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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(cvr_lse)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -pthread")
### for visualization
add_definitions(-DGround)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
cv_bridge
# pcl library
pcl_conversions
# msgs
std_msgs
sensor_msgs
geometry_msgs
nav_msgs
message_generation
)
find_package(OpenCV REQUIRED
COMPONENTS
opencv_highgui
CONFIG
)
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
find_package(Eigen3 REQUIRED)
include_directories(${Eigen_INCLUDE_DIRS})
add_message_files(
DIRECTORY msg
FILES
cloud_label.msg
)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(
CATKIN_DEPENDS
)
include_directories(
main
ground_detecttion
grid_map
cvr_lse_process
${catkin_INCLUDE_DIRS}
)
set(GRID_SOURCE_FILE
grid_map/iterators/CircleIterator.cpp
grid_map/iterators/EllipseIterator.cpp
grid_map/iterators/GridMapIterator.cpp
grid_map/iterators/LineIterator.cpp
grid_map/iterators/PolygonIterator.cpp
grid_map/iterators/SpiralIterator.cpp
grid_map/iterators/SubmapIterator.cpp
grid_map/BufferRegion.cpp
grid_map/CubicInterpolation.cpp
grid_map/GridMap.cpp
grid_map/GridMapMath.cpp
grid_map/Polygon.cpp
grid_map/SubmapGeometry.cpp)
set(GROUND_SOURCE_FILE
ground_detecttion/ground_segmentation.cc
ground_detecttion/segment.cc
ground_detecttion/bin.cc)
set(VR_LSE_SOURCE_FILE
cvr_lse_process/scan_point.cpp
cvr_lse_process/odometry.cpp
cvr_lse_process/cvr_lse_process.cpp
cvr_lse_process/post_process.cpp
cvr_lse_process/concave_polygon.cpp)
add_executable(cvr_lse main/entrance_process.cpp ${GROUND_SOURCE_FILE} ${GRID_SOURCE_FILE}
${VR_LSE_SOURCE_FILE})
add_executable(ground_segmentation main/entrance_ground.cpp ${GROUND_SOURCE_FILE})
target_link_libraries(cvr_lse ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(ground_segmentation ${catkin_LIBRARIES} ${PCL_LIBRARIES})