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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(sdd_vio)
IF(DEFINED ENV{ARM_ARCHITECTURE})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -march=native -mfpu=neon")
#set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -Ofast -fno-signed-zeros -fno-math-errno -funroll-loops -fno-strict-aliasing")
ELSE()
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -Wall -std=c++11")
ENDIF()
# set default build type
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
find_package(catkin REQUIRED COMPONENTS
roscpp
image_transport
sensor_msgs
cv_bridge
visualization_msgs
tf
nodelet
rosbag
)
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(Eigen3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS thread)
#find_package(Ceres REQUIRED)
# Check if OpenCV package has been found
message(STATUS "OpenCV library status:")
message(STATUS " version: ${OpenCV_VERSION}")
message(STATUS " libraries: ${OpenCV_LIBS}")
message(STATUS " include path: ${OpenCV_INCLUDE_DIRS}")
# Check if Eigen package has been found
message(STATUS "Eigen library status:")
message(STATUS " version: ${EIGEN3_VERSION}")
message(STATUS " libraries: ${EIGEN3_LIBS}")
message(STATUS " include path: ${EIGEN3_INCLUDE_DIRS}")
catkin_package(
LIBRARIES vo_nodelet imu_integration_nodelet
DEPENDS EIGEN3 OpenCV
CATKIN_DEPENDS roscpp image_transport sensor_msgs visualization_msgs tf nodelet
LIBRARIES sdd_vio_nodelet
)
INCLUDE_DIRECTORIES(
include
${EIGEN3_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
add_library(pinhole_camera src/pinhole_camera_stereo.cpp)
target_link_libraries(pinhole_camera ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OpenCV_LIBS} utils)
add_library(utils src/utils/math_utils.cpp src/utils/calib_utils.cpp)
target_link_libraries(utils ${OpenCV_LIBS} ${catkin_LIBRARIES})
add_library(vo src/vo_stereo_1.cpp src/vo_stereo_2.cpp src/vo_stereo_3.cpp src/vo_stereo_4.cpp src/grid.cpp)
# add_library(vo src/disp_vo_stereo.cpp src/grid.cpp)
target_link_libraries(vo utils pinhole_camera ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OpenCV_LIBS}) # ${CERES_LIBRARIES}
# for nodelet
add_library(vo_nodelet src/sdd_vio_nodelet.cpp src/visualization.cpp)
add_dependencies(vo_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(vo_nodelet vo ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_library(imu_integration_nodelet src/imu_integration_nodelet.cpp)
add_dependencies(imu_integration_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(imu_integration_nodelet ${catkin_LIBRARIES})
# for node
ADD_EXECUTABLE(sdd_vio_node src/sdd_vio_node.cpp src/visualization.cpp)
TARGET_LINK_LIBRARIES(
sdd_vio_node
pinhole_camera
vo
${OpenCV_LIBS}
${catkin_LIBRARIES}
)
add_executable(sdd_vio_bag_reader src/sdd_vio_bag_reader.cpp)
target_link_libraries(sdd_vio_bag_reader vo_nodelet)