174 lines
3.5 KiB
CMake
174 lines
3.5 KiB
CMake
cmake_minimum_required(VERSION 2.8.12)
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project(msckf_vio)
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add_compile_options(-std=c++11)
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# Modify cmake module path if new .cmake files are required
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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std_msgs
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tf
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nav_msgs
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sensor_msgs
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geometry_msgs
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eigen_conversions
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tf_conversions
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random_numbers
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message_generation
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nodelet
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image_transport
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cv_bridge
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message_filters
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pcl_conversions
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pcl_ros
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std_srvs
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)
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## System dependencies are found with CMake's conventions
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find_package(Boost REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(OpenCV REQUIRED)
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find_package(SuiteSparse REQUIRED)
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##################
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## ROS messages ##
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##################
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add_message_files(
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FILES
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FeatureMeasurement.msg
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CameraMeasurement.msg
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TrackingInfo.msg
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)
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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###################################
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## catkin specific configuration ##
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###################################
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES msckf_vio image_processor
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CATKIN_DEPENDS
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roscpp std_msgs tf nav_msgs sensor_msgs geometry_msgs
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eigen_conversions tf_conversions random_numbers message_runtime
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image_transport cv_bridge message_filters pcl_conversions
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pcl_ros std_srvs
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DEPENDS Boost EIGEN3 OpenCV SUITESPARSE
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)
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###########
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## Build ##
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###########
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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${Boost_INCLUDE_DIR}
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${OpenCV_INCLUDE_DIRS}
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${SUITESPARSE_INCLUDE_DIRS}
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)
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# Msckf Vio
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add_library(msckf_vio
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src/msckf_vio.cpp
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src/utils.cpp
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)
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add_dependencies(msckf_vio
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_link_libraries(msckf_vio
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${catkin_LIBRARIES}
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${SUITESPARSE_LIBRARIES}
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)
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# Msckf Vio nodelet
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add_library(msckf_vio_nodelet
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src/msckf_vio_nodelet.cpp
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)
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add_dependencies(msckf_vio_nodelet
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_link_libraries(msckf_vio_nodelet
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msckf_vio
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${catkin_LIBRARIES}
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)
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# Image processor
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add_library(image_processor
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src/image_processor.cpp
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src/utils.cpp
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)
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add_dependencies(image_processor
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_link_libraries(image_processor
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${catkin_LIBRARIES}
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${OpenCV_LIBRARIES}
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)
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# Image processor nodelet
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add_library(image_processor_nodelet
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src/image_processor_nodelet.cpp
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)
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add_dependencies(image_processor_nodelet
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_link_libraries(image_processor_nodelet
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image_processor
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${catkin_LIBRARIES}
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)
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#############
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## Install ##
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#############
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install(TARGETS
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msckf_vio msckf_vio_nodelet image_processor image_processor_nodelet
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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PATTERN "*_nodelet.h" EXCLUDE
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)
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install(FILES nodelets.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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#############
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## Testing ##
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#############
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if(CATKIN_ENABLE_TESTING)
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# Feature initialization test
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catkin_add_gtest(test_feature_init
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test/feature_initialization_test.cpp
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)
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add_dependencies(test_feature_init
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_link_libraries(test_feature_init
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${catkin_LIBRARIES}
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)
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# Math utils test
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catkin_add_gtest(test_math_utils
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test/math_utils_test.cpp
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)
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endif()
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