forked from logzhan/ORB-SLAM3-UESTC
179 lines
5.7 KiB
CMake
179 lines
5.7 KiB
CMake
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
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SET(CMAKE_LEGACY_CYGWIN_WIN32 0)
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PROJECT(g2o)
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SET(g2o_C_FLAGS)
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SET(g2o_CXX_FLAGS)
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# default built type
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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(STATUS "BUILD TYPE:" ${CMAKE_BUILD_TYPE})
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SET (G2O_LIB_TYPE SHARED)
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# There seems to be an issue with MSVC8
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# see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=83
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if(MSVC90)
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add_definitions(-DEIGEN_DONT_ALIGN_STATICALLY=1)
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message(STATUS "Disabling memory alignment for MSVC8")
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endif(MSVC90)
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# Set the output directory for the build executables and libraries
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IF(WIN32)
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SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the libraries")
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ELSE(WIN32)
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SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries")
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ENDIF(WIN32)
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SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
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SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
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SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${g2o_RUNTIME_OUTPUT_DIRECTORY})
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# Set search directory for looking for our custom CMake scripts to
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# look for SuiteSparse, QGLViewer, and Eigen3.
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LIST(APPEND CMAKE_MODULE_PATH ${g2o_SOURCE_DIR}/cmake_modules)
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# Detect OS and define macros appropriately
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IF(UNIX)
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ADD_DEFINITIONS(-DUNIX)
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MESSAGE(STATUS "Compiling on Unix")
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ENDIF(UNIX)
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# Eigen library parallelise itself, though, presumably due to performance issues
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# OPENMP is experimental. We experienced some slowdown with it
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FIND_PACKAGE(OpenMP)
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SET(G2O_USE_OPENMP OFF CACHE BOOL "Build g2o with OpenMP support (EXPERIMENTAL)")
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IF(OPENMP_FOUND AND G2O_USE_OPENMP)
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SET (G2O_OPENMP 1)
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SET(g2o_C_FLAGS "${g2o_C_FLAGS} ${OpenMP_C_FLAGS}")
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SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}")
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MESSAGE(STATUS "Compiling with OpenMP support")
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ENDIF(OPENMP_FOUND AND G2O_USE_OPENMP)
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# Compiler specific options for gcc
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SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native")
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SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -march=native")
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# SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
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# SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3")
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# activate warnings !!!
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SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall -W")
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SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -W")
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# specifying compiler flags
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}")
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SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}")
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# Find Eigen3
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SET(EIGEN3_INCLUDE_DIR ${G2O_EIGEN3_INCLUDE})
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FIND_PACKAGE(Eigen3 3.1.0 REQUIRED)
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IF(EIGEN3_FOUND)
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SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3")
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ELSE(EIGEN3_FOUND)
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SET(G2O_EIGEN3_INCLUDE "" CACHE PATH "Directory of Eigen3")
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ENDIF(EIGEN3_FOUND)
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# Generate config.h
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SET(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}")
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configure_file(config.h.in ${g2o_SOURCE_DIR}/config.h)
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# Set up the top-level include directories
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INCLUDE_DIRECTORIES(
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${g2o_SOURCE_DIR}/core
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${g2o_SOURCE_DIR}/types
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${g2o_SOURCE_DIR}/stuff
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${G2O_EIGEN3_INCLUDE})
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# Include the subdirectories
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ADD_LIBRARY(g2o ${G2O_LIB_TYPE}
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#types
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g2o/types/types_sba.h
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g2o/types/types_six_dof_expmap.h
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g2o/types/types_sba.cpp
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g2o/types/types_six_dof_expmap.cpp
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g2o/types/types_seven_dof_expmap.cpp
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g2o/types/types_seven_dof_expmap.h
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g2o/types/se3quat.h
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g2o/types/se3_ops.h
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g2o/types/se3_ops.hpp
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#core
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g2o/core/base_edge.h
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g2o/core/base_binary_edge.h
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g2o/core/hyper_graph_action.cpp
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g2o/core/base_binary_edge.hpp
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g2o/core/hyper_graph_action.h
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g2o/core/base_multi_edge.h
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g2o/core/hyper_graph.cpp
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g2o/core/base_multi_edge.hpp
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g2o/core/hyper_graph.h
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g2o/core/base_unary_edge.h
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g2o/core/linear_solver.h
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g2o/core/base_unary_edge.hpp
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g2o/core/marginal_covariance_cholesky.cpp
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g2o/core/base_vertex.h
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g2o/core/marginal_covariance_cholesky.h
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g2o/core/base_vertex.hpp
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g2o/core/matrix_structure.cpp
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g2o/core/batch_stats.cpp
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g2o/core/matrix_structure.h
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g2o/core/batch_stats.h
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g2o/core/openmp_mutex.h
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g2o/core/block_solver.h
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g2o/core/block_solver.hpp
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g2o/core/parameter.cpp
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g2o/core/parameter.h
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g2o/core/cache.cpp
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g2o/core/cache.h
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g2o/core/optimizable_graph.cpp
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g2o/core/optimizable_graph.h
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g2o/core/solver.cpp
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g2o/core/solver.h
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g2o/core/creators.h
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g2o/core/optimization_algorithm_factory.cpp
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g2o/core/estimate_propagator.cpp
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g2o/core/optimization_algorithm_factory.h
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g2o/core/estimate_propagator.h
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g2o/core/factory.cpp
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g2o/core/optimization_algorithm_property.h
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g2o/core/factory.h
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g2o/core/sparse_block_matrix.h
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g2o/core/sparse_optimizer.cpp
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g2o/core/sparse_block_matrix.hpp
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g2o/core/sparse_optimizer.h
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g2o/core/hyper_dijkstra.cpp
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g2o/core/hyper_dijkstra.h
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g2o/core/parameter_container.cpp
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g2o/core/parameter_container.h
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g2o/core/optimization_algorithm.cpp
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g2o/core/optimization_algorithm.h
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g2o/core/optimization_algorithm_with_hessian.cpp
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g2o/core/optimization_algorithm_with_hessian.h
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g2o/core/optimization_algorithm_levenberg.cpp
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g2o/core/optimization_algorithm_levenberg.h
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g2o/core/optimization_algorithm_gauss_newton.cpp
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g2o/core/optimization_algorithm_gauss_newton.h
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g2o/core/jacobian_workspace.cpp
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g2o/core/jacobian_workspace.h
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g2o/core/robust_kernel.cpp
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g2o/core/robust_kernel.h
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g2o/core/robust_kernel_factory.cpp
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g2o/core/robust_kernel_factory.h
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g2o/core/robust_kernel_impl.cpp
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g2o/core/robust_kernel_impl.h
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#stuff
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g2o/stuff/string_tools.h
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g2o/stuff/color_macros.h
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g2o/stuff/macros.h
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g2o/stuff/timeutil.cpp
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g2o/stuff/misc.h
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g2o/stuff/timeutil.h
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g2o/stuff/os_specific.c
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g2o/stuff/os_specific.h
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g2o/stuff/string_tools.cpp
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g2o/stuff/property.cpp
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g2o/stuff/property.h
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)
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