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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(orbslam3)
# You should set the PYTHONPATH to your own python site-packages path
set(ENV{PYTHONPATH} "/opt/ros/foxy/lib/python3.8/site-packages/")
# set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
set(CMAKE_MODULE_PATH
${CMAKE_MODULE_PATH}
${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules
"/home/thirdparty/ORB_SLAM3/CMakeModules")
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(message_filters REQUIRED)
find_package(Sophus REQUIRED)
find_package(Pangolin REQUIRED)
find_package(epoxy REQUIRED)
find_package(OpenGL REQUIRED COMPONENTS OpenGL EGL)
find_package(ORB_SLAM3 REQUIRED)
add_executable(mono
src/monocular/mono.cpp
src/monocular/monocular-slam-node.cpp
)
ament_target_dependencies(mono rclcpp sensor_msgs cv_bridge ORB_SLAM3 Pangolin)
target_include_directories(
mono
PUBLIC
${PROJECT_SOURCE_DIR}/include ${ORB_SLAM3_INCLUDE_DIRS}/include ${ORB_SLAM3_INCLUDE_DIRS}/include/CameraModels
)
add_executable(rgbd
src/rgbd/rgbd.cpp
src/rgbd/rgbd-slam-node.cpp
)
ament_target_dependencies(rgbd rclcpp sensor_msgs cv_bridge message_filters ORB_SLAM3 Pangolin)
target_include_directories(
rgbd
PUBLIC
${PROJECT_SOURCE_DIR}/include ${ORB_SLAM3_INCLUDE_DIRS}/include ${ORB_SLAM3_INCLUDE_DIRS}/include/CameraModels
)
add_executable(stereo
src/stereo/stereo.cpp
src/stereo/stereo-slam-node.cpp
src/ros_utils.cpp
)
ament_target_dependencies(stereo rclcpp sensor_msgs geometry_msgs nav_msgs tf2 tf2_ros cv_bridge message_filters ORB_SLAM3 Pangolin)
target_include_directories(
stereo
PUBLIC
${PROJECT_SOURCE_DIR}/include ${ORB_SLAM3_INCLUDE_DIRS}/include ${ORB_SLAM3_INCLUDE_DIRS}/include/CameraModels
)
add_executable(stereo-inertial
src/stereo-inertial/stereo-inertial.cpp
src/stereo-inertial/stereo-inertial-node.cpp
src/ros_utils.cpp
)
ament_target_dependencies(stereo-inertial rclcpp sensor_msgs geometry_msgs nav_msgs tf2 tf2_ros cv_bridge ORB_SLAM3 Pangolin)
target_include_directories(
stereo-inertial
PUBLIC
${PROJECT_SOURCE_DIR}/include ${ORB_SLAM3_INCLUDE_DIRS}/include ${ORB_SLAM3_INCLUDE_DIRS}/include/CameraModels
)
install(TARGETS mono rgbd stereo stereo-inertial
DESTINATION lib/${PROJECT_NAME})
# Install config files
install(DIRECTORY
config
DESTINATION share/${PROJECT_NAME}/
)
# Install vocab files
install(DIRECTORY
vocabulary
DESTINATION share/${PROJECT_NAME}/
)
# Install launch files.
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}/
)
ament_package()