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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.12)
project(msckf_vio CXX)
SET(CMAKE_BUILD_TYPE Debug)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
add_compile_options(-std=c++14)
# Modify cmake module path if new .cmake files are required
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
tf
nav_msgs
sensor_msgs
geometry_msgs
eigen_conversions
tf_conversions
random_numbers
message_generation
nodelet
image_transport
cv_bridge
message_filters
pcl_conversions
pcl_ros
std_srvs
)
## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(OpenCV REQUIRED)
find_package(SuiteSparse REQUIRED)
##################
## ROS messages ##
##################
add_message_files(
FILES
FeatureMeasurement.msg
CameraMeasurement.msg
TrackingInfo.msg
)
generate_messages(
DEPENDENCIES
std_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
INCLUDE_DIRS include
LIBRARIES msckf_vio image_processor
CATKIN_DEPENDS
roscpp std_msgs tf nav_msgs sensor_msgs geometry_msgs
eigen_conversions tf_conversions random_numbers message_runtime
image_transport cv_bridge message_filters pcl_conversions
pcl_ros std_srvs
DEPENDS Boost EIGEN3 OpenCV SUITESPARSE
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${Boost_INCLUDE_DIR}
${OpenCV_INCLUDE_DIRS}
${SUITESPARSE_INCLUDE_DIRS}
)
# Msckf Vio
add_library(msckf_vio
src/msckf_vio.cpp
src/utils.cpp
)
add_dependencies(msckf_vio
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)
target_link_libraries(msckf_vio
${catkin_LIBRARIES}
${SUITESPARSE_LIBRARIES}
)
# Msckf Vio nodelet
add_library(msckf_vio_nodelet
src/msckf_vio_nodelet.cpp
)
add_dependencies(msckf_vio_nodelet
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)
target_link_libraries(msckf_vio_nodelet
msckf_vio
${catkin_LIBRARIES}
)
# Image processor
add_library(image_processor
src/image_processor.cpp
src/utils.cpp
)
add_dependencies(image_processor
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)
target_link_libraries(image_processor
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
)
# Image processor nodelet
add_library(image_processor_nodelet
src/image_processor_nodelet.cpp
)
add_dependencies(image_processor_nodelet
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)
target_link_libraries(image_processor_nodelet
image_processor
${catkin_LIBRARIES}
)
#############
## Install ##
#############
install(TARGETS
msckf_vio msckf_vio_nodelet image_processor image_processor_nodelet
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN "*_nodelet.h" EXCLUDE
)
install(FILES nodelets.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#############
## Testing ##
#############
# if(CATKIN_ENABLE_TESTING)
# # Feature initialization test
# catkin_add_gtest(test_feature_init
# test/feature_initialization_test.cpp
# )
# add_dependencies(test_feature_init
# ${${PROJECT_NAME}_EXPORTED_TARGETS}
# ${catkin_EXPORTED_TARGETS}
# )
# target_link_libraries(test_feature_init
# ${catkin_LIBRARIES}
# )
# # Math utils test
# catkin_add_gtest(test_math_utils
# test/math_utils_test.cpp
# )
# endif()