86 lines
2.1 KiB
CMake
86 lines
2.1 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
|
|
project(fast_lio)
|
|
|
|
SET(CMAKE_BUILD_TYPE "Debug")
|
|
|
|
ADD_COMPILE_OPTIONS(-std=c++14 )
|
|
ADD_COMPILE_OPTIONS(-std=c++14 )
|
|
set( CMAKE_CXX_FLAGS "-std=c++14 -O3" )
|
|
|
|
add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
|
|
|
|
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
|
|
set(CMAKE_CXX_STANDARD 14)
|
|
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
|
set(CMAKE_CXX_EXTENSIONS OFF)
|
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
|
|
|
|
option(DEPLOY "Deploy on hardware" OFF)
|
|
if(DEPLOY)
|
|
add_definitions(-DDEPLOY)
|
|
endif(DEPLOY)
|
|
|
|
find_package(OpenMP QUIET)
|
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
|
|
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
|
|
|
|
find_package(PythonLibs REQUIRED)
|
|
find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
|
|
|
|
find_package(catkin REQUIRED COMPONENTS
|
|
geometry_msgs
|
|
nav_msgs
|
|
sensor_msgs
|
|
roscpp
|
|
rospy
|
|
std_msgs
|
|
pcl_ros
|
|
tf
|
|
livox_ros_driver
|
|
message_generation
|
|
eigen_conversions
|
|
)
|
|
|
|
find_package(Eigen3 REQUIRED)
|
|
find_package(PCL 1.8 REQUIRED)
|
|
find_package(OpenCV REQUIRED)
|
|
|
|
|
|
message(Eigen: ${EIGEN3_INCLUDE_DIR})
|
|
|
|
include_directories(
|
|
${catkin_INCLUDE_DIRS}
|
|
${EIGEN3_INCLUDE_DIR}
|
|
${PCL_INCLUDE_DIRS}
|
|
${PYTHON_INCLUDE_DIRS}
|
|
include)
|
|
|
|
add_message_files(
|
|
FILES
|
|
Pose6D.msg
|
|
States.msg
|
|
)
|
|
|
|
generate_messages(
|
|
DEPENDENCIES
|
|
geometry_msgs
|
|
)
|
|
|
|
catkin_package(
|
|
CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime
|
|
DEPENDS EIGEN3 PCL OpenCV
|
|
INCLUDE_DIRS
|
|
)
|
|
|
|
# add_executable(imu_process src/IMU_Processing.cpp)
|
|
# target_link_libraries(imu_process ${catkin_LIBRARIES} ${PCL_LIBRARIES})
|
|
|
|
add_executable(loam_feat_extract src/feature_extract.cpp)
|
|
target_link_libraries(loam_feat_extract ${catkin_LIBRARIES} ${PCL_LIBRARIES})
|
|
|
|
add_executable(loam_laserMapping src/laserMapping.cpp)
|
|
target_link_libraries(loam_laserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ${PYTHON_LIBRARIES})
|
|
target_include_directories(loam_laserMapping PRIVATE ${PYTHON_INCLUDE_DIRS})
|
|
# target_compile_definitions(loam_laserMapping PRIVATE ROOT_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
|
|
|