CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM3)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE(STATUS "Build type: " ${CMAKE_BUILD_TYPE})

# Check C++11 support
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
set(CMAKE_CXX_EXTENSIONS OFF)
cmake_policy(SET CMP0057 NEW) # enable IN_LIST operator
if(cxx_std_11 IN_LIST CMAKE_CXX_COMPILE_FEATURES)
  add_definitions(-DCOMPILEDWITHC11)
endif()

# Compiler specific options for gcc
if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "GNU")
  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall   -O3")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3")
  set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
  # set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wno-deprecated -O3 -march=native ")
  # set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-deprecated -O3 -march=native")
endif()
# Compiler specific options for MSVC
if (CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W3")
  # use the static CRT if other libraries are compiled with /MT
  # (CMake sets /MD by default, but for example Pangolin uses /MT by default)
  #set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /MT")
  #set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /MTd")
endif()


LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 3 QUIET)
if(NOT OpenCV_FOUND)
  find_package(OpenCV 4 QUIET)
  if(NOT OpenCV_FOUND)
    find_package(OpenCV 2.4.3 QUIET)
    if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
    endif()
  endif()
endif()
MESSAGE(STATUS "OpenCV VERSION: ${OpenCV_VERSION}")

find_package(Eigen3 3.1.0 REQUIRED)

find_package(Pangolin REQUIRED)

find_package(Boost REQUIRED COMPONENTS filesystem system serialization)
MESSAGE(STATUS "Boost_LIBRARIES: ${Boost_LIBRARIES}")

set(OPENSSL_USE_STATIC_LIBS TRUE)
find_package(OpenSSL REQUIRED) # for crypto library


include_directories(
  ${PROJECT_SOURCE_DIR}
  ${PROJECT_SOURCE_DIR}/include
  ${PROJECT_SOURCE_DIR}/include/CameraModels
  ${EIGEN3_INCLUDE_DIR}
  ${Pangolin_INCLUDE_DIRS}
  ${OPENSSL_INCLUDE_DIR}
)

set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
#set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)

set(ORB_SLAM3_LIB_TYPE SHARED)
IF(WIN32)
  # uncomment only one of the lines below:
  # because there is no DLL API in the code,
  # we either have to build STATIC libraries, 
  set(ORB_SLAM3_LIB_TYPE STATIC)
  # or we have to export all symbols from all SHARED libraries
  #set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
  # Note that the ideal solution would be to add an export API to the relevant classes.
ENDIF(WIN32)

add_library(${PROJECT_NAME} ${ORB_SLAM3_LIB_TYPE}
  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/Atlas.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/ImuTypes.cc
  src/G2oTypes.cc
  src/CameraModels/Pinhole.cpp
  src/CameraModels/KannalaBrandt8.cpp
  src/OptimizableTypes.cpp
  src/MLPnPsolver.cpp
  include/System.h
  include/Tracking.h
  include/LocalMapping.h
  include/LoopClosing.h
  include/ORBextractor.h
  include/ORBmatcher.h
  include/FrameDrawer.h
  include/Converter.h
  include/MapPoint.h
  include/KeyFrame.h
  include/Atlas.h
  include/Map.h
  include/MapDrawer.h
  include/Optimizer.h
  include/PnPsolver.h
  include/Frame.h
  include/KeyFrameDatabase.h
  include/Sim3Solver.h
  include/Initializer.h
  include/Viewer.h
  include/ImuTypes.h
  include/G2oTypes.h
  include/CameraModels/GeometricCamera.h
  include/CameraModels/Pinhole.h
  include/CameraModels/KannalaBrandt8.h
  include/OptimizableTypes.h
  include/MLPnPsolver.h
  include/TwoViewReconstruction.h
  src/TwoViewReconstruction.cc
)

add_subdirectory(Thirdparty/DBoW2)

add_subdirectory(Thirdparty/g2o)

target_link_libraries(${PROJECT_NAME}
  ${OpenCV_LIBS}
  ${EIGEN3_LIBS}
  ${Pangolin_LIBRARIES}
  DBoW2
  g2o
  ${Boost_LIBRARIES}
  ${OPENSSL_CRYPTO_LIBRARY}
)


# 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})

add_executable(stereo_tum_vi
Examples/Stereo/stereo_tum_vi.cc)
target_link_libraries(stereo_tum_vi ${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})

add_executable(mono_tum_vi
Examples/Monocular/mono_tum_vi.cc)
target_link_libraries(mono_tum_vi ${PROJECT_NAME})


set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial)

add_executable(mono_inertial_euroc
Examples/Monocular-Inertial/mono_inertial_euroc.cc)
target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})

add_executable(mono_inertial_tum_vi
Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})


set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial)

add_executable(stereo_inertial_euroc
Examples/Stereo-Inertial/stereo_inertial_euroc.cc)
target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})


add_executable(stereo_inertial_tum_vi
Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})

# Build tools
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/tools)
add_executable(bin_vocabulary
tools/bin_vocabulary.cc)
target_link_libraries(bin_vocabulary ${PROJECT_NAME})