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Copy pathCMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(dualquat_loam)
## Compile as C++14
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++14")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" )
include(ProcessorCount)
ProcessorCount(N)
message("Processer number: ${N}")
if(N GREATER 5)
add_definitions(-DMP_EN)
add_definitions(-DMP_PROC_NUM=4)
message("core for MP: 4")
elseif(N GREATER 3)
math(EXPR PROC_NUM "${N} - 2")
add_definitions(-DMP_EN)
add_definitions(-DMP_PROC_NUM="${PROC_NUM}")
message("core for MP: ${PROC_NUM}")
else()
add_definitions(-DMP_PROC_NUM=1)
endif()
else()
add_definitions(-DMP_PROC_NUM=1)
endif()
# Find nanoflannConfig.cmake:
find_package(nanoflann)
include_directories("/home/ws/src/nanoflann/include")
find_package(catkin REQUIRED COMPONENTS
eigen_conversions
geometry_msgs
nav_msgs
rosbag
roscpp
rospy
sensor_msgs
std_msgs
tf
pcl_conversions
pcl_ros
tf_conversions
)
include_directories( "/usr/include/dqrobotics" )
find_package(Eigen3)
if(NOT EIGEN3_FOUND)
find_package(cmake_modules REQUIRED)
find_package(Eigen REQUIRED)
set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
else()
set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()
## System dependencies are found with CMake's conventions
find_package(OpenMP QUIET)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
find_package(PCL REQUIRED)
find_package(Ceres REQUIRED)
find_package(GTSAM REQUIRED QUIET)
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTOUIC ON)
set(CMAKE_AUTORCC ON)
set(CMAKE_INCLUDE_CURRENT_DIR ON)
include_directories(
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
link_directories(
include
${PCL_LIBRARY_DIRS}
${CERES_LIBRARY_DIRS}
)
catkin_package(
CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
DEPENDS EIGEN3 PCL Ceres
INCLUDE_DIRS include
)
add_executable(dq_pose_estimation_node src/odomEstimationNode.cpp src/odomEstimationClass.cpp src/STDesc.cpp src/KDTree_STD.cpp)
target_link_libraries(dq_pose_estimation_node ${EIGEN3_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES} dqrobotics)
add_executable(laser_mapping src/laserMappingNode.cpp src/laserMappingClass.cpp)
target_link_libraries(laser_mapping ${EIGEN3_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES} dqrobotics)
add_executable(std_extractor src/std_extractor.cpp src/STDesc.cpp src/KDTree_STD.cpp)
target_link_libraries(std_extractor
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${OpenCV_LIBS}
${CERES_LIBRARIES})