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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8)
project(rvio2)
# Set build type
IF(NOT CMAKE_BUILD_TYPE)
#SET(CMAKE_BUILD_TYPE Debug)
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")
# Include libraries
find_package(catkin REQUIRED COMPONENTS
roscpp roslib rosbag tf std_msgs sensor_msgs geometry_msgs nav_msgs cv_bridge
)
find_package(Eigen3 REQUIRED)
find_package(OpenCV 3.0 QUIET)
# Include directories for headers
include_directories(
${PROJECT_SOURCE_DIR}
${EIGEN3_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
)
catkin_package()
add_library(${PROJECT_NAME} SHARED
src/rvio2/System.cc
src/rvio2/Ransac.cc
src/rvio2/Tracker.cc
src/rvio2/Updater.cc
src/rvio2/Propagator.cc
src/rvio2/InputBuffer.cc
src/rvio2/Feature.cc
src/rvio2/FeatureDetector.cc
)
add_executable(rvio2_mono src/rvio2_mono.cc)
target_link_libraries(rvio2_mono
${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${catkin_LIBRARIES}
)
add_executable(rvio2_mono_eval src/rvio2_mono_eval.cc)
target_link_libraries(rvio2_mono_eval
${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${catkin_LIBRARIES}
)