cmake_minimum_required(VERSION 2.8.3) project(plan_env) find_package(OpenCV REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs visualization_msgs cv_bridge message_filters ) find_package(Eigen3 REQUIRED) find_package(PCL 1.7 REQUIRED) catkin_package( INCLUDE_DIRS include LIBRARIES plan_env CATKIN_DEPENDS roscpp std_msgs # DEPENDS system_lib ) include_directories( SYSTEM include ${catkin_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ) link_directories(${PCL_LIBRARY_DIRS}) set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS} -O3 -Wall") add_library( plan_env src/sdf_map.cpp src/obj_predictor.cpp src/edt_environment.cpp src/raycast.cpp ) target_link_libraries( plan_env ${catkin_LIBRARIES} ${PCL_LIBRARIES} ) add_executable(obj_generator src/obj_generator.cpp ) target_link_libraries(obj_generator ${catkin_LIBRARIES})