致ubuntu140405：基於window7的vslam開發環境搭建
對於直接安裝或解壓的程序，除git, cmake, cuda按默認路徑安裝外，其它程序都安裝在D:\app\softname
對於編譯安裝的程序，都安裝在D:\app\softname\build\install
對於ubuntu可首先直接從源安裝以下包，之後就只剩下cuda, qt, openni2需要直接安裝，其余都編譯安裝
0.基本開發工具
0.1git&cmake&cuda
|
(1)win安裝：安裝路徑默認，自動追加path環境變量 (2)ubuntu安裝：git, cmake3, cmake3-qt-gui, {cuda} |
0.2python&doxygen&hdf5
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(1)win安裝：安裝路徑D:\app\softname，自動追加path環境變量 (2)ubuntu安裝：python3, doxygen, libhdf5-dev |
0.3openni2&tbb&qt&boost
|
(1)win安裝：安裝路徑D:\app\softname，手動追加path環境變量 D:/app/openni2/Redist D:/app/tbb/bin/intel64/vc14 D:/app/qt/5.6/msvc2015_64/bin到Path頭(非常重要) D:/app/boost/lib64-msvc-14.0 boost庫操作：刪除D:/app/boost/lib64-msvc-14.0中滿足*gd*.lib boost編譯文件在win上的命名：lib靜態庫，vcx編譯器版本，mt多線程編譯，d調試版本 (2)ubuntu安裝：libtbb-dev, libboost-all-dev, {openni2, qt} 解壓/root/app/opennni2查看install.h可知將primesense-usb.rules復制重命名為/etc/udev/rules.d/557-primesense-usb.rules |
1.數學相關庫
1.1suitesparse
|
(1)win編譯 OPENMP=ON BUILD_METIS=ON EXPORT_USE_INTERFACE_LINK_LIBRARIES=ON SUITESPARSE_USE_CUSTOM_BLAS_LAPACK_LIBS=ON UITESPARSE_CUSTOM_BLAS_LIB=D:/app/suitesparse/lapack_windows/x64/libblas.lib SUITESPARSE_CUSTOM_LAPACK_LIB=D:/app/suitesparse/lapack_windows/x64/liblapack.lib SUITESPARSE_INSTALL_PREFIX=D:/app/suitesparse/build/install Path添加D:/app/suitesparse/lapack_windows/x64 關於suitesparse，它由經典算法和csparse及cxsparse組 經典算法依賴lapack和blas(suitesparse-metis包內已含win依賴)，效率高。 csparse不依賴lapack和blas，但效率低。 cxsparse是csparse超集，擴展支持復數和整型及長整型，用csparse的地方都可用之替換。 另外，容易分不清lapack和lapacke，lapacke是c接口的lapack，因為blas和lapack本身是用fortan語言寫的。 (2)ubuntu編譯 從源安裝lapack及依賴，並將安裝後的libblas.a和liblapack.a復制到/root/app/suitesparse/lapack_windows/u64，然後自卸載安裝 其它與win相似，環境變量 |
1.2eigen&sophus
|
無需編譯，直接包含頭文件即可 |
1.3ceres&glog&gflags
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(1)win編譯gflags 解壓後先刪除BUILD，否則無法新建build目錄 CMAKE_INSTALL_PREFIX=D:/app/gflags/build/install (2)win編譯glog gflags_DIR=D:/app/gflags/build/install/lib/cmake/gflags CMAKE_INSTALL_PREFIX=D:/app/glog/build/install (3)win編譯ceres OPENMP=ON EIGENSPARSE=ON CXSPARSE=ON GFLAGS=ON EXPORT_BUILD_DIR=ON SCHUR_USE_STATIC_CRT=ON BUILD_TESTING=ON EIGEN_INCLUDE_DIR=D:/app/eigen gflags_DIR=D:/app/gflags/build/install/lib/cmake/gflags glog_DIR=D:/app/glog/build/install/lib/cmake/glog CXSPARSE_INCLUDE_DIR=D:/app/suitesparse/build/install/include/suitesparse CXSPARSE_LIBRARY=D:/app/suitesparse/build/install/lib/libcxsparse.lib CMAKE_INSTALL_PREFIX=D:/app/ceres/build/install (4)ubuntu編譯ceres：與win相似 |
2.opencv相關
2.1opencv
|
(1)win編譯 1)OPENCV賦值 D:\app\opencv\contribs\modules\cvv\src\stfl\stringutils.cpp將其中u8”…”修改為u8”...” OPENCV_CONFIG_FILE_INCLUDE_DIR=D:/app/opencv/build OPENCV_DOWNLOAD_PATH=D:/app/opencv/sources/.cache OPENCV_ENABLE_NONFREE=ON OPENCV_EXTRA_MODULES_PATH=D:/app/opencv/contribs/modules OPENCV_WARNINGS_ARE_ERRORS=OFF 2)WITH全選：這樣可引出所有第三方項(但WITH_CU*移除)，不能提供的第三項opencv將自動禁用從而保證編譯不出錯 本地提供項：git, cuda, python3, doxygen, hdf5, openni2, tbb, qt, eigen, ceres&glog&gflag, vtk, openvx 實時下載項：ffmpeg(dll音視頻編解碼), ippicv(lib&inc並行庫), tbb接口(inc&src並行庫但對win無效) tiny_dnn(inc&src卷積神經網絡), xfeatures2d(訓練好的神經網絡模型) 位置D:\app\opencv\sources\.cache 編譯源碼項：圖像編解碼(libjasper, libjeg, libpng, jlibtiff, ligwebp, openxr), 數據壓縮zlib, 數據格式protobuf 內存監控ittnotify 3)BUILD排除：_CUDA_STUBS, _DOCS, _EXAMPLES, _TBB(本地提供), _opencv_cuda, _opencv_cudev, _world, _contrib_world 4)3rdlib重用：復制D:\app\opencv\build\3rdparty\lib\Release\*.lib(沒含ffmpeg和ippicv)到D:\app\opencv\sources\3rdparty\lib 復制D:\app\hdf5\include\zconf.h到D:\app\opencv\sources\3rdparty\zlib (2)ubuntu編譯：與win相似，但BUILD還關閉_JASPER, _JPEG, _OPENEXR, _PNG, _TIFF, _ZLIB, _PROTOBUF(?), 因為已安裝 1)可能會提示nullptr問題，此時打開相應的文件將nullptr改為NULL即可 2) |
2.2vtk
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(1)win編譯 CMAKE_INSTALL_PREFIX=D:/app/vtk/build/install INSTALL_BIN_DIR=D:/app/vtk/build/install/bin INSTALL_INC_DIR=D:/app/vtk/build/install/include INSTALL_LIB_DIR=D:/app/vtk/build/install/lib INSTALL_MAN_DIR=D:/app/vtk/build/install/share/man INSTALL_PKGCONFIG_DIR=D:/app/vtk/build/install/share/pkgconfig Path增加D:/app/vtk/build/install/bin (2)ubuntu編譯 |
3.pcl相關
3.1pcl
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(1)win編譯 1)PCL賦值 CMakeLists添加set(BOOST_ROOT D:/app/boost) 為ON的：_ENABLE_SSE, _SHEARD_LIBS 2)WITH全選：這樣可引出所有第三方項(但_CUDA和_DOCS移除)，不能提供的第三項pcl將自動禁用從而保證編譯不出錯 本地提供項：doxygen, python, zlib, png, qhull, flann, boost, qt, vtk, eigen PNG_PNG_INCLUDE_DIR=D:/app/opencv/sources/3rdparty/libpng PNG_LIBRARY_RELEASE=D:/app/opencv/sources/3rdparty/lib/libpng.lib ZLIB_INCLUDE_DIR=D:/app/opencv/sources/3rdparty/zlib ZLIB_LIBRARY_RELEASE=D:/app/opencv/sources/3rdparty/lib/zlib.lib 3)BUILD排除：_CUDA, _GPU, _all_in_one_installer, _apps, _examples, _global_tests 4)其它註意項： INSTALL_BIN_DIR=D:/app/pcl/build/install USE_PROJECT_FOLDERS=ON CUDA相關全OFF (2)ubuntu編譯 |
3.2flann
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(1)win編譯 USE_OPENMP=ON BUILD_DOC=OFF BUILD_EXAMPLES=OFF BUILD_CUDA_LIB=OFF BUILD_MATLAB_BINDINGS=OFF BUILD_PYTHON_BINDINGS=OFF BUILD_CUDA_LIB=OFF HDF5_DIR=D:/app/hdf5/cmake HDF5_DIFF_EXECUTABLE=D:/app/hdf5/bin/h5diff.exe PYTHON_EXECUTABLE=D:/app/python/python.exe INSTALL_BIN_DIR=D:/app/flann/build/install Path增加D:/app/flann/build/install/bin (2)ubuntu編譯 |
3.3qhull
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(1)win編譯 刪除D:/app/qhull/bin和D:/app/qhull/build/* WITH_LFS=ON INSTALL_BIN_DIR=D:/app/qhull/build/install Path增加D:/app/qhull/build/install/bin (2)ubuntu編譯 |
5.vslam相關
5.1g2o
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(1)win編譯 刪除D:/app/g2o/EXTERNAL/csparse(使用編譯好csparse執行) BUILD_LGPL_SHARED_LIBS=ON BUILD_SHARED_LIBS=ON G2O_USE_OPENGL=ON G2O_USE_OPENPM=ON EIGEN_INCLUDE_DIR=D:/app/eigen QT_XXX=… CMAKE_INSTALL_PREFIX=D:/app/g2o/build/install CSPARSE_INCLUDE_DIR=D:/app/suitesparse/build/install/include/suitesparse(使用編譯好csparse執行) CSPARSE_LIBRARY=D:/app/suitesparse/build/install/lib/libcxsparse.lib(使用編譯好csparse執行) Path添加D:/app/g2o/build/install/bin 自建D:/app/suitesparse/build/install/G2OConfig.cmake get_filename_component(_G2O_SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) set(G2O_INCLUDE_DIR ${_G2O_SELF_DIR}/include) file(GLOB G2O_LIBS ${_G2O_SELF_DIR}/lib/*.lib) set(G2O_FOUND TRUE) unset(_G2O_SELF_DIR) 若不使用編譯好的csparse則g2o和suitesparse不能同時配置，否則會沖突 (2)ubuntu編譯 |
5.2octomap
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(1)win編譯 OCTOMAP_OMP=ON OCTOVIS_QT5=ON BUILD_DYNAMICETD3D_SUBPROJECT=ON BUILD_OCTOVIS_SUBPROJECT=ON BUILD_TESTING=ON QT_QMAKE_EXECUTABLE= D:/app/qt/5.6/msvc2015_64/bin/qmake.exe QGLVIEWER_BASE_DIR= D:/app/octomap/octovis/src/extern/QGLViewer QGLViewer_INCLUDE_DIR= D:/app/octomap/octovis/src/extern/QGLViewer DOXYGEN_EXECUTABLE= D:/app/doxygen/bin/doxygen.exe CMAKE_INSTALL_PREFIX=D:/app/octomap/build/install (2)ubuntu編譯 |
5.3gtsam
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(1)win編譯 打開CMakeLists添加：set(BOOST_ROOT D:/app/boost) GTSAM_WITH_EIGEN_MKL=OFF GTSAM_WITH_EIGEN_MKL_OPENMP=OFF GTSAM_BUILD_EXAMPLES_ALWAYS=OFF TBB_INSTALL_DIR=D:/app/tbb TBB_INCLUDE_DIR=D:/app/tbb/include TBB_INCLUDE_DIRS=D:/app/tbb/include TBB_LIBRARY_DIRS=D:/app/tbb/lib/intel64/vc14 TBB_LIBRARY=D:/app/tbb/lib/intel64/vc14/tbb.lib TBB_MALLOC_LIBRARY=D:/app/tbb/lib/intel64/vc14/tbbmalloc.lib CMAKE_INSTALL_PREFIX=D:/app/gstam/build/install DOXYGEN_EXECUTABLE=D:/app/doxygen/bin/doxygen.exe GITCOMMAND=C:/Program Files/Git/cmd/git.exe Boost_XXX_RELEASE=D:/app/boost/lib64-msvc-14.0/boost_xxx-vc140-mt-1_64.lib Boost_XXX_DEBUG=D:/app/boost/lib64-msvc-14.0/boost_xxx-vc140-mt-gd-1_64.lib Path添加D:\app\gtsam\build\install\bin; (2)ubuntu編譯 |
5.4pangolin
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(1)win編譯 1)WITH項 本地提供項：git, doxygen, tiff, openexr, openni2, eigen, 未提供ffmpeg(avcodec&avformat&swscale)和openexr 實時下載項：glew(inc&src), libjepg(inc&src), libpng(inc&src), zlib(inc&src) 2)BUILD為OFF：_EXAMPLES 3)其它註意項： OpenEXR_INCLUDE_DIR= D:/app/opencv/sources/3rdparty/openexr/IlmImf;~/openexr/Imath;~\3rdparty\openexr\Iex CMAKE_INSTALL_PREFIX=D:/app/pangolin/build/install 編譯過程中才下載且配置後也會調用其中信息，所以編譯完成後重新將D:\app\pangolin\build\external加入build.zip 由於只編譯Release版所以編譯後打開修改D:\~\PangolinConfig.cmake中的其它依賴與libjpg依賴一樣(即全配為release) (2)ubuntu編譯 |
6.編譯安裝包
6.1fbow
|
(1)win編譯 打開CMakeLists添加：set(BOOST_ROOT D:/app/boost) set(OpenCV_DIR D:/app/opencv/build/install) USE_CONTRIB=ON USE_OWN_EIGEN=ON CMAKE_INSTALL_PREFIX=D:/app/fbow/build/install (2)ubuntu編譯 |
7.配置信息
7.1環境變量
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D:\app\python;D:\app\python\Scripts D:\app\doxygen\bin D:\app\hdf5\bin D:\app\openni2\Redist D:\app\tbb\bin\intel64\vc14 D:\app\qt\5.6\msvc2015_64\bin D:\app\boost\lib64-msvc-14.0
D:\app\suitesparse\lapack_windows\x64
D:\app\opencv\build\install\x64\vc14\bin D:\app\vtk\build\install\bin
D:\app\pcl\build\install\bin D:\app\flann\build\install\bin D:\app\qhull\build\install\bin
D:\app\g2o\build\install\bin D:\app\octomap\build\install\bin D:\app\gtsam\build\install\bin
D:\app\pangolin\build\install\bin
C:\Program Files\Git\cmd C:\Program Files\CMake\bin C:\Windows\system32 C:\Windows\System32\Wbem C:\Windows\System32\WindowsPowerShell\v1.0 C:\Program Files (x86)\Windows Kits\8.1\Windows Performance Toolkit C:\Program Files\Microsoft SQL Server\120\Tools\Binn C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\bin C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\libnvvp |
|
/etc/environment：系統啟動時加載 /etc/profile：每個用戶首次登錄時加載 /etc/bash.bashrc：每個用戶每次打開shell時加載 ~/.profile：對應用戶首次登錄時加載 ~/.bashrc：對應用戶每次打開shell時加載 立即生效：source /etc/bash.bashrc 或source ~/.bashrc |
CMakeLists.txt
###Basic####################################################################
cmake_minimum_required(VERSION 2.8)
project(Aro CXX)
add_definitions(-DUNICODE -D_UNICODE -D_CRT_SECURE_NO_WARNINGS)
add_compile_options(-std=c11 -std=c++11 -fpermissive)
set(CMAKE_BUILD_TYPE DEBUG)
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/build)
set(CMAKE_SUPPRESS_REGENERATION TRUE)#不生成ZERO_CHECK工程
###0.0Self#############################################################
include_directories(${CMAKE_SOURCE_DIR}/include)
###0.1Boost#############################################################
set(BOOST_ROOT D:/app/boost)
find_package(Boost COMPONENTS serialization system filesystem thread program_options date_time timer chrono iostreams)
include_directories(${Boost_INCLUDE_DIRS})
message("Boost_INCLUDE_DIRS: ${Boost_INCLUDE_DIRS}")
message("Boost_LIBRARIES: ${Boost_LIBRARIES}")
###1.1SuiteSparse#######################################################
list(APPEND CMAKE_PREFIX_PATH D:/app/suitesparse/build/install/lib/cmake/suitesparse-4.5.0)
set(SuiteSparse_USE_LAPACK_BLAS ON)
find_package(SuiteSparse REQUIRED)
include_directories(${SuiteSparse_INCLUDE_DIRS})
message("SuiteSparse_INCLUDE_DIRS: ${SuiteSparse_INCLUDE_DIRS}")
message("SuiteSparse_LIBRARIES: ${SuiteSparse_LIBRARIES}")
###1.2Eigen##############################################################
include_directories(D:/app/eigen)
include_directories(D:/app/sophus)
message("Eigen is included directly")
message("Sophus is included directly")
###1.3Ceres&GFlags&GLog##################################################
list(APPEND CMAKE_PREFIX_PATH D:/app/ceres/build/install/CMake)
list(APPEND CMAKE_PREFIX_PATH D:/app/glog/build/install/lib/cmake/glog)
list(APPEND CMAKE_PREFIX_PATH D:/app/gflags/build/install/lib/cmake/gflags)
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})
message("CERES_INCLUDE_DIRS: ${CERES_INCLUDE_DIRS}")
message("CERES_LIBRARIES: ${CERES_LIBRARIES}")
###2.1OpenCV##############################################################
list(APPEND CMAKE_PREFIX_PATH D:/app/opencv/build/install)
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
message("OpenCV_INCLUDE_DIRS: ${OpenCV_INCLUDE_DIRS}")
message("OpenCV_LIBS: ${OpenCV_LIBS}")
###3.1PCL#################################################################
list(APPEND CMAKE_PREFIX_PATH D:/app/pcl/build/install)
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
add_definitions(${PCL_DEFINITIONS})
message("PCL_INCLUDE_DIRS: ${PCL_INCLUDE_DIRS}")
message("PCL_LIBRARIES: ${PCL_LIBRARIES}")
###4.1G2O#################################################################
list(APPEND CMAKE_PREFIX_PATH D:/app/g2o/build/install)
find_package(G2O REQUIRED)
include_directories(${G2O_INCLUDE_DIR})
message("G2O_INCLUDE_DIR: ${G2O_INCLUDE_DIR}")
message("G2O_LIBS: ${G2O_LIBS}")
###4.2Octomap#############################################################
list(APPEND CMAKE_PREFIX_PATH D:/app/octomap/build/install/share/octomap)
list(APPEND CMAKE_PREFIX_PATH D:/app/octomap/build/install/share/dynamicEDT3D)
find_package(Octomap REQUIRED)
find_package(Dynamicedt3d REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
message("OCTOMAP_INCLUDE_DIRS: ${OCTOMAP_INCLUDE_DIRS}")
message("OCTOMAP_LIBRARIES: ${OCTOMAP_LIBRARIES}")
message("DYNAMICEDT3D_INCLUDE_DIRS: ${DYNAMICEDT3D_INCLUDE_DIRS}")
message("DYNAMICEDT3D_LIBRARIES: ${DYNAMICEDT3D_LIBRARIES}")
####4.3Gtsam################################################################
#list(APPEND CMAKE_PREFIX_PATH D:/app/gstam/build/install/CMake)
#find_package(Gtsam REQUIRED)
#include_directories(${GTSAM_INCLUDE_DIR})
#message("GTSAM_INCLUDE_DIR: ${GTSAM_INCLUDE_DIR}")
####4.4Pangolin#############################################################
list(APPEND CMAKE_PREFIX_PATH D:/app/pangolin/build/install/lib/cmake/Pangolin)
find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS} )
message("Pangolin_INCLUDE_DIRS: ${Pangolin_INCLUDE_DIRS}")
message("Pangolin_LIBRARIES: ${Pangolin_LIBRARIES}")
###CUDA###################################################################
#find_package(CUDA REQUIRED)
#include_directories(${CUDA_INCLUDE_DIRS})
#link_directories(${CUDA_LIBRARY_DIRS})
#set(CUDA_LIBS ${CUDA_CUDA_LIBRARY} ${CUDA_LIBRARIES} ${CUDA_CUFFT_LIBRARIES} ${CUDA_CUBLAS_LIBRARIES} ${CUDA_cudart_static_LIBRARY} ${CUDA_cudadevrt_LIBRARY} ${CUDA_cupti_LIBRARY} ${CUDA_curand_LIBRARY} ${CUDA_cusolver_LIBRARY} ${CUDA_cusparse_LIBRARY} ${CUDA_npp_LIBRARY} ${CUDA_nppc_LIBRARY} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY})
#message ("CUDA_INCLUDE_DIRS: ${CUDA_INCLUDE_DIRS}")
#message ("CUDA_LIBS: ${CUDA_LIBS}")#沒有CUDA_LIBRARY_DIRS
###ZED######################################################################
#find_package(ZED REQUIRED CONFIG)
#include_directories(${ZED_INCLUDE_DIRS})
#link_directories(${ZED_LIBRARY_DIRS})
#message("ZED_INCLUDE_DIRS: ${ZED_INCLUDE_DIRS}")
#message("ZED_LIBRARY_DIRS: ${ZED_LIBRARY_DIRS}")
#message("ZED_LIBS: ${ZED_LIBS}")
###files######################################################################
file(GLOB cmkdir LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/*)
file(GLOB datdir LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/data/*)
file(GLOB incdir LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/include/*)
file(GLOB incbase LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/include/base/*)
file(GLOB inccalib LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/include/calib/*)
file(GLOB incsalient LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/include/salient/*)
file(GLOB incstereo LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/include/stereo/*)
file(GLOB incvslam LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/include/vslam/*)
file(GLOB srcdir LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/source/*)
source_group("data" FILES ${datdir})
source_group("include" FILES ${incdir})
source_group("include\\base" FILES ${incbase})
source_group("include\\calib" FILES ${inccalib})
source_group("include\\salient" FILES ${incsalient})
source_group("include\\stereo" FILES ${incstereo})
source_group("include\\vslam" FILES ${incvslam})
source_group("include\\vslam" FILES ${incvslam})
source_group("source" FILES ${srcdir})
file(GLOB windir LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/window/*)
file(GLOB resdir LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/window/res/*)
file(GLOB subdir LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/window/sub/*)
source_group("window" FILES ${windir})
source_group("window\\res" FILES ${resdir})
source_group("window\\sub" FILES ${subdir})
###exes###################################################################
add_executable(${PROJECT_NAME}
${cmkdir}
${datdir}
${incdir} ${incbase} ${inccalib} ${incsalient} ${incstereo} ${incvslam}
${srcdir}
${windir} ${resdir} ${subdir}
)
###libs####################################################################
set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
target_link_libraries(${PROJECT_NAME}
${Boost_LIBRARIES}
${SuiteSparse_LIBRARIES}
#NO Eigen
#NO Sophus
${CERES_LIBRARIES}
${OpenCV_LIBS}
${PCL_LIBRARIES}
${G2O_LIBS}
${OCTOMAP_LIBRARIES} ${DYNAMICEDT3D_LIBRARIES}
${Pangolin_LIBRARIES}
#${CUDA_LIBS}
#${ZED_LIBS}
)
致ubuntu140405：基於window7的vslam開發環境搭建