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Windows port #29

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Windows port #29

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1dfbc49
Almost compiles, except: time, filesystem
AltVanguard May 8, 2022
69bc357
Fix windows compile errors: bigobj, time handling, remove redundant S…
AltVanguard May 8, 2022
e76110e
Fix windows compile error: port from unix dirent.h to std::filesystem
AltVanguard May 8, 2022
920f519
Fix linker errors and some warnings
AltVanguard May 10, 2022
4557dcf
Update README.md with Windows build instructions
AltVanguard Aug 13, 2022
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3 changes: 3 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
/build/
/conan/
/configs/
218 changes: 147 additions & 71 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,30 +1,19 @@
SET(PROJECT_NAME DMVIO)

PROJECT(${PROJECT_NAME})
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
CMAKE_MINIMUM_REQUIRED(VERSION 3.10)


IF(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE RelWithDebInfo)
ENDIF()
set(BUILD_TYPE RelWithDebInfo)

set(EXECUTABLE_OUTPUT_PATH bin)
set(LIBRARY_OUTPUT_PATH lib)
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

# required libraries
find_package(SuiteParse REQUIRED)
#find_package(SuiteParse REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Boost COMPONENTS system thread filesystem chrono serialization date_time timer)
find_package(Boost COMPONENTS system thread filesystem chrono serialization date_time timer stacktrace)
find_package(GTSAM REQUIRED)
find_package(yaml-cpp REQUIRED)

IF(${Boost_VERSION} GREATER_EQUAL 106500)
message("Building with stacktrace support.")
set(STACKTRACE_LIBRARIES dl)
set(STACKTRACE_DEFINES "-DSTACKTRACE -DBOOST_STACKTRACE_USE_ADDR2LINE")
ENDIF()
find_package(Sophus REQUIRED)

# optional libraries
find_package(LibZip QUIET)
Expand All @@ -40,95 +29,162 @@ ENDIF(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")


# flags

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

add_definitions("-DENABLE_SSE")
set(CMAKE_CXX_FLAGS
"${SSE_FLAGS} -std=c++14"
)
set(CMAKE_CXX_FLAGS_DEBUG
"-O2 -g -fno-omit-frame-pointer -DEIGEN_INITIALIZE_MATRICES_WITH_NAN -DDEBUG ${STACKTRACE_DEFINES}"
)
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO
"-O3 -g -fno-omit-frame-pointer ${STACKTRACE_DEFINES}"
)
set(CMAKE_CXX_FLAGS_RELEASE
"-O3 -DNDEBUG"
)

if (MSVC)
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc")
endif (MSVC)
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /MP /bigobj")
add_definitions("-DNOMINMAX")
add_definitions("-DLEAN_AND_MEAN")
else()
set(CMAKE_CXX_FLAGS
"${SSE_FLAGS}"
)
set(CMAKE_CXX_FLAGS_DEBUG
"-O2 -g -fno-omit-frame-pointer -DEIGEN_INITIALIZE_MATRICES_WITH_NAN -DDEBUG ${STACKTRACE_DEFINES}"
)
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO
"-O3 -g -fno-omit-frame-pointer ${STACKTRACE_DEFINES}"
)
set(CMAKE_CXX_FLAGS_RELEASE
"-O3 -DNDEBUG"
)
endif()

set(DSO_SOURCE_DIR ${PROJECT_SOURCE_DIR}/src/dso)

# DSO Source files
set(dso_SOURCE_FILES
${DSO_SOURCE_DIR}/OptimizationBackend/AccumulatedSCHessian.cpp
${DSO_SOURCE_DIR}/OptimizationBackend/AccumulatedTopHessian.cpp
${DSO_SOURCE_DIR}/OptimizationBackend/EnergyFunctional.cpp
${DSO_SOURCE_DIR}/OptimizationBackend/EnergyFunctionalStructs.cpp
${DSO_SOURCE_DIR}/util/Undistort.cpp
${DSO_SOURCE_DIR}/util/globalCalib.cpp
${DSO_SOURCE_DIR}/util/settings.cpp
${DSO_SOURCE_DIR}/FullSystem/CoarseInitializer.cpp
${DSO_SOURCE_DIR}/FullSystem/CoarseTracker.cpp
${DSO_SOURCE_DIR}/FullSystem/FullSystem.cpp
${DSO_SOURCE_DIR}/FullSystem/FullSystemOptimize.cpp
${DSO_SOURCE_DIR}/FullSystem/FullSystemOptPoint.cpp
${DSO_SOURCE_DIR}/FullSystem/FullSystemDebugStuff.cpp
${DSO_SOURCE_DIR}/FullSystem/FullSystemMarginalize.cpp
${DSO_SOURCE_DIR}/FullSystem/Residuals.cpp
${DSO_SOURCE_DIR}/FullSystem/CoarseTracker.cpp
${DSO_SOURCE_DIR}/FullSystem/CoarseInitializer.cpp
${DSO_SOURCE_DIR}/FullSystem/ImmaturePoint.cpp
${DSO_SOURCE_DIR}/FullSystem/FullSystemOptPoint.cpp
${DSO_SOURCE_DIR}/FullSystem/FullSystemOptimize.cpp
${DSO_SOURCE_DIR}/FullSystem/HessianBlocks.cpp
${DSO_SOURCE_DIR}/FullSystem/ImmaturePoint.cpp
${DSO_SOURCE_DIR}/FullSystem/PixelSelector2.cpp
${DSO_SOURCE_DIR}/OptimizationBackend/EnergyFunctional.cpp
${DSO_SOURCE_DIR}/OptimizationBackend/AccumulatedTopHessian.cpp
${DSO_SOURCE_DIR}/OptimizationBackend/AccumulatedSCHessian.cpp
${DSO_SOURCE_DIR}/OptimizationBackend/EnergyFunctionalStructs.cpp
${DSO_SOURCE_DIR}/util/settings.cpp
${DSO_SOURCE_DIR}/util/Undistort.cpp
${DSO_SOURCE_DIR}/util/globalCalib.cpp
${DSO_SOURCE_DIR}/FullSystem/Residuals.cpp

${DSO_SOURCE_DIR}/FullSystem/CoarseInitializer.h
${DSO_SOURCE_DIR}/FullSystem/CoarseTracker.h
${DSO_SOURCE_DIR}/FullSystem/FullSystem.h
${DSO_SOURCE_DIR}/FullSystem/HessianBlocks.h
${DSO_SOURCE_DIR}/FullSystem/ImmaturePoint.h
${DSO_SOURCE_DIR}/FullSystem/PixelSelector.h
${DSO_SOURCE_DIR}/FullSystem/PixelSelector2.h
${DSO_SOURCE_DIR}/FullSystem/ResidualProjections.h
${DSO_SOURCE_DIR}/FullSystem/Residuals.h
${DSO_SOURCE_DIR}/IOWrapper/ImageDisplay.h
${DSO_SOURCE_DIR}/IOWrapper/ImageRW.h
${DSO_SOURCE_DIR}/IOWrapper/Output3DWrapper.h
${DSO_SOURCE_DIR}/IOWrapper/OutputWrapper/SampleOutputWrapper.h
${DSO_SOURCE_DIR}/OptimizationBackend/AccumulatedSCHessian.h
${DSO_SOURCE_DIR}/OptimizationBackend/AccumulatedTopHessian.h
${DSO_SOURCE_DIR}/OptimizationBackend/EnergyFunctional.h
${DSO_SOURCE_DIR}/OptimizationBackend/EnergyFunctionalStructs.h
${DSO_SOURCE_DIR}/OptimizationBackend/MatrixAccumulators.h
${DSO_SOURCE_DIR}/OptimizationBackend/RawResidualJacobian.h
${DSO_SOURCE_DIR}/util/DatasetReader.h
${DSO_SOURCE_DIR}/util/FrameShell.h
${DSO_SOURCE_DIR}/util/ImageAndExposure.h
${DSO_SOURCE_DIR}/util/IndexThreadReduce.h
${DSO_SOURCE_DIR}/util/MinimalImage.h
${DSO_SOURCE_DIR}/util/NumType.h
${DSO_SOURCE_DIR}/util/Undistort.h
${DSO_SOURCE_DIR}/util/globalCalib.h
${DSO_SOURCE_DIR}/util/globalFuncs.h
${DSO_SOURCE_DIR}/util/nanoflann.h
${DSO_SOURCE_DIR}/util/settings.h
)

set(dmvio_SOURCE_FILES
src/IMU/IMUIntegration.cpp
src/GTSAMIntegration/Sim3GTSAM.cpp
src/IMUInitialization/GravityInitializer.cpp
src/IMU/IMUTypes.cpp
src/IMU/IMUSettings.cpp
src/util/TimeMeasurement.cpp
src/util/SettingsUtil.cpp
src/GTSAMIntegration/AugmentedScatter.cpp
src/GTSAMIntegration/BAGTSAMIntegration.cpp
src/IMU/CoarseIMULogic.cpp
src/IMU/BAIMULogic.cpp
src/GTSAMIntegration/PoseTransformation.cpp
src/GTSAMIntegration/DelayedMarginalization.cpp
src/GTSAMIntegration/GTSAMUtils.cpp
src/GTSAMIntegration/Marginalization.cpp
src/GTSAMIntegration/PoseTransformationIMU.cpp
src/GTSAMIntegration/PoseTransformation.cpp
src/GTSAMIntegration/PoseTransformationFactor.cpp
src/IMUInitialization/CoarseIMUInitOptimizer.cpp
src/IMUInitialization/IMUInitializer.cpp
src/GTSAMIntegration/PoseTransformationIMU.cpp
src/GTSAMIntegration/Sim3GTSAM.cpp
src/IMU/BAIMULogic.cpp
src/IMU/CoarseIMULogic.cpp
src/IMU/IMUIntegration.cpp
src/IMU/IMUSettings.cpp
src/IMU/IMUTypes.cpp
src/IMU/IMUUtils.cpp
src/IMUInitialization/IMUInitSettings.cpp
src/GTSAMIntegration/GTSAMUtils.cpp
src/GTSAMIntegration/DelayedMarginalization.cpp
src/IMUInitialization/PoseGraphBundleAdjustment.cpp
src/util/SettingsUtil.cpp
src/util/TimeMeasurement.cpp
src/GTSAMIntegration/FEJValues.cpp
src/IMUInitialization/IMUInitializerStates.cpp
src/IMUInitialization/CoarseIMUInitOptimizer.cpp
src/IMUInitialization/GravityInitializer.cpp
src/IMUInitialization/IMUInitSettings.cpp
src/IMUInitialization/IMUInitializer.cpp
src/IMUInitialization/IMUInitializerLogic.cpp
src/IMUInitialization/IMUInitializerStates.cpp
src/IMUInitialization/IMUInitializerTransitions.cpp
src/GTSAMIntegration/AugmentedScatter.cpp
src/IMUInitialization/PoseGraphBundleAdjustment.cpp

src/GTSAMIntegration/AugmentedScatter.hpp
src/GTSAMIntegration/BAGTSAMIntegration.h
src/GTSAMIntegration/DelayedMarginalization.h
src/GTSAMIntegration/ExtUtils.h
src/GTSAMIntegration/FEJNoiseModelFactor.h
src/GTSAMIntegration/FEJValues.h
src/GTSAMIntegration/GTSAMUtils.h
src/GTSAMIntegration/Marginalization.h
src/GTSAMIntegration/PoseTransformation.h
src/GTSAMIntegration/PoseTransformationFactor.h
src/GTSAMIntegration/PoseTransformationIMU.h
src/GTSAMIntegration/Sim3GTSAM.h
src/IMUInitialization/CoarseIMUInitOptimizer.h
src/IMUInitialization/GravityInitializer.h
src/IMUInitialization/IMUInitSettings.h
src/IMUInitialization/IMUInitStateChanger.h
src/IMUInitialization/IMUInitializer.h
src/IMUInitialization/IMUInitializerLogic.h
src/IMUInitialization/IMUInitializerStates.h
src/IMUInitialization/IMUInitializerTransitions.h
src/IMUInitialization/PoseGraphBundleAdjustment.h
src/IMU/BAIMULogic.h
src/IMU/CoarseIMULogic.h
src/IMU/IMUIntegration.hpp
src/IMU/IMUSettings.h
src/IMU/IMUTypes.h
src/IMU/IMUUtils.h
src/util/GTData.hpp
src/util/SettingsUtil.h
src/util/TimeMeasurement.h
)


include_directories(
${PROJECT_SOURCE_DIR}/src
${PROJECT_SOURCE_DIR}/src/dso
${PROJECT_SOURCE_DIR}/thirdparty/Sophus
${PROJECT_SOURCE_DIR}/thirdparty/sse2neon
${EIGEN3_INCLUDE_DIR}
${GTSAM_INCLUDE_DIR}
)


# decide if we have pangolin
if (Pangolin_FOUND)
message("--- found PANGOLIN, compiling with pangolin library.")
include_directories( ${Pangolin_INCLUDE_DIRS} )
set(dso_pangolin_SOURCE_FILES
${DSO_SOURCE_DIR}/IOWrapper/Pangolin/KeyFrameDisplay.cpp
${DSO_SOURCE_DIR}/IOWrapper/Pangolin/PangolinDSOViewer.cpp)
${DSO_SOURCE_DIR}/IOWrapper/Pangolin/PangolinDSOViewer.cpp
${DSO_SOURCE_DIR}/IOWrapper/Pangolin/KeyFrameDisplay.h
${DSO_SOURCE_DIR}/IOWrapper/Pangolin/PangolinDSOViewer.h
)
set(HAS_PANGOLIN 1)
else ()
message("--- could not find PANGOLIN, not compiling with pangolin library.")
Expand Down Expand Up @@ -167,7 +223,24 @@ endif()
# compile main library.
include_directories( ${CSPARSE_INCLUDE_DIR} ${CHOLMOD_INCLUDE_DIR} ${YAML_CPP_INCLUDE_DIR})
add_library(dmvio ${dso_SOURCE_FILES} ${dmvio_SOURCE_FILES} ${dso_opencv_SOURCE_FILES} ${dso_pangolin_SOURCE_FILES})

target_link_libraries(dmvio PUBLIC
Eigen3::Eigen
GTSAM::gtsam
Boost::system Boost::thread Boost::filesystem Boost::chrono Boost::serialization Boost::date_time Boost::timer
#Boost::stacktrace
yaml-cpp::yaml-cpp
Sophus::Sophus
opencv::opencv_highgui
)
#target_compile_definitions(dmvio PRIVATE
# STACKTRACE
# BOOST_STACKTRACE_USE_ADDR2LINE
#)
if(MSVC)
target_compile_options(dmvio PRIVATE
"/wd4244;/wd4267;/wd4305;/wd4996"
)
endif()

if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin") # OSX
set(BOOST_THREAD_LIBRARY boost_thread-mt)
Expand All @@ -180,8 +253,11 @@ endif()
if (OpenCV_FOUND AND Pangolin_FOUND)
message("--- compiling dmvio_dataset.")
add_executable(dmvio_dataset ${PROJECT_SOURCE_DIR}/src/main_dmvio_dataset.cpp)
set(DMVIO_LINKED_LIBRARIES boost_system cxsparse ${BOOST_THREAD_LIBRARY} ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS} gtsam ${YAML_CPP_LIBRARIES} ${STACKTRACE_LIBRARIES})
target_link_libraries(dmvio_dataset dmvio ${DMVIO_LINKED_LIBRARIES})
target_link_libraries(dmvio_dataset
dmvio
${STACKTRACE_LIBRARIES} ${LIBZIP_LIBRARY}
${Pangolin_LIBRARIES}
)
else()
message("--- not building dmvio_dataset, since either don't have openCV or Pangolin.")
endif()
Expand Down
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