-
Notifications
You must be signed in to change notification settings - Fork 173
/
CMakeLists.txt
executable file
·85 lines (75 loc) · 2.33 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
cmake_minimum_required(VERSION 2.8)
project(rvio)
# Set build type
IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Release)
ENDIF()
MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
# Enable debug flags (if you want to debug in gdb)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -g3")
# Find catkin (the ROS build system)
# Add this for finding ros dependencies
find_package(catkin REQUIRED COMPONENTS
roscpp roslib tf sensor_msgs geometry_msgs nav_msgs cv_bridge eigen_conversions
)
# Describe catkin project
catkin_package(CATKIN_DEPENDS
roscpp roslib tf std_msgs sensor_msgs geometry_msgs nav_msgs cv_bridge eigen_conversions
INCLUDE_DIRS src
LIBRARIES ${PROJECT_NAME}
)
# Include libraries
find_package(Eigen3 REQUIRED)
find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
endif()
endif()
# Include directories of headers
include_directories(
${PROJECT_SOURCE_DIR}
${EIGEN3_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
)
##################################################
# Make binary for the main library
##################################################
add_library(${PROJECT_NAME} SHARED
src/rvio/System.cc
src/rvio/Updater.cc
src/rvio/Tracker.cc
src/rvio/PreIntegrator.cc
src/rvio/Ransac.cc
src/rvio/InputBuffer.cc
src/rvio/FeatureDetector.cc
)
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
)
##################################################
# Make binary for main method ROS
##################################################
add_executable(rvio_mono src/rvio_mono.cc)
target_link_libraries(rvio_mono
${PROJECT_NAME}
${OpenCV_LIBS}
${catkin_LIBRARIES}
)