LSD SLAM源码 windows版本非ROS版本

此版本是国外大神整理的LSD SLAM的非ROS版本，添加相应的库之后即可直接在windows或者Linux下运行。

/**
* This file is part of LSD-SLAM.
*
* Copyright 2013 Jakob Engel  （Technical University of Munich）
* For more information see  
*
* LSD-SLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation either version 3 of the License or
* （at your option） any later version.
*
* LSD-SLAM is distributed in the hope that it will be useful
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with LSD-SLAM. If not see .
*/

#include “DebugOutput3DWrapper.h“
#include “lsd_slam\util\sophus_util.h“
#include “lsd_slam\util\settings.h“

//#include “lsd_slam_viewer/keyframeGraphMsg.h“
//#include “lsd_slam_viewer/keyframeMsg.h“

#include “lsd_slam/model/frame.h“
#include “lsd_slam/global_mapping/key_frame_graph.h“
#include “sophus/sim3.hpp“
#include “lsd_slam/global_mapping/g2o_type_sim3_sophus.h“
#include 

namespace lsd_slam
{


DebugOutput3DWrapper::DebugOutput3DWrapper（int width int height）
{
	cvNamedWindow（“Tracking_output“ 1）; //Create window
	this->width = width;
	this->height = height;

	/*liveframe_channel = nh_.resolveName（“lsd_slam/liveframes“）;
	liveframe_publisher = nh_.advertiseameMsg>（liveframe_channel1）;

	keyframe_channel = nh_.resolveName（“lsd_slam/keyframes“）;
	keyframe_publisher = nh_.advertiseameMsg>（keyframe_channel1）;

	graph_channel = nh_.resolveName（“lsd_slam/graph“）;
	graph_publisher = nh_.advertiseameGraphMsg>（graph_channel1）;

	debugInfo_channel = nh_.resolveName（“lsd_slam/debug“）;
	debugInfo_publisher = nh_.advertise（debugInfo_channel1）;

	pose_channel = nh_.resolveName（“lsd_slam/pose“）;
	pose_publisher = nh_.advertise（pose_channel1）;*/

	tracker_display = cv::Mat::ones（640 480 CV_8UC1）;
	cv::circle（tracker_display cv::Point（100100） 20 cv::Scalar（0 255 0））;
	cv::imshow（“Tracking_output“ tracker_display）;
	cvWaitKey（10）;
	publishLvl=0;
}

DebugOutput3DWrapper::~DebugOutput3DWrapper（）
{
}


void DebugOutput3DWrapper::publishKeyframe（frame* f）
{
	KeyframeMessage fMsg;


	boost::shared_lock lock = f->getActiveLock（）;

	fMsg.id = f->id（）;
	fMsg.time = f->timestamp（）;
	fMsg.isKeyframe = true;

	int w = f->width（publishLvl）;
	int h = f->height（publishLvl）;

	memcpy（fMsg.camToWorld.data（） f->getScaledCamToWorld（）.cast（）.data（） sizeof（float）*7）;
	fMsg.fx = f->fx（publishLvl）;
	fMsg.fy = f->fy（publishLvl）;
	fMsg.cx = f->cx（publishLvl）;
	fMsg.cy = f->cy（publishLvl）;
	fMsg.width = w;
	fMsg.height = h;

	

	//fMsg.pointcloud.resize（w*h*sizeof（InputPointDense））;

	//Inp

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2015-01-14 08:59  lsd_slam-master\
     文件        1079  2015-01-14 08:59  lsd_slam-master\.gitignore
     文件        7931  2015-01-14 08:59  lsd_slam-master\CMakeLists.txt
     文件       35121  2015-01-14 08:59  lsd_slam-master\License.txt
     文件        1320  2015-01-14 08:59  lsd_slam-master\Readme.md
     文件        2156  2015-01-14 08:59  lsd_slam-master\WindowsBuildInstruction.md
     目录           0  2015-01-14 08:59  lsd_slam-master\apps\
     文件          85  2015-01-14 08:59  lsd_slam-master\apps\CMakeLists.txt
     目录           0  2015-01-14 08:59  lsd_slam-master\apps\slam\
     文件         952  2015-01-14 08:59  lsd_slam-master\apps\slam\CMakeLists.txt
     文件        8011  2015-01-14 08:59  lsd_slam-master\apps\slam\DebugOutput3DWrapper.cpp
     文件        3192  2015-01-14 08:59  lsd_slam-master\apps\slam\DebugOutput3DWrapper.h
     文件        2095  2015-01-14 08:59  lsd_slam-master\apps\slam\main_live_odometry.cc
     文件        8864  2015-01-14 08:59  lsd_slam-master\apps\slam\main_on_images.cc
     文件        2451  2015-01-14 08:59  lsd_slam-master\apps\slam\sample_app.cc
     目录           0  2015-01-14 08:59  lsd_slam-master\cmake\
     文件        7121  2015-01-14 08:59  lsd_slam-master\cmake\LsdSlamConfig.cmake.in
     文件        3439  2015-01-14 08:59  lsd_slam-master\cmake\LsdSlamDependencies.cmake
     文件        3619  2015-01-14 08:59  lsd_slam-master\cmake\LsdSlamDependencies_Config.cmake.in
     文件        6751  2015-01-14 08:59  lsd_slam-master\cmake\LsdSlamUtil.cmake
     文件        1025  2015-01-14 08:59  lsd_slam-master\cmake\cmake_uninstall.cmake.in
     目录           0  2015-01-14 08:59  lsd_slam-master\cmake\modules\
     文件        3413  2015-01-14 08:59  lsd_slam-master\cmake\modules\FindG2O.cmake
     文件        2787  2015-01-14 08:59  lsd_slam-master\cmake\modules\FindSuiteParse.cmake
     文件       26059  2015-01-14 08:59  lsd_slam-master\cmake\modules\FindSuiteSparse.cmake
     目录           0  2015-01-14 08:59  lsd_slam-master\data\
     文件       51768  2015-01-14 08:59  lsd_slam-master\data\out_camera_data.xml
     目录           0  2015-01-14 08:59  lsd_slam-master\doc\
     文件       83496  2015-01-14 08:59  lsd_slam-master\doc\cmake-step1-configure.png
     文件      114908  2015-01-14 08:59  lsd_slam-master\doc\cmake-step2-paths-edit.png
     文件       87012  2015-01-14 08:59  lsd_slam-master\doc\cmake-step3-reconfigure.png
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