localizer/CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(localizer)

set(CMAKE_CXX_STANDARD 14)
option(BUILD_VGICP_CUDA "Build GPU-powered VGICP" OFF)
option(BUILD_apps "Build application programs" ON)
option(BUILD_test "Build test programs" OFF)
option(BUILD_PYTHON_BINDINGS "Build python bindings" OFF)

find_package(catkin REQUIRED COMPONENTS
        roscpp
        tf2
        tf2_ros
        tf2_geometry_msgs
        std_msgs
        geometry_msgs
        sensor_msgs
        nav_msgs
        diagnostic_msgs
        pcl_conversions
        pcl_ros
        message_generation
        )

generate_messages(
        DEPENDENCIES
        std_msgs
)
find_package(OpenCV REQUIRED)

find_package(PCL REQUIRED QUIET)
find_package(OpenMP REQUIRED)
catkin_package(
        INCLUDE_DIRS include
        CATKIN_DEPENDS
        roscpp
        tf2
        tf2_ros
        tf2_geometry_msgs
        geometry_msgs
        sensor_msgs
        nav_msgs
        diagnostic_msgs
        pcl_conversions
        pcl_ros
        message_generation
)
find_package(OpenMP)
if (OPENMP_FOUND)
    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()
if(BUILD_VGICP_CUDA)
    find_package(CUDA REQUIRED)
    include_directories(${CUDA_INCLUDE_DIRS})
    link_directories(${CUDA_LIBRARY_DIRS})
endif()
find_package(RapidJSON)
###################################
## catkin specific configuration ##
###################################
if(catkin_FOUND)
    catkin_package(
            INCLUDE_DIRS include
            LIBRARIES fast_gicp
    )
endif()
include_directories(include
        ${catkin_INCLUDE_DIRS}
        ${OpenCV_INCLUDE_DIRS}
        )

add_library(localizer SHARED
        src/fast_gicp/gicp/lsq_registration.cpp
        src/fast_gicp/gicp/fast_gicp.cpp
        src/fast_gicp/gicp/fast_gicp_st.cpp
        src/fast_gicp/gicp/fast_vgicp.cpp
        )
target_link_libraries(localizer
        ${PCL_LIBRARIES}
        )
target_include_directories(localizer PUBLIC
        include
        ${PCL_INCLUDE_DIRS}
        ${EIGEN3_INCLUDE_DIR}
        )
### CUDA ###
if(BUILD_VGICP_CUDA)
    set(CUDA_NVCC_FLAGS "--expt-relaxed-constexpr")
    add_definitions(-DUSE_VGICP_CUDA)

    cuda_add_library(localizer_cuda SHARED
            src/fast_gicp/cuda/fast_vgicp_cuda.cu
            src/fast_gicp/cuda/brute_force_knn.cu
            src/fast_gicp/cuda/covariance_estimation.cu
            src/fast_gicp/cuda/covariance_estimation_rbf.cu
            src/fast_gicp/cuda/covariance_regularization.cu
            src/fast_gicp/cuda/gaussian_voxelmap.cu
            src/fast_gicp/cuda/find_voxel_correspondences.cu
            src/fast_gicp/cuda/compute_derivatives.cu
            src/fast_gicp/cuda/compute_mahalanobis.cu
            src/fast_gicp/cuda/ndt_cuda.cu
            src/fast_gicp/cuda/ndt_compute_derivatives.cu
            )
    target_include_directories(localizer_cuda PRIVATE
            include
            thirdparty/Eigen
            thirdparty/nvbio
            ${catkin_INCLUDE_DIRS}
            )
    target_link_libraries(localizer_cuda
            ${catkin_LIBRARIES}
            )
    cuda_add_cublas_to_target(localizer_cuda)

    # add vgicp_cuda to libfast_gicp
    target_sources(localizer PRIVATE
            src/fast_gicp/gicp/fast_vgicp_cuda.cpp
            src/fast_gicp/ndt/ndt_cuda.cpp
            )
    target_link_libraries(localizer
            localizer_cuda
            )
    add_dependencies(localizer localizer_cuda)
    if(catkin_FOUND)
        install(TARGETS localizer_cuda
                LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
    endif()
endif()


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

include_directories(include ${catkin_INCLUDE_DIRS})
SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}")

add_executable(map_loader src/map_loader.cpp)
target_link_libraries(map_loader ${catkin_LIBRARIES} ${PCL_LIBRARIES})


add_executable(deskew_point_cloud src/deskew_point_cloud.cpp)
target_link_libraries(deskew_point_cloud ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})

add_executable(localizer_node src/localizer.cpp src/localizer_node.cpp)
target_link_libraries(localizer_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} localizer )


#############
## 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 map_loader deskew_point_cloud localizer_node
   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 other files for installation (e.g. launch and bag files, etc.)
 install(FILES
   # myfile1
   # myfile2
         launch/deskw_point_cloud.launch
         launch/localizer.launch
         launch/map_loader.launch
         launch/run.launch
         launch/lexus.launch
         launch/static_tf.launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_math_tool.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)