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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.4.6)
project(pixel_aware_gyro_aided_klt_feature_tracker)
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")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${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()
find_package(OpenCV 3.4 REQUIRED)
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)
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
)
set(LINK_LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${PROJECT_SOURCE_DIR}/Thirdparty/glog/lib/libglog.so
)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
add_library(${PROJECT_NAME} SHARED
include/frame.h
src/frame.cpp
include/imu_types.h
src/imu_types.cpp
include/patch_match.h
src/patch_match.cpp
include/gyro_aided_tracker.h
src/gyro_aided_tracker.cpp
include/utils.h
src/utils.cpp
include/ORBDetectAndDespMatcher.h
src/ORBDetectAndDespMatcher.cpp
include/ORBextractor.h
src/ORBextractor.cc
)
# Build examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Demo)
add_executable(RealSenseD435i
Examples/Demo/RealSenseD435i.cpp)
target_link_libraries(RealSenseD435i ${PROJECT_NAME} ${LINK_LIBS})