CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(point_lio)

add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")

message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" )
  include(ProcessorCount)
  ProcessorCount(N)
  message("Processer number:  ${N}")
  if(N GREATER 5)
    add_definitions(-DMP_EN)
    add_definitions(-DMP_PROC_NUM=4)
    message("core for MP:  3")
  elseif(N GREATER 3)
    math(EXPR PROC_NUM "${N} - 2")
    add_definitions(-DMP_EN)
    add_definitions(-DMP_PROC_NUM="${PROC_NUM}")
    message("core for MP:  ${PROC_NUM}")
  else()
    add_definitions(-DMP_PROC_NUM=1)
  endif()
else()
  add_definitions(-DMP_PROC_NUM=1)
endif()
find_package(OpenMP QUIET)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(livox_ros_driver REQUIRED)
find_package(tf2_eigen REQUIRED)

include_directories(
  include
)

add_executable(pointlio_mapping src/laserMapping.cpp include/ikd-Tree/ikd_Tree.cpp src/parameters.cpp src/preprocess.cpp src/Estimator.cpp)
ament_target_dependencies(pointlio_mapping
  rclcpp
  geometry_msgs
  nav_msgs
  sensor_msgs
  pcl_ros
  tf2_ros
  visualization_msgs
  livox_ros_driver
  tf2_eigen
)
target_link_libraries(pointlio_mapping Eigen3::Eigen)

install(TARGETS pointlio_mapping
  DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY launch
        DESTINATION share/${PROJECT_NAME}
)

install(DIRECTORY config
  DESTINATION share/${PROJECT_NAME}
)

ament_package()