v1

2022-06-21 09:16:15 +03:00
commit 96f206fca0
228 changed files with 113598 additions and 0 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -0,0 +1,122 @@
+cmake_minimum_required(VERSION 2.8)
+project(ORB_SLAM2)
+
+IF(NOT CMAKE_BUILD_TYPE)
+  SET(CMAKE_BUILD_TYPE Release)
+ENDIF()
+
+MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")
+
+# Check C++11 or C++0x support
+if(MSVC)
+    message(MSVC_VERSION "Using MSVC, Skipping std=c++11 check support...")
+    find_package(Threads)
+    add_definitions(-DCOMPILEDWITHC11)
+    set(CMAKE_TOOLCHAIN_FILE "C:/Users/dell/work_drivecast/thirdparty/vcpkg/scripts/buildsystems/vcpkg.cmake")
+else()
+    include(CheckCXXCompilerFlag)
+    CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+    CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+    if(COMPILER_SUPPORTS_CXX11)
+       set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+       add_definitions(-DCOMPILEDWITHC11)
+       message(STATUS "Using flag -std=c++11.")
+    elseif(COMPILER_SUPPORTS_CXX0X)
+       set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+       add_definitions(-DCOMPILEDWITHC0X)
+       message(STATUS "Using flag -std=c++0x.")
+    else()
+       message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+    endif()
+endif()
+
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
+
+# set(OpenCV_DIR "C:/Users/dell/work_drivecast/thirdparty/opencv/build")
+find_package(OpenCV 3 QUIET)
+if(NOT OpenCV_FOUND)
+   find_package(OpenCV 2.4.3 QUIET)
+   if(NOT OpenCV_FOUND)
+      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
+   endif()
+endif()
+
+find_package(Eigen3 REQUIRED NO_MODULE)
+set(Pangolin_DIR "C:/Users/dell/work_drivecast/slams/thirdparty/Pangolin/build")
+find_package(Pangolin REQUIRED)
+
+include_directories(
+${PROJECT_SOURCE_DIR}
+${PROJECT_SOURCE_DIR}/include
+${EIGEN3_INCLUDE_DIR}
+${Pangolin_INCLUDE_DIRS}
+)
+
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
+
+add_library(${PROJECT_NAME} SHARED
+src/System.cc
+src/Tracking.cc
+src/LocalMapping.cc
+src/LoopClosing.cc
+src/ORBextractor.cc
+src/ORBmatcher.cc
+src/FrameDrawer.cc
+src/Converter.cc
+src/MapPoint.cc
+src/KeyFrame.cc
+src/Map.cc
+src/MapDrawer.cc
+src/Optimizer.cc
+src/PnPsolver.cc
+src/Frame.cc
+src/KeyFrameDatabase.cc
+src/Sim3Solver.cc
+src/Initializer.cc
+src/Viewer.cc
+)
+
+target_link_libraries(${PROJECT_NAME}
+${OpenCV_LIBS}
+${EIGEN3_LIBS}
+${Pangolin_LIBRARIES}
+${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/Debug/DBoW2.lib
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/build/Debug/g2o.lib
+)
+
+# Build 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})
+
+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})
+
+
+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})
+