CMakeLists.txt

cmake_minimum_required(VERSION 3.14)
project(ExtractORB)

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

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()


find_package(OpenCV 3)
MESSAGE("OPENCV VERSION:")
MESSAGE(${OpenCV_VERSION})
find_package(Eigen3 3)
find_package(glog)
find_package(Pangolin REQUIRED)
include_directories(
        ${OpenCV_INCLUDE_DIRS}
        ${EIGEN3_INCLUDE_DIR}
        ${CMAKE_SOURCE_DIR}
        ${CMAKE_SOURCE_DIR}/inc
        ${CMAKE_SOURCE_DIR}/inc/CameraModels
)

add_executable(distribute_oct_tree src/oct_tree/main.cpp)
target_link_libraries(distribute_oct_tree ${OpenCV_LIBS} glog::glog ${EIGEN3_LIBS})

add_executable(ORB_SLAM_Extractor src/orb_extractor/main_orb_extractor.cpp src/orb_extractor/ORBExtractor.cpp)
target_link_libraries(ORB_SLAM_Extractor ${OpenCV_LIBS} glog::glog ${EIGEN3_LIBS})

add_executable(clahe_img_keypoint
        src/clahe/main_show_clahe_keypoint.cpp
        src/orb_extractor/ORBExtractor.cpp)
target_link_libraries(clahe_img_keypoint ${OpenCV_LIBS} glog::glog ${EIGEN3_LIBS})

add_executable(whole_extractor
        src/orb_extractor/main_whole_orb_extractor.cpp
        src/orb_extractor/ORBextractor.cc
        src/Frame.cc
        src/ImuTypes.cc
        src/Converter.cc
        src/G2oTypes.cc
        src/MapPoint.cc
        src/Map.cc
        src/ORBmatcher.cc
        src/KeyFrame.cc
        src/CameraModels/KannalaBrandt8.cpp
        src/CameraModels/Pinhole.cpp
        src/TwoViewReconstruction.cc
        src/KeyFrameDatabase.cc
        )
target_link_libraries(whole_extractor
        ${OpenCV_LIBS} glog::glog ${EIGEN3_LIBS} ${Pangolin_LIBRARIES}
        ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
        ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
        )

add_executable(
        clahe
        src/clahe/main_clahe.cpp
)
target_link_libraries(
        clahe
        ${OpenCV_LIBS} glog::glog
)

add_executable(
        frame
        src/matcher/main_frame.cpp
        src/orb_extractor/ORBextractor.cc
        src/Frame.cc
        src/ImuTypes.cc
        src/Converter.cc
        src/G2oTypes.cc
        src/MapPoint.cc
        src/Map.cc
        src/ORBmatcher.cc
        src/KeyFrame.cc
        src/CameraModels/KannalaBrandt8.cpp
        src/CameraModels/Pinhole.cpp
        src/TwoViewReconstruction.cc
        src/KeyFrameDatabase.cc
)
target_link_libraries(
        frame
        ${OpenCV_LIBS} glog::glog ${EIGEN3_LIBS} ${Pangolin_LIBRARIES}
        ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
        ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
)

#add_executable(
#        undistort
#        src/undistort/main_undistort.cpp
#        src/orb_extractor/ORBExtractor.cpp
#        src/undistort/Frame_changed.cpp
#        src/CameraModels/KannalaBrandt8.cpp
#        src/CameraModels/Pinhole.cpp
#        src/undistort/TwoViewReconstruction.cc
#)
#target_link_libraries(undistort ${OpenCV_LIBS} glog::glog ${EIGEN3_LIBS}
#        ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
#        ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
#        )

add_executable(
        matcher
        src/matcher/main_matcher.cpp
        src/orb_extractor/ORBextractor.cc
        src/Frame.cc
        src/ImuTypes.cc
        src/Converter.cc
        src/G2oTypes.cc
        src/MapPoint.cc
        src/Map.cc
        src/ORBmatcher.cc
        src/KeyFrame.cc
        src/CameraModels/KannalaBrandt8.cpp
        src/CameraModels/Pinhole.cpp
        src/TwoViewReconstruction.cc
        src/KeyFrameDatabase.cc
        src/Initializer.cc
        src/Optimizer.cc
        src/LocalMapping.cc
        src/Atlas.cc
        src/Tracking.cc
        src/System.cc
        src/OptimizableTypes.cpp
        src/FrameDrawer.cc
        src/PnPsolver.cc
        src/MLPnPsolver.cpp
        src/Viewer.cc
        src/LoopClosing.cc
        src/MapDrawer.cc
        src/Sim3Solver.cc
)
target_link_libraries(
        matcher
        ${OpenCV_LIBS} glog::glog ${EIGEN3_LIBS} ${Pangolin_LIBRARIES}
        ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
        ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
)