first commit

2014-03-12 16:39:58 +01:00
commit 76801f72ac
98 changed files with 14580 additions and 0 deletions
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+SET(PROJECT_NAME svo_ros)
+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/")
+
+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()
+
+
+# Add catkin and required ROS packages
+FIND_PACKAGE(catkin REQUIRED COMPONENTS 
+  roscpp 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 signals)
+
+# 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_LIBRARIES}
+  ${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)
+ADD_EXECUTABLE(remote src/remote_node.cpp)
+TARGET_LINK_LIBRARIES(remote svo_visualizer)