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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(vins_so)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
#-DEIGEN_USE_MKL_ALL")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -fPIC")
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
geometry_msgs
nav_msgs
tf
cv_bridge
camera_model
code_utils
)
find_package(OpenCV REQUIRED)
find_package(Ceres REQUIRED)
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(Eigen3 REQUIRED)
include_directories(
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES vins
)
include_directories("include")
set(slideWindow_LIB_SOURCE_FILES
${PROJECT_SOURCE_DIR}/src/estimator/slideWindow/slidewindowbase.cpp
${PROJECT_SOURCE_DIR}/src/estimator/slideWindow/slidewindowimu.cpp
${PROJECT_SOURCE_DIR}/src/estimator/slideWindow/slidewindowpose.cpp
${PROJECT_SOURCE_DIR}/src/estimator/slideWindow/slidewindowposevel.cpp
)
set(factor_LIB_SOURCE_FILES
${PROJECT_SOURCE_DIR}/src/estimator/factor/pose_local_parameterization.cpp
${PROJECT_SOURCE_DIR}/src/estimator/factor/stereoprojectionfactor.cpp
${PROJECT_SOURCE_DIR}/src/estimator/factor/ProjectionFactorSingleCam.cpp
${PROJECT_SOURCE_DIR}/src/estimator/factor/ProjectionFactorMultiCam.cpp
${PROJECT_SOURCE_DIR}/src/estimator/factor/marginalization_factor.cpp
)
set(feature_manager_LIB_SOURCE_FILES
${PROJECT_SOURCE_DIR}/src/estimator/feature_manager/feature_manager.cpp
)
set(initial_LIB_SOURCE_FILES
# initial lib
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/InitialSys/initialsys.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/InitialBase/initialgen.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/InitialBase/initialbase.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/InitialMono/initialmonovio.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/InitialMono/solve_5pts.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/InitialMono/initial_sfm.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/InitialStereoVio/initialstereovio.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/InitialStereoPnP/initialstereoviopnp.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/InitialEx/exParam.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/InitialEx/InitialEx.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/InitialEx/InitialExRotationCamImu.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/InitialEx/InitialExRotationCamCam.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/VisualImuAlignment/VisualImuAlignmentVel.cpp
${PROJECT_SOURCE_DIR}/src/estimator/initial_lib/VisualImuAlignment/VisualImuAlignmentVelScale.cpp
)
set(loop_closure_LIB_SOURCE_FILES
${PROJECT_SOURCE_DIR}/src/loop-closure/ThirdParty/DBoW/BowVector.cpp
${PROJECT_SOURCE_DIR}/src/loop-closure/ThirdParty/DBoW/FBrief.cpp
${PROJECT_SOURCE_DIR}/src/loop-closure/ThirdParty/DBoW/FeatureVector.cpp
${PROJECT_SOURCE_DIR}/src/loop-closure/ThirdParty/DBoW/QueryResults.cpp
${PROJECT_SOURCE_DIR}/src/loop-closure/ThirdParty/DBoW/ScoringObject.cpp
${PROJECT_SOURCE_DIR}/src/loop-closure/ThirdParty/DUtils/Random.cpp
${PROJECT_SOURCE_DIR}/src/loop-closure/ThirdParty/DUtils/Timestamp.cpp
${PROJECT_SOURCE_DIR}/src/loop-closure/ThirdParty/DVision/BRIEF.cpp
${PROJECT_SOURCE_DIR}/src/loop-closure/ThirdParty/VocabularyBinary.cpp
${PROJECT_SOURCE_DIR}/src/loop-closure/loop_closure.cpp
${PROJECT_SOURCE_DIR}/src/loop-closure/keyframe.cpp
${PROJECT_SOURCE_DIR}/src/loop-closure/keyframe_database.cpp
)
#add_library(vins STATIC
# ${slideWindow_LIB_SOURCE_FILES}
# ${factor_LIB_SOURCE_FILES}
# ${feature_manager_LIB_SOURCE_FILES}
# ${initial_LIB_SOURCE_FILES}
# )
#target_link_libraries(vins ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
add_executable(vins_so
src/estimator_node.cpp
src/estimator/vins_parameters.cpp
src/estimator/estimator.cpp
src/utility/utility.cpp
src/utility/visualization.cpp
src/utility/CameraPoseVisualization.cpp
${slideWindow_LIB_SOURCE_FILES}
${factor_LIB_SOURCE_FILES}
${feature_manager_LIB_SOURCE_FILES}
${initial_LIB_SOURCE_FILES}
# ${loop_closure_LIB_SOURCE_FILES}
)
target_link_libraries(vins_so dw ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
add_executable(vins_test
src/test.cpp
)
target_link_libraries(vins_test dw ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})