CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(curl_slam)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -march=native -DNDEBUG")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -flto")
add_definitions(-DEIGEN_NO_DEBUG)

# set(CMAKE_BUILD_TYPE "RelWithDebInfo")

# set(CMAKE_CXX_COMPILER "/usr/bin/clang++-16")
# set(CMAKE_C_COMPILER "/usr/bin/clang-16")
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")

option(ENABLE_TSAN "Enable ThreadSanitizer" OFF)
if(ENABLE_TSAN)
    add_compile_options(-fsanitize=thread -fno-omit-frame-pointer -O1 -g)
    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fsanitize=thread")
    set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fsanitize=thread")
    add_compile_definitions(EIGEN_DONT_PARALLELIZE)
endif()

set(CMAKE_PREFIX_PATH "/home/user/Application/eigen-3.4.0/installation" ${CMAKE_PREFIX_PATH})
set(Eigen3_DIR "/home/user/Application/eigen-3.4.0/installation/share/eigen3/cmake")
find_package(Eigen3 REQUIRED 3.4.0)
include_directories(${EIGEN3_INCLUDE_DIR})
# add_definitions(-DEIGEN_MAX_STATIC_ALIGN_BYTES=0)
# add_definitions(
#     -DEIGEN_DONT_VECTORIZE
#     -DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
# )

# # Find catkin macros and libraries
# # if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
# # is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS

        # pcl_ros
        roscpp
        rospy
        std_msgs
        visualization_msgs
        geometry_msgs
        sensor_msgs
        tf2
        tf2_ros
        dynamic_reconfigure
        patchworkpp
)
generate_dynamic_reconfigure_options(

        # cfg/map_config_release.cfg
        cfg/continuous_recons.cfg
)

# find_library(TCMALLOC_LIB tcmalloc)
set(TCMALLOC_LIB "-ltcmalloc")

# pcl
set(PCL_DIR "/home/user/Application/pcl/installation/share/pcl-1.13")
find_package(PCL)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

# Boost
find_package(Boost COMPONENTS program_options REQUIRED)
include_directories(${Boost_INCLUDE_DIR})

# yaml-cpp
find_package(yaml-cpp REQUIRED)

# Ceres
set(Ceres_DIR "/home/user/Application/ceres-solver/installation/lib/cmake/Ceres")

# set(Ceres_DIR "/home/user/Application/ceres-solver/installation_debug/lib/cmake/Ceres")
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})

# include(libigl)
# igl_include(glfw)

# CGAL
set(CGAL_DIR "/home/user/Application/cgal/installation/lib/cmake/CGAL")
find_package(CGAL REQUIRED COMPONENTS Core)
include_directories("/home/user/Application/cgal/installation/include")
add_definitions(-DCGAL_KERNEL_NO_ASSERTIONS)
add_compile_definitions(PCL_NO_PRECOMPILE)

# Sophus
find_package(Sophus REQUIRED)

# opencv
# set(OpenCV_DIR /home/user/Application/opencv-4.5.5/installation/lib/cmake/opencv4)
find_package(OpenCV REQUIRED)

# include_directories(${OpenCV_INCLUDE_DIRS})

# nanoflann
find_package(nanoflann)

# open3d
find_package(Open3D REQUIRED)

# # Uncomment this if the package has a setup.py. This macro ensures
# # modules and global scripts declared therein get installed
# # See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

# ###############################################
# # Declare ROS messages, services and actions ##
# ###############################################

# # To declare and build messages, services or actions from within this
# # package, follow these steps:
# # * Let MSG_DEP_SET be the set of packages whose message types you use in
# #   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
# # * In the file package.xml:
# #   * add a build_depend tag for "message_generation"
# #   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
# #   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
# #     but can be declared for certainty nonetheless:
# #     * add a exec_depend tag for "message_runtime"
# # * In this file (CMakeLists.txt):
# #   * add "message_generation" and every package in MSG_DEP_SET to
# #     find_package(catkin REQUIRED COMPONENTS ...)
# #   * add "message_runtime" and every package in MSG_DEP_SET to
# #     catkin_package(CATKIN_DEPENDS ...)
# #   * uncomment the add_*_files sections below as needed
# #     and list every .msg/.srv/.action file to be processed
# #   * uncomment the generate_messages entry below
# #   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

# # Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg

# )

# # Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )

# # Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )

# # Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs#   visualization_msgs
# )

# ###############################################
# # Declare ROS dynamic reconfigure parameters ##
# ###############################################

# # To declare and build dynamic reconfigure parameters within this
# # package, follow these steps:
# # * In the file package.xml:
# #   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
# # * In this file (CMakeLists.txt):
# #   * add "dynamic_reconfigure" to
# #     find_package(catkin REQUIRED COMPONENTS ...)
# #   * uncomment the "generate_dynamic_reconfigure_options" section below
# #     and list every .cfg file to be processed

# # Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )

# ##################################
# # catkin specific configuration ##
# ##################################
# # The catkin_package macro generates cmake config files for your package
# # Declare things to be passed to dependent projects
# # INCLUDE_DIRS: uncomment this if your package contains header files
# # LIBRARIES: libraries you create in this project that dependent projects also need
# # CATKIN_DEPENDS: catkin_packages dependent projects also need
# # DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(

        # INCLUDE_DIRS include
        # LIBRARIES curl_slam
        # CATKIN_DEPENDS pcl_ros roscpp rospy std_msgs visualization_msgs
        # DEPENDS system_lib
        # CATKIN_DEPENDS message_runtime
)

# ##########
# # Build ##
# ##########

# # Specify additional locations of header files
# # Your package locations should be listed before other locations
include_directories(
        include
        ${catkin_INCLUDE_DIRS}

        # /home/user/Application/boost_1_82_0/
)

# # Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/curl_slam.cpp
# )
add_library(ROS_Handler SHARED lib/RosHandler.cpp)
target_link_libraries(ROS_Handler ${catkin_LIBRARIES} Eigen3::Eigen)

# add_library(direct_method SHARED lib/DirectMethod.cpp)
# target_link_libraries(direct_method Eigen3::Eigen ${PCL_LIBRARIES} )
add_library(Patch_Procession SHARED lib/PatchProcession.cpp)
target_link_libraries(Patch_Procession Eigen3::Eigen ${PCL_LIBRARIES} CGAL::CGAL CGAL::CGAL_Core nanoflann::nanoflann)

# add_library(CURL_local_BA SHARED lib/CURL_local_BA.cpp)
# target_link_libraries(CURL_local_BA ${PCL_LIBRARIES} ${CERES_LIBRARIES} Eigen3::Eigen gflags yaml-cpp Sophus::Sophus CGAL::CGAL CGAL::CGAL_Core ROS_Handler direct_method Patch_Procession )
# add_library(ikd_tree SHARED include/curl_slam/ikd-Tree/ikd_Tree.cpp)
# target_link_libraries(ikd_tree ${PCL_LIBRARIES})
add_library(AABB_tree SHARED include/curl_slam/AABB_tree/AABB.cc)

# three main library for odometry
# add_library(CurlConformalMapping SHARED lib/ConformalMappingSPH.cpp)
# target_link_libraries(CurlConformalMapping CURL_Geometry Patch_Procession AABB_tree ${catkin_LIBRARIES} ${PCL_LIBRARIES} Eigen3::Eigen yaml-cpp CGAL::CGAL CGAL::CGAL_Core nanoflann::nanoflann)
add_library(CurlVoxelMapping SHARED lib/CurlVoxelMapping.cpp)
target_link_libraries(CurlVoxelMapping Patch_Procession ScanContext ${catkin_LIBRARIES} ${PCL_LIBRARIES} Eigen3::Eigen yaml-cpp ${CERES_LIBRARIES} Sophus::Sophus nanoflann::nanoflann AABB_tree)

add_library(ScanContext SHARED lib/Scancontext.cpp)
target_link_libraries(ScanContext ${PCL_LIBRARIES} Eigen3::Eigen ${OpenCV_LIBRARIES})

add_library(CurlLocalBA SHARED lib/CurlLocalBA.cpp)
target_link_libraries(CurlLocalBA CurlVoxelMapping ${CERES_LIBRARIES} yaml-cpp gflags Sophus::Sophus)

add_library(CurlPoseGraph SHARED lib/CurlPoseGraph.cpp)
target_link_libraries(CurlPoseGraph CurlVoxelMapping CurlLocalBA ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES} yaml-cpp gflags Sophus::Sophus)

# add_library(CurlMapUpdate SHARED lib/CurlMapUpdate.cpp)
# target_link_libraries(CurlMapUpdate CurlConformalMapping Patch_Procession AABB_tree ${catkin_LIBRARIES} ${PCL_LIBRARIES} Eigen3::Eigen yaml-cpp CGAL::CGAL CGAL::CGAL_Core nanoflann::nanoflann)
add_library(CurlTracking SHARED lib/CurlTracking.cpp)
target_link_libraries(CurlTracking CurlVoxelMapping CurlPoseGraph ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES} Eigen3::Eigen gflags yaml-cpp Sophus::Sophus)

add_library(CurlContinuousRecons SHARED lib/CurlContinuousRecons.cpp)
add_dependencies(CurlContinuousRecons ${PROJECT_NAME}_gencfg)
target_link_libraries(CurlContinuousRecons ${catkin_LIBRARIES} CurlVoxelMapping Open3D::Open3D yaml-cpp)

# add_library(CurlMapGeneration SHARED lib/CurlMapGeneration.cpp)
# add_dependencies(CurlMapGeneration ${PROJECT_NAME}_gencfg)
# target_link_libraries(CurlMapGeneration ${catkin_LIBRARIES} CurlConformalMapping Open3D::Open3D)

# # Add cmake target dependencies of the library
# # as an example, code may need to be generated before libraries
# # either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

# # Declare a C++ executable
# # With catkin_make all packages are built within a single CMake context
# # The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/curl_slam_node.cpp)
add_executable(odometry_node src/odometry_node.cpp)

add_executable(map_binary_recons_node src/map_binary_recons_node.cpp)

# add_executable(dynamic_cloud_filtering src/dynamic_cloud_filtering.cpp)

# target_link_libraries(save_segmented_pc Eigen3::Eigen yaml-cpp ${catkin_LIBRARIES} Boost::program_options)
# # Rename C++ executable without prefix
# # The above recommended prefix causes long target names, the following renames the
# # target back to the shorter version for ease of user use
# # e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

# # Add cmake target dependencies of the executable
# # same as for the library above
add_dependencies(odometry_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

# add_dependencies(map_load_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

# # Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
# target_link_libraries(odometry_node CurlTracking CurlLocalBA CurlPoseGraph yaml-cpp ${TCMALLOC_LIB})
target_link_libraries(odometry_node CurlTracking CurlLocalBA CurlPoseGraph yaml-cpp ${PCL_LIBRARIES})

target_link_libraries(map_binary_recons_node CurlContinuousRecons CurlTracking CurlLocalBA CurlPoseGraph yaml-cpp ${PCL_LIBRARIES})

# target_link_libraries(sph_derivative_test CurlTracking CurlLocalBA yaml-cpp)

# target_link_libraries(BA_window_test ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES} Eigen3::Eigen gflags yaml-cpp Sophus::Sophus nanoflann::nanoflann)

# target_link_libraries(loop_BA_test ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES} Eigen3::Eigen gflags yaml-cpp Sophus::Sophus nanoflann::nanoflann)

# target_link_libraries(map_generation_node CurlMapGeneration ${catkin_LIBRARIES} ${PCL_LIBRARIES} Eigen3::Eigen yaml-cpp)
# target_link_libraries(down_sampling ${catkin_LIBRARIES} ${PCL_LIBRARIES} Eigen3::Eigen yaml-cpp)

# target_link_libraries(dynamic_cloud_filtering ${catkin_LIBRARIES} ${PCL_LIBRARIES} Eigen3::Eigen yaml-cpp)

# ############
# # Install ##
# ############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

# # Mark executable scripts (Python etc.) for installation
# # in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

# # Mark executables for installation
# # See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

# # Mark libraries for installation
# # See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

# # Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )

# # Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

# ############
# # Testing ##
# ############

# # Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_curl_slam.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

# # Add folders to be run by python nosetests
# catkin_add_nosetests(test)