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CMakeLists.txt
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CMakeLists.txt
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###############################################################
###### ######
###### GPIS library ######
###### Author: Pablo R.S. (aka. Bardo91) ######
###### ######
###############################################################
cmake_minimum_required (VERSION 3.8 FATAL_ERROR)
project(grasping_tools VERSION 0.1)
#################################################
######### Custom project configuration ##########
#################################################
set(USE_CATKIN OFF)
if( NOT CMAKE_BUILD_TYPE )
set( CMAKE_BUILD_TYPE Release CACHE STRING
"Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
FORCE )
endif()
list(APPEND GRASPING_TOOLS_DEFINITIONS "")
set(GRASPING_TOOLS_COMPILE_OPTIONS "-Wall")
#########################################
###### Loading 3rd party libraries.######
#########################################
if(WIN32)
find_package(Armadillo REQUIRED HINTS "C:/Program Files (x86)/armadillo/share/Armadillo/CMake")
else()
find_package(Armadillo REQUIRED HINTS "/usr/local /usr/")
endif()
## Load PCL
find_package(PCL QUIET REQUIRED)
if(${PCL_FOUND})
MESSAGE( STATUS "Adding properly PCL and its dependencies")
# -march=native -msse4.2 -mfpmath=sse -DDISABLE_PCAP-DDISABLE_PNG-DDISABLE_LIBUSB_1_0
list(APPEND GRASPING_TOOLS_DEFINITIONS "ENABLE_PCL")
list(APPEND GRASPING_TOOLS_DEFINITIONS "DISABLE_PCAP-DDISABLE_PNG")
list(APPEND GRASPING_TOOLS_DEFINITIONS "DISABLE_LIBUSB_1_0")
set(GRASPING_TOOLS_COMPILE_OPTIONS "${GRASPING_TOOLS_COMPILE_OPTIONS} -march=native -msse4.2 -mfpmath=sse -L/usr/lib/x86_64-linux-gnu")
if(${PCL_VERSION} VERSION_GREATER 1.8)
list(APPEND GRASPING_TOOLS_DEFINITIONS "HAS_PCL_1_8")
else()
list(APPEND GRASPING_TOOLS_DEFINITIONS "HAS_PCL_1_7")
endif()
else()
MESSAGE( FATAL_ERROR "Couldnt Add PCL and/or it's dependencies")
endif()
#Load catkin
if(${USE_CATKIN})
find_package(catkin)
if(${catkin_FOUND})
catkin_package(
CATKIN_DEPENDS roscpp
INCLUDE_DIRS include
)
list(APPEND GRASPING_TOOLS_DEFINITIONS "RGBDTOOLS_USE_ROS")
endif(${catkin_FOUND})
endif(${USE_CATKIN})
#########################################
###### Compile extra Libraries ######
#########################################
add_subdirectory(dep/qhull)
add_subdirectory(dep/gpis)
#########################################
###### Library ######
#########################################
# Collect all sources
file(GLOB_RECURSE GRASPTOOLS_SOURCE_FILES "src/*.cpp")
file(GLOB_RECURSE GRASPTOOLS_HEADER_FILES "include/*.h" "include/*.inl")
add_library(${PROJECT_NAME} STATIC ${GRASPTOOLS_SOURCE_FILES} ${GRASPTOOLS_HEADER_FILES})
target_include_directories(${PROJECT_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/include)
target_compile_definitions(${PROJECT_NAME} PUBLIC ${GRASPING_TOOLS_DEFINITIONS})
string(REPLACE " " ";" GRASPING_TOOLS_COMPILE_OPTIONS_REPLACED_FLAGS ${GRASPING_TOOLS_COMPILE_OPTIONS})
target_compile_options(${PROJECT_NAME} PUBLIC ${GRASPING_TOOLS_COMPILE_OPTIONS_REPLACED_FLAGS})
target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_11)
target_include_directories(${PROJECT_NAME} PRIVATE ${PROJECT_SOURCE_DIR}/dep/gpis/include)
target_link_libraries(${PROJECT_NAME} LINK_PUBLIC gpis)
target_include_directories(${PROJECT_NAME} PUBLIC "dep/qhull/src")
if(${CMAKE_BUILD_TYPE} STREQUAL "Debug")
target_link_libraries(${PROJECT_NAME} LINK_PUBLIC qhullcpp_d)
target_link_libraries(${PROJECT_NAME} LINK_PUBLIC qhullstatic_rd)
else()
target_link_libraries(${PROJECT_NAME} LINK_PUBLIC qhullcpp)
target_link_libraries(${PROJECT_NAME} LINK_PUBLIC qhullstatic_r)
endif()
target_link_libraries(${PROJECT_NAME} LINK_PUBLIC ${qhull_STATIC})
target_include_directories(${PROJECT_NAME} PUBLIC ${ARMADILLO_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME} LINK_PUBLIC ${ARMADILLO_LIBRARIES})
target_include_directories(${PROJECT_NAME} PUBLIC ${Boost_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME} LINK_PUBLIC ${Boost_LIBRARIES})
target_include_directories(${PROJECT_NAME} PUBLIC ${PCL_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME} LINK_PUBLIC ${PCL_LIBRARIES})
if(${catkin_FOUND})
target_include_directories(${PROJECT_NAME} PUBLIC ${catkin_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME} LINK_PUBLIC ${catkin_LIBRARIES} )
endif(${catkin_FOUND})
#########################################
###### TESTS ######
#########################################
#enable_testing()
#add_subdirectory(tests)
#########################################
###### EXAMPLES ######
#########################################
add_subdirectory(examples)
#########################################
###### Documentation ######
#########################################
find_package(Doxygen)
if(DOXYGEN_FOUND)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
add_custom_target( doc_grasping_tools
${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
COMMENT "Generating API documentation with Doxygen" VERBATIM )
endif(DOXYGEN_FOUND)
#########################################
###### INSTALL ######
#########################################
include(CMakePackageConfigHelpers)
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/usr/local")
endif()
install(TARGETS grasping_tools
EXPORT grasping_toolsTargets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
INCLUDES DESTINATION ${CMAKE_INSTALL_PREFIX}
)
write_basic_package_version_file(
grasping_toolsConfigVersion.cmake
VERSION ${PACKAGE_VERSION}
COMPATIBILITY AnyNewerVersion
)
# This installs the include folder
install(DIRECTORY include DESTINATION ${CMAKE_INSTALL_PREFIX} FILES_MATCHING PATTERN "*.h")
install(DIRECTORY include DESTINATION ${CMAKE_INSTALL_PREFIX} FILES_MATCHING PATTERN "*.inl")
export(TARGETS grasping_tools NAMESPACE grasping_tools:: FILE grasping_toolsTargets.cmake)
# This generates grasping_toolsTargets.cmake
install(EXPORT grasping_toolsTargets
FILE grasping_toolsTargets.cmake
NAMESPACE grasping_tools::
DESTINATION lib/cmake/grasping_tools
)
configure_file(grasping_toolsConfig.cmake.in grasping_toolsConfig.cmake @ONLY)
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/grasping_toolsConfig.cmake"
DESTINATION lib/cmake/grasping_tools
)
# uninstall target
if(NOT TARGET uninstall)
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
add_custom_target(uninstall COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
endif()