cmake_minimum_required(VERSION 2.8)

project(PlanarSLAM)

IF (NOT CMAKE_BUILD_TYPE)

SET(CMAKE_BUILD_TYPE Release)

ENDIF ()

MESSAGE("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")

set(CMAKE_CXX_STANDARD_REQUIRED ON)

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 3.0 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 ()

message(OPENCV_VERSION)

find_package(Eigen3 3.1.0 REQUIRED)

find_package(Pangolin REQUIRED)

find_package(PCL 1.7 REQUIRED)

include_directories(

${PROJECT_SOURCE_DIR}

${PROJECT_SOURCE_DIR}/include

${PROJECT_SOURCE_DIR}/g2oAddition

${EIGEN3_INCLUDE_DIR}

${Pangolin_INCLUDE_DIRS}

${PCL_INCLUDE_DIRS}

)

include_directories(include/peac)

add_definitions(${PCL_DEFINITIONS})

link_directories(${PCL_LIBRARY_DIRS})

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED

src/System.cc

src/Tracking.cc

src/LocalMapping.cc

src/LoopClosing.cc

src/ORBextractor.cc

src/ORBmatcher.cc

src/FrameDrawer.cc

src/Converter.cc

src/MapPoint.cc

src/MapLine.cpp

src/KeyFrame.cc

src/Map.cc

src/MapDrawer.cc

src/Optimizer.cc

src/PnPsolver.cc

src/Frame.cc

src/KeyFrameDatabase.cc

src/Sim3Solver.cc

src/Initializer.cc

src/Viewer.cc

src/LineExtractor.cpp

src/LSDextractor.cpp

src/LSDmatcher.cpp

src/PlaneExtractor.cpp

src/Config.cc

src/MapPlane.cc

src/MeshViewer.cc

src/PlaneMatcher.cpp

Thirdparty/triangle/triangle.cpp

)

file(GLOB sources "*.cpp")

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

${PCL_LIBRARIES}

)

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

add_executable(Planar_SLAM Examples/RGB-D/main.cc)

target_link_libraries(Planar_SLAM ${PROJECT_NAME})