232 lines
7.4 KiB
CMake
232 lines
7.4 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(cmake_modules REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system filesystem thread)
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find_package(Eigen3 REQUIRED)
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find_package(PCL REQUIRED COMPONENTS core features filters io surface)
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if(NOT "${PCL_LIBRARIES}" STREQUAL "")
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# FIXME: this causes duplicates and not found error in ubuntu:zesty
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list(REMOVE_ITEM PCL_LIBRARIES "/usr/lib/libmpi.so")
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# For debian: https://github.com/ros-perception/perception_pcl/issues/139
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list(REMOVE_ITEM PCL_LIBRARIES
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"vtkGUISupportQt"
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"vtkGUISupportQtOpenGL"
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"vtkGUISupportQtSQL"
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"vtkGUISupportQtWebkit"
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"vtkViewsQt"
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"vtkRenderingQt")
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endif()
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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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tf2_eigen
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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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${catkin_INCLUDE_DIRS}
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${Eigen3_INCLUDE_DIRS}
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${PCL_INCLUDE_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/RadiusOutlierRemoval.cfg
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cfg/VoxelGrid.cfg
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cfg/CropBox.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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nodelet_topic_tools
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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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Eigen3
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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} ${Eigen3_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} ${Eigen3_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/shot.cpp
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src/pcl_ros/features/shot_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} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES})
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add_dependencies(pcl_ros_features ${PROJECT_NAME}_gencfg)
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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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src/pcl_ros/filters/crop_box.cpp
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)
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target_link_libraries(pcl_ros_filters pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES})
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add_dependencies(pcl_ros_filters ${PROJECT_NAME}_gencfg)
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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_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES})
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add_dependencies(pcl_ros_segmentation ${PROJECT_NAME}_gencfg)
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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} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES})
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add_dependencies(pcl_ros_surface ${PROJECT_NAME}_gencfg)
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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 ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_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 ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARY_DIRS} ${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_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARY_DIRS} ${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 ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_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 ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES})
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## Downloads
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catkin_download(table_scene_lms400.pcd http://download.ros.org/data/pcl/table_scene_lms400.pcd
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DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/samples/data
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MD5 546b5b4822fb1de21b0cf83d41ad6683
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)
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add_custom_target(download ALL DEPENDS download_extra_data)
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#############
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## Testing ##
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#############
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if(CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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add_rostest_gtest(test_tf_message_filter_pcl tests/test_tf_message_filter_pcl.launch src/test/test_tf_message_filter_pcl.cpp)
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target_link_libraries(test_tf_message_filter_pcl ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
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add_rostest(samples/pcl_ros/features/sample_normal_3d.launch ARGS gui:=false)
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add_rostest(samples/pcl_ros/filters/sample_statistical_outlier_removal.launch ARGS gui:=false)
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add_rostest(samples/pcl_ros/filters/sample_voxel_grid.launch ARGS gui:=false)
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endif(CATKIN_ENABLE_TESTING)
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install(DIRECTORY include/${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(DIRECTORY plugins samples
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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