first version

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(fast_lio)
+
+SET(CMAKE_BUILD_TYPE "Debug")
+
+ADD_COMPILE_OPTIONS(-std=c++14 )
+ADD_COMPILE_OPTIONS(-std=c++14 )
+set( CMAKE_CXX_FLAGS "-std=c++14 -O3" )
+
+add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
+
+option(DEPLOY "Deploy on hardware" OFF)
+if(DEPLOY)
+  add_definitions(-DDEPLOY)
+endif(DEPLOY)
+
+find_package(OpenMP QUIET)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}   ${OpenMP_C_FLAGS}")
+
+find_package(PythonLibs REQUIRED)
+find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
+
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  nav_msgs
+  sensor_msgs
+  roscpp
+  rospy
+  std_msgs
+  pcl_ros
+  tf
+  livox_ros_driver
+  message_generation
+  eigen_conversions
+)
+
+find_package(Eigen3 REQUIRED)
+find_package(PCL 1.8 REQUIRED)
+find_package(OpenCV REQUIRED)
+
+
+message(Eigen: ${EIGEN3_INCLUDE_DIR})
+
+include_directories(
+	${catkin_INCLUDE_DIRS} 
+  ${EIGEN3_INCLUDE_DIR}
+  ${PCL_INCLUDE_DIRS}
+  ${PYTHON_INCLUDE_DIRS}
+  include)
+
+add_message_files(
+  FILES
+  Pose6D.msg
+  States.msg
+)
+
+generate_messages(
+ DEPENDENCIES
+ geometry_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime
+  DEPENDS EIGEN3 PCL OpenCV
+  INCLUDE_DIRS
+)
+
+# add_executable(imu_process src/IMU_Processing.cpp)
+# target_link_libraries(imu_process ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+
+add_executable(loam_feat_extract src/feature_extract.cpp)
+target_link_libraries(loam_feat_extract ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+
+add_executable(loam_laserMapping src/laserMapping.cpp)
+target_link_libraries(loam_laserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ${PYTHON_LIBRARIES})
+target_include_directories(loam_laserMapping PRIVATE ${PYTHON_INCLUDE_DIRS})
+# target_compile_definitions(loam_laserMapping PRIVATE ROOT_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
+