52 lines
1.4 KiB
CMake
52 lines
1.4 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(loop_fusion)
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_FLAGS "-std=c++11")
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#-DEIGEN_USE_MKL_ALL")
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set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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std_msgs
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nav_msgs
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camera_models
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cv_bridge
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roslib
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)
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set(OpenCV_DIR "/home/admin1/podmivan/opencv-3.4.16/build")
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set(CUDA_DIR "/usr/local/cuda-11.5")
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find_package(OpenCV 3 REQUIRED)
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message(STATUS "1 OPENCV: " ${OpenCV_VERSION} " ")
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find_package(Ceres REQUIRED)
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find_package(Eigen3)
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include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
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catkin_package()
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message(STATUS "2 OPENCV: " ${OpenCV_VERSION} " ")
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add_executable(loop_fusion_node
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src/pose_graph_node.cpp
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src/pose_graph.cpp
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src/keyframe.cpp
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src/utility/CameraPoseVisualization.cpp
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src/ThirdParty/DBoW/BowVector.cpp
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src/ThirdParty/DBoW/FBrief.cpp
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src/ThirdParty/DBoW/FeatureVector.cpp
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src/ThirdParty/DBoW/QueryResults.cpp
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src/ThirdParty/DBoW/ScoringObject.cpp
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src/ThirdParty/DUtils/Random.cpp
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src/ThirdParty/DUtils/Timestamp.cpp
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src/ThirdParty/DVision/BRIEF.cpp
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src/ThirdParty/VocabularyBinary.cpp
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)
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message(STATUS "3 OPENCV: " ${OpenCV_VERSION} " ")
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target_link_libraries(loop_fusion_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
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message(STATUS "4 OPENCV: " ${OpenCV_VERSION} " ") |