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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(aloam_velodyne)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -Wcomment -g")
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
sensor_msgs
roscpp
rospy
rosbag
std_msgs
image_transport
cv_bridge
tf
)
#find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Ceres REQUIRED)
find_package(Gflags)
find_package(Glog)
find_package(GTSAM REQUIRED)
# find_package(MKL REQUIRED)
find_package(TBB REQUIRED)
include_directories(${TBB_INCLUDE_DIR})
find_package(Boost COMPONENTS system thread timer)
include_directories(${GFLAGS_INCLUDE_DIRS} ${GLOG_INCLUDE_DIRS})
include_directories(thirdparty/Sophus)
include_directories(
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS})
catkin_package(
CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
DEPENDS EIGEN3 PCL
INCLUDE_DIRS include
)
link_libraries(${GFLAGS_LIBRARIES})
link_libraries(${GLOG_LIBRARIES})
add_library(vloam
src/aloam_velodyne/utility.cpp
src/vloam/Config.cpp
src/vloam/PinholeModel.cpp
src/vloam/Point.cpp
src/vloam/Frame.cpp
src/vloam/Keyframe.cpp
src/vloam/KeyframeDB.cpp
src/vloam/WeightFunction.cpp
src/vloam/featureTracking.cpp
src/vloam/Tracker2.cpp
src/vloam/Frontend.cpp
src/vloam/KeyframeWindow.cpp
src/vloam/WindowOptimizer.cpp
src/vloam/BackEndSolver.cpp
src/vloam/RosClient.cpp
src/vloam/CamLidarProcess.cpp
src/Optimization/FrameParameterization.cpp
src/Optimization/FrameTracker.cpp
)
target_link_libraries(vloam
${TBB_LIBRARIES}
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${OpenCV_LIBS}
${GLOG_LIBRARIES}
${GFLAGS_LIBRARIES}
gtsam
)
add_executable(ascanRegistration src/scanRegistration.cpp)
target_link_libraries(ascanRegistration ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_executable(alaserOdometry src/laserOdometry.cpp)
target_link_libraries(alaserOdometry
vloam
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${OpenCV_LIBS}
${CERES_LIBRARIES}
gtsam
Boost::system
Boost::thread
Boost::timer
${TBB_LIBRARIES}
)
add_executable(alaserMapping src/laserMapping.cpp)
target_link_libraries(alaserMapping
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${CERES_LIBRARIES}
Boost::system
Boost::thread
Boost::timer
${TBB_LIBRARIES})
add_executable(kittiHelper src/kittiHelper.cpp)
target_link_libraries(kittiHelper
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${OpenCV_LIBS}
Boost::system
Boost::thread
Boost::timer
${TBB_LIBRARIES})
add_executable(adjustPointCloud src/adjustPointCloud.cpp)
target_link_libraries(adjustPointCloud
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${OpenCV_LIBS}
Boost::system
Boost::thread
Boost::timer
${TBB_LIBRARIES})
add_executable(test_quaterion src/test_quaterion.cpp)