Integrated Fovis (Odom/Strategy=2)

CMakeLists.txt

@@ -152,6 +152,7 @@ option(WITH_REALSENSE     "Include RealSense support"            ON)
 option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
 option(WITH_OCTOMAP       "Include Octomap support"              ON)
 option(WITH_CPUTSDF       "Include CPUTSDF support"              ON)
+option(WITH_FOVIS         "Include FOVIS support"                ON)
 option(PCL_OMP            "With PCL OMP implementations"         ON)
 
 FIND_PACKAGE(OpenCV REQUIRED QUIET)
@@ -344,6 +345,13 @@ IF(WITH_CPUTSDF)
     ENDIF(CPUTSDF_FOUND)
 ENDIF(WITH_CPUTSDF)
 
+IF(WITH_FOVIS)
+    FIND_PACKAGE(libfovis QUIET)
+    IF(libfovis_FOUND)
+       MESSAGE(STATUS "Found libfovis: ${libfovis_INCLUDE_DIRS}")
+    ENDIF(libfovis_FOUND)
+ENDIF(WITH_FOVIS)
+
 IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND)
    #Newest versions require std11
    IF(NOT MSVC)
@@ -466,6 +474,11 @@ IF(NOT CPUTSDF_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${CPUTSDF_LIBRARIES}) 
 ENDIF()
+IF(NOT libfovis_FOUND)
+   SET(FOVIS "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libfovis_LIBRARIES}) 
+ENDIF()
 IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
    SET(CONF_VTK_QT true)
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
@@ -789,6 +802,14 @@ ELSE()
 MESSAGE(STATUS "  With CPUTSDF              = NO (CPUTSDF not found)")
 ENDIF()
 
+IF(libfovis_FOUND)
+MESSAGE(STATUS "  With libfovis             = YES (License: GPLv2)")
+ELSEIF(NOT WITH_FOVIS)
+MESSAGE(STATUS "  With libfovis             = NO (WITH_FOVIS=OFF)")
+ELSE()
+MESSAGE(STATUS "  With libfovis             = NO (libfovis not found)")
+ENDIF()
+
 IF(QT4_FOUND)
 MESSAGE(STATUS "  With Qt4                  = YES (License: Open Source or Commercial)")
 ELSEIF(Qt5_FOUND)