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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(limot)
set(CMAKE_BUILD_TYPE "Release")
# set(CMAKE_CXX_FLAGS "-std=c++14")
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -pthread")
#set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/" ${CMAKE_MODULE_PATH})
#find_package(Eigen REQUIRED)
find_package(catkin REQUIRED COMPONENTS
tf
roscpp
rospy
cv_bridge
# pcl library
pcl_conversions
# msgs
std_msgs
sensor_msgs
geometry_msgs
nav_msgs
message_generation
)
set(Eigen_DIR "/usr/include/eigen3")
find_package(Eigen3 REQUIRED)
include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
find_package(Boost REQUIRED COMPONENTS timer thread serialization chrono)
find_package(OpenMP REQUIRED)
find_package(OpenCV REQUIRED QUIET)
#GTSAM 4.0.0 or 4.0.3
set(GTSAM_DIR "/home/tiev-vsim/gtsam-4.0.3/gtsam-4.0.3/build") #4.0.3
find_package(GTSAM REQUIRED QUIET)
# set(PCL_DIR "/usr/lib/x86_64-linux-gnu/cmake/pcl")
# set(PCL_DIR "/home/tiev-vsim/pcl-1.10.1/pcl-pcl-1.10.1/build") #会报错找不到eigen，pcl需要源码编译并且install
# set(PCL_DIR "/usr/lib/x86_64-linux-gnu/cmake/pcl")sensor_msgs
find_package(PCL 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("/usr/include/eigen3")#zzy
include_directories(
include
# ${EIGEN3_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIR}
)
# link directories
link_directories(
include
${PCL_LIBRARY_DIRS}
${OpenCV_LIBRARY_DIRS}
${GTSAM_LIBRARY_DIRS}
)
###########
## Build ##
###########
# Range Image Projection
add_executable(${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} ${OpenCV_LIBRARIES})
# Feature Association
add_executable(${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} ${OpenCV_LIBRARIES})
# Mapping Optimization
add_executable(${PROJECT_NAME}_mapOptmization
src/mapOptmization.cpp
src/Scancontext.cpp
src/voxel_grid_omp.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} ${OpenMP_CXX_FLAGS} gtsam)
# IMU Preintegration
add_executable(${PROJECT_NAME}_imuPreintegration src/imuPreintegration.cpp)
target_link_libraries(${PROJECT_NAME}_imuPreintegration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)