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CMakeLists.txt
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CMakeLists.txt
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project( PL-SLAM )
cmake_minimum_required(VERSION 2.7)
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
find_package(OpenCV 3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS regex thread system filesystem)
find_package(G2O REQUIRED)
find_package(Eigen3 REQUIRED)
if(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)
link_directories(${OpenCV_LIBS_DIR})
include_directories(${OpenCV2_INCLUDE_DIRS})
# Odometry library (Future TODO: integrate with this library)
SET( StVO_LIBRARY "" CACHE FILEPATH "Visual Odometry Library" )
SET( StVO_INCLUDE_DIR "" CACHE PATH "Visual Odometry Include folder" )
set(DEFAULT_HAS_MRPT ON)
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++11 -O3 -mtune=native -march=native")
add_definitions(-DBOOST_NO_CXX11_SCOPED_ENUMS)
# MRPT library (optional, only with representation purposes)
if(HAS_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)
# YAML library
FIND_PACKAGE(yaml-cpp REQUIRED CONFIG PATHS ${YAML_PATHS})
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/build)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
SET(G2O_LIBS g2o_cli g2o_ext_freeglut_minimal g2o_simulator g2o_solver_slam2d_linear g2o_types_icp g2o_types_slam2d g2o_core g2o_interface g2o_solver_csparse g2o_solver_structure_only g2o_types_sba g2o_types_slam3d g2o_csparse_extension g2o_opengl_helper g2o_solver_dense g2o_stuff g2o_types_sclam2d g2o_parser g2o_solver_pcg g2o_types_data g2o_types_sim3 cxsparse g2o_ext_csparse cholmod )
# Include dirs
include_directories(
include
${Eigen3_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${YAML_CPP_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/../stvo-pl/include/
${PROJECT_SOURCE_DIR}/3rdparty/DBoW2/include/
${PROJECT_SOURCE_DIR}/3rdparty/line_descriptor/include/
${G2O_INCLUDE_DIR}
/usr/include/suitesparse # for cholmod
)
# Set link libraries
list(APPEND LINK_LIBS
${OpenCV_LIBS}
${Boost_LIBRARIES}
${YAML_CPP_LIBRARIES}
${G2O_LIBS}
${PROJECT_SOURCE_DIR}/../stvo-pl/lib/libstvo.so
${PROJECT_SOURCE_DIR}/3rdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/3rdparty/line_descriptor/lib/liblinedesc.so
)
# Set source files
if(HAS_MRPT)
list(APPEND SOURCEFILES
src/mapHandler.cpp
src/mapFeatures.cpp
src/keyFrame.cpp
src/slamConfig.cpp
src/slamScene.cpp
)
else()
list(APPEND SOURCEFILES
src/mapHandler.cpp
src/mapFeatures.cpp
src/keyFrame.cpp
src/slamConfig.cpp
)
endif()
# List all files (headers) contained by StVO-PL library
file(GLOB_RECURSE all_include_files RELATIVE "${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
if(HAS_MRPT)
add_executable ( plslam_dataset app/plslam_dataset.cpp )
target_link_libraries( plslam_dataset plslam )
endif(HAS_MRPT)