Add ORB_SLAM3 for in-source build

.github/workflows/ubuntu.yml

@@ -51,7 +51,7 @@ jobs:
       run: |
         echo "/usr/local/cuda-11.0/bin" >> $GITHUB_PATH
         echo "$HOME/.local/bin" >> $GITHUB_PATH
-    - name: local dependencies cache
+    - name: cache local dependencies
       id: cache-local
       uses: actions/cache@v2
       with:
@@ -134,6 +134,12 @@ jobs:
     - name: format check
       run: make check-format
       working-directory: build
+    - name: cache third party build
+      id: cache-third-party
+      uses: actions/cache@v2
+      with:
+        path: ${{ github.workspace }}/build/third_party
+        key: third-party-build-v1.0
     - name: build
       run: make -j3
       working-directory: build

third_party/CMakeLists.txt

@@ -2,5 +2,8 @@ add_library(popl INTERFACE)
 target_include_directories(popl SYSTEM INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/popl/include)
 
 add_subdirectory(imgui-1.77)
-#add_subdirectory(spdlog-1.6.1)
 add_subdirectory(googletest-1.10.0)
+add_subdirectory(ORB_SLAM3)
+
+# NOTE(alvin): add back when OpenVSLAM is removed
+# add_subdirectory(spdlog-1.6.1)

third_party/ORB_SLAM3/.gitignore

@@ -0,0 +1,49 @@
+CMakeLists.txt.user
+CMakeLists_modified.txt
+
+Examples/RGB-D/rgbd_tum
+
+Examples/Monocular/mono_euroc
+Examples/Monocular/mono_kitti
+Examples/Monocular/mono_tum
+Examples/Monocular/mono_tum_vi
+
+Examples/Stereo/stereo_euroc
+Examples/Stereo/stereo_kitti
+Examples/Stereo/stereo_tum_vi
+
+Examples/Monocular-Inertial/mono_inertial_euroc
+Examples/Monocular-Inertial/mono_inertial_tum_vi
+
+Examples/Stereo-Inertial/stereo_inertial_euroc
+Examples/Stereo-Inertial/stereo_inertial_tum_vi
+
+Examples/ROS/ORB_SLAM3/Mono
+Examples/ROS/ORB_SLAM3/Mono_Inertial
+Examples/ROS/ORB_SLAM3/MonoAR
+Examples/ROS/ORB_SLAM3/RGBD
+Examples/ROS/ORB_SLAM3/Stereo
+Examples/ROS/ORB_SLAM3/Stereo_Inertial
+
+Examples/ROS/ORB_SLAM3/CMakeLists.txt.user
+Examples/ROS/ORB_SLAM3/build/
+
+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/
+
+*.pyc
+*.osa

third_party/ORB_SLAM3/CMakeLists.txt

@@ -0,0 +1,120 @@
+cmake_minimum_required(VERSION 2.8)
+project(ORB_SLAM3)
+
+IF(NOT CMAKE_BUILD_TYPE)
+  SET(CMAKE_BUILD_TYPE Release)
+ENDIF()
+
+MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall   -O3")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3")
+set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
+
+find_package(OpenCV REQUIRED)
+
+MESSAGE("OPENCV VERSION:")
+MESSAGE(${OpenCV_VERSION})
+
+find_package(Eigen3 3.3 REQUIRED)
+find_package(Pangolin REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED
+src/System.cc
+src/Tracking.cc
+src/LocalMapping.cc
+src/LoopClosing.cc
+src/ORBextractor.cc
+src/ORBmatcher.cc
+src/FrameDrawer.cc
+src/Converter.cc
+src/MapPoint.cc
+src/KeyFrame.cc
+src/Atlas.cc
+src/Map.cc
+src/MapDrawer.cc
+src/Optimizer.cc
+src/PnPsolver.cc
+src/Frame.cc
+src/KeyFrameDatabase.cc
+src/Sim3Solver.cc
+src/Initializer.cc
+src/Viewer.cc
+src/ImuTypes.cc
+src/G2oTypes.cc
+src/CameraModels/Pinhole.cpp
+src/CameraModels/KannalaBrandt8.cpp
+src/OptimizableTypes.cpp
+src/MLPnPsolver.cpp
+include/System.h
+include/Tracking.h
+include/LocalMapping.h
+include/LoopClosing.h
+include/ORBextractor.h
+include/ORBmatcher.h
+include/FrameDrawer.h
+include/Converter.h
+include/MapPoint.h
+include/KeyFrame.h
+include/Atlas.h
+include/Map.h
+include/MapDrawer.h
+include/Optimizer.h
+include/PnPsolver.h
+include/Frame.h
+include/KeyFrameDatabase.h
+include/Sim3Solver.h
+include/Initializer.h
+include/Viewer.h
+include/ImuTypes.h
+include/G2oTypes.h
+include/CameraModels/GeometricCamera.h
+include/CameraModels/Pinhole.h
+include/CameraModels/KannalaBrandt8.h
+include/OptimizableTypes.h
+include/MLPnPsolver.h
+include/TwoViewReconstruction.h
+src/TwoViewReconstruction.cc)
+
+add_subdirectory(Thirdparty/DBoW2)
+add_subdirectory(Thirdparty/g2o)
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+    ${PROJECT_SOURCE_DIR}
+    ${PROJECT_SOURCE_DIR}/include
+    ${PROJECT_SOURCE_DIR}/include/CameraModels
+    ${Pangolin_INCLUDE_DIRS}
+)
+
+
+target_link_libraries(${PROJECT_NAME} PUBLIC
+    ${OpenCV_LIBS}
+    ${Pangolin_LIBRARIES}
+    Eigen3::Eigen
+    DBoW2
+    g2o
+)
+
+target_compile_definitions(${PROJECT_NAME} PRIVATE COMPILEDWITHC11)
+
+target_compile_options(${PROJECT_NAME} PRIVATE
+    -Wno-deprecated-declarations
+    -Wno-deprecated
+    -Wno-dangling-else
+    -Wno-sign-compare
+    -Wno-unused-variable
+    -Wno-unused-but-set-variable
+    -Wno-unused-local-typedefs
+    -Wno-unused-result
+    -Wno-maybe-uninitialized
+    -Wno-conversion-null
+    -Wno-comment
+    -Wno-reorder
+)
+

third_party/ORB_SLAM3/Changelog.md

@@ -0,0 +1,26 @@
+# ORB-SLAM3
+Details of changes between the different versions.
+
+### V0.3: Beta version, 4 Sep 2020
+
+- RGB-D compatibility, the RGB-D examples had been adapted to the new version.
+
+- Kitti and TUM dataset compatibility, these examples had been adapted to the new version.
+
+- ROS compatibility, It had been updated the old references in the code to work with this version.
+
+- Config file parser, the YAML file contains the session configuration, a wrong parametrization may break the execution without any information to solve it. This version parses the file to read all the fields and give a proper answer if one of the fields have been wrong deffined or don't exist.
+
+- Fixed minor bugs.
+
+
+### V0.2: Beta version, 7 Aug 2020
+Initial release. It has these capabilities:
+
+- Multiple-Maps capabilities, it is able to handle multiple maps in the same session and merge them when a common area is detected with a seamless fussion.
+
+- Inertial sensor, the IMU initialization takes a 2 seconds to achieve a scale error less than 5\% and it is reffined in the next 10 seconds until is around 1\%. Inertial measures are integrated at frame rate to estimate the scale, gravity and velocity in order to improve the visual features detection and make the system robust to temporal occlusions.
+
+- Fisheye sensor, the fisheye sensors are now fully supported in monocular and stereo. 
+
+

third_party/ORB_SLAM3/Dependencies.md

@@ -0,0 +1,48 @@
+##List of Known Dependencies
+###ORB-SLAM3 version 0.3
+
+In this document we list all the pieces of code included  by ORB-SLAM3 and linked libraries which are not property of the authors of ORB-SLAM3.
+
+
+#####Code in **src** and **include** folders
+
+* *ORBextractor.cc*.
+This is a modified version of orb.cpp of OpenCV library. The original code is BSD licensed.
+
+* *PnPsolver.h, PnPsolver.cc*.
+This is a modified version of the epnp.h and epnp.cc of Vincent Lepetit. 
+This code can be found in popular BSD licensed computer vision libraries as [OpenCV](https://github.com/Itseez/opencv/blob/master/modules/calib3d/src/epnp.cpp) and [OpenGV](https://github.com/laurentkneip/opengv/blob/master/src/absolute_pose/modules/Epnp.cpp). The original code is FreeBSD.
+
+* *MLPnPsolver.h, MLPnPsolver.cc*.
+This is a modified version of the MLPnP of Steffen Urban from [here](https://github.com/urbste/opengv). 
+The original code is BSD licensed.
+
+* Function *ORBmatcher::DescriptorDistance* in *ORBmatcher.cc*.
+The code is from: http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel.
+The code is in the public domain.
+
+#####Code in Thirdparty folder
+
+* All code in **DBoW2** folder.
+This is a modified version of [DBoW2](https://github.com/dorian3d/DBoW2) and [DLib](https://github.com/dorian3d/DLib) library. All files included are BSD licensed.
+
+* All code in **g2o** folder.
+This is a modified version of [g2o](https://github.com/RainerKuemmerle/g2o). All files included are BSD licensed.
+
+#####Library dependencies 
+
+* **Pangolin (visualization and user interface)**.
+[MIT license](https://en.wikipedia.org/wiki/MIT_License).
+
+* **OpenCV**.
+BSD license.
+
+* **Eigen3**.
+For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3.
+
+* **ROS (Optional, only if you build Examples/ROS)**.
+BSD license. In the manifest.xml the only declared package dependencies are roscpp, tf, sensor_msgs, image_transport, cv_bridge, which are all BSD licensed.
+
+
+
+