cmake_minimum_required(VERSION 3.15)
project(oh_my_loam)

set(CMAKE_CXX_FLAGS "-std=c++17 -Wall -lpthread")
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS_RELEASE "-O3")

find_package(Ceres REQUIRED)
find_package(PCL QUIET)
find_package(g3log REQUIRED)
find_package(yaml-cpp REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  nav_msgs
  sensor_msgs
  roscpp
  rospy
  rosbag
  std_msgs
  image_transport
  cv_bridge
  tf
)

include_directories(SYSTEM
	${catkin_INCLUDE_DIRS} 
  ${PCL_INCLUDE_DIRS}
  ${G3LOG_INCLUDE_DIRS}
)

link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

include_directories(
  src
  common
)

catkin_package(
  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
  DEPENDS EIGEN3 PCL 
  INCLUDE_DIRS src common
)

add_subdirectory(common)
add_subdirectory(src)

add_executable(main main.cc)
target_link_libraries(main
  ${catkin_LIBRARIES} 
  ${PCL_LIBRARIES}
  ${G3LOG_LIBRARIES}
  ${YAML_CPP_LIBRARIES}
  common
  oh_my_loam
  extractor
  odometry
  mapper
  solver
  ${CERES_LIBRARIES}
  helper
  visualizer
)