CMakeLists.txt

cmake_minimum_required(VERSION 3.3)
project(loop_hloc)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++14")
#-DEIGEN_USE_MKL_ALL")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

find_package(catkin REQUIRED COMPONENTS
    roscpp
    std_msgs
    nav_msgs
    camera_models
    cv_bridge
    roslib
    )

# set(CMAKE_CUDA_COMPILER  /usr/local/cuda/bin/nvcc)
find_package(CUDA)

# set your own libtorch path
set(TORCH_PATH /your/path/to/libtorch/share/cmake/Torch)
if (TORCH_PATH)
    message("TORCH_PATH set to: ${TORCH_PATH}")
    set(Torch_DIR ${TORCH_PATH})
else ()
    message(FATAL_ERROR "Need to specify Torch path, e.g., pytorch/torch/share/cmake/Torch ")
endif ()

find_package(PythonInterp REQUIRED)
find_package(Torch REQUIRED)

find_package(OpenCV REQUIRED)
find_package(Ceres REQUIRED)
find_package(Eigen3)

include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS}  ${EIGEN3_INCLUDE_DIR})

catkin_package()

add_executable(loop_hloc_node
    src/pose_graph_node.cpp
    src/pose_graph.cpp
    src/keyframe.cpp
    src/utility/CameraPoseVisualization.cpp
    src/hloc/hloc.cpp
    src/hloc/hlocDatabase.h
    )

target_link_libraries(loop_hloc_node ${catkin_LIBRARIES}  ${OpenCV_LIBS} ${CERES_LIBRARIES} ${CUDA_LIBRARIES} ${TORCH_LIBRARIES})