b52e7a7ab1
* Add the VoxelGrid filter (squash commit) * Revert the change that brings in separate leaf sizes
243 lines
7.9 KiB
CMake
243 lines
7.9 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(pcl_ros)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
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endif()
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## Find system dependencies
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find_package(Eigen3 REQUIRED)
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find_package(PCL REQUIRED QUIET COMPONENTS common features filters io segmentation surface)
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## Find ROS package dependencies
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find_package(ament_cmake REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(tf2_ros REQUIRED)
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set(dependencies
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pcl_conversions
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rclcpp
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rclcpp_components
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sensor_msgs
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geometry_msgs
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tf2
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tf2_geometry_msgs
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tf2_ros
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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_include_directories(pcl_ros_tf PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
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)
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ament_target_dependencies(pcl_ros_tf
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${dependencies}
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)
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### Nodelets
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#
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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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#
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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} ${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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#
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#
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### Declare the pcl_ros_filters library
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add_library(pcl_ros_filters SHARED
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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 ${PCL_LIBRARIES})
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ament_target_dependencies(pcl_ros_filters ${dependencies})
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rclcpp_components_register_node(pcl_ros_filters
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PLUGIN "pcl_ros::ExtractIndices"
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EXECUTABLE filter_extract_indices_node
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)
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rclcpp_components_register_node(pcl_ros_filters
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PLUGIN "pcl_ros::PassThrough"
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EXECUTABLE filter_passthrough_node
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)
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rclcpp_components_register_node(pcl_ros_filters
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PLUGIN "pcl_ros::ProjectInliers"
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EXECUTABLE filter_project_inliers_node
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)
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rclcpp_components_register_node(pcl_ros_filters
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PLUGIN "pcl_ros::RadiusOutlierRemoval"
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EXECUTABLE filter_radius_outlier_removal_node
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)
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rclcpp_components_register_node(pcl_ros_filters
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PLUGIN "pcl_ros::StatisticalOutlierRemoval"
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EXECUTABLE filter_statistical_outlier_removal_node
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)
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rclcpp_components_register_node(pcl_ros_filters
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PLUGIN "pcl_ros::CropBox"
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EXECUTABLE filter_crop_box_node
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)
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rclcpp_components_register_node(pcl_ros_filters
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PLUGIN "pcl_ros::VoxelGrid"
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EXECUTABLE filter_voxel_grid_node
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)
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class_loader_hide_library_symbols(pcl_ros_filters)
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#
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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} ${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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#
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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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#add_dependencies(pcl_ros_surface ${PROJECT_NAME}_gencfg)
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#class_loader_hide_library_symbols(pcl_ros_surface)
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#
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### Tools
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#
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add_library(pcd_to_pointcloud_lib SHARED tools/pcd_to_pointcloud.cpp)
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target_link_libraries(pcd_to_pointcloud_lib
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${PCL_LIBRARIES})
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target_include_directories(pcd_to_pointcloud_lib PUBLIC
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${PCL_INCLUDE_DIRS})
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ament_target_dependencies(pcd_to_pointcloud_lib
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rclcpp
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rclcpp_components
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sensor_msgs
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pcl_conversions)
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rclcpp_components_register_node(pcd_to_pointcloud_lib
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PLUGIN "pcl_ros::PCDPublisher"
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EXECUTABLE pcd_to_pointcloud)
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#
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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} ${PCL_LIBRARIES})
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#
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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} ${PCL_LIBRARIES})
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#
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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} ${PCL_LIBRARIES})
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#
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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} ${PCL_LIBRARIES})
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#
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### Downloads
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#
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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(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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add_subdirectory(tests/filters)
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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} ${GTEST_LIBRARIES})
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#add_rostest(samples/pcl_ros/features/sample_normal_3d.launch ARGS gui:=false)
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#add_rostest(samples/pcl_ros/filters/sample_statistical_outlier_removal.launch ARGS gui:=false)
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#add_rostest(samples/pcl_ros/filters/sample_voxel_grid.launch ARGS gui:=false)
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#add_rostest(samples/pcl_ros/segmentation/sample_extract_clusters.launch ARGS gui:=false)
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#add_rostest(samples/pcl_ros/surface/sample_convex_hull.launch ARGS gui:=false)
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endif()
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install(
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DIRECTORY include/
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DESTINATION include/${PROJECT_NAME}
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)
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install(
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TARGETS
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pcl_ros_tf
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pcd_to_pointcloud_lib
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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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# 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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EXPORT export_pcl_ros
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RUNTIME DESTINATION bin
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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)
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install(DIRECTORY plugins samples
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DESTINATION share/${PROJECT_NAME})
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# Export old-style CMake variables
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ament_export_include_directories("include/${PROJECT_NAME}")
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ament_export_libraries(pcl_ros_tf)
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# Export modern CMake targets
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ament_export_targets(export_pcl_ros HAS_LIBRARY_TARGET)
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ament_export_dependencies(${dependencies})
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ament_package()
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