CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)

project(orb_slam2_wrapper)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
        roscpp
        tf
        cv_bridge
        std_msgs
        sensor_msgs
        geometry_msgs
        image_transport
        nodelet
        pluginlib
        std_srvs
        rosbag
        nav_msgs
        )

find_package(Boost REQUIRED COMPONENTS system)
find_package(Pangolin REQUIRED)
find_package(Eigen3 REQUIRED)

catkin_package(
        INCLUDE_DIRS include
        LIBRARIES orb_slam2_wrapper
        CATKIN_DEPENDS roscpp tf tf2 tf2_geometry_msgs tf2_ros cv_bridge std_msgs sensor_msgs geometry_msgs image_transport nodelet pluginlib
        DEPENDS Boost
)

set(ORB_SLAM2_DIR /lab/3rdparty/ORB_SLAM2/)
set(ORB_SLAM2_LIBS
        ${OpenCV_LIBS}
        ${EIGEN3_LIBS}
        ${Pangolin_LIBRARIES}
        ${Boost_LIBRARIES}
        ${ORB_SLAM2_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
        ${ORB_SLAM2_DIR}/Thirdparty/g2o/lib/libg2o.so
        ${ORB_SLAM2_DIR}/lib/libORB_SLAM2.so
        -lboost_system
        )
#set(EIGEN_INCLUDE_DIRS "/lab/3rdparty/eigen")

include_directories(
        include
        ${catkin_INCLUDE_DIRS}
        ${ORB_SLAM2_DIR}
        ${ORB_SLAM2_DIR}/include
        ${Pangolin_INCLUDE_DIRS}
        ${Boost_INCLUDE_DIRS}
#        /lab/3rdparty/eigen
)

add_library(${PROJECT_NAME} src/orb_slam2_mono.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${ORB_SLAM2_LIBS})

add_library(orb_slam2_mono_nodelet src/orb_slam2_mono_nodelet.cpp)
target_link_libraries(orb_slam2_mono_nodelet ${PROJECT_NAME})

add_executable(orb_slam2_mono_node src/orb_slam2_mono_node.cpp)
target_link_libraries(orb_slam2_mono_node ${PROJECT_NAME})