Cleanup #1

autowarefoundation · Nov 9, 2016 · 8452843 · 8452843
1 parent aa023b8
commit 8452843
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Showing 5 changed files with 405 additions and 353 deletions.
diff --git a/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/orb_localizer/CMakeLists.txt
@@ -1,249 +1,40 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required (VERSION 2.8.3)
 project (orb_localizer)
 
-
-LIST(APPEND CMAKE_MODULE_PATH ${orb_localizer_SOURCE_DIR}/cmake_modules)
-
-find_package(catkin REQUIRED COMPONENTS 
-	tf 
-	sensor_msgs
-	image_transport
-	rosbag
-	cv_bridge
-	message_generation
-	std_msgs
+find_package (catkin REQUIRED
+	COMPONENTS
+		roscpp
+		tf 
+		sensor_msgs
+		image_transport
+		cv_bridge
+		message_generation
+		std_msgs
 )
 
-find_package(Boost REQUIRED COMPONENTS system python)
-find_package (OpenCV REQUIRED)
-find_package (FREEGLUT REQUIRED)
-find_package (GLEW REQUIRED)
-FIND_PACKAGE(BLAS REQUIRED)
-FIND_PACKAGE(LAPACK REQUIRED)
-FIND_PACKAGE(OpenMP)
-SET(G2O_USE_OPENMP OFF CACHE BOOL "Build g2o with OpenMP support (EXPERIMENTAL)")
-IF(OPENMP_FOUND AND G2O_USE_OPENMP)
-  SET (G2O_OPENMP 1)
-  SET(g2o_C_FLAGS "${g2o_C_FLAGS} ${OpenMP_C_FLAGS}")
-  SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}")
-  MESSAGE(STATUS "Compiling with OpenMP support")
-ENDIF(OPENMP_FOUND AND G2O_USE_OPENMP)
-SET(EIGEN3_INCLUDE_DIR ${G2O_EIGEN3_INCLUDE})
-FIND_PACKAGE(Eigen3 3.1.0 REQUIRED)
-IF(EIGEN3_FOUND)
-  SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3")
-ELSE(EIGEN3_FOUND)
-  SET(G2O_EIGEN3_INCLUDE "" CACHE PATH "Directory of Eigen3")
-ENDIF(EIGEN3_FOUND)
-find_package(PCL 1.7 REQUIRED COMPONENTS common octree)
-#find_package(Pangolin REQUIRED)
-find_package(PythonLibs REQUIRED)
-
-# For building Pangolin
-include (Thirdparty/Pangolin/CMakeLists.txt)
-
-# Debug
-find_package(message_generation)
-
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_NAME_SOURCE_DIR}/cmake_modules)
 
 # Force using C++11
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fPIC")
 
-
-
-add_message_files (
-	FILES
-		debug.msg
-)
-
-generate_messages (
-	DEPENDENCIES
-		std_msgs
-)
-
+find_package (Boost REQUIRED COMPONENTS system python)
+find_package (OpenCV REQUIRED)
+find_package (GLEW REQUIRED)
+find_package (BLAS REQUIRED)
+find_package (LAPACK REQUIRED)
+find_package (OpenMP)
+find_package (Eigen3 3.1.0 REQUIRED)
+find_package (PCL 1.7 REQUIRED COMPONENTS common octree)
+find_package (PythonLibs REQUIRED)
 
 catkin_package(
 	INCLUDE_DIRS include
 	CATKIN_DEPENDS message_runtime
-)
-
-
-configure_file (
-	config/orb-slam2.yaml.in
-	${CATKIN_PACKAGE_ETC_DESTINATION}/orb-slam2.yaml
-)
-
-
-include_directories (
-
-# my own
-	include
-	${catkin_INCLUDE_DIRS}
-
-# Important libraries
-	${OpenCV_INCLUDE_DIRS}
-	${PCL_INCLUDE_DIRS}
-	${Pangolin_INCLUDE_DIRS}
-	${Boost_INCLUDE_DIRS}
-	${PYTHON_INCLUDE_DIR}
-
-# G2O
-	Thirdparty/g2o/core
-	Thirdparty/g2o/types
-	Thirdparty/g2o/stuff 
-	${G2O_EIGEN3_INCLUDE}
-
-# DBoW2
-	Thirdparty
-	Thirdparty/DBoW2
-
-# Pangolin
-	Thirdparty/Pangolin/include
-
-)
-
-
-add_library(DBoW2 STATIC 
-	Thirdparty/DBoW2/BowVector.cpp
-	Thirdparty/DBoW2/FORB.cpp      
-	Thirdparty/DBoW2/FeatureVector.cpp
-	Thirdparty/DBoW2/ScoringObject.cpp
-	Thirdparty/DBoW2/DUtils/Random.cpp
-	Thirdparty/DBoW2/DUtils/Timestamp.cpp
-)
-
-# Building g2o
-configure_file(
-	${orb_localizer_SOURCE_DIR}/Thirdparty/g2o/config.h.in 
-	${orb_localizer_SOURCE_DIR}/Thirdparty/g2o/config.h
-)
-
-add_library (g2o STATIC
-	#types
-	Thirdparty/g2o/types/types_sba.h
-	Thirdparty/g2o/types/types_six_dof_expmap.h
-	Thirdparty/g2o/types/types_sba.cpp
-	Thirdparty/g2o/types/types_six_dof_expmap.cpp
-	Thirdparty/g2o/types/types_seven_dof_expmap.cpp
-	Thirdparty/g2o/types/types_seven_dof_expmap.h
-	Thirdparty/g2o/types/se3quat.h
-	Thirdparty/g2o/types/se3_ops.h
-	Thirdparty/g2o/types/se3_ops.hpp
-	#core
-	Thirdparty/g2o/core/base_edge.h
-	Thirdparty/g2o/core/base_binary_edge.h
-	Thirdparty/g2o/core/hyper_graph_action.cpp
-	Thirdparty/g2o/core/base_binary_edge.hpp
-	Thirdparty/g2o/core/hyper_graph_action.h
-	Thirdparty/g2o/core/base_multi_edge.h           
-	Thirdparty/g2o/core/hyper_graph.cpp
-	Thirdparty/g2o/core/base_multi_edge.hpp         
-	Thirdparty/g2o/core/hyper_graph.h
-	Thirdparty/g2o/core/base_unary_edge.h          
-	Thirdparty/g2o/core/linear_solver.h
-	Thirdparty/g2o/core/base_unary_edge.hpp         
-	Thirdparty/g2o/core/marginal_covariance_cholesky.cpp
-	Thirdparty/g2o/core/base_vertex.h               
-	Thirdparty/g2o/core/marginal_covariance_cholesky.h
-	Thirdparty/g2o/core/base_vertex.hpp             
-	Thirdparty/g2o/core/matrix_structure.cpp
-	Thirdparty/g2o/core/batch_stats.cpp             
-	Thirdparty/g2o/core/matrix_structure.h
-	Thirdparty/g2o/core/batch_stats.h               
-	Thirdparty/g2o/core/openmp_mutex.h
-	Thirdparty/g2o/core/block_solver.h              
-	Thirdparty/g2o/core/block_solver.hpp            
-	Thirdparty/g2o/core/parameter.cpp               
-	Thirdparty/g2o/core/parameter.h                 
-	Thirdparty/g2o/core/cache.cpp                   
-	Thirdparty/g2o/core/cache.h
-	Thirdparty/g2o/core/optimizable_graph.cpp       
-	Thirdparty/g2o/core/optimizable_graph.h         
-	Thirdparty/g2o/core/solver.cpp                  
-	Thirdparty/g2o/core/solver.h
-	Thirdparty/g2o/core/creators.h                 
-	Thirdparty/g2o/core/optimization_algorithm_factory.cpp
-	Thirdparty/g2o/core/estimate_propagator.cpp     
-	Thirdparty/g2o/core/optimization_algorithm_factory.h
-	Thirdparty/g2o/core/estimate_propagator.h       
-	Thirdparty/g2o/core/factory.cpp                 
-	Thirdparty/g2o/core/optimization_algorithm_property.h
-	Thirdparty/g2o/core/factory.h                   
-	Thirdparty/g2o/core/sparse_block_matrix.h
-	Thirdparty/g2o/core/sparse_optimizer.cpp  
-	Thirdparty/g2o/core/sparse_block_matrix.hpp
-	Thirdparty/g2o/core/sparse_optimizer.h
-	Thirdparty/g2o/core/hyper_dijkstra.cpp 
-	Thirdparty/g2o/core/hyper_dijkstra.h
-	Thirdparty/g2o/core/parameter_container.cpp     
-	Thirdparty/g2o/core/parameter_container.h
-	Thirdparty/g2o/core/optimization_algorithm.cpp 
-	Thirdparty/g2o/core/optimization_algorithm.h
-	Thirdparty/g2o/core/optimization_algorithm_with_hessian.cpp 
-	Thirdparty/g2o/core/optimization_algorithm_with_hessian.h
-	Thirdparty/g2o/core/optimization_algorithm_levenberg.cpp 
-	Thirdparty/g2o/core/optimization_algorithm_levenberg.h
-	Thirdparty/g2o/core/jacobian_workspace.cpp 
-	Thirdparty/g2o/core/jacobian_workspace.h
-	Thirdparty/g2o/core/robust_kernel.cpp 
-	Thirdparty/g2o/core/robust_kernel.h
-	Thirdparty/g2o/core/robust_kernel_factory.cpp
-	Thirdparty/g2o/core/robust_kernel_factory.h
-	Thirdparty/g2o/core/robust_kernel_impl.cpp 
-	Thirdparty/g2o/core/robust_kernel_impl.h
-	#stuff
-	Thirdparty/g2o/stuff/string_tools.h
-	Thirdparty/g2o/stuff/color_macros.h 
-	Thirdparty/g2o/stuff/macros.h
-	Thirdparty/g2o/stuff/timeutil.cpp
-	Thirdparty/g2o/stuff/misc.h
-	Thirdparty/g2o/stuff/timeutil.h
-	Thirdparty/g2o/stuff/os_specific.c    
-	Thirdparty/g2o/stuff/os_specific.h
-	Thirdparty/g2o/stuff/string_tools.cpp
-	Thirdparty/g2o/stuff/property.cpp       
-	Thirdparty/g2o/stuff/property.h       
-)
-
-add_library(
-	orb_slam2 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(
-	orb_slam2
-	${OpenCV_LIBS}
-	${EIGEN3_LIBS}
-#	${Pangolin_LIBRARIES}
-	pangolin
-	DBoW2
-	g2o
-	boost_system
-	boost_serialization
-	${PCL_LIBRARIES}
-	glut
-	GLEW
+	DEPENDS OpenCV GLEW PCL
 )
 
 
+# Vocabulary file
 set (orb_slam_vocabulary_file ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/ORBvoc.txt)
 add_custom_target (orb_vocabulary ALL
 	[ ! -e ${orb_slam_vocabulary_file} ] && tar -zxf ${PROJECT_SOURCE_DIR}/Vocabulary/ORBvoc.txt.tar.gz --directory ${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME} || return 0
@@ -253,110 +44,11 @@ add_definitions (
 	-DORB_SLAM_VOCABULARY="${orb_slam_vocabulary_file}"
 )
 
-
-add_executable (orb_mapping
-	src/nodes/mapper.cc
-	src/nodes/utils.cc
-	src/nodes/ImageGrabber.cc
-)
-add_dependencies (orb_mapping 
-	orb_vocabulary 
-	orb_localizer_generate_messages_cpp)
-
-add_custom_target (orb_matching ALL
-	cd ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME} && ln -sf orb_mapping orb_matching
-)
-add_dependencies (orb_matching 
-	orb_mapping
-	orb_localizer_generate_messages_cpp
-)
-
-target_link_libraries (orb_mapping
-	${PCL_LIBRARIES}
-	${LIBS}
-	orb_slam2
-	${catkin_LIBRARIES}
-)
-
-add_executable (dumpmap
-	src/nodes/dumpmap.cc
-)
-
-target_link_libraries (dumpmap
-	orb_slam2
-)
-
-add_executable (map_publisher
-	src/nodes/map_publisher.cc
-	src/nodes/ImageGrabber.cc
-	src/nodes/utils.cc
-)
-
-target_link_libraries (map_publisher
-	orb_slam2
-	${catkin_LIBRARIES}
-)
-
-#add_executable (bag_mapper
-#	src/nodes/bag_mapper.cc
-#	src/nodes/ImageGrabber.cc
-#	src/nodes/utils.cc
-#)
-#target_compile_definitions(bag_mapper PUBLIC ORB_SLAM_VOCABULARY="${orb_slam_vocabulary_file}")
-
-#target_link_libraries (bag_mapper
-#	${PCL_LIBRARIES}
-#	${LIBS}
-#	orb_slam2
-#	${catkin_LIBRARIES}
-#)
-
-#add_dependencies (bag_mapper
-#	orb_localizer_generate_messages_cpp
-#)
-
-#add_executable (offline_offset
-#	src/nodes/offline_offset.cc
-#	src/nodes/ImageGrabber.cc
-#	src/nodes/utils.cc
-#)
-
-#target_link_libraries (offline_offset
-#	${PCL_LIBRARIES}
-#	${LIBS}
-#	orb_slam2
-#	${catkin_LIBRARIES}
-#)
-
-
-add_library (_orb_slam2 SHARED
-	src/analysis/orbslam2_python.cc
-)
-target_link_libraries (_orb_slam2
-	boost_python
-	orb_slam2
-)
-set_target_properties(_orb_slam2 PROPERTIES
-	PREFIX ""
+# Configuration file
+configure_file (
+	config/orb-slam2.yaml.in
+	${CATKIN_DEVEL_PREFIX}/share/${PROJECT_NAME}/orb-slam2.yaml
 )
-add_dependencies (_orb_slam2 orb_slam2)
-
-
-#add_executable (orb_matching_mt
-#	src/nodes/mt/matching_mt.cc
-#	src/nodes/mt/TrackingThread.cc
-#	src/nodes/mt/SystemMT.cc
-#	src/nodes/mt/DebugMT.cc
-#	src/nodes/ImageGrabber.cc
-#	src/nodes/utils.cc
-#)
-#target_link_libraries (orb_matching_mt
-#	orb_slam2
-#	${catkin_LIBRARIES}
-#	${PCL_LIBRARIES}
-#)
-#add_dependencies (orb_matching_mt
-#	orb_vocabulary
-#	orb_localizer_generate_messages_cpp
-#)
 
+# For building Pangolin
+include (Thirdparty/Pangolin/CMakeLists.txt)