Cleaner Thirdparties

More unnecessary files have been removed from g2o. Changed sparse solver from Cholmod to Eigen. Removed dependency on Cholmod and Suitesparse.
aiwensi · Jan 16, 2016 · ce33872 · ce33872
1 parent 25ad77f
commit ce33872
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Showing 131 changed files with 848 additions and 10,443 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -18,12 +18,10 @@ LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
 find_package(OpenCV REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(Cholmod REQUIRED)
 
 include_directories(
 ${PROJECT_SOURCE_DIR}
 ${EIGEN3_INCLUDE_DIR}
-${CHOLMOD_INCLUDE_DIR}
 )
 
 rosbuild_add_executable(${PROJECT_NAME}
@@ -52,14 +50,7 @@ rosbuild_link_boost(${PROJECT_NAME} thread)
 target_link_libraries(${PROJECT_NAME}
 ${OpenCV_LIBS}
 ${EIGEN3_LIBS}
-cholmod
 ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_core.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_solver_cholmod.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_solver_dense.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_stuff.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_types_sba.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_types_sim3.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_types_slam3d.so
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
 )
 
diff --git a/Thirdparty/DBoW2/DBoW2/LICENSE.txt b/Thirdparty/DBoW2/DBoW2/LICENSE.txt
diff --git a/Thirdparty/DBoW2/DBoW2/ScoringObject.h b/Thirdparty/DBoW2/DBoW2/ScoringObject.h
@@ -39,6 +39,8 @@ class GeneralScoring
 	static const double LOG_EPS; 
   // If you change the type of WordValue, make sure you change also the
 	// epsilon value (this is needed by the KL method)
+
+  virtual ~GeneralScoring() {} //!< Required for virtual base classes
 
 };
 

diff --git a/Thirdparty/DBoW2/DUtils/LICENSE.txt b/Thirdparty/DBoW2/DUtils/LICENSE.txt
diff --git a/Thirdparty/DBoW2/LICENSE.txt b/Thirdparty/DBoW2/LICENSE.txt
@@ -1,14 +1,8 @@
-This is a modified version of:
-
 DBoW2: bag-of-words library for C++ with generic descriptors
 
 Copyright (c) 2015 Dorian Galvez-Lopez. http://doriangalvez.com
 All rights reserved.
 
-This version contains only a subset of the original components of the library
-and DBoW2/FORB.cpp has been modified (see the file for details).
-
-
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions
 are met:

diff --git a/Thirdparty/DBoW2/README.txt b/Thirdparty/DBoW2/README.txt
@@ -0,0 +1,7 @@
+You should have received this DBoW2 version along with ORB-SLAM (https://github.com/raulmur/ORB_SLAM).
+See the original DBoW2 library at: https://github.com/dorian3d/DBoW2
+All files included in this version are BSD, see LICENSE.txt
+
+We also use Random.h, Random.cpp, Timestamp.pp and Timestamp.h from DLib/DUtils.
+See the original DLib library at: https://github.com/dorian3d/DLib
+All files included in this version are BSD, see LICENSE.txt
diff --git a/Thirdparty/g2o/CMakeLists.txt b/Thirdparty/g2o/CMakeLists.txt
@@ -3,9 +3,6 @@ SET(CMAKE_LEGACY_CYGWIN_WIN32 0)
 
 PROJECT(g2o)
 
-# The library prefix
-SET(LIB_PREFIX g2o_)
-
 SET(g2o_C_FLAGS)
 SET(g2o_CXX_FLAGS)
 
@@ -16,29 +13,7 @@ ENDIF()
 
 MESSAGE(STATUS "BUILD TYPE:" ${CMAKE_BUILD_TYPE})
 
-# postfix, based on type
-SET(CMAKE_DEBUG_POSTFIX "_d" CACHE STRING "postfix applied to debug build of libraries")
-SET(CMAKE_RELEASE_POSTFIX "" CACHE STRING "postfix applied to release build of libraries")
-SET(CMAKE_RELWITHDEBINFO_POSTFIX "_rd" CACHE STRING "postfix applied to release-with-debug-information libraries")
-SET(CMAKE_MINSIZEREL_POSTFIX "_s" CACHE STRING "postfix applied to minimium-size-build libraries")
-
-# work out the postfix; required where we use OUTPUT_NAME
-IF(CMAKE_BUILD_TYPE MATCHES Release)
-  SET(EXE_POSTFIX)
-ELSEIF(CMAKE_BUILD_TYPE MATCHES Debug)
-  SET(EXE_POSTFIX ${CMAKE_DEBUG_POSTFIX})
-ELSEIF(CMAKE_BUILD_TYPE MATCHES RelWithDebInfo)
-  SET(EXE_POSTFIX ${CMAKE_RELWITHDEBINFO_POSTFIX})
-ELSEIF(CMAKE_BUILD_TYPE MATCHES MinSizeRel)
-  SET(EXE_POSTFIX ${CMAKE_MINSIZEREL_POSTFIX})
-ENDIF(CMAKE_BUILD_TYPE MATCHES Release)
-
-# Allow the developer to select if Dynamic or Static libraries are built
-OPTION (BUILD_SHARED_LIBS "Build Shared Libraries (preferred and required for the g2o plugin system)" ON)
-SET (G2O_LIB_TYPE STATIC)
-IF (BUILD_SHARED_LIBS)
-  SET (G2O_LIB_TYPE SHARED)
-ENDIF()
+SET (G2O_LIB_TYPE SHARED)
 
 # There seems to be an issue with MSVC8
 # see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=83
@@ -47,9 +22,7 @@ if(MSVC90)
   message(STATUS "Disabling memory alignment for MSVC8")
 endif(MSVC90)
 
-
 # Set the output directory for the build executables and libraries
-SET(g2o_RUNTIME_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the binaries")
 IF(WIN32)
   SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the libraries")
 ELSE(WIN32)
@@ -70,15 +43,8 @@ IF(UNIX)
 ENDIF(UNIX)
 
 # For building the CHOLMOD / CSPARSE solvers
-FIND_PACKAGE(Cholmod REQUIRED)
 FIND_PACKAGE(BLAS REQUIRED)
 FIND_PACKAGE(LAPACK REQUIRED)
-IF(CHOLMOD_FOUND AND BLAS_FOUND AND LAPACK_FOUND)
-  MESSAGE(STATUS "Found CHOLMOD and its dependencies")
-  SET(CHOLMOD_FOUND TRUE)
-ELSE()
-  SET(CHOLMOD_FOUND FALSE)
-ENDIF()
 
 # Eigen library parallelise itself, though, presumably due to performance issues
 # OPENMP is experimental. We experienced some slowdown with it
@@ -113,14 +79,100 @@ ELSE(EIGEN3_FOUND)
 ENDIF(EIGEN3_FOUND)
 
 # Generate config.h
-SET(G2O_HAVE_CHOLMOD ${CHOLMOD_FOUND})
-SET(G2O_SHARED_LIBS ${BUILD_SHARED_LIBS})
-SET(G2O_LGPL_SHARED_LIBS ${BUILD_LGPL_SHARED_LIBS})
 SET(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}")
 configure_file(config.h.in ${g2o_SOURCE_DIR}/config.h)
 
 # Set up the top-level include directories
-INCLUDE_DIRECTORIES(${g2o_SOURCE_DIR} ${G2O_EIGEN3_INCLUDE})
+INCLUDE_DIRECTORIES(
+${g2o_SOURCE_DIR}/core
+${g2o_SOURCE_DIR}/types
+${g2o_SOURCE_DIR}/stuff 
+${G2O_EIGEN3_INCLUDE})
 
 # Include the subdirectories
-ADD_SUBDIRECTORY(g2o)
+ADD_LIBRARY(g2o ${G2O_LIB_TYPE}
+#types
+g2o/types/types_sba.h
+g2o/types/types_six_dof_expmap.h
+g2o/types/types_sba.cpp
+g2o/types/types_six_dof_expmap.cpp
+g2o/types/types_seven_dof_expmap.cpp
+g2o/types/types_seven_dof_expmap.h
+g2o/types/se3quat.h
+g2o/types/se3_ops.h
+g2o/types/se3_ops.hpp
+#core
+g2o/core/base_edge.h
+g2o/core/base_binary_edge.h
+g2o/core/hyper_graph_action.cpp
+g2o/core/base_binary_edge.hpp
+g2o/core/hyper_graph_action.h
+g2o/core/base_multi_edge.h           
+g2o/core/hyper_graph.cpp
+g2o/core/base_multi_edge.hpp         
+g2o/core/hyper_graph.h
+g2o/core/base_unary_edge.h          
+g2o/core/linear_solver.h
+g2o/core/base_unary_edge.hpp         
+g2o/core/marginal_covariance_cholesky.cpp
+g2o/core/base_vertex.h               
+g2o/core/marginal_covariance_cholesky.h
+g2o/core/base_vertex.hpp             
+g2o/core/matrix_structure.cpp
+g2o/core/batch_stats.cpp             
+g2o/core/matrix_structure.h
+g2o/core/batch_stats.h               
+g2o/core/openmp_mutex.h
+g2o/core/block_solver.h              
+g2o/core/block_solver.hpp            
+g2o/core/parameter.cpp               
+g2o/core/parameter.h                 
+g2o/core/cache.cpp                   
+g2o/core/cache.h
+g2o/core/optimizable_graph.cpp       
+g2o/core/optimizable_graph.h         
+g2o/core/solver.cpp                  
+g2o/core/solver.h
+g2o/core/creators.h                 
+g2o/core/optimization_algorithm_factory.cpp
+g2o/core/estimate_propagator.cpp     
+g2o/core/optimization_algorithm_factory.h
+g2o/core/estimate_propagator.h       
+g2o/core/factory.cpp                 
+g2o/core/optimization_algorithm_property.h
+g2o/core/factory.h                   
+g2o/core/sparse_block_matrix.h
+g2o/core/sparse_optimizer.cpp  
+g2o/core/sparse_block_matrix.hpp
+g2o/core/sparse_optimizer.h
+g2o/core/hyper_dijkstra.cpp 
+g2o/core/hyper_dijkstra.h
+g2o/core/parameter_container.cpp     
+g2o/core/parameter_container.h
+g2o/core/optimization_algorithm.cpp 
+g2o/core/optimization_algorithm.h
+g2o/core/optimization_algorithm_with_hessian.cpp 
+g2o/core/optimization_algorithm_with_hessian.h
+g2o/core/optimization_algorithm_levenberg.cpp 
+g2o/core/optimization_algorithm_levenberg.h
+g2o/core/jacobian_workspace.cpp 
+g2o/core/jacobian_workspace.h
+g2o/core/robust_kernel.cpp 
+g2o/core/robust_kernel.h
+g2o/core/robust_kernel_factory.cpp
+g2o/core/robust_kernel_factory.h
+g2o/core/robust_kernel_impl.cpp 
+g2o/core/robust_kernel_impl.h
+#stuff
+g2o/stuff/string_tools.h
+g2o/stuff/color_macros.h 
+g2o/stuff/macros.h
+g2o/stuff/timeutil.cpp
+g2o/stuff/misc.h
+g2o/stuff/timeutil.h
+g2o/stuff/os_specific.c    
+g2o/stuff/os_specific.h
+g2o/stuff/string_tools.cpp
+g2o/stuff/property.cpp       
+g2o/stuff/property.h       
+)
diff --git a/Thirdparty/g2o/Changes.txt b/Thirdparty/g2o/Changes.txt
diff --git a/Thirdparty/g2o/README.txt b/Thirdparty/g2o/README.txt
@@ -0,0 +1,3 @@
+You should have received this g2o version along with ORB-SLAM (https://github.com/raulmur/ORB_SLAM).
+See the original g2o library at: https://github.com/RainerKuemmerle/g2o
+All files included in this g2o version are BSD, see license-bsd.txt