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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(orb_slam_2_catkin)
add_definitions(-std=c++11)
find_package(catkin_simple REQUIRED)
catkin_simple()
include_directories(${Eigen_INCLUDE_DIRS})
include(ExternalProject)
file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/include)
ExternalProject_Add(orb_slam_2_src
GIT_REPOSITORY https://github.com/lfrschkn/ORB_SLAM2.git#https://github.com/raulmur/ORB_SLAM2.git
UPDATE_COMMAND ""
CONFIGURE_COMMAND
# Configuring DBoW2
mkdir -p ../orb_slam_2_src/Thirdparty/DBoW2/build &&
cd ../orb_slam_2_src/Thirdparty/DBoW2/build &&
cmake .. -DCMAKE_BUILD_TYPE=Release &&
# Configuring g2o
mkdir -p ../../g2o/build &&
cd ../../g2o/build &&
cmake .. -DCMAKE_BUILD_TYPE=Release &&
# Uncompressing the vocabulary
cd ../../../Vocabulary &&
tar -xf ../../orb_slam_2_src/Vocabulary/ORBvoc.txt.tar.gz &&
# Configuring the orb slam 2 build
mkdir -p ../build &&
cd ../build &&
cmake .. -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=/opt/ros/jade/
BUILD_COMMAND
# Building DBoW2
cd ../orb_slam_2_src/Thirdparty/DBoW2/build/ &&
make -j &&
# Building g2o
cd ../../g2o/build/ &&
make -j &&
# Building orb slam 2
cd ../../../build/ &&
make -j
INSTALL_COMMAND
cp ../orb_slam_2_src/lib/libORB_SLAM2${CMAKE_SHARED_LIBRARY_SUFFIX} ${CATKIN_DEVEL_PREFIX}/lib/ &&
cp -r ../orb_slam_2_src/include ${CATKIN_DEVEL_PREFIX}/include/orb_slam_2 &&
mkdir -p ${CATKIN_DEVEL_PREFIX}/include/orb_slam_2/Thirdparty/DBoW2/ &&
cp -r ../orb_slam_2_src/Thirdparty/DBoW2/DBoW2 ${CATKIN_DEVEL_PREFIX}/include/orb_slam_2/Thirdparty/DBoW2/ &&
cp -r ../orb_slam_2_src/Thirdparty/DBoW2/DUtils ${CATKIN_DEVEL_PREFIX}/include/orb_slam_2/Thirdparty/DBoW2/ &&
mkdir -p ${CATKIN_DEVEL_PREFIX}/include/orb_slam_2/Thirdparty/g2o/ &&
cp -r ../orb_slam_2_src/Thirdparty/g2o/g2o/ ${CATKIN_DEVEL_PREFIX}/include/orb_slam_2/Thirdparty/g2o/ &&
cp -r ../orb_slam_2_src/Thirdparty/g2o/config.h ${CATKIN_DEVEL_PREFIX}/include/orb_slam_2/Thirdparty/g2o/
)
cs_add_library(${PROJECT_NAME} src/dependency_tracker.cpp)
add_dependencies(${PROJECT_NAME} orb_slam_2_src)
target_link_libraries(${PROJECT_NAME}
${CATKIN_DEVEL_PREFIX}/lib/libORB_SLAM2${CMAKE_SHARED_LIBRARY_SUFFIX} ${catkin_LIBRARIES})
cs_install()
cs_export(INCLUDE_DIRS ${CATKIN_DEVEL_PREFIX}/include
CFG_EXTRAS orb_slam_2-extras.cmake)