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added flag to build without ROS as plain cmake project

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This commit is contained in:
Christian Forster
2014-06-11 11:37:42 +02:00
parent 956a21f4f2
commit d4c5568c42
2 changed files with 113 additions and 17 deletions
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svo/CMakeLists.txt
+32 -17
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@@ -3,6 +3,8 @@
SET(TRACE TRUE)
SET(HAVE_G2O TRUE)
SET(USE_ROS FALSE) # Set False if you want to build this package without Catkin
SET(DEBUG_OUTPUT FALSE) # Only relevant if build without ROS
################################################################################
@@ -20,7 +22,12 @@ ENDIF()
IF(HAVE_G2O)
ADD_DEFINITIONS(-DUSE_BUNDLE_ADJUSTMENT)
ENDIF()
ADD_DEFINITIONS(-DSVO_USE_ROS)
IF(USE_ROS)
ADD_DEFINITIONS(-DSVO_USE_ROS)
ENDIF()
IF(DEBUG_OUTPUT)
ADD_DEFINITIONS(-DSVO_DEBUG_OUTPUT)
ENDIF()
# Set build flags, set ARM_ARCHITECTURE environment variable on Odroid
SET(CMAKE_CXX_FLAGS "-Wall -Werror -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
@@ -35,9 +42,6 @@ ELSE()
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ENDIF()
# Add catkin and required ROS packages
FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros)
# Add plain cmake packages
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(Eigen REQUIRED)
@@ -45,13 +49,19 @@ FIND_PACKAGE(Sophus REQUIRED)
FIND_PACKAGE(fast REQUIRED)
FIND_PACKAGE(Boost REQUIRED COMPONENTS thread)
# Describe catkin Project
catkin_package(
DEPENDS Eigen OpenCV Sophus Boost fast
CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros
INCLUDE_DIRS include
LIBRARIES svo
)
IF(USE_ROS)
FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros)
catkin_package(
DEPENDS Eigen OpenCV Sophus Boost fast
CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros
INCLUDE_DIRS include
LIBRARIES svo
)
ELSE()
FIND_PACKAGE(vikit_common REQUIRED)
SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
ENDIF()
# Include dirs
INCLUDE_DIRECTORIES(
@@ -60,7 +70,6 @@ INCLUDE_DIRECTORIES(
${OpenCV_INCLUDE_DIRS}
${Sophus_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${fast_INCLUDE_DIRS}
)
@@ -69,10 +78,17 @@ LIST(APPEND LINK_LIBS
${OpenCV_LIBRARIES}
${Sophus_LIBRARIES}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
${fast_LIBRARIES}
)
IF(USE_ROS)
INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS})
LIST(APPEND LINK_LIBS ${catkin_LIBRARIES})
ELSE()
INCLUDE_DIRECTORIES(${vikit_common_INCLUDE_DIRS})
LIST(APPEND LINK_LIBS ${vikit_common_LIBRARIES})
ENDIF()
# Set sourcefiles
LIST(APPEND SOURCEFILES
src/frame_handler_mono.cpp
@@ -94,12 +110,12 @@ LIST(APPEND SOURCEFILES
IF(HAVE_G2O)
FIND_PACKAGE(G2O REQUIRED)
INCLUDE_DIRECTORIES(
${G2O_ROOT}/include
${G2O_INCLUDE_DIR}
/usr/include/suitesparse # for cholmod
)
LIST(APPEND LINK_LIBS
g2o_core g2o_stuff g2o_solver_cholmod g2o_solver_csparse g2o_solver_dense
g2o_solver_pcg g2o_types_sba cholmod cxsparse
${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_DENSE}
${G2O_SOLVER_PCG} ${G2O_TYPES_SBA} cholmod cxsparse
)
LIST(APPEND SOURCEFILES src/bundle_adjustment.cpp)
ENDIF(HAVE_G2O)
@@ -108,7 +124,6 @@ ENDIF(HAVE_G2O)
ADD_LIBRARY(svo SHARED ${SOURCEFILES})
TARGET_LINK_LIBRARIES(svo ${LINK_LIBS})
################################################################################
# TESTS