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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)
SET(CMAKE_EXPORT_COMPILE_COMMANDS "ON")
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 -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)
# Adding for point cloud viewer and mapper
find_package( PCL 1.7 REQUIRED )
# Adding for octomap
find_package( octomap REQUIRED )
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OCTOMAP_INCLUDE_DIRS}
)
add_definitions( ${PCL_DEFINITIONS} )
link_directories( ${PCL_LIBRARY_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/PointCloudMapping.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
${PCL_LIBRARIES}
${OCTOMAP_LIBRARIES}
)
# Build tests
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
add_executable(rgbd_tum
test/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})
# Build tools
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/tools)
add_executable(text2binary
tools/text2binary.cc)
target_link_libraries(text2binary ${PROJECT_NAME})
add_executable(pcd2octomap
tools/pcd2octomap.cc)
target_link_libraries(pcd2octomap ${PROJECT_NAME})