Works in Windows and Linux. You need svn to get the latest version (or TortoiseSVN in Windows). svn might need to be told if you use a proxy.
BoWSLAM only works in Linux at the moment (wouldn't be too hard to port). Additional instructions here.
Linux: Use this command to check out a copy into a folder called workspace. Hit enter if asked for a password.
svn co https://open.grcnz.com/svn/point-stereo/trunk/workspace workspace
Windows: Right-click in explorer, select SVN Checkout... Enter the following url and hit ok:
https://open.grcnz.com/svn/point-stereo/trunk/workspace
Try the latest revision first, revision 1069 may work on older systems (with boost 1.39.0 or earlier).
https://open.grcnz.com/svn/point-stereo/trunk/workspace/
Or download revision 958 including all code, libraries and binaries (gcc 4.4, some bugs in BaySAC fixed since then)
BaySAC (and RANSAC and PROSAC and SimSAC and WaldSAC) for Essential Matrix estimation and Homography estimation. Topdown refinement of solution. Gold-standard refinement of E (experimental).
Fast 5-point Essential Matrix estimation and Levenberg-Marquardt refinement.
Estimate Homography and decompose into translation, rotation, plane-normal (Levenberg-Marquardt)
Bag-of-Words library: Real-time performance and dynamic retraining. Supports 10k+ images. Fast pairwise correspondences.
K-medoids clustering.
Real-time mosaicing (generates a locally accurate seamless mosaic in real-time. Does not generate a globally accurate mosaic.)
See License_and_Installation_Readme.txt. To use one simple function just copy the relevent code. To build libraries:
Install in Linux
Make sure include files and libraries for boost, Eigen, and OpenCV (if needed) are visible to gcc. If Eigen is not visible then make a symlink to it in your checkout dir: ln -s PATH_TO_YOUR_EIGEN_DIR Eigen
Either:
Open in Netbeans 7.0.
or
The makefiles supplied are generated by Netbeans. E.g. cd util; make will build libutil.a with debugging info, etc. Building BoWSLAM (cd BoWSLAM; make) will also build all libraries. Use make CONF=Release for optimised build.
It may also work in the latest Eclipse CDT (use Import Existing Project function, or create a new workspace.)
Install in Windows
Visual Studio 2008 (open ransac_bow_vision_lib.sln)
Visual Studio 2005 (open ransac_bow_vision_lib_VC2005.sln)
Make sure OpenCV, boost, Eigen header and library paths are set in the VC++ Directories
The repository is not stable as I keep fixing bugs--it is easiest to get bug fixes using svn.
Download revision 958 including all code, libraries and binaries (gcc 4.4) **now out of date**
You can use the Bag-of-Words code from any programming language under Windows
Four datasets are available via my google docs account (too large to put here). To download them please email me ( ) and I will provide access. Most are low framerate, fairly high resolution and from a single camera, and some have GPS ground truth (as NMEA data or in an openoffice spreadsheet) and camera calibration data.
Documentation for all parameters is online here. Some headers are documented, e.g. ransac.h for BaySAC, E estimation, H estimation.
1) Seperate out clustering functionality (CLARA k-medoids)
2) More examples and documentation :-)
BoWSLAM has additional requirements (and does not work reliably with gcc versions 4.4 or earlier, or early versions of boost)
K-medoids has hard-coded limit of 450 data-points in Windows, and stack allocation will fail with more than about 1000 in Linux.
