Remove GPL infringing code (#252)

* Fix frame/keyframe (Remove GPL infringing code)

* Fix graph_node (Remove GPL infringing code)

* Fix landmark (Remove GPL infringing code)

* Fix map_database (Remove GPL infringing code)

* Fix frame_publicher (Remove GPL infringing code (Remove overlay text))

* Fix pangolin_viewer (Remove GPL infringing code)

Remove color scheme black

* Fix about request (Remove GPL infringing code)

* Remove temporary variables for tracking (Remove GPL infringing code)

* Fix mapping_module (Remove GPL infringing code)

* Remove temporary variables for loop closing (Remove GPL infringing code),

and
- Remove unused parentheses
- Split global bundle adjustment into two member functions
- Fix nested ifs to logical operations.

* Remove duplicated code in loop_detector (Remove GPL infringing code)

* Fix orb_extractor (Remove GPL infringing code)

* Minimize unnecessary functions (Remove GPL infringing code)

* Move depth_thr to camera (Remove GPL infringing code)

* Update config files (Move depth_thr to Camera)

* Update feature extraction parameters (Remove GPL infringing code)

* Remove database from keyframe/frame (Remove GPL infringing code)

* Add fame_observation (Remove GPL infringing code)

* Fix match::projection (Remove GPL infringing code)

* Fix tracking (Remove GPL infringing code)

* Fix missing #include <cmath>

* Add NOTE to README.md

README.md

@@ -9,7 +9,7 @@
 
 ---
 
-> *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. If you are interested in a more detailed discussion, see [here](https://github.com/OpenVSLAM-Community/openvslam/issues/37).
+> *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 <https://github.com/OpenVSLAM-Community/openvslam/pull/252>. If you find any other issues with the license, please point them out. See <https://github.com/OpenVSLAM-Community/openvslam/issues/37> and <https://github.com/OpenVSLAM-Community/openvslam/issues/249> for discussion so far.
 
 ---
 

docs/parameters.rst

@@ -41,6 +41,8 @@ Camera
     * - focal_x_baseline
       - For stereo cameras, it is the value of the baseline between the left and right cameras multiplied by the focal length fx.
         For RGBD cameras, if the measurement method is stereo, set it based on its baseline. If the measurement method is other than that, set the appropriate value based on the relationship between depth accuracy and baseline.
+    * - depth_threshold
+      - The ratio used to determine the depth threshold.
 
 .. _section-parameters-feature:
 
@@ -53,6 +55,8 @@ Feature
 
     * - Name
       - Description
+    * - name
+      - name of ORB feature extraction model (id for saving)
     * - scale_factor
       - Scale of the image pyramid
     * - num_levels
@@ -62,10 +66,10 @@ Feature
     * - min_fast_threshold
       - FAST threshold for try second time
 
-.. _section-parameters-tracking:
+.. _section-parameters-preprocessing:
 
-Tracking
-========
+Preprocessing
+=============
 
 .. list-table::
     :header-rows: 1
@@ -77,10 +81,20 @@ Tracking
       - Maximum number of feature points per frame to be used for SLAM.
     * - ini_max_num_keypoints
       - Maximum number of feature points per frame to be used for Initialization. It is only used for monocular camera models.
-    * - depth_threshold
-      - The ratio used to determine the depth threshold.
     * - depthmap_factor
       - The ratio used to convert depth image pixel values to distance.
+
+.. _section-parameters-tracking:
+
+Tracking
+========
+
+.. list-table::
+    :header-rows: 1
+    :widths: 1, 3
+
+    * - Name
+      - Description
     * - reloc_distance_threshold
       - Maximum distance threshold (in meters) where close keyframes could be found when doing a relocalization by pose.
     * - reloc_angle_threshold
@@ -164,6 +178,24 @@ Relocalizer
     * - min_num_valid_obs
       - 
 
+.. _section-parameters-keyframe-inserter:
+
+KeyframeInserter
+================
+
+.. list-table::
+    :header-rows: 1
+    :widths: 1, 3
+
+    * - Name
+      - Description
+    * - max_interval
+      - max interval to insert keyframe
+    * - lms_ratio_thr_almost_all_lms_are_tracked
+      - Threshold at which we consider that we are tracking almost all landmarks. Ratio-threshold of "the number of 3D points observed in the current frame" / "that of 3D points observed in the last keyframe"
+    * - lms_ratio_thr_view_changed
+      - Threshold at which we consider the view to have changed. Ratio-threshold of "the number of 3D points observed in the current frame" / "that of 3D points observed in the last keyframe"
+
 .. _section-parameters-pangolin:
 
 PangolinViewer

example/aist/equirectangular.yaml

@@ -19,23 +19,24 @@ Camera:
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 2000
+  mask_rectangles:
+    - [0.0, 1.0, 0.0, 0.1]
+    - [0.0, 1.0, 0.84, 1.0]
+    - [0.0, 0.2, 0.7, 1.0]
+    - [0.8, 1.0, 0.7, 1.0]
 
 #================#
 # ORB Parameters #
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 20
   min_fast_threshold: 7
-  mask_rectangles:
-    - [0.0, 1.0, 0.0, 0.1]
-    - [0.0, 1.0, 0.84, 1.0]
-    - [0.0, 0.2, 0.7, 1.0]
-    - [0.8, 1.0, 0.7, 1.0]
 
 #====================#
 # Mapping Parameters #

example/aist/fisyeye.yaml

@@ -29,14 +29,15 @@ Camera:
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 2000
 
 #================#
 # orb parameters #
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 20

example/euroc/EuRoC_mono.yaml

@@ -30,7 +30,7 @@ Camera:
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 1000
   ini_max_num_keypoints: 2000
 
@@ -39,6 +39,7 @@ Tracking:
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 20

example/euroc/EuRoC_stereo.yaml

@@ -33,6 +33,7 @@ Camera:
   cols: 752
   rows: 480
   focal_x_baseline: 47.90639384423901
+  depth_threshold: 40
 
   color_order: "Gray"
 
@@ -55,16 +56,16 @@ StereoRectifier:
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 1000
   ini_max_num_keypoints: 2000
-  depth_threshold: 40
 
 #================#
 # ORB Parameters #
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 20

example/kitti/KITTI_mono_00-02.yaml

@@ -30,7 +30,7 @@ Camera:
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 2000
   ini_max_num_keypoints: 4000
 
@@ -39,6 +39,7 @@ Tracking:
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 20

example/kitti/KITTI_mono_03.yaml

@@ -30,7 +30,7 @@ Camera:
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 2000
   ini_max_num_keypoints: 4000
 
@@ -39,6 +39,7 @@ Tracking:
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 20

example/kitti/KITTI_mono_04-12.yaml

@@ -30,7 +30,7 @@ Camera:
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 2000
   ini_max_num_keypoints: 4000
 
@@ -39,6 +39,7 @@ Tracking:
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 20

example/kitti/KITTI_stereo_00-02.yaml

@@ -24,23 +24,24 @@ Camera:
   cols: 1241
   rows: 376
   focal_x_baseline: 386.1448
+  depth_threshold: 40
 
   color_order: "Gray"
 
 #=====================#
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 2000
   ini_max_num_keypoints: 4000
-  depth_threshold: 40
 
 #================#
 # ORB Parameters #
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 12

example/kitti/KITTI_stereo_03.yaml

@@ -24,23 +24,24 @@ Camera:
   cols: 1242
   rows: 375
   focal_x_baseline: 387.5744
+  depth_threshold: 40
 
   color_order: "Gray"
 
 #=====================#
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 2000
   ini_max_num_keypoints: 4000
-  depth_threshold: 40
 
 #================#
 # ORB Parameters #
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 12

example/kitti/KITTI_stereo_04-12.yaml

@@ -24,23 +24,24 @@ Camera:
   cols: 1226
   rows: 370
   focal_x_baseline: 379.8145
+  depth_threshold: 40
 
   color_order: "Gray"
 
 #=====================#
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 2000
   ini_max_num_keypoints: 4000
-  depth_threshold: 40
 
 #================#
 # ORB Parameters #
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 12

example/tum_rgbd/TUM_RGBD_mono_1.yaml

@@ -30,7 +30,7 @@ Camera:
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 1000
   ini_max_num_keypoints: 2000
 
@@ -39,6 +39,7 @@ Tracking:
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 20

example/tum_rgbd/TUM_RGBD_mono_2.yaml

@@ -30,7 +30,7 @@ Camera:
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 1000
   ini_max_num_keypoints: 2000
 
@@ -39,6 +39,7 @@ Tracking:
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 20

example/tum_rgbd/TUM_RGBD_mono_3.yaml

@@ -30,7 +30,7 @@ Camera:
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 1000
   ini_max_num_keypoints: 2000
 
@@ -39,6 +39,7 @@ Tracking:
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 20

example/tum_rgbd/TUM_RGBD_rgbd_1.yaml

@@ -24,24 +24,25 @@ Camera:
   cols: 640
   rows: 480
   focal_x_baseline: 40.0
+  depth_threshold: 40.0
 
   color_order: "RGB"
 
 #=====================#
 # Tracking Parameters #
 #=====================#
 
-Tracking:
+Preprocessing:
   max_num_keypoints: 1000
   ini_max_num_keypoints: 2000
-  depth_threshold: 40.0
   depthmap_factor: 5000.0 # Note: Set it to 1.0 for the rosbag format data set.
 
 #================#
 # ORB Parameters #
 #================#
 
 Feature:
+  name: "default ORB feature extraction setting"
   scale_factor: 1.2
   num_levels: 8
   ini_fast_threshold: 20