117 lines
2.6 KiB
CMake
117 lines
2.6 KiB
CMake
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cmake_minimum_required(VERSION 2.4.6)
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include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
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rosbuild_init()
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IF(NOT ROS_BUILD_TYPE)
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SET(ROS_BUILD_TYPE Release)
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ENDIF()
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MESSAGE("Build type: " ${ROS_BUILD_TYPE})
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
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# Check C++11 or C++0x support
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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add_definitions(-DCOMPILEDWITHC11)
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message(STATUS "Using flag -std=c++11.")
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elseif(COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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add_definitions(-DCOMPILEDWITHC0X)
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message(STATUS "Using flag -std=c++0x.")
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else()
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message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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endif()
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LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)
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find_package(OpenCV 3.0 QUIET)
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if(NOT OpenCV_FOUND)
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find_package(OpenCV 2.4.3 QUIET)
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if(NOT OpenCV_FOUND)
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message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
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endif()
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endif()
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find_package(Eigen3 3.1.0 REQUIRED)
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find_package(Pangolin REQUIRED)
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include_directories(
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${PROJECT_SOURCE_DIR}
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${PROJECT_SOURCE_DIR}/../../../
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${PROJECT_SOURCE_DIR}/../../../include
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${PROJECT_SOURCE_DIR}/../../../include/CameraModels
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${Pangolin_INCLUDE_DIRS}
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)
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set(LIBS
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${OpenCV_LIBS}
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${EIGEN3_LIBS}
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${Pangolin_LIBRARIES}
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${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
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${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
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${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM3.so
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-lboost_system
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)
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# Node for monocular camera
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rosbuild_add_executable(Mono
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src/ros_mono.cc
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)
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target_link_libraries(Mono
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${LIBS}
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)
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# Node for monocular camera (Augmented Reality Demo)
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rosbuild_add_executable(MonoAR
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src/AR/ros_mono_ar.cc
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src/AR/ViewerAR.h
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src/AR/ViewerAR.cc
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)
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target_link_libraries(MonoAR
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${LIBS}
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)
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# Node for stereo camera
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rosbuild_add_executable(Stereo
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src/ros_stereo.cc
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)
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target_link_libraries(Stereo
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${LIBS}
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)
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# Node for RGB-D camera
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rosbuild_add_executable(RGBD
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src/ros_rgbd.cc
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)
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target_link_libraries(RGBD
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${LIBS}
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)
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# Node for monocular-inertial camera
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rosbuild_add_executable(Mono_Inertial
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src/ros_mono_inertial.cc
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)
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target_link_libraries(Mono_Inertial
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${LIBS}
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)
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# Node for stereo-inertial camera
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rosbuild_add_executable(Stereo_Inertial
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src/ros_stereo_inertial.cc
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)
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target_link_libraries(Stereo_Inertial
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${LIBS}
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)
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