Make SLAM build optional

Former-commit-id: d38ccab000

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)
+add_subdirectory(modules)

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})

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

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 ()