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Fixed missing package exports

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also other general CMakeLists.txt cleanup
This commit is contained in:
William Woodall 2013-07-19 17:27:18 -07:00 committed by Paul Bovbel
parent 45c5de6aff
commit b6315543bb
1 changed files with 149 additions and 116 deletions
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183
pcl_ros/CMakeLists.txt
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@ -1,67 +1,103 @@
cmake_minimum_required(VERSION 2.8) cmake_minimum_required(VERSION 2.8)
project(pcl_ros) project(pcl_ros)
# Deal with catkin ## Find system dependencies
find_package(Boost COMPONENTS system filesystem thread REQUIRED) find_package(Boost REQUIRED COMPONENTS system filesystem thread)
find_package(catkin REQUIRED dynamic_reconfigure genmsg nodelet nodelet_topic_tools pcl_conversions pcl_msgs roscpp sensor_msgs std_msgs tf rosbag rosconsole roslib pluginlib)
find_package(Eigen REQUIRED) find_package(Eigen REQUIRED)
find_package(PCL REQUIRED) find_package(PCL REQUIRED)
# deal with ROS ## Find catkin packages
include_directories(SYSTEM ${Boost_INCLUDE_DIRS} find_package(catkin REQUIRED COMPONENTS
dynamic_reconfigure
genmsg
nodelet
nodelet_topic_tools
pcl_conversions
pcl_msgs
pluginlib
rosbag
rosconsole
roscpp
roslib
sensor_msgs
std_msgs
tf
)
## Add include directories
include_directories(include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
${Eigen_INCLUDE_DIRS} ${Eigen_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}
) )
include_directories(include)
link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${Eigen_LIBRARY_DIRS} ${PCL_LIBRARY_DIRS}) ## Add link directories
link_directories(
${Boost_LIBRARY_DIRS}
${Eigen_LIBRARY_DIRS}
${PCL_LIBRARY_DIRS}
)
# generate the dynamic_reconfigure config file ## Generate dynamic_reconfigure
generate_dynamic_reconfigure_options(cfg/Feature.cfg generate_dynamic_reconfigure_options(
cfg/Filter.cfg
cfg/EuclideanClusterExtraction.cfg cfg/EuclideanClusterExtraction.cfg
cfg/ExtractIndices.cfg cfg/ExtractIndices.cfg
cfg/ExtractPolygonalPrismData.cfg cfg/ExtractPolygonalPrismData.cfg
cfg/Feature.cfg
cfg/Filter.cfg
cfg/MLS.cfg cfg/MLS.cfg
cfg/SACSegmentation.cfg cfg/SACSegmentation.cfg
cfg/SACSegmentationFromNormals.cfg cfg/SACSegmentationFromNormals.cfg
cfg/SegmentDifferences.cfg cfg/SegmentDifferences.cfg
cfg/StatisticalOutlierRemoval.cfg cfg/StatisticalOutlierRemoval.cfg
cfg/VoxelGrid.cfg cfg/VoxelGrid.cfg
) )
include_directories(include cfg/cpp)
## Declare the catkin package
catkin_package( catkin_package(
INCLUDE_DIRS include INCLUDE_DIRS include
LIBRARIES pcl_ros_tf pcl_ros_io pcl_ros_filters LIBRARIES
CATKIN_DEPENDS roscpp sensor_msgs tf sensor_msgs std_msgs pcl_ros_filters
DEPENDS Eigen PCL pcl_ros_io
pcl_ros_tf
CATKIN_DEPENDS
dynamic_reconfigure
message_filters
nodelet
pcl_conversions
pcl_ros
rosbag
roscpp
sensor_msgs
std_msgs
tf
DEPENDS
Boost
Eigen
PCL
) )
# ---[ Point Cloud Library - Transforms ## Declare the pcl_ros_tf library
add_library (pcl_ros_tf SHARED src/transforms.cpp) add_library(pcl_ros_tf src/transforms.cpp)
target_link_libraries(pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES}) target_link_libraries(pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(pcl_ros_tf ros_gencpp pcl_ros_copy) add_dependencies(pcl_ros_tf pcl_ros_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
############ NODELETS ## Nodelets
# ---[ Point Cloud Library - IO ## Declare the pcl_ros_io library
add_library (pcl_ros_io add_library(pcl_ros_io
src/pcl_ros/io/io.cpp
src/pcl_ros/io/concatenate_fields.cpp
src/pcl_ros/io/concatenate_data.cpp
src/pcl_ros/io/pcd_io.cpp
src/pcl_ros/io/bag_io.cpp src/pcl_ros/io/bag_io.cpp
) src/pcl_ros/io/concatenate_data.cpp
#rosbuild_add_compile_flags (pcl_ros_io ${SSE_FLAGS}) src/pcl_ros/io/concatenate_fields.cpp
target_link_libraries (pcl_ros_io pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES}) src/pcl_ros/io/io.cpp
src/pcl_ros/io/pcd_io.cpp
)
target_link_libraries(pcl_ros_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
class_loader_hide_library_symbols(pcl_ros_io) class_loader_hide_library_symbols(pcl_ros_io)
# ---[ PCL ROS - Features ## Declare the pcl_ros_features library
add_library (pcl_ros_features add_library(pcl_ros_features
src/pcl_ros/features/feature.cpp src/pcl_ros/features/feature.cpp
# Compilation is much faster if we include all the following CPP files in feature.cpp # Compilation is much faster if we include all the following CPP files in feature.cpp
src/pcl_ros/features/boundary.cpp src/pcl_ros/features/boundary.cpp
@ -73,85 +109,82 @@ add_library (pcl_ros_features
src/pcl_ros/features/pfh.cpp src/pcl_ros/features/pfh.cpp
src/pcl_ros/features/principal_curvatures.cpp src/pcl_ros/features/principal_curvatures.cpp
src/pcl_ros/features/vfh.cpp src/pcl_ros/features/vfh.cpp
) )
#rosbuild_add_compile_flags (pcl_ros_features ${SSE_FLAGS}) target_link_libraries (pcl_ros_features ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
target_link_libraries (pcl_ros_features ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
class_loader_hide_library_symbols(pcl_ros_features) class_loader_hide_library_symbols(pcl_ros_features)
# ---[ PCL ROS - Filters ## Declare the pcl_ros_filters library
add_library (pcl_ros_filters add_library(pcl_ros_filters
src/pcl_ros/filters/extract_indices.cpp
src/pcl_ros/filters/filter.cpp src/pcl_ros/filters/filter.cpp
src/pcl_ros/filters/passthrough.cpp src/pcl_ros/filters/passthrough.cpp
src/pcl_ros/filters/project_inliers.cpp src/pcl_ros/filters/project_inliers.cpp
src/pcl_ros/filters/extract_indices.cpp
src/pcl_ros/filters/radius_outlier_removal.cpp src/pcl_ros/filters/radius_outlier_removal.cpp
src/pcl_ros/filters/statistical_outlier_removal.cpp src/pcl_ros/filters/statistical_outlier_removal.cpp
src/pcl_ros/filters/voxel_grid.cpp src/pcl_ros/filters/voxel_grid.cpp
) )
#add_compile_flags (pcl_ros_filters ${SSE_FLAGS}) target_link_libraries(pcl_ros_filters pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
target_link_libraries (pcl_ros_filters pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
class_loader_hide_library_symbols(pcl_ros_filters) class_loader_hide_library_symbols(pcl_ros_filters)
# ---[ Point Cloud Library - Segmentation ## Declare the pcl_ros_segmentation library
add_library (pcl_ros_segmentation add_library (pcl_ros_segmentation
src/pcl_ros/segmentation/segmentation.cpp
src/pcl_ros/segmentation/segment_differences.cpp
src/pcl_ros/segmentation/extract_clusters.cpp src/pcl_ros/segmentation/extract_clusters.cpp
src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
src/pcl_ros/segmentation/sac_segmentation.cpp src/pcl_ros/segmentation/sac_segmentation.cpp
) src/pcl_ros/segmentation/segment_differences.cpp
#rosbuild_add_compile_flags (pcl_ros_segmentation ${SSE_FLAGS}) src/pcl_ros/segmentation/segmentation.cpp
target_link_libraries (pcl_ros_segmentation pcl_segmentation pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES}) )
target_link_libraries(pcl_ros_segmentation pcl_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
class_loader_hide_library_symbols(pcl_ros_segmentation) class_loader_hide_library_symbols(pcl_ros_segmentation)
# ---[ Point Cloud Library - Surface ## Declare the pcl_ros_surface library
add_library (pcl_ros_surface add_library (pcl_ros_surface
src/pcl_ros/surface/surface.cpp src/pcl_ros/surface/surface.cpp
# Compilation is much faster if we include all the following CPP files in surface.cpp # Compilation is much faster if we include all the following CPP files in surface.cpp
src/pcl_ros/surface/convex_hull.cpp src/pcl_ros/surface/convex_hull.cpp
src/pcl_ros/surface/moving_least_squares.cpp src/pcl_ros/surface/moving_least_squares.cpp
) )
#rosbuild_add_compile_flags (pcl_ros_surface ${SSE_FLAGS}) target_link_libraries(pcl_ros_surface ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
target_link_libraries (pcl_ros_surface ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
class_loader_hide_library_symbols(pcl_ros_surface) class_loader_hide_library_symbols(pcl_ros_surface)
############ TOOLS ## Tools
add_executable (pcd_to_pointcloud tools/pcd_to_pointcloud.cpp) add_executable(pcd_to_pointcloud tools/pcd_to_pointcloud.cpp)
target_link_libraries (pcd_to_pointcloud pcl_io ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES}) target_link_libraries(pcd_to_pointcloud pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_executable (pointcloud_to_pcd tools/pointcloud_to_pcd.cpp) add_executable(pointcloud_to_pcd tools/pointcloud_to_pcd.cpp)
target_link_libraries (pointcloud_to_pcd pcl_io ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES}) target_link_libraries(pointcloud_to_pcd pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_executable (bag_to_pcd tools/bag_to_pcd.cpp) add_executable(bag_to_pcd tools/bag_to_pcd.cpp)
target_link_libraries (bag_to_pcd pcl_io pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES}) target_link_libraries(bag_to_pcd pcl_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_executable (convert_pcd_to_image tools/convert_pcd_to_image.cpp) add_executable(convert_pcd_to_image tools/convert_pcd_to_image.cpp)
target_link_libraries (convert_pcd_to_image pcl_io pcl_common ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES}) target_link_libraries(convert_pcd_to_image pcl_io pcl_common ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_executable (convert_pointcloud_to_image tools/convert_pointcloud_to_image.cpp) add_executable(convert_pointcloud_to_image tools/convert_pointcloud_to_image.cpp)
target_link_libraries (convert_pointcloud_to_image pcl_io ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES}) target_link_libraries(convert_pointcloud_to_image pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
install(DIRECTORY include/${PROJECT_NAME}/ install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
)
install(TARGETS pcl_ros_tf pcl_ros_io pcl_ros_features pcl_ros_filters pcl_ros_surface pcl_ros_segmentation pcd_to_pointcloud pointcloud_to_pcd bag_to_pcd convert_pcd_to_image convert_pointcloud_to_image install(
TARGETS
pcl_ros_tf
pcl_ros_io
pcl_ros_features
pcl_ros_filters
pcl_ros_surface
pcl_ros_segmentation
pcd_to_pointcloud
pointcloud_to_pcd
bag_to_pcd
convert_pcd_to_image
convert_pointcloud_to_image
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
) )
# these target locations are deprecated and will be dropped in Hydro!
#install(TARGETS pcd_to_pointcloud pointcloud_to_pcd bag_to_pcd convert_pcd_to_image convert_pointcloud_to_image
# DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
install(FILES pcl_nodelets.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(FILES pcl_nodelets.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})