cmake_minimum_required(VERSION 2.8.3)
project(global_fusion)

set(CMAKE_BUILD_TYPE "Debug")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_DEBUG "-O3 -Wall -g")

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

find_package(Ceres REQUIRED)

add_subdirectory(./Thirdparty/GeographicLib/)

include_directories(
        ${catkin_INCLUDE_DIRS}
        ${CERES_INCLUDE_DIRS}
        ./Thirdparty/GeographicLib/include/
)

catkin_package()

add_executable(global_fusion_node
        src/globalOptNode.cpp
        src/globalOpt.cpp
#        src/KITTIGPSTest.cpp
)


target_link_libraries(global_fusion_node ${catkin_LIBRARIES} ${CERES_LIBRARIES} libGeographiccc)