Simplify code layout into single cmakelists.txt

mp3guy · Apr 30, 2019 · e4e7217 · e4e7217
1 parent 25f9bd0
commit e4e7217
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Showing 119 changed files with 23 additions and 174 deletions.
diff --git a/GUI/src/CMakeLists.txt → CMakeLists.txt b/GUI/src/CMakeLists.txt → CMakeLists.txt
@@ -2,10 +2,11 @@ cmake_minimum_required(VERSION 2.6.0)
 
 project(ElasticFusion)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}")
-set(Pangolin_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../third-party/Pangolin/build/src" CACHE PATH "Pangolin build directory")
-set(OPENNI2_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../third-party/OpenNI2/Include" CACHE PATH "OpenNI2 Include directory")
-set(OPENNI2_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/../../third-party/OpenNI2/Bin/x64-Release/libOpenNI2.so" CACHE PATH "OpenNI2 library")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
+
+set(Pangolin_DIR "${CMAKE_CURRENT_SOURCE_DIR}/third-party/Pangolin/build/src" CACHE PATH "Pangolin build directory")
+set(OPENNI2_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/third-party/OpenNI2/Include" CACHE PATH "OpenNI2 Include directory")
+set(OPENNI2_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/third-party/OpenNI2/Bin/x64-Release/libOpenNI2.so" CACHE PATH "OpenNI2 library")
 
 find_package(LAPACK REQUIRED)
 find_package(BLAS REQUIRED)
@@ -14,16 +15,15 @@ find_package(JPEG REQUIRED)
 find_package(Pangolin 0.1 REQUIRED)
 find_package(CUDA REQUIRED)
 find_package(OpenNI2 REQUIRED)
-find_package(efusion REQUIRED)
 find_package(SuiteSparse REQUIRED)
 
 include_directories(${JPEG_INCLUDE_DIR})
 include_directories(${ZLIB_INCLUDE_DIR})
 include_directories(${EIGEN_INCLUDE_DIRS})
 include_directories(${Pangolin_INCLUDE_DIRS})
 include_directories(${CUDA_INCLUDE_DIRS})
-include_directories(${EFUSION_INCLUDE_DIR})
 include_directories(${OPENNI2_INCLUDE_DIR})
+include_directories(${SUITESPARSE_INCLUDE_DIRS})
 
 if(WITH_REALSENSE)
   include_directories(${REALSENSE_INCLUDE_DIR})
@@ -39,6 +39,8 @@ add_definitions(-Dlinux=1)
 set(CMAKE_CXX_FLAGS ${ADDITIONAL_CMAKE_CXX_FLAGS} "-O3 -msse2 -msse3 -Wall -std=c++11")
 #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -Wall -std=c++11")
 
+add_subdirectory(Core)
+
 add_executable(ElasticFusion 
                ${srcs}
                ${tools_srcs}
@@ -47,12 +49,12 @@ add_executable(ElasticFusion
 )
 
 target_link_libraries(ElasticFusion
+                      efusion
                       ${ZLIB_LIBRARY}
                       ${JPEG_LIBRARY}
                       ${Pangolin_LIBRARIES}
                       ${CUDA_LIBRARIES}
                       ${EXTRA_LIBS}
-                      ${EFUSION_LIBRARY}
                       ${OPENNI2_LIBRARY}
                       ${SUITESPARSE_LIBRARIES}
                       ${BLAS_LIBRARIES}

diff --git a/Core/src/CudaComputeTargetFlags.cmake → CMakeModules/CudaComputeTargetFlags.cmake b/Core/src/CudaComputeTargetFlags.cmake → CMakeModules/CudaComputeTargetFlags.cmake
diff --git a/GUI/src/FindBLAS.cmake → CMakeModules/FindBLAS.cmake b/GUI/src/FindBLAS.cmake → CMakeModules/FindBLAS.cmake
diff --git a/GUI/src/FindLAPACK.cmake → CMakeModules/FindLAPACK.cmake b/GUI/src/FindLAPACK.cmake → CMakeModules/FindLAPACK.cmake
diff --git a/GUI/src/FindOpenNI2.cmake → CMakeModules/FindOpenNI2.cmake b/GUI/src/FindOpenNI2.cmake → CMakeModules/FindOpenNI2.cmake
@@ -22,6 +22,8 @@ find_path(OPENNI2_INCLUDE_DIR OpenNI.h
             ${PC_OPENNI_INCLUDE_DIRS}
           PATHS
             "${PROGRAM_FILES}/OpenNI2/Include"
+            "${CMAKE_SOURCE_DIR}/../third-party/OpenNI2/Include"
+            "${CMAKE_SOURCE_DIR}/../../third-party/OpenNI2/Include"
             "${CMAKE_SOURCE_DIR}/../OpenNI2/Include"
             "${CMAKE_SOURCE_DIR}/../../OpenNI2/Include"
             "${CMAKE_SOURCE_DIR}/../../../OpenNI2/Include"

diff --git a/GUI/src/FindRealSense.cmake → CMakeModules/FindRealSense.cmake b/GUI/src/FindRealSense.cmake → CMakeModules/FindRealSense.cmake
diff --git a/Core/src/FindSuiteSparse.cmake → CMakeModules/FindSuiteSparse.cmake b/Core/src/FindSuiteSparse.cmake → CMakeModules/FindSuiteSparse.cmake
diff --git a/Core/src/CMakeLists.txt → Core/CMakeLists.txt b/Core/src/CMakeLists.txt → Core/CMakeLists.txt
@@ -2,14 +2,8 @@ cmake_minimum_required(VERSION 2.6.0)
 
 project(libefusion)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}")
-set(Pangolin_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../third-party/Pangolin/build/src" CACHE PATH "Pangolin build directory")
 set(efusion_SHADER_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Shaders" CACHE PATH "Where the shaders live")
 
-find_package(Pangolin 0.1 REQUIRED)
-find_package(CUDA REQUIRED)
-find_package(SuiteSparse REQUIRED)
-
 include_directories(${Pangolin_INCLUDE_DIRS})
 include_directories(${CUDA_INCLUDE_DIRS})
 include_directories(${EIGEN_INCLUDE_DIRS})
@@ -24,8 +18,7 @@ file(GLOB containers Cuda/containers/*.cpp)
 set(CUDA_ARCH_BIN "52" CACHE STRING "Specify 'real' GPU arch to build binaries for, BIN(PTX) format is supported. Example: 1.3 2.1(1.3) or 13 21(13)")
 set(CUDA_ARCH_PTX "" CACHE STRING "Specify 'virtual' PTX arch to build PTX intermediate code for. Example: 1.0 1.2 or 10 12")              
 
-SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR})
-include(CudaComputeTargetFlags.cmake)                  
+include("${CMAKE_MODULE_PATH}/CudaComputeTargetFlags.cmake")
 APPEND_TARGET_ARCH_FLAGS()
 
 set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}  "-Xcompiler;-fPIC;")           

diff --git a/Core/src/Cuda/containers/device_array.hpp → Core/Cuda/containers/device_array.hpp b/Core/src/Cuda/containers/device_array.hpp → Core/Cuda/containers/device_array.hpp
diff --git a/...src/Cuda/containers/device_array_impl.hpp → Core/Cuda/containers/device_array_impl.hpp b/...src/Cuda/containers/device_array_impl.hpp → Core/Cuda/containers/device_array_impl.hpp
diff --git a/Core/src/Cuda/containers/device_memory.cpp → Core/Cuda/containers/device_memory.cpp b/Core/src/Cuda/containers/device_memory.cpp → Core/Cuda/containers/device_memory.cpp
diff --git a/Core/src/Cuda/containers/device_memory.hpp → Core/Cuda/containers/device_memory.hpp b/Core/src/Cuda/containers/device_memory.hpp → Core/Cuda/containers/device_memory.hpp
diff --git a/...rc/Cuda/containers/device_memory_impl.hpp → Core/Cuda/containers/device_memory_impl.hpp b/...rc/Cuda/containers/device_memory_impl.hpp → Core/Cuda/containers/device_memory_impl.hpp
diff --git a/...src/Cuda/containers/kernel_containers.hpp → Core/Cuda/containers/kernel_containers.hpp b/...src/Cuda/containers/kernel_containers.hpp → Core/Cuda/containers/kernel_containers.hpp
diff --git a/Core/src/Cuda/convenience.cuh → Core/Cuda/convenience.cuh b/Core/src/Cuda/convenience.cuh → Core/Cuda/convenience.cuh
diff --git a/Core/src/Cuda/cudafuncs.cu → Core/Cuda/cudafuncs.cu b/Core/src/Cuda/cudafuncs.cu → Core/Cuda/cudafuncs.cu
diff --git a/Core/src/Cuda/cudafuncs.cuh → Core/Cuda/cudafuncs.cuh b/Core/src/Cuda/cudafuncs.cuh → Core/Cuda/cudafuncs.cuh
diff --git a/Core/src/Cuda/operators.cuh → Core/Cuda/operators.cuh b/Core/src/Cuda/operators.cuh → Core/Cuda/operators.cuh
diff --git a/Core/src/Cuda/reduce.cu → Core/Cuda/reduce.cu b/Core/src/Cuda/reduce.cu → Core/Cuda/reduce.cu
diff --git a/Core/src/Cuda/types.cuh → Core/Cuda/types.cuh b/Core/src/Cuda/types.cuh → Core/Cuda/types.cuh
diff --git a/Core/src/Deformation.cpp → Core/Deformation.cpp b/Core/src/Deformation.cpp → Core/Deformation.cpp
diff --git a/Core/src/Deformation.h → Core/Deformation.h b/Core/src/Deformation.h → Core/Deformation.h
diff --git a/Core/src/ElasticFusion.cpp → Core/ElasticFusion.cpp b/Core/src/ElasticFusion.cpp → Core/ElasticFusion.cpp
diff --git a/Core/src/ElasticFusion.h → Core/ElasticFusion.h b/Core/src/ElasticFusion.h → Core/ElasticFusion.h
diff --git a/Core/src/Ferns.cpp → Core/Ferns.cpp b/Core/src/Ferns.cpp → Core/Ferns.cpp
diff --git a/Core/src/Ferns.h → Core/Ferns.h b/Core/src/Ferns.h → Core/Ferns.h
diff --git a/Core/src/GPUTexture.cpp → Core/GPUTexture.cpp b/Core/src/GPUTexture.cpp → Core/GPUTexture.cpp
diff --git a/Core/src/GPUTexture.h → Core/GPUTexture.h b/Core/src/GPUTexture.h → Core/GPUTexture.h
diff --git a/Core/src/GlobalModel.cpp → Core/GlobalModel.cpp b/Core/src/GlobalModel.cpp → Core/GlobalModel.cpp
diff --git a/Core/src/GlobalModel.h → Core/GlobalModel.h b/Core/src/GlobalModel.h → Core/GlobalModel.h
diff --git a/Core/src/IndexMap.cpp → Core/IndexMap.cpp b/Core/src/IndexMap.cpp → Core/IndexMap.cpp
diff --git a/Core/src/IndexMap.h → Core/IndexMap.h b/Core/src/IndexMap.h → Core/IndexMap.h
diff --git a/Core/src/PoseMatch.h → Core/PoseMatch.h b/Core/src/PoseMatch.h → Core/PoseMatch.h
diff --git a/Core/src/Shaders/ComputePack.cpp → Core/Shaders/ComputePack.cpp b/Core/src/Shaders/ComputePack.cpp → Core/Shaders/ComputePack.cpp
diff --git a/Core/src/Shaders/ComputePack.h → Core/Shaders/ComputePack.h b/Core/src/Shaders/ComputePack.h → Core/Shaders/ComputePack.h
diff --git a/Core/src/Shaders/FeedbackBuffer.cpp → Core/Shaders/FeedbackBuffer.cpp b/Core/src/Shaders/FeedbackBuffer.cpp → Core/Shaders/FeedbackBuffer.cpp
diff --git a/Core/src/Shaders/FeedbackBuffer.h → Core/Shaders/FeedbackBuffer.h b/Core/src/Shaders/FeedbackBuffer.h → Core/Shaders/FeedbackBuffer.h
diff --git a/Core/src/Shaders/FillIn.cpp → Core/Shaders/FillIn.cpp b/Core/src/Shaders/FillIn.cpp → Core/Shaders/FillIn.cpp
diff --git a/Core/src/Shaders/FillIn.h → Core/Shaders/FillIn.h b/Core/src/Shaders/FillIn.h → Core/Shaders/FillIn.h
diff --git a/Core/src/Shaders/Resize.cpp → Core/Shaders/Resize.cpp b/Core/src/Shaders/Resize.cpp → Core/Shaders/Resize.cpp
diff --git a/Core/src/Shaders/Resize.h → Core/Shaders/Resize.h b/Core/src/Shaders/Resize.h → Core/Shaders/Resize.h
diff --git a/Core/src/Shaders/Shaders.h → Core/Shaders/Shaders.h b/Core/src/Shaders/Shaders.h → Core/Shaders/Shaders.h
diff --git a/Core/src/Shaders/Uniform.h → Core/Shaders/Uniform.h b/Core/src/Shaders/Uniform.h → Core/Shaders/Uniform.h
diff --git a/Core/src/Shaders/Vertex.cpp → Core/Shaders/Vertex.cpp b/Core/src/Shaders/Vertex.cpp → Core/Shaders/Vertex.cpp
diff --git a/Core/src/Shaders/Vertex.h → Core/Shaders/Vertex.h b/Core/src/Shaders/Vertex.h → Core/Shaders/Vertex.h
diff --git a/Core/src/Shaders/color.glsl → Core/Shaders/color.glsl b/Core/src/Shaders/color.glsl → Core/Shaders/color.glsl
diff --git a/Core/src/Shaders/combo_splat.frag → Core/Shaders/combo_splat.frag b/Core/src/Shaders/combo_splat.frag → Core/Shaders/combo_splat.frag
diff --git a/Core/src/Shaders/copy_unstable.geom → Core/Shaders/copy_unstable.geom b/Core/src/Shaders/copy_unstable.geom → Core/Shaders/copy_unstable.geom
diff --git a/Core/src/Shaders/copy_unstable.vert → Core/Shaders/copy_unstable.vert b/Core/src/Shaders/copy_unstable.vert → Core/Shaders/copy_unstable.vert
diff --git a/Core/src/Shaders/data.frag → Core/Shaders/data.frag b/Core/src/Shaders/data.frag → Core/Shaders/data.frag
diff --git a/Core/src/Shaders/data.geom → Core/Shaders/data.geom b/Core/src/Shaders/data.geom → Core/Shaders/data.geom
diff --git a/Core/src/Shaders/data.vert → Core/Shaders/data.vert b/Core/src/Shaders/data.vert → Core/Shaders/data.vert
diff --git a/Core/src/Shaders/depth_bilateral.frag → Core/Shaders/depth_bilateral.frag b/Core/src/Shaders/depth_bilateral.frag → Core/Shaders/depth_bilateral.frag
diff --git a/Core/src/Shaders/depth_metric.frag → Core/Shaders/depth_metric.frag b/Core/src/Shaders/depth_metric.frag → Core/Shaders/depth_metric.frag
diff --git a/Core/src/Shaders/depth_norm.frag → Core/Shaders/depth_norm.frag b/Core/src/Shaders/depth_norm.frag → Core/Shaders/depth_norm.frag
diff --git a/Core/src/Shaders/depth_splat.frag → Core/Shaders/depth_splat.frag b/Core/src/Shaders/depth_splat.frag → Core/Shaders/depth_splat.frag
diff --git a/Core/src/Shaders/draw_feedback.frag → Core/Shaders/draw_feedback.frag b/Core/src/Shaders/draw_feedback.frag → Core/Shaders/draw_feedback.frag
diff --git a/Core/src/Shaders/draw_feedback.vert → Core/Shaders/draw_feedback.vert b/Core/src/Shaders/draw_feedback.vert → Core/Shaders/draw_feedback.vert
diff --git a/Core/src/Shaders/draw_global_surface.frag → Core/Shaders/draw_global_surface.frag b/Core/src/Shaders/draw_global_surface.frag → Core/Shaders/draw_global_surface.frag
diff --git a/Core/src/Shaders/draw_global_surface.geom → Core/Shaders/draw_global_surface.geom b/Core/src/Shaders/draw_global_surface.geom → Core/Shaders/draw_global_surface.geom
diff --git a/Core/src/Shaders/draw_global_surface.vert → Core/Shaders/draw_global_surface.vert b/Core/src/Shaders/draw_global_surface.vert → Core/Shaders/draw_global_surface.vert
diff --git a/...rc/Shaders/draw_global_surface_phong.frag → Core/Shaders/draw_global_surface_phong.frag b/...rc/Shaders/draw_global_surface_phong.frag → Core/Shaders/draw_global_surface_phong.frag
diff --git a/Core/src/Shaders/empty.vert → Core/Shaders/empty.vert b/Core/src/Shaders/empty.vert → Core/Shaders/empty.vert
diff --git a/Core/src/Shaders/fill_normal.frag → Core/Shaders/fill_normal.frag b/Core/src/Shaders/fill_normal.frag → Core/Shaders/fill_normal.frag
diff --git a/Core/src/Shaders/fill_rgb.frag → Core/Shaders/fill_rgb.frag b/Core/src/Shaders/fill_rgb.frag → Core/Shaders/fill_rgb.frag
diff --git a/Core/src/Shaders/fill_vertex.frag → Core/Shaders/fill_vertex.frag b/Core/src/Shaders/fill_vertex.frag → Core/Shaders/fill_vertex.frag
diff --git a/Core/src/Shaders/fxaa.frag → Core/Shaders/fxaa.frag b/Core/src/Shaders/fxaa.frag → Core/Shaders/fxaa.frag
diff --git a/Core/src/Shaders/geometry.glsl → Core/Shaders/geometry.glsl b/Core/src/Shaders/geometry.glsl → Core/Shaders/geometry.glsl
diff --git a/Core/src/Shaders/index_map.frag → Core/Shaders/index_map.frag b/Core/src/Shaders/index_map.frag → Core/Shaders/index_map.frag
diff --git a/Core/src/Shaders/index_map.vert → Core/Shaders/index_map.vert b/Core/src/Shaders/index_map.vert → Core/Shaders/index_map.vert
diff --git a/Core/src/Shaders/init_unstable.vert → Core/Shaders/init_unstable.vert b/Core/src/Shaders/init_unstable.vert → Core/Shaders/init_unstable.vert
diff --git a/Core/src/Shaders/quad.geom → Core/Shaders/quad.geom b/Core/src/Shaders/quad.geom → Core/Shaders/quad.geom
diff --git a/Core/src/Shaders/resize.frag → Core/Shaders/resize.frag b/Core/src/Shaders/resize.frag → Core/Shaders/resize.frag
diff --git a/Core/src/Shaders/sample.geom → Core/Shaders/sample.geom b/Core/src/Shaders/sample.geom → Core/Shaders/sample.geom
diff --git a/Core/src/Shaders/sample.vert → Core/Shaders/sample.vert b/Core/src/Shaders/sample.vert → Core/Shaders/sample.vert
diff --git a/Core/src/Shaders/splat.vert → Core/Shaders/splat.vert b/Core/src/Shaders/splat.vert → Core/Shaders/splat.vert
diff --git a/Core/src/Shaders/surfels.glsl → Core/Shaders/surfels.glsl b/Core/src/Shaders/surfels.glsl → Core/Shaders/surfels.glsl
diff --git a/Core/src/Shaders/update.vert → Core/Shaders/update.vert b/Core/src/Shaders/update.vert → Core/Shaders/update.vert
diff --git a/Core/src/Shaders/vertex_feedback.geom → Core/Shaders/vertex_feedback.geom b/Core/src/Shaders/vertex_feedback.geom → Core/Shaders/vertex_feedback.geom
diff --git a/Core/src/Shaders/vertex_feedback.vert → Core/Shaders/vertex_feedback.vert b/Core/src/Shaders/vertex_feedback.vert → Core/Shaders/vertex_feedback.vert
diff --git a/Core/src/Shaders/visualise_textures.frag → Core/Shaders/visualise_textures.frag b/Core/src/Shaders/visualise_textures.frag → Core/Shaders/visualise_textures.frag
diff --git a/Core/src/Utils/CholeskyDecomp.cpp → Core/Utils/CholeskyDecomp.cpp b/Core/src/Utils/CholeskyDecomp.cpp → Core/Utils/CholeskyDecomp.cpp
diff --git a/Core/src/Utils/CholeskyDecomp.h → Core/Utils/CholeskyDecomp.h b/Core/src/Utils/CholeskyDecomp.h → Core/Utils/CholeskyDecomp.h
diff --git a/Core/src/Utils/DeformationGraph.cpp → Core/Utils/DeformationGraph.cpp b/Core/src/Utils/DeformationGraph.cpp → Core/Utils/DeformationGraph.cpp
diff --git a/Core/src/Utils/DeformationGraph.h → Core/Utils/DeformationGraph.h b/Core/src/Utils/DeformationGraph.h → Core/Utils/DeformationGraph.h
diff --git a/Core/src/Utils/GraphNode.h → Core/Utils/GraphNode.h b/Core/src/Utils/GraphNode.h → Core/Utils/GraphNode.h
diff --git a/Core/src/Utils/Img.h → Core/Utils/Img.h b/Core/src/Utils/Img.h → Core/Utils/Img.h
diff --git a/Core/src/Utils/Intrinsics.cpp → Core/Utils/Intrinsics.cpp b/Core/src/Utils/Intrinsics.cpp → Core/Utils/Intrinsics.cpp
diff --git a/Core/src/Utils/Intrinsics.h → Core/Utils/Intrinsics.h b/Core/src/Utils/Intrinsics.h → Core/Utils/Intrinsics.h
diff --git a/Core/src/Utils/Jacobian.h → Core/Utils/Jacobian.h b/Core/src/Utils/Jacobian.h → Core/Utils/Jacobian.h
diff --git a/Core/src/Utils/OdometryProvider.h → Core/Utils/OdometryProvider.h b/Core/src/Utils/OdometryProvider.h → Core/Utils/OdometryProvider.h
diff --git a/Core/src/Utils/OrderedJacobianRow.h → Core/Utils/OrderedJacobianRow.h b/Core/src/Utils/OrderedJacobianRow.h → Core/Utils/OrderedJacobianRow.h
diff --git a/Core/src/Utils/Parse.cpp → Core/Utils/Parse.cpp b/Core/src/Utils/Parse.cpp → Core/Utils/Parse.cpp
diff --git a/Core/src/Utils/Parse.h → Core/Utils/Parse.h b/Core/src/Utils/Parse.h → Core/Utils/Parse.h
diff --git a/Core/src/Utils/RGBDOdometry.cpp → Core/Utils/RGBDOdometry.cpp b/Core/src/Utils/RGBDOdometry.cpp → Core/Utils/RGBDOdometry.cpp
diff --git a/Core/src/Utils/RGBDOdometry.h → Core/Utils/RGBDOdometry.h b/Core/src/Utils/RGBDOdometry.h → Core/Utils/RGBDOdometry.h
diff --git a/Core/src/Utils/Resolution.cpp → Core/Utils/Resolution.cpp b/Core/src/Utils/Resolution.cpp → Core/Utils/Resolution.cpp
diff --git a/Core/src/Utils/Resolution.h → Core/Utils/Resolution.h b/Core/src/Utils/Resolution.h → Core/Utils/Resolution.h
diff --git a/Core/src/Utils/Stopwatch.h → Core/Utils/Stopwatch.h b/Core/src/Utils/Stopwatch.h → Core/Utils/Stopwatch.h
diff --git a/GUI/src/FindSuiteSparse.cmake b/GUI/src/FindSuiteSparse.cmake
diff --git a/GUI/src/Findefusion.cmake b/GUI/src/Findefusion.cmake
diff --git a/GUI/src/Main.cpp → Main.cpp b/GUI/src/Main.cpp → Main.cpp
diff --git a/GUI/src/MainController.cpp → MainController.cpp b/GUI/src/MainController.cpp → MainController.cpp
diff --git a/GUI/src/MainController.h → MainController.h b/GUI/src/MainController.h → MainController.h
@@ -16,8 +16,8 @@
  *
  */
 
-#include <ElasticFusion.h>
-#include <Utils/Parse.h>
+#include "Core/ElasticFusion.h"
+#include "Core/Utils/Parse.h"
 
 #include "Tools/GUI.h"
 #include "Tools/GroundTruthOdometry.h"

diff --git a/GUI/src/Tools/CameraInterface.h → Tools/CameraInterface.h b/GUI/src/Tools/CameraInterface.h → Tools/CameraInterface.h
diff --git a/GUI/src/Tools/GUI.h → Tools/GUI.h b/GUI/src/Tools/GUI.h → Tools/GUI.h
@@ -23,9 +23,9 @@
 #include <pangolin/gl/gl.h>
 #include <pangolin/gl/gldraw.h>
 #include <map>
-#include <GPUTexture.h>
-#include <Utils/Intrinsics.h>
-#include <Shaders/Shaders.h>
+#include "../Core/GPUTexture.h"
+#include "../Core/Utils/Intrinsics.h"
+#include "../Core/Shaders/Shaders.h"
 
 #define GL_GPU_MEM_INFO_CURRENT_AVAILABLE_MEM_NVX 0x9049
 

diff --git a/GUI/src/Tools/GroundTruthOdometry.cpp → Tools/GroundTruthOdometry.cpp b/GUI/src/Tools/GroundTruthOdometry.cpp → Tools/GroundTruthOdometry.cpp
diff --git a/GUI/src/Tools/GroundTruthOdometry.h → Tools/GroundTruthOdometry.h b/GUI/src/Tools/GroundTruthOdometry.h → Tools/GroundTruthOdometry.h
@@ -27,7 +27,7 @@
 #include <iostream>
 #include <fstream>
 #include <map>
-#include <Utils/OdometryProvider.h>
+#include "../Core/Utils/OdometryProvider.h"
 
 class GroundTruthOdometry
 {

diff --git a/GUI/src/Tools/JPEGLoader.h → Tools/JPEGLoader.h b/GUI/src/Tools/JPEGLoader.h → Tools/JPEGLoader.h
diff --git a/GUI/src/Tools/LiveLogReader.cpp → Tools/LiveLogReader.cpp b/GUI/src/Tools/LiveLogReader.cpp → Tools/LiveLogReader.cpp
diff --git a/GUI/src/Tools/LiveLogReader.h → Tools/LiveLogReader.h b/GUI/src/Tools/LiveLogReader.h → Tools/LiveLogReader.h
@@ -26,7 +26,7 @@
 #include <chrono>
 #include <thread>
 
-#include <Utils/Parse.h>
+#include "../Core/Utils/Parse.h"
 
 #include "LogReader.h"
 #include "CameraInterface.h"

diff --git a/GUI/src/Tools/LogReader.h → Tools/LogReader.h b/GUI/src/Tools/LogReader.h → Tools/LogReader.h
@@ -22,8 +22,8 @@
 #include <string>
 #include <zlib.h>
 #include <poll.h>
-#include <Utils/Img.h>
-#include <Utils/Resolution.h>
+#include "../Core/Utils/Img.h"
+#include "../Core/Utils/Resolution.h"
 
 #include "JPEGLoader.h"
 

diff --git a/GUI/src/Tools/OpenNI2Interface.cpp → Tools/OpenNI2Interface.cpp b/GUI/src/Tools/OpenNI2Interface.cpp → Tools/OpenNI2Interface.cpp
diff --git a/GUI/src/Tools/OpenNI2Interface.h → Tools/OpenNI2Interface.h b/GUI/src/Tools/OpenNI2Interface.h → Tools/OpenNI2Interface.h
diff --git a/GUI/src/Tools/RawLogReader.cpp → Tools/RawLogReader.cpp b/GUI/src/Tools/RawLogReader.cpp → Tools/RawLogReader.cpp
diff --git a/GUI/src/Tools/RawLogReader.h → Tools/RawLogReader.h b/GUI/src/Tools/RawLogReader.h → Tools/RawLogReader.h
@@ -19,8 +19,8 @@
 #ifndef RAWLOGREADER_H_
 #define RAWLOGREADER_H_
 
-#include <Utils/Resolution.h>
-#include <Utils/Stopwatch.h>
+#include "../Core/Utils/Resolution.h"
+#include "../Core/Utils/Stopwatch.h"
 #include <pangolin/utils/file_utils.h>
 
 #include "LogReader.h"

diff --git a/GUI/src/Tools/RealSenseInterface.cpp → Tools/RealSenseInterface.cpp b/GUI/src/Tools/RealSenseInterface.cpp → Tools/RealSenseInterface.cpp
diff --git a/GUI/src/Tools/RealSenseInterface.h → Tools/RealSenseInterface.h b/GUI/src/Tools/RealSenseInterface.h → Tools/RealSenseInterface.h
diff --git a/GUI/src/Tools/ThreadMutexObject.h → Tools/ThreadMutexObject.h b/GUI/src/Tools/ThreadMutexObject.h → Tools/ThreadMutexObject.h