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‎CMakeLists.txt

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# cmake requirements
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cmake_minimum_required(VERSION 2.8)
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# Build options have to be before PROJECT(...)
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set(CMAKE_CONFIGURATION_TYPES "Debug;Release" CACHE PATH "Configuration types")
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#set(CMAKE_BUILD_TYPE "Debug" CACHE PATH "Current build configuration")
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# PUTSLAM Project configuration
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project(PlaneLoc)
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set(CMAKE_CXX_FLAGS "-std=c++11 -pthread -g")
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#set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -o3")
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LIST(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules)
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option(BUILD_DEMO_OBJEXTRACT "Build ObjExtract demo" OFF)
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option(BUILD_DEMO_PLANESLAM "Build PlaneSlam demo" ON)
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# Include directory
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include_directories("${CMAKE_SOURCE_DIR}/include")
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# Boost
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find_package(Boost COMPONENTS system filesystem)
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# OpenCV
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find_package(OpenCV REQUIRED)
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include_directories(${OpenCV_INCLUDE_DIRS} )
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# PCL
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find_package(PCL REQUIRED)
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include_directories(${PCL_INCLUDE_DIRS})
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link_directories(${PCL_LIBRARY_DIRS})
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add_definitions(${PCL_DEFINITIONS})
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# Eigen
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find_package(Eigen3 REQUIRED)
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include_directories(${EIGEN3_INCLUDE_DIR})
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#OpenGM
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set(OPENGM_EXTERNAL_LIBS_DIR "/home/jachu/lib/opengm-master/build/src/external" CACHE PATH "OpenGM external library directory")
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set(OPENGM_MAXFLOW_INCLUDE_DIR "/home/jachu/lib/opengm-master/src/external/MaxFlow-v3.02.src-patched" CACHE PATH "OpenGM MaxFlow include directory")
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include_directories(/usr/local/include)
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include_directories(${OPENGM_MAXFLOW_INCLUDE_DIR})
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link_directories(${OPENGM_EXTERNAL_LIBS_DIR})
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set(OPENGM_LIBRARIES
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external-library-maxflow)
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#g2o library
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find_package(G2O REQUIRED)
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include_directories(${G2O_INCLUDE_DIR})
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link_directories(${G2O_LIBRARY_DIRS})
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#zlib library
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find_package(ZLIB REQUIRED)
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include_directories(${ZLUB_INCLUDE_DIR})
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link_directories(${ZLIB_LIBRARY_DIRS})
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#ElasticFusion
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find_package(GLUT REQUIRED)
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include_directories(${GLUT_INCLUDE_DIRS} )
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find_package(CUDA REQUIRED)
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include_directories(${CUDA_INCLUDE_DIRS})
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find_package(Pangolin 0.1 REQUIRED)
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include_directories(${Pangolin_INCLUDE_DIRS})
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find_package(efusion REQUIRED)
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include_directories(${EFUSION_INCLUDE_DIR})
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#-------------------------------------------------------
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set(pngToKlg_SOURCES
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utils/pngToKlg.cpp)
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add_executable(pngToKlg
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${pngToKlg_SOURCES})
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target_link_libraries(pngToKlg
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${OpenCV_LIBS}
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${Boost_LIBRARIES}
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${ZLIB_LIBRARY})
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#-------------------------------------------------------
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set(convertGt_SOURCES
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utils/convertGt.cpp)
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add_executable(convertGt
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${convertGt_SOURCES})
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target_link_libraries(convertGt)
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#-------------------------------------------------------
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set(makeCloudsEFusion_SOURCES
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utils/makeCloudsEFusion.cpp)
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add_executable(makeCloudsEFusion
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${makeCloudsEFusion_SOURCES})
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target_link_libraries(makeCloudsEFusion
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${OpenCV_LIBS}
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${Boost_LIBRARIES}
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${GLUT_LIBRARY}
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${CUDA_LIBRARIES}
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${Pangolin_LIBRARIES}
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${EFUSION_LIBRARY}
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${PCL_LIBRARIES})
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#-------------------------------------------------------
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set(convert7places_SOURCES
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utils/convert7places.cpp)
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add_executable(convert7places
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${convert7places_SOURCES})
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target_link_libraries(convert7places
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${OpenCV_LIBS}
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${Boost_LIBRARIES}
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${ZLIB_LIBRARY})
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#-------------------------------------------------------
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set(illustration_SOURCES
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utils/illustration.cpp)
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add_executable(illustration
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${illustration_SOURCES})
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target_link_libraries(illustration
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${PCL_LIBRARIES})
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#-------------------------------------------------------
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set(PlaneSlam_SOURCES
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src/Matching.cpp
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src/FileGrabber.cpp
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src/Segmentation2.cpp
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src/ObjInstance.cpp
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src/PlaneSlam.cpp
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src/Map.cpp
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src/Misc.cpp
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src/UnionFind.cpp
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src/SegInfo.cpp)
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add_library(PlaneSlam
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${PlaneSlam_SOURCES})
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#-------------------------------------------------------
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if(BUILD_DEMO_OBJEXTRACT)
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set(demoObjExtract_SOURCES
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demos/demoExtract.cpp)
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add_executable(demoObjExtract
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${demoObjExtract_SOURCES})
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target_link_libraries(demoObjExtract
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PlaneSlam
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${OpenCV_LIBS}
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${Boost_LIBRARIES}
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${PCL_LIBRARIES}
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${OPENGM_LIBRARIES})
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endif(BUILD_DEMO_OBJEXTRACT)
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#-------------------------------------------------------
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if(BUILD_DEMO_PLANESLAM)
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set(demoPlaneSlam_SOURCES
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demos/demoSlam.cpp)
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add_executable(demoPlaneSlam
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${demoPlaneSlam_SOURCES})
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target_link_libraries(demoPlaneSlam
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PlaneSlam
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${OpenCV_LIBS}
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${Boost_LIBRARIES}
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${PCL_LIBRARIES}
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${OPENGM_LIBRARIES}
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${G2O_TYPES_SLAM3D}
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${G2O_TYPES_SBA}
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${GLUT_LIBRARY}
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${CUDA_LIBRARIES}
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${Pangolin_LIBRARIES}
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${EFUSION_LIBRARY})
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endif(BUILD_DEMO_PLANESLAM)
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‎LICENSE

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MIT License
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Copyright (c) 2017 Mobile Robots Laboratory at Poznan University of Technology,
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Jan Wietrzykowski name.surname [at] put.poznan.pl
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

‎README.md

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# PlaneLoc
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An open source project that provides a probabilistic framework
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for global localization using segmented planes.
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Prerequesties:
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-Boost
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-Eigen
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-PCL 1.8
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-OpenCV >= 3.0
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-ElasticFusion (only for fusing point clouds)
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-g2o (included in _3rdParty_ folder)
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###Building:
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Tested on Ubuntu 14.04.
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1. Install Boost and Eigen:
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```commandline
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sudo apt-get install libboost-system-dev libboost-filesystem-dev libeigen3-dev
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```
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2. Build PCL from sources and install it:
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```commandline
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wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.0.tar.gz
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tar xvfj pcl-pcl-1.8.0.tar.gz && cd pcl-pcl-1.8.0
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mkdir build && cd build
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cmake -DCMAKE_BUILD_TYPE=Release ..
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make -j$(nproc)
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sudo make install
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```
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3. Build OpenCV from sources and install it:
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```commandline
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wget https://sourceforge.net/projects/opencvlibrary/files/opencv-unix/3.1.0/opencv-3.1.0.zip
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unzip opencv-3.1.0.zip && cd opencv-3.1.0
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mkdir build && cd build
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cmake -D CMAKE_INSTALL_PREFIX=/usr/local ..
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make -j$(nproc)
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sudo make install
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```
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4. Build ElasticFusion using [instruction on Github](https://github.com/mp3guy/ElasticFusion).
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5. Build g2o and install it:
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```commandline
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cd 3rdParty/g2o
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mkdir build && cd build
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cmake ..
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make -j$(nproc)
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sudo make install
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```
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6. Build PlaneLoc:
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```commandline
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mkdir build && cd build
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cmake ..
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make -j$(nproc)
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```
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###Launching:
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1. Adjust settings file in _res/settings.xml_ for your dataset.
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2. Launch demo:
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```commandline
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./demoPlaneSlam -s ../res/settings.xml
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```

‎cmake_modules/FindG2O.cmake

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# Find the header files
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FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h
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${G2O_ROOT}/include
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$ENV{G2O_ROOT}/include
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$ENV{G2O_ROOT}
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/usr/local/include
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/usr/include
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/opt/local/include
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/sw/local/include
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/sw/include
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NO_DEFAULT_PATH
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)
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# Macro to unify finding both the debug and release versions of the
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# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY
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# macro.
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MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)
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FIND_LIBRARY("${MYLIBRARY}_DEBUG"
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NAMES "g2o_${MYLIBRARYNAME}_d"
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PATHS
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${G2O_ROOT}/lib/Debug
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${G2O_ROOT}/lib
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$ENV{G2O_ROOT}/lib/Debug
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$ENV{G2O_ROOT}/lib
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NO_DEFAULT_PATH
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)
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FIND_LIBRARY("${MYLIBRARY}_DEBUG"
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NAMES "g2o_${MYLIBRARYNAME}_d"
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PATHS
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~/Library/Frameworks
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/Library/Frameworks
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/usr/local/lib
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/usr/local/lib64
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/usr/lib
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/usr/lib64
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/opt/local/lib
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/sw/local/lib
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/sw/lib
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)
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FIND_LIBRARY(${MYLIBRARY}
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NAMES "g2o_${MYLIBRARYNAME}"
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PATHS
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${G2O_ROOT}/lib/Release
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${G2O_ROOT}/lib
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$ENV{G2O_ROOT}/lib/Release
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$ENV{G2O_ROOT}/lib
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NO_DEFAULT_PATH
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)
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FIND_LIBRARY(${MYLIBRARY}
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NAMES "g2o_${MYLIBRARYNAME}"
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PATHS
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~/Library/Frameworks
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/Library/Frameworks
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/usr/local/lib
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/usr/local/lib64
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/usr/lib
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/usr/lib64
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/opt/local/lib
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/sw/local/lib
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/sw/lib
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)
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IF(NOT ${MYLIBRARY}_DEBUG)
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IF(MYLIBRARY)
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SET(${MYLIBRARY}_DEBUG ${MYLIBRARY})
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ENDIF(MYLIBRARY)
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ENDIF( NOT ${MYLIBRARY}_DEBUG)
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ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)
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# Find the core elements
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FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff)
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FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core)
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# Find the CLI library
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FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli)
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# Find the pluggable solvers
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FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod)
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FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse)
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FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension)
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FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense)
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FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg)
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FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear)
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FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only)
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FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen)
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# Find the predefined types
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FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data)
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FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp)
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FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba)
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FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d)
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FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3)
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FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d)
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FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d)
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# G2O solvers declared found if we found at least one solver
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SET(G2O_SOLVERS_FOUND "NO")
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IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)
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SET(G2O_SOLVERS_FOUND "YES")
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ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)
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# G2O itself declared found if we found the core libraries and at least one solver
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SET(G2O_FOUND "NO")
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IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)
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SET(G2O_FOUND "YES")
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ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)

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