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‎.gitignore

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diff.txt
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temp

‎3rdparty/CMakeLists.txt

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cmake_minimum_required(VERSION 3.0)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} PARENT_SCOPE)
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include(config_external_project)
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set(FREEGLUT_ROOT_DIR freeglut-2.8.1)
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set(GLEW_ROOT_DIR glew-1.11.0)
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set(EIGEN_ROOT_DIR eigen-3.2.2)
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set(GFLAGS_ROOT_DIR gflags-2.1.1)
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set(GLOG_ROOT_DIR glog-0.3.3)
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set(SUITESPARSE_METIS_ROOT_DIR suitesparse-metis-for-windows-1.2.1)
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set(CERES_SOLVER_ROOT_DIR ceres-solver-1.9.0)
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set(OPENCV_ROOT_DIR opencv-git)
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set(DEBUG_DLL_GLOB_PATTERNS)
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set(RELEASE_DLL_GLOB_PATTERNS)
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# freeglut --------------------------------------------------
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ConfigExternalProject(freeglut
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SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/freeglut_cmake
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CMAKE_ARGS -DFREEGLUT_ROOT_DIR:STRING=${FREEGLUT_ROOT_DIR}
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-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=TRUE)
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# glew --------------------------------------------------
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ConfigExternalProject(glew
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SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/glew_cmake
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CMAKE_ARGS -DGLEW_ROOT_DIR:STRING=${GLEW_ROOT_DIR}
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-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=TRUE)
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# opencv ----------------------------------------------------
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ConfigExternalProject(OpenCV
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SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/${OPENCV_ROOT_DIR}
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CMAKE_ARGS -DBUILD_SHARED_LIBS:BOOL=TRUE
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CMAKE_CACHE_ARGS -DWITH_CUDA:BOOL=OFF
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-DBUILD_PERF_TESTS:BOOL=OFF
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-DBUILD_TESTS:BOOL=OFF
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-DBUILD_EXAMPLES:BOOL=OFF
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-DBUILD_DOCS:BOOL=OFF
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-DBUILD_ANDROID_EXAMPLES:BOOL=OFF
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-DBUILD_WITH_STATIC_CRT:BOOL=OFF
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-DWITH_TESTS:BOOL=OFF)
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set(OpenCV_STATIC OFF CACHE BOOL "")
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list(APPEND DEBUG_DLL_GLOB_PATTERNS "${EP_PREFIX}/${OpenCV_ARCH}/${OpenCV_RUNTIME}/bin/*0d.dll")
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list(APPEND DEBUG_DLL_GLOB_PATTERNS "${EP_PREFIX}/${OpenCV_ARCH}/${OpenCV_RUNTIME}/bin/opencv_ffmpeg300.dll") #FFMPEG has no debug version
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list(APPEND RELEASE_DLL_GLOB_PATTERNS "${EP_PREFIX}/${OpenCV_ARCH}/${OpenCV_RUNTIME}/bin/*0.dll")
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# gflags -----------------------------------------------------------------
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ConfigExternalProject(gflags
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SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/${GFLAGS_ROOT_DIR}
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CMAKE_ARGS -DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=TRUE
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CMAKE_CACHE_ARGS -DGFLAGS_NAMESPACE:STRING=google)
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# we must fix the gflags-config, the gflags target is gflags-static!
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if(WIN32)
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set(gflags_DIR "${EP_PREFIX}/CMake")
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else()
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set(gflags_DIR "${EP_PREFIX}/lib/cmake/gflags")
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endif()
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file(STRINGS "${gflags_DIR}/gflags-config.cmake" NVMARK REGEX "NVMARK")
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if(NOT NVMARK AND EXISTS "${gflags_DIR}/gflags-config.cmake")
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file(APPEND "${gflags_DIR}/gflags-config.cmake"
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"\n# NVMARK\nset(gflags_LIBRARIES gflags-static)\n")
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endif()
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# glog --------------------------------------------------------------------
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ConfigExternalProject(glog
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SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/glog_cmake
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CMAKE_ARGS -DGLOG_ROOT_DIR:STRING=${GLOG_ROOT_DIR}
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-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=TRUE
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CMAKE_CACHE_ARGS -DCMAKE_DEBUG_POSTFIX:STRING= )
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# suitesparse-metis -------------------------------------------------------
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set(suitesparse_dir "${CMAKE_CURRENT_SOURCE_DIR}/${SUITESPARSE_METIS_ROOT_DIR}")
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set(CFLAGS -Didxtype=idx_t)
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if(WIN32)
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set(SuiteSparse_USE_LAPACK_BLAS ON)
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set(WIN32_COMPLEX_FIX -DHAVE_COMPLEX_H:BOOL=OFF)
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endif()
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# SuiteSparse can't be compiled as dynamic library on Windows because it
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# doesn't specify dllexports
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ConfigExternalProject(SuiteSparse
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SOURCE_DIR ${suitesparse_dir}
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CMAKE_ARGS -DCMAKE_C_FLAGS:STRING=${CFLAGS}
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-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=TRUE
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CMAKE_CACHE_ARGS -DGKLIB_PATH:PATH=${suitesparse_dir}/metis/GKlib
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-DSUITESPARSE_INSTALL_PREFIX:PATH=${EP_PREFIX}
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${WIN32_COMPLEX_FIX}
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-DCMAKE_DEBUG_POSTFIX:STRING=)
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#file(STRINGS "${EP_PREFIX}/SuiteSparseConfig.cmake" NVMARK REGEX "NVMARK")
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#if(NOT NVMARK AND EXISTS "${EP_PREFIX}/SuiteSparseConfig.cmake")
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# file(APPEND "${EP_PREFIX}/SuiteSparseConfig.cmake"
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# "\n# NVMARK\ninclude(\${USE_SuiteSparse})\nmessage(AQUI------------------)\n")
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#endif()
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if(WIN32)
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list(APPEND DEBUG_DLL_GLOB_PATTERNS "${EP_PREFIX}/lib/lapack_blas_windows/*.dll")
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list(APPEND RELEASE_DLL_GLOB_PATTERNS "${EP_PREFIX}/lib/lapack_blas_windows/*.dll")
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endif()
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# eigen -------------------------------------------------------
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ConfigExternalProject(Eigen
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SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/${EIGEN_ROOT_DIR}
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CMAKE_ARGS -DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=TRUE)
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add_library(eigen INTERFACE)
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set(EIGEN_INCLUDE_DIR ${EP_PREFIX}/include/eigen3)
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target_include_directories(eigen INTERFACE ${EIGEN_INCLUDE_DIR})
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# ceres-solver ----------------------------------------------
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if(NOT MSVC)
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set(CXXFLAGS -Wno-error=unused-local-typedefs)
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else()
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set(CXXFLAGS "/DGOOGLE_GLOG_DLL_DECL= /MP")
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endif()
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if(WIN32)
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set(blas_lapack_packages MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake/lapack)
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endif()
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ConfigExternalProject(Ceres
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SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/${CERES_SOLVER_ROOT_DIR}
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${blas_lapack_packages}
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CMAKE_ARGS -DBUILD_SHARED_LIBS:BOOL=TRUE
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CMAKE_CACHE_ARGS
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-DCXSPARSE_LIBRARY:PATH=
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-DCMAKE_CXX_FLAGS:STRING=${CXXFLAGS}
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-DBUILD_TESTING:BOOL=OFF
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-DBUILD_EXAMPLES:BOOL=OFF
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-DSuiteSparse_USE_LAPACK_BLAS:BOOL=TRUE
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-DEIGEN_INCLUDE_DIR_HINTS:PATH=${EIGEN_INCLUDE_DIR}
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-DSUITESPARSE_INCLUDE_DIR_HINTS:PATH=${EP_PREFIX}/include/suitesparse
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-DCXSPARSE_CHECK_INCLUDE_DIRS:PATH=${EP_PREFIX}/include/suitesparse
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"-DSUITESPARSE_LIBRARY_DIR_HINTS:STRING=${EP_PREFIX}/lib\\\;${EP_PREFIX}/lib64"
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"-DCXSPARSE_CHECK_LIBRARY_DIRS:STRING=${EP_PREFIX}/lib\\\;${EP_PREFIX}/lib64")
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# ceres is such a pain... it insists in using its own Find*, we need to use
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# ours...
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if(WIN32)
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set(Ceres_DIR "${EP_PREFIX}/CMake")
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list(APPEND DEBUG_DLL_GLOB_PATTERNS "${EP_PREFIX}/bin/ceres-debug.dll")
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list(APPEND RELEASE_DLL_GLOB_PATTERNS "${EP_PREFIX}/bin/ceres.dll")
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else()
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set(Ceres_DIR "${EP_PREFIX}/share/Ceres")
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endif()
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execute_process(COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_SOURCE_DIR}/cmake/FindGlog.cmake" "${Ceres_DIR}")
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if(WIN32)
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file(GLOB RELEASE_DLL_LIBRARIES ${RELEASE_DLL_GLOB_PATTERNS})
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set(RELEASE_DLL_LIBRARIES "${RELEASE_DLL_LIBRARIES}" CACHE STRING "")
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file(GLOB DEBUG_DLL_LIBRARIES ${DEBUG_DLL_GLOB_PATTERNS})
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set(DEBUG_DLL_LIBRARIES "${DEBUG_DLL_LIBRARIES}" CACHE STRING "")
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endif()

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