CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(ORB_Line_SLAM2)

if(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
endif()

if(CMAKE_BUILD_TYPE MATCHES Debug)
    message("==> CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
    set(CMAKE_BUILD_TYPE Debug)
    set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -std=c++11 -g -O0")
    set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -g -O0")
    #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0")
    #set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -g -O0")
else()
    message("==> CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")
endif()

add_definitions(-Wno-deprecated-declarations)

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 3.4 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 2.4.3 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/Thirdparty/line_descriptor/include/
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

aux_source_directory(./src/ DIR_SRCS)
add_library(${PROJECT_NAME} SHARED ${DIR_SRCS})

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/Thirdparty/line_descriptor/lib/liblinedesc.so
)

# Build examples

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})


set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/PL)

add_executable(PL_stereo_euroc
Examples/PL/PL_stereo_euroc.cc)
target_link_libraries(PL_stereo_euroc ${PROJECT_NAME})

add_executable(PL_stereo_kitti
Examples/PL/PL_stereo_kitti.cc)
target_link_libraries(PL_stereo_kitti ${PROJECT_NAME})

#PlaceRecognition
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/PlaceRecognition)
add_executable(placeRecognition
Examples/PlaceRecognition/placeRecognition.cc)
target_link_libraries(placeRecognition ${PROJECT_NAME})