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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)
IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Debug)
ENDIF()
set (ros_include_path /opt/ros/$ENV{ROS_DISTRO}/include)
MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
find_package(OpenCV 3.0 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()
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
# Ros related libraries
find_package(roscpp REQUIRED)
find_package(rosconsole REQUIRED)
find_package(rostime REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(image_transport REQUIRED)
find_package(cv_bridge REQUIRED)
# Required for generating message type
find_package(catkin REQUIRED)
find_package(genmsg REQUIRED)
# Custom message type generation
add_message_files(DIRECTORY ${PROJECT_SOURCE_DIR}/msg FILES PoseList.msg)
generate_messages(DEPENDENCIES geometry_msgs)
include_directories(
${ros_include_path}
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${std_msgs_INCLUDE_DIRS}
${roscpp_INCLUDE_DIRS}
${std_srvs_INCLUDE_DIRS}
)
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/visualization_functions.cc
src/msg_conversions.cc
src/RvizDrawer.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
${roscpp_LIBRARIES}
${image_transport_LIBRARIES}
${cv_bridge_LIBRARIES}
)
message(STATUS "Compile With map save/load function")
find_library(BOOST_SERIALIZATION boost_serialization)
if (NOT BOOST_SERIALIZATION)
message(FATAL_ERROR "Can't find libboost_serialization")
endif()
target_link_libraries(${PROJECT_NAME} ${BOOST_SERIALIZATION})
# Build examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
add_dependencies(rgbd_tum ${PROJECT_NAME}_generate_messages)
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)
add_dependencies(stereo_kitti ${PROJECT_NAME}_generate_messages)
target_link_libraries(stereo_kitti ${PROJECT_NAME})
add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
add_dependencies(stereo_euroc ${PROJECT_NAME}_generate_messages)
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)
add_dependencies(mono_tum ${PROJECT_NAME}_generate_messages)
target_link_libraries(mono_tum ${PROJECT_NAME})
add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
add_dependencies(mono_kitti ${PROJECT_NAME}_generate_messages)
target_link_libraries(mono_kitti ${PROJECT_NAME})
add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
add_dependencies(mono_euroc ${PROJECT_NAME}_generate_messages)
target_link_libraries(mono_euroc ${PROJECT_NAME})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Vocabulary)
add_executable(bin_vocabulary Vocabulary/bin_vocabulary.cpp)
target_link_libraries(bin_vocabulary ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so ${OpenCV_LIBS})
if(USE_EXAMPLE_WEBCAM)
find_package(PkgConfig REQUIRED)
pkg_search_module(CURL REQUIRED libcurl)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
add_executable(mono_uvc Examples/mono_uvc.cpp)
target_link_libraries(mono_uvc ${PROJECT_NAME})
add_executable(mono_android_ipcam Examples/mono_android_ipcam.cpp)
target_link_libraries(mono_android_ipcam ${PROJECT_NAME} ${CURL_LIBRARIES})
add_executable(mono_android_ipcam_ar Examples/mono_android_ipcam_ar.cpp Examples/AR/ViewerAR.cc)
target_include_directories(mono_android_ipcam_ar PUBLIC Examples/AR/)
target_link_libraries(mono_android_ipcam_ar ${PROJECT_NAME} ${CURL_LIBRARIES})
endif()