Wip/open mapper engine integration (#2)

* fix

* fix

* fix

* added some git ignores

* added build status to the readme

* rearranged the file structre

* fix

* added executable to start automatically

* updated submodule

* updated submodule (reverted from commit 4e00ac2)

* fix

* first working version

* fix

Author: gocarlos

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "libs/OpenMapper"]
+	path = libs/OpenMapper
+	url = https://github.com/OpenMapper/OpenMapper.git
+

.travis.yml

@@ -31,7 +31,7 @@ before_script:
     - rosdep update
     - source /opt/ros/indigo/setup.bash
     # Install OpenCV3
-    #- sudo apt-get install ros-indigo-opencv3 ros-indigo-eigen-conversions
+    - sudo apt-get install ros-indigo-opencv3 ros-indigo-eigen-conversions
 
 script:
     # Check versions of gcc, g++ and cmake

CMakeLists.txt

@@ -10,18 +10,40 @@ SET(CMAKE_AUTOUIC ON)
 # Find includes in corresponding build directories
 SET(CMAKE_INCLUDE_CURRENT_DIR ON)
 
-find_package(OpenGL REQUIRED)
-find_package(Qt5Widgets REQUIRED)
-find_package(Qt5OpenGL REQUIRED)
+
+################################
+# Define Dependencies
+################################
+
+FIND_PACKAGE(OpenCV 3.0.0 REQUIRED)
+FIND_PACKAGE(OpenGL REQUIRED)
+FIND_PACKAGE(Threads REQUIRED)
+FIND_PACKAGE(OpenGL REQUIRED)
+FIND_PACKAGE(Qt5Widgets REQUIRED)
+FIND_PACKAGE(Qt5OpenGL REQUIRED)
 
 INCLUDE_DIRECTORIES(
   ${OPENGL_INCLUDE_DIRS}
   ${CMAKE_CURRENT_LIST_DIR}/include
   # This is used as the header files generated by Qt do not find other header files if their directory is not included. 
   # All other includes should be made using "openmapper_desktop/header.h".
   ${CMAKE_CURRENT_LIST_DIR}/include/openmapper_desktop
+  
+  ${CMAKE_CURRENT_LIST_DIR}/libs/OpenMapper/thirdparty/eigen
+
+  ${CMAKE_CURRENT_LIST_DIR}/libs/OpenMapper/thirdparty/miniglog
+  
+  ${CMAKE_CURRENT_LIST_DIR}/libs/OpenMapper/thirdparty/slam_engine/ORB_SLAM2/include
+  ${CMAKE_CURRENT_LIST_DIR}/libs/OpenMapper/thirdparty/slam_engine/ORB_SLAM2/
+  ${CMAKE_CURRENT_LIST_DIR}/libs/OpenMapper/thirdparty/slam_engine/ORB_SLAM2/Thirdparty/DBoW2/DBoW2
+  ${CMAKE_CURRENT_LIST_DIR}/libs/OpenMapper/thirdparty/slam_engine/ORB_SLAM2/Thirdparty/g2o/g2o/core
+  ${CMAKE_CURRENT_LIST_DIR}/libs/OpenMapper/thirdparty/slam_engine/ORB_SLAM2/Thirdparty/g2o/g2o/solvers
+  ${CMAKE_CURRENT_LIST_DIR}/libs/OpenMapper/thirdparty/slam_engine/ORB_SLAM2/Thirdparty/g2o/g2o/stuff
+  ${CMAKE_CURRENT_LIST_DIR}/libs/OpenMapper/thirdparty/slam_engine/ORB_SLAM2/Thirdparty/g2o/g2o/types
 )
 
+INCLUDE("${CMAKE_CURRENT_LIST_DIR}/libs/OpenMapper/CMakeLists.txt")
+
 SET(OMD_LIB_HEADER_DIR
  ${CMAKE_CURRENT_LIST_DIR}/include
 )
@@ -39,16 +61,22 @@ SET(OMD_LIB_RESOURCES
 )
 
 # compile
-add_executable(${PROJECT_NAME}_main
+ADD_EXECUTABLE(${PROJECT_NAME}_main
   ${OMD_LIB_RESOURCES}
 )
 
 # Build it (link libraries)
-target_link_libraries(${PROJECT_NAME}_main
-  ${OPENGL_LIBRARIES}
+TARGET_LINK_LIBRARIES(${PROJECT_NAME}_main
   Qt5::Widgets
   Qt5::Core
   Qt5::OpenGL
+  debug ${OPENGL_LIBRARIES} optimized ${OPENGL_LIBRARIES}
+  debug ${MINI_GLOG} optimized ${MINI_GLOG}
+  debug ${OpenCV_LIBRARIES} optimized ${OpenCV_LIBRARIES}
+  debug ${DBOW2_LIB} optimized ${DBOW2_LIB}
+  debug ${G2O_LIB} optimized ${G2O_LIB}
+  debug ${ORB_SLAM2_LIB} optimized ${ORB_SLAM2_LIB}
+  debug ${OPENMAPPER_LIB} optimized ${OPENMAPPER_LIB}
 )
 
 # generate proper GUI program on specified platform.

build.sh

@@ -1,8 +1,8 @@
 #!/bin/bash
 
-rm -rf build/
+# rm -rf build/
 
-# Build OpenMapper Static Lib only
+# Build OpenMapperDesktop
 mkdir -p build
 cd build
 cmake ..