-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
1107 lines (908 loc) · 59.5 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
set(PROJECT_NAME UnifiedCvo)
if (POLICY CMP0048)
cmake_policy(SET CMP0048 NEW)
endif (POLICY CMP0048)
cmake_policy(SET CMP0060 NEW)
project(${PROJECT_NAME} VERSION 0.1)
set(${PROJECT_NAME}_VERSION 0.1)
cmake_minimum_required(VERSION 3.0)
option(${PROJECT_NAME}_ENABLE_CUDA "ENABLE_CUDA" ON)
option(${PROJECT_NAME}_ENABLE_ACVO "ENABLE_ACVO" OFF)
option(${PROJECT_NAME}_ENABLE_LIDAR "ENABLE_LIDAR" ON)
option(${PROJECT_NAME}_ENABLE_QT_VIEWER "ENABLE_QT_VIEWER" ON)
option(${PROJECT_NAME}_ENABLE_CUKDTREE "ENABLE_CUKDTREE" OFF)
include(CheckLanguage)
if (${PROJECT_NAME}_ENABLE_CUDA)
enable_language(CUDA)
set(CUDACXX nvcc)
check_language(CUDA)
set(CUDA_VERBOSE_BUILD ON )
set( CUDA_SEPERABLE_COMPILATION ON)
endif()
set(CMAKE_VERBOSE_MAKEFILE ON)
# Release Mode
#set(CMAKE_BUILD_TYPE Release)
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -msse -msse2 -msse3 -msse4 -mavx2 -ftree-vectorize" )
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -O3 -lmkl_intel_lp64 -lmkl_core -lmkl -liomp -msse -msse2 -msse3 -msse4 -mavx2 -ftree-vectorize" )
#set(CMAKE_BUILD_TYPE Debug)
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -msse -msse2 -msse3 -msse4 -mavx2 -ftree-vectorize" )
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native" )
#set(BUILD_TYPE RelWithDebInfo)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
## build output directory
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY bin)
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY lib)
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
# required libraries
find_package(SuiteParse REQUIRED)
find_package(Sophus REQUIRED)
message("Sophus dir: ${Sophus_INCLUDE_DIRS}")
find_package(CUDA REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(TBB REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread timer chrono filesystem)
find_package(JsonCpp REQUIRED)
find_package(PCL 1.9 REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Ceres REQUIRED)
find_package(yaml-cpp)
find_package(Glog REQUIRED)
#include(${VTK_USE_FILE})
find_package(OpenMP REQUIRED)
if (OPENMP_FOUND)
set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
message("OpenMP Found")
else()
message("OpenMP not Found")
endif()
add_definitions(-DOPENMP)
#add_definitions(-DENABLE_SSE)
#set(CMAKE_CXX_FLAGS
# #"${CMAKE_CXX_FLAGS} ${SSE_FLAGS} -fPIC -march=native"
# "${CMAKE_CXX_FLAGS} ${SSE_FLAGS} -march=native"
#"${CMAKE_CXX_FLAGS} ${SSE_FLAGS} "
#)
find_package(CUDA)
#set (CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} --expt-extended-lambda -gencode arch=compute_61,code=sm_61 -gencode arch=compute_52,code=sm_52 -gencode arch=compute_75,code=sm_75 -gencode arch=compute_86,code=sm_86 " )
#set (CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} --expt-extended-lambda -gencode arch=compute_86,code=sm_86 -gencode arch=compute_75,code=sm_75 " )
set (CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} --expt-extended-lambda -gencode arch=compute_86,code=sm_86" )
foreach(flag IN LISTS " -use_fast_math -rdc=true; -Wno-deprecated-gpu-targets; -lgsl; -lgslcblas; -lm; -fPIC" )
add_compile_options("$<$<COMPILE_LANGUAGE:CUDA>:-Xcompiler=${flag}>")
endforeach()
get_property(core_options TARGET Qt5::Core PROPERTY INTERFACE_COMPILE_OPTIONS)
string(REPLACE "-fPIC" "" new_core_options ${core_options})
set_property(TARGET Qt5::Core PROPERTY INTERFACE_COMPILE_OPTIONS ${new_core_options})
set_property(TARGET Qt5::Core PROPERTY INTERFACE_POSITION_INDEPENDENT_CODE "ON")
# thirdparty elas
set(ELAS_LIB_SOURCE
${PROJECT_SOURCE_DIR}/thirdparty/libelas/libelas/descriptor.cpp
${PROJECT_SOURCE_DIR}/thirdparty/libelas/libelas/elas.cpp
${PROJECT_SOURCE_DIR}/thirdparty/libelas/libelas/filter.cpp
${PROJECT_SOURCE_DIR}/thirdparty/libelas/libelas/matrix.cpp
${PROJECT_SOURCE_DIR}/thirdparty/libelas/libelas/triangle.cpp
)
set(CUKDTREE_LIB_SOURCE
${PROJECT_SOURCE_DIR}/thirdparty/cugicp/cukdtree/cukdtree.cuh
)
set(QT_VIEWER_SOURCE
${PROJECT_SOURCE_DIR}/thirdparty/cugicp/viewer/color_handler.cc
#${PROJECT_SOURCE_DIR}/thirdparty/cugicp/viewer/viewer.cc
${PROJECT_SOURCE_DIR}/src/utils/viewer.cpp
)
set(CVO_UTILS_SOURCE
${PROJECT_SOURCE_DIR}/src/utils/StaticStereo.cpp
${PROJECT_SOURCE_DIR}/src/utils/CvoPixelSelector.cpp
${PROJECT_SOURCE_DIR}/src/utils/LidarPointSelector.cpp
${PROJECT_SOURCE_DIR}/src/utils/LoamScanRegistration.cpp
${PROJECT_SOURCE_DIR}/src/utils/LeGoLoamPointSelection.cpp
${PROJECT_SOURCE_DIR}/src/utils/RawImage.cpp
${PROJECT_SOURCE_DIR}/src/utils/ImageStereo.cpp
)
set(CVO_UTILS_COVARIANCE_SOURCE
${PROJECT_SOURCE_DIR}/src/utils/StaticStereo.cpp
${PROJECT_SOURCE_DIR}/src/utils/CvoPixelSelector.cpp
${PROJECT_SOURCE_DIR}/src/utils/LidarPointSelector.cpp
${PROJECT_SOURCE_DIR}/src/utils/LoamScanRegistration.cpp
${PROJECT_SOURCE_DIR}/src/utils/LeGoLoamPointSelection.cpp
${PROJECT_SOURCE_DIR}/src/utils/RawImage.cpp
${PROJECT_SOURCE_DIR}/src/utils/VoxelMap.cpp
${PROJECT_SOURCE_DIR}/src/utils/CvoPointCloud.cpp
${PROJECT_SOURCE_DIR}/src/utils/CvoPointCovariance.cu
${PROJECT_SOURCE_DIR}/src/utils/ImageStereo.cpp
)
set(BKI_MAPPING_SOURCE
${PROJECT_SOURCE_DIR}/src/mapping/point3f.cpp
${PROJECT_SOURCE_DIR}/src/mapping/bkiblock.cpp
${PROJECT_SOURCE_DIR}/src/mapping/bkioctomap.cpp
${PROJECT_SOURCE_DIR}/src/mapping/bkioctree_node.cpp
${PROJECT_SOURCE_DIR}/src/mapping/bkioctree.cpp
)
set(TUM_HANDLER_SOURCE
${PROJECT_SOURCE_DIR}/src/dataset_handler/TumHandler.cpp
)
set(KITTI_HANDLER_SOURCE
${PROJECT_SOURCE_DIR}/src/dataset_handler/KittiHandler.cpp
)
set(ETHZ_HANDLER_SOURCE
${PROJECT_SOURCE_DIR}/src/dataset_handler/EthzHandler.cpp
)
set(FINNFOREST_HANDLER_SOURCE
${PROJECT_SOURCE_DIR}/src/dataset_handler/FinnForestHandler.cpp
)
set(CNPY_LIB_SOURCE
${PROJECT_SOURCE_DIR}/thirdparty/cnpy/cnpy.cpp
)
set(TARTAN_HANDLER_SOURCE
${PROJECT_SOURCE_DIR}/src/dataset_handler/TartanAirHandler.cpp
)
# Sources files
#set(POSE_GRAPH_SOURCE
# ${PROJECT_SOURCE_DIR}/src/graph_optimizer/Frame.cpp
# ${PROJECT_SOURCE_DIR}/src/graph_optimizer/PoseGraph.cpp
# )
set(LIE_GROUP_SOURCE
${PROJECT_SOURCE_DIR}/src/cvo/LieGroup.cpp
)
set (ACVO_GPU_SOURCE
${PROJECT_SOURCE_DIR}/src/cvo/AdaptiveCvoGPU.cu
${PROJECT_SOURCE_DIR}/src/cvo/CvoState.cu
)
set (ACVO_CPU_SOURCE
${PROJECT_SOURCE_DIR}/src/cvo/ACvo.cpp
)
set (CVO_GPU_SOURCE
${PROJECT_SOURCE_DIR}/src/cvo/CvoGPU.cu
# ${PROJECT_SOURCE_DIR}/src/cvo/CvoGPU_helper.cu
${PROJECT_SOURCE_DIR}/src/cvo/CvoGPU_impl.cu
${PROJECT_SOURCE_DIR}/src/cvo/CvoState.cu
${PROJECT_SOURCE_DIR}/src/cvo/CvoGPU.cpp
${PROJECT_SOURCE_DIR}/src/cvo/SparseKernelMat.cu
${PROJECT_SOURCE_DIR}/src/cvo/IRLS_State_CPU.cpp
${PROJECT_SOURCE_DIR}/src/cvo/IRLS_State_GPU.cu
${PROJECT_SOURCE_DIR}/src/cvo/CvoFrameGPU.cu
${PROJECT_SOURCE_DIR}/src/cvo/CvoFrame.cpp
${PROJECT_SOURCE_DIR}/src/cvo/IRLS.cpp
${PROJECT_SOURCE_DIR}/src/cvo/IRLS_State_GPU.cpp
${PROJECT_SOURCE_DIR}/src/utils/CvoPoint.cpp
${PROJECT_SOURCE_DIR}/src/utils/VoxelMap_CvoPoint.cpp
${PROJECT_SOURCE_DIR}/src/utils/VoxelMap_pcl.cpp
${PROJECT_SOURCE_DIR}/src/utils/CvoPointCloud.cpp
${PROJECT_SOURCE_DIR}/src/cvo/gpu_init.cu
)
set (CVO_CPU_SOURCE
${PROJECT_SOURCE_DIR}/src/cvo/Cvo.cpp
)
set (CVO_IRLS_SOURCE
${PROJECT_SOURCE_DIR}/src/cvo/IRLS_State_CPU.cpp
${PROJECT_SOURCE_DIR}/src/cvo/IRLS_State_GPU.cu
${PROJECT_SOURCE_DIR}/src/cvo/CvoFrameGPU.cu
${PROJECT_SOURCE_DIR}/src/cvo/CvoFrame.cpp
${PROJECT_SOURCE_DIR}/src/cvo/IRLS.cpp)
set (CVO_INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/
${EIGEN_INCLUDE_DIR}
${TBB_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${CSPARSE_INCLUDE_DIR}
${CHOLMOD_INCLUDE_DIR}
${Sophus_INCLUDE_DIRS}
#${GTSAM_INCLUDE_DIR}
# thirdparty
${PROJECT_SOURCE_DIR}/thirdparty/libelas/
${PROJECT_SOURCE_DIR}/thirdparty/cugicp/
${PROJECT_SOURCE_DIR}/thirdparty/cnpy/
${PROJECT_SOURCE_DIR}/thirdparty/argparse/
)
set (CVO_PUBLIC_HEADERS
${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/
${PROJECT_SOURCE_DIR}/thirdparty/libelas/
${PROJECT_SOURCE_DIR}/thirdparty/cugicp/
${PROJECT_SOURCE_DIR}/thirdparty/argparse/
)
message("CXX_FLAGS are ${CMAKE_CXX_FLAGS}")
message("CUDA_NVCC_FLAGS are ${CUDA_NVCC_FLAGS}")
add_library(elas SHARED ${ELAS_LIB_SOURCE})
target_include_directories(elas PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
set_target_properties(elas PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE)
add_library(tum SHARED ${TUM_HANDLER_SOURCE})
target_compile_definitions(tum PUBLIC -DCVO_NDEBUG)
target_include_directories(tum PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
add_library(kitti SHARED ${KITTI_HANDLER_SOURCE})
target_include_directories(kitti PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(kitti PUBLIC opencv_core opencv_photo opencv_highgui opencv_features2d opencv_imgcodecs pcl_filters pcl_features pcl_io pcl_search pcl_common boost_filesystem
)
add_library(ethz SHARED ${ETHZ_HANDLER_SOURCE})
target_include_directories(ethz PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(ethz PUBLIC opencv_core opencv_photo opencv_highgui opencv_features2d opencv_imgcodecs pcl_filters pcl_features pcl_io pcl_search pcl_common boost_filesystem
)
add_library(finnforest SHARED ${FINNFOREST_HANDLER_SOURCE})
target_include_directories(finnforest PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(finnforest PUBLIC opencv_core opencv_photo opencv_highgui opencv_features2d opencv_imgcodecs pcl_filters pcl_features pcl_io pcl_search pcl_common boost_filesystem
)
add_library(cnpy SHARED ${CNPY_LIB_SOURCE})
target_include_directories(cnpy PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cnpy PUBLIC )
add_library(tartan SHARED ${TARTAN_HANDLER_SOURCE})
target_include_directories(tartan PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(tartan PUBLIC opencv_core cnpy opencv_photo opencv_highgui opencv_features2d opencv_imgcodecs pcl_filters pcl_features pcl_io pcl_search pcl_common boost_system boost_filesystem)
if (${PROJECT_NAME}_ENABLE_CUDA)
add_library(cukdtree SHARED ${CUKDTREE_LIB_SOURCE})
# target_compile_definitions(cukdtree_lib PUBLIC -DKDTREE_K_SIZE=2048)
target_include_directories(cukdtree PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
set_target_properties(cukdtree PROPERTIES LINKER_LANGUAGE CUDA CUDA_SOURCE_PROPERTY_FORMAT OBJ )
endif()
if (${PROJECT_NAME}_ENABLE_QT_VIEWER)
add_library(pcd_qt_viewer SHARED ${QT_VIEWER_SOURCE})
target_include_directories(pcd_qt_viewer PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(pcd_qt_viewer PUBLIC pcl_common pcl_visualization)
endif()
add_library(lie_group_utils SHARED ${LIE_GROUP_SOURCE})
target_include_directories(lie_group_utils PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${UnifiedCvo_VERSION}> )
add_library(cvo_utils SHARED ${CVO_UTILS_SOURCE})
set_target_properties(cvo_utils PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE)
target_include_directories(cvo_utils PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_utils
PUBLIC opencv_core opencv_photo opencv_highgui opencv_features2d opencv_imgcodecs pcl_filters pcl_features pcl_io pcl_search pcl_common ${TBB_LIBRARIES}
PRIVATE
elas)
#add_library(cvo_utils_range_ell_lib SHARED ${CVO_UTILS_SOURCE})
#target_compile_definitions(cvo_utils_range_ell_lib PRIVATE -DIS_USING_RANGE_ELL)
#target_link_libraries(cvo_utils_range_ell_lib opencv_core opencv_photo opencv_features2d opencv_highgui elas opencv_imgcodecs pcl_filters pcl_features pcl_io pcl_search ${TBB_LIBRARIES})
add_library(bki_mapping_5_14 SHARED ${BKI_MAPPING_SOURCE})
target_include_directories(bki_mapping_5_14 PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(bki_mapping_5_14 cvo_utils cvo_gpu_5_14 pcl_filters pcl_io pcl_search pcl_visualization )
#############################################
# CVO and Adaptive-CVO cpu
add_library(cvo_cpu_lib SHARED ${CVO_CPU_SOURCE} )
target_include_directories(cvo_cpu_lib PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_compile_definitions(cvo_cpu_lib PUBLIC -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=5)
target_link_libraries(cvo_cpu_lib PRIVATE lie_group_utils ${TBB_LIBRARIES} pcl_io pcl_search pcl_visualization cxsparse)
if (${PROJECT_NAME}_ENABLE_LIDAR)
#add_library(cvo_cpu_loam_lib SHARED ${CVO_CPU_SOURCE} )
#target_compile_definitions(cvo_cpu_loam_lib PRIVATE -DIS_USING_LOAM)
#target_link_libraries(cvo_cpu_loam_lib PRIVATE cvo_utils lie_group_utils ${TBB_LIBRARIES} pcl_io pcl_search pcl_visualization cxsparse)
endif()
#add_library(cvo_cpu_semantic_lib SHARED ${CVO_CPU_SOURCE} )
#target_compile_definitions(cvo_cpu_semantic_lib PRIVATE -DIS_USING_SEMANTICS)
#target_link_libraries(cvo_cpu_semantic_lib lie_group_utils ${TBB_LIBRARIES} pcl_io pcl_search pcl_visualization cxsparse)
if (${PROJECT_NAME}_ENABLE_ACVO)
add_library(acvo_cpu_lib SHARED ${ACVO_CPU_SOURCE} )
target_include_directories(acvo_cpu_lib PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(acvo_cpu_lib PRIVATE lie_group_utils ${TBB_LIBRARIES} pcl_io cxsparse)
add_library(acvo_cpu_semantic_lib SHARED ${ACVO_CPU_SOURCE} )
target_include_directories(acvo_cpu_semantic_lib PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_compile_definitions(acvo_cpu_semantic_lib PRIVATE -DIS_USING_SEMANTICS)
target_link_libraries(acvo_cpu_semantic_lib lie_group_utils ${TBB_LIBRARIES} pcl_io cxsparse)
endif()
if (${PROJECT_NAME}_ENABLE_LIDAR)
#add_library(pose_graph_loam_lib SHARED ${POSE_GRAPH_SOURCE})
#target_compile_definitions(pose_graph_loam_lib PRIVATE -DIS_USING_LOAM)
#target_link_libraries(pose_graph_loam_lib PRIVATE cvo_utils bki_mapping_lib cvo_cpu_lib opencv_core opencv_imgcodecs boost_filesystem gtsam gtsam_unstable pcl_io )
endif()
#add_executable(cvo_align_normal ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_align.cpp )
#target_compile_definitions(cvo_align_normal PRIVATE -DIS_USING_NORMALS)
#target_link_libraries(cvo_align_normal cvo_cpu_normal_lib cvo_utils_normal_lib boost_system kitti boost_thread pose_graph_normal_lib cxsparse ${OpenCV_LIBS} ${TBB_LIBRARIES} ${PCL_LIBRARIES})
#add_executable(cvo_align_loam ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_align.cpp )
#target_compile_definitions(cvo_align_loam PRIVATE -DIS_USING_LOAM)
#target_link_libraries(cvo_align_loam cvo_cpu_loam_lib boost_system cvo_utils_loam_lib boost_thread kitti pose_graph_loam_lib cxsparse ${OpenCV_LIBS} ${TBB_LIBRARIES} ${PCL_LIBRARIES})
#############################################
# Adaptive CVO GPU
if (${PROJECT_NAME}_ENABLE_CUDA AND ${PROJECT_NAME}_ENABLE_ACVO)
add_library(acvo_gpu_lib ${ACVO_GPU_SOURCE})
target_include_directories(acvo_gpu_lib PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
set_target_properties(acvo_gpu_lib PROPERTIES
POSITION_INDEPENDENT_CODE ON
CUDA_SEPERABLE_COMPILATION ON
COMPILE_OPTIONS "$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-fPIC>")
target_compile_definitions(acvo_gpu_lib PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=5)
target_link_libraries(acvo_gpu_lib PRIVATE lie_group_utils cvo_utils pcl_filters pcl_io pcl_search pcl_visualization)
add_library(acvo_gpu_semantic_lib ${ACVO_GPU_SOURCE} )
target_include_directories(acvo_gpu_semantic_lib PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_compile_definitions(acvo_gpu_semantic_lib PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=5 -DIS_USING_SEMANTICS)
target_link_libraries(acvo_gpu_semantic_lib PRIVATE lie_group_utils cvo_utils)
set_target_properties(acvo_gpu_semantic_lib PROPERTIES
POSITION_INDEPENDENT_CODE ON
CUDA_SEPERABLE_COMPILATION ON
COMPILE_OPTIONS "$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-fPIC>")
if (${PROJECT_NAME}_ENABLE_LIDAR)
add_library(acvo_gpu_lidar ${ACVO_GPU_SOURCE})
target_include_directories(acvo_gpu_lidar PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_compile_definitions(acvo_gpu_lidar PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=1)
target_link_libraries(acvo_gpu_lidar PRIVATE lie_group_utils cvo_utils )
set_target_properties(acvo_gpu_lidar PROPERTIES POSITION_INDEPENDENT_CODE ON
CUDA_SEPERABLE_COMPILATION ON
COMPILE_OPTIONS "$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-fPIC>")
add_library(acvo_gpu_semantic_lidar_lib ${ACVO_GPU_SOURCE})
target_include_directories(acvo_gpu_semantic_lidar_lib PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_compile_definitions(acvo_gpu_semantic_lidar_lib PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=1 -DIS_USING_SEMANTICS)
target_link_libraries(acvo_gpu_semantic_lidar_lib PRIVATE lie_group_utils cvo_utils)
set_target_properties(acvo_gpu_semantic_lidar_lib PROPERTIES POSITION_INDEPENDENT_CODE ON
CUDA_SEPERABLE_COMPILATION ON
COMPILE_OPTIONS "$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-fPIC>")
add_library(acvo_gpu_geometric_lib ${ACVO_GPU_SOURCE})
target_include_directories(acvo_gpu_geometric_lib PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_compile_definitions(acvo_gpu_geometric_lib PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=1 -DIS_GEOMETRIC_ONLY)
target_link_libraries(acvo_gpu_geometric_lib PRIVATE lie_group_utils cvo_utils )
set_target_properties(acvo_gpu_geometric_lib PROPERTIES POSITION_INDEPENDENT_CODE ON
CUDA_SEPERABLE_COMPILATION ON
COMPILE_OPTIONS "$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-fPIC>")
endif()
endif()
#####################################
## Non-Adaptive CVO GPU
if (${PROJECT_NAME}_ENABLE_CUDA)
add_library(cvo_gpu_img SHARED ${CVO_GPU_SOURCE})
add_dependencies(cvo_gpu_img cvo_utils lie_group_utils)
target_link_libraries(cvo_gpu_img PRIVATE lie_group_utils cvo_utils yaml-cpp Ceres::ceres )
target_include_directories(cvo_gpu_img PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_compile_definitions(cvo_gpu_img PUBLIC -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=5 -DCUDA_BLOCK_SIZE=256 -DCVO_POINT_NEIGHBORS=256
)
set_target_properties(cvo_gpu_img PROPERTIES
POSITION_INDEPENDENT_CODE ON
CUDA_SEPERABLE_COMPILATION ON
COMPILE_OPTIONS "$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-fPIC>")
add_library(cvo_gpu_rgb SHARED ${CVO_GPU_SOURCE})
add_dependencies(cvo_gpu_rgb cvo_utils lie_group_utils)
target_link_libraries(cvo_gpu_rgb PRIVATE lie_group_utils cvo_utils yaml-cpp Ceres::ceres )
target_include_directories(cvo_gpu_rgb PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_compile_definitions(cvo_gpu_rgb PUBLIC -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=3 -DCUDA_BLOCK_SIZE=512 -DCVO_POINT_NEIGHBORS=256)
set_target_properties(cvo_gpu_rgb PROPERTIES
POSITION_INDEPENDENT_CODE ON
CUDA_SEPERABLE_COMPILATION ON
COMPILE_OPTIONS "$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-fPIC>")
add_library(cvo_gpu_img_deep_feature_lib SHARED ${CVO_GPU_SOURCE})
add_dependencies(cvo_gpu_img_deep_feature_lib cvo_utils lie_group_utils)
target_link_libraries(cvo_gpu_img_deep_feature_lib PRIVATE lie_group_utils cvo_utils yaml-cpp Ceres::ceres )
target_include_directories(cvo_gpu_img_deep_feature_lib PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_compile_definitions(cvo_gpu_img_deep_feature_lib PUBLIC -DNUM_CLASSES=256 -DFEATURE_DIMENSIONS=5 -DCUDA_BLOCK_SIZE=512 -DCVO_POINT_NEIGHBORS=256
)
set_target_properties(cvo_gpu_img_deep_feature_lib PROPERTIES
POSITION_INDEPENDENT_CODE ON
CUDA_SEPERABLE_COMPILATION ON
COMPILE_OPTIONS "$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-fPIC>")
add_library(cvo_gpu_fpfh SHARED ${CVO_GPU_SOURCE})
add_dependencies(cvo_gpu_fpfh cvo_utils lie_group_utils)
target_link_libraries(cvo_gpu_fpfh PRIVATE lie_group_utils cvo_utils yaml-cpp Ceres::ceres )
target_include_directories(cvo_gpu_fpfh PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_compile_definitions(cvo_gpu_fpfh PUBLIC -DNUM_CLASSES=33 -DFEATURE_DIMENSIONS=3 -DCUDA_BLOCK_SIZE=512 -DCVO_POINT_NEIGHBORS=512
)
set_target_properties(cvo_gpu_fpfh PROPERTIES
POSITION_INDEPENDENT_CODE ON
CUDA_SEPERABLE_COMPILATION ON
COMPILE_OPTIONS "$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-fPIC>")
add_library(cvo_gpu_5_14 SHARED ${CVO_GPU_SOURCE})
add_dependencies(cvo_gpu_5_14 cvo_utils lie_group_utils)
target_link_libraries(cvo_gpu_5_14 PRIVATE lie_group_utils cvo_utils yaml-cpp Ceres::ceres )
target_include_directories(cvo_gpu_5_14 PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_compile_definitions(cvo_gpu_5_14 PUBLIC -DNUM_CLASSES=14 -DFEATURE_DIMENSIONS=5 -DCUDA_BLOCK_SIZE=512 -DCVO_POINT_NEIGHBORS=512
)
set_target_properties(cvo_gpu_5_14 PROPERTIES
POSITION_INDEPENDENT_CODE ON
CUDA_SEPERABLE_COMPILATION ON
COMPILE_OPTIONS "$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-fPIC>")
add_library(cvo_gpu_1_14 SHARED ${CVO_GPU_SOURCE})
add_dependencies(cvo_gpu_1_14 cvo_utils lie_group_utils)
target_link_libraries(cvo_gpu_1_14 PRIVATE lie_group_utils cvo_utils yaml-cpp Ceres::ceres )
target_include_directories(cvo_gpu_1_14 PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_compile_definitions(cvo_gpu_1_14 PUBLIC -DNUM_CLASSES=14 -DFEATURE_DIMENSIONS=1 -DCUDA_BLOCK_SIZE=512 -DCVO_POINT_NEIGHBORS=512
)
set_target_properties(cvo_gpu_1_14 PROPERTIES
POSITION_INDEPENDENT_CODE ON
CUDA_SEPERABLE_COMPILATION ON
COMPILE_OPTIONS "$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-fPIC>")
if(${PROJECT_NAME}_ENABLE_LIDAR)
add_library(cvo_gpu_lidar SHARED ${CVO_GPU_SOURCE})
target_include_directories(cvo_gpu_lidar PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
add_dependencies(cvo_gpu_lidar cvo_utils lie_group_utils)
target_compile_definitions(cvo_gpu_lidar PUBLIC -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=1 -DCUDA_BLOCK_SIZE=128 -DCVO_POINT_NEIGHBORS=128)
target_link_libraries(cvo_gpu_lidar PRIVATE lie_group_utils cvo_utils yaml-cpp Ceres::ceres)
set_target_properties(cvo_gpu_lidar PROPERTIES
POSITION_INDEPENDENT_CODE ON
CUDA_SEPERABLE_COMPILATION ON
COMPILE_OPTIONS "$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-fPIC>")
endif()
endif()
#######################################
# tests GPU
if (${PROJECT_NAME}_ENABLE_CUDA)
if(${PROJECT_NAME}_ENABLE_ACVO)
#add_executable(acvo_align_gpu ${PROJECT_SOURCE_DIR}/src/experiments/main_acvo_gpu_align.cpp)
#target_compile_definitions(acvo_align_gpu PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=5)
#target_link_libraries(acvo_align_gpu acvo_gpu_lib cvo_cpu_lib cvo_utils boost_filesystem kitti boost_system)
#add_executable(acvo_align_semantic_gpu ${PROJECT_SOURCE_DIR}/src/experiments/main_acvo_gpu_align.cpp)
#target_compile_definitions(acvo_align_semantic_gpu PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=5 -DIS_USING_SEMANTICS)
#target_link_libraries(acvo_align_semantic_gpu acvo_gpu_semantic_lib cvo_utils kitti boost_filesystem cvo_cpu_lib boost_system)
#add_executable(acvo_align_gpu_raw_img ${PROJECT_SOURCE_DIR}/src/experiments/main_acvo_gpu_align_raw_image.cpp)
#target_compile_definitions(acvo_align_gpu_raw_img PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=5)
#target_link_libraries(acvo_align_gpu_raw_img acvo_gpu_lib cvo_utils pose_graph_lib kitti boost_filesystem boost_system)
#add_executable(acvo_align_semantic_gpu_raw_img ${PROJECT_SOURCE_DIR}/src/experiments/main_acvo_semantic_gpu_align_raw_image.cpp)
#target_compile_definitions(acvo_align_semantic_gpu_raw_img PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=5 -DIS_USING_SEMANTICS)
#target_link_libraries(acvo_align_semantic_gpu_raw_img acvo_gpu_semantic_lib cvo_utils kitti pose_graph_lib boost_filesystem boost_system)
#add_executable(acvo_align_semantic_gpu_raw_lidar ${PROJECT_SOURCE_DIR}/src/experiments/main_semantic_acvo_gpu_lidar_align_raw.cpp)
#target_compile_definitions(acvo_align_semantic_gpu_raw_lidar PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=1 -DIS_USING_SEMANTICS)
#target_link_libraries(acvo_align_semantic_gpu_raw_lidar acvo_gpu_semantic_lidar_lib kitti cvo_utils pose_graph_lib boost_filesystem boost_system)
#add_executable(acvo_geometric_gpu_raw_lidar ${PROJECT_SOURCE_DIR}/src/experiments/main_semantic_acvo_gpu_lidar_align_raw.cpp)
#target_compile_definitions(acvo_geometric_gpu_raw_lidar PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=1 -DIS_GEOMETRIC_ONLY)
#target_link_libraries(acvo_geometric_gpu_raw_lidar acvo_gpu_geometric_lib kitti cvo_utils pose_graph_lib boost_filesystem boost_system)
#add_executable(acvo_intensity_gpu_raw_lidar ${PROJECT_SOURCE_DIR}/src/experiments/main_semantic_acvo_gpu_lidar_align_raw.cpp)
#target_compile_definitions(acvo_intensity_gpu_raw_lidar PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=1 )
#target_link_libraries(acvo_intensity_gpu_raw_lidar acvo_gpu_lidar kitti cvo_utils pose_graph_lib boost_filesystem boost_system)
#add_executable(acvo_semantic_lidar_align_gpu ${PROJECT_SOURCE_DIR}/src/experiments/main_acvo_gpu_lidar_align.cpp)
#target_compile_definitions(acvo_semantic_lidar_align_gpu PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=1 -DIS_USING_SEMANTICS)
#target_link_libraries(acvo_semantic_lidar_align_gpu acvo_gpu_semantic_lidar_lib cvo_cpu_semantic_lib cvo_utils boost_filesystem boost_system kitti)
endif()
add_executable(cvo_align_gpu_img ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_raw_image.cpp)
target_include_directories(cvo_align_gpu_img PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_img cvo_gpu_img cvo_utils kitti boost_filesystem boost_system)
add_executable(cvo_irls_pcd ${PROJECT_SOURCE_DIR}/src/experiments/main_multi_frame_irls_pcd.cpp)
target_include_directories(cvo_irls_pcd PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_pcd cvo_gpu_img cvo_utils boost_filesystem boost_system)
add_executable(cvo_irls_rand_bunny_pcd ${PROJECT_SOURCE_DIR}/src/experiments/main_multi_frame_irls_bunny_random.cpp)
target_include_directories(cvo_irls_rand_bunny_pcd PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_rand_bunny_pcd cvo_gpu_img cvo_utils boost_filesystem boost_system pcl_filters pcl_common)
add_executable(cvo_irls_rand_bunny_f2f ${PROJECT_SOURCE_DIR}/src/experiments/main_irls_bunny_frame_to_frame.cpp)
target_include_directories(cvo_irls_rand_bunny_f2f PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_rand_bunny_f2f cvo_gpu_fpfh cvo_utils boost_filesystem boost_system pcl_filters pcl_common pcl_features)
add_executable(cvo_align_gpu_img_finnforest ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_finnforest.cpp)
target_include_directories(cvo_align_gpu_img_finnforest PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_img_finnforest cvo_gpu_img cvo_utils boost_filesystem boost_system finnforest)
add_executable(cvo_irls_rand_pcd ${PROJECT_SOURCE_DIR}/src/experiments/main_multi_frame_irls_toy_random.cpp)
target_include_directories(cvo_irls_rand_pcd PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_rand_pcd cvo_gpu_img cvo_utils boost_filesystem boost_system pcl_filters pcl_common)
add_executable(cvo_align_gpu_two_pcd ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_two_pcd.cpp)
target_include_directories(cvo_align_gpu_two_pcd PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_two_pcd cvo_gpu_rgb cvo_utils boost_filesystem boost_system pcl_io pcl_common)
add_executable(cvo_align_gpu_two_color_pcd_global ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_two_color_pcd_global.cpp)
target_include_directories(cvo_align_gpu_two_color_pcd_global PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_two_color_pcd_global cvo_gpu_fpfh cvo_utils boost_filesystem boost_system pcl_io pcl_common pcl_features)
add_executable(icp_align_two_pcd_global ${PROJECT_SOURCE_DIR}/src/experiments/main_gicp_align_two_pcd_global.cpp)
target_include_directories(icp_align_two_pcd_global PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(icp_align_two_pcd_global cvo_utils boost_filesystem boost_system ${PCL_LIBRARIES})
#add_executable(cvo_align_gpu_irls_vs_grad ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_two_color_pcd_irls_vs_gradient.cpp)
#target_include_directories(cvo_align_gpu_irls_vs_grad PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
# "$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
# $<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
# target_link_libraries(cvo_align_gpu_irls_vs_grad cvo_gpu_fpfh cvo_utils boost_filesystem boost_system pcl_io pcl_common pcl_features)
add_executable(cvo_align_gpu_benchmark_two_pcd_global ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_benchmark_two_pcd_global.cpp)
target_include_directories(cvo_align_gpu_benchmark_two_pcd_global PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_benchmark_two_pcd_global cvo_gpu_fpfh cvo_utils boost_filesystem boost_system pcl_io pcl_common pcl_features)
add_executable(kitti_depth_filtering ${PROJECT_SOURCE_DIR}/src/experiments/main_depth_filtering.cpp)
target_include_directories(kitti_depth_filtering PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(kitti_depth_filtering kitti cvo_gpu_img cvo_utils boost_filesystem boost_system pcl_io pcl_common)
add_executable(cvo_align_gpu_two_color_pcd ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_two_color_pcd.cpp)
target_include_directories(cvo_align_gpu_two_color_pcd PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_two_color_pcd cvo_gpu_rgb cvo_utils boost_filesystem boost_system pcl_io pcl_common)
add_executable(cvo_align_gpu_pcd ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_pcd.cpp)
target_include_directories(cvo_align_gpu_pcd PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_pcd cvo_gpu_5_14 cvo_utils boost_filesystem boost_system pcl_io pcl_common pcl_visualization pcd_qt_viewer)
add_executable(cvo_irls_tum ${PROJECT_SOURCE_DIR}/src/experiments/main_multi_frame_irls_tum.cpp)
target_include_directories(cvo_irls_tum PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_tum cvo_gpu_img cvo_gpu_img cvo_utils tum boost_filesystem boost_system)
add_executable(cvo_irls_tartan ${PROJECT_SOURCE_DIR}/src/experiments/main_multi_frame_irls_tartan.cpp)
target_include_directories(cvo_irls_tartan PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_tartan cvo_gpu_img cvo_utils tartan boost_filesystem boost_system pcl_filters)
add_executable(cvo_inv_depth_tartan ${PROJECT_SOURCE_DIR}/src/experiments/main_multi_frame_irls_inv_depth.cpp)
target_include_directories(cvo_inv_depth_tartan PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_inv_depth_tartan cvo_gpu_img cvo_utils tartan boost_filesystem boost_system pcl_filters lie_group_utils glog Ceres::ceres kitti tum)
add_executable(cvo_irls_finnforest ${PROJECT_SOURCE_DIR}/src/experiments/main_multi_frame_irls_finnforest.cpp)
target_include_directories(cvo_irls_finnforest PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_finnforest cvo_gpu_img cvo_utils finnforest boost_filesystem boost_system pcl_filters)
#add_executable(cvo_irls_tartan_odom ${PROJECT_SOURCE_DIR}/src/experiments/main_irls_tartan_rgbd_odom.cpp)
#target_include_directories(cvo_irls_tartan_odom PUBLIC
# "$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
# $<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
#target_link_libraries(cvo_irls_tartan_odom cvo_gpu_img cvo_utils tartan boost_filesystem boost_system)
#target_compile_definitions(cvo_irls_tartan PUBLIC -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=5 -DCUDA_BLOCK_SIZE=512 -DCVO_POINT_NEIGHBORS=256)
add_executable(cvo_irls_tartan_ablation ${PROJECT_SOURCE_DIR}/src/experiments/main_irls_tartan_rgbd_ablation_reg.cpp)
target_include_directories(cvo_irls_tartan_ablation PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_tartan_ablation cvo_gpu_img cvo_utils tartan boost_filesystem boost_system)
add_executable(cvo_covis_tartan ${PROJECT_SOURCE_DIR}/src/experiments/main_covisMap_test.cpp)
target_include_directories(cvo_covis_tartan PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_covis_tartan cvo_gpu_img cvo_gpu_img cvo_utils tartan boost_filesystem boost_system pcl_filters)
#add_executable(cvo_irls_tartan_translation ${PROJECT_SOURCE_DIR}/src/experiments/main_multi_frame_irls_translation_only_tartan.cpp)
#target_include_directories(cvo_irls_tartan_translation PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
# "$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
# $<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
#target_link_libraries(cvo_irls_tartan_translation cvo_gpu_img cvo_gpu_img cvo_utils tartan boost_filesystem boost_system pcl_filters)
add_executable(cvo_irls_kitti ${PROJECT_SOURCE_DIR}/src/experiments/main_multi_frame_irls_kitti.cpp)
target_include_directories(cvo_irls_kitti PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_kitti cvo_gpu_img cvo_utils kitti boost_filesystem boost_system)
add_executable(cvo_align_gpu_semantic_img ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_semantic_image.cpp)
target_include_directories(cvo_align_gpu_semantic_img PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_semantic_img cvo_gpu_img cvo_utils kitti boost_filesystem boost_system)
add_executable(cvo_align_gpu_rgbd ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_rgbd.cpp)
target_include_directories(cvo_align_gpu_rgbd PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_rgbd cvo_gpu_img cvo_cpu_lib tum cvo_utils boost_filesystem boost_system)
add_executable(cvo_align_gpu_rgbd_tartan ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_tartan.cpp)
target_include_directories(cvo_align_gpu_rgbd_tartan PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_rgbd_tartan cvo_gpu_img cvo_cpu_lib tum cvo_utils boost_filesystem boost_system tartan)
add_executable(cvo_align_gpu_rgbd_image_tartan_format ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_rgbd_image_tartan_format.cpp)
target_include_directories(cvo_align_gpu_rgbd_image_tartan_format PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_rgbd_image_tartan_format cvo_gpu_img cvo_cpu_lib tum cvo_utils boost_filesystem boost_system tartan)
if (${PROJECT_NAME}_ENABLE_QT_VIEWER)
add_executable(stack_pcd_viewer ${PROJECT_SOURCE_DIR}/src/experiments/main_stack_pcd_viewer.cpp)
target_include_directories(stack_pcd_viewer PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(stack_pcd_viewer cvo_utils boost_filesystem boost_system pcl_common pcl_io pcl_visualization pcd_qt_viewer tartan cvo_gpu_img)
add_executable(ellipse_viewer ${PROJECT_SOURCE_DIR}/src/experiments/main_ellipse_viewer.cpp)
target_compile_definitions(ellipse_viewer PRIVATE -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=5)
target_include_directories(ellipse_viewer PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(ellipse_viewer cvo_gpu_img cvo_utils boost_filesystem boost_system pcl_common pcl_io pcl_visualization pcd_qt_viewer kitti pcl_features)
add_executable(ba_iter_viewer ${PROJECT_SOURCE_DIR}/src/experiments/main_ba_iteration_viewer.cpp)
target_include_directories(ba_iter_viewer PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(ba_iter_viewer cvo_utils boost_filesystem boost_system pcl_common pcl_io pcl_visualization pcd_qt_viewer tartan cvo_gpu_1_14)
endif()
if (${PROJECT_NAME}_ENABLE_QT_VIEWER)
# add_executable(traj_playback ${PROJECT_SOURCE_DIR}/src/experiments/main_traj_playback.cpp)
# target_include_directories(traj_playback PUBLIC
# "$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
# $<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
# target_link_libraries(traj_playback cvo_utils boost_filesystem boost_system boost_filesystem pcl_common pcl_io pcl_visualization pcd_qt_viewer_lib )
endif()
add_executable(cvo_align_gpu_lidar_ethz ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_ethz_lidar.cpp)
target_include_directories(cvo_align_gpu_lidar_ethz PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_lidar_ethz cvo_gpu_lidar ethz cvo_utils boost_filesystem boost_system pcl_visualization)
if (${PROJECT_NAME}_ENABLE_LIDAR)
add_executable(cvo_align_gpu_lidar_geometric ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_lidar_raw_geometric.cpp)
target_include_directories(cvo_align_gpu_lidar_geometric PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_lidar_geometric cvo_gpu_lidar kitti cvo_utils boost_filesystem boost_system)
add_executable(cvo_align_gpu_lidar_intensity ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_lidar_raw_intensity.cpp)
target_include_directories(cvo_align_gpu_lidar_intensity PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_align_gpu_lidar_intensity cvo_gpu_lidar kitti cvo_utils boost_filesystem boost_system)
#add_executable(cvo_align_gpu_lidar_semantic ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_lidar_raw_semantic.cpp)
#target_include_directories(cvo_align_gpu_lidar_semantic PUBLIC
# "$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
# $<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
#target_link_libraries(cvo_align_gpu_lidar_semantic cvo_gpu_lidar kitti cvo_utils boost_filesystem boost_system)
add_executable(cvo_irls_lidar_ba ${PROJECT_SOURCE_DIR}/src/experiments/main_irls_kitti_lidar_ba.cpp)
target_include_directories(cvo_irls_lidar_ba PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_lidar_ba cvo_gpu_lidar cvo_utils boost_filesystem boost_system kitti)
add_executable(cvo_irls_lidar_loop ${PROJECT_SOURCE_DIR}/src/experiments/main_irls_kitti_lidar_loop.cpp)
target_include_directories(cvo_irls_lidar_loop PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_lidar_loop cvo_gpu_lidar cvo_utils boost_filesystem boost_system kitti Ceres::ceres ethz)
add_executable(cvo_irls_pcd_loop ${PROJECT_SOURCE_DIR}/src/experiments/main_irls_pcd_loop.cpp)
target_include_directories(cvo_irls_pcd_loop PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_pcd_loop cvo_gpu_5_14 cvo_utils boost_filesystem boost_system Ceres::ceres)
add_executable(cvo_irls_pcd_intensity_loop ${PROJECT_SOURCE_DIR}/src/experiments/main_irls_pcd_loop.cpp)
target_include_directories(cvo_irls_pcd_intensity_loop PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_irls_pcd_intensity_loop cvo_gpu_1_14 cvo_utils boost_filesystem boost_system Ceres::ceres)
endif()
add_executable(kitti_lidar_to_pcd ${PROJECT_SOURCE_DIR}/src/experiments/kitti_lidar_to_pcd.cpp)
target_include_directories(kitti_lidar_to_pcd PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(kitti_lidar_to_pcd cvo_utils boost_filesystem boost_system pcl_common pcl_io pcl_visualization pcd_qt_viewer tartan cvo_gpu_lidar kitti)
add_executable(cvopoint_to_pcl ${PROJECT_SOURCE_DIR}/src/experiments/main_cvopoint_to_pcl.cpp)
target_include_directories(cvopoint_to_pcl PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvopoint_to_pcl cvo_utils pcl_common pcl_io cvo_gpu_lidar )
add_executable(gicp_align_two ${PROJECT_SOURCE_DIR}/src/experiments/gicp_align_two.cpp)
target_include_directories(gicp_align_two PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(gicp_align_two ${PCL_LIBRARIES})
add_executable(cvo_single_semantic_test ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_single_image_test.cpp)
target_include_directories(cvo_single_semantic_test PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_single_semantic_test cvo_gpu_img cvo_utils kitti boost_filesystem boost_system)
add_executable(cvo_indicator_in_sequence ${PROJECT_SOURCE_DIR}/src/experiments/main_indicator_in_sequence.cpp)
target_include_directories(cvo_indicator_in_sequence PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
#$<BUILD_INTERFACE:${UnifiedCvo_BINARY_DIR}/include>
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include/${PROJECT_NAME}-${${PROJECT_NAME}_VERSION}> )
target_link_libraries(cvo_indicator_in_sequence cvo_gpu_img cvo_utils boost_filesystem boost_system kitti)
add_executable(cu_kd_tree_test ${PROJECT_SOURCE_DIR}/src/experiments/cu_kd_tree_test.cu)
target_include_directories(cu_kd_tree_test PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>"
)
target_link_libraries(cu_kd_tree_test cvo_utils cukdtree ${PCL_LIBRARIES})
add_executable(cvo_align_two_nn_feature ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_two_nn_feature_pcd.cpp)
target_include_directories(cvo_align_two_nn_feature PUBLIC
"$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>")
target_link_libraries(cvo_align_two_nn_feature cvo_gpu_img_deep_feature_lib cvo_utils kitti boost_filesystem boost_system)
add_executable(depth_gen ${PROJECT_SOURCE_DIR}/src/experiments/main_depth_gen.cpp )
target_compile_definitions(depth_gen PUBLIC -DNUM_CLASSES=20 -DFEATURE_DIMENSIONS=5)
target_include_directories(depth_gen PUBLIC "$<BUILD_INTERFACE:${CVO_INCLUDE_DIRS}>")
target_link_libraries(depth_gen cvo_utils kitti boost_filesystem boost_system cnpy tartan finnforest cvo_gpu_img)
add_executable(main_cvo_gpu_align_stereo_tartan ${PROJECT_SOURCE_DIR}/src/experiments/main_cvo_gpu_align_stereo_tartan.cpp)
target_include_directories(main_cvo_gpu_align_stereo_tartan PUBLIC
#$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>