ubuntu16.04 rosslam的CMakeLists.txt修改

最新推荐文章于 2023-07-15 00:23:44 发布

原创最新推荐文章于 2023-07-15 00:23:44 发布 · 1k 阅读

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CC 4.0 BY-SA版权

本文介绍了一个基于OpenCV和ROS的视觉SLAM系统——LSDSLAM的构建过程，涉及CMake配置、依赖库链接及源文件编译等内容。

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lsd_slam_viewer

cmake_minimum_required(VERSION 2.4.6)
set (OpenCV_DIR "/home/vision1/Downloads/opencv-2.4.8/build") #########

project(lsd_slam_viewer)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
############################################
find_package(OpenCV REQUIRED)  
message(STATUS "OpenCV library status:")  
message(STATUS "    version: ${OpenCV_VERSION}")  
message(STATUS "    libraries: ${OpenCV_LIBS}")  
message(STATUS "    include path: ${OpenCV_INCLUDE_DIRS}")  
if(CMAKE_VERSION VERSION_LESS "2.4.6")  
  # Add OpenCV headers location to your include paths  
  include_directories(${OpenCV_INCLUDE_DIRS})  
endif() 
###########################################
# 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)

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
   "${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(
  ${PROJECT_SOURCE_DIR}/thirdparty/Sophus
  #${Boost_INCLUDE_DIRS}/usr/lib/x86_64-linux-gnu/libpthread.so
)  
rosbuild_add_executable(viewer src/main_viewer.cpp ${SOURCE_FILES} ${HEADER_FILES})
#LIBS =-lpthread 
#LIBS +=-lboost_system
#link_libraries("/usr/lib/x86_64-linux-gnu/libboost_system.so" "/usr/lib/x86_64-linux-gnu/libpthread.so")
target_link_libraries(viewer ${QGLViewer_LIBRARIES} ${QT_LIBRARIES} ${QGLVIEWER_LIBRARY} boost_system GL glut GLU)

rosbuild_link_boost(viewer thread)

rosbuild_add_executable(videoStitch src/main_stitchVideos.cpp)
target_link_libraries(videoStitch ${OpenCV_LIBS})
#link_libraries("/usr/lib/x86_64-linux-gnu/libboost_system.so" "/usr/lib/x86_64-linux-gnu/libpthread.so")

lsd_slam_core

cmake_minimum_required(VERSION 2.8.7)
set (OpenCV_DIR "/home/vision1/Downloads/opencv-2.4.8/build") #########

project(lsd_slam_core)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

############################################
find_package(OpenCV REQUIRED)  
message(STATUS "OpenCV library status:")  
message(STATUS "    version: ${OpenCV_VERSION}")  
message(STATUS "    libraries: ${OpenCV_LIBS}")  
message(STATUS "    include path: ${OpenCV_INCLUDE_DIRS}")  
if(CMAKE_VERSION VERSION_LESS "2.8.7")  
  # Add OpenCV headers location to your include paths  
  include_directories(${OpenCV_INCLUDE_DIRS})  
endif() 

# 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() 

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
set(CMAKE_MODULE_PATH   ${PROJECT_SOURCE_DIR}/cmake ${CMAKE_MODULE_PATH})

find_package(Eigen3 REQUIRED)
find_package(SuiteParse REQUIRED) # Apparently needed by g2o
find_package(X11 REQUIRED)

# FabMap
# uncomment this part to enable fabmap
#add_subdirectory(${PROJECT_SOURCE_DIR}/thirdparty/openFabMap)
#include_directories(${PROJECT_SOURCE_DIR}/thirdparty/openFabMap/include)
#add_definitions("-DHAVE_FABMAP")
#set(FABMAP_LIB openFABMAP )

# Dynamic Reconfigure Services
rosbuild_find_ros_package(dynamic_reconfigure)
include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
gencfg()

# SSE flags
rosbuild_check_for_sse()
add_definitions("-DUSE_ROS")
add_definitions("-DENABLE_SSE")

# Also add some useful compiler flag
set(CMAKE_CXX_FLAGS
   "${CMAKE_CXX_FLAGS} ${SSE_FLAGS} -march=native  -std=c++0x"
) 

# Set source files
set(lsd_SOURCE_FILES
  ${PROJECT_SOURCE_DIR}/src/DataStructures/Frame.cpp
  ${PROJECT_SOURCE_DIR}/src/DataStructures/FramePoseStruct.cpp
  ${PROJECT_SOURCE_DIR}/src/DataStructures/FrameMemory.cpp
  ${PROJECT_SOURCE_DIR}/src/SlamSystem.cpp
  ${PROJECT_SOURCE_DIR}/src/LiveSLAMWrapper.cpp
  ${PROJECT_SOURCE_DIR}/src/DepthEstimation/DepthMap.cpp
  ${PROJECT_SOURCE_DIR}/src/DepthEstimation/DepthMapPixelHypothesis.cpp
  ${PROJECT_SOURCE_DIR}/src/util/globalFuncs.cpp
  ${PROJECT_SOURCE_DIR}/src/util/SophusUtil.cpp
  ${PROJECT_SOURCE_DIR}/src/util/settings.cpp
  ${PROJECT_SOURCE_DIR}/src/util/Undistorter.cpp
  ${PROJECT_SOURCE_DIR}/src/Tracking/Sim3Tracker.cpp
  ${PROJECT_SOURCE_DIR}/src/Tracking/Relocalizer.cpp
  ${PROJECT_SOURCE_DIR}/src/Tracking/SE3Tracker.cpp
  ${PROJECT_SOURCE_DIR}/src/Tracking/TrackingReference.cpp
  ${PROJECT_SOURCE_DIR}/src/IOWrapper/Timestamp.cpp
  ${PROJECT_SOURCE_DIR}/src/GlobalMapping/FabMap.cpp
  ${PROJECT_SOURCE_DIR}/src/GlobalMapping/KeyFrameGraph.cpp
  ${PROJECT_SOURCE_DIR}/src/GlobalMapping/g2oTypeSim3Sophus.cpp
  ${PROJECT_SOURCE_DIR}/src/GlobalMapping/TrackableKeyFrameSearch.cpp
)
set(SOURCE_FILES
  ${lsd_SOURCE_FILES}
  ${PROJECT_SOURCE_DIR}/src/IOWrapper/ROS/ROSImageStreamThread.cpp
  ${PROJECT_SOURCE_DIR}/src/IOWrapper/ROS/ROSOutput3DWrapper.cpp
  ${PROJECT_SOURCE_DIR}/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp
)

include_directories(
  ${EIGEN3_INCLUDE_DIR}
  ${PROJECT_SOURCE_DIR}/src
  ${PROJECT_SOURCE_DIR}/thirdparty/Sophus
  ${CSPARSE_INCLUDE_DIR} #Has been set by SuiteParse
  ${CHOLMOD_INCLUDE_DIR} #Has been set by SuiteParse
  ${Boost_INCLUDE_DIRS}/usr/lib/x86_64-linux-gnu/libboost_system.so
)


# build shared library.
rosbuild_add_library(lsdslam SHARED ${SOURCE_FILES})
target_link_libraries(lsdslam ${FABMAP_LIB} g2o_core g2o_stuff csparse cxsparse g2o_solver_csparse g2o_csparse_extension g2o_types_sim3 g2o_types_sba X11 boost_system)
rosbuild_link_boost(lsdslam thread)


# build live ros node
rosbuild_add_executable(live_slam src/main_live_odometry.cpp)
target_link_libraries(live_slam lsdslam boost_system ${OpenCV_LIBS})


# build image node
rosbuild_add_executable(dataset_slam src/main_on_images.cpp)
target_link_libraries(dataset_slam lsdslam boost_system ${OpenCV_LIBS})

主要是opencv的link和boost_system的link