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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10)
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 "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0")
# set C++14 standard
SET(CMAKE_CXX_STANDARD 14)
SET(CMAKE_CXX_STANDARD_REQUIRED ON)
SET(CMAKE_CXX_EXTENSIONS OFF)
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
find_package(OpenCV 3.0 QUIET)
if(OpenCV_FOUND)
message(STATUS "OpenCV version = " ${OpenCV_VERSION})
else()
message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
endif()
find_package(Eigen3 3.3 REQUIRED)
message(STATUS "Eigen3 version = " ${EIGEN3_VERSION})
find_package(Pangolin REQUIRED)
message(STATUS "Pangolin version = " ${Pangolin_VERSION})
find_package(PCL REQUIRED)
message(STATUS "PCL version: " ${PCL_VERSION})
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
add_library(${PROJECT_NAME}
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/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/PointCloudMapping.cc
src/LineMatcher.cpp
src/LineExtractor.cpp
src/MapLine.cpp)
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${PCL_LIBRARIES}
)
# 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})
add_executable(rgbd_my
Examples/RGB-D/rgbd_my.cpp)
target_link_libraries(rgbd_my ${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})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Test)
#add_executable(LineMatchTest Test/LineMatchTest.cpp)
#target_link_libraries(LineMatchTest ${PROJECT_NAME})
add_executable(LastFrameProjection
Test/LastFrameProjection.cpp)
target_link_libraries(LastFrameProjection ${PROJECT_NAME})
add_executable(LocalMapProjectionTest Test/LocalMapProjectionTest.cpp)
target_link_libraries(LocalMapProjectionTest ${PROJECT_NAME})
add_executable(RefKeyFrameProjectionTest Test/RefKeyFrameProjectionTest.cpp)
target_link_libraries(RefKeyFrameProjectionTest ${PROJECT_NAME})