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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5.1)
project(orbslam2_ros)
add_compile_options(-std=c++11)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
find_package(catkin REQUIRED COMPONENTS
roscpp
tf
roslib
cv_bridge
visualization_msgs
)
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
find_package(OpenCV REQUIRED)
#if(NOT OpenCV_FOUND)
# find_package(OpenCV 2.4.3 QUIET)
# if(NOT OpenCV_FOUND)
# message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
# endif()
#endif()
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(PCL REQUIRED)
find_package(Boost REQUIRED COMPONENTS system serialization python)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES lane_detection
# CATKIN_DEPENDS other_catkin_pkg
DEPENDS
roscpp
tf
roslib
cv_bridge
visualization_msgs
)
set(PROJECT_EXPANSION_DIR ${PROJECT_SOURCE_DIR}/Expansion)
set(PROJECT_EXPANSION_SOURCES
${PROJECT_EXPANSION_DIR}/src/*
)
include_directories(
${catkin_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${PROJECT_EXPANSION_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIR}
${PCL_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
#set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Map.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
include/cvmat_serialization.h
include/MapObjectSerialization.h
include/dbow2_serialization.h
)
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${Boost_LIBRARIES}
)
# Build examples
#set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
#set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)
add_executable(ros_mono "")
target_sources(ros_mono
PRIVATE
${PROJECT_EXPANSION_DIR}/src/VisualSLAM.cpp
${PROJECT_EXPANSION_DIR}/src/Publisher.cpp
${PROJECT_EXPANSION_DIR}/Monocular/ros_mono.cc
)
target_link_libraries(ros_mono
${PROJECT_NAME}
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
${Boost_LIBRARIES}
)