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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8)
project(USLAM)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
rosbuild_init()
IF(NOT ROS_BUILD_TYPE)
#SET(ROS_BUILD_TYPE Release)
SET(CMAKE_BUILD_TYPE Release)
ENDIF()
#MESSAGE("Build type: " ${ROS_BUILD_TYPE})
MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
# Set target C++ standard and required compiler features
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
#set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${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 REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(Cholmod REQUIRED)
find_package(rosbag REQUIRED)
find_package(PCL REQUIRED)
include_directories(
${PROJECT_SOURCE_DIR}
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${CHOLMOD_INCLUDE_DIR}
${PCL_INCLUDE_DIRS}
)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
rosbuild_add_executable(${PROJECT_NAME}
src/main.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FramePublisher.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapPublisher.cc
src/Optimizer.cc
src/PnPsolver.cc
src/FrameKTL.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/hash.cpp
src/cluster.cpp
src/IMU/configparam.h
src/IMU/configparam.cpp
src/IMU/imudata.h
src/IMU/imudata.cpp
src/IMU/NavState.h
src/IMU/NavState.cpp
src/IMU/IMUPreintegrator.h
src/IMU/IMUPreintegrator.cpp
src/IMU/so3.cpp
src/IMU/so3.h
src/IMU/g2otypes.h
src/IMU/g2otypes.cpp
)
rosbuild_add_boost_directories()
rosbuild_link_boost(${PROJECT_NAME} thread)
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${rosbag_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${PCL_LIBRARIES}
-lboost_system
cholmod
${CHOLMOD_LIBRARIES}
${BLAS_LIBRARIES}
${LAPACK_LIBRARIES}
)