Install ORB_SLAM2

pull/317/head
Pau Gargallo 2016-02-03 13:43:21 +01:00
rodzic d985e94ad5
commit ae589c1dc9
5 zmienionych plików z 109 dodań i 4 usunięć

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@ -102,7 +102,9 @@ set(custom_libs OpenGV
CMVS
Catkin
Ecto
LAStools)
LAStools
Pangolin
ORB_SLAM2)
foreach(lib ${custom_libs})
SETUP_EXTERNAL_PROJECT_CUSTOM(${lib})

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@ -0,0 +1,71 @@
set(_proj_name orb_slam2)
set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
ExternalProject_Add(${_proj_name}
DEPENDS opencv pangolin
PREFIX ${_SB_BINARY_DIR}
TMP_DIR ${_SB_BINARY_DIR}/tmp
STAMP_DIR ${_SB_BINARY_DIR}/stamp
#--Download step--------------
DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
URL https://github.com/raulmur/ORB_SLAM2/archive/2fc9730d9716c36b25ea1b0eba3bbd094e20f0d5.zip
URL_MD5 629f19b6d424e676ce82fa1c3a0ba43b
#--Update/Patch step----------
UPDATE_COMMAND ""
#--Configure step-------------
SOURCE_DIR ${SB_SOURCE_DIR}/${_proj_name}
CMAKE_ARGS
-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
#--Build step-----------------
BINARY_DIR ${_SB_BINARY_DIR}
#--Install step---------------
INSTALL_COMMAND ""
#--Output logging-------------
LOG_DOWNLOAD OFF
LOG_CONFIGURE OFF
LOG_BUILD OFF
)
# DBoW2
set(DBoW2_BINARY_DIR "${SB_BINARY_DIR}/DBoW2")
file(MAKE_DIRECTORY "${DBoW2_BINARY_DIR}")
ExternalProject_Add_Step(${_proj_name} build_DBoW2
COMMAND make -j2
DEPENDEES configure_DBoW2
DEPENDERS configure
WORKING_DIRECTORY ${DBoW2_BINARY_DIR}
ALWAYS 1
)
ExternalProject_Add_Step(${_proj_name} configure_DBoW2
COMMAND ${CMAKE_COMMAND} <SOURCE_DIR>/Thirdparty/DBoW2
-DOpenCV_DIR=${SB_INSTALL_DIR}/share/OpenCV
-DCMAKE_BUILD_TYPE=Release
DEPENDEES download
DEPENDERS build_DBoW2
WORKING_DIRECTORY ${DBoW2_BINARY_DIR}
ALWAYS 1
)
# g2o
set(g2o_BINARY_DIR "${SB_BINARY_DIR}/g2o")
file(MAKE_DIRECTORY "${g2o_BINARY_DIR}")
ExternalProject_Add_Step(${_proj_name} build_g2o
COMMAND make -j2
DEPENDEES configure_g2o
DEPENDERS configure
WORKING_DIRECTORY ${g2o_BINARY_DIR}
ALWAYS 1
)
ExternalProject_Add_Step(${_proj_name} configure_g2o
COMMAND ${CMAKE_COMMAND} <SOURCE_DIR>/Thirdparty/g2o
-DCMAKE_BUILD_TYPE=Release
DEPENDEES download
DEPENDERS build_g2o
WORKING_DIRECTORY ${g2o_BINARY_DIR}
ALWAYS 1
)

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@ -27,7 +27,7 @@ ExternalProject_Add(${_proj_name}
-DBUILD_opencv_photo=ON
-DBUILD_opencv_legacy=ON
-DBUILD_opencv_python=ON
-DWITH_FFMPEG=OFF
-DWITH_FFMPEG=ON
-DWITH_CUDA=OFF
-DWITH_GTK=OFF
-DWITH_VTK=OFF
@ -57,4 +57,4 @@ ExternalProject_Add(${_proj_name}
LOG_DOWNLOAD OFF
LOG_CONFIGURE OFF
LOG_BUILD OFF
)
)

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@ -0,0 +1,29 @@
set(_proj_name pangolin)
set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
ExternalProject_Add(${_proj_name}
PREFIX ${_SB_BINARY_DIR}
TMP_DIR ${_SB_BINARY_DIR}/tmp
STAMP_DIR ${_SB_BINARY_DIR}/stamp
#--Download step--------------
DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
URL https://github.com/paulinus/Pangolin/archive/952c62bd6adbbc8bf58c5941fbb353ce7ff9e022.zip
URL_MD5 1b8a3713a1b9da699187cf1e8dc60eab
#--Update/Patch step----------
UPDATE_COMMAND ""
#--Configure step-------------
SOURCE_DIR ${SB_SOURCE_DIR}/${_proj_name}
CMAKE_ARGS
-DCPP11_NO_BOOST=1
-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
#--Build step-----------------
BINARY_DIR ${_SB_BINARY_DIR}
#--Install step---------------
INSTALL_DIR ${SB_INSTALL_DIR}
#--Output logging-------------
LOG_DOWNLOAD OFF
LOG_CONFIGURE OFF
LOG_BUILD OFF
)

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@ -111,6 +111,9 @@ fi
## Get sys vars
NUM_CORES=`grep -c processor /proc/cpuinfo`
## Add SuperBuild path to the library path
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:`pwd`/SuperBuild/install/lib
## Add SuperBuild path to the python path
export PYTHONPATH=$PYTHONPATH:`pwd`/SuperBuild/install/lib/python2.7/dist-packages
@ -119,4 +122,4 @@ cd SuperBuild
mkdir -p build && cd build
cmake .. && make -j ${NUM_CORES}
echo -e "\e[1;34mScript finished\e[0;39m"
echo -e "\e[1;34mScript finished\e[0;39m"