git update

src/ground_slam/CMakeLists.txt

@@ -0,0 +1,118 @@
+cmake_minimum_required(VERSION 3.8)
+project(ground_slam)
+
+# Default to C++17 (ROS2 Humble standard)
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+
+# ── ROS2 packages ──────────────────────────────────────
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(visualization_msgs REQUIRED)
+
+# ── System dependencies ────────────────────────────────
+find_package(OpenCV 4.2 REQUIRED)
+find_package(OpenMP REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(FFTW3 REQUIRED)
+find_package(Ceres REQUIRED)
+find_package(yaml-cpp REQUIRED)
+find_package(Boost REQUIRED)
+find_package(VTK REQUIRED)
+
+# ── Compiler flags ─────────────────────────────────────
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native -Wno-reorder")
+if(OPENMP_FOUND)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+endif()
+
+# ── Include directories ────────────────────────────────
+include_directories(
+  ${PROJECT_SOURCE_DIR}/include
+  ${OpenCV_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
+  ${FFTW3_INCLUDE_DIRS}
+  ${YAML_CPP_INCLUDE_DIR}
+  ${CERES_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${VTK_INCLUDE_DIRS}
+)
+
+# ── Core library ───────────────────────────────────────
+add_library(${PROJECT_NAME}_lib SHARED
+  src/optimization_2d/pose_graph_2d.cc
+  src/utils.cc
+  src/dataset.cc
+  src/camera.cc
+  src/frame.cc
+  src/edge.cc
+  src/correlation_flow.cc
+  src/loop_closure.cc
+  src/map.cc
+  src/map_builder.cc
+  src/thread_publisher.cc
+  src/map_stitcher.cc
+  src/visualization.cc
+  src/timer.cc
+)
+
+target_link_libraries(${PROJECT_NAME}_lib
+  -lfftw3
+  -lfftw3f
+  ${OpenCV_LIBS}
+  ${EIGEN3_LIBS}
+  ${CERES_LIBRARIES}
+  yaml-cpp
+  ${Boost_LIBRARIES}
+  ${VTK_LIBRARIES}
+)
+
+# ROS2 deps (header-only via include_directories above, link where needed)
+ament_target_dependencies(${PROJECT_NAME}_lib
+  rclcpp
+  geometry_msgs
+  nav_msgs
+  std_msgs
+  sensor_msgs
+  cv_bridge
+  tf2
+  tf2_geometry_msgs
+  tf2_ros
+  visualization_msgs
+)
+
+# ── Executable ─────────────────────────────────────────
+add_executable(${PROJECT_NAME} main.cpp)
+target_link_libraries(${PROJECT_NAME} ${PROJECT_NAME}_lib)
+
+ament_target_dependencies(${PROJECT_NAME}
+  rclcpp
+)
+
+# ── Install ────────────────────────────────────────────
+install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_lib
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY configs/
+  DESTINATION share/${PROJECT_NAME}/configs
+)
+
+ament_package()