# fabmap-2

**Repository Path**: wang_yu_wei/fabmap-2

## Basic Information

- **Project Name**: fabmap-2
- **Description**: evaluation
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-06-16
- **Last Updated**: 2020-12-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

openFABMAP
==========

Open Source C++ Code for the FAB-MAP Algorithm

See the [Wiki](https://github.com/arrenglover/openfabmap/wiki) for tips!

version 2.02

OpenFABMAP [Glover et. al. 2012](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5509547&tag=1) is an open-source, OpenCV-only dependent, version of the popular Fast Appearance-based Mapping (FAB-MAP) algorithm [Cummins & Newman 2008](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5509547&tag=1 Glover et al. 2010). OpenFABMAP was developed from the ground-up following FAB-MAP publications. The original FAB-MAP algorithm is now also [open-source](http://www.robots.ox.ac.uk/~mjc/Software.htm) but requires alternative project dependencies. 

FAB-MAP is a Simultaneous Localisation and Mapping algorithm which operates solely in appearance space. FAB-MAP performs location matching between places that have been visited within the world as well as providing a measure of the probability of being at a new, previously unvisited location. Camera images form the sole input to the system, from which OpenCV's feature extraction methods are used to develop bag-of-words representations for the Bayesian comparison technique. 

The code has implementations of
 * Feature Detection, Feature Extraction, and Bag-of-words models using OpenCV
 * Chow-Liu tree implementation
 * FAB-MAP v1.0 [Cummins & Newman 2008](http://ijr.sagepub.com/content/27/6/647.short Cummins & Newman 2008)
 * FAB-MAP v1.0 using a Look-up-table for improved computation speed
 * FAB-MAP with Fast-Bailout [Cummins & Newman 2010](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5613942)
 * FAB-MAP v2.0 [Cummins & Newman 2010](http://ijr.sagepub.com/content/30/9/1100.short)

An overview of OpenFABMAP [Glover et. al. 2012](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5509547&tag=1) or the original implementation/use [Glover et al. 2010](http://eprints.qut.edu.au/50317/1/glover_ICRA2012_final.pdf).

As of the latest version, openFABMAP is dependent solely on [OpenCV 2.3](http://opencv.org/) or higher but is currently underdevelopment for OpenCV 3.0.  The project has a [CMake](http://www.cmake.org/) build environment for general use on both Linux and Windows systems. OpenFABMAP is also designed to integrate with [ROS](http://www.ros.org/wiki/). See the [CyPhy-ROS](https://wiki.qut.edu.au/display/cyphy/cyphy+ROS+wiki+page) page for a package that has implemented openFABMAP as a ROS node.

Check out the GitHub Wiki for some instructions and tips on running openFABMAP.

_Citations_
[Endnote](http://openfabmap.googlecode.com/files/openFABMAP.enw)
[BibTex](http://openfabmap.googlecode.com/files/openFABMAP.bib BibTex)

The original googlecode project page was [here](http://code.google.com/p/openfabmap/)

#Installation

OPENCV2.4 Compatibility

if using openCV2.4 you will need to replace

>//\#define OPENCV2P4
with
>\#define OPENCV2P4

at the beggining of openFABMAPcli.cpp

Installation Instructions (using Cmake)

Windows (Visual Studio 2008)

1. install [openCV2.3](http://opencv.willowgarage.com/wiki/)
2. install [cmake](www.cmake.org/)
3. open the cmake gui, specify the source directory (the directory this README is in), a build directory for the code, and click configure
4. you may have to specify the location of opencv2.3 in UngroupedEntries->OPENCV_PATH.
5. click configure in the cmake gui again
6. click generate
7. open the visual studio solution, for default running right-click on openFABMAPexe project and select 'Set as StartUp project'. Compile openFABMAP within Visual studio.
8. add required .dll files from openCV2.3 to your build/bin directory (respective debug versions for debug mode).
9. you also may need an extra tbb .dll due to OpenCV bug which can be downloaded [here](http://threadingbuildingblocks.org/ver.php?fid=171)
10. under openFABMAPcli->properties->Debugging->command arguments specify the path to the settings file (e.g. "-s samples\settings.yml")
11. Alter the settings file for your data
12. run exampleopenFABMAP in your build/bin directory (respective debug versions for debug mode).


Linux (g++)

1. install openCV2.3
2. get cmake and install it using your package manager
3. install cmakecurses using your package manager
2. make a build directory for your generated code
3. use the command line to change into this directory
4. run 'cmake /path/to/your/build/dir'
5. Hopefully openCV was found. If not, you may have to specify the directory manually using ccmake. Try using the wizard option cmake -i.
6. run 'make' in your build directory
5. Alter the settings file for your application
6. run openFABMAPcli in your build/bin directory