From 5baec3e4c2e51a9d683b52b1177434cbe38a3cac Mon Sep 17 00:00:00 2001 From: solomonhe <solomonhe@zhaoxin.com> Date: Wed, 20 Sep 2017 18:10:09 +0800 Subject: [PATCH] remove catkin_make manchanism --- camera_model/CMakeLists.txt | 20 +++--- camera_model/CMakeLists.txt.back | 67 ++++++++++++++++++ camera_model/CMakeLists.txt.new | 82 ++++++++++++++++++++++ config/euroc/vins_result.csv | 54 ++++++-------- generate.sh | 13 ++++ vins_estimator/CMakeLists.txt | 14 ++-- vins_estimator/src/utility/visualization.h | 6 +- 7 files changed, 201 insertions(+), 55 deletions(-) create mode 100644 camera_model/CMakeLists.txt.back create mode 100644 camera_model/CMakeLists.txt.new create mode 100755 generate.sh diff --git a/camera_model/CMakeLists.txt b/camera_model/CMakeLists.txt index 0775f0a..7d53fa4 100644 --- a/camera_model/CMakeLists.txt +++ b/camera_model/CMakeLists.txt @@ -5,10 +5,10 @@ set(CMAKE_BUILD_TYPE "Release") set(CMAKE_CXX_FLAGS "-std=c++11") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC") -find_package(catkin REQUIRED COMPONENTS +#find_package(catkin REQUIRED COMPONENTS # roscpp # std_msgs - ) +# ) find_package(Boost REQUIRED COMPONENTS filesystem program_options system) include_directories(${Boost_INCLUDE_DIRS}) @@ -20,16 +20,16 @@ find_package(Ceres REQUIRED) include_directories(${CERES_INCLUDE_DIRS}) -catkin_package( - INCLUDE_DIRS include - LIBRARIES camera_model +#catkin_package( +# INCLUDE_DIRS include +# LIBRARIES camera_model # CATKIN_DEPENDS roscpp std_msgs # DEPENDS system_lib - ) +# ) -include_directories( - ${catkin_INCLUDE_DIRS} - ) +#include_directories( +# ${catkin_INCLUDE_DIRS} +# ) include_directories("include") @@ -49,7 +49,7 @@ include_directories("include") # src/gpl/gpl.cc # src/gpl/EigenQuaternionParameterization.cc) -add_library(camera_model +add_library(camera_model STATIC src/chessboard/Chessboard.cc src/calib/CameraCalibration.cc src/camera_models/Camera.cc diff --git a/camera_model/CMakeLists.txt.back b/camera_model/CMakeLists.txt.back new file mode 100644 index 0000000..0775f0a --- /dev/null +++ b/camera_model/CMakeLists.txt.back @@ -0,0 +1,67 @@ +cmake_minimum_required(VERSION 2.8.3) +project(camera_model) + +set(CMAKE_BUILD_TYPE "Release") +set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC") + +find_package(catkin REQUIRED COMPONENTS + # roscpp + # std_msgs + ) + +find_package(Boost REQUIRED COMPONENTS filesystem program_options system) +include_directories(${Boost_INCLUDE_DIRS}) + +find_package(OpenCV REQUIRED) + +# set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3") +find_package(Ceres REQUIRED) +include_directories(${CERES_INCLUDE_DIRS}) + + +catkin_package( + INCLUDE_DIRS include + LIBRARIES camera_model + # CATKIN_DEPENDS roscpp std_msgs +# DEPENDS system_lib + ) + +include_directories( + ${catkin_INCLUDE_DIRS} + ) + +include_directories("include") + + +# add_executable(Calibration +# src/intrinsic_calib.cc +# src/chessboard/Chessboard.cc +# src/calib/CameraCalibration.cc +# src/camera_models/Camera.cc +# src/camera_models/CameraFactory.cc +# src/camera_models/CostFunctionFactory.cc +# src/camera_models/PinholeCamera.cc +# src/camera_models/CataCamera.cc +# src/camera_models/EquidistantCamera.cc +# src/camera_models/ScaramuzzaCamera.cc +# src/sparse_graph/Transform.cc +# src/gpl/gpl.cc +# src/gpl/EigenQuaternionParameterization.cc) + +add_library(camera_model + src/chessboard/Chessboard.cc + src/calib/CameraCalibration.cc + src/camera_models/Camera.cc + src/camera_models/CameraFactory.cc + src/camera_models/CostFunctionFactory.cc + src/camera_models/PinholeCamera.cc + src/camera_models/CataCamera.cc + src/camera_models/EquidistantCamera.cc + src/camera_models/ScaramuzzaCamera.cc + src/sparse_graph/Transform.cc + src/gpl/gpl.cc + src/gpl/EigenQuaternionParameterization.cc) + +# target_link_libraries(Calibration ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) +target_link_libraries(camera_model ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) diff --git a/camera_model/CMakeLists.txt.new b/camera_model/CMakeLists.txt.new new file mode 100644 index 0000000..a3d6ecc --- /dev/null +++ b/camera_model/CMakeLists.txt.new @@ -0,0 +1,82 @@ +cmake_minimum_required(VERSION 2.8.3) +project(camera_model) + +set(CMAKE_BUILD_TYPE "Release") +set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC") +set(Boost_INCLUDE_DIRS "/usr/include/") +set(CERES_INCLUDE_DIRS "/usr/local/include/") +set(EIGEN_INCLUDE_DIRS "/usr/include/eigen3/") + +find_package(catkin REQUIRED COMPONENTS + # roscpp + # std_msgs + ) + +#find_package(Boost REQUIRED COMPONENTS filesystem program_options system) +include_directories(${Boost_INCLUDE_DIRS}) + +#find_package(OpenCV REQUIRED) + +# set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3") +#find_package(Ceres REQUIRED) +include_directories(${CERES_INCLUDE_DIRS}) +include_directories(${EIGEN_INCLUDE_DIRS}) +include_directories("/home/solomon/merge_vins_version/src/camera_model/include") + +LINK_DIRECTORIES("/usr/lib/x86_64-linux-gnu/") +LINK_DIRECTORIES("/usr/local/lib/") + + +catkin_package( + INCLUDE_DIRS include + LIBRARIES camera_model + # CATKIN_DEPENDS roscpp std_msgs + DEPENDS system_lib + ) + +include_directories( + ${catkin_INCLUDE_DIRS} + ) + +message ( ${Boost_INCLUDE_DIRS} " " ${OpenCV_INCLUDE_DIRS} " " ${CERES_INCLUDE_DIRS}) +include_directories("include") + + +# add_executable(Calibration +# src/intrinsic_calib.cc +# src/chessboard/Chessboard.cc +# src/calib/CameraCalibration.cc +# src/camera_models/Camera.cc +# src/camera_models/CameraFactory.cc +# src/camera_models/CostFunctionFactory.cc +# src/camera_models/PinholeCamera.cc +# src/camera_models/CataCamera.cc +# src/camera_models/EquidistantCamera.cc +# src/camera_models/ScaramuzzaCamera.cc +# src/sparse_graph/Transform.cc +# src/gpl/gpl.cc +# src/gpl/EigenQuaternionParameterization.cc) + +add_library(camera_model + src/chessboard/Chessboard.cc + src/calib/CameraCalibration.cc + src/camera_models/Camera.cc + src/camera_models/CameraFactory.cc + src/camera_models/CostFunctionFactory.cc + src/camera_models/PinholeCamera.cc + src/camera_models/CataCamera.cc + src/camera_models/EquidistantCamera.cc + src/camera_models/ScaramuzzaCamera.cc + src/sparse_graph/Transform.cc + src/gpl/gpl.cc + src/gpl/EigenQuaternionParameterization.cc) + +# target_link_libraries(Calibration ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) +message (${catkin_LIBRARIES} ${OpenCV_LIBRARIES} " " ${CERES_LIBRARIES}) +target_link_libraries(camera_model + boost_filesystem boost_program_options boost_system + opencv_calib3d opencv_core opencv_features2d opencv_flann opencv_highgui opencv_imgcodecs opencv_imgproc opencv_ml opencv_objdetect opencv_photo opencv_shape opencv_stitching opencv_superres opencv_video opencv_videoio opencv_videostab + ceres + ) +#target_link_libraries(camera_model ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) diff --git a/config/euroc/vins_result.csv 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+1403636582863555328,0.00401,0.00921,0.11337,-0.01810,0.81604,0.01893,0.57741,0.03674,-0.04480,0.62943, diff --git a/generate.sh b/generate.sh new file mode 100755 index 0000000..78d0a66 --- /dev/null +++ b/generate.sh @@ -0,0 +1,13 @@ +#/bin/bash +cd camera_model +mkdir -p build +cd build +cmake .. +make + +cd ../../vins_estimator +mkdir -p build +cd build +cmake .. +make + diff --git a/vins_estimator/CMakeLists.txt b/vins_estimator/CMakeLists.txt index 73e1ffa..cf72665 100644 --- a/vins_estimator/CMakeLists.txt +++ b/vins_estimator/CMakeLists.txt @@ -6,26 +6,22 @@ set(CMAKE_CXX_FLAGS "-std=c++11") #-DEIGEN_USE_MKL_ALL") set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") -find_package(catkin REQUIRED COMPONENTS - camera_model -# cv_bridge - - ) +include_directories(${CMAKE_SOURCE_DIR}/../camera_model/include) +add_library( lib_camera_model STATIC IMPORTED ) +set_target_properties(lib_camera_model PROPERTIES IMPORTED_LOCATION ${CMAKE_SOURCE_DIR}/../camera_model/build/libcamera_model.a) find_package(OpenCV REQUIRED) find_package(Ceres REQUIRED) -include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS}) +include_directories(${CERES_INCLUDE_DIRS}) set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) find_package(Eigen3 REQUIRED) include_directories( - ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ) -catkin_package() add_executable(vins_estimator src/estimator_node.cpp @@ -59,6 +55,6 @@ add_executable(vins_estimator ) -target_link_libraries(vins_estimator ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) +target_link_libraries(vins_estimator lib_camera_model ${OpenCV_LIBS} ${CERES_LIBRARIES}) diff --git a/vins_estimator/src/utility/visualization.h b/vins_estimator/src/utility/visualization.h index 3e5da48..0686c65 100644 --- a/vins_estimator/src/utility/visualization.h +++ b/vins_estimator/src/utility/visualization.h @@ -3,8 +3,8 @@ #include <eigen3/Eigen/Dense> #include "../estimator.h" #include "../parameters.h" -#include "../../include/Vector3.h" -#include "../../include/Quaternion.h" +#include "../../../include/Vector3.h" +#include "../../../include/Quaternion.h" #include <fstream> @@ -70,4 +70,4 @@ void updateLoopPath(nav_msgs::Path _loop_path); void pubTF(const Estimator &estimator, const std_msgs::Header &header, Eigen::Vector3d loop_correct_t, Eigen::Matrix3d loop_correct_r); -#endif \ No newline at end of file +#endif