2019-04-14 21:07:42 +02:00
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cmake_minimum_required(VERSION 3.8)
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project(basalt)
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set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/" ${CMAKE_MODULE_PATH})
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set(EIGEN_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/basalt-headers/thirdparty/eigen")
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string(TOLOWER "${PROJECT_NAME}" PROJECT_NAME_LOWERCASE)
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find_program(DPKG_PROGRAM dpkg DOC "dpkg program of Debian-based systems")
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if(DPKG_PROGRAM)
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execute_process(
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COMMAND ${DPKG_PROGRAM} --print-architecture
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OUTPUT_VARIABLE CPACK_DEBIAN_PACKAGE_ARCHITECTURE
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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endif(DPKG_PROGRAM)
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find_program(LSB_RELEASE_PROGRAM lsb_release DOC "lsb_release program of Debian-based systems")
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if(LSB_RELEASE_PROGRAM)
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execute_process(COMMAND ${LSB_RELEASE_PROGRAM} -rs
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OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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if(${LSB_RELEASE_ID_SHORT} EQUAL "18.04")
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set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.65.1, libboost-date-time1.65.1, libboost-program-options1.65.1, libboost-regex1.65.1, libopencv-dev, libglew2.0, libjpeg8, libpng16-16")
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elseif(${LSB_RELEASE_ID_SHORT} EQUAL "16.04")
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set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.58.0, libboost-date-time1.58.0, libboost-program-options1.58.0, libboost-regex1.58.0, libopencv-dev, libglew1.13, libjpeg8, libpng12-0")
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endif(${LSB_RELEASE_ID_SHORT} EQUAL "18.04")
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endif(LSB_RELEASE_PROGRAM)
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string(TIMESTAMP PROJECT_VERSION_REVISION "%Y%m%d%H%M")
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SET(CPACK_GENERATOR "DEB")
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SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Vladyslav Usenko <vlad.usenko@tum.de>")
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SET(CPACK_PACKAGE_VERSION_MAJOR "0")
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SET(CPACK_PACKAGE_VERSION_MINOR "1")
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SET(CPACK_PACKAGE_VERSION_PATCH "0-${PROJECT_VERSION_REVISION}~${LSB_RELEASE_ID_SHORT}")
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SET(CPACK_DEBIAN_PACKAGE_DEPENDS ${DEBIAN_DEPENDS})
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SET(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME_LOWERCASE}_${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}_${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
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SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
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include(CPack)
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# Configure CCache if available
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find_program(CCACHE_PROGRAM ccache)
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if(CCACHE_PROGRAM)
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message(STATUS "Found ccache: ${CCACHE_PROGRAM}")
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set(CMAKE_C_COMPILER_LAUNCHER ${CCACHE_PROGRAM})
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set(CMAKE_CXX_COMPILER_LAUNCHER ${CCACHE_PROGRAM})
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endif(CCACHE_PROGRAM)
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IF( NOT CMAKE_BUILD_TYPE )
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SET( CMAKE_BUILD_TYPE Release)
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ENDIF()
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IF(NOT CXX_MARCH)
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SET(CXX_MARCH native)
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ENDIF()
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# Flags used for CHECK_CXX_SOURCE_COMPILES
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set(CMAKE_REQUIRED_FLAGS "-Wno-unused-variable -Wno-unused-value")
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IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
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SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
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SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}")
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SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}")
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SET(CMAKE_CXX_FLAGS "-Wall -Werror -Wextra -Wno-deprecated-register -Qunused-arguments -fcolor-diagnostics -fopenmp")
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ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "AppleClang")
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SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
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SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}")
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SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}")
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SET(CMAKE_CXX_FLAGS "-Wall -Wextra -Wno-deprecated-register -Wno-deprecated-declarations -Wno-sign-compare -Wno-exceptions -Wno-missing-field-initializers -Wno-unused-parameter -Wno-unused-private-field -Qunused-arguments -fcolor-diagnostics -nostdinc++")
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include_directories(/usr/local/opt/llvm/include/c++/v1)
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link_directories(/usr/local/opt/llvm/lib)
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SET(STD_CXX_FS c++fs)
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ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
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SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
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SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}")
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SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}")
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SET(CMAKE_CXX_FLAGS "-Wall -Werror -Wextra -std=c++11 -Wno-misleading-indentation -Wno-sign-compare -Wno-maybe-uninitialized -Wno-int-in-bool-context -Wno-implicit-fallthrough -Wno-unused-parameter -Wno-deprecated-declarations -ftemplate-backtrace-limit=0 -fopenmp")
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SET(STD_CXX_FS stdc++fs)
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ENDIF()
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set(EIGEN_INCLUDE_DIR_HINTS ${EIGEN_ROOT})
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find_package(Eigen3 3.3.7 REQUIRED)
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include_directories(${EIGEN3_INCLUDE_DIR})
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message(STATUS "Found Eigen headers in: ${EIGEN3_INCLUDE_DIR}")
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find_package(TBB REQUIRED)
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include_directories(${TBB_INCLUDE_DIR})
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find_package(OpenCV REQUIRED core imgproc calib3d)
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include_directories(${OpenCV_INCLUDE_DIR})
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message(STATUS "Found OpenCV headers in: ${OpenCV_INCLUDE_DIR}")
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message(STATUS "Found OpenCV_LIBS: ${OpenCV_LIBS}")
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add_subdirectory(thirdparty/ros)
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add_subdirectory(thirdparty/apriltag)
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add_subdirectory(thirdparty/DBoW3)
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set(BUILD_SHARED_LIBS OFF CACHE BOOL "Enable BUILD_SHARED_LIBS")
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set(BUILD_TESTS OFF CACHE BOOL "Enable BUILD_TESTS")
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set(BUILD_PANGOLIN_LIBOPENEXR OFF CACHE BOOL "Enable BUILD_PANGOLIN_LIBOPENEXR")
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set(BUILD_PANGOLIN_PYTHON OFF CACHE BOOL "Enable BUILD_PANGOLIN_PYTHON")
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set(BUILD_EXAMPLES OFF CACHE BOOL "Enable BUILD_EXAMPLES")
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add_subdirectory(thirdparty/opengv EXCLUDE_FROM_ALL)
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# Hack to disable CPack in Pangolin.
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macro(include)
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if(NOT ${ARGV0} STREQUAL "CPack")
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_include(${ARGN})
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endif()
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endmacro()
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add_subdirectory(thirdparty/Pangolin EXCLUDE_FROM_ALL)
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include_directories(thirdparty/basalt-headers/thirdparty/Sophus)
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include_directories(thirdparty/basalt-headers/thirdparty/cereal/include)
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include_directories(thirdparty/basalt-headers/include)
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include_directories(thirdparty/CLI11/include)
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include_directories(thirdparty/fast/include)
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include_directories(thirdparty/DBoW3/src/)
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include_directories(include)
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add_library(basalt SHARED
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src/io/dataset_io.cpp
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src/io/marg_data_io.cpp
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src/calibration/cam_calib.cpp
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src/calibration/cam_imu_calib.cpp
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src/calibration/calibraiton_helper.cpp
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src/calibration/vignette.cpp
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src/utils/vio_config.cpp
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src/optical_flow/optical_flow.cpp
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src/vi_estimator/keypoint_vio.cpp
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src/vi_estimator/keypoint_vio_linearize.cpp
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src/vi_estimator/vio_estimator.cpp
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src/vi_estimator/ba_base.cpp
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src/vi_estimator/nfr_mapper.cpp
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src/utils/keypoints.cpp)
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target_link_libraries(basalt rosbag pangolin apriltag ${OPENGV_LIBS} ${TBB_LIBRARIES} ${OpenCV_LIBS} opengv ${STD_CXX_FS} DBoW3)
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add_executable(basalt_calibrate src/calibrate.cpp)
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target_link_libraries(basalt_calibrate ${Pangolin_LIBRARIES} apriltag ${OPENGV_LIBS} ${TBB_LIBRARIES} ${rosbag_LIBRARIES} basalt)
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add_executable(basalt_calibrate_imu src/calibrate_imu.cpp)
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target_link_libraries(basalt_calibrate_imu ${Pangolin_LIBRARIES} apriltag ${OPENGV_LIBS} ${TBB_LIBRARIES} ${rosbag_LIBRARIES} basalt)
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add_executable(basalt_vio_sim src/vio_sim.cpp )
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target_link_libraries(basalt_vio_sim ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} ${TBB_LIBRARIES} basalt)
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add_executable(basalt_mapper_sim src/mapper_sim.cpp )
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target_link_libraries(basalt_mapper_sim ${Pangolin_LIBRARIES} opengv ${TBB_LIBRARIES} basalt)
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add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp)
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target_link_libraries(basalt_mapper_sim_naive ${Pangolin_LIBRARIES} opengv ${TBB_LIBRARIES} basalt)
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add_executable(basalt_mapper src/mapper.cpp)
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target_link_libraries(basalt_mapper ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} ${TBB_LIBRARIES} basalt)
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add_executable(basalt_opt_flow src/opt_flow.cpp)
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target_link_libraries(basalt_opt_flow ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} basalt)
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add_executable(basalt_vio src/vio.cpp)
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target_link_libraries(basalt_vio ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} basalt)
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install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper_sim_naive basalt_mapper basalt_opt_flow basalt_vio basalt
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EXPORT BasaltTargets
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RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
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LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
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ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
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)
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file(GLOB CONFIG_FILES "${CMAKE_CURRENT_SOURCE_DIR}/data/*.json")
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2019-04-15 14:17:27 +02:00
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INSTALL(FILES ${CONFIG_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/data/orbvoc.dbow3
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2019-04-14 21:07:42 +02:00
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DESTINATION ${CMAKE_INSTALL_PREFIX}/etc/basalt
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)
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# Replace install() to do-nothing macro.
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macro(install)
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endmacro()
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# Include subproject (or any other CMake code) with "disabled" install().
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add_subdirectory(thirdparty/basalt-headers/test)
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add_subdirectory(test)
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# Restore original install() behavior.
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macro(install)
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_install(${ARGN})
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endmacro()
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