v1

CMakeLists.txt

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+SET(PROJECT_NAME DSO)
+
+PROJECT(${PROJECT_NAME})
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+#set(CMAKE_VERBOSE_MAKEFILE ON)
+
+
+set(BUILD_TYPE Release)
+#set(BUILD_TYPE RelWithDebInfo)
+
+set(EXECUTABLE_OUTPUT_PATH bin)
+set(LIBRARY_OUTPUT_PATH lib)
+set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+
+# required libraries
+find_package(SuiteParse REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(Boost COMPONENTS system thread) 
+
+# optional libraries
+find_package(LibZip QUIET)
+set(Pangolin_DIR "/home/ivan/ivan/git/Work DriveCast/Pangolin-0.6/build/src")
+#find_package(Pangolin 0.2 QUIET)
+find_package(Pangolin)
+set(OpenCV_DIR "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build")
+find_package(OpenCV)
+
+# flags
+add_definitions("-DENABLE_SSE")
+set(CMAKE_CXX_FLAGS
+   "${SSE_FLAGS} -O3 -g -std=c++0x -march=native"
+#   "${SSE_FLAGS} -O3 -g -std=c++0x -fno-omit-frame-pointer"
+)
+
+if (MSVC)
+     set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc")
+endif (MSVC)
+
+# Sources files
+set(dso_SOURCE_FILES
+  ${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystem.cpp
+  ${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemOptimize.cpp
+  ${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemOptPoint.cpp
+  ${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemDebugStuff.cpp
+  ${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemMarginalize.cpp
+  ${PROJECT_SOURCE_DIR}/src/FullSystem/Residuals.cpp
+  ${PROJECT_SOURCE_DIR}/src/FullSystem/CoarseTracker.cpp
+  ${PROJECT_SOURCE_DIR}/src/FullSystem/CoarseInitializer.cpp
+  ${PROJECT_SOURCE_DIR}/src/FullSystem/ImmaturePoint.cpp
+  ${PROJECT_SOURCE_DIR}/src/FullSystem/HessianBlocks.cpp
+  ${PROJECT_SOURCE_DIR}/src/FullSystem/PixelSelector2.cpp
+  ${PROJECT_SOURCE_DIR}/src/OptimizationBackend/EnergyFunctional.cpp
+  ${PROJECT_SOURCE_DIR}/src/OptimizationBackend/AccumulatedTopHessian.cpp
+  ${PROJECT_SOURCE_DIR}/src/OptimizationBackend/AccumulatedSCHessian.cpp
+  ${PROJECT_SOURCE_DIR}/src/OptimizationBackend/EnergyFunctionalStructs.cpp
+  ${PROJECT_SOURCE_DIR}/src/util/settings.cpp
+  ${PROJECT_SOURCE_DIR}/src/util/Undistort.cpp
+  ${PROJECT_SOURCE_DIR}/src/util/globalCalib.cpp
+)
+
+
+
+include_directories(
+  ${PROJECT_SOURCE_DIR}/src
+  ${PROJECT_SOURCE_DIR}/thirdparty/Sophus
+  ${PROJECT_SOURCE_DIR}/thirdparty/sse2neon
+  ${EIGEN3_INCLUDE_DIR}
+) 
+
+
+# decide if we have pangolin
+if (Pangolin_FOUND)
+	message("--- found PANGOLIN, compiling dso_pangolin library.")
+	include_directories( ${Pangolin_INCLUDE_DIRS} ) 
+	set(dso_pangolin_SOURCE_FILES 
+	  ${PROJECT_SOURCE_DIR}/src/IOWrapper/Pangolin/KeyFrameDisplay.cpp
+	  ${PROJECT_SOURCE_DIR}/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp)
+	set(HAS_PANGOLIN 1)
+else ()
+	message("--- could not find PANGOLIN, not compiling dso_pangolin library.")
+	message("    this means there will be no 3D display / GUI available for dso_dataset.")
+	set(dso_pangolin_SOURCE_FILES )
+	set(HAS_PANGOLIN 0)
+endif ()
+
+# decide if we have openCV
+if (OpenCV_FOUND)
+	message("--- found OpenCV, compiling dso_opencv library.")
+	include_directories( ${OpenCV_INCLUDE_DIRS} )
+	set(dso_opencv_SOURCE_FILES 
+	  ${PROJECT_SOURCE_DIR}/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp
+	  ${PROJECT_SOURCE_DIR}/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp)
+	set(HAS_OPENCV 1)
+else ()
+	message("--- could not find OpenCV, not compiling dso_opencv library.")
+	message("    this means there will be no image display, and image read / load functionality.")
+	set(dso_opencv_SOURCE_FILES 
+	  ${PROJECT_SOURCE_DIR}/src/IOWrapper/ImageDisplay_dummy.cpp
+	  ${PROJECT_SOURCE_DIR}/src/IOWrapper/ImageRW_dummy.cpp)
+	set(HAS_OPENCV 0)
+endif ()
+
+# decide if we have ziplib.
+if (LIBZIP_LIBRARY)
+	message("--- found ziplib (${LIBZIP_VERSION}), compiling with zip capability.")
+	add_definitions(-DHAS_ZIPLIB=1)
+	include_directories( ${LIBZIP_INCLUDE_DIR_ZIP} ${LIBZIP_INCLUDE_DIR_ZIPCONF} ) 
+else()
+	message("--- not found ziplib (${LIBZIP_LIBRARY}), compiling without zip capability.")
+	set(LIBZIP_LIBRARY "")
+endif()
+
+
+# compile main library.
+include_directories( ${CSPARSE_INCLUDE_DIR} ${CHOLMOD_INCLUDE_DIR}) 
+add_library(dso ${dso_SOURCE_FILES} ${dso_opencv_SOURCE_FILES} ${dso_pangolin_SOURCE_FILES})
+
+#set_property( TARGET dso APPEND_STRING PROPERTY COMPILE_FLAGS -Wall )
+
+
+if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin") # OSX
+    set(BOOST_THREAD_LIBRARY boost_thread-mt)
+else()
+    set(BOOST_THREAD_LIBRARY boost_thread)
+endif()
+
+# build main executable (only if we have both OpenCV and Pangolin)
+if (OpenCV_FOUND AND Pangolin_FOUND)
+	message("--- compiling dso_dataset.")
+	add_executable(dso_dataset ${PROJECT_SOURCE_DIR}/src/main_dso_pangolin.cpp )
+    target_link_libraries(dso_dataset dso boost_system cxsparse ${BOOST_THREAD_LIBRARY} ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS})
+else()
+	message("--- not building dso_dataset, since either don't have openCV or Pangolin.")
+endif()
+