Update build system

.clang-format

@@ -0,0 +1,116 @@
+---
+Language: Cpp
+BasedOnStyle: WebKit
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align
+AlignArrayOfStructures: None
+AlignConsecutiveAssignments: Consecutive
+AlignConsecutiveBitFields: Consecutive
+AlignConsecutiveDeclarations: Consecutive
+AlignConsecutiveMacros: Consecutive
+AlignEscapedNewlines: Left
+AlignOperands: false
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Empty
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLambdasOnASingleLine: Empty
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BitFieldColonSpacing: Both
+BreakAfterJavaFieldAnnotations: false
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: BeforeComma
+BreakInheritanceList: BeforeComma
+BreakStringLiterals: true
+ColumnLimit: 128
+CommentPragmas: '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DerivePointerAlignment: false
+DisableFormat: false
+EmptyLineBeforeAccessModifier: LogicalBlock
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks: Regroup
+IncludeCategories:
+  - Regex:           '^"'
+    Priority:        1
+  - Regex:           '^<'
+    Priority:        2
+IncludeIsMainRegex: ''
+IncludeIsMainSourceRegex: ''
+IndentCaseBlocks: false
+IndentCaseLabels: false
+IndentExternBlock: NoIndent
+IndentGotoLabels: true
+IndentPPDirectives: BeforeHash
+IndentWidth: 4
+IndentWrappedFunctionNames: false
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd: ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: Inner
+PPIndentWidth: -1
+PackConstructorInitializers: Never
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 60
+PointerAlignment: Left
+ReferenceAlignment: Pointer
+ReflowComments: true
+SeparateDefinitionBlocks: Always
+SortIncludes: CaseInsensitive
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: true
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: false
+SpaceAroundPointerQualifiers: Default
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCaseColon: false
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceBeforeSquareBrackets: false
+SpaceInEmptyBlock: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles: Never
+SpacesInCStyleCastParentheses: false
+SpacesInConditionalStatement: false
+SpacesInLineCommentPrefix:
+  Minimum: 1
+  Maximum: 1
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: c++17
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth: 4
+UseCRLF: false
+UseTab: Never
+...

.gitignore

@@ -59,18 +59,13 @@ KeyFrameTrajectory.txt
 CameraTrajectory.txt
 kf_*.txt
 f_*.txt
-Thirdparty/DBoW2/build/
-Thirdparty/DBoW2/lib/
-Thirdparty/g2o/build/
-Thirdparty/g2o/config.h
-Thirdparty/g2o/lib/
 Vocabulary/ORBvoc.txt
 build/
 
 lib/
 
 cmake_modules/
-cmake-build-debug/
+cmake-build-*
 
 ExecMean.txt
 SessionInfo.txt