kopia lustrzana https://github.com/OpenDroneMap/ODM
79 wiersze
2.1 KiB
CMake
79 wiersze
2.1 KiB
CMake
set(_proj_name orb_slam2)
|
|
set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
|
|
|
|
ExternalProject_Add(${_proj_name}
|
|
DEPENDS opencv pangolin
|
|
PREFIX ${_SB_BINARY_DIR}
|
|
TMP_DIR ${_SB_BINARY_DIR}/tmp
|
|
STAMP_DIR ${_SB_BINARY_DIR}/stamp
|
|
#--Download step--------------
|
|
DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
|
|
URL https://github.com/paulinus/ORB_SLAM2/archive/7c11f186a53a75560cd17352d327b0bc127a82de.zip
|
|
#--Update/Patch step----------
|
|
UPDATE_COMMAND ""
|
|
#--Configure step-------------
|
|
SOURCE_DIR ${SB_SOURCE_DIR}/${_proj_name}
|
|
CMAKE_ARGS
|
|
-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
|
|
#--Build step-----------------
|
|
BINARY_DIR ${_SB_BINARY_DIR}
|
|
#--Install step---------------
|
|
INSTALL_COMMAND ""
|
|
#--Output logging-------------
|
|
LOG_DOWNLOAD OFF
|
|
LOG_CONFIGURE OFF
|
|
LOG_BUILD OFF
|
|
)
|
|
|
|
# DBoW2
|
|
set(DBoW2_BINARY_DIR "${SB_BINARY_DIR}/DBoW2")
|
|
file(MAKE_DIRECTORY "${DBoW2_BINARY_DIR}")
|
|
|
|
ExternalProject_Add_Step(${_proj_name} build_DBoW2
|
|
COMMAND make -j2
|
|
DEPENDEES configure_DBoW2
|
|
DEPENDERS configure
|
|
WORKING_DIRECTORY ${DBoW2_BINARY_DIR}
|
|
ALWAYS 1
|
|
)
|
|
|
|
ExternalProject_Add_Step(${_proj_name} configure_DBoW2
|
|
COMMAND ${CMAKE_COMMAND} <SOURCE_DIR>/Thirdparty/DBoW2
|
|
-DOpenCV_DIR=${SB_INSTALL_DIR}/share/OpenCV
|
|
-DCMAKE_BUILD_TYPE=Release
|
|
DEPENDEES download
|
|
DEPENDERS build_DBoW2
|
|
WORKING_DIRECTORY ${DBoW2_BINARY_DIR}
|
|
ALWAYS 1
|
|
)
|
|
|
|
# g2o
|
|
set(g2o_BINARY_DIR "${SB_BINARY_DIR}/g2o")
|
|
file(MAKE_DIRECTORY "${g2o_BINARY_DIR}")
|
|
|
|
ExternalProject_Add_Step(${_proj_name} build_g2o
|
|
COMMAND make -j2
|
|
DEPENDEES configure_g2o
|
|
DEPENDERS configure
|
|
WORKING_DIRECTORY ${g2o_BINARY_DIR}
|
|
ALWAYS 1
|
|
)
|
|
|
|
ExternalProject_Add_Step(${_proj_name} configure_g2o
|
|
COMMAND ${CMAKE_COMMAND} <SOURCE_DIR>/Thirdparty/g2o
|
|
-DCMAKE_BUILD_TYPE=Release
|
|
DEPENDEES download
|
|
DEPENDERS build_g2o
|
|
WORKING_DIRECTORY ${g2o_BINARY_DIR}
|
|
ALWAYS 1
|
|
)
|
|
|
|
# Uncompress Vocabulary
|
|
ExternalProject_Add_Step(${_proj_name} uncompress_vocabulary
|
|
COMMAND tar -xf ORBvoc.txt.tar.gz
|
|
DEPENDEES download
|
|
DEPENDERS configure
|
|
WORKING_DIRECTORY <SOURCE_DIR>/Vocabulary
|
|
ALWAYS 1
|
|
)
|