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CMakeLists.txt
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CMakeLists.txt
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# Copyright (C) 2019 Ruguang You
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
cmake_minimum_required(VERSION 3.2)
option(FOR_CFSD "cfsd state estimation" ON)
if(FOR_CFSD)
add_definitions(-DCFSD)
# project(cfsd-state-estimation)
project(cfsd)
endif()
option(FOR_EUROC "euroc state estimation" OFF)
if(FOR_EUROC)
add_definitions(-DEUROC)
project(euroc-state-estimation)
endif()
################################################################################
# # Defining the relevant versions of OpenDLV Standard Message Set and libcluon.
set(OPENDLV_STANDARD_MESSAGE_SET opendlv-standard-message-set-v0.9.7.odvd)
set(CLUON_COMPLETE cluon-complete-v0.0.121.hpp)
################################################################################
# Set the search path for .cmake files.
# set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH})
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
################################################################################
# This project requires C++14 or newer.
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Build a static binary.
set(CMAKE_EXE_LINKER_FLAGS "-static-libgcc -static-libstdc++")
# Add further warning levels.
set(CMAKE_CXX_FLAGS "-O0 -g")
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} \
# -D_XOPEN_SOURCE=700 \
# -D_FORTIFY_SOURCE=2 \
# -O2 \
# -fstack-protector \
# -fomit-frame-pointer \
# -pipe \
# -Weffc++ \
# -Wall -Wextra -Wshadow -Wdeprecated \
# -Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith \
# -Wuninitialized -Wunreachable-code \
# -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable \
# -Wunused-value -Wunused-variable -Wunused-result \
# -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn")
# Threads are necessary for linking the resulting binaries as UDPReceiver is running in parallel.
set(THREADS_PREFER_PTHREAD_FLAG ON)
find_package(Threads REQUIRED)
################################################################################
# Set debug flag
option(WITH_IMSHOW "Display image" ON)
if(WITH_IMSHOW)
add_definitions(-DSHOW_IMG)
endif()
################################################################################
# Set output path
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
################################################################################
# Extract cluon-msc from cluon-complete.hpp.
# ${CMAKE_BINARY_DIR} is the state-estimation/build/ directory
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/cluon-msc
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_SOURCE_DIR}/include/${CLUON_COMPLETE} ${CMAKE_BINARY_DIR}/cluon-complete.hpp
COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_BINARY_DIR}/cluon-complete.hpp ${CMAKE_BINARY_DIR}/cluon-complete.cpp
COMMAND ${CMAKE_CXX_COMPILER} -o ${CMAKE_BINARY_DIR}/cluon-msc ${CMAKE_BINARY_DIR}/cluon-complete.cpp -std=c++14 -pthread -D HAVE_CLUON_MSC
DEPENDS ${CMAKE_SOURCE_DIR}/include/${CLUON_COMPLETE})
################################################################################
# Generate opendlv-standard-message-set.hpp from ${OPENDLV_STANDARD_MESSAGE_SET} file.
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/opendlv-standard-message-set.hpp
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMAND ${CMAKE_BINARY_DIR}/cluon-msc --cpp --out=${CMAKE_BINARY_DIR}/opendlv-standard-message-set.hpp ${CMAKE_SOURCE_DIR}/include/${OPENDLV_STANDARD_MESSAGE_SET}
DEPENDS ${CMAKE_SOURCE_DIR}/include/${OPENDLV_STANDARD_MESSAGE_SET} ${CMAKE_BINARY_DIR}/cluon-msc)
################################################################################
# Include directories
include_directories(SYSTEM /usr/include)
include_directories(SYSTEM /usr/local/include)
include_directories(${CMAKE_SOURCE_DIR}/include)
# Add current build directory as include directory as it contains generated files.
include_directories(SYSTEM ${CMAKE_BINARY_DIR})
################################################################################
# Gather all object code first to avoid double compilation.
set(LIBRARIES Threads::Threads)
if(UNIX)
if(NOT "${CMAKE_SYSTEM_NAME}" STREQUAL "Darwin")
find_package(LibRT REQUIRED)
set(LIBRARIES ${LIBRARIES} ${LIBRT_LIBRARIES})
include_directories(SYSTEM ${LIBRT_INCLUDE_DIR})
endif()
endif()
# Eigen ("SYSTEM": make it "system headers" and compiler would suppresses warnings against Eigen headers)
find_package(Eigen3 REQUIRED)
include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})
set(LIBRARIES ${LIBRARIES} Eigen3::Eigen) # maybe unnecessary since Eigen is header-only
# Sophus
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})
message("Sohpus: " ${Sophus_INCLUDE_DIRS})
set(LIBRARIES ${LIBRARIES} ${Sophus_LIBS}) # maybe unnecessary since Sophus is header-only
# OpenCV
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
set(LIBRARIES ${LIBRARIES} ${OpenCV_LIBS})
# Ceres
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})
set(LIBRARIES ${LIBRARIES} ${CERES_LIBRARIES})
# DBoW2
find_package(DBoW2 REQUIRED)
include_directories(SYSTEM ${DBoW2_INCLUDE_DIRS})
message("DBoW2: " ${DBoW2_INCLUDE_DIRS})
set(LIBRARIES ${LIBRARIES} ${DBoW2_LIBS})
# Pangolin
option(WITH_VIEWER "Enable visulization" ON)
if (WITH_VIEWER)
add_definitions(-DUSE_VIEWER)
find_package(Pangolin 0.4 REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})
set(LIBRARIES ${LIBRARIES} ${Pangolin_LIBRARIES})
#else()
endif()
################################################################################
# Generate static libs
add_library(state-estimation-core STATIC
${CMAKE_SOURCE_DIR}/src/config.cpp
${CMAKE_SOURCE_DIR}/src/optimizer.cpp
${CMAKE_SOURCE_DIR}/src/imu-preintegrator.cpp
${CMAKE_SOURCE_DIR}/src/feature-tracker.cpp
${CMAKE_SOURCE_DIR}/src/loop-closure.cpp
${CMAKE_SOURCE_DIR}/src/map.cpp
${CMAKE_SOURCE_DIR}/src/visual-inertial-slam.cpp
${CMAKE_SOURCE_DIR}/src/viewer.cpp
${CMAKE_SOURCE_DIR}/src/ORBextractor.cc)
################################################################################
# Create executable
add_executable(${PROJECT_NAME} ${CMAKE_SOURCE_DIR}/src/${PROJECT_NAME}.cpp ${CMAKE_BINARY_DIR}/opendlv-standard-message-set.hpp)
target_link_libraries(${PROJECT_NAME} state-estimation-core ${LIBRARIES})
################################################################################
# Enable unit testing
# enable_testing()
# add_executable(${PROJECT_NAME}-test ${CMAKE_SOURCE_DIR}/test/vo.cpp)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}-core ${LIBRARIES})
# add_test(NAME ${PROJECT_NAME}-test COMMAND ${PROJECT_NAME}-test)
################################################################################
# Install executable
install(TARGETS ${PROJECT_NAME} DESTINATION bin COMPONENT ${PROJECT_NAME})