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备忘

/home/fb/VIGORB/Examples/ROS/ORB_VIO/CMakeLists.txt

cmake_minimum_required(VERSION 2.4.6)
set(OpenCV_DIR "/usr/local/share/OpenCV")
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

rosbuild_init()

IF(NOT ROS_BUILD_TYPE)
  SET(ROS_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${ROS_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")

# 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)



SET(TORCH_DIR   /home/fb/pytorch/torch/lib/tmp_install)
#SET(TORCH_LIBRARIES   /home/fb/tools/pytorch/torch/lib/tmp_install)
SET(TORCH_INCLUDE_DIRS /home/fb/pytorch/torch/lib/tmp_install/include) 
SET(TORCH_LIBRARIES /home/fb/pytorch/torch/lib/tmp_install/lib)

find_package(OpenCV REQUIRED)
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(Torch REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../src
${PROJECT_SOURCE_DIR}/../../../include
${Pangolin_INCLUDE_DIRS}
)

set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${TORCH_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
)

# Node for monocular camera
rosbuild_add_executable(VIO
src/ros_vio.cc
src/MsgSync/MsgSynchronizer.cpp
src/MsgSync/MsgSynchronizer.h
)

target_link_libraries(VIO
${LIBS}
)

rosbuild_add_executable(MYNT_VIO
src/mynt_vio.cc
src/MsgSync/MsgSynchronizer.cpp
src/MsgSync/MsgSynchronizer.h
)
target_link_libraries(MYNT_VIO
${LIBS}
)


# Node for monocular camera   GCN  
rosbuild_add_executable(GCN_VIO
src/gcn_vio.cc
src/MsgSync/MsgSynchronizer.cpp
src/MsgSync/MsgSynchronizer.h
)

target_link_libraries(GCN_VIO
${LIBS}
)

/home/fb/VIGORB/GCN2/CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
set(OpenCV_DIR "/usr/local/share/OpenCV")
project(ORB_SLAM2)

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")

# 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)



SET(TORCH_DIR   /home/fb/pytorch/torch/lib/tmp_install)
#SET(TORCH_LIBRARIES   /home/fb/pytorch/torch/lib/tmp_install)
SET(TORCH_INCLUDE_DIRS /home/fb/pytorch/torch/lib/tmp_install/include) 
SET(TORCH_LIBRARIES /home/fb/pytorch/torch/lib/tmp_install/lib)
find_package(OpenCV 3.0 REQUIRED)
find_package(Eigen3 3.2.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(Cholmod REQUIRED)
find_package(Torch REQUIRED)


include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${PROJECT_SOURCE_DIR}/src
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${CHOLMOD_INCLUDE_DIR}
)

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/GCNextractor.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/Frame.h
include/KeyFrame.h
include/Tracking.h
include/LocalMapping.h

src/IMU/configparam.h
src/IMU/configparam.cpp

src/IMU/imudata.h
src/IMU/imudata.cpp
src/IMU/IMUPreintegrator.h
src/IMU/IMUPreintegrator.cpp
src/IMU/so3.cpp
src/IMU/so3.h
src/IMU/NavState.h
src/IMU/NavState.cpp

src/IMU/g2otypes.h
src/IMU/g2otypes.cpp
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${TORCH_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
cholmod
${CHOLMOD_LIBRARIES}
${BLAS_LIBRARIES}
${LAPACK_LIBRARIES}
)





set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/GCN2)
add_executable(rgbd_gcn GCN2/rgbd_gcn.cc)
target_link_libraries(rgbd_gcn ${PROJECT_NAME} ${TORCH_LIBRARIES})
set_property(TARGET rgbd_gcn PROPERTY CXX_STANDARD 11)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/GCN2)
add_executable(rgbd_gcn GCN2/monoEuroc_gcn.cc)
target_link_libraries(monoEuroc_gcn ${PROJECT_NAME} ${TORCH_LIBRARIES})
set_property(TARGET monoEuroc_gcn PROPERTY CXX_STANDARD 11)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/GCN2)
add_executable(rgbd_gcn GCN2/monoKitti_gcn.cc)
target_link_libraries(monoKitti_gcn ${PROJECT_NAME} ${TORCH_LIBRARIES})
set_property(TARGET monoKitti_gcn PROPERTY CXX_STANDARD 11)


set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/GCN2)
add_executable(rgbd_gcn GCN2/monoTum_gcn.cc)
target_link_libraries(monoTum_gcn ${PROJECT_NAME} ${TORCH_LIBRARIES})
set_property(TARGET monoTum_gcn PROPERTY CXX_STANDARD 11)
## 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})

## Build tools
#set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/tools)
#add_executable(bin_vocabulary
#tools/bin_vocabulary.cc)
#target_link_libraries(bin_vocabulary ${PROJECT_NAME})