-
Notifications
You must be signed in to change notification settings - Fork 1
/
CMakeLists.txt
227 lines (185 loc) · 7.58 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
cmake_minimum_required(VERSION 2.8.3)
project(mrsmap_ros)
################################################
## CMake Settings for Original MRSMap Library ##
################################################
# In case the user does not setup CMAKE_BUILD_TYPE, assume it's RelWithDebInfo
if("${CMAKE_BUILD_TYPE}" STREQUAL "")
set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "build type default to RelWithDebInfo, set to Release to improve performance" FORCE)
endif("${CMAKE_BUILD_TYPE}" STREQUAL "")
if(CMAKE_BUILD_TYPE STREQUAL "Release" OR CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
message(STATUS "building in release mode")
add_definitions( -msse4.2 -fopenmp )
add_definitions("-DBOOST_DISABLE_ASSERTS -DEIGEN_NO_DEBUG -DNDEBUG")
add_definitions (-Wall -fno-strict-aliasing)# -fvisibility=hidden -fvisibility-inlines-hidden)
add_definitions(-Wall -funroll-loops -momit-leaf-frame-pointer -fomit-frame-pointer -floop-block -ftree-loop-distribution -ftree-loop-linear -floop-interchange -floop-strip-mine -fgcse-lm -fgcse-sm -fsched-spec-load)
endif()
set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/mrsmap_ros/cmake/Modules/" ${CMAKE_MODULE_PATH})
# catkin_make system
find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs tf)
# PCL required
set(OPENNI_INCLUDE_DIRS /usr/include/ni)
find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
# OctreeLib required
find_package(OctreeLib REQUIRED)
include_directories(${OCTREELIB_INCLUDE_DIRS})
# GSL required
find_package(GSL REQUIRED)
include_directories(${GSL_INCLUDE_DIRS})
link_directories(${GSL_LIBRARY_DIRS})
# TBB required
find_package(TBB REQUIRED)
include_directories(${TBB_INCLUDE_DIRS})
# OpenCV required
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
# G2O required
find_package(G2O REQUIRED)
include_directories(${G2O_INCLUDE_DIR})
find_package( Boost 1.40 COMPONENTS program_options REQUIRED )
include_directories( ${Boost_INCLUDE_DIR} )
# For building the CHOLMOD / CSPARSE solvers
find_package(Cholmod)
find_package(BLAS)
find_package(LAPACK)
find_package(CSparse)
include_directories(${CSPARSE_INCLUDE_DIR})
include_directories(${PROJECT_SOURCE_DIR}/include)
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES mrsmap_ros
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
## Declare a cpp library
# add_library(mrsmap_ros
# src/${PROJECT_NAME}/mrsmap_ros.cpp
# )
# -- mrslib for map aggregation, registration, and visualization
set( SRC_MRSMAPLIB
src/map/multiresolution_csurfel_map.cpp
src/registration/multiresolution_csurfel_registration.cpp
src/utilities/utilities.cpp
src/visualization/visualization_map.cpp
)
add_library( mrsmap SHARED ${SRC_MRSMAPLIB} )
add_definitions( ${SSE_FLAGS} )
target_link_libraries( mrsmap octreelib ${PCL_LIBRARIES} ${OpenCV_LIBS} ${TBB_LIBRARIES} ${GSL_LIBRARIES})
# -- mrsslamlib for SLAM using mrs maps
add_library( mrsslam SHARED src/slam/slam.cpp src/visualization/visualization_slam.cpp )
add_definitions( ${SSE_FLAGS} )
target_link_libraries( mrsslam mrsmap ${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_CSPARSE_EXTENSION} ${G2O_TYPES_SLAM3D})
## Declare a cpp executable
# add_executable(mrsmap_ros_node src/mrsmap_ros_node.cpp)
add_executable( mrsslam_app src/apps/mrsslam_app.cpp )
add_definitions( ${SSE_FLAGS} )
target_link_libraries( mrsslam_app mrsslam ${catkin_LIBRARIES})
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(mrsmap_ros_node mrsmap_ros_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(mrsmap_ros_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS mrsmap_ros mrsmap_ros_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_mrsmap_ros.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)