100 lines
3.0 KiB
CMake
100 lines
3.0 KiB
CMake
SET(PROJECT_NAME gpu_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(CMAKE_C_STANDARD 11)
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set(CMAKE_CXX_STANDARD 11)
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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 "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
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# Add plain cmake packages
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FIND_PACKAGE(OpenCV REQUIRED)
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FIND_PACKAGE(Eigen REQUIRED)
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FIND_PACKAGE(Sophus REQUIRED)
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FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system)
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FIND_PACKAGE(GTSAM REQUIRED)
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FIND_PACKAGE(OpenCL REQUIRED)
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FIND_PACKAGE(vikit_common REQUIRED)
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set(GTSAM_INCLUDE_DIRS "${GTSAM_INCLUDE_DIR}")
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FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros)
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catkin_package(
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DEPENDS Eigen OpenCV Sophus Boost fast GTSAM
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CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros
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INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME}
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)
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# Include dirs
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INCLUDE_DIRECTORIES(
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include
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kernel
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${Eigen_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${Sophus_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${OpenCL_INCLUDE_DIRS}
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${GTSAM_INCLUDE_DIR}
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${catkin_INCLUDE_DIRS}
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)
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# Set link libraries
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LIST(APPEND LINK_LIBS
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gtsam
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${OpenCV_LIBS}
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${Sophus_LIBRARIES}
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${Boost_LIBRARIES}
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${OpenCL_LIBRARIES}
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${catkin_LIBRARIES}
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)
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# Set sourcefiles
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LIST(APPEND SOURCEFILES
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src/frame_handler_mono.cpp
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src/frame_handler_base.cpp
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src/frame.cpp
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src/point.cpp
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src/map.cpp
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src/pose_optimizer.cpp
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src/initialization.cpp
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src/matcher.cpp
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src/reprojector.cpp
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src/feature_alignment.cpp
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src/feature_detection.cpp
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src/depth_filter.cpp
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src/config.cpp
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src/sparse_img_align.cpp
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src/imu_integration.cpp
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src/cl_class.cpp
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src/atan_camera.cpp
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src/math_utils.cpp
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src/robust_cost.cpp
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src/vision.cpp
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src/homography.cpp)
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# Create svo library
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ADD_LIBRARY(${PROJECT_NAME} SHARED ${SOURCEFILES})
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TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${LINK_LIBS} )
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set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11)
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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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