157 lines
4.8 KiB
CMake
157 lines
4.8 KiB
CMake
################################################################################
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# user build settings
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SET(TRACE TRUE)
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SET(HAVE_G2O FALSE)
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SET(USE_ROS TRUE) # Set FALSE if you want to build this package without Catkin
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SET(DEBUG_OUTPUT FALSE) # Only relevant if build without ROS
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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(CMAKE_C_STANDARD 14)
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set(CMAKE_CXX_STANDARD 14)
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# Set definitions
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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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IF(USE_ROS)
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ADD_DEFINITIONS(-DSVO_USE_ROS)
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ENDIF()
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IF(DEBUG_OUTPUT)
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ADD_DEFINITIONS(-DSVO_DEBUG_OUTPUT)
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ENDIF()
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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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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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SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
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# Add plain cmake packages
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FIND_PACKAGE(OpenCV 3 REQUIRED)
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FIND_PACKAGE(Eigen REQUIRED)
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FIND_PACKAGE(Sophus REQUIRED)
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FIND_PACKAGE(fast REQUIRED)
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FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system)
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FIND_PACKAGE(GTSAM REQUIRED)
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set(GTSAM_INCLUDE_DIRS "${GTSAM_INCLUDE_DIR}")
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IF(USE_ROS)
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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 svo
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)
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ELSE()
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FIND_PACKAGE(vikit_common REQUIRED)
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SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
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SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
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ENDIF()
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# Include dirs
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INCLUDE_DIRECTORIES(
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include
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${Eigen_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${Sophus_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${fast_INCLUDE_DIRS} ${GTSAM_INCLUDE_DIR}
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)
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# Set link libraries
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LIST(APPEND LINK_LIBS
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${OpenCV_LIBS}
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${Sophus_LIBRARIES}
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${Boost_LIBRARIES}
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${fast_LIBRARIES}
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)
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IF(USE_ROS)
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INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS})
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LIST(APPEND LINK_LIBS ${catkin_LIBRARIES})
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ELSE()
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INCLUDE_DIRECTORIES(${vikit_common_INCLUDE_DIRS})
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LIST(APPEND LINK_LIBS ${vikit_common_LIBRARIES})
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ENDIF()
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# Set sourcefiles
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LIST(APPEND SOURCEFILES
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src/frame_handler_mono.cpp
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src/frame_handler_base.cpp
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src/frame.cpp
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src/point.cpp
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src/map.cpp
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src/pose_optimizer.cpp
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src/initialization.cpp
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src/matcher.cpp
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src/reprojector.cpp
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src/feature_alignment.cpp
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src/feature_detection.cpp
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src/depth_filter.cpp
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src/config.cpp
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src/sparse_img_align.cpp src/imu_integration.cpp)
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# Add g2o if available
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IF(HAVE_G2O)
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FIND_PACKAGE(G2O REQUIRED)
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INCLUDE_DIRECTORIES(
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${G2O_INCLUDE_DIR}
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/usr/include/suitesparse # for cholmod
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)
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LIST(APPEND LINK_LIBS
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${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_DENSE}
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${G2O_SOLVER_PCG} ${G2O_TYPES_SBA} cholmod cxsparse
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)
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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} gtsam)
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set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 14)
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set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON)
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################################################################################
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# TESTS
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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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