cmake_minimum_required(VERSION 3.0.2)
project(afli_calib)

set(CMAKE_CXX_FLAGS "-std=c++17 -O3")
set(CMAKE_BUILD_TYPE "Release")

message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)" )
    include(ProcessorCount)
    ProcessorCount(N)
    message("Processer number:  ${N}")
    if(N GREATER 4)
        add_definitions(-DMP_EN)
        add_definitions(-DMP_PROC_NUM=3)
        message("core for MP: 3")
    elseif(N GREATER 3)
        add_definitions(-DMP_EN)
        add_definitions(-DMP_PROC_NUM=2)
        message("core for MP: 2")
    else()
        add_definitions(-DMP_PROC_NUM=1)
    endif()
else()
    add_definitions(-DMP_PROC_NUM=1)
endif()

find_package(PCL REQUIRED)
find_package(OpenMP REQUIRED) # ikd-tree require
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
find_package(Boost REQUIRED timer) #GTSAM require
find_package(GTSAM REQUIRED PATHS "/home/third_library/gtsam-4.0.3/install")
find_package(Ceres REQUIRED PATHS "/home/third_library/ceres-solver-2.1.0/install")

find_package(catkin REQUIRED COMPONENTS
  rosbag
  roscpp
  livox_ros_driver
  pcl_ros
)

catkin_package()

include_directories(
 include
 ${catkin_INCLUDE_DIRS}
 ${PCL_INCLUDE_DIRS}
 ${CERES_INCLUDE_DIRS}
 ${GTSAM_INCLUDE_DIR}
)

add_library(basic include/io.cpp include/ikd-Tree/ikd_Tree.cpp
        include/imu_process.cpp include/handeye.cpp include/registration.cpp include/common_pt_operations.cpp)
target_link_libraries(basic ${catkin_LIBRARIES} gtsam tbb ${PCL_LIBRARIES} -lstdc++fs ${CERES_LIBRARIES})

add_executable(afl_lidarOdometry src/afl_lidarOdometry.cpp)
target_link_libraries(afl_lidarOdometry basic)

add_executable(tight_licalib src/tight_LiCalib.cpp)
target_link_libraries(tight_licalib basic)