55 lines
1.2 KiB
CMake
55 lines
1.2 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(aloam_velodyne)
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_FLAGS "-std=c++11")
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set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
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find_package(catkin REQUIRED COMPONENTS
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geometry_msgs
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nav_msgs
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sensor_msgs
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roscpp
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rospy
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rosbag
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std_msgs
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image_transport
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cv_bridge
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tf
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)
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#find_package(Eigen3 REQUIRED)
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find_package(PCL REQUIRED)
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find_package(OpenCV REQUIRED)
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find_package(Ceres REQUIRED)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${CERES_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS})
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catkin_package(
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CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
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DEPENDS EIGEN3 PCL
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INCLUDE_DIRS include
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)
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add_executable(ascanRegistration src/scanRegistration.cpp)
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target_link_libraries(ascanRegistration ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_executable(alaserOdometry src/laserOdometry.cpp)
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target_link_libraries(alaserOdometry ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})
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add_executable(alaserMapping src/laserMapping.cpp)
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target_link_libraries(alaserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})
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add_executable(kittiHelper src/kittiHelper.cpp)
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target_link_libraries(kittiHelper ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
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