401 lines
13 KiB
CMake
401 lines
13 KiB
CMake
cmake_minimum_required(VERSION 2.8)
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project(ORB_SLAM3)
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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")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")
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set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
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# Check C++14 or C++0x support
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
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add_definitions(-DCOMPILEDWITHC11)
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message(STATUS "Using flag -std=c++14.")
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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++14 support. Please use a different C++ compiler.")
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endif()
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LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
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# 要保证整个工程的opencv版本一致，包括dbow，源码以及ros相关的
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# 3 4 都可以正常运行
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# find_package(OpenCV 3.2)
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find_package(OpenCV 3)
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if(NOT OpenCV_FOUND)
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message(FATAL_ERROR "OpenCV > 3.2 not found.")
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endif()
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MESSAGE("OPENCV VERSION:")
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MESSAGE(${OpenCV_VERSION})
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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(realsense2)
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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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${PROJECT_SOURCE_DIR}/include/CameraModels
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${PROJECT_SOURCE_DIR}/Thirdparty/Sophus
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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/Atlas.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/Frame.cc
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src/KeyFrameDatabase.cc
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src/Sim3Solver.cc
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src/Viewer.cc
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src/ImuTypes.cc
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src/G2oTypes.cc
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src/CameraModels/Pinhole.cpp
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src/CameraModels/KannalaBrandt8.cpp
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src/OptimizableTypes.cpp
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src/MLPnPsolver.cpp
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src/GeometricTools.cc
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src/TwoViewReconstruction.cc
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src/Config.cc
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src/Settings.cc
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include/System.h
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include/Tracking.h
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include/LocalMapping.h
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include/LoopClosing.h
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include/ORBextractor.h
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include/ORBmatcher.h
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include/FrameDrawer.h
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include/Converter.h
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include/MapPoint.h
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include/KeyFrame.h
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include/Atlas.h
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include/Map.h
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include/MapDrawer.h
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include/Optimizer.h
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include/Frame.h
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include/KeyFrameDatabase.h
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include/Sim3Solver.h
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include/Viewer.h
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include/ImuTypes.h
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include/G2oTypes.h
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include/CameraModels/GeometricCamera.h
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include/CameraModels/Pinhole.h
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include/CameraModels/KannalaBrandt8.h
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include/OptimizableTypes.h
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include/MLPnPsolver.h
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include/GeometricTools.h
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include/TwoViewReconstruction.h
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include/SerializationUtils.h
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include/Config.h
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include/Settings.h)
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add_subdirectory(Thirdparty/g2o)
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target_link_libraries(${PROJECT_NAME}
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${OpenCV_LIBS}
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${EIGEN3_LIBS}
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${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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-lboost_serialization
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-lcrypto
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)
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# If RealSense SDK is found the library is added and its examples compiled
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if(realsense2_FOUND)
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include_directories(${PROJECT_NAME}
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${realsense_INCLUDE_DIR}
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)
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target_link_libraries(${PROJECT_NAME}
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${realsense2_LIBRARY}
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)
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endif()
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# Build examples
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# # RGB-D 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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# if(realsense2_FOUND)
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# add_executable(rgbd_realsense_D435i
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# Examples/RGB-D/rgbd_realsense_D435i.cc)
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# target_link_libraries(rgbd_realsense_D435i ${PROJECT_NAME})
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# endif()
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# # RGB-D inertial examples
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# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D-Inertial)
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# if(realsense2_FOUND)
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# add_executable(rgbd_inertial_realsense_D435i
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# Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc)
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# target_link_libraries(rgbd_inertial_realsense_D435i ${PROJECT_NAME})
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# endif()
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# #Stereo examples
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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_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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# add_executable(stereo_tum_vi
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# Examples/Stereo/stereo_tum_vi.cc)
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# target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
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# if(realsense2_FOUND)
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# add_executable(stereo_realsense_t265
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# Examples/Stereo/stereo_realsense_t265.cc)
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# target_link_libraries(stereo_realsense_t265 ${PROJECT_NAME})
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# add_executable(stereo_realsense_D435i
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# Examples/Stereo/stereo_realsense_D435i.cc)
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# target_link_libraries(stereo_realsense_D435i ${PROJECT_NAME})
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# endif()
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# Monocular examples
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# Setting binary ouput directory
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Application)
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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_euroc_cap
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Application/mono_euroc_cap.cc)
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target_link_libraries(mono_euroc_cap ${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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# add_executable(mono_tum_vi
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# Examples/Monocular/mono_tum_vi.cc)
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# target_link_libraries(mono_tum_vi ${PROJECT_NAME})
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# if(realsense2_FOUND)
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# add_executable(mono_realsense_t265
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# Examples/Monocular/mono_realsense_t265.cc)
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# target_link_libraries(mono_realsense_t265 ${PROJECT_NAME})
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# add_executable(mono_realsense_D435i
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# Examples/Monocular/mono_realsense_D435i.cc)
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# target_link_libraries(mono_realsense_D435i ${PROJECT_NAME})
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# endif()
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# #Monocular inertial examples
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# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial)
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# add_executable(mono_inertial_euroc
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# Examples/Monocular-Inertial/mono_inertial_euroc.cc)
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# target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})
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# add_executable(mono_inertial_tum_vi
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# Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
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# target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})
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# if(realsense2_FOUND)
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# add_executable(mono_inertial_realsense_t265
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# Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc)
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# target_link_libraries(mono_inertial_realsense_t265 ${PROJECT_NAME})
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# add_executable(mono_inertial_realsense_D435i
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# Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc)
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# target_link_libraries(mono_inertial_realsense_D435i ${PROJECT_NAME})
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# endif()
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# #Stereo Inertial examples
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# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial)
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# add_executable(stereo_inertial_euroc
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# Examples/Stereo-Inertial/stereo_inertial_euroc.cc)
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# target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})
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# add_executable(stereo_inertial_tum_vi
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# Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
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# target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})
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# if(realsense2_FOUND)
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# add_executable(stereo_inertial_realsense_t265
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# Examples/Stereo-Inertial/stereo_inertial_realsense_t265.cc)
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# target_link_libraries(stereo_inertial_realsense_t265 ${PROJECT_NAME})
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# add_executable(stereo_inertial_realsense_D435i
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# Examples/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
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# target_link_libraries(stereo_inertial_realsense_D435i ${PROJECT_NAME})
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# endif()
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# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Calibration)
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# if(realsense2_FOUND)
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# add_executable(recorder_realsense_D435i
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# Examples/Calibration/recorder_realsense_D435i.cc)
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# target_link_libraries(recorder_realsense_D435i ${PROJECT_NAME})
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# add_executable(recorder_realsense_T265
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# Examples/Calibration/recorder_realsense_T265.cc)
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# target_link_libraries(recorder_realsense_T265 ${PROJECT_NAME})
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# endif()
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# #Old examples
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# # RGB-D examples
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# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D)
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# add_executable(rgbd_tum_old
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# Examples_old/RGB-D/rgbd_tum.cc)
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# target_link_libraries(rgbd_tum_old ${PROJECT_NAME})
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# if(realsense2_FOUND)
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# add_executable(rgbd_realsense_D435i_old
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# Examples_old/RGB-D/rgbd_realsense_D435i.cc)
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# target_link_libraries(rgbd_realsense_D435i_old ${PROJECT_NAME})
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# endif()
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# # RGB-D inertial examples
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# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D-Inertial)
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# if(realsense2_FOUND)
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# add_executable(rgbd_inertial_realsense_D435i_old
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# Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc)
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# target_link_libraries(rgbd_inertial_realsense_D435i_old ${PROJECT_NAME})
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# endif()
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# #Stereo examples
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# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo)
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# add_executable(stereo_kitti_old
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# Examples_old/Stereo/stereo_kitti.cc)
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# target_link_libraries(stereo_kitti_old ${PROJECT_NAME})
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# add_executable(stereo_euroc_old
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# Examples_old/Stereo/stereo_euroc.cc)
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# target_link_libraries(stereo_euroc_old ${PROJECT_NAME})
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# add_executable(stereo_tum_vi_old
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# Examples_old/Stereo/stereo_tum_vi.cc)
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# target_link_libraries(stereo_tum_vi_old ${PROJECT_NAME})
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# if(realsense2_FOUND)
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# add_executable(stereo_realsense_t265_old
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# Examples_old/Stereo/stereo_realsense_t265.cc)
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# target_link_libraries(stereo_realsense_t265_old ${PROJECT_NAME})
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# add_executable(stereo_realsense_D435i_old
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# Examples_old/Stereo/stereo_realsense_D435i.cc)
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# target_link_libraries(stereo_realsense_D435i_old ${PROJECT_NAME})
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# endif()
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# #Monocular examples
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# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular)
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# add_executable(mono_tum_old
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# Examples_old/Monocular/mono_tum.cc)
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# target_link_libraries(mono_tum_old ${PROJECT_NAME})
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# add_executable(mono_kitti_old
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# Examples_old/Monocular/mono_kitti.cc)
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# target_link_libraries(mono_kitti_old ${PROJECT_NAME})
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# add_executable(mono_euroc_old
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# Examples_old/Monocular/mono_euroc.cc)
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# target_link_libraries(mono_euroc_old ${PROJECT_NAME})
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# add_executable(mono_tum_vi_old
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# Examples_old/Monocular/mono_tum_vi.cc)
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# target_link_libraries(mono_tum_vi_old ${PROJECT_NAME})
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# if(realsense2_FOUND)
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# add_executable(mono_realsense_t265_old
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# Examples_old/Monocular/mono_realsense_t265.cc)
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# target_link_libraries(mono_realsense_t265_old ${PROJECT_NAME})
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# add_executable(mono_realsense_D435i_old
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# Examples_old/Monocular/mono_realsense_D435i.cc)
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# target_link_libraries(mono_realsense_D435i_old ${PROJECT_NAME})
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# endif()
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#Monocular inertial examples
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# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular-Inertial)
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# add_executable(mono_inertial_euroc_old
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# Examples_old/Monocular-Inertial/mono_inertial_euroc.cc)
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# target_link_libraries(mono_inertial_euroc_old ${PROJECT_NAME})
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# add_executable(mono_inertial_tum_vi_old
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# Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc)
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# target_link_libraries(mono_inertial_tum_vi_old ${PROJECT_NAME})
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# if(realsense2_FOUND)
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# add_executable(mono_inertial_realsense_t265_old
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# Examples_old/Monocular-Inertial/mono_inertial_realsense_t265.cc)
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# target_link_libraries(mono_inertial_realsense_t265_old ${PROJECT_NAME})
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# add_executable(mono_inertial_realsense_D435i_old
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# Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i.cc)
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# target_link_libraries(mono_inertial_realsense_D435i_old ${PROJECT_NAME})
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# endif()
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# #Stereo Inertial examples
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# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo-Inertial)
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# add_executable(stereo_inertial_euroc_old
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# Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc)
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# target_link_libraries(stereo_inertial_euroc_old ${PROJECT_NAME})
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# add_executable(stereo_inertial_tum_vi_old
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# Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc)
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# target_link_libraries(stereo_inertial_tum_vi_old ${PROJECT_NAME})
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# if(realsense2_FOUND)
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# add_executable(stereo_inertial_realsense_t265_old
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# Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265.cc)
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# target_link_libraries(stereo_inertial_realsense_t265_old ${PROJECT_NAME})
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# add_executable(stereo_inertial_realsense_D435i_old
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# Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
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# target_link_libraries(stereo_inertial_realsense_D435i_old ${PROJECT_NAME})
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# endif()
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