Update CMakeLists.txt, build error persists.

CMakeLists.txt

@@ -33,33 +33,49 @@ set(CUHELPER_INCLUDE_DIR "${CMAKE_SOURCE_DIR}/cuda_helper")
 #Compile GladLib
 set(GLAD_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/glad/include")
 set(GLAD_SRC "${GLAD_INCLUDE_DIR}/../src/glad.c")
-add_library("GladLib" ${GLAD_SRC})
-target_include_directories("GladLib" PRIVATE "${GLAD_INCLUDE_DIR}")
+add_library(GladLib ${GLAD_SRC})
+target_include_directories(GladLib PRIVATE "${GLAD_INCLUDE_DIR}")
+
+add_library(ShaderProgram STATIC ShaderProgram.hpp)
+set_target_properties(ShaderProgram PROPERTIES LINKER_LANGUAGE CXX)
+target_link_libraries(ShaderProgram GladLib)
+
+add_library(Window STATIC Window.cpp)
+target_link_libraries(Window SDL2)
+
+add_library(Camera STATIC camera.cpp)
+target_link_libraries(Camera SDL2)
 
 #Compile CameraTrackingUtils
 #add_library(CameraTrackingUtils STATIC LinearSystem.cu CameraTrackingUtils.cu)
-add_library(CameraTrackingUtils STATIC Solver.cu CameraTrackingUtils.cu)
+add_library(CameraTrackingUtils STATIC SE3.hpp Solver.cpp Solver.cu CameraTracking.cpp CameraTrackingUtils.cu)
 set_target_properties(CameraTrackingUtils PROPERTIES LINKER_LANGUAGE CUDA)
 set_target_properties(CameraTrackingUtils PROPERTIES POSITION_INDEPENDENT_CODE ON)
 #set_target_properties(CameraTrackingUtils PROPERTIES CUDA_SEPARABLE_COMPILATION ON)
 
+add_library(Application STATIC Application.cpp)
+target_link_libraries(Application Camera)
+target_link_libraries(Application Window)
+#target_link_libraries(Application ShaderProgram)
+target_link_libraries(Application CameraTracking)
+
 set(INCLUDE_DIRS  ${INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS} ${CUHELPER_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIR} ${GLM_INCLUDE_DIR}
                 ${OPENGL_INCLUDE_DIRS} ${SDL2_INCLUDE_DIRS} ${GLAD_INCLUDE_DIR} ${Boost_INCLUDE_DIRS})  #${ARMADILLO_INCLUDE_DIR}
-
-set(LIBS ${LIBS} ${OPENGL_LIBRARY} ${CUDA_LIBRARIES}  ${SDL2_LIBRARIES} ${Boost_LIBRARIES} ${GladLib})  #${ARMADILLO_LIBRARY}
+set(LIBS ${LIBS} ${OPENGL_LIBRARY} ${CUDA_LIBRARIES}  ${SDL2_LIBRARIES} ${Boost_LIBRARIES} ${GladLib} ${ShaderProgram}
+  ${Window} ${Camera} ${Application})  #${ARMADILLO_LIBRARY}
 
 #specify include directory
 #include_directories(${CMAKE_SOURCE_DIR} )
 include_directories(${INCLUDE_DIRS})
 
-set(SOURCES common.h DepthMain.cpp camera.cpp Window.cpp Application.cpp Solver.cpp CameraTracking.cpp prereq.h ShaderProgram.hpp Frustum.cpp camera.h Window.h
-  Application.h Frustum.h CameraTracking.h Solver.h EigenUtil.h termcolor.hpp DebugHelper.hpp ${GLAD_SRC})
+set(HEADERS prereq.h common.h camera.h Window.h ShaderProgram.hpp Solver.h CameraTracking.h Application.h EigenUtil.h termcolor.hpp DebugHelper.hpp)
+set(SOURCES DepthMain.cpp ${GLAD_SRC})  #Frustum.cpp Frustum.h Application.cpp camera.cpp Window.cpp
 
 
-add_executable(${PROJECT_NAME} ${SOURCES})
+add_executable(${PROJECT_NAME} ${SOURCES} ) #${HEADERS}
 
 #Link all obj files
-target_link_libraries(${PROJECT_NAME}   CameraTrackingUtils ${LIBS} SDL2 -lcublas)  #SDL2::SDL2
+target_link_libraries(${PROJECT_NAME} ${LIBS} Application CameraTrackingUtils SDL2 -lcublas)  #SDL2::SDL2
 
 #Now copy shaders to build directory
 

EigenUtil.h

@@ -8,35 +8,12 @@
 #include <unsupported/Eigen/MatrixFunctions>
 
 using Matrix6x7f = Eigen::Matrix<float, 6, 7>;
-using Matrix6x6f = Eigen::Matrix<float, 6, 6, Eigen::RowMajor>;
+//using Matrix6x6f = Eigen::Matrix<float, 6, 6, Eigen::RowMajor>;
+using Matrix6x6f = Eigen::Matrix<float, 6, 6>;
 using Matrix4x4f = Eigen::Matrix<float, 4, 4>;
 using Matrix3x3f = Eigen::Matrix<float, 3, 3>;
 using Vector6f = Eigen::Matrix<float, 6, 1>;
 using Vector4f = Eigen::Matrix<float, 4, 1>;
 
-// Takes SE3 group object, linearly approximates rotation, returns projected matrix in real space
-Matrix4x4f SE3Exp(const Vector6f& twist) {
-  Matrix4x4f M;
-  M <<       0, -twist(5), twist(4), twist(0),
-       twist(5),       0, -twist(3), twist(1),
-      -twist(4), twist(3),       0,  twist(2),
-             0,        0,        0,        0;
-  return M.exp();
-}
-
-// Takes SE3 Lie algebra, projects it to abstract SE3 space
-Vector6f SE3Log(const Matrix4x4f& transform)  {
-  Matrix4x4f M = transform.log();
-  Vector6f twist;
-  twist << M(0,3), M(1,3), M(2,3), M(2,1), M(0,2), M(1,0);
-  return twist;
-}
-
-// Notice. While we store rotation/translations as SE3 group elements, we need to
-// project them back to real space in order to compute any meaningful transform between
-// them because transform directly in abstract space is not possible
-Vector6f updateTransform(const Vector6f& perturbation, const Vector6f prev_estimate)  {
-  return SE3Log(SE3Exp(perturbation)*SE3Exp(prev_estimate));
-}
 
 #endif //EIGEN_UTIL

SE3.hpp

@@ -0,0 +1,33 @@
+#ifndef SE3_HPP
+#define SE3_HPP
+
+#include "EigenUtil.h"
+
+// Takes SE3 group object, linearly approximates rotation, returns projected matrix in real space
+Matrix4x4f SE3Exp(const Vector6f& twist) {
+  Matrix4x4f M;
+  M <<       0, -twist(5), twist(4), twist(0),
+       twist(5),       0, -twist(3), twist(1),
+      -twist(4), twist(3),       0,  twist(2),
+             0,        0,        0,        0;
+  return M.exp();
+}
+
+// Takes SE3 Lie algebra, projects it to abstract SE3 space
+Vector6f SE3Log(const Matrix4x4f& transform)  {
+  Matrix4x4f M = transform.log();
+  Vector6f twist;
+  twist << M(0,3), M(1,3), M(2,3), M(2,1), M(0,2), M(1,0);
+  return twist;
+}
+
+// Notice. While we store rotation/translations as SE3 group elements, we need to
+// project them back to real space in order to compute any meaningful transform between
+// them because transform directly in abstract space is not possible
+Vector6f updateTransform(const Vector6f& perturbation, const Vector6f prev_estimate)  {
+  return SE3Log(SE3Exp(perturbation)*SE3Exp(prev_estimate));
+}
+
+
+
+#endif

Solver.h

@@ -7,6 +7,8 @@
 #include "cuda_helper/helper_cuda.h"
 #include <cublas_v2.h>
 #include <cuda_runtime.h>
+#include "SE3.hpp"
+
 //#include <thrust/device_vector.h>
 //#include <thrust/device_ptr.h>