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CMakeLists.txt
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CMakeLists.txt
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#
# Author: Jakob Engel <[email protected]>
#
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# 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 RelWithDebInfo)
rosbuild_init()
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
# ------------------- add dynamic reconfigure api ------------------------------------
rosbuild_find_ros_package(dynamic_reconfigure)
include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
gencfg()
# --------------------------- stateestimation & PTAM --------------------------------
# set header ans source files
set(STATEESTIMATION_SOURCE_FILES
src/stateestimation/GLWindow2.cc
src/stateestimation/GLWindowMenu.cc
src/stateestimation/main_stateestimation.cpp
src/stateestimation/DroneKalmanFilter.cpp
src/stateestimation/Predictor.cpp
src/stateestimation/PTAMWrapper.cpp
src/stateestimation/MapView.cpp
src/stateestimation/EstimationNode.cpp
src/stateestimation/PTAM/ATANCamera.cc
src/stateestimation/PTAM/Bundle.cc
src/stateestimation/PTAM/HomographyInit.cc
src/stateestimation/PTAM/KeyFrame.cc
src/stateestimation/PTAM/Map.cc
src/stateestimation/PTAM/MapMaker.cc
src/stateestimation/PTAM/MapPoint.cc
src/stateestimation/PTAM/MiniPatch.cc
src/stateestimation/PTAM/PatchFinder.cc
src/stateestimation/PTAM/Relocaliser.cc
src/stateestimation/PTAM/ShiTomasi.cc
src/stateestimation/PTAM/SmallBlurryImage.cc
src/stateestimation/PTAM/Tracker.cc
)
set(STATEESTIMATION_HEADER_FILES
src/stateestimation/GLWindow2.h
src/stateestimation/GLWindowMenu.h
src/stateestimation/MouseKeyHandler.h
src/HelperFunctions.h
src/stateestimation/DroneKalmanFilter.h
src/stateestimation/Predictor.h
src/stateestimation/PTAMWrapper.h
src/stateestimation/MapView.h
src/stateestimation/EstimationNode.h
src/stateestimation/PTAM/ATANCamera.h
src/stateestimation/PTAM/Bundle.h
src/stateestimation/PTAM/customFixes.h
src/stateestimation/PTAM/HomographyInit.h
src/stateestimation/PTAM/KeyFrame.h
src/stateestimation/PTAM/LevelHelpers.h
src/stateestimation/PTAM/Map.h
src/stateestimation/PTAM/MapMaker.h
src/stateestimation/PTAM/MapPoint.h
src/stateestimation/PTAM/MEstimator.h
src/stateestimation/PTAM/MiniPatch.h
src/stateestimation/PTAM/OpenGL.h
src/stateestimation/PTAM/PatchFinder.h
src/stateestimation/PTAM/Relocaliser.h
src/stateestimation/PTAM/settingsCustom.h
src/stateestimation/PTAM/ShiTomasi.h
src/stateestimation/PTAM/SmallBlurryImage.h
src/stateestimation/PTAM/SmallMatrixOpts.h
src/stateestimation/PTAM/TrackerData.h
src/stateestimation/PTAM/Tracker.h
src/stateestimation/PTAM/VideoSource.h
)
# set required libs and headers
include_directories(
${PROJECT_SOURCE_DIR}/thirdparty/TooN/include
${PROJECT_SOURCE_DIR}/thirdparty/libcvd/include
${PROJECT_SOURCE_DIR}/thirdparty/gvars3/include
)
link_directories(
${PROJECT_SOURCE_DIR}/thirdparty/libcvd/lib
${PROJECT_SOURCE_DIR}/thirdparty/gvars3/lib
)
set(PTAM_LIBRARIES GL glut cvd GVars3 blas lapack)
add_definitions(-DKF_REPROJ)
# build!
rosbuild_add_executable(drone_stateestimation ${STATEESTIMATION_SOURCE_FILES} ${STATEESTIMATION_HEADER_FILES})
rosbuild_add_compile_flags(drone_stateestimation -D_LINUX -D_REENTRANT -Wall -O3 -march=nocona -msse3)
target_link_libraries(drone_stateestimation ${PTAM_LIBRARIES})
# ------------------------- autopilot & KI -----------------------------------------
# set header ans source files
set(AUTOPILOT_SOURCE_FILES
src/autopilot/main_autopilot.cpp
src/autopilot/ControlNode.cpp
src/autopilot/DroneController.cpp
src/autopilot/KI/KILand.cpp
src/autopilot/KI/KIAutoInit.cpp
src/autopilot/KI/KIFlyTo.cpp
)
set(AUTOPILOT_HEADER_FILES
src/autopilot/ControlNode.h
src/autopilot/DroneController.h
src/autopilot/KI/KILand.h
src/autopilot/KI/KIAutoInit.h
src/autopilot/KI/KIFlyTo.h
src/autopilot/KI/KIProcedure.h
)
# build!
rosbuild_add_executable(drone_autopilot ${AUTOPILOT_SOURCE_FILES} ${AUTOPILOT_HEADER_FILES})
# ---------------------------- GUI --------------------------------------------------
# set header ans source files
set(GUI_SOURCE_FILES
src/UINode/main_GUI.cpp
src/UINode/tum_ardrone_gui.cpp
src/UINode/RosThread.cpp
src/UINode/PingThread.cpp
)
set(GUI_HEADER_FILES
src/UINode/tum_ardrone_gui.h
src/UINode/RosThread.h
src/UINode/PingThread.h
)
# *.ui
set(GUI_UI_FILES
src/UINode/tum_ardrone_gui.ui
)
# *.qrc
set(GUI_RESOURCE_FILES
)
# do QT stuff
ADD_DEFINITIONS( -Wall )
find_package(Qt4 REQUIRED)
include(${QT_USE_FILE})
QT4_ADD_RESOURCES(GUI_RESOURCE_FILES_CPP ${GUI_RESOURCE_FILES})
QT4_WRAP_UI(GUI_UI_FILES_HPP ${GUI_UI_FILES})
QT4_WRAP_CPP(GUI_HEADER_FILES_HPP ${GUI_HEADER_FILES})
include_directories(${CMAKE_CURRENT_BINARY_DIR})
# build!
rosbuild_add_executable(drone_gui ${GUI_SOURCE_FILES} ${GUI_RESOURCE_FILES_CPP} ${GUI_UI_FILES_HPP} ${GUI_HEADER_FILES_HPP})
target_link_libraries(drone_gui ${QT_LIBRARIES} cvd)
# ---------------------------- Messages & Services --------------------------------------------------
#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
rosbuild_gensrv()