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Initial import of mcptam source into trunk.
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mtribou
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Apr 2, 2014
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,108 @@ | ||
| cmake_minimum_required(VERSION 2.8.3) | ||
| project(mcptam) | ||
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| set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/${PROJECT_NAME}/cmake_modules") | ||
| set(CMAKE_BUILD_TYPE RelWithDebInfo) | ||
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| # Find various packages in order to set up environment variables | ||
| find_package(catkin REQUIRED COMPONENTS roscpp image_transport sensor_msgs cv_bridge geometry_msgs tf message_filters std_msgs | ||
| std_srvs visualization_msgs dynamic_reconfigure pcl_ros message_generation) | ||
| find_package(Boost REQUIRED COMPONENTS system thread) | ||
| find_package(SUITESPARSE REQUIRED) | ||
| find_package(CVD REQUIRED) | ||
| find_package(OpenGL REQUIRED) | ||
| find_package(GLUT REQUIRED) | ||
| find_package(G2O REQUIRED) | ||
| find_package(GVars3 REQUIRED) | ||
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| include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${SUITESPARSE_INCLUDE_DIRS} ${CVD_INCLUDE_DIR} | ||
| ${GVars3_INCLUDE_DIR}) | ||
| link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${SUITESPARSE_LIBRARY_DIRS}) | ||
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| add_message_files( | ||
| DIRECTORY msg | ||
| FILES MapInfo.msg NetworkMapPoint.msg NetworkMeasurement.msg NetworkKeyFrame.msg NetworkMultiKeyFrame.msg | ||
| SystemInfo.msg TrackerTiming.msg TrackerState.msg | ||
| ) | ||
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| add_service_files( | ||
| DIRECTORY srv | ||
| FILES ModifyMap.srv Reset.srv | ||
| ) | ||
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| generate_messages(DEPENDENCIES std_msgs sensor_msgs) | ||
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| catkin_package( | ||
| INCLUDE_DIRS include | ||
| LIBRARIES ${PROJECT_NAME} | ||
| CATKIN_DEPENDS roscpp image_transport sensor_msgs cv_bridge geometry_msgs tf message_filters std_msgs std_srvs | ||
| visualization_msgs dynamic_reconfigure pcl_ros message_runtime | ||
| DEPENDS SuiteSparse CVD OpenGL GVars3) | ||
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| set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++0x -march=core2 -msse3 -O3") | ||
| #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++0x -march=core2 -msse3 -O1 -g") | ||
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| add_executable(mcptam src/Main.cc src/GLWindow2.cc src/GLWindowMenu.cc src/VideoSourceMulti.cc src/CameraGroupSubscriber.cc | ||
| src/SystemBase.cc src/System.cc src/TaylorCamera.cc src/KeyFrame.cc src/MapPoint.cc src/Map.cc | ||
| src/SmallBlurryImage.cc src/ShiTomasi.cc src/MapMaker.cc src/MapMakerBase.cc src/MapMakerClientBase.cc src/MapMakerServerBase.cc | ||
| src/PatchFinder.cc src/Relocaliser.cc src/Tracker.cc src/KeyFrameViewer.cc | ||
| src/BundleAdjusterBase.cc src/MiniPatch.cc src/BundleAdjusterMulti.cc src/ChainBundle.cc) | ||
| add_dependencies(mcptam ${PROJECT_NAME}_gencpp) | ||
| target_link_libraries(mcptam ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${SUITESPARSE_LIBRARIES} ${CVD_LIBRARY} ${OPENGL_gl_LIBRARY} ${GVars3_LIBRARIES} | ||
| ${G2O_STUFF_LIBRARY} ${G2O_CORE_LIBRARY} ${G2O_SOLVER_CHOLMOD} ) | ||
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| add_executable(mcptam_client src/MainClient.cc src/GLWindow2.cc src/GLWindowMenu.cc src/VideoSourceMulti.cc src/CameraGroupSubscriber.cc | ||
| src/SystemBase.cc src/SystemClient.cc src/TaylorCamera.cc src/KeyFrame.cc src/MapPoint.cc src/Map.cc | ||
| src/SmallBlurryImage.cc src/ShiTomasi.cc src/MapMakerClient.cc src/MapMakerBase.cc src/MapMakerClientBase.cc | ||
| src/NetworkManager.cc src/NetworkDictionary.cc src/PatchFinder.cc src/Relocaliser.cc src/MiniPatch.cc | ||
| src/Tracker.cc src/KeyFrameViewer.cc) | ||
| add_dependencies(mcptam_client ${PROJECT_NAME}_gencpp) | ||
| target_link_libraries(mcptam_client ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${SUITESPARSE_LIBRARIES} ${CVD_LIBRARY} ${OPENGL_gl_LIBRARY} ${GVars3_LIBRARIES}) | ||
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| add_executable(mcptam_server src/MainServer.cc src/GLWindow2.cc src/GLWindowMenu.cc src/VideoSourceMulti.cc src/CameraGroupSubscriber.cc | ||
| src/SystemBase.cc src/SystemServer.cc src/TaylorCamera.cc src/KeyFrame.cc src/MapPoint.cc src/Map.cc | ||
| src/SmallBlurryImage.cc src/ShiTomasi.cc src/MapMakerServer.cc src/MapMakerBase.cc src/MapMakerServerBase.cc | ||
| src/NetworkManager.cc src/NetworkDictionary.cc src/PatchFinder.cc src/KeyFrameViewer.cc src/MiniPatch.cc | ||
| src/BundleAdjusterBase.cc src/BundleAdjusterMulti.cc src/ChainBundle.cc) | ||
| add_dependencies(mcptam_server ${PROJECT_NAME}_gencpp) | ||
| target_link_libraries(mcptam_server ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${SUITESPARSE_LIBRARIES} ${CVD_LIBRARY} ${OPENGL_gl_LIBRARY} ${GVars3_LIBRARIES} | ||
| ${G2O_STUFF_LIBRARY} ${G2O_CORE_LIBRARY} ${G2O_SOLVER_CHOLMOD} ) | ||
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| add_executable(camera_calibrator src/MainCameraCalibrator.cc src/GLWindow2.cc src/GLWindowMenu.cc src/VideoSourceSingle.cc | ||
| src/CameraCalibrator.cc src/CalibImageTaylor.cc src/CalibCornerPatch.cc src/TaylorCamera.cc src/CalibGridCorner.cc) | ||
| add_dependencies(camera_calibrator ${PROJECT_NAME}_gencpp) | ||
| target_link_libraries(camera_calibrator ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${SUITESPARSE_LIBRARIES} ${CVD_LIBRARY} ${OPENGL_gl_LIBRARY} ${GVars3_LIBRARIES}) | ||
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| add_executable(pose_calibrator src/MainPoseCalibrator.cc src/GLWindow2.cc src/GLWindowMenu.cc src/VideoSourceMulti.cc src/CameraGroupSubscriber.cc | ||
| src/SystemBase.cc src/PoseCalibrator.cc src/CalibImageTaylor.cc src/CalibCornerPatch.cc src/CalibGridCorner.cc | ||
| src/TrackerCalib.cc src/MapMakerCalib.cc src/MapMaker.cc src/MapMakerBase.cc src/MapMakerClientBase.cc src/MapMakerServerBase.cc | ||
| src/TaylorCamera.cc src/KeyFrame.cc src/MapPoint.cc src/Map.cc src/SmallBlurryImage.cc src/ShiTomasi.cc | ||
| src/PatchFinder.cc src/Relocaliser.cc src/Tracker.cc src/KeyFrameViewer.cc | ||
| src/BundleAdjusterBase.cc src/BundleAdjusterSingle.cc src/BundleAdjusterCalib.cc src/ChainBundle.cc src/MiniPatch.cc) | ||
| add_dependencies(pose_calibrator ${PROJECT_NAME}_gencpp) | ||
| target_link_libraries(pose_calibrator ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${SUITESPARSE_LIBRARIES} ${CVD_LIBRARY} ${OPENGL_gl_LIBRARY} ${GVars3_LIBRARIES} | ||
| ${G2O_STUFF_LIBRARY} ${G2O_CORE_LIBRARY} ${G2O_SOLVER_CHOLMOD}) | ||
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| # Start of test and/or experimental programs | ||
| #~ add_executable(bundle_test_file_2 experimental/tests/BundleTestFile2.cc src/TaylorCamera.cc src/Map.cc src/KeyFrame.cc src/MapPoint.cc | ||
| #~ src/SmallBlurryImage.cc src/ShiTomasi.cc src/BundleAdjusterBase.cc src/MiniPatch.cc | ||
| #~ src/ChainBundle.cc src/BundleAdjusterSingle.cc) | ||
| #~ add_dependencies(bundle_test_file_2 ${PROJECT_NAME}_gencpp) | ||
| #~ target_link_libraries(bundle_test_file_2 ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${SUITESPARSE_LIBRARIES} ${CVD_LIBRARY} ${OPENGL_gl_LIBRARY} ${GVars3_LIBRARIES} | ||
| #~ ${G2O_STUFF_LIBRARY} ${G2O_CORE_LIBRARY} ${G2O_SOLVER_CHOLMOD}) | ||
| #~ | ||
| install(TARGETS mcptam mcptam_client mcptam_server camera_calibrator pose_calibrator | ||
| ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| ) | ||
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| install(DIRECTORY launch/ | ||
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch | ||
| PATTERN ".svn" EXCLUDE | ||
| ) | ||
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| install(DIRECTORY masks/ | ||
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/masks | ||
| PATTERN ".svn" EXCLUDE | ||
| ) |
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