CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(solid_aloam)

set(CMAKE_BUILD_TYPE "Release")
# set(CMAKE_CXX_FLAGS "-std=c++14")
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -lboost_system -DGTSAM_USE_SYSTEM_EIGEN=ON")

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  nav_msgs
  sensor_msgs
  roscpp
  rospy
  rosbag
  std_msgs
  image_transport
  cv_bridge
  tf
)

################
## for a-loam ##
################
#find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Ceres REQUIRED)

######################
## for solid-a-loam ##
######################
find_package(OpenMP REQUIRED)
find_package(GTSAM REQUIRED QUIET)
find_package(Boost REQUIRED COMPONENTS system timer thread serialization chrono)

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/solid/solid.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})