Adjust build parameters based on @carlodek's suggestion (raulmur/ORB_…

…SLAM2#264)

wasm/CMakeLists.txt

@@ -5,7 +5,8 @@ project( orb_wasm )
 
 # Use C++ 11 by default
 # Now use C++ 14, I think some of the PTAM code needs it
-set( CMAKE_CXX_STANDARD 14 )
+# adjusted back to 11 for ORB-SLAM as @carlodek, see below
+set( CMAKE_CXX_STANDARD 11 )
 
 set( opencvdir "/home/nick/src/opencv" )
 set( orbdir "/home/nick/src/ORB_SLAM3" )
@@ -25,7 +26,7 @@ include_directories( ${opencv_include_modules} "${orbdir}/include" ${orbdir} ${e
 add_compile_options("-pthread")
 add_link_options("-pthread")
 
-add_link_options("SHELL: --preload-file assets")
+add_compile_options("-O1")
 add_compile_options("-gsource-map")
 add_compile_options("-fexceptions")
 add_compile_options("SHELL: -s USE_ZLIB=1")
@@ -39,10 +40,18 @@ add_link_options("SHELL: -s ALLOW_MEMORY_GROWTH=1")
 # the below is useful to debug pointer errors but doesn't seem to link properly
 # https://emscripten.org/docs/debugging/Sanitizers.html 
 #add_link_options("-fsanitize=address")
-add_link_options("--bind")
+# add_link_options("--bind") # replaced by -lembind below
 #add_compile_options("-O3")
 #add_link_options("-s LLD_REPORT_UNDEFINED")
 
+# from @carlodek https://github.com/raulmur/ORB_SLAM2/issues/264
+add_link_options("-O1")
+add_link_options("SHELL: -s MAXIMUM_MEMORY=4GB")
+add_link_options("SHELL: -s NO_EXIT_RUNTIME=1")
+add_link_options("SHELL: --preload-file assets")
+add_link_options("--use-preload-plugins")
+add_link_options("-lembind")
+
 # Our hello world executable
 add_executable( orb_wasm orb_wasm.cpp )
 
@@ -51,5 +60,3 @@ file( GLOB opencv_js "${opencvdir}/build_wasm/lib/*.a" )
 set( orb_lib "${orbdir}/build/libORB_SLAM3.a" )
 #file( GLOB_RECURSE orb_libs_external "${orbdir}/external/*.a" )
 target_link_libraries(orb_wasm ${orb_lib} "${orbdir}/Thirdparty/g2o/lib/libg2o.a" "${orbdir}/Thirdparty/DBoW2/lib/libDBoW2.a" ${opencv_js} -lz)
-#target_link_libraries(orb_wasm -L${orbdir}/orb -L${orbdir}/external/libcvd -L${orbdir}/external/gvars-3.0 -L${orbdir}/external/clapack-3.2.1/SRC -L${orbdir}/external/clapack-3.2.1/BLAS/SRC -L${orbdir}/external/clapack-3.2.1/F2CLIBS/libf2c  -lPTAM -llibcvd -lgvars -llapack -lblas -lf2c)
-