cmake_minimum_required(VERSION 2.8) project(DSDTM) set(CMAKE_BUILD_TYPE Release) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -o3") #添加sse指令支持 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3") set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin) set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib) list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules) # Opencv #set(OpenCV_DIR "/home/buyi/Software/Opencv/opencv-3.2.0/build") find_package(OpenCV REQUIRED) include_directories(${Opencv_INCLUDE_DIRS}) message(STATUS " version: ${OpenCV_VERSION}") # Ceres find_package(Ceres REQUIRED) include_directories(${Ceres_INCLUDE_DIRS}) # Sophus find_package(Sophus REQUIRED) set(Sophus_LIBRARIES libSophus.so) include_directories(${Sophus_INCLUDE_DIRS}) # Eigen include_directories("/usr/include/eigen3") #glog find_package(Glog REQUIRED) include_directories(${GLOG_INCLUDE_DIRS}) #Pangolin find_package(Pangolin REQUIRED) include_directories(${Pangolin_INCLUDE_DIRS}) include_directories( ${PROJECT_SOURCE_DIR}/include ${PROJECT_SOURCE_DIR}/Thirdparty/fast/include ${PROJECT_SOURCE_DIR}/Thirdparty/fastMCD/include) add_library(${PROJECT_NAME} SHARED src/Frame.cpp src/Feature_detection.cpp src/Config.cpp src/Camera.cpp src/Tracking.cpp src/Initializer.cpp src/Rarsac_base.cpp src/MapPoint.cpp src/Map.cpp src/Keyframe.cpp src/Optimizer.cpp src/LocalMapping.cpp src/Moving_Detection.cpp src/Feature_alignment.cpp src/Sprase_ImageAlign.cpp src/Viewer.cpp src/System.cpp src/Utils.cpp) target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} ${CERES_LIBRARIES} ${Sophus_LIBRARIES} ${GLOG_LIBARIES} ${Pangolin_LIBRARIES} ${PROJECT_SOURCE_DIR}/Thirdparty/fast/lib/libfast.so ${PROJECT_SOURCE_DIR}/Thirdparty/fastMCD/lib/libfastMCD.so) # Test the feature detection add_executable(test_Feature_detection Test/test_Feature_detection.cpp) target_link_libraries(test_Feature_detection ${PROJECT_NAME}) # Test the tracking process add_executable(test_Tracking Test/test_Tracking.cpp) target_link_libraries(test_Tracking ${PROJECT_NAME}) # Test the Euroc Datasets #add_executable(Test_Euroc Test/test_Euroc.cpp) #target_link_libraries(Test_Euroc ${PROJECT_NAME}) # Test the tracking process add_executable(test_Combination Test/test_Combination.cpp) target_link_libraries(test_Combination ${PROJECT_NAME}) # Test the tracking process add_executable(test_Jotting Test/test_Jotting.cpp) target_link_libraries(test_Jotting ${PROJECT_NAME}) # Test the initial pose solver #add_executable(test_Optimizer Test/test_Optimizer.cpp) #target_link_libraries(test_Optimizer ${PROJECT_NAME}) #Test Motion Dection add_executable(test_Motion_dection Test/test_Motion_detection.cpp) target_link_libraries(test_Motion_dection ${PROJECT_NAME}) #Test Feature Alignment add_executable(test_Feature_alignemnt Test/test_Feature_alignment.cpp) target_link_libraries(test_Feature_alignemnt ${PROJECT_NAME}) #Test Sprase iamge Alignment #add_executable(test_SpraseImg_alignment Test/test_SpraseImg_alignment.cpp) #target_link_libraries(test_SpraseImg_alignment ${PROJECT_NAME}) #Test Tracking with SVO datasets add_executable(test_uzhsin Test/test_uzhsin.cpp) target_link_libraries(test_uzhsin ${PROJECT_NAME}) #Test Keyframe creating #add_executable(KFrame_Creating Test/test_KFrame_Creating.cpp) #target_link_libraries(KFrame_Creating ${PROJECT_NAME})