# slambook
This is the code written for my new book about visual SLAM. It will come in April 2017. I am reviewing the context and codes right now.
It is highy recommended to download the code and run it in you machine because you can learn more and even modify it by doing so. In this repo, the code is stored by chapters like "ch2" and "ch4". Note that chapter 9 is a project so I stored it in the "project" directory.
If you have any questions about the code, please add an issue so I can solve it. Contact me for more information: gaoxiang12 dot mails dot tsinghua dot edu dot cn.
These codes are under MIT license. You don't need permission to use it or change it. But I recommed to cite this book if you are doing academic works.
Please cite:
Xiang Gao, Tao Zhang, Yi Liu, Qinrui Yan, 14 Lectures on Visual SLAM: From Theory to Practice, Publishing House of Electronics Industry, 2017.
In LaTeX:
`` @Book{Gao2017SLAM,
title={14 Lectures on Visual SLAM: From Theory to Practice},
publisher = {Publishing House of Electronics Industry},
year = {2017},
author = {Xiang Gao and Tao Zhang and Yi Liu and Qinrui Yan},
} ``
For English readers, we are currently translating this book into an online verion, see [this page](https://gaoxiang12.github.io/slambook-en/) for details.
# Contents
- ch1 Preface
- ch2 Overview of SLAM & linux, cmake
- ch3 Rigid body motion & Eigen
- ch4 Lie group and Lie Algebra & Sophus
- ch5 Cameras and Images & OpenCV
- ch6 Non-linear optimization & Ceres, g2o
- ch7 Feature based Visual Odometry
- ch8 Direct (Intensity based) Visual Odometry
- ch9 Project
- ch10 Back end optimization & Ceres, g2o
- ch11 Pose graph and Factor graph & g2o, gtsam
- ch12 Loop closure & DBoW3
- ch13 Dense reconstruction & REMODE, Octomap
# slambook (中文说明)
我最近写了一本有关视觉SLAM的书籍，这是它对应的代码。书籍将会在明年春天由电子工业出版社出版。
我强烈建议你下载这个代码。书中虽然给出了一部分，但你最好在自己的机器上编译运行它们，然后对它们进行修改以获得更好的理解。这本书的代码是按章节划分的，比如第二章内容在”ch2“文件夹下。注意第九章是工程，所以我们没有”ch9“这个文件夹，而是在”project“中存储它。
如果你在运行代码中发现问题，请在这里提交一个issue，我就能看到它。如果你有更多的问题，请给我发邮件：gaoxiang12 dot mails dot tsinghua dot edu dot cn.
本书代码使用MIT许可。使用或修改、发布都不必经过我的同意。不过，如果你是在学术工作中使用它，建议你引用本书作为参考文献。
引用格式：
高翔, 张涛, 颜沁睿, 刘毅, 视觉SLAM十四讲：从理论到实践, 电子工业出版社, 2017
LaTeX格式:
`` @Book{Gao2017SLAM,
title={视觉SLAM十四讲：从理论到实践},
publisher = {电子工业出版社},
year = {2017},
author = {高翔 and 张涛 and 刘毅 and 颜沁睿},
lang = {zh}
} ``
# 目录
- ch2 概述，cmake基础
- ch3 Eigen，三维几何
- ch4 Sophus，李群与李代数
- ch5 OpenCV，图像与相机模型
- ch6 Ceres and g2o，非线性优化
- ch7 特征点法视觉里程计
- ch8 直接法视觉里程计
- ch9 project
- ch10 Ceres and g2o，后端优化1
- ch11 g2o and gtsam，位姿图优化
- ch12 DBoW3，词袋方法
- ch13 稠密地图构建
关于勘误，请参照本代码根目录下的errata.xlsx文件。此文件包含本书从第一次印刷至现在的勘误信息。勘误将随着书籍的印刷版本更新。
# 备注
百度云备份：[https://pan.baidu.com/s/1slDE7cL]
Videos: [https://space.bilibili.com/38737757]
SLAM十四讲
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2017-10-27
21:44:37
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SLAM十四讲 （255个子文件） 
liblibmyslam.a 72KB liblibmyslam.a 72KB liblibmyslam.a 72KB liblibmyslam.a 72KB octomap.bt 55KB FindBLAS.cmake 13KB FindLAPACK.cmake 10KB FindG2O.cmake 3KB FindG2O.cmake 3KB FindG2O.cmake 3KB FindG2O.cmake 3KB FindG2O.cmake 3KB FindG2O.cmake 3KB FindG2O.cmake 3KB FindG2O.cmake 3KB FindG2O.cmake 3KB FindEigen3.cmake 3KB FindCholmod.cmake 2KB FindCholmod.cmake 2KB FindCSparse.cmake 576B FindCSparse.cmake 576B FindCSparse.cmake 576B FindCSparse.cmake 576B FindCSparse.cmake 576B FindCSparse.cmake 576B FindDBoW3.cmake 0B dense_mapping.cpp 14KB command_args.cpp 13KB command_args.cpp 13KB direct_semidense.cpp 11KB visual_odometry.cpp 11KB direct_sparse.cpp 11KB pose_estimation_3d3d.cpp 11KB g2o_bundle.cpp 10KB BALProblem.cpp 9KB BALProblem.cpp 9KB visual_odometry.cpp 8KB pose_estimation_3d2d.cpp 8KB triangulation.cpp 8KB pose_graph_g2o_lie_algebra.cpp 8KB pose_graph_gtsam.cpp 7KB visual_odometry.cpp 6KB pose_estimation_2d2d.cpp 6KB extra.cpp 6KB ceresBundle.cpp 6KB main.cpp 4KB eigenMatrix.cpp 4KB pointcloud_mapping.cpp 4KB run_vo.cpp 4KB g2o_types.cpp 4KB g2o_types.cpp 4KB visualizeGeometry.cpp 4KB run_vo.cpp 3KB run_vo.cpp 3KB feature_extraction.cpp 3KB useLK.cpp 3KB joinMap.cpp 3KB pose_graph_g2o_SE3.cpp 3KB imageBasics.cpp 3KB octomap_mapping.cpp 3KB eigenGeometry.cpp 3KB main.cpp 3KB useSophus.cpp 3KB loop_closure.cpp 2KB frame.cpp 2KB frame.cpp 2KB frame.cpp 2KB frame.cpp 2KB camera.cpp 2KB camera.cpp 2KB camera.cpp 2KB gen_vocab_large.cpp 2KB mappoint.cpp 2KB camera.cpp 2KB map.cpp 1KB map.cpp 1KB map.cpp 1KB map.cpp 1KB config.cpp 1KB config.cpp 1KB config.cpp 1KB config.cpp 1KB mappoint.cpp 1KB feature_training.cpp 1KB mappoint.cpp 1KB mappoint.cpp 1KB useHello.cpp 149B helloSLAM.cpp 126B libHelloSLAM.cpp 118B result_lie.g2o 1.7MB result_gtsam.g2o 1.69MB result.g2o 1.68MB sphere.g2o 1.68MB .gitignore 80B .gitignore 23B .gitignore 23B
ceres-solver.tar.gz 13.93MB g2o.tar.gz 7.96MB vocab_larger.yml.gz 6.48MB data.tar.gz 4.56MB共 255 条
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资源评论
zeroty2018-07-15书已经下载了，有了程序就更好了，谢谢，好好学习
Peter_J2017-11-02看错了，是程序不是书。
dhflyj2018-01-18是代码 不是pdf 谢谢楼主的分享- annyxuandxu2017-11-09代码配置详细的
