-
Notifications
You must be signed in to change notification settings - Fork 89
/
Copy pathCMakeLists.txt
193 lines (174 loc) · 9.12 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
cmake_minimum_required(VERSION 2.8)
set(PROJECT_NAME "RESLAM")
project(${PROJECT_NAME})
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
set(SANITIZER "-fsanitize=address -fsanitize=leak -fno-omit-frame-pointer")
set(SANITIZER "")
set(OPENMP " -fopenmp")
# set(OPENMP "")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Wall -Wunused-variable -Wpedantic -Werror -O3 -g -march=native ${OPENMP} ${SANITIZER}")
set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -O3 -Wunused-variable -Wpedantic -march=native -g ${OPENMP} ${SANITIZER}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wunused-variable -Wpedantic -Werror -O3 -g -march=native ${OPENMP} ${SANITIZER}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -g -Wunused-variable -Wpedantic -march=native ${OPENMP} ${SANITIZER}")
#SET(CMAKE_BUILD_TYPE RelWithDebInfo)
SET(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED True)
# OPTION(WITH_PANGOLIN_VIEWER "Build with Pangolin viewer (DSO)?" ON)
# if (WITH_PANGOLIN_VIEWER)
# find_package(Pangolin REQUIRED)
# # decide if we have pangolin
# if (Pangolin_FOUND)
# message("--- found PANGOLIN, compiling dso_pangolin library.")
# include_directories( ${Pangolin_INCLUDE_DIRS} )
# set(dso_pangolin_SOURCE_FILES
# ${PROJECT_SOURCE_DIR}/iowrapper/Pangolin/KeyFrameDisplay.cpp
# ${PROJECT_SOURCE_DIR}/iowrapper/Pangolin/PangolinDSOViewer.cpp)
# set(HAS_PANGOLIN 1)
# list(APPEND LIBS ${Pangolin_LIBRARIES})
# add_definitions(-DWITH_PANGOLIN_VIEWER)
# else ()
# message("--- could not find PANGOLIN, not compiling dso_pangolin library.")
# message(" this means there will be no 3D display / GUI available for dso_dataset.")
# set(dso_pangolin_SOURCE_FILES )
# set(HAS_PANGOLIN 0)
# endif ()
# endif()
#LibRealSense
# OPTION(WITH_REALSENSE "Build with RealSense Sensor?" OFF)
# if (WITH_REALSENSE)
# list(APPEND SRC_FILES "io/realsensesensor.cpp")
# list(APPEND HEADER_FILES "io/realsensesensor.h")
# add_definitions(-DWITH_REALSENSE)
# list(APPEND LIBS "realsense")
# endif()
find_package(OpenCV 3 REQUIRED opencv_core opencv_imgproc opencv_highgui)# opencv_calib3d opencv_videoio opencv_imgcodecs )
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()
if (OpenCV_FOUND)
message("--- found OpenCV, compiling dso_opencv library.")
include_directories( ${OpenCV_INCLUDE_DIRS} )
set(HAS_OPENCV 1)
endif ()
list(APPEND LIBS ${OpenCV_LIBS})
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${FLAGS}")
set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} ${FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${FLAGS}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${FLAGS}")
message("OpenCV: ${OpenCV_INCLUDE_DIRS}")
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIRS})
INCLUDE_DIRECTORIES("thirdparty/Sophus")
MESSAGE("${EIGEN_WORLD_VERSION} ${EIGEN_MAJOR_VERSION} ${EIGEN_MINOR_VERSION}")
# OPTION(WITH_ORBBEC_ASTRA_PRO "Compile with Orbbec Astra Pro support (requires FFMPEG and OpenNI)!" ON)
# OPTION(WITH_ORBBEC_ASTRA "Compile with Orbbec Astra Pro support (requires FFMPEG and OpenNI)!" OFF)
# #FOR Orbbec Astra Pro
# IF (WITH_ORBBEC_ASTRA_PRO)
# if (NOT DEFINED OpenNI_ASTRA_PRO_LIB)
# set(OpenNI_ASTRA_PRO_LIB "${CMAKE_SOURCE_DIR}/IOWrapper/orbbec_astra/drivers/libOpenNI2.so")
# endif()
# if (NOT DEFINED OpenNI_ASTRA_PRO_INCLUDE_DIR)
# set(OpenNI_ASTRA_PRO_INCLUDE_DIR " ${CMAKE_SOURCE_DIR}/IOWrapper/orbbec_astra/drivers/Include/")
# endif()
# include_directories(${OpenNI_ASTRA_PRO_INCLUDE_DIR})
# add_definitions(-DWITH_ORBBEC_FFMPEG)
# include("cmake/external_FFMPEG.cmake")
# #now we try to add ffmpegs
# list(APPEND SRC_FILES "IOWrapper/orbbec_astra/InputOrbbecAstra.cpp")
# list(APPEND HEADER_FILES "IOWrapper/orbbec_astra/InputOrbbecAstra.h")
# list(APPEND LIBS ${OpenNI_ASTRA_PRO_LIB} ${FFMPEG_LIBRARIES})
# include_directories(${FFMPEG_INCLUDE_DIR})
# add_definitions(-DWITH_ORBBEC_ASTRA_PRO)
# ENDIF(WITH_ORBBEC_ASTRA_PRO)
# #for the standard Orbbec Astra
# IF (WITH_ORBBEC_ASTRA)
# if (NOT DEFINED OpenNI_ASTRA_PRO_LIB)
# set(OpenNI_ASTRA_PRO_LIB "${CMAKE_SOURCE_DIR}/orbbec_astra_pro/drivers/libOpenNI2.so")
# endif()
# if (NOT DEFINED OpenNI_ASTRA_PRO_INCLUDE_DIR)
# set(OpenNI_ASTRA_PRO_INCLUDE_DIR " ${CMAKE_SOURCE_DIR}/orbbec_astra_pro/drivers/Include/")
# endif()
# include_directories(${OpenNI_ASTRA_PRO_INCLUDE_DIR})
# list(APPEND SRC_FILES "orbbec_astra_pro/OrbbecAstraOpenNIEngine.cpp")
# list(APPEND HEADER_FILES "orbbec_astra_pro/OrbbecAstraOpenNIEngine.h")
# add_definitions(-DWITH_ORBBEC_ASTRA)
# ENDIF(WITH_ORBBEC_ASTRA)
find_package(Boost COMPONENTS system filesystem thread REQUIRED)
list(APPEND LIBS ${Boost_FILESYSTEM_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY})
OPTION(WITH_PANGOLIN_VIEWER "Build with Pangolin viewer (DSO)?" ON)
if (WITH_PANGOLIN_VIEWER)
find_package(Pangolin REQUIRED)
# decide if we have pangolin
if (Pangolin_FOUND)
message("--- found PANGOLIN, compiling dso_pangolin library.")
include_directories( ${Pangolin_INCLUDE_DIRS} )
set(dso_pangolin_SOURCE_FILES
${PROJECT_SOURCE_DIR}/GUI/Pangolin/KeyFrameDisplay.cpp
${PROJECT_SOURCE_DIR}/GUI/Pangolin/PangolinDSOViewer.cpp)
set(HAS_PANGOLIN 1)
list(APPEND LIBS ${Pangolin_LIBRARIES})
add_definitions(-DWITH_PANGOLIN_VIEWER)
else ()
message("--- could not find PANGOLIN, not compiling dso_pangolin library.")
message(" this means there will be no 3D display / GUI available for dso_dataset.")
set(dso_pangolin_SOURCE_FILES )
set(HAS_PANGOLIN 0)
endif ()
endif()
#UTILS
list(APPEND UTILITY_SRC_FILES "Utils/Logging.cpp")
list(APPEND UTILITY_HEADER_FILES "Utils/timer.h" "Utils/Logging.h" "Utils/LGSX.h" "Utils/utility_functions.h")
#DATA STRUCTURES
OPTION(WITH_POSE_GRAPH "BUILD WITH POSE GRAPH FRAME OPTIMIZATION" ON)
if (WITH_POSE_GRAPH)
add_definitions(-DWWITH_POSE_GRAPH)
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})
list(APPEND LIBS ${CERES_LIBRARIES})
MESSAGE("APPENDED LOOP FILES ${SUITESPARSE_INCLUDE_DIRS}")
endif()
OPTION(WITH_RELOCALISER "BUILD RELOCALISER DEPENDENCIES" ON)
OPTION(WITH_LOOP_CLOSURE "BUILD LOOP CLOSURE DEPENDENCIES (triggers also WITH_RELOCALISER)" ON)
if (WITH_LOOP_CLOSURE)
add_definitions(-DWITH_LOOP_CLOSURE)
set(WITH_FERN_LIB TRUE)
set(WITH_RELOCALISER TRUE)
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})
list(APPEND DATASTRUC_SRC_FILES "Relocaliser/ceresloopcloser.cpp")
list(APPEND DATASTRUC_HEADER_FILES "Relocaliser/ceresloopcloser.h")# "relocaliser/types.h")
list(APPEND LIBS ${CERES_LIBRARIES})
MESSAGE("APPENDED LOOP FILES ${SUITESPARSE_INCLUDE_DIRS}")
endif()
if (WITH_RELOCALISER)
set(WITH_FERN_LIB TRUE)
add_definitions(-DWITH_RELOCALISER)
list(APPEND DATASTRUC_SRC_FILES "Relocaliser/Relocaliser.cpp")
list(APPEND DATASTRUC_HEADER_FILES "Relocaliser/Relocaliser.h" "Relocaliser/types.h")
endif()
#For relocalisation and loop closure
if (WITH_FERN_LIB)
list(APPEND DATASTRUC_SRC_FILES "Relocaliser/LoopCloser.cpp")
list(APPEND DATASTRUC_HEADER_FILES "Relocaliser/LoopCloser.h" "Relocaliser/types.h")
list(APPEND LOOP_SRC_FILES "Relocaliser/FernRelocLib/FernConservatory.cpp" "Relocaliser/FernRelocLib/RelocDatabase.cpp" "Relocaliser/FernRelocLib/fernrelocaliser.cpp")
list(APPEND LOOP_HEADER_FILES "Relocaliser/FernRelocLib/FernConservatory.h" "Relocaliser/FernRelocLib/RelocDatabase.h" "Relocaliser/FernRelocLib/fernrelocaliser.h")
endif()
#Input/Output
list(APPEND DATASTRUC_SRC_FILES "IOWrapper/Input.cpp" "IOWrapper/DataStructures.cpp")
list(APPEND DATASTRUC_HEADER_FILES "IOWrapper/Input.h" "IOWrapper/DataStructures.h")
#Config
list(APPEND CONFIG_HEADER_FILES "config/Defines.h")
#OPTIMIZATION
list(APPEND OPTIMIZATION_SRC_FILES "System/Mapper.cpp" "System/System.cpp" "System/Tracker.cpp" "System/LocalMapper.cpp" "System/WindowedOptimizer.cpp")
list(APPEND OPTIMIZATION_HEADER_FILES "System/Mapper.h" "System/System.h" "System/SystemSettings.h" "System/Tracker.h" "System/LocalMapper.h" "System/WindowedOptimizer.h")
list(APPEND OPTIMIZATION_SRC_FILES "Utils/AccumulatedSCHessian.cpp" "Utils/AccumulatedTopHessian.cpp" "Utils/CoarseDistanceMap.cpp")
list(APPEND OPTIMIZATION_HEADER_FILES "Utils/AccumulatedSCHessian.h" "Utils/AccumulatedTopHessian.h" "Utils/CoarseDistanceMap.h")
list(APPEND SRC_FILES ${SRC_FILES} "main.cpp")
add_executable(${PROJECT_NAME} ${SRC_FILES} ${HEADER_FILES} ${OPTIMIZATION_SRC_FILES} ${OPTIMIZATION_HEADER_FILES} ${CONFIG_HEADER_FILES} ${CONFIG_SRC_FILES}
${UTILITY_SRC_FILES} ${UTILITY_HEADER_FILES} ${DATASTRUC_SRC_FILES} ${DATASTRUC_HEADER_FILES} ${LOOP_SRC_FILES} ${LOOP_HEADER_FILES}
${dso_pangolin_SOURCE_FILES} ${dso_opencv_SOURCE_FILES})
target_link_libraries(${PROJECT_NAME} ${LIBS}${SANITIZER})