55 lines
2.1 KiB
CMake
55 lines
2.1 KiB
CMake
cmake_minimum_required(VERSION 3.3)
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project(ov_msckf)
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# Include libraries (if we don't have opencv 4, then fallback to opencv 3)
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# The OpenCV version needs to match the one used by cv_bridge otherwise you will get a segmentation fault!
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find_package(Eigen3 REQUIRED)
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find_package(OpenCV 3 QUIET)
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if (NOT OpenCV_FOUND)
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find_package(OpenCV 4 REQUIRED)
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endif ()
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find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time)
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find_package(Ceres REQUIRED)
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include_directories(/home/admin1/podmivan/SLAM/ORB_SLAM3/Thirdparty/Sophus)
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message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION} " | CERES: " ${Ceres_VERSION})
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# If we will compile with aruco support
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option(ENABLE_ARUCO_TAGS "Enable or disable aruco tag (disable if no contrib modules)" ON)
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if (NOT ENABLE_ARUCO_TAGS)
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add_definitions(-DENABLE_ARUCO_TAGS=0)
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message(WARNING "DISABLING ARUCOTAG TRACKING!")
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else ()
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add_definitions(-DENABLE_ARUCO_TAGS=1)
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endif ()
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# We need c++14 for ROS2, thus just require it for everybody
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# NOTE: To future self, hope this isn't an issue...
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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# Enable compile optimizations
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
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# Enable debug flags (use if you want to debug in gdb)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -fno-omit-frame-pointer")
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# Find our ROS version!
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# NOTE: Default to using the ROS1 package if both are in our enviroment
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# NOTE: https://github.com/romainreignier/share_ros1_ros2_lib_demo
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find_package(catkin QUIET COMPONENTS roscpp)
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find_package(ament_cmake QUIET)
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if (catkin_FOUND)
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message(STATUS "ROS *1* version found, building ROS1.cmake")
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include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake)
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elseif (ament_cmake_FOUND)
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message(STATUS "ROS *2* version found, building ROS2.cmake")
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include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS2.cmake)
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else ()
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message(STATUS "No ROS versions found, building ROS1.cmake")
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include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/ROS1.cmake)
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endif ()
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