add fast kernel

GPU_version/svo/CMakeLists.txt

@@ -1,16 +1,7 @@
-################################################################################
-# user build settings
-
-SET(TRACE TRUE)
-SET(HAVE_G2O FALSE) 
-SET(USE_ROS TRUE) # Set FALSE if you want to build this package without Catkin
-SET(DEBUG_OUTPUT FALSE) # Only relevant if build without ROS
-
-################################################################################
-
 SET(PROJECT_NAME gpu_svo)
 PROJECT(${PROJECT_NAME})
 CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3)
+
 SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
 SET(CMAKE_VERBOSE_MAKEFILE OFF)
 SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/")
@@ -18,18 +9,9 @@ set(CMAKE_C_STANDARD 14)
 set(CMAKE_CXX_STANDARD 14)
 
 # Set definitions
-IF(TRACE)
-  ADD_DEFINITIONS(-DSVO_TRACE)
-ENDIF()
-IF(HAVE_G2O)
-  ADD_DEFINITIONS(-DUSE_BUNDLE_ADJUSTMENT)
-ENDIF()
-IF(USE_ROS)
-  ADD_DEFINITIONS(-DSVO_USE_ROS)
-ENDIF()
-IF(DEBUG_OUTPUT)
-  ADD_DEFINITIONS(-DSVO_DEBUG_OUTPUT)
-ENDIF()
+ADD_DEFINITIONS(-DSVO_TRACE)
+ADD_DEFINITIONS(-DSVO_USE_ROS)
+
 
 # Set build flags, set ARM_ARCHITECTURE environment variable on Odroid
 # Set build flags. Set IS_ARM on odroid board as environment variable
@@ -50,49 +32,44 @@ SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -
 FIND_PACKAGE(OpenCV REQUIRED)
 FIND_PACKAGE(Eigen REQUIRED)
 FIND_PACKAGE(Sophus REQUIRED)
-FIND_PACKAGE(fast REQUIRED)
 FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system)
 FIND_PACKAGE(GTSAM REQUIRED)
+FIND_PACKAGE(OpenCL REQUIRED)
+FIND_PACKAGE(vikit_common REQUIRED)
 
 set(GTSAM_INCLUDE_DIRS "${GTSAM_INCLUDE_DIR}")
-IF(USE_ROS)
-  FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros)
-  catkin_package(
+FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros)
+catkin_package(
       DEPENDS Eigen OpenCV Sophus Boost fast GTSAM
       CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros
       INCLUDE_DIRS include
       LIBRARIES ${PROJECT_NAME}
-  )
-ELSE()
-  FIND_PACKAGE(vikit_common REQUIRED)
-  SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-  SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-ENDIF()
+)
+
 
 # Include dirs
 INCLUDE_DIRECTORIES(
         include
-  ${Eigen_INCLUDE_DIRS}
-  ${OpenCV_INCLUDE_DIRS}
-  ${Sophus_INCLUDE_DIRS}
-  ${Boost_INCLUDE_DIRS}
-  ${fast_INCLUDE_DIRS} ${GTSAM_INCLUDE_DIR}
+        kernel
+        ${Eigen_INCLUDE_DIRS}
+        ${OpenCV_INCLUDE_DIRS}
+        ${Sophus_INCLUDE_DIRS}
+        ${Boost_INCLUDE_DIRS}
+        ${OpenCL_INCLUDE_DIRS}
+        ${GTSAM_INCLUDE_DIR}
+        ${catkin_INCLUDE_DIRS}
 )
 
 # Set link libraries
-LIST(APPEND LINK_LIBS 
+LIST(APPEND LINK_LIBS
+  gtsam
   ${OpenCV_LIBS}
   ${Sophus_LIBRARIES}
   ${Boost_LIBRARIES}
-  ${fast_LIBRARIES}
+  ${OpenCL_LIBRARIES}
+  ${catkin_LIBRARIES}
 )
-IF(USE_ROS)
-  INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS})
-  LIST(APPEND LINK_LIBS ${catkin_LIBRARIES})
-ELSE()
-  INCLUDE_DIRECTORIES(${vikit_common_INCLUDE_DIRS})
-  LIST(APPEND LINK_LIBS ${vikit_common_LIBRARIES})
-ENDIF()
+
 
 # Set sourcefiles
 LIST(APPEND SOURCEFILES
@@ -109,24 +86,13 @@ LIST(APPEND SOURCEFILES
         src/feature_detection.cpp
         src/depth_filter.cpp
         src/config.cpp
-        src/sparse_img_align.cpp src/imu_integration.cpp)
-
-# Add g2o if available
-IF(HAVE_G2O)
-  FIND_PACKAGE(G2O REQUIRED)
-  INCLUDE_DIRECTORIES(
-    ${G2O_INCLUDE_DIR}
-    /usr/include/suitesparse # for cholmod
-  )
-  LIST(APPEND LINK_LIBS
-    ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_DENSE}
-    ${G2O_SOLVER_PCG} ${G2O_TYPES_SBA} cholmod cxsparse
-  )
-  LIST(APPEND SOURCEFILES src/bundle_adjustment.cpp)
-ENDIF(HAVE_G2O)
+        src/sparse_img_align.cpp
+        src/imu_integration.cpp
+        src/cl_class.cpp)
 
 # Create svo library
 ADD_LIBRARY(${PROJECT_NAME} SHARED ${SOURCEFILES})
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS} gtsam)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS} )
 set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 14)
 set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON)
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_range_for)