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CMakeLists.txt
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set(PROJECT_NAME vio_common)
project(${PROJECT_NAME})
cmake_minimum_required(VERSION 2.8.3)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
set(CMAKE_VERBOSE_MAKEFILE OFF)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake_modules/")
option(USE_ROS "Build this package with catkin?" ON)
set(USE_GPSTK_MSG "Build the package with the gpstk library. If true, "
"the GPSTK_INCLUDE_DIRS and GPSTK_LIB need to be provided.\nEg."
"-DGPSTK_INCLUDE_DIRS /workspace/gpstk/include -DGPSTK_LIB "
"/workspace/gpstk/lib/libgpstk.so")
option(USE_GPSTK "${USE_GPSTK_MSG}" OFF)
# Set build flags. Set IS_ARM on odroid board as environment variable
set(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
if(DEFINED ENV{ARM_ARCHITECTURE})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
else()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3")
endif()
if(CMAKE_COMPILER_IS_GNUCC)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
else()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
endif()
find_package(OpenCV REQUIRED)
find_package(Eigen REQUIRED)
list(APPEND vio_common_INCLUDE_DIR
${CMAKE_CURRENT_SOURCE_DIR}/include
${EIGEN_INCLUDE_DIR}
${OpenCV_INCLUDE_DIRS}
)
if(${USE_ROS})
find_package(catkin REQUIRED COMPONENTS roscpp cmake_modules)
list(APPEND vio_common_INCLUDE_DIR ${catkin_INCLUDE_DIRS})
catkin_package(
DEPENDS
CATKIN_DEPENDS roscpp
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
)
else()
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
# Install to (e.g. /usr/local/) and look for libraries there.
set(CMAKE_INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH FALSE)
endif()
# Set Sourcefiles
list(APPEND SOURCEFILES
include/vio/PointStatistics.h
src/CsvReader.cpp
src/FrameGrabber.cpp
src/GpsGrabber.cpp
src/ImuGrabber.cpp
src/Sample.cpp
src/TimeGrabber.cpp
src/VimapContainer.cpp
src/derivedLinePatterns.cpp
src/eigen_utils.cpp
src/maths_utils.cpp
src/utils.cpp)
if(${USE_GPSTK})
add_definitions(-DHAVE_GPSTK)
list(APPEND vio_common_INCLUDE_DIR ${GPSTK_INCLUDE_DIRS})
endif()
# Create library
add_library(${PROJECT_NAME} SHARED ${SOURCEFILES})
target_include_directories(${PROJECT_NAME} PUBLIC ${vio_common_INCLUDE_DIR})
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
if(${USE_ROS})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
endif()
if(${USE_GPSTK})
target_link_libraries(${PROJECT_NAME} ${GPSTK_LIB})
endif()
add_executable(test_gps_grabber test/test_gps_grabber.cpp)
target_link_libraries(test_gps_grabber ${PROJECT_NAME})
# set_target_properties(test_gps_grabber PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE)
add_executable(video2image app/video2images_kalibr.cpp )
target_link_libraries(video2image ${OpenCV_LIBS})
# set_target_properties(video2image PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE)
add_executable(maplab2tumtraj app/maplab2tumtraj.cpp)
target_link_libraries(maplab2tumtraj ${PROJECT_NAME})
set(TEST_DATA_PATH "${CMAKE_CURRENT_SOURCE_DIR}/test/data")
configure_file(test/test_config.h.in test/test_config.h)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
if(CATKIN_ENABLE_TESTING)
catkin_add_gtest(vio_common_test test/test_main.cpp
test/test_csv_reader.cpp
test/test_time_grabber.cpp
test/test_utils.cpp
test/test_frame_grabber.cpp
test/test_imu_grabber.cpp
test/test_eigen_utils.cpp
test/test_vimap_container.cpp)
target_link_libraries(vio_common_test ${PROJECT_NAME} glog)
endif()
################################################################################
# Create the vio_commonConfig.cmake file for other cmake projects.
if(NOT ${USE_ROS})
# Export package for use from the build tree
export(PACKAGE vio_common)
# Create the vio_commonConfig.cmake file for other cmake projects.
# ... for the build tree
set(CONFIG_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR})
set(CONFIG_DIR ${CMAKE_CURRENT_BINARY_DIR})
set(vio_common_LIBRARY ${CMAKE_BINARY_DIR}/lib/libvio_common.so)
set(vio_common_LIBRARY_DIR ${CMAKE_BINARY_DIR}/lib)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/vio_commonConfig.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/vio_commonConfig.cmake @ONLY IMMEDIATE)
# ... for the install tree
set(CMAKECONFIG_INSTALL_DIR lib/cmake/vio_common)
file(RELATIVE_PATH REL_INCLUDE_DIR
"${CMAKE_INSTALL_PREFIX}/${CMAKECONFIG_INSTALL_DIR}"
"${CMAKE_INSTALL_PREFIX}/include")
set(vio_common_INCLUDE_DIR "\${vio_common_CMAKE_DIR}/${REL_INCLUDE_DIR}")
set(vio_common_LIBRARY_DIR "\${vio_common_CMAKE_DIR}/../..")
set(vio_common_LIBRARY "\${vio_common_CMAKE_DIR}/../../libvio_common.so")
set(CONFIG_SOURCE_DIR)
set(CONFIG_DIR)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/vio_commonConfig.cmake.in
${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/vio_commonConfig.cmake @ONLY)
install(FILES "${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/vio_commonConfig.cmake"
DESTINATION ${CMAKECONFIG_INSTALL_DIR})
set(DefaultScriptPermissions OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE )
install(DIRECTORY include/vio DESTINATION ${CMAKE_INSTALL_PREFIX}/include FILES_MATCHING PATTERN "*.h")
install(DIRECTORY python/ DESTINATION ${CMAKE_INSTALL_PREFIX}/bin FILE_PERMISSIONS ${DefaultScriptPermissions} FILES_MATCHING PATTERN "*.py" PATTERN "test" EXCLUDE)
install(TARGETS ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
install(TARGETS test_gps_grabber video2image DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
endif()