104 lines
3.9 KiB
CMake
104 lines
3.9 KiB
CMake
cmake_minimum_required(VERSION 2.8)
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project(pcl_ros)
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# Deal with catkin
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find_package(Boost COMPONENTS system filesystem thread REQUIRED)
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find_package(catkin REQUIRED dynamic_reconfigure genmsg roscpp sensor_msgs std_msgs tf rosbag rosconsole roslib pluginlib)
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find_package(Eigen)
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find_package(PCL)
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# deal with ROS
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include_directories(SYSTEM ${Boost_INCLUDE_DIRS}
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${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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include_directories(include)
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link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${Eigen_LIBRARY_DIRS} ${PCL_LIBRARY_DIRS})
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# generate the dynamic_reconfigure config file
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generate_dynamic_reconfigure_options(cfg/Filter.cfg
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cfg/ExtractIndices.cfg
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cfg/StatisticalOutlierRemoval.cfg
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cfg/VoxelGrid.cfg
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)
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include_directories(include cfg/cpp)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES pcl_ros_tf pcl_ros_io pcl_ros_filters
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DEPENDS Eigen PCL roscpp sensor_msgs tf sensor_msgs std_msgs
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)
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# ---[ Point Cloud Library - Transforms
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add_library (pcl_ros_tf SHARED src/transforms.cpp)
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target_link_libraries(pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
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add_dependencies(pcl_ros_tf ros_gencpp pcl_ros_copy)
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############ NODELETS
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# ---[ Point Cloud Library - IO
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add_library (pcl_ros_io
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src/pcl_ros/io/io.cpp
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src/pcl_ros/io/concatenate_fields.cpp
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src/pcl_ros/io/concatenate_data.cpp
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src/pcl_ros/io/pcd_io.cpp
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src/pcl_ros/io/bag_io.cpp
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)
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#rosbuild_add_compile_flags (pcl_ros_io ${SSE_FLAGS})
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target_link_libraries (pcl_ros_io pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
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class_loader_hide_library_symbols(pcl_ros_io)
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# ---[ PCL ROS - Filters
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add_library (pcl_ros_filters
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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/extract_indices.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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#add_compile_flags (pcl_ros_filters ${SSE_FLAGS})
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target_link_libraries (pcl_ros_filters pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
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class_loader_hide_library_symbols(pcl_ros_filters)
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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 ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_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 ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_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 ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_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 ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_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 ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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install(TARGETS pcl_ros_tf pcl_ros_io pcl_ros_filters
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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(TARGETS pcd_to_pointcloud pointcloud_to_pcd bag_to_pcd convert_pcd_to_image convert_pointcloud_to_image
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DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
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install(FILES pcl_nodelets.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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