Ported to Kinetic on Uubntu 16.04

Seanmatthews · Feb 13, 2017 · 5906aff · 5906aff
1 parent ce19965
commit 5906aff
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Showing 4 changed files with 46 additions and 23 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -16,15 +16,29 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  image_transport
+  sensor_msgs
+  cv_bridge
+  tf
+)
+
 find_package(OpenCV REQUIRED)
 find_package(Eigen3 REQUIRED)
 
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS roscpp image_transport sensor_msgs cv_bridge tf
+)
+
 include_directories(
 ${PROJECT_SOURCE_DIR}
 ${EIGEN3_INCLUDE_DIR}
+${catkin_INCLUDE_DIRS}
 )
 
-rosbuild_add_executable(${PROJECT_NAME}
+add_executable(${PROJECT_NAME}
 src/main.cc
 src/Tracking.cc
 src/LocalMapping.cc
@@ -44,12 +58,13 @@ src/KeyFrameDatabase.cc
 src/Sim3Solver.cc
 src/Initializer.cc
 )
-rosbuild_add_boost_directories()
-rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
 
 target_link_libraries(${PROJECT_NAME}
 ${OpenCV_LIBS}
 ${EIGEN3_LIBS}
+${catkin_LIBRARIES}
 ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
 ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
 )

diff --git a/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h b/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h
@@ -53,7 +53,10 @@ class LinearSolverEigen: public LinearSolver<MatrixType>
   public:
     typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
     typedef Eigen::Triplet<double> Triplet;
-    typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;
+
+    // https://github.com/arntanguy/ORB_SLAM2/commit/691d6af2a018e6261995ecd382d676b45cb63c6a
+    typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;
+
     /**
      * \brief Sub-classing Eigen's SimplicialLDLT to perform ordering with a given ordering
      */

diff --git a/manifest.xml b/manifest.xml
diff --git a/package.xml b/package.xml
@@ -0,0 +1,24 @@
+<package>
+  <name>ORB_SLAM</name>
+  <version>0.0.0</version>
+  <description>ORB_SLAM</description>
+  <author>Raul Mur-Artal</author>
+  <maintainer email="[email protected]">dev</maintainer>
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>cv_bridge</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>cv_bridge</run_depend>    
+
+</package>
+
+