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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(tc_lio_sam)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -pthread")
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
visualization_msgs
)
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
CloudInfo.msg
)
add_service_files(
DIRECTORY srv
FILES
SaveMap.srv
)
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
visualization_msgs
)
# 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}
${GTSAM_LIBRARY_DIRS}
)
###########
## Build ##
###########
# Range Image Projection
add_executable(${PROJECT_NAME}_image_projection src/ImageProjection.cpp)
add_dependencies(${PROJECT_NAME}_image_projection ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_image_projection ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
# Feature Association
add_executable(${PROJECT_NAME}_feature_extraction src/FeatureExtraction.cpp)
add_dependencies(${PROJECT_NAME}_feature_extraction ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_feature_extraction ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
# Mapping Optimization
add_executable(${PROJECT_NAME}_map_optimization src/MapOptimization.cpp)
add_dependencies(${PROJECT_NAME}_map_optimization ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_compile_options(${PROJECT_NAME}_map_optimization PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(${PROJECT_NAME}_map_optimization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} gtsam)
# IMU Preintegration
add_executable(${PROJECT_NAME}_imu_pre_integration src/IMUPreIntegration.cpp)
target_link_libraries(${PROJECT_NAME}_imu_pre_integration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)