89 lines
2.2 KiB
CMake
89 lines
2.2 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(fast_lio)
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SET(CMAKE_BUILD_TYPE "Debug")
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ADD_COMPILE_OPTIONS(-std=c++14 )
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ADD_COMPILE_OPTIONS(-std=c++14 )
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set( CMAKE_CXX_FLAGS "-std=c++14 -O3" )
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add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
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set(CMAKE_CXX_STANDARD 14)
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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_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
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message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
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if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" )
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include(ProcessorCount)
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ProcessorCount(N)
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message("Processer number: ${N}")
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if(N GREATER 4)
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add_definitions(-DMP_EN)
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add_definitions(-DMP_PROC_NUM=3)
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message("core for MP: 3")
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elseif(N GREATER 3)
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add_definitions(-DMP_EN)
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add_definitions(-DMP_PROC_NUM=2)
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message("core for MP: 2")
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else()
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add_definitions(-DMP_PROC_NUM=1)
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endif()
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else()
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add_definitions(-DMP_PROC_NUM=1)
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endif()
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find_package(OpenMP QUIET)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
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find_package(PythonLibs REQUIRED)
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find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
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find_package(catkin REQUIRED COMPONENTS
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geometry_msgs
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nav_msgs
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sensor_msgs
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roscpp
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rospy
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std_msgs
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pcl_ros
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tf
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livox_ros_driver
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message_generation
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eigen_conversions
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)
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find_package(Eigen3 REQUIRED)
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find_package(PCL 1.8 REQUIRED)
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message(Eigen: ${EIGEN3_INCLUDE_DIR})
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include_directories(
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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${PCL_INCLUDE_DIRS}
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${PYTHON_INCLUDE_DIRS}
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include)
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add_message_files(
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FILES
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Pose6D.msg
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)
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generate_messages(
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DEPENDENCIES
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geometry_msgs
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)
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catkin_package(
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CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime
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DEPENDS EIGEN3 PCL
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INCLUDE_DIRS
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)
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add_executable(fastlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp)
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target_link_libraries(fastlio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES})
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target_include_directories(fastlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS}) |