Creating ORB_SLAM plugin for ILLIXR

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.24.1)
 project(ORB_SLAM3)
 
 IF(NOT CMAKE_BUILD_TYPE)
@@ -7,37 +7,34 @@ ENDIF()
 
 MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
 
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall   -O3")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}   -O3")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}   -O3")
 set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
 set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
 
-# Check C++11 or C++0x support
+# Check C++17 or C++0x support
 include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
 CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-   add_definitions(-DCOMPILEDWITHC11)
-   message(STATUS "Using flag -std=c++11.")
+if(COMPILER_SUPPORTS_CXX17)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
+   add_definitions(-DCOMPILEDWITHC17)
+   message(STATUS "Using flag -std=c++17.")
 elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
    add_definitions(-DCOMPILEDWITHC0X)
    message(STATUS "Using flag -std=c++0x.")
 else()
-   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler.")
 endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
-find_package(OpenCV 4.4)
+find_package(OpenCV 3)
    if(NOT OpenCV_FOUND)
-      message(FATAL_ERROR "OpenCV > 4.4 not found.")
+      message(FATAL_ERROR "OpenCV > 3 not found.")
    endif()
 
-MESSAGE("OPENCV VERSION:")
-MESSAGE(${OpenCV_VERSION})
-
 find_package(Eigen3 3.1.0 REQUIRED)
 find_package(Pangolin REQUIRED)
 find_package(realsense2)
@@ -53,6 +50,8 @@ ${Pangolin_INCLUDE_DIRS}
 
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 
+
+
 add_library(${PROJECT_NAME} SHARED
 src/System.cc
 src/Tracking.cc
@@ -121,6 +120,7 @@ ${EIGEN3_LIBS}
 ${Pangolin_LIBRARIES}
 ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
 ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
+-lboost_filesystem
 -lboost_serialization
 -lcrypto
 )
@@ -135,256 +135,7 @@ if(realsense2_FOUND)
     )
 endif()
 
-
-# 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)
-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
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
-
-add_executable(stereo_kitti
-        Examples/Stereo/stereo_kitti.cc)
-target_link_libraries(stereo_kitti ${PROJECT_NAME})
-
-add_executable(stereo_euroc
-        Examples/Stereo/stereo_euroc.cc)
-target_link_libraries(stereo_euroc ${PROJECT_NAME})
-
-add_executable(stereo_tum_vi
-        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
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
-
-add_executable(mono_tum
-        Examples/Monocular/mono_tum.cc)
-target_link_libraries(mono_tum ${PROJECT_NAME})
-
-add_executable(mono_kitti
-        Examples/Monocular/mono_kitti.cc)
-target_link_libraries(mono_kitti ${PROJECT_NAME})
-
-add_executable(mono_euroc
-        Examples/Monocular/mono_euroc.cc)
-target_link_libraries(mono_euroc ${PROJECT_NAME})
-
-add_executable(mono_tum_vi
-        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
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial)
-
-add_executable(mono_inertial_euroc
-        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)
-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
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial)
-
-add_executable(stereo_inertial_euroc
-        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)
-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()
+# FOR ILLIXR
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/src)
+add_library(plugin SHARED src/plugin.cpp)
+target_link_libraries(plugin ${PROJECT_NAME})