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PodmogilnyjIvan
2021-12-05 14:16:24 -08:00
parent 5d94376aea
commit e06b505ad9
3 changed files with 64 additions and 69 deletions
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1
.gitignore vendored
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@@ -53,3 +53,4 @@ cmake-build-debug/
*.pyc
*.osa
*.lib

62
CMakeLists.txt
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@@ -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})

58
README.md
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@@ -1,4 +1,60 @@
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`
## 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: