150 lines
3.7 KiB
CMake
150 lines
3.7 KiB
CMake
cmake_minimum_required(VERSION 2.8)
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project(ORB_SLAM2)
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add_definitions(-w)
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IF(NOT CMAKE_BUILD_TYPE)
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SET(CMAKE_BUILD_TYPE Release)
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ENDIF()
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MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
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set(CMAKE_CXX_FLAGS "-g -O3 -march=native") # 设置调试信息
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#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
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# set(PCL_DIR "/home/hong/Desktop/pcl-pcl-1.9.1/cmake")
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FIND_PACKAGE( OpenMP REQUIRED)
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if(OPENMP_FOUND)
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message("OPENMP FOUND")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
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set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
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endif()
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# Check C++11 or C++0x support
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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add_definitions(-DCOMPILEDWITHC11)
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message(STATUS "Using flag -std=c++11.")
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elseif(COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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add_definitions(-DCOMPILEDWITHC0X)
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message(STATUS "Using flag -std=c++0x.")
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else()
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message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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endif()
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LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
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find_package(OpenCV 3.0 QUIET)
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if(NOT OpenCV_FOUND)
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find_package(OpenCV 2.4.3 QUIET)
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if(NOT OpenCV_FOUND)
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message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
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endif()
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endif()
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find_package(OpenGL REQUIRED)
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find_package(GLUT REQUIRED)
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find_package(Eigen3 3.1.0 REQUIRED)
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find_package(Pangolin REQUIRED)
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find_package(PCL REQUIRED)
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include_directories(${OPENGL_INCLUDE_DIRS})
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include_directories(${GLUT_INCLUDE_DIRS})
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include_directories(
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${PROJECT_SOURCE_DIR}
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${PROJECT_SOURCE_DIR}/include
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${PCL_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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${Pangolin_INCLUDE_DIRS}
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)
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
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add_library(${PROJECT_NAME} SHARED
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src/System.cc
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src/Tracking.cc
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src/LocalMapping.cc
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src/LoopClosing.cc
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src/ORBextractor.cc
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src/ORBmatcher.cc
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src/FrameDrawer.cc
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src/Converter.cc
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src/MapPoint.cc
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src/KeyFrame.cc
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src/Map.cc
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src/MapDrawer.cc
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src/Optimizer.cc
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src/PnPsolver.cc
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src/Frame.cc
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src/KeyFrameDatabase.cc
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src/Sim3Solver.cc
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src/Initializer.cc
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src/Viewer.cc
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src/Car.cpp
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src/Semantic_Map.cc
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)
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target_link_libraries(${PROJECT_NAME}
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${OpenCV_LIBS}
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${EIGEN3_LIBS}
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${OPENGL_LIBRARIES}
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${GLUT_LIBRARIES}
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${PCL_LIBRARIES}
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${Pangolin_LIBRARIES}
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${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
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${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
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)
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# Build examples
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# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
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# add_executable(rgbd_tum
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# Examples/RGB-D/rgbd_tum.cc)
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# target_link_libraries(rgbd_tum ${PROJECT_NAME})
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)
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add_executable(stereo_kitti
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Examples/Stereo/stereo_kitti.cc)
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target_link_libraries(stereo_kitti ${PROJECT_NAME})
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add_executable(stereo_kitti_raw
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Examples/Stereo/stereo_kitti_raw.cc)
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target_link_libraries(stereo_kitti_raw ${PROJECT_NAME})
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# add_executable(stereo_euroc
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# Examples/Stereo/stereo_euroc.cc)
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# target_link_libraries(stereo_euroc ${PROJECT_NAME})
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# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
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# add_executable(mono_tum
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# Examples/Monocular/mono_tum.cc)
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# target_link_libraries(mono_tum ${PROJECT_NAME})
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# add_executable(mono_kitti
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# Examples/Monocular/mono_kitti.cc)
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# target_link_libraries(mono_kitti ${PROJECT_NAME})
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# add_executable(mono_euroc
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# Examples/Monocular/mono_euroc.cc)
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# target_link_libraries(mono_euroc ${PROJECT_NAME})
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