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izhengfan · Mar 4, 2019 · 2a2ccc0 · 2a2ccc0
commit 2a2ccc0
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diff --git a/.gitignore b/.gitignore
@@ -0,0  1,13 @@
 catkin_generated/*
 CMakeFiles/*
 cmake_install.cmake
 CTestTestfile.cmake
 Makefile
 odoslam.cbp
 CMakeLists.txt.user
 Makefile
 Thirdparty/DBoW2/build/
 Thirdparty/DBoW2/lib/*
 *.bag
 **/*voc.bin
 log
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0  1,159 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(se2clam)
 
 add_subdirectory(Thirdparty/DBoW2)
 
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMakeModules/)
 
 
 # c   11 support for g2o, multi-thread and shared_ptr
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c  0x -Wall")
 
 find_package(Eigen REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(CSparse REQUIRED)
 find_package(Cholmod REQUIRED)
 find_package(G2O REQUIRED)
 
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   nav_msgs
   roscpp
   rospy
   tf
   roslib
   cv_bridge
   cmake_modules
   image_transport
   message_generation
 )
 #add_message_files(
 #  FILES
 #  SyncOdoImg.msg
 #)
 
 #generate_messages(
 #  DEPENDENCIES
 #  std_msgs
 #  sensor_msgs
 #  geometry_msgs
 #)
 
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES se2clam
 #   CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy tf
 #  DEPENDS Eigen OpenCV Boost
 
 #   CATKIN_DEPENDS message_runtime
 )
 
 
 include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 list(APPEND LINK_LIBS
   ${catkin_LIBRARIES}
 )
 # if do not use ros
 #find_package(Pangolin REQUIRED)
 #include_directories(
 #  ${Pangolin_INCLUDE_DIRS}
 #)
 #list(APPEND LINK_LIBS
 #  ${Pangolin_LIBRARIES}
 #)
 
 include_directories(
   include/se2clam/
   ${CMAKE_CURRENT_SOURCE_DIR}
   ${EIGEN_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
   ${CSPARSE_INCLUDE_DIR}
   ${Cholmod_INCLUDE_DIR}
   ${G2O_INCLUDE_DIR}
 )
 
 list(APPEND LINK_LIBS
   ${OpenCV_LIBS}
 )
 
 list(APPEND G2O_LIBS
   cxsparse
   cholmod
   g2o_cli
   g2o_solver_slam2d_linear g2o_types_icp g2o_types_slam2d
   g2o_core g2o_interface g2o_solver_csparse g2o_solver_structure_only
   g2o_types_sba g2o_types_slam3d g2o_csparse_extension
   g2o_solver_dense g2o_stuff
   g2o_types_sclam2d g2o_parser g2o_solver_pcg
   g2o_types_data g2o_types_sim3
 )
 
 ## Build a lib
 FILE(GLOB_RECURSE IncFiles "include/se2clam/*.h")
 aux_source_directory(src/. DIR_SRCS)
 add_library(se2clam ${DIR_SRCS} ${IncFiles})
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(se2clam
 ${LINK_LIBS}
 ${G2O_LIBS}
 DBoW2se2clam
 )
 
 ## Build an exe
 add_executable(test_vn test/test_vn.cpp)
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(test_vn
 se2clam
 ${LINK_LIBS}
 ${G2O_LIBS}
 #${CMAKE_CURRENT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
 )
 
 
 add_executable(datapub test/datapub.cpp)
 target_link_libraries(datapub
 se2clam
 ${LINK_LIBS}
 )
 
 add_executable(imgview test/imgview.cpp)
 target_link_libraries(imgview
 se2clam
 ${LINK_LIBS}
 )
 
 #add_executable(simpletest test/simpletest.cpp)
 #target_link_libraries(simpletest
 #se2clam
 #${LINK_LIBS}
 #)
 
 ## Build a publisher for vn dataset
 #add_executable(publish_vn test/publish_vn.cpp)
 #target_link_libraries(publish_vn
 #${LINK_LIBS}
 #se2clam
 #)
 
 
 ## Build a subscriber for vn dataset
 #add_executable(subscribe_vn test/subscribe_vn.cpp)
 #target_link_libraries(subscribe_vn
 #${LINK_LIBS}
 #se2clam
 #)
 
 # Build a subscriber test for vn dataset
 add_executable(test_ros test/test_ros.cpp)
 target_link_libraries(test_ros
 se2clam
 ${LINK_LIBS}
 )