cmake_minimum_required(VERSION 2.8) project(ORB_SLAM3) 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 "${CMAKE_CXX_FLAGS} -Wall -O3") set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native") set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native") # Check C++14 or C++0x support include(CheckCXXCompilerFlag) CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11) CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) if(COMPILER_SUPPORTS_CXX11) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") add_definitions(-DCOMPILEDWITHC11) message(STATUS "Using flag -std=c++14.") 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++14 support. Please use a different C++ compiler.") endif() LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules) # 要保证整个工程的opencv版本一致，包括dbow，源码以及ros相关的 # 3 4 都可以正常运行 # find_package(OpenCV 3.2) find_package(OpenCV 3) if(NOT OpenCV_FOUND) message(FATAL_ERROR "OpenCV > 3.2 not found.") endif() MESSAGE("OPENCV VERSION:") MESSAGE(${OpenCV_VERSION}) find_package(Eigen3 3.1.0 REQUIRED) find_package(Pangolin REQUIRED) find_package(realsense2) include_directories( ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/include ${PROJECT_SOURCE_DIR}/include/CameraModels ${PROJECT_SOURCE_DIR}/Thirdparty/Sophus ${EIGEN3_INCLUDE_DIR} ${Pangolin_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/Atlas.cc src/Map.cc src/MapDrawer.cc src/Optimizer.cc src/Frame.cc src/KeyFrameDatabase.cc src/Sim3Solver.cc src/Viewer.cc src/ImuTypes.cc src/G2oTypes.cc src/CameraModels/Pinhole.cpp src/CameraModels/KannalaBrandt8.cpp src/OptimizableTypes.cpp src/MLPnPsolver.cpp src/GeometricTools.cc src/TwoViewReconstruction.cc src/Config.cc src/Settings.cc include/System.h include/Tracking.h include/LocalMapping.h include/LoopClosing.h include/ORBextractor.h include/ORBmatcher.h include/FrameDrawer.h include/Converter.h include/MapPoint.h include/KeyFrame.h include/Atlas.h include/Map.h include/MapDrawer.h include/Optimizer.h include/Frame.h include/KeyFrameDatabase.h include/Sim3Solver.h include/Viewer.h include/ImuTypes.h include/G2oTypes.h include/CameraModels/GeometricCamera.h include/CameraModels/Pinhole.h include/CameraModels/KannalaBrandt8.h include/OptimizableTypes.h include/MLPnPsolver.h include/GeometricTools.h include/TwoViewReconstruction.h include/SerializationUtils.h include/Config.h include/Settings.h) add_subdirectory(Thirdparty/g2o) target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} ${EIGEN3_LIBS} ${Pangolin_LIBRARIES} ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so -lboost_serialization -lcrypto ) # If RealSense SDK is found the library is added and its examples compiled if(realsense2_FOUND) include_directories(${PROJECT_NAME} ${realsense_INCLUDE_DIR} ) target_link_libraries(${PROJECT_NAME} ${realsense2_LIBRARY} ) endif() # Build examples # # RGB-D examples # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D) # add_executable(rgbd_tum # Examples/RGB-D/rgbd_tum.cc) # target_link_libraries(rgbd_tum ${PROJECT_NAME}) # if(realsense2_FOUND) # add_executable(rgbd_realsense_D435i # Examples/RGB-D/rgbd_realsense_D435i.cc) # target_link_libraries(rgbd_realsense_D435i ${PROJECT_NAME}) # endif() # # RGB-D inertial examples # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D-Inertial) # if(realsense2_FOUND) # add_executable(rgbd_inertial_realsense_D435i # Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc) # target_link_libraries(rgbd_inertial_realsense_D435i ${PROJECT_NAME}) # endif() # #Stereo examples # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo) # add_executable(stereo_kitti # Examples/Stereo/stereo_kitti.cc) # target_link_libraries(stereo_kitti ${PROJECT_NAME}) # add_executable(stereo_euroc # Examples/Stereo/stereo_euroc.cc) # target_link_libraries(stereo_euroc ${PROJECT_NAME}) # add_executable(stereo_tum_vi # Examples/Stereo/stereo_tum_vi.cc) # target_link_libraries(stereo_tum_vi ${PROJECT_NAME}) # if(realsense2_FOUND) # add_executable(stereo_realsense_t265 # Examples/Stereo/stereo_realsense_t265.cc) # target_link_libraries(stereo_realsense_t265 ${PROJECT_NAME}) # add_executable(stereo_realsense_D435i # Examples/Stereo/stereo_realsense_D435i.cc) # target_link_libraries(stereo_realsense_D435i ${PROJECT_NAME}) # endif() # #Monocular examples # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular) # add_executable(mono_tum # Examples/Monocular/mono_tum.cc) # target_link_libraries(mono_tum ${PROJECT_NAME}) add_executable(mono_euroc_cap Application/mono_euroc_cap.cc) target_link_libraries(mono_euroc_cap ${PROJECT_NAME}) # add_executable(mono_kitti # Examples/Monocular/mono_kitti.cc) # target_link_libraries(mono_kitti ${PROJECT_NAME}) # add_executable(mono_euroc # Examples/Monocular/mono_euroc.cc) # target_link_libraries(mono_euroc ${PROJECT_NAME}) # add_executable(mono_tum_vi # Examples/Monocular/mono_tum_vi.cc) # target_link_libraries(mono_tum_vi ${PROJECT_NAME}) # if(realsense2_FOUND) # add_executable(mono_realsense_t265 # Examples/Monocular/mono_realsense_t265.cc) # target_link_libraries(mono_realsense_t265 ${PROJECT_NAME}) # add_executable(mono_realsense_D435i # Examples/Monocular/mono_realsense_D435i.cc) # target_link_libraries(mono_realsense_D435i ${PROJECT_NAME}) # endif() # #Monocular inertial examples # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial) # add_executable(mono_inertial_euroc # Examples/Monocular-Inertial/mono_inertial_euroc.cc) # target_link_libraries(mono_inertial_euroc ${PROJECT_NAME}) # add_executable(mono_inertial_tum_vi # Examples/Monocular-Inertial/mono_inertial_tum_vi.cc) # target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME}) # if(realsense2_FOUND) # add_executable(mono_inertial_realsense_t265 # Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc) # target_link_libraries(mono_inertial_realsense_t265 ${PROJECT_NAME}) # add_executable(mono_inertial_realsense_D435i # Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc) # target_link_libraries(mono_inertial_realsense_D435i ${PROJECT_NAME}) # endif() # #Stereo Inertial examples # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial) # add_executable(stereo_inertial_euroc # Examples/Stereo-Inertial/stereo_inertial_euroc.cc) # target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME}) # add_executable(stereo_inertial_tum_vi # Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc) # target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME}) # if(realsense2_FOUND) # add_executable(stereo_inertial_realsense_t265 # Examples/Stereo-Inertial/stereo_inertial_realsense_t265.cc) # target_link_libraries(stereo_inertial_realsense_t265 ${PROJECT_NAME}) # add_executable(stereo_inertial_realsense_D435i # Examples/Stereo-Inertial/stereo_inertial_realsense_D435i.cc) # target_link_libraries(stereo_inertial_realsense_D435i ${PROJECT_NAME}) # endif() # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Calibration) # if(realsense2_FOUND) # add_executable(recorder_realsense_D435i # Examples/Calibration/recorder_realsense_D435i.cc) # target_link_libraries(recorder_realsense_D435i ${PROJECT_NAME}) # add_executable(recorder_realsense_T265 # Examples/Calibration/recorder_realsense_T265.cc) # target_link_libraries(recorder_realsense_T265 ${PROJECT_NAME}) # endif() # #Old examples # # RGB-D examples # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D) # add_executable(rgbd_tum_old # Examples_old/RGB-D/rgbd_tum.cc) # target_link_libraries(rgbd_tum_old ${PROJECT_NAME}) # if(realsense2_FOUND) # add_executable(rgbd_realsense_D435i_old # Examples_old/RGB-D/rgbd_realsense_D435i.cc) # target_link_libraries(rgbd_realsense_D435i_old ${PROJECT_NAME}) # endif() # # RGB-D inertial examples # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D-Inertial) # if(realsense2_FOUND) # add_executable(rgbd_inertial_realsense_D435i_old # Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc) # target_link_libraries(rgbd_inertial_realsense_D435i_old ${PROJECT_NAME}) # endif() # #Stereo examples # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo) # add_executable(stereo_kitti_old # Examples_old/Stereo/stereo_kitti.cc) # target_link_libraries(stereo_kitti_old ${PROJECT_NAME}) # add_executable(stereo_euroc_old # Examples_old/Stereo/stereo_euroc.cc) # target_link_libraries(stereo_euroc_old ${PROJECT_NAME}) # add_executable(stereo_tum_vi_old # Examples_old/Stereo/stereo_tum_vi.cc) # target_link_libraries(stereo_tum_vi_old ${PROJECT_NAME}) # if(realsense2_FOUND) # add_executable(stereo_realsense_t265_old # Examples_old/Stereo/stereo_realsense_t265.cc) # target_link_libraries(stereo_realsense_t265_old ${PROJECT_NAME}) # add_executable(stereo_realsense_D435i_old # Examples_old/Stereo/stereo_realsense_D435i.cc) # target_link_libraries(stereo_realsense_D435i_old ${PROJECT_NAME}) # endif() # #Monocular examples # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular) # add_executable(mono_tum_old # Examples_old/Monocular/mono_tum.cc) # target_link_libraries(mono_tum_old ${PROJECT_NAME}) # add_executable(mono_kitti_old # Examples_old/Monocular/mono_kitti.cc) # target_link_libraries(mono_kitti_old ${PROJECT_NAME}) # add_executable(mono_euroc_old # Examples_old/Monocular/mono_euroc.cc) # target_link_libraries(mono_euroc_old ${PROJECT_NAME}) # add_executable(mono_tum_vi_old # Examples_old/Monocular/mono_tum_vi.cc) # target_link_libraries(mono_tum_vi_old ${PROJECT_NAME}) # if(realsense2_FOUND) # add_executable(mono_realsense_t265_old # Examples_old/Monocular/mono_realsense_t265.cc) # target_link_libraries(mono_realsense_t265_old ${PROJECT_NAME}) # add_executable(mono_realsense_D435i_old # Examples_old/Monocular/mono_realsense_D435i.cc) # target_link_libraries(mono_realsense_D435i_old ${PROJECT_NAME}) # endif() #Monocular inertial examples # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular-Inertial) # add_executable(mono_inertial_euroc_old # Examples_old/Monocular-Inertial/mono_inertial_euroc.cc) # target_link_libraries(mono_inertial_euroc_old ${PROJECT_NAME}) # add_executable(mono_inertial_tum_vi_old # Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc) # target_link_libraries(mono_inertial_tum_vi_old ${PROJECT_NAME}) # if(realsense2_FOUND) # add_executable(mono_inertial_realsense_t265_old # Examples_old/Monocular-Inertial/mono_inertial_realsense_t265.cc) # target_link_libraries(mono_inertial_realsense_t265_old ${PROJECT_NAME}) # add_executable(mono_inertial_realsense_D435i_old # Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i.cc) # target_link_libraries(mono_inertial_realsense_D435i_old ${PROJECT_NAME}) # endif() # #Stereo Inertial examples # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo-Inertial) # add_executable(stereo_inertial_euroc_old # Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc) # target_link_libraries(stereo_inertial_euroc_old ${PROJECT_NAME}) # add_executable(stereo_inertial_tum_vi_old # Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc) # target_link_libraries(stereo_inertial_tum_vi_old ${PROJECT_NAME}) # if(realsense2_FOUND) # add_executable(stereo_inertial_realsense_t265_old # Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265.cc) # target_link_libraries(stereo_inertial_realsense_t265_old ${PROJECT_NAME}) # add_executable(stereo_inertial_realsense_D435i_old # Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc) # target_link_libraries(stereo_inertial_realsense_D435i_old ${PROJECT_NAME}) # endif()