Do not build at source directory

jskang94 · Jun 3, 2020 · 9cdc01d · 9cdc01d
1 parent b01475b
commit 9cdc01d
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Showing 17 changed files with 51 additions and 63 deletions.
diff --git a/.gitignore b/.gitignore
@@ -12,13 +12,6 @@ Examples/ROS/ORB_SLAM2/build/
 Examples/Stereo/stereo_euroc
 Examples/Stereo/stereo_kitti
 KeyFrameTrajectory.txt
-Thirdparty/DBoW2/build/
-Thirdparty/DBoW2/lib/
-Thirdparty/g2o/build/
-Thirdparty/g2o/config.h
-Thirdparty/g2o/lib/
 Vocabulary/ORBvoc.txt
-build/
 *~
-lib/
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -38,19 +38,13 @@ endif()
 
 find_package(Eigen3 3.1.0 REQUIRED)
 
-include_directories(
-${PROJECT_SOURCE_DIR}
-${PROJECT_SOURCE_DIR}/include
-${EIGEN3_INCLUDE_DIR}
-${Pangolin_INCLUDE_DIRS}
-)
-
 if (ORB_SLAM2_BUILD_WITH_PANGOLIN)
   find_package(Pangolin REQUIRED)
   add_definitions(-DORB_SLAM2_HAS_PANGOLIN)
 endif()
 
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
+add_subdirectory(Thirdparty/DBoW2)
+add_subdirectory(Thirdparty/g2o)
 
 add_library(${PROJECT_NAME} SHARED
 src/System.cc
@@ -75,11 +69,19 @@ src/Viewer.cc
 )
 
 target_link_libraries(${PROJECT_NAME}
-${OpenCV_LIBS}
-${EIGEN3_LIBS}
-${Pangolin_LIBRARIES}
-${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
-${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
+  PUBLIC
+  ORB_SLAM2_FORKED_g2o
+  ORB_SLAM2_FORKED_DBoW2
+  ${OpenCV_LIBS}
+  ${EIGEN3_LIBS}
+  ${Pangolin_LIBRARIES}
+)
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+  ${PROJECT_SOURCE_DIR}/include
+  ${PROJECT_SOURCE_DIR}/Thirdparty
+  ${EIGEN3_INCLUDE_DIR}
+  ${Pangolin_INCLUDE_DIRS}
 )
 
 # Build examples

diff --git a/Thirdparty/DBoW2/CMakeLists.txt b/Thirdparty/DBoW2/CMakeLists.txt
@@ -32,9 +32,6 @@ if(NOT OpenCV_FOUND)
    endif()
 endif()
 
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-include_directories(${OpenCV_INCLUDE_DIRS})
-add_library(DBoW2 SHARED ${SRCS_DBOW2} ${SRCS_DUTILS})
-target_link_libraries(DBoW2 ${OpenCV_LIBS})
-
+add_library(ORB_SLAM2_FORKED_DBoW2 SHARED ${SRCS_DBOW2} ${SRCS_DUTILS})
+target_include_directories(ORB_SLAM2_FORKED_DBoW2 PUBLIC ${OpenCV_INCLUDE_DIRS})
+target_link_libraries(ORB_SLAM2_FORKED_DBoW2 PUBLIC ${OpenCV_LIBS})
diff --git a/Thirdparty/g2o/CMakeLists.txt b/Thirdparty/g2o/CMakeLists.txt
@@ -23,14 +23,6 @@ if(MSVC90)
 endif(MSVC90)
 
 # Set the output directory for the build executables and libraries
-IF(WIN32)
-  SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the libraries")
-ELSE(WIN32)
-  SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries")
-ENDIF(WIN32)
-SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
-SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
-SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${g2o_RUNTIME_OUTPUT_DIRECTORY})
 
 # Set search directory for looking for our custom CMake scripts to
 # look for SuiteSparse, QGLViewer, and Eigen3.
@@ -76,7 +68,6 @@ ENDIF(EIGEN3_FOUND)
 
 # Generate config.h
 SET(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}")
-configure_file(config.h.in ${g2o_SOURCE_DIR}/config.h)
 
 # Set up the top-level include directories
 INCLUDE_DIRECTORIES(
@@ -86,7 +77,7 @@ ${g2o_SOURCE_DIR}/stuff
 ${G2O_EIGEN3_INCLUDE})
 
 # Include the subdirectories
-ADD_LIBRARY(g2o ${G2O_LIB_TYPE}
+ADD_LIBRARY(ORB_SLAM2_FORKED_g2o ${G2O_LIB_TYPE}
 #types
 g2o/types/types_sba.h
 g2o/types/types_six_dof_expmap.h

diff --git a/Thirdparty/g2o/config.h.in → Thirdparty/g2o/config.h b/Thirdparty/g2o/config.h.in → Thirdparty/g2o/config.h
@@ -1,8 +1,8 @@
 #ifndef G2O_CONFIG_H
 #define G2O_CONFIG_H
 
-#cmakedefine G2O_OPENMP 1
-#cmakedefine G2O_SHARED_LIBS 1
+/* #undef G2O_OPENMP */
+/* #undef G2O_SHARED_LIBS */
 
 // give a warning if Eigen defaults to row-major matrices.
 // We internally assume column-major matrices throughout the code.

diff --git a/include/Converter.h b/include/Converter.h
@@ -24,8 +24,9 @@
 #include<opencv2/core/core.hpp>
 
 #include<Eigen/Dense>
-#include"Thirdparty/g2o/g2o/types/types_six_dof_expmap.h"
-#include"Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"
+
+#include"g2o/g2o/types/types_six_dof_expmap.h"
+#include"g2o/g2o/types/types_seven_dof_expmap.h"
 
 namespace ORB_SLAM2
 {

diff --git a/include/Frame.h b/include/Frame.h
@@ -23,9 +23,10 @@
 
 #include<vector>
 
+#include "DBoW2/DBoW2/BowVector.h"
+#include "DBoW2/DBoW2/FeatureVector.h"
+
 #include "MapPoint.h"
-#include "Thirdparty/DBoW2/DBoW2/BowVector.h"
-#include "Thirdparty/DBoW2/DBoW2/FeatureVector.h"
 #include "ORBVocabulary.h"
 #include "KeyFrame.h"
 #include "ORBextractor.h"

diff --git a/include/KeyFrame.h b/include/KeyFrame.h
@@ -21,9 +21,10 @@
 #ifndef KEYFRAME_H
 #define KEYFRAME_H
 
+#include "DBoW2/DBoW2/BowVector.h"
+#include "DBoW2/DBoW2/FeatureVector.h"
+
 #include "MapPoint.h"
-#include "Thirdparty/DBoW2/DBoW2/BowVector.h"
-#include "Thirdparty/DBoW2/DBoW2/FeatureVector.h"
 #include "ORBVocabulary.h"
 #include "ORBextractor.h"
 #include "Frame.h"

diff --git a/include/LoopClosing.h b/include/LoopClosing.h
@@ -31,7 +31,8 @@
 
 #include <thread>
 #include <mutex>
-#include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"
+
+#include "g2o/g2o/types/types_seven_dof_expmap.h"
 
 namespace ORB_SLAM2
 {

diff --git a/include/ORBVocabulary.h b/include/ORBVocabulary.h
@@ -22,8 +22,8 @@
 #ifndef ORBVOCABULARY_H
 #define ORBVOCABULARY_H
 
-#include"Thirdparty/DBoW2/DBoW2/FORB.h"
-#include"Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h"
+#include"DBoW2/DBoW2/FORB.h"
+#include"DBoW2/DBoW2/TemplatedVocabulary.h"
 
 namespace ORB_SLAM2
 {

diff --git a/include/Optimizer.h b/include/Optimizer.h
@@ -27,7 +27,7 @@
 #include "LoopClosing.h"
 #include "Frame.h"
 
-#include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"
+#include "g2o/g2o/types/types_seven_dof_expmap.h"
 
 namespace ORB_SLAM2
 {

diff --git a/src/Initializer.cc b/src/Initializer.cc
@@ -20,11 +20,11 @@
 
 #include "Initializer.h"
 
-#include "Thirdparty/DBoW2/DUtils/Random.h"
-
 #include "Optimizer.h"
 #include "ORBmatcher.h"
 
+#include "DBoW2/DUtils/Random.h"
+
 #include<thread>
 
 namespace ORB_SLAM2

diff --git a/src/KeyFrameDatabase.cc b/src/KeyFrameDatabase.cc
@@ -19,9 +19,9 @@
 */
 
 #include "KeyFrameDatabase.h"
-
 #include "KeyFrame.h"
-#include "Thirdparty/DBoW2/DBoW2/BowVector.h"
+
+#include "DBoW2/DBoW2/BowVector.h"
 
 #include<mutex>
 

diff --git a/src/ORBmatcher.cc b/src/ORBmatcher.cc
@@ -25,7 +25,7 @@
 #include<opencv2/core/core.hpp>
 #include<opencv2/features2d/features2d.hpp>
 
-#include "Thirdparty/DBoW2/DBoW2/FeatureVector.h"
+#include "DBoW2/DBoW2/FeatureVector.h"
 
 #include<stdint-gcc.h>
 

diff --git a/src/Optimizer.cc b/src/Optimizer.cc
@@ -20,16 +20,16 @@
 
 #include "Optimizer.h"
 
-#include "Thirdparty/g2o/g2o/core/block_solver.h"
-#include "Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h"
-#include "Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h"
-#include "Thirdparty/g2o/g2o/types/types_six_dof_expmap.h"
-#include "Thirdparty/g2o/g2o/core/robust_kernel_impl.h"
-#include "Thirdparty/g2o/g2o/solvers/linear_solver_dense.h"
-#include "Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"
-
 #include<Eigen/StdVector>
 
+#include "g2o/g2o/core/block_solver.h"
+#include "g2o/g2o/core/optimization_algorithm_levenberg.h"
+#include "g2o/g2o/solvers/linear_solver_eigen.h"
+#include "g2o/g2o/types/types_six_dof_expmap.h"
+#include "g2o/g2o/core/robust_kernel_impl.h"
+#include "g2o/g2o/solvers/linear_solver_dense.h"
+#include "g2o/g2o/types/types_seven_dof_expmap.h"
+
 #include "Converter.h"
 
 #include<mutex>

diff --git a/src/PnPsolver.cc b/src/PnPsolver.cc
@@ -55,9 +55,10 @@
 #include <vector>
 #include <cmath>
 #include <opencv2/core/core.hpp>
-#include "Thirdparty/DBoW2/DUtils/Random.h"
 #include <algorithm>
 
+#include "DBoW2/DUtils/Random.h"
+
 using namespace std;
 
 namespace ORB_SLAM2

diff --git a/src/Sim3Solver.cc b/src/Sim3Solver.cc
@@ -28,7 +28,7 @@
 #include "KeyFrame.h"
 #include "ORBmatcher.h"
 
-#include "Thirdparty/DBoW2/DUtils/Random.h"
+#include "DBoW2/DUtils/Random.h"
 
 namespace ORB_SLAM2
 {