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little problem about G20.make and lost PCL filter when cmake #43

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little problem about G20.make and lost PCL filter when cmake #43

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569b47d
catkinized dvo_slam; compiles on ubuntu 15.04 with ros jade
christiankerl Sep 8, 2015
9ca735f
fixing visualization
christiankerl Sep 8, 2015
06adf0a
added some checks if g2o graph methods succeed; fixed assert bug;
christiankerl Sep 8, 2015
ba05972
fix intrinsic downscaling
christiankerl Sep 9, 2015
a687f31
make it work well in Indigo version
weichnn Mar 29, 2016
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11 changes: 3 additions & 8 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -22,19 +22,14 @@ These packages provide an implementation of the rigid body motion estimation of

* **sophus**

ROS package wrapper for Hauke Strasdat's Sophus library, see https://github.com/strasdat/Sophus.
ROS package wrapper for Hauke Strasdat's Sophus library, see https://github.com/strasdat/Sophus. Indigo version could be installed by apt-get.


## Installation

Checkout the branch for your ROS version into a folder in your `ROS_PACKAGE_PATH` and build the packages with `rosmake`.
Checkout the branch for your ROS version into a folder in your `ROS_PACKAGE_PATH` and build the packages with `rosmake` or `catkin_make`.


* ROS Fuerte:

```bash
git clone -b fuerte git://github.com/tum-vision/dvo_slam.git
rosmake dvo_core dvo_ros dvo_slam dvo_benchmark
```

## Usage

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82 changes: 37 additions & 45 deletions dvo_benchmark/CMakeLists.txt
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@@ -1,55 +1,47 @@
cmake_minimum_required(VERSION 2.4.6)
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
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})

# Eigen3 library
find_package(Eigen REQUIRED)
include_directories(${Eigen_INCLUDE_DIRS})

# VTK library
find_package(VTK REQUIRED)
include_directories(${VTK_INCLUDE_DIRS})
link_directories(${VTK_LIBRARY_DIRS})

rosbuild_add_executable(benchmark
cmake_minimum_required(VERSION 2.8.3)

project(dvo_benchmark)

LIST(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")

find_package(catkin REQUIRED COMPONENTS roscpp dvo_core dvo_ros dvo_slam)
find_package(cmake_modules REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(G2O REQUIRED)
find_package(OpenCV 2.4.8 REQUIRED)

#LIST(APPEND CMAKE_CXX_FLAGS "-std=c++11")

catkin_package(
INCLUDE_DIRS include
LIBRARIES dvo_benchmark
)

include_directories(
"include"
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${G2O_INCLUDE_DIR}
)


add_executable(benchmark
src/benchmark_slam.cpp
)

#rosbuild_add_executable(experiment
#add_executable(experiment
# src/experiment.cpp
#)

target_link_libraries(benchmark
vtkCommon
# vtkCommon
${catkin_LIBRARIES}
)

# create output directory - just convenience for our users
file(MAKE_DIRECTORY "${PROJECT_SOURCE_DIR}/output")
file(MAKE_DIRECTORY "${PROJECT_SOURCE_DIR}/output/video")
#file(MAKE_DIRECTORY "${PROJECT_SOURCE_DIR}/output")
#file(MAKE_DIRECTORY "${PROJECT_SOURCE_DIR}/output/video")

install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
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