CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

#SET(CMAKE_EXPORT_COMPILE_COMMANDS "ON") 
IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
set( PYTHON_LIBRARY /home/li/anaconda3/envs/pytorch/lib/libpython3.8.so)

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

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if (COMPILER_SUPPORTS_CXX14)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
    add_definitions(-DCOMPILEDWITHC14)
    message(STATUS "Using flag -std=c++14.")
elseif(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${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++14 support. Please use a different C++ compiler.")
endif()

add_definitions(-w)

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()

#===================5-13
find_package(Qt5Widgets REQUIRED)
find_package(Qt5Concurrent REQUIRED)
find_package(Qt5OpenGL REQUIRED)
find_package(Qt5Test REQUIRED)

#===================5-13
find_package(PythonLibs 3.8 REQUIRED)
if (NOT PythonLibs_FOUND)
    message(FATAL_ERROR "PYTHON LIBS not found.")
else()
    message("PYTHON LIBS were found!")
    message("PYTHON LIBS DIRECTORY: " ${PYTHON_LIBRARY})
endif()

find_package(Boost REQUIRED COMPONENTS thread)
if(Boost_FOUND)
    message("Boost was found!")
    message("Boost Headers DIRECTORY: " ${Boost_INCLUDE_DIRS})
    message("Boost LIBS DIRECTORY: " ${Boost_LIBRARY_DIRS})
    message("Found Libraries: " ${Boost_LIBRARIES})
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(PCL REQUIRED)  
# 8-7--------------------
#find_package (PCL 1.8 REQUIRED)
#set(PCL_INCLUDE_DIRS /usr/local/include/pcl-1.8)  

set(PYTHON_INCLUDE_DIRS ${PYTHON_INCLUDE_DIRS} /usr/local/lib/python2.7/dist-packages/numpy/core/include/numpy)# =====5-13

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${PYTHON_INCLUDE_DIRS}
/usr/include/python3.8
${Boost_INCLUDE_DIRS}
/opt/ros/melodic/include/
#${PCL_INCLUDE_DIRS} 
${PCL_INCLUDE_DIRS}
)

#add_definitions( ${PCL_DEFINITIONS} )
#link_directories( ${PCL_LIBRARY_DIRS} )

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

# ================5-13
include_directories(BEFORE "/home/li/anaconda3/envs/yolov5/lib/python3.8/site-packages/numpy/core/include/numpy")
include_directories(BEFORE "/home/li/anaconda3/envs/yolov5/lib/python3.8/site-packages/numpy/core/include")
link_directories(/home/li/anaconda3/envs/pytorch/lib/python3.8/site-packages/numpy/core/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/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/Conversion.cc
src/MaskNet.cc
src/Yoloseg.cc
#src/pointcloudmapping.cc 
src/PointCloudMapper.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
/usr/lib/x86_64-linux-gnu/libpython3.8.so  
${Boost_LIBRARIES}   
${PYTHON_LIBRARIES}  
#${PCL_LIBRARIES}  
${PCL_LIBRARIES} 
)

# 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})