Cmake, travis, and others

.travis.yml

@@ -0,0 +1,57 @@
+# no xenial support from travis yet...
+dist: trusty
+sudo: enabled
+language: cpp
+cache: ccache
+
+# get c++14 compatible gcc version
+addons:
+  apt:
+    sources:
+      - ubuntu-toolchain-r-test
+    packages:
+      - gcc-5
+      - g++-5
+
+# See: https://docs.travis-ci.com/user/languages/c/
+# We don't include clang builds, since there are issues
+# with C++11/14 and libc++ on Trusty, e.g. when including
+# OpenCV headers.
+matrix:
+  include:
+  - compiler: gcc
+    os: linux
+    env:
+      - BUILD_TYPE=Release
+      - MATRIX_EVAL="CC=gcc-5 && CXX=g++-5"
+  - compiler: gcc
+    os: linux
+    env:
+      - BUILD_TYPE=Debug
+      - MATRIX_EVAL="CC=gcc-5 && CXX=g++-5"
+  - compiler: clang
+    os: osx
+    env: BUILD_TYPE=Release
+# For now only run on xcode8.3, which is the default image, since OSX testing on Travis can take a long time.
+#    osx_image: xcode8.3
+#  - compiler: clang
+#    os: osx
+#    env: BUILD_TYPE=Release
+#    osx_image: xcode7.3
+
+env:
+  global:
+    - MAKEFLAGS="-j 2"
+
+before_install:
+  - eval "${MATRIX_EVAL}"
+  - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then scripts/ci-install-linux-deps.sh ; fi
+  - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then scripts/ci-install-osx-deps.sh ; fi
+
+script:
+  - mkdir build
+  - cd build
+  - cmake -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=$BUILD_TYPE ..
+  - make
+  - sudo make install
+#  - make test

CMakeLists.txt

@@ -4,35 +4,62 @@ PROJECT(${PROJECT_NAME})
 CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 #set(CMAKE_VERBOSE_MAKEFILE ON)
 
-
-set(BUILD_TYPE Release)
-#set(BUILD_TYPE RelWithDebInfo)
+# TODO: make this work like a catkin package if it is built with
+# catkin, otherwise plain cmake; change package.xml to catkin; check
+# realsense_camera or librealsense for an example
+
+# Set default build type if not specified otherwise.
+# See https://cmake.org/pipermail/cmake/2012-May/050243.html
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
+  message(STATUS "Setting build type to '${CMAKE_BUILD_TYPE}' as none was specified.")
+  # Set the possible values of build type for cmake-gui
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release"
+    "MinSizeRel" "RelWithDebInfo")
+endif()
 
 set(EXECUTABLE_OUTPUT_PATH bin)
 set(LIBRARY_OUTPUT_PATH lib)
+set(INCLUDE_OUTPUT_PATH include/dso)
+set(CMAKE_OUTPUT_PATH ${LIBRARY_OUTPUT_PATH}/cmake/dso)
+set(PKGCONFIG_OUTPUT_PATH ${LIBRARY_OUTPUT_PATH}/pkgconfig)
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 
+# avoid cmake policy warning by adopting new default
+if(APPLE)
+    set(CMAKE_MACOSX_RPATH ON)
+endif()
+
 # required libraries
-find_package(SuiteParse REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(Boost COMPONENTS system thread) 
 
 # optional libraries
 find_package(LibZip QUIET)
+
+# TODO: make sure this works in general with catkin_tools, not just because of cmake package caching (~/.cmake/packages/Pangolin)
 find_package(Pangolin 0.2 QUIET)
 find_package(OpenCV QUIET)
 
 # 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"
+   "-std=c++14 -march=native ${CMAKE_CXX_FLAGS}"
+#   "-O3 -g -fno-omit-frame-pointer"
 )
 
+#message("   CMAKE_CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
+
+# Note that with a static library, it seems you might get (slightly) better runtime performence.
+option(DSO_BUILD_STATIC_LIBRARY        "Build a static dso library, instead of shared" OFF)
+
 if (MSVC)
      set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc")
 endif (MSVC)
 
+if(NOT WIN32)
+    option(DSO_BUILD_PKGCONFIG "Build pkg-config .pc file for DSO" ON)
+endif(NOT WIN32)
+
 # Sources files
 set(dso_SOURCE_FILES
   ${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystem.cpp
@@ -55,7 +82,7 @@ set(dso_SOURCE_FILES
   ${PROJECT_SOURCE_DIR}/src/util/globalCalib.cpp
 )
 
-
+set(DSO_BOOST_LIBRARIES ${Boost_SYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY})
 
 include_directories(
   ${PROJECT_SOURCE_DIR}/src
@@ -109,24 +136,86 @@ 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)
+if (DSO_BUILD_STATIC_LIBRARY)
+    message("--- dso static library selected.")
+    add_library(dso ${dso_SOURCE_FILES} ${dso_opencv_SOURCE_FILES} ${dso_pangolin_SOURCE_FILES})
+    install (TARGETS dso ARCHIVE DESTINATION ${LIBRARY_OUTPUT_PATH} COMPONENT libraries)
 else()
-    set(BOOST_THREAD_LIBRARY boost_thread)
+    message("--- dso dynamic library selected.")
+    add_library(dso SHARED ${dso_SOURCE_FILES} ${dso_opencv_SOURCE_FILES} ${dso_pangolin_SOURCE_FILES})
+    target_link_libraries(dso ${DSO_BOOST_LIBRARIES})
+    if (HAS_ZIPLIB)
+        target_link_libraries(dso ${LIBZIP_LIBRARY})
+    endif()
+    if (HAS_PANGOLIN)
+        target_link_libraries(dso ${Pangolin_LIBRARIES})
+    endif()
+    if (HAS_OPENCV)
+        target_link_libraries(dso ${OpenCV_LIBS})
+    endif()
+    install (TARGETS dso LIBRARY DESTINATION ${LIBRARY_OUTPUT_PATH} COMPONENT libraries)
 endif()
+#set_property( TARGET dso APPEND_STRING PROPERTY COMPILE_FLAGS -Wall )
 
 # 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})
+    target_link_libraries(dso_dataset dso ${DSO_BOOST_LIBRARIES} ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS}) 
+	install (TARGETS dso_dataset RUNTIME DESTINATION ${EXECUTABLE_OUTPUT_PATH})
 else()
 	message("--- not building dso_dataset, since either don't have openCV or Pangolin.")
 endif()
 
+# install all header files
+install(DIRECTORY src/ DESTINATION ${INCLUDE_OUTPUT_PATH}
+        FILES_MATCHING PATTERN "*.h")
+
+#DSO comes with its own version of Sophus (TODO try to get the library from https://github.com/strasdat/Sophus)
+install(DIRECTORY thirdparty/Sophus/sophus DESTINATION ${INCLUDE_OUTPUT_PATH}
+        FILES_MATCHING PATTERN "*.hpp")
+
+
+macro(libraries_for_pkgconfig VARNAME)
+    foreach(__lib ${ARGN})
+        string(STRIP __lib ${__lib})
+        string(SUBSTRING ${__lib} 0 1 __lib_is_absolute)
+        if (__lib_is_absolute STREQUAL "/")
+            get_filename_component(__lib_path ${__lib} PATH)
+            get_filename_component(__lib_name ${__lib} NAME_WE)
+            string(REGEX REPLACE "^lib" "" __lib_name "${__lib_name}")
+            set(${VARNAME} "${${VARNAME}} -L${__lib_path} -l${__lib_name}")
+        else()
+            set(${VARNAME} "${${VARNAME}} ${__lib}")
+        endif()
+    endforeach()
+endmacro()
+
+# Generate pkgconfig pc file
+if(DSO_BUILD_PKGCONFIG)
+    if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/dso.pc.in)
+        message("-- Found: ${CMAKE_CURRENT_SOURCE_DIR}/dso.pc.in")
+
+        # Set the target name
+        set(TARGET_NAME dso)
+
+        # Dependency for DSO
+        libraries_for_pkgconfig(${TARGET_NAME}_PKGCONFIG_LIBS
+            ${DSO_BOOST_LIBRARIES} ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES}
+            ${OpenCV_LIBS})
+
+        set(${TARGET_NAME}_PKGCONFIG_CFLAGS "${${TARGET_NAME}_PKGCONFIG_CFLAGS} ${BOOST_CFLAGS_OTHER}")
+
+        set(PKGCONFIG_REQUIRES eigen3)
+        set(PKGCONFIG_CFLAGS ${${TARGET_NAME}_PKGCONFIG_CFLAGS})
+        set(PKGCONFIG_LIBS ${${TARGET_NAME}_PKGCONFIG_LIBS})
+
+        configure_file(dso.pc.in dso.pc @ONLY)
+        install(FILES ${CMAKE_CURRENT_BINARY_DIR}/dso.pc DESTINATION ${PKGCONFIG_OUTPUT_PATH})
+    else()
+        message("-- pkg-config: ${CMAKE_CURRENT_SOURCE_DIR}/dso.pc.in is not available for configuration")
+    endif()
+
+endif(DSO_BUILD_PKGCONFIG)
+

README.md

@@ -15,12 +15,14 @@ Get some datasets from [https://vision.in.tum.de/mono-dataset](https://vision.in
 
 #### 2.1 Required Dependencies
 
-##### suitesparse and eigen3 (required).
-Required. Install with
-
-		sudo apt-get install libsuitesparse-dev libeigen3-dev libboost-all-dev
+The following instructions are tested on Ubuntu 16.04. Ubuntu 14.04
+should also work. Other platforms might work with minor adjustments.
+For Mac OS X, see below.
 
+##### eigen3 and boost (required).
+Required. Install with
 
+    sudo apt-get install libeigen3-dev libboost-all-dev
 
 #### 2.2 Optional Dependencies
 
@@ -52,6 +54,12 @@ Used to read datasets with images as .zip, as e.g. in the TUM monoVO dataset.
 You can compile without this, however then you can only read images directly (i.e., have 
 to unzip the dataset image archives before loading them).
 
+On Ubuntu 16.04 and up, the version from apt should suffice:
+
+    sudo apt-get install libzip-dev
+
+On Ubuntu 14.04, you need to compile it manually:
+
 	sudo apt-get install zlib1g-dev
 	cd dso/thirdparty
 	tar -zxvf libzip-1.1.1.tar.gz
@@ -64,6 +72,16 @@ to unzip the dataset image archives before loading them).
 ##### sse2neon (required for ARM builds).
 After cloning, just run `git submodule update --init` to include this.  It translates Intel-native SSE functions to ARM-native NEON functions during the compilation process.
 
+##### Mac OS X
+
+You can install the dependencies with Homebrew.
+
+    brew install cmake pkgconfig boost eigen glew opencv libzip
+
+The install and build
+[Pangolin](https://github.com/stevenlovegrove/Pangolin.git) as above,
+and proceed below.
+
 #### 2.3 Build
 
 		cd dso
@@ -72,9 +90,10 @@ After cloning, just run `git submodule update --init` to include this.  It trans
 		cmake ..
 		make -j
 
-this will compile a library `libdso.a`, which can be linked from external projects. 
+this will by default compile a dynamic library `libdso.so`, which can be linked from external projects.
 It will also build a binary `dso_dataset`, to run DSO on datasets. However, for this
-OpenCV and Pangolin need to be installed.
+OpenCV and Pangolin need to be installed. You can switch to building a static library with `cmake -DDSO_BUILD_STATIC_LIBRARY=ON`.
+Note that with a static library, it seems you might get (slightly) better runtime performance.
 
 
 
@@ -172,6 +191,9 @@ contains the integral over (0.5,0.5) to (1.5,1.5), or the integral over (1,1) to
 the given calibration in the calibration file uses the latter convention, and thus applies the -0.5 correction.
 Note that this also is taken into account when creating the scale-pyramid (see `globalCalib.cpp`).
 
+It seems that Kalibr and OpenCV have the same internal representation as DSO, thus you should add an +0.5 offset to the
+calibration results from those, to cancel out the -0.5 correction that DSO does when loading the calibration files.
+See also [this discussion](https://github.com/ethz-asl/kalibr/issues/115) in the Kalibr issue tracker.
 
 **Rectification modes:**
  For image rectification, DSO either supports rectification to a user-defined pinhole model (`fx fy cx cy 0`),

dso.pc.in

@@ -0,0 +1,11 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=@CMAKE_INSTALL_PREFIX@
+libdir=${prefix}/@LIBRARY_OUTPUT_PATH@
+includedir=${prefix}/@INCLUDE_OUTPUT_PATH@
+
+Name: @TARGET_NAME@
+Description: @TARGET_NAME@
+Version: @DSO_VERSION_STRING@
+Requires: @PKGCONFIG_REQUIRES@
+Libs: -L${libdir} -l@TARGET_NAME@ @PKGCONFIG_LIBS@
+Cflags: -I${includedir} @PKGCONFIG_CFLAGS@

package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>dso</name>
+  <version>1.0.0</version>
+  <description>Direct Sparse Visual Odometry</description>
+  <maintainer email="[email protected]">Nikolaus Demmel</maintainer>
+  <maintainer email="[email protected]">Jakob Engel</maintainer>
+  <author email="[email protected]">Jakob Engel</author>
+  <license>GPLv3</license>
+  <url>http://vision.in.tum.de/dso</url>
+  <buildtool_depend>cmake</buildtool_depend>
+  <depend>eigen</depend>
+  <depend>pangolin</depend>
+  <depend>suitesparse</depend>
+  <depend>boost</depend>
+  <depend>libopencv-dev</depend>
+  <depend>zlib</depend>
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+  <!-- todo: define rosdep keys for libzip -->
+</package>
+
+