91 lines
2.5 KiB
CMake
91 lines
2.5 KiB
CMake
SET(PROJECT_NAME vio_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 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 catkin and required ROS packages
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FIND_PACKAGE(catkin REQUIRED COMPONENTS
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geometry_msgs
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roscpp
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cmake_modules
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nav_msgs
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std_msgs
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visualization_msgs
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sensor_msgs
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image_transport
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cv_bridge
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tf
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svo
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vikit_common
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vikit_ros
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)
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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(Boost REQUIRED COMPONENTS thread)
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FIND_PACKAGE(GTSAM REQUIRED)
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# notify catkin to look at the previously found msg files
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add_message_files(
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FILES
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Info.msg
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)
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# build the header files from the msg files, and notify catkin about the dependencies
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generate_messages(
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DEPENDENCIES
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geometry_msgs
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sensor_msgs
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)
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# Describe catkin Project
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catkin_package(
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DEPENDS Eigen OpenCV Sophus Boost
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CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo vikit_common vikit_ros geometry_msgs
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INCLUDE_DIRS include
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LIBRARIES svo_visualizer
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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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)
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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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${Boost_LIBRARIES}
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${catkin_LIBRARIES}
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)
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# Create visualizer library
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ADD_LIBRARY(svo_visualizer src/visualizer.cpp)
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TARGET_LINK_LIBRARIES(svo_visualizer ${LINK_LIBS} gtsam)
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# Create Executables
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ADD_EXECUTABLE(vo src/vo_node.cpp)
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TARGET_LINK_LIBRARIES(vo svo_visualizer ${LINK_LIBS})
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