CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(ndt_omp)

# should use march=native ?
add_definitions(-std=c++14 -msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2)
set(CMAKE_CXX_FLAGS "-std=c++14 -msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2")

# pcl 1.7 causes a segfault when it is built with debug mode
set(CMAKE_BUILD_TYPE "RELEASE")

find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()

find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

message(STATUS "PCL_INCLUDE_DIRS:" ${PCL_INCLUDE_DIRS})
message(STATUS "PCL_LIBRARY_DIRS:" ${PCL_LIBRARY_DIRS})
message(STATUS "PCL_DEFINITIONS:" ${PCL_DEFINITIONS})

find_package(OpenMP)

###########
## Build ##
###########

ament_auto_add_library(ndt_omp SHARED
  src/pclomp/voxel_grid_covariance_omp.cpp
  src/pclomp/ndt_omp.cpp
  src/pclomp/gicp_omp.cpp
)

target_link_libraries(ndt_omp PUBLIC ${PCL_LIBRARIES})

if(OpenMP_CXX_FOUND)
  target_link_libraries(ndt_omp PUBLIC OpenMP::OpenMP_CXX)
else()
  message(WARNING "OpenMP not found")
endif()

ament_auto_package()