第十一章pose_graph_g2o_SE3

最新推荐文章于 2024-04-27 12:17:01 发布

robinhjwy

最新推荐文章于 2024-04-27 12:17:01 发布

阅读量2.8k

点赞数 1

分类专栏： 14讲程序注释文章标签： slam的原理

本文链接：https://blog.csdn.net/robinhjwy/article/details/78226440

版权

先贴一下cmakelists：

cmake_minimum_required( VERSION 2.8 )
project( pose_graph )

set( CMAKE_BUILD_TYPE "Release" )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )

list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )

# Eigen
include_directories( "/usr/include/eigen3" )

# sophus 
#find_package( Sophus REQUIRED )
#include_directories( ${Sophus_INCLUDE_DIRS} )

# g2o 
find_package( G2O REQUIRED )
include_directories( ${G2O_INCLUDE_DIRS} )

find_package( Cholmod REQUIRED )
include_directories( ${CHOLMOD_INCLUDE_DIR} )

# gtsam 
#find_package( GTSAMCMakeTools )
#find_package( GTSAM REQUIRED )
#include_directories( ${GTSAM_INCLUDE_DIR} )


# Ceres 
find_package( Ceres REQUIRED )
include_directories( ${CERES_INCLUDE_DIRS} )

add_executable( pose_graph_g2o_SE3 pose_graph_g2o_SE3.cpp )
target_link_libraries( pose_g