cmake_minimum_required(VERSION 2.8.3)
project(bagutils)

#set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS} -g -O0")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -w -g -ggdb -O0")

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

find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)

include_directories(
        ${catkin_INCLUDE_DIRS}
        ${EIGEN3_INCLUDE_DIR}
        ${PCL_INCLUDE_DIRS})

catkin_package(
  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs rosbag_storage
  DEPENDS EIGEN3 PCL OpenCV
)

# playrosbag
add_executable(playrosbag src/playrosbag.cpp src/HesaiPandar64PCLXYZIRT.cpp)
target_link_libraries(playrosbag ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})

# hesai_time_corr
add_executable(hesai_time_corr src/hesai_time_corr.cpp  src/HesaiPandar64PCLXYZIRT.cpp)
target_link_libraries(hesai_time_corr ${catkin_LIBRARIES} ${PCL_LIBRARIES})

# play_point_cloud2
add_executable(play_point_cloud2 src/play_point_cloud2.cpp)
target_link_libraries(play_point_cloud2 ${catkin_LIBRARIES} ${PCL_LIBRARIES})

# merge_lidar_rosbag
add_executable(merge_lidar_rosbag src/merge_lidar_rosbag.cpp)
target_link_libraries(merge_lidar_rosbag ${catkin_LIBRARIES})

# play_msgs_imu
add_executable(play_msgs_imu src/play_msgs_imu.cpp)
target_link_libraries(play_msgs_imu ${catkin_LIBRARIES})

# play_msgs_imu_ips
add_executable(play_msgs_imu_ips src/play_msgs_imu_ips.cpp)
target_link_libraries(play_msgs_imu_ips ${catkin_LIBRARIES})

# merge_imu_rosbag
add_executable(merge_imu_rosbag src/merge_imu_rosbag.cpp)
target_link_libraries(merge_imu_rosbag ${catkin_LIBRARIES})

# merge_lidar_imu
add_executable(merge_lidar_imu src/merger_lidar_imu.cpp)
target_link_libraries(merge_lidar_imu ${catkin_LIBRARIES})

# imu2rosbag
add_executable(imu2rosbag src/imu2rosbag.cpp)
target_link_libraries(imu2rosbag ${catkin_LIBRARIES})

# imu2rosbag_ips
add_executable(imu2rosbag_ips src/imu2rosbag_ips.cpp)
target_link_libraries(imu2rosbag_ips ${catkin_LIBRARIES})

# rosbagsplit
add_executable(rosbagsplit src/rosbagsplit.cpp)
target_link_libraries(rosbagsplit ${catkin_LIBRARIES})

# cat_kitti_bin
add_executable(cat_kitti_bin src/cat_kitti_bin.cpp)
target_link_libraries(cat_kitti_bin ${catkin_LIBRARIES})

# rpy2quaternion
add_executable(rpy2quaternion src/rpy2quaternion.cpp)
target_link_libraries(rpy2quaternion ${catkin_LIBRARIES})

# quaternion2rpy
add_executable(quaternion2rpy src/quaternion2rpy.cpp)
target_link_libraries(quaternion2rpy ${catkin_LIBRARIES})

# attitude_test
add_executable(attitude_test src/attitude_test.cpp)
target_link_libraries(attitude_test ${catkin_LIBRARIES})

# play_lio_bag
add_executable(play_lio_bag src/play_lio_bag.cpp)
target_link_libraries(play_lio_bag ${catkin_LIBRARIES})