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CMakeLists.txt
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CMakeLists.txt
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# define new project
PROJECT(mv-lm-icp)
CMAKE_MINIMUM_REQUIRED(VERSION 2.8.0 FATAL_ERROR)
option(WITH_G2O "Compile with G2O support if found" ON)
#print var to screen
function(ECHO var)
MESSAGE(${var} ": " ${${var}})
endfunction(ECHO)
#set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_DEBUG} -Wall") # -DCMAKE_BUILD_TYPE=Debug
#set(CMAKE_BUILD_TYPE "Release")
#this forces release build, otherwise ceres autodiff is really slow:
set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build, options are: Debug Release RelWithDebInfo MinSizeRel." FORCE)
#to debug add this when runniing CMAKE: -DCMAKE_BUILD_TYPE=Debug
#set(CMAKE_BUILD_TYPE "Debug" CACHE STRING "Choose the type of build, options are: Debug Release RelWithDebInfo MinSizeRel." FORCE)
if(UNIX)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
endif(UNIX)
if(MSVC)
add_definitions(-D_USE_MATH_DEFINES)
endif()
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
# MESSAGE("---------------OpenGL-------------------")
# find_package(OpenGL REQUIRED)
# ECHO(OPENGL_FOUND)
# ECHO(OPENGL_GLU_FOUND)
# ECHO(OPENGL_INCLUDE_DIR)
# ECHO(OPENGL_glu_LIBRARY)
#link later to: ${OPENGL_gl_LIBRARY}
MESSAGE("---------------GLFW-------------------")
SET(BUILD_SHARED_LIBS OFF) # Set static build for GLFW
SET(GLFW_BUILD_EXAMPLES OFF CACHE BOOL "" FORCE)
SET(GLFW_BUILD_TESTS OFF CACHE BOOL "" FORCE)
SET(GLFW_BUILD_DOCS OFF CACHE BOOL "" FORCE)
ADD_SUBDIRECTORY(ext/glfw)
SET(BUILD_SHARED_LIBS ON) # Set shared lib build for the rest
INCLUDE_DIRECTORIES(ext/glfw/include)
MESSAGE("---------------Sophus-------------------")
# use lovegroves version of sophus with ceres extensions!
#ADD_SUBDIRECTORY(ext/sophus-ceres)
SET(Sophus_INCLUDE_DIR ext/sophus-ceres)
INCLUDE_DIRECTORIES(${Sophus_INCLUDE_DIR})
MESSAGE("Sophus_INCLUDE_DIR ${Sophus_INCLUDE_DIR}")
MESSAGE("---------------Eigen-------------------")
FIND_PACKAGE(Eigen3 REQUIRED)
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
SET(EIGEN_INCLUDE_DIR ${EIGEN3_INCLUDE_DIR}) #needed for ceres for old version of cmake/FindEigen scripts
MESSAGE("Eigen3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIR}")
MESSAGE("---------------Gflags-------------------")
FIND_PACKAGE(Gflags REQUIRED) # package name capitalization, is it really gflags (for windows) vs. Gflags (for linux)
INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE_DIRS})
MESSAGE("gflags found ${gflags_FOUND} at ${gflags_INCLUDE_DIR}")
MESSAGE("---------------Ceres-------------------")
FIND_PACKAGE(Ceres REQUIRED)
INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
MESSAGE("ceres found ${Ceres_FOUND} at ${Ceres_DIR}")
MESSAGE("Ceres_INCLUDE_DIR ${CERES_INCLUDE_DIRS}")
MESSAGE("Ceres_LIBRARIES ${CERES_LIBRARIES}")
MESSAGE("---------------G2O-------------------")
FIND_PACKAGE(G2O)
if(G2O_FOUND AND WITH_G2O)
add_definitions(-DWITH_G2O)
set(G2O_LIBRARIES
"${G2O_CORE_LIBRARY}" "${G2O_STUFF_LIBRARY}" "${G2O_TYPES_ICP}" "${G2O_TYPES_SLAM3D}"
) #g2o_core g2o_stuff g2o_types_icp g2o_types_slam3d
MESSAGE("g2o found: ${G2O_FOUND} at: ${G2O_INCLUDE_DIR} libraries: ${G2O_LIBRARIES}")
#if(UNIX AND NOT APPLE)
# if(EXISTS /opt/ros/indigo/include/g2o) #and ros and ros-indigo-libg2o is installed
# MESSAGE("using ROS g2o from package ros-indigo-libg2o")
# link_directories(/opt/ros/indigo/lib/)
# endif()
#endif()
else()
set(G2O_LIBRARIES "")
message("not using g2o")
endif()
MESSAGE("-------------------------------------")
include_directories(include/)
file(GLOB HEADERS
include/glad/*.h
include/*.h
include/*.hpp
)
file(GLOB SOURCES src/internal/*.cpp src/internal/*.c)
ADD_EXECUTABLE(multiview src/main_multiview.cpp ${HEADERS} ${SOURCES})
TARGET_LINK_LIBRARIES(multiview glfw ${OPENGL_glu_LIBRARY} ${GLFW_LIBRARIES} ${G2O_LIBRARIES} ${GFLAGS_LIBRARIES} ${CERES_LIBRARIES})
ADD_EXECUTABLE(pairwise src/main_pairwise.cpp ${HEADERS} ${SOURCES})
TARGET_LINK_LIBRARIES(pairwise glfw ${OPENGL_glu_LIBRARY} ${GLFW_LIBRARIES} ${G2O_LIBRARIES} ${GFLAGS_LIBRARIES} ${CERES_LIBRARIES})