init code commit

CMakeLists.txt

@@ -0,0 +1,111 @@
+cmake_minimum_required(VERSION 3.0)
+project(BundleFusion)
+
+set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fpermissive -pthread -lrt -fPIC")
+set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+
+option(VISUALIZATION "Build BundleFusion With Pangolin" ON)
+
+find_package(CUDA REQUIRED)
+set(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
+set(CUDA_SEPARABLE_COMPILATION ON)
+set(CUDA_PROPAGATE_HOST_FLAGS OFF)
+set(CUDA_NVCC_FLAGS -arch=sm_35;-std=c++11;-lm)
+ADD_DEFINITIONS(-fpermissive)
+
+find_package (Threads)
+find_package (Eigen3 REQUIRED)
+find_package (OpenCV REQUIRED)
+
+file(GLOB_RECURSE cpp_file src/*.cpp)
+file(GLOB_RECURSE cu_file src/*.cu)
+
+if(VISUALIZATION)
+  find_package(Pangolin 0.2 QUIET)
+  message("-- found PANGOLIN, add visualization plug.")
+  if(Pangolin_FOUND)
+    find_package(Boost COMPONENTS system thread)
+    add_definitions(-DWITH_VISUALIZATION)
+    include_directories(
+      ${Pangolin_INCLUDE_DIRS}
+      ${Boost_INCLUDE_DIRS}
+      ${PROJECT_SOURCE_DIR}/include/Visualization/
+    )
+
+  endif()
+else()
+  message("-- not found PANGOLIN, visualization not enable.")
+  file(GLOB_RECURSE Visualization_CPP_Files src/PangolinOutputWrapper.cpp)
+  file(GLOB_RECURSE Visualization_CU_Files src/PangolinOutputWrapper.cu)
+  list(REMOVE_ITEM cpp_file ${Visualization_CPP_Files})
+  list(REMOVE_ITEM cu_file ${Visualization_CU_Files}) 
+endif()
+
+include_directories(
+  ${CUDA_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
+  ${PROJECT_SOURCE_DIR}/include/
+  ${PROJECT_SOURCE_DIR}/include/mLib/include
+  ${PROJECT_SOURCE_DIR}/include/mLibExternal
+  ${PROJECT_SOURCE_DIR}/include/cutil/cutil/inc/
+  ${PROJECT_SOURCE_DIR}/include/FreeImage/
+  ${PROJECT_SOURCE_DIR}/include/interface/
+  ${PROJECT_SOURCE_DIR}/include/DepthSensing/
+  ${PROJECT_SOURCE_DIR}/include/SiftGPU/
+  ${PROJECT_SOURCE_DIR}/include/Solver/
+)
+
+
+cuda_add_library(BundleFusion  SHARED
+  ${cu_file} 
+  ${cpp_file}
+)
+
+target_link_libraries(BundleFusion 
+  cuda 
+  freeimage
+  ${CUDA_LIBRARIES}
+  ${OpenCV_LIBS}
+
+)
+
+if(Pangolin_FOUND)
+  target_link_libraries(BundleFusion
+    ${Pangolin_LIBRARIES}
+    boost_system 
+    boost_thread
+  )
+endif()
+
+# install(EXPORT gputsdfrecon-targets
+#     NAMESPACE gputsdfrecon::
+#     FILE gputsdfrecon-config.cmake
+#     DESTINATION lib/cmake/gputsdfrecon)
+
+add_executable(bundle_fusion_example example/bundle_fusion_example.cpp)
+target_link_libraries(bundle_fusion_example 
+   BundleFusion
+)
+# 
+# include_directories(
+# ${PROJECT_SOURCE_DIR}/example/include/)
+# 
+# add_executable(example_depthfusion example/example_depthfusion.cpp example/native.cpp)
+# target_link_libraries(example_depthfusion 
+#   gpu_tsdf_bf
+#   )
+#   
+# add_executable(example_rkd_fusion example/example_rkd_fusion.cpp example/native.cpp)
+# target_link_libraries(example_rkd_fusion gpu_tsdf_bf)
+# 
+# add_executable(example_rkd_fusion_cd example/example_rkd_fusion_cd.cpp example/native.cpp)
+# 
+# target_link_libraries(example_rkd_fusion_cd gpu_tsdf_bf)
+
+#add_executable(example_tsdf_integrate_orbslam example/example_orbslam_tsdf_integrate.cpp)
+#target_link_libraries(example_tsdf_integrate_orbslam 
+#  gpu_tsdf_bf
+#  )
+