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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8)
project(orbbec_camera_driver)
SET(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
set (Tutorial_VERSION_MAJOR 1)
set (Tutorial_VERSION_MINOR 0)
configure_file (
"${PROJECT_SOURCE_DIR}/TutorialConfig.h.in"
"${PROJECT_BINARY_DIR}/TutorialConfig.h"
)
# 这里find的package之后的include和ibraries都是用这个宏扩展的
# 这里没有版本要求，用的都是最基本的功能
find_package(OpenCV REQUIRED)
find_package(PCL REQUIRED)
find_package(Eigen3 REQUIRED)
if (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
find_package(Pangolin 0.4 REQUIRED)
add_definitions(-DLINUX_X86)
endif()
# uvc libs
set(UVC_LIBS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libs/${CMAKE_SYSTEM_PROCESSOR}/libuvc)
set(UVC_LIBS "${UVC_LIBS_DIR}/libuvc.so")
# openni2 libs
set(OPENNI2_LIBS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libs/${CMAKE_SYSTEM_PROCESSOR}/openni2)
set (OPENNI2_LIBS "${OPENNI2_LIBS_DIR}/libOpenNI2.so;${OPENNI2_LIBS_DIR}/OpenNI2/Drivers/liborbbec.so")# 这个路径是固定的，不是这个目录结构OpenNI2/Drivers/lib*.so就找不到
# zmq libs
set(ZMQ_LIBS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libs/${CMAKE_SYSTEM_PROCESSOR}/libzmq)
set(ZMQ_LIBS "${ZMQ_LIBS_DIR}/libzeromq.so")
# flatbuffers libs
set(FLATBUFFERS_LIBS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libs/${CMAKE_SYSTEM_PROCESSOR}/libflatbuffers)
set(FLATBUFFERS_LIBS "${FLATBUFFERS_LIBS_DIR}/libflatbuffers.so")
include_directories (${OpenCV_INCLUDE_DIRS})
include_directories (${PCL_INCLUDE_DIRS})
include_directories (${Eigen_INCLUDE_DIRS})
include_directories ("${PROJECT_SOURCE_DIR}/include;${PROJECT_SOURCE_DIR}/src")
include_directories (${Pangolin_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/Thirdparty/Sophus
${PROJECT_SOURCE_DIR}/Thirdparty/g2o
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2)
# tensorflow lite
# set(TENSORFLOW_SOURCE_DIR "/home/ss/tensorflow_src")
# if(NOT TENSORFLOW_SOURCE_DIR)
# get_filename_component(TENSORFLOW_SOURCE_DIR
# "${CMAKE_CURRENT_LIST_DIR}/../../../../"
# ABSOLUTE
# )
# endif()
# add_subdirectory(
# "${TENSORFLOW_SOURCE_DIR}/tensorflow/lite"
# "${CMAKE_CURRENT_BINARY_DIR}/tensorflow-lite"
# EXCLUDE_FROM_ALL
# )
# # tflite library
# set(TFLITE_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libs/${CMAKE_SYSTEM_PROCESSOR}/tflite)
# set(TFLITE_LIBS "${TFLITE_SOURCE_DIR}/libtensorflowlite.so")
# include_directories ("${PROJECT_SOURCE_DIR}/include")
# message(STATUS "TENSORFLOW_SOURCE_DIR: " ${TENSORFLOW_SOURCE_DIR})
if (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
add_executable(orbbec_camera_driver
src/camera.cpp
src/uvc_camera.cpp
src/oni_camera.cpp
src/frame.cpp
src/orb/ORBextractor.cpp
src/orb/ORBmatcher.cpp
src/orb/Optimizer.cpp
src/orb/OptimizableTypes.cpp
src/orb/MapPoint.cpp
src/orb/Frame.cpp
src/orb/Tracking.cpp
src/orb/Settings.cpp
src/orb/CameraModels/Converter.cpp
src/orb/CameraModels/GeometricTools.cpp
src/orb/CameraModels/TwoViewReconstruction.cpp
src/orb/CameraModels/Pinhole.cpp
src/orb/MapDrawer.cpp
src/viewer.cpp
main.cpp)
else()
add_executable(orbbec_camera_driver
src/camera.cpp
src/uvc_camera.cpp
src/oni_camera.cpp
src/frame.cpp
src/orb/ORBextractor.cpp
src/orb/ORBmatcher.cpp
src/orb/Optimizer.cpp
src/orb/OptimizableTypes.cpp
src/orb/MapPoint.cpp
src/orb/Frame.cpp
src/orb/Tracking.cpp
src/orb/Settings.cpp
src/orb/CameraModels/Converter.cpp
src/orb/CameraModels/GeometricTools.cpp
src/orb/CameraModels/TwoViewReconstruction.cpp
src/orb/CameraModels/Pinhole.cpp
main.cpp
)
endif()
# # For InferenceHelper
# set(INFERENCE_HELPER_DIR ${CMAKE_CURRENT_LIST_DIR}/src/InferenceHelper/)
# set(INFERENCE_HELPER_ENABLE_TFLITE ON CACHE BOOL "TFLITE")
# set(INFERENCE_HELPER_ENABLE_TFLITE_DELEGATE_XNNPACK ON CACHE BOOL "TFLITE_XNNPACK")
# add_subdirectory(${INFERENCE_HELPER_DIR}/inference_helper inference_helper)
# target_include_directories(orbbec_camera_driver PUBLIC ${INFERENCE_HELPER_DIR}/inference_helper)
# target_link_libraries(orbbec_camera_driver InferenceHelper)
# # Link Common Helper module
# add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/src/common_helper common_helper)
# target_include_directories(orbbec_camera_driver PUBLIC ${CMAKE_CURRENT_LIST_DIR}/src/common_helper)
# target_link_libraries(orbbec_camera_driver CommonHelper)
# Link ImageProcessor module
add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/src/image_processor image_processor)
target_include_directories(orbbec_camera_driver PUBLIC ${CMAKE_CURRENT_LIST_DIR}/src/image_processor)
target_link_libraries(orbbec_camera_driver ImageProcessor)
target_link_libraries(orbbec_camera_driver
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
${Eigen_LIBRARIES}
${UVC_LIBS}
${ZMQ_LIBS}
${OPENNI2_LIBS}
${TFLITE_LIBS}
${FLATBUFFERS_LIBS}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
-lcrypto
)
if (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
target_link_libraries(orbbec_camera_driver
${Pangolin_LIBRARIES})
endif()
add_executable(reciever reciever.cpp)
target_link_libraries(reciever
${ZMQ_LIBS}
${FLATBUFFERS_LIBS}
)
file(COPY ${CMAKE_CURRENT_LIST_DIR}/resource DESTINATION ${CMAKE_BINARY_DIR}/)
add_definitions(-DRESOURCE_DIR="${CMAKE_BINARY_DIR}/resource/")