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CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
project(loam_mapper)
add_compile_options(-Wall -Wextra -Wpedantic)
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(PcapPlusPlus REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(GeographicLib REQUIRED)
include_directories(include
${PCL_INCLUDE_DIRS}
${GeographicLib_INCLUDE_DIRS}
${PcapPlusPlus_INCLUDE_DIRS})
set(LOAM_MAPPER_LIB_SRC
src/utils.cpp
src/continuous_packet_parser.cpp
src/continuous_packet_parser_xt32.cpp
src/points_provider.cpp
src/transform_provider.cpp
src/image_projection.cpp
src/feature_extraction.cpp
src/loam_mapper.cpp)
set(LOAM_MAPPER_LIB_HEADERS
include/loam_mapper/utils.hpp
include/loam_mapper/date.h
include/loam_mapper/csv.hpp
include/loam_mapper/Occtree.h
include/loam_mapper/continuous_packet_parser.hpp
include/loam_mapper/continuous_packet_parser_xt32.hpp
include/loam_mapper/points_provider_base.hpp
include/loam_mapper/points_provider.hpp
include/loam_mapper/transform_provider.hpp
include/loam_mapper/image_projection.hpp
include/loam_mapper/feature_extraction.hpp
include/loam_mapper/loam_mapper.hpp)
add_executable(${PROJECT_NAME}
${LOAM_MAPPER_LIB_SRC}
${LOAM_MAPPER_LIB_HEADERS})
ament_target_dependencies(${PROJECT_NAME} rclcpp PcapPlusPlus PCL pcl_conversions geometry_msgs
sensor_msgs nav_msgs visualization_msgs OpenCV cv_bridge)
target_link_libraries(${PROJECT_NAME}
${PCL_LIBRARIES}
${GeographicLib_LIBRARIES}
${PcapPlusPlus_LIBRARIES})
if (BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif ()
install(TARGETS ${PROJECT_NAME}
DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}/
)
install(DIRECTORY
config
DESTINATION share/${PROJECT_NAME}/
)
ament_auto_package()