-
Notifications
You must be signed in to change notification settings - Fork 509
/
CMakeLists.txt
136 lines (117 loc) · 4.56 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
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
cmake_minimum_required (VERSION 2.6)
project(rovio)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -march=native")
set(ROVIO_NMAXFEATURE 25 CACHE STRING "Number of features for ROVIO")
set(ROVIO_NCAM 1 CACHE STRING "Number of enabled cameras")
set(ROVIO_NLEVELS 4 CACHE STRING "Number of image leavels for the features")
set(ROVIO_PATCHSIZE 6 CACHE STRING "Size of patch (edge length in pixel)")
set(ROVIO_NPOSE 0 CACHE STRING "Additional estimated poses for external pose measurements")
add_definitions(-DROVIO_NMAXFEATURE=${ROVIO_NMAXFEATURE})
add_definitions(-DROVIO_NCAM=${ROVIO_NCAM})
add_definitions(-DROVIO_NLEVELS=${ROVIO_NLEVELS})
add_definitions(-DROVIO_PATCHSIZE=${ROVIO_PATCHSIZE})
add_definitions(-DROVIO_NPOSE=${ROVIO_NPOSE})
add_subdirectory(lightweight_filtering)
##################### Find, include, and compile library #####################
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
if(0)
find_package(OpenMP REQUIRED)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})
find_package(OpenCV REQUIRED COMPONENTS core highgui imgproc features2d)
if(MAKE_SCENE)
message(STATUS "Building ROVIO with openGL Scene Visualization")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAKE_SCENE=1")
find_package(GLEW REQUIRED)
include_directories(${GLEW_INCLUDE_DIRS})
find_package(GLUT REQUIRED)
include_directories(${GLUT_INCLUDE_DIRS})
link_directories(${GLUT_LIBRARY_DIRS})
add_definitions(${GLUT_DEFINITIONS})
find_package(OpenGL REQUIRED)
include_directories(${OpenGL_INCLUDE_DIRS})
link_directories(${OpenGL_LIBRARY_DIRS})
add_definitions(${OpenGL_DEFINITIONS})
endif()
find_package(PkgConfig)
find_package(yaml_cpp_catkin QUIET)
if(${yaml_cpp_catkin_FOUND})
message(STATUS "Found yaml_cpp_catkin, using instead of system library.")
set(YamlCpp_LIBRARIES ${yaml_cpp_catkin_LIBRARIES})
set(YamlCpp_INCLUDE_DIRS ${yaml_cpp_catkin_INCLUDE_DIRS})
else()
message(STATUS "No yaml_cpp_catkin, using yaml-cpp system library instead.")
pkg_check_modules(YamlCpp REQUIRED yaml-cpp>=0.5)
endif()
##################### Install ROS stuff #####################
find_package(catkin REQUIRED COMPONENTS
lightweight_filtering
kindr
roscpp
roslib
cv_bridge
message_generation
nav_msgs
geometry_msgs
sensor_msgs
std_msgs
tf
rosbag
)
add_service_files(
DIRECTORY srv
FILES SrvResetToPose.srv
)
generate_messages(DEPENDENCIES
std_msgs
geometry_msgs
)
catkin_package(
INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS
lightweight_filtering
kindr
roscpp
roslib
cv_bridge
message_runtime
nav_msgs
geometry_msgs
sensor_msgs
std_msgs
tf
rosbag
yaml_cpp_catkin
)
include_directories(include ${catkin_INCLUDE_DIRS} ${YamlCpp_INCLUDE_DIRS})
if(MAKE_SCENE)
add_library(${PROJECT_NAME} src/Camera.cpp src/FeatureCoordinates.cpp src/FeatureDistance.cpp src/Scene.cpp)
else()
add_library(${PROJECT_NAME} src/Camera.cpp src/FeatureCoordinates.cpp src/FeatureDistance.cpp)
endif()
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${YamlCpp_LIBRARIES} ${OpenMP_EXE_LINKER_FLAGS} ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${GLEW_LIBRARY} ${OpenCV_LIBRARIES})
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} rovio_generate_messages_cpp)
add_executable(rovio_node src/rovio_node.cpp)
target_link_libraries(rovio_node ${PROJECT_NAME})
add_executable(rovio_rosbag_loader src/rovio_rosbag_loader.cpp)
target_link_libraries(rovio_rosbag_loader ${PROJECT_NAME})
add_dependencies(rovio_rosbag_loader ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(feature_tracker_node src/feature_tracker_node.cpp)
target_link_libraries(feature_tracker_node ${PROJECT_NAME})
add_dependencies(feature_tracker_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/gtest/")
message(STATUS "Building GTests!")
option(BUILD_GTEST "build gtest" ON)
#add_subdirectory(gtest gtest)
enable_testing()
include_directories(${gtest_SOURCE_DIR}/include ${gtest_SOURCE_DIR})
add_executable(test_patch src/test_patch.cpp src/Camera.cpp src/FeatureCoordinates.cpp src/FeatureDistance.cpp)
target_link_libraries(test_patch gtest_main gtest pthread ${catkin_LIBRARIES} ${YamlCpp_LIBRARIES})
add_test(test_patch test_patch)
add_executable(test_mlp src/test_mlp.cpp src/Camera.cpp src/FeatureCoordinates.cpp src/FeatureDistance.cpp)
target_link_libraries(test_mlp gtest_main gtest pthread ${catkin_LIBRARIES} ${YamlCpp_LIBRARIES})
add_test(test_mlp test_mlp)
endif()