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- cmake_minimum_required(VERSION 3.0.2)
- project(open_karto)
- find_package(catkin REQUIRED
- COMPONENTS
- sparse_bundle_adjustment
- )
- find_package(Eigen3 REQUIRED)
- find_package(Boost REQUIRED COMPONENTS thread)
- catkin_package(
- CATKIN_DEPENDS
- sparse_bundle_adjustment
- DEPENDS Boost
- INCLUDE_DIRS
- include
- LIBRARIES
- karto
- )
- if(BUILD_SHARED_LIBS)
- add_definitions(-DKARTO_DYNAMIC)
- endif()
- include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
- add_library(karto SHARED src/Karto.cpp src/Mapper.cpp)
- target_link_libraries(karto ${Boost_LIBRARIES})
- install(DIRECTORY include/ DESTINATION include)
- install(TARGETS karto
- LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
- )
- include(samples/CMakeLists.txt)
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