Indigo devel

README.md

@@ -27,6 +27,9 @@ If you use ORB-SLAM in an academic work, please cite:
 
 #2. Prerequisites (dependencies)
 
+With the catkin version you only need to install the dependencies running rosdep.
+Skip to the installation step.
+
 ##2.1 Boost
 
 We use the Boost library to launch the different threads of our SLAM system.
@@ -35,7 +38,7 @@ We use the Boost library to launch the different threads of our SLAM system.
 
 ##2.2 ROS
 We use ROS to receive images from the camera or from a recorded sequence (rosbag), and for visualization (rviz, image_view). 
-**We have tested ORB-SLAM in Ubuntu 12.04 with ROS Fuerte, Groovy and Hydro**. 
+**We have tested ORB-SLAM in Ubuntu 12.04 with ROS Fuerte, Groovy, Hydro and Indigo**. 
 If you do not have already installed ROS in your computer, we recommend you to install the Full-Desktop version of ROS Fuerte (http://wiki.ros.org/fuerte/Installation/Ubuntu).
 
 ##2.3 g2o (included)
@@ -56,56 +59,33 @@ It only depends on OpenCV, but it should be included in the ROS distribution.
 
 #3. Installation
 
-1. Make sure you have installed ROS and all library dependencies (boost, eigen3, cholmod, blas, lapack).
-
-2. In your ROS package path (check your environment variable `ROS_PACKAGE_PATH`) clone this repository:
+1. In your ROS package path (check your environment variable `ROS_PACKAGE_PATH`) clone this repository:
 
 		git clone https://github.com/raulmur/ORB_SLAM.git ORB_SLAM
 
-3. Build g2o. Go into `Thirdparty/g2o/` and execute:
-
-		mkdir build
-		cd build
-		cmake .. -DCMAKE_BUILD_TYPE=Release
-		make 
-
-	*Tip: To achieve the best performance in your computer, set your favorite compilation flags in line 97 and 98 of* `Thirdparty/g2o/CMakeLists.txt` 
-		  (by default -03 -march=native)
-
-4. Build DBoW2. Go into Thirdparty/DBoW2/ and execute:
-
-		mkdir build
-		cd build
-		cmake .. -DCMAKE_BUILD_TYPE=Release
-		make  
+2. Run this line from your catkin workspace root, `indigo` here should be replaced with your preferred ROS distro.
+	`rosdep install --from-paths src --ignore-src --rosdistro indigo -y` 
 
-	*Tip: Set your favorite compilation flags in line 4 and 5 of* `Thirdparty/DBoW2/CMakeLists.txt` (by default -03 -march=native)
-
-5. Build ORB_SLAM. In the ORB_SLAM root execute:
-
-		mkdir build
-		cd build
-		cmake .. -DROS_BUILD_TYPE=Release
-		make
+3. Build all by running catkin_make in your workspace root.
 
 	*Tip: Set your favorite compilation flags in line 12 and 13 of* `Thirdparty/DBoW2/CMakeLists.txt` (by default -03 -march=native)
 
 #4. Usage
 
 **See section 5 to run the Example Sequence**.
 
-1. Launch ORB-SLAM from the terminal (`roscore` should have been already executed):
+1. Launch orb_slam from the terminal (`roscore` should have been already executed):
 
-		rosrun ORB_SLAM ORB_SLAM PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE
+		rosrun orb_slam orb_slam PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE
 
-  You have to provide the path to the ORB vocabulary and to the settings file. The paths must be absolute or relative   to the ORB_SLAM directory.  
-  We already provide the vocabulary file we use in `ORB_SLAM/Data/ORBvoc.yml`. Uncompress the file, as it will be   loaded much faster.
+  You have to provide the path to the ORB vocabulary and to the settings file. The paths must be absolute or relative   to the orb_slam directory.  
+  We already provide the vocabulary file we use in `orb_slam/Data/ORBvoc.yml`. Uncompress the file, as it will be   loaded much faster.
 
-2. The last processed frame is published to the topic `/ORB_SLAM/Frame`. You can visualize it using `image_view`:
+2. The last processed frame is published to the topic `/orb_slam/Frame`. You can visualize it using `image_view`:
 
-		rosrun image_view image_view image:=/ORB_SLAM/Frame _autosize:=true
+		rosrun image_view image_view image:=/orb_slam/Frame _autosize:=true
 
-3. The map is published to the topic `/ORB_SLAM/Map`, the current camera pose and global world coordinate origin are sent through `/tf` in frames `/ORB_SLAM/Camera` and `/ORB_SLAM/World` respectively.  Run `rviz` to visualize the map:
+3. The map is published to the topic `/orb_slam/Map`, the current camera pose and global world coordinate origin are sent through `/tf` in frames `/orb_slam/Camera` and `/orb_slam/World` respectively.  Run `rviz` to visualize the map:
 
 	*in ROS Fuerte*:
 
@@ -115,11 +95,11 @@ It only depends on OpenCV, but it should be included in the ROS distribution.
 
 		rosrun rviz rviz -d Data/rviz.rviz
 
-4. ORB_SLAM will receive the images from the topic `/camera/image_raw`. You can now play your rosbag or start your camera node. 
+4. orb_slam will receive the images from the topic `/camera/image_raw`. You can now play your rosbag or start your camera node. 
 If you have a sequence with individual image files, you will need to generate a bag from them. We provide a tool to do that: https://github.com/raulmur/BagFromImages.
 
 
-**Tip: Use a roslaunch to launch `ORB_SLAM`, `image_view` and `rviz` from just one instruction. We provide an example**:
+**Tip: Use a roslaunch to launch `orb_slam`, `image_view` and `rviz` from just one instruction. We provide an example**:
 
 *in ROS Fuerte*:
 
@@ -128,6 +108,10 @@ If you have a sequence with individual image files, you will need to generate a
 *in ROS Groovy or Hydro*:
 
 	roslaunch ExampleGroovyHydro.launch
+
+*in ROS Groovy or Hydro*:
+
+	roslaunch orb_slam orb_slam.launch
 
 
 #5. Example Sequence
@@ -157,7 +141,7 @@ We provide the settings and the rosbag of an example sequence in our lab. In thi
 
 #6. The Settings File
 
-ORB_SLAM reads the camera calibration and setting parameters from a YAML file. We provide an example in `Data/Settings.yaml`, where you will find all parameters and their description. We use the camera calibration model of OpenCV.
+orb_slam reads the camera calibration and setting parameters from a YAML file. We provide an example in `Data/Settings.yaml`, where you will find all parameters and their description. We use the camera calibration model of OpenCV.
 
 Please make sure you write and call your own settings file for your camera (copy the example file and modify the calibration)
 
@@ -172,5 +156,5 @@ The system is able to initialize from planar and non-planar scenes. In the case
 
 #8. Need Help?
 
-If you have any trouble installing or running ORB-SLAM, contact the authors.
+If you have any trouble installing or running orb_slam, contact the authors.
 

Thirdparty/g2o/CMakeLists.txt → g2o/CMakeLists.txt

@@ -1,7 +1,27 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-SET(CMAKE_LEGACY_CYGWIN_WIN32 0)
+cmake_minimum_required(VERSION 2.8.3)
+project(g2o)
 
-PROJECT(g2o)
+find_package(catkin REQUIRED)
+
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
+find_package(Cholmod REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS .
+  LIBRARIES g2o_solver_cholmod g2o_solver_dense
+            g2o_stuff g2o_types_sba 
+            g2o_types_sim3 g2o_types_slam3d
+)
+
+include_directories(
+  include
+  ${EIGEN3_INCLUDE_DIR}
+  ${CHOLMOD_INCLUDE_DIR}
+  ${PROJECT_SOURCE_DIR}
+)
+
+set(g2o_SOURCE_DIR ${PROJECT_SOURCE_DIR}/g2o)
 
 # The library prefix
 SET(LIB_PREFIX g2o_)
@@ -55,9 +75,6 @@ IF(WIN32)
 ELSE(WIN32)
   SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries")
 ENDIF(WIN32)
-SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
-SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
-SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${g2o_RUNTIME_OUTPUT_DIRECTORY})
 
 # Set search directory for looking for our custom CMake scripts to
 # look for SuiteSparse, QGLViewer, and Eigen3.

g2o/config.h

@@ -0,0 +1,22 @@
+#ifndef G2O_CONFIG_H
+#define G2O_CONFIG_H
+
+/* #undef G2O_HAVE_OPENGL */
+/* #undef G2O_OPENGL_FOUND */
+/* #undef G2O_OPENMP */
+#define G2O_SHARED_LIBS 1
+/* #undef G2O_LGPL_SHARED_LIBS */
+
+// available sparse matrix libraries
+#define G2O_HAVE_CHOLMOD 1
+/* #undef G2O_HAVE_CSPARSE */
+
+#define G2O_CXX_COMPILER "GNU /usr/bin/c++"
+
+// give a warning if Eigen defaults to row-major matrices.
+// We internally assume column-major matrices throughout the code.
+#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
+#  error "g2o requires column major Eigen matrices (see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=422)"
+#endif
+
+#endif

g2o/g2o/config.h

@@ -0,0 +1,22 @@
+#ifndef G2O_CONFIG_H
+#define G2O_CONFIG_H
+
+/* #undef G2O_HAVE_OPENGL */
+/* #undef G2O_OPENGL_FOUND */
+/* #undef G2O_OPENMP */
+#define G2O_SHARED_LIBS 1
+/* #undef G2O_LGPL_SHARED_LIBS */
+
+// available sparse matrix libraries
+#define G2O_HAVE_CHOLMOD 1
+/* #undef G2O_HAVE_CSPARSE */
+
+#define G2O_CXX_COMPILER "GNU /usr/bin/c++"
+
+// give a warning if Eigen defaults to row-major matrices.
+// We internally assume column-major matrices throughout the code.
+#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
+#  error "g2o requires column major Eigen matrices (see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=422)"
+#endif
+
+#endif

Thirdparty/g2o/g2o/core/CMakeLists.txt → g2o/g2o/core/CMakeLists.txt

@@ -1,4 +1,4 @@
-ADD_LIBRARY(core ${G2O_LIB_TYPE}
+ADD_LIBRARY(${LIB_PREFIX}core ${G2O_LIB_TYPE}
 base_edge.h
 base_binary_edge.h          hyper_graph_action.cpp
 base_binary_edge.hpp        hyper_graph_action.h
@@ -37,11 +37,9 @@ robust_kernel_factory.cpp robust_kernel_factory.h
 g2o_core_api.h
 )
 
-SET_TARGET_PROPERTIES(core PROPERTIES OUTPUT_NAME ${LIB_PREFIX}core)
+TARGET_LINK_LIBRARIES(${LIB_PREFIX}core ${LIB_PREFIX}stuff)
 
-TARGET_LINK_LIBRARIES(core stuff)
-
-INSTALL(TARGETS core
+INSTALL(TARGETS ${LIB_PREFIX}core
   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
   ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib

Thirdparty/g2o/g2o/solvers/cholmod/CMakeLists.txt → g2o/g2o/solvers/cholmod/CMakeLists.txt

@@ -1,16 +1,14 @@
-ADD_LIBRARY(solver_cholmod ${G2O_LIB_TYPE}
+ADD_LIBRARY(${LIB_PREFIX}solver_cholmod ${G2O_LIB_TYPE}
   solver_cholmod.cpp
   linear_solver_cholmod.h
 )
 
 INCLUDE_DIRECTORIES(${CHOLMOD_INCLUDE_DIR})
 
-SET_TARGET_PROPERTIES(solver_cholmod PROPERTIES OUTPUT_NAME ${LIB_PREFIX}solver_cholmod)
-
 ADD_DEFINITIONS(${BLAS_DEFINITIONS} ${LAPACK_DEFINITIONS})
-TARGET_LINK_LIBRARIES(solver_cholmod ${CHOLMOD_LIBRARIES} ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES} core)
+TARGET_LINK_LIBRARIES(${LIB_PREFIX}solver_cholmod ${CHOLMOD_LIBRARIES} ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES} ${LIB_PREFIX}core)
 
-INSTALL(TARGETS solver_cholmod
+INSTALL(TARGETS ${LIB_PREFIX}solver_cholmod
   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
   ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib

Thirdparty/g2o/g2o/solvers/dense/CMakeLists.txt → g2o/g2o/solvers/dense/CMakeLists.txt

@@ -1,12 +1,10 @@
-ADD_LIBRARY(solver_dense ${G2O_LIB_TYPE}
+ADD_LIBRARY(${LIB_PREFIX}solver_dense ${G2O_LIB_TYPE}
   solver_dense.cpp linear_solver_dense.h
 )
 
-SET_TARGET_PROPERTIES(solver_dense PROPERTIES OUTPUT_NAME ${LIB_PREFIX}solver_dense)
+TARGET_LINK_LIBRARIES(${LIB_PREFIX}solver_dense ${LIB_PREFIX}core)
 
-TARGET_LINK_LIBRARIES(solver_dense core)
-
-INSTALL(TARGETS solver_dense
+INSTALL(TARGETS ${LIB_PREFIX}solver_dense
   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
   ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib

Thirdparty/g2o/g2o/stuff/CMakeLists.txt → g2o/g2o/stuff/CMakeLists.txt

@@ -1,4 +1,5 @@
-ADD_LIBRARY(stuff ${G2O_LIB_TYPE}
+
+ADD_LIBRARY(${LIB_PREFIX}stuff ${G2O_LIB_TYPE}
   filesys_tools.h    string_tools.h
   color_macros.h     macros.h         timeutil.cpp
   command_args.cpp   misc.h           sparse_helper.cpp  timeutil.h
@@ -10,9 +11,7 @@ ADD_LIBRARY(stuff ${G2O_LIB_TYPE}
   g2o_stuff_api.h
 )
 
-SET_TARGET_PROPERTIES(stuff PROPERTIES OUTPUT_NAME ${LIB_PREFIX}stuff)
-
-INSTALL(TARGETS stuff
+INSTALL(TARGETS ${LIB_PREFIX}stuff
   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
   ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
@@ -33,7 +32,7 @@ IF(OPENGL_FOUND)
 ENDIF()
 
 IF(${CMAKE_SYSTEM_NAME} MATCHES "Linux" AND NOT ANDROID)
-  TARGET_LINK_LIBRARIES(stuff rt)
+  TARGET_LINK_LIBRARIES(${LIB_PREFIX}stuff rt)
 ENDIF()
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")

Thirdparty/g2o/g2o/types/sba/CMakeLists.txt → g2o/g2o/types/sba/CMakeLists.txt

@@ -1,14 +1,12 @@
-ADD_LIBRARY(types_sba ${G2O_LIB_TYPE}
+ADD_LIBRARY(${LIB_PREFIX}types_sba ${G2O_LIB_TYPE}
   types_sba.h     types_six_dof_expmap.h
   types_sba.cpp   types_six_dof_expmap.cpp
   g2o_types_sba_api.h
 )
 
-SET_TARGET_PROPERTIES(types_sba PROPERTIES OUTPUT_NAME ${LIB_PREFIX}types_sba)
+TARGET_LINK_LIBRARIES(${LIB_PREFIX}types_sba ${LIB_PREFIX}core ${LIB_PREFIX}types_slam3d)
 
-TARGET_LINK_LIBRARIES(types_sba core types_slam3d)
-
-INSTALL(TARGETS types_sba
+INSTALL(TARGETS ${LIB_PREFIX}types_sba
   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
   ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib