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cmake_minimum_required(VERSION 3.16)

project(ORB_SLAM2)

# Compiler settings

set(CMAKE_CXX_STANDARD 17)

set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(CMAKE_CXX_EXTENSIONS OFF)

set(CMAKE_BUILD_TYPE Release)

# Output directories

set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)

# Compiler flags

add_compile_options(-Wall -Wextra -Wpedantic -O3 -march=native)

# Dependencies

find_package(OpenCV REQUIRED)

find_package(Eigen3 REQUIRED NO_MODULE)

find_package(Pangolin REQUIRED)

find_package(yaml-cpp REQUIRED)

# DBoW2 and g2o from Thirdparty folders

set(DBoW2_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/include")

set(DBoW2_LIBRARIES "${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so")

set(g2o_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/Thirdparty/g2o/include")

set(g2o_LIBRARIES "${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so")

# Create shared library

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/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

)

# Include directories

target_include_directories(${PROJECT_NAME} PUBLIC

${PROJECT_SOURCE_DIR}

${PROJECT_SOURCE_DIR}/include

${DBoW2_INCLUDE_DIRS}

${g2o_INCLUDE_DIRS}

)

# Link libraries

target_link_libraries(${PROJECT_NAME}

${OpenCV_LIBS}

Eigen3::Eigen

${YAML_CPP_LIBRARIES}

${Pangolin_LIBRARIES}

${DBoW2_LIBRARIES}

${g2o_LIBRARIES}

)

# Example executables

add_executable(vslamlab_orbslam2_mono Examples/mono/vslamlab_orbslam2_mono.cpp)

target_link_libraries(vslamlab_orbslam2_mono ${PROJECT_NAME})

add_executable(vslamlab_orbslam2_rgbd Examples/RGB-D/vslamlab_orbslam2_rgbd.cpp)

target_link_libraries(vslamlab_orbslam2_rgbd ${PROJECT_NAME})

add_executable(vslamlab_orbslam2_stereo Examples/Stereo/vslamlab_orbslam2_stereo.cpp)

target_link_libraries(vslamlab_orbslam2_stereo ${PROJECT_NAME})

# Install targets and headers

install(TARGETS ${PROJECT_NAME} vslamlab_orbslam2_mono

RUNTIME DESTINATION bin

LIBRARY DESTINATION lib

ARCHIVE DESTINATION lib)

install(TARGETS ${PROJECT_NAME} vslamlab_orbslam2_rgbd

RUNTIME DESTINATION bin

LIBRARY DESTINATION lib

ARCHIVE DESTINATION lib)

install(TARGETS ${PROJECT_NAME} vslamlab_orbslam2_stereo

RUNTIME DESTINATION bin

LIBRARY DESTINATION lib

ARCHIVE DESTINATION lib)

install(DIRECTORY include/ DESTINATION include)