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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required( VERSION 2.8 )
project( pose_graph )
set( CMAKE_BUILD_TYPE "Release" )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )
list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
# Eigen
include_directories( "/usr/include/eigen3" )
# sophus
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS} )
# g2o
find_package( G2O REQUIRED )
include_directories( ${G2O_INCLUDE_DIRS} )
find_package( Cholmod REQUIRED )
include_directories( ${CHOLMOD_INCLUDE_DIR} )
# gtsam
find_package( GTSAMCMakeTools )
find_package( GTSAM REQUIRED )
include_directories( ${GTSAM_INCLUDE_DIR} )
# Ceres
find_package( Ceres REQUIRED )
include_directories( ${CERES_INCLUDE_DIRS} )
add_executable( pose_graph_g2o_SE3 pose_graph_g2o_SE3.cpp )
target_link_libraries( pose_graph_g2o_SE3
g2o_core g2o_stuff g2o_types_slam3d ${CHOLMOD_LIBRARIES}
)
add_executable( pose_graph_g2o_lie pose_graph_g2o_lie_algebra.cpp )
target_link_libraries( pose_graph_g2o_lie
g2o_core g2o_stuff
${CHOLMOD_LIBRARIES}
${Sophus_LIBRARIES}
)
add_executable( pose_graph_gtsam pose_graph_gtsam.cpp )
target_link_libraries( pose_graph_gtsam
${CHOLMOD_LIBRARIES} gtsam
)