cmakelist_cuda_c++.txt

cmake_minimum_required(VERSION 3.4)
project(ORB_SLAM3)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE(STATUS "Build type: " ${CMAKE_BUILD_TYPE})

find_package(CUDA REQUIRED)
set(CUDA_SEPARABLE_COMPILATION ON)
set(CUDA_PROPAGATE_HOST_FLAGS OFF)
set(CUDA_HOST_COMPILER clang++)

file(GLOB CUDA_FILES "src/" *.cu)
list( APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_61,code=sm_61; -std=c++11")
CUDA_COMPILE(CU_O ${CUDA_FILES})



# 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 "${CMAKE_CXX_FLAGS} -std=c++11")
   set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   set(CUDA_NVCC_FLAGS "${CUDA_NVCC_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)
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()
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(Sophus REQUIRED)
set(EIGEN3_INCLUDE_DIR /usr/local/include/eigen3)

include_directories(
    ${PROJECT_SOURCE_DIR}
    ${PROJECT_SOURCE_DIR}/include
    ${PROJECT_SOURCE_DIR}/include/CameraModels
    ${PROJECT_SOURCE_DIR}/Thirdparty/Sophus
    ${EIGEN3_INCLUDE_DIR}
    ${Pangolin_INCLUDE_DIRS}
    ${Sophus_INCLUDE_DIRS}
    /usr/local/include/opencv4
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)



cuda_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/Atlas.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Viewer.cc
src/ImuTypes.cc
src/G2oTypes.cc
src/CameraModels/Pinhole.cpp
src/CameraModels/KannalaBrandt8.cpp
src/OptimizableTypes.cpp
src/MLPnPsolver.cpp
src/GeometricTools.cc
src/TwoViewReconstruction.cc
src/Config.cc
src/Settings.cc
include/System.h
include/Tracking.h
include/LocalMapping.h
include/LoopClosing.h
include/ORBextractor.h
include/ORBmatcher.h
include/FrameDrawer.h
include/Converter.h
include/MapPoint.h
include/KeyFrame.h
include/Atlas.h
include/Map.h
include/MapDrawer.h
include/Optimizer.h
include/Frame.h
include/KeyFrameDatabase.h
include/Sim3Solver.h
include/Viewer.h
include/ImuTypes.h
include/G2oTypes.h
include/CameraModels/GeometricCamera.h
include/CameraModels/Pinhole.h
include/CameraModels/KannalaBrandt8.h
include/OptimizableTypes.h
include/MLPnPsolver.h
include/GeometricTools.h
include/TwoViewReconstruction.h
include/SerializationUtils.h
include/Config.h
include/Settings.h

)

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
-lboost_serialization
-lcrypto
${Sophus_LIBS}

)


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} ${CU_O})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME} ${CU_O})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME} ${CU_O})

add_executable(mono_tum_vi
Examples/Monocular/mono_tum_vi.cc)
target_link_libraries(mono_tum_vi ${PROJECT_NAME} ${CU_O})