61 lines
1.7 KiB
CMake
61 lines
1.7 KiB
CMake
SET(PROJECT_NAME svo_ros)
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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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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
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roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros
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)
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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 signals)
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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 svo_msgs vikit_common vikit_ros
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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_LIBRARIES}
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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})
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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)
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ADD_EXECUTABLE(benchmark src/benchmark_node.cpp)
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TARGET_LINK_LIBRARIES(benchmark svo_visualizer)
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