Integrated DVO odometry approach

CMakeLists.txt

@@ -154,6 +154,7 @@ option(WITH_OCTOMAP       "Include Octomap support"              ON)
 option(WITH_CPUTSDF       "Include CPUTSDF support"              ON)
 option(WITH_FOVIS         "Include FOVIS support"                ON)
 option(WITH_VISO2         "Include VISO2 support"                ON)
+option(WITH_DVO           "Include DVO support"                  ON)
 option(PCL_OMP            "With PCL OMP implementations"         ON)
 
 FIND_PACKAGE(OpenCV REQUIRED QUIET)
@@ -360,6 +361,12 @@ IF(WITH_VISO2)
     ENDIF(libviso2_FOUND)
 ENDIF(WITH_VISO2)
 
+IF(WITH_DVO)
+    FIND_PACKAGE(dvo_core QUIET)
+    IF(dvo_core_FOUND)
+       MESSAGE(STATUS "Found dvo_core: ${dvo_core_INCLUDE_DIRS}")
+    ENDIF(dvo_core_FOUND)
+ENDIF(WITH_DVO)
 
 IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND)
    #Newest versions require std11
@@ -493,6 +500,11 @@ IF(NOT libviso2_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libviso2_LIBRARIES}) 
 ENDIF()
+IF(NOT dvo_core_FOUND)
+   SET(DVO "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${dvo_core_LIBRARIES}) 
+ENDIF()
 IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
    SET(CONF_VTK_QT true)
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
@@ -832,6 +844,14 @@ ELSE()
 MESSAGE(STATUS "  With libviso2             = NO (libviso2 not found)")
 ENDIF()
 
+IF(dvo_core_FOUND)
+MESSAGE(STATUS "  With dvo_core             = YES (License: GPLv3)")
+ELSEIF(NOT WITH_DVO)
+MESSAGE(STATUS "  With dvo_core             = NO (WITH_DVO=OFF)")
+ELSE()
+MESSAGE(STATUS "  With dvo_core             = NO (dvo_core not found)")
+ENDIF()
+
 IF(QT4_FOUND)
 MESSAGE(STATUS "  With Qt4                  = YES (License: Open Source or Commercial)")
 ELSEIF(Qt5_FOUND)