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remove catkin_make manchanism
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solomonhe committed Sep 20, 2017
1 parent c25b935 commit 5baec3e
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Showing 7 changed files with 201 additions and 55 deletions.
20 changes: 10 additions & 10 deletions camera_model/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,10 @@ set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC")

find_package(catkin REQUIRED COMPONENTS
#find_package(catkin REQUIRED COMPONENTS
# roscpp
# std_msgs
)
# )

find_package(Boost REQUIRED COMPONENTS filesystem program_options system)
include_directories(${Boost_INCLUDE_DIRS})
Expand All @@ -20,16 +20,16 @@ find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})


catkin_package(
INCLUDE_DIRS include
LIBRARIES camera_model
#catkin_package(
# INCLUDE_DIRS include
# LIBRARIES camera_model
# CATKIN_DEPENDS roscpp std_msgs
# DEPENDS system_lib
)
# )

include_directories(
${catkin_INCLUDE_DIRS}
)
#include_directories(
# ${catkin_INCLUDE_DIRS}
# )

include_directories("include")

Expand All @@ -49,7 +49,7 @@ include_directories("include")
# src/gpl/gpl.cc
# src/gpl/EigenQuaternionParameterization.cc)

add_library(camera_model
add_library(camera_model STATIC
src/chessboard/Chessboard.cc
src/calib/CameraCalibration.cc
src/camera_models/Camera.cc
Expand Down
67 changes: 67 additions & 0 deletions camera_model/CMakeLists.txt.back
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Original file line number Diff line number Diff line change
@@ -0,0 +1,67 @@
cmake_minimum_required(VERSION 2.8.3)
project(camera_model)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC")

find_package(catkin REQUIRED COMPONENTS
# roscpp
# std_msgs
)

find_package(Boost REQUIRED COMPONENTS filesystem program_options system)
include_directories(${Boost_INCLUDE_DIRS})

find_package(OpenCV REQUIRED)

# set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3")
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})


catkin_package(
INCLUDE_DIRS include
LIBRARIES camera_model
# CATKIN_DEPENDS roscpp std_msgs
# DEPENDS system_lib
)

include_directories(
${catkin_INCLUDE_DIRS}
)

include_directories("include")


# add_executable(Calibration
# src/intrinsic_calib.cc
# src/chessboard/Chessboard.cc
# src/calib/CameraCalibration.cc
# src/camera_models/Camera.cc
# src/camera_models/CameraFactory.cc
# src/camera_models/CostFunctionFactory.cc
# src/camera_models/PinholeCamera.cc
# src/camera_models/CataCamera.cc
# src/camera_models/EquidistantCamera.cc
# src/camera_models/ScaramuzzaCamera.cc
# src/sparse_graph/Transform.cc
# src/gpl/gpl.cc
# src/gpl/EigenQuaternionParameterization.cc)

add_library(camera_model
src/chessboard/Chessboard.cc
src/calib/CameraCalibration.cc
src/camera_models/Camera.cc
src/camera_models/CameraFactory.cc
src/camera_models/CostFunctionFactory.cc
src/camera_models/PinholeCamera.cc
src/camera_models/CataCamera.cc
src/camera_models/EquidistantCamera.cc
src/camera_models/ScaramuzzaCamera.cc
src/sparse_graph/Transform.cc
src/gpl/gpl.cc
src/gpl/EigenQuaternionParameterization.cc)

# target_link_libraries(Calibration ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
target_link_libraries(camera_model ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
82 changes: 82 additions & 0 deletions camera_model/CMakeLists.txt.new
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Original file line number Diff line number Diff line change
@@ -0,0 +1,82 @@
cmake_minimum_required(VERSION 2.8.3)
project(camera_model)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC")
set(Boost_INCLUDE_DIRS "/usr/include/")
set(CERES_INCLUDE_DIRS "/usr/local/include/")
set(EIGEN_INCLUDE_DIRS "/usr/include/eigen3/")

find_package(catkin REQUIRED COMPONENTS
# roscpp
# std_msgs
)

#find_package(Boost REQUIRED COMPONENTS filesystem program_options system)
include_directories(${Boost_INCLUDE_DIRS})

#find_package(OpenCV REQUIRED)

# set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3")
#find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})
include_directories(${EIGEN_INCLUDE_DIRS})
include_directories("/home/solomon/merge_vins_version/src/camera_model/include")

LINK_DIRECTORIES("/usr/lib/x86_64-linux-gnu/")
LINK_DIRECTORIES("/usr/local/lib/")


catkin_package(
INCLUDE_DIRS include
LIBRARIES camera_model
# CATKIN_DEPENDS roscpp std_msgs
DEPENDS system_lib
)

include_directories(
${catkin_INCLUDE_DIRS}
)

message ( ${Boost_INCLUDE_DIRS} " " ${OpenCV_INCLUDE_DIRS} " " ${CERES_INCLUDE_DIRS})
include_directories("include")


# add_executable(Calibration
# src/intrinsic_calib.cc
# src/chessboard/Chessboard.cc
# src/calib/CameraCalibration.cc
# src/camera_models/Camera.cc
# src/camera_models/CameraFactory.cc
# src/camera_models/CostFunctionFactory.cc
# src/camera_models/PinholeCamera.cc
# src/camera_models/CataCamera.cc
# src/camera_models/EquidistantCamera.cc
# src/camera_models/ScaramuzzaCamera.cc
# src/sparse_graph/Transform.cc
# src/gpl/gpl.cc
# src/gpl/EigenQuaternionParameterization.cc)

add_library(camera_model
src/chessboard/Chessboard.cc
src/calib/CameraCalibration.cc
src/camera_models/Camera.cc
src/camera_models/CameraFactory.cc
src/camera_models/CostFunctionFactory.cc
src/camera_models/PinholeCamera.cc
src/camera_models/CataCamera.cc
src/camera_models/EquidistantCamera.cc
src/camera_models/ScaramuzzaCamera.cc
src/sparse_graph/Transform.cc
src/gpl/gpl.cc
src/gpl/EigenQuaternionParameterization.cc)

# target_link_libraries(Calibration ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
message (${catkin_LIBRARIES} ${OpenCV_LIBRARIES} " " ${CERES_LIBRARIES})
target_link_libraries(camera_model
boost_filesystem boost_program_options boost_system
opencv_calib3d opencv_core opencv_features2d opencv_flann opencv_highgui opencv_imgcodecs opencv_imgproc opencv_ml opencv_objdetect opencv_photo opencv_shape opencv_stitching opencv_superres opencv_video opencv_videoio opencv_videostab
ceres
)
#target_link_libraries(camera_model ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
54 changes: 21 additions & 33 deletions config/euroc/vins_result.csv
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Original file line number Diff line number Diff line change
@@ -1,33 +1,21 @@
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13 changes: 13 additions & 0 deletions generate.sh
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Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
#/bin/bash
cd camera_model
mkdir -p build
cd build
cmake ..
make

cd ../../vins_estimator
mkdir -p build
cd build
cmake ..
make

14 changes: 5 additions & 9 deletions vins_estimator/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,26 +6,22 @@ set(CMAKE_CXX_FLAGS "-std=c++11")
#-DEIGEN_USE_MKL_ALL")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

find_package(catkin REQUIRED COMPONENTS
camera_model
# cv_bridge

)
include_directories(${CMAKE_SOURCE_DIR}/../camera_model/include)
add_library( lib_camera_model STATIC IMPORTED )
set_target_properties(lib_camera_model PROPERTIES IMPORTED_LOCATION ${CMAKE_SOURCE_DIR}/../camera_model/build/libcamera_model.a)

find_package(OpenCV REQUIRED)

find_package(Ceres REQUIRED)

include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS})
include_directories(${CERES_INCLUDE_DIRS})

set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(Eigen3 REQUIRED)
include_directories(
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)

catkin_package()

add_executable(vins_estimator
src/estimator_node.cpp
Expand Down Expand Up @@ -59,6 +55,6 @@ add_executable(vins_estimator
)


target_link_libraries(vins_estimator ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
target_link_libraries(vins_estimator lib_camera_model ${OpenCV_LIBS} ${CERES_LIBRARIES})


6 changes: 3 additions & 3 deletions vins_estimator/src/utility/visualization.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,8 @@
#include <eigen3/Eigen/Dense>
#include "../estimator.h"
#include "../parameters.h"
#include "../../include/Vector3.h"
#include "../../include/Quaternion.h"
#include "../../../include/Vector3.h"
#include "../../../include/Quaternion.h"
#include <fstream>


Expand Down Expand Up @@ -70,4 +70,4 @@ void updateLoopPath(nav_msgs::Path _loop_path);

void pubTF(const Estimator &estimator, const std_msgs::Header &header, Eigen::Vector3d loop_correct_t,
Eigen::Matrix3d loop_correct_r);
#endif
#endif

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