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projector reimplementation

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This commit is contained in:
VahdPourAmin
2021-08-30 08:10:48 +02:00
parent 8aefb891ee
commit 290c3ca057
165 changed files with 3317 additions and 17442 deletions
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GPU_version/vio/CMakeLists.txt
+1 -1
View File
@@ -24,7 +24,7 @@ ENDIF()
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops") SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
# Add plain cmake packages # Add plain cmake packages
FIND_PACKAGE(OpenCV 3 REQUIRED) FIND_PACKAGE(OpenCV 4 REQUIRED)
FIND_PACKAGE(Eigen REQUIRED) FIND_PACKAGE(Eigen REQUIRED)
FIND_PACKAGE(Sophus REQUIRED) FIND_PACKAGE(Sophus REQUIRED)
FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system) FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system)
GPU_version/vio/cmake-build-debug/CMakeCache.txt
+14 -14
View File
@@ -1,5 +1,5 @@
# This is the CMakeCache file. # This is the CMakeCache file.
# For build in directory: /root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug # For build in directory: /root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/cmake-build-debug
# It was generated by CMake: /opt/clion-2021.1.2/bin/cmake/linux/bin/cmake # It was generated by CMake: /opt/clion-2021.1.2/bin/cmake/linux/bin/cmake
# You can edit this file to change values found and used by cmake. # You can edit this file to change values found and used by cmake.
# If you do not want to change any of the values, simply exit the editor. # If you do not want to change any of the values, simply exit the editor.
@@ -330,7 +330,7 @@ OpenCL_INCLUDE_DIR:PATH=/usr/include
OpenCL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libOpenCL.so OpenCL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libOpenCL.so
//The directory containing a CMake configuration file for OpenCV. //The directory containing a CMake configuration file for OpenCV.
OpenCV_DIR:PATH=/usr/share/OpenCV OpenCV_DIR:PATH=/usr/local/lib/cmake/opencv4
//pkg-config executable //pkg-config executable
PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config
@@ -420,7 +420,7 @@ genpy_DIR:PATH=/opt/ros/melodic/share/genpy/cmake
geometry_msgs_DIR:PATH=/opt/ros/melodic/share/geometry_msgs/cmake geometry_msgs_DIR:PATH=/opt/ros/melodic/share/geometry_msgs/cmake
//Value Computed by CMake //Value Computed by CMake
gmock_BINARY_DIR:STATIC=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/gtest/googlemock gmock_BINARY_DIR:STATIC=/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/cmake-build-debug/gtest/googlemock
//Dependencies for the target //Dependencies for the target
gmock_LIB_DEPENDS:STATIC=general;-lpthread; gmock_LIB_DEPENDS:STATIC=general;-lpthread;
@@ -435,13 +435,13 @@ gmock_build_tests:BOOL=OFF
gmock_main_LIB_DEPENDS:STATIC=general;-lpthread; gmock_main_LIB_DEPENDS:STATIC=general;-lpthread;
//Value Computed by CMake //Value Computed by CMake
googletest-distribution_BINARY_DIR:STATIC=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/gtest googletest-distribution_BINARY_DIR:STATIC=/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/cmake-build-debug/gtest
//Value Computed by CMake //Value Computed by CMake
googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest
//Value Computed by CMake //Value Computed by CMake
gtest_BINARY_DIR:STATIC=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/gtest/googlemock/gtest gtest_BINARY_DIR:STATIC=/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/cmake-build-debug/gtest/googlemock/gtest
//Dependencies for the target //Dependencies for the target
gtest_LIB_DEPENDS:STATIC=general;-lpthread; gtest_LIB_DEPENDS:STATIC=general;-lpthread;
@@ -538,10 +538,10 @@ tf2_ros_DIR:PATH=/opt/ros/melodic/share/tf2_ros/cmake
tf_DIR:PATH=/opt/ros/melodic/share/tf/cmake tf_DIR:PATH=/opt/ros/melodic/share/tf/cmake
//Value Computed by CMake //Value Computed by CMake
vio_BINARY_DIR:STATIC=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug vio_BINARY_DIR:STATIC=/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/cmake-build-debug
//Value Computed by CMake //Value Computed by CMake
vio_SOURCE_DIR:STATIC=/root/Projects/ROS/src/p_33_vio/GPU_version/vio vio_SOURCE_DIR:STATIC=/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio
//The directory containing a CMake configuration file for xmlrpcpp. //The directory containing a CMake configuration file for xmlrpcpp.
xmlrpcpp_DIR:PATH=/opt/ros/melodic/share/xmlrpcpp/cmake xmlrpcpp_DIR:PATH=/opt/ros/melodic/share/xmlrpcpp/cmake
@@ -580,14 +580,14 @@ Boost_THREAD_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
//ADVANCED property for variable: Boost_THREAD_LIBRARY_RELEASE //ADVANCED property for variable: Boost_THREAD_LIBRARY_RELEASE
Boost_THREAD_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 Boost_THREAD_LIBRARY_RELEASE-ADVANCED:INTERNAL=1
//catkin environment //catkin environment
CATKIN_ENV:INTERNAL=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh CATKIN_ENV:INTERNAL=/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/cmake-build-debug/catkin_generated/env_cached.sh
CATKIN_TEST_RESULTS_DIR:INTERNAL=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/test_results CATKIN_TEST_RESULTS_DIR:INTERNAL=/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/cmake-build-debug/test_results
//ADVANCED property for variable: CMAKE_ADDR2LINE //ADVANCED property for variable: CMAKE_ADDR2LINE
CMAKE_ADDR2LINE-ADVANCED:INTERNAL=1 CMAKE_ADDR2LINE-ADVANCED:INTERNAL=1
//ADVANCED property for variable: CMAKE_AR //ADVANCED property for variable: CMAKE_AR
CMAKE_AR-ADVANCED:INTERNAL=1 CMAKE_AR-ADVANCED:INTERNAL=1
//This is the directory where this CMakeCache.txt was created //This is the directory where this CMakeCache.txt was created
CMAKE_CACHEFILE_DIR:INTERNAL=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug CMAKE_CACHEFILE_DIR:INTERNAL=/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/cmake-build-debug
//Major version of cmake used to create the current loaded cache //Major version of cmake used to create the current loaded cache
CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3 CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3
//Minor version of cmake used to create the current loaded cache //Minor version of cmake used to create the current loaded cache
@@ -678,7 +678,7 @@ CMAKE_HAVE_PTHREAD_CREATE:INTERNAL=1
CMAKE_HAVE_PTHREAD_H:INTERNAL=1 CMAKE_HAVE_PTHREAD_H:INTERNAL=1
//Source directory with the top level CMakeLists.txt file for this //Source directory with the top level CMakeLists.txt file for this
// project // project
CMAKE_HOME_DIRECTORY:INTERNAL=/root/Projects/ROS/src/p_33_vio/GPU_version/vio CMAKE_HOME_DIRECTORY:INTERNAL=/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio
//Install .so files without execute permission. //Install .so files without execute permission.
CMAKE_INSTALL_SO_NO_EXE:INTERNAL=1 CMAKE_INSTALL_SO_NO_EXE:INTERNAL=1
//ADVANCED property for variable: CMAKE_LINKER //ADVANCED property for variable: CMAKE_LINKER
@@ -750,7 +750,7 @@ FIND_PACKAGE_MESSAGE_DETAILS_Eigen:INTERNAL=[/usr/include/eigen3][v()]
//Details about finding OpenCL //Details about finding OpenCL
FIND_PACKAGE_MESSAGE_DETAILS_OpenCL:INTERNAL=[/usr/lib/x86_64-linux-gnu/libOpenCL.so][/usr/include][v2.2()] FIND_PACKAGE_MESSAGE_DETAILS_OpenCL:INTERNAL=[/usr/lib/x86_64-linux-gnu/libOpenCL.so][/usr/include][v2.2()]
//Details about finding OpenCV //Details about finding OpenCV
FIND_PACKAGE_MESSAGE_DETAILS_OpenCV:INTERNAL=[/usr][v3.2.0(3)] FIND_PACKAGE_MESSAGE_DETAILS_OpenCV:INTERNAL=[/usr/local][v4.5.3(4)]
//Details about finding PkgConfig //Details about finding PkgConfig
FIND_PACKAGE_MESSAGE_DETAILS_PkgConfig:INTERNAL=[/usr/bin/pkg-config][v0.29.1()] FIND_PACKAGE_MESSAGE_DETAILS_PkgConfig:INTERNAL=[/usr/bin/pkg-config][v0.29.1()]
//Details about finding PythonInterp //Details about finding PythonInterp
@@ -760,12 +760,12 @@ FIND_PACKAGE_MESSAGE_DETAILS_Threads:INTERNAL=[TRUE][v()]
GMOCK_FROM_SOURCE_FOUND:INTERNAL=TRUE GMOCK_FROM_SOURCE_FOUND:INTERNAL=TRUE
GMOCK_FROM_SOURCE_INCLUDE_DIRS:INTERNAL=/usr/include GMOCK_FROM_SOURCE_INCLUDE_DIRS:INTERNAL=/usr/include
GMOCK_FROM_SOURCE_LIBRARIES:INTERNAL=gmock GMOCK_FROM_SOURCE_LIBRARIES:INTERNAL=gmock
GMOCK_FROM_SOURCE_LIBRARY_DIRS:INTERNAL=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/gmock GMOCK_FROM_SOURCE_LIBRARY_DIRS:INTERNAL=/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/cmake-build-debug/gmock
GMOCK_FROM_SOURCE_MAIN_LIBRARIES:INTERNAL=gmock_main GMOCK_FROM_SOURCE_MAIN_LIBRARIES:INTERNAL=gmock_main
GTEST_FROM_SOURCE_FOUND:INTERNAL=TRUE GTEST_FROM_SOURCE_FOUND:INTERNAL=TRUE
GTEST_FROM_SOURCE_INCLUDE_DIRS:INTERNAL=/usr/include GTEST_FROM_SOURCE_INCLUDE_DIRS:INTERNAL=/usr/include
GTEST_FROM_SOURCE_LIBRARIES:INTERNAL=gtest GTEST_FROM_SOURCE_LIBRARIES:INTERNAL=gtest
GTEST_FROM_SOURCE_LIBRARY_DIRS:INTERNAL=/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug/gtest GTEST_FROM_SOURCE_LIBRARY_DIRS:INTERNAL=/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/cmake-build-debug/gtest
GTEST_FROM_SOURCE_MAIN_LIBRARIES:INTERNAL=gtest_main GTEST_FROM_SOURCE_MAIN_LIBRARIES:INTERNAL=gtest_main
//ADVANCED property for variable: GTEST_INCLUDE_DIR //ADVANCED property for variable: GTEST_INCLUDE_DIR
GTEST_INCLUDE_DIR-ADVANCED:INTERNAL=1 GTEST_INCLUDE_DIR-ADVANCED:INTERNAL=1
GPU_version/vio/cmake-build-debug/CMakeFiles/3.19.2/CMakeSystem.cmake
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set(CMAKE_HOST_SYSTEM_NAME "Linux") set(CMAKE_HOST_SYSTEM_NAME "Linux")
set(CMAKE_HOST_SYSTEM_VERSION "5.4.0-80-generic") set(CMAKE_HOST_SYSTEM_VERSION "5.4.0-81-generic")
set(CMAKE_HOST_SYSTEM_PROCESSOR "x86_64") set(CMAKE_HOST_SYSTEM_PROCESSOR "x86_64")
set(CMAKE_SYSTEM "Linux-5.4.0-80-generic") set(CMAKE_SYSTEM "Linux-5.4.0-81-generic")
set(CMAKE_SYSTEM_NAME "Linux") set(CMAKE_SYSTEM_NAME "Linux")
set(CMAKE_SYSTEM_VERSION "5.4.0-80-generic") set(CMAKE_SYSTEM_VERSION "5.4.0-81-generic")
set(CMAKE_SYSTEM_PROCESSOR "x86_64") set(CMAKE_SYSTEM_PROCESSOR "x86_64")
set(CMAKE_CROSSCOMPILING "FALSE") set(CMAKE_CROSSCOMPILING "FALSE")
GPU_version/vio/cmake-build-debug/CMakeFiles/CMakeDirectoryInformation.cmake
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# Relative path conversion top directories. # Relative path conversion top directories.
set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/root/Projects/ROS/src/p_33_vio/GPU_version/vio") set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio")
set(CMAKE_RELATIVE_PATH_TOP_BINARY "/root/Projects/ROS/src/p_33_vio/GPU_version/vio/cmake-build-debug") set(CMAKE_RELATIVE_PATH_TOP_BINARY "/root/Projects/ROS_p_33_dev/src/p_33_vio/GPU_version/vio/cmake-build-debug")
# Force unix paths in dependencies. # Force unix paths in dependencies.
set(CMAKE_FORCE_UNIX_PATHS 1) set(CMAKE_FORCE_UNIX_PATHS 1)
GPU_version/vio/cmake-build-debug/CMakeFiles/CMakeRuleHashes.txt
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"/usr/share/OpenCV/OpenCVModules-release.cmake" "/usr/local/lib/cmake/opencv4/OpenCVModules-release.cmake"
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devel/share/roseus/ros/vio/manifest.l: /opt/ros/melodic/lib/geneus/gen_eus.py devel/share/roseus/ros/vio/manifest.l: /opt/ros/melodic/lib/geneus/gen_eus.py
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