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CMakeLists.txt
executable file
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(roll)
set(CMAKE_BUILD_TYPE "Release")
# set(CMAKE_CXX_FLAGS "-std=c++14")
set(CMAKE_CXX_STANDARD 14) # necessary for some systems
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -pthread")
find_package(catkin REQUIRED COMPONENTS
tf
roscpp
rospy
cv_bridge
# pcl library
pcl_conversions
# pcl_ros # same as # find_package(PCL 1.7 REQUIRED)
# msgs
std_msgs
sensor_msgs
geometry_msgs
nav_msgs
message_generation
visualization_msgs
)
find_package(OpenMP REQUIRED)
find_package(PCL 1.7 REQUIRED) #
find_package(OpenCV REQUIRED QUIET)
find_package(GTSAM REQUIRED QUIET)
find_package(Ceres REQUIRED)
# message(STATUS ${PCL_INCLUDE_DIR})
# message(STATUS ${PCL_LIBRARIES})
add_message_files(
DIRECTORY msg
FILES
cloud_info.msg
)
add_service_files(
DIRECTORY srv
FILES
save_map.srv
)
generate_messages(
DEPENDENCIES
geometry_msgs
std_msgs
nav_msgs
sensor_msgs
)
catkin_package(
INCLUDE_DIRS include
DEPENDS PCL GTSAM
CATKIN_DEPENDS
message_runtime
std_msgs
nav_msgs
geometry_msgs
sensor_msgs
visualization_msgs
)
# include directories
include_directories(
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIR}
${CERES_INCLUDE_DIRS}
)
message("catkin include dirs: ${catkin_INCLUDE_DIRS}")
message("catkin libs: ${catkin_LIBRARIES}")
# link directories
link_directories(
include
${PCL_LIBRARY_DIRS}
${OpenCV_LIBRARY_DIRS}
${GTSAM_LIBRARY_DIRS}
)
# ##########
# # Build ##
# ##########
# ScanRegistration
add_executable(${PROJECT_NAME}_scanRegistration src/scanRegistration.cpp)
add_dependencies(${PROJECT_NAME}_scanRegistration ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_scanRegistration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
# Mapping Optimization
add_executable(${PROJECT_NAME}_mapOptmization src/mapOptmization.cpp src/globalOpt.cpp)
add_dependencies(${PROJECT_NAME}_mapOptmization ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp) # ~_gencpp is the file generated by the service
target_compile_options(${PROJECT_NAME}_mapOptmization PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(${PROJECT_NAME}_mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES}
${OpenCV_LIBS} ${OpenMP_CXX_FLAGS} ${DBoW3_LIBS} gtsam ${CERES_LIBRARIES})
# # fastlio mapping
# add_executable(${PROJECT_NAME}_mapOptimizationWithFastlio src/mapOptimizationWithFastlio.cpp)
# add_dependencies(${PROJECT_NAME}_mapOptimizationWithFastlio ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp) # ~_gencpp is the file generated by the service
# target_compile_options(${PROJECT_NAME}_mapOptimizationWithFastlio PRIVATE ${OpenMP_CXX_FLAGS})
# target_link_libraries(${PROJECT_NAME}_mapOptimizationWithFastlio ${catkin_LIBRARIES} ${PCL_LIBRARIES}
# ${OpenCV_LIBS} ${OpenMP_CXX_FLAGS} ${DBoW3_LIBS} gtsam ${CERES_LIBRARIES})
# ground-truth mapping: still no good even using deskewed clouds from fastlio
add_executable(${PROJECT_NAME}_mapOptimizationGT src/mapOptimizationGT.cpp)
add_dependencies(${PROJECT_NAME}_mapOptimizationGT ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp) # ~_gencpp is the file generated by the service
target_compile_options(${PROJECT_NAME}_mapOptimizationGT PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(${PROJECT_NAME}_mapOptimizationGT ${catkin_LIBRARIES} ${PCL_LIBRARIES}
${OpenCV_LIBS} ${OpenMP_CXX_FLAGS} ${DBoW3_LIBS} gtsam ${CERES_LIBRARIES})
# # lidar odometry
# add_executable(${PROJECT_NAME}_lidarOdometry src/lidarOdometry.cpp)
# add_dependencies(${PROJECT_NAME}_lidarOdometry ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
# target_link_libraries(${PROJECT_NAME}_lidarOdometry ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenMP_CXX_FLAGS} ${OpenCV_LIBS} ${CERES_LIBRARIES})
# target_compile_options(${PROJECT_NAME}_lidarOdometry PRIVATE ${OpenMP_CXX_FLAGS})