initial commit

ov_msckf/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.3)
+project(ov_msckf)
+
+# Include libraries (if we don't have opencv 4, then fallback to opencv 3)
+# The OpenCV version needs to match the one used by cv_bridge otherwise you will get a segmentation fault!
+find_package(Eigen3 REQUIRED)
+find_package(OpenCV 3 QUIET)
+if (NOT OpenCV_FOUND)
+    find_package(OpenCV 4 REQUIRED)
+endif ()
+find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time)
+find_package(Ceres REQUIRED)
+include_directories(/home/pi/work_drivecast/slams/ORB-SLAM3_Linux/Thirdparty/Sophus)
+message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION} " | CERES: " ${Ceres_VERSION})
+
+# If we will compile with aruco support
+option(ENABLE_ARUCO_TAGS "Enable or disable aruco tag (disable if no contrib modules)" ON)
+if (NOT ENABLE_ARUCO_TAGS)
+    add_definitions(-DENABLE_ARUCO_TAGS=0)
+    message(WARNING "DISABLING ARUCOTAG TRACKING!")
+else ()
+    add_definitions(-DENABLE_ARUCO_TAGS=1)
+endif ()
+
+# We need c++14 for ROS2, thus just require it for everybody
+# NOTE: To future self, hope this isn't an issue...
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+# Enable compile optimizations
+set(CMAKE_CXX_FLAGS "${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 "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -fno-omit-frame-pointer")
+
+# Find our ROS version!
+# NOTE: Default to using the ROS1 package if both are in our enviroment
+# NOTE: https://github.com/romainreignier/share_ros1_ros2_lib_demo
+find_package(catkin QUIET COMPONENTS roscpp)
+find_package(ament_cmake QUIET)
+if (catkin_FOUND)
+    message(STATUS "ROS *1* version found, building ROS1.cmake")
+    include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake)
+elseif (ament_cmake_FOUND)
+    message(STATUS "ROS *2* version found, building ROS2.cmake")
+    include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS2.cmake)
+else ()
+    message(STATUS "No ROS versions found, building ROS1.cmake")
+    include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake)
+endif ()
+
+
+