CMakeLists.txt

cmake_minimum_required(VERSION 3.10)
project(ndt_omp)

add_definitions(-std=c++14)
set(CMAKE_CXX_FLAGS "-std=c++14")

if (BUILD_WITH_MARCH_NATIVE)
  add_compile_options(-march=native)
else()
  add_definitions(-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2)
  set(CMAKE_CXX_FLAGS "-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2")
endif()

# pcl 1.7 causes a segfault when it is built with debug mode
set(CMAKE_BUILD_TYPE "RELEASE")

find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

message(STATUS "PCL_INCLUDE_DIRS:" ${PCL_INCLUDE_DIRS})
message(STATUS "PCL_LIBRARY_DIRS:" ${PCL_LIBRARY_DIRS})
message(STATUS "PCL_DEFINITIONS:" ${PCL_DEFINITIONS})

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()

if($ENV{ROS_VERSION} EQUAL 1)
  ################################################
  #############         ROS1         #############
  ################################################
  find_package(catkin REQUIRED COMPONENTS
    roscpp
    pcl_ros
  )

  ## catkin specific configuration ##
  catkin_package(
    INCLUDE_DIRS include
    LIBRARIES ndt_omp incremental_ndt_omp
  )

  include_directories(include)
  include_directories(
    ${catkin_INCLUDE_DIRS}
  )

  ## Build official target ##
  add_library(ndt_omp
    src/pclomp/voxel_grid_covariance_omp.cpp
    src/pclomp/ndt_omp.cpp
    src/pclomp/gicp_omp.cpp
  )

  add_executable(align
    apps/align.cpp
  )
  add_dependencies(align
    ndt_omp
  )
  target_link_libraries(align
    ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
    ndt_omp
  )

  ## Build incremental-version library ##
  add_library(incremental_ndt_omp
    src/pclomp/incremental_voxel_grid_covariance_omp.cpp
    src/pclomp/incremental_ndt_omp.cpp
  )

  ## Build executable: update single voxel demo ##
  add_executable(run_update_voxel_distribution_demo
    apps/run_update_voxel_distribution_demo.cpp
  )
  add_dependencies(run_update_voxel_distribution_demo
    incremental_ndt_omp
  )
  target_link_libraries(run_update_voxel_distribution_demo
    # ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
    incremental_ndt_omp
  )

  ## Build executable: update voxel map demo ##
  add_executable(run_update_voxel_map_distribution_demo
    apps/run_update_voxel_map_distribution_demo.cpp
  )
  add_dependencies(run_update_voxel_map_distribution_demo
    incremental_ndt_omp
  )
  target_link_libraries(run_update_voxel_map_distribution_demo
    # ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
    incremental_ndt_omp
  )

  ## Build executable: run update voxel distribution demo ##
  add_executable(run_update_voxel_distrib_demo
    ros_examples/run_update_voxel_distrib_demo.cpp
    ros_examples/utils/utility.cpp
  )
  add_dependencies(run_update_voxel_distrib_demo
    incremental_ndt_omp
  )
  target_link_libraries(run_update_voxel_distrib_demo
    ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
    incremental_ndt_omp
  )

  ## Build executable: run indt-based LiDAR-Odom ##
  add_executable(run_indt_lio_demo
    ros_examples/run_indt_lio_demo.cpp
    ros_examples/utils/utility.cpp
  )
  add_dependencies(run_indt_lio_demo
    incremental_ndt_omp
  )
  target_link_libraries(run_indt_lio_demo
    ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
    incremental_ndt_omp
  )

  ## Build executable: run indt-based LiDAR-Loc ##
  add_executable(run_indt_loc_demo
    ros_examples/run_indt_loc_demo.cpp
    ros_examples/utils/utility.cpp
  )
  add_dependencies(run_indt_loc_demo
    incremental_ndt_omp
  )
  target_link_libraries(run_indt_loc_demo
    ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
    incremental_ndt_omp
  )

  ## Install ##
  install(
    TARGETS
      ndt_omp
      incremental_ndt_omp
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  )

  # install headers
  install(DIRECTORY include/pclomp
          DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})

else()
  ################################################
  #############         ROS2         #############
  ################################################
  find_package(ament_cmake_auto REQUIRED)
  ament_auto_find_build_dependencies()

  include_directories(include)
  include_directories(
    ${catkin_INCLUDE_DIRS}
  )

  ## Build official target ##
  add_library(ndt_omp
    SHARED
    src/pclomp/voxel_grid_covariance_omp.cpp
    src/pclomp/ndt_omp.cpp
    src/pclomp/gicp_omp.cpp
  )

  ament_export_targets(ndt_omp HAS_LIBRARY_TARGET)

  target_link_libraries(ndt_omp ${PCL_LIBRARIES})

  if(OpenMP_CXX_FOUND)
    target_link_libraries(ndt_omp OpenMP::OpenMP_CXX)
  else()
    message(WARNING "OpenMP not found")
  endif()

  ## Build incremental-version target ##
  add_library(incremental_ndt_omp
  SHARED
    src/pclomp/incremental_voxel_grid_covariance_omp.cpp
    src/pclomp/incremental_ndt_omp.cpp
  )

  ament_export_targets(incremental_ndt_omp HAS_LIBRARY_TARGET)

  target_link_libraries(incremental_ndt_omp ${PCL_LIBRARIES})

  if(OpenMP_CXX_FOUND)
    target_link_libraries(incremental_ndt_omp OpenMP::OpenMP_CXX)
  else()
    message(WARNING "OpenMP not found")
  endif()

  ## Install ##
  install(
    TARGETS
      ndt_omp
    EXPORT ndt_omp
    LIBRARY DESTINATION lib
    ARCHIVE DESTINATION lib
    RUNTIME DESTINATION bin
    INCLUDES DESTINATION include
  )

  ament_auto_package()
endif()