93 lines
3.2 KiB
Makefile
93 lines
3.2 KiB
Makefile
#----------------------------------------------------------------------------------------------------
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# SLAM and SFM sources
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#----------------------------------------------------------------------------------------------------
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# use nostdinc to turn off -I. and -I.., we do not need them because
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# header files are qualified so they can be included in external projects.
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AUTOMAKE_OPTIONS = nostdinc
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headers =
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sources =
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check_PROGRAMS =
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# simulated2D example
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headers += Simulated2DConfig.h
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headers += Simulated2DPosePrior.h Simulated2DPointPrior.h
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headers += Simulated2DOdometry.h Simulated2DMeasurement.h
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sources += simulated2D.cpp smallExample.cpp
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check_PROGRAMS += tests/testSimulated2D
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# simulated2DOriented example
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headers += Simulated2DOrientedConfig.h
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headers += Simulated2DOrientedPosePrior.h
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headers += Simulated2DOrientedOdometry.h
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sources += simulated2DOriented.cpp
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check_PROGRAMS += tests/testSimulated2DOriented
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# simulated3D example
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sources += Simulated3D.cpp
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check_PROGRAMS += tests/testSimulated3D
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# Pose SLAM headers
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headers += BetweenFactor.h PriorFactor.h
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# General constraints
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headers += BetweenConstraint.h BoundingConstraint.h TransformConstraint.h
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# Utility factors
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headers += LinearApproxFactor.h
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# 2D Pose SLAM
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sources += pose2SLAM.cpp Pose2SLAMOptimizer.cpp dataset.cpp
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check_PROGRAMS += tests/testPose2Factor tests/testPose2Config tests/testPose2SLAM tests/testPose2Prior
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# 2D SLAM using Bearing and Range
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headers += BearingFactor.h RangeFactor.h BearingRangeFactor.h
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sources += planarSLAM.cpp
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check_PROGRAMS += tests/testPlanarSLAM
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# 3D Pose constraints
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sources += pose3SLAM.cpp
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check_PROGRAMS += tests/testPose3Factor tests/testPose3Config tests/testPose3SLAM
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# Visual SLAM
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sources += visualSLAM.cpp
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check_PROGRAMS += tests/testVSLAMFactor tests/testVSLAMGraph tests/testVSLAMConfig
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# GaussianISAM2 is fairly SLAM-specific
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sources += GaussianISAM2.cpp
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check_PROGRAMS += tests/testGaussianISAM2
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#----------------------------------------------------------------------------------------------------
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# Create a libtool library that is not installed
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# It will be packaged in the toplevel libgtsam.la as specfied in ../Makefile.am
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# The headers are installed in $(includedir)/gtsam:
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#----------------------------------------------------------------------------------------------------
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headers += $(sources:.cpp=.h)
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slamdir = $(pkgincludedir)/slam
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slam_HEADERS = $(headers)
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noinst_LTLIBRARIES = libslam.la
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libslam_la_SOURCES = $(sources)
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AM_CPPFLAGS = -I$(boost) -I$(top_srcdir)/..
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#----------------------------------------------------------------------------------------------------
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# rules to build local programs
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#----------------------------------------------------------------------------------------------------
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TESTS = $(check_PROGRAMS)
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AM_DEFAULT_SOURCE_EXT = .cpp
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AM_LDFLAGS = $(BOOST_LDFLAGS) $(boost_serialization)
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LDADD = libslam.la ../geometry/libgeometry.la ../nonlinear/libnonlinear.la ../linear/liblinear.la ../inference/libinference.la ../base/libbase.la
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LDADD += ../CppUnitLite/libCppUnitLite.a ../colamd/libcolamd.la
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if USE_LDL
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LDADD += libldl.la
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endif
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if USE_LAPACK
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LDADD += ../spqr_mini/libspqr_mini.la
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endif
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# rule to run an executable
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%.run: % $(LDADD)
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./$^
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