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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(msckf_dvio)
## Compile as C++14, supported in ROS Kinetic and newer
add_compile_options(-std=c++17)
## CMAKE module path
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")
### Find Library
# SET(OpenCV_DIR /home/lin/develop/3rd/opencv/install/opencv-4.2.0/lib/cmake/opencv4/)
find_package(OpenCV 4.2.0 REQUIRED)
message(STATUS "OpenCV library status:")
message(STATUS " config: ${OpenCV_DIR}")
message(STATUS " version: ${OpenCV_VERSION}")
message(STATUS " libraries: ${OpenCV_LIBS}")
message(STATUS " include path: ${OpenCV_INCLUDE_DIRS}")
find_package(Boost REQUIRED COMPONENTS system filesystem thread date_time)
find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
find_package(SuiteSparse REQUIRED)
find_package(magic_enum CONFIG REQUIRED)
### Find ROS package
# SET(cv_bridge_DIR /home/lin/develop/ros/ros_ws/devel/share/cv_bridge/cmake/)
find_package(catkin REQUIRED COMPONENTS
roscpp rospy std_msgs rosbag sensor_msgs nav_msgs
geometry_msgs cv_bridge message_generation tf2
tf_conversions eigen_conversions std_srvs
dynamic_reconfigure message_filters image_transport
tf2_ros tf2_geometry_msgs pcl_conversions
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp rospy std_msgs rosbag sensor_msgs cv_bridge dynamic_reconfigure
geometry_msgs message_runtime tf_conversions eigen_conversions
message_filters image_transport visualization_msgs tf nav_msgs tf2 std_srvs
tf2_ros tf2_geometry_msgs pcl_conversions
DEPENDS PCL EIGEN3 SUITESPARSE
)
###########
## Build ##
###########
## Specify additional locations of header files
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIR}
${EIGEN3_INCLUDE_DIR}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${SUITESPARSE_INCLUDE_DIRS}
)
list(APPEND thirdparty_libraries
${catkin_LIBRARIES}
${Boost_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
${SUITESPARSE_LIBRARIES}
magic_enum::magic_enum
)
##########################################
############### build lib ###############
##########################################
add_library(dvio_lib SHARED
include/initializer/initializer_dvl_aided.cpp
include/initializer/initializer_setting.cpp
include/manager/msckf_manager.cpp
include/msckf/state.cpp
include/msckf/predictor.cpp
include/msckf/updater.cpp
include/feature/Feature.cpp
include/feature/triangulation.cpp
include/tracker/TrackBase.cpp
include/tracker/TrackKLT.cpp
include/tracker/TrackFeature.cpp
)
target_link_libraries(dvio_lib ${thirdparty_libraries})
##########################################
############### build ros ################
##########################################
add_executable(dvio_node ros/node.cpp ros/visualizer.cpp)
target_link_libraries(dvio_node dvio_lib ${thirdparty_libraries})
##########################################
############### build test ###############
##########################################