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Author: gitouni

src/orb_slam/include/KeyFrame.h

@@ -74,6 +74,8 @@ class KeyFrameConstInfo{
     cv::Mat mK;
     std::vector<cv::KeyPoint> mvKeys;
     std::vector<cv::KeyPoint> mvKeysUn;
+    std::vector<float> mvuRight; // negative value for monocular points
+    std::vector<float> mvDepth; // negative value for monocular points
     cv::Mat mDescriptors;
     bool mbFirstConnection;
 

src/orb_slam/include/MapPoint.h

@@ -52,6 +52,7 @@ class MapPoint
     int Observations();
 
     void AddObservation(KeyFrame* pKF,size_t idx);
+    void AddObservationStatic(KeyFrame* pKF, size_t idx);
     void EraseObservation(KeyFrame* pKF);
     void AssignReference(KeyFrame* pKF);
 

src/orb_slam/include/Optimizer.h

@@ -26,7 +26,15 @@
 #include "KeyFrame.h"
 #include "LoopClosing.h"
 #include "Frame.h"
+#include "g2o/core/block_solver.h"
+#include "g2o/core/optimization_algorithm_levenberg.h"
+#include "g2o/solvers/eigen/linear_solver_eigen.h"
+#include "g2o/types/sba/types_six_dof_expmap.h"
+#include "g2o/core/robust_kernel_impl.h"
+#include "g2o/solvers/dense/linear_solver_dense.h"
 #include "g2o/types/sim3/types_seven_dof_expmap.h"
+#include "g2o/core/auto_differentiation.h"
+#include <g2o/solvers/cholmod/linear_solver_cholmod.h>
 #include <Eigen/Dense>
 #include <opencv2/core/eigen.hpp>
 namespace ORB_SLAM2
@@ -44,7 +52,7 @@ class Optimizer
     void static GlobalBundleAdjustemnt(Map* pMap, int nIterations=5, bool *pbStopFlag=NULL,
                                        const unsigned long nLoopKF=0, const bool bRobust = true);
     void static LocalBundleAdjustment(KeyFrame* pKF, bool *pbStopFlag, Map *pMap);
-    int static PoseOptimization(Frame* pFrame);
+    static int PoseOptimization(Frame* pFrame);
 
     // if bFixScale is true, 6DoF optimization (stereo,rgbd), 7DoF otherwise (mono)
     void static OptimizeEssentialGraph(Map* pMap, KeyFrame* pLoopKF, KeyFrame* pCurKF,
@@ -58,8 +66,8 @@ class Optimizer
                             g2o::Sim3 &g2oS12, const float th2, const bool bFixScale);
 
     //optimize extrinsic
-    int static OptimizeExtrinsicGlobal(vector<KeyFrame*> &allKF, const vector<Eigen::Isometry3d> &vTwl, Eigen::Isometry3d &Tcl, double &scale, bool verbose=true);
-    int static OptimizeExtrinsicLocal(vector<KeyFrame*> &allKF, const vector<Eigen::Isometry3d> &vTwl, Eigen::Isometry3d &Tcl, double &scale, bool verbose=true);
+    static int OptimizeExtrinsicGlobal(vector<KeyFrame*> &allKF, const vector<Eigen::Isometry3d> &vTwl, Eigen::Isometry3d &Tcl, double &scale, bool verbose=true);
+    static int OptimizeExtrinsicLocal(vector<KeyFrame*> &allKF, const vector<Eigen::Isometry3d> &vTwl, Eigen::Isometry3d &Tcl, double &scale, bool verbose=true);
 };
 
 } //namespace ORB_SLAM

src/orb_slam/include/System.h

@@ -32,6 +32,7 @@
 #include "Map.h"
 #include "LocalMapping.h"
 #include "LoopClosing.h"
+
 #include "KeyFrameDatabase.h"
 #include "ORBVocabulary.h"
 #include "Viewer.h"