ORB_SLAM2/CMakeLists.txt at master · arunabhcode/ORB_SLAM2 · GitHub

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cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

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_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP")

if(UNIX)
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")

    # Check C++11 or C++0x support
    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 ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
    endif()
else()
    set(CMAKE_CXX_STANDARD 11)
    set(CMAKE_CXX_STANDARD_REQUIRED ON)
    add_definitions(-DCOMPILEDWITHC11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 2.4.3 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
# find_package( MATLAB REQUIRED )

# DBoW2 target
# add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/)
# g2o target
# add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/g2o/)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

# set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)

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/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/Numeric.cc
src/Projection.cc
src/Numeric.cc
# src/CheckerboardPose.cc
)

# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

target_link_libraries(${PROJECT_NAME} PUBLIC
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
# ${MATLAB_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.a
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.a
)

target_include_directories(${PROJECT_NAME} PUBLIC
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
# ${MATLAB_INCLUDE_DIRS}
)


# Build examples

# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

# add_executable(mono_tum
# Examples/Monocular/mono_tum.cc)
# target_link_libraries(mono_tum ${PROJECT_NAME})

# add_executable(rgbd_tum
# Examples/RGB-D/rgbd_tum.cc)
# target_link_libraries(rgbd_tum ${PROJECT_NAME})

# 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})


if(NOT TARGET uninstall)
  configure_file(
      ${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in
      ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
      IMMEDIATE @ONLY)

  add_custom_target(uninstall
      COMMAND ${CMAKE_COMMAND} -P
      ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
endif()

install(DIRECTORY ${PROJECT_SOURCE_DIR}/include DESTINATION ${CMAKE_INSTALL_PREFIX}
  FILES_MATCHING PATTERN "*.h")

install(DIRECTORY ${PROJECT_SOURCE_DIR}/Thirdparty DESTINATION ${CMAKE_INSTALL_PREFIX}/include
  FILES_MATCHING PATTERN "*.h")

install(DIRECTORY ${PROJECT_SOURCE_DIR}/Thirdparty DESTINATION ${CMAKE_INSTALL_PREFIX}/include
  FILES_MATCHING PATTERN "*.hpp")

install(TARGETS ${PROJECT_NAME}
        ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
        LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
        RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)

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})