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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10)
project(MainLoop)
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -fpermissive -pthread -lrt -fPIC -O3")#-fsanitize=address -g -march=native
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
option(VISUALIZATION "Build With Pangolin" ON)
set(CUDA_TOOLKIT_ROOT_DIR "/usr/local/cuda-11.4")
find_package(CUDA REQUIRED)
set(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
set(CUDA_SEPARABLE_COMPILATION ON)
set(CUDA_PROPAGATE_HOST_FLAGS OFF)
set(CUDA_NVCC_FLAGS -arch=sm_62;-std=c++14;-lm)
ADD_DEFINITIONS(-fpermissive)
find_package (Threads)
find_package (Eigen3 REQUIRED)
find_package (OpenCV 4.5.5 REQUIRED)
list( APPEND CMAKE_MODULE_PATH /home/AiLab/g2o-20230223_git/cmake_modules)
find_package (G2O REQUIRED)
find_package (Sophus REQUIRED)
SET(PYTHON_INCLUDE_DIRS "/usr/include/python3.8")
SET(PYTHON_LIBRARIES "/usr/lib/python3.8/config-3.8-x86_64-linux-gnu/libpython3.8.so")
SET( PYTHONLIBS_VERSION_STRING "/usr/bin/python3.8")
message("Using python: ${PYTHONLIBS_VERSION_STRING} ")
message("Using PYTHON_LIBRARIES: ${PYTHON_LIBRARIES} ")
message("Using PYTHON_INCLUDE_DIRS: ${PYTHON_INCLUDE_DIRS} ")
file(GLOB_RECURSE cpp_file src/*.cpp)
file(GLOB_RECURSE cu_file src/*.cu)
#file(GLOB_RECURSE cu_file src/DynamicReconstruction/cuda/*.cu)
if(VISUALIZATION)
find_package(Pangolin QUIET)
message("-- found PANGOLIN, add visualization plug.")
if(Pangolin_FOUND)
find_package(Boost COMPONENTS system thread)
add_definitions(-DWITH_VISUALIZATION)
include_directories(
${Pangolin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/include/Visualization/
)
endif()
else()
message("-- not found PANGOLIN, visualization not enable.")
file(GLOB_RECURSE Visualization_CPP_Files src/PangolinOutputWrapper.cpp)
file(GLOB_RECURSE Visualization_CU_Files src/PangolinOutputWrapper.cu)
list(REMOVE_ITEM cpp_file ${Visualization_CPP_Files})
list(REMOVE_ITEM cu_file ${Visualization_CU_Files})
endif()
include_directories(
${CUDA_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${OpenCV_INCLUDE_DIRS}
${G2O_INCLUDE_DIR}
${SOPHUS_INCLUDE_DIR}
${PROJECT_SOURCE_DIR}/include/
${PROJECT_SOURCE_DIR}/include/mLib/include
${PROJECT_SOURCE_DIR}/include/mLibExternal
${PROJECT_SOURCE_DIR}/include/cutil/cutil/inc/
${PROJECT_SOURCE_DIR}/include/FreeImage/
${PROJECT_SOURCE_DIR}/include/DepthSensing/
${PROJECT_SOURCE_DIR}/include/Solver/
${PROJECT_SOURCE_DIR}/include/OrbSlam3/
${PROJECT_SOURCE_DIR}/include/OrbSlam3/CameraModels
${PROJECT_SOURCE_DIR}/Thirdparty/Sophus
${PYTHON_INCLUDE_DIRS}
${CSPARSE_INCLUDE_DIR}
)
cuda_add_library(MainLoop SHARED
${cu_file}
${cpp_file}
)
SET(G2O_LIBRARIES ${G2O_STUFF_LIBRARY} ${G2O_CORE_LIBRARY} ${G2O_CLI_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_CSPARSE_EXTENSION}
${G2O_SOLVER_DENSE} ${G2O_SOLVER_PCG} ${G2O_SOLVER_SLAM2D_LINEAR} ${G2O_SOLVER_STRUCTURE_ONLY} ${G2O_SOLVER_EIGEN} ${G2O_TYPES_DATA} ${G2O_TYPES_ICP} ${G2O_TYPES_SBA}
${G2O_TYPES_SCLAM2D} ${G2O_TYPES_SIM3} ${G2O_TYPES_SLAM2D} ${G2O_TYPES_SLAM3D})
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/SLAMLib)
add_library(SLAMLib SHARED
src/OrbSlam3/System.cc
src/OrbSlam3/Tracking.cc
src/OrbSlam3/LocalMapping.cc
src/OrbSlam3/LoopClosing.cc
src/OrbSlam3/ORBextractor.cc
src/OrbSlam3/ORBmatcher.cc
src/OrbSlam3/FrameDrawer.cc
src/OrbSlam3/Converter.cc
src/OrbSlam3/MapPoint.cc
src/OrbSlam3/KeyFrame.cc
src/OrbSlam3/Atlas.cc
src/OrbSlam3/Map.cc
src/OrbSlam3/MapDrawer.cc
src/OrbSlam3/Optimizer.cc
src/OrbSlam3/Frame.cc
src/OrbSlam3/KeyFrameDatabase.cc
src/OrbSlam3/Sim3Solver.cc
src/OrbSlam3/Viewer.cc
src/OrbSlam3/ImuTypes.cc
src/OrbSlam3/G2oTypes.cc
src/OrbSlam3/CameraModels/Pinhole.cpp
src/OrbSlam3/CameraModels/KannalaBrandt8.cpp
src/OrbSlam3/OptimizableTypes.cpp
src/OrbSlam3/MLPnPsolver.cpp
src/OrbSlam3/GeometricTools.cc
src/OrbSlam3/TwoViewReconstruction.cc
src/OrbSlam3/Config.cc
src/OrbSlam3/Settings.cc
src/OrbSlam3/ObjectTrack.cc
src/OrbSlam3/Utils.cc
src/OrbSlam3/MapObject.cc
src/OrbSlam3/Ellipse.cc
src/OrbSlam3/p3p.cc
src/OrbSlam3/Ellipsoid.cc
src/OrbSlam3/Distance.cc
src/OrbSlam3/Localization.cc
src/OrbSlam3/ColorManager.cc
src/OrbSlam3/LocalObjectMapping.cc
src/OrbSlam3/OptimizerObject.cc
src/OrbSlam3/Reconstruction.cc
src/OrbSlam3/ImageDetections.cc
include/OrbSlam3/System.h
include/OrbSlam3/Tracking.h
include/OrbSlam3/LocalMapping.h
include/OrbSlam3/LoopClosing.h
include/OrbSlam3/ORBextractor.h
include/OrbSlam3/ORBmatcher.h
include/OrbSlam3/FrameDrawer.h
include/OrbSlam3/Localization.h
include/OrbSlam3/Converter.h
include/OrbSlam3/p3p.h
include/OrbSlam3/MapPoint.h
include/OrbSlam3/KeyFrame.h
include/OrbSlam3/Atlas.h
include/OrbSlam3/Map.h
include/OrbSlam3/MapDrawer.h
include/OrbSlam3/Optimizer.h
include/OrbSlam3/Frame.h
include/OrbSlam3/KeyFrameDatabase.h
include/OrbSlam3/Sim3Solver.h
include/OrbSlam3/Viewer.h
include/OrbSlam3/ImuTypes.h
include/OrbSlam3/G2oTypes.h
include/OrbSlam3/CameraModels/GeometricCamera.h
include/OrbSlam3/CameraModels/Pinhole.h
include/OrbSlam3/CameraModels/KannalaBrandt8.h
include/OrbSlam3/OptimizableTypes.h
include/OrbSlam3/MLPnPsolver.h
include/OrbSlam3/rendertree.h
include/OrbSlam3/shader.h
include/OrbSlam3/GeometricTools.h
include/OrbSlam3/TwoViewReconstruction.h
include/OrbSlam3/LocalObjectMapping.h
include/OrbSlam3/SerializationUtils.h
include/OrbSlam3/Config.h
include/OrbSlam3/Settings.h
include/OrbSlam3/ObjectTrack.h
include/OrbSlam3/Utils.h
include/OrbSlam3/MapObject.h
include/OrbSlam3/Ellipse.h
include/OrbSlam3/Ellipsoid.h
include/OrbSlam3/Distance.h
include/OrbSlam3/RingBuffer.h
include/OrbSlam3/ColorManager.h
include/OrbSlam3/OptimizerObject.h
include/OrbSlam3/Reconstruction.h
include/OrbSlam3/ImageDetections.h
/usr/local/include/g2o/core/base_variable_sized_edge.hpp)
target_link_libraries(MainLoop
cuda
freeimage
SLAMLib
#${OPT_LIBRARIES}
${CUDA_LIBRARIES}
${OpenCV_LIBS}
${G2O_LIBRARIES}
${SOPHUS_LIBRARIES}
${CHOLMOD_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
#${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
-lboost_serialization
-lcrypto
#${MyOpenMeshCore} OpenMeshTools #--- openmesh libs
)
if(Pangolin_FOUND)
target_link_libraries(MainLoop
${Pangolin_LIBRARIES}
boost_system
boost_thread
)
endif()
add_executable(dyna_fusion_example example/example.cpp)
target_link_libraries(dyna_fusion_example
MainLoop
${PYTHON_LIBRARIES}
)