721 lines
25 KiB
CMake
721 lines
25 KiB
CMake
|
# ------------------------------------------------------------------------------------
|
||
|
|
# Helper to use PCL from outside project
|
||
|
|
#
|
||
|
|
# target_link_libraries(my_fabulous_target PCL_XXX_LIBRARIES) where XXX is the
|
||
|
|
# upper cased xxx from :
|
||
|
|
#
|
||
|
|
# - common
|
||
|
|
# - kdtree
|
||
|
|
# - octree
|
||
|
|
# - search
|
||
|
|
# - sample_consensus
|
||
|
|
# - filters
|
||
|
|
# - 2d
|
||
|
|
# - geometry
|
||
|
|
# - io
|
||
|
|
# - features
|
||
|
|
# - ml
|
||
|
|
# - segmentation
|
||
|
|
# - visualization
|
||
|
|
# - surface
|
||
|
|
# - registration
|
||
|
|
# - keypoints
|
||
|
|
# - tracking
|
||
|
|
# - recognition
|
||
|
|
# - stereo
|
||
|
|
# - outofcore
|
||
|
|
# - people
|
||
|
|
#
|
||
|
|
# PCL_INCLUDE_DIRS is filled with PCL and available 3rdparty headers
|
||
|
|
# PCL_LIBRARY_DIRS is filled with PCL components libraries install directory and
|
||
|
|
# 3rdparty libraries paths
|
||
|
|
#
|
||
|
|
# www.pointclouds.org
|
||
|
|
#------------------------------------------------------------------------------------
|
||
|
|
|
||
|
|
# Set default policy behavior similar to minimum requirement version
|
||
|
|
cmake_policy(VERSION 3.5)
|
||
|
|
|
||
|
|
# explicitly set policies we already support in newer cmake versions
|
||
|
|
if(POLICY CMP0074)
|
||
|
|
# TODO: update *_ROOT variables to be PCL_*_ROOT or equivalent.
|
||
|
|
# CMP0074 directly affects how Find* modules work and *_ROOT variables. Since
|
||
|
|
# this is a config file that will be consumed by parent projects with (likely)
|
||
|
|
# NEW behavior, we need to push a policy stack.
|
||
|
|
cmake_policy(SET CMP0074 NEW)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Modules")
|
||
|
|
|
||
|
|
### ---[ some useful macros
|
||
|
|
macro(pcl_report_not_found _reason)
|
||
|
|
unset(PCL_FOUND)
|
||
|
|
unset(PCL_LIBRARIES)
|
||
|
|
unset(PCL_COMPONENTS)
|
||
|
|
unset(PCL_INCLUDE_DIRS)
|
||
|
|
unset(PCL_LIBRARY_DIRS)
|
||
|
|
unset(PCL_DEFINITIONS)
|
||
|
|
if(PCL_FIND_REQUIRED)
|
||
|
|
message(FATAL_ERROR ${_reason})
|
||
|
|
elseif(NOT PCL_FIND_QUIETLY)
|
||
|
|
message(WARNING ${_reason})
|
||
|
|
endif()
|
||
|
|
return()
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
macro(pcl_message)
|
||
|
|
if(NOT PCL_FIND_QUIETLY)
|
||
|
|
message(${ARGN})
|
||
|
|
endif()
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
# Remove duplicate libraries
|
||
|
|
macro(pcl_remove_duplicate_libraries _unfiltered_libraries _filtered_libraries)
|
||
|
|
set(${_filtered_libraries})
|
||
|
|
set(_debug_libraries)
|
||
|
|
set(_optimized_libraries)
|
||
|
|
set(_other_libraries)
|
||
|
|
set(_waiting_for_debug 0)
|
||
|
|
set(_waiting_for_optimized 0)
|
||
|
|
set(_library_position -1)
|
||
|
|
foreach(library ${${_unfiltered_libraries}})
|
||
|
|
if("${library}" STREQUAL "debug")
|
||
|
|
set(_waiting_for_debug 1)
|
||
|
|
elseif("${library}" STREQUAL "optimized")
|
||
|
|
set(_waiting_for_optimized 1)
|
||
|
|
elseif(_waiting_for_debug)
|
||
|
|
list(FIND _debug_libraries "${library}" library_position)
|
||
|
|
if(library_position EQUAL -1)
|
||
|
|
list(APPEND ${_filtered_libraries} debug ${library})
|
||
|
|
list(APPEND _debug_libraries ${library})
|
||
|
|
endif()
|
||
|
|
set(_waiting_for_debug 0)
|
||
|
|
elseif(_waiting_for_optimized)
|
||
|
|
list(FIND _optimized_libraries "${library}" library_position)
|
||
|
|
if(library_position EQUAL -1)
|
||
|
|
list(APPEND ${_filtered_libraries} optimized ${library})
|
||
|
|
list(APPEND _optimized_libraries ${library})
|
||
|
|
endif()
|
||
|
|
set(_waiting_for_optimized 0)
|
||
|
|
else()
|
||
|
|
list(FIND _other_libraries "${library}" library_position)
|
||
|
|
if(library_position EQUAL -1)
|
||
|
|
list(APPEND ${_filtered_libraries} ${library})
|
||
|
|
list(APPEND _other_libraries ${library})
|
||
|
|
endif()
|
||
|
|
endif()
|
||
|
|
endforeach()
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
### ---[ 3rd party libraries
|
||
|
|
macro(find_boost)
|
||
|
|
if(PCL_ALL_IN_ONE_INSTALLER)
|
||
|
|
set(BOOST_ROOT "${PCL_ROOT}/3rdParty/Boost")
|
||
|
|
elseif(NOT BOOST_INCLUDEDIR)
|
||
|
|
set(BOOST_INCLUDEDIR "C:/Program Files/Boost/include/boost-1_76")
|
||
|
|
endif()
|
||
|
|
# use static Boost in Windows
|
||
|
|
if(WIN32)
|
||
|
|
set(Boost_USE_STATIC_LIBS ON)
|
||
|
|
set(Boost_USE_STATIC ON)
|
||
|
|
set(Boost_USE_MULTITHREAD )
|
||
|
|
endif()
|
||
|
|
set(Boost_ADDITIONAL_VERSIONS
|
||
|
|
"1.76.0" "1.76"
|
||
|
|
"1.76.0" "1.76" "1.75.0" "1.75"
|
||
|
|
"1.74.0" "1.74" "1.73.0" "1.73" "1.72.0" "1.72" "1.71.0" "1.71" "1.70.0" "1.70"
|
||
|
|
"1.69.0" "1.69" "1.68.0" "1.68" "1.67.0" "1.67" "1.66.0" "1.66" "1.65.1" "1.65.0" "1.65")
|
||
|
|
# Disable the config mode of find_package(Boost)
|
||
|
|
set(Boost_NO_BOOST_CMAKE ON)
|
||
|
|
find_package(Boost 1.65.0 ${QUIET_} COMPONENTS system filesystem date_time iostreams serialization)
|
||
|
|
|
||
|
|
set(BOOST_FOUND ${Boost_FOUND})
|
||
|
|
set(BOOST_INCLUDE_DIRS "${Boost_INCLUDE_DIR}")
|
||
|
|
set(BOOST_LIBRARY_DIRS "${Boost_LIBRARY_DIRS}")
|
||
|
|
set(BOOST_LIBRARIES ${Boost_LIBRARIES})
|
||
|
|
if(WIN32 AND NOT MINGW)
|
||
|
|
string(APPEND BOOST_DEFINITIONS -DBOOST_ALL_NO_LIB)
|
||
|
|
endif()
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
#remove this as soon as eigen is shipped with FindEigen.cmake
|
||
|
|
macro(find_eigen)
|
||
|
|
if(PCL_ALL_IN_ONE_INSTALLER)
|
||
|
|
set(EIGEN_ROOT "${PCL_ROOT}/3rdParty/Eigen")
|
||
|
|
elseif(NOT EIGEN_ROOT)
|
||
|
|
get_filename_component(EIGEN_ROOT "C:/Program Files/Eigen3/include/eigen3" ABSOLUTE)
|
||
|
|
endif()
|
||
|
|
find_package(Eigen 3.1)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
#remove this as soon as qhull is shipped with FindQhull.cmake
|
||
|
|
macro(find_qhull)
|
||
|
|
if(PCL_ALL_IN_ONE_INSTALLER)
|
||
|
|
set(QHULL_ROOT "${PCL_ROOT}/3rdParty/Qhull")
|
||
|
|
elseif(NOT QHULL_ROOT)
|
||
|
|
get_filename_component(QHULL_ROOT "C:/Program Files/qhull/include" PATH)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
set(QHULL_USE_STATIC ON)
|
||
|
|
find_package(Qhull)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
#remove this as soon as libopenni is shipped with FindOpenni.cmake
|
||
|
|
macro(find_openni)
|
||
|
|
if(PCL_FIND_QUIETLY)
|
||
|
|
set(OpenNI_FIND_QUIETLY TRUE)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
if(NOT OPENNI_ROOT AND ("" STREQUAL "TRUE"))
|
||
|
|
set(OPENNI_INCLUDE_DIRS_HINT "")
|
||
|
|
get_filename_component(OPENNI_LIBRARY_HINT "OPENNI_LIBRARY-NOTFOUND" PATH)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
find_package(OpenNI)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
#remove this as soon as libopenni2 is shipped with FindOpenni2.cmake
|
||
|
|
macro(find_openni2)
|
||
|
|
if(PCL_FIND_QUIETLY)
|
||
|
|
set(OpenNI2_FIND_QUIETLY TRUE)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
if(NOT OPENNI2_ROOT AND ("TRUE" STREQUAL "TRUE"))
|
||
|
|
set(OPENNI2_INCLUDE_DIRS_HINT "C:/Program Files/OpenNI2/Include")
|
||
|
|
get_filename_component(OPENNI2_LIBRARY_HINT "C:/Program Files/OpenNI2/Lib/OpenNI2.lib" PATH)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
find_package(OpenNI2)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
#remove this as soon as the Ensenso SDK is shipped with FindEnsenso.cmake
|
||
|
|
macro(find_ensenso)
|
||
|
|
if(PCL_FIND_QUIETLY)
|
||
|
|
set(ensenso_FIND_QUIETLY TRUE)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
if(NOT ENSENSO_ROOT AND ("" STREQUAL "TRUE"))
|
||
|
|
get_filename_component(ENSENSO_ABI_HINT "ENSENSO_INCLUDE_DIR-NOTFOUND" PATH)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
find_package(Ensenso)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
#remove this as soon as the davidSDK is shipped with FinddavidSDK.cmake
|
||
|
|
macro(find_davidSDK)
|
||
|
|
if(PCL_FIND_QUIETLY)
|
||
|
|
set(DAVIDSDK_FIND_QUIETLY TRUE)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
if(NOT davidSDK_ROOT AND ("" STREQUAL "TRUE"))
|
||
|
|
get_filename_component(DAVIDSDK_ABI_HINT DAVIDSDK_INCLUDE_DIR-NOTFOUND PATH)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
find_package(davidSDK)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
macro(find_dssdk)
|
||
|
|
if(PCL_FIND_QUIETLY)
|
||
|
|
set(DSSDK_FIND_QUIETLY TRUE)
|
||
|
|
endif()
|
||
|
|
if(NOT DSSDK_DIR AND ("" STREQUAL "TRUE"))
|
||
|
|
get_filename_component(DSSDK_DIR_HINT "" PATH)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
find_package(DSSDK)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
macro(find_rssdk)
|
||
|
|
if(PCL_FIND_QUIETLY)
|
||
|
|
set(RSSDK_FIND_QUIETLY TRUE)
|
||
|
|
endif()
|
||
|
|
if(NOT RSSDK_DIR AND ("" STREQUAL "TRUE"))
|
||
|
|
get_filename_component(RSSDK_DIR_HINT "" PATH)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
find_package(RSSDK)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
macro(find_rssdk2)
|
||
|
|
if(PCL_ALL_IN_ONE_INSTALLER)
|
||
|
|
set(realsense2_DIR "${PCL_ROOT}/3rdParty/librealsense2/lib/cmake/realsense2" CACHE PATH "The directory containing realsense2Config.cmake")
|
||
|
|
elseif(NOT realsense2_DIR)
|
||
|
|
get_filename_component(realsense2_DIR "" PATH)
|
||
|
|
set(realsense2_DIR "${realsense2_DIR}/lib/cmake/realsense2" CACHE PATH "The directory containing realsense2Config.cmake")
|
||
|
|
endif()
|
||
|
|
find_package(RSSDK2)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
#remove this as soon as flann is shipped with FindFlann.cmake
|
||
|
|
macro(find_flann)
|
||
|
|
if(PCL_ALL_IN_ONE_INSTALLER)
|
||
|
|
set(FLANN_ROOT "${PCL_ROOT}/3rdParty/Flann")
|
||
|
|
elseif(NOT FLANN_ROOT)
|
||
|
|
set(FLANN_ROOT "C:/Program Files/flann")
|
||
|
|
endif()
|
||
|
|
|
||
|
|
set(FLANN_USE_STATIC )
|
||
|
|
find_package(FLANN)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
macro(find_VTK)
|
||
|
|
if(PCL_ALL_IN_ONE_INSTALLER AND NOT ANDROID)
|
||
|
|
if(EXISTS "${PCL_ROOT}/3rdParty/VTK/lib/cmake")
|
||
|
|
set(VTK_DIR "${PCL_ROOT}/3rdParty/VTK/lib/cmake/vtk-9.0" CACHE PATH "The directory containing VTKConfig.cmake")
|
||
|
|
else()
|
||
|
|
set(VTK_DIR "${PCL_ROOT}/3rdParty/VTK/lib/vtk-9.0" CACHE PATH "The directory containing VTKConfig.cmake")
|
||
|
|
endif()
|
||
|
|
elseif(NOT VTK_DIR AND NOT ANDROID)
|
||
|
|
set(VTK_DIR "C:/Program Files/VTK/lib/cmake/vtk-9.0" CACHE PATH "The directory containing VTKConfig.cmake")
|
||
|
|
endif()
|
||
|
|
if(NOT ANDROID)
|
||
|
|
find_package(VTK ${QUIET_} COMPONENTS ${PCL_VTK_COMPONENTS})
|
||
|
|
endif()
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
macro(find_libusb)
|
||
|
|
find_package(libusb)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
macro(find_glew)
|
||
|
|
find_package(GLEW)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
# Finds each component external libraries if any
|
||
|
|
# The functioning is as following
|
||
|
|
# try to find _lib
|
||
|
|
# |--> _lib found ==> include the headers,
|
||
|
|
# | link to its library directories or include _lib_USE_FILE
|
||
|
|
# `--> _lib not found
|
||
|
|
# |--> _lib is optional ==> disable it (thanks to the guardians)
|
||
|
|
# | and warn
|
||
|
|
# `--> _lib is required
|
||
|
|
# |--> component is required explicitly ==> error
|
||
|
|
# `--> component is induced ==> warn and remove it
|
||
|
|
# from the list
|
||
|
|
|
||
|
|
macro(find_external_library _component _lib _is_optional)
|
||
|
|
if("${_lib}" STREQUAL "boost")
|
||
|
|
find_boost()
|
||
|
|
elseif("${_lib}" STREQUAL "eigen")
|
||
|
|
find_eigen()
|
||
|
|
elseif("${_lib}" STREQUAL "flann")
|
||
|
|
find_flann()
|
||
|
|
elseif("${_lib}" STREQUAL "qhull")
|
||
|
|
find_qhull()
|
||
|
|
elseif("${_lib}" STREQUAL "openni")
|
||
|
|
find_openni()
|
||
|
|
elseif("${_lib}" STREQUAL "openni2")
|
||
|
|
find_openni2()
|
||
|
|
elseif("${_lib}" STREQUAL "ensenso")
|
||
|
|
find_ensenso()
|
||
|
|
elseif("${_lib}" STREQUAL "davidSDK")
|
||
|
|
find_davidSDK()
|
||
|
|
elseif("${_lib}" STREQUAL "dssdk")
|
||
|
|
find_dssdk()
|
||
|
|
elseif("${_lib}" STREQUAL "rssdk")
|
||
|
|
find_rssdk()
|
||
|
|
elseif("${_lib}" STREQUAL "rssdk2")
|
||
|
|
find_rssdk2()
|
||
|
|
elseif("${_lib}" STREQUAL "vtk")
|
||
|
|
find_VTK()
|
||
|
|
elseif("${_lib}" STREQUAL "libusb")
|
||
|
|
find_libusb()
|
||
|
|
elseif("${_lib}" STREQUAL "glew")
|
||
|
|
find_glew()
|
||
|
|
elseif("${_lib}" STREQUAL "opengl")
|
||
|
|
find_package(OpenGL)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
string(TOUPPER "${_component}" COMPONENT)
|
||
|
|
string(TOUPPER "${_lib}" LIB)
|
||
|
|
string(REGEX REPLACE "[.-]" "_" LIB ${LIB})
|
||
|
|
if(${LIB}_FOUND)
|
||
|
|
list(APPEND PCL_${COMPONENT}_INCLUDE_DIRS ${${LIB}_INCLUDE_DIRS})
|
||
|
|
if(${LIB}_USE_FILE)
|
||
|
|
include(${${LIB}_USE_FILE})
|
||
|
|
else()
|
||
|
|
list(APPEND PCL_${COMPONENT}_LIBRARY_DIRS "${${LIB}_LIBRARY_DIRS}")
|
||
|
|
endif()
|
||
|
|
if(${LIB}_LIBRARIES)
|
||
|
|
list(APPEND PCL_${COMPONENT}_LIBRARIES "${${LIB}_LIBRARIES}")
|
||
|
|
endif()
|
||
|
|
if(${LIB}_DEFINITIONS AND NOT ${LIB} STREQUAL "VTK")
|
||
|
|
list(APPEND PCL_${COMPONENT}_DEFINITIONS ${${LIB}_DEFINITIONS})
|
||
|
|
endif()
|
||
|
|
else()
|
||
|
|
if("${_is_optional}" STREQUAL "OPTIONAL")
|
||
|
|
list(APPEND PCL_${COMPONENT}_DEFINITIONS "-DDISABLE_${LIB}")
|
||
|
|
pcl_message("** WARNING ** ${_component} features related to ${_lib} will be disabled")
|
||
|
|
elseif("${_is_optional}" STREQUAL "REQUIRED")
|
||
|
|
if((NOT PCL_FIND_ALL) OR (PCL_FIND_ALL EQUAL 1))
|
||
|
|
pcl_report_not_found("${_component} is required but ${_lib} was not found")
|
||
|
|
elseif(PCL_FIND_ALL EQUAL 0)
|
||
|
|
# raise error and remove _component from PCL_TO_FIND_COMPONENTS
|
||
|
|
string(TOUPPER "${_component}" COMPONENT)
|
||
|
|
pcl_message("** WARNING ** ${_component} will be disabled cause ${_lib} was not found")
|
||
|
|
list(REMOVE_ITEM PCL_TO_FIND_COMPONENTS ${_component})
|
||
|
|
endif()
|
||
|
|
endif()
|
||
|
|
endif()
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
macro(pcl_check_external_dependency _component)
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
#flatten dependencies recursivity is great \o/
|
||
|
|
macro(compute_dependencies TO_FIND_COMPONENTS)
|
||
|
|
foreach(component ${${TO_FIND_COMPONENTS}})
|
||
|
|
set(pcl_component pcl_${component})
|
||
|
|
if(${pcl_component}_int_dep AND (NOT PCL_FIND_ALL))
|
||
|
|
foreach(dependency ${${pcl_component}_int_dep})
|
||
|
|
list(FIND ${TO_FIND_COMPONENTS} ${component} pos)
|
||
|
|
list(FIND ${TO_FIND_COMPONENTS} ${dependency} found)
|
||
|
|
if(found EQUAL -1)
|
||
|
|
set(pcl_dependency pcl_${dependency})
|
||
|
|
if(${pcl_dependency}_int_dep)
|
||
|
|
list(INSERT ${TO_FIND_COMPONENTS} ${pos} ${dependency})
|
||
|
|
if(pcl_${dependency}_ext_dep)
|
||
|
|
list(APPEND pcl_${component}_ext_dep ${pcl_${dependency}_ext_dep})
|
||
|
|
endif()
|
||
|
|
if(pcl_${dependency}_opt_dep)
|
||
|
|
list(APPEND pcl_${component}_opt_dep ${pcl_${dependency}_opt_dep})
|
||
|
|
endif()
|
||
|
|
compute_dependencies(${TO_FIND_COMPONENTS})
|
||
|
|
else()
|
||
|
|
list(INSERT ${TO_FIND_COMPONENTS} 0 ${dependency})
|
||
|
|
endif()
|
||
|
|
endif()
|
||
|
|
endforeach()
|
||
|
|
endif()
|
||
|
|
endforeach()
|
||
|
|
endmacro()
|
||
|
|
|
||
|
|
### ---[ Find PCL
|
||
|
|
|
||
|
|
if(PCL_FIND_QUIETLY)
|
||
|
|
set(QUIET_ QUIET)
|
||
|
|
else()
|
||
|
|
set(QUIET_)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
find_package(PkgConfig QUIET)
|
||
|
|
|
||
|
|
file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
|
||
|
|
if(WIN32 AND NOT MINGW)
|
||
|
|
# PCLConfig.cmake is installed to PCL_ROOT/cmake
|
||
|
|
get_filename_component(PCL_ROOT "${PCL_DIR}" PATH)
|
||
|
|
if(EXISTS "${PCL_ROOT}/3rdParty")
|
||
|
|
set(PCL_ALL_IN_ONE_INSTALLER ON)
|
||
|
|
endif()
|
||
|
|
else()
|
||
|
|
# PCLConfig.cmake is installed to PCL_ROOT/share/pcl-x.y
|
||
|
|
get_filename_component(PCL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../.." ABSOLUTE)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
# check whether PCLConfig.cmake is found into a PCL installation or in a build tree
|
||
|
|
if(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
|
||
|
|
# Found a PCL installation
|
||
|
|
# pcl_message("Found a PCL installation")
|
||
|
|
set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
|
||
|
|
set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
|
||
|
|
elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
|
||
|
|
# Found a non-standard (likely ANDROID) PCL installation
|
||
|
|
# pcl_message("Found a PCL installation")
|
||
|
|
set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include")
|
||
|
|
set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
|
||
|
|
elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
|
||
|
|
# Found PCLConfig.cmake in a build tree of PCL
|
||
|
|
# pcl_message("PCL found into a build tree.")
|
||
|
|
set(PCL_CONF_INCLUDE_DIR "${PCL_DIR}/include") # for pcl_config.h
|
||
|
|
set(PCL_LIBRARY_DIRS "${PCL_DIR}/lib")
|
||
|
|
set(PCL_SOURCES_TREE "C:/pcl-1.12.0")
|
||
|
|
else()
|
||
|
|
pcl_report_not_found("PCL can not be found on this machine")
|
||
|
|
endif()
|
||
|
|
|
||
|
|
set(PCL_INCLUDE_DIRS "${PCL_CONF_INCLUDE_DIR}")
|
||
|
|
|
||
|
|
#set a suffix for debug libraries
|
||
|
|
set(PCL_DEBUG_SUFFIX "d")
|
||
|
|
set(PCL_RELEASE_SUFFIX "")
|
||
|
|
|
||
|
|
#set SSE flags used compiling PCL
|
||
|
|
list(APPEND PCL_DEFINITIONS -D__SSE4_2__ -D__SSE4_1__ -D__SSSE3__ -D__SSE3__ -D__SSE2__ -D__SSE__)
|
||
|
|
list(APPEND PCL_COMPILE_OPTIONS )
|
||
|
|
|
||
|
|
set(pcl_all_components common kdtree octree search sample_consensus filters 2d geometry io features ml segmentation visualization surface registration keypoints tracking recognition stereo outofcore people)
|
||
|
|
list(LENGTH pcl_all_components PCL_NB_COMPONENTS)
|
||
|
|
|
||
|
|
#list each component dependencies IN PCL
|
||
|
|
set(pcl_kdtree_int_dep common )
|
||
|
|
set(pcl_octree_int_dep common )
|
||
|
|
set(pcl_search_int_dep common kdtree octree )
|
||
|
|
set(pcl_sample_consensus_int_dep common search )
|
||
|
|
set(pcl_filters_int_dep common sample_consensus search kdtree octree )
|
||
|
|
set(pcl_2d_int_dep common filters )
|
||
|
|
set(pcl_geometry_int_dep common )
|
||
|
|
set(pcl_io_int_dep common octree )
|
||
|
|
set(pcl_features_int_dep common search kdtree octree filters 2d )
|
||
|
|
set(pcl_ml_int_dep common )
|
||
|
|
set(pcl_segmentation_int_dep common geometry search sample_consensus kdtree octree features filters ml )
|
||
|
|
set(pcl_visualization_int_dep common io kdtree geometry search octree )
|
||
|
|
set(pcl_surface_int_dep common search kdtree octree )
|
||
|
|
set(pcl_registration_int_dep common octree kdtree search sample_consensus features filters )
|
||
|
|
set(pcl_keypoints_int_dep common search kdtree octree features filters )
|
||
|
|
set(pcl_tracking_int_dep common search kdtree filters octree )
|
||
|
|
set(pcl_recognition_int_dep common io search kdtree octree features filters registration sample_consensus ml )
|
||
|
|
set(pcl_stereo_int_dep common io )
|
||
|
|
set(pcl_outofcore_int_dep common io filters octree visualization )
|
||
|
|
set(pcl_people_int_dep common kdtree search features sample_consensus filters io visualization geometry segmentation octree )
|
||
|
|
|
||
|
|
|
||
|
|
#list each component external dependencies (ext means mandatory and opt means optional)
|
||
|
|
set(pcl_common_ext_dep eigen boost )
|
||
|
|
set(pcl_kdtree_ext_dep flann )
|
||
|
|
set(pcl_search_ext_dep flann )
|
||
|
|
set(pcl_visualization_ext_dep vtk )
|
||
|
|
|
||
|
|
|
||
|
|
set(pcl_2d_opt_dep vtk )
|
||
|
|
set(pcl_io_opt_dep openni2 vtk )
|
||
|
|
set(pcl_visualization_opt_dep openni2 )
|
||
|
|
set(pcl_surface_opt_dep qhull vtk )
|
||
|
|
|
||
|
|
|
||
|
|
# VTK components required by PCL
|
||
|
|
set(PCL_VTK_COMPONENTS "ChartsCore;CommonColor;CommonComputationalGeometry;CommonCore;CommonDataModel;CommonExecutionModel;CommonMath;CommonMisc;CommonTransforms;FiltersCore;FiltersExtraction;FiltersGeneral;FiltersGeometry;FiltersModeling;FiltersSources;ImagingCore;ImagingSources;InteractionStyle;InteractionWidgets;IOCore;IOGeometry;IOImage;IOLegacy;IOPLY;RenderingAnnotation;RenderingCore;RenderingContext2D;RenderingLOD;RenderingFreeType;ViewsCore;ViewsContext2D;RenderingOpenGL2")
|
||
|
|
|
||
|
|
set(pcl_header_only_components 2d cuda_common geometry gpu_tracking modeler in_hand_scanner point_cloud_editor cloud_composer)
|
||
|
|
|
||
|
|
include(FindPackageHandleStandardArgs)
|
||
|
|
|
||
|
|
#check if user provided a list of components
|
||
|
|
#if no components at all or full list is given set PCL_FIND_ALL
|
||
|
|
if(PCL_FIND_COMPONENTS)
|
||
|
|
list(LENGTH PCL_FIND_COMPONENTS PCL_FIND_COMPONENTS_LENGTH)
|
||
|
|
if(PCL_FIND_COMPONENTS_LENGTH EQUAL PCL_NB_COMPONENTS)
|
||
|
|
set(PCL_TO_FIND_COMPONENTS ${pcl_all_components})
|
||
|
|
set(PCL_FIND_ALL 1)
|
||
|
|
else()
|
||
|
|
set(PCL_TO_FIND_COMPONENTS ${PCL_FIND_COMPONENTS})
|
||
|
|
endif()
|
||
|
|
else()
|
||
|
|
set(PCL_TO_FIND_COMPONENTS ${pcl_all_components})
|
||
|
|
set(PCL_FIND_ALL 1)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
compute_dependencies(PCL_TO_FIND_COMPONENTS)
|
||
|
|
|
||
|
|
# We do not need to find components that have been found already, e.g. during previous invocation
|
||
|
|
# of find_package(PCL). Filter them out.
|
||
|
|
foreach(component ${PCL_TO_FIND_COMPONENTS})
|
||
|
|
string(TOUPPER "${component}" COMPONENT)
|
||
|
|
if(NOT PCL_${COMPONENT}_FOUND)
|
||
|
|
list(APPEND _PCL_TO_FIND_COMPONENTS ${component})
|
||
|
|
endif()
|
||
|
|
endforeach()
|
||
|
|
set(PCL_TO_FIND_COMPONENTS ${_PCL_TO_FIND_COMPONENTS})
|
||
|
|
unset(_PCL_TO_FIND_COMPONENTS)
|
||
|
|
|
||
|
|
if(NOT PCL_TO_FIND_COMPONENTS)
|
||
|
|
return()
|
||
|
|
endif()
|
||
|
|
|
||
|
|
# compute external dependencies per component
|
||
|
|
foreach(component ${PCL_TO_FIND_COMPONENTS})
|
||
|
|
foreach(opt ${pcl_${component}_opt_dep})
|
||
|
|
find_external_library(${component} ${opt} OPTIONAL)
|
||
|
|
endforeach()
|
||
|
|
foreach(ext ${pcl_${component}_ext_dep})
|
||
|
|
find_external_library(${component} ${ext} REQUIRED)
|
||
|
|
endforeach()
|
||
|
|
endforeach()
|
||
|
|
|
||
|
|
foreach(component ${PCL_TO_FIND_COMPONENTS})
|
||
|
|
set(pcl_component pcl_${component})
|
||
|
|
string(TOUPPER "${component}" COMPONENT)
|
||
|
|
|
||
|
|
pcl_message(STATUS "looking for PCL_${COMPONENT}")
|
||
|
|
|
||
|
|
string(REGEX REPLACE "^cuda_(.*)$" "\\1" cuda_component "${component}")
|
||
|
|
string(REGEX REPLACE "^gpu_(.*)$" "\\1" gpu_component "${component}")
|
||
|
|
|
||
|
|
find_path(PCL_${COMPONENT}_INCLUDE_DIR
|
||
|
|
NAMES pcl/${component}
|
||
|
|
pcl/apps/${component}
|
||
|
|
pcl/cuda/${cuda_component} pcl/cuda/${component}
|
||
|
|
pcl/gpu/${gpu_component} pcl/gpu/${component}
|
||
|
|
HINTS ${PCL_INCLUDE_DIRS}
|
||
|
|
"${PCL_SOURCES_TREE}"
|
||
|
|
PATH_SUFFIXES
|
||
|
|
${component}/include
|
||
|
|
apps/${component}/include
|
||
|
|
cuda/${cuda_component}/include
|
||
|
|
gpu/${gpu_component}/include
|
||
|
|
DOC "path to ${component} headers"
|
||
|
|
NO_DEFAULT_PATH)
|
||
|
|
mark_as_advanced(PCL_${COMPONENT}_INCLUDE_DIR)
|
||
|
|
|
||
|
|
if(PCL_${COMPONENT}_INCLUDE_DIR)
|
||
|
|
list(APPEND PCL_${COMPONENT}_INCLUDE_DIRS "${PCL_${COMPONENT}_INCLUDE_DIR}")
|
||
|
|
else()
|
||
|
|
#pcl_message("No include directory found for pcl_${component}.")
|
||
|
|
endif()
|
||
|
|
|
||
|
|
set(FPHSA_NAME_MISMATCHED 1) # Suppress warnings, see https://cmake.org/cmake/help/v3.17/module/FindPackageHandleStandardArgs.html
|
||
|
|
# Skip find_library for header only modules
|
||
|
|
list(FIND pcl_header_only_components ${component} _is_header_only)
|
||
|
|
if(_is_header_only EQUAL -1)
|
||
|
|
find_library(PCL_${COMPONENT}_LIBRARY ${pcl_component}${PCL_RELEASE_SUFFIX}
|
||
|
|
HINTS ${PCL_LIBRARY_DIRS}
|
||
|
|
DOC "path to ${pcl_component} library"
|
||
|
|
NO_DEFAULT_PATH)
|
||
|
|
get_filename_component(${component}_library_path
|
||
|
|
${PCL_${COMPONENT}_LIBRARY}
|
||
|
|
PATH)
|
||
|
|
mark_as_advanced(PCL_${COMPONENT}_LIBRARY)
|
||
|
|
|
||
|
|
find_library(PCL_${COMPONENT}_LIBRARY_DEBUG ${pcl_component}${PCL_DEBUG_SUFFIX}
|
||
|
|
HINTS ${PCL_LIBRARY_DIRS}
|
||
|
|
DOC "path to ${pcl_component} library debug"
|
||
|
|
NO_DEFAULT_PATH)
|
||
|
|
mark_as_advanced(PCL_${COMPONENT}_LIBRARY_DEBUG)
|
||
|
|
|
||
|
|
if(PCL_${COMPONENT}_LIBRARY_DEBUG)
|
||
|
|
get_filename_component(${component}_library_path_debug
|
||
|
|
${PCL_${COMPONENT}_LIBRARY_DEBUG}
|
||
|
|
PATH)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
# Restrict this to Windows users
|
||
|
|
if(NOT PCL_${COMPONENT}_LIBRARY AND WIN32)
|
||
|
|
# might be debug only
|
||
|
|
set(PCL_${COMPONENT}_LIBRARY ${PCL_${COMPONENT}_LIBRARY_DEBUG})
|
||
|
|
endif()
|
||
|
|
|
||
|
|
find_package_handle_standard_args(PCL_${COMPONENT} DEFAULT_MSG
|
||
|
|
PCL_${COMPONENT}_LIBRARY PCL_${COMPONENT}_INCLUDE_DIR)
|
||
|
|
else()
|
||
|
|
find_package_handle_standard_args(PCL_${COMPONENT} DEFAULT_MSG
|
||
|
|
PCL_${COMPONENT}_INCLUDE_DIR)
|
||
|
|
endif()
|
||
|
|
unset(FPHSA_NAME_MISMATCHED)
|
||
|
|
|
||
|
|
if(PCL_${COMPONENT}_FOUND)
|
||
|
|
if(NOT "${PCL_${COMPONENT}_INCLUDE_DIRS}" STREQUAL "")
|
||
|
|
set(_filtered "")
|
||
|
|
foreach(_inc ${PCL_${COMPONENT}_INCLUDE_DIRS})
|
||
|
|
if(EXISTS ${_inc})
|
||
|
|
list(APPEND _filtered "${_inc}")
|
||
|
|
endif()
|
||
|
|
endforeach()
|
||
|
|
list(REMOVE_DUPLICATES _filtered)
|
||
|
|
set(PCL_${COMPONENT}_INCLUDE_DIRS ${_filtered})
|
||
|
|
list(APPEND PCL_INCLUDE_DIRS ${_filtered})
|
||
|
|
endif()
|
||
|
|
mark_as_advanced(PCL_${COMPONENT}_INCLUDE_DIRS)
|
||
|
|
if(_is_header_only EQUAL -1)
|
||
|
|
list(APPEND PCL_DEFINITIONS ${PCL_${COMPONENT}_DEFINITIONS})
|
||
|
|
list(APPEND PCL_LIBRARY_DIRS ${component_library_path})
|
||
|
|
if(PCL_${COMPONENT}_LIBRARY_DEBUG)
|
||
|
|
list(APPEND PCL_LIBRARY_DIRS ${component_library_path_debug})
|
||
|
|
endif()
|
||
|
|
list(APPEND PCL_COMPONENTS ${pcl_component})
|
||
|
|
mark_as_advanced(PCL_${COMPONENT}_LIBRARY PCL_${COMPONENT}_LIBRARY_DEBUG)
|
||
|
|
endif()
|
||
|
|
# Append internal dependencies
|
||
|
|
foreach(int_dep ${pcl_${component}_int_dep})
|
||
|
|
string(TOUPPER "${int_dep}" INT_DEP)
|
||
|
|
if(PCL_${INT_DEP}_FOUND)
|
||
|
|
list(APPEND PCL_${COMPONENT}_INCLUDE_DIRS ${PCL_${INT_DEP}_INCLUDE_DIRS})
|
||
|
|
if(PCL_${INT_DEP}_LIBRARIES)
|
||
|
|
list(APPEND PCL_${COMPONENT}_LINK_LIBRARIES "${PCL_${INT_DEP}_LIBRARIES}")
|
||
|
|
endif()
|
||
|
|
endif()
|
||
|
|
endforeach()
|
||
|
|
if(_is_header_only EQUAL -1)
|
||
|
|
add_library(${pcl_component} SHARED IMPORTED)
|
||
|
|
if(PCL_${COMPONENT}_LIBRARY_DEBUG)
|
||
|
|
set_target_properties(${pcl_component}
|
||
|
|
PROPERTIES
|
||
|
|
IMPORTED_CONFIGURATIONS "RELEASE;DEBUG"
|
||
|
|
IMPORTED_LOCATION_RELEASE "${PCL_${COMPONENT}_LIBRARY}"
|
||
|
|
IMPORTED_LOCATION_DEBUG "${PCL_${COMPONENT}_LIBRARY_DEBUG}"
|
||
|
|
IMPORTED_IMPLIB_RELEASE "${PCL_${COMPONENT}_LIBRARY}"
|
||
|
|
IMPORTED_IMPLIB_DEBUG "${PCL_${COMPONENT}_LIBRARY_DEBUG}"
|
||
|
|
)
|
||
|
|
else()
|
||
|
|
set_target_properties(${pcl_component}
|
||
|
|
PROPERTIES
|
||
|
|
IMPORTED_LOCATION "${PCL_${COMPONENT}_LIBRARY}"
|
||
|
|
IMPORTED_IMPLIB "${PCL_${COMPONENT}_LIBRARY}"
|
||
|
|
)
|
||
|
|
endif()
|
||
|
|
else() # header-only
|
||
|
|
add_library(${pcl_component} INTERFACE IMPORTED)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
foreach(def ${PCL_DEFINITIONS})
|
||
|
|
string(REPLACE " " ";" def2 ${def})
|
||
|
|
string(REGEX REPLACE "^-D" "" def3 "${def2}")
|
||
|
|
list(APPEND definitions ${def3})
|
||
|
|
endforeach()
|
||
|
|
if(CMAKE_VERSION VERSION_LESS 3.3)
|
||
|
|
set_target_properties(${pcl_component}
|
||
|
|
PROPERTIES
|
||
|
|
INTERFACE_COMPILE_DEFINITIONS "${definitions}"
|
||
|
|
INTERFACE_COMPILE_OPTIONS "${PCL_COMPILE_OPTIONS}"
|
||
|
|
INTERFACE_COMPILE_FEATURES "cxx_std_14"
|
||
|
|
INTERFACE_INCLUDE_DIRECTORIES "${PCL_${COMPONENT}_INCLUDE_DIRS};${PCL_CONF_INCLUDE_DIR}"
|
||
|
|
INTERFACE_LINK_LIBRARIES "${PCL_${COMPONENT}_LINK_LIBRARIES}"
|
||
|
|
)
|
||
|
|
elseif(CMAKE_VERSION VERSION_LESS 3.11)
|
||
|
|
set_target_properties(${pcl_component}
|
||
|
|
PROPERTIES
|
||
|
|
INTERFACE_COMPILE_DEFINITIONS "${definitions}"
|
||
|
|
INTERFACE_COMPILE_OPTIONS "$<$<COMPILE_LANGUAGE:CXX>:${PCL_COMPILE_OPTIONS}>"
|
||
|
|
INTERFACE_COMPILE_FEATURES "cxx_std_14"
|
||
|
|
INTERFACE_INCLUDE_DIRECTORIES "${PCL_${COMPONENT}_INCLUDE_DIRS};${PCL_CONF_INCLUDE_DIR}"
|
||
|
|
INTERFACE_LINK_LIBRARIES "${PCL_${COMPONENT}_LINK_LIBRARIES}"
|
||
|
|
)
|
||
|
|
else()
|
||
|
|
set_target_properties(${pcl_component}
|
||
|
|
PROPERTIES
|
||
|
|
INTERFACE_COMPILE_DEFINITIONS "${definitions}"
|
||
|
|
INTERFACE_COMPILE_OPTIONS "$<$<COMPILE_LANGUAGE:CXX>:${PCL_COMPILE_OPTIONS}>"
|
||
|
|
INTERFACE_COMPILE_FEATURES "cxx_std_14"
|
||
|
|
INTERFACE_INCLUDE_DIRECTORIES "${PCL_${COMPONENT}_INCLUDE_DIRS};${PCL_CONF_INCLUDE_DIR}"
|
||
|
|
)
|
||
|
|
# If possible, we use target_link_libraries to avoid problems with link-type keywords,
|
||
|
|
# see https://github.com/PointCloudLibrary/pcl/issues/2989
|
||
|
|
# target_link_libraries on imported libraries is supported only since CMake 3.11
|
||
|
|
target_link_libraries(${pcl_component} INTERFACE ${PCL_${COMPONENT}_LINK_LIBRARIES})
|
||
|
|
endif()
|
||
|
|
set(PCL_${COMPONENT}_LIBRARIES ${pcl_component})
|
||
|
|
endif()
|
||
|
|
endforeach()
|
||
|
|
|
||
|
|
if(NOT "${PCL_INCLUDE_DIRS}" STREQUAL "")
|
||
|
|
list(REMOVE_DUPLICATES PCL_INCLUDE_DIRS)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
if(NOT "${PCL_LIBRARY_DIRS}" STREQUAL "")
|
||
|
|
list(REMOVE_DUPLICATES PCL_LIBRARY_DIRS)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
if(NOT "${PCL_DEFINITIONS}" STREQUAL "")
|
||
|
|
list(REMOVE_DUPLICATES PCL_DEFINITIONS)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
pcl_remove_duplicate_libraries(PCL_COMPONENTS PCL_LIBRARIES)
|
||
|
|
|
||
|
|
# Add 3rd party libraries, as user code might include our .HPP implementations
|
||
|
|
list(APPEND PCL_LIBRARIES ${BOOST_LIBRARIES} ${QHULL_LIBRARIES} ${OPENNI_LIBRARIES} ${OPENNI2_LIBRARIES} ${ENSENSO_LIBRARIES} ${davidSDK_LIBRARIES} ${DSSDK_LIBRARIES} ${RSSDK_LIBRARIES} ${RSSDK2_LIBRARIES} ${VTK_LIBRARIES})
|
||
|
|
if (TARGET FLANN::FLANN)
|
||
|
|
list(APPEND PCL_LIBRARIES FLANN::FLANN)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
find_package_handle_standard_args(PCL DEFAULT_MSG PCL_LIBRARIES PCL_INCLUDE_DIRS)
|
||
|
|
mark_as_advanced(PCL_LIBRARIES PCL_INCLUDE_DIRS PCL_LIBRARY_DIRS)
|