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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(dcl_slam)
set(CMAKE_BUILD_TYPE "Release")
# set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_STANDARD 14)
#set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -pthread")
find_package(catkin REQUIRED COMPONENTS
distributed_mapper_catkin
gtsam_catkin
glog_catkin
tf
roscpp
std_msgs
sensor_msgs
geometry_msgs
nav_msgs
message_generation
visualization_msgs
)
find_package(Boost REQUIRED COMPONENTS filesystem system thread)
find_package(libnabo)
find_package(PCL REQUIRED)
find_package(OpenMP REQUIRED)
find_package(OpenCV REQUIRED QUIET)
add_message_files(
DIRECTORY msg
FILES
loop_info.msg
global_descriptor.msg
neighbor_estimate.msg
)
generate_messages(
DEPENDENCIES
geometry_msgs
std_msgs
nav_msgs
sensor_msgs
)
catkin_package(
INCLUDE_DIRS include
DEPENDS
CATKIN_DEPENDS
std_msgs
nav_msgs
geometry_msgs
sensor_msgs
message_runtime
message_generation
visualization_msgs
distributed_mapper_catkin
LIBRARIES dcl_slam
)
# include directories
include_directories(
include
${PCL_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
# link directories
link_directories(
include
${PCL_LIBRARY_DIRS}
${OpenCV_LIBRARY_DIRS}
${libnabo_LIBRARY_DIRS}
)
###########
## Build ##
###########
# dcl slam libraay
add_library(dcl_slam
src/paramsServer.cpp
src/distributedMappingBasis.cpp
src/distributedMapping.cpp
src/distributedMappingVisualization.cpp
src/distributedLoopClosure.cpp
src/scanContextDescriptor.cpp
src/lidarIrisDescriptor.cpp
src/m2dpDescriptor.cpp)
target_link_libraries(dcl_slam ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} ${libnabo_LIBRARIES})