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Commit 400f34a7 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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Merge branch '28-adapt-to-core-cmakelists-txt-refactor' of...

Merge branch '28-adapt-to-core-cmakelists-txt-refactor' of ssh://gitlab.iri.upc.edu:2202/labrobotica/algorithms/laser_scan_utils into 28-adapt-to-core-cmakelists-txt-refactor
parents d5b5d0c5 14c1c01b
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2 merge requests!8Cmake refactoring was merged to main, merge back to devel also,!7Resolve "Adapt to core CMakeLists.txt refactor"
Pipeline #10903 failed
This commit is part of merge request !7. Comments created here will be created in the context of that merge request.
...@@ -8,7 +8,6 @@ SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin) ...@@ -8,7 +8,6 @@ SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib) SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
set(INCLUDE_INSTALL_DIR include/iri-algorithms) set(INCLUDE_INSTALL_DIR include/iri-algorithms)
set(LIB_INSTALL_DIR lib/) set(LIB_INSTALL_DIR lib/)
# SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
IF (NOT CMAKE_BUILD_TYPE) IF (NOT CMAKE_BUILD_TYPE)
#SET(CMAKE_BUILD_TYPE "DEBUG") #SET(CMAKE_BUILD_TYPE "DEBUG")
...@@ -21,11 +20,14 @@ SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall -D_REENTRANT") ...@@ -21,11 +20,14 @@ SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall -D_REENTRANT")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT") SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT")
#find dependencies #find dependencies
FIND_PACKAGE(Eigen3 3.3 REQUIRED) FIND_PACKAGE(Eigen3 3.3 REQUIRED CONFIG)
FIND_PACKAGE(falkolib QUIET) FIND_PACKAGE(falkolib QUIET)
find_package(PkgConfig) find_package(PkgConfig)
pkg_check_modules(csm QUIET csm ) pkg_check_modules(csm QUIET csm )
link_directories(${csm_LIBRARY_DIRS}) link_directories(${csm_LIBRARY_DIRS})
# keep only the files in a lib folder: by default the "." is in csm_LIBRARY_DIRS,
# which is not acceptable for target_link_directories
list(FILTER csm_LIBRARY_DIRS INCLUDE REGEX "/lib")
#Build tests #Build tests
...@@ -57,20 +59,6 @@ endif() ...@@ -57,20 +59,6 @@ endif()
INCLUDE_DIRECTORIES("include") INCLUDE_DIRECTORIES("include")
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS}) INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
IF(csm_FOUND)
MESSAGE(STATUS "CSM lib found")
INCLUDE_DIRECTORIES(${csm_INCLUDE_DIRS})
ENDIF(csm_FOUND)
IF(faramotics_FOUND)
MESSAGE(STATUS "FARAMOTICS lib found")
INCLUDE_DIRECTORIES(${faramotics_INCLUDE_DIRS})
ENDIF(faramotics_FOUND)
IF(falkolib_FOUND)
MESSAGE(STATUS "FALKO lib found:")
add_definitions(-DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
INCLUDE_DIRECTORIES(${falkolib_INCLUDE_DIRS})
LINK_DIRECTORIES(${falkolib_LIBRARY_DIRS})
ENDIF(falkolib_FOUND)
#headers #headers
SET(HDRS_BASE SET(HDRS_BASE
...@@ -94,7 +82,6 @@ SET(HDRS ...@@ -94,7 +82,6 @@ SET(HDRS
include/laser_scan_utils/scan_segment.h include/laser_scan_utils/scan_segment.h
include/laser_scan_utils/loop_closure_base.h include/laser_scan_utils/loop_closure_base.h
include/laser_scan_utils/scene_base.h include/laser_scan_utils/scene_base.h
) )
IF(csm_FOUND) IF(csm_FOUND)
SET(HDRS ${HDRS} SET(HDRS ${HDRS}
...@@ -143,12 +130,18 @@ ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS}) ...@@ -143,12 +130,18 @@ ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS})
#Link the created libraries #Link the created libraries
#============================================================= #=============================================================
TARGET_LINK_LIBRARIES(${PROJECT_NAME} Eigen3::Eigen) TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC Eigen3::Eigen)
IF(csm_FOUND) IF(csm_FOUND)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${csm_LIBRARIES}) MESSAGE(STATUS "CSM lib found")
TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC ${csm_LIBRARIES})
target_include_directories(${PROJECT_NAME} PUBLIC ${csm_INCLUDE_DIRS})
target_link_directories(${PROJECT_NAME} PUBLIC ${csm_LIBRARY_DIRS})
ENDIF(csm_FOUND) ENDIF(csm_FOUND)
IF(falkolib_FOUND) IF(falkolib_FOUND)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${falkolib_LIBRARY}) MESSAGE(STATUS "FALKO lib found:")
TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC ${falkolib_LIBRARY})
target_include_directories(${PROJECT_NAME} PUBLIC ${falkolib_INCLUDE_DIRS})
ENDIF(falkolib_FOUND) ENDIF(falkolib_FOUND)
...@@ -209,7 +202,7 @@ IF(BUILD_TESTS) ...@@ -209,7 +202,7 @@ IF(BUILD_TESTS)
add_subdirectory(test) add_subdirectory(test)
ENDIF(BUILD_TESTS) ENDIF(BUILD_TESTS)
FIND_PACKAGE(Doxygen) FIND_PACKAGE(Doxygen MODULE)
FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/) FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
IF (IRI_DOC_DIR) IF (IRI_DOC_DIR)
......
FIND_PATH(
laser_scan_utils_INCLUDE_DIRS
NAMES laser_scan_utils.h
PATHS /usr/local/include/iri-algorithms/laser_scan_utils)
#change INCLUDE_DIRS to its parent directory
get_filename_component(laser_scan_utils_INCLUDE_DIRS ${laser_scan_utils_INCLUDE_DIRS} DIRECTORY)
FIND_LIBRARY(
laser_scan_utils_LIBRARY
NAMES laser_scan_utils
PATHS /usr/lib /usr/local/lib)
IF (laser_scan_utils_INCLUDE_DIRS AND laser_scan_utils_LIBRARY)
SET(laser_scan_utils_FOUND TRUE)
SET(laser_scan_utils_INCLUDE_DIR ${laser_scan_utils_INCLUDE_DIRS})
SET(laser_scan_utils_LIBRARIES ${laser_scan_utils_LIBRARY})
ENDIF (laser_scan_utils_INCLUDE_DIRS AND laser_scan_utils_LIBRARY)
IF (laser_scan_utils_FOUND)
IF (NOT laser_scan_utils_FIND_QUIETLY)
MESSAGE(STATUS "Found laser_scan_utils: ${laser_scan_utils_LIBRARY}")
ENDIF (NOT laser_scan_utils_FIND_QUIETLY)
ELSE (laser_scan_utils_FOUND)
IF (laser_scan_utils_FIND_REQUIRED)
MESSAGE(FATAL_ERROR "Could not find laser_scan_utils")
ENDIF (laser_scan_utils_FIND_REQUIRED)
ENDIF (laser_scan_utils_FOUND)
...@@ -3,8 +3,6 @@ set(@PROJECT_NAME@_VERSION 0.0.1) ...@@ -3,8 +3,6 @@ set(@PROJECT_NAME@_VERSION 0.0.1)
@PACKAGE_INIT@ @PACKAGE_INIT@
FIND_DEPENDENCY(falkolib REQUIRED)
# FIND_DEPENDENCY(csm REQUIRED) # does not work!
include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
......
...@@ -4,6 +4,7 @@ add_subdirectory(gtest) ...@@ -4,6 +4,7 @@ add_subdirectory(gtest)
#Include directories #Include directories
INCLUDE_DIRECTORIES(../src) INCLUDE_DIRECTORIES(../src)
INCLUDE_DIRECTORIES(/data) INCLUDE_DIRECTORIES(/data)
FIND_PACKAGE(Eigen3 3.3 REQUIRED CONFIG)
FIND_PACKAGE(PythonLibs QUIET) FIND_PACKAGE(PythonLibs QUIET)
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS}) INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(${csm_INCLUDE_DIRS}) INCLUDE_DIRECTORIES(${csm_INCLUDE_DIRS})
......
...@@ -72,7 +72,7 @@ function(laser_scan_utils_add_gtest target) ...@@ -72,7 +72,7 @@ function(laser_scan_utils_add_gtest target)
if(${CMAKE_VERSION} VERSION_LESS "3.11.0") if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
add_dependencies(${target} libgtest) add_dependencies(${target} libgtest)
target_link_libraries(${target} libgtest ${PLUGIN_NAME}) target_link_libraries(${target} libgtest ${PLUGIN_NAME})
target_include_directories(${target} ${GTEST_INCLUDE_DIRS}) target_include_directories(${target} PUBLIC ${GTEST_INCLUDE_DIRS})
else() else()
target_link_libraries(${target} gtest_main ${PLUGIN_NAME}) target_link_libraries(${target} gtest_main ${PLUGIN_NAME})
endif() endif()
......
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