static dbow g2o

Author: arunabhcode

CMakeLists.txt

@@ -54,13 +54,13 @@ find_package(Pangolin REQUIRED)
 find_package( MATLAB REQUIRED )
 
 # DBoW2 target
-add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/)
+# add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/)
 # g2o target
-add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/g2o/)
+# add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/g2o/)
 
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+# set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 
 add_library(${PROJECT_NAME} SHARED
 src/System.cc
@@ -95,8 +95,8 @@ ${OpenCV_LIBS}
 ${EIGEN3_LIBS}
 ${Pangolin_LIBRARIES}
 ${MATLAB_LIBRARIES}
-DBoW2
-g2o
+${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.a
+${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.a
 )
 
 target_include_directories(${PROJECT_NAME} PUBLIC

Thirdparty/DBoW2/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8)
 project(DBoW2)
 
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native -fPIC")
 if(UNIX)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
@@ -38,7 +38,7 @@ find_package(OpenCV REQUIRED)
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 # include_directories(${OpenCV_INCLUDE_DIRS})
-add_library(DBoW2 SHARED ${SRCS_DBOW2} ${SRCS_DUTILS})
+add_library(DBoW2 STATIC ${SRCS_DBOW2} ${SRCS_DUTILS})
 target_link_libraries(DBoW2 ${OpenCV_LIBS})
 target_include_directories(DBoW2 PUBLIC
   ${PROJECT_BINARY_DIR}

Thirdparty/g2o/CMakeLists.txt

@@ -16,7 +16,7 @@ MESSAGE(STATUS "BUILD TYPE:" ${CMAKE_BUILD_TYPE})
 IF(WIN32)
     SET(G2O_LIB_TYPE STATIC)
 ELSE()
-    SET(G2O_LIB_TYPE SHARED)
+    SET(G2O_LIB_TYPE STATIC)
 ENDIF()
 
 # There seems to be an issue with MSVC8
@@ -58,8 +58,8 @@ IF(OPENMP_FOUND AND G2O_USE_OPENMP)
 ENDIF(OPENMP_FOUND AND G2O_USE_OPENMP)
 
 # Compiler specific options for gcc
-SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 ") 
-SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3") 
+SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -fPIC")
+SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -fPIC")
 
 # activate warnings !!!
 SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall")
@@ -86,7 +86,7 @@ configure_file(config.h.in ${g2o_SOURCE_DIR}/config.h)
 INCLUDE_DIRECTORIES(
 ${g2o_SOURCE_DIR}/core
 ${g2o_SOURCE_DIR}/types
-${g2o_SOURCE_DIR}/stuff 
+${g2o_SOURCE_DIR}/stuff
 ${G2O_EIGEN3_INCLUDE})
 
 # Include the subdirectories
@@ -107,72 +107,72 @@ g2o/core/base_binary_edge.h
 g2o/core/hyper_graph_action.cpp
 g2o/core/base_binary_edge.hpp
 g2o/core/hyper_graph_action.h
-g2o/core/base_multi_edge.h           
+g2o/core/base_multi_edge.h
 g2o/core/hyper_graph.cpp
-g2o/core/base_multi_edge.hpp         
+g2o/core/base_multi_edge.hpp
 g2o/core/hyper_graph.h
-g2o/core/base_unary_edge.h          
+g2o/core/base_unary_edge.h
 g2o/core/linear_solver.h
-g2o/core/base_unary_edge.hpp         
+g2o/core/base_unary_edge.hpp
 g2o/core/marginal_covariance_cholesky.cpp
-g2o/core/base_vertex.h               
+g2o/core/base_vertex.h
 g2o/core/marginal_covariance_cholesky.h
-g2o/core/base_vertex.hpp             
+g2o/core/base_vertex.hpp
 g2o/core/matrix_structure.cpp
-g2o/core/batch_stats.cpp             
+g2o/core/batch_stats.cpp
 g2o/core/matrix_structure.h
-g2o/core/batch_stats.h               
+g2o/core/batch_stats.h
 g2o/core/openmp_mutex.h
-g2o/core/block_solver.h              
-g2o/core/block_solver.hpp            
-g2o/core/parameter.cpp               
-g2o/core/parameter.h                 
-g2o/core/cache.cpp                   
+g2o/core/block_solver.h
+g2o/core/block_solver.hpp
+g2o/core/parameter.cpp
+g2o/core/parameter.h
+g2o/core/cache.cpp
 g2o/core/cache.h
-g2o/core/optimizable_graph.cpp       
-g2o/core/optimizable_graph.h         
-g2o/core/solver.cpp                  
+g2o/core/optimizable_graph.cpp
+g2o/core/optimizable_graph.h
+g2o/core/solver.cpp
 g2o/core/solver.h
-g2o/core/creators.h                 
+g2o/core/creators.h
 g2o/core/optimization_algorithm_factory.cpp
-g2o/core/estimate_propagator.cpp     
+g2o/core/estimate_propagator.cpp
 g2o/core/optimization_algorithm_factory.h
-g2o/core/estimate_propagator.h       
-g2o/core/factory.cpp                 
+g2o/core/estimate_propagator.h
+g2o/core/factory.cpp
 g2o/core/optimization_algorithm_property.h
-g2o/core/factory.h                   
+g2o/core/factory.h
 g2o/core/sparse_block_matrix.h
-g2o/core/sparse_optimizer.cpp  
+g2o/core/sparse_optimizer.cpp
 g2o/core/sparse_block_matrix.hpp
 g2o/core/sparse_optimizer.h
-g2o/core/hyper_dijkstra.cpp 
+g2o/core/hyper_dijkstra.cpp
 g2o/core/hyper_dijkstra.h
-g2o/core/parameter_container.cpp     
+g2o/core/parameter_container.cpp
 g2o/core/parameter_container.h
-g2o/core/optimization_algorithm.cpp 
+g2o/core/optimization_algorithm.cpp
 g2o/core/optimization_algorithm.h
-g2o/core/optimization_algorithm_with_hessian.cpp 
+g2o/core/optimization_algorithm_with_hessian.cpp
 g2o/core/optimization_algorithm_with_hessian.h
-g2o/core/optimization_algorithm_levenberg.cpp 
+g2o/core/optimization_algorithm_levenberg.cpp
 g2o/core/optimization_algorithm_levenberg.h
-g2o/core/jacobian_workspace.cpp 
+g2o/core/jacobian_workspace.cpp
 g2o/core/jacobian_workspace.h
-g2o/core/robust_kernel.cpp 
+g2o/core/robust_kernel.cpp
 g2o/core/robust_kernel.h
 g2o/core/robust_kernel_factory.cpp
 g2o/core/robust_kernel_factory.h
-g2o/core/robust_kernel_impl.cpp 
+g2o/core/robust_kernel_impl.cpp
 g2o/core/robust_kernel_impl.h
 #stuff
 g2o/stuff/string_tools.h
-g2o/stuff/color_macros.h 
+g2o/stuff/color_macros.h
 g2o/stuff/macros.h
 g2o/stuff/timeutil.cpp
 g2o/stuff/misc.h
 g2o/stuff/timeutil.h
-g2o/stuff/os_specific.c    
+g2o/stuff/os_specific.c
 g2o/stuff/os_specific.h
 g2o/stuff/string_tools.cpp
-g2o/stuff/property.cpp       
-g2o/stuff/property.h       
+g2o/stuff/property.cpp
+g2o/stuff/property.h
 )