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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(lego_loam)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -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
# cloud_msgs
)
find_package(GTSAM REQUIRED QUIET)
find_package(PCL REQUIRED QUIET)
find_package(OpenCV REQUIRED QUIET)
add_message_files(
DIRECTORY msg
FILES
cloud_info.msg
)
generate_messages(DEPENDENCIES
std_msgs
geometry_msgs
nav_msgs
sensor_msgs
)
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS cloud_msgs
DEPENDS PCL
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIR}
)
link_directories(
include
${OpenCV_LIBRARY_DIRS}
${PCL_LIBRARY_DIRS}
${GTSAM_LIBRARY_DIRS}
)
add_executable(imageProjection src/imageProjection.cpp)
add_dependencies(imageProjection ${catkin_EXPORTED_TARGETS} cloud_msgs_gencpp)
target_link_libraries(imageProjection ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
add_executable(featureAssociation src/featureAssociation.cpp)
add_dependencies(featureAssociation ${catkin_EXPORTED_TARGETS} cloud_msgs_gencpp)
target_link_libraries(featureAssociation ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
add_executable(mapOptmization src/mapOptmization.cpp)
target_link_libraries(mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)
add_executable(transformFusion src/transformFusion.cpp)
target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})