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CMakeLists.txt
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CMakeLists.txt
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SET(PROJECT_NAME svo_ros)
PROJECT(${PROJECT_NAME})
CMAKE_MINIMUM_REQUIRED (VERSION 2.8.3)
SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
SET(CMAKE_VERBOSE_MAKEFILE OFF)
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/")
IF(CMAKE_COMPILER_IS_GNUCC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ENDIF()
# Add catkin and required ROS packages
FIND_PACKAGE(catkin REQUIRED COMPONENTS
roscpp
cmake_modules
nav_msgs
std_msgs
visualization_msgs
sensor_msgs
image_transport
cv_bridge
tf
svo
svo_msgs
vikit_common
vikit_ros
)
# Add plain cmake packages
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(Eigen REQUIRED)
FIND_PACKAGE(Sophus REQUIRED)
FIND_PACKAGE(Boost REQUIRED COMPONENTS thread)
# Describe catkin Project
catkin_package(
DEPENDS Eigen OpenCV Sophus Boost
CATKIN_DEPENDS roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros
INCLUDE_DIRS include
LIBRARIES svo_visualizer
)
# Include dirs
INCLUDE_DIRECTORIES(
include
${Eigen_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${Sophus_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)
# Set link libraries
LIST(APPEND LINK_LIBS
${OpenCV_LIBS}
${Sophus_LIBRARIES}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
)
# Create visualizer library
ADD_LIBRARY(svo_visualizer src/visualizer.cpp)
TARGET_LINK_LIBRARIES(svo_visualizer ${LINK_LIBS})
# Create Executables
ADD_EXECUTABLE(vo src/vo_node.cpp)
TARGET_LINK_LIBRARIES(vo svo_visualizer)
ADD_EXECUTABLE(benchmark src/benchmark_node.cpp)
TARGET_LINK_LIBRARIES(benchmark svo_visualizer)