157 lines
4.4 KiB
CMake
157 lines
4.4 KiB
CMake
################################################################################
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# user build settings
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SET(DEBUG FALSE)
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SET(TRACE TRUE)
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SET(HAVE_G2O FALSE)
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################################################################################
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SET(PROJECT_NAME svo)
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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 ARM_ARCHITECTURE environment variable on Odroid
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IF(DEFINED ENV{ARM_ARCHITECTURE})
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SET(IS_ARM TRUE)
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# ADD_DEFINITIONS(-DHAVE_FAST_NEON)
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ELSE()
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SET(IS_ARM FALSE)
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ENDIF()
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# Set definitions
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IF(DEBUG)
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ADD_DEFINITIONS(-DSVO_DEBUG)
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ENDIF()
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IF(TRACE)
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ADD_DEFINITIONS(-DSVO_TRACE)
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ENDIF()
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IF(HAVE_G2O)
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ADD_DEFINITIONS(-DUSE_BUNDLE_ADJUSTMENT)
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ENDIF()
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ADD_DEFINITIONS(-DUSE_ROS)
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# Set build flags
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SET(CMAKE_CXX_FLAGS "-Wall -Werror -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
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SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -O0 -g")
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IF(IS_ARM)
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SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -mfpu=neon -march=armv7-a -fomit-frame-pointer -fsee -funsafe-loop-optimizations -fno-signed-zeros -fno-math-errno -funroll-loops")
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ELSE()
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SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -mmmx -msse -msse -msse2 -msse3 -mssse3 -fomit-frame-pointer -fsee -funsafe-loop-optimizations -fno-signed-zeros -fno-math-errno -funroll-loops")
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ENDIF()
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IF(CMAKE_COMPILER_IS_GNUCC)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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ELSE()
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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ENDIF()
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# Add catkin and required ROS packages
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FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp vikit_common vikit_ros)
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# Add plain cmake packages
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FIND_PACKAGE(G2O REQUIRED)
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FIND_PACKAGE(OpenCV REQUIRED)
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FIND_PACKAGE(Eigen REQUIRED)
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FIND_PACKAGE(Sophus REQUIRED)
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FIND_PACKAGE(fast REQUIRED)
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FIND_PACKAGE(Boost REQUIRED COMPONENTS system thread signals)
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# Describe catkin Project
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catkin_package(
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DEPENDS Eigen OpenCV Sophus Boost fast
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CATKIN_DEPENDS roscpp vikit_common vikit_ros
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INCLUDE_DIRS include
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LIBRARIES svo
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)
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# Include dirs
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INCLUDE_DIRECTORIES(
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include
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${Eigen_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${Sophus_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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${fast_INCLUDE_DIRS}
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)
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IF(HAVE_G2O)
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INCLUDE_DIRECTORIES(
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${G2O_ROOT}/include
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/usr/include/suitesparse # for cholmod
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)
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ENDIF()
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# Set link libraries
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LIST(APPEND LINK_LIBS
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${OpenCV_LIBRARIES}
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${Sophus_LIBRARIES}
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${Boost_LIBRARIES}
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${catkin_LIBRARIES}
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${fast_LIBRARIES}
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)
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IF(HAVE_G2O)
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LIST(APPEND LINK_LIBS
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g2o_core g2o_stuff g2o_solver_cholmod g2o_solver_csparse g2o_solver_dense g2o_solver_pcg g2o_types_sba
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cholmod cxsparse
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)
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ENDIF()
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# Set sourcefiles
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LIST(APPEND SOURCEFILES
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src/frame_handler_mono.cpp
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src/frame_handler_base.cpp
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src/frame.cpp
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src/point.cpp
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src/map.cpp
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src/pose_optimizer.cpp
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src/initialization.cpp
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src/matcher.cpp
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src/reprojection.cpp
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src/feature_alignment.cpp
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src/feature_detection.cpp
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src/depth_filter.cpp
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src/config.cpp
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src/sparse_img_align.cpp)
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IF(HAVE_G2O)
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LIST(APPEND SOURCEFILES src/bundle_adjustment.cpp)
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ENDIF(HAVE_G2O)
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# Create svo library
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ADD_LIBRARY(svo SHARED ${SOURCEFILES})
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TARGET_LINK_LIBRARIES(svo ${LINK_LIBS})
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################################################################################
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# TESTS
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IF(DEFINED ENV{SVO_DATASET_DIR})
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ADD_DEFINITIONS(-DTEST_DATA_DIR=\"$ENV{SVO_DATASET_DIR}\")
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ELSE()
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ADD_DEFINITIONS(-DTEST_DATA_DIR=\"${PROJECT_SOURCE_DIR}/test/data\")
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ENDIF()
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ADD_DEFINITIONS(-DTEST_TRACE_DIR=\"${PROJECT_SOURCE_DIR}/test/results\")
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ADD_EXECUTABLE(test_feature_align test/test_feature_alignment.cpp)
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TARGET_LINK_LIBRARIES(test_feature_align svo)
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ADD_EXECUTABLE(test_pipeline test/test_pipeline.cpp)
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TARGET_LINK_LIBRARIES(test_pipeline svo)
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ADD_EXECUTABLE(test_matcher test/test_matcher.cpp)
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TARGET_LINK_LIBRARIES(test_matcher svo)
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ADD_EXECUTABLE(test_feature_detection test/test_feature_detection.cpp)
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TARGET_LINK_LIBRARIES(test_feature_detection svo)
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ADD_EXECUTABLE(test_depth_filter test/test_depth_filter.cpp)
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TARGET_LINK_LIBRARIES(test_depth_filter svo)
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ADD_EXECUTABLE(test_sparse_img_align test/test_sparse_img_align.cpp)
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TARGET_LINK_LIBRARIES(test_sparse_img_align svo)
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ADD_EXECUTABLE(test_pose_optimizer test/test_pose_optimizer.cpp)
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TARGET_LINK_LIBRARIES(test_pose_optimizer svo)
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