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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0)
project(ORB_SLAM2)
IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Release)
ENDIF()
MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
# Debug
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g")
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
add_definitions(-DCOMPILEDWITHC11)
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
set(Ceres_DIR "/home/dknt/Library/install_ceres_210/lib/cmake/Ceres")
find_package(Ceres REQUIRED)
find_package(fmt REQUIRED)
find_package(OpenCV REQUIRED)
message(${OpenCV_VERSION})
find_package(Eigen3 REQUIRED NO_MODULE)
# message(${EIGEN3_VERSION})
find_package(Pangolin REQUIRED)
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${Ceres_INDLUDES}
)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/SlamResidual.cc
src/CeresOptimizer.cc
)
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${CERES_LIBRARIES}
fmt::fmt
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
)
# Build examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})
add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})
add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})
add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})
##################################################################################################
find_package(realsense2 REQUIRED)
include_directories(
${realsense_INCLUDE_DIR}
)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Realsense)
add_executable(d435i_rgbd
Examples/Realsense/d435i_rgbd.cc)
target_link_libraries(d435i_rgbd
${PROJECT_NAME}
${realsense2_LIBRARY}
)