CMake clean up; modern g2o and mrpt targets

.gitignore

@@ -0,0 +1,10 @@
+# for in-tree builds:
+build
+3rdparty/DBoW2/lib/*
+3rdparty/line_descriptor/lib/*
+lib/*
+
+
+# for qtcreator IDE
+CMakeLists.txt.user*
+

3rdparty/line_descriptor/CMakeLists.txt

@@ -18,10 +18,10 @@ set(LIBRARY_OUTPUT_PATH    ${PROJECT_SOURCE_DIR}/lib)
 
 include_directories( include ${OpenCV_INCLUDE_DIRS} )
 list(APPEND LINK_LIBS ${OpenCV_LIBS} )
-file(GLOB_RECURSE all_include_files RELATIVE "${CMAKE_SOURCE_DIR}" *.h *.hpp)
+file(GLOB_RECURSE all_include_files RELATIVE "${PROJECT_SOURCE_DIR}" *.h *.hpp)
 
 link_directories(${CMAKE_SOURCE_DIR}/src/)
-file(GLOB_RECURSE all_source_files RELATIVE "${CMAKE_SOURCE_DIR}src/" *.cpp )
+file(GLOB_RECURSE all_source_files RELATIVE "${PROJECT_SOURCE_DIR}src/" *.cpp )
 
 add_custom_target( linedesc_includes DEPENDS ${all_include_files} SOURCES ${all_source_files} )
 

CMakeLists.txt

@@ -1,48 +1,51 @@
-project( PL-SLAM )
-
+project(PL-SLAM)
 cmake_minimum_required(VERSION 2.7)
 
 list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 
+add_subdirectory(3rdparty/line_descriptor)
+add_subdirectory(3rdparty/DBoW2)
+
+set(HAS_MRPT ON CACHE BOOL "Build the PointGrey Bumblebee2 SVO application that employs the MRPT library")
+
 find_package(OpenCV 3 REQUIRED)
-find_package(Boost REQUIRED COMPONENTS regex thread system filesystem)
-find_package(G2O      REQUIRED)
+find_package(Boost    REQUIRED COMPONENTS regex thread system filesystem)
+find_package(g2o      REQUIRED)
 find_package(Eigen3   REQUIRED)
+find_package(yaml-cpp REQUIRED CONFIG PATHS ${YAML_PATHS}) # YAML library
+
+# MRPT library (optional, only with representation purposes)
+if(HAS_MRPT)
+    find_package(MRPT 1.9.9 REQUIRED opengl gui hwdrivers)
+    add_definitions(-DHAS_MRPT)
+endif()
 
 if(COMMAND cmake_policy)
   	cmake_policy(SET CMP0003 NEW)	
-endif(COMMAND cmake_policy)
+endif()
 link_directories(${OpenCV_LIBS_DIR})
 include_directories(${OpenCV2_INCLUDE_DIRS})
 
 # Odometry library (Future TODO: integrate with this library)
 SET( StVO_LIBRARY 		"" CACHE FILEPATH "Visual Odometry Library" )
 SET( StVO_INCLUDE_DIR 	"" CACHE PATH "Visual Odometry Include folder" )	
 
-set(DEFAULT_HAS_MRPT ON)
-set(HAS_MRPT ${DEFAULT_HAS_MRPT} CACHE BOOL "Build the PointGrey Bumblebee2 SVO application that employs the MRPT library")
 
 SET(BUILD_SHARED_LIBS ON)
 SET(CMAKE_MODULE_PATH $ENV{CMAKE_MODULE_PATH})
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3 -mtune=native -march=native")
 
 add_definitions(-DBOOST_NO_CXX11_SCOPED_ENUMS)
 
-# MRPT library (optional, only with representation purposes)
-if(HAS_MRPT)
-FIND_PACKAGE(MRPT REQUIRED base opengl gui hwdrivers)
-set(MRPT_DONT_USE_DBG_LIBS 1) #use release libraries for linking even if "Debug" CMake build
-add_definitions(-DHAS_MRPT)
-endif(HAS_MRPT)
-
-
-# YAML library
-FIND_PACKAGE(yaml-cpp REQUIRED CONFIG PATHS ${YAML_PATHS})
-
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/build)
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
-SET(G2O_LIBS g2o_cli g2o_ext_freeglut_minimal g2o_simulator g2o_solver_slam2d_linear g2o_types_icp g2o_types_slam2d g2o_core g2o_interface g2o_solver_csparse g2o_solver_structure_only g2o_types_sba g2o_types_slam3d g2o_csparse_extension g2o_opengl_helper g2o_solver_dense g2o_stuff g2o_types_sclam2d g2o_parser g2o_solver_pcg g2o_types_data g2o_types_sim3 cxsparse g2o_ext_csparse cholmod )
+SET(G2O_LIBS
+    g2o::core
+    g2o::types_slam2d
+    g2o::types_slam3d
+    g2o::solver_cholmod
+    )
 
 # Include dirs
 include_directories(
@@ -55,36 +58,34 @@ include_directories(
   ${PROJECT_SOURCE_DIR}/3rdparty/DBoW2/include/
   ${PROJECT_SOURCE_DIR}/3rdparty/line_descriptor/include/
   ${G2O_INCLUDE_DIR}
+  ${g2o_INCLUDE_DIR}
   /usr/include/suitesparse # for cholmod
 )
 
+
 # Set link libraries
 list(APPEND LINK_LIBS 
   ${OpenCV_LIBS}
   ${Boost_LIBRARIES}
   ${YAML_CPP_LIBRARIES}
   ${G2O_LIBS}
   ${PROJECT_SOURCE_DIR}/../stvo-pl/lib/libstvo.so
-  ${PROJECT_SOURCE_DIR}/3rdparty/DBoW2/lib/libDBoW2.so
-  ${PROJECT_SOURCE_DIR}/3rdparty/line_descriptor/lib/liblinedesc.so
+  DBoW2
+  linedesc
 )
 
-# Set source files 
-if(HAS_MRPT)
-list(APPEND SOURCEFILES
-  src/mapHandler.cpp
-  src/mapFeatures.cpp
-  src/keyFrame.cpp
-  src/slamConfig.cpp
-  src/slamScene.cpp
-)
-else()
 list(APPEND SOURCEFILES
   src/mapHandler.cpp
   src/mapFeatures.cpp
   src/keyFrame.cpp
   src/slamConfig.cpp
 )
+
+# Set source files 
+if(HAS_MRPT)
+    list(APPEND SOURCEFILES
+        src/slamScene.cpp
+    )
 endif()
 
 # List all files (headers) contained by StVO-PL library
@@ -96,17 +97,17 @@ add_custom_target( plslam_includes DEPENDS ${all_include_files} SOURCES ${all_in
 # Create StVO-PL library
 add_library(plslam SHARED ${SOURCEFILES})
 
-if(HAS_MRPT)
-target_link_libraries(plslam ${LINK_LIBS} ${MRPT_LIBS}  )
-else()
 target_link_libraries(plslam ${LINK_LIBS})
+
+if(HAS_MRPT)
+    target_link_libraries(plslam ${MRPT_LIBS} ${MRPT_LIBRARIES})
 endif()
 
 # Applications 
 if(HAS_MRPT)
-add_executable       ( plslam_dataset app/plslam_dataset.cpp )
-target_link_libraries( plslam_dataset plslam )
-endif(HAS_MRPT)
+    add_executable       ( plslam_dataset app/plslam_dataset.cpp )
+    target_link_libraries( plslam_dataset plslam )
+endif()
 
 
 

README.md

@@ -37,7 +37,7 @@ Please do not hesitate to contact the authors if you have any further questions.
 ## 1. Prerequisites and dependencies
 
 ### OpenCV 3.x.x
-It can be easily found at http://opencv.org. 
+It can be easily found at http://opencv.org.
 
 ### Eigen3 (tested with 3.2.92)
 http://eigen.tuxfamily.org
@@ -61,19 +61,23 @@ sudo apt-get install libyaml-cpp-dev
 ```
 
 ### stvo-pl
-It can be found at: 
+It can be found at:
 ```
 https://github.com/rubengooj/stvo-pl
 ```
 
-### MRPT
-In case of using the provided representation class. 
-Download and install instructions can be found at: http://www.mrpt.org/
+### MRPT (>=v1.9.9)
+Optional: Enables the provided visualization class.
 
-#### Known Issues:
-If working with the most recent versions of the MRPT library you might find some issues due to hard refactoring, for which we recommend to use this version instead (the last one we tested):
+1) Only for Ubuntu 16.04 Xenial: upgrade gcc. Instructions [here](https://gist.github.com/jlblancoc/99521194aba975286c80f93e47966dc5).
+2) For any Ubuntu version older than 20.04 Focal:
+```
+sudo add-apt-repository ppa:joseluisblancoc/mrpt
+sudo apt-get update
 ```
-https://github.com/MRPT/mrpt/tree/0c3d605c3cbf5f2ffb8137089e43ebdae5a55de3
+3) Everyone: Install mrpt libraries:
+```
+sudo apt-get install libmrpt-dev
 ```
 
 ### Line Descriptor
@@ -106,4 +110,3 @@ A full command would be:
 ./plslam_dataset kitti/00 -c ../config/config_kitti.yaml -o 100 -s 2 -n 1000
 
 where we are processing the sequence 00 from the KITTI dataset (in our dataset folders) with the custom config file, with an offset *-c* allowing to skip the first 100 images, a parameter *-s* to consider only one every 2 images, and a parameter *-n* to only consider 1000 input pairs.
-

build.sh

@@ -1,19 +1,3 @@
-echo "Building 3rdparty/line_descriptor ... "
-cd 3rdparty/line_descriptor
-mkdir build
-cd build
-cmake ..
-make -j8
-cd ../../../
-
-echo "Building 3rdparty/DBoW2 ... "
-cd 3rdparty/DBoW2
-mkdir build
-cd build
-cmake ..
-make -j8
-cd ../../../
-
 echo "Uncompressing vocabulary ..."
 cd vocabulary
 tar -xf voc.tar.gz

include/slamScene.h

@@ -26,12 +26,12 @@ using namespace std;
 #include <mrpt/opengl.h>
 #include <mrpt/opengl/CPointCloudColoured.h>
 #include <mrpt/gui.h>
-#include <mrpt/utils/CConfigFile.h>
-#include <mrpt/utils/CConfigFileBase.h>
+#include <mrpt/config/CConfigFile.h>
+#include <mrpt/config/CConfigFileBase.h>
 using namespace mrpt;
 using namespace mrpt::gui;
 using namespace mrpt::poses;
-using namespace mrpt::utils;
+using namespace mrpt::config;
 using namespace mrpt::math;
 using namespace mrpt::opengl;
 
@@ -89,20 +89,19 @@ class slamScene{
     CPose3D getPoseXYZ(VectorXd x);
 
     CDisplayWindow3D*           win;
-    COpenGLScenePtr             theScene;
-    COpenGLViewportPtr          image, legend, help;
-    opengl::CSetOfObjectsPtr    bbObj, bbObj1, srefObj, srefObj1, gtObj, srefObjGT, elliObjL, elliObjP;
-    opengl::CEllipsoidPtr       elliObj;
-    opengl::CFrustumPtr         frustObj, frustObj1;
-    opengl::CAxisPtr            axesObj;
-
-    opengl::CSetOfLinesPtr      lineObj, lineObj_local, kfsLinesObj, voLinesObj;
-    opengl::CPointCloudPtr      pointObj, pointObj_local;
-    opengl::CSetOfObjectsPtr    kfsObj;
+    COpenGLScene::Ptr             theScene;
+    COpenGLViewport::Ptr          image, legend, help;
+    opengl::CSetOfObjects::Ptr    bbObj, bbObj1, srefObj, srefObj1, gtObj, srefObjGT, elliObjL, elliObjP;
+    opengl::CEllipsoid::Ptr       elliObj;
+    opengl::CFrustum::Ptr         frustObj, frustObj1;
+    opengl::CAxis::Ptr            axesObj;
 
+    opengl::CSetOfLines::Ptr      lineObj, lineObj_local, kfsLinesObj, voLinesObj;
+    opengl::CPointCloud::Ptr      pointObj, pointObj_local;
+    opengl::CSetOfObjects::Ptr    kfsObj;
 
     float           sbb, saxis, srad, sref, sline, sfreq, szoom, selli, selev, sazim, sfrust, slinef;
-    CVectorDouble   v_aux, v_aux_, v_aux1, v_aux1_, v_auxgt, gt_aux_, v_auxgt_;
+    CVectorFixedDouble<6> v_aux, v_aux_, v_aux1, v_aux1_, v_auxgt, gt_aux_, v_auxgt_;
     CPose3D         pose, pose_0, pose_gt, pose_ini, ellPose, pose1,  change, frustumL_, frustumR_;
     Matrix4d        x_ini;
     mrptKeyModifier kmods;
@@ -116,7 +115,7 @@ class slamScene{
     float           time;
     string          img, img_legend, img_help;
     CMatrixFloat    lData, pData;
-    CImage          img_mrpt_legend, img_mrpt_image, img_mrpt_help;
+    mrpt::img::CImage img_mrpt_legend, img_mrpt_image, img_mrpt_help;
 
     float           b, sigmaP, sigmaL, f, cx, cy, bsigmaL, bsigmaP;
 

src/mapHandler.cpp

@@ -3962,10 +3962,10 @@ bool MapHandler::loopClosureOptimizationEssGraphG2O()
     // define G2O variables
     g2o::SparseOptimizer optimizer;
     optimizer.setVerbose(true);
-    g2o::BlockSolver_6_3::LinearSolverType* linearSolver;
-    linearSolver = new g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType>();
-    g2o::BlockSolver_6_3* solver_ptr = new g2o::BlockSolver_6_3(linearSolver);
-    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
+
+    std::unique_ptr<g2o::BlockSolver_6_3::LinearSolverType> linearSolver (new g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType>());
+    std::unique_ptr<g2o::BlockSolver_6_3> solver_ptr (new g2o::BlockSolver_6_3(std::move(linearSolver)));
+    g2o::OptimizationAlgorithmLevenberg * solver = new g2o::OptimizationAlgorithmLevenberg(std::move(solver_ptr));
     solver->setUserLambdaInit(1e-10);
     optimizer.setAlgorithm(solver);
 
@@ -4188,10 +4188,10 @@ bool MapHandler::loopClosureOptimizationCovGraphG2O()
     // define G2O variables
     g2o::SparseOptimizer optimizer;
     optimizer.setVerbose(false);
-    g2o::BlockSolver_6_3::LinearSolverType* linearSolver;
-    linearSolver = new g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType>();
-    g2o::BlockSolver_6_3* solver_ptr = new g2o::BlockSolver_6_3(linearSolver);
-    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
+
+    std::unique_ptr<g2o::BlockSolver_6_3::LinearSolverType> linearSolver (new g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType>());
+    std::unique_ptr<g2o::BlockSolver_6_3> solver_ptr (new g2o::BlockSolver_6_3(std::move(linearSolver)));
+    g2o::OptimizationAlgorithmLevenberg * solver = new g2o::OptimizationAlgorithmLevenberg(std::move(solver_ptr));
     solver->setUserLambdaInit(1e-10);
     optimizer.setAlgorithm(solver);