DynaInsRemover/CMakeLists.txt at main · Zhaohuanfeng/DynaInsRemover · GitHub

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cmake_minimum_required(VERSION 3.0.2)
project(dyna_ins_remover)

set(CMAKE_BUILD_TYPE "Release")
add_compile_options(-std=c++17)
# set(CMAKE_CXX_FLAGS "-std=c++14 -O2 ${SSE_FLAGS} -msse4")

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  geometry_msgs
  jsk_recognition_msgs
  nav_msgs
  pcl_conversions
  roscpp
  sensor_msgs
  std_msgs
  tf
)

find_package(OpenMP REQUIRED)
find_package(PCL REQUIRED QUIET)
find_package(OpenCV REQUIRED QUIET)
find_package(Boost REQUIRED QUIET)

add_message_files(
  DIRECTORY msg
  FILES
  CloudInfo.msg
)

generate_messages(
  DEPENDENCIES
  geometry_msgs sensor_msgs std_msgs
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES lsm_ws
  CATKIN_DEPENDS cv_bridge geometry_msgs jsk_recognition_msgs nav_msgs pcl_conversions roscpp sensor_msgs std_msgs tf
  DEPENDS system_lib
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

link_directories(
	include
	${PCL_LIBRARY_DIRS}
  ${OpenCV_LIBRARY_DIRS}
)

add_executable(data_publisher_node src/data_publisher.cpp)
add_dependencies(data_publisher_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_compile_options(data_publisher_node PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(data_publisher_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS})

add_executable(gt_publisher_node src/gt_publisher.cpp)
add_dependencies(gt_publisher_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_compile_options(gt_publisher_node PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(gt_publisher_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS})

add_executable(static_mapping_node src/static_mapping.cpp)
add_dependencies(static_mapping_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_compile_options(static_mapping_node PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(static_mapping_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS})

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_lsm_ws.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)