catkin support

CMakeLists.txt

@@ -1,16 +1,17 @@
-SET(PROJECT_NAME ORBSLAM_DWO)
+SET(TRACE TRUE)
+SET(MONO_SLAM TRUE)
+SET(USE_ROS TRUE)
+
+SET(PROJECT_NAME orbslam_dwo)
 PROJECT(${PROJECT_NAME})
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 cmake_minimum_required(VERSION 2.6)
-#include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-#rosbuild_init()
-SET(TRACE TRUE)
-SET(MONO_SLAM FALSE)
+SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
+    "${PROJECT_SOURCE_DIR}/cmake_modules/")
 
 IF(NOT CMAKE_BUILD_TYPE)
   SET(CMAKE_BUILD_TYPE Release)
 ENDIF()
-
 MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
 
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
@@ -26,15 +27,19 @@ IF(TRACE)
 ENDIF()
 IF(MONO_SLAM)
   ADD_DEFINITIONS(-DMONO)
+ELSE()
+  ADD_DEFINITIONS(-DSLAM_OUTPUT_VISO2)
+ENDIF()
+IF(USE_ROS)
+  add_definitions(-DSLAM_USE_ROS)
 ENDIF()
+
 IF(CMAKE_BUILD_TYPE MATCHES Debug)
   ADD_DEFINITIONS(-DSLAM_DEBUG_OUTPUT)
 ENDIF()
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
-find_package(OpenCV REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(Cholmod REQUIRED)
 FIND_PACKAGE(SuiteSparse REQUIRED)
@@ -46,14 +51,36 @@ find_package(Boost 1.45.0 COMPONENTS system thread REQUIRED)
 SET(vikit_common_INCLUDE_DIRS $ENV{HOME}/SVO/rpg_vikit/vikit_common/include)
 SET(vikit_common_LIBRARIES $ENV{HOME}/SVO/rpg_vikit/vikit_common/lib/libvikit_common.so)
 
+
+SET(g2o_INCLUDE_DIR $ENV{HOME}/ScaViSLAM/svslocal/include) # g2o, sophus, maybe opencv
+
+IF(USE_ROS)
+  FIND_PACKAGE(OpenCV REQUIRED) # do not put findOpencv.cmake in cmake_module_path which causes an error
+  FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules tf cv_bridge)
+  SET(g2o_LIBRARY_DIR $ENV{HOME}/ScaViSLAM/External/g2o/lib) # do not put local opencv and g2o libs together as it confuses catkin
+  catkin_package(
+      DEPENDS Eigen OpenCV Cholmod SuiteSparse Boost
+      CATKIN_DEPENDS roscpp roslib tf cv_bridge
+      INCLUDE_DIRS include
+      LIBRARIES ${PROJECT_NAME}
+  )
+ELSE()
+  set(OpenCV_LIBS opencv_core opencv_features2d opencv_flann opencv_gpu
+               opencv_nonfree opencv_highgui opencv_imgproc opencv_calib3d opencv_video)
+  SET(g2o_LIBRARY_DIR $ENV{HOME}/ScaViSLAM/svslocal/lib)
+  link_directories(${g2o_LIBRARY_DIR})
+  SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+  SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/build)
+ENDIF()
+
 include_directories(
 ${PROJECT_SOURCE_DIR}
+${PROJECT_SOURCE_DIR}/include
 ${EIGEN3_INCLUDE_DIR}
 ${CHOLMOD_INCLUDE_DIR}
 ${CSPARSE_INCLUDE_DIR}
 ${Boost_INCLUDE_DIRS}
-${PROJECT_SOURCE_DIR}/include
-$ENV{HOME}/ScaViSLAM/svslocal/include
+${g2o_INCLUDE_DIR}
 ${vikit_common_INCLUDE_DIRS}
 )
 
@@ -70,14 +97,12 @@ src/MapPoint.cc
 src/KeyFrame.cc
 src/FeatureGrid.cpp
 src/Map.cc
-#src/MapPublisher.cc
 src/Optimizer.cc
 src/PnPsolver.cc
 src/Frame.cc
 src/KeyFrameDatabase.cc
 src/Sim3Solver.cc
 src/Initializer.cc
-src/timegrabber.cpp
 src/stereoSFM.cpp
 src/MotionModel.cpp
 src/utils.cpp
@@ -91,46 +116,47 @@ viso2/p_match.h
 viso2/triangle.cpp
 viso2/viso.cpp
 viso2/viso_stereo.cpp
+viso2/ptsetreg.cpp
+viso2/five-point.cpp
 g2o_types/global.h
 g2o_types/maths_utils.cpp
 g2o_types/eigen_utils.h
 g2o_types/eigen_utils.cpp
 g2o_types/anchored_points.cpp
 g2o_types/IMU_constraint.cpp
+g2o_types/timegrabber.cpp
 )
 
+IF(USE_ROS)
+  LIST(APPEND SOURCEFILES src/MapPublisher.cc)
+ENDIF()
+
 LIST(APPEND LINK_LIBS
 ${OpenCV_LIBS}
-${EIGEN3_LIBS}
 cholmod
 csparse
 cxsparse
 ${Boost_LIBRARIES}
-#$ENV{HOME}/ScaViSLAM/svslocal/lib/libviso2.so
-$ENV{HOME}/ScaViSLAM/svslocal/lib/libg2o_core.so
-$ENV{HOME}/ScaViSLAM/svslocal/lib/libg2o_solver_cholmod.so
-$ENV{HOME}/ScaViSLAM/svslocal/lib/libg2o_solver_dense.so
-$ENV{HOME}/ScaViSLAM/svslocal/lib/libg2o_stuff.so
-$ENV{HOME}/ScaViSLAM/svslocal/lib/libg2o_solver_csparse.so
-$ENV{HOME}/ScaViSLAM/svslocal/lib/libg2o_csparse_extension.so
-$ENV{HOME}/ScaViSLAM/svslocal/lib/libg2o_types_sba.so
-$ENV{HOME}/ScaViSLAM/svslocal/lib/libg2o_types_sim3.so
-$ENV{HOME}/ScaViSLAM/svslocal/lib/libg2o_types_slam3d.so
-
+${g2o_LIBRARY_DIR}/libg2o_core.so
+${g2o_LIBRARY_DIR}/libg2o_solver_cholmod.so
+${g2o_LIBRARY_DIR}/libg2o_solver_dense.so
+${g2o_LIBRARY_DIR}/libg2o_stuff.so
+${g2o_LIBRARY_DIR}/libg2o_solver_csparse.so
+${g2o_LIBRARY_DIR}/libg2o_csparse_extension.so
+${g2o_LIBRARY_DIR}/libg2o_types_sba.so
+${g2o_LIBRARY_DIR}/libg2o_types_sim3.so
+${g2o_LIBRARY_DIR}/libg2o_types_slam3d.so
 ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
-#${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
 ${vikit_common_LIBRARIES} #for logging and timing
 )
 
+IF(USE_ROS)
+  INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS})
+  LIST(APPEND LINK_LIBS ${catkin_LIBRARIES})
+ENDIF()
+
 ADD_LIBRARY(${PROJECT_NAME}  SHARED ${SOURCEFILES})
 TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS})
 
-
 add_executable(test_orbslam src/main.cc)
 TARGET_LINK_LIBRARIES(test_orbslam ${PROJECT_NAME})

Thirdparty/DBoW2/CMakeLists.txt

@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 2.8)
 project(DBoW2)
 
+SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
+SET(CMAKE_VERBOSE_MAKEFILE OFF)
+SET(USE_ROS true) # Set False if you want to build this package without Catkin
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")
 
@@ -23,8 +26,14 @@ set(HDRS_DUTILS
 set(SRCS_DUTILS
   DUtils/Random.cpp
   DUtils/Timestamp.cpp)
-
-find_package(OpenCV REQUIRED)
+IF(USE_ROS)
+  find_package(OpenCV REQUIRED)
+ELSE()
+  set(OpenCV_INCLUDE_DIRS $ENV{HOME}/ScaViSLAM/svslocal/include)
+  set(OpenCV_LIBS opencv_core opencv_features2d opencv_flann opencv_gpu
+               opencv_nonfree opencv_highgui opencv_imgproc opencv_calib3d)
+  link_directories($ENV{HOME}/ScaViSLAM/svslocal/lib)
+ENDIF()
 
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 

Thirdparty/DBoW2/build/CMakeCache.txt

@@ -1,5 +1,5 @@
 # This is the CMakeCache file.
-# For build in directory: /home/jianzhuhuai0108/ORB_SLAM/Thirdparty/DBoW2/build
+# For build in directory: /home/jhuai/catkin_ws/src/orbslam_dwo/Thirdparty/DBoW2/build
 # It was generated by CMake: /usr/bin/cmake
 # You can edit this file to change values found and used by cmake.
 # If you do not want to change any of the values, simply exit the editor.
@@ -19,12 +19,12 @@ CMAKE_AR:FILEPATH=/usr/bin/ar
 
 //Choose the type of build, options are: None(CMAKE_CXX_FLAGS or
 // CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
-CMAKE_BUILD_TYPE:STRING=Release
+CMAKE_BUILD_TYPE:STRING=
 
 //Enable/Disable color output during build.
 CMAKE_COLOR_MAKEFILE:BOOL=ON
 
-//CXX compiler.
+//CXX compiler
 CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
 
 //Flags used by the compiler during all build types.
@@ -33,18 +33,17 @@ CMAKE_CXX_FLAGS:STRING=
 //Flags used by the compiler during debug builds.
 CMAKE_CXX_FLAGS_DEBUG:STRING=-g
 
-//Flags used by the compiler during release minsize builds.
+//Flags used by the compiler during release builds for minimum
+// size.
 CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
 
-//Flags used by the compiler during release builds (/MD /Ob1 /Oi
-// /Ot /Oy /Gs will produce slightly less optimized but smaller
-// files).
+//Flags used by the compiler during release builds.
 CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
 
-//Flags used by the compiler during Release with Debug Info builds.
+//Flags used by the compiler during release builds with debug info.
 CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
 
-//C compiler.
+//C compiler
 CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
 
 //Flags used by the compiler during all build types.
@@ -53,19 +52,18 @@ CMAKE_C_FLAGS:STRING=
 //Flags used by the compiler during debug builds.
 CMAKE_C_FLAGS_DEBUG:STRING=-g
 
-//Flags used by the compiler during release minsize builds.
+//Flags used by the compiler during release builds for minimum
+// size.
 CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
 
-//Flags used by the compiler during release builds (/MD /Ob1 /Oi
-// /Ot /Oy /Gs will produce slightly less optimized but smaller
-// files).
+//Flags used by the compiler during release builds.
 CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
 
-//Flags used by the compiler during Release with Debug Info builds.
+//Flags used by the compiler during release builds with debug info.
 CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
 
 //Flags used by the linker.
-CMAKE_EXE_LINKER_FLAGS:STRING=' '
+CMAKE_EXE_LINKER_FLAGS:STRING=
 
 //Flags used by the linker during debug builds.
 CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
@@ -92,7 +90,7 @@ CMAKE_LINKER:FILEPATH=/usr/bin/ld
 CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
 
 //Flags used by the linker during the creation of modules.
-CMAKE_MODULE_LINKER_FLAGS:STRING=' '
+CMAKE_MODULE_LINKER_FLAGS:STRING=
 
 //Flags used by the linker during debug builds.
 CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
@@ -122,7 +120,7 @@ CMAKE_PROJECT_NAME:STATIC=DBoW2
 CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
 
 //Flags used by the linker during the creation of dll's.
-CMAKE_SHARED_LINKER_FLAGS:STRING=' '
+CMAKE_SHARED_LINKER_FLAGS:STRING=
 
 //Flags used by the linker during debug builds.
 CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
@@ -171,24 +169,24 @@ CMAKE_USE_RELATIVE_PATHS:BOOL=OFF
 CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
 
 //Value Computed by CMake
-DBoW2_BINARY_DIR:STATIC=/home/jianzhuhuai0108/ORB_SLAM/Thirdparty/DBoW2/build
+DBoW2_BINARY_DIR:STATIC=/home/jhuai/catkin_ws/src/orbslam_dwo/Thirdparty/DBoW2/build
 
 //Dependencies for the target
-DBoW2_LIB_DEPENDS:STATIC=general;opencv_videostab;general;opencv_video;general;opencv_ts;general;opencv_superres;general;opencv_stitching;general;opencv_photo;general;opencv_ocl;general;opencv_objdetect;general;opencv_nonfree;general;opencv_ml;general;opencv_legacy;general;opencv_imgproc;general;opencv_highgui;general;opencv_gpu;general;opencv_flann;general;opencv_features2d;general;opencv_core;general;opencv_contrib;general;opencv_calib3d;
+DBoW2_LIB_DEPENDS:STATIC=general;opencv_videostab;general;opencv_video;general;opencv_ts;general;opencv_superres;general;opencv_stitching;general;opencv_photo;general;opencv_ocl;general;opencv_objdetect;general;opencv_ml;general;opencv_legacy;general;opencv_imgproc;general;opencv_highgui;general;opencv_gpu;general;opencv_flann;general;opencv_features2d;general;opencv_core;general;opencv_contrib;general;opencv_calib3d;
 
 //Value Computed by CMake
-DBoW2_SOURCE_DIR:STATIC=/home/jianzhuhuai0108/ORB_SLAM/Thirdparty/DBoW2
+DBoW2_SOURCE_DIR:STATIC=/home/jhuai/catkin_ws/src/orbslam_dwo/Thirdparty/DBoW2
 
 //Path where debug 3rdpaty OpenCV dependencies are located
 OpenCV_3RDPARTY_LIB_DIR_DBG:PATH=
 
 //Path where release 3rdpaty OpenCV dependencies are located
 OpenCV_3RDPARTY_LIB_DIR_OPT:PATH=
 
-OpenCV_CONFIG_PATH:FILEPATH=/usr/local/share/OpenCV
+OpenCV_CONFIG_PATH:FILEPATH=/usr/share/OpenCV
 
 //The directory containing a CMake configuration file for OpenCV.
-OpenCV_DIR:PATH=/usr/local/share/OpenCV
+OpenCV_DIR:PATH=/usr/share/OpenCV
 
 //Path where debug OpenCV libraries are located
 OpenCV_LIB_DIR_DBG:PATH=
@@ -203,18 +201,14 @@ OpenCV_LIB_DIR_OPT:PATH=
 
 //ADVANCED property for variable: CMAKE_AR
 CMAKE_AR-ADVANCED:INTERNAL=1
-//ADVANCED property for variable: CMAKE_BUILD_TOOL
-CMAKE_BUILD_TOOL-ADVANCED:INTERNAL=1
-//What is the target build tool cmake is generating for.
-CMAKE_BUILD_TOOL:INTERNAL=/usr/bin/make
 //This is the directory where this CMakeCache.txt was created
-CMAKE_CACHEFILE_DIR:INTERNAL=/home/jianzhuhuai0108/ORB_SLAM/Thirdparty/DBoW2/build
+CMAKE_CACHEFILE_DIR:INTERNAL=/home/jhuai/catkin_ws/src/orbslam_dwo/Thirdparty/DBoW2/build
 //Major version of cmake used to create the current loaded cache
-CMAKE_CACHE_MAJOR_VERSION:INTERNAL=2
+CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3
 //Minor version of cmake used to create the current loaded cache
-CMAKE_CACHE_MINOR_VERSION:INTERNAL=8
+CMAKE_CACHE_MINOR_VERSION:INTERNAL=2
 //Patch version of cmake used to create the current loaded cache
-CMAKE_CACHE_PATCH_VERSION:INTERNAL=12
+CMAKE_CACHE_PATCH_VERSION:INTERNAL=2
 //ADVANCED property for variable: CMAKE_COLOR_MAKEFILE
 CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1
 //Path to CMake executable.
@@ -261,13 +255,17 @@ CMAKE_EXE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
 CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_EXPORT_COMPILE_COMMANDS
 CMAKE_EXPORT_COMPILE_COMMANDS-ADVANCED:INTERNAL=1
+//Name of external makefile project generator.
+CMAKE_EXTRA_GENERATOR:INTERNAL=
 //Name of generator.
 CMAKE_GENERATOR:INTERNAL=Unix Makefiles
+//Name of generator platform.
+CMAKE_GENERATOR_PLATFORM:INTERNAL=
 //Name of generator toolset.
 CMAKE_GENERATOR_TOOLSET:INTERNAL=
 //Start directory with the top level CMakeLists.txt file for this
 // project
-CMAKE_HOME_DIRECTORY:INTERNAL=/home/jianzhuhuai0108/ORB_SLAM/Thirdparty/DBoW2
+CMAKE_HOME_DIRECTORY:INTERNAL=/home/jhuai/catkin_ws/src/orbslam_dwo/Thirdparty/DBoW2
 //Install .so files without execute permission.
 CMAKE_INSTALL_SO_NO_EXE:INTERNAL=1
 //ADVANCED property for variable: CMAKE_LINKER
@@ -295,7 +293,7 @@ CMAKE_OBJDUMP-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_RANLIB
 CMAKE_RANLIB-ADVANCED:INTERNAL=1
 //Path to CMake installation.
-CMAKE_ROOT:INTERNAL=/usr/share/cmake-2.8
+CMAKE_ROOT:INTERNAL=/usr/share/cmake-3.2
 //ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS
 CMAKE_SHARED_LINKER_FLAGS-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_DEBUG