CMakeLists.txt

cmake_minimum_required(VERSION 2.8)

project(ygz-SLAM)

SET( CMAKE_BUILD_TYPE "Release" )

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release )
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}     -Wall -O3 -march=native -Wno-reorder")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native -Wno-reorder")

# 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()

IF(DEFINED ENV{ARM_ARCHITECTURE})
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
ELSE()
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3 -msse4")
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(Cholmod REQUIRED)

# glog 
find_package( Glog REQUIRED )
include_directories( ${GLOG_INCLUDE_DIRS} )

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${PROJECT_SOURCE_DIR}/src
${PROJECT_SOURCE_DIR}/Thirdparty/fast/include
${PROJECT_SOURCE_DIR}/Thirdparty/sophus
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${CHOLMOD_INCLUDE_DIR}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

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/SparseImageAlign.cc
src/Align.cc

src/IMU/configparam.cpp
src/IMU/imudata.cpp
src/IMU/IMUPreintegrator.cpp
src/IMU/NavState.cpp
src/IMU/g2otypes.cpp
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/Thirdparty/fast/build/libfast.so
cholmod
${CHOLMOD_LIBRARIES}
${BLAS_LIBRARIES}
${LAPACK_LIBRARIES}
${GLOG_LIBRARY}
)

# Build examples
################# Datasets ####################

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

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})


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

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

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})

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