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cmake_minimum_required(VERSION 2.8)
project(PCloudLocalize)
set(CMAKE_BUILD_TYPE "Release")
#set(CMAKE_BUILD_TYPE "Debug")
add_compile_options(-fPIC)
set(CMAKE_CXX_STANDARD 17)
option(ENABLE_FAST_GICP "Use fast gicp lib" OFF)
option(ENABLE_ESKF "Use eskf" ON)
option(ENABLE_BAG "Use ros bag" OFF)
option(ENABLE_ROS "Use ros lib" ON)
option(ONE_MESH "Use stream of ONE big mesh" ON)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
message("----------------------")
if (ENABLE_FAST_GICP)
message("Use fast gicp lib: ON")
add_definitions(-DENABLE_FAST_GICP)
else()
message("Use fast gicp lib: OFF")
endif()
if (ENABLE_ESKF)
message("Use eskf: ON")
add_definitions(-DENABLE_ESKF)
else()
message("Use eskf: OFF")
endif()
if (ENABLE_ROS)
message("Use ros lib: ON")
add_definitions(-DENABLE_ROS)
else()
message("Use ros lib: OFF")
endif()
if (ENABLE_BAG)
message("Use ros bag: ON")
add_definitions(-DENABLE_BAG)
else()
message("Use ros bag: OFF")
endif()
if (ONE_MESH)
message("Use stream of ONE big mesh: ON")
add_definitions(-DONE_MESH)
else()
message("Use stream of ONE big mesh: OFF")
endif()
message("----------------------")
option(TEST_ESKF "test eskf" OFF)
if (TEST_ESKF)
add_definitions(-DTEST_ESKF)
endif()
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
find_package(Glog REQUIRED)
find_package(GFlags REQUIRED)
set(HOME_DIR ${CMAKE_CURRENT_SOURCE_DIR})
#有依赖的在前 被依赖的在后
add_subdirectory(apps)
add_subdirectory(libs)