CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(icp_visualization)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE RelWithDebInfo)
endif()
message(STATUS "Current build type: ${CMAKE_BUILD_TYPE}")

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  tf
  std_msgs
  sensor_msgs
  geometry_msgs
  nav_msgs
  correspondence_rviz_plugin
  pointcloud2_normal_rviz_plugin
)

find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(OpenMP REQUIRED)
if (OPENMP_FOUND)
  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()

catkin_package()

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  ${YAML_CPP_INCLUDE_DIR}
)

link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(icp_visualization src/icp_visualization.cpp src/main.cpp)
target_link_libraries(icp_visualization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${YAML_CPP_LIBRARIES})