update

CMakeLists.txt

@@ -17,7 +17,7 @@ include(CheckCXXCompilerFlag)
 CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
 CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
 if(COMPILER_SUPPORTS_CXX11)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+   set(CMAKE_CXX_STANDARD 14)
    add_definitions(-DCOMPILEDWITHC11)
    message(STATUS "Using flag -std=c++11.")
 elseif(COMPILER_SUPPORTS_CXX0X)
@@ -30,15 +30,15 @@ endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
-find_package(OpenCV 4.4)
+find_package(OpenCV 4.2.0)
    if(NOT OpenCV_FOUND)
-      message(FATAL_ERROR "OpenCV > 4.4 not found.")
+      message(FATAL_ERROR "OpenCV > 4.2.0 not found.")
    endif()
 
 MESSAGE("OPENCV VERSION:")
 MESSAGE(${OpenCV_VERSION})
 
-find_package(Eigen3 3.1.0 REQUIRED)
+find_package(Eigen3 REQUIRED)
 find_package(Pangolin REQUIRED)
 find_package(realsense2)
 

Examples/ROS/ORB_SLAM3/Asus.yaml

@@ -0,0 +1,70 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 535.4
+Camera.fy: 539.2
+Camera.cx: 320.1
+Camera.cy: 247.6
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+Camera.width: 640
+Camera.height: 480
+
+# Camera frames per second 
+Camera.fps: 30.0
+
+# IR projector baseline times fx (aprox.)
+Camera.bf: 40.0
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+# Close/Far threshold. Baseline times.
+ThDepth: 40.0
+
+# Deptmap values factor
+DepthMapFactor: 1.0
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid 	
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid	
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast			
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize:2
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500
+

Examples/ROS/ORB_SLAM3/CMakeLists.txt

@@ -0,0 +1,118 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+rosbuild_init()
+
+IF(NOT ROS_BUILD_TYPE)
+  SET(ROS_BUILD_TYPE Release)
+ENDIF()
+
+MESSAGE("Build type: " ${ROS_BUILD_TYPE})
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3")
+
+# Check C++11 or C++0x support
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+   set(CMAKE_CXX_STANDARD 14)
+   add_definitions(-DCOMPILEDWITHC11)
+   message(STATUS "Using flag -std=c++11.")
+elseif(COMPILER_SUPPORTS_CXX0X)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+   add_definitions(-DCOMPILEDWITHC0X)
+   message(STATUS "Using flag -std=c++0x.")
+else()
+   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)
+
+find_package(OpenCV 4.2.0 QUIET)
+if(NOT OpenCV_FOUND)
+   find_package(OpenCV 2.4.3 QUIET)
+   if(NOT OpenCV_FOUND)
+      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
+   endif()
+endif()
+
+find_package(Eigen3 REQUIRED)
+find_package(Pangolin REQUIRED)
+find_package(Sophus REQUIRED)
+
+include_directories(
+${PROJECT_SOURCE_DIR}
+${PROJECT_SOURCE_DIR}/../../../
+${PROJECT_SOURCE_DIR}/../../../include
+${PROJECT_SOURCE_DIR}/../../../Thirdparty/Sophus
+${PROJECT_SOURCE_DIR}/../../../include/CameraModels
+${Pangolin_INCLUDE_DIRS}
+)
+
+set(LIBS 
+${OpenCV_LIBS} 
+${EIGEN3_LIBS}
+${Pangolin_LIBRARIES}
+${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
+${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
+${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM3.so
+-lboost_system
+)
+
+# Node for monocular camera
+rosbuild_add_executable(Mono
+src/ros_mono.cc
+)
+
+target_link_libraries(Mono
+${LIBS}
+)
+
+# Node for monocular camera (Augmented Reality Demo)
+rosbuild_add_executable(MonoAR
+src/AR/ros_mono_ar.cc
+src/AR/ViewerAR.h
+src/AR/ViewerAR.cc
+)
+
+target_link_libraries(MonoAR
+${LIBS}
+)
+
+# Node for stereo camera
+rosbuild_add_executable(Stereo
+src/ros_stereo.cc
+)
+
+target_link_libraries(Stereo
+${LIBS}
+)
+
+# Node for RGB-D camera
+rosbuild_add_executable(RGBD
+src/ros_rgbd.cc
+)
+
+target_link_libraries(RGBD
+${LIBS}
+)
+
+# Node for monocular-inertial camera
+rosbuild_add_executable(Mono_Inertial
+src/ros_mono_inertial.cc
+)
+
+target_link_libraries(Mono_Inertial
+${LIBS}
+)
+
+# Node for stereo-inertial camera
+rosbuild_add_executable(Stereo_Inertial
+src/ros_stereo_inertial.cc
+)
+
+target_link_libraries(Stereo_Inertial
+${LIBS}
+)

Examples/ROS/ORB_SLAM3/manifest.xml

@@ -0,0 +1,15 @@
+<package>
+  <description brief="ORB_SLAM3">
+     ORB_SLAM3
+  </description>
+  <author>Carlos Campos, Richard Elvira, Juan J. Gomez, Jose M.M. Montiel, Juan D. Tardos</author>
+  <license>GPLv3</license>
+  <depend package="roscpp"/>
+  <depend package="tf"/>
+  <depend package="sensor_msgs"/>
+  <depend package="image_transport"/>
+  <depend package="cv_bridge"/>
+</package>
+
+
+