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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10)
project(intensity_feature_tracker)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++14")
set(CMAKE_CXX_FLAGS_RELEASE " -O3 -Wall -g -pthread -DROSCONSOLE_MIN_SEVERITY=5")
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
cv_bridge
roscpp
roslib
sensor_msgs
std_msgs
pcl_conversions
tf
tf2
tf2_ros
message_filters
)
find_package(OpenMP REQUIRED)
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(GTSAM REQUIRED QUIET)
find_package(Ceres REQUIRED)
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp roslib message_runtime geometry_msgs nav_msgs std_msgs
DEPENDS PCL EIGEN3
INCLUDE_DIRS include
)
set( DBoW3_INCLUDE_DIRS "/usr/local/include" )
set( DBoW3_LIBS "/usr/local/lib/libDBoW3.so" )
include_directories(
SYSTEM
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIR}
${CERES_INCLUDE_DIRS}
)
link_directories(
inlcude
${PCL_LIBRARY_DIRS}
${OpenCV_LIBRARY_DIRS}
${GTSAM_LIBRARY_DIRS}
)
file(GLOB source_files
src/intensity_feature_tracker_node.cpp
src/intensity_feature_tracker.cpp
src/loop_closure_handler.cpp
src/Scancontext.cpp
src/parameters.h
)
add_executable(${PROJECT_NAME}_node ${source_files})
target_compile_options(${PROJECT_NAME}_node PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(${PROJECT_NAME}_node ${CERES_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} ${DBoW3_LIBS} Eigen3::Eigen gtsam)
file(GLOB map_source_files
src/mapOptimizationNode.cpp
src/mapOptimization.cpp
src/image_handler.h
src/ikd-Tree/ikd_Tree.cpp
ikd-Tree/ikd_Tree.h
src/parameters.h
)
add_executable(${PROJECT_NAME}_mapping_node ${map_source_files})
target_compile_options(${PROJECT_NAME}_mapping_node PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(${PROJECT_NAME}_mapping_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} Eigen3::Eigen gtsam ${CERES_LIBRARIES} ${OpenMP_LIBS})
add_executable(ascanRegistration src/scanRegistration.cpp src/intensity_feature_tracker.cpp
src/loop_closure_handler.cpp
src/Scancontext.cpp
src/parameters.h)
target_compile_options(ascanRegistration PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(ascanRegistration ${catkin_LIBRARIES} ${CERES_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} Eigen3::Eigen ${DBoW3_LIBS} gtsam )
add_executable(alaserMapping_node src/laserMapping.cpp)
target_link_libraries(alaserMapping_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})
add_executable(alaserOdometry_node src/laserOdometry.cpp)
target_link_libraries(alaserOdometry_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})
add_executable(odomHandler_node src/odom_handler_node.cpp)
target_link_libraries(odomHandler_node ${catkin_LIBRARIES})