Install ORB_SLAM2

SuperBuild/CMakeLists.txt

@@ -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})

SuperBuild/cmake/External-ORB_SLAM2.cmake

@@ -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
+)
+

SuperBuild/cmake/External-OpenCV.cmake

@@ -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

SuperBuild/cmake/External-Pangolin.cmake

@@ -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
+)
+

configure.sh

@@ -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