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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required( VERSION 2.8 )
project( vo1 )
set( CMAKE_BUILD_TYPE "Release" )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )
# 添加cmake模块以使用g2o
list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
find_package( OpenCV 3.1 REQUIRED )
# find_package( OpenCV REQUIRED ) # use this if in OpenCV2
find_package( G2O REQUIRED )
find_package( CSparse REQUIRED )
include_directories(
${OpenCV_INCLUDE_DIRS}
${G2O_INCLUDE_DIRS}
${CSPARSE_INCLUDE_DIR}
"/usr/include/eigen3/"
)
add_executable( feature_extraction feature_extraction.cpp )
target_link_libraries( feature_extraction ${OpenCV_LIBS} )
# add_executable( pose_estimation_2d2d pose_estimation_2d2d.cpp extra.cpp ) # use this if in OpenCV2
add_executable( pose_estimation_2d2d pose_estimation_2d2d.cpp )
target_link_libraries( pose_estimation_2d2d ${OpenCV_LIBS} )
# add_executable( triangulation triangulation.cpp extra.cpp) # use this if in opencv2
add_executable( triangulation triangulation.cpp )
target_link_libraries( triangulation ${OpenCV_LIBS} )
add_executable( pose_estimation_3d2d pose_estimation_3d2d.cpp )
target_link_libraries( pose_estimation_3d2d
${OpenCV_LIBS}
${CSPARSE_LIBRARY}
g2o_core g2o_stuff g2o_types_sba g2o_csparse_extension
)
add_executable( pose_estimation_3d3d pose_estimation_3d3d.cpp )
target_link_libraries( pose_estimation_3d3d
${OpenCV_LIBS}
g2o_core g2o_stuff g2o_types_sba g2o_csparse_extension
${CSPARSE_LIBRARY}
)