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Integrated ORB_SLAM2 as an odometry approach Odom/Strategy=5.

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matlabbe
2017-06-05 19:04:23 -04:00
parent de797b644e
commit c4ca6a0bac
17 changed files with 2036 additions and 348 deletions
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cmake_modules/FindORB_SLAM2.cmake
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# - Find ORB_SLAM2
#
# It sets the following variables:
# ORB_SLAM2_FOUND - Set to false, or undefined, if ORB_SLAM2 isn't found.
# ORB_SLAM2_INCLUDE_DIRS - The ORB_SLAM2 include directory.
# ORB_SLAM2_LIBRARIES - The ORB_SLAM2 library to link against.
#
# Set ORB_SLAM2_ROOT_DIR environment variable as the path to ORB_SLAM2 root folder.
find_path(ORB_SLAM2_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM2_ROOT_DIR}/include)
find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM2_ROOT_DIR}/lib)
IF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY)
SET(ORB_SLAM2_FOUND TRUE)
SET(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIR} $ENV{ORB_SLAM2_ROOT_DIR})
SET(ORB_SLAM2_LIBRARIES ${ORB_SLAM2_LIBRARY})
ENDIF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY)
IF (ORB_SLAM2_FOUND)
# show which ORB_SLAM2 was found only if not quiet
IF (NOT ORB_SLAM2_FIND_QUIETLY)
MESSAGE(STATUS "Found ORB_SLAM2: ${ORB_SLAM2_LIBRARIES}")
ENDIF (NOT ORB_SLAM2_FIND_QUIETLY)
ELSE (ORB_SLAM2_FOUND)
# fatal error if ORB_SLAM2 is required but not found
IF (ORB_SLAM2_FIND_REQUIRED)
MESSAGE(FATAL_ERROR "Could not find ORB_SLAM2")
ENDIF (ORB_SLAM2_FIND_REQUIRED)
ENDIF (ORB_SLAM2_FOUND)