add imu sub

2021-04-07 19:19:35 +02:00
parent e9256c9903
commit 651dcdfb2f
37 changed files with 786 additions and 310 deletions
@@ -0,0 +1,79 @@
+SET(PROJECT_NAME vio_svo)
+PROJECT(${PROJECT_NAME})
+CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3)
+SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
+SET(CMAKE_VERBOSE_MAKEFILE OFF)
+SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/")
+
+# Set build flags. Set IS_ARM on odroid board as environment variable
+SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
+IF(DEFINED ENV{ARM_ARCHITECTURE})
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
+ELSE()
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3")
+ENDIF()
+IF(CMAKE_COMPILER_IS_GNUCC)
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+ELSE()
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+ENDIF()
+SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
+
+# Add catkin and required ROS packages
+FIND_PACKAGE(catkin REQUIRED COMPONENTS 
+  roscpp
+  cmake_modules
+  nav_msgs
+  std_msgs
+  visualization_msgs
+  sensor_msgs
+  image_transport
+  cv_bridge
+  tf
+  svo
+  svo_msgs
+  vikit_common
+  vikit_ros
+)
+
+# Add plain cmake packages 
+FIND_PACKAGE(OpenCV REQUIRED)
+FIND_PACKAGE(Eigen REQUIRED)
+FIND_PACKAGE(Sophus REQUIRED)
+FIND_PACKAGE(Boost REQUIRED COMPONENTS thread)
+
+# Describe catkin Project
+catkin_package(
+  DEPENDS Eigen OpenCV Sophus Boost
+  CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros
+  INCLUDE_DIRS include
+  LIBRARIES svo_visualizer
+)
+
+# Include dirs
+INCLUDE_DIRECTORIES(
+  include
+  ${Eigen_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+  ${Sophus_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+
+# Set link libraries
+LIST(APPEND LINK_LIBS 
+  ${OpenCV_LIBS}
+  ${Sophus_LIBRARIES}
+  ${Boost_LIBRARIES}
+  ${catkin_LIBRARIES}
+)
+
+# Create visualizer library
+ADD_LIBRARY(svo_visualizer src/visualizer.cpp)
+TARGET_LINK_LIBRARIES(svo_visualizer ${LINK_LIBS})
+                                 
+# Create Executables                      
+ADD_EXECUTABLE(vo src/vo_node.cpp)
+TARGET_LINK_LIBRARIES(vo svo_visualizer)
+#ADD_EXECUTABLE(benchmark src/benchmark_node.cpp)
+#TARGET_LINK_LIBRARIES(benchmark svo_visualizer)