136 lines
4.7 KiB
CMake
136 lines
4.7 KiB
CMake
SET(PROJECT_NAME DSO)
|
|
|
|
PROJECT(${PROJECT_NAME})
|
|
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
|
|
#set(CMAKE_VERBOSE_MAKEFILE ON)
|
|
|
|
|
|
set(BUILD_TYPE Release)
|
|
#set(BUILD_TYPE RelWithDebInfo)
|
|
|
|
set(EXECUTABLE_OUTPUT_PATH bin)
|
|
set(LIBRARY_OUTPUT_PATH lib)
|
|
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
|
|
|
|
# required libraries
|
|
find_package(SuiteParse REQUIRED)
|
|
find_package(Eigen3 REQUIRED)
|
|
find_package(Boost COMPONENTS system thread)
|
|
|
|
# optional libraries
|
|
find_package(LibZip QUIET)
|
|
set(Pangolin_DIR "/home/ivan/ivan/git/Work DriveCast/Pangolin-0.6/build/src")
|
|
#find_package(Pangolin 0.2 QUIET)
|
|
find_package(Pangolin)
|
|
set(OpenCV_DIR "/home/ivan/ivan/git/Work DriveCast/opencv-3.4.15/build")
|
|
find_package(OpenCV)
|
|
|
|
# flags
|
|
add_definitions("-DENABLE_SSE")
|
|
set(CMAKE_CXX_FLAGS
|
|
"${SSE_FLAGS} -O3 -g -std=c++0x -march=native"
|
|
# "${SSE_FLAGS} -O3 -g -std=c++0x -fno-omit-frame-pointer"
|
|
)
|
|
|
|
if (MSVC)
|
|
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc")
|
|
endif (MSVC)
|
|
|
|
# Sources files
|
|
set(dso_SOURCE_FILES
|
|
${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystem.cpp
|
|
${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemOptimize.cpp
|
|
${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemOptPoint.cpp
|
|
${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemDebugStuff.cpp
|
|
${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemMarginalize.cpp
|
|
${PROJECT_SOURCE_DIR}/src/FullSystem/Residuals.cpp
|
|
${PROJECT_SOURCE_DIR}/src/FullSystem/CoarseTracker.cpp
|
|
${PROJECT_SOURCE_DIR}/src/FullSystem/CoarseInitializer.cpp
|
|
${PROJECT_SOURCE_DIR}/src/FullSystem/ImmaturePoint.cpp
|
|
${PROJECT_SOURCE_DIR}/src/FullSystem/HessianBlocks.cpp
|
|
${PROJECT_SOURCE_DIR}/src/FullSystem/PixelSelector2.cpp
|
|
${PROJECT_SOURCE_DIR}/src/OptimizationBackend/EnergyFunctional.cpp
|
|
${PROJECT_SOURCE_DIR}/src/OptimizationBackend/AccumulatedTopHessian.cpp
|
|
${PROJECT_SOURCE_DIR}/src/OptimizationBackend/AccumulatedSCHessian.cpp
|
|
${PROJECT_SOURCE_DIR}/src/OptimizationBackend/EnergyFunctionalStructs.cpp
|
|
${PROJECT_SOURCE_DIR}/src/util/settings.cpp
|
|
${PROJECT_SOURCE_DIR}/src/util/Undistort.cpp
|
|
${PROJECT_SOURCE_DIR}/src/util/globalCalib.cpp
|
|
)
|
|
|
|
|
|
|
|
include_directories(
|
|
${PROJECT_SOURCE_DIR}/src
|
|
${PROJECT_SOURCE_DIR}/thirdparty/Sophus
|
|
${PROJECT_SOURCE_DIR}/thirdparty/sse2neon
|
|
${EIGEN3_INCLUDE_DIR}
|
|
)
|
|
|
|
|
|
# decide if we have pangolin
|
|
if (Pangolin_FOUND)
|
|
message("--- found PANGOLIN, compiling dso_pangolin library.")
|
|
include_directories( ${Pangolin_INCLUDE_DIRS} )
|
|
set(dso_pangolin_SOURCE_FILES
|
|
${PROJECT_SOURCE_DIR}/src/IOWrapper/Pangolin/KeyFrameDisplay.cpp
|
|
${PROJECT_SOURCE_DIR}/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp)
|
|
set(HAS_PANGOLIN 1)
|
|
else ()
|
|
message("--- could not find PANGOLIN, not compiling dso_pangolin library.")
|
|
message(" this means there will be no 3D display / GUI available for dso_dataset.")
|
|
set(dso_pangolin_SOURCE_FILES )
|
|
set(HAS_PANGOLIN 0)
|
|
endif ()
|
|
|
|
# decide if we have openCV
|
|
if (OpenCV_FOUND)
|
|
message("--- found OpenCV, compiling dso_opencv library.")
|
|
include_directories( ${OpenCV_INCLUDE_DIRS} )
|
|
set(dso_opencv_SOURCE_FILES
|
|
${PROJECT_SOURCE_DIR}/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp
|
|
${PROJECT_SOURCE_DIR}/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp)
|
|
set(HAS_OPENCV 1)
|
|
else ()
|
|
message("--- could not find OpenCV, not compiling dso_opencv library.")
|
|
message(" this means there will be no image display, and image read / load functionality.")
|
|
set(dso_opencv_SOURCE_FILES
|
|
${PROJECT_SOURCE_DIR}/src/IOWrapper/ImageDisplay_dummy.cpp
|
|
${PROJECT_SOURCE_DIR}/src/IOWrapper/ImageRW_dummy.cpp)
|
|
set(HAS_OPENCV 0)
|
|
endif ()
|
|
|
|
# decide if we have ziplib.
|
|
if (LIBZIP_LIBRARY)
|
|
message("--- found ziplib (${LIBZIP_VERSION}), compiling with zip capability.")
|
|
add_definitions(-DHAS_ZIPLIB=1)
|
|
include_directories( ${LIBZIP_INCLUDE_DIR_ZIP} ${LIBZIP_INCLUDE_DIR_ZIPCONF} )
|
|
else()
|
|
message("--- not found ziplib (${LIBZIP_LIBRARY}), compiling without zip capability.")
|
|
set(LIBZIP_LIBRARY "")
|
|
endif()
|
|
|
|
|
|
# compile main library.
|
|
include_directories( ${CSPARSE_INCLUDE_DIR} ${CHOLMOD_INCLUDE_DIR})
|
|
add_library(dso ${dso_SOURCE_FILES} ${dso_opencv_SOURCE_FILES} ${dso_pangolin_SOURCE_FILES})
|
|
|
|
#set_property( TARGET dso APPEND_STRING PROPERTY COMPILE_FLAGS -Wall )
|
|
|
|
|
|
if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin") # OSX
|
|
set(BOOST_THREAD_LIBRARY boost_thread-mt)
|
|
else()
|
|
set(BOOST_THREAD_LIBRARY boost_thread)
|
|
endif()
|
|
|
|
# build main executable (only if we have both OpenCV and Pangolin)
|
|
if (OpenCV_FOUND AND Pangolin_FOUND)
|
|
message("--- compiling dso_dataset.")
|
|
add_executable(dso_dataset ${PROJECT_SOURCE_DIR}/src/main_dso_pangolin.cpp )
|
|
target_link_libraries(dso_dataset dso boost_system cxsparse ${BOOST_THREAD_LIBRARY} ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS})
|
|
else()
|
|
message("--- not building dso_dataset, since either don't have openCV or Pangolin.")
|
|
endif()
|
|
|