first commit

.gitignore

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+CMakeLists.txt.user
+BUILD/
+_doc/

CMakeLists.txt

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+PROJECT("SceneLib2")
+
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/")
+
+# Overide with cmake -DCMAKE_BUILD_TYPE=Release {dir}
+IF(NOT CMAKE_BUILD_TYPE)
+    MESSAGE("Build type not set (defaults to debug)")
+    MESSAGE("-DCMAKE_BUILD_TYPE=Release for release")
+    SET(CMAKE_BUILD_TYPE Debug)
+ENDIF()
+
+STRING(TOLOWER ${PROJECT_NAME} LIBRARY_NAME)
+
+ADD_SUBDIRECTORY(${LIBRARY_NAME})
+ADD_SUBDIRECTORY(examples)

CMakeModules/FindEigen3.cmake

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+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN3_FOUND - system has eigen lib with correct version
+#  EIGEN3_INCLUDE_DIR - the eigen include directory
+#  EIGEN3_VERSION - eigen version
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+  if(NOT Eigen3_FIND_VERSION_MAJOR)
+    set(Eigen3_FIND_VERSION_MAJOR 2)
+  endif(NOT Eigen3_FIND_VERSION_MAJOR)
+  if(NOT Eigen3_FIND_VERSION_MINOR)
+    set(Eigen3_FIND_VERSION_MINOR 91)
+  endif(NOT Eigen3_FIND_VERSION_MINOR)
+  if(NOT Eigen3_FIND_VERSION_PATCH)
+    set(Eigen3_FIND_VERSION_PATCH 0)
+  endif(NOT Eigen3_FIND_VERSION_PATCH)
+
+  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif(NOT Eigen3_FIND_VERSION)
+
+macro(_eigen3_check_version)
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK FALSE)
+  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK TRUE)
+  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+
+  if(NOT EIGEN3_VERSION_OK)
+
+    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+                   "but at least version ${Eigen3_FIND_VERSION} is required")
+  endif(NOT EIGEN3_VERSION_OK)
+endmacro(_eigen3_check_version)
+
+if (EIGEN3_INCLUDE_DIR)
+
+  # in cache already
+  _eigen3_check_version()
+  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+
+else (EIGEN3_INCLUDE_DIR)
+
+  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+      PATHS
+      ${CMAKE_INSTALL_PREFIX}/include
+      ${KDE4_INCLUDE_DIR}
+      PATH_SUFFIXES eigen3 eigen
+    )
+
+  if(EIGEN3_INCLUDE_DIR)
+    _eigen3_check_version()
+  endif(EIGEN3_INCLUDE_DIR)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+  mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif(EIGEN3_INCLUDE_DIR)
+

LICENCE

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+This file is part of the SceneLib2 Project.
+http://hanmekim.blogspot.com/2012/10/scenelib2-monoslam-open-source-library.html
+https://github.com/hanmekim/SceneLib2
+
+Copyright (c) 2012 Hanme Kim (hanme.kim@gmail.com)
+
+SceneLib2 is an open-source C++ library for SLAM originally designed and implemented
+by Professor Andrew Davison (http://www.doc.ic.ac.uk/~ajd/) at Imperial College London.
+
+I reimplemented his version with the following objectives;
+ 1. Understand his MonoSLAM algorithm in code level.
+ 2. Replace older libraries (i.e. VW34, GLOW, VNL, Pthread) with newer ones
+    (Pangolin, Eigen3, Boost).
+ 3. Support USB camera instead of IEEE1394.
+ 4. Make it more portable and convenient by using CMake and git repository.
+
+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.
+

README

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+==========================================
+ SceneLib2 - MonoSLAM open-source library
+==========================================
+Please also refer to the following links;
+http://hanmekim.blogspot.com/2012/10/scenelib2-monoslam-open-source-library.html
+https://github.com/hanmekim/SceneLib2
+
+**********************
+* What is SceneLib2? *
+**********************
+SceneLib2 is an open-source C++ library for SLAM originally designed and
+implemented by Professor Andrew Davison (http://www.doc.ic.ac.uk/~ajd/) at
+Imperial College London.
+
+******************************
+* Why is it named SceneLib2? *
+******************************
+His version, SceneLib 1.0, was released with full source code under the LGPL,
+and as SceneLib2 is a reimplemented version of it, I gave the same name with a
+new version number to this library.
+
+****************************
+* Why is it reimplemented? *
+****************************
+I reimplemented his version with the following objectives;
+ 1. Understand his MonoSLAM algorithm in code level.
+ 2. Replace older libraries (i.e. VW34, GLOW, VNL, Pthread) with newer ones
+    (Pangolin, Eigen3, Boost).
+ 3. Support USB camera instead of IEEE1394.
+ 4. Make it more portable and convenient by using CMake and git repository.
+
+******************
+* Implementation *
+******************
+I tried to make it as same as the original version, so that I can easily find
+any problems that I might have introduced to it by accident (I didn't even
+change most of functions' and variables' name). But, at the same time, I also
+tried to make it easier to understand by using different class architectures
+and various changes.
+
+To give you the same executable example program like MonoSLAMGlow in
+SceneLib 1.0, I implemented a very similar one called MonoSlamSenceLib1, and
+again I tried to make it as same as the original version.
+
+**********************
+* Notes and Warnings *
+**********************
+Even though my intention is to make it as a cross-platform library, I only
+added and tested it for the following platforms, but, of course, I will
+increase its portability continuously (you can check the following platforms
+list later on).
+ * Ubuntu 12.04 LTS - 32bits
+
+This library is a research-level software which is still in development. It
+will be frequently changed without notification to fix bugs, to add more
+features and to make it better.
+
+****************
+* Installation *
+****************
+1. Install various development related packages
+ $ sudo apt-get install build-essential
+ $ sudo apt-get install git cmake
+ $ sudo apt-get install freeglut3-dev libglu-dev libglew-dev
+ $ sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev
+
+2. Install Engen3
+ $ sudo apt-get install libeigen3-dev
+
+3. Install Boost
+ $ sudo apt-get install libboost-all-dev
+
+4. Install OpenCV
+ $ cd MY_EXTERNAL_LIBRARIES_DIRECTORY
+ $ wget http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.4.2/OpenCV-2.4.2.tar.bz2
+ $ tar xvf OpenCV-2.4.2.tar.bz2
+ $ cd OpenCV-2.4.2
+ $ mkdir BUILD
+ $ cd BUILD
+ $ cmake ..
+ $ make -j4
+ $ sudo make install
+
+5. Install Pangolin
+ $ cd MY_EXTERNAL_LIBRARIES_DIRECTORY
+ $ git clone git://github.com/stevenlovegrove/Pangolin.git
+ $ cd Pangolin
+ $ mkdir BUILD
+ $ cd BUILD
+ $ cmake ..
+ $ make -j4
+ $ sudo make install
+
+6. Install SceneLib2
+ $ cd MY_WORK_DIRECTORY
+ $ git clone git://github.com/hanmekim/SceneLib2.git SceneLib2
+ $ cd SceneLib2
+ $ mkdir BUILD
+ $ cd BUILD
+ $ cmake ..
+ $ make -j4
+
+7. Download an example image sequence
+ $ cd MY_IMAGE_DIRECTORY
+ $ wget www.doc.ic.ac.uk/~ajd/Scene/Release/testseqmonoslam.tar.gz
+ $ tar xvf testseqmonoslam.tar.gz
+
+**************
+* How to use *
+**************
+1-1. Modify the configuration file to use the example image sequence
+ $ gedit MY_WORK_DIRECTORY/SceneLib2/data/SceneLib2.cfg
+
+ > input.mode = 0;
+ > input.name = MY_IMAGE_DIRECTORY/TestSeqMonoSLAM;
+
+ # these are default camera parameters for the example image sequence
+ > cam.width = 320;
+ > cam.height = 240;
+ > cam.fku = 195;
+ > cam.fkv = 195;
+ > cam.u0 = 162;
+ > cam.v0 = 125;
+ > cam.kd1 = 9e-06;
+ > cam.sd = 1;
+
+1-2. Modify the configuration file to use a USB camera
+ $ gedit MY_WORK_DIRECTORY/SceneLib2/data/SceneLib2.cfg
+
+ > input.mode = 1;
+ # change [number] to your camera (e.g. mine is video0)
+ > input.name = convert:[fmt=RGB24]//v4l:///dev/video[number];
+
+ # these are default camera parameters for (Logitech V-U0009),
+ # not calibrated properly, but it works for now
+ > cam.width = 320;
+ > cam.height = 240;
+ > cam.fku = 195;
+ > cam.fkv = 195;
+ > cam.u0 = 162;
+ > cam.v0 = 125;
+ > cam.kd1 = 1e-12;
+ > cam.sd = 1;
+
+2. Run MonoSlamSceneLib1
+ $ cd MY_WORK_DIRECTORY/SceneLib2/BUILD/examples
+ $ ./MonoSlamSceneLib1
+
+****************
+* Known issues *
+****************
+There are known issues, and they will be resolved as soon as possible.
+ * Detected features are slightly different to the original version's.
+ * The following functionalities are not supported yet
+   - Initialise Manual Feature button
+   - Initialise Auto Feature button
+   - Delete Feature button
+   - Save Patch button
+ * Most of member functions and variables are currently public for convenient
+   debugging, and they will be properly encapsulated later.
+
+*************
+* Thanks to *
+*************
+I really appreciate Professor Andrew Davison for sharing his great achievement,
+and I promise him that I will share every findings based on this to help others
+who are interested in this field as he is doing continuously in various ways.
+Thank you.
+