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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(lvio_2d)
add_compile_options(-std=c++17)
SET(CMAKE_BUILD_TYPE "Release")
# set(CMAKE_CXX_FLAGS_RELEASE "-O3 -g ")
add_definitions(-DNDEBUG)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
find_package(catkin REQUIRED COMPONENTS
cv_bridge
image_transport
roscpp
tf2_ros
)
find_package(OpenCV REQUIRED)
find_package(Ceres REQUIRED)
catkin_package(
)
include_directories(
/usr/include/eigen3
src
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
)
add_library(utilies src/utilies/common.cpp
src/utilies/params.cpp
src/utilies/visualization.cpp
)
add_library(trajectory src/trajectory/trajectory.cpp
src/trajectory/camera_manager.cpp
src/trajectory/laser_manager.cpp
src/trajectory/keyframe_manager.cpp
src/factor/solver.cpp
)
add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}_node.cpp
)
target_link_libraries(${PROJECT_NAME}_node
utilies
trajectory
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${CERES_LIBRARIES}
)