CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(viso2_slam)

find_package(catkin REQUIRED COMPONENTS 
  roscpp
  sensor_msgs 
  nav_msgs 
  message_filters 
  image_transport 
  cv_bridge 
  image_geometry 
  tf 
  pcl_ros
  pcl_conversions
  std_srvs
  message_generation
)

find_package(OpenCV REQUIRED QUIET)
find_package(PCL REQUIRED QUIET)
find_package(Boost REQUIRED QUIET COMPONENTS signals thread)
find_package(Ceres REQUIRED QUIET)

add_message_files(
  DIRECTORY msg 
    FILES VisoInfo.msg BoolStamped.msg)

generate_messages(
  DEPENDENCIES std_msgs
)

catkin_package(
  INCLUDE_DIRS include
)

SET(CMAKE_CXX_FLAGS "-std=c++11 -msse3 -O2 -g -Wall -DNDEBUG ${CMAKE_CXX_FLAGS}")

include_directories(
  include
  ${OpenCV_INCLUDE_DIRS} 
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${CERES_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
)

add_library(viso2
  include/filter.cpp
  include/matcher.cpp
  include/matrix.cpp
  include/reconstruction.cpp
  include/triangle.cpp
  include/viso.cpp
  include/viso_mono.cpp
  include/viso_stereo.cpp
)

# add_library(kalman
#   src/kalman.cpp
# )
  
add_executable(stereo_slam src/stereo_slam.cpp)
add_executable(pose_optimizer_loosely_coupled src/pose_optimizer_loosely_coupled.cpp)
add_executable(pose_optimizer_tightly_coupled src/pose_optimizer_tightly_coupled.cpp)
add_executable(mapper src/mapper.cpp)

add_dependencies(stereo_slam ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp)
add_dependencies(pose_optimizer_loosely_coupled ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp)
add_dependencies(pose_optimizer_tightly_coupled ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp)
add_dependencies(mapper ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp)

target_link_libraries(stereo_slam viso2 ${OpenCV_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
target_link_libraries(pose_optimizer_loosely_coupled ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${CERES_LIBRARIES} glog ${GFLAGS_LIBRARIES})
target_link_libraries(pose_optimizer_tightly_coupled ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${CERES_LIBRARIES} glog ${GFLAGS_LIBRARIES})
target_link_libraries(mapper ${catkin_LIBRARIES} ${PCL_LIBRARIES})