cmake_minimum_required(VERSION 3.14)
project(fastlio2)

# set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -fexceptions")


if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-O3)
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

add_compile_definitions(SOPHUS_USE_BASIC_LOGGING)

add_definitions(-DMP_EN)
add_definitions(-DMP_PROC_NUM=2)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(livox_ros_driver2 REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(geometry_msgs REQUIRED)

find_package(rclcpp REQUIRED)
find_package(rosbag2_cpp REQUIRED)

find_package(OpenCV REQUIRED)
find_package(OpenMP QUIET)
find_package(PCL REQUIRED)
find_package(Eigen3 REQUIRED)
# find_package(Sophus REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(GTSAM REQUIRED)

message(STATUS "GTSAM libraries: ${GTSAM_LIBRARIES}")

include_directories(
  ${CMAKE_CURRENT_SOURCE_DIR}/../common/
  ${CMAKE_CURRENT_BINARY_DIR}/common
  ${OpenCV_INCLUDE_DIRS}
  ${GTSAM_INCLUDE_DIR}
)


set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}   ${OpenMP_C_FLAGS}")

set(SRC_LIST src/map_builder/commons.cpp
             src/map_builder/ieskf.cpp
             src/map_builder/imu_processor.cpp
             src/map_builder/ikd_Tree.cpp
             src/map_builder/lidar_processor.cpp
             src/map_builder/map_builder.cpp
             src/relocalizer.cpp
             src/icp_localizer.cpp
             src/Map.cpp
             src/Frame.cpp
             src/pointcloud_map.cc
             src/sc_map.cc
             src/backend.cpp
             ${SC_SRC_LIST})

add_subdirectory(
  ${CMAKE_CURRENT_SOURCE_DIR}/../common
  ${CMAKE_CURRENT_BINARY_DIR}/common
)

add_executable(lio_mapping src/lio_mapping.cpp ${SRC_LIST})
ament_target_dependencies(lio_mapping rclcpp std_msgs tf2 tf2_ros nav_msgs sensor_msgs livox_ros_driver2 pcl_conversions geometry_msgs GTSAM)
target_link_libraries(lio_mapping
  yaml-cpp
  ${PCL_LIBRARIES}
  rclcpp::rclcpp
  rosbag2_cpp::rosbag2_cpp
  glog
  common
  ${OpenCV_LIBS}
  gtsam
)

if(USE_RERUN)
    # 仅在此时链接 rerun
    target_link_libraries(lio_mapping rerun_sdk)
endif()


add_executable(lio_node src/lio_node.cpp ${SRC_LIST})
ament_target_dependencies(lio_node rclcpp std_msgs tf2 tf2_ros nav_msgs sensor_msgs livox_ros_driver2 pcl_conversions geometry_msgs)
target_link_libraries(lio_node
  yaml-cpp
  ${PCL_LIBRARIES}
  common
  ${OpenCV_LIBS}
  gtsam
  metis-gtsam
)

add_executable(lio_localization src/lio_localization.cpp ${SRC_LIST})
ament_target_dependencies(lio_localization rclcpp rosbag2_cpp  std_msgs sensor_msgs nav_msgs message_filters pcl_conversions tf2_ros geometry_msgs livox_ros_driver2)
target_link_libraries(lio_localization
    ${PCL_LIBRARIES}
    yaml-cpp
    glog
    common
    ${OpenCV_LIBS}
    metis-gtsam
    gtsam)

if(USE_RERUN)
    # 仅在此时链接 rerun
    target_link_libraries(lio_localization rerun_sdk)
endif()



install(TARGETS lio_node DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
install(DIRECTORY config DESTINATION share/${PROJECT_NAME})


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
