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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(fusion_localization_zc LANGUAGES C CXX)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
set(EXTERNAL_PROJECT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
find_program(CCACHE ccache)
if(CCACHE)
message(STATUS "Found ccache: " ${CCACHE})
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ${CCACHE})
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ${CCACHE})
endif(CCACHE)
find_package(Eigen3 REQUIRED NO_MODULE)
find_package(Ceres REQUIRED)
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)
find_package(catkin REQUIRED COMPONENTS
roscpp rosbag rospy
std_msgs geometry_msgs nav_msgs sensor_msgs
tf cv_bridge image_transport)# camera_models)
#include(DownloadProject)
#download_project(
# PROJ loguru
# GIT_REPOSITORY https://github.com/emilk/loguru.git
# GIT_TAG v2.0.0
# UPDATE_DISCONNECTED 1)
#
#file(COPY ${loguru_SOURCE_DIR}/loguru.hpp DESTINATION ${EXTERNAL_PROJECT_DIR})
#file(COPY ${loguru_SOURCE_DIR}/loguru.cpp DESTINATION ${EXTERNAL_PROJECT_DIR})
catkin_package()
add_library(external_lib SHARED
${EXTERNAL_PROJECT_DIR}/loguru.cpp
${EXTERNAL_PROJECT_DIR}/loguru.hpp)
target_compile_definitions(external_lib PUBLIC
LOGURU_DEBUG_CHECKS=0
LOGURU_DEBUG_LOGGING=0
LOGURU_STACKTRACES=0
LOGURU_UNSAFE_SIGNAL_HANDLER=0
LOGURU_WITH_STREAMS=1)
target_include_directories(external_lib INTERFACE
SYSTEM ${Eigen3_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${Ceres_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${EXTERNAL_PROJECT_DIR})
target_link_libraries(external_lib INTERFACE
${catkin_LIBRARIES}
${CERES_LIBRARIES}
${PCL_LIBRARIES}
${OpenCV_LIBRARIES})
message(STATUS "Ceres: ${CERES_LIBRARIES}")
add_library(fusion_lib SHARED
${CMAKE_CURRENT_SOURCE_DIR}/src/estimation/lidar_factor.hpp
${CMAKE_CURRENT_SOURCE_DIR}/src/estimation/math.hpp
${CMAKE_CURRENT_SOURCE_DIR}/src/estimation/estimator.hpp
${CMAKE_CURRENT_SOURCE_DIR}/src/estimation/state_parameterization.hpp
${CMAKE_CURRENT_SOURCE_DIR}/src/estimation/wheel_factor.hpp
${CMAKE_CURRENT_SOURCE_DIR}/src/estimation/wheel_integrator.hpp
${CMAKE_CURRENT_SOURCE_DIR}/src/estimation/wheel_integrator.cc
${CMAKE_CURRENT_SOURCE_DIR}/src/utility/kitti_adapter.hpp
${CMAKE_CURRENT_SOURCE_DIR}/src/utility/kitti_adapter.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/utility/utility.h
${CMAKE_CURRENT_SOURCE_DIR}/src/utility/utility.cpp)
target_link_libraries(fusion_lib PRIVATE external_lib)
target_compile_options(fusion_lib PRIVATE -Wall -pedantic -fdiagnostics-color=always -O3)
set_target_properties(fusion_lib PROPERTIES
CXX_EXTENSIONS OFF
LINKER_LANGUAGE CXX)
add_executable(laser_regist ${CMAKE_CURRENT_SOURCE_DIR}/src/node/lidar_registration.cc)
target_compile_options(laser_regist PRIVATE -Wall -pedantic -fdiagnostics-color=always -O3)
target_link_libraries(laser_regist PRIVATE fusion_lib external_lib)
add_executable(laser_odo ${CMAKE_CURRENT_SOURCE_DIR}/src/node/lidar_odometry.cc)
target_compile_options(laser_odo PRIVATE -Wall -pedantic -fdiagnostics-color=always -O3)
target_link_libraries(laser_odo PRIVATE fusion_lib external_lib)
add_executable(laser_map ${CMAKE_CURRENT_SOURCE_DIR}/src/node/lidar_mapping.cc)
target_compile_options(laser_map PRIVATE -Wall -pedantic -fdiagnostics-color=always -O3)
target_link_libraries(laser_map PRIVATE fusion_lib external_lib)
add_executable(kittiAdapter ${CMAKE_CURRENT_SOURCE_DIR}/src/node/kitti_adapter.cc)
target_compile_options(kittiAdapter PRIVATE -Wall -pedantic -fdiagnostics-color=always -O3)
target_link_libraries(kittiAdapter PRIVATE fusion_lib external_lib)