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CMakeLists.txt
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107 lines (92 loc) · 2.88 KB
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###########################################################
# #
# Copyright (c) 2025 #
# #
# The Verifiable & Control-Theoretic Robotics (VECTR) Lab #
# University of California, Los Angeles #
# #
# Authors: David Thorne, Nathan Chan, Brett T. Lopez #
# Contact: {davidthorne, nchan, btlopez}@ucla.edu #
# #
###########################################################
cmake_minimum_required(VERSION 3.12.4)
project(optmap)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_BUILD_TYPE "Release")
find_package( PCL REQUIRED )
include_directories(${PCL_INCLUDE_DIRS})
add_definitions(${PCL_DEFINITIONS})
link_directories(${PCL_LIBRARY_DIRS})
find_package( Eigen3 REQUIRED )
include_directories(${EIGEN3_INCLUDE_DIR})
include(FindOpenMP)
if(OPENMP_FOUND)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
else(OPENMP_FOUND)
message("ERROR: OpenMP could not be found.")
endif(OPENMP_FOUND)
set(CMAKE_THREAD_PREFER_PTHREAD TRUE)
set(THREADS_PREFER_PTHREAD_FLAG TRUE)
find_package(Threads REQUIRED)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
sensor_msgs
geometry_msgs
nav_msgs
pcl_ros
message_generation
)
add_message_files(
DIRECTORY msg
FILES
Descriptor.msg
OptmapPointcloud.msg
OptmapPose.msg
OptmapPoseArray.msg
)
add_service_files(
DIRECTORY srv
FILES
optmap_full.srv
optmap_position.srv
optmap_position_and_time.srv
optmap_set_voxelization.srv
)
generate_messages(
DEPENDENCIES
std_msgs
sensor_msgs
geometry_msgs
)
catkin_package(
CATKIN_DEPENDS
roscpp
std_msgs
sensor_msgs
geometry_msgs
pcl_ros
rospy
INCLUDE_DIRS
include
LIBRARIES
${PROJECT_NAME}
)
include_directories(include)
include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
# OptMap
add_executable(optmap_node src/optmap/SortedFeatureList.cc src/optmap/optmap_node.cc src/optmap/optmap.cc)
add_dependencies(optmap_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_compile_options(optmap_node PRIVATE ${OpenMP_FLAGS})
target_link_libraries(optmap_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenMP_LIBS} Threads::Threads)
# Binaries
install( TARGETS optmap_node
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )
install( DIRECTORY cfg launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} )
# python scripts
catkin_install_python(PROGRAMS scripts/nn/pc_descriptor_node.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})