X-lanni
113 lines
2.8 KiB
CMake
113 lines
2.8 KiB
CMake
cmake_minimum_required(VERSION 3.5)
|
|
project(point_lio)
|
|
|
|
# Use C++14
|
|
if(NOT CMAKE_CXX_STANDARD)
|
|
set(CMAKE_CXX_STANDARD 14)
|
|
endif()
|
|
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
|
set(CMAKE_CXX_EXTENSIONS OFF)
|
|
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
|
|
|
|
# Compiler settings for performance and threading
|
|
add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
|
|
add_compile_options(-O3 -pthread -fexceptions)
|
|
|
|
# Processor count and definitions
|
|
message(STATUS "Current CPU architecture: ${CMAKE_SYSTEM_PROCESSOR}")
|
|
if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" )
|
|
include(ProcessorCount)
|
|
ProcessorCount(N)
|
|
message(STATUS "Processor number: ${N}")
|
|
if(N GREATER 5)
|
|
add_definitions(-DMP_EN)
|
|
add_definitions(-DMP_PROC_NUM=4)
|
|
message(STATUS "core for MP: 3")
|
|
elseif(N GREATER 3)
|
|
math(EXPR PROC_NUM "${N} - 2")
|
|
add_definitions(-DMP_EN)
|
|
add_definitions(-DMP_PROC_NUM="${PROC_NUM}")
|
|
message(STATUS "core for MP: ${PROC_NUM}")
|
|
else()
|
|
add_definitions(-DMP_PROC_NUM=1)
|
|
endif()
|
|
else()
|
|
add_definitions(-DMP_PROC_NUM=1)
|
|
endif()
|
|
|
|
# Find packages
|
|
find_package(ament_cmake REQUIRED)
|
|
find_package(rclcpp REQUIRED)
|
|
find_package(rclpy REQUIRED)
|
|
find_package(geometry_msgs REQUIRED)
|
|
find_package(nav_msgs REQUIRED)
|
|
find_package(sensor_msgs REQUIRED)
|
|
find_package(pcl_ros REQUIRED)
|
|
find_package(pcl_conversions REQUIRED)
|
|
find_package(tf2_ros REQUIRED)
|
|
find_package(visualization_msgs REQUIRED)
|
|
# find_package(livox_ros_driver2 REQUIRED)
|
|
|
|
find_package(Eigen3 REQUIRED)
|
|
|
|
|
|
# OpenMP
|
|
find_package(OpenMP QUIET)
|
|
if(OPENMP_FOUND)
|
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
|
|
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
|
|
endif()
|
|
|
|
find_package(PythonLibs REQUIRED) # Consider using Pybind11 for ROS2
|
|
find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
|
|
|
|
include_directories(
|
|
include
|
|
${EIGEN3_INCLUDE_DIR}
|
|
${PYTHON_INCLUDE_DIRS}
|
|
)
|
|
|
|
# Declare a ROS2 executable
|
|
add_executable(pointlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/parameters.cpp src/preprocess.cpp src/Estimator.cpp)
|
|
ament_target_dependencies(pointlio_mapping
|
|
rclcpp
|
|
rclpy
|
|
geometry_msgs
|
|
nav_msgs
|
|
sensor_msgs
|
|
pcl_ros
|
|
pcl_conversions
|
|
tf2_ros
|
|
visualization_msgs
|
|
# livox_ros_driver2
|
|
)
|
|
target_link_libraries(pointlio_mapping ${PYTHON_LIBRARIES})
|
|
target_include_directories(pointlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
|
|
|
|
# Install the executable
|
|
install(TARGETS
|
|
pointlio_mapping
|
|
DESTINATION lib/${PROJECT_NAME}
|
|
)
|
|
|
|
install(
|
|
DIRECTORY config launch rviz_cfg
|
|
DESTINATION share/${PROJECT_NAME}
|
|
)
|
|
|
|
# Export dependencies
|
|
ament_export_dependencies(rclcpp
|
|
rclpy
|
|
geometry_msgs
|
|
nav_msgs
|
|
sensor_msgs
|
|
pcl_ros
|
|
pcl_conversions
|
|
tf2_ros
|
|
visualization_msgs
|
|
# livox_ros_driver2
|
|
Eigen3
|
|
)
|
|
|
|
ament_package()
|