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New port: math/g2o: General framework for graph optimization

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Differential Revision:	https://reviews.freebsd.org/D13610
This commit is contained in:
Yuri Victorovich 2018-03-28 09:18:28 +00:00
parent 5aaa6c0980
commit 348b22109a
Notes: svn2git 2021-03-31 03:12:20 +00:00 
svn path=/head/; revision=465787
5 changed files with 329 additions and 0 deletions
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1
math/Makefile
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@ -189,6 +189,7 @@
SUBDIR += fpc-numlib
SUBDIR += freemat
SUBDIR += fxt
SUBDIR += g2o
SUBDIR += galculator
SUBDIR += gambit
SUBDIR += gap

54
math/g2o/Makefile Normal file
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@ -0,0 +1,54 @@
# $FreeBSD$
PORTNAME= g2o
DISTVERSION= 20170730_git-87
DISTVERSIONSUFFIX= -gbbe3c2b
CATEGORIES= math
MAINTAINER= yuri@FreeBSD.org
COMMENT= General framework for graph optimization
LICENSE= LGPL3 GPLv3
LICENSE_COMB= dual
LIB_DEPENDS= libcxsparse.so:math/suitesparse \
libQGLViewer-qt5.so:graphics/libQGLViewer
USES= cmake:outsource eigen:3
USE_GITHUB= yes
GH_ACCOUNT= RainerKuemmerle
USE_GL= gl glu
USE_QT5= core gui opengl xml widgets buildtools_build qmake_build
USE_LDCONFIG= yes
CMAKE_OFF= DO_SSE_AUTODETECT
OPTIONS_DEFINE= FAST_MATH
OPTIONS_SINGLE= SIMD_${ARCH}
OPTIONS_SINGLE_SIMD_amd64= NOSSE SSE2 SSE3 SSE41 SSE42 SSE4A
OPTIONS_SINGLE_SIMD_i386= ${OPTIONS_SINGLE_SIMD_amd64}
OPTIONS_DEFAULT_amd64= SSE2
OPTIONS_DEFAULT_i386= SSE2
SIMD_amd64_DESC= Use SSE SIMD optimizations
SIMD_i386_DESC= ${SIMD_amd64_DESC}
FAST_MATH_DESC= Enable fast math operations
NOSSE_DESC= Do not use SIMD optimization
SSE2_DESC= SSE2 optimization
SSE3_DESC= SSE3 optimization
SSE41_DESC= SSE41 optimization
SSE42_DESC= SSE42 optimization
SSE4A_DESC= SSE4a optimization
FAST_MATH_CMAKE_BOOL= G2O_FAST_MATH
NOSSE_CMAKE_ON= -DDISABLE_SSE2:BOOL=ON -DDISABLE_SSE3:BOOL=ON -DDISABLE_SSE4_1:BOOL=ON -DDISABLE_SSE4_2:BOOL=ON -DDISABLE_SSE4_A:BOOL=ON
SSE2_CMAKE_ON= -DDISABLE_SSE3:BOOL=ON -DDISABLE_SSE4_1:BOOL=ON -DDISABLE_SSE4_2:BOOL=ON -DDISABLE_SSE4_A:BOOL=ON
SSE3_CMAKE_ON= -DDISABLE_SSE4_1:BOOL=ON -DDISABLE_SSE4_2:BOOL=ON -DDISABLE_SSE4_A:BOOL=ON
SSE41_CMAKE_ON= -DDISABLE_SSE4_2:BOOL=ON -DDISABLE_SSE4_A:BOOL=ON
SSE42_CMAKE_ON= -DDISABLE_SSE4_A:BOOL=ON
post-patch:
@${REINPLACE_CMD} -e 's|/usr/include|${LOCALBASE}/include|' \
${WRKSRC}/cmake_modules/*.cmake
.include <bsd.port.mk>

3
math/g2o/distinfo Normal file
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@ -0,0 +1,3 @@
TIMESTAMP = 1522223932
SHA256 (RainerKuemmerle-g2o-20170730_git-87-gbbe3c2b_GH0.tar.gz) = 35ff08910d775f5b9a9ee046b5372953ae9e9d4d12b96e0bf499be128f4aad79
SIZE (RainerKuemmerle-g2o-20170730_git-87-gbbe3c2b_GH0.tar.gz) = 1576650

18
math/g2o/pkg-descr Normal file
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@ -0,0 +1,18 @@
g2o is an open-source C++ framework for optimizing graph-based nonlinear error
functions. g2o has been designed to be easily extensible to a wide range of
problems and a new problem typically can be specified in a few lines of code.
The current implementation provides solutions to several variants of SLAM and
BA.
A wide range of problems in robotics as well as in computer-vision involve the
minimization of a non-linear error function that can be represented as a graph.
Typical instances are simultaneous localization and mapping (SLAM) or bundle
adjustment (BA). The overall goal in these problems is to find the configuration
of parameters or state variables that maximally explain a set of measurements
affected by Gaussian noise. g2o is an open-source C++ framework for such
nonlinear least squares problems. g2o has been designed to be easily extensible
to a wide range of problems and a new problem typically can be specified in a
few lines of code. The current implementation provides solutions to several
variants of SLAM and BA.
WWW: http://openslam.org/g2o.html

253
math/g2o/pkg-plist Normal file
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@ -0,0 +1,253 @@
bin/g2o
bin/g2o_anonymize_observations
bin/g2o_simulator2d
bin/g2o_simulator3d
bin/g2o_viewer
include/g2o/apps/g2o_cli/dl_wrapper.h
include/g2o/apps/g2o_cli/g2o_cli_api.h
include/g2o/apps/g2o_cli/g2o_common.h
include/g2o/apps/g2o_cli/output_helper.h
include/g2o/apps/g2o_hierarchical/backbone_tree_action.h
include/g2o/apps/g2o_hierarchical/edge_creator.h
include/g2o/apps/g2o_hierarchical/edge_labeler.h
include/g2o/apps/g2o_hierarchical/edge_types_cost_function.h
include/g2o/apps/g2o_hierarchical/g2o_hierarchical_api.h
include/g2o/apps/g2o_hierarchical/simple_star_ops.h
include/g2o/apps/g2o_hierarchical/star.h
include/g2o/apps/g2o_simulator/g2o_simulator_api.h
include/g2o/apps/g2o_simulator/pointsensorparameters.h
include/g2o/apps/g2o_simulator/sensor_line3d.h
include/g2o/apps/g2o_simulator/sensor_odometry.h
include/g2o/apps/g2o_simulator/sensor_odometry2d.h
include/g2o/apps/g2o_simulator/sensor_odometry3d.h
include/g2o/apps/g2o_simulator/sensor_pointxy.h
include/g2o/apps/g2o_simulator/sensor_pointxy_bearing.h
include/g2o/apps/g2o_simulator/sensor_pointxy_offset.h
include/g2o/apps/g2o_simulator/sensor_pointxyz.h
include/g2o/apps/g2o_simulator/sensor_pointxyz_depth.h
include/g2o/apps/g2o_simulator/sensor_pointxyz_disparity.h
include/g2o/apps/g2o_simulator/sensor_pose2d.h
include/g2o/apps/g2o_simulator/sensor_pose3d.h
include/g2o/apps/g2o_simulator/sensor_pose3d_offset.h
include/g2o/apps/g2o_simulator/sensor_se3_prior.h
include/g2o/apps/g2o_simulator/sensor_segment2d.h
include/g2o/apps/g2o_simulator/sensor_segment2d_line.h
include/g2o/apps/g2o_simulator/sensor_segment2d_pointline.h
include/g2o/apps/g2o_simulator/simulator.h
include/g2o/apps/g2o_simulator/simulator2d.h
include/g2o/apps/g2o_simulator/simulator2d_base.h
include/g2o/apps/g2o_simulator/simulator3d.h
include/g2o/apps/g2o_simulator/simulator3d_base.h
include/g2o/apps/g2o_simulator/simutils.h
include/g2o/apps/g2o_viewer/g2o_qglviewer.h
include/g2o/apps/g2o_viewer/g2o_viewer_api.h
include/g2o/apps/g2o_viewer/gui_hyper_graph_action.h
include/g2o/apps/g2o_viewer/main_window.h
include/g2o/apps/g2o_viewer/properties_widget.h
include/g2o/apps/g2o_viewer/run_g2o_viewer.h
include/g2o/apps/g2o_viewer/stream_redirect.h
include/g2o/apps/g2o_viewer/ui_base_main_window.h
include/g2o/apps/g2o_viewer/ui_base_properties_widget.h
include/g2o/apps/g2o_viewer/viewer_properties_widget.h
include/g2o/config.h
include/g2o/core/base_binary_edge.h
include/g2o/core/base_binary_edge.hpp
include/g2o/core/base_edge.h
include/g2o/core/base_multi_edge.h
include/g2o/core/base_multi_edge.hpp
include/g2o/core/base_unary_edge.h
include/g2o/core/base_unary_edge.hpp
include/g2o/core/base_vertex.h
include/g2o/core/base_vertex.hpp
include/g2o/core/batch_stats.h
include/g2o/core/block_solver.h
include/g2o/core/block_solver.hpp
include/g2o/core/cache.h
include/g2o/core/creators.h
include/g2o/core/dynamic_aligned_buffer.hpp
include/g2o/core/eigen_types.h
include/g2o/core/estimate_propagator.h
include/g2o/core/factory.h
include/g2o/core/g2o_core_api.h
include/g2o/core/hyper_dijkstra.h
include/g2o/core/hyper_graph.h
include/g2o/core/hyper_graph_action.h
include/g2o/core/jacobian_workspace.h
include/g2o/core/linear_solver.h
include/g2o/core/marginal_covariance_cholesky.h
include/g2o/core/matrix_operations.h
include/g2o/core/matrix_structure.h
include/g2o/core/openmp_mutex.h
include/g2o/core/optimizable_graph.h
include/g2o/core/optimization_algorithm.h
include/g2o/core/optimization_algorithm_dogleg.h
include/g2o/core/optimization_algorithm_factory.h
include/g2o/core/optimization_algorithm_gauss_newton.h
include/g2o/core/optimization_algorithm_levenberg.h
include/g2o/core/optimization_algorithm_property.h
include/g2o/core/optimization_algorithm_with_hessian.h
include/g2o/core/ownership.h
include/g2o/core/parameter.h
include/g2o/core/parameter_container.h
include/g2o/core/robust_kernel.h
include/g2o/core/robust_kernel_factory.h
include/g2o/core/robust_kernel_impl.h
include/g2o/core/solver.h
include/g2o/core/sparse_block_matrix.h
include/g2o/core/sparse_block_matrix.hpp
include/g2o/core/sparse_block_matrix_ccs.h
include/g2o/core/sparse_block_matrix_diagonal.h
include/g2o/core/sparse_optimizer.h
include/g2o/core/sparse_optimizer_terminate_action.h
include/g2o/freeglut/freeglut_minimal.h
include/g2o/solvers/csparse/csparse_helper.h
include/g2o/solvers/csparse/g2o_csparse_api.h
include/g2o/solvers/csparse/g2o_csparse_extension_api.h
include/g2o/solvers/csparse/linear_solver_csparse.h
include/g2o/solvers/dense/linear_solver_dense.h
include/g2o/solvers/eigen/linear_solver_eigen.h
include/g2o/solvers/pcg/linear_solver_pcg.h
include/g2o/solvers/pcg/linear_solver_pcg.hpp
include/g2o/solvers/slam2d_linear/g2o_slam2d_linear_api.h
include/g2o/solvers/slam2d_linear/solver_slam2d_linear.h
include/g2o/solvers/structure_only/structure_only_solver.h
include/g2o/stuff/color_macros.h
include/g2o/stuff/command_args.h
include/g2o/stuff/filesys_tools.h
include/g2o/stuff/g2o_stuff_api.h
include/g2o/stuff/macros.h
include/g2o/stuff/misc.h
include/g2o/stuff/opengl_primitives.h
include/g2o/stuff/opengl_wrapper.h
include/g2o/stuff/os_specific.h
include/g2o/stuff/property.h
include/g2o/stuff/sampler.h
include/g2o/stuff/scoped_pointer.h
include/g2o/stuff/sparse_helper.h
include/g2o/stuff/string_tools.h
include/g2o/stuff/tictoc.h
include/g2o/stuff/timeutil.h
include/g2o/stuff/unscented.h
include/g2o/types/data/data_queue.h
include/g2o/types/data/g2o_types_data_api.h
include/g2o/types/data/laser_parameters.h
include/g2o/types/data/raw_laser.h
include/g2o/types/data/robot_data.h
include/g2o/types/data/robot_laser.h
include/g2o/types/data/types_data.h
include/g2o/types/data/vertex_ellipse.h
include/g2o/types/data/vertex_tag.h
include/g2o/types/icp/g2o_types_icp_api.h
include/g2o/types/icp/types_icp.h
include/g2o/types/sba/g2o_types_sba_api.h
include/g2o/types/sba/sbacam.h
include/g2o/types/sba/types_sba.h
include/g2o/types/sba/types_six_dof_expmap.h
include/g2o/types/sclam2d/edge_se2_odom_differential_calib.h
include/g2o/types/sclam2d/edge_se2_sensor_calib.h
include/g2o/types/sclam2d/g2o_types_sclam2d_api.h
include/g2o/types/sclam2d/odometry_measurement.h
include/g2o/types/sclam2d/types_sclam2d.h
include/g2o/types/sclam2d/vertex_odom_differential_params.h
include/g2o/types/sim3/sim3.h
include/g2o/types/sim3/types_seven_dof_expmap.h
include/g2o/types/slam2d/edge_pointxy.h
include/g2o/types/slam2d/edge_se2.h
include/g2o/types/slam2d/edge_se2_lotsofxy.h
include/g2o/types/slam2d/edge_se2_offset.h
include/g2o/types/slam2d/edge_se2_pointxy.h
include/g2o/types/slam2d/edge_se2_pointxy_bearing.h
include/g2o/types/slam2d/edge_se2_pointxy_calib.h
include/g2o/types/slam2d/edge_se2_pointxy_offset.h
include/g2o/types/slam2d/edge_se2_prior.h
include/g2o/types/slam2d/edge_se2_twopointsxy.h
include/g2o/types/slam2d/edge_se2_xyprior.h
include/g2o/types/slam2d/edge_xy_prior.h
include/g2o/types/slam2d/g2o_types_slam2d_api.h
include/g2o/types/slam2d/parameter_se2_offset.h
include/g2o/types/slam2d/se2.h
include/g2o/types/slam2d/types_slam2d.h
include/g2o/types/slam2d/vertex_point_xy.h
include/g2o/types/slam2d/vertex_se2.h
include/g2o/types/slam2d_addons/edge_line2d.h
include/g2o/types/slam2d_addons/edge_line2d_pointxy.h
include/g2o/types/slam2d_addons/edge_se2_line2d.h
include/g2o/types/slam2d_addons/edge_se2_segment2d.h
include/g2o/types/slam2d_addons/edge_se2_segment2d_line.h
include/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h
include/g2o/types/slam2d_addons/g2o_types_slam2d_addons_api.h
include/g2o/types/slam2d_addons/line_2d.h
include/g2o/types/slam2d_addons/types_slam2d_addons.h
include/g2o/types/slam2d_addons/vertex_line2d.h
include/g2o/types/slam2d_addons/vertex_segment2d.h
include/g2o/types/slam3d/dquat2mat.h
include/g2o/types/slam3d/edge_pointxyz.h
include/g2o/types/slam3d/edge_se3.h
include/g2o/types/slam3d/edge_se3_lotsofxyz.h
include/g2o/types/slam3d/edge_se3_offset.h
include/g2o/types/slam3d/edge_se3_pointxyz.h
include/g2o/types/slam3d/edge_se3_pointxyz_depth.h
include/g2o/types/slam3d/edge_se3_pointxyz_disparity.h
include/g2o/types/slam3d/edge_se3_prior.h
include/g2o/types/slam3d/edge_xyz_prior.h
include/g2o/types/slam3d/g2o_types_slam3d_api.h
include/g2o/types/slam3d/isometry3d_gradients.h
include/g2o/types/slam3d/isometry3d_mappings.h
include/g2o/types/slam3d/parameter_camera.h
include/g2o/types/slam3d/parameter_se3_offset.h
include/g2o/types/slam3d/parameter_stereo_camera.h
include/g2o/types/slam3d/se3_ops.h
include/g2o/types/slam3d/se3_ops.hpp
include/g2o/types/slam3d/se3quat.h
include/g2o/types/slam3d/types_slam3d.h
include/g2o/types/slam3d/vertex_pointxyz.h
include/g2o/types/slam3d/vertex_se3.h
include/g2o/types/slam3d_addons/edge_plane.h
include/g2o/types/slam3d_addons/edge_se3_calib.h
include/g2o/types/slam3d_addons/edge_se3_euler.h
include/g2o/types/slam3d_addons/edge_se3_line.h
include/g2o/types/slam3d_addons/edge_se3_plane_calib.h
include/g2o/types/slam3d_addons/g2o_types_slam3d_addons_api.h
include/g2o/types/slam3d_addons/line3d.h
include/g2o/types/slam3d_addons/plane3d.h
include/g2o/types/slam3d_addons/types_slam3d_addons.h
include/g2o/types/slam3d_addons/vertex_line3d.h
include/g2o/types/slam3d_addons/vertex_plane.h
include/g2o/types/slam3d_addons/vertex_se3_euler.h
include/slam_parser/interface/abstract_slam_interface.h
include/slam_parser/interface/parser_interface.h
include/slam_parser/interface/slam_context_interface.h
include/slam_parser/parser/FlexLexer.h
include/slam_parser/parser/bison_parser.h
include/slam_parser/parser/commands.h
include/slam_parser/parser/driver.h
include/slam_parser/parser/location.hh
include/slam_parser/parser/position.hh
include/slam_parser/parser/scanner.h
include/slam_parser/parser/slam_context.h
include/slam_parser/parser/stack.hh
lib/libg2o_cli.so
lib/libg2o_core.so
lib/libg2o_csparse_extension.so
lib/libg2o_ext_freeglut_minimal.so
lib/libg2o_interface.so
lib/libg2o_opengl_helper.so
lib/libg2o_parser.so
lib/libg2o_simulator.so
lib/libg2o_solver_csparse.so
lib/libg2o_solver_dense.so
lib/libg2o_solver_eigen.so
lib/libg2o_solver_pcg.so
lib/libg2o_solver_slam2d_linear.so
lib/libg2o_solver_structure_only.so
lib/libg2o_stuff.so
lib/libg2o_types_data.so
lib/libg2o_types_icp.so
lib/libg2o_types_sba.so
lib/libg2o_types_sclam2d.so
lib/libg2o_types_sim3.so
lib/libg2o_types_slam2d.so
lib/libg2o_types_slam2d_addons.so
lib/libg2o_types_slam3d.so
lib/libg2o_types_slam3d_addons.so
lib/libg2o_viewer.so