init

.gitignore

@@ -0,0 +1,13 @@
+catkin_generated/*
+CMakeFiles/*
+cmake_install.cmake
+CTestTestfile.cmake
+Makefile
+odoslam.cbp
+CMakeLists.txt.user
+Makefile
+Thirdparty/DBoW2/build/
+Thirdparty/DBoW2/lib/*
+*.bag
+**/*voc.bin
+log

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(se2clam)
+
+add_subdirectory(Thirdparty/DBoW2)
+
+list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMakeModules/)
+
+
+# c++ 11 support for g2o, multi-thread and shared_ptr
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -Wall")
+
+find_package(Eigen REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(CSparse REQUIRED)
+find_package(Cholmod REQUIRED)
+find_package(G2O REQUIRED)
+
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  nav_msgs
+  roscpp
+  rospy
+  tf
+  roslib
+  cv_bridge
+  cmake_modules
+  image_transport
+  message_generation
+)
+#add_message_files(
+#  FILES
+#  SyncOdoImg.msg
+#)
+
+#generate_messages(
+#  DEPENDENCIES
+#  std_msgs
+#  sensor_msgs
+#  geometry_msgs
+#)
+
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES se2clam
+#   CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy tf
+#  DEPENDS Eigen OpenCV Boost
+
+#   CATKIN_DEPENDS message_runtime
+)
+
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+list(APPEND LINK_LIBS
+  ${catkin_LIBRARIES}
+)
+# if do not use ros
+#find_package(Pangolin REQUIRED)
+#include_directories(
+#  ${Pangolin_INCLUDE_DIRS}
+#)
+#list(APPEND LINK_LIBS
+#  ${Pangolin_LIBRARIES}
+#)
+
+include_directories(
+  include/se2clam/
+  ${CMAKE_CURRENT_SOURCE_DIR}
+  ${EIGEN_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+  ${CSPARSE_INCLUDE_DIR}
+  ${Cholmod_INCLUDE_DIR}
+  ${G2O_INCLUDE_DIR}
+)
+
+list(APPEND LINK_LIBS
+  ${OpenCV_LIBS}
+)
+
+list(APPEND G2O_LIBS
+  cxsparse
+  cholmod
+  g2o_cli
+  g2o_solver_slam2d_linear g2o_types_icp g2o_types_slam2d
+  g2o_core g2o_interface g2o_solver_csparse g2o_solver_structure_only
+  g2o_types_sba g2o_types_slam3d g2o_csparse_extension
+  g2o_solver_dense g2o_stuff
+  g2o_types_sclam2d g2o_parser g2o_solver_pcg
+  g2o_types_data g2o_types_sim3
+)
+
+## Build a lib
+FILE(GLOB_RECURSE IncFiles "include/se2clam/*.h")
+aux_source_directory(src/. DIR_SRCS)
+add_library(se2clam ${DIR_SRCS} ${IncFiles})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(se2clam
+${LINK_LIBS}
+${G2O_LIBS}
+DBoW2se2clam
+)
+
+## Build an exe
+add_executable(test_vn test/test_vn.cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(test_vn
+se2clam
+${LINK_LIBS}
+${G2O_LIBS}
+#${CMAKE_CURRENT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
+)
+
+
+add_executable(datapub test/datapub.cpp)
+target_link_libraries(datapub
+se2clam
+${LINK_LIBS}
+)
+
+add_executable(imgview test/imgview.cpp)
+target_link_libraries(imgview
+se2clam
+${LINK_LIBS}
+)
+
+#add_executable(simpletest test/simpletest.cpp)
+#target_link_libraries(simpletest
+#se2clam
+#${LINK_LIBS}
+#)
+
+## Build a publisher for vn dataset
+#add_executable(publish_vn test/publish_vn.cpp)
+#target_link_libraries(publish_vn
+#${LINK_LIBS}
+#se2clam
+#)
+
+
+## Build a subscriber for vn dataset
+#add_executable(subscribe_vn test/subscribe_vn.cpp)
+#target_link_libraries(subscribe_vn
+#${LINK_LIBS}
+#se2clam
+#)
+
+# Build a subscriber test for vn dataset
+add_executable(test_ros test/test_ros.cpp)
+target_link_libraries(test_ros
+se2clam
+${LINK_LIBS}
+)