cmake_minimum_required(VERSION 3.0.2)
project(laser_odom)

# add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  pcl_ros
  tf
)

find_package(Boost REQUIRED COMPONENTS system)
find_package(PCL REQUIRED)

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()

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES laser_odom
#  CATKIN_DEPENDS roscpp
#  DEPENDS system_lib
)

include_directories(
  include
  fast_gicp/include
  ${PCL_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)

add_library(fast_gicp SHARED
  fast_gicp/src/lsq_registration.cpp
  fast_gicp/src/fast_gicp.cpp
  fast_gicp/src/fast_gicp_st.cpp
  fast_gicp/src/fast_vgicp.cpp
)
target_link_libraries(fast_gicp
  ${PCL_LIBRARIES}
  ${Boost_LIBRARIES}
)

add_executable(laser
  src/laser.cpp
)
add_dependencies(laser ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(laser
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
  glog
)



if (OPENMP_FOUND)
    if (TARGET OpenMP::OpenMP_CXX)
        target_link_libraries(fast_gicp OpenMP::OpenMP_CXX)
    endif ()
endif ()

add_executable(laser_odom_node 
  src/main_node.cpp
  # src/odom_laser.cpp
)

target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
  fast_gicp
  glog
)