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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(sparse_dynamic_calibration)
add_compile_options(-std=c++11)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")
find_package(G2O REQUIRED)
find_package(OpenCV REQUIRED)
find_package(catkin REQUIRED COMPONENTS
tf
rospy
roscpp
pcl_ros
cv_bridge
tf_conversions
image_transport
)
########################
## message generation ##
########################
add_message_files(FILES
PoseSim3.msg
PoseSim3Stamped.msg
)
generate_messages(DEPENDENCIES std_msgs geometry_msgs)
###################################
## catkin specific configuration ##
###################################
catkin_package(
# INCLUDE_DIRS include
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
${G2O_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
link_directories(
/usr/local/lib
${G2O_LIBARY_DIRS}
)
add_library(sparse_dynamic_calibration_lib SHARED
src/g2o/g2o_optimizers.cpp
src/g2o/robust_kernel_io.cpp
src/g2o/edge_icp.cpp
src/g2o/edge_se3_plane.cpp
src/g2o/edge_sim3_se3_expmap.cpp
src/sparse_dynamic_calibration/keyframe.cpp
src/sparse_dynamic_calibration/tag_detector.cpp
src/sparse_dynamic_calibration/sim3_estimator.cpp
src/sparse_dynamic_calibration/tag_camera_network.cpp
src/sparse_dynamic_calibration/graph_marker_publisher.cpp
src/sparse_dynamic_calibration/icp_constraints.cpp
src/sparse_dynamic_calibration/static_camera.cpp
src/sparse_dynamic_calibration/static_camera_refinement.cpp
src/sparse_dynamic_calibration/graph_refinement.cpp
)
target_link_libraries(sparse_dynamic_calibration_lib
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${G2O_TYPES_DATA}
${G2O_CORE_LIBRARY}
${G2O_STUFF_LIBRARY}
${G2O_SOLVER_PCG}
${G2O_SOLVER_CSPARSE}
${G2O_SOLVER_CHOLMOD}
${G2O_TYPES_SBA}
${G2O_TYPES_SIM3}
${G2O_TYPES_ICP}
${G2O_TYPES_SLAM3D_ADDONS}
apriltag
)
add_dependencies(sparse_dynamic_calibration_lib sparse_dynamic_calibration_gencpp)
add_executable(generate_tag_camera_network_conf src/generate_tag_camera_network_conf.cpp)
add_dependencies(generate_tag_camera_network_conf sparse_dynamic_calibration_lib)
target_link_libraries(generate_tag_camera_network_conf sparse_dynamic_calibration_lib)
add_executable(sparse_dynamic_calibration_node src/sparse_dynamic_calibration_node.cpp)
add_dependencies(sparse_dynamic_calibration_node sparse_dynamic_calibration_lib)
target_link_libraries(sparse_dynamic_calibration_node sparse_dynamic_calibration_lib)
add_executable(sparse_dynamic_refinement_node src/sparse_dynamic_refinement_node.cpp)
add_dependencies(sparse_dynamic_refinement_node sparse_dynamic_calibration_lib)
target_link_libraries(sparse_dynamic_refinement_node sparse_dynamic_calibration_lib)