96 lines
3.0 KiB
CMake
96 lines
3.0 KiB
CMake
cmake_minimum_required(VERSION 3.3)
|
|
|
|
# Find ROS build system
|
|
find_package(catkin QUIET COMPONENTS roscpp rosbag sensor_msgs cv_bridge)
|
|
|
|
# Describe ROS project
|
|
option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)
|
|
if (catkin_FOUND AND ENABLE_ROS)
|
|
add_definitions(-DROS_AVAILABLE=1)
|
|
catkin_package(
|
|
CATKIN_DEPENDS roscpp rosbag sensor_msgs cv_bridge
|
|
INCLUDE_DIRS src/
|
|
LIBRARIES ov_core_lib
|
|
)
|
|
else ()
|
|
add_definitions(-DROS_AVAILABLE=0)
|
|
message(WARNING "BUILDING WITHOUT ROS!")
|
|
include(GNUInstallDirs)
|
|
set(CATKIN_PACKAGE_LIB_DESTINATION "${CMAKE_INSTALL_LIBDIR}")
|
|
set(CATKIN_PACKAGE_BIN_DESTINATION "${CMAKE_INSTALL_BINDIR}")
|
|
set(CATKIN_GLOBAL_INCLUDE_DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}")
|
|
endif ()
|
|
|
|
# Include our header files
|
|
include_directories(
|
|
src
|
|
${EIGEN3_INCLUDE_DIR}
|
|
${Boost_INCLUDE_DIRS}
|
|
${catkin_INCLUDE_DIRS}
|
|
)
|
|
|
|
# Set link libraries used by all binaries
|
|
list(APPEND thirdparty_libraries
|
|
${Boost_LIBRARIES}
|
|
${OpenCV_LIBRARIES}
|
|
${catkin_LIBRARIES}
|
|
)
|
|
|
|
##################################################
|
|
# Make the core library
|
|
##################################################
|
|
|
|
list(APPEND LIBRARY_SOURCES
|
|
src/dummy.cpp
|
|
src/sim/BsplineSE3.cpp
|
|
src/track/TrackBase.cpp
|
|
src/track/TrackAruco.cpp
|
|
src/track/TrackDescriptor.cpp
|
|
src/track/TrackKLT.cpp
|
|
src/track/TrackSIM.cpp
|
|
src/types/Landmark.cpp
|
|
src/feat/Feature.cpp
|
|
src/feat/FeatureInitializer.cpp
|
|
src/utils/print.cpp
|
|
)
|
|
file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
|
|
add_library(ov_core_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS})
|
|
target_link_libraries(ov_core_lib ${thirdparty_libraries})
|
|
target_include_directories(ov_core_lib PUBLIC src/)
|
|
install(TARGETS ov_core_lib
|
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
)
|
|
install(DIRECTORY src/
|
|
DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
|
|
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
|
|
)
|
|
|
|
##################################################
|
|
# Make binary files!
|
|
##################################################
|
|
|
|
if (catkin_FOUND AND ENABLE_ROS)
|
|
|
|
add_executable(test_tracking src/test_tracking.cpp)
|
|
target_link_libraries(test_tracking ov_core_lib ${thirdparty_libraries})
|
|
install(TARGETS test_tracking
|
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
)
|
|
|
|
endif ()
|
|
|
|
add_executable(test_webcam src/test_webcam.cpp)
|
|
target_link_libraries(test_webcam ov_core_lib ${thirdparty_libraries})
|
|
install(TARGETS test_webcam
|
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
)
|
|
|
|
|
|
|