ECT_SLAM/CMakeLists.txt at ff693e2ae4f8e58aeaaf5ef109ccff9822246d3e · kamzero/ECT_SLAM · GitHub

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cmake_minimum_required(VERSION 2.8)
project(ECT_SLAM)

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

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

add_definitions("-DENABLE_SSE")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")
# add_definitions(-D_GLIBCXX_USE_CXX11_ABI=0)

set(CMAKE_BUILD_TYPE Release)

set(CMAKE_CXX_FLAGS "-std=c++14 -Wall  -O2 ${SSE_FLAGS} -msse4")
set(CMAKE_CXX_FLAGS_RELEASE  "-std=c++14 -O3 -fopenmp -pthread")

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 REQUIRED)
# pangolin
find_package(Pangolin REQUIRED)

# G2O
find_package(G2O REQUIRED)
include_directories(${G2O_INCLUDE_DIRS})

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

# Sophus
find_package(Sophus REQUIRED)
# set(Sophus_LIBRARIES libSophus.so)
# include_directories(${Sophus_INCLUDE_DIRS})

# csparse
find_package(CSparse REQUIRED)
include_directories(${CSPARSE_INCLUDE_DIR})

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
src/system.cpp
src/config.cpp
src/frontend.cpp
src/backend.cpp
src/viewer.cpp
src/frame.cpp
src/feature.cpp
src/map.cpp
src/mappoint.cpp
src/camera.cpp
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
g2o_core g2o_stuff g2o_types_sba g2o_solver_csparse g2o_csparse_extension
${CSPARSE_LIBRARY}
${GLOG_LIBRARIES}
pthread
)

target_link_libraries(${PROJECT_NAME}
${Sophus_LIBRARIES}
fmt::fmt
)

# Build examples
# pass...