CMakeLists.txt

cmake_minimum_required(VERSION 3.16)
project(Occupancy_SLAM)
set(CMAKE_CXX_STANDARD 17)
# Find Eigen library
find_package(Eigen3 3.4 REQUIRED)
# Find OpenMP library
find_package(OpenMP REQUIRED)
# Find OpenCV
find_package(OpenCV REQUIRED)
# find MKL
find_package(MKL REQUIRED HINTS ${MKL_ROOT})


if(OPENMP_FOUND)
        set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS} -O3 -march=native")
        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS} -O3 -march=native -mavx -mfma -fopenmp-simd -DNDEBUG")
        add_compile_definitions(EIGEN_USE_THREADS)
endif()

#if(OPENMP_FOUND)
#        set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS} -O3 -march=native")
#        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS} -O3 -march=native -mavx -mfma -fopenmp-simd -fopenmp=libomp -DNDEBUG")
#endif()


if(MKL_FOUND)
        include_directories(${MKL_ROOT}/include)
        link_directories(${MKL_ROOT}/lib)
        set(MKL_LIBRARIES mkl_intel_lp64 mkl_sequential mkl_core)
        add_definitions(-DEIGEN_USE_MKL_ALL)
endif()

# Find libigl library
set(LIBIGL_INCLUDE_DIR ./libigl/include)
include_directories(${LIBIGL_INCLUDE_DIR})
# Add include directories for Eigen library
include_directories(${EIGEN3_INCLUDE_DIR})



add_executable(Occupancy_SLAM Main_Occupancy_SLAM.cpp MyStruct.cpp MyStruct.h SubFuncs.h SubFuncs.cpp FuncLeastSquares.cpp FuncConvertObs.cpp)

if(MKL_FOUND)
        target_link_libraries(Occupancy_SLAM PUBLIC ${MKL_LIBRARIES} Eigen3::Eigen  OpenMP::OpenMP_CXX ${OpenCV_LIBS} ${LIBIGL_LIBRARIES} -fopenmp)
else()
        target_link_libraries(Occupancy_SLAM PUBLIC Eigen3::Eigen  OpenMP::OpenMP_CXX ${OpenCV_LIBS} ${LIBIGL_LIBRARIES} -fopenmp)
endif()