CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(line_segment_mapping)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++14)

set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror -Wall -Wextra")

# Add new CMake Modules
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(catkin REQUIRED COMPONENTS
  cmake_modules
  geometry_msgs
  message_filters
  nav_msgs
  open_karto
  roscpp
  sensor_msgs
  tf
  visualization_msgs
  pcl_ros
)

# Eigen
find_package(Eigen3 REQUIRED)

# g2o
find_package(G2O REQUIRED)

# suitesparse
find_package(SUITESPARSE REQUIRED)

# glog
find_package(glog REQUIRED)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES line_segment_mapping
  CATKIN_DEPENDS
    cmake_modules
    geometry_msgs
    message_filters
    nav_msgs
    open_karto
    roscpp
    sensor_msgs
    tf
    visualization_msgs
    pcl_ros
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${G2O_INCLUDE_DIR}
  ${SUITESPARSE_INCLUDE_DIRS}
)

add_library(${PROJECT_NAME}
  src/g2o_solver.cpp
  src/line_segment_extractor.cpp
  src/line_segment_map_manager.cpp
  src/line_segment_mapper.cpp
)
target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${G2O_LIBRARIES}
  ${SUITESPARSE_LIBRARIES}
  glog::glog
  Eigen3::Eigen
)

add_executable(${PROJECT_NAME}_node src/slam_karto_g2o.cpp)
target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME} ${catkin_LIBRARIES})