191 lines
5.5 KiB
CMake
191 lines
5.5 KiB
CMake
cmake_minimum_required(VERSION 2.8)
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project(pcl_ros)
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## Find system dependencies
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find_package(Boost REQUIRED COMPONENTS system filesystem thread)
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find_package(Eigen REQUIRED)
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find_package(PCL REQUIRED)
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## Find catkin packages
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find_package(catkin REQUIRED COMPONENTS
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dynamic_reconfigure
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genmsg
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nodelet
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nodelet_topic_tools
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pcl_conversions
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pcl_msgs
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pluginlib
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rosbag
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rosconsole
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roscpp
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roslib
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sensor_msgs
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std_msgs
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tf
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)
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## Add include directories
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include_directories(include
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${Boost_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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${Eigen_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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## Add link directories
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link_directories(
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${Boost_LIBRARY_DIRS}
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${Eigen_LIBRARY_DIRS}
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${PCL_LIBRARY_DIRS}
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)
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## Generate dynamic_reconfigure
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generate_dynamic_reconfigure_options(
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cfg/EuclideanClusterExtraction.cfg
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cfg/ExtractIndices.cfg
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cfg/ExtractPolygonalPrismData.cfg
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cfg/Feature.cfg
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cfg/Filter.cfg
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cfg/MLS.cfg
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cfg/SACSegmentation.cfg
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cfg/SACSegmentationFromNormals.cfg
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cfg/SegmentDifferences.cfg
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cfg/StatisticalOutlierRemoval.cfg
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cfg/VoxelGrid.cfg
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)
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## Declare the catkin package
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES
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pcl_ros_filters
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pcl_ros_io
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pcl_ros_tf
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CATKIN_DEPENDS
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dynamic_reconfigure
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message_filters
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nodelet
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pcl_conversions
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pcl_msgs
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rosbag
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roscpp
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sensor_msgs
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std_msgs
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tf
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DEPENDS
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Boost
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Eigen
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PCL
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)
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## Declare the pcl_ros_tf library
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add_library(pcl_ros_tf src/transforms.cpp)
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target_link_libraries(pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_dependencies(pcl_ros_tf pcl_ros_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
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## Nodelets
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## Declare the pcl_ros_io library
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add_library(pcl_ros_io
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src/pcl_ros/io/bag_io.cpp
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src/pcl_ros/io/concatenate_data.cpp
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src/pcl_ros/io/concatenate_fields.cpp
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src/pcl_ros/io/io.cpp
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src/pcl_ros/io/pcd_io.cpp
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)
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target_link_libraries(pcl_ros_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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class_loader_hide_library_symbols(pcl_ros_io)
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## Declare the pcl_ros_features library
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add_library(pcl_ros_features
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src/pcl_ros/features/feature.cpp
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# Compilation is much faster if we include all the following CPP files in feature.cpp
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src/pcl_ros/features/boundary.cpp
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src/pcl_ros/features/fpfh.cpp
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src/pcl_ros/features/fpfh_omp.cpp
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src/pcl_ros/features/moment_invariants.cpp
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src/pcl_ros/features/normal_3d.cpp
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src/pcl_ros/features/normal_3d_omp.cpp
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src/pcl_ros/features/pfh.cpp
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src/pcl_ros/features/principal_curvatures.cpp
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src/pcl_ros/features/vfh.cpp
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)
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target_link_libraries (pcl_ros_features ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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class_loader_hide_library_symbols(pcl_ros_features)
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## Declare the pcl_ros_filters library
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add_library(pcl_ros_filters
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src/pcl_ros/filters/extract_indices.cpp
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src/pcl_ros/filters/filter.cpp
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src/pcl_ros/filters/passthrough.cpp
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src/pcl_ros/filters/project_inliers.cpp
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src/pcl_ros/filters/radius_outlier_removal.cpp
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src/pcl_ros/filters/statistical_outlier_removal.cpp
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src/pcl_ros/filters/voxel_grid.cpp
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)
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target_link_libraries(pcl_ros_filters pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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class_loader_hide_library_symbols(pcl_ros_filters)
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## Declare the pcl_ros_segmentation library
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add_library (pcl_ros_segmentation
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src/pcl_ros/segmentation/extract_clusters.cpp
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src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
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src/pcl_ros/segmentation/sac_segmentation.cpp
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src/pcl_ros/segmentation/segment_differences.cpp
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src/pcl_ros/segmentation/segmentation.cpp
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)
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target_link_libraries(pcl_ros_segmentation pcl_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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class_loader_hide_library_symbols(pcl_ros_segmentation)
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## Declare the pcl_ros_surface library
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add_library (pcl_ros_surface
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src/pcl_ros/surface/surface.cpp
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# Compilation is much faster if we include all the following CPP files in surface.cpp
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src/pcl_ros/surface/convex_hull.cpp
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src/pcl_ros/surface/moving_least_squares.cpp
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)
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target_link_libraries(pcl_ros_surface ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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class_loader_hide_library_symbols(pcl_ros_surface)
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## Tools
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add_executable(pcd_to_pointcloud tools/pcd_to_pointcloud.cpp)
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target_link_libraries(pcd_to_pointcloud pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_executable(pointcloud_to_pcd tools/pointcloud_to_pcd.cpp)
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target_link_libraries(pointcloud_to_pcd pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_executable(bag_to_pcd tools/bag_to_pcd.cpp)
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target_link_libraries(bag_to_pcd pcl_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_executable(convert_pcd_to_image tools/convert_pcd_to_image.cpp)
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target_link_libraries(convert_pcd_to_image pcl_io pcl_common ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_executable(convert_pointcloud_to_image tools/convert_pointcloud_to_image.cpp)
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target_link_libraries(convert_pointcloud_to_image pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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install(
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TARGETS
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pcl_ros_tf
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pcl_ros_io
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pcl_ros_features
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pcl_ros_filters
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pcl_ros_surface
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pcl_ros_segmentation
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pcd_to_pointcloud
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pointcloud_to_pcd
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bag_to_pcd
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convert_pcd_to_image
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convert_pointcloud_to_image
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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)
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install(FILES pcl_nodelets.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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