CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(slamesh)

SET(CMAKE_CXX_FLAGS "-std=c++14 -Wno-deprecated-declarations -Wno-dev")
set(CMAKE_BUILD_TYPE "Release")
set(catkin_DIR /opt/ros/kinetic/share/catkin/cmake)

#ros
#add_compile_definitions(VOXBLOX)
#set(USE_VOXBLOX ON)
set(USE_VOXBLOX OFF)
if(USE_VOXBLOX)
    message("USE_VOXBLOX")
    find_package(catkin REQUIRED COMPONENTS
            pcl_ros
            roscpp
            rospy
            sensor_msgs
            std_msgs
            mesh_msgs
            mesh_msgs_conversions
            voxblox_msgs
            )
else()
    message("DONT USE_VOXBLOX")
    find_package(catkin REQUIRED COMPONENTS
            pcl_ros
            roscpp
            rospy
            sensor_msgs
            std_msgs
            mesh_msgs
            mesh_msgs_conversions
            )
endif()
catkin_package()
include_directories(include ${catkin_INCLUDE_DIRS})

#pcl
find_package(PCL REQUIRED)
include_directories(include ${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
#ceres
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})
#opencv in vins
#find_package(OpenCV REQUIRED)
#ictmap
#find_package(octomap REQUIRED)
#include_directories(${OCTOMAP_INCLUDE_DIRS})
#openmp
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()
#mesh_msg
find_package(LVR2 2 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system)
include_directories(include ${LVR2_INCLUDE_DIRS})
if(USE_VOXBLOX)
    message("USE_VOXBLOX")
    add_executable(slamesh
            src/utility/tool.cpp
            src/factor/lidarFactor.cpp
            src/cell.cpp
            src/map.cpp
            src/slamesher_node.cpp
            src/voxblox/mesh/mesher.cpp
            src/voxblox/mesh/marching_cubes.cc
            )
else()
    message("DONT USE_VOXBLOX")
    add_executable(slamesh
            src/utility/tool.cpp
            src/factor/lidarFactor.cpp
            src/cell.cpp
            src/map.cpp
            src/slamesher_node.cpp
            )
endif()

#target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES}  ${CERES_LIBRARIES} gflags ${GFLAGS_LIBRARY}
#        ${LVR2_LIBRARIES})
target_link_libraries(slamesh ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ${G2O_LIBS} ${CERES_LIBRARIES} ${LVR2_LIBRARIES})