I’m trying to optimize loam by using cuda, but i got stucked in CMakefile.
==================CMakeLists.txt================
cmake_minimum_required(VERSION 3.1.3)
project(loam_velodyne)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
sensor_msgs
roscpp
rospy
std_msgs
tf
pcl_conversions)
find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
include_directories(
include
${catkin_INCLUDE_DIRS}
#${EIGEN3_INCLUDE_DIR}
${PCL_INCLUDE_DIRS})
catkin_package(
CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs tf pcl_conversions
DEPENDS EIGEN3 PCL
INCLUDE_DIRS include
LIBRARIES loam
)
Compile as C++14, supported in ROS Kinetic and newer
set_property(TARGET invz_player PROPERTY CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
add_definitions( -march=native )
add_subdirectory(src/lib)
add_executable(multiScanRegistration src/multi_scan_registration_node.cpp)
target_link_libraries(multiScanRegistration ${catkin_LIBRARIES} ${PCL_LIBRARIES} loam )
add_executable(laserOdometry src/laser_odometry_node.cpp)
target_link_libraries(laserOdometry ${catkin_LIBRARIES} ${PCL_LIBRARIES} loam )
add_executable(laserMapping src/laser_mapping_node.cpp)
target_link_libraries(laserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} loam )
add_executable(transformMaintenance src/transform_maintenance_node.cpp)
target_link_libraries(transformMaintenance ${catkin_LIBRARIES} ${PCL_LIBRARIES} loam )
if (CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
TODO: Download test data
catkin_download_test_data(${PROJECT_NAME}_test_data.tar.gz
https://dl.dropboxusercontent.com/s/y4hn486461tfmpm/velodyne_loam_test_data.tar.gz
MD5 3d5194e6981975588b7a93caebf79ba4)
add_custom_target(${PROJECT_NAME}_test_data
COMMAND ${CMAKE_COMMAND} -E tar -xzf velodyne_loam_test_data.tar.gz
DEPENDS ${PROJECT_NAME}_test_data.tar.gz)
configure_file(tests/loam.test.in
${PROJECT_BINARY_DIR}/test/loam.test)
add_rostest(${PROJECT_BINARY_DIR}/test/loam.test
DEPENDENCIES
${PROJECT_NAME}_test_data
multiScanRegistration
laserOdometry
laserMapping
transformMaintenance)
endif()
==============================================
I want to add CudaTest.cu to laser_mapping_node.
How should i fix CMakefile?
CudaTest.cu :: src/CudaTest.cu.