SLAMTEST/CMakeLists.txt at main · MaoDou0625/SLAMTEST · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
cmake_minimum_required(VERSION 3.20)
project(fastlivo2)

set(CMAKE_BUILD_TYPE "Release")
message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

# Set common compile options
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -fexceptions")

# Detect CPU architecture
message(STATUS "Current CPU architecture: ${CMAKE_SYSTEM_PROCESSOR}")

# Specific settings for Release build
if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(arm|aarch64|ARM|AARCH64)")
  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -mcpu=native -mtune=native -ffast-math")
  message(STATUS "Using ARM optimizations")
  add_definitions(-DARM_ARCH)
else()
  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native -mtune=native -funroll-loops")
  message(STATUS "Using x86 optimizations")
  add_definitions(-DX86_ARCH)
endif()

add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")

# Find required dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(image_transport REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Sophus REQUIRED)
find_package(vikit_common REQUIRED)
find_package(livox_interfaces REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(OpenMP REQUIRED)

set(dependencies
  rclcpp
  geometry_msgs
  nav_msgs
  sensor_msgs
  std_msgs
  pcl_ros
  tf2_ros
  cv_bridge
  image_transport
  Eigen3
  PCL
  OpenCV
  Sophus
  Boost
  vikit_common
  livox_interfaces
  visualization_msgs
  OpenMP
)

# Include directories
include_directories(
  ${EIGEN3_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
  ${Sophus_INCLUDE_DIRS}
  include
)

# # set Sourcefiles
# LIST(APPEND SOURCEFILES src/atan_camera.cpp
#                         src/omni_camera.cpp
#                         src/math_utils.cpp
#                         src/vision.cpp
#                         src/performance_monitor.cpp
#                         src/robust_cost.cpp
#                         src/user_input_thread.cpp
#                         src/pinhole_camera.cpp
#                         src/equidistant_camera.cpp
#                         src/polynomial_camera.cpp
#                         src/homography.cpp
#                         src/img_align.cpp)

set(Sophus_LIBRARIES libSophus.so)

# Link dependencies using ament
add_library(laser_mapping
  src/vio.cpp
  src/frame.cpp
  src/visual_point.cpp
  src/voxel_map.cpp
  src/preprocess.cpp
  src/IMU_Processing.cpp
  src/LIVMapper.cpp
)

ament_target_dependencies(laser_mapping
  ${dependencies}
)

add_executable(fastlivo_mapping
  src/main.cpp
)

target_link_libraries(fastlivo_mapping
  laser_mapping
  ${Sophus_LIBRARIES}
  ${OpenCV_LIBS}
  ${PCL_LIBRARIES}
  ${Sophus_LIBRARIES}
  ${Boost_LIBRARIES}
  ${OpenMP_CXX_LIBRARIES}
)

install(
  TARGETS fastlivo_mapping
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

# Install include directories
install(
  DIRECTORY include/
  DESTINATION include/${PROJECT_NAME}
)

install(DIRECTORY launch config rviz
  DESTINATION share/${PROJECT_NAME}
)

ament_export_include_directories(include)
ament_export_libraries(laser_mapping)
ament_export_dependencies(${dependencies})
ament_package()