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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(fast_lio)
cmake_policy(SET CMP0074 NEW)
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)
add_dependencies(loam_laserMapping ${catkin_EXPORTED_TARGETS})
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}")