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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.12)
project(ekf)
set(CMAKE_CXX_STANDARD 17)
find_program(CCACHE_PROGRAM ccache)
if (CCACHE_PROGRAM)
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
endif ()
add_compile_options(-Wall -Werror=return-type -Wno-unused-variable)
if (CMAKE_BUILD_TYPE STREQUAL Release)
add_compile_options(-O3 -flto -march=native)
elseif (CMAKE_BUILD_TYPE STREQUAL RelWithDebInfo)
add_compile_options(-O3 -flto -march=native -g)
elseif (CMAKE_BUILD_TYPE STREQUAL MinSizeRel)
add_compile_options(-Os -flto -march=native)
else ()
add_compile_options(-O0 -g)
endif ()
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})
find_package(Ceres 2 REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})
include_directories(${ekf_INCLUDE_DIR})
# include_directories(include)
option(WITH_EXAMPLE OFF)
if(WITH_EXAMPLE)
add_subdirectory(example)
endif()