diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 28ab079a..00000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,65 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-rosbuild_init()
-
-IF(NOT ROS_BUILD_TYPE)
- SET(ROS_BUILD_TYPE Release)
-ENDIF()
-
-MESSAGE("Build type: " ${ROS_BUILD_TYPE})
-
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
-
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-
-LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
-
-find_package(OpenCV REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(Cholmod REQUIRED)
-
-include_directories(
-${PROJECT_SOURCE_DIR}
-${EIGEN3_INCLUDE_DIR}
-${CHOLMOD_INCLUDE_DIR}
-)
-
-rosbuild_add_executable(${PROJECT_NAME}
-src/main.cc
-src/Tracking.cc
-src/LocalMapping.cc
-src/LoopClosing.cc
-src/ORBextractor.cc
-src/ORBmatcher.cc
-src/FramePublisher.cc
-src/Converter.cc
-src/MapPoint.cc
-src/KeyFrame.cc
-src/Map.cc
-src/MapPublisher.cc
-src/Optimizer.cc
-src/PnPsolver.cc
-src/Frame.cc
-src/KeyFrameDatabase.cc
-src/Sim3Solver.cc
-src/Initializer.cc
-)
-rosbuild_add_boost_directories()
-rosbuild_link_boost(${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
-)
-
diff --git a/ExampleGroovyHydro.launch b/ExampleGroovyHydro.launch
deleted file mode 100644
index 9c9be87f..00000000
--- a/ExampleGroovyHydro.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/README.md b/README.md
index ec0bcb4a..b1632adc 100644
--- a/README.md
+++ b/README.md
@@ -27,6 +27,9 @@ If you use ORB-SLAM in an academic work, please cite:
#2. Prerequisites (dependencies)
+With the catkin version you only need to install the dependencies running rosdep.
+Skip to the installation step.
+
##2.1 Boost
We use the Boost library to launch the different threads of our SLAM system.
@@ -35,7 +38,7 @@ We use the Boost library to launch the different threads of our SLAM system.
##2.2 ROS
We use ROS to receive images from the camera or from a recorded sequence (rosbag), and for visualization (rviz, image_view).
-**We have tested ORB-SLAM in Ubuntu 12.04 with ROS Fuerte, Groovy and Hydro**.
+**We have tested ORB-SLAM in Ubuntu 12.04 with ROS Fuerte, Groovy, Hydro and Indigo**.
If you do not have already installed ROS in your computer, we recommend you to install the Full-Desktop version of ROS Fuerte (http://wiki.ros.org/fuerte/Installation/Ubuntu).
##2.3 g2o (included)
@@ -56,37 +59,14 @@ It only depends on OpenCV, but it should be included in the ROS distribution.
#3. Installation
-1. Make sure you have installed ROS and all library dependencies (boost, eigen3, cholmod, blas, lapack).
-
-2. In your ROS package path (check your environment variable `ROS_PACKAGE_PATH`) clone this repository:
+1. In your ROS package path (check your environment variable `ROS_PACKAGE_PATH`) clone this repository:
git clone https://github.com/raulmur/ORB_SLAM.git ORB_SLAM
-3. Build g2o. Go into `Thirdparty/g2o/` and execute:
-
- mkdir build
- cd build
- cmake .. -DCMAKE_BUILD_TYPE=Release
- make
-
- *Tip: To achieve the best performance in your computer, set your favorite compilation flags in line 97 and 98 of* `Thirdparty/g2o/CMakeLists.txt`
- (by default -03 -march=native)
-
-4. Build DBoW2. Go into Thirdparty/DBoW2/ and execute:
-
- mkdir build
- cd build
- cmake .. -DCMAKE_BUILD_TYPE=Release
- make
+2. Run this line from your catkin workspace root, `indigo` here should be replaced with your preferred ROS distro.
+ `rosdep install --from-paths src --ignore-src --rosdistro indigo -y`
- *Tip: Set your favorite compilation flags in line 4 and 5 of* `Thirdparty/DBoW2/CMakeLists.txt` (by default -03 -march=native)
-
-5. Build ORB_SLAM. In the ORB_SLAM root execute:
-
- mkdir build
- cd build
- cmake .. -DROS_BUILD_TYPE=Release
- make
+3. Build all by running catkin_make in your workspace root.
*Tip: Set your favorite compilation flags in line 12 and 13 of* `Thirdparty/DBoW2/CMakeLists.txt` (by default -03 -march=native)
@@ -94,18 +74,18 @@ It only depends on OpenCV, but it should be included in the ROS distribution.
**See section 5 to run the Example Sequence**.
-1. Launch ORB-SLAM from the terminal (`roscore` should have been already executed):
+1. Launch orb_slam from the terminal (`roscore` should have been already executed):
- rosrun ORB_SLAM ORB_SLAM PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE
+ rosrun orb_slam orb_slam PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE
- You have to provide the path to the ORB vocabulary and to the settings file. The paths must be absolute or relative to the ORB_SLAM directory.
- We already provide the vocabulary file we use in `ORB_SLAM/Data/ORBvoc.yml`. Uncompress the file, as it will be loaded much faster.
+ You have to provide the path to the ORB vocabulary and to the settings file. The paths must be absolute or relative to the orb_slam directory.
+ We already provide the vocabulary file we use in `orb_slam/Data/ORBvoc.yml`. Uncompress the file, as it will be loaded much faster.
-2. The last processed frame is published to the topic `/ORB_SLAM/Frame`. You can visualize it using `image_view`:
+2. The last processed frame is published to the topic `/orb_slam/Frame`. You can visualize it using `image_view`:
- rosrun image_view image_view image:=/ORB_SLAM/Frame _autosize:=true
+ rosrun image_view image_view image:=/orb_slam/Frame _autosize:=true
-3. The map is published to the topic `/ORB_SLAM/Map`, the current camera pose and global world coordinate origin are sent through `/tf` in frames `/ORB_SLAM/Camera` and `/ORB_SLAM/World` respectively. Run `rviz` to visualize the map:
+3. The map is published to the topic `/orb_slam/Map`, the current camera pose and global world coordinate origin are sent through `/tf` in frames `/orb_slam/Camera` and `/orb_slam/World` respectively. Run `rviz` to visualize the map:
*in ROS Fuerte*:
@@ -115,11 +95,11 @@ It only depends on OpenCV, but it should be included in the ROS distribution.
rosrun rviz rviz -d Data/rviz.rviz
-4. ORB_SLAM will receive the images from the topic `/camera/image_raw`. You can now play your rosbag or start your camera node.
+4. orb_slam will receive the images from the topic `/camera/image_raw`. You can now play your rosbag or start your camera node.
If you have a sequence with individual image files, you will need to generate a bag from them. We provide a tool to do that: https://github.com/raulmur/BagFromImages.
-**Tip: Use a roslaunch to launch `ORB_SLAM`, `image_view` and `rviz` from just one instruction. We provide an example**:
+**Tip: Use a roslaunch to launch `orb_slam`, `image_view` and `rviz` from just one instruction. We provide an example**:
*in ROS Fuerte*:
@@ -128,6 +108,10 @@ If you have a sequence with individual image files, you will need to generate a
*in ROS Groovy or Hydro*:
roslaunch ExampleGroovyHydro.launch
+
+*in ROS Groovy or Hydro*:
+
+ roslaunch orb_slam orb_slam.launch
#5. Example Sequence
@@ -157,7 +141,7 @@ We provide the settings and the rosbag of an example sequence in our lab. In thi
#6. The Settings File
-ORB_SLAM reads the camera calibration and setting parameters from a YAML file. We provide an example in `Data/Settings.yaml`, where you will find all parameters and their description. We use the camera calibration model of OpenCV.
+orb_slam reads the camera calibration and setting parameters from a YAML file. We provide an example in `Data/Settings.yaml`, where you will find all parameters and their description. We use the camera calibration model of OpenCV.
Please make sure you write and call your own settings file for your camera (copy the example file and modify the calibration)
@@ -172,5 +156,5 @@ The system is able to initialize from planar and non-planar scenes. In the case
#8. Need Help?
-If you have any trouble installing or running ORB-SLAM, contact the authors.
+If you have any trouble installing or running orb_slam, contact the authors.
diff --git a/Thirdparty/g2o/CMakeLists.txt b/g2o/CMakeLists.txt
similarity index 88%
rename from Thirdparty/g2o/CMakeLists.txt
rename to g2o/CMakeLists.txt
index f5284d79..683c9877 100644
--- a/Thirdparty/g2o/CMakeLists.txt
+++ b/g2o/CMakeLists.txt
@@ -1,7 +1,27 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-SET(CMAKE_LEGACY_CYGWIN_WIN32 0)
+cmake_minimum_required(VERSION 2.8.3)
+project(g2o)
-PROJECT(g2o)
+find_package(catkin REQUIRED)
+
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
+find_package(Cholmod REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+catkin_package(
+ INCLUDE_DIRS .
+ LIBRARIES g2o_solver_cholmod g2o_solver_dense
+ g2o_stuff g2o_types_sba
+ g2o_types_sim3 g2o_types_slam3d
+)
+
+include_directories(
+ include
+ ${EIGEN3_INCLUDE_DIR}
+ ${CHOLMOD_INCLUDE_DIR}
+ ${PROJECT_SOURCE_DIR}
+)
+
+set(g2o_SOURCE_DIR ${PROJECT_SOURCE_DIR}/g2o)
# The library prefix
SET(LIB_PREFIX g2o_)
@@ -55,9 +75,6 @@ IF(WIN32)
ELSE(WIN32)
SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries")
ENDIF(WIN32)
-SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
-SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
-SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${g2o_RUNTIME_OUTPUT_DIRECTORY})
# Set search directory for looking for our custom CMake scripts to
# look for SuiteSparse, QGLViewer, and Eigen3.
diff --git a/Thirdparty/g2o/Changes.txt b/g2o/Changes.txt
similarity index 100%
rename from Thirdparty/g2o/Changes.txt
rename to g2o/Changes.txt
diff --git a/Thirdparty/g2o/cmake_modules/FindBLAS.cmake b/g2o/cmake_modules/FindBLAS.cmake
similarity index 100%
rename from Thirdparty/g2o/cmake_modules/FindBLAS.cmake
rename to g2o/cmake_modules/FindBLAS.cmake
diff --git a/Thirdparty/g2o/cmake_modules/FindCholmod.cmake b/g2o/cmake_modules/FindCholmod.cmake
similarity index 100%
rename from Thirdparty/g2o/cmake_modules/FindCholmod.cmake
rename to g2o/cmake_modules/FindCholmod.cmake
diff --git a/Thirdparty/g2o/cmake_modules/FindEigen3.cmake b/g2o/cmake_modules/FindEigen3.cmake
similarity index 100%
rename from Thirdparty/g2o/cmake_modules/FindEigen3.cmake
rename to g2o/cmake_modules/FindEigen3.cmake
diff --git a/Thirdparty/g2o/cmake_modules/FindG2O.cmake b/g2o/cmake_modules/FindG2O.cmake
similarity index 100%
rename from Thirdparty/g2o/cmake_modules/FindG2O.cmake
rename to g2o/cmake_modules/FindG2O.cmake
diff --git a/Thirdparty/g2o/cmake_modules/FindLAPACK.cmake b/g2o/cmake_modules/FindLAPACK.cmake
similarity index 100%
rename from Thirdparty/g2o/cmake_modules/FindLAPACK.cmake
rename to g2o/cmake_modules/FindLAPACK.cmake
diff --git a/g2o/config.h b/g2o/config.h
new file mode 100644
index 00000000..9fc8b493
--- /dev/null
+++ b/g2o/config.h
@@ -0,0 +1,22 @@
+#ifndef G2O_CONFIG_H
+#define G2O_CONFIG_H
+
+/* #undef G2O_HAVE_OPENGL */
+/* #undef G2O_OPENGL_FOUND */
+/* #undef G2O_OPENMP */
+#define G2O_SHARED_LIBS 1
+/* #undef G2O_LGPL_SHARED_LIBS */
+
+// available sparse matrix libraries
+#define G2O_HAVE_CHOLMOD 1
+/* #undef G2O_HAVE_CSPARSE */
+
+#define G2O_CXX_COMPILER "GNU /usr/bin/c++"
+
+// give a warning if Eigen defaults to row-major matrices.
+// We internally assume column-major matrices throughout the code.
+#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
+# error "g2o requires column major Eigen matrices (see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=422)"
+#endif
+
+#endif
diff --git a/Thirdparty/g2o/config.h.in b/g2o/config.h.in
similarity index 100%
rename from Thirdparty/g2o/config.h.in
rename to g2o/config.h.in
diff --git a/Thirdparty/g2o/doc/g2o.pdf b/g2o/doc/g2o.pdf
similarity index 100%
rename from Thirdparty/g2o/doc/g2o.pdf
rename to g2o/doc/g2o.pdf
diff --git a/Thirdparty/g2o/doc/license-bsd.txt b/g2o/doc/license-bsd.txt
similarity index 100%
rename from Thirdparty/g2o/doc/license-bsd.txt
rename to g2o/doc/license-bsd.txt
diff --git a/Thirdparty/g2o/doc/license-gpl.txt b/g2o/doc/license-gpl.txt
similarity index 100%
rename from Thirdparty/g2o/doc/license-gpl.txt
rename to g2o/doc/license-gpl.txt
diff --git a/Thirdparty/g2o/doc/license-lgpl.txt b/g2o/doc/license-lgpl.txt
similarity index 100%
rename from Thirdparty/g2o/doc/license-lgpl.txt
rename to g2o/doc/license-lgpl.txt
diff --git a/Thirdparty/g2o/g2o/CMakeLists.txt b/g2o/g2o/CMakeLists.txt
similarity index 100%
rename from Thirdparty/g2o/g2o/CMakeLists.txt
rename to g2o/g2o/CMakeLists.txt
diff --git a/g2o/g2o/config.h b/g2o/g2o/config.h
new file mode 100644
index 00000000..9fc8b493
--- /dev/null
+++ b/g2o/g2o/config.h
@@ -0,0 +1,22 @@
+#ifndef G2O_CONFIG_H
+#define G2O_CONFIG_H
+
+/* #undef G2O_HAVE_OPENGL */
+/* #undef G2O_OPENGL_FOUND */
+/* #undef G2O_OPENMP */
+#define G2O_SHARED_LIBS 1
+/* #undef G2O_LGPL_SHARED_LIBS */
+
+// available sparse matrix libraries
+#define G2O_HAVE_CHOLMOD 1
+/* #undef G2O_HAVE_CSPARSE */
+
+#define G2O_CXX_COMPILER "GNU /usr/bin/c++"
+
+// give a warning if Eigen defaults to row-major matrices.
+// We internally assume column-major matrices throughout the code.
+#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
+# error "g2o requires column major Eigen matrices (see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=422)"
+#endif
+
+#endif
diff --git a/Thirdparty/g2o/g2o/core/CMakeLists.txt b/g2o/g2o/core/CMakeLists.txt
similarity index 92%
rename from Thirdparty/g2o/g2o/core/CMakeLists.txt
rename to g2o/g2o/core/CMakeLists.txt
index 9ca40956..7b9a8ec4 100644
--- a/Thirdparty/g2o/g2o/core/CMakeLists.txt
+++ b/g2o/g2o/core/CMakeLists.txt
@@ -1,4 +1,4 @@
-ADD_LIBRARY(core ${G2O_LIB_TYPE}
+ADD_LIBRARY(${LIB_PREFIX}core ${G2O_LIB_TYPE}
base_edge.h
base_binary_edge.h hyper_graph_action.cpp
base_binary_edge.hpp hyper_graph_action.h
@@ -37,11 +37,9 @@ robust_kernel_factory.cpp robust_kernel_factory.h
g2o_core_api.h
)
-SET_TARGET_PROPERTIES(core PROPERTIES OUTPUT_NAME ${LIB_PREFIX}core)
+TARGET_LINK_LIBRARIES(${LIB_PREFIX}core ${LIB_PREFIX}stuff)
-TARGET_LINK_LIBRARIES(core stuff)
-
-INSTALL(TARGETS core
+INSTALL(TARGETS ${LIB_PREFIX}core
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
diff --git a/Thirdparty/g2o/g2o/core/base_binary_edge.h b/g2o/g2o/core/base_binary_edge.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/base_binary_edge.h
rename to g2o/g2o/core/base_binary_edge.h
diff --git a/Thirdparty/g2o/g2o/core/base_binary_edge.hpp b/g2o/g2o/core/base_binary_edge.hpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/base_binary_edge.hpp
rename to g2o/g2o/core/base_binary_edge.hpp
diff --git a/Thirdparty/g2o/g2o/core/base_edge.h b/g2o/g2o/core/base_edge.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/base_edge.h
rename to g2o/g2o/core/base_edge.h
diff --git a/Thirdparty/g2o/g2o/core/base_multi_edge.h b/g2o/g2o/core/base_multi_edge.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/base_multi_edge.h
rename to g2o/g2o/core/base_multi_edge.h
diff --git a/Thirdparty/g2o/g2o/core/base_multi_edge.hpp b/g2o/g2o/core/base_multi_edge.hpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/base_multi_edge.hpp
rename to g2o/g2o/core/base_multi_edge.hpp
diff --git a/Thirdparty/g2o/g2o/core/base_unary_edge.h b/g2o/g2o/core/base_unary_edge.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/base_unary_edge.h
rename to g2o/g2o/core/base_unary_edge.h
diff --git a/Thirdparty/g2o/g2o/core/base_unary_edge.hpp b/g2o/g2o/core/base_unary_edge.hpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/base_unary_edge.hpp
rename to g2o/g2o/core/base_unary_edge.hpp
diff --git a/Thirdparty/g2o/g2o/core/base_vertex.h b/g2o/g2o/core/base_vertex.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/base_vertex.h
rename to g2o/g2o/core/base_vertex.h
diff --git a/Thirdparty/g2o/g2o/core/base_vertex.hpp b/g2o/g2o/core/base_vertex.hpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/base_vertex.hpp
rename to g2o/g2o/core/base_vertex.hpp
diff --git a/Thirdparty/g2o/g2o/core/batch_stats.cpp b/g2o/g2o/core/batch_stats.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/batch_stats.cpp
rename to g2o/g2o/core/batch_stats.cpp
diff --git a/Thirdparty/g2o/g2o/core/batch_stats.h b/g2o/g2o/core/batch_stats.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/batch_stats.h
rename to g2o/g2o/core/batch_stats.h
diff --git a/Thirdparty/g2o/g2o/core/block_solver.h b/g2o/g2o/core/block_solver.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/block_solver.h
rename to g2o/g2o/core/block_solver.h
diff --git a/Thirdparty/g2o/g2o/core/block_solver.hpp b/g2o/g2o/core/block_solver.hpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/block_solver.hpp
rename to g2o/g2o/core/block_solver.hpp
diff --git a/Thirdparty/g2o/g2o/core/cache.cpp b/g2o/g2o/core/cache.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/cache.cpp
rename to g2o/g2o/core/cache.cpp
diff --git a/Thirdparty/g2o/g2o/core/cache.h b/g2o/g2o/core/cache.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/cache.h
rename to g2o/g2o/core/cache.h
diff --git a/Thirdparty/g2o/g2o/core/creators.h b/g2o/g2o/core/creators.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/creators.h
rename to g2o/g2o/core/creators.h
diff --git a/Thirdparty/g2o/g2o/core/estimate_propagator.cpp b/g2o/g2o/core/estimate_propagator.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/estimate_propagator.cpp
rename to g2o/g2o/core/estimate_propagator.cpp
diff --git a/Thirdparty/g2o/g2o/core/estimate_propagator.h b/g2o/g2o/core/estimate_propagator.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/estimate_propagator.h
rename to g2o/g2o/core/estimate_propagator.h
diff --git a/Thirdparty/g2o/g2o/core/factory.cpp b/g2o/g2o/core/factory.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/factory.cpp
rename to g2o/g2o/core/factory.cpp
diff --git a/Thirdparty/g2o/g2o/core/factory.h b/g2o/g2o/core/factory.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/factory.h
rename to g2o/g2o/core/factory.h
diff --git a/Thirdparty/g2o/g2o/core/g2o_core_api.h b/g2o/g2o/core/g2o_core_api.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/g2o_core_api.h
rename to g2o/g2o/core/g2o_core_api.h
diff --git a/Thirdparty/g2o/g2o/core/hyper_dijkstra.cpp b/g2o/g2o/core/hyper_dijkstra.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/hyper_dijkstra.cpp
rename to g2o/g2o/core/hyper_dijkstra.cpp
diff --git a/Thirdparty/g2o/g2o/core/hyper_dijkstra.h b/g2o/g2o/core/hyper_dijkstra.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/hyper_dijkstra.h
rename to g2o/g2o/core/hyper_dijkstra.h
diff --git a/Thirdparty/g2o/g2o/core/hyper_graph.cpp b/g2o/g2o/core/hyper_graph.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/hyper_graph.cpp
rename to g2o/g2o/core/hyper_graph.cpp
diff --git a/Thirdparty/g2o/g2o/core/hyper_graph.h b/g2o/g2o/core/hyper_graph.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/hyper_graph.h
rename to g2o/g2o/core/hyper_graph.h
diff --git a/Thirdparty/g2o/g2o/core/hyper_graph_action.cpp b/g2o/g2o/core/hyper_graph_action.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/hyper_graph_action.cpp
rename to g2o/g2o/core/hyper_graph_action.cpp
diff --git a/Thirdparty/g2o/g2o/core/hyper_graph_action.h b/g2o/g2o/core/hyper_graph_action.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/hyper_graph_action.h
rename to g2o/g2o/core/hyper_graph_action.h
diff --git a/Thirdparty/g2o/g2o/core/jacobian_workspace.cpp b/g2o/g2o/core/jacobian_workspace.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/jacobian_workspace.cpp
rename to g2o/g2o/core/jacobian_workspace.cpp
diff --git a/Thirdparty/g2o/g2o/core/jacobian_workspace.h b/g2o/g2o/core/jacobian_workspace.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/jacobian_workspace.h
rename to g2o/g2o/core/jacobian_workspace.h
diff --git a/Thirdparty/g2o/g2o/core/linear_solver.h b/g2o/g2o/core/linear_solver.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/linear_solver.h
rename to g2o/g2o/core/linear_solver.h
diff --git a/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.cpp b/g2o/g2o/core/marginal_covariance_cholesky.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.cpp
rename to g2o/g2o/core/marginal_covariance_cholesky.cpp
diff --git a/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.h b/g2o/g2o/core/marginal_covariance_cholesky.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.h
rename to g2o/g2o/core/marginal_covariance_cholesky.h
diff --git a/Thirdparty/g2o/g2o/core/matrix_operations.h b/g2o/g2o/core/matrix_operations.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/matrix_operations.h
rename to g2o/g2o/core/matrix_operations.h
diff --git a/Thirdparty/g2o/g2o/core/matrix_structure.cpp b/g2o/g2o/core/matrix_structure.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/matrix_structure.cpp
rename to g2o/g2o/core/matrix_structure.cpp
diff --git a/Thirdparty/g2o/g2o/core/matrix_structure.h b/g2o/g2o/core/matrix_structure.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/matrix_structure.h
rename to g2o/g2o/core/matrix_structure.h
diff --git a/Thirdparty/g2o/g2o/core/openmp_mutex.h b/g2o/g2o/core/openmp_mutex.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/openmp_mutex.h
rename to g2o/g2o/core/openmp_mutex.h
diff --git a/Thirdparty/g2o/g2o/core/optimizable_graph.cpp b/g2o/g2o/core/optimizable_graph.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimizable_graph.cpp
rename to g2o/g2o/core/optimizable_graph.cpp
diff --git a/Thirdparty/g2o/g2o/core/optimizable_graph.h b/g2o/g2o/core/optimizable_graph.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimizable_graph.h
rename to g2o/g2o/core/optimizable_graph.h
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm.cpp b/g2o/g2o/core/optimization_algorithm.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm.cpp
rename to g2o/g2o/core/optimization_algorithm.cpp
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm.h b/g2o/g2o/core/optimization_algorithm.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm.h
rename to g2o/g2o/core/optimization_algorithm.h
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_dogleg.cpp b/g2o/g2o/core/optimization_algorithm_dogleg.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm_dogleg.cpp
rename to g2o/g2o/core/optimization_algorithm_dogleg.cpp
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_dogleg.h b/g2o/g2o/core/optimization_algorithm_dogleg.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm_dogleg.h
rename to g2o/g2o/core/optimization_algorithm_dogleg.h
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.cpp b/g2o/g2o/core/optimization_algorithm_factory.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm_factory.cpp
rename to g2o/g2o/core/optimization_algorithm_factory.cpp
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_factory.h b/g2o/g2o/core/optimization_algorithm_factory.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm_factory.h
rename to g2o/g2o/core/optimization_algorithm_factory.h
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.cpp b/g2o/g2o/core/optimization_algorithm_gauss_newton.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.cpp
rename to g2o/g2o/core/optimization_algorithm_gauss_newton.cpp
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.h b/g2o/g2o/core/optimization_algorithm_gauss_newton.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.h
rename to g2o/g2o/core/optimization_algorithm_gauss_newton.h
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.cpp b/g2o/g2o/core/optimization_algorithm_levenberg.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.cpp
rename to g2o/g2o/core/optimization_algorithm_levenberg.cpp
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h b/g2o/g2o/core/optimization_algorithm_levenberg.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h
rename to g2o/g2o/core/optimization_algorithm_levenberg.h
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_property.h b/g2o/g2o/core/optimization_algorithm_property.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm_property.h
rename to g2o/g2o/core/optimization_algorithm_property.h
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.cpp b/g2o/g2o/core/optimization_algorithm_with_hessian.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.cpp
rename to g2o/g2o/core/optimization_algorithm_with_hessian.cpp
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.h b/g2o/g2o/core/optimization_algorithm_with_hessian.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.h
rename to g2o/g2o/core/optimization_algorithm_with_hessian.h
diff --git a/Thirdparty/g2o/g2o/core/parameter.cpp b/g2o/g2o/core/parameter.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/parameter.cpp
rename to g2o/g2o/core/parameter.cpp
diff --git a/Thirdparty/g2o/g2o/core/parameter.h b/g2o/g2o/core/parameter.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/parameter.h
rename to g2o/g2o/core/parameter.h
diff --git a/Thirdparty/g2o/g2o/core/parameter_container.cpp b/g2o/g2o/core/parameter_container.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/parameter_container.cpp
rename to g2o/g2o/core/parameter_container.cpp
diff --git a/Thirdparty/g2o/g2o/core/parameter_container.h b/g2o/g2o/core/parameter_container.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/parameter_container.h
rename to g2o/g2o/core/parameter_container.h
diff --git a/Thirdparty/g2o/g2o/core/robust_kernel.cpp b/g2o/g2o/core/robust_kernel.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/robust_kernel.cpp
rename to g2o/g2o/core/robust_kernel.cpp
diff --git a/Thirdparty/g2o/g2o/core/robust_kernel.h b/g2o/g2o/core/robust_kernel.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/robust_kernel.h
rename to g2o/g2o/core/robust_kernel.h
diff --git a/Thirdparty/g2o/g2o/core/robust_kernel_factory.cpp b/g2o/g2o/core/robust_kernel_factory.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/robust_kernel_factory.cpp
rename to g2o/g2o/core/robust_kernel_factory.cpp
diff --git a/Thirdparty/g2o/g2o/core/robust_kernel_factory.h b/g2o/g2o/core/robust_kernel_factory.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/robust_kernel_factory.h
rename to g2o/g2o/core/robust_kernel_factory.h
diff --git a/Thirdparty/g2o/g2o/core/robust_kernel_impl.cpp b/g2o/g2o/core/robust_kernel_impl.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/robust_kernel_impl.cpp
rename to g2o/g2o/core/robust_kernel_impl.cpp
diff --git a/Thirdparty/g2o/g2o/core/robust_kernel_impl.h b/g2o/g2o/core/robust_kernel_impl.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/robust_kernel_impl.h
rename to g2o/g2o/core/robust_kernel_impl.h
diff --git a/Thirdparty/g2o/g2o/core/solver.cpp b/g2o/g2o/core/solver.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/solver.cpp
rename to g2o/g2o/core/solver.cpp
diff --git a/Thirdparty/g2o/g2o/core/solver.h b/g2o/g2o/core/solver.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/solver.h
rename to g2o/g2o/core/solver.h
diff --git a/Thirdparty/g2o/g2o/core/sparse_block_matrix.h b/g2o/g2o/core/sparse_block_matrix.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/sparse_block_matrix.h
rename to g2o/g2o/core/sparse_block_matrix.h
diff --git a/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp b/g2o/g2o/core/sparse_block_matrix.hpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp
rename to g2o/g2o/core/sparse_block_matrix.hpp
diff --git a/Thirdparty/g2o/g2o/core/sparse_block_matrix_ccs.h b/g2o/g2o/core/sparse_block_matrix_ccs.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/sparse_block_matrix_ccs.h
rename to g2o/g2o/core/sparse_block_matrix_ccs.h
diff --git a/Thirdparty/g2o/g2o/core/sparse_block_matrix_diagonal.h b/g2o/g2o/core/sparse_block_matrix_diagonal.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/sparse_block_matrix_diagonal.h
rename to g2o/g2o/core/sparse_block_matrix_diagonal.h
diff --git a/Thirdparty/g2o/g2o/core/sparse_block_matrix_test.cpp b/g2o/g2o/core/sparse_block_matrix_test.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/sparse_block_matrix_test.cpp
rename to g2o/g2o/core/sparse_block_matrix_test.cpp
diff --git a/Thirdparty/g2o/g2o/core/sparse_optimizer.cpp b/g2o/g2o/core/sparse_optimizer.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/sparse_optimizer.cpp
rename to g2o/g2o/core/sparse_optimizer.cpp
diff --git a/Thirdparty/g2o/g2o/core/sparse_optimizer.h b/g2o/g2o/core/sparse_optimizer.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/sparse_optimizer.h
rename to g2o/g2o/core/sparse_optimizer.h
diff --git a/Thirdparty/g2o/g2o/core/sparse_optimizer_terminate_action.cpp b/g2o/g2o/core/sparse_optimizer_terminate_action.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/core/sparse_optimizer_terminate_action.cpp
rename to g2o/g2o/core/sparse_optimizer_terminate_action.cpp
diff --git a/Thirdparty/g2o/g2o/core/sparse_optimizer_terminate_action.h b/g2o/g2o/core/sparse_optimizer_terminate_action.h
similarity index 100%
rename from Thirdparty/g2o/g2o/core/sparse_optimizer_terminate_action.h
rename to g2o/g2o/core/sparse_optimizer_terminate_action.h
diff --git a/Thirdparty/g2o/g2o/solvers/CMakeLists.txt b/g2o/g2o/solvers/CMakeLists.txt
similarity index 100%
rename from Thirdparty/g2o/g2o/solvers/CMakeLists.txt
rename to g2o/g2o/solvers/CMakeLists.txt
diff --git a/Thirdparty/g2o/g2o/solvers/cholmod/CMakeLists.txt b/g2o/g2o/solvers/cholmod/CMakeLists.txt
similarity index 64%
rename from Thirdparty/g2o/g2o/solvers/cholmod/CMakeLists.txt
rename to g2o/g2o/solvers/cholmod/CMakeLists.txt
index 977e945b..14a6e510 100644
--- a/Thirdparty/g2o/g2o/solvers/cholmod/CMakeLists.txt
+++ b/g2o/g2o/solvers/cholmod/CMakeLists.txt
@@ -1,16 +1,14 @@
-ADD_LIBRARY(solver_cholmod ${G2O_LIB_TYPE}
+ADD_LIBRARY(${LIB_PREFIX}solver_cholmod ${G2O_LIB_TYPE}
solver_cholmod.cpp
linear_solver_cholmod.h
)
INCLUDE_DIRECTORIES(${CHOLMOD_INCLUDE_DIR})
-SET_TARGET_PROPERTIES(solver_cholmod PROPERTIES OUTPUT_NAME ${LIB_PREFIX}solver_cholmod)
-
ADD_DEFINITIONS(${BLAS_DEFINITIONS} ${LAPACK_DEFINITIONS})
-TARGET_LINK_LIBRARIES(solver_cholmod ${CHOLMOD_LIBRARIES} ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES} core)
+TARGET_LINK_LIBRARIES(${LIB_PREFIX}solver_cholmod ${CHOLMOD_LIBRARIES} ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES} ${LIB_PREFIX}core)
-INSTALL(TARGETS solver_cholmod
+INSTALL(TARGETS ${LIB_PREFIX}solver_cholmod
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
diff --git a/Thirdparty/g2o/g2o/solvers/cholmod/linear_solver_cholmod.h b/g2o/g2o/solvers/cholmod/linear_solver_cholmod.h
similarity index 100%
rename from Thirdparty/g2o/g2o/solvers/cholmod/linear_solver_cholmod.h
rename to g2o/g2o/solvers/cholmod/linear_solver_cholmod.h
diff --git a/Thirdparty/g2o/g2o/solvers/cholmod/solver_cholmod.cpp b/g2o/g2o/solvers/cholmod/solver_cholmod.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/solvers/cholmod/solver_cholmod.cpp
rename to g2o/g2o/solvers/cholmod/solver_cholmod.cpp
diff --git a/Thirdparty/g2o/g2o/solvers/dense/CMakeLists.txt b/g2o/g2o/solvers/dense/CMakeLists.txt
similarity index 65%
rename from Thirdparty/g2o/g2o/solvers/dense/CMakeLists.txt
rename to g2o/g2o/solvers/dense/CMakeLists.txt
index 5d41966a..bd668611 100644
--- a/Thirdparty/g2o/g2o/solvers/dense/CMakeLists.txt
+++ b/g2o/g2o/solvers/dense/CMakeLists.txt
@@ -1,12 +1,10 @@
-ADD_LIBRARY(solver_dense ${G2O_LIB_TYPE}
+ADD_LIBRARY(${LIB_PREFIX}solver_dense ${G2O_LIB_TYPE}
solver_dense.cpp linear_solver_dense.h
)
-SET_TARGET_PROPERTIES(solver_dense PROPERTIES OUTPUT_NAME ${LIB_PREFIX}solver_dense)
+TARGET_LINK_LIBRARIES(${LIB_PREFIX}solver_dense ${LIB_PREFIX}core)
-TARGET_LINK_LIBRARIES(solver_dense core)
-
-INSTALL(TARGETS solver_dense
+INSTALL(TARGETS ${LIB_PREFIX}solver_dense
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
diff --git a/Thirdparty/g2o/g2o/solvers/dense/linear_solver_dense.h b/g2o/g2o/solvers/dense/linear_solver_dense.h
similarity index 100%
rename from Thirdparty/g2o/g2o/solvers/dense/linear_solver_dense.h
rename to g2o/g2o/solvers/dense/linear_solver_dense.h
diff --git a/Thirdparty/g2o/g2o/solvers/dense/solver_dense.cpp b/g2o/g2o/solvers/dense/solver_dense.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/solvers/dense/solver_dense.cpp
rename to g2o/g2o/solvers/dense/solver_dense.cpp
diff --git a/Thirdparty/g2o/g2o/stuff/CMakeLists.txt b/g2o/g2o/stuff/CMakeLists.txt
similarity index 88%
rename from Thirdparty/g2o/g2o/stuff/CMakeLists.txt
rename to g2o/g2o/stuff/CMakeLists.txt
index c7aa1ee8..d02d8b15 100644
--- a/Thirdparty/g2o/g2o/stuff/CMakeLists.txt
+++ b/g2o/g2o/stuff/CMakeLists.txt
@@ -1,4 +1,5 @@
-ADD_LIBRARY(stuff ${G2O_LIB_TYPE}
+
+ADD_LIBRARY(${LIB_PREFIX}stuff ${G2O_LIB_TYPE}
filesys_tools.h string_tools.h
color_macros.h macros.h timeutil.cpp
command_args.cpp misc.h sparse_helper.cpp timeutil.h
@@ -10,9 +11,7 @@ ADD_LIBRARY(stuff ${G2O_LIB_TYPE}
g2o_stuff_api.h
)
-SET_TARGET_PROPERTIES(stuff PROPERTIES OUTPUT_NAME ${LIB_PREFIX}stuff)
-
-INSTALL(TARGETS stuff
+INSTALL(TARGETS ${LIB_PREFIX}stuff
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
@@ -33,7 +32,7 @@ IF(OPENGL_FOUND)
ENDIF()
IF(${CMAKE_SYSTEM_NAME} MATCHES "Linux" AND NOT ANDROID)
- TARGET_LINK_LIBRARIES(stuff rt)
+ TARGET_LINK_LIBRARIES(${LIB_PREFIX}stuff rt)
ENDIF()
FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
diff --git a/Thirdparty/g2o/g2o/stuff/color_macros.h b/g2o/g2o/stuff/color_macros.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/color_macros.h
rename to g2o/g2o/stuff/color_macros.h
diff --git a/Thirdparty/g2o/g2o/stuff/command_args.cpp b/g2o/g2o/stuff/command_args.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/command_args.cpp
rename to g2o/g2o/stuff/command_args.cpp
diff --git a/Thirdparty/g2o/g2o/stuff/command_args.h b/g2o/g2o/stuff/command_args.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/command_args.h
rename to g2o/g2o/stuff/command_args.h
diff --git a/Thirdparty/g2o/g2o/stuff/filesys_tools.cpp b/g2o/g2o/stuff/filesys_tools.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/filesys_tools.cpp
rename to g2o/g2o/stuff/filesys_tools.cpp
diff --git a/Thirdparty/g2o/g2o/stuff/filesys_tools.h b/g2o/g2o/stuff/filesys_tools.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/filesys_tools.h
rename to g2o/g2o/stuff/filesys_tools.h
diff --git a/Thirdparty/g2o/g2o/stuff/g2o_stuff_api.h b/g2o/g2o/stuff/g2o_stuff_api.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/g2o_stuff_api.h
rename to g2o/g2o/stuff/g2o_stuff_api.h
diff --git a/Thirdparty/g2o/g2o/stuff/macros.h b/g2o/g2o/stuff/macros.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/macros.h
rename to g2o/g2o/stuff/macros.h
diff --git a/Thirdparty/g2o/g2o/stuff/misc.h b/g2o/g2o/stuff/misc.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/misc.h
rename to g2o/g2o/stuff/misc.h
diff --git a/Thirdparty/g2o/g2o/stuff/opengl_primitives.cpp b/g2o/g2o/stuff/opengl_primitives.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/opengl_primitives.cpp
rename to g2o/g2o/stuff/opengl_primitives.cpp
diff --git a/Thirdparty/g2o/g2o/stuff/opengl_primitives.h b/g2o/g2o/stuff/opengl_primitives.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/opengl_primitives.h
rename to g2o/g2o/stuff/opengl_primitives.h
diff --git a/Thirdparty/g2o/g2o/stuff/opengl_wrapper.h b/g2o/g2o/stuff/opengl_wrapper.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/opengl_wrapper.h
rename to g2o/g2o/stuff/opengl_wrapper.h
diff --git a/Thirdparty/g2o/g2o/stuff/os_specific.c b/g2o/g2o/stuff/os_specific.c
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/os_specific.c
rename to g2o/g2o/stuff/os_specific.c
diff --git a/Thirdparty/g2o/g2o/stuff/os_specific.h b/g2o/g2o/stuff/os_specific.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/os_specific.h
rename to g2o/g2o/stuff/os_specific.h
diff --git a/Thirdparty/g2o/g2o/stuff/property.cpp b/g2o/g2o/stuff/property.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/property.cpp
rename to g2o/g2o/stuff/property.cpp
diff --git a/Thirdparty/g2o/g2o/stuff/property.h b/g2o/g2o/stuff/property.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/property.h
rename to g2o/g2o/stuff/property.h
diff --git a/Thirdparty/g2o/g2o/stuff/sampler.cpp b/g2o/g2o/stuff/sampler.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/sampler.cpp
rename to g2o/g2o/stuff/sampler.cpp
diff --git a/Thirdparty/g2o/g2o/stuff/sampler.h b/g2o/g2o/stuff/sampler.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/sampler.h
rename to g2o/g2o/stuff/sampler.h
diff --git a/Thirdparty/g2o/g2o/stuff/scoped_pointer.h b/g2o/g2o/stuff/scoped_pointer.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/scoped_pointer.h
rename to g2o/g2o/stuff/scoped_pointer.h
diff --git a/Thirdparty/g2o/g2o/stuff/sparse_helper.cpp b/g2o/g2o/stuff/sparse_helper.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/sparse_helper.cpp
rename to g2o/g2o/stuff/sparse_helper.cpp
diff --git a/Thirdparty/g2o/g2o/stuff/sparse_helper.h b/g2o/g2o/stuff/sparse_helper.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/sparse_helper.h
rename to g2o/g2o/stuff/sparse_helper.h
diff --git a/Thirdparty/g2o/g2o/stuff/string_tools.cpp b/g2o/g2o/stuff/string_tools.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/string_tools.cpp
rename to g2o/g2o/stuff/string_tools.cpp
diff --git a/Thirdparty/g2o/g2o/stuff/string_tools.h b/g2o/g2o/stuff/string_tools.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/string_tools.h
rename to g2o/g2o/stuff/string_tools.h
diff --git a/Thirdparty/g2o/g2o/stuff/tictoc.cpp b/g2o/g2o/stuff/tictoc.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/tictoc.cpp
rename to g2o/g2o/stuff/tictoc.cpp
diff --git a/Thirdparty/g2o/g2o/stuff/tictoc.h b/g2o/g2o/stuff/tictoc.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/tictoc.h
rename to g2o/g2o/stuff/tictoc.h
diff --git a/Thirdparty/g2o/g2o/stuff/timeutil.cpp b/g2o/g2o/stuff/timeutil.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/timeutil.cpp
rename to g2o/g2o/stuff/timeutil.cpp
diff --git a/Thirdparty/g2o/g2o/stuff/timeutil.h b/g2o/g2o/stuff/timeutil.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/timeutil.h
rename to g2o/g2o/stuff/timeutil.h
diff --git a/Thirdparty/g2o/g2o/stuff/unscented.h b/g2o/g2o/stuff/unscented.h
similarity index 100%
rename from Thirdparty/g2o/g2o/stuff/unscented.h
rename to g2o/g2o/stuff/unscented.h
diff --git a/Thirdparty/g2o/g2o/types/CMakeLists.txt b/g2o/g2o/types/CMakeLists.txt
similarity index 100%
rename from Thirdparty/g2o/g2o/types/CMakeLists.txt
rename to g2o/g2o/types/CMakeLists.txt
diff --git a/Thirdparty/g2o/g2o/types/sba/CMakeLists.txt b/g2o/g2o/types/sba/CMakeLists.txt
similarity index 69%
rename from Thirdparty/g2o/g2o/types/sba/CMakeLists.txt
rename to g2o/g2o/types/sba/CMakeLists.txt
index 1af8fc53..628fb244 100644
--- a/Thirdparty/g2o/g2o/types/sba/CMakeLists.txt
+++ b/g2o/g2o/types/sba/CMakeLists.txt
@@ -1,14 +1,12 @@
-ADD_LIBRARY(types_sba ${G2O_LIB_TYPE}
+ADD_LIBRARY(${LIB_PREFIX}types_sba ${G2O_LIB_TYPE}
types_sba.h types_six_dof_expmap.h
types_sba.cpp types_six_dof_expmap.cpp
g2o_types_sba_api.h
)
-SET_TARGET_PROPERTIES(types_sba PROPERTIES OUTPUT_NAME ${LIB_PREFIX}types_sba)
+TARGET_LINK_LIBRARIES(${LIB_PREFIX}types_sba ${LIB_PREFIX}core ${LIB_PREFIX}types_slam3d)
-TARGET_LINK_LIBRARIES(types_sba core types_slam3d)
-
-INSTALL(TARGETS types_sba
+INSTALL(TARGETS ${LIB_PREFIX}types_sba
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
diff --git a/Thirdparty/g2o/g2o/types/sba/g2o_types_sba_api.h b/g2o/g2o/types/sba/g2o_types_sba_api.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/sba/g2o_types_sba_api.h
rename to g2o/g2o/types/sba/g2o_types_sba_api.h
diff --git a/Thirdparty/g2o/g2o/types/sba/sbacam.h b/g2o/g2o/types/sba/sbacam.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/sba/sbacam.h
rename to g2o/g2o/types/sba/sbacam.h
diff --git a/Thirdparty/g2o/g2o/types/sba/types_sba.cpp b/g2o/g2o/types/sba/types_sba.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/sba/types_sba.cpp
rename to g2o/g2o/types/sba/types_sba.cpp
diff --git a/Thirdparty/g2o/g2o/types/sba/types_sba.h b/g2o/g2o/types/sba/types_sba.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/sba/types_sba.h
rename to g2o/g2o/types/sba/types_sba.h
diff --git a/Thirdparty/g2o/g2o/types/sba/types_six_dof_expmap.cpp b/g2o/g2o/types/sba/types_six_dof_expmap.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/sba/types_six_dof_expmap.cpp
rename to g2o/g2o/types/sba/types_six_dof_expmap.cpp
diff --git a/Thirdparty/g2o/g2o/types/sba/types_six_dof_expmap.h b/g2o/g2o/types/sba/types_six_dof_expmap.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/sba/types_six_dof_expmap.h
rename to g2o/g2o/types/sba/types_six_dof_expmap.h
diff --git a/Thirdparty/g2o/g2o/types/sim3/CMakeLists.txt b/g2o/g2o/types/sim3/CMakeLists.txt
similarity index 66%
rename from Thirdparty/g2o/g2o/types/sim3/CMakeLists.txt
rename to g2o/g2o/types/sim3/CMakeLists.txt
index c493599a..5109620c 100644
--- a/Thirdparty/g2o/g2o/types/sim3/CMakeLists.txt
+++ b/g2o/g2o/types/sim3/CMakeLists.txt
@@ -1,13 +1,11 @@
-ADD_LIBRARY(types_sim3 ${G2O_LIB_TYPE}
+ADD_LIBRARY(${LIB_PREFIX}types_sim3 ${G2O_LIB_TYPE}
types_seven_dof_expmap.cpp
types_seven_dof_expmap.h
)
-SET_TARGET_PROPERTIES(types_sim3 PROPERTIES OUTPUT_NAME ${LIB_PREFIX}types_sim3)
+TARGET_LINK_LIBRARIES(${LIB_PREFIX}types_sim3 ${LIB_PREFIX}types_sba)
-TARGET_LINK_LIBRARIES(types_sim3 types_sba)
-
-INSTALL(TARGETS types_sim3
+INSTALL(TARGETS ${LIB_PREFIX}types_sim3
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
diff --git a/Thirdparty/g2o/g2o/types/sim3/sim3.h b/g2o/g2o/types/sim3/sim3.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/sim3/sim3.h
rename to g2o/g2o/types/sim3/sim3.h
diff --git a/Thirdparty/g2o/g2o/types/sim3/types_seven_dof_expmap.cpp b/g2o/g2o/types/sim3/types_seven_dof_expmap.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/sim3/types_seven_dof_expmap.cpp
rename to g2o/g2o/types/sim3/types_seven_dof_expmap.cpp
diff --git a/Thirdparty/g2o/g2o/types/sim3/types_seven_dof_expmap.h b/g2o/g2o/types/sim3/types_seven_dof_expmap.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/sim3/types_seven_dof_expmap.h
rename to g2o/g2o/types/sim3/types_seven_dof_expmap.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/CMakeLists.txt b/g2o/g2o/types/slam3d/CMakeLists.txt
similarity index 80%
rename from Thirdparty/g2o/g2o/types/slam3d/CMakeLists.txt
rename to g2o/g2o/types/slam3d/CMakeLists.txt
index f19a05ce..07b9d157 100644
--- a/Thirdparty/g2o/g2o/types/slam3d/CMakeLists.txt
+++ b/g2o/g2o/types/slam3d/CMakeLists.txt
@@ -1,4 +1,4 @@
-ADD_LIBRARY(types_slam3d ${G2O_LIB_TYPE}
+ADD_LIBRARY(${LIB_PREFIX}types_slam3d ${G2O_LIB_TYPE}
dquat2mat.cpp dquat2mat.h
isometry3d_mappings.h
isometry3d_mappings.cpp
@@ -32,14 +32,12 @@ ADD_LIBRARY(types_slam3d ${G2O_LIB_TYPE}
types_slam3d.h
)
-
-SET_TARGET_PROPERTIES(types_slam3d PROPERTIES OUTPUT_NAME ${LIB_PREFIX}types_slam3d)
-TARGET_LINK_LIBRARIES(types_slam3d core)
+TARGET_LINK_LIBRARIES(${LIB_PREFIX}types_slam3d ${LIB_PREFIX}core)
IF(OPENGL_FOUND)
- TARGET_LINK_LIBRARIES(types_slam3d ${OPENGL_gl_LIBRARY})
+ TARGET_LINK_LIBRARIES(${LIB_PREFIX}types_slam3d ${OPENGL_gl_LIBRARY})
ENDIF()
-INSTALL(TARGETS types_slam3d
+INSTALL(TARGETS ${LIB_PREFIX}types_slam3d
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
diff --git a/Thirdparty/g2o/g2o/types/slam3d/dquat2mat.cpp b/g2o/g2o/types/slam3d/dquat2mat.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/dquat2mat.cpp
rename to g2o/g2o/types/slam3d/dquat2mat.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/dquat2mat.h b/g2o/g2o/types/slam3d/dquat2mat.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/dquat2mat.h
rename to g2o/g2o/types/slam3d/dquat2mat.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/dquat2mat.wxm b/g2o/g2o/types/slam3d/dquat2mat.wxm
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/dquat2mat.wxm
rename to g2o/g2o/types/slam3d/dquat2mat.wxm
diff --git a/Thirdparty/g2o/g2o/types/slam3d/dquat2mat_maxima_generated.cpp b/g2o/g2o/types/slam3d/dquat2mat_maxima_generated.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/dquat2mat_maxima_generated.cpp
rename to g2o/g2o/types/slam3d/dquat2mat_maxima_generated.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/edge_se3.cpp b/g2o/g2o/types/slam3d/edge_se3.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/edge_se3.cpp
rename to g2o/g2o/types/slam3d/edge_se3.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/edge_se3.h b/g2o/g2o/types/slam3d/edge_se3.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/edge_se3.h
rename to g2o/g2o/types/slam3d/edge_se3.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/edge_se3_offset.cpp b/g2o/g2o/types/slam3d/edge_se3_offset.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/edge_se3_offset.cpp
rename to g2o/g2o/types/slam3d/edge_se3_offset.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/edge_se3_offset.h b/g2o/g2o/types/slam3d/edge_se3_offset.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/edge_se3_offset.h
rename to g2o/g2o/types/slam3d/edge_se3_offset.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/edge_se3_pointxyz.cpp b/g2o/g2o/types/slam3d/edge_se3_pointxyz.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/edge_se3_pointxyz.cpp
rename to g2o/g2o/types/slam3d/edge_se3_pointxyz.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/edge_se3_pointxyz.h b/g2o/g2o/types/slam3d/edge_se3_pointxyz.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/edge_se3_pointxyz.h
rename to g2o/g2o/types/slam3d/edge_se3_pointxyz.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/edge_se3_pointxyz_depth.cpp b/g2o/g2o/types/slam3d/edge_se3_pointxyz_depth.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/edge_se3_pointxyz_depth.cpp
rename to g2o/g2o/types/slam3d/edge_se3_pointxyz_depth.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/edge_se3_pointxyz_depth.h b/g2o/g2o/types/slam3d/edge_se3_pointxyz_depth.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/edge_se3_pointxyz_depth.h
rename to g2o/g2o/types/slam3d/edge_se3_pointxyz_depth.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp b/g2o/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp
rename to g2o/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/edge_se3_pointxyz_disparity.h b/g2o/g2o/types/slam3d/edge_se3_pointxyz_disparity.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/edge_se3_pointxyz_disparity.h
rename to g2o/g2o/types/slam3d/edge_se3_pointxyz_disparity.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/edge_se3_prior.cpp b/g2o/g2o/types/slam3d/edge_se3_prior.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/edge_se3_prior.cpp
rename to g2o/g2o/types/slam3d/edge_se3_prior.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/edge_se3_prior.h b/g2o/g2o/types/slam3d/edge_se3_prior.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/edge_se3_prior.h
rename to g2o/g2o/types/slam3d/edge_se3_prior.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/g2o_types_slam3d_api.h b/g2o/g2o/types/slam3d/g2o_types_slam3d_api.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/g2o_types_slam3d_api.h
rename to g2o/g2o/types/slam3d/g2o_types_slam3d_api.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/isometry3d_gradients.cpp b/g2o/g2o/types/slam3d/isometry3d_gradients.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/isometry3d_gradients.cpp
rename to g2o/g2o/types/slam3d/isometry3d_gradients.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/isometry3d_gradients.h b/g2o/g2o/types/slam3d/isometry3d_gradients.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/isometry3d_gradients.h
rename to g2o/g2o/types/slam3d/isometry3d_gradients.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/isometry3d_mappings.cpp b/g2o/g2o/types/slam3d/isometry3d_mappings.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/isometry3d_mappings.cpp
rename to g2o/g2o/types/slam3d/isometry3d_mappings.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/isometry3d_mappings.h b/g2o/g2o/types/slam3d/isometry3d_mappings.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/isometry3d_mappings.h
rename to g2o/g2o/types/slam3d/isometry3d_mappings.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/parameter_camera.cpp b/g2o/g2o/types/slam3d/parameter_camera.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/parameter_camera.cpp
rename to g2o/g2o/types/slam3d/parameter_camera.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/parameter_camera.h b/g2o/g2o/types/slam3d/parameter_camera.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/parameter_camera.h
rename to g2o/g2o/types/slam3d/parameter_camera.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/parameter_se3_offset.cpp b/g2o/g2o/types/slam3d/parameter_se3_offset.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/parameter_se3_offset.cpp
rename to g2o/g2o/types/slam3d/parameter_se3_offset.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/parameter_se3_offset.h b/g2o/g2o/types/slam3d/parameter_se3_offset.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/parameter_se3_offset.h
rename to g2o/g2o/types/slam3d/parameter_se3_offset.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/parameter_stereo_camera.cpp b/g2o/g2o/types/slam3d/parameter_stereo_camera.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/parameter_stereo_camera.cpp
rename to g2o/g2o/types/slam3d/parameter_stereo_camera.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/parameter_stereo_camera.h b/g2o/g2o/types/slam3d/parameter_stereo_camera.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/parameter_stereo_camera.h
rename to g2o/g2o/types/slam3d/parameter_stereo_camera.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/se3_ops.h b/g2o/g2o/types/slam3d/se3_ops.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/se3_ops.h
rename to g2o/g2o/types/slam3d/se3_ops.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/se3_ops.hpp b/g2o/g2o/types/slam3d/se3_ops.hpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/se3_ops.hpp
rename to g2o/g2o/types/slam3d/se3_ops.hpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/se3quat.h b/g2o/g2o/types/slam3d/se3quat.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/se3quat.h
rename to g2o/g2o/types/slam3d/se3quat.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/types_slam3d.cpp b/g2o/g2o/types/slam3d/types_slam3d.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/types_slam3d.cpp
rename to g2o/g2o/types/slam3d/types_slam3d.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/types_slam3d.h b/g2o/g2o/types/slam3d/types_slam3d.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/types_slam3d.h
rename to g2o/g2o/types/slam3d/types_slam3d.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/vertex_pointxyz.cpp b/g2o/g2o/types/slam3d/vertex_pointxyz.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/vertex_pointxyz.cpp
rename to g2o/g2o/types/slam3d/vertex_pointxyz.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/vertex_pointxyz.h b/g2o/g2o/types/slam3d/vertex_pointxyz.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/vertex_pointxyz.h
rename to g2o/g2o/types/slam3d/vertex_pointxyz.h
diff --git a/Thirdparty/g2o/g2o/types/slam3d/vertex_se3.cpp b/g2o/g2o/types/slam3d/vertex_se3.cpp
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/vertex_se3.cpp
rename to g2o/g2o/types/slam3d/vertex_se3.cpp
diff --git a/Thirdparty/g2o/g2o/types/slam3d/vertex_se3.h b/g2o/g2o/types/slam3d/vertex_se3.h
similarity index 100%
rename from Thirdparty/g2o/g2o/types/slam3d/vertex_se3.h
rename to g2o/g2o/types/slam3d/vertex_se3.h
diff --git a/g2o/package.xml b/g2o/package.xml
new file mode 100644
index 00000000..e9e39327
--- /dev/null
+++ b/g2o/package.xml
@@ -0,0 +1,9 @@
+
+
+ g2o
+ 0.0.0
+ The g2o package
+ bence
+ TODO
+ catkin
+
diff --git a/manifest.xml b/manifest.xml
deleted file mode 100644
index c98fa974..00000000
--- a/manifest.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-
-
-
- ORB_SLAM
-
-
- Raul Mur-Artal
- GPLv3
-
-
-
-
-
-
-
-
-
-
-
diff --git a/orb_slam/CMakeLists.txt b/orb_slam/CMakeLists.txt
new file mode 100644
index 00000000..c8fc40e2
--- /dev/null
+++ b/orb_slam/CMakeLists.txt
@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(orb_slam)
+
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ tf
+ sensor_msgs
+ image_transport
+ cv_bridge
+ g2o
+)
+
+#LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
+#find_package(Cholmod REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+catkin_package()
+
+message(*************************)
+message(${catkin_INCLUDE_DIRS})
+message(*************************)
+
+
+include_directories(
+ include
+ ${catkin_INCLUDE_DIRS}
+ ${EIGEN3_INCLUDE_DIR}
+ ${CHOLMOD_INCLUDE_DIR}
+ ${PROJECT_SOURCE_DIR}
+)
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
+
+add_subdirectory(Thirdparty/DBoW2)
+
+add_executable(${PROJECT_NAME}
+ src/main.cc
+ src/Tracking.cc
+ src/LocalMapping.cc
+ src/LoopClosing.cc
+ src/ORBextractor.cc
+ src/ORBmatcher.cc
+ src/FramePublisher.cc
+ src/Converter.cc
+ src/MapPoint.cc
+ src/KeyFrame.cc
+ src/Map.cc
+ src/MapPublisher.cc
+ src/Optimizer.cc
+ src/PnPsolver.cc
+ src/Frame.cc
+ src/KeyFrameDatabase.cc
+ src/Sim3Solver.cc
+ src/Initializer.cc
+)
+target_link_libraries(${PROJECT_NAME}
+ ${catkin_LIBRARIES}
+ ${EIGEN3_LIBS}
+# cholmod
+ DBoW2
+# g2o_core
+# g2o_solver_cholmod
+# g2o_solver_dense
+# g2o_stuff
+# g2o_types_sba
+# g2o_types_sim3
+# g2o_types_slam3d
+)
diff --git a/Data/ORBvoc.yml.tar.gz b/orb_slam/Data/ORBvoc.yml.tar.gz
similarity index 100%
rename from Data/ORBvoc.yml.tar.gz
rename to orb_slam/Data/ORBvoc.yml.tar.gz
diff --git a/Data/Settings.yaml b/orb_slam/Data/Settings.yaml
similarity index 100%
rename from Data/Settings.yaml
rename to orb_slam/Data/Settings.yaml
diff --git a/Data/rviz.rviz b/orb_slam/Data/rviz.rviz
similarity index 100%
rename from Data/rviz.rviz
rename to orb_slam/Data/rviz.rviz
diff --git a/Data/rviz.vcg b/orb_slam/Data/rviz.vcg
similarity index 100%
rename from Data/rviz.vcg
rename to orb_slam/Data/rviz.vcg
diff --git a/LICENSE.txt b/orb_slam/LICENSE.txt
similarity index 100%
rename from LICENSE.txt
rename to orb_slam/LICENSE.txt
diff --git a/License-gpl.txt b/orb_slam/License-gpl.txt
similarity index 100%
rename from License-gpl.txt
rename to orb_slam/License-gpl.txt
diff --git a/README.txt b/orb_slam/README.txt
similarity index 100%
rename from README.txt
rename to orb_slam/README.txt
diff --git a/Thirdparty/DBoW2/CMakeLists.txt b/orb_slam/Thirdparty/DBoW2/CMakeLists.txt
similarity index 93%
rename from Thirdparty/DBoW2/CMakeLists.txt
rename to orb_slam/Thirdparty/DBoW2/CMakeLists.txt
index 4da56b2b..c0487fd0 100644
--- a/Thirdparty/DBoW2/CMakeLists.txt
+++ b/orb_slam/Thirdparty/DBoW2/CMakeLists.txt
@@ -1,6 +1,3 @@
-cmake_minimum_required(VERSION 2.8)
-project(DBoW2)
-
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
diff --git a/Thirdparty/DBoW2/DBoW2/BowVector.cpp b/orb_slam/Thirdparty/DBoW2/DBoW2/BowVector.cpp
similarity index 100%
rename from Thirdparty/DBoW2/DBoW2/BowVector.cpp
rename to orb_slam/Thirdparty/DBoW2/DBoW2/BowVector.cpp
diff --git a/Thirdparty/DBoW2/DBoW2/BowVector.h b/orb_slam/Thirdparty/DBoW2/DBoW2/BowVector.h
similarity index 100%
rename from Thirdparty/DBoW2/DBoW2/BowVector.h
rename to orb_slam/Thirdparty/DBoW2/DBoW2/BowVector.h
diff --git a/Thirdparty/DBoW2/DBoW2/FClass.h b/orb_slam/Thirdparty/DBoW2/DBoW2/FClass.h
similarity index 100%
rename from Thirdparty/DBoW2/DBoW2/FClass.h
rename to orb_slam/Thirdparty/DBoW2/DBoW2/FClass.h
diff --git a/Thirdparty/DBoW2/DBoW2/FORB.cpp b/orb_slam/Thirdparty/DBoW2/DBoW2/FORB.cpp
similarity index 100%
rename from Thirdparty/DBoW2/DBoW2/FORB.cpp
rename to orb_slam/Thirdparty/DBoW2/DBoW2/FORB.cpp
diff --git a/Thirdparty/DBoW2/DBoW2/FORB.h b/orb_slam/Thirdparty/DBoW2/DBoW2/FORB.h
similarity index 100%
rename from Thirdparty/DBoW2/DBoW2/FORB.h
rename to orb_slam/Thirdparty/DBoW2/DBoW2/FORB.h
diff --git a/Thirdparty/DBoW2/DBoW2/FeatureVector.cpp b/orb_slam/Thirdparty/DBoW2/DBoW2/FeatureVector.cpp
similarity index 100%
rename from Thirdparty/DBoW2/DBoW2/FeatureVector.cpp
rename to orb_slam/Thirdparty/DBoW2/DBoW2/FeatureVector.cpp
diff --git a/Thirdparty/DBoW2/DBoW2/FeatureVector.h b/orb_slam/Thirdparty/DBoW2/DBoW2/FeatureVector.h
similarity index 100%
rename from Thirdparty/DBoW2/DBoW2/FeatureVector.h
rename to orb_slam/Thirdparty/DBoW2/DBoW2/FeatureVector.h
diff --git a/Thirdparty/DBoW2/DBoW2/LICENSE.txt b/orb_slam/Thirdparty/DBoW2/DBoW2/LICENSE.txt
similarity index 100%
rename from Thirdparty/DBoW2/DBoW2/LICENSE.txt
rename to orb_slam/Thirdparty/DBoW2/DBoW2/LICENSE.txt
diff --git a/Thirdparty/DBoW2/DBoW2/ScoringObject.cpp b/orb_slam/Thirdparty/DBoW2/DBoW2/ScoringObject.cpp
similarity index 100%
rename from Thirdparty/DBoW2/DBoW2/ScoringObject.cpp
rename to orb_slam/Thirdparty/DBoW2/DBoW2/ScoringObject.cpp
diff --git a/Thirdparty/DBoW2/DBoW2/ScoringObject.h b/orb_slam/Thirdparty/DBoW2/DBoW2/ScoringObject.h
similarity index 100%
rename from Thirdparty/DBoW2/DBoW2/ScoringObject.h
rename to orb_slam/Thirdparty/DBoW2/DBoW2/ScoringObject.h
diff --git a/Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h b/orb_slam/Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h
similarity index 99%
rename from Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h
rename to orb_slam/Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h
index 7c617bd6..d8cf97b5 100644
--- a/Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h
+++ b/orb_slam/Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h
@@ -22,6 +22,7 @@
#include "FeatureVector.h"
#include "BowVector.h"
#include "ScoringObject.h"
+#include
#include "../DUtils/Random.h"
@@ -442,7 +443,7 @@ TemplatedVocabulary::TemplatedVocabulary
template
void TemplatedVocabulary::createScoringObject()
{
- delete m_scoring_object;
+ //delete m_scoring_object;
m_scoring_object = NULL;
switch(m_scoring)
@@ -506,7 +507,7 @@ TemplatedVocabulary::TemplatedVocabulary(
template
TemplatedVocabulary::~TemplatedVocabulary()
{
- delete m_scoring_object;
+ //delete m_scoring_object;
}
// --------------------------------------------------------------------------
diff --git a/Thirdparty/DBoW2/DUtils/LICENSE.txt b/orb_slam/Thirdparty/DBoW2/DUtils/LICENSE.txt
similarity index 100%
rename from Thirdparty/DBoW2/DUtils/LICENSE.txt
rename to orb_slam/Thirdparty/DBoW2/DUtils/LICENSE.txt
diff --git a/Thirdparty/DBoW2/DUtils/Random.cpp b/orb_slam/Thirdparty/DBoW2/DUtils/Random.cpp
similarity index 100%
rename from Thirdparty/DBoW2/DUtils/Random.cpp
rename to orb_slam/Thirdparty/DBoW2/DUtils/Random.cpp
diff --git a/Thirdparty/DBoW2/DUtils/Random.h b/orb_slam/Thirdparty/DBoW2/DUtils/Random.h
similarity index 100%
rename from Thirdparty/DBoW2/DUtils/Random.h
rename to orb_slam/Thirdparty/DBoW2/DUtils/Random.h
diff --git a/Thirdparty/DBoW2/DUtils/Timestamp.cpp b/orb_slam/Thirdparty/DBoW2/DUtils/Timestamp.cpp
similarity index 100%
rename from Thirdparty/DBoW2/DUtils/Timestamp.cpp
rename to orb_slam/Thirdparty/DBoW2/DUtils/Timestamp.cpp
diff --git a/Thirdparty/DBoW2/DUtils/Timestamp.h b/orb_slam/Thirdparty/DBoW2/DUtils/Timestamp.h
similarity index 100%
rename from Thirdparty/DBoW2/DUtils/Timestamp.h
rename to orb_slam/Thirdparty/DBoW2/DUtils/Timestamp.h
diff --git a/Thirdparty/DBoW2/LICENSE.txt b/orb_slam/Thirdparty/DBoW2/LICENSE.txt
similarity index 100%
rename from Thirdparty/DBoW2/LICENSE.txt
rename to orb_slam/Thirdparty/DBoW2/LICENSE.txt
diff --git a/cmake_modules/FindCholmod.cmake b/orb_slam/cmake_modules/FindCholmod.cmake
similarity index 100%
rename from cmake_modules/FindCholmod.cmake
rename to orb_slam/cmake_modules/FindCholmod.cmake
diff --git a/cmake_modules/FindEigen3.cmake b/orb_slam/cmake_modules/FindEigen3.cmake
similarity index 100%
rename from cmake_modules/FindEigen3.cmake
rename to orb_slam/cmake_modules/FindEigen3.cmake
diff --git a/include/Converter.h b/orb_slam/include/Converter.h
similarity index 91%
rename from include/Converter.h
rename to orb_slam/include/Converter.h
index 099fdbb1..f98f1a20 100644
--- a/include/Converter.h
+++ b/orb_slam/include/Converter.h
@@ -21,11 +21,11 @@
#ifndef CONVERTER_H
#define CONVERTER_H
-#include
+#include
-#include
-#include"Thirdparty/g2o/g2o/types/sba/types_six_dof_expmap.h"
-#include"Thirdparty/g2o/g2o/types/sim3/types_seven_dof_expmap.h"
+#include
+#include
+#include
namespace ORB_SLAM
{
diff --git a/include/Frame.h b/orb_slam/include/Frame.h
similarity index 100%
rename from include/Frame.h
rename to orb_slam/include/Frame.h
diff --git a/include/FramePublisher.h b/orb_slam/include/FramePublisher.h
similarity index 100%
rename from include/FramePublisher.h
rename to orb_slam/include/FramePublisher.h
diff --git a/include/Initializer.h b/orb_slam/include/Initializer.h
similarity index 100%
rename from include/Initializer.h
rename to orb_slam/include/Initializer.h
diff --git a/include/KeyFrame.h b/orb_slam/include/KeyFrame.h
similarity index 100%
rename from include/KeyFrame.h
rename to orb_slam/include/KeyFrame.h
diff --git a/include/KeyFrameDatabase.h b/orb_slam/include/KeyFrameDatabase.h
similarity index 100%
rename from include/KeyFrameDatabase.h
rename to orb_slam/include/KeyFrameDatabase.h
diff --git a/include/LocalMapping.h b/orb_slam/include/LocalMapping.h
similarity index 100%
rename from include/LocalMapping.h
rename to orb_slam/include/LocalMapping.h
diff --git a/include/LoopClosing.h b/orb_slam/include/LoopClosing.h
similarity index 97%
rename from include/LoopClosing.h
rename to orb_slam/include/LoopClosing.h
index b695cee0..e6bd5859 100644
--- a/include/LoopClosing.h
+++ b/orb_slam/include/LoopClosing.h
@@ -30,7 +30,7 @@
#include "KeyFrameDatabase.h"
-#include "Thirdparty/g2o/g2o/types/sim3/types_seven_dof_expmap.h"
+#include
namespace ORB_SLAM
{
diff --git a/include/Map.h b/orb_slam/include/Map.h
similarity index 100%
rename from include/Map.h
rename to orb_slam/include/Map.h
diff --git a/include/MapPoint.h b/orb_slam/include/MapPoint.h
similarity index 100%
rename from include/MapPoint.h
rename to orb_slam/include/MapPoint.h
diff --git a/include/MapPublisher.h b/orb_slam/include/MapPublisher.h
similarity index 100%
rename from include/MapPublisher.h
rename to orb_slam/include/MapPublisher.h
diff --git a/include/ORBVocabulary.h b/orb_slam/include/ORBVocabulary.h
similarity index 100%
rename from include/ORBVocabulary.h
rename to orb_slam/include/ORBVocabulary.h
diff --git a/include/ORBextractor.h b/orb_slam/include/ORBextractor.h
similarity index 100%
rename from include/ORBextractor.h
rename to orb_slam/include/ORBextractor.h
diff --git a/include/ORBmatcher.h b/orb_slam/include/ORBmatcher.h
similarity index 100%
rename from include/ORBmatcher.h
rename to orb_slam/include/ORBmatcher.h
diff --git a/include/Optimizer.h b/orb_slam/include/Optimizer.h
similarity index 96%
rename from include/Optimizer.h
rename to orb_slam/include/Optimizer.h
index a4a6c358..67ae5126 100644
--- a/include/Optimizer.h
+++ b/orb_slam/include/Optimizer.h
@@ -27,7 +27,7 @@
#include "LoopClosing.h"
#include "Frame.h"
-#include "Thirdparty/g2o/g2o/types/sim3/types_seven_dof_expmap.h"
+#include
namespace ORB_SLAM
{
diff --git a/include/PnPsolver.h b/orb_slam/include/PnPsolver.h
similarity index 100%
rename from include/PnPsolver.h
rename to orb_slam/include/PnPsolver.h
diff --git a/include/Sim3Solver.h b/orb_slam/include/Sim3Solver.h
similarity index 100%
rename from include/Sim3Solver.h
rename to orb_slam/include/Sim3Solver.h
diff --git a/include/Tracking.h b/orb_slam/include/Tracking.h
similarity index 100%
rename from include/Tracking.h
rename to orb_slam/include/Tracking.h
diff --git a/ExampleFuerte.launch b/orb_slam/launch/ExampleFuerte.launch
similarity index 100%
rename from ExampleFuerte.launch
rename to orb_slam/launch/ExampleFuerte.launch
diff --git a/orb_slam/launch/ExampleGroovyHydro.launch b/orb_slam/launch/ExampleGroovyHydro.launch
new file mode 100644
index 00000000..4215ecf0
--- /dev/null
+++ b/orb_slam/launch/ExampleGroovyHydro.launch
@@ -0,0 +1,14 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/orb_slam/launch/orb_slam.launch b/orb_slam/launch/orb_slam.launch
new file mode 100644
index 00000000..4215ecf0
--- /dev/null
+++ b/orb_slam/launch/orb_slam.launch
@@ -0,0 +1,14 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/orb_slam/package.xml b/orb_slam/package.xml
new file mode 100644
index 00000000..20ce35d7
--- /dev/null
+++ b/orb_slam/package.xml
@@ -0,0 +1,26 @@
+
+ orb_slam
+ 0.0.0
+ orb_slam
+
+ Raul Mur-Artal
+ Raul Mur-Artal
+ GPLv3
+
+ catkin
+
+ roscpp
+ tf
+ sensor_msgs
+ image_transport
+ cv_bridge
+ suitesparse
+ g2o
+
+ roscpp
+ tf
+ sensor_msgs
+ image_transport
+ cv_bridge
+ g2o
+
diff --git a/src/Converter.cc b/orb_slam/src/Converter.cc
similarity index 100%
rename from src/Converter.cc
rename to orb_slam/src/Converter.cc
diff --git a/src/Frame.cc b/orb_slam/src/Frame.cc
similarity index 100%
rename from src/Frame.cc
rename to orb_slam/src/Frame.cc
diff --git a/src/FramePublisher.cc b/orb_slam/src/FramePublisher.cc
similarity index 100%
rename from src/FramePublisher.cc
rename to orb_slam/src/FramePublisher.cc
diff --git a/src/Initializer.cc b/orb_slam/src/Initializer.cc
similarity index 100%
rename from src/Initializer.cc
rename to orb_slam/src/Initializer.cc
diff --git a/src/KeyFrame.cc b/orb_slam/src/KeyFrame.cc
similarity index 100%
rename from src/KeyFrame.cc
rename to orb_slam/src/KeyFrame.cc
diff --git a/src/KeyFrameDatabase.cc b/orb_slam/src/KeyFrameDatabase.cc
similarity index 100%
rename from src/KeyFrameDatabase.cc
rename to orb_slam/src/KeyFrameDatabase.cc
diff --git a/src/LocalMapping.cc b/orb_slam/src/LocalMapping.cc
similarity index 100%
rename from src/LocalMapping.cc
rename to orb_slam/src/LocalMapping.cc
diff --git a/src/LoopClosing.cc b/orb_slam/src/LoopClosing.cc
similarity index 99%
rename from src/LoopClosing.cc
rename to orb_slam/src/LoopClosing.cc
index 54f8c573..f9ea25e4 100644
--- a/src/LoopClosing.cc
+++ b/orb_slam/src/LoopClosing.cc
@@ -30,7 +30,7 @@
#include
-#include "Thirdparty/g2o/g2o/types/sim3/types_seven_dof_expmap.h"
+#include
namespace ORB_SLAM
{
diff --git a/src/Map.cc b/orb_slam/src/Map.cc
similarity index 100%
rename from src/Map.cc
rename to orb_slam/src/Map.cc
diff --git a/src/MapPoint.cc b/orb_slam/src/MapPoint.cc
similarity index 100%
rename from src/MapPoint.cc
rename to orb_slam/src/MapPoint.cc
diff --git a/src/MapPublisher.cc b/orb_slam/src/MapPublisher.cc
similarity index 100%
rename from src/MapPublisher.cc
rename to orb_slam/src/MapPublisher.cc
diff --git a/src/ORBextractor.cc b/orb_slam/src/ORBextractor.cc
similarity index 100%
rename from src/ORBextractor.cc
rename to orb_slam/src/ORBextractor.cc
diff --git a/src/ORBmatcher.cc b/orb_slam/src/ORBmatcher.cc
similarity index 100%
rename from src/ORBmatcher.cc
rename to orb_slam/src/ORBmatcher.cc
diff --git a/src/Optimizer.cc b/orb_slam/src/Optimizer.cc
similarity index 98%
rename from src/Optimizer.cc
rename to orb_slam/src/Optimizer.cc
index 70c85017..6eaad4c8 100644
--- a/src/Optimizer.cc
+++ b/orb_slam/src/Optimizer.cc
@@ -20,13 +20,13 @@
#include "Optimizer.h"
-#include "Thirdparty/g2o/g2o/core/block_solver.h"
-#include "Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h"
-#include "Thirdparty/g2o/g2o/solvers/cholmod/linear_solver_cholmod.h"
-#include "Thirdparty/g2o/g2o/types/sba/types_six_dof_expmap.h"
-#include "Thirdparty/g2o/g2o/core/robust_kernel_impl.h"
-#include "Thirdparty/g2o/g2o/solvers/dense/linear_solver_dense.h"
-#include "Thirdparty/g2o/g2o/types/sim3/types_seven_dof_expmap.h"
+#include "g2o/core/block_solver.h"
+#include "g2o/core/optimization_algorithm_levenberg.h"
+#include "g2o/solvers/cholmod/linear_solver_cholmod.h"
+#include "g2o/types/sba/types_six_dof_expmap.h"
+#include "g2o/core/robust_kernel_impl.h"
+#include "g2o/solvers/dense/linear_solver_dense.h"
+#include "g2o/types/sim3/types_seven_dof_expmap.h"
#include
diff --git a/src/PnPsolver.cc b/orb_slam/src/PnPsolver.cc
similarity index 100%
rename from src/PnPsolver.cc
rename to orb_slam/src/PnPsolver.cc
diff --git a/src/Sim3Solver.cc b/orb_slam/src/Sim3Solver.cc
similarity index 100%
rename from src/Sim3Solver.cc
rename to orb_slam/src/Sim3Solver.cc
diff --git a/src/Tracking.cc b/orb_slam/src/Tracking.cc
similarity index 100%
rename from src/Tracking.cc
rename to orb_slam/src/Tracking.cc
diff --git a/src/main.cc b/orb_slam/src/main.cc
similarity index 96%
rename from src/main.cc
rename to orb_slam/src/main.cc
index ced5cdfc..9a5133de 100644
--- a/src/main.cc
+++ b/orb_slam/src/main.cc
@@ -60,7 +60,7 @@ int main(int argc, char **argv)
}
// Load Settings and Check
- string strSettingsFile = ros::package::getPath("ORB_SLAM")+"/"+argv[2];
+ string strSettingsFile = ros::package::getPath("orb_slam")+"/"+argv[2];
cv::FileStorage fsSettings(strSettingsFile.c_str(), cv::FileStorage::READ);
if(!fsSettings.isOpened())
@@ -74,7 +74,7 @@ int main(int argc, char **argv)
ORB_SLAM::FramePublisher FramePub;
//Load ORB Vocabulary
- string strVocFile = ros::package::getPath("ORB_SLAM")+"/"+argv[1];
+ string strVocFile = ros::package::getPath("orb_slam")+"/"+argv[1];
cout << endl << "Loading ORB Vocabulary. This could take a while." << endl;
cv::FileStorage fsVoc(strVocFile.c_str(), cv::FileStorage::READ);
if(!fsVoc.isOpened())
@@ -145,7 +145,7 @@ int main(int argc, char **argv)
sort(vpKFs.begin(),vpKFs.end(),ORB_SLAM::KeyFrame::lId);
cout << endl << "Saving Keyframe Trajectory to KeyFrameTrajectory.txt" << endl;
- string strFile = ros::package::getPath("ORB_SLAM")+"/"+"KeyFrameTrajectory.txt";
+ string strFile = ros::package::getPath("orb_slam")+"/"+"KeyFrameTrajectory.txt";
f.open(strFile.c_str());
f << fixed;