lio-cpp/CMakeLists.txt

# Copyright(c) 2019 livoxtech limited.
cmake_minimum_required(VERSION 2.8.3)


#---------------------------------------------------------------------------------------
# Start livox_ros_driver project
#---------------------------------------------------------------------------------------

project(lio_livox_cpp)

#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
SET(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

#---------------------------------------------------------------------------------------
# find package and the dependecy
#---------------------------------------------------------------------------------------
find_package(Boost 1.54 REQUIRED COMPONENTS
	system
	thread
	chrono
	)

find_package (Eigen3 REQUIRED CONFIG QUIET)
find_package(Pangolin 0.8 REQUIRED)
find_package(PCL REQUIRED)
find_package(Ceres REQUIRED)
find_package(OpenCV REQUIRED)
find_package(SuiteSparse REQUIRED)

find_package(PkgConfig)
pkg_check_modules(APR apr-1)
if (APR_FOUND)
	message(${APR_INCLUDE_DIRS})
	message(${APR_LIBRARIES})
endif (APR_FOUND)


#---------------------------------------------------------------------------------------
# Set default build to release
#---------------------------------------------------------------------------------------
if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose Release or Debug" FORCE)
endif()

#---------------------------------------------------------------------------------------
# Compiler config
#---------------------------------------------------------------------------------------
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

## make sure the livox_sdk_static library is installed
find_library(LIVOX_SDK_LIBRARY liblivox_sdk_static.a /usr/local/lib)

if((NOT LIVOX_SDK_LIBRARY) OR (NOT EXISTS ${LIVOX_SDK_LIBRARY}))
	# couldn't find the livox sdk library
	message("Coudn't find livox sdk library!")
	message("Download Livox-SDK from github and build&install it please!")
	message("Download Livox-SDK from github and build&install it please!")
	message("Download Livox-SDK from github and build&install it please!")

	message("git clone Livox-SDK from github temporarily, only for ROS distro jenkins build!")

	# clone livox sdk source code from github
	execute_process(COMMAND rm -rf ${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK OUTPUT_VARIABLE cmd_res)
	message("Try to pull the livox sdk source code from github")
	FOREACH(res ${cmd_res})
		MESSAGE(${res})
	ENDFOREACH()

	execute_process(COMMAND git clone https://github.com/Livox-SDK/Livox-SDK.git ${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK OUTPUT_VARIABLE cmd_res)
	FOREACH(res ${cmd_res})
		MESSAGE(${res})
	ENDFOREACH()

	execute_process(COMMAND cmake .. WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK/build OUTPUT_VARIABLE cmd_res)
	FOREACH(res ${cmd_res})
		MESSAGE(${res})
	ENDFOREACH()

	execute_process(COMMAND make WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK/build OUTPUT_VARIABLE cmd_res)
	FOREACH(res ${cmd_res})
		MESSAGE(${res})
	ENDFOREACH()

	include_directories(
		./
		${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK/sdk_core/include
	)

	link_directories(
		./
		${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK/build/sdk_core
	)

else()
	message("find livox sdk library success")
endif()

include_directories(
		define
		lio/include
		lio/src
		${Pangolin_INCLUDE_DIRS}
		${catkin_INCLUDE_DIRS}
		${EIGEN3_INCLUDE_DIR}
		${PCL_INCLUDE_DIRS}
		${CERES_INCLUDE_DIRS}
		${OpenCV_INCLUDE_DIRS}
		${SUITESPARSE_INCLUDE_DIRS}
		${APR_INCLUDE_DIRS}
		livox/common
		livox/common/rapidjson
		livox/comon/rapdidxml
		livox/common/comm
		livox/timesync
		livox/timesync/user_uart
		livox/livox_driver)
## PCL library
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

#---------------------------------------------------------------------------------------
# generate excutable and add libraries
#---------------------------------------------------------------------------------------
add_executable(${PROJECT_NAME}_node

		lio/src/PoseEstimation.cpp
		lio/src/segment/LidarFeatureExtractor.cpp
		lio/src/segment/segment.cpp
		lio/src/segment/pointsCorrect.cpp
		lio/src/lio/LocalMapIvox.cpp
		lio/src/lio/mapper.cpp
		lio/src/lio/Estimator.cpp
		lio/src/lio/IMUIntegrator.cpp
		lio/src/lio/ceresfunc.cpp

		livox/livox_driver/lvx_file.cpp
		livox/livox_driver/ldq.cpp
		livox/livox_driver/lds.cpp
		livox/livox_driver/lds_lvx.cpp
		livox/livox_driver/lds_lidar.cpp
		livox/livox_driver/lds_hub.cpp
		livox/livox_driver/lddc.cpp
		livox/timesync/timesync.cpp
		livox/timesync/user_uart/user_uart.cpp
		livox/common/comm/comm_protocol.cpp
		livox/common/comm/sdk_protocol.cpp
		livox/common/comm/gps_protocol.cpp


    )

#---------------------------------------------------------------------------------------
# precompile macro and compile option
#---------------------------------------------------------------------------------------
target_compile_options(${PROJECT_NAME}_node
    PRIVATE $<$<CXX_COMPILER_ID:GNU>:-Wall>
    )

#---------------------------------------------------------------------------------------
# link libraries
#---------------------------------------------------------------------------------------
target_link_libraries(${PROJECT_NAME}_node
		pango_display
	livox_sdk_static.a
		${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${CERES_LIBRARIES}
	${Boost_LIBRARY}
	${APR_LIBRARIES}
		-lpthread
	)



#---------------------------------------------------------------------------------------
# end of CMakeList.txt
#---------------------------------------------------------------------------------------