• 吉吉浩
    了解作者
  • C/C++
    开发工具
  • 118KB
    文件大小
  • zip
    文件格式
  • 0
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  • 1 积分
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  • 2020-03-14 20:13
    上传日期
Sophus是视觉slam中进行李群和李代数相关运算的库
Sophus.zip
  • Sophus-13fb3288311485dc94e3226b69c9b59cd06ff94e
  • scripts
  • install_osx_deps.sh
    484B
  • run_cpp_tests.sh
    201B
  • install_linux_deps.sh
    1.1KB
  • sophus
  • test_macros.hpp
    6.4KB
  • example_ensure_handler.cpp
    377B
  • se3.hpp
    32.5KB
  • sim2.hpp
    21.3KB
  • rotation_matrix.hpp
    2.6KB
  • num_diff.hpp
    2.8KB
  • common.hpp
    5.7KB
  • so3.hpp
    25.3KB
  • types.hpp
    5.7KB
  • geometry.hpp
    5.9KB
  • rxso2.hpp
    18.9KB
  • average.hpp
    7.6KB
  • se2.hpp
    23.6KB
  • rxso3.hpp
    21.7KB
  • sim3.hpp
    22.2KB
  • sim_details.hpp
    3.4KB
  • interpolate_details.hpp
    2.6KB
  • interpolate.hpp
    1.2KB
  • velocities.hpp
    2.3KB
  • so2.hpp
    17.8KB
  • py
  • sophus
  • se3.py
    8.4KB
  • so3_codegen.py
    71B
  • so2.py
    5.7KB
  • dual_quaternion.py
    3KB
  • cse_codegen.py
    473B
  • so3.py
    8.2KB
  • complex.py
    3.2KB
  • matrix.py
    1KB
  • quaternion.py
    4.2KB
  • __init__.py
    297B
  • se2.py
    7.4KB
  • cpp_gencode
  • Se2_Dx_this_mul_exp_x_at_0.cpp
    221B
  • Se3_Dx_this_mul_exp_x_at_0.cpp
    1.4KB
  • So2_Dx_this_mul_exp_x_at_0.cpp
    37B
  • Se3_Dx_exp_x.cpp
    4.7KB
  • So3_Dx_exp_x.cpp
    995B
  • So3_Dx_this_mul_exp_x_at_0.cpp
    379B
  • Se2_Dx_exp_x.cpp
    586B
  • So2_Dx_exp_x.cpp
    49B
  • run_tests.sh
    187B
  • test
  • core
  • test_se3.cpp
    8.9KB
  • test_rxso2.cpp
    7.8KB
  • test_sim2.cpp
    7.6KB
  • test_sim3.cpp
    10.1KB
  • tests.hpp
    19.8KB
  • CMakeLists.txt
    579B
  • test_velocities.cpp
    4.4KB
  • test_common.cpp
    1.8KB
  • test_so2.cpp
    5.3KB
  • test_rxso3.cpp
    8.9KB
  • test_so3.cpp
    7.5KB
  • test_se2.cpp
    8.1KB
  • test_geometry.cpp
    4.6KB
  • ceres
  • CMakeLists.txt
    645B
  • local_parameterization_se3.hpp
    1.3KB
  • test_ceres_se3.cpp
    4.5KB
  • CMakeLists.txt
    47B
  • cmake_modules
  • FindEigen3.cmake
    3KB
  • run_format.sh
    60B
  • CMakeLists.txt
    4.5KB
  • README.rst
    1.4KB
  • .clang-format
    2.5KB
  • LICENSE.txt
    1.1KB
  • SophusConfig.cmake.in
    131B
  • appveyor.yml
    527B
  • .travis.yml
    2.1KB
  • .gitignore
    31B
内容介绍
cmake_minimum_required(VERSION 3.4) project(Sophus VERSION 1.0.0) include(CMakePackageConfigHelpers) # Release by default # Turn on Debug with "-DCMAKE_BUILD_TYPE=Debug" if(NOT CMAKE_BUILD_TYPE) set(CMAKE_BUILD_TYPE Release) endif() set(CMAKE_CXX_STANDARD 11) # Set compiler specific settings (FixMe: Should not cmake do this for us automatically?) IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g") SET(CMAKE_CXX_FLAGS_RELEASE "-O3") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -Wno-deprecated-register -Wno-deprecated-register -Qunused-arguments -fcolor-diagnostics") ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g") SET(CMAKE_CXX_FLAGS_RELEASE "-O3") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -std=c++11 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0") SET(CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_DEBUG} --coverage -fno-inline -fno-inline-small-functions -fno-default-inline") SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE "${CMAKE_EXE_LINKER_FLAGS_DEBUG} --coverage") SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} --coverage") ELSEIF(CMAKE_CXX_COMPILER_ID MATCHES "^MSVC$") ADD_DEFINITIONS("-D _USE_MATH_DEFINES /bigobj /wd4305 /wd4244 /MP") ENDIF() # Add local path for finding packages, set the local version first list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules") # Find Eigen 3 (dependency) find_package(Eigen3 REQUIRED) # Define interface library target add_library(sophus INTERFACE) set(SOPHUS_HEADER_FILES sophus/average.hpp sophus/common.hpp sophus/geometry.hpp sophus/interpolate.hpp sophus/interpolate_details.hpp sophus/num_diff.hpp sophus/rotation_matrix.hpp sophus/rxso2.hpp sophus/rxso3.hpp sophus/se2.hpp sophus/se3.hpp sophus/sim2.hpp sophus/sim3.hpp sophus/sim_details.hpp sophus/so2.hpp sophus/so3.hpp sophus/types.hpp sophus/velocities.hpp ) set(SOPHUS_OTHER_FILES sophus/test_macros.hpp sophus/example_ensure_handler.cpp ) if(MSVC) # Define common math constants if we compile with MSVC target_compile_definitions (sophus INTERFACE _USE_MATH_DEFINES) endif (MSVC) # Add Eigen interface dependency, depending on available cmake info if(TARGET Eigen3::Eigen) target_link_libraries(sophus INTERFACE Eigen3::Eigen) set(Eigen3_DEPENDENCY "find_dependency (Eigen3 ${Eigen3_VERSION})") else(TARGET Eigen3::Eigen) target_include_directories (sophus SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIR}) endif(TARGET Eigen3::Eigen) # Associate target with include directory target_include_directories(sophus INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>" "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>" ) # Declare all used C++11 features target_compile_features (sophus INTERFACE cxx_auto_type cxx_decltype cxx_nullptr cxx_right_angle_brackets cxx_variadic_macros cxx_variadic_templates ) # Add sources as custom target so that they are shown in IDE's add_custom_target(other SOURCES ${SOPHUS_OTHER_FILES}) # Create 'test' make target using ctest option(BUILD_TESTS "Build tests." ON) if(BUILD_TESTS) enable_testing() add_subdirectory(test) endif() # Export package for use from the build tree include(GNUInstallDirs) set(SOPHUS_CMAKE_EXPORT_DIR ${CMAKE_INSTALL_DATADIR}/sophus/cmake) set_target_properties(sophus PROPERTIES EXPORT_NAME Sophus) install(TARGETS sophus EXPORT SophusTargets) install(EXPORT SophusTargets NAMESPACE Sophus:: DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR} ) export(TARGETS sophus NAMESPACE Sophus:: FILE SophusTargets.cmake) export(PACKAGE Sophus) configure_package_config_file( SophusConfig.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/SophusConfig.cmake INSTALL_DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR} NO_CHECK_REQUIRED_COMPONENTS_MACRO ) # Remove architecture dependence. Sophus is a header-only library. set(TEMP_SIZEOF_VOID_P ${CMAKE_SIZEOF_VOID_P}) unset(CMAKE_SIZEOF_VOID_P) # Write version to file write_basic_package_version_file ( SophusConfigVersion.cmake VERSION ${PROJECT_VERSION} COMPATIBILITY SameMajorVersion ) # Recover architecture dependence set(CMAKE_SIZEOF_VOID_P ${TEMP_SIZEOF_VOID_P}) # Install cmake targets install( FILES ${CMAKE_CURRENT_BINARY_DIR}/SophusConfig.cmake ${CMAKE_CURRENT_BINARY_DIR}/SophusConfigVersion.cmake DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR} ) # Install header files install( FILES ${SOPHUS_HEADER_FILES} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/sophus )
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