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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(orbslam3)
# You should set the PYTHONPATH to your own python site-packages path
set(ENV{PYTHONPATH} "/opt/ros/humble/lib/python3.10/site-packages")
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(message_filters REQUIRED)
find_package(Sophus REQUIRED)
find_package(Pangolin REQUIRED)
find_package(ORB_SLAM3 REQUIRED)
include_directories(
include
${ORB_SLAM3_ROOT_DIR}/include
${ORB_SLAM3_ROOT_DIR}/include/CameraModels
${ORB_SLAM3_ROOT_DIR}/Thirdparty/Sophus
)
link_directories(
include
)
add_executable(mono-inertial
#src/monocular-inertial/mono-inertial-no-synchr.cpp
#src/monocular-inertial/mono-inertial-node.cpp
#src/monocular-inertial/mono-inertial-node-17-8-v1.cpp
#src/monocular-inertial/mono-inertial-node-17-8-v2.cpp
#src/monocular-inertial/mono-inertial-node-17-8-v3.cpp
#src/monocular-inertial/mono-inertial-node-17-8-v4.cpp
#src/monocular-inertial/converter.cpp
#src/monocular-inertial/mono-inertial-node1.cpp
#src/monocular-inertial/mono-inertial1.cpp
#src/monocular-inertial/mono-inertial-node_13_aug.cpp
#src/monocular-inertial/mono-inertial-13_aug.cpp
#src/monocular-inertial/kopija.cpp
#src/monocular-inertial/monocular-inertial-slam-node4.cpp
src/monocular-inertial/mono-inertial-node_29_aug.cpp
)
ament_target_dependencies(mono-inertial rclcpp sensor_msgs tf2_ros tf2_geometry_msgs tf2 nav_msgs cv_bridge ORB_SLAM3 Pangolin OpenCV )
add_executable(mono
src/monocular/mono.cpp
src/monocular/monocular-slam-node.cpp
#src/monocular/mono1.cpp
#src/monocular/monocular-slam-node1.cpp
#src/monocular/monocular-slam-node2.cpp
#src/monocular/monocular-slam-node3.cpp
#src/monocular/monocular-slam-node4.cpp
)
ament_target_dependencies(mono rclcpp sensor_msgs tf2_ros tf2_geometry_msgs tf2 nav_msgs cv_bridge ORB_SLAM3 Pangolin OpenCV)
add_executable(rgbd
src/rgbd/rgbd.cpp
src/rgbd/rgbd-slam-node.cpp
)
ament_target_dependencies(rgbd rclcpp sensor_msgs cv_bridge message_filters ORB_SLAM3 Pangolin OpenCV)
add_executable(stereo
src/stereo/stereo.cpp
src/stereo/stereo-slam-node.cpp
)
ament_target_dependencies(stereo rclcpp sensor_msgs cv_bridge message_filters ORB_SLAM3 Pangolin OpenCV)
add_executable(stereo-inertial
src/stereo-inertial/stereo-inertial.cpp
src/stereo-inertial/stereo-inertial-node.cpp
)
ament_target_dependencies(stereo-inertial rclcpp sensor_msgs cv_bridge ORB_SLAM3 Pangolin OpenCV)
install(TARGETS mono-inertial mono rgbd stereo stereo-inertial DESTINATION lib/${PROJECT_NAME})
# Install launch files.
#install(DIRECTORY launch config vocabulary
# DESTINATION share/${PROJECT_NAME}/)
ament_package()