puai_wj_2021/CMakeLists.txt

project(measure_wj_proj)

cmake_minimum_required(VERSION 3.5)

set (CMAKE_CXX_STANDARD 11)

#set(PCL_DIR "/home/youchen/pcl-1.8/share/pcl-1.8")
#nanomsg
find_package(PkgConfig REQUIRED)
pkg_check_modules(nanomsg REQUIRED nanomsg)

#yaml
pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
find_path(YAML_CPP_INCLUDE_DIR
          NAMES yaml_cpp.h
          PATHS ${YAML_CPP_INCLUDE_DIRS})
find_library(YAML_CPP_LIBRARY
             NAMES YAML_CPP
             PATHS ${YAML_CPP_LIBRARY_DIRS})
link_directories(${YAML_CPP_LIBRARY_DIRS})
if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
  add_definitions(-DHAVE_NEW_YAMLCPP)
endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")

# MESSAGE(WARNING ${YAML_CPP_VERSION}    ${YAML_CPP_INCLUDE_DIRS}     ${YAML_CPP_LIBRARY_DIRS}) 

#other libs
FIND_PACKAGE(Protobuf REQUIRED)
FIND_PACKAGE(Glog REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(PCL REQUIRED)
FIND_PACKAGE(Ceres REQUIRED)



MESSAGE(WARN "pcl:: ${PCL_INCLUDE_DIRS} --- ${PCL_LIBRARIES}")
include_directories(
        /usr/local/include
        ${PCL_INCLUDE_DIRS}
        ${OpenCV_INCLUDE_DIRS}
        ${PROTOBUF_INCLUDE_DIRS}
		${CERES_INCLUDE_DIRS}
        communication
        message
        error_code
        tool
	system
)
link_directories("/usr/local/lib")

message(STATUS ${EXECUTABLE_OUTPUT_PATH})


aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/error_code ERROR_SRC )
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/message message_src )
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/wanji_lidar WANJI_LIDAR_SRC )

aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/task TASK_MANAGER_SRC )
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/tool TOOL_SRC )
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/communication COMMUNICATION_SRC )
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/system SYSTEM_SRC )
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/verify VERIFY_SRC )

# add_executable(measure_wj
#         main.cpp
#         ${ERROR_SRC}
#         ${message_src}

# 		${WANJI_LIDAR_SRC}
#         ${TASK_MANAGER_SRC}
#         ${TOOL_SRC}
#         ${COMMUNICATION_SRC}
#         ${SYSTEM_SRC}
# 		${VERIFY_SRC}

# 		)

# target_link_libraries(measure_wj
#         /usr/local/lib/libglog.a
#         /usr/local/lib/libgflags.a
#         /usr/local/lib/liblivox_sdk_static.a
#         /usr/local/apr/lib/libapr-1.a
#         nnxx
#         nanomsg

#         ${PROTOBUF_LIBRARIES}
#         ${OpenCV_LIBS}
#         ${GLOG_LIBRARIES}
#         ${PCL_LIBRARIES}
# 		${CERES_LIBRARIES}

#         -lpthread
#         )

# vlp16 driver test
add_executable(vlp16 tests/vlp16_driver_test.cpp 
velodyne_lidar/velodyne_driver/input.cc 
velodyne_lidar/velodyne_driver/rawdata.cc
velodyne_lidar/velodyne_driver/calibration.cc
velodyne_lidar/velodyne_driver/velodyne_lidar_device.cpp
velodyne_lidar/velodyne_driver/velodyne_lidar_scan_task.cpp
velodyne_lidar/velodyne_config.pb.cc
${ERROR_SRC}
${TOOL_SRC}
${TASK_MANAGER_SRC}
${WANJI_LIDAR_SRC}
)
target_link_libraries(vlp16 
${GLOG_LIBRARIES} ${PCL_LIBRARIES} ${PROTOBUF_LIBRARIES} ${YAML_CPP_LIBRARIES} ${OpenCV_LIBS}
        ${GLOG_LIBRARIES}
		${CERES_LIBRARIES})