Merge pull request #10 from uzh-rpg/feature/plain_cmake_build

Build svo without ROS/Catkin

svo/CMakeLists.txt

@@ -3,6 +3,8 @@
 
 SET(TRACE TRUE)
 SET(HAVE_G2O TRUE) 
+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
 
 ################################################################################
 
@@ -20,7 +22,12 @@ ENDIF()
 IF(HAVE_G2O)
   ADD_DEFINITIONS(-DUSE_BUNDLE_ADJUSTMENT)
 ENDIF()
-ADD_DEFINITIONS(-DSVO_USE_ROS)
+IF(USE_ROS)
+  ADD_DEFINITIONS(-DSVO_USE_ROS)
+ENDIF()
+IF(DEBUG_OUTPUT)
+  ADD_DEFINITIONS(-DSVO_DEBUG_OUTPUT)
+ENDIF()
 
 # Set build flags, set ARM_ARCHITECTURE environment variable on Odroid
 SET(CMAKE_CXX_FLAGS "-Wall -Werror -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
@@ -35,9 +42,6 @@ ELSE()
   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 ENDIF()
 
-# Add catkin and required ROS packages 
-FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros)
-
 # Add plain cmake packages 
 FIND_PACKAGE(OpenCV REQUIRED)
 FIND_PACKAGE(Eigen REQUIRED)
@@ -45,13 +49,19 @@ FIND_PACKAGE(Sophus REQUIRED)
 FIND_PACKAGE(fast REQUIRED)
 FIND_PACKAGE(Boost REQUIRED COMPONENTS thread)
 
-# Describe catkin Project
+IF(USE_ROS)
-catkin_package(
+  FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros)
+  catkin_package(
       DEPENDS Eigen OpenCV Sophus Boost fast
       CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros
       INCLUDE_DIRS include
       LIBRARIES svo
-)
+  )
+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(
@@ -60,7 +70,6 @@ INCLUDE_DIRECTORIES(
   ${OpenCV_INCLUDE_DIRS}
   ${Sophus_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
-  ${catkin_INCLUDE_DIRS} 
   ${fast_INCLUDE_DIRS}
 )
 
@@ -69,10 +78,17 @@ LIST(APPEND LINK_LIBS
   ${OpenCV_LIBRARIES}
   ${Sophus_LIBRARIES}
   ${Boost_LIBRARIES}
-  ${catkin_LIBRARIES}
   ${fast_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
   src/frame_handler_mono.cpp
@@ -94,12 +110,12 @@ LIST(APPEND SOURCEFILES
 IF(HAVE_G2O)
   FIND_PACKAGE(G2O REQUIRED)
   INCLUDE_DIRECTORIES(
-    ${G2O_ROOT}/include
+    ${G2O_INCLUDE_DIR}
     /usr/include/suitesparse # for cholmod
   )
   LIST(APPEND LINK_LIBS
-    g2o_core g2o_stuff g2o_solver_cholmod g2o_solver_csparse g2o_solver_dense
+    ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_DENSE}
-    g2o_solver_pcg g2o_types_sba cholmod cxsparse
+    ${G2O_SOLVER_PCG} ${G2O_TYPES_SBA} cholmod cxsparse
   )
   LIST(APPEND SOURCEFILES src/bundle_adjustment.cpp)
 ENDIF(HAVE_G2O)
@@ -108,7 +124,6 @@ ENDIF(HAVE_G2O)
 ADD_LIBRARY(svo SHARED ${SOURCEFILES})
 TARGET_LINK_LIBRARIES(svo ${LINK_LIBS})
 
-
 ################################################################################
 # TESTS
 

svo/CMakeModules/FindEigen.cmake

@@ -0,0 +1,81 @@
+###############################################################################
+# 
+# CMake script for finding the Eigen library.
+# 
+# http://eigen.tuxfamily.org/index.php?title=Main_Page
+# 
+# Copyright (c) 2006, 2007 Montel Laurent, <[email protected]>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <[email protected]>
+# Copyright (c) 2009 Benoit Jacob <[email protected]>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD
+# license.
+# 
+# 
+# Input variables:
+# 
+# - Eigen_ROOT_DIR (optional): When specified, header files and libraries
+#   will be searched for in `${Eigen_ROOT_DIR}/include` and
+#   `${Eigen_ROOT_DIR}/libs` respectively, and the default CMake search order
+#   will be ignored. When unspecified, the default CMake search order is used.
+#   This variable can be specified either as a CMake or environment variable.
+#   If both are set, preference is given to the CMake variable.
+#   Use this variable for finding packages installed in a nonstandard location,
+#   or for enforcing that one of multiple package installations is picked up.
+# 
+# Cache variables (not intended to be used in CMakeLists.txt files)
+# 
+# - Eigen_INCLUDE_DIR: Absolute path to package headers.
+# 
+# 
+# Output variables:
+# 
+# - Eigen_FOUND: Boolean that indicates if the package was found
+# - Eigen_INCLUDE_DIRS: Paths to the necessary header files
+# - Eigen_VERSION: Version of Eigen library found
+# - Eigen_DEFINITIONS: Definitions to be passed on behalf of eigen
+# 
+# 
+# Example usage:
+# 
+#   # Passing the version means Eigen_FOUND will only be TRUE if a
+#   # version >= the provided version is found.
+#   find_package(Eigen 3.1.2)
+#   if(NOT Eigen_FOUND)
+#     # Error handling
+#   endif()
+#   ...
+#   add_definitions(${Eigen_DEFINITIONS})
+#   ...
+#   include_directories(${Eigen_INCLUDE_DIRS} ...)
+# 
+###############################################################################
+
+find_package(PkgConfig)
+pkg_check_modules(PC_EIGEN eigen3)
+set(EIGEN_DEFINITIONS ${PC_EIGEN_CFLAGS_OTHER})
+
+
+find_path(EIGEN_INCLUDE_DIR Eigen/Core
+    HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS}
+          "${Eigen_ROOT_DIR}" "$ENV{EIGEN_ROOT_DIR}"
+          "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}"  # Backwards Compatibility
+    PATHS "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen"
+          "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0"
+    PATH_SUFFIXES eigen3 include/eigen3 include)
+
+set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR)
+
+mark_as_advanced(EIGEN_INCLUDE_DIR)
+
+if(EIGEN_FOUND)
+  message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS})")
+endif(EIGEN_FOUND)
+
+
+set(Eigen_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+set(Eigen_FOUND ${EIGEN_FOUND})
+set(Eigen_VERSION ${EIGEN_VERSION})
+set(Eigen_DEFINITIONS ${EIGEN_DEFINITIONS})

svo/include/svo/global.h

@@ -39,7 +39,11 @@
   #define SVO_ERROR_STREAM(x) ROS_ERROR_STREAM(x)
 #else
   #define SVO_INFO_STREAM(x) std::cerr<<"\033[0;0m[INFO] "<<x<<"\033[0;0m"<<std::endl;
+  #ifdef SVO_DEBUG_OUTPUT
     #define SVO_DEBUG_STREAM(x) SVO_INFO_STREAM(x)
+  #else
+    #define SVO_DEBUG_STREAM(x)
+  #endif
   #define SVO_WARN_STREAM(x) std::cerr<<"\033[0;33m[WARN] "<<x<<"\033[0;0m"<<std::endl;
   #define SVO_ERROR_STREAM(x) std::cerr<<"\033[1;31m[ERROR] "<<x<<"\033[0;0m"<<std::endl;
   #include <chrono> // Adapted from rosconsole. Copyright (c) 2008, Willow Garage, Inc.

svo/src/frame.cpp

@@ -14,6 +14,7 @@
 // You should have received a copy of the GNU General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
+#include <stdexcept>
 #include <svo/frame.h>
 #include <svo/feature.h>
 #include <svo/point.h>

svo/test/test_utils.h

@@ -20,24 +20,34 @@
 #include <string.h>
 #include <cstdlib> // for getenv
 #include <ros/package.h>
-#include <vikit/params_helper.h>
+#ifdef SVO_USE_ROS
+  #include <vikit/params_helper.h>
+#endif
 
 namespace svo {
 namespace test_utils {
 
 std::string getDatasetDir()
 {
-  std::string dataset_dir(ros::package::getPath("svo")+"/test/data");
   const char* env_dir = std::getenv("SVO_DATASET_DIR");
+#ifdef SVO_USE_ROS
+  std::string dataset_dir(ros::package::getPath("svo")+"/test/data");
   if(env_dir != NULL)
     dataset_dir = std::string(env_dir);
   return dataset_dir;
+#else
+  return std::string(env_dir);
+#endif
 }
 
 std::string getTraceDir()
 {
+#ifdef SVO_USE_ROS
   std::string default_dir(ros::package::getPath("svo")+"/test/results");
   return vk::getParam<std::string>("svo/trace_dir", default_dir);
+#else
+  return "/tmp";
+#endif
 }
 
 } // namespace test_utils