orbslam_dwo

.gitignore

@@ -0,0 +1,59 @@
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+
+ORB_SLAM2-viclam-backup/
+
+data/result/plot_path/
+
+data/result/
+
+TODO\.txt
+
+Thirdparty/g2o/
+
+Thirdparty/Sophus/

CMakeLists.txt

@@ -1,33 +1,103 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+SET(TRACE FALSE) # record timing of operations
+SET(MONO_SLAM false) # if false stereo SLAM with or without IMU, if true, monocular SLAM
+SET(USE_ROS false) # use ROS for visualization or not
 
-rosbuild_init()
+SET(PROJECT_NAME orbslam_dwo)
+PROJECT(${PROJECT_NAME})
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+cmake_minimum_required(VERSION 2.6)
+SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
+    "${PROJECT_SOURCE_DIR}/cmake_modules/")
 
-IF(NOT ROS_BUILD_TYPE)
-  SET(ROS_BUILD_TYPE Release)
+IF(NOT CMAKE_BUILD_TYPE)
+  SET(CMAKE_BUILD_TYPE Release)
 ENDIF()
-
-MESSAGE("Build type: " ${ROS_BUILD_TYPE})
+MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
 
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")
+# use sse3 instruction set
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse3")
+add_definitions(-DCV_SSE2=1)
+MESSAGE ("sse3 ON")
+
+# Set definitions
+IF(TRACE)
+  ADD_DEFINITIONS(-DSLAM_TRACE)
+ENDIF()
+IF(MONO_SLAM)
+  ADD_DEFINITIONS(-DMONO)
+ELSE()
+  ADD_DEFINITIONS(-DSLAM_OUTPUT_VISO2) #output the libviso2 stereo odometry result
+ENDIF()
+IF(USE_ROS)
+  add_definitions(-DSLAM_USE_ROS)
+ENDIF()
 
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+IF(CMAKE_BUILD_TYPE MATCHES Debug)
+  ADD_DEFINITIONS(-DSLAM_DEBUG_OUTPUT)
+ENDIF()
 
 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)
+
+set(Boost_USE_STATIC_LIBS OFF)
+set(Boost_USE_MULTITHREADED ON)
+set(Boost_USE_STATIC_RUNTIME OFF)
+find_package(Boost 1.45.0 COMPONENTS system thread REQUIRED)
+
+FIND_PACKAGE(OpenCV REQUIRED)
+
+SET(vikit_common_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/Thirdparty/vikit_common/include)
+SET(vikit_common_LIBRARIES ${PROJECT_SOURCE_DIR}/Thirdparty/vikit_common/lib/libvikit_common.so)
+
+SET(vio_common_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/Thirdparty/vio_common/include)
+SET(vio_common_LIBRARIES ${PROJECT_SOURCE_DIR}/Thirdparty/vio_common/lib/libvio_common.so)
+
+SET(vio_g2o_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/Thirdparty/vio_g2o/include)
+SET(vio_g2o_LIBRARIES ${PROJECT_SOURCE_DIR}/Thirdparty/vio_g2o/lib/libvio_g2o.so)
+
+SET(DBOW2_LIB ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so)
+
+SET(G2O_INCLUDE_DIR ${INSTALL_PREFIX}/g2o/include)
+SET(G2O_LIBRARY_DIR ${INSTALL_PREFIX}/g2o/lib)
+
+SET(Sophus_INCLUDE_DIR ${INSTALL_PREFIX}/sophus/include)
+
+IF(USE_ROS)
+  FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules tf cv_bridge)
+  catkin_package(
+      DEPENDS Eigen OpenCV Cholmod SuiteSparse Boost
+      CATKIN_DEPENDS roscpp roslib tf cv_bridge
+      INCLUDE_DIRS include
+      LIBRARIES ${PROJECT_NAME}
+  )
+ELSE()
+  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}
+${Boost_INCLUDE_DIRS}
+${G2O_INCLUDE_DIR}
+${Sophus_INCLUDE_DIR}
+${OPENCV_INCLUDE_DIR}
+${vikit_common_INCLUDE_DIRS}
+${PROJECT_SOURCE_DIR}/Thirdparty/libviso2/include
+${vio_common_INCLUDE_DIRS}
+${vio_g2o_INCLUDE_DIRS}
 )
 
-rosbuild_add_executable(${PROJECT_NAME}
-src/main.cc
+LIST(APPEND SOURCEFILES
+src/config.cpp
 src/Tracking.cc
 src/LocalMapping.cc
 src/LoopClosing.cc
@@ -37,29 +107,56 @@ src/FramePublisher.cc
 src/Converter.cc
 src/MapPoint.cc
 src/KeyFrame.cc
+src/FeatureGrid.cpp
 src/Map.cc
-src/MapPublisher.cc
 src/Optimizer.cc
 src/PnPsolver.cc
 src/Frame.cc
 src/KeyFrameDatabase.cc
 src/Sim3Solver.cc
 src/Initializer.cc
+src/stereoSFM.cpp
+src/MotionModel.cpp
+src/StereoImageLoader.cpp
 )
-rosbuild_add_boost_directories()
-rosbuild_link_boost(${PROJECT_NAME} thread)
 
-target_link_libraries(${PROJECT_NAME}
+IF(USE_ROS)
+  LIST(APPEND SOURCEFILES src/MapPublisher.cc)
+ENDIF()
+
+LIST(APPEND LINK_LIBS
 ${OpenCV_LIBS}
-${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
+csparse
+cxsparse
+${Boost_LIBRARIES}
+${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
+
+${DBOW2_LIB}
+${PROJECT_SOURCE_DIR}/Thirdparty/libviso2/lib/libviso2.so
+${vikit_common_LIBRARIES}
+${vio_common_LIBRARIES}
+${vio_g2o_LIBRARIES}
 )
 
+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})
+
+add_executable(test_stereoImageLoader test/testStereoImageLoader.cpp)
+TARGET_LINK_LIBRARIES(test_stereoImageLoader ${PROJECT_NAME})