add GPU svo under development

2021-05-05 12:29:29 +02:00
parent 6a08b7de5d
commit ec7e554add
68 changed files with 10147 additions and 648 deletions
@@ -0,0 +1,132 @@
+################################################################################
+# user build settings
+
+SET(TRACE TRUE)
+SET(HAVE_G2O FALSE) 
+SET(USE_ROS TRUE) # Set FALSE if you want to build this package without Catkin
+SET(DEBUG_OUTPUT FALSE) # Only relevant if build without ROS
+
+################################################################################
+
+SET(PROJECT_NAME gpu_svo)
+PROJECT(${PROJECT_NAME})
+CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3)
+SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
+SET(CMAKE_VERBOSE_MAKEFILE OFF)
+SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/")
+set(CMAKE_C_STANDARD 14)
+set(CMAKE_CXX_STANDARD 14)
+
+# Set definitions
+IF(TRACE)
+  ADD_DEFINITIONS(-DSVO_TRACE)
+ENDIF()
+IF(HAVE_G2O)
+  ADD_DEFINITIONS(-DUSE_BUNDLE_ADJUSTMENT)
+ENDIF()
+IF(USE_ROS)
+  ADD_DEFINITIONS(-DSVO_USE_ROS)
+ENDIF()
+IF(DEBUG_OUTPUT)
+  ADD_DEFINITIONS(-DSVO_DEBUG_OUTPUT)
+ENDIF()
+
+# Set build flags, set ARM_ARCHITECTURE environment variable on Odroid
+# Set build flags. Set IS_ARM on odroid board as environment variable
+SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
+IF(DEFINED ENV{ARM_ARCHITECTURE})
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ")
+ELSE()
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3")
+ENDIF()
+IF(CMAKE_COMPILER_IS_GNUCC)
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+ELSE()
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+ENDIF()
+SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
+
+# Add plain cmake packages 
+FIND_PACKAGE(OpenCV REQUIRED)
+FIND_PACKAGE(Eigen REQUIRED)
+FIND_PACKAGE(Sophus REQUIRED)
+FIND_PACKAGE(fast REQUIRED)
+FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system)
+FIND_PACKAGE(GTSAM REQUIRED)
+
+set(GTSAM_INCLUDE_DIRS "${GTSAM_INCLUDE_DIR}")
+IF(USE_ROS)
+  FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros)
+  catkin_package(
+      DEPENDS Eigen OpenCV Sophus Boost fast GTSAM
+      CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros
+      INCLUDE_DIRS include
+      LIBRARIES ${PROJECT_NAME}
+  )
+ELSE()
+  FIND_PACKAGE(vikit_common REQUIRED)
+  SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+  SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+ENDIF()
+
+# Include dirs
+INCLUDE_DIRECTORIES(
+        include
+  ${Eigen_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+  ${Sophus_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${fast_INCLUDE_DIRS} ${GTSAM_INCLUDE_DIR}
+)
+
+# Set link libraries
+LIST(APPEND LINK_LIBS 
+  ${OpenCV_LIBS}
+  ${Sophus_LIBRARIES}
+  ${Boost_LIBRARIES}
+  ${fast_LIBRARIES}
+)
+IF(USE_ROS)
+  INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS})
+  LIST(APPEND LINK_LIBS ${catkin_LIBRARIES})
+ELSE()
+  INCLUDE_DIRECTORIES(${vikit_common_INCLUDE_DIRS})
+  LIST(APPEND LINK_LIBS ${vikit_common_LIBRARIES})
+ENDIF()
+
+# Set sourcefiles
+LIST(APPEND SOURCEFILES
+        src/frame_handler_mono.cpp
+        src/frame_handler_base.cpp
+        src/frame.cpp
+        src/point.cpp
+        src/map.cpp
+        src/pose_optimizer.cpp
+        src/initialization.cpp
+        src/matcher.cpp
+        src/reprojector.cpp
+        src/feature_alignment.cpp
+        src/feature_detection.cpp
+        src/depth_filter.cpp
+        src/config.cpp
+        src/sparse_img_align.cpp src/imu_integration.cpp)
+
+# Add g2o if available
+IF(HAVE_G2O)
+  FIND_PACKAGE(G2O REQUIRED)
+  INCLUDE_DIRECTORIES(
+    ${G2O_INCLUDE_DIR}
+    /usr/include/suitesparse # for cholmod
+  )
+  LIST(APPEND LINK_LIBS
+    ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_DENSE}
+    ${G2O_SOLVER_PCG} ${G2O_TYPES_SBA} cholmod cxsparse
+  )
+  LIST(APPEND SOURCEFILES src/bundle_adjustment.cpp)
+ENDIF(HAVE_G2O)
+
+# Create svo library
+ADD_LIBRARY(${PROJECT_NAME} SHARED ${SOURCEFILES})
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS} gtsam)
+set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 14)
+set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON)