cmake_minimum_required(VERSION 2.8.3)
project(lio_sam)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++14")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -pthread")

find_package(catkin REQUIRED COMPONENTS
  tf
  roscpp
  rospy
  cv_bridge
  # pcl library
  pcl_conversions
  # msgs
  std_msgs
  sensor_msgs
  geometry_msgs
  nav_msgs
  message_generation
)

find_package(OpenMP REQUIRED)
find_package(PCL REQUIRED QUIET)
find_package(OpenCV REQUIRED QUIET)
find_package(GTSAM REQUIRED QUIET)
find_package(RapidJSON)

add_message_files(
  DIRECTORY msg
  FILES
  cloud_info.msg
)

generate_messages(
  DEPENDENCIES
  geometry_msgs
  std_msgs
  nav_msgs
  sensor_msgs
)

catkin_package(
  INCLUDE_DIRS include
  DEPENDS PCL GTSAM

  CATKIN_DEPENDS 
  std_msgs
  nav_msgs
  geometry_msgs
  sensor_msgs
  message_runtime 
  message_generation
)

# include directories
include_directories(
	include
	${catkin_INCLUDE_DIRS}
	${PCL_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
	${GTSAM_INCLUDE_DIR}
)

# link directories
link_directories(
	include
	${PCL_LIBRARY_DIRS}
  ${OpenCV_LIBRARY_DIRS}
  ${GTSAM_LIBRARY_DIRS}
)

###########
## Build ##
###########

# Range Image Projection
add_executable(${PROJECT_NAME}_imageProjection src/imageProjection.cpp)
add_dependencies(${PROJECT_NAME}_imageProjection ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_imageProjection ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})

# Feature Association
add_executable(${PROJECT_NAME}_featureExtraction src/featureExtraction.cpp)
add_dependencies(${PROJECT_NAME}_featureExtraction ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_featureExtraction ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})

# Mapping Optimization
add_executable(${PROJECT_NAME}_mapOptmization src/mapOptmization.cpp)
add_dependencies(${PROJECT_NAME}_mapOptmization ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_compile_options(${PROJECT_NAME}_mapOptmization PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(${PROJECT_NAME}_mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} gtsam)
# localization
add_executable(${PROJECT_NAME}_localization src/localization.cpp)
add_dependencies(${PROJECT_NAME}_localization ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_compile_options(${PROJECT_NAME}_localization PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(${PROJECT_NAME}_localization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} gtsam)


# IMU Preintegration
add_executable(${PROJECT_NAME}_imuPreintegration src/imuPreintegration.cpp)
target_link_libraries(${PROJECT_NAME}_imuPreintegration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)


#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
 install(TARGETS
		 ${PROJECT_NAME}_imageProjection
		 ${PROJECT_NAME}_featureExtraction
		 ${PROJECT_NAME}_mapOptmization
		 ${PROJECT_NAME}_localization
		 ${PROJECT_NAME}_imuPreintegration
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
#
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

# Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h"
   PATTERN ".svn" EXCLUDE
 )

# Mark cpp header files for installation
 install(DIRECTORY
		 launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
# Mark cpp header files for installation
 install(DIRECTORY
		 config
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )