# SPDX-License-Identifier: BSD-2-Clause
cmake_minimum_required(VERSION 2.8.3)
project(hdl_graph_slam)

# Can we use C++17 in indigo?
if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
  add_definitions(-std=c++11)
  set(CMAKE_CXX_FLAGS "-std=c++11")
else()
  add_definitions(-std=c++14 -msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2)
  set(CMAKE_CXX_FLAGS "-std=c++14 -msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2")
endif()

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")

add_definitions("-Wall -g")   # 启动调试模式
SET(CMAKE_BUILD_TYPE Debug)

# pcl 1.7 causes a segfault when it is built with debug mode
set(CMAKE_BUILD_TYPE "RELEASE")

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

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()

########################
## message generation ##
########################
add_message_files(FILES
  FloorCoeffs.msg
  ScanMatchingStatus.msg
)

add_service_files(FILES
  SaveMap.srv
  LoadGraph.srv
  DumpGraph.srv
)

generate_messages(DEPENDENCIES std_msgs geometry_msgs)

###################################
## catkin specific configuration ##
###################################
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES hdl_graph_slam_nodelet
  CATKIN_DEPENDS
    geometry_msgs
    message_runtime
    nmea_msgs
    roscpp
    sensor_msgs
    std_msgs
    tf_conversions
#  DEPENDS system_lib
)

###########
## Build ##
###########
include_directories(include)
include_directories(
  ${PCL_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)

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

# nodelets
add_executable(tf src/tf.cpp)
# add_library(laser_odom src/laser_odom.cpp)
target_link_libraries(tf
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)


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


add_executable(hdl_backend
  src/hdl_backend.cpp
  src/hdl_graph_slam/map_cloud_generator.cpp
  src/hdl_graph_slam/information_matrix_calculator.cpp
  src/hdl_graph_slam/graph_slam.cpp
  src/hdl_graph_slam/keyframe.cpp
  src/hdl_graph_slam/map_cloud_generator.cpp
  # src/hdl_graph_slam/src/hdl_graph_slam/map2odom_publisher.py
  src/hdl_graph_slam/registrations.cpp
  src/g2o/robust_kernel_io.cpp
  )
# add_library(hdl_backend src/hdl_backend.cpp)
target_link_libraries(hdl_backend
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
  glog
  # ${G2O_LIBRARY_DIRS}
)

target_link_libraries(hdl_backend
  ${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}
)


add_library(prefiltering_nodelet apps/prefiltering_nodelet.cpp)
target_link_libraries(prefiltering_nodelet
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)


add_library(floor_detection_nodelet apps/floor_detection_nodelet.cpp)
target_link_libraries(floor_detection_nodelet
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)
add_dependencies(floor_detection_nodelet ${PROJECT_NAME}_gencpp)


add_library(scan_matching_odometry_nodelet
  apps/scan_matching_odometry_nodelet.cpp
  src/hdl_graph_slam/registrations.cpp
)
target_link_libraries(scan_matching_odometry_nodelet
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)
add_dependencies(scan_matching_odometry_nodelet ${PROJECT_NAME}_gencpp)


add_library(hdl_graph_slam_nodelet
  apps/hdl_graph_slam_nodelet.cpp
  src/hdl_graph_slam/graph_slam.cpp
  src/hdl_graph_slam/keyframe.cpp
  src/hdl_graph_slam/map_cloud_generator.cpp
  src/hdl_graph_slam/registrations.cpp
  src/hdl_graph_slam/information_matrix_calculator.cpp
  src/g2o/robust_kernel_io.cpp
)
target_link_libraries(hdl_graph_slam_nodelet
  ${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
)
add_dependencies(hdl_graph_slam_nodelet ${PROJECT_NAME}_gencpp)

catkin_install_python(
  PROGRAMS
    src/${PROJECT_NAME}/bag_player.py
    src/${PROJECT_NAME}/ford2bag.py
    src/${PROJECT_NAME}/map2odom_publisher.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(FILES nodelet_plugins.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

install(TARGETS
  prefiltering_nodelet
  floor_detection_nodelet
  scan_matching_odometry_nodelet
  hdl_graph_slam_nodelet
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

install(DIRECTORY include/
   DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
)