Adding version 1.0

Author: Fabrizio Romanelli

CMakeLists.txt

@@ -0,0 +1,120 @@
+cmake_minimum_required(VERSION 3.5)
+
+# Set default build type.
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Default build type: Release" FORCE)
+endif()
+
+project(fuser)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wno-implicit-fallthrough -Wno-maybe-uninitialized)
+endif()
+
+if(NOT HOST_COMPILATION)
+  ADD_DEFINITIONS(-D__ANDROID__)
+endif()
+
+# Compilation options to set various features of the nodes.
+# Activate them when building with colcon using:
+# colcon build [...] --ament-cmake-args "-DOPTION=ON/OFF" "[...]" [...]
+# Quote each option separately!!!
+option(PX4 "Enable publishers of VIO data for PX4" OFF)
+option(SMT "Enable multithreaded processing" ON)
+option(DEBUG "Enable debug symbols and related compilation options" OFF)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(eigen3_cmake_module REQUIRED)
+find_package(Eigen3 3.1.0 REQUIRED)
+find_package(Pangolin REQUIRED)
+if(PX4)
+  find_package(px4_msgs REQUIRED)
+endif()
+
+find_package(OpenCV 4.5.1 QUIET)
+if(NOT OpenCV_FOUND)
+  message(FATAL_ERROR "OpenCV > 4.5.1 not found.")
+endif()
+find_package(realsense2 REQUIRED)
+
+if(NOT HOST_COMPILATION)
+  find_package(CUDA REQUIRED)
+  include_directories("${CUDA_INCLUDE_DIRS}"
+                      /usr/local/include/ORB_SLAM2
+                      ${PROJECT_SOURCE_DIR}/Drivers/RealSense
+                      ${PROJECT_SOURCE_DIR}/include
+                      ${EIGEN3_INCLUDE_DIR})
+else()
+  include_directories(/usr/local/include/ORB_SLAM2
+  ${PROJECT_SOURCE_DIR}/Drivers/RealSense
+  ${PROJECT_SOURCE_DIR}/include
+  ${EIGEN3_INCLUDE_DIR})
+endif()
+
+# Activate debugging features.
+if(DEBUG)
+  message(STATUS "Activating debugging features")
+  set(CMAKE_BUILD_TYPE "Debug" CACHE STRING "Debug build" FORCE)
+endif()
+
+# Check build type.
+if(CMAKE_BUILD_TYPE MATCHES Release)
+  message(STATUS "Release build type selected")
+elseif(CMAKE_BUILD_TYPE MATCHES RelWithDebInfo)
+  message(STATUS "Debug build type selected")
+endif()
+
+set(LIBS -lfbow
+         -lDLib
+         -lg2o
+         -lORB_SLAM2
+         -lboost_system)
+
+add_executable(${PROJECT_NAME} src/fuser.cc src/pose.cc Drivers/RealSense/realsense.cc
+                               src/fuser_ros2.cpp
+                               src/fuser_node.cpp)
+
+if(PX4)
+  ament_target_dependencies(${PROJECT_NAME} rclcpp
+                                            std_msgs
+                                            sensor_msgs
+                                            Eigen3
+                                            Pangolin
+                                            px4_msgs
+                                            OpenCV
+                                            realsense2)
+else()
+  ament_target_dependencies(${PROJECT_NAME} rclcpp
+                                            std_msgs
+                                            sensor_msgs
+                                            Eigen3
+                                            Pangolin
+                                            OpenCV
+                                            realsense2)
+endif()
+
+target_link_libraries(${PROJECT_NAME} ${LIBS} ${realsense2_LIBRARY} ${OpenCV_LIBS})
+
+# Activate features in the code from the options described above.
+if(PX4)
+  message(STATUS "Activating PX4 integrations")
+  target_compile_definitions(${PROJECT_NAME} PUBLIC PX4)
+endif()
+if(SMT)
+  message(STATUS "Selecting parallel implementation")
+  target_compile_definitions(${PROJECT_NAME} PUBLIC SMT)
+endif()
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+
+install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
+
+ament_package()