cmake_minimum_required(VERSION 2.8.3)
project(lio_sam)

#set(CMAKE_BUILD_TYPE "RelWithDebInfo")
set(CMAKE_BUILD_TYPE "Release")
#set(CMAKE_BUILD_TYPE "Debug")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -pthread")
if(OPENMP_FOUND)
message("OPENMP FOUND")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
endif()

find_package(catkin REQUIRED COMPONENTS
  tf
  roscpp
  rospy
  cv_bridge
  #pcl library
  pcl_conversions
  # msgs
  std_msgs
  sensor_msgs
  geometry_msgs
  nav_msgs
  message_generation
  visualization_msgs
)

find_package(OpenMP REQUIRED)
find_package(PCL REQUIRED QUIET)
find_package(OpenCV REQUIRED QUIET)
find_package(GTSAM REQUIRED QUIET)
find_package(Glog REQUIRED)
set(THREADS_PREFER_PTHREAD_FLAG TRUE)
find_package(Threads REQUIRED)
find_package(Boost REQUIRED COMPONENTS thread)

#find_package(OpenMP REQUIRED)
message("OpenMP [OK]:" ${OpenMP_FOUND_INCLUDE_DIRS})

add_message_files(
  DIRECTORY msg
  FILES
  cloud_info.msg
  feature_info.msg
)

add_service_files(
  DIRECTORY srv
  FILES
  save_map.srv
)

generate_messages(
  DEPENDENCIES
  geometry_msgs
  std_msgs
  nav_msgs
  sensor_msgs 

)

catkin_package(
  INCLUDE_DIRS include
  DEPENDS PCL GTSAM

  CATKIN_DEPENDS
  std_msgs
  nav_msgs
  geometry_msgs
  sensor_msgs
  message_runtime
  message_generation
  visualization_msgs
)

# include directories
include_directories(
	include
  src
	${PROJECT_SOURCE_DIR}/include
  ${PROJECT_SOURCE_DIR}/include/FeatureExtract
  ${PROJECT_SOURCE_DIR}/include/Registrantion
  ${PROJECT_SOURCE_DIR}/include/uti_para
	${catkin_INCLUDE_DIRS}
	${PCL_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
  ${GLOG_INCLUDE_DIRS}
  ${OpenMP_FOUND_INCLUDE_DIRS}
	${GTSAM_INCLUDE_DIR}
)

# link directories
link_directories(
	include
	${PCL_LIBRARY_DIRS}
  ${OpenCV_LIBRARY_DIRS}
  ${glog_LIBRARY_DIRS}
  ${GTSAM_LIBRARY_DIRS}

)

###########
## Build ##
###########
# source folder
set(SRC_LIST
    include/FeatureExtract/cfilter.hpp
    include/FeatureExtract/cprocessing.hpp
    include/FeatureExtract/featureExtract.hpp
    include/FeatureExtract/gicp_omp.h
    include/FeatureExtract/pca.hpp
    include/FeatureExtract/utility.hpp

    include/Registrantion/cregistration.hpp
    include/uti_para/uti_para.hpp
  )

# Range Image Projection
# Range Image Projection
add_executable(${PROJECT_NAME}_imageProjection src/imageProjection.cpp )
add_dependencies(${PROJECT_NAME}_imageProjection ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_imageProjection ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})

# Feature Association
add_executable(${PROJECT_NAME}_featureExtraction src/featureExtraction.cpp )
add_dependencies(${PROJECT_NAME}_featureExtraction ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_featureExtraction ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS})


# Mapping Optimization
add_executable(${PROJECT_NAME}_mapOptmization src/mapOptmization2.cpp ${SRC_LIST})
add_dependencies(${PROJECT_NAME}_mapOptmization ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp ${SRC_LIST})
target_compile_options(${PROJECT_NAME}_mapOptmization PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(${PROJECT_NAME}_mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} gtsam)

# IMU Preintegration
add_executable(${PROJECT_NAME}_imuPreintegration src/imuPreintegration.cpp )
add_dependencies(${PROJECT_NAME}_imuPreintegration ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_imuPreintegration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)