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CMakeLists.txt 1.83 KB
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半闲居士 authored 2016-06-16 12:10 . direct method using g2o
cmake_minimum_required( VERSION 2.8 )
project( zed_slam )
if ( NOT CMAKE_BUILD_TYPE )
set(CMAKE_BUILD_TYPE "Release")
#set(CMAKE_BUILD_TYPE "Debug")
endif()
# set( CMAKE_CXX_COMPILER "clang++" )
set( CMAKE_CXX_FLAGS "-Wall -O3 -pthread -Wno-sign-compare -Wno-reorder -Wno-switch -Wno-deprecated-register" )
set( EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin )
list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
# For SEE and c++ std
IF(DEFINED ENV{ARM_ARCHITECTURE})
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
ELSE()
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3")
ENDIF()
IF(CMAKE_COMPILER_IS_GNUCC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ENDIF()
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
find_package( OpenCV 2.4 REQUIRED )
find_package( Eigen3 3.1.0 REQUIRED )
find_package( ZED 0.9 REQUIRED )
find_package( CUDA REQUIRED )
find_package( fast REQUIRED )
find_package( G2O REQUIRED )
find_package( Cholmod REQUIRED )
find_package( Pangolin REQUIRED )
# find_package( Sophus REQUIRED )
include_directories(
${PROJECT_SOURCE_DIR}/include
${PROJECT_SOURCE_DIR}/3rdparty
${PROJECT_SOURCE_DIR}/3rdparty/vikit_common/include
${EIGEN3_INCLUDE_DIR}
${OpenCV_INCLUDE_DIRS}
${ZED_INCLUDE_DIRS}
${CUDA_INCLUDE_DIRS}
${fast_INCLUDE_DIRS}
${CHOLMOD_INCLUDE_DIR}
${Pangolin_INCLUDE_DIR}
#${Sophus_INCLUDE_DIRS}
)
set( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib )
link_directories(
${CUDA_LIBRARIES_DIRS}
${ZED_LIBRARY_DIR}
${OpenCV_LIBRARY_DIRS}
${fast_LIBRARIES}
)
# the library
add_subdirectory( src )
# tests
add_subdirectory( test )

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