91 lines
2.8 KiB
CMake
Executable File
91 lines
2.8 KiB
CMake
Executable File
SET(PROJECT_NAME vio)
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PROJECT(${PROJECT_NAME})
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CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3)
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SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
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SET(CMAKE_VERBOSE_MAKEFILE OFF)
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SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/")
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set(CMAKE_C_STANDARD 17)
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set(CMAKE_CXX_STANDARD 17)
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# Set definitions
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ADD_DEFINITIONS(-DSVO_TRACE)
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ADD_DEFINITIONS(-DSVO_USE_ROS)
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# Set build flags, set ARM_ARCHITECTURE environment variable on Odroid
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# Set build flags. Set IS_ARM on odroid board as environment variable
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SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
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IF(DEFINED ENV{ARM_ARCHITECTURE})
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ")
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ELSE()
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3")
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ENDIF()
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SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
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# Add plain cmake packages
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FIND_PACKAGE(OpenCV 4 REQUIRED)
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FIND_PACKAGE(Eigen REQUIRED)
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FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system)
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FIND_PACKAGE(OpenCL REQUIRED)
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FIND_PACKAGE(G2O REQUIRED)
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#FIND_PACKAGE(SuiteSparse)
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FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules image_transport cv_bridge tf geometry_msgs message_generation)
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add_service_files(FILES
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getOdom.srv
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stop.srv
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start.srv)
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generate_messages(DEPENDENCIES std_msgs)
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catkin_package(
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DEPENDS Eigen OpenCV Boost
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CATKIN_DEPENDS roscpp roslib image_transport cv_bridge tf geometry_msgs message_runtime
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INCLUDE_DIRS include
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)
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# Include dirs
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INCLUDE_DIRECTORIES(
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include
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kernel
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${Eigen_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${OpenCL_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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${G2O_INCLUDE_DIR}
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/usr/include/suitesparse # for cholmod
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)
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# Set link libraries
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LIST(APPEND LINK_LIBS
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${OpenCV_LIBS}
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${Boost_LIBRARIES}
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${Boost_Fibers_LIBRARIES}
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${OpenCL_LIBRARIES}
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${catkin_LIBRARIES}
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${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CHOLMOD}
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${G2O_SOLVER_PCG}
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${G2O_TYPES_SBA}
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${G2O_TYPES_SLAM3D}
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${G2O_TYPES_ICP}
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cholmod cxsparse
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)
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file(GLOB SRC CONFIGURE_DEPENDS "src/*.cpp" "include/sophus/*.cpp")
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# Create svo library
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ADD_EXECUTABLE(${PROJECT_NAME} ${SRC})
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TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS})
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set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 17)
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set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON)
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target_compile_features(${PROJECT_NAME} PRIVATE cxx_range_for)
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ADD_DEFINITIONS(-DKERNEL_DIR=\"${PROJECT_SOURCE_DIR}/kernel\")
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ADD_DEFINITIONS(-DPROJECT_DIR=\"${PROJECT_SOURCE_DIR}\")
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ADD_DEFINITIONS(-DVIO_DEBUG=true)
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ADD_DEFINITIONS(-DG2O_USE_VENDORED_CERES=ON)
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ADD_DEFINITIONS(-DG2O_DELETE_IMPLICITLY_OWNED_OBJECTS=OFF)
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