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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(sfast_lio)
SET(CMAKE_BUILD_TYPE "Debug")
ADD_COMPILE_OPTIONS(-std=c++14 )
ADD_COMPILE_OPTIONS(-std=c++14 )
set( CMAKE_CXX_FLAGS "-std=c++14 -O3" )
add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" )
include(ProcessorCount)
ProcessorCount(N)
message("Processer number: ${N}")
if(N GREATER 4)
add_definitions(-DMP_EN)
add_definitions(-DMP_PROC_NUM=3)
message("core for MP: 3")
elseif(N GREATER 3)
add_definitions(-DMP_EN)
add_definitions(-DMP_PROC_NUM=2)
message("core for MP: 2")
else()
add_definitions(-DMP_PROC_NUM=1)
endif()
else()
add_definitions(-DMP_PROC_NUM=1)
endif()
find_package(OpenMP QUIET)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
sensor_msgs
roscpp
rospy
std_msgs
pcl_ros
tf
livox_ros_driver
message_generation
eigen_conversions
)
find_package(Eigen3 REQUIRED)
find_package(PCL 1.8 REQUIRED)
find_package( Sophus REQUIRED )
message(Eigen: ${EIGEN3_INCLUDE_DIR})
include_directories(
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${PCL_INCLUDE_DIRS}
${PYTHON_INCLUDE_DIRS}
${Sophus_INCLUDE_DIRS}
include)
add_message_files(
FILES
Pose6D.msg
)
generate_messages(
DEPENDENCIES
geometry_msgs
)
catkin_package(
CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime
DEPENDS EIGEN3 PCL
INCLUDE_DIRS
)
add_executable(fastlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp)
target_link_libraries(fastlio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES} ${Sophus_LIBRARIES})
target_include_directories(fastlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
add_executable(fastlio_mapping_re src/laserMapping_re.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp)
target_link_libraries(fastlio_mapping_re ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES} ${Sophus_LIBRARIES})
target_include_directories(fastlio_mapping_re PRIVATE ${PYTHON_INCLUDE_DIRS})