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CMakeLists.txt

+cmake_minimum_required(VERSION 2.8)
+project(plane_optimization)
+
+# 指定C++11支持
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")  
+
+find_package(OpenCV 3 REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(Sophus REQUIRED)
+
+include_directories(
+    ${PROJECT_SOURCE_DIR}
+    ${PROJECT_SOURCE_DIR}/include
+    ${OPENCV_INCLUDE_DIR}
+    ${EIGEN3_INCLUDE_DIR}
+    ${Sophus_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME} SHARED
+    #src/g2o_opt_type.cpp
+    src/so3.cpp
+    src/types_six_dof_expmap_ours.cpp
+    # src/g2o_types_opt.cpp
+    # src/calib_opt_6dof.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+    ${OpenCV_LIBS}
+    ${Sophus_LIBRARIES}
+    ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
+)
+
+add_executable(opt main.cpp)
+target_link_libraries(opt ${PROJECT_NAME})