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CMakeLists.txt
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CMakeLists.txt
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# cmake_minimum_required(VERSION 2.8.8)
cmake_minimum_required(VERSION 3.5)
# Project name
project(vicon2gt)
message(STATUS "blabla")
# Find catkin (the ROS build system)
find_package(catkin REQUIRED COMPONENTS roscpp rosbag geometry_msgs sensor_msgs nav_msgs)
# Include libraries
find_package(Eigen3 REQUIRED) # built gtsam with cmake -DGTSAM_USE_SYSTEM_EIGEN=ON ..
find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time serialization regex timer)
# find_package(GTSAM REQUIRED) # built gtsam with cmake -DGTSAM_USE_SYSTEM_EIGEN=ON ..
# restore CMAKE_PREFIX_PATH and other cached variables
# so nothing other package finds this opencv
# set(CMAKE_PREFIX_PATH ${TMP_PREFIX_PATH})
# unset(GTSAM_CONFIG_PATH CACHE)
# unset(GTSAM_DIR CACHE)
# find_package(GTSAM REQUIRED) # built gtsam with cmake -DGTSAM_USE_SYSTEM_EIGEN=ON ..
set(GTSAM_INCLUDE_DIR "/home/vasek/gtsam_42a5/include")
set(GTSAM_LIBRARIES "/home/vasek/gtsam_42a5/lib/libgtsam.so")
message("gtsam libraries: " ${GTSAM_LIBRARIES})
message("gtsam include: " ${GTSAM_INCLUDE_DIR})
# set(GTSAM_LIBRARIES gtsam)
message("gtsam libraries: " ${GTSAM_LIBRARIES})
message("gtsam include: " ${GTSAM_INCLUDE_DIR})
# Describe catkin project
catkin_package(
CATKIN_DEPENDS roscpp rosbag geometry_msgs sensor_msgs nav_msgs
INCLUDE_DIRS src
)
# Try to compile with c++11
# http://stackoverflow.com/a/25836953
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
# Enable compile optimizations
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
# Enable debug flags (use if you want to debug in gdb)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall")
# Include our header files
include_directories(
src
${EIGEN3_INCLUDE_DIR}
${Boost_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${MLK_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
)
# Set link libraries used by all binaries
list(APPEND thirdparty_libraries
${Boost_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
${MKL_LIBRARIES}
${GTSAM_LIBRARIES}
${catkin_LIBRARIES}
)
##################################################
# Make the library
##################################################
add_library(vicon2gt_lib SHARED
src/gtsam/JPLNavState.cpp
src/gtsam/JPLQuaternion.cpp
src/gtsam/RotationXY.cpp
src/gtsam/ImuFactorCPIv1.cpp
src/gtsam/MeasBased_ViconPoseTimeoffsetFactor.cpp
src/meas/Interpolator.cpp
src/meas/Propagator.cpp
src/sim/BsplineSE3.cpp
src/sim/Simulator.cpp
src/solver/ViconGraphSolver.cpp
)
target_link_libraries(vicon2gt_lib ${thirdparty_libraries})
target_include_directories(vicon2gt_lib PUBLIC src)
##################################################
# Make binary files!
##################################################
add_executable(estimate_vicon2gt src/estimate_vicon2gt.cpp)
target_link_libraries(estimate_vicon2gt vicon2gt_lib ${thirdparty_libraries})
add_executable(run_simulation src/run_simulation.cpp)
target_link_libraries(run_simulation vicon2gt_lib ${thirdparty_libraries})