-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathCMakeLists.txt
executable file
·107 lines (94 loc) · 2.9 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
cmake_minimum_required(VERSION 3.0.2)
project(uware)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
nav_msgs
cola2_msgs
ned_tools
tf
sensor_msgs
geometry_msgs
image_transport
message_filters
message_generation
cv_bridge
image_geometry
pcl_ros
cmake_modules
tf_conversions
##libhaloc
##orb_utils
)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake-modules/")
####################################################
# Dependencies:
find_package(PkgConfig)
# Dependencies - Eigen:
find_package(Eigen3 REQUIRED)
# Dependencies - PCL:
find_package(PCL REQUIRED)
# Dependencies - OpenCV:
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
# Dependencies - Suitesparse:
find_package(SuiteSparse REQUIRED)
# Dependencies - G2O:
# Use script to find g2o. If it's not installed, set G2O_INCLUDE_DIRS manually
# using -DG2O_INCLUDE_DIRS.
## find_package(G2O REQUIRED) # commented by fbf 19/01/2021 . uncomment for SLAM optimization
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES uware
CATKIN_DEPENDS image_transport cv_bridge roscpp sensor_msgs geometry_msgs cola2_msgs ned_tools
DEPENDS OpenCV
DEPENDS Eigen3
)
include_directories(include
${catkin_INCLUDE_DIRS}
${Eigen3_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${SUITESPARSE_INCLUDE_DIRS}) # this closing braked must go at the end of the next line, if the former is uncommented
#${G2O_INCLUDE_DIRS}) commented by fbf 19/01/2021 . uncomment for SLAM optimization
# Pre-process
add_executable(preprocess
src/nodes/preprocess_node.cpp
src/preprocess.cpp)
target_link_libraries(preprocess
${eigen_LIBRARIES}
${OpenCV_LIBRARIES}
${catkin_LIBRARIES})
# Mono-Pre-process
add_executable(preprocess_mono
src/nodes/preprocess_node_mono.cpp
src/preprocess_mono.cpp)
target_link_libraries(preprocess_mono
${eigen_LIBRARIES}
${OpenCV_LIBRARIES}
${catkin_LIBRARIES})
# Reconstruction commented by fbf 19/01/2021 . uncomment for 3D reconstruction
##add_executable(reconstruction
## src/nodes/reconstruction_node.cpp
## src/registration.cpp
## src/frame_to_frame.cpp
## src/loop_closing.cpp
## src/graph.cpp
## src/build3d.cpp)
##target_link_libraries(reconstruction
## ${eigen_LIBRARIES}
## ${OpenCV_LIBRARIES}
## ${catkin_LIBRARIES}
## ${SUITESPARSE_LIBRARIES}
## ${G2O_LIBRARIES}
## cholmod)