Created
August 12, 2015 14:09
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cmake_minimum_required(VERSION 2.4.6) | |
SET(CMAKE_OSX_SYSROOT macosx10.10) | |
project(lsd_slam_viewer) | |
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) | |
if(APPLE) | |
include_directories(/usr/X11R6/include/) | |
link_directories(/usr/X11R6/lib) | |
SET(EXTRA_LIBS GL X11 GLU glut) | |
ENDIF(APPLE) | |
# Set the build type. Options are: | |
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage | |
# Debug : w/ debug symbols, w/o optimization | |
# Release : w/o debug symbols, w/ optimization | |
# RelWithDebInfo : w/ debug symbols, w/ optimization | |
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries | |
set(ROS_BUILD_TYPE Release) | |
rosbuild_init() | |
ADD_SUBDIRECTORY(${PROJECT_SOURCE_DIR}/thirdparty/Sophus) | |
find_package(OpenCV REQUIRED PATHS /usr/local/Cellar/opencv/2.4.11_2/share/OpenCV NO_DEFAULT_PATH) | |
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) | |
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) | |
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake) | |
find_package(OpenGL REQUIRED) | |
set(QT_USE_QTOPENGL TRUE) | |
set(QT_USE_QTXML TRUE) | |
find_package(QGLViewer REQUIRED) | |
find_package(Eigen3 REQUIRED) | |
include_directories(${QT_INCLUDES} ${EIGEN3_INCLUDE_DIR} ${QGLVIEWER_INCLUDE_DIR}) | |
rosbuild_find_ros_package(dynamic_reconfigure) | |
include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake) | |
gencfg() | |
# Messages & Services | |
rosbuild_genmsg() | |
# SSE flags | |
rosbuild_check_for_sse() | |
set(CMAKE_CXX_FLAGS | |
"-v ${SSE_FLAGS}" | |
) | |
# SSE Sources files | |
set(SOURCE_FILES | |
src/PointCloudViewer.cpp | |
src/KeyFrameDisplay.cpp | |
src/KeyFrameGraphDisplay.cpp | |
src/settings.cpp | |
) | |
set(HEADER_FILES | |
src/PointCloudViewer.h | |
src/KeyFrameDisplay.h | |
src/KeyFrameGraphDisplay.h | |
src/settings.h | |
) | |
include_directories( | |
${PROJECT_SOURCE_DIR}/thirdparty/Sophus | |
) | |
rosbuild_add_executable(viewer src/main_viewer.cpp ${SOURCE_FILES} ${HEADER_FILES}) | |
target_link_libraries(viewer ${QGLViewer_LIBRARIES} ${QT_LIBRARIES} ${QGLVIEWER_LIBRARY} GL glut GLU ${EXTRA_LIBS}) | |
rosbuild_link_boost(viewer thread) | |
rosbuild_add_executable(videoStitch src/main_stitchVideos.cpp) |
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