# Pop Up SLAM #
This code contains a basic implementation for pop-up plane SLAM. Given RGB and ground segmentation image/video, the algorithm pop up walls from each frame then formulate a plane SLAM to optimize both camera pose and plane positions. ```pop_planar_slam``` is main package. Other code is based on and modified from single image.
**Related Paper:**
* **Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments**, IROS 2016, S. Yang, Y. Song, M. Kaess, S. Scherer [**PDF**](https://shichaoy.github.io/Publications/iros_2016_popslam.pdf)
* **Real-time 3D Scene Layout from a Single Image Using Convolutional Neural Networks**, ICRA 2016, S. Yang, D. Maturana, S. Scherer [**PDF**](https://shichaoy.github.io/Publications/icra_2016_sinpop.pdf)
If you use the code in your research work, please cite the above paper. Feel free to contact the authors if you have any further questions.
# Installation
### Prerequisites
This code contains several ros packages. We test it in **ROS indigo/kinetic, Ubuntu 14.04/16.04, Opencv 2/3**. Create or use existing a ros workspace.
```bash
mkdir -p ~/popup_ws/src
cd ~/popup_ws/src
catkin_init_workspace
cd 项目
```
### Install dependency packages of python
```bash
sh install_dependenices.sh
```
### Download Data
```bash
sh download_data.sh
```
if the download link breaks, please download [here](https://drive.google.com/open?id=192wwtxHryaTYMNsdYEu_YI9iQNy1BCbd) and follow sh file to process it. Will fix it later.
If ```wget``` not installed, ```sudo apt-get install wget ```
### Compile
```bash
cd ~/popup_ws
catkin_make -j4
catkin_make --only-pkg-with-deps pop_up_python -j4 #just double check
catkin_make --only-pkg-with-deps pop_planar_slam -j4 #just double check
```
# Running #
```bash
source devel/setup.bash
roslaunch pop_planar_slam pop_planar_tum_far_example.launch
```
You will see results in Rviz.
### Notes
1. If it shows "NameError: 'pop_up fun...params' is not defined". That is due to python dependency modules are not installed properly. Make sure "from skimage.measure import find_contours,approximate_polygon" can work alone in python. Also 'souce setup.bash' when python changes. There is some pop-up image python function I cannot find C++ replacement therefore we have to use python... All SLAM parts are in C++.
2. The bag file dataset contains the pre-processed dataset with synced rgb and label image. The code just gives an illustration of the core algorithm. No other odometry is used now, which needs to be integrated for large dataset.
SLAM-针对低纹理环境的语义+单目+平面视觉SLAM实现-优质项目实战.zip （242个子文件） 
ORBextractor.cc 34KB Converter.cc 4KB ChangeLog 3KB add_python_export_library.cmake 5KB FindEigen3.cmake 3KB FindEigen3.cmake 3KB FindSuiteParse.cmake 3KB FindCholmod.cmake 2KB binary_descriptor.cpp 109KB popup_plane.cpp 47KB lsd.cpp 42KB Mapping.cpp 35KB matrix_utils.cpp 29KB binary_descriptor_matcher.cpp 28KB main_3d.cpp 25KB select_edge.cpp 19KB Optimizer.cpp 18KB Loader.cpp 17KB isam.cpp 15KB glc.cpp 15KB Slam.cpp 13KB line_lbd_allclass.cpp 13KB SparseMatrix.cpp 13KB Cholesky.cpp 11KB LSDDetector.cpp 11KB Collections.cpp 11KB Viewer.cpp 10KB conversion.cpp 9KB ScoringObject.cpp 8KB SparseVector.cpp 7KB draw.cpp 7KB glc.cpp 7KB ChowLiuTree.cpp 6KB profiler.cpp 6KB popup_plane_main.cpp 6KB covariance.cpp 5KB Timestamp.cpp 5KB OrderedSparseMatrix.cpp 5KB GLCReparam.cpp 5KB anchorNodes.cpp 5KB Covariances.cpp 5KB generateSpheresICRA2012.cpp 5KB FORB.cpp 4KB SparseSystem.cpp 4KB Lcm.cpp 4KB example.cpp 4KB Anchor.cpp 4KB covariances.cpp 4KB detect_lines.cpp 3KB stereo.cpp 3KB util.cpp 3KB Random.cpp 3KB odom_to_tf.cpp 3KB addRemove.cpp 3KB np_opencv_module.cpp 3KB BowVector.cpp 3KB np_opencv_converter.cpp 3KB numericalDiff.cpp 2KB isam_plane3d.cpp 2KB tf_to_odom.cpp 2KB FeatureVector.cpp 2KB Node.cpp 1KB odom_ned_tf.cpp 1KB example.cpp 1KB Map_plane.cpp 1KB Frame.cpp 659B isam.dox 64KB mainpage.dox 116B .gitignore 109B .gitignore 94B .gitignore 16B .gitignore 16B .gitignore 6B .gitignore 3B TemplatedVocabulary.h 46KB isam_plane3d.h 20KB slam2d.h 10KB popup_plane.h 10KB Rot3d.h 9KB Tutorial.h 8KB Pose3d.h 8KB Optimizer.h 8KB slam3d.h 7KB slam_stereo.h 7KB References.h 7KB SparseMatrix.h 7KB isam.h 7KB matrix_utils.h 7KB Loader.h 7KB Slam.h 7KB SparseVector.h 6KB glc.h 6KB container.h 5KB Factor.h 5KB slam_monocular.h 5KB Point3dh.h 5KB util.h 5KB Timestamp.h 4KB Pose2d.h 4KB Node.h 4KB共 242 条
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