GSLAM Documentation

Introduction

GSLAM is aimed to provide a general open-source SLAM framework and benchmark with following features :

• An universal, cross-platform and full open-source SLAM platform for both research and commercial usages, which is beyond that of previous benchmarks. The SLAM interface is consisted by several lightweight, dependency-free headers, which makes it easy to interact with different datasets, SLAM algorithms and applications with plugin forms in an unified framework.
• Provide high efficient implementations of SLAM util classes like SO3, SE3, Camera, Estimator, Optimizer, Vocabulary and so on.
• Implement and evaluate plugins for existing datasets, SLAM implementations and visualized applications in an unified framework.

To learn about GSLAM, please follow the below tutorial:

• Compile and Install
• Begin with GSLAM Core
  • Svar: A Tiny Modern C++ Header Brings Unified Interface for Different Languages
  • Messenger: A Tiny Class Implemented ROS Like Pub/Sub Messaging.
  • 3D Transformations: SO3, SE3, SIM3
  • Camera Models in GSLAM
  • GImage: Replace cv::Mat with A Tiny Header
  • SLAM Map Data Structure
  • Binary Built-in File Resource
  • PICMake: A CMake Tool to Write More Elegent CMakeList.txt
• Plugins of GSLAM
  • The Plugin Structure of GSLAM
  • Application Plugin for GSLAM
  • Dataset Plugin for GSLAM
  • qviz Plugin for GSLAM
• Develop SLAM with GSLAM
  • Porting ORBSLAM to GSLAM Application
  • Tools for Developing a SLAM
  • SLAM Plugins Implemented
• Evaluate SLAM Plugins with GSLAM
  • Evaluate a SLAM plugin
  • A Dockerized SLAM BenchMark
• Use GSLAM in Other Languages
  • Use GSLAM in Python

Citation

If you use this code for your research, please cite our paper GSLAM: A General SLAM Framework and Benchmark:

@inproceedings{gslamICCV2019,
    title={GSLAM: A General SLAM Framework and Benchmark},
    author={Yong Zhao, Shibiao Xu, Shuhui Bu, Hongkai Jiang, Pengcheng Han},
    booktitle={Proceedings of the IEEE International Conference on Computer Vision},
    year={2019},
    organization={IEEE}
}

Donation

GSLAM is a free personal software without commertial support, and this project is now accepting donation from the following links:

Wechat	Alipay	PayPal
		Not Ready

Here below listed some donors names (Please note you name):

• Nobody donated this project, let's support it!

Thanks for your help!

Contacts

YongZhao: zd594.nosp@m.5@12.nosp@m.6.com

ShuhuiBu: bushu.nosp@m.hui@.nosp@m.nwpu..nosp@m.edu..nosp@m.cn

ShibiaoXu: shibi.nosp@m.ao.x.nosp@m.u@nlp.nosp@m.r.ia.nosp@m..ac.c.nosp@m.n

License

The GSLAM library is licensed under the BSD license. Note that this text refers only to the license for GSLAM itself, independent of its optional dependencies, which are separately licensed. Building GSLAM with these optional dependencies may affect the resulting GSLAM license.

Copyright (c) 2018 Northwestern Polytechnical University, Yong Zhao. All rights reserved.

This software was developed by the Yong Zhao at Northwestern Polytechnical University.

All advertising materials mentioning features or use of this software must display
the following acknowledgement: This product includes software developed by Northwestern Polytechnical University, PILAB.

Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list
of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this
list of conditions and the following disclaimer in the documentation and/or
other materials provided with the distribution.
3. All advertising materials mentioning features or use of this software must
display the following acknowledgement: This product includes software developed
by Northwestern Polytechnical University and its contributors.
4. Neither the name of the University nor the names of its contributors may be
used to endorse or promote products derived from this software without specific
prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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