From 3ac13d4ee6903e2bd0832109c0d3c6296d92912a Mon Sep 17 00:00:00 2001
From: Pau Gargallo <pau.gargallo@gmail.com>
Date: Thu, 16 Jun 2016 10:28:12 +0200
Subject: [PATCH] Make SLAM build optional

Former-commit-id: d38ccab000a5fe946e69bc40669c9419958813c8
---
 CMakeLists.txt                         |  4 +++-
 SuperBuild/CMakeLists.txt              | 10 ++++++++--
 SuperBuild/cmake/External-OpenCV.cmake |  4 ++--
 modules/CMakeLists.txt                 |  4 +++-
 4 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4ca45386..a8a441d8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,5 +12,7 @@ set(CMAKE_PREFIX_PATH "${CMAKE_CURRENT_SOURCE_DIR}/SuperBuild/install")
 # move binaries to the same bin directory
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 
+option(ODM_BUILD_SLAM "Build SLAM module" OFF)
+
 # Add ODM sub-modules
-add_subdirectory(modules)
\ No newline at end of file
+add_subdirectory(modules)
diff --git a/SuperBuild/CMakeLists.txt b/SuperBuild/CMakeLists.txt
index 5d77b648..f7a68d19 100644
--- a/SuperBuild/CMakeLists.txt
+++ b/SuperBuild/CMakeLists.txt
@@ -11,6 +11,8 @@ set(CMAKE_MODULE_PATH ${SB_ROOT_DIR}/cmake)
 include(ExternalProject)
 include(ExternalProject-Setup)
 
+option(ODM_BUILD_SLAM "Build SLAM module" OFF)
+
 
 ################################
 # Setup SuperBuild directories #
@@ -101,10 +103,14 @@ set(custom_libs OpenGV
 				CMVS
 				Catkin
 				Ecto
-				PDAL
-				LAStools
+				PDAL)
+
+# Dependencies of the SLAM module
+if(ODM_BUILD_SLAM)
+	list(APPEND custom_libs
 				Pangolin
 				ORB_SLAM2)
+endif()
 
 foreach(lib ${custom_libs})
 	SETUP_EXTERNAL_PROJECT_CUSTOM(${lib})
diff --git a/SuperBuild/cmake/External-OpenCV.cmake b/SuperBuild/cmake/External-OpenCV.cmake
index 0e39d6b1..232059c9 100644
--- a/SuperBuild/cmake/External-OpenCV.cmake
+++ b/SuperBuild/cmake/External-OpenCV.cmake
@@ -27,9 +27,9 @@ ExternalProject_Add(${_proj_name}
     -DBUILD_opencv_photo=ON
     -DBUILD_opencv_legacy=ON
     -DBUILD_opencv_python=ON
-    -DWITH_FFMPEG=ON
+    -DWITH_FFMPEG=${ODM_BUILD_SLAM}
     -DWITH_CUDA=OFF
-    -DWITH_GTK=ON
+    -DWITH_GTK=${ODM_BUILD_SLAM}
     -DWITH_VTK=OFF
     -DWITH_EIGEN=OFF
     -DWITH_OPENNI=OFF
diff --git a/modules/CMakeLists.txt b/modules/CMakeLists.txt
index 54d4f04d..d4f15cfe 100644
--- a/modules/CMakeLists.txt
+++ b/modules/CMakeLists.txt
@@ -4,4 +4,6 @@ add_subdirectory(odm_georef)
 add_subdirectory(odm_meshing)
 add_subdirectory(odm_orthophoto)
 add_subdirectory(odm_texturing)
-add_subdirectory(odm_slam)
+if (ODM_BUILD_SLAM)
+  add_subdirectory(odm_slam)
+endif ()