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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(trytry_vo)
if (POLICY CMP0072)
set(OpenGL_GL_PREFERENCE LEGACY)
endif ()
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
)
find_package(OpenCV 3.2.0 REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})
find_package(g2o REQUIRED)
include_directories(${g2o_INCLUDE_DIRS})
find_package(Glog REQUIRED)
include_directories(${GLOG_INCLUDE_DIRS})
find_package(Boost REQUIRED COMPONENTS system)
include_directories(
include
${catkin_INCLUDE_DIRS}
"/usr/include/eigen3"
)
include_directories(
"/usr/include/suitesparse"
)
add_executable(
${PROJECT_NAME}_node
src/main.cpp
src/camera.cpp
src/frame.cpp
src/vo.cpp
src/config.cpp
src/images.cpp
src/frontend.cpp
src/viewer.cpp
include/trytry_vo/camera.h
include/trytry_vo/frame.h
include/trytry_vo/vo.h
include/trytry_vo/config.h
include/trytry_vo/images.h
include/trytry_vo/frontend.h
include/trytry_vo/viewer.h
include/trytry_vo/g2o_types.h
)
add_executable(
ground_truth
src/ground_truth.cpp
src/camera.cpp
src/frame.cpp
src/vo.cpp
src/config.cpp
src/images.cpp
src/frontend.cpp
src/viewer.cpp
include/trytry_vo/camera.h
include/trytry_vo/frame.h
include/trytry_vo/vo.h
include/trytry_vo/config.h
include/trytry_vo/images.h
include/trytry_vo/frontend.h
include/trytry_vo/viewer.h
)
target_link_libraries(${PROJECT_NAME}_node
${OpenCV_LIBS}
g2o_core
g2o_stuff
${catkin_LIBRARIES}
${Sophus_LIBRARIES}
Sophus::Sophus
glog::glog
${GLOG_INCLUDE_DIRS}
)
target_link_libraries(ground_truth
${OpenCV_LIBS}
g2o_core
g2o_stuff
${catkin_LIBRARIES}
${Sophus_LIBRARIES}
Sophus::Sophus
glog::glog
${GLOG_INCLUDE_DIRS}
)