append readme

.gitignore

@@ -53,3 +53,4 @@ cmake-build-debug/
 
 *.pyc
 *.osa
+*.lib

CMakeLists.txt

@@ -145,66 +145,4 @@ ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
 ### Build examples
 
 # RGB-D examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
-
-add_executable(rgbd_tum
-Examples/RGB-D/rgbd_tum.cc)
-target_link_libraries(rgbd_tum ${PROJECT_NAME})
-
-
-# Stereo examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
-
-add_executable(stereo_kitti
-Examples/Stereo/stereo_kitti.cc)
-target_link_libraries(stereo_kitti ${PROJECT_NAME})
-
-add_executable(stereo_euroc
-Examples/Stereo/stereo_euroc.cc)
-target_link_libraries(stereo_euroc ${PROJECT_NAME})
-
-add_executable(stereo_tum_vi
-Examples/Stereo/stereo_tum_vi.cc)
-target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
-
-# Monocular examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
-
-add_executable(mono_tum
-Examples/Monocular/mono_tum.cc)
-target_link_libraries(mono_tum ${PROJECT_NAME})
-
-add_executable(mono_kitti
-Examples/Monocular/mono_kitti.cc)
-target_link_libraries(mono_kitti ${PROJECT_NAME})
-
-add_executable(mono_euroc
-Examples/Monocular/mono_euroc.cc)
-target_link_libraries(mono_euroc ${PROJECT_NAME})
-
-add_executable(mono_tum_vi
-Examples/Monocular/mono_tum_vi.cc)
-target_link_libraries(mono_tum_vi ${PROJECT_NAME})
-
-# Monocular-Inertial examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial)
-
-add_executable(mono_inertial_euroc
-Examples/Monocular-Inertial/mono_inertial_euroc.cc)
-target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})
-
-add_executable(mono_inertial_tum_vi
-Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
-target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})
-
-# Stereo-Inertial examples
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial)
-
-add_executable(stereo_inertial_euroc
-Examples/Stereo-Inertial/stereo_inertial_euroc.cc)
-target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})
-
-add_executable(stereo_inertial_tum_vi
-Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
-target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})
 

README.md

@@ -1,18 +1,74 @@
-Билд на Виндоус 10.
+# Changed version of ORB_SLAM3 for Windows 10.
+Project is provided with already built ORB_SLAM3.lib library. You might want to skip the build part and put the library from `lib/ORB_SLAM3.lib` to `build/Release/ORB_SLAM3.lib`
 
-## Попытка забилдить Pangolin and g2o:
+## Prerequisites
+- OpenCV3 (Not from Anaconda): https://opencv.org/releases/
+- Boost (You need to build it): https://www.boost.org/users/download/
+- Eigen3. You can install it using vcpkg
+
+### Note on Preferences of projects in Visual Studio 2019
+1. You may need to change the Runtime Library of the project frequently. In order to do that, you need to open Preferences -> C/C++ -> Code Generation -> Runtime Library -> MT.  
+Further the procedure above will be mentioned just as "Change the Runtime Library to MT"
+
+2. You may also need to change a lot of the libraries to Static. In order to do that, you need to: General -> Configuration Type -> Static lib (.lib). And in Advanced -> Target File Extension -> .lib
+Further this procedure will be mentioned as "Change the project to Static"
+
+3. All of the commands must be executed in the Windows cmd.
+
+## Build Boost
+1. `bootstrap.bat`
+2. `.\b2 runtime-link=static`
+
+## Build DBoW2
+1. `mkdir build && cd build`
+2. `cmake ..`
+3. Open Visual Studio 16 2019 with Administrative privilege and open the project
+4. Change the Runtiime Library to MT
+5. Change the project to Static
+6. Build ALL_BUILD
+
+## Build g2o
+1. Install Eigen3: `vcpkg install eigen3:x64-windows`
+2. `mkdir build && cd build`
+3. `cmake -DCMAKE_TOOLCHAIN_FILE=C:/Users/ivan/Source/Repos/ORB_SLAM3/Thirdparty/Pangolin/vcpkg/scripts/buildsystems/vcpkg.cmake ..` Instead of my path, you have to paste your path to `vcpkg.cmake`. Or you may download and configure Eigen3 with CMake. No need to to build. You will just need to include the path to Eigen3.
+4. Open Visual Studio 16 2019 with Administrative privilege and open the project
+5. Change the Runtiime Library to MT
+6. Change the project to Static
+7. Build ALL_BUILD
+
+## Build Pangolin
+1. `mkdir build && cd build`
+2. `cmake ..`
+3. Open Visual Studio 16 2019 with Administrative (IMPORTANT!) privilege and open the project  
+4. Change the Runtiime Library to MT
+5. Change the project to Static
+6. Build project pangolin
+
+## Build ORB_SLAM3
+1. `mkdir build && cd build`
+2. `cmake ..`
+3. Open Visual Studio 16 2019 with Administrative (IMPORTANT!) privilege and open the project  
+4. Change the Runtiime Library to MT
+5. Change the project to Static
+6. Add the path to vcpkg include: C/C++ -> Additional Include Libraries -> C:\Users\ivan\Source\Repos\ORB_SLAM3\Thirdparty\Pangolin\vcpkg\installed\x64-windows\include
+7. You might need to add path to Boost libs manually to Libraian → General → Additional Library Dependencies: C:\Users\ivan\Source\Repos\ORB-SLAM3forWindows\Thirdparty\boost_1_77_0\stage\lib
+7. Build ORB_SLAM3 project.
+
+# ----- Log. -----
+
+##  Попытка забилдить Pangolin and g2o:
 
 1. Включены права андминистратора
-2. Ошибка [undefined reference to `vasprintf' · Issue #1954 · esp8266/Arduino (github.com)](https://github.com/esp8266/Arduino/issues/1954) . Фикс и билд библиотеки .dll сработал. 
+2. Ошибка [undefined reference to `vasprintf' · Issue #1954 · esp8266/Arduino (github.com)](https://github.com/esp8266/Arduino/issues/1954) . Фикс и билд библиотеки .dll сработал.
 
 ## После успешного билда Pangolin, g2o and DBoW2 пробуем билд ORB_SLAM3:
 
 1. Ошибка undefined usleep: определите функцию [c++, usleep() is obsolete, workarounds for Windows/MingW? - Stack Overflow](https://stackoverflow.com/questions/5801813/c-usleep-is-obsolete-workarounds-for-windows-mingw/17283549)
-2. Установите vcpkg и включите его vcpkg integrate install 
+2. Установите vcpkg и включите его vcpkg integrate install
 3. Ошибка с OpenCV из Anaconda: попытка переключить на OpenCV3 (c VC15)
-4. Ошибка cannot open include file openssl/md5.h нужно отдельно прописывать в инклуде CMake? Попытка: ручная прописка в Additional Include Directories 
+4. Ошибка cannot open include file openssl/md5.h нужно отдельно прописывать в инклуде CMake? Попытка: ручная прописка в Additional Include Directories
 5. Добавлены изменения в ORB_SLAM3 в код [MapPoint.cc](http://MapPoint.cc), пожалуйста, используйте мой исправленный код для билда
-6. Namespace changed from std::tr1 to std. 
+6. Namespace changed from std::tr1 to std.
 7. Test: Linker → Additional Include Directories C:\Users\ivan\Source\Repos\ORB_SLAM3\build; C:\Users\ivan\Source\Repos\ORB_SLAM3\build\Release
 8. Автоматическое появление Release\ORB_SLAM3.lib ???????
 9. Определение usleep в [System.cc](http://System.cc) и System.hpp
@@ -24,4 +80,4 @@
 2. Static Library
 3. Add (path to vcpkg) manually to Additional Include Directories C:\Users\ivan\Source\Repos\ORB_SLAM3\Thirdparty\Pangolin\vcpkg\installed\x64-windows\include
 4. Add path to Boost libs manually to Linker → General → Additional Library Dependencies: C:\Users\ivan\Source\Repos\ORB-SLAM3forWindows\Thirdparty\boost_1_77_0\stage\lib
-5. From Linker → Input → Additional Dependencies delete Release\oscpack.lib
+5. From Linker → Input → Additional Dependencies delete Release\oscpack.lib