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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(fast_lio)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
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")
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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(PythonLibs REQUIRED)
find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
# ROS dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(visualization_msgs REQUIRED)
#find_package(pcl_ros REQUIRED)
find_package(PCL REQUIRED COMPONENTS common io filters kdtree)
find_package(pcl_conversions REQUIRED)
find_package(livox_ros_driver2 REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(tf2_ros REQUIRED)
set(dependencies
rclcpp
rclcpp_components
geometry_msgs
nav_msgs
sensor_msgs
std_msgs
std_srvs
visualization_msgs
#pcl_ros
pcl_conversions
livox_ros_driver2
tf2_ros
)
# Thirdparty libraries
find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED COMPONENTS common io)
message(Eigen: ${EIGEN3_INCLUDE_DIR})
message(STATUS "PCL: ${PCL_INCLUDE_DIRS}")
set(msg_files
"msg/Pose6D.msg"
)
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
)
ament_export_dependencies(rosidl_default_runtime)
add_executable(fastlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/preprocess.cpp)
target_include_directories(fastlio_mapping PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${PCL_INCLUDE_DIRS}
)
target_link_libraries(fastlio_mapping ${PCL_LIBRARIES} ${PYTHON_LIBRARIES} Eigen3::Eigen)
target_include_directories(fastlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
list(APPEND EOL_LIST "foxy" "galactic" "eloquent" "dashing" "crystal")
if($ENV{ROS_DISTRO} IN_LIST EOL_LIST)
# Custommsg to support foxy & galactic
rosidl_target_interfaces(fastlio_mapping
${PROJECT_NAME} "rosidl_typesupport_cpp")
else()
rosidl_get_typesupport_target(cpp_typesupport_target
${PROJECT_NAME} "rosidl_typesupport_cpp")
target_link_libraries(fastlio_mapping ${cpp_typesupport_target})
endif()
ament_target_dependencies(fastlio_mapping ${dependencies})
# ---------------- Install --------------- #
install(TARGETS fastlio_mapping
DESTINATION lib/${PROJECT_NAME}
)
install(
DIRECTORY config launch rviz
DESTINATION share/${PROJECT_NAME}
)
ament_package()