cmake_minimum_required(VERSION 2.8.3)
project(voxel_map_plus)

SET(CMAKE_BUILD_TYPE "Release")
#SET(CMAKE_BUILD_TYPE "Debug")
#SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb")
#SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")


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")

message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")
if (CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)")
    include(ProcessorCount)
    ProcessorCount(N)
    message("Processer number:  ${N}")
    if (N GREATER 5)
        add_definitions(-DMP_EN)
        add_definitions(-DMP_PROC_NUM=4)
        message("core for MP:  4")
    elseif (N GREATER 3)
        math(EXPR PROC_NUM "${N} - 2")
        add_definitions(-DMP_EN)
        add_definitions(-DMP_PROC_NUM= "${PROC_NUM}")
        message("core for MP:  ${PROC_NUM}")
    else ()
        add_definitions(-DMP_PROC_NUM=1)
    endif ()
else ()
    add_definitions(-DMP_PROC_NUM=1)
endif ()


find_package(catkin REQUIRED COMPONENTS
        geometry_msgs
        nav_msgs
        sensor_msgs
        roscpp
        cv_bridge
        rospy
        std_msgs
        pcl_ros
        tf
        livox_ros_driver
        message_generation
        eigen_conversions
        )
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(Eigen3 REQUIRED)
find_package(PCL 1.7 REQUIRED)
find_package(Ceres REQUIRED)
find_package(OpenCV)

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
        INCLUDE_DIRS
)

add_executable(voxel_mapping_plus_odom src/voxelMapping.cpp src/preprocess.cpp)
target_link_libraries(voxel_mapping_plus_odom ${catkin_LIBRARIES} ${PCL_LIBRARIES})
target_include_directories(voxel_mapping_plus_odom PRIVATE ${PYTHON_INCLUDE_DIRS})