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CMakeLists.txt
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project(demo_rgbd_new)
cmake_minimum_required(VERSION 2.8.3)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -w -g -O3 -fpermissive")
SET(CMAKE_BUILD_TYPE "RelWithDebInfo")
if(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)
# rosbuild_init()
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
# set(OpenCV_DIR "/home/davidz/work/3rdlibs/OpenCV-2.4.10/build")
find_package(OpenCV REQUIRED)
# message("OpenCV_INCLUDE_DIR: ${OpenCV_INCLUDE_DIRS}")
# include_directories("/home/hzhang8/work/3rdlib/opencv-3.3.1/install/include")
find_package(catkin REQUIRED COMPONENTS
roscpp
cv_bridge
sensor_msgs
std_msgs
pcl_conversions
pcl_ros
message_filters
image_transport
# camera_model
tf
)
catkin_package(
# DEPENDS Eigen
# CATKIN_DEPENDS roscpp std_msgs sensor_msgs cv_bridge
# INCLUDE_DIRS include
# LIBRARIES
)
SET(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(Eigen3 QUIET)
include_directories(${EIGEN3_INCLUDE_DIR} "/usr/include/eigen3")
# include_directories("/usr/include/eigen3")
include_directories("${PROJECT_SOURCE_DIR}/include")
include_directories(${catkin_INCLUDE_DIRS})
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})
# add_subdirectory(isamlib)
# link_libraries(isamlib)
link_libraries(${CERES_LIBRARIES})
link_libraries(${catkin_LIBRARIES})
link_libraries(${OpenCV_LIBS})
## feature tracking
add_executable(featureTracking_node feature_tracking/feature_tracker.cpp feature_tracking/feature_tracker_node.cpp)
add_executable(test_feat_tracker feature_tracking/feature_tracker.cpp feature_tracking/test_feat_track.cpp)
add_executable(featureTracking_ori feature_tracking/featureTracking.cpp)
## vo
# add_executable(test_vo_euler vo/test_vo_euler.cpp vo/projection_euler-ZXY.cpp)
# add_executable(test_vo_euler_ip vo/test_vo_euler_ip.cpp vo/projection_euler-ZXY.cpp)
add_executable(test_vo_quaternion vo/test_vo_quaternion.cpp vo/projection_quat.cpp)
add_executable(test_vo_quaternion_ip vo/test_vo_quaternion_ip.cpp vo/projection_quat.cpp)
add_executable(visual_odometry vo/visual_odometry.cpp vo/visual_odometry_node.cpp vo/stereo_triangulate.cpp)
add_executable(test_triangulate vo/test_triangulate.cpp vo/stereo_triangulate.cpp)
## depth handler
add_executable(depth_handler vo/depth_handler_node.cpp vo/depth_handler.cpp )
# add_executable(test_depth_process vo/test_depth_process.cpp)
## vio
add_executable(test_vio_proj_factor vio/test_projection.cpp vio/projection_quat.cpp)
add_executable(depth_handler_2 vo/depth_handler.cpp vio/depth_handler_node.cpp)
add_executable(vio_node vio/vio_node.cpp vio/vio.cpp vo/stereo_triangulate.cpp vio/projection_quat.cpp vio/parameters.cpp)
add_executable(depth_handler_pc vo/depth_handler.cpp vio/depth_handler_node_pc.cpp)
## rs publisher
add_executable(rs_publisher rs_pub/pub_rs_data.cpp)
# add_executable(rs_publisher_rgbd rs_pub/pub_rs_data2.cpp)
## read_traj file
add_executable(read_traj src/read_traj_log.cpp)
# target_link_libraries(featureTracking ${catkin_LIBRARIES} ${OpenCV_LIBS})
# add_executable(visualOdometry src/visualOdometry.cpp)
# target_link_libraries(visualOdometry ${catkin_LIBRARIES} ${OpenCV_LIBS})
# add_executable(bundleAdjust src/bundleAdjust.cpp)
# target_link_libraries(bundleAdjust isamlib ${catkin_LIBRARIES} ${OpenCV_LIBS})
# add_executable(processDepthmap src/processDepthmap.cpp)
# add_executable(stackDepthPoint src/stackDepthPoint.cpp)
# add_executable(transformMaintenance src/transformMaintenance.cpp)
# add_executable(registerPointCloud src/registerPointCloud.cpp)