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### ---[ PCL global CMake cmake_minimum_required(VERSION 2.

8 FATAL_ERROR) set(CMAKE_CONFIGURATION_TYPES "Debug;Release" CACHE STRING "possible configurati ons" FORCE) # In case the user does not setup CMAKE_BUILD_TYPE, assume it's RelWithDebInfo if("${CMAKE_BUILD_TYPE}" STREQUAL "") set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "build type default to RelWit hDebInfo, set to Release to improve performance" FORCE) endif("${CMAKE_BUILD_TYPE}" STREQUAL "") project(PCL) string(TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER) set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake/Modules/" ${CMAKE_MODULE_PATH}) # ---[ Release/Debug specific flags if(CMAKE_BUILD_TYPE STREQUAL "Release" OR CMAKE_BUILD_TYPE STREQUAL "RelWithDebI nfo") add_definitions("-DBOOST_DISABLE_ASSERTS -DEIGEN_NO_DEBUG") endif() if(WIN32) if(NOT DEFINED CMAKE_DEBUG_POSTFIX) set(CMAKE_DEBUG_POSTFIX "_debug") endif() if(NOT DEFINED CMAKE_RELEASE_POSTFIX) set(CMAKE_RELEASE_POSTFIX "_release") endif() endif() # ---[ special maintainer mode SET(CMAKE_CXX_FLAGS_MAINTAINER "-pedantic -Wabi -Wextra -Weffc++" CACHE STRING "Flags used by the C++ compiler during maintainer builds." FORCE) SET(CMAKE_C_FLAGS_MAINTAINER "-pedantic -Wabi -Wextra -Weffc++" CACHE STRING "Flags used by the C compiler during maintainer builds." FORCE) SET(CMAKE_EXE_LINKER_FLAGS_MAINTAINER "-Wl,--warn-unresolved-symbols,--warn-once" CACHE STRING "Flags used for linking binaries during maintainer builds." FORCE) SET(CMAKE_SHARED_LINKER_FLAGS_MAINTAINER "-Wl,--warn-unresolved-symbols,--warn-once" CACHE STRING "Flags used by the shared libraries linker during maintainer builds." FORCE) MARK_AS_ADVANCED( CMAKE_CXX_FLAGS_MAINTAINER CMAKE_C_FLAGS_MAINTAINER CMAKE_EXE_LINKER_FLAGS_MAINTAINER CMAKE_SHARED_LINKER_FLAGS_MAINTAINER ) # Update the documentation string of CMAKE_BUILD_TYPE for GUIs SET(CMAKE_BUILD_TYPE "${CMAKE_BUILD_TYPE}" CACHE STRING "Choose the type of build, options are: None Debug Release RelWithDebInfo Mi nSizeRel Maintainer." FORCE) # ---[ Android check if (ANDROID_NDK) set (PCL_SHARED_LIBS OFF) message ("PCL shared libs on Android must be: ${PCL_SHARED_LIBS}") endif()

include(${PCL_SOURCE_DIR}/cmake/pcl_targets.cmake) include(${PCL_SOURCE_DIR}/cmake/pcl_options.cmake) # ---[ Unix/Darwin/Windows specific flags if(CMAKE_COMPILER_IS_GNUCXX) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-unknown-pragmas -fno-strict -aliasing -pthread") if(WIN32) if(PCL_SHARED_LIBS) SET(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--export-a ll-symbols -Wl,--enable-auto-import") else(PCL_SHARED_LIBS) add_definitions("-DBOOST_LIB_DIAGNOSTIC -DBOOST_THREAD_USE_LIB") endif(PCL_SHARED_LIBS) endif() endif() if(MSVC) add_definitions ("-DBOOST_ALL_NO_LIB -D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_N O_WARNINGS -DNOMINMAX") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj /EHsc /fp:fast") if(MSVC90 OR MSVC10) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP") endif() endif() # check for SSE flags include(${PCL_SOURCE_DIR}/cmake/pcl_find_sse.cmake) PCL_CHECK_FOR_SSE() if (__COMPILER_PATHSCALE) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-uninitialized -zerouv -pthread -m p") endif() if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++0x") endif() # ---[ Project folders option(USE_PROJECT_FOLDERS "Use folders to organize PCL projects in an IDE." OFF ) mark_as_advanced(USE_PROJECT_FOLDERS) if(USE_PROJECT_FOLDERS) set_property(GLOBAL PROPERTY USE_FOLDERS ON) endif(USE_PROJECT_FOLDERS) include(${PCL_SOURCE_DIR}/cmake/pcl_utils.cmake) set(PCL_VERSION 1.5.0 CACHE STRING "PCL version") DISSECT_VERSION() GET_OS_INFO() SET_INSTALL_DIRS() if(WIN32) set(PCL_RESOURCES_DIR ${PCL_SOURCE_DIR}/resources) set(PCL_POINTCLOUDS_DIR ${PCL_RESOURCES_DIR}/pointclouds) endif(WIN32) set(PCL_OUTPUT_LIB_DIR ${PCL_BINARY_DIR}/${LIB_INSTALL_DIR})

set(PCL_OUTPUT_BIN_DIR ${PCL_BINARY_DIR}/${BIN_INSTALL_DIR}) make_directory(${PCL_OUTPUT_LIB_DIR}) make_directory(${PCL_OUTPUT_BIN_DIR}) if(WIN32) foreach(config ${CMAKE_CONFIGURATION_TYPES}) string(TOUPPER ${config} CONFIG) set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${CONFIG} "${PCL_OUTPUT_LIB_DIR}") set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_${CONFIG} "${PCL_OUTPUT_BIN_DIR}") # ---[ Windows requires DLLs (shared libraries) to be installed in the same directory as executables set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_${CONFIG} "${PCL_OUTPUT_BIN_DIR}") endforeach(config) else(WIN32) set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${PCL_OUTPUT_LIB_DIR}") set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${PCL_OUTPUT_BIN_DIR}") set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${PCL_OUTPUT_LIB_DIR}") endif(WIN32) # Add an "uninstall" target configure_file("${PCL_SOURCE_DIR}/cmake/uninstall_target.cmake.in" "${PCL_BINARY_DIR}/uninstall_target.cmake" IMMEDIATE @ONLY) add_custom_target(uninstall "${CMAKE_COMMAND}" -P "${PCL_BINARY_DIR}/uninstall_target.cmake") ### # this is copy paste form http://www.itk.org/Wiki/CMake_RPATH_handling # in order to always make a full statement RPATH ### SET(CMAKE_SKIP_BUILD_RPATH FALSE) SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}") SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/${LI B_INSTALL_DIR}" is_system_dir) IF("${is_system_dir}" STREQUAL "-1") SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}") ENDIF("${is_system_dir}" STREQUAL "-1") ### ---[ Find universal dependencies FIND_PACKAGE(OpenMP) if(OPENMP_FOUND) SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") endif() # Boost (required) include(${PCL_SOURCE_DIR}/cmake/pcl_find_boost.cmake) # Eigen (required) find_package(Eigen REQUIRED) include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS}) add_definitions(-DEIGEN_USE_NEW_STDVECTOR -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET) # FLANN (required) find_package(Flann REQUIRED) include_directories(SYSTEM ${FLANN_INCLUDE_DIRS}) # OpenNI find_package(OpenNI) # Qhull find_package(Qhull) # Find ROS include(${PCL_SOURCE_DIR}/cmake/pcl_find_ros.cmake)

# Find QT4 find_package(Qt4) if (QT4_FOUND) include(${QT_USE_FILE}) endif (QT4_FOUND) # Find VTK find_package(VTK) if(VTK_FOUND) set(VTK_FOUND TRUE) find_package (QVTK) message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARY_DI RS})") link_directories(${VTK_LIBRARY_DIRS}) set(HAVE_VTK ON) endif(VTK_FOUND) # Find MPI find_package(MPI) if(MPI_CXX_FOUND) include_directories(SYSTEM ${MPI_INCLUDE_PATH}) endif(MPI_CXX_FOUND) #Find Doxygen and html help compiler if any find_package(Doxygen) if(DOXYGEN_FOUND) find_package(HTMLHelp) endif(DOXYGEN_FOUND) ### ---[ Create the config.h file set(pcl_config_h_in "${CMAKE_CURRENT_SOURCE_DIR}/pcl_config.h.in") set(pcl_config_h "${CMAKE_CURRENT_BINARY_DIR}/include/pcl/pcl_config.h") configure_file(${pcl_config_h_in} ${pcl_config_h}) PCL_ADD_INCLUDES(common "" ${pcl_config_h}) include_directories(${CMAKE_CURRENT_BINARY_DIR}/include) ### ---[ Set up for tests include(${PCL_SOURCE_DIR}/cmake/pcl_tests.cmake) ### ---[ Set up for examples #include(${PCL_SOURCE_DIR}/cmake/pcl_examples.cmake) ### ---[ Add the libraries subdirectories include(${PCL_SOURCE_DIR}/cmake/pcl_targets.cmake) collect_subproject_directory_names(${PCL_SOURCE_DIR} "CMakeLists.txt" PCL_MODULE S_NAMES PCL_MODULES_DIRS doc) set(PCL_MODULES_NAMES_UNSORTED ${PCL_MODULES_NAMES}) topological_sort(PCL_MODULES_NAMES PCL_ _DEPENDS) sort_relative(PCL_MODULES_NAMES_UNSORTED PCL_MODULES_NAMES PCL_MODULES_DIRS) foreach(subdir ${PCL_MODULES_DIRS}) add_subdirectory(${PCL_SOURCE_DIR}/${subdir}) endforeach(subdir) ### ---[ Documentation add_subdirectory(doc) ### ---[ Configure PCLConfig.cmake include(${PCL_SOURCE_DIR}/cmake/pcl_pclconfig.cmake) ### ---[ Package creation include(${PCL_SOURCE_DIR}/cmake/pcl_all_in_one_installer.cmake) include(${PCL_SOURCE_DIR}/cmake/pcl_cpack.cmake)

if(CPACK_GENERATOR) message(STATUS "Found CPack generators: ${CPACK_GENERATOR}") PCL_MAKE_CPACK_INPUT() set(CPACK_PROJECT_CONFIG_FILE "${PCL_CPACK_CFG_FILE}") include(CPack) endif(CPACK_GENERATOR) ### ---[ Make a pretty picture of the dependency graph include(${PCL_SOURCE_DIR}/cmake/dep_graph.cmake) MAKE_DEP_GRAPH() ### ---[ Finish up PCL_WRITE_STATUS_REPORT() PCL_RESET_MAPS()