forked from mp3guy/lsd_slam
-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathCMakeLists.txt
106 lines (81 loc) · 3.57 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
cmake_minimum_required(VERSION 2.8)
find_package(OpenGL )
find_package(Pangolin )
find_package(OpenCV REQUIRED)
find_package(SuiteSparse REQUIRED) # Apparently needed by g2o
find_package(G2O REQUIRED)
#find_package(Boost COMPONENTS thread filesystem system REQUIRED)
find_package(Eigen3 REQUIRED)
# --- common includes
include_directories(
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIR}
${G2O_INCLUDE_DIR}
./include
${CSPARSE_INCLUDE_DIR} #Has been set by SuiteParse
${CHOLMOD_INCLUDE_DIR} #Has been set by SuiteParse
${OpenCV_INCLUDE_DIRS}
)
set(lsd_VERSION original_mp)
IF(NOT ANDROID) ## This version of LSDSLAM HAS BOOST DEPENDENCIES FOR MUTEX HARD TIME FOR ANDROID COMPILATION
find_package(Boost COMPONENTS thread filesystem system REQUIRED)
FIND_PACKAGE(GLUT)
include_directories(${Boost_INCLUDE_DIR})
# ------------ FABMAP LIB ---------
add_subdirectory(./lsd_slam_core/src//thirdparty/openFabMap)
include_directories(./lsd_slam_core/src//thirdparty/openFabMap/include)
include_directories(./lsd_slam_core/src//thirdparty/Sophus/)
add_definitions("-DHAVE_FABMAP")
set(FABMAP_LIB openFABMAP)
# ------------ COMPILER FLAGS ------------
# Also add some useful compiler flag
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -std=c++11 -g -fopenmp -Wno-error=deprecated-declarations")
IF(ANDROID)
ELSE(ANDROID)
# SSE flags
#add_definitions("-DENABLE_SSE")
# Also add some useful compiler flag
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
ENDIF(ANDROID)
# ------------ COMMON ------------
set(common_libraries ${Boost_LIBRARIES} ${OpenCV_LIBS} ${G2O_TYPES_SIM3} ${G2O_TYPES_SBA} ${CSPARSE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_CORE_LIBRARY} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_CSPARSE_EXTENSION} boost_program_options boost_regex)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unused-variable -Wno-unused-parameter -Wno-maybe-uninitialized -Wno-unused-but-set-variable")
include_directories(./lsd_slam_core/src/)
# Set source files
set(lsd_SOURCE_FILES
./lsd_slam_core/src/DataStructures/Frame.cpp
./lsd_slam_core/src/DataStructures/FramePoseStruct.cpp
./lsd_slam_core/src/DataStructures/FrameMemory.cpp
./lsd_slam_core/src/SlamSystem.cpp
./lsd_slam_core/src/LiveSLAMWrapper.cpp
./lsd_slam_core/src/front-end-shared.cpp
./lsd_slam_core/src/lsdslam_library.cpp
./lsd_slam_core/src/DepthEstimation/DepthMap.cpp
./lsd_slam_core/src/DepthEstimation/DepthMapPixelHypothesis.cpp
./lsd_slam_core/src/util/globalFuncs.cpp
./lsd_slam_core/src/util/SophusUtil.cpp
./lsd_slam_core/src/util/settings.cpp
./lsd_slam_core/src/util/Undistorter.cpp
./lsd_slam_core/src/util/RawLogReader.cpp
./lsd_slam_core/src/Tracking/Sim3Tracker.cpp
./lsd_slam_core/src/Tracking/Relocalizer.cpp
./lsd_slam_core/src/Tracking/SE3Tracker.cpp
./lsd_slam_core/src/Tracking/least_squares.cpp
./lsd_slam_core/src/Tracking/TrackingReference.cpp
./lsd_slam_core/src/IOWrapper/Timestamp.cpp
./lsd_slam_core/src/GlobalMapping/FabMap.cpp
./lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp
./lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.cpp
./lsd_slam_core/src/GlobalMapping/TrackableKeyFrameSearch.cpp
)
set(SOURCE_FILES
${lsd_SOURCE_FILES}
./lsd_slam_core/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp
)
# build shared library.
add_library(${appname}-${lsd_VERSION} ${SOURCE_FILES})
target_link_libraries(${appname}-${lsd_VERSION} ${common_libraries} ${FABMAP_LIB})
SET_TARGET_PROPERTIES(${appname}-${lsd_VERSION} PROPERTIES COMPILE_FLAGS "-fPIC")
install(TARGETS ${appname}-original_mp DESTINATION lib/)
generate_slam_library(${appname}-original_mp)
ENDIF(NOT ANDROID)