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CMakeLists.txt
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project( GF_PL_SLAM )
cmake_minimum_required(VERSION 2.7)
MESSAGE("CMake Build Type: " ${CMAKE_BUILD_TYPE})
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
find_package(OpenCV 3 REQUIRED)
MESSAGE("OpenCV include dir: " ${OpenCV_INCLUDE_DIRS})
find_package(Boost REQUIRED COMPONENTS thread system filesystem)
find_package(Eigen3 REQUIRED)
MESSAGE("EIGEN include dir: " ${EIGEN3_INCLUDE_DIR})
# set( G2O_DIR /opt/g2o/lib/g2o/ )
# find_package(G2O REQUIRED)
# MESSAGE("G2O include dir: " ${G2O_INCLUDE_DIR})
# MESSAGE("G2O libraries " ${G2O_LIBRARIES})
set (G2O_INCLUDE_DIR /home/pang/software/g2o_install/include)
set (G2O_LIBRARIES
/home/pang/software/g2o_install/lib/libg2o_cli.so
/home/pang/software/g2o_install/lib/libg2o_core.so
/home/pang/software/g2o_install/lib/libg2o_csparse_extension.so
/home/pang/software/g2o_install/lib/libg2o_ext_freeglut_minimal.so
/home/pang/software/g2o_install/lib/libg2o_hierarchical.so
/home/pang/software/g2o_install/lib/libg2o_incremental.so
/home/pang/software/g2o_install/lib/libg2o_interactive.so
/home/pang/software/g2o_install/lib/libg2o_interface.so
/home/pang/software/g2o_install/lib/libg2o_opengl_helper.so
/home/pang/software/g2o_install/lib/libg2o_parser.so
/home/pang/software/g2o_install/lib/libg2o_simulator.so
/home/pang/software/g2o_install/lib/libg2o_solver_cholmod.so
/home/pang/software/g2o_install/lib/libg2o_solver_csparse.so
/home/pang/software/g2o_install/lib/libg2o_solver_dense.so
/home/pang/software/g2o_install/lib/libg2o_solver_pcg.so
/home/pang/software/g2o_install/lib/libg2o_solver_slam2d_linear.so
/home/pang/software/g2o_install/lib/libg2o_solver_structure_only.so
/home/pang/software/g2o_install/lib/libg2o_stuff.so
/home/pang/software/g2o_install/lib/libg2o_types_data.so
/home/pang/software/g2o_install/lib/libg2o_types_icp.so
/home/pang/software/g2o_install/lib/libg2o_types_sba.so
/home/pang/software/g2o_install/lib/libg2o_types_sclam2d.so
/home/pang/software/g2o_install/lib/libg2o_types_sim3.so
/home/pang/software/g2o_install/lib/libg2o_types_slam2d_addons.so
/home/pang/software/g2o_install/lib/libg2o_types_slam2d.so
/home/pang/software/g2o_install/lib/libg2o_types_slam3d_addons.so
/home/pang/software/g2o_install/lib/libg2o_types_slam3d.so)
find_package(Cholmod REQUIRED)
if(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)
link_directories(${OpenCV_LIBS_DIR})
include_directories(${OpenCV2_INCLUDE_DIRS})
set(DEFAULT_HAS_MRPT OFF)
set(HAS_MRPT ${DEFAULT_HAS_MRPT} CACHE BOOL "Build the PointGrey Bumblebee2 SVO application that employs the MRPT library")
SET(BUILD_SHARED_LIBS ON)
SET(CMAKE_MODULE_PATH $ENV{CMAKE_MODULE_PATH})
# SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -O3 -mtune=native -march=native")
# SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -O3 -mtune=native -march=native")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c++11 -Wl,--no-as-needed -pthread -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wl,--no-as-needed -pthread -Wall -O3 -march=native")
MESSAGE(">>>>> Compiler flags are: " ${CMAKE_CXX_FLAGS})
# MRPT library (optional, only with representation purposes)
if(HAS_MRPT)
set(MRPT_DIR /home/pang/software/mrpt_install/share/mrpt )
FIND_PACKAGE(MRPT REQUIRED base opengl gui hwdrivers)
set(MRPT_DONT_USE_DBG_LIBS 1) #use release libraries for linking even if "Debug" CMake build
add_definitions(-DHAS_MRPT)
endif(HAS_MRPT)
MESSAGE("MRPT libraries " ${MRPT_LIBS})
# YAML library
# set(YAML_CPP_INCLUDE_DIRS /usr/include/yaml-cpp/)
# set(YAML_CPP_LIBRARIES /usr/lib/x86_64-linux-gnu/libyaml-cpp.so)
find_library(YAML_CPP_LIBRARIES yaml-cpp)
if(NOT YAML_CPP_LIBRARIES)
# If yaml-cpp not found in the system, try finding it as a user CMake-generated project
find_package(yaml-cpp REQUIRED)
include_directories(${YAML_CPP_INCLUDE_DIRS})
endif(NOT YAML_CPP_LIBRARIES)
MESSAGE("YAML libraries " ${YAML_CPP_LIBRARIES})
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/build)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
# Include dirs
include_directories(
include
${YAML_CPP_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/3rdparty/DBoW2/DBoW2/
${PROJECT_SOURCE_DIR}/3rdparty/line_descriptor/include/
${G2O_INCLUDE_DIR}
${EIGEN3_INCLUDE_DIR}
/usr/include/suitesparse # for cholmod
)
# Set link libraries
list(APPEND LINK_LIBS
${YAML_CPP_LIBRARIES}
${OpenCV_LIBS}
${Boost_LIBRARIES}
cholmod
${G2O_LIBRARIES}
${PROJECT_SOURCE_DIR}/3rdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/3rdparty/line_descriptor/lib/liblinedesc.so
)
# Set source files
if(HAS_MRPT)
list(APPEND SOURCEFILES
src/linespec.cpp
src/config.cpp
src/auxiliar.cpp
src/pinholeStereoCamera.cpp
src/stereoFeatures.cpp
src/stereoFrame.cpp
src/stereoFrameHandler.cpp
src/mapHandler.cpp
src/mapFeatures.cpp
src/keyFrame.cpp
src/voScene.cpp
src/slamScene.cpp
src/ORBextractor.cc
)
else()
list(APPEND SOURCEFILES
src/linespec.cpp
src/config.cpp
src/auxiliar.cpp
src/pinholeStereoCamera.cpp
src/stereoFeatures.cpp
src/stereoFrame.cpp
src/stereoFrameHandler.cpp
src/mapHandler.cpp
src/mapFeatures.cpp
src/keyFrame.cpp
src/ORBextractor.cc
)
endif()
# List all files (headers) contained by StVO-PL library
file(GLOB_RECURSE all_include_files RELATIVE "${CMAKE_SOURCE_DIR}" *.h *.hpp)
# Visualize the files of this directory in IDE creating an custom empty target
add_custom_target( plslam_includes DEPENDS ${all_include_files} SOURCES ${all_include_files} )
# Create StVO-PL library
add_library(plslam SHARED ${SOURCEFILES})
if(HAS_MRPT)
target_link_libraries(plslam ${LINK_LIBS} ${MRPT_LIBS} )
else()
target_link_libraries(plslam ${LINK_LIBS})
endif()
# Applications [TODO: ADD VO APPLICATIONS]
# if(HAS_MRPT)
# add_executable ( plslam_dataset app/plslam_dataset.cpp )
# target_link_libraries( plslam_dataset plslam )
# add_executable ( plstvo_dataset app/plstvo_dataset.cpp )
# target_link_libraries( plstvo_dataset plslam )
# #
# add_executable ( plstvo_mod app/plstvo_mod.cpp )
# target_link_libraries( plstvo_mod plslam )
add_executable ( plslam_mod app/plslam_mod.cpp )
target_link_libraries( plslam_mod plslam )
# endif(HAS_MRPT)
# test cases
#FIND_PACKAGE( Boost REQUIRED system thread )
#INCLUDE_DIRECTORIES( ${Boost_INCLUDE_DIR} )
#MESSAGE("Boost libs: " ${Boost_LIBRARIES})
#add_executable( testCut
# ${SOURCEFILES}
## ./test/testCut_1.cpp
# ./test/main.cpp
# )
#target_link_libraries( testCut
# ${LINK_LIBS}
# ${GTest_LIBRARIES}
#)
# add_executable( test_line_matching src/test_line_matching.cpp)
# target_link_libraries(test_line_matching plslam)