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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(robust_vins)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++14")
#set(CMAKE_CXX_FLAGS "-std=c++11 -O3 -Wall -g -march=native")
#-DEIGEN_USE_MKL_ALL")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
#set(CMAKE_CXX_FLAGS_RELEASE "-std=c++11 -O3 -Wall -g -march=native")
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
geometry_msgs
nav_msgs
tf
cv_bridge
camera_models
vins
image_transport
pcl_conversions
pcl_ros
rosbag)
#set(OpenCV_DIR "/usr/local/share/OpenCV")
find_package(OpenCV REQUIRED)
find_package(PCL REQUIRED)
message(WARNING "OpenCV_VERSION: ${OpenCV_VERSION}")
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})
#template sophus
#set(Sophus_DIR "/home/td/slam/install/sophus/share/sophus/cmake/")
find_package(Sophus REQUIRED)
# include_directories(/home/td/slam/install/sophus/include)
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(Eigen3)
include_directories(
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${PCL_INCLUDE_DIRS}
)
catkin_package(
CATKIN_DEPENDS roscpp
std_msgs
geometry_msgs
nav_msgs
tf
cv_bridge
camera_models
vins
pcl_conversions
pcl_ros
image_transport
rosbag
)