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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2_E)
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_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
#find_package(OpenCV 2.4.3 REQUIRED)
find_package(OpenCV 3.4 REQUIRED)
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
# find_package(PCL 1.8 REQUIRED)
find_package(PCL 1.7 REQUIRED)
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
link_directories(
${PCL_LIBRARY_DIRS}
${PCL_LIBRARY_DIRS}/..
)
add_definitions(${PCL_DEFINITIONS})
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/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/Statistics.cc
Thirdparty/g2o/g2o/FEA/src/FEA2.cc
)
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
#${PROJECT_SOURCE_DIR}/Thirdparty/pcl
${PCL_LIBRARIES}
#${PCL_COMMON_LIBRARIES}
#${PCL_IO_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})
# 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})