forked from ethz-asl/rovio
-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
114 lines (97 loc) · 3.23 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
cmake_minimum_required (VERSION 2.6)
project(rovio)
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -march=native")
##################### Find, include, and compile library #####################
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
if(0)
find_package(OpenMP REQUIRED)
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})
if(MAKE_SCENE)
message(STATUS "Building ROVIO with openGL Scene Visualization")
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAKE_SCENE=1")
find_package(GLEW REQUIRED)
include_directories(${GLEW_INCLUDE_DIRS})
find_package(GLUT REQUIRED)
include_directories(${GLUT_INCLUDE_DIRS})
link_directories(${GLUT_LIBRARY_DIRS})
add_definitions(${GLUT_DEFINITIONS})
find_package(OpenGL REQUIRED)
include_directories(${OpenGL_INCLUDE_DIRS})
link_directories(${OpenGL_LIBRARY_DIRS})
add_definitions(${OpenGL_DEFINITIONS})
endif()
find_package(PkgConfig)
find_package(yaml_cpp_catkin)
if(${yaml_cpp_catkin_FOUND})
message(STATUS "Found yaml_cpp_catkin, using instead of system library.")
set(YamlCpp_LIBRARIES ${yaml_cpp_catkin_LIBRARIES})
set(YamlCpp_INCLUDE_DIRS ${yaml_cpp_catkin_INCLUDE_DIRS})
else()
message(STATUS "No yaml_cpp_catkin, using yaml-cpp system library instead.")
pkg_check_modules(YamlCpp REQUIRED yaml-cpp>=0.5)
endif()
##################### Install ROS stuff #####################
find_package(catkin REQUIRED COMPONENTS
lightweight_filtering
kindr
roscpp
roslib
cv_bridge
message_generation
nav_msgs
geometry_msgs
sensor_msgs
std_msgs
tf
)
add_message_files(
FILES
RovioOutput.msg
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
nav_msgs geometry_msgs sensor_msgs std_msgs
)
catkin_package(
INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS
lightweight_filtering
kindr
roscpp
roslib
cv_bridge
message_runtime
nav_msgs
geometry_msgs
sensor_msgs
std_msgs
tf
)
include_directories(include ${catkin_INCLUDE_DIRS} ${YamlCpp_INCLUDE_DIRS})
add_library(${PROJECT_NAME} src/test_rovio.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${YamlCpp_LIBRARIES} ${OpenMP_EXE_LINKER_FLAGS} ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${GLEW_LIBRARY})
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
add_executable(test_rovio src/test_rovio.cpp)
target_link_libraries(test_rovio ${PROJECT_NAME})
add_executable(rovio_node src/rovio_node.cpp)
target_link_libraries(rovio_node ${PROJECT_NAME})
add_executable(feature_tracker_node src/feature_tracker_node.cpp)
target_link_libraries(feature_tracker_node ${PROJECT_NAME})
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/gtest/")
message(STATUS "Building GTests!")
option(BUILD_GTEST "build gtest" ON)
#add_subdirectory(gtest gtest)
enable_testing()
include_directories(${gtest_SOURCE_DIR}/include ${gtest_SOURCE_DIR})
add_executable(test_patch src/test_patch.cpp)
target_link_libraries(test_patch gtest_main gtest pthread ${catkin_LIBRARIES})
add_test(test_patch test_patch)
add_executable(test_mlp src/test_mlp.cpp)
target_link_libraries(test_mlp gtest_main gtest pthread ${catkin_LIBRARIES})
add_test(test_mlp test_mlp)
endif()