clean up -- remove more hard-coded paths

CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.5)
-project(feh)
+
+# vision lab visual-inertial navigation system
+project(vl_vins)
 
 # Set operating system variables
 if (${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
@@ -43,101 +45,91 @@ add_definitions(-DGOOGLE_STRIP_LOG=1)
 # add_definitions(-DEIGEN_DEFAULT_TO_ROW_MAJOR)
 add_definitions(-DEIGEN_INITIALIZE_MATRICES_BY_ZERO)
 
-list(APPEND CMAKE_PREFIX_PATH ${CMAKE_SOURCE_DIR}/thirdparty)
+set(THIRD_PARTY_DIR "${CMAKE_SOURCE_DIR}/thirdparty")
+list(APPEND CMAKE_PREFIX_PATH ${THIRD_PARTY_DIR})
 
-# Find and add OpenCV to libraries
-find_package(OpenCV REQUIRED)
+find_package(OpenCV REQUIRED PATHS ${THIRD_PARTY_DIR}/opencv/install)
 find_package(Python3 REQUIRED Interpreter Development)
 find_package(Pangolin REQUIRED)
 find_package(jsoncpp REQUIRED)
+
 # Google stuff
 find_package(gflags REQUIRED)
 find_package(GTest REQUIRED NAMES GTest gtest googletest GoogleTest)
 find_package(glog REQUIRED)
 find_package(Ceres REQUIRED)
-# Find and add DBoW2 
+
+# DBoW2 
 find_package(DBoW2 REQUIRED)
-# Create an interface target for DBoW2 (since DBoW2 does not export headers & libraries as a target)
+# Create an interface target for DBoW2 (since DBoW2 does not export headers & libraries as a target).
+# We will add the DBoW2 target to our dependency list in a bit.
 add_library(DBoW2 INTERFACE)
 target_include_directories(DBoW2 INTERFACE ${DBoW2_INCLUDE_DIR})
 target_link_libraries(DBoW2 INTERFACE ${DBoW2_LIBS})
 
+# The dependency PNP does not properly export a target for easy integration,
+# so we create an interface target here, and will add the interface target to 
+# the dependency list in a bit.
+add_library(pnp INTERFACE)
+target_include_directories(pnp INTERFACE ${THIRD_PARTY_DIR}/pnp)
+target_link_libraries(pnp INTERFACE ${THIRD_PARTY_DIR}/pnp/build/liblibpnp.a)
+
 # TODO (xiaohfei): this is not working since gperftools does not properly generate cmake config files.
 # Need to manually add gperftools if needed.
 if (USE_GPERFTOOLS)
   find_package(gperftools REQUIRED)
 endif()
 
-# The dependency PNP does have proper installation target, need to manually specify paths.
-add_library(pnp INTERFACE)
-target_include_directories(pnp INTERFACE ${CMAKE_SOURCE_DIR}/thirdparty/pnp)
-target_link_libraries(pnp INTERFACE ${CMAKE_SOURCE_DIR}/thirdparty/pnp/build/liblibpnp.a)
 
 list(APPEND DEPS
-  # opencv
+  # OpenCV
   opencv_highgui
   opencv_features2d
   opencv_core
   opencv_video
   opencv_imgproc
   opencv_imgcodecs
   opencv_xfeatures2d
-  # google stuff
+
+  # Google stuff
   glog::glog
   GTest::gtest
   GTest::gtest_main
   GTest::gmock
   GTest::gmock_main
   gflags_static
-  # graphics
-  GLEW
-  pangolin
-  # solver
+
+  # Ceres::ceres should carry over all its own dependencies, so we don't need 
+  # to add the following dependencies: cxsparse, cholmod, lapack, and blas. 
+  # But if needed, you can add them back.
   Ceres::ceres
-  pnp
-  cxsparse
-  cholmod
-  lapack
-  blas
-  # utils
-  jsoncpp_lib
+
   # Use jsoncpp_static if you are building modules of xivo as static libraryies
   # jsoncpp_static
+  jsoncpp_lib
+
+  # Target "pangolin" exported by Pangolin should carry over its own dependencies, i.e., 
+  # GLEW and GL (in Linux). If needed, you can manually add them.
+  pangolin
+
+  # Loop closure dependencies. 
+  pnp
   DBoW2
-  # system
-  pthread
 )
-if (IS_LINUX)
-  list(APPEND DEPS GL)
-endif (IS_LINUX)
 
 link_libraries(${DEPS})
 
-# Manually add link directories (ideally we dont have to use this)
-link_directories(
-  /usr/local/lib
-  /usr/lib/x86_64-linux-gnu
-)
 
 include_directories(
   ${CMAKE_SOURCE_DIR}/common
   ${CMAKE_SOURCE_DIR}/src
-  # Manually add include dirs, ideally we don't need this
-  # ${JSONCPP_INCLUDE_DIRS}
-  # ${OpenCV_INCLUDE_DIRS}
-  # ${Python3_INCLUDE_DIRS}
-  /usr/include/suitesparse
-  /usr/include
 )
 
-
-
 enable_testing()
-# add_subdirectory(thirdparty/abseil-cpp)
 if (BUILD_G2O)
-  link_directories(${CMAKE_SOURCE_DIR}/thirdparty/g2o/release/lib)
-  include_directories(${CMAKE_SOURCE_DIR}/thirdparty/g2o/release/include)
-  list(APPEND deps
+  link_directories(${THIRD_PARTY_DIR}/g2o/release/lib)
+  include_directories(${THIRD_PARTY_DIR}/g2o/release/include)
+  link_libraries(
     g2o_core
     g2o_solver_dense
     g2o_solver_cholmod
@@ -146,12 +138,9 @@ if (BUILD_G2O)
     g2o_types_slam3d
     g2o_types_sba
     g2o_stuff
-    cholmod
-    cxsparse
-    )
+)
 endif(BUILD_G2O)
 
-# feh
 add_subdirectory(common)
 add_subdirectory(src)
 
@@ -166,10 +155,10 @@ add_subdirectory(src)
 # If you see an error saying "Python.h: No such file or directory", you probably
 # need to "sudo apt-get install python3-dev" assuming you are binding to python3.
 set(PYBIND11_CPP_STANDARD -std=c++17)
-add_subdirectory(thirdparty/pybind11)
+add_subdirectory(${THIRD_PARTY_DIR}/pybind11)
 pybind11_add_module(pyxivo MODULE pybind11/pyxivo.cpp)
-set(libxivo common xest xapp)
+set(pybind_deps common xest xapp)
 if (BUILD_G2O)
-  list(APPEND libxivo xopt)
+  list(APPEND pybind_deps xopt)
 endif(BUILD_G2O)
-target_link_libraries(pyxivo PRIVATE ${libxivo})
+target_link_libraries(pyxivo PRIVATE ${pybind_deps})

build.sh

@@ -34,8 +34,7 @@ if [ $USE_GPERFTOOLS = true ]; then
 fi
 
 CPU_COUNT=4
-# OPENCV_INSTALL_DIR=/media/data3/stsuei/DevelopmentEnvironments/xivo_gcc9/share/OpenCV
-OPENCV_INSTALL_DIR=$PWD/thirdparty/opencv/install/share/OpenCV
+OPENCV_INSTALL_DIR=/media/data3/stsuei/DevelopmentEnvironments/xivo_gcc9/share/OpenCV
 
 # build dependencies
 PROJECT_DIR=$(pwd)

common/CMakeLists.txt

@@ -1,10 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(common)
 
-# # uncomment to overwrite target destinations
-# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
-# set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
-
 add_library(common STATIC utils.cpp)
 
 # option(BUILD_COMMON_TESTS True)

src/CMakeLists.txt

@@ -2,10 +2,6 @@ cmake_minimum_required(VERSION 3.5)
 
 project(estimator)
 
-# # overwrite binary output directory
-# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
-# set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/lib)
-
 # if set, use inverse-depth parametrization
 # add_definitions(-DUSE_INVDEPTH)