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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
project(DeformableSLAM)
SET(CMAKE_BUILD_TYPE DEBUG)
MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native -fopenmp -Wno-deprecated-declarations" )
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native -fopenmp -Wno-deprecated-declarations")
# Check C++14 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX14)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
add_definitions(-DCOMPILEDWITHC14)
message(STATUS "Using flag -std=c++14.")
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++14 support. Please use a different C++ compiler.")
endif()
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
set(CMAKE_PREFIX_PATH "/home/jose/pytorch/torch/share/cmake")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
add_compile_definitions(DEFAULTCALIBRATION="${PROJECT_SOURCE_DIR}/calibration_files/default.yaml")
find_package(Torch REQUIRED)
find_package(OpenCV 4.0.0 REQUIRED)
find_package(Pangolin REQUIRED)
FIND_PACKAGE(Ceres REQUIRED)
find_package(Eigen3 REQUIRED)
message("${TORCH_INCLUDE_DIRS}")
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/Thirdparty/ORBSLAM_2/include/
${PROJECT_SOURCE_DIR}/Thirdparty/BBS
${PROJECT_SOURCE_DIR}/Thirdparty/libelas-for-hamlyn/src
${PROJECT_SOURCE_DIR}/Dataloaders
${PROJECT_SOURCE_DIR}/Modules/Common
${PROJECT_SOURCE_DIR}/Modules/GroundTruth
${PROJECT_SOURCE_DIR}/Modules/Mapping
${PROJECT_SOURCE_DIR}/Modules/Matching
${PROJECT_SOURCE_DIR}/Modules/Masker
${PROJECT_SOURCE_DIR}/Modules/Settings
${PROJECT_SOURCE_DIR}/Modules/Template
${PROJECT_SOURCE_DIR}/Modules/Tracking
${PROJECT_SOURCE_DIR}/Modules/Viewer
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${TORCH_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
FILE(GLOB SRC_DEFSLAM_FILES
"Modules/Common/*.cc"
"Modules/GroundTruth/*.cc"
"Modules/Mapping/*.cc"
"Modules/Matching/*.cc"
"Modules/Masker/*.cc"
"Modules/Template/*.cc"
"Modules/Tracking/*.cc"
"Modules/Viewer/*.cc")
add_library(${PROJECT_NAME} SHARED
${SRC_DEFSLAM_FILES}
)
add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2)
add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/g2o)
add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/BBS)
add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/ORBSLAM_2)
add_subdirectory(${PROJECT_SOURCE_DIR}/Modules/ToolsPCL)
add_subdirectory(${PROJECT_SOURCE_DIR}/Dataloaders)
add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/libelas-for-hamlyn)
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${CERES_LIBRARIES}
${TORCH_LIBRARIES}
DBoW2
g2o
BBS
ORBSLAM
ToolsPCL
libelas
)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Apps)
## Just receive image from a camera or a video and process them.
add_executable(DefSLAM Apps/simple_camera.cc)
target_link_libraries(DefSLAM ${PROJECT_NAME} ${TORCH_LIBRARIES})
set_property(TARGET DefSLAM PROPERTY CXX_STANDARD 14)
add_executable(DefSLAMGTCT Apps/simple_CT.cc)
target_link_libraries(DefSLAMGTCT ${PROJECT_NAME} ${TORCH_LIBRARIES})
set_property(TARGET DefSLAMGTCT PROPERTY CXX_STANDARD 14)
add_executable(DefSLAMGT Apps/stereo_groundtruth.cc)
target_link_libraries(DefSLAMGT ${PROJECT_NAME} ${TORCH_LIBRARIES})
set_property(TARGET DefSLAMGT PROPERTY CXX_STANDARD 14)
add_executable(DefSLAMHamyln Apps/stereo_Hamlyn.cc)
target_link_libraries(DefSLAMHamyln ${PROJECT_NAME} Dataloader ${TORCH_LIBRARIES})
set_property(TARGET DefSLAMHamyln PROPERTY CXX_STANDARD 14)
add_executable(DefSLAMHamylnINV Apps/stereo_Hamlyn_inv.cc)
target_link_libraries(DefSLAMHamylnINV ${PROJECT_NAME} Dataloader ${TORCH_LIBRARIES})
set_property(TARGET DefSLAMHamylnINV PROPERTY CXX_STANDARD 14)
add_executable(DefSLAM_Endoscope Apps/simple_endoscope.cc)
target_link_libraries(DefSLAM_Endoscope ${PROJECT_NAME} Dataloader ${TORCH_LIBRARIES})
set_property(TARGET DefSLAMHamylnINV PROPERTY CXX_STANDARD 14)