cmake_minimum_required(VERSION 3.0.2)
project(slam_hdl_graph)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  laser_geometry
  fast_gicp
  geodesy
  geometry_msgs
  interactive_markers
  message_generation
  ndt_omp
  nmea_msgs
  pcl_ros
  roscpp
  rospy
  sensor_msgs
  std_msgs
  tf_conversions
)

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")   # 帮助找到 FindG2O.cmake 文件

catkin_python_setup()

#find_package(Boost REQUIRED COMPONENTS system)

catkin_package(
  #  INCLUDE_DIRS include
  #  LIBRARIES slam
  #  CATKIN_DEPENDS roscpp
  #  DEPENDS system_lib
)
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

message(STATUS "PCL_INCLUDE_DIRS:" ${PCL_INCLUDE_DIRS})
message(STATUS "PCL_LIBRARY_DIRS:" ${PCL_LIBRARY_DIRS})
message(STATUS "PCL_DEFINITIONS:" ${PCL_DEFINITIONS})

find_package(G2O REQUIRED)
include_directories(SYSTEM ${G2O_INCLUDE_DIR} ${G2O_INCLUDE_DIRS})
link_directories(${G2O_LIBRARY_DIRS})
link_libraries(${G2O_LIBRARIES})

find_package(OpenMP)
if (OPENMP_FOUND)
    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()

find_library(VGICP_CUDA_FOUND NAMES fast_vgicp_cuda)
message(STATUS "VGICP_CUDA_FOUND:" ${VGICP_CUDA_FOUND})
if(VGICP_CUDA_FOUND)
  add_definitions(-DUSE_VGICP_CUDA)
endif()


find_package(ndt_omp REQUIRED)

# find_package(PCL REQUIRED)

# find_package(G2O REQUIRED)


include_directories(SYSTEM ${G2O_INCLUDE_DIR} ${G2O_INCLUDE_DIRS})
link_directories(${G2O_LIBRARY_DIRS})
link_libraries(${G2O_LIBRARIES})


include_directories(
  ${catkin_INCLUDE_DIRS}
)

# add_executable(${PROJECT_NAME}_node src/slam_node.cpp)
add_executable(odom_laser_node src/odom_laser/odom_laser.cpp)

target_link_libraries(odom_laser_node
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)

add_executable(laser2cloud_node src/slam_hdl_graph/laser2cloud.cpp)
# add_library(laser_odom src/laser_odom.cpp)
target_link_libraries(laser2cloud_node
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)


# add_executable(slam_hdl_graph_node src/slam_hdl_graph/slam_hdl_graph.cpp)

add_executable(slam_hdl_graph_node
  src/slam_hdl_graph/slam_hdl_graph.cpp
  src/slam_hdl_graph/hdl_graph_slam/map_cloud_generator.cpp
  src/slam_hdl_graph/hdl_graph_slam/information_matrix_calculator.cpp
  src/slam_hdl_graph/hdl_graph_slam/graph_slam.cpp
  src/slam_hdl_graph/hdl_graph_slam/keyframe.cpp
  src/slam_hdl_graph/hdl_graph_slam/registrations.cpp
  src/slam_hdl_graph/g2o/robust_kernel_io.cpp
)

add_library(slam_hdl_graph_lib
  src/slam_hdl_graph/slam_hdl_graph.cpp
  src/slam_hdl_graph/hdl_graph_slam/map_cloud_generator.cpp
  src/slam_hdl_graph/hdl_graph_slam/information_matrix_calculator.cpp
  src/slam_hdl_graph/hdl_graph_slam/graph_slam.cpp
  src/slam_hdl_graph/hdl_graph_slam/keyframe.cpp
  src/slam_hdl_graph/hdl_graph_slam/registrations.cpp
  src/slam_hdl_graph/g2o/robust_kernel_io.cpp
)

target_link_libraries(slam_hdl_graph_node
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
  ${G2O_TYPES_DATA}
  ${G2O_CORE_LIBRARY}
  ${G2O_STUFF_LIBRARY}
  ${G2O_SOLVER_PCG}
  ${G2O_SOLVER_CSPARSE} # be aware of that CSPARSE is released under LGPL
  ${G2O_SOLVER_CHOLMOD} # be aware of that cholmod is released under GPL
  ${G2O_TYPES_SLAM3D}
  ${G2O_TYPES_SLAM3D_ADDONS}
  glog
)

target_link_libraries(slam_hdl_graph_lib
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
  ${G2O_TYPES_DATA}
  ${G2O_CORE_LIBRARY}
  ${G2O_STUFF_LIBRARY}
  ${G2O_SOLVER_PCG}
  ${G2O_SOLVER_CSPARSE} # be aware of that CSPARSE is released under LGPL
  ${G2O_SOLVER_CHOLMOD} # be aware of that cholmod is released under GPL
  ${G2O_TYPES_SLAM3D}
  ${G2O_TYPES_SLAM3D_ADDONS}
  glog
)



###########
## Build ##
###########
include_directories(include)  # vscode 可以找到头文件,但是编译找不到,在这行括号中加 include 即可
include_directories(
  ${PCL_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)