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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.1.3)
project(mcl_3dl)
set(CATKIN_DEPENDS
roscpp
pcl_ros
tf2
tf2_geometry_msgs
tf2_ros
tf2_sensor_msgs
diagnostic_updater
geometry_msgs
mcl_3dl_msgs
nav_msgs
sensor_msgs
std_msgs
std_srvs
visualization_msgs
)
find_package(catkin REQUIRED COMPONENTS ${CATKIN_DEPENDS})
find_package(Eigen3 REQUIRED)
find_package(PCL 1.8.0 REQUIRED
COMPONENTS
core
filters
kdtree
)
find_package(Boost REQUIRED COMPONENTS chrono)
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS ${CATKIN_DEPENDS}
)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${PCL_INCLUDE_DIR})
add_definitions(${PCL_DEFINITIONS})
# Workaround for debian stretch build (https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=894656)
list(REMOVE_ITEM PCL_LIBRARIES
"vtkGUISupportQt"
"vtkGUISupportQtOpenGL"
"vtkGUISupportQtSQL"
"vtkGUISupportQtWebkit"
"vtkViewsQt"
"vtkRenderingQt"
)
# Workaround for the bug in PCL<1.8.1 (https://github.com/PointCloudLibrary/pcl/issues/1406)
remove_definitions(-DDISABLE_LIBUSB-1.0)
# Workaround for PCL-1.7 problem on C++11 (https://github.com/PointCloudLibrary/pcl/issues/619)
# Debug build without optimization causes Segmentation fault.
# Set default build type to Release and add -O1 to CXX_FLAGS_DEBUG.
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O1")
# Binary installed pcl provided by Linux distro is built with -march=native
# which causes a lot of compatibility problems.
# Define PCL_NO_PRECOMPILE to disable using the binary version.
add_definitions(-DPCL_NO_PRECOMPILE)
add_executable(mcl_3dl
src/cloud_accum.cpp
src/lidar_measurement_model_beam.cpp
src/lidar_measurement_model_likelihood.cpp
src/mcl_3dl.cpp
src/parameters.cpp
src/point_types.cpp
)
target_link_libraries(mcl_3dl ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(mcl_3dl ${catkin_EXPORTED_TARGETS})
if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
find_package(rosunit REQUIRED)
add_subdirectory(test)
if(NOT "$ENV{ROS_DISTRO}" STREQUAL "melodic")
find_package(roslint REQUIRED)
roslint_cpp()
roslint_add_test()
endif()
endif()
install(TARGETS mcl_3dl
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(DIRECTORY launch config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)