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richard-elvirarichard-elvira
committedJul 22, 2020
Added code
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v1.0-releasev0.2-beta
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‎CMakeLists.txt

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cmake_minimum_required(VERSION 2.8)
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project(ORB_SLAM3)
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IF(NOT CMAKE_BUILD_TYPE)
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SET(CMAKE_BUILD_TYPE Release)
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ENDIF()
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MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")
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set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
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# set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wno-deprecated -O3 -march=native ")
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# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-deprecated -O3 -march=native")
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# Check C++11 or C++0x support
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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add_definitions(-DCOMPILEDWITHC11)
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message(STATUS "Using flag -std=c++11.")
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elseif(COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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add_definitions(-DCOMPILEDWITHC0X)
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message(STATUS "Using flag -std=c++0x.")
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else()
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message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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endif()
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LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
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find_package(OpenCV 3)
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if(NOT OpenCV_FOUND)
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find_package(OpenCV 2.4.3 QUIET)
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if(NOT OpenCV_FOUND)
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message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
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endif()
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endif()
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MESSAGE("OPENCV VERSION:")
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MESSAGE(${OpenCV_VERSION})
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find_package(Eigen3 3.1.0 REQUIRED)
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find_package(Pangolin REQUIRED)
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include_directories(
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${PROJECT_SOURCE_DIR}
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${PROJECT_SOURCE_DIR}/include
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${PROJECT_SOURCE_DIR}/include/CameraModels
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${EIGEN3_INCLUDE_DIR}
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${Pangolin_INCLUDE_DIRS}
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)
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
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add_library(${PROJECT_NAME} SHARED
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src/System.cc
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src/Tracking.cc
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src/LocalMapping.cc
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src/LoopClosing.cc
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src/ORBextractor.cc
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src/ORBmatcher.cc
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src/FrameDrawer.cc
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src/Converter.cc
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src/MapPoint.cc
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src/KeyFrame.cc
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src/Atlas.cc
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src/Map.cc
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src/MapDrawer.cc
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src/Optimizer.cc
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src/PnPsolver.cc
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src/Frame.cc
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src/KeyFrameDatabase.cc
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src/Sim3Solver.cc
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src/Initializer.cc
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src/Viewer.cc
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src/ImuTypes.cc
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src/G2oTypes.cc
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src/CameraModels/Pinhole.cpp
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src/CameraModels/KannalaBrandt8.cpp
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src/OptimizableTypes.cpp
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src/MLPnPsolver.cpp
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include/System.h
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include/Tracking.h
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include/LocalMapping.h
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include/LoopClosing.h
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include/ORBextractor.h
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include/ORBmatcher.h
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include/FrameDrawer.h
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include/Converter.h
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include/MapPoint.h
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include/KeyFrame.h
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include/Atlas.h
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include/Map.h
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include/MapDrawer.h
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include/Optimizer.h
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include/PnPsolver.h
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include/Frame.h
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include/KeyFrameDatabase.h
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include/Sim3Solver.h
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include/Initializer.h
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include/Viewer.h
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include/ImuTypes.h
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include/G2oTypes.h
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include/CameraModels/GeometricCamera.h
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include/CameraModels/Pinhole.h
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include/CameraModels/KannalaBrandt8.h
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include/OptimizableTypes.h
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include/MLPnPsolver.h
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include/TwoViewReconstruction.h
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src/TwoViewReconstruction.cc)
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add_subdirectory(Thirdparty/g2o)
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target_link_libraries(${PROJECT_NAME}
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${OpenCV_LIBS}
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${EIGEN3_LIBS}
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${Pangolin_LIBRARIES}
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${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
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${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
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-lboost_serialization
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-lcrypto
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)
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# Build examples
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
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add_executable(rgbd_tum
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Examples/RGB-D/rgbd_tum.cc)
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target_link_libraries(rgbd_tum ${PROJECT_NAME})
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
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add_executable(stereo_kitti
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Examples/Stereo/stereo_kitti.cc)
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target_link_libraries(stereo_kitti ${PROJECT_NAME})
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add_executable(stereo_euroc
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Examples/Stereo/stereo_euroc.cc)
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target_link_libraries(stereo_euroc ${PROJECT_NAME})
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add_executable(stereo_tum_vi
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Examples/Stereo/stereo_tum_vi.cc)
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target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
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add_executable(mono_tum
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Examples/Monocular/mono_tum.cc)
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target_link_libraries(mono_tum ${PROJECT_NAME})
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add_executable(mono_kitti
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Examples/Monocular/mono_kitti.cc)
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target_link_libraries(mono_kitti ${PROJECT_NAME})
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add_executable(mono_euroc
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Examples/Monocular/mono_euroc.cc)
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target_link_libraries(mono_euroc ${PROJECT_NAME})
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add_executable(mono_tum_vi
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Examples/Monocular/mono_tum_vi.cc)
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target_link_libraries(mono_tum_vi ${PROJECT_NAME})
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial)
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add_executable(mono_inertial_euroc
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Examples/Monocular-Inertial/mono_inertial_euroc.cc)
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target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})
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add_executable(mono_inertial_tum_vi
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Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
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target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial)
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add_executable(stereo_inertial_euroc
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Examples/Stereo-Inertial/stereo_inertial_euroc.cc)
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target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})
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add_executable(stereo_inertial_tum_vi
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Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
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target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})
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‎Examples/Monocular-Inertial/EuRoC.yaml

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%YAML:1.0
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#--------------------------------------------------------------------------------------------
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# Camera Parameters. Adjust them!
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#--------------------------------------------------------------------------------------------
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Camera.type: "PinHole"
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# Camera calibration and distortion parameters (OpenCV)
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Camera.fx: 458.654
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Camera.fy: 457.296
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Camera.cx: 367.215
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Camera.cy: 248.375
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Camera.k1: -0.28340811
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Camera.k2: 0.07395907
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Camera.p1: 0.00019359
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Camera.p2: 1.76187114e-05
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# Camera resolution
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Camera.width: 752
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Camera.height: 480
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# Camera frames per second
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Camera.fps: 20.0
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# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
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Camera.RGB: 1
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# Transformation from camera to body-frame (imu)
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Tbc: !!opencv-matrix
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rows: 4
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cols: 4
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dt: f
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data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
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0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
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-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
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0.0, 0.0, 0.0, 1.0]
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# IMU noise
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IMU.NoiseGyro: 1.7e-4 #1.6968e-04
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IMU.NoiseAcc: 2.0000e-3 #2.0e-3
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IMU.GyroWalk: 1.9393e-05
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IMU.AccWalk: 3.0000e-03 # 3e-03
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IMU.Frequency: 200
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#--------------------------------------------------------------------------------------------
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# ORB Parameters
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#--------------------------------------------------------------------------------------------
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# ORB Extractor: Number of features per image
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ORBextractor.nFeatures: 1000 # 1000
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# ORB Extractor: Scale factor between levels in the scale pyramid
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ORBextractor.scaleFactor: 1.2
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# ORB Extractor: Number of levels in the scale pyramid
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ORBextractor.nLevels: 8
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# ORB Extractor: Fast threshold
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# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
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# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
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# You can lower these values if your images have low contrast
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ORBextractor.iniThFAST: 20
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ORBextractor.minThFAST: 7
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#--------------------------------------------------------------------------------------------
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# Viewer Parameters
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#--------------------------------------------------------------------------------------------
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Viewer.KeyFrameSize: 0.05
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Viewer.KeyFrameLineWidth: 1
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Viewer.GraphLineWidth: 0.9
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Viewer.PointSize:2
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Viewer.CameraSize: 0.08
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Viewer.CameraLineWidth: 3
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Viewer.ViewpointX: 0
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Viewer.ViewpointY: -0.7
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Viewer.ViewpointZ: -3.5 # -1.8
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Viewer.ViewpointF: 500
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