tum-vision · icoderaven · Oct 23, 2014 · Oct 29, 2014 · Feb 5, 2015 · Feb 5, 2015
diff --git a/lsd_slam/CMakeLists.txt b/lsd_slam/CMakeLists.txt
@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(lsd_slam)
+find_package(catkin REQUIRED)
+catkin_metapackage()
diff --git a/lsd_slam/package.xml b/lsd_slam/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package>
+  <name>lsd_slam</name>
+  <version>0.0.0</version>
+  <description>
+	Large-Scale Direct Monocular SLAM
+ </description>
+
+  <author>Jakob Engel</author>
+  <maintainer email="[email protected]">Jakob Engel</maintainer>
+  <license>see http://vision.in.tum.de/lsdslam </license>
+  <url>http://vision.in.tum.de/lsdslam</url>
+
+  <license>TODO</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <run_depend>lsd_slam_core</run_depend>
+  <run_depend>lsd_slam_viewer</run_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+</package>
diff --git a/lsd_slam_core/CMakeLists.txt b/lsd_slam_core/CMakeLists.txt
@@ -1,24 +1,31 @@
 cmake_minimum_required(VERSION 2.8.7)
 project(lsd_slam_core)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
+# Set the build type. Options are:
+#  Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug : w/ debug symbols, w/o optimization
+#  Release : w/o debug symbols, w/ optimization
 #  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-set(ROS_BUILD_TYPE Release)
-
-rosbuild_init() 
-
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-set(CMAKE_MODULE_PATH   ${PROJECT_SOURCE_DIR}/cmake ${CMAKE_MODULE_PATH})
+#  MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
+set(CMAKE_BUILD_TYPE Release)
+find_package(catkin REQUIRED COMPONENTS
+  cv_bridge
+  dynamic_reconfigure
+  sensor_msgs
+  image_transport
+  roscpp
+  rosbag
+  cmake_modules
+)
 
-find_package(Eigen3 REQUIRED)
-find_package(SuiteParse REQUIRED) # Apparently needed by g2o
+find_package(Eigen REQUIRED)
 find_package(X11 REQUIRED)
+include(cmake/FindG2O.cmake)
+include(cmake/FindSuiteParse.cmake)
+
+message("-- CHOLMOD_INCLUDE_DIR : " ${CHOLMOD_INCLUDE_DIR})
+message("-- CSPARSE_INCLUDE_DIR : " ${CSPARSE_INCLUDE_DIR})
+message("-- G2O_INCLUDE_DIR : " ${G2O_INCLUDE_DIR})
 
 # FabMap
 # uncomment this part to enable fabmap
@@ -27,19 +34,24 @@ find_package(X11 REQUIRED)
 #add_definitions("-DHAVE_FABMAP")
 #set(FABMAP_LIB openFABMAP )
 
-# Dynamic Reconfigure Services
-rosbuild_find_ros_package(dynamic_reconfigure)
-include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
-gencfg()
+generate_dynamic_reconfigure_options(
+  cfg/LSDDebugParams.cfg
+  cfg/LSDParams.cfg
+)
+
+catkin_package(
+  LIBRARIES lsdslam
+  DEPENDS Eigen SuiteSparse
+  DEPENDS libg2o 
+)
 
 # SSE flags
-rosbuild_check_for_sse()
 add_definitions("-DUSE_ROS")
 add_definitions("-DENABLE_SSE")
 
 # Also add some useful compiler flag
 set(CMAKE_CXX_FLAGS
-   "${CMAKE_CXX_FLAGS} ${SSE_FLAGS} -march=native  -std=c++0x"
+   "${CMAKE_CXX_FLAGS} ${SSE_FLAGS} -march=native -std=c++0x"
 ) 
 
 # Set source files
@@ -73,6 +85,7 @@ set(SOURCE_FILES
 )
 
 include_directories(
+  include
   ${EIGEN3_INCLUDE_DIR}
   ${PROJECT_SOURCE_DIR}/src
   ${PROJECT_SOURCE_DIR}/thirdparty/Sophus
@@ -82,17 +95,20 @@ include_directories(
 
 
 # build shared library.
-rosbuild_add_library(lsdslam SHARED ${SOURCE_FILES})
-target_link_libraries(lsdslam ${FABMAP_LIB} g2o_core g2o_stuff csparse cxsparse g2o_solver_csparse g2o_csparse_extension g2o_types_sim3 g2o_types_sba X11)
-rosbuild_link_boost(lsdslam thread)
+add_library(lsdslam SHARED ${SOURCE_FILES})
+target_link_libraries(lsdslam ${FABMAP_LIB} ${G2O_LIBRARIES} ${catkin_LIBRARIES} csparse cxsparse X11)
+#rosbuild_link_boost(lsdslam thread)
 
 
 # build live ros node
-rosbuild_add_executable(live_slam src/main_live_odometry.cpp)
-target_link_libraries(live_slam lsdslam)
+add_executable(live_slam src/main_live_odometry.cpp)
+target_link_libraries(live_slam lsdslam ${catkin_LIBRARIES} ${G2O_LIBRARIES})
 
 
 # build image node
-rosbuild_add_executable(dataset_slam src/main_on_images.cpp)
-target_link_libraries(dataset_slam lsdslam)
+add_executable(dataset src/main_on_images.cpp)
+target_link_libraries(dataset lsdslam ${catkin_LIBRARIES} ${G2O_LIBRARIES})
+
+# TODO add INSTALL
+
 
diff --git a/lsd_slam_core/Makefile b/lsd_slam_core/Makefile
diff --git a/lsd_slam_core/cfg/LSDDebugParams.cfg b/lsd_slam_core/cfg/LSDDebugParams.cfg
@@ -1,10 +1,9 @@
 #! /usr/bin/env python
 
 PACKAGE='lsd_slam_core'
-import roslib; roslib.load_manifest(PACKAGE)
 
 #from driver_base.msg import SensorLevels
-from dynamic_reconfigure.parameter_generator import *
+from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 

diff --git a/lsd_slam_core/cfg/LSDParams.cfg b/lsd_slam_core/cfg/LSDParams.cfg
@@ -1,10 +1,9 @@
 #! /usr/bin/env python
 
 PACKAGE='lsd_slam_core'
-import roslib; roslib.load_manifest(PACKAGE)
 
 #from driver_base.msg import SensorLevels
-from dynamic_reconfigure.parameter_generator import *
+from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 

diff --git a/lsd_slam_core/cmake/FindEigen3.cmake b/lsd_slam_core/cmake/FindEigen3.cmake
diff --git a/lsd_slam_core/cmake/FindG2O.cmake b/lsd_slam_core/cmake/FindG2O.cmake
@@ -0,0 +1,98 @@
+# Locate the g2o libraries
+# A general framework for graph optimization.
+#
+# This module defines
+# G2O_FOUND, if false, do not try to link against g2o
+# G2O_LIBRARIES, path to the libg2o
+# G2O_INCLUDE_DIR, where to find the g2o header files
+#
+# Niko Suenderhauf <[email protected]>
+# Adapted by Felix Endres <[email protected]>
+# Updated (ROS) by Jeremie Deray <[email protected]>
+
+IF(UNIX)
+
+  IF(G2O_INCLUDE_DIR AND G2O_LIBRARIES)
+    # in cache already
+    SET(G2O_FIND_QUIETLY TRUE)
+  ENDIF(G2O_INCLUDE_DIR AND G2O_LIBRARIES)
+
+  MESSAGE(STATUS "Searching for g2o ...")
+  FIND_PATH(G2O_INCLUDE_DIR
+    NAMES core math_groups types
+    PATHS /usr/local /usr /opt/ros/$ENV{ROS_DISTRO}/
+    PATH_SUFFIXES include/g2o include)
+
+  IF (G2O_INCLUDE_DIR)
+    MESSAGE(STATUS "Found g2o headers in: ${G2O_INCLUDE_DIR}")
+  ENDIF (G2O_INCLUDE_DIR)
+
+  FIND_LIBRARY(G2O_CORE_LIB             
+    NAMES g2o_core 
+    PATHS /usr/local /usr /opt/ros/$ENV{ROS_DISTRO}/lib 
+    PATH_SUFFIXES lib)
+  FIND_LIBRARY(G2O_STUFF_LIB            
+    NAMES g2o_stuff 
+    PATHS /usr/local /usr /opt/ros/$ENV{ROS_DISTRO}/lib
+    PATH_SUFFIXES lib)
+  FIND_LIBRARY(G2O_TYPES_SLAM3D_LIB     
+    NAMES g2o_types_slam3d 
+    PATHS /usr/local /usr /opt/ros/$ENV{ROS_DISTRO}/lib
+    PATH_SUFFIXES lib)
+  FIND_LIBRARY(G2O_SOLVER_CHOLMOD_LIB   
+    NAMES g2o_solver_cholmod 
+    PATHS /usr/local /usr /opt/ros/$ENV{ROS_DISTRO}/lib
+    PATH_SUFFIXES lib)
+  FIND_LIBRARY(G2O_SOLVER_PCG_LIB       
+    NAMES g2o_solver_pcg 
+    PATHS /usr/local /usr /opt/ros/$ENV{ROS_DISTRO}/lib
+    PATH_SUFFIXES lib)
+  FIND_LIBRARY(G2O_SOLVER_CSPARSE_LIB   
+    NAMES g2o_solver_csparse 
+    PATHS /usr/local /usr /opt/ros/$ENV{ROS_DISTRO}/lib
+    PATH_SUFFIXES lib)
+  FIND_LIBRARY(G2O_INCREMENTAL_LIB      
+    NAMES g2o_incremental 
+    PATHS /usr/local /usr /opt/ros/$ENV{ROS_DISTRO}/lib
+    PATH_SUFFIXES lib)
+  FIND_LIBRARY(G2O_CSPARSE_EXTENSION_LIB
+    NAMES g2o_csparse_extension
+    PATHS /usr/local /usr /opt/ros/$ENV{ROS_DISTRO}/lib
+    PATH_SUFFIXES lib)
+  FIND_LIBRARY(G2O_TYPE_SBA
+    NAMES g2o_types_sba
+    PATHS /usr/local /usr /opt/ros/$ENV{ROS_DISTRO}/lib
+    PATH_SUFFIXES lib)
+
+
+  SET(G2O_LIBRARIES ${G2O_CSPARSE_EXTENSION_LIB}
+                    ${G2O_CORE_LIB}           
+                    ${G2O_STUFF_LIB}          
+                    ${G2O_TYPES_SLAM3D_LIB}   
+                    ${G2O_SOLVER_CHOLMOD_LIB} 
+                    ${G2O_SOLVER_PCG_LIB}     
+                    ${G2O_SOLVER_CSPARSE_LIB} 
+                    ${G2O_INCREMENTAL_LIB} 
+		    ${G2O_TYPE_SBA}                       
+                    )
+
+#  IF(G2O_LIBRARIES AND G2O_INCLUDE_DIR)
+#    SET(G2O_FOUND "YES")
+#    IF(NOT G2O_FIND_QUIETLY)
+#      MESSAGE(STATUS "-- Found libg2o: ${G2O_LIBRARIES}")
+#    ENDIF(NOT G2O_FIND_QUIETLY)
+#  ELSE(G2O_LIBRARIES AND G2O_INCLUDE_DIR)
+#    IF(NOT G2O_LIBRARIES)
+#      IF(G2O_FIND_REQUIRED)
+#        message(-- FATAL_ERROR "Could not find libg2o!")
+#      ENDIF(G2O_FIND_REQUIRED)
+#    ENDIF(NOT G2O_LIBRARIES)
+#
+#    IF(NOT G2O_INCLUDE_DIR)
+#      IF(G2O_FIND_REQUIRED)
+#        message(-- FATAL_ERROR "Could not find g2o include directory!")
+#      ENDIF(G2O_FIND_REQUIRED)
+#    ENDIF(NOT G2O_INCLUDE_DIR)
+#  ENDIF(G2O_LIBRARIES AND G2O_INCLUDE_DIR)
+
+ENDIF(UNIX)
diff --git a/lsd_slam_core/cmake/FindSuiteParse.cmake b/lsd_slam_core/cmake/FindSuiteParse.cmake
@@ -126,3 +126,4 @@ ELSE(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY)
   SET(CSPARSE_FOUND FALSE)
 ENDIF(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY)
 
+
diff --git a/lsd_slam_core/manifest.xml b/lsd_slam_core/manifest.xml
Original file line number	Diff line number	Diff line change
Expand Up		@@ -126,3 +126,4 @@ ELSE(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY)
		SET(CSPARSE_FOUND FALSE)
		ENDIF(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY)