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- cmake_minimum_required(VERSION 3.1)
- project(sparse_bundle_adjustment)
- if(NOT CMAKE_CXX_STANDARD)
- set(CMAKE_CXX_STANDARD 11)
- endif()
- find_package(catkin REQUIRED COMPONENTS roscpp)
- find_package(Eigen3 REQUIRED)
- find_package(suitesparse QUIET)
- if(NOT SuiteSparse_FOUND)
- set(SuiteSparse_LIBRARIES blas lapack cholmod cxsparse)
- endif()
- include_directories(${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${SuiteSparse_INCLUDE_DIRS})
- add_definitions(${EIGEN3_DEFINITIONS})
- INCLUDE_DIRECTORIES(include)
- catkin_package(
- INCLUDE_DIRS include
- LIBRARIES sba
- )
- add_definitions(-DSBA_CHOLMOD)
- # SBA library
- add_library(sba src/sba.cpp src/spa.cpp src/spa2d.cpp src/csparse.cpp src/proj.cpp src/node.cpp src/sba_file_io.cpp)
- #rosbuild_add_compile_flags(sba ${SSE_FLAGS})
- target_link_libraries(sba ${SuiteSparse_LIBRARIES})
- install(DIRECTORY include/sparse_bundle_adjustment/
- DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
- install(TARGETS sba
- LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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