-
Notifications
You must be signed in to change notification settings - Fork 95
/
CMakeLists.txt
73 lines (57 loc) · 1.65 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
cmake_minimum_required(VERSION 2.8.3)
project(aloam_velodyne)
set(CMAKE_BUILD_TYPE "Release")
# set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
sensor_msgs
roscpp
rospy
rosbag
std_msgs
image_transport
cv_bridge
tf
)
#find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Ceres REQUIRED)
find_package(OpenMP REQUIRED)
find_package(GTSAM REQUIRED QUIET)
include_directories(
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIR}
)
catkin_package(
CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
DEPENDS EIGEN3 PCL
INCLUDE_DIRS include
)
add_executable(ascanRegistration src/scanRegistration.cpp)
target_link_libraries(ascanRegistration ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_executable(alaserOdometry src/laserOdometry.cpp)
target_link_libraries(alaserOdometry ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})
add_executable(alaserMapping src/laserMapping.cpp)
target_link_libraries(alaserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})
add_executable(alaserPGO
src/laserPosegraphOptimization.cpp
include/scancontext/Scancontext.cpp
)
target_compile_options(alaserPGO
PRIVATE ${OpenMP_CXX_FLAGS}
)
target_link_libraries(alaserPGO
${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES}
${OpenMP_CXX_FLAGS}
gtsam
)
add_executable(kittiHelper src/kittiHelper.cpp)
target_link_libraries(kittiHelper ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})