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CMakeLists.txt
executable file
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.0)
project(rdc_slam)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
find_package(catkin REQUIRED COMPONENTS
tf
roscpp
rospy
cv_bridge
image_transport
pcl_ros
pcl_conversions
std_msgs
sensor_msgs
geometry_msgs
nav_msgs
geodesy
message_generation
)
add_service_files(
FILES
OutputMap.srv
OutputTraj.srv
OutputSepNodePcd.srv
)
add_message_files(
FILES
cloud_info.msg
)
generate_messages(
DEPENDENCIES
geometry_msgs
std_msgs
nav_msgs
)
find_package(PCL REQUIRED QUIET)
find_package(OpenCV REQUIRED QUIET)
find_package(libnabo REQUIRED)
find_package(GTSAM REQUIRED QUIET)
find_package(DistributedMapper)
include_directories(
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${libnabo_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIR}
${DistributedMapper_INCLUDE_DIR}
)
# add_library(msgFactory_lib src/msgFactory.cpp)
# target_link_libraries(msgFactory_lib ${catkin_LIBRARIES} ${PCL_LIBRARIES} gtsam ${DistributedMapper_LIBRARIES})
# add_library(mapOptimization_lib src/mapOptimization.cpp)
# add_dependencies(mapOptimization_lib ${PROJECT_NAME}_gencpp)
# target_link_libraries(mapOptimization_lib gtsam msgFactory_lib ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${libnabo_LIBRARIES})
# add_library(graphComm_lib src/graphComm.cpp)
# target_link_libraries(graphComm_lib ${catkin_LIBRARIES} mapOptimization_lib)
add_executable(imageProjection app/imageProjection.cpp)
add_dependencies(imageProjection ${catkin_EXPORTED_TARGETS})
target_link_libraries(imageProjection ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
add_executable(featureAssociation app/featureAssociation.cpp)
add_dependencies(featureAssociation ${catkin_EXPORTED_TARGETS})
target_link_libraries(featureAssociation ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
add_executable(transformFusion app/transformFusion.cpp)
add_dependencies(transformFusion ${catkin_EXPORTED_TARGETS})
target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
add_executable(cslam app/cslam.cpp)
# target_link_libraries(cslam mapOptimization_lib graphComm_lib )
target_link_libraries(cslam ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES}
${libnabo_LIBRARIES} ${DistributedMapper_LIBRARIES} ${GTSAM_LIBRARIES} )