-
Notifications
You must be signed in to change notification settings - Fork 15
/
Copy pathCMakeLists.txt
118 lines (100 loc) · 2.92 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
cmake_minimum_required(VERSION 2.8.3)
project(lio_sam)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -g -pthread")
find_package(catkin REQUIRED COMPONENTS
tf
tf2
tf2_ros
roscpp
rospy
cv_bridge
# pcl library
pcl_conversions
# msgs
std_msgs
sensor_msgs
geometry_msgs
nav_msgs
message_generation
rosbag
ouster_ros
)
find_package(OpenMP REQUIRED)
find_package(PCL REQUIRED QUIET)
find_package(OpenCV REQUIRED QUIET)
find_package(GTSAM REQUIRED QUIET)
add_message_files(
DIRECTORY msg
FILES
cloud_info.msg
)
generate_messages(
DEPENDENCIES
geometry_msgs
std_msgs
nav_msgs
sensor_msgs
)
catkin_package(
INCLUDE_DIRS include
DEPENDS PCL GTSAM
CATKIN_DEPENDS
std_msgs
nav_msgs
geometry_msgs
sensor_msgs
message_runtime
message_generation
)
# include directories
include_directories(
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIR}
)
# link directories
link_directories(
include
${PCL_LIBRARY_DIRS}
${OpenCV_LIBRARY_DIRS}
${GTSAM_LIBRARY_DIRS}
)
###########
## Build ##
###########
# Range Image Projection library
add_library(${PROJECT_NAME}_imageProjection src/imageProjection.cpp)
add_dependencies(${PROJECT_NAME}_imageProjection ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_imageProjection ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
# Feature Association library
add_library(${PROJECT_NAME}_featureExtraction src/featureExtraction.cpp)
add_dependencies(${PROJECT_NAME}_featureExtraction ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_featureExtraction ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
# Mapping Optimization library
add_library(${PROJECT_NAME}_mapOptmization src/mapOptmization.cpp)
add_dependencies(${PROJECT_NAME}_mapOptmization ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_compile_options(${PROJECT_NAME}_mapOptmization PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(${PROJECT_NAME}_mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} gtsam)
# IMU Preintegration library
add_library(${PROJECT_NAME}_imuPreintegration src/imuPreintegration.cpp)
target_link_libraries(${PROJECT_NAME}_imuPreintegration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)
# Offline node excutable
add_executable(${PROJECT_NAME}_offline
src/lio_sam_offline_node.cpp
)
add_dependencies(${PROJECT_NAME}_offline
${catkin_EXPORTED_TARGETS}
${PROJECT_NAME}_generate_messages_cpp
)
target_link_libraries(${PROJECT_NAME}_offline
${catkin_LIBRARIES}
${PROJECT_NAME}_imageProjection
${PROJECT_NAME}_featureExtraction
${PROJECT_NAME}_mapOptmization
${PROJECT_NAME}_imuPreintegration
)
# Fix lz build issue https://github.com/ethz-asl/lidar_align/issues/16#issuecomment-504348488