66 lines
1.1 KiB
CMake
66 lines
1.1 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(oh_my_loam)
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set(CMAKE_CXX_FLAGS "-std=c++17 -Wall -lpthread")
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_FLAGS_RELEASE "-O3")
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find_package(Ceres REQUIRED)
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find_package(PCL QUIET)
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find_package(g3log REQUIRED)
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find_package(yaml-cpp REQUIRED)
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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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rosbag
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std_msgs
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image_transport
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cv_bridge
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tf
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)
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include_directories(SYSTEM
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${catkin_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${CERES_INCLUDE_DIRS}
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${G3LOG_INCLUDE_DIRS}
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)
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link_directories(${PCL_LIBRARY_DIRS})
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add_definitions(${PCL_DEFINITIONS})
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include_directories(
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src
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common
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)
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catkin_package(
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CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
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DEPENDS EIGEN3 PCL
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INCLUDE_DIRS src common
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)
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add_subdirectory(common)
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add_subdirectory(src)
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add_executable(main main.cc)
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target_link_libraries(main
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${catkin_LIBRARIES}
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${PCL_LIBRARIES}
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${G3LOG_LIBRARIES}
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${YAML_CPP_LIBRARIES}
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g3log
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common
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oh_my_loam
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extractor
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visualizer
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odometry
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solver
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${CERES_LIBRARIES}
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helper
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)
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