fixed some issues with the latest Pangolin

Author: hanmekim

CMakeLists.txt

@@ -1,8 +1,10 @@
 PROJECT("SceneLib2")
 
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/")
 
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+
 # Overide with cmake -DCMAKE_BUILD_TYPE=Release {dir}
 IF(NOT CMAKE_BUILD_TYPE)
     MESSAGE("Build type not set (defaults to debug)")

data/SceneLib2.cfg

@@ -19,7 +19,7 @@
 
 # to use the same image sequences used by SceneLib 1.0
 input.mode = 0;
-input.name = ../../../../Dropbox/_images/TestSeqMonoSLAM;
+input.name = ../../../../_DatasetOffline/cam_datasets/TestSeqMonoSLAM;
 
 cam.width = 320;
 cam.height = 240;

examples/CMakeLists.txt

@@ -1,17 +1,15 @@
 ############################################################
-# Pangolin (https://github.com/stevenlovegrove/Pangolin)
-FIND_PACKAGE(Pangolin REQUIRED)
-INCLUDE_DIRECTORIES(${Pangolin_INCLUDE_DIRS})
-LINK_DIRECTORIES(${Pangolin_LIBRARY_DIRS})
-LINK_LIBRARIES(${Pangolin_LIBRARIES})
-
 # SceneLib2 (https://)
 FIND_PACKAGE(SceneLib2 REQUIRED)
 INCLUDE_DIRECTORIES(${SceneLib2_INCLUDE_DIRS})
 LINK_DIRECTORIES(${SceneLib2_LIBRARY_DIRS})
 LINK_LIBRARIES(${SceneLib2_LIBRARIES})
 
-FIND_PACKAGE(OpenCV REQUIRED)
+# Pangolin (https://github.com/stevenlovegrove/Pangolin)
+FIND_PACKAGE(Pangolin REQUIRED)
+INCLUDE_DIRECTORIES(${Pangolin_INCLUDE_DIRS})
+LINK_DIRECTORIES(${Pangolin_LIBRARY_DIRS})
+LINK_LIBRARIES(${Pangolin_LIBRARIES})
 
 ADD_EXECUTABLE(MonoSlamSceneLib1 MonoSlamSceneLib1.cpp)
-TARGET_LINK_LIBRARIES(MonoSlamSceneLib1 ${OpenCV_LIBS})
+#TARGET_LINK_LIBRARIES(MonoSlamSceneLib1 ${OpenCV_LIBS})

examples/MonoSlamSceneLib1.cpp

@@ -54,8 +54,10 @@ int main(int argc, char **argv)
   g_monoslam = new SceneLib2::MonoSLAM();
   g_monoslam->Init("../../data/SceneLib2.cfg");
 
+  glutInit(&argc, argv);
+
   // Create main window
-  pangolin::CreateGlutWindowAndBind("SceneLib2 - MonoSlamSceneLib1", 800, 480);
+  pangolin::CreateWindowAndBind("SceneLib2 - MonoSlamSceneLib1", 800, 480);
 
   // Define Camera Render Object (for view / scene browsing)
   pangolin::OpenGlRenderState view_state_3d(pangolin::ProjectionMatrix(g_monoslam->camera_->width_,
@@ -205,7 +207,7 @@ int main(int argc, char **argv)
       g_next = true;
 
     // Swap frames and Process Events
-    pangolin::FinishGlutFrame();
+    pangolin::FinishFrame();
   }
 
   return  0;

scenelib2/CMakeLists.txt

@@ -1,23 +1,22 @@
 ############################################################
 ## Required Dependencies
-FIND_PACKAGE(Pangolin REQUIRED)
-INCLUDE_DIRECTORIES(${Pangolin_INCLUDE_DIRS})
-LINK_DIRECTORIES(${Pangolin_LIBRARY_DIRS})
-LINK_LIBRARIES(${Pangolin_LIBRARIES})
-
 FIND_PACKAGE(Boost COMPONENTS thread filesystem system REQUIRED QUIET)
 FIND_PACKAGE(Eigen3 REQUIRED)
+FIND_PACKAGE(GLUT REQUIRED)
 FIND_PACKAGE(OpenCV REQUIRED)
+FIND_PACKAGE(Pangolin REQUIRED)
 
-LIST(APPEND LINK_LIBS "${Boost_LIBRARIES};${OpenCV_LIBRARIES}")
-LIST(APPEND LIB_DIRS  "${Boost_LIBRARY_DIRS};${PROJECT_BINARY_DIR}/${LIBRARY_NAME}")
-LIST(APPEND USER_INC  "${Boost_INCLUDE_DIRS};${CMAKE_CURRENT_SOURCE_DIR};${EIGEN3_INCLUDE_DIR}")
+# Apply required dependencies settings
+LIST(APPEND USER_INC "${Boost_INCLUDE_DIRS};${Pangolin_INCLUDE_DIRS};${CMAKE_CURRENT_SOURCE_DIR};${CMAKE_CURRENT_BINARY_DIR};${EIGEN3_INCLUDE_DIR};${OpenCV_INCLUDE_DIRS}")
+LIST(APPEND LIB_DIRS "${Boost_LIBRARY_DIRS};${Pangolin_LIBRARY_DIRS};${PROJECT_BINARY_DIR}/src;${OpenCV_LIB_DIR}")
+LIST(APPEND LINK_LIBS "${Boost_LIBRARIES};${GLUT_LIBRARIES};${Pangolin_LIBRARIES};${OpenCV_LIBS}")
 
 ############################################################
 ## Add Libraries / Include Directories / Link Directories
-INCLUDE_DIRECTORIES(${INTERNAL_INC} ${USER_INC})
+INCLUDE_DIRECTORIES(${INTERNAL_INC})
+INCLUDE_DIRECTORIES(${USER_INC})
+LINK_DIRECTORIES(${LIB_DIRS})
 LINK_LIBRARIES(${LINK_LIBS})
-LINK_DIRECTORIES(${LIB_DIR})
 
 ############################################################
 ## SceneLib2 Library Sources
@@ -41,10 +40,6 @@ SET(SOURCES monoslam.h monoslam.cpp
 
 ADD_LIBRARY(${LIBRARY_NAME} SHARED ${SOURCES})
 
-IF(CMAKE_COMPILER_IS_GNUCXX)
-  SET(CMAKE_CXX_FLAGS "-Wall -Wno-error=deprecated-declarations")
-ENDIF()
-
 ############################################################
 ## Export config file for easy inclusion into other projects: FIND_PACKAGE(SceneLib2)
 CONFIGURE_FILE  (