Merge pull request #202 from SPARK/feature/catkin_build

feature/CMake cleanup + catkin build
MIT-SPARK · Sep 18, 2019 · 4925c4e · 4925c4e
2 parents 4e6a847 + 5d786fe
commit 4925c4e
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Showing 7 changed files with 35 additions and 45 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -12,7 +12,7 @@ endif()
 message(STATUS "===============================================================")
 message(STATUS "====================  Dependencies ============================")
 
-### Include the boost directory
+### System Dependencies
 find_package(Boost REQUIRED COMPONENTS filesystem serialization regex timer date_time thread)
 if(NOT TARGET Boost::boost)
   add_library(Boost::boost INTERFACE IMPORTED)
@@ -21,31 +21,13 @@ if(NOT TARGET Boost::boost)
   INTERFACE_INCLUDE_DIRECTORIES "${Boost_INCLUDE_DIRS}")
 endif()
 
-### Find the GTSAM package
 find_package(GTSAM REQUIRED)
-if(GTSAM_FOUND)
-  message(STATUS "FOUND GTSAM! ${OpenCV_INCLUDE_DIRS}")
-endif(GTSAM_FOUND)
-
-### Find the OpenGV package
 find_package(opengv REQUIRED)
-if(opengv_FOUND)
-  message(STATUS "FOUND OpenGV!")
-endif(opengv_FOUND)
-
-### Find opencv
 find_package(OpenCV 3.3.1 REQUIRED)
-if(OpenCV_FOUND)
-  message(STATUS "FOUND OpenCV!")
-endif(OpenCV_FOUND)
 
 ### External Dependencies
 include(ExternalProject)
-
-### Include the gflags directory
 include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/gflags.cmake)
-
-### Include the glog directory
 include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/glog.cmake)
 
 ### Compile the code
@@ -95,14 +77,15 @@ target_link_libraries(SparkVio
     opengv
   PUBLIC
     Boost::boost
-    ${OpenCV_LIBS}
+    ${OpenCV_LIBRARIES} # TODO: modernize
     gflags::gflags
     glog::glog
     gtsam
     gtsam_unstable
 )
 target_include_directories(SparkVio
   PUBLIC
+    ${OpenCV_INCLUDE_DIRS}
     ${GTSAM_INCLUDE_DIR}
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
     $<INSTALL_INTERFACE:src>

diff --git a/README.md b/README.md
@@ -109,7 +109,7 @@ cd SparkVIO
 
 We provide a ROS wrapper of SparkVIO that you can find at: https://github.mit.edu/SPARK/spark_vio_ros.
 
-Alternatively, you may be interested in using SparkVIO as a library by depending on it via catkin: https://github.mit.edu/SPARK/spark_vio_catkin
+This library can be cloned into a catkin workspace and built alongside the ROS wrapper.
 
 # 3. Parameters
 SparkVIO accepts two sources of parameters:

diff --git a/cmake/gflags.cmake b/cmake/gflags.cmake
@@ -1,13 +1,11 @@
 if (NOT __GFLAGS_INCLUDED) # guard against multiple includes
   set(__GFLAGS_INCLUDED TRUE)
 
-  # use the system-wide gflags if present
-  set(GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION TRUE)
-  #find_package(Gflags QUIET)
+  # Try the system-wide gflags first.
+  # Note: System-wide gflags causes linker issues on current Ubuntu LTS
+  #find_package(gflags QUIET)
   if (gflags_FOUND)
     message(STATUS "FOUND gflags!")
-    #message(STATUS "GFLAGS libs: ${GFLAGS_LIBRARIES}")
-    #message(STATUS "GFLAGS includes: ${GFLAGS_INCLUDE_DIR}")
   else()
     message(STATUS "NOT FOUND gflags! Will be downloaded from github.")
 
@@ -26,12 +24,11 @@ if (NOT __GFLAGS_INCLUDED) # guard against multiple includes
     endif()
 
     set(GFLAGS_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GFLAGS_EXTRA_COMPILER_FLAGS}")
-    set(GFLAGS_C_FLAGS "${CMAKE_C_FLAGS} ${GFLAGS_EXTRA_COMPILER_FLAGS}")
 
     ExternalProject_Add(gflags
       PREFIX ${gflags_PREFIX}
       GIT_REPOSITORY "https://github.com/gflags/gflags.git"
-      GIT_TAG "v2.1.2"
+      GIT_TAG "v2.2.2"
       UPDATE_COMMAND ""
       INSTALL_DIR ${gflags_INSTALL}
       CMAKE_ARGS -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
@@ -40,10 +37,7 @@ if (NOT __GFLAGS_INCLUDED) # guard against multiple includes
                  -DGFLAGS_NAMESPACE=google
                  -DBUILD_PACKAGING=OFF
                  -DBUILD_TESTING=OFF
-                 -DBUILD_NC_TESTS=OFF
-                 -DBUILD_CONFIG_TESTS=OFF
                  -DINSTALL_HEADERS=ON
-                 -DCMAKE_C_FLAGS=${GFLAGS_C_FLAGS}
                  -DCMAKE_CXX_FLAGS=${GFLAGS_CXX_FLAGS}
       LOG_DOWNLOAD 1
       LOG_INSTALL 1

diff --git a/cmake/glog.cmake b/cmake/glog.cmake
@@ -4,12 +4,11 @@ include("cmake/gflags.cmake")
 if (NOT __GLOG_INCLUDED)
   set(__GLOG_INCLUDED TRUE)
 
-  # try the system-wide glog first
+  # Try the system-wide glog first.
+  # Note: Glog < 0.3.5 doesn't include CMake support, and system-wide glog causes linker issues on current Ubuntu LTS
   #find_package(glog QUIET)
-  if (GLOG_FOUND)
+  if (glog_FOUND)
     message(STATUS "FOUND glog!")
-    message(STATUS "GLOG libs: ${GLOG_LIBRARIES}")
-    message(STATUS "GLOG includes: ${GLOG_INCLUDE_DIR}")
   else()
     # Fetch and build glog from github
     message(STATUS "NOT FOUND glog! Will be downloaded from github.")
@@ -37,13 +36,16 @@ if (NOT __GLOG_INCLUDED)
       DEPENDS ${GLOG_DEPENDS}
       PREFIX ${GLOG_PREFIX}
       GIT_REPOSITORY "https://github.com/google/glog"
-      GIT_TAG "v0.3.4"
+      GIT_TAG "v0.4.0"
       UPDATE_COMMAND ""
       INSTALL_DIR ${GLOG_INSTALL}
-      PATCH_COMMAND autoreconf -i ${GLOG_PREFIX}/src/glog
-      CONFIGURE_COMMAND env "CFLAGS=${GLOG_C_FLAGS}" "CXXFLAGS=${GLOG_CXX_FLAGS}" ${GLOG_PREFIX}/src/glog/configure --prefix=${GLOG_INSTALL} --enable-shared=no --enable-static=yes  --with-gflags=${gflags_INSTALL}
+      CMAKE_ARGS -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+                 -DCMAKE_INSTALL_PREFIX=${GLOG_INSTALL}
+                 -DBUILD_SHARED_LIBS=OFF
+                 -DBUILD_TESTING=OFF
+                 -DCMAKE_C_FLAGS=${GLOG_C_FLAGS}
+                 -DCMAKE_CXX_FLAGS=${GLOG_CXX_FLAGS}
       LOG_DOWNLOAD 1
-      LOG_CONFIGURE 1
       LOG_INSTALL 1
       )
 

diff --git a/package.xml b/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>SparkVio</name>
+  <version>0.0.1</version>
+  <description>SparkVio</description>
+
+  <maintainer email="[email protected]"></maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <export>
+    <!-- Specify that this is not really a catkin package-->
+    <build_type>cmake</build_type>
+  </export>
+</package>
+
diff --git a/src/UtilsOpenCV.cpp b/src/UtilsOpenCV.cpp
@@ -31,11 +31,6 @@
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/navigation/ImuBias.h>
 
-#include <opencv2/features2d/features2d.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <opencv2/opencv.hpp>
-
 namespace VIO {
 
 /* -------------------------------------------------------------------------- */

diff --git a/src/UtilsOpenCV.h b/src/UtilsOpenCV.h
@@ -21,7 +21,7 @@
 
 #include <Eigen/Core>
 
-#include <opencv2/core/core.hpp>
+#include <opencv2/opencv.hpp>
 
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/geometry/Unit3.h>