# SPDX-License-Identifier: BSD-2-Clause

cmake_minimum_required(VERSION 2.8.3)

project(hdl_graph_slam)

# Can we use C++17 in indigo?

add_definitions(-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2)

set(CMAKE_CXX_FLAGS "-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2")

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")

# pcl 1.7 causes a segfault when it is built with debug mode

set(CMAKE_BUILD_TYPE "RELEASE")

find_package(catkin REQUIRED COMPONENTS

roscpp

rospy

pcl_ros

geodesy

nmea_msgs

sensor_msgs

geometry_msgs

message_generation

interactive_markers

ndt_omp

fast_gicp

)

catkin_python_setup()

find_package(PCL REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})

link_directories(${PCL_LIBRARY_DIRS})

add_definitions(${PCL_DEFINITIONS})

message(STATUS "PCL_INCLUDE_DIRS:" ${PCL_INCLUDE_DIRS})

message(STATUS "PCL_LIBRARY_DIRS:" ${PCL_LIBRARY_DIRS})

message(STATUS "PCL_DEFINITIONS:" ${PCL_DEFINITIONS})

find_package(G2O REQUIRED)

include_directories(SYSTEM ${G2O_INCLUDE_DIR} ${G2O_INCLUDE_DIRS})

link_directories(${G2O_LIBRARY_DIRS})

# link_libraries(${G2O_LIBRARIES})

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()

find_library(VGICP_CUDA_FOUND NAMES fast_vgicp_cuda)

message(STATUS "VGICP_CUDA_FOUND:" ${VGICP_CUDA_FOUND})

if(VGICP_CUDA_FOUND)

add_definitions(-DUSE_VGICP_CUDA)

endif()

########################

## message generation ##

########################

add_message_files(FILES

FloorCoeffs.msg

ScanMatchingStatus.msg

)

add_service_files(FILES

SaveMap.srv

DumpGraph.srv

)

generate_messages(DEPENDENCIES std_msgs geometry_msgs)

###################################

## catkin specific configuration ##

###################################

catkin_package(

INCLUDE_DIRS include

LIBRARIES hdl_graph_slam_nodelet

# CATKIN_DEPENDS pcl_ros roscpp sensor_msgs

# DEPENDS system_lib

)

###########

## Build ##

###########

include_directories(include)

include_directories(

${PCL_INCLUDE_DIRS}

${catkin_INCLUDE_DIRS}

)

# nodelets

add_library(prefiltering_nodelet apps/prefiltering_nodelet.cpp)

target_link_libraries(prefiltering_nodelet

${catkin_LIBRARIES}

${PCL_LIBRARIES}

)

add_library(floor_detection_nodelet apps/floor_detection_nodelet.cpp)

target_link_libraries(floor_detection_nodelet

${catkin_LIBRARIES}

${PCL_LIBRARIES}

)

add_dependencies(floor_detection_nodelet ${PROJECT_NAME}_gencpp)

add_library(scan_matching_odometry_nodelet

apps/scan_matching_odometry_nodelet.cpp

src/hdl_graph_slam/registrations.cpp

)

target_link_libraries(scan_matching_odometry_nodelet

${catkin_LIBRARIES}

${PCL_LIBRARIES}

)

add_dependencies(scan_matching_odometry_nodelet ${PROJECT_NAME}_gencpp)

add_library(hdl_graph_slam_nodelet

apps/hdl_graph_slam_nodelet.cpp

src/hdl_graph_slam/graph_slam.cpp

src/hdl_graph_slam/keyframe.cpp

src/hdl_graph_slam/map_cloud_generator.cpp

src/hdl_graph_slam/registrations.cpp

src/hdl_graph_slam/information_matrix_calculator.cpp

src/g2o/robust_kernel_io.cpp

)

target_link_libraries(hdl_graph_slam_nodelet

${catkin_LIBRARIES}

${PCL_LIBRARIES}

${G2O_TYPES_DATA}

${G2O_CORE_LIBRARY}

${G2O_STUFF_LIBRARY}

${G2O_SOLVER_PCG}

${G2O_SOLVER_CSPARSE} # be aware of that CSPARSE is released under LGPL

${G2O_SOLVER_CHOLMOD} # be aware of that cholmod is released under GPL

${G2O_TYPES_SLAM3D}

${G2O_TYPES_SLAM3D_ADDONS}

)

add_dependencies(hdl_graph_slam_nodelet ${PROJECT_NAME}_gencpp)

catkin_install_python(

PROGRAMS

src/${PROJECT_NAME}/bag_player.py

src/${PROJECT_NAME}/ford2bag.py

src/${PROJECT_NAME}/map2odom_publisher.py

DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

)