first commit for comments

.clang-format

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+---
+BasedOnStyle: Chromium
+AccessModifierOffset: '-4'
+AlwaysBreakBeforeMultilineStrings: 'true'
+BinPackArguments: 'true'
+BinPackParameters: 'true'
+BraceWrapping:
+  BeforeCatch: 'true'
+  BeforeElse: 'true'
+BreakBeforeBinaryOperators: All
+BreakBeforeBraces: Custom
+ColumnLimit: '0'
+ConstructorInitializerAllOnOneLineOrOnePerLine: 'false'
+IncludeBlocks: Preserve
+IndentPPDirectives: None
+IndentWidth: '4'
+SortIncludes: 'false'
+SpaceAfterTemplateKeyword: 'false'
+SpacesBeforeTrailingComments: '1'
+Standard: Cpp11
+TabWidth: '4'
+UseTab: Never
+
+...

.dockerignore

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+# hidden files and dirs
+.gitignore
+.git/
+.idea/
+.vscode/
+
+# not needed for building OpenVSLAM
+Dockerfile*
+LICENSE
+README.md
+.travis.yml
+wercker.yml
+docs/
+test/
+viewer/
+
+# build directory
+build/
+cmake-build-debug/
+cmake-build-release/
+
+# build cache
+CMakeCache.txt
+CMakeFiles/

.gitignore

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+build/
+devel/
+lib/
+.idea/
+cmake-build-debug/
+cmake-build-release/
+*/.python-version
+*.user
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app

.travis.yml

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+language: cpp
+
+os:
+  - osx
+osx_image:
+  - xcode10
+
+compiler:
+  - clang
+
+env:
+  global:
+    - DEPS_DIR="${HOME}/deps"
+    - DATASET_DIR="${HOME}/dataset"
+
+before_cache:
+  - brew cleanup
+
+cache:
+  ccache: true
+  directories:
+    - ${HOME}/Library/Caches/Homebrew
+    - ${DEPS_DIR}/DBoW2
+    - ${DEPS_DIR}/g2o
+    - ${DEPS_DIR}/Pangolin
+    - ${DEPS_DIR}/socket.io-client-cpp
+    - ${DATASET_DIR}
+
+addons:
+  homebrew:
+    update: true
+    packages:
+      - ccache
+      - pkg-config
+      - cmake
+      - git
+      - suite-sparse
+      - eigen
+      - ffmpeg
+      - opencv
+      - yaml-cpp
+      - glog
+      - gflags
+      - glew
+      - protobuf
+      - clang-format
+
+before_install:
+  - ccache -s
+  - mkdir -p ${DEPS_DIR}
+  - |
+    cd ${DEPS_DIR}
+    if [ ! -d DBoW2 ]; then
+        echo "clone DBoW2"
+        git clone https://github.com/shinsumicco/DBoW2.git
+    elif [ -z "$(ls DBoW2)" ]; then
+        echo "reclone DBoW2"
+        rm -rf DBoW2
+        git clone https://github.com/shinsumicco/DBoW2.git
+    fi
+    cd DBoW2
+    mkdir -p build && cd build
+    cmake \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_INSTALL_PREFIX=/usr/local \
+        ..
+    make -j 3
+    make install
+  - |
+    cd ${DEPS_DIR}
+    if [ ! -d g2o ]; then
+        echo "clone g2o"
+        git clone https://github.com/RainerKuemmerle/g2o.git
+    elif [ -z "$(ls g2o)" ]; then
+        echo "reclone g2o"
+        rm -rf g2o
+        git clone https://github.com/RainerKuemmerle/g2o.git
+    fi
+    cd g2o
+    mkdir -p build && cd build
+    cmake \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_INSTALL_PREFIX=/usr/local \
+        -DCMAKE_CXX_FLAGS=-std=c++11 \
+        -DBUILD_SHARED_LIBS=ON \
+        -DBUILD_UNITTESTS=OFF \
+        -DBUILD_WITH_MARCH_NATIVE=ON \
+        -DG2O_BUILD_EXAMPLES=OFF \
+        -DG2O_BUILD_APPS=OFF \
+        -DG2O_USE_CHOLMOD=OFF \
+        -DG2O_USE_CSPARSE=ON \
+        -DG2O_USE_OPENGL=OFF \
+        -DG2O_USE_OPENMP=ON \
+        ..
+    make -j 3
+    make install
+  - |
+    cd ${DEPS_DIR}
+    if [ ! -d Pangolin ]; then
+        echo "clone Pangolin"
+        git clone https://github.com/stevenlovegrove/Pangolin.git
+    elif [ -z "$(ls Pangolin)" ]; then
+        echo "reclone Pangolin"
+        rm -rf Pangolin
+        git clone https://github.com/stevenlovegrove/Pangolin.git
+    fi
+    cd Pangolin
+    mkdir -p build && cd build
+    cmake \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_INSTALL_PREFIX=/usr/local \
+        -DBUILD_PANGOLIN_LIBOPENEXR=OFF \
+        ..
+    make -j 3
+    make install
+  - |
+    cd ${DEPS_DIR}
+    if [ ! -d socket.io-client-cpp ]; then
+        echo "clone socket.io-client-cpp"
+        git clone https://github.com/shinsumicco/socket.io-client-cpp.git
+    elif [ -z "$(ls socket.io-client-cpp)" ]; then
+        echo "reclone socket.io-client-cpp"
+        rm -rf socket.io-client-cpp
+        git clone https://github.com/shinsumicco/socket.io-client-cpp.git
+    fi
+    cd socket.io-client-cpp
+    git submodule init
+    git submodule update
+    mkdir -p build && cd build
+    cmake \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_INSTALL_PREFIX=/usr/local \
+        -DBUILD_UNIT_TESTS=OFF \
+        ..
+    make -j 3
+    make install
+
+install:
+  - |
+    cd ${TRAVIS_BUILD_DIR}
+    DIRS_TO_EXCLUDE=".git 3rd cmake docs build .idea cmake-build-debug cmake-build-release"
+    for DIR in ${DIRS_TO_EXCLUDE}; do
+      EXCLUDE_CMD="${EXCLUDE_CMD} -type d -name ${DIR} -prune -o"
+    done
+    FILES=$(find -E . ${EXCLUDE_CMD} -type f -regex ".*\.(c|h|cc|hh|cpp|hpp)" -print)
+    for FILE in ${FILES}; do
+      RET=$(diff ${FILE} <(clang-format -style=file ${FILE}) 2>&1 || true)
+      if [ -n "${RET}" ]; then
+        FILES_TO_FORMAT="${FILES_TO_FORMAT} ${FILE}"
+      fi
+    done
+  - |
+    if [ -n "${FILES_TO_FORMAT}" ]; then
+      echo "Please apply clang-format to following files:"
+      for FILE in ${FILES_TO_FORMAT}; do echo "* ${FILE}"; done
+      travis_terminate 1
+    fi
+    echo "There is no file which needs clang-format"
+  - |
+    cd ${TRAVIS_BUILD_DIR}
+    mkdir -p build && cd build
+    cmake \
+        -DBUILD_WITH_MARCH_NATIVE=ON \
+        -DUSE_PANGOLIN_VIEWER=ON \
+        -DUSE_SOCKET_PUBLISHER=OFF \
+        -DUSE_STACK_TRACE_LOGGER=ON \
+        -DBOW_FRAMEWORK=DBoW2 \
+        -DBUILD_TESTS=ON \
+        ..
+    make -j 3
+  - |
+    cd ${TRAVIS_BUILD_DIR}
+    mkdir -p build && cd build
+    cmake \
+        -DBUILD_WITH_MARCH_NATIVE=ON \
+        -DUSE_PANGOLIN_VIEWER=OFF \
+        -DUSE_SOCKET_PUBLISHER=ON \
+        -DUSE_STACK_TRACE_LOGGER=ON \
+        -DBOW_FRAMEWORK=DBoW2 \
+        -DBUILD_TESTS=ON \
+        ..
+    make -j 3
+  - |
+    cd ${TRAVIS_BUILD_DIR}
+    mkdir -p build && cd build
+    cmake \
+        -DBUILD_WITH_MARCH_NATIVE=ON \
+        -DUSE_PANGOLIN_VIEWER=OFF \
+        -DUSE_SOCKET_PUBLISHER=OFF \
+        -DUSE_STACK_TRACE_LOGGER=ON \
+        -DBOW_FRAMEWORK=DBoW2 \
+        -DBUILD_TESTS=ON \
+        ..
+    make -j 3
+
+before_script:
+  - mkdir -p ${DATASET_DIR}
+  - |
+    cd ${DATASET_DIR}
+    if [ -z "$(ls orb_vocab)" ]; then
+        FILE_ID="1wUPb328th8bUqhOk-i8xllt5mgRW4n84"
+        curl -sc /tmp/cookie "https://drive.google.com/uc?export=download&id=${FILE_ID}" > /dev/null
+        CODE="$(awk '/_warning_/ {print $NF}' /tmp/cookie)"
+        curl -sLb /tmp/cookie "https://drive.google.com/uc?export=download&confirm=${CODE}&id=${FILE_ID}" -o orb_vocab.zip
+        unzip orb_vocab.zip
+        rm orb_vocab.zip
+    fi
+  - |
+    cd ${DATASET_DIR}
+    if [ -z "$(ls video_for_ci_1)" ]; then
+        FILE_ID="1TXjREzkht3iRz__qVx4oYRW1GXsv37ct"
+        curl -sc /tmp/cookie "https://drive.google.com/uc?export=download&id=${FILE_ID}" > /dev/null
+        CODE="$(awk '/_warning_/ {print $NF}' /tmp/cookie)"
+        curl -sLb /tmp/cookie "https://drive.google.com/uc?export=download&confirm=${CODE}&id=${FILE_ID}" -o video_for_ci_1.zip
+        unzip video_for_ci_1.zip
+        rm video_for_ci_1.zip
+    fi
+
+script:
+  - |
+    cd ${TRAVIS_BUILD_DIR}
+    cd build
+    ctest -V
+  - |
+    cd ${TRAVIS_BUILD_DIR}
+    cd build
+    ./run_video_slam \
+        -v ${DATASET_DIR}/orb_vocab/orb_vocab.dbow2 \
+        -m ${DATASET_DIR}/video_for_ci_1/video.mp4 \
+        -c ${DATASET_DIR}/video_for_ci_1/config.yaml \
+        --frame-skip 3 --no-sleep --map-db map.msg --debug
+  - |
+    cd ${TRAVIS_BUILD_DIR}
+    cd build
+    ./run_video_localization \
+        -v ${DATASET_DIR}/orb_vocab/orb_vocab.dbow2 \
+        -m ${DATASET_DIR}/video_for_ci_1/video.mp4 \
+        -c ${DATASET_DIR}/video_for_ci_1/config.yaml \
+        --frame-skip 3 --no-sleep --map-db map.msg --debug

3rd/json/LICENSE

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+MIT License 
+
+Copyright (c) 2013-2019 Niels Lohmann
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.