CONDA_PREFIX = /GPFS/rhome/yifanlu/miniconda3/envs/disco

INC = $(shell ${CONDA_PREFIX}/bin/python3 -m pybind11 --includes)

CXX = g++

CXXFLAGS = -O3 -Wall -std=c++11 -fPIC ${INC}

# CXXFLAGS += `pkg-config --cflags gsl` -I./ann_1.1.2/include/ANN

CXXFLAGS += -I${CONDA_PREFIX}/include -I./ann_1.1.2/include/ANN -I${CONDA_PREFIX}/include/eigen3

# LDFLAGS = `pkg-config --libs gsl`

LDFLAGS = -L${CONDA_PREFIX}/lib -lgsl -lgslcblas -lm

LDFLAGS += -L. -lgicp -Lann_1.1.2/lib -lANN -lboost_program_options -lboost_system -lstdc++

LDFLAGS += -Wl,-rpath="${CONDA_PREFIX}/lib"

objects = warp_gicp.o gicp.o optimize.o bfgs_funcs.o transform.o scan.o

all: libgicp.a warp_gicp.so test_gicp

libgicp.a: gicp.o optimize.o bfgs_funcs.o transform.o scan.o

ar rvs $@ $^

warp_gicp.so: $(objects)

${CXX} ${CXXFLAGS} -shared -o $@${SUF} $^ ${LDFLAGS}

test_gicp: test_gicp.o gicp.o optimize.o bfgs_funcs.o transform.o

$(CXX) -o $@ $^ $(LDFLAGS)

.cpp.o:

$(CXX) $(CXXFLAGS) -c $< -o $@

clean:

rm -f *.o *.so *.a *~ t_*.tfm *.dat mahalanobis.txt correspondence.txt iterations.txt test_gicp