-
Notifications
You must be signed in to change notification settings - Fork 95
/
Copy pathCMakeLists.txt
110 lines (92 loc) · 7.2 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
cmake_minimum_required(VERSION 2.8.3)
project(mcptam)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/${PROJECT_NAME}/cmake_modules")
set(CMAKE_BUILD_TYPE None)
# Set our own specific flags. Want something like RelWithDebInfo but without the
# -DNDEBUG flag that disables asserts
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++0x -march=core2 -msse3 -O3 -g -fopenmp")
# Find various packages in order to set up environment variables
find_package(catkin REQUIRED COMPONENTS roscpp image_transport sensor_msgs cv_bridge geometry_msgs tf message_filters std_msgs
std_srvs visualization_msgs dynamic_reconfigure pcl_ros message_generation)
find_package(Boost REQUIRED COMPONENTS system thread)
find_package(SUITESPARSE REQUIRED)
find_package(CVD REQUIRED)
find_package(OpenGL REQUIRED)
find_package(OpenCV REQUIRED)
find_package(GLUT REQUIRED)
#SET (G2O_ROOT "/home/aharmat/Sources/g2o")
find_package(G2O REQUIRED)
find_package(GVars3 REQUIRED)
find_package(BLAS REQUIRED)
find_package(LAPACK REQUIRED)
message(STATUS "G2O_CORE_LIBRARY=${G2O_CORE_LIBRARY}")
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${SUITESPARSE_INCLUDE_DIRS} ${CVD_INCLUDE_DIR}
${GVars3_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${SUITESPARSE_LIBRARY_DIRS} ${OpenCV_LIB_DIR} ${LAPACK_LIBRARIES} ${BLAS_LIBRARIES})
add_message_files(
DIRECTORY msg
FILES MapInfo.msg MapMakerTiming.msg NetworkMapPoint.msg NetworkMeasurement.msg NetworkKeyFrame.msg NetworkMultiKeyFrame.msg NetworkOutlier.msg
SystemInfo.msg TrackerTiming.msg TrackerState.msg
)
add_service_files(
DIRECTORY srv
FILES ModifyMap.srv Reset.srv
)
generate_messages(DEPENDENCIES std_msgs sensor_msgs)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS roscpp image_transport sensor_msgs cv_bridge geometry_msgs tf message_filters std_msgs std_srvs
visualization_msgs dynamic_reconfigure pcl_ros message_runtime
DEPENDS SuiteSparse CVD OpenGL GVars3)
add_executable(mcptam src/Main.cc src/GLWindow2.cc src/GLWindowMenu.cc src/VideoSourceMulti.cc src/CameraGroupSubscriber.cc
src/SystemBase.cc src/SystemFrontendBase.cc src/System.cc src/TaylorCamera.cc src/KeyFrame.cc src/MapPoint.cc src/Map.cc
src/SmallBlurryImage.cc src/ShiTomasi.cc src/MapMaker.cc src/MapMakerBase.cc src/MapMakerClientBase.cc src/MapMakerServerBase.cc
src/PatchFinder.cc src/Relocaliser.cc src/Tracker.cc src/KeyFrameViewer.cc
src/BundleAdjusterBase.cc src/MiniPatch.cc src/BundleAdjusterMulti.cc src/ChainBundle.cc)
add_dependencies(mcptam ${PROJECT_NAME}_gencpp)
target_link_libraries(mcptam ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${SUITESPARSE_LIBRARIES} ${CVD_LIBRARY} ${OPENGL_gl_LIBRARY} ${OpenCV_LIBS} ${GVars3_LIBRARIES}
${G2O_STUFF_LIBRARY} ${G2O_CORE_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${LAPACK_LIBRARIES} ${BLAS_LIBRARIES})
add_executable(mcptam_client src/MainClient.cc src/GLWindow2.cc src/GLWindowMenu.cc src/VideoSourceMulti.cc src/CameraGroupSubscriber.cc
src/SystemBase.cc src/SystemFrontendBase.cc src/SystemClient.cc src/TaylorCamera.cc src/KeyFrame.cc src/MapPoint.cc src/Map.cc
src/SmallBlurryImage.cc src/ShiTomasi.cc src/MapMakerClient.cc src/MapMakerBase.cc src/MapMakerClientBase.cc
src/NetworkManager.cc src/PatchFinder.cc src/Relocaliser.cc src/MiniPatch.cc
src/Tracker.cc src/KeyFrameViewer.cc)
add_dependencies(mcptam_client ${PROJECT_NAME}_gencpp)
target_link_libraries(mcptam_client ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${SUITESPARSE_LIBRARIES} ${CVD_LIBRARY} ${OPENGL_gl_LIBRARY} ${OpenCV_LIBS} ${GVars3_LIBRARIES}
${LAPACK_LIBRARIES} ${BLAS_LIBRARIES})
add_executable(mcptam_server src/MainServer.cc src/GLWindow2.cc src/GLWindowMenu.cc src/VideoSourceMulti.cc src/CameraGroupSubscriber.cc
src/SystemBase.cc src/SystemServer.cc src/TaylorCamera.cc src/KeyFrame.cc src/MapPoint.cc src/Map.cc
src/SmallBlurryImage.cc src/ShiTomasi.cc src/MapMakerServer.cc src/MapMakerBase.cc src/MapMakerServerBase.cc
src/NetworkManager.cc src/PatchFinder.cc src/KeyFrameViewer.cc src/MiniPatch.cc
src/BundleAdjusterBase.cc src/BundleAdjusterMulti.cc src/ChainBundle.cc)
add_dependencies(mcptam_server ${PROJECT_NAME}_gencpp)
target_link_libraries(mcptam_server ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${SUITESPARSE_LIBRARIES} ${CVD_LIBRARY} ${OPENGL_gl_LIBRARY} ${OpenCV_LIBS} ${GVars3_LIBRARIES}
${G2O_STUFF_LIBRARY} ${G2O_CORE_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${LAPACK_LIBRARIES} ${BLAS_LIBRARIES})
add_executable(camera_calibrator src/MainCameraCalibrator.cc src/GLWindow2.cc src/GLWindowMenu.cc src/VideoSourceSingle.cc
src/CameraCalibrator.cc src/CalibImageTaylor.cc src/CalibCornerPatch.cc src/TaylorCamera.cc src/CalibGridCorner.cc)
add_dependencies(camera_calibrator ${PROJECT_NAME}_gencpp)
target_link_libraries(camera_calibrator ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${SUITESPARSE_LIBRARIES} ${CVD_LIBRARY} ${OPENGL_gl_LIBRARY} ${OpenCV_LIBS} ${GVars3_LIBRARIES}
${LAPACK_LIBRARIES} ${BLAS_LIBRARIES})
add_executable(pose_calibrator src/MainPoseCalibrator.cc src/GLWindow2.cc src/GLWindowMenu.cc src/VideoSourceMulti.cc src/CameraGroupSubscriber.cc
src/SystemBase.cc src/PoseCalibrator.cc src/CalibImageTaylor.cc src/CalibCornerPatch.cc src/CalibGridCorner.cc
src/TrackerCalib.cc src/MapMakerCalib.cc src/MapMaker.cc src/MapMakerBase.cc src/MapMakerClientBase.cc src/MapMakerServerBase.cc
src/TaylorCamera.cc src/KeyFrame.cc src/MapPoint.cc src/Map.cc src/SmallBlurryImage.cc src/ShiTomasi.cc
src/PatchFinder.cc src/Relocaliser.cc src/Tracker.cc src/KeyFrameViewer.cc
src/BundleAdjusterBase.cc src/BundleAdjusterSingle.cc src/BundleAdjusterCalib.cc src/ChainBundle.cc src/MiniPatch.cc)
add_dependencies(pose_calibrator ${PROJECT_NAME}_gencpp)
target_link_libraries(pose_calibrator ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${SUITESPARSE_LIBRARIES} ${CVD_LIBRARY} ${OPENGL_gl_LIBRARY} ${OpenCV_LIBS} ${GVars3_LIBRARIES}
${G2O_STUFF_LIBRARY} ${G2O_CORE_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${LAPACK_LIBRARIES} ${BLAS_LIBRARIES})
install(TARGETS mcptam mcptam_client mcptam_server camera_calibrator pose_calibrator
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
PATTERN ".svn" EXCLUDE
)
install(DIRECTORY masks/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/masks
PATTERN ".svn" EXCLUDE
)