAM_OPTIMIZER_G2O_SE3_SHOT_VERTEX_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace optimize { namespace internal { namespace se3 { @@ -60,6 +60,6 @@ inline void shot_vertex::oplusImpl(const number_t* update_) { } // namespace se3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZER_G2O_SE3_SHOT_VERTEX_H +#endif // STELLA_VSLAM_OPTIMIZER_G2O_SE3_SHOT_VERTEX_H diff --git a/src/openvslam/optimize/internal/se3/shot_vertex_container.h b/src/stella_vslam/optimize/internal/se3/shot_vertex_container.h similarity index 93% rename from src/openvslam/optimize/internal/se3/shot_vertex_container.h rename to src/stella_vslam/optimize/internal/se3/shot_vertex_container.h index 2f145a7d2..927d43891 100644 --- a/src/openvslam/optimize/internal/se3/shot_vertex_container.h +++ b/src/stella_vslam/optimize/internal/se3/shot_vertex_container.h @@ -1,15 +1,15 @@ -#ifndef OPENVSLAM_OPTIMIZE_G2O_SE3_SHOT_VERTEX_CONTAINER_H -#define OPENVSLAM_OPTIMIZE_G2O_SE3_SHOT_VERTEX_CONTAINER_H +#ifndef STELLA_VSLAM_OPTIMIZE_G2O_SE3_SHOT_VERTEX_CONTAINER_H +#define STELLA_VSLAM_OPTIMIZE_G2O_SE3_SHOT_VERTEX_CONTAINER_H -#include "openvslam/type.h" -#include "openvslam/data/frame.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/optimize/internal/se3/shot_vertex.h" +#include "stella_vslam/type.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/optimize/internal/se3/shot_vertex.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -171,6 +171,6 @@ inline shot_vertex_container::const_iterator shot_vertex_container::end() const } // namespace se3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZE_G2O_SE3_SHOT_VERTEX_CONTAINER_H +#endif // STELLA_VSLAM_OPTIMIZE_G2O_SE3_SHOT_VERTEX_CONTAINER_H diff --git a/src/openvslam/optimize/internal/sim3/CMakeLists.txt b/src/stella_vslam/optimize/internal/sim3/CMakeLists.txt similarity index 87% rename from src/openvslam/optimize/internal/sim3/CMakeLists.txt rename to src/stella_vslam/optimize/internal/sim3/CMakeLists.txt index 0f6537b02..5f0a1bd86 100644 --- a/src/openvslam/optimize/internal/sim3/CMakeLists.txt +++ b/src/stella_vslam/optimize/internal/sim3/CMakeLists.txt @@ -11,4 +11,4 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/optimize/internal/sim3) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/optimize/internal/sim3) diff --git a/src/openvslam/optimize/internal/sim3/backward_reproj_edge.h b/src/stella_vslam/optimize/internal/sim3/backward_reproj_edge.h similarity index 91% rename from src/openvslam/optimize/internal/sim3/backward_reproj_edge.h rename to src/stella_vslam/optimize/internal/sim3/backward_reproj_edge.h index cc4790716..a601c5068 100644 --- a/src/openvslam/optimize/internal/sim3/backward_reproj_edge.h +++ b/src/stella_vslam/optimize/internal/sim3/backward_reproj_edge.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_OPTIMIZE_G2O_BACKWARD_REPROJ_EDGE_H -#define OPENVSLAM_OPTIMIZE_G2O_BACKWARD_REPROJ_EDGE_H +#ifndef STELLA_VSLAM_OPTIMIZE_G2O_BACKWARD_REPROJ_EDGE_H +#define STELLA_VSLAM_OPTIMIZE_G2O_BACKWARD_REPROJ_EDGE_H -#include "openvslam/type.h" -#include "openvslam/optimize/internal/sim3/transform_vertex.h" +#include "stella_vslam/type.h" +#include "stella_vslam/optimize/internal/sim3/transform_vertex.h" #include -namespace openvslam { +namespace stella_vslam { namespace optimize { namespace internal { namespace sim3 { @@ -117,6 +117,6 @@ inline Vec2_t equirectangular_backward_reproj_edge::cam_project(const Vec3_t& po } // namespace sim3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZE_G2O_BACKWARD_REPROJ_EDGE_H +#endif // STELLA_VSLAM_OPTIMIZE_G2O_BACKWARD_REPROJ_EDGE_H diff --git a/src/openvslam/optimize/internal/sim3/forward_reproj_edge.h b/src/stella_vslam/optimize/internal/sim3/forward_reproj_edge.h similarity index 91% rename from src/openvslam/optimize/internal/sim3/forward_reproj_edge.h rename to src/stella_vslam/optimize/internal/sim3/forward_reproj_edge.h index 2e89d7086..cddec4dd8 100644 --- a/src/openvslam/optimize/internal/sim3/forward_reproj_edge.h +++ b/src/stella_vslam/optimize/internal/sim3/forward_reproj_edge.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_OPTIMIZE_G2O_FORWARD_REPROJ_EDGE_H -#define OPENVSLAM_OPTIMIZE_G2O_FORWARD_REPROJ_EDGE_H +#ifndef STELLA_VSLAM_OPTIMIZE_G2O_FORWARD_REPROJ_EDGE_H +#define STELLA_VSLAM_OPTIMIZE_G2O_FORWARD_REPROJ_EDGE_H -#include "openvslam/type.h" -#include "openvslam/optimize/internal/sim3/transform_vertex.h" +#include "stella_vslam/type.h" +#include "stella_vslam/optimize/internal/sim3/transform_vertex.h" #include -namespace openvslam { +namespace stella_vslam { namespace optimize { namespace internal { namespace sim3 { @@ -116,6 +116,6 @@ inline Vec2_t equirectangular_forward_reproj_edge::cam_project(const Vec3_t& pos } // namespace sim3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZE_G2O_FORWARD_REPROJ_EDGE_H +#endif // STELLA_VSLAM_OPTIMIZE_G2O_FORWARD_REPROJ_EDGE_H diff --git a/src/openvslam/optimize/internal/sim3/graph_opt_edge.h b/src/stella_vslam/optimize/internal/sim3/graph_opt_edge.h similarity index 89% rename from src/openvslam/optimize/internal/sim3/graph_opt_edge.h rename to src/stella_vslam/optimize/internal/sim3/graph_opt_edge.h index 86db5ac1f..cfd13c037 100644 --- a/src/openvslam/optimize/internal/sim3/graph_opt_edge.h +++ b/src/stella_vslam/optimize/internal/sim3/graph_opt_edge.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_OPTIMIZER_G2O_SIM3_GRAPH_OPT_EDGE_H -#define OPENVSLAM_OPTIMIZER_G2O_SIM3_GRAPH_OPT_EDGE_H +#ifndef STELLA_VSLAM_OPTIMIZER_G2O_SIM3_GRAPH_OPT_EDGE_H +#define STELLA_VSLAM_OPTIMIZER_G2O_SIM3_GRAPH_OPT_EDGE_H -#include "openvslam/type.h" -#include "openvslam/optimize/internal/sim3/shot_vertex.h" +#include "stella_vslam/type.h" +#include "stella_vslam/optimize/internal/sim3/shot_vertex.h" #include -namespace openvslam { +namespace stella_vslam { namespace optimize { namespace internal { namespace sim3 { @@ -90,6 +90,6 @@ inline void graph_opt_edge::initialEstimate(const g2o::OptimizableGraph::VertexS } // namespace sim3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZER_G2O_SIM3_GRAPH_OPT_EDGE_H +#endif // STELLA_VSLAM_OPTIMIZER_G2O_SIM3_GRAPH_OPT_EDGE_H diff --git a/src/openvslam/optimize/internal/sim3/mutual_reproj_edge_wrapper.h b/src/stella_vslam/optimize/internal/sim3/mutual_reproj_edge_wrapper.h similarity index 95% rename from src/openvslam/optimize/internal/sim3/mutual_reproj_edge_wrapper.h rename to src/stella_vslam/optimize/internal/sim3/mutual_reproj_edge_wrapper.h index 53eaa7380..6e45582bc 100644 --- a/src/openvslam/optimize/internal/sim3/mutual_reproj_edge_wrapper.h +++ b/src/stella_vslam/optimize/internal/sim3/mutual_reproj_edge_wrapper.h @@ -1,19 +1,19 @@ -#ifndef OPENVSLAM_OPTIMIZE_G2O_SIM3_MUTUAL_REPROJ_EDGE_WRAPPER_H -#define OPENVSLAM_OPTIMIZE_G2O_SIM3_MUTUAL_REPROJ_EDGE_WRAPPER_H +#ifndef STELLA_VSLAM_OPTIMIZE_G2O_SIM3_MUTUAL_REPROJ_EDGE_WRAPPER_H +#define STELLA_VSLAM_OPTIMIZE_G2O_SIM3_MUTUAL_REPROJ_EDGE_WRAPPER_H -#include "openvslam/camera/perspective.h" -#include "openvslam/camera/fisheye.h" -#include "openvslam/camera/equirectangular.h" -#include "openvslam/camera/radial_division.h" -#include "openvslam/data/landmark.h" -#include "openvslam/optimize/internal/sim3/forward_reproj_edge.h" -#include "openvslam/optimize/internal/sim3/backward_reproj_edge.h" +#include "stella_vslam/camera/perspective.h" +#include "stella_vslam/camera/fisheye.h" +#include "stella_vslam/camera/equirectangular.h" +#include "stella_vslam/camera/radial_division.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/optimize/internal/sim3/forward_reproj_edge.h" +#include "stella_vslam/optimize/internal/sim3/backward_reproj_edge.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace data { class landmark; @@ -297,6 +297,6 @@ inline void mutual_reproj_edge_wapper::set_as_outlier() const { } // namespace sim3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZE_G2O_SIM3_MUTUAL_REPROJ_EDGE_WRAPPER_H +#endif // STELLA_VSLAM_OPTIMIZE_G2O_SIM3_MUTUAL_REPROJ_EDGE_WRAPPER_H diff --git a/src/openvslam/optimize/internal/sim3/shot_vertex.h b/src/stella_vslam/optimize/internal/sim3/shot_vertex.h similarity index 85% rename from src/openvslam/optimize/internal/sim3/shot_vertex.h rename to src/stella_vslam/optimize/internal/sim3/shot_vertex.h index 32577257e..4f2bec5c9 100644 --- a/src/openvslam/optimize/internal/sim3/shot_vertex.h +++ b/src/stella_vslam/optimize/internal/sim3/shot_vertex.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_OPTIMIZER_G2O_SIM3_SHOT_VERTEX_H -#define OPENVSLAM_OPTIMIZER_G2O_SIM3_SHOT_VERTEX_H +#ifndef STELLA_VSLAM_OPTIMIZER_G2O_SIM3_SHOT_VERTEX_H +#define STELLA_VSLAM_OPTIMIZER_G2O_SIM3_SHOT_VERTEX_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace optimize { namespace internal { namespace sim3 { @@ -67,6 +67,6 @@ inline void shot_vertex::oplusImpl(const number_t* update_) { } // namespace sim3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZER_G2O_SIM3_SHOT_VERTEX_H +#endif // STELLA_VSLAM_OPTIMIZER_G2O_SIM3_SHOT_VERTEX_H diff --git a/src/openvslam/optimize/internal/sim3/transform_vertex.h b/src/stella_vslam/optimize/internal/sim3/transform_vertex.h similarity index 85% rename from src/openvslam/optimize/internal/sim3/transform_vertex.h rename to src/stella_vslam/optimize/internal/sim3/transform_vertex.h index 2336ed0cb..dcf617851 100644 --- a/src/openvslam/optimize/internal/sim3/transform_vertex.h +++ b/src/stella_vslam/optimize/internal/sim3/transform_vertex.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_OPTIMIZE_G2O_SIM3_TRANSFORM_VERTEX_H -#define OPENVSLAM_OPTIMIZE_G2O_SIM3_TRANSFORM_VERTEX_H +#ifndef STELLA_VSLAM_OPTIMIZE_G2O_SIM3_TRANSFORM_VERTEX_H +#define STELLA_VSLAM_OPTIMIZE_G2O_SIM3_TRANSFORM_VERTEX_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace optimize { namespace internal { namespace sim3 { @@ -72,6 +72,6 @@ inline void transform_vertex::oplusImpl(const number_t* update_) { } // namespace sim3 } // namespace internal } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZE_G2O_SIM3_TRANSFORM_VERTEX_H +#endif // STELLA_VSLAM_OPTIMIZE_G2O_SIM3_TRANSFORM_VERTEX_H diff --git a/src/openvslam/optimize/local_bundle_adjuster.cc b/src/stella_vslam/optimize/local_bundle_adjuster.cc similarity index 94% rename from src/openvslam/optimize/local_bundle_adjuster.cc rename to src/stella_vslam/optimize/local_bundle_adjuster.cc index 3bf481514..3ef8c2859 100644 --- a/src/openvslam/optimize/local_bundle_adjuster.cc +++ b/src/stella_vslam/optimize/local_bundle_adjuster.cc @@ -1,11 +1,11 @@ -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/map_database.h" -#include "openvslam/optimize/local_bundle_adjuster.h" -#include "openvslam/optimize/internal/landmark_vertex_container.h" -#include "openvslam/optimize/internal/se3/shot_vertex_container.h" -#include "openvslam/optimize/internal/se3/reproj_edge_wrapper.h" -#include "openvslam/util/converter.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/optimize/local_bundle_adjuster.h" +#include "stella_vslam/optimize/internal/landmark_vertex_container.h" +#include "stella_vslam/optimize/internal/se3/shot_vertex_container.h" +#include "stella_vslam/optimize/internal/se3/reproj_edge_wrapper.h" +#include "stella_vslam/util/converter.h" #include @@ -20,7 +20,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { namespace optimize { local_bundle_adjuster::local_bundle_adjuster(const unsigned int num_first_iter, @@ -28,7 +28,7 @@ local_bundle_adjuster::local_bundle_adjuster(const unsigned int num_first_iter, : num_first_iter_(num_first_iter), num_second_iter_(num_second_iter) {} void local_bundle_adjuster::optimize(data::map_database* map_db, - const std::shared_ptr& curr_keyfrm, bool* const force_stop_flag) const { + const std::shared_ptr& curr_keyfrm, bool* const force_stop_flag) const { // 1. Aggregate the local and fixed keyframes, and local landmarks // Correct the local keyframes of the current keyframe @@ -286,4 +286,4 @@ void local_bundle_adjuster::optimize(data::map_database* map_db, } } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/optimize/local_bundle_adjuster.h b/src/stella_vslam/optimize/local_bundle_adjuster.h similarity index 81% rename from src/openvslam/optimize/local_bundle_adjuster.h rename to src/stella_vslam/optimize/local_bundle_adjuster.h index 0df35f409..5c5c5fca5 100644 --- a/src/openvslam/optimize/local_bundle_adjuster.h +++ b/src/stella_vslam/optimize/local_bundle_adjuster.h @@ -1,9 +1,9 @@ -#ifndef OPENVSLAM_OPTIMIZE_LOCAL_BUNDLE_ADJUSTER_H -#define OPENVSLAM_OPTIMIZE_LOCAL_BUNDLE_ADJUSTER_H +#ifndef STELLA_VSLAM_OPTIMIZE_LOCAL_BUNDLE_ADJUSTER_H +#define STELLA_VSLAM_OPTIMIZE_LOCAL_BUNDLE_ADJUSTER_H #include -namespace openvslam { +namespace stella_vslam { namespace data { class keyframe; @@ -43,6 +43,6 @@ class local_bundle_adjuster { }; } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZE_LOCAL_BUNDLE_ADJUSTER_H +#endif // STELLA_VSLAM_OPTIMIZE_LOCAL_BUNDLE_ADJUSTER_H diff --git a/src/openvslam/optimize/pose_optimizer.cc b/src/stella_vslam/optimize/pose_optimizer.cc similarity index 94% rename from src/openvslam/optimize/pose_optimizer.cc rename to src/stella_vslam/optimize/pose_optimizer.cc index acd682e82..fff336b60 100644 --- a/src/openvslam/optimize/pose_optimizer.cc +++ b/src/stella_vslam/optimize/pose_optimizer.cc @@ -1,8 +1,8 @@ -#include "openvslam/data/frame.h" -#include "openvslam/data/landmark.h" -#include "openvslam/optimize/pose_optimizer.h" -#include "openvslam/optimize/internal/se3/pose_opt_edge_wrapper.h" -#include "openvslam/util/converter.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/optimize/pose_optimizer.h" +#include "stella_vslam/optimize/internal/se3/pose_opt_edge_wrapper.h" +#include "stella_vslam/util/converter.h" #include #include @@ -16,7 +16,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { namespace optimize { pose_optimizer::pose_optimizer(const unsigned int num_trials, const unsigned int num_each_iter) @@ -146,4 +146,4 @@ unsigned int pose_optimizer::optimize(data::frame& frm) const { } } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/optimize/pose_optimizer.h b/src/stella_vslam/optimize/pose_optimizer.h similarity index 78% rename from src/openvslam/optimize/pose_optimizer.h rename to src/stella_vslam/optimize/pose_optimizer.h index 09c8e0bd0..6f816b62f 100644 --- a/src/openvslam/optimize/pose_optimizer.h +++ b/src/stella_vslam/optimize/pose_optimizer.h @@ -1,7 +1,7 @@ -#ifndef OPENVSLAM_OPTIMIZE_POSE_OPTIMIZER_H -#define OPENVSLAM_OPTIMIZE_POSE_OPTIMIZER_H +#ifndef STELLA_VSLAM_OPTIMIZE_POSE_OPTIMIZER_H +#define STELLA_VSLAM_OPTIMIZE_POSE_OPTIMIZER_H -namespace openvslam { +namespace stella_vslam { namespace data { class frame; @@ -39,6 +39,6 @@ class pose_optimizer { }; } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZE_POSE_OPTIMIZER_H +#endif // STELLA_VSLAM_OPTIMIZE_POSE_OPTIMIZER_H diff --git a/src/openvslam/optimize/transform_optimizer.cc b/src/stella_vslam/optimize/transform_optimizer.cc similarity index 93% rename from src/openvslam/optimize/transform_optimizer.cc rename to src/stella_vslam/optimize/transform_optimizer.cc index 3d884c84d..343bcce31 100644 --- a/src/openvslam/optimize/transform_optimizer.cc +++ b/src/stella_vslam/optimize/transform_optimizer.cc @@ -1,8 +1,8 @@ -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/optimize/transform_optimizer.h" -#include "openvslam/optimize/internal/sim3/transform_vertex.h" -#include "openvslam/optimize/internal/sim3/mutual_reproj_edge_wrapper.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/optimize/transform_optimizer.h" +#include "stella_vslam/optimize/internal/sim3/transform_vertex.h" +#include "stella_vslam/optimize/internal/sim3/mutual_reproj_edge_wrapper.h" #include #include @@ -11,7 +11,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { namespace optimize { transform_optimizer::transform_optimizer(const bool fix_scale, const unsigned int num_iter) @@ -158,4 +158,4 @@ unsigned int transform_optimizer::optimize(const std::shared_ptr } } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/optimize/transform_optimizer.h b/src/stella_vslam/optimize/transform_optimizer.h similarity index 85% rename from src/openvslam/optimize/transform_optimizer.h rename to src/stella_vslam/optimize/transform_optimizer.h index ac7ca4327..c9d687b86 100644 --- a/src/openvslam/optimize/transform_optimizer.h +++ b/src/stella_vslam/optimize/transform_optimizer.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_OPTIMIZE_SIM3_OPTIMIZER_H -#define OPENVSLAM_OPTIMIZE_SIM3_OPTIMIZER_H +#ifndef STELLA_VSLAM_OPTIMIZE_SIM3_OPTIMIZER_H +#define STELLA_VSLAM_OPTIMIZE_SIM3_OPTIMIZER_H #include #include #include -namespace openvslam { +namespace stella_vslam { namespace data { class keyframe; @@ -51,6 +51,6 @@ class transform_optimizer { }; } // namespace optimize -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_OPTIMIZE_SIM3_OPTIMIZER_H +#endif // STELLA_VSLAM_OPTIMIZE_SIM3_OPTIMIZER_H diff --git a/src/openvslam/publish/CMakeLists.txt b/src/stella_vslam/publish/CMakeLists.txt similarity index 86% rename from src/openvslam/publish/CMakeLists.txt rename to src/stella_vslam/publish/CMakeLists.txt index 41596146e..f379a95f7 100644 --- a/src/openvslam/publish/CMakeLists.txt +++ b/src/stella_vslam/publish/CMakeLists.txt @@ -9,4 +9,4 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/publish) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/publish) diff --git a/src/openvslam/publish/frame_publisher.cc b/src/stella_vslam/publish/frame_publisher.cc similarity index 96% rename from src/openvslam/publish/frame_publisher.cc rename to src/stella_vslam/publish/frame_publisher.cc index b8cdedfdb..0d9945d17 100644 --- a/src/openvslam/publish/frame_publisher.cc +++ b/src/stella_vslam/publish/frame_publisher.cc @@ -1,13 +1,13 @@ -#include "openvslam/data/landmark.h" -#include "openvslam/data/map_database.h" -#include "openvslam/publish/frame_publisher.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/publish/frame_publisher.h" #include #include #include -namespace openvslam { +namespace stella_vslam { namespace publish { frame_publisher::frame_publisher(const std::shared_ptr& cfg, data::map_database* map_db, @@ -175,4 +175,4 @@ void frame_publisher::update(tracking_module* tracker, const cv::Mat& img, doubl } } // namespace publish -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/publish/frame_publisher.h b/src/stella_vslam/publish/frame_publisher.h similarity index 89% rename from src/openvslam/publish/frame_publisher.h rename to src/stella_vslam/publish/frame_publisher.h index eced00a54..aab5c4678 100644 --- a/src/openvslam/publish/frame_publisher.h +++ b/src/stella_vslam/publish/frame_publisher.h @@ -1,8 +1,8 @@ -#ifndef OPENVSLAM_PUBLISH_FRAME_PUBLISHER_H -#define OPENVSLAM_PUBLISH_FRAME_PUBLISHER_H +#ifndef STELLA_VSLAM_PUBLISH_FRAME_PUBLISHER_H +#define STELLA_VSLAM_PUBLISH_FRAME_PUBLISHER_H -#include "openvslam/config.h" -#include "openvslam/tracking_module.h" +#include "stella_vslam/config.h" +#include "stella_vslam/tracking_module.h" #include #include @@ -10,7 +10,7 @@ #include -namespace openvslam { +namespace stella_vslam { class tracking_module; @@ -93,6 +93,6 @@ class frame_publisher { }; } // namespace publish -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_PUBLISH_FRAME_PUBLISHER_H +#endif // STELLA_VSLAM_PUBLISH_FRAME_PUBLISHER_H diff --git a/src/openvslam/publish/map_publisher.cc b/src/stella_vslam/publish/map_publisher.cc similarity index 85% rename from src/openvslam/publish/map_publisher.cc rename to src/stella_vslam/publish/map_publisher.cc index fb802a70f..ec8bbaa12 100644 --- a/src/openvslam/publish/map_publisher.cc +++ b/src/stella_vslam/publish/map_publisher.cc @@ -1,11 +1,11 @@ -#include "openvslam/data/landmark.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/map_database.h" -#include "openvslam/publish/map_publisher.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/publish/map_publisher.h" #include -namespace openvslam { +namespace stella_vslam { namespace publish { map_publisher::map_publisher(const std::shared_ptr& cfg, data::map_database* map_db) @@ -41,4 +41,4 @@ unsigned int map_publisher::get_landmarks(std::vector #include -namespace openvslam { +namespace stella_vslam { class config; @@ -78,6 +78,6 @@ class map_publisher { }; } // namespace publish -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_PUBLISH_MAP_PUBLISHER_H +#endif // STELLA_VSLAM_PUBLISH_MAP_PUBLISHER_H diff --git a/src/openvslam/solve/CMakeLists.txt b/src/stella_vslam/solve/CMakeLists.txt similarity index 93% rename from src/openvslam/solve/CMakeLists.txt rename to src/stella_vslam/solve/CMakeLists.txt index 1f00657d6..d2ef9bfed 100644 --- a/src/openvslam/solve/CMakeLists.txt +++ b/src/stella_vslam/solve/CMakeLists.txt @@ -17,4 +17,4 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/solve) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/solve) diff --git a/src/openvslam/solve/common.cc b/src/stella_vslam/solve/common.cc similarity index 94% rename from src/openvslam/solve/common.cc rename to src/stella_vslam/solve/common.cc index 7130a7ca6..70f976f6e 100644 --- a/src/openvslam/solve/common.cc +++ b/src/stella_vslam/solve/common.cc @@ -1,8 +1,8 @@ -#include "openvslam/solve/common.h" +#include "stella_vslam/solve/common.h" #include -namespace openvslam { +namespace stella_vslam { namespace solve { void normalize(const std::vector& keypts, std::vector& normalized_pts, Mat33_t& transform) { @@ -35,4 +35,4 @@ void normalize(const std::vector& keypts, std::vector } } // namespace solve -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/solve/common.h b/src/stella_vslam/solve/common.h similarity index 52% rename from src/openvslam/solve/common.h rename to src/stella_vslam/solve/common.h index db5f94a6b..e7536ed74 100644 --- a/src/openvslam/solve/common.h +++ b/src/stella_vslam/solve/common.h @@ -1,18 +1,18 @@ -#ifndef OPENVSLAM_SOLVE_UTIL_H -#define OPENVSLAM_SOLVE_UTIL_H +#ifndef STELLA_VSLAM_SOLVE_UTIL_H +#define STELLA_VSLAM_SOLVE_UTIL_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace solve { void normalize(const std::vector& keypts, std::vector& normalized_pts, Mat33_t& transform); } // namespace solve -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_SOLVE_UTIL_H +#endif // STELLA_VSLAM_SOLVE_UTIL_H diff --git a/src/openvslam/solve/essential_solver.cc b/src/stella_vslam/solve/essential_solver.cc similarity index 97% rename from src/openvslam/solve/essential_solver.cc rename to src/stella_vslam/solve/essential_solver.cc index 29316a363..b138e42ef 100644 --- a/src/openvslam/solve/essential_solver.cc +++ b/src/stella_vslam/solve/essential_solver.cc @@ -1,8 +1,8 @@ -#include "openvslam/solve/essential_solver.h" -#include "openvslam/util/converter.h" -#include "openvslam/util/random_array.h" +#include "stella_vslam/solve/essential_solver.h" +#include "stella_vslam/util/converter.h" +#include "stella_vslam/util/random_array.h" -namespace openvslam { +namespace stella_vslam { namespace solve { essential_solver::essential_solver(const eigen_alloc_vector& bearings_1, const eigen_alloc_vector& bearings_2, @@ -209,4 +209,4 @@ float essential_solver::check_inliers(const Mat33_t& E_21, std::vector& is } } // namespace solve -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/solve/essential_solver.h b/src/stella_vslam/solve/essential_solver.h similarity index 91% rename from src/openvslam/solve/essential_solver.h rename to src/stella_vslam/solve/essential_solver.h index b934613f8..1a163a328 100644 --- a/src/openvslam/solve/essential_solver.h +++ b/src/stella_vslam/solve/essential_solver.h @@ -1,14 +1,14 @@ -#ifndef OPENVSLAM_SOLVE_ESSENTIAL_SOLVER_H -#define OPENVSLAM_SOLVE_ESSENTIAL_SOLVER_H +#ifndef STELLA_VSLAM_SOLVE_ESSENTIAL_SOLVER_H +#define STELLA_VSLAM_SOLVE_ESSENTIAL_SOLVER_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include #include #include -namespace openvslam { +namespace stella_vslam { namespace solve { class essential_solver { @@ -79,6 +79,6 @@ class essential_solver { }; } // namespace solve -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_SOLVE_ESSENTIAL_SOLVER_H +#endif // STELLA_VSLAM_SOLVE_ESSENTIAL_SOLVER_H diff --git a/src/openvslam/solve/fundamental_solver.cc b/src/stella_vslam/solve/fundamental_solver.cc similarity index 96% rename from src/openvslam/solve/fundamental_solver.cc rename to src/stella_vslam/solve/fundamental_solver.cc index a75fcc996..d93f41cd9 100644 --- a/src/openvslam/solve/fundamental_solver.cc +++ b/src/stella_vslam/solve/fundamental_solver.cc @@ -1,10 +1,10 @@ -#include "openvslam/solve/common.h" -#include "openvslam/solve/essential_solver.h" -#include "openvslam/solve/fundamental_solver.h" -#include "openvslam/util/converter.h" -#include "openvslam/util/random_array.h" +#include "stella_vslam/solve/common.h" +#include "stella_vslam/solve/essential_solver.h" +#include "stella_vslam/solve/fundamental_solver.h" +#include "stella_vslam/util/converter.h" +#include "stella_vslam/util/random_array.h" -namespace openvslam { +namespace stella_vslam { namespace solve { fundamental_solver::fundamental_solver(const std::vector& undist_keypts_1, const std::vector& undist_keypts_2, @@ -220,4 +220,4 @@ float fundamental_solver::check_inliers(const Mat33_t& F_21, std::vector& } } // namespace solve -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/solve/fundamental_solver.h b/src/stella_vslam/solve/fundamental_solver.h similarity index 92% rename from src/openvslam/solve/fundamental_solver.h rename to src/stella_vslam/solve/fundamental_solver.h index b62c47491..ab7e01a9c 100644 --- a/src/openvslam/solve/fundamental_solver.h +++ b/src/stella_vslam/solve/fundamental_solver.h @@ -1,14 +1,14 @@ -#ifndef OPENVSLAM_SOLVE_FUNDAMENTAL_SOLVER_H -#define OPENVSLAM_SOLVE_FUNDAMENTAL_SOLVER_H +#ifndef STELLA_VSLAM_SOLVE_FUNDAMENTAL_SOLVER_H +#define STELLA_VSLAM_SOLVE_FUNDAMENTAL_SOLVER_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include #include #include -namespace openvslam { +namespace stella_vslam { namespace solve { class fundamental_solver { @@ -83,6 +83,6 @@ class fundamental_solver { }; } // namespace solve -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_SOLVE_FUNDAMENTAL_SOLVER_H +#endif // STELLA_VSLAM_SOLVE_FUNDAMENTAL_SOLVER_H diff --git a/src/openvslam/solve/homography_solver.cc b/src/stella_vslam/solve/homography_solver.cc similarity index 98% rename from src/openvslam/solve/homography_solver.cc rename to src/stella_vslam/solve/homography_solver.cc index 73c154b52..e359f93b3 100644 --- a/src/openvslam/solve/homography_solver.cc +++ b/src/stella_vslam/solve/homography_solver.cc @@ -1,9 +1,9 @@ -#include "openvslam/solve/common.h" -#include "openvslam/solve/homography_solver.h" -#include "openvslam/util/converter.h" -#include "openvslam/util/random_array.h" +#include "stella_vslam/solve/common.h" +#include "stella_vslam/solve/homography_solver.h" +#include "stella_vslam/util/converter.h" +#include "stella_vslam/util/random_array.h" -namespace openvslam { +namespace stella_vslam { namespace solve { homography_solver::homography_solver(const std::vector& undist_keypts_1, const std::vector& undist_keypts_2, @@ -312,4 +312,4 @@ float homography_solver::check_inliers(const Mat33_t& H_21, std::vector& i } } // namespace solve -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/solve/homography_solver.h b/src/stella_vslam/solve/homography_solver.h similarity index 91% rename from src/openvslam/solve/homography_solver.h rename to src/stella_vslam/solve/homography_solver.h index e97a2bdc0..bcc8cf356 100644 --- a/src/openvslam/solve/homography_solver.h +++ b/src/stella_vslam/solve/homography_solver.h @@ -1,14 +1,14 @@ -#ifndef OPENVSLAM_SOLVE_HOMOGRAPHY_SOLVER_H -#define OPENVSLAM_SOLVE_HOMOGRAPHY_SOLVER_H +#ifndef STELLA_VSLAM_SOLVE_HOMOGRAPHY_SOLVER_H +#define STELLA_VSLAM_SOLVE_HOMOGRAPHY_SOLVER_H -#include "openvslam/camera/base.h" +#include "stella_vslam/camera/base.h" #include #include #include -namespace openvslam { +namespace stella_vslam { namespace solve { class homography_solver { @@ -79,6 +79,6 @@ class homography_solver { }; } // namespace solve -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_SOLVE_HOMOGRAPHY_SOLVER_H +#endif // STELLA_VSLAM_SOLVE_HOMOGRAPHY_SOLVER_H diff --git a/src/openvslam/solve/pnp_solver.cc b/src/stella_vslam/solve/pnp_solver.cc similarity index 98% rename from src/openvslam/solve/pnp_solver.cc rename to src/stella_vslam/solve/pnp_solver.cc index 4c438e53f..eb2642a58 100644 --- a/src/openvslam/solve/pnp_solver.cc +++ b/src/stella_vslam/solve/pnp_solver.cc @@ -1,11 +1,11 @@ -#include "openvslam/solve/pnp_solver.h" -#include "openvslam/util/fancy_index.h" -#include "openvslam/util/random_array.h" -#include "openvslam/util/trigonometric.h" +#include "stella_vslam/solve/pnp_solver.h" +#include "stella_vslam/util/fancy_index.h" +#include "stella_vslam/util/random_array.h" +#include "stella_vslam/util/trigonometric.h" #include -namespace openvslam { +namespace stella_vslam { namespace solve { pnp_solver::pnp_solver(const eigen_alloc_vector& valid_bearings, const std::vector& valid_keypts, @@ -581,4 +581,4 @@ Vec4_t pnp_solver::gauss_newton(const MatRC_t<6, 10>& L_6x10, const Vec6_t& Rho, } } // namespace solve -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/solve/pnp_solver.h b/src/stella_vslam/solve/pnp_solver.h similarity index 96% rename from src/openvslam/solve/pnp_solver.h rename to src/stella_vslam/solve/pnp_solver.h index a26a6db9a..87ff61486 100644 --- a/src/openvslam/solve/pnp_solver.h +++ b/src/stella_vslam/solve/pnp_solver.h @@ -1,13 +1,13 @@ -#ifndef OPENVSLAM_SOLVE_PNP_SOLVER_H -#define OPENVSLAM_SOLVE_PNP_SOLVER_H +#ifndef STELLA_VSLAM_SOLVE_PNP_SOLVER_H +#define STELLA_VSLAM_SOLVE_PNP_SOLVER_H -#include "openvslam/util/converter.h" -#include "openvslam/type.h" +#include "stella_vslam/util/converter.h" +#include "stella_vslam/type.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace solve { class pnp_solver { @@ -138,6 +138,6 @@ class pnp_solver { }; } // namespace solve -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_SOLVE_PNP_SOLVER_H +#endif // STELLA_VSLAM_SOLVE_PNP_SOLVER_H diff --git a/src/openvslam/solve/sim3_solver.cc b/src/stella_vslam/solve/sim3_solver.cc similarity index 97% rename from src/openvslam/solve/sim3_solver.cc rename to src/stella_vslam/solve/sim3_solver.cc index 9aea82ca4..832ac6b06 100644 --- a/src/openvslam/solve/sim3_solver.cc +++ b/src/stella_vslam/solve/sim3_solver.cc @@ -1,15 +1,15 @@ -#include "openvslam/camera/base.h" -#include "openvslam/data/keyframe.h" -#include "openvslam/data/landmark.h" -#include "openvslam/solve/sim3_solver.h" -#include "openvslam/util/random_array.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/data/keyframe.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/solve/sim3_solver.h" +#include "stella_vslam/util/random_array.h" #include #include #include -namespace openvslam { +namespace stella_vslam { namespace solve { sim3_solver::sim3_solver(const std::shared_ptr& keyfrm_1, const std::shared_ptr& keyfrm_2, @@ -311,4 +311,4 @@ void sim3_solver::reproject_to_same_image(const std::vector #include @@ -9,7 +9,7 @@ #include -namespace openvslam { +namespace stella_vslam { namespace solve { class sim3_solver { @@ -114,6 +114,6 @@ class sim3_solver { }; } // namespace solve -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_SOLVE_SIM3_SOLVER_H +#endif // STELLA_VSLAM_SOLVE_SIM3_SOLVER_H diff --git a/src/openvslam/solve/triangulator.h b/src/stella_vslam/solve/triangulator.h similarity index 93% rename from src/openvslam/solve/triangulator.h rename to src/stella_vslam/solve/triangulator.h index 8c590fe35..b2e57f0b5 100644 --- a/src/openvslam/solve/triangulator.h +++ b/src/stella_vslam/solve/triangulator.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_SOLVE_TRIANGULATOR_H -#define OPENVSLAM_SOLVE_TRIANGULATOR_H +#ifndef STELLA_VSLAM_SOLVE_TRIANGULATOR_H +#define STELLA_VSLAM_SOLVE_TRIANGULATOR_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace solve { class triangulator { @@ -90,6 +90,6 @@ Vec3_t triangulator::triangulate(const Vec3_t& bearing_1, const Vec3_t& bearing_ } } // namespace solve -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_SOLVE_TRIANGULATOR_H +#endif // STELLA_VSLAM_SOLVE_TRIANGULATOR_H diff --git a/src/openvslam/system.cc b/src/stella_vslam/system.cc similarity index 91% rename from src/openvslam/system.cc rename to src/stella_vslam/system.cc index edea63492..a28b7f83a 100644 --- a/src/openvslam/system.cc +++ b/src/stella_vslam/system.cc @@ -1,32 +1,32 @@ -#include "openvslam/system.h" -#include "openvslam/config.h" -#include "openvslam/tracking_module.h" -#include "openvslam/mapping_module.h" -#include "openvslam/global_optimization_module.h" -#include "openvslam/camera/base.h" -#include "openvslam/data/camera_database.h" -#include "openvslam/data/common.h" -#include "openvslam/data/frame_observation.h" -#include "openvslam/data/orb_params_database.h" -#include "openvslam/data/map_database.h" -#include "openvslam/data/bow_database.h" -#include "openvslam/data/bow_vocabulary.h" -#include "openvslam/match/stereo.h" -#include "openvslam/feature/orb_extractor.h" -#include "openvslam/io/trajectory_io.h" -#include "openvslam/io/map_database_io.h" -#include "openvslam/publish/map_publisher.h" -#include "openvslam/publish/frame_publisher.h" -#include "openvslam/util/converter.h" -#include "openvslam/util/image_converter.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/system.h" +#include "stella_vslam/config.h" +#include "stella_vslam/tracking_module.h" +#include "stella_vslam/mapping_module.h" +#include "stella_vslam/global_optimization_module.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/data/camera_database.h" +#include "stella_vslam/data/common.h" +#include "stella_vslam/data/frame_observation.h" +#include "stella_vslam/data/orb_params_database.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/data/bow_database.h" +#include "stella_vslam/data/bow_vocabulary.h" +#include "stella_vslam/match/stereo.h" +#include "stella_vslam/feature/orb_extractor.h" +#include "stella_vslam/io/trajectory_io.h" +#include "stella_vslam/io/map_database_io.h" +#include "stella_vslam/publish/map_publisher.h" +#include "stella_vslam/publish/frame_publisher.h" +#include "stella_vslam/util/converter.h" +#include "stella_vslam/util/image_converter.h" +#include "stella_vslam/util/yaml.h" #include #include namespace { -using namespace openvslam; +using namespace stella_vslam; double get_depthmap_factor(const camera::base* camera, const YAML::Node& yaml_node) { spdlog::debug("load depthmap factor"); @@ -41,7 +41,7 @@ double get_depthmap_factor(const camera::base* camera, const YAML::Node& yaml_no } } // namespace -namespace openvslam { +namespace stella_vslam { system::system(const std::shared_ptr& cfg, const std::string& vocab_file_path) : cfg_(cfg), camera_(cfg->camera_), orb_params_(cfg->orb_params_) { @@ -50,17 +50,12 @@ system::system(const std::shared_ptr& cfg, const std::string& vocab_file std::ostringstream message_stream; message_stream << std::endl; - message_stream << R"( ___ __ _____ _ _ __ __ )" << std::endl; - message_stream << R"( / _ \ _ __ ___ _ _\ \ / / __| | /_\ | \/ |)" << std::endl; - message_stream << R"(| (_) | '_ \/ -_) ' \\ V /\__ \ |__ / _ \| |\/| |)" << std::endl; - message_stream << R"( \___/| .__/\___|_||_|\_/ |___/____/_/ \_\_| |_|)" << std::endl; - message_stream << R"( |_| )" << std::endl; - message_stream << std::endl; + message_stream << "original version of OpenVSLAM," << std::endl; message_stream << "Copyright (C) 2019," << std::endl; message_stream << "National Institute of Advanced Industrial Science and Technology (AIST)" << std::endl; message_stream << "All rights reserved." << std::endl; - message_stream << "For the changes after forking," << std::endl; - message_stream << "Copyright (C) 2022, OpenVSLAM-Community, All rights reserved." << std::endl; + message_stream << "stella_vslam (the changes after forking from OpenVSLAM)," << std::endl; + message_stream << "Copyright (C) 2022, stella-cv, All rights reserved." << std::endl; message_stream << std::endl; message_stream << "This is free software," << std::endl; message_stream << "and you are welcome to redistribute it under certain conditions." << std::endl; @@ -194,8 +189,8 @@ void system::startup(const bool need_initialize) { tracker_->tracking_state_ = tracker_state_t::Lost; } - mapping_thread_ = std::unique_ptr(new std::thread(&openvslam::mapping_module::run, mapper_)); - global_optimization_thread_ = std::unique_ptr(new std::thread(&openvslam::global_optimization_module::run, global_optimizer_)); + mapping_thread_ = std::unique_ptr(new std::thread(&stella_vslam::mapping_module::run, mapper_)); + global_optimization_thread_ = std::unique_ptr(new std::thread(&stella_vslam::global_optimization_module::run, global_optimizer_)); } void system::shutdown() { @@ -555,4 +550,4 @@ void system::resume_other_threads() const { } } -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/system.h b/src/stella_vslam/system.h similarity index 97% rename from src/openvslam/system.h rename to src/stella_vslam/system.h index bb953890b..709950a99 100644 --- a/src/openvslam/system.h +++ b/src/stella_vslam/system.h @@ -1,8 +1,8 @@ -#ifndef OPENVSLAM_SYSTEM_H -#define OPENVSLAM_SYSTEM_H +#ifndef STELLA_VSLAM_SYSTEM_H +#define STELLA_VSLAM_SYSTEM_H -#include "openvslam/type.h" -#include "openvslam/data/bow_vocabulary_fwd.h" +#include "stella_vslam/type.h" +#include "stella_vslam/data/bow_vocabulary_fwd.h" #include #include @@ -13,7 +13,7 @@ #include -namespace openvslam { +namespace stella_vslam { class config; class tracking_module; @@ -250,6 +250,6 @@ class system { mutable std::mutex mtx_loop_detector_; }; -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_SYSTEM_H +#endif // STELLA_VSLAM_SYSTEM_H diff --git a/src/openvslam/tracking_module.cc b/src/stella_vslam/tracking_module.cc similarity index 97% rename from src/openvslam/tracking_module.cc rename to src/stella_vslam/tracking_module.cc index 51839dfdc..e0fccb94f 100644 --- a/src/openvslam/tracking_module.cc +++ b/src/stella_vslam/tracking_module.cc @@ -1,15 +1,15 @@ -#include "openvslam/config.h" -#include "openvslam/system.h" -#include "openvslam/tracking_module.h" -#include "openvslam/mapping_module.h" -#include "openvslam/global_optimization_module.h" -#include "openvslam/camera/base.h" -#include "openvslam/data/landmark.h" -#include "openvslam/data/map_database.h" -#include "openvslam/data/bow_database.h" -#include "openvslam/match/projection.h" -#include "openvslam/module/local_map_updater.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/config.h" +#include "stella_vslam/system.h" +#include "stella_vslam/tracking_module.h" +#include "stella_vslam/mapping_module.h" +#include "stella_vslam/global_optimization_module.h" +#include "stella_vslam/camera/base.h" +#include "stella_vslam/data/landmark.h" +#include "stella_vslam/data/map_database.h" +#include "stella_vslam/data/bow_database.h" +#include "stella_vslam/match/projection.h" +#include "stella_vslam/module/local_map_updater.h" +#include "stella_vslam/util/yaml.h" #include #include @@ -17,7 +17,7 @@ #include namespace { -using namespace openvslam; +using namespace stella_vslam; double get_reloc_distance_threshold(const YAML::Node& yaml_node) { spdlog::debug("load maximum distance threshold where close keyframes could be found"); @@ -39,7 +39,7 @@ double get_use_robust_matcher_for_relocalization_request(const YAML::Node& yaml_ } // unnamed namespace -namespace openvslam { +namespace stella_vslam { tracking_module::tracking_module(const std::shared_ptr& cfg, data::map_database* map_db, data::bow_vocabulary* bow_vocab, data::bow_database* bow_db) @@ -604,4 +604,4 @@ bool tracking_module::check_and_execute_pause() { } } -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/tracking_module.h b/src/stella_vslam/tracking_module.h similarity index 94% rename from src/openvslam/tracking_module.h rename to src/stella_vslam/tracking_module.h index 27d608506..9f6474453 100644 --- a/src/openvslam/tracking_module.h +++ b/src/stella_vslam/tracking_module.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_TRACKING_MODULE_H -#define OPENVSLAM_TRACKING_MODULE_H +#ifndef STELLA_VSLAM_TRACKING_MODULE_H +#define STELLA_VSLAM_TRACKING_MODULE_H -#include "openvslam/type.h" -#include "openvslam/data/frame.h" -#include "openvslam/module/initializer.h" -#include "openvslam/module/relocalizer.h" -#include "openvslam/module/keyframe_inserter.h" -#include "openvslam/module/frame_tracker.h" +#include "stella_vslam/type.h" +#include "stella_vslam/data/frame.h" +#include "stella_vslam/module/initializer.h" +#include "stella_vslam/module/relocalizer.h" +#include "stella_vslam/module/keyframe_inserter.h" +#include "stella_vslam/module/frame_tracker.h" #include #include @@ -15,7 +15,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { class system; class mapping_module; @@ -265,6 +265,6 @@ class tracking_module { pose_request relocalize_by_pose_request_; }; -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_TRACKING_MODULE_H +#endif // STELLA_VSLAM_TRACKING_MODULE_H diff --git a/src/openvslam/type.h b/src/stella_vslam/type.h similarity index 94% rename from src/openvslam/type.h rename to src/stella_vslam/type.h index 2b45269c0..c2fa3125a 100644 --- a/src/openvslam/type.h +++ b/src/stella_vslam/type.h @@ -1,5 +1,5 @@ -#ifndef OPENVSLAM_TYPE_H -#define OPENVSLAM_TYPE_H +#ifndef STELLA_VSLAM_TYPE_H +#define STELLA_VSLAM_TYPE_H #include #include @@ -18,7 +18,7 @@ #define M_PI 3.14159265358979323846 #endif -namespace openvslam { +namespace stella_vslam { // helper function for creating an object in a unique_ptr. @@ -114,6 +114,6 @@ inline Vec2_t operator-(const cv::Point_& v1, const Vec2_t& v2) { return v1 + (-v2); } -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_TYPE_H +#endif // STELLA_VSLAM_TYPE_H diff --git a/src/openvslam/util/CMakeLists.txt b/src/stella_vslam/util/CMakeLists.txt similarity index 90% rename from src/openvslam/util/CMakeLists.txt rename to src/stella_vslam/util/CMakeLists.txt index 8b67a184a..4dc85c814 100644 --- a/src/openvslam/util/CMakeLists.txt +++ b/src/stella_vslam/util/CMakeLists.txt @@ -12,4 +12,4 @@ target_sources(${PROJECT_NAME} # Install headers file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/*.h") install(FILES ${HEADERS} - DESTINATION ${OPENVSLAM_INCLUDE_INSTALL_DIR}/util) + DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/util) diff --git a/src/openvslam/util/converter.cc b/src/stella_vslam/util/converter.cc similarity index 96% rename from src/openvslam/util/converter.cc rename to src/stella_vslam/util/converter.cc index e92e8020e..edbc5db55 100644 --- a/src/openvslam/util/converter.cc +++ b/src/stella_vslam/util/converter.cc @@ -1,9 +1,9 @@ -#include "openvslam/util/converter.h" +#include "stella_vslam/util/converter.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace util { std::vector converter::to_desc_vec(const cv::Mat& desc) { @@ -76,4 +76,4 @@ Mat33_t converter::to_skew_symmetric_mat(const Vec3_t& vec) { } } // namespace util -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/util/converter.h b/src/stella_vslam/util/converter.h similarity index 84% rename from src/openvslam/util/converter.h rename to src/stella_vslam/util/converter.h index 5be7bcdae..79736c073 100644 --- a/src/openvslam/util/converter.h +++ b/src/stella_vslam/util/converter.h @@ -1,7 +1,7 @@ -#ifndef OPENVSLAM_UTIL_CONVERTER_H -#define OPENVSLAM_UTIL_CONVERTER_H +#ifndef STELLA_VSLAM_UTIL_CONVERTER_H +#define STELLA_VSLAM_UTIL_CONVERTER_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include #include @@ -11,7 +11,7 @@ class SE3Quat; class Sim3; } // namespace g2o -namespace openvslam { +namespace stella_vslam { namespace util { class converter { @@ -45,6 +45,6 @@ class converter { }; } // namespace util -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_UTIL_CONVERTER_H +#endif // STELLA_VSLAM_UTIL_CONVERTER_H diff --git a/src/openvslam/util/fancy_index.h b/src/stella_vslam/util/fancy_index.h similarity index 89% rename from src/openvslam/util/fancy_index.h rename to src/stella_vslam/util/fancy_index.h index 73e795ca6..7610d391d 100644 --- a/src/openvslam/util/fancy_index.h +++ b/src/stella_vslam/util/fancy_index.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_UTIL_FANCY_INDEX_H -#define OPENVSLAM_UTIL_FANCY_INDEX_H +#ifndef STELLA_VSLAM_UTIL_FANCY_INDEX_H +#define STELLA_VSLAM_UTIL_FANCY_INDEX_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace util { template @@ -66,6 +66,6 @@ eigen_alloc_vector resample_by_indices(const eigen_alloc_vector& elements, } } // namespace util -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_UTIL_FANCY_INDEX_H +#endif // STELLA_VSLAM_UTIL_FANCY_INDEX_H diff --git a/src/openvslam/util/image_converter.cc b/src/stella_vslam/util/image_converter.cc similarity index 95% rename from src/openvslam/util/image_converter.cc rename to src/stella_vslam/util/image_converter.cc index 4a926ccef..0523cecc4 100644 --- a/src/openvslam/util/image_converter.cc +++ b/src/stella_vslam/util/image_converter.cc @@ -1,8 +1,8 @@ -#include "openvslam/util/image_converter.h" +#include "stella_vslam/util/image_converter.h" #include -namespace openvslam { +namespace stella_vslam { namespace util { void convert_to_grayscale(cv::Mat& img, const camera::color_order_t in_color_order) { @@ -61,4 +61,4 @@ void equalize_histogram(cv::Mat& img) { } } // namespace util -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/util/image_converter.h b/src/stella_vslam/util/image_converter.h similarity index 54% rename from src/openvslam/util/image_converter.h rename to src/stella_vslam/util/image_converter.h index a41d53081..02f4e83f8 100644 --- a/src/openvslam/util/image_converter.h +++ b/src/stella_vslam/util/image_converter.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_UTIL_IMAGE_CONVERTER_H -#define OPENVSLAM_UTIL_IMAGE_CONVERTER_H +#ifndef STELLA_VSLAM_UTIL_IMAGE_CONVERTER_H +#define STELLA_VSLAM_UTIL_IMAGE_CONVERTER_H -#include "openvslam/camera/base.h" +#include "stella_vslam/camera/base.h" #include -namespace openvslam { +namespace stella_vslam { namespace util { void convert_to_grayscale(cv::Mat& img, const camera::color_order_t in_color_order); @@ -15,6 +15,6 @@ void convert_to_true_depth(cv::Mat& img, const double depthmap_factor); void equalize_histogram(cv::Mat& img); } // namespace util -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_UTIL_IMAGE_CONVERTER_H +#endif // STELLA_VSLAM_UTIL_IMAGE_CONVERTER_H diff --git a/src/openvslam/util/random_array.cc b/src/stella_vslam/util/random_array.cc similarity index 95% rename from src/openvslam/util/random_array.cc rename to src/stella_vslam/util/random_array.cc index 52c30d68d..3b062af7e 100644 --- a/src/openvslam/util/random_array.cc +++ b/src/stella_vslam/util/random_array.cc @@ -1,4 +1,4 @@ -#include "openvslam/util/random_array.h" +#include "stella_vslam/util/random_array.h" #include #include @@ -6,7 +6,7 @@ #include #include -namespace openvslam { +namespace stella_vslam { namespace util { std::mt19937 create_random_engine(bool use_fixed_seed) { @@ -67,4 +67,4 @@ template std::vector create_random_array(size_t, int, int, std::mt19937&); template std::vector create_random_array(size_t, unsigned int, unsigned int, std::mt19937&); } // namespace util -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/util/random_array.h b/src/stella_vslam/util/random_array.h similarity index 70% rename from src/openvslam/util/random_array.h rename to src/stella_vslam/util/random_array.h index 45d0bae83..c90e0de63 100644 --- a/src/openvslam/util/random_array.h +++ b/src/stella_vslam/util/random_array.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_UTIL_RANDOM_ARRAY_H -#define OPENVSLAM_UTIL_RANDOM_ARRAY_H +#ifndef STELLA_VSLAM_UTIL_RANDOM_ARRAY_H +#define STELLA_VSLAM_UTIL_RANDOM_ARRAY_H #include #include #include -namespace openvslam { +namespace stella_vslam { namespace util { // Create random_engine. If use_fixed_seed is true, a fixed seed value is used. @@ -16,6 +16,6 @@ std::vector create_random_array(const size_t size, const T rand_min, const T std::mt19937& random_engine); } // namespace util -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_UTIL_RANDOM_ARRAY_H +#endif // STELLA_VSLAM_UTIL_RANDOM_ARRAY_H diff --git a/src/openvslam/util/stereo_rectifier.cc b/src/stella_vslam/util/stereo_rectifier.cc similarity index 90% rename from src/openvslam/util/stereo_rectifier.cc rename to src/stella_vslam/util/stereo_rectifier.cc index 1f6e0c961..5ab988f44 100644 --- a/src/openvslam/util/stereo_rectifier.cc +++ b/src/stella_vslam/util/stereo_rectifier.cc @@ -1,17 +1,17 @@ -#include "openvslam/camera/perspective.h" -#include "openvslam/camera/fisheye.h" -#include "openvslam/util/stereo_rectifier.h" -#include "openvslam/util/yaml.h" +#include "stella_vslam/camera/perspective.h" +#include "stella_vslam/camera/fisheye.h" +#include "stella_vslam/util/stereo_rectifier.h" +#include "stella_vslam/util/yaml.h" #include #include -namespace openvslam { +namespace stella_vslam { namespace util { -stereo_rectifier::stereo_rectifier(const std::shared_ptr& cfg) +stereo_rectifier::stereo_rectifier(const std::shared_ptr& cfg) : stereo_rectifier(cfg->camera_, - openvslam::util::yaml_optional_ref(cfg->yaml_node_, "StereoRectifier")) {} + stella_vslam::util::yaml_optional_ref(cfg->yaml_node_, "StereoRectifier")) {} stereo_rectifier::stereo_rectifier(camera::base* camera, const YAML::Node& yaml_node) : model_type_(load_model_type(yaml_node)) { @@ -87,4 +87,4 @@ camera::model_type_t stereo_rectifier::load_model_type(const YAML::Node& yaml_no } } // namespace util -} // namespace openvslam +} // namespace stella_vslam diff --git a/src/openvslam/util/stereo_rectifier.h b/src/stella_vslam/util/stereo_rectifier.h similarity index 81% rename from src/openvslam/util/stereo_rectifier.h rename to src/stella_vslam/util/stereo_rectifier.h index 0769770e0..f27a5d99a 100644 --- a/src/openvslam/util/stereo_rectifier.h +++ b/src/stella_vslam/util/stereo_rectifier.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_UTIL_STEREO_RECTIFIER_H -#define OPENVSLAM_UTIL_STEREO_RECTIFIER_H +#ifndef STELLA_VSLAM_UTIL_STEREO_RECTIFIER_H +#define STELLA_VSLAM_UTIL_STEREO_RECTIFIER_H -#include "openvslam/config.h" -#include "openvslam/camera/base.h" +#include "stella_vslam/config.h" +#include "stella_vslam/camera/base.h" #include -namespace openvslam { +namespace stella_vslam { namespace util { class stereo_rectifier { @@ -45,6 +45,6 @@ class stereo_rectifier { }; } // namespace util -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_UTIL_STEREO_RECTIFIER_H +#endif // STELLA_VSLAM_UTIL_STEREO_RECTIFIER_H diff --git a/src/openvslam/util/string.h b/src/stella_vslam/util/string.h similarity index 79% rename from src/openvslam/util/string.h rename to src/stella_vslam/util/string.h index 5186fa5c3..0671f5d18 100644 --- a/src/openvslam/util/string.h +++ b/src/stella_vslam/util/string.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_UTIL_STRING_H -#define OPENVSLAM_UTIL_STRING_H +#ifndef STELLA_VSLAM_UTIL_STRING_H +#define STELLA_VSLAM_UTIL_STRING_H #include #include #include -namespace openvslam { +namespace stella_vslam { namespace util { inline std::vector split_string(const std::string& str, const char del) { @@ -26,6 +26,6 @@ inline bool string_startswith(const std::string& str, const std::string& qry) { } } // namespace util -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_UTIL_STRING_H +#endif // STELLA_VSLAM_UTIL_STRING_H diff --git a/src/openvslam/util/trigonometric.h b/src/stella_vslam/util/trigonometric.h similarity index 80% rename from src/openvslam/util/trigonometric.h rename to src/stella_vslam/util/trigonometric.h index 2c67c925d..7d3343b2f 100644 --- a/src/openvslam/util/trigonometric.h +++ b/src/stella_vslam/util/trigonometric.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_UTIL_TRIGONOMETRIC_H -#define OPENVSLAM_UTIL_TRIGONOMETRIC_H +#ifndef STELLA_VSLAM_UTIL_TRIGONOMETRIC_H +#define STELLA_VSLAM_UTIL_TRIGONOMETRIC_H #include #include -namespace openvslam { +namespace stella_vslam { namespace util { static constexpr float _PI = 3.14159265358979f; @@ -42,10 +42,10 @@ inline float cos(float v) { } inline float sin(float v) { - return openvslam::util::cos(_PI_2 - v); + return stella_vslam::util::cos(_PI_2 - v); } } // namespace util -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_UTIL_TRIGONOMETRIC_H +#endif // STELLA_VSLAM_UTIL_TRIGONOMETRIC_H diff --git a/src/openvslam/util/yaml.h b/src/stella_vslam/util/yaml.h similarity index 63% rename from src/openvslam/util/yaml.h rename to src/stella_vslam/util/yaml.h index 288f645f6..59723a7b9 100644 --- a/src/openvslam/util/yaml.h +++ b/src/stella_vslam/util/yaml.h @@ -1,12 +1,12 @@ -#ifndef OPENVSLAM_UTIL_YAML_H -#define OPENVSLAM_UTIL_YAML_H +#ifndef STELLA_VSLAM_UTIL_YAML_H +#define STELLA_VSLAM_UTIL_YAML_H #include #include #include -namespace openvslam { +namespace stella_vslam { namespace util { inline YAML::Node yaml_optional_ref(const YAML::Node& ref_node, const std::string& key) { @@ -14,6 +14,6 @@ inline YAML::Node yaml_optional_ref(const YAML::Node& ref_node, const std::strin } } // namespace util -} // namespace openvslam +} // namespace stella_vslam -#endif // OPENVSLAM_UTIL_YAML_H +#endif // STELLA_VSLAM_UTIL_YAML_H diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index b355c6787..ef809075c 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -11,8 +11,8 @@ add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR}) # ----- Glob test codes----- -file(GLOB_RECURSE OPENVSLAM_SOURCE_PATHS "./openvslam/*.cc") -list(APPEND SOURCE_PATHS ${OPENVSLAM_SOURCE_PATHS}) +file(GLOB_RECURSE STELLA_VSLAM_SOURCE_PATHS "./stella_vslam/*.cc") +list(APPEND SOURCE_PATHS ${STELLA_VSLAM_SOURCE_PATHS}) # ----- Build test executables ----- diff --git a/test/helper/bearing_vector.h b/test/helper/bearing_vector.h index cf7a7cad5..e5d08daad 100644 --- a/test/helper/bearing_vector.h +++ b/test/helper/bearing_vector.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_TEST_HELPER_BEARING_VECTOR_H -#define OPENVSLAM_TEST_HELPER_BEARING_VECTOR_H +#ifndef STELLA_VSLAM_TEST_HELPER_BEARING_VECTOR_H +#define STELLA_VSLAM_TEST_HELPER_BEARING_VECTOR_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" -using namespace openvslam; +using namespace stella_vslam; void create_bearing_vectors(const Mat33_t& rot_cw, const Vec3_t& trans_cw, const eigen_alloc_vector& landmarks, eigen_alloc_vector& bearings, const double noise_stddev = 0.0); -#endif // OPENVSLAM_TEST_HELPER_BEARING_VECTOR_H +#endif // STELLA_VSLAM_TEST_HELPER_BEARING_VECTOR_H diff --git a/test/helper/keypoint.h b/test/helper/keypoint.h index 6f4503021..ca2cb2400 100644 --- a/test/helper/keypoint.h +++ b/test/helper/keypoint.h @@ -1,9 +1,9 @@ -#ifndef OPENVSLAM_TEST_HELPER_KEYPOINT_H -#define OPENVSLAM_TEST_HELPER_KEYPOINT_H +#ifndef STELLA_VSLAM_TEST_HELPER_KEYPOINT_H +#define STELLA_VSLAM_TEST_HELPER_KEYPOINT_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" -using namespace openvslam; +using namespace stella_vslam; void create_keypoints(const Mat33_t& rot_cw, const Vec3_t& trans_cw, const Mat33_t& cam_matrix, const eigen_alloc_vector& landmarks, std::vector& keypts, const double noise_stddev = 0.0); @@ -11,4 +11,4 @@ void create_keypoints(const Mat33_t& rot_cw, const Vec3_t& trans_cw, const Mat33 void create_keypoints(const Mat33_t& rot_cw, const Vec3_t& trans_cw, const Mat33_t& cam_matrix, const eigen_alloc_vector& landmarks, std::vector& keypts, const double noise_stddev = 0.0); -#endif // OPENVSLAM_TEST_HELPER_KEYPOINT_H +#endif // STELLA_VSLAM_TEST_HELPER_KEYPOINT_H diff --git a/test/helper/landmark.h b/test/helper/landmark.h index bc041ba8a..c81586dde 100644 --- a/test/helper/landmark.h +++ b/test/helper/landmark.h @@ -1,11 +1,11 @@ -#ifndef OPENVSLAM_TEST_HELPER_LANDMARK_H -#define OPENVSLAM_TEST_HELPER_LANDMARK_H +#ifndef STELLA_VSLAM_TEST_HELPER_LANDMARK_H +#define STELLA_VSLAM_TEST_HELPER_LANDMARK_H -#include "openvslam/type.h" +#include "stella_vslam/type.h" #include -using namespace openvslam; +using namespace stella_vslam; eigen_alloc_vector create_random_landmarks_in_space(const unsigned int num_landmarks, const float space_lim); @@ -13,4 +13,4 @@ eigen_alloc_vector create_random_landmarks_in_space(const unsigned int n eigen_alloc_vector create_random_landmarks_on_plane(const unsigned int num_landmarks, const float space_lim, const Vec4_t& plane_coeffs); -#endif // OPENVSLAM_TEST_HELPER_LANDMARK_H +#endif // STELLA_VSLAM_TEST_HELPER_LANDMARK_H diff --git a/test/openvslam/data/bow_vocabulary.cc b/test/openvslam/data/bow_vocabulary.cc index 0f53a603f..7be438dcc 100644 --- a/test/openvslam/data/bow_vocabulary.cc +++ b/test/openvslam/data/bow_vocabulary.cc @@ -1,5 +1,5 @@ -#include "openvslam/feature/orb_extractor.h" -#include "openvslam/data/bow_vocabulary.h" +#include "stella_vslam/feature/orb_extractor.h" +#include "stella_vslam/data/bow_vocabulary.h" #include #include @@ -7,7 +7,7 @@ #include -using namespace openvslam; +using namespace stella_vslam; float get_score(data::bow_vocabulary* bow_vocab, const std::string& file1, const std::string& file2) { auto params = feature::orb_params("ORB setting for test"); diff --git a/test/openvslam/data/common_get_cell_indices.cc b/test/openvslam/data/common_get_cell_indices.cc index fbf9ad06a..4564487ba 100644 --- a/test/openvslam/data/common_get_cell_indices.cc +++ b/test/openvslam/data/common_get_cell_indices.cc @@ -1,9 +1,9 @@ -#include "openvslam/data/common.h" -#include "openvslam/camera/perspective.h" +#include "stella_vslam/data/common.h" +#include "stella_vslam/camera/perspective.h" #include -using namespace openvslam; +using namespace stella_vslam; camera::perspective create_perspective_camera(const unsigned int cols, const unsigned int rows, const float k1 = 0.0, const float k2 = 0.0) { diff --git a/test/openvslam/feature/orb_extractor.cc b/test/openvslam/feature/orb_extractor.cc index aa6b1c57f..7dd7ac060 100644 --- a/test/openvslam/feature/orb_extractor.cc +++ b/test/openvslam/feature/orb_extractor.cc @@ -1,4 +1,4 @@ -#include "openvslam/feature/orb_extractor.h" +#include "stella_vslam/feature/orb_extractor.h" #include #include @@ -19,7 +19,7 @@ cv::Mat draw_lines(const cv::Mat& img, const unsigned int num_segments = 4) { return lined_img; } -using namespace openvslam; +using namespace stella_vslam; TEST(orb_extractor, extract_toy_sample_1) { const auto params = feature::orb_params("ORB setting for test"); diff --git a/test/openvslam/feature/orb_params.cc b/test/openvslam/feature/orb_params.cc index f125895e5..1a4eddb12 100644 --- a/test/openvslam/feature/orb_params.cc +++ b/test/openvslam/feature/orb_params.cc @@ -1,10 +1,10 @@ -#include "openvslam/feature/orb_params.h" +#include "stella_vslam/feature/orb_params.h" #include #include -using namespace openvslam; +using namespace stella_vslam; TEST(orb_params, load_yaml_without_rectangle_mask) { const std::string yaml = diff --git a/test/openvslam/match/angle_checker.cc b/test/openvslam/match/angle_checker.cc index e8c9c9148..fba41fb07 100644 --- a/test/openvslam/match/angle_checker.cc +++ b/test/openvslam/match/angle_checker.cc @@ -1,8 +1,8 @@ -#include "openvslam/match/angle_checker.h" +#include "stella_vslam/match/angle_checker.h" #include -using namespace openvslam; +using namespace stella_vslam; TEST(angle_checker, check_assert) { EXPECT_NO_THROW(match::angle_checker(30, 3)); diff --git a/test/openvslam/match/base.cc b/test/openvslam/match/base.cc index cb620e017..152a7dc41 100644 --- a/test/openvslam/match/base.cc +++ b/test/openvslam/match/base.cc @@ -1,12 +1,12 @@ -#include "openvslam/type.h" -#include "openvslam/match/base.h" +#include "stella_vslam/type.h" +#include "stella_vslam/match/base.h" #include #include #include -using namespace openvslam; +using namespace stella_vslam; TEST(base, compute_hamming_distance_1) { cv::Mat desc_1(1, 32, CV_8U); diff --git a/test/openvslam/solve/essential_solver.cc b/test/openvslam/solve/essential_solver.cc index e50e24d06..415bfe895 100644 --- a/test/openvslam/solve/essential_solver.cc +++ b/test/openvslam/solve/essential_solver.cc @@ -1,13 +1,13 @@ #include "helper/bearing_vector.h" #include "helper/landmark.h" -#include "openvslam/type.h" -#include "openvslam/solve/essential_solver.h" -#include "openvslam/util/converter.h" +#include "stella_vslam/type.h" +#include "stella_vslam/solve/essential_solver.h" +#include "stella_vslam/util/converter.h" #include -using namespace openvslam; +using namespace stella_vslam; TEST(essential_solver, linear_solve) { // create 3D points diff --git a/test/openvslam/solve/fundamental_solver.cc b/test/openvslam/solve/fundamental_solver.cc index 40e1f0745..5411fec06 100644 --- a/test/openvslam/solve/fundamental_solver.cc +++ b/test/openvslam/solve/fundamental_solver.cc @@ -1,13 +1,13 @@ #include "helper/keypoint.h" #include "helper/landmark.h" -#include "openvslam/type.h" -#include "openvslam/solve/fundamental_solver.h" -#include "openvslam/util/converter.h" +#include "stella_vslam/type.h" +#include "stella_vslam/solve/fundamental_solver.h" +#include "stella_vslam/util/converter.h" #include -using namespace openvslam; +using namespace stella_vslam; TEST(fundamental_solver, linear_solve) { // create 3D points diff --git a/test/openvslam/solve/homography_solver.cc b/test/openvslam/solve/homography_solver.cc index 6d3d7ee7f..48ace1438 100644 --- a/test/openvslam/solve/homography_solver.cc +++ b/test/openvslam/solve/homography_solver.cc @@ -1,13 +1,13 @@ #include "helper/keypoint.h" #include "helper/landmark.h" -#include "openvslam/type.h" -#include "openvslam/solve/homography_solver.h" -#include "openvslam/util/converter.h" +#include "stella_vslam/type.h" +#include "stella_vslam/solve/homography_solver.h" +#include "stella_vslam/util/converter.h" #include -using namespace openvslam; +using namespace stella_vslam; TEST(homography_solver, linear_solve) { // create 3D points diff --git a/test/openvslam/solve/pnp_solver.cc b/test/openvslam/solve/pnp_solver.cc index f87b51d49..12b1175a0 100644 --- a/test/openvslam/solve/pnp_solver.cc +++ b/test/openvslam/solve/pnp_solver.cc @@ -1,9 +1,9 @@ #include "helper/landmark.h" #include "helper/bearing_vector.h" -#include "openvslam/type.h" -#include "openvslam/util/converter.h" -#include "openvslam/solve/pnp_solver.h" +#include "stella_vslam/type.h" +#include "stella_vslam/util/converter.h" +#include "stella_vslam/solve/pnp_solver.h" #include @@ -11,7 +11,7 @@ #include -using namespace openvslam; +using namespace stella_vslam; TEST(pnp_solver, without_ransac) { // Create four landmarks which needed the least number for solve problem diff --git a/test/openvslam/util/fancy_index.cc b/test/openvslam/util/fancy_index.cc index 62d4524ab..17ddc038c 100644 --- a/test/openvslam/util/fancy_index.cc +++ b/test/openvslam/util/fancy_index.cc @@ -1,9 +1,9 @@ -#include "openvslam/type.h" -#include "openvslam/util/fancy_index.h" +#include "stella_vslam/type.h" +#include "stella_vslam/util/fancy_index.h" #include -using namespace openvslam; +using namespace stella_vslam; TEST(fancy_index, resample_int) { constexpr unsigned int num_elements = 200; diff --git a/test/openvslam/util/random_array.cc b/test/openvslam/util/random_array.cc index bac6c7f71..9771117b8 100644 --- a/test/openvslam/util/random_array.cc +++ b/test/openvslam/util/random_array.cc @@ -1,9 +1,9 @@ -#include "openvslam/type.h" -#include "openvslam/util/random_array.h" +#include "stella_vslam/type.h" +#include "stella_vslam/util/random_array.h" #include -using namespace openvslam; +using namespace stella_vslam; TEST(random_array, create_random_array_1) { auto random_engine = util::create_random_engine(); diff --git a/test/openvslam/util/trigonometric.cc b/test/openvslam/util/trigonometric.cc index 2bd466322..edf81043f 100644 --- a/test/openvslam/util/trigonometric.cc +++ b/test/openvslam/util/trigonometric.cc @@ -1,9 +1,9 @@ -#include "openvslam/type.h" -#include "openvslam/util/trigonometric.h" +#include "stella_vslam/type.h" +#include "stella_vslam/util/trigonometric.h" #include -using namespace openvslam; +using namespace stella_vslam; TEST(trigonometric, cos) { for (unsigned int deg = 0; deg <= 3600; ++deg) { diff --git a/viewer/Dockerfile b/viewer/Dockerfile index bcceb0b95..4a3eb2e29 100644 --- a/viewer/Dockerfile +++ b/viewer/Dockerfile @@ -1,9 +1,9 @@ FROM node:8.16.0-alpine -COPY . /openvslam-viewer/ +COPY . /viewer/ RUN set -x && \ - cd /openvslam-viewer/ && \ + cd /viewer/ && \ npm install -ENTRYPOINT ["node", "/openvslam-viewer/app.js"] +ENTRYPOINT ["node", "/viewer/app.js"] diff --git a/viewer/package.json b/viewer/package.json index 24678278c..e71b1f658 100644 --- a/viewer/package.json +++ b/viewer/package.json @@ -1,8 +1,8 @@ { - "name": "openvslam-viewer", + "name": "socket-viewer", "version": "0.0.1", - "description": "A cross-platform viewer for OpenVSLAM", - "repository": "https://github.com/OpenVSLAM-Community/openvslam", + "description": "A cross-platform keyframe/landmark/graph viewer", + "repository": "https://github.com/stella-cv/stella_vslam", "license": "BSD-2-Clause", "dependencies": { "express": "^4.16.2", diff --git a/viewer/views/index.ejs b/viewer/views/index.ejs index c18a84ca8..aed909f93 100644 --- a/viewer/views/index.ejs +++ b/viewer/views/index.ejs @@ -2,7 +2,7 @@ - OpenVSLAM SocketViewer + SocketViewer