cmake_minimum_required(VERSION 2.8.3) project(LidarMeasure) ## Compile as C++11, supported in ROS Kinetic and newer add_compile_options(-std=c++11) #add_definitions(-std=c++11 -msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2) FIND_PACKAGE(OpenCV REQUIRED) FIND_PACKAGE(PCL REQUIRED) FIND_PACKAGE(Protobuf REQUIRED) FIND_PACKAGE(Glog REQUIRED) FIND_PACKAGE(Ceres REQUIRED) set(CMAKE_MODULE_PATH "/usr/local/share/") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wl,--no-as-needed") set(CMAKE_CXX_FLAGS "-std=c++11 -msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2") set(CMAKE_BUILD_TYPE "RELEASE") #find_package(Eigen3 REQUIRED) include_directories( laser plc src Locate /usr/local/include /usr/local/include/modbus /usr/local/include/snap7 ${PCL_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ) link_directories("/usr/local/lib") aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/task TASK_MANAGER_SRC ) aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/error_code ERROR_SRC ) aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/tool TOOL_SRC ) aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/laser LASER_SRC ) aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/plc PLC_SRC ) aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/locate LOCATE_SRC ) aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/terminor TERMINOR_SRC ) aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/verify VERIFY_SRC ) aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/system_manager SYS_SRC ) aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/wj_lidar WJLIDAR_SRC ) add_executable(locate_sample test/locate_sample.cpp ${LOCATE_SRC} ${TASK_MANAGER_SRC} ${ERROR_SRC} ${TOOL_SRC}) target_link_libraries(locate_sample ${OpenCV_LIBS} ${GLOG_LIBRARIES} ${PCL_LIBRARIES} ${PROTOBUF_LIBRARIES} libtensorflow_cc.so tf_3dcnn_api.so pointSIFT_API.so dark.so /usr/local/lib/libglog.a /usr/local/lib/libgflags.a snap7 nnxx nanomsg) add_executable(fence_debug test/plc_s7.cpp wj_lidar/wj_lidar_msg.pb.cc) target_link_libraries(fence_debug ${GLOG_LIBRARIES} ${PROTOBUF_LIBRARIES} /usr/local/lib/libglog.a /usr/local/lib/libgflags.a nnxx nanomsg) add_executable(locate main.cpp ${LOCATE_SRC} ${PLC_SRC} ${TERMINOR_SRC} ${TASK_MANAGER_SRC} ${LASER_SRC} ${ERROR_SRC} ${TOOL_SRC} ${SYS_SRC} ${VERIFY_SRC} ${WJLIDAR_SRC}) target_link_libraries(locate ${OpenCV_LIBS} ${CERES_LIBRARIES} ${GLOG_LIBRARIES} ${PCL_LIBRARIES} ${PROTOBUF_LIBRARIES} ipopt libtensorflow_cc.so tf_3dcnn_api.so pointSIFT_API.so dark.so /usr/local/lib/libmodbus.so /usr/local/lib/libglog.a /usr/local/lib/libgflags.a /usr/local/lib/liblivox_sdk_static.a /usr/local/apr/lib/libapr-1.a snap7 nnxx nanomsg)