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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(interactive_slam)
set (IS_VERSION_MAJOR 1)
set (IS_VERSION_MINOR 0)
set (IS_VERSION_REVISION 5)
execute_process (COMMAND git rev-parse --short HEAD WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR} OUTPUT_VARIABLE GIT_LAST_COMMIT_HASH OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process (COMMAND git log -1 --format=%cd WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR} OUTPUT_VARIABLE GIT_LAST_COMMIT_DATE OUTPUT_STRIP_TRAILING_WHITESPACE)
set (LAST_COMMIT_HASH \"${GIT_LAST_COMMIT_HASH}\")
set (LAST_COMMIT_DATE \"${GIT_LAST_COMMIT_DATE}\")
configure_file (
"${PROJECT_SOURCE_DIR}/include/hdl_graph_slam/version.h.in"
"${PROJECT_SOURCE_DIR}/include/hdl_graph_slam/version.h"
)
if("$ENV{ROS_DISTRO}" STRGREATER "melodic")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
else()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
endif()
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")
find_package(catkin REQUIRED COMPONENTS fast_gicp roscpp ndt_omp hdl_graph_slam roslib)
find_package(GLM REQUIRED)
find_package(OpenGL REQUIRED)
find_package(PCL REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED filesystem program_options)
find_package(G2O REQUIRED)
include_directories(SYSTEM ${G2O_INCLUDE_DIR} ${G2O_INCLUDE_DIRS})
link_directories(${G2O_LIBRARY_DIRS})
##################
# catking config #
##################
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES interactive_map_correction
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
include_directories(
include
thirdparty/gl3w
thirdparty/imgui
thirdparty/imgui/examples
thirdparty/portable-file-dialogs
${GLM_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)
# imgui
add_definitions(-DIMGUI_IMPL_OPENGL_LOADER_GL3W)
###########
## Build ##
###########
add_library(imgui STATIC
thirdparty/gl3w/gl3w.c
thirdparty/imgui/imgui.cpp
thirdparty/imgui/imgui_demo.cpp
thirdparty/imgui/imgui_draw.cpp
thirdparty/imgui/imgui_widgets.cpp
thirdparty/imgui/examples/imgui_impl_glfw.cpp
thirdparty/imgui/examples/imgui_impl_opengl3.cpp
)
target_link_libraries(imgui
${OPENGL_LIBRARIES}
glfw
dl
)
add_library(guik STATIC
src/glk/mesh.cpp
src/glk/lines.cpp
src/glk/colormap.cpp
src/glk/glsl_shader.cpp
src/glk/frame_buffer.cpp
src/glk/pointcloud_buffer.cpp
src/glk/primitives/primitives.cpp
src/glk/loaders/ply_loader.cpp
src/guik/gl_canvas.cpp
src/guik/model_control.cpp
src/guik/camera_control.cpp
src/guik/projection_control.cpp
src/guik/imgui_application.cpp
)
add_executable(odometry2graph
src/odometry2graph.cpp
src/hdl_graph_slam/version_modal.cpp
)
target_link_libraries(odometry2graph
${PCL_LIBRARIES}
${G2O_TYPES_DATA}
${G2O_CORE_LIBRARY}
${G2O_TYPES_SLAM3D}
${OPENGL_LIBRARIES}
${catkin_LIBRARIES}
glfw
guik
imgui
)
add_executable(interactive_slam
src/interactive_slam.cpp
src/hdl_graph_slam/registration_methods.cpp
src/hdl_graph_slam/interactive_graph.cpp
src/hdl_graph_slam/interactive_keyframe.cpp
src/hdl_graph_slam/version_modal.cpp
src/hdl_graph_slam/graph_edit_window.cpp
src/hdl_graph_slam/edge_refinement_window.cpp
src/hdl_graph_slam/plane_detection_window.cpp
src/hdl_graph_slam/plane_alignment_modal.cpp
src/hdl_graph_slam/manual_loop_close_modal.cpp
src/hdl_graph_slam/automatic_loop_close_window.cpp
src/hdl_graph_slam/view/edge_view.cpp
src/hdl_graph_slam/view/vertex_view.cpp
)
target_link_libraries(interactive_slam
${PCL_LIBRARIES}
${G2O_TYPES_DATA}
${G2O_CORE_LIBRARY}
${G2O_STUFF_LIBRARY}
${G2O_SOLVER_PCG}
${G2O_SOLVER_CSPARSE}
${G2O_SOLVER_CHOLMOD}
${G2O_TYPES_SLAM3D}
${G2O_TYPES_SLAM3D_ADDONS}
${OPENGL_LIBRARIES}
${catkin_LIBRARIES}
glfw
guik
imgui
)
file(COPY data DESTINATION .)
install(TARGETS
interactive_slam
odometry2graph
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY data
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)