From 5410a3d54e833ec5db28c2aa44dc181f056ee498 Mon Sep 17 00:00:00 2001
From: Anand Balakrishnan <anandbala1597@gmail.com>
Date: Mon, 26 Jun 2017 11:54:39 -0400
Subject: [PATCH 1/2] CMake now installs the .so file and headers

The library file is installed to /usr/local/lib by default.

The header files are installed to /usr/local/include/ORB_SLAM2 by
default. The prefix '/usr/local/include/' can be changed as a CMake
variable.
---
 .gitignore     | 5 +++++
 CMakeLists.txt | 8 ++++++++
 2 files changed, 13 insertions(+)

diff --git a/.gitignore b/.gitignore
index 611b5adb2c..94f87d8d79 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,3 +22,8 @@ build/
 *~
 lib/
 
+CMakeFiles
+
+# VIM
+
+*.swp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 08a8af468e..a84c1473f5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -70,6 +70,7 @@ src/Initializer.cc
 src/Viewer.cc
 )
 
+
 target_link_libraries(${PROJECT_NAME}
 ${OpenCV_LIBS}
 ${EIGEN3_LIBS}
@@ -78,6 +79,11 @@ ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
 ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
 )
 
+install(TARGETS ${PROJECT_NAME}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+)
+
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME})
 # Build examples
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
@@ -111,3 +117,5 @@ add_executable(mono_euroc
 Examples/Monocular/mono_euroc.cc)
 target_link_libraries(mono_euroc ${PROJECT_NAME})
 
+
+

From 525f6003869532c212ad9ccfea7b3d19f30d7ff0 Mon Sep 17 00:00:00 2001
From: Anand Balakrishnan <anandbala1597@gmail.com>
Date: Mon, 26 Jun 2017 16:57:52 -0400
Subject: [PATCH 2/2] Install ORB_SLAM2Config.cmake to common dir.

---
 CMakeLists.txt                  | 14 +++++++++++++-
 cmake_config/ORB_SLAM2.cmake.in |  9 +++++++++
 2 files changed, 22 insertions(+), 1 deletion(-)
 create mode 100644 cmake_config/ORB_SLAM2.cmake.in

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a84c1473f5..1afad6b7ac 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,6 +39,7 @@ endif()
 find_package(Eigen3 3.1.0 REQUIRED)
 find_package(Pangolin REQUIRED)
 
+
 include_directories(
 ${PROJECT_SOURCE_DIR}
 ${PROJECT_SOURCE_DIR}/include
@@ -79,11 +80,22 @@ ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
 ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
 )
 
+configure_file(cmake_config/ORB_SLAM2.cmake.in
+  "${PROJECT_BINARY_DIR}/ORB_SLAM2Config.cmake" @ONLY)
+
 install(TARGETS ${PROJECT_NAME}
   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
 )
+install(DIRECTORY include/ 
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}
+)
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/ORB_SLAM2Config.cmake"
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}
+)
+install(FILES "${PROJECT_BINARY_DIR}/ORB_SLAM2Config.cmake" 
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/cmake/${PROJECT_NAME}
+)
 
-install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME})
 # Build examples
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
diff --git a/cmake_config/ORB_SLAM2.cmake.in b/cmake_config/ORB_SLAM2.cmake.in
new file mode 100644
index 0000000000..6ee48ca1c3
--- /dev/null
+++ b/cmake_config/ORB_SLAM2.cmake.in
@@ -0,0 +1,9 @@
+FIND_LIBRARY(ORB_SLAM2_LIBRARY ORB_SLAM2
+    PATHS @CMAKE_INSTALL_PREFIX@/lib
+)
+FIND_PATH(ORB_SLAM2_INCLUDE_DIR ORB_SLAM2Config.cmake
+    PATHS @CMAKE_INSTALL_PREFIX@/include/@PROJECT_NAME@ 
+)
+SET(ORB_SLAM2_LIBRARIES ${ORB_SLAM2_LIBRARY})
+SET(ORB_SLAM2_LIBS ${ORB_SLAM2_LIBRARY})
+SET(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIR})