Initial commit with the first version of the code.

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "thirdparty/sse2neon"]
+	path = thirdparty/sse2neon
+	url = https://github.com/jratcliff63367/sse2neon.git
+[submodule "test/googletest"]
+	path = test/googletest
+	url = https://github.com/google/googletest.git

CMakeLists.txt

@@ -0,0 +1,189 @@
+SET(PROJECT_NAME DMVIO)
+
+PROJECT(${PROJECT_NAME})
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+
+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 ${PROJECT_SOURCE_DIR}/cmake)
+
+# required libraries
+find_package(SuiteParse REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(Boost COMPONENTS system thread filesystem chrono serialization date_time timer)
+find_package(GTSAM REQUIRED)
+find_package(yaml-cpp REQUIRED)
+
+IF(${Boost_VERSION} GREATER_EQUAL 106500)
+    message("Building with stacktrace support.")
+	set(STACKTRACE_LIBRARIES dl)
+	set(STACKTRACE_DEFINES "-DSTACKTRACE -DBOOST_STACKTRACE_USE_ADDR2LINE")
+ENDIF()
+
+# optional libraries
+find_package(LibZip QUIET)
+find_package(Pangolin 0.2 QUIET)
+find_package(OpenCV QUIET)
+
+
+IF(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+    MESSAGE(Mac OS X specific code)
+    include_directories(/usr/local/include)
+    link_directories(/usr/local/lib)
+ENDIF(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+
+
+# flags
+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(DSO_SOURCE_DIR ${PROJECT_SOURCE_DIR}/src/dso)
+
+# DSO Source files
+set(dso_SOURCE_FILES
+        ${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/HessianBlocks.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
+		)
+
+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/BAGTSAMIntegration.cpp
+		src/IMU/CoarseIMULogic.cpp
+		src/IMU/BAIMULogic.cpp
+		src/GTSAMIntegration/PoseTransformation.cpp
+		src/GTSAMIntegration/Marginalization.cpp
+		src/GTSAMIntegration/PoseTransformationIMU.cpp
+		src/GTSAMIntegration/PoseTransformationFactor.cpp
+        src/IMUInitialization/CoarseIMUInitOptimizer.cpp
+        src/IMUInitialization/IMUInitializer.cpp
+		src/IMU/IMUUtils.cpp
+        src/IMUInitialization/IMUInitSettings.cpp
+		src/GTSAMIntegration/GTSAMUtils.cpp
+		src/GTSAMIntegration/DelayedMarginalization.cpp
+        src/IMUInitialization/PoseGraphBundleAdjustment.cpp
+        src/GTSAMIntegration/FEJValues.cpp
+        src/IMUInitialization/IMUInitializerStates.cpp
+        src/IMUInitialization/IMUInitializerLogic.cpp
+        src/IMUInitialization/IMUInitializerTransitions.cpp
+		src/GTSAMIntegration/AugmentedScatter.cpp
+		)
+
+
+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)
+	set(HAS_PANGOLIN 1)
+else ()
+	message("--- could not find PANGOLIN, not compiling with pangolin library.")
+	message("    this means there will be no 3D display / GUI available for dmvio_dataset.")
+	set(dso_pangolin_SOURCE_FILES )
+	set(HAS_PANGOLIN 0)
+endif ()
+
+# decide if we have openCV
+if (OpenCV_FOUND)
+	message("--- found OpenCV, compiling with opencv library.")
+	include_directories( ${OpenCV_INCLUDE_DIRS} )
+	set(dso_opencv_SOURCE_FILES
+			${DSO_SOURCE_DIR}/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp
+			${DSO_SOURCE_DIR}/IOWrapper/OpenCV/ImageRW_OpenCV.cpp)
+	set(HAS_OPENCV 1)
+else ()
+	message("--- could not find OpenCV, not compiling with opencv library.")
+	message("    this means there will be no image display, and image read / load functionality.")
+	set(dso_opencv_SOURCE_FILES
+			${DSO_SOURCE_DIR}/IOWrapper/ImageDisplay_dummy.cpp
+			${DSO_SOURCE_DIR}/IOWrapper/ImageRW_dummy.cpp)
+	set(HAS_OPENCV 0)
+endif ()
+
+# decide if we have ziplib.
+if (LIBZIP_LIBRARY)
+	message("--- found ziplib (${LIBZIP_VERSION}), compiling with zip capability.")
+	add_definitions(-DHAS_ZIPLIB=1)
+	include_directories( ${LIBZIP_INCLUDE_DIR_ZIP} ${LIBZIP_INCLUDE_DIR_ZIPCONF} ) 
+else()
+	message("--- not found ziplib (${LIBZIP_LIBRARY}), compiling without zip capability.")
+	set(LIBZIP_LIBRARY "")
+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} ${dso_pangolin_SOURCE_FILES})
+
+
+if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin") # OSX
+    set(BOOST_THREAD_LIBRARY boost_thread-mt)
+else()
+    set(BOOST_THREAD_LIBRARY boost_thread)
+endif()
+
+
+# build main executable (only if we have both OpenCV and Pangolin)
+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})
+else()
+	message("--- not building dmvio_dataset, since either don't have openCV or Pangolin.")
+endif()
+
+add_subdirectory(test)