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add airsim example #448

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add airsim example #448

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af474a7
add the default parameters of stereo camera of airsim
YUJX19 Dec 28, 2021
e7adc67
Update README.md
YUJX19 Dec 28, 2021
1494c6d
fixed an issue that failed to compile on ubuntu18.04.
YUJX19 Jan 1, 2022
8f9c0ff
Update README.md
YUJX19 Jan 1, 2022
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254 changes: 30 additions & 224 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,9 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")
set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")

# set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wno-deprecated -O3 -march=native ")
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-deprecated -O3 -march=native")

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
Expand All @@ -30,10 +33,13 @@ endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 4.4)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 4.4 not found.")
endif()
find_package(OpenCV 4.0)
if(NOT OpenCV_FOUND)
find_package(OpenCV 3.0)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 3.0 not found.")
endif()
endif()

MESSAGE("OPENCV VERSION:")
MESSAGE(${OpenCV_VERSION})
Expand All @@ -46,7 +52,6 @@ include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${PROJECT_SOURCE_DIR}/include/CameraModels
${PROJECT_SOURCE_DIR}/Thirdparty/Sophus
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
)
Expand All @@ -71,17 +76,15 @@ src/Optimizer.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/ImuTypes.cc
src/G2oTypes.cc
src/CameraModels/Pinhole.cpp
src/CameraModels/KannalaBrandt8.cpp
src/OptimizableTypes.cpp
src/MLPnPsolver.cpp
src/GeometricTools.cc
src/TwoViewReconstruction.cc
src/Config.cc
src/Settings.cc
include/System.h
include/Tracking.h
include/LocalMapping.h
Expand All @@ -99,6 +102,7 @@ include/Optimizer.h
include/Frame.h
include/KeyFrameDatabase.h
include/Sim3Solver.h
include/Initializer.h
include/Viewer.h
include/ImuTypes.h
include/G2oTypes.h
Expand All @@ -107,11 +111,9 @@ include/CameraModels/Pinhole.h
include/CameraModels/KannalaBrandt8.h
include/OptimizableTypes.h
include/MLPnPsolver.h
include/GeometricTools.h
include/TwoViewReconstruction.h
include/SerializationUtils.h
include/Config.h
include/Settings.h)
)

add_subdirectory(Thirdparty/g2o)

Expand All @@ -125,266 +127,70 @@ ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
-lcrypto
)

# If RealSense SDK is found the library is added and its examples compiled
if(realsense2_FOUND)
include_directories(${PROJECT_NAME}
${realsense_INCLUDE_DIR}
)
target_link_libraries(${PROJECT_NAME}
${realsense2_LIBRARY}
)
endif()


# Build examples
### Build examples

# RGB-D examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(rgbd_realsense_D435i
Examples/RGB-D/rgbd_realsense_D435i.cc)
target_link_libraries(rgbd_realsense_D435i ${PROJECT_NAME})
endif()


# RGB-D inertial examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D-Inertial)

if(realsense2_FOUND)
add_executable(rgbd_inertial_realsense_D435i
Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc)
target_link_libraries(rgbd_inertial_realsense_D435i ${PROJECT_NAME})
endif()

#Stereo examples
# Stereo examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})

add_executable(stereo_tum_vi
Examples/Stereo/stereo_tum_vi.cc)
Examples/Stereo/stereo_tum_vi.cc)
target_link_libraries(stereo_tum_vi ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(stereo_realsense_t265
Examples/Stereo/stereo_realsense_t265.cc)
target_link_libraries(stereo_realsense_t265 ${PROJECT_NAME})

add_executable(stereo_realsense_D435i
Examples/Stereo/stereo_realsense_D435i.cc)
target_link_libraries(stereo_realsense_D435i ${PROJECT_NAME})
endif()

#Monocular examples
# Monocular examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

add_executable(mono_tum_vi
Examples/Monocular/mono_tum_vi.cc)
Examples/Monocular/mono_tum_vi.cc)
target_link_libraries(mono_tum_vi ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(mono_realsense_t265
Examples/Monocular/mono_realsense_t265.cc)
target_link_libraries(mono_realsense_t265 ${PROJECT_NAME})

add_executable(mono_realsense_D435i
Examples/Monocular/mono_realsense_D435i.cc)
target_link_libraries(mono_realsense_D435i ${PROJECT_NAME})
endif()

#Monocular inertial examples
# Monocular-Inertial examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial)

add_executable(mono_inertial_euroc
Examples/Monocular-Inertial/mono_inertial_euroc.cc)
Examples/Monocular-Inertial/mono_inertial_euroc.cc)
target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})

add_executable(mono_inertial_tum_vi
Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(mono_inertial_realsense_t265
Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc)
target_link_libraries(mono_inertial_realsense_t265 ${PROJECT_NAME})

add_executable(mono_inertial_realsense_D435i
Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc)
target_link_libraries(mono_inertial_realsense_D435i ${PROJECT_NAME})
endif()

#Stereo Inertial examples
# Stereo-Inertial examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial)

add_executable(stereo_inertial_euroc
Examples/Stereo-Inertial/stereo_inertial_euroc.cc)
Examples/Stereo-Inertial/stereo_inertial_euroc.cc)
target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})

add_executable(stereo_inertial_tum_vi
Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(stereo_inertial_realsense_t265
Examples/Stereo-Inertial/stereo_inertial_realsense_t265.cc)
target_link_libraries(stereo_inertial_realsense_t265 ${PROJECT_NAME})

add_executable(stereo_inertial_realsense_D435i
Examples/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
target_link_libraries(stereo_inertial_realsense_D435i ${PROJECT_NAME})
endif()

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Calibration)
if(realsense2_FOUND)
add_executable(recorder_realsense_D435i
Examples/Calibration/recorder_realsense_D435i.cc)
target_link_libraries(recorder_realsense_D435i ${PROJECT_NAME})

add_executable(recorder_realsense_T265
Examples/Calibration/recorder_realsense_T265.cc)
target_link_libraries(recorder_realsense_T265 ${PROJECT_NAME})
endif()

#Old examples

# RGB-D examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D)

add_executable(rgbd_tum_old
Examples_old/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum_old ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(rgbd_realsense_D435i_old
Examples_old/RGB-D/rgbd_realsense_D435i.cc)
target_link_libraries(rgbd_realsense_D435i_old ${PROJECT_NAME})
endif()


# RGB-D inertial examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D-Inertial)

if(realsense2_FOUND)
add_executable(rgbd_inertial_realsense_D435i_old
Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc)
target_link_libraries(rgbd_inertial_realsense_D435i_old ${PROJECT_NAME})
endif()

#Stereo examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo)

add_executable(stereo_kitti_old
Examples_old/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti_old ${PROJECT_NAME})

add_executable(stereo_euroc_old
Examples_old/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc_old ${PROJECT_NAME})

add_executable(stereo_tum_vi_old
Examples_old/Stereo/stereo_tum_vi.cc)
target_link_libraries(stereo_tum_vi_old ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(stereo_realsense_t265_old
Examples_old/Stereo/stereo_realsense_t265.cc)
target_link_libraries(stereo_realsense_t265_old ${PROJECT_NAME})

add_executable(stereo_realsense_D435i_old
Examples_old/Stereo/stereo_realsense_D435i.cc)
target_link_libraries(stereo_realsense_D435i_old ${PROJECT_NAME})
endif()

#Monocular examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular)

add_executable(mono_tum_old
Examples_old/Monocular/mono_tum.cc)
target_link_libraries(mono_tum_old ${PROJECT_NAME})

add_executable(mono_kitti_old
Examples_old/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti_old ${PROJECT_NAME})

add_executable(mono_euroc_old
Examples_old/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc_old ${PROJECT_NAME})

add_executable(mono_tum_vi_old
Examples_old/Monocular/mono_tum_vi.cc)
target_link_libraries(mono_tum_vi_old ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(mono_realsense_t265_old
Examples_old/Monocular/mono_realsense_t265.cc)
target_link_libraries(mono_realsense_t265_old ${PROJECT_NAME})

add_executable(mono_realsense_D435i_old
Examples_old/Monocular/mono_realsense_D435i.cc)
target_link_libraries(mono_realsense_D435i_old ${PROJECT_NAME})
endif()

#Monocular inertial examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular-Inertial)

add_executable(mono_inertial_euroc_old
Examples_old/Monocular-Inertial/mono_inertial_euroc.cc)
target_link_libraries(mono_inertial_euroc_old ${PROJECT_NAME})

add_executable(mono_inertial_tum_vi_old
Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc)
target_link_libraries(mono_inertial_tum_vi_old ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(mono_inertial_realsense_t265_old
Examples_old/Monocular-Inertial/mono_inertial_realsense_t265.cc)
target_link_libraries(mono_inertial_realsense_t265_old ${PROJECT_NAME})

add_executable(mono_inertial_realsense_D435i_old
Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i.cc)
target_link_libraries(mono_inertial_realsense_D435i_old ${PROJECT_NAME})
endif()

#Stereo Inertial examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo-Inertial)

add_executable(stereo_inertial_euroc_old
Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc)
target_link_libraries(stereo_inertial_euroc_old ${PROJECT_NAME})

add_executable(stereo_inertial_tum_vi_old
Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc)
target_link_libraries(stereo_inertial_tum_vi_old ${PROJECT_NAME})

if(realsense2_FOUND)
add_executable(stereo_inertial_realsense_t265_old
Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265.cc)
target_link_libraries(stereo_inertial_realsense_t265_old ${PROJECT_NAME})

add_executable(stereo_inertial_realsense_D435i_old
Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
target_link_libraries(stereo_inertial_realsense_D435i_old ${PROJECT_NAME})
endif()
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