Initial commit

ufomap/CMakeLists.txt

@@ -0,0 +1,102 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ufomap)
+
+set(CMAKE_CXX_STANDARD 17)
+
+# COMPILER SETTINGS (default: Release)
+# use "-DCMAKE_BUILD_TYPE=Debug" in cmake for a Debug-build
+IF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+   SET(CMAKE_BUILD_TYPE Release)
+ENDIF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+
+MESSAGE ("\n")
+MESSAGE (STATUS "${PROJECT_NAME} building as ${CMAKE_BUILD_TYPE}")
+
+# COMPILER FLAGS
+IF (CMAKE_COMPILER_IS_GNUCC)
+  SET (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wno-error ")
+  SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-error ")
+  SET (CMAKE_CXX_FLAGS_RELEASE "-O3 -funroll-loops -DNDEBUG")
+  SET (CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
+  # Shared object compilation under 64bit (vtable)
+  ADD_DEFINITIONS(-fPIC)
+ENDIF()
+
+
+# Set full rpath http://www.paraview.org/Wiki/CMake_RPATH_handling
+# (good to have and required with ROS)
+set(CMAKE_SKIP_BUILD_RPATH  FALSE)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+# no prefix needed for python modules
+set(CMAKE_SHARED_MODULE_PREFIX "")
+
+set(UFOMAP_MAJOR_VERSION 1)
+set(UFOMAP_MINOR_VERSION 0)
+set(UFOMAP_PATCH_VERSION 0)
+set(UFOMAP_VERSION ${UFOMAP_MAJOR_VERSION}.${UFOMAP_MINOR_VERSION}.${UFOMAP_PATCH_VERSION})
+set(UFOMAP_SOVERSION ${UFOMAP_MAJOR_VERSION}.${UFOMAP_MINOR_VERSION})
+
+##### Doxygen
+# First we can indicate the documentation build as an option and set it to ON by default
+option(BUILD_DOC "Build documentation" ON)
+
+# Check if Doxygen is installed
+# find_package(Doxygen)
+# if (DOXYGEN_FOUND)
+#     # set input and output files
+#     set(DOXYGEN_IN ${CMAKE_CURRENT_SOURCE_DIR}/../docs/Doxyfile.in)
+#     set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+#     # Request to configure the file
+#     configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
+#     message("Doxygen build started")
+
+#     # Note the option ALL which allows to build the docs together with the application
+#     add_custom_target( doc_doxygen ALL
+#         COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
+#         WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+#         COMMENT "Generating API documentation with Doxygen"
+#         VERBATIM )
+# else (DOXYGEN_FOUND)
+#   message("Doxygen need to be installed to generate the doxygen documentation")
+# endif (DOXYGEN_FOUND)
+
+find_package(catkin REQUIRED)
+catkin_package(
+  INCLUDE_DIRS include ${catkin_INCLUDE_DIRS} ${UFOMAP_INCLUDE_DIRS}
+  LIBRARIES ${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenMP_LIBRARIES}
+  DEPENDS OpenMP
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${UFOMAP_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+  src/geometry/intersects.cpp
+  src/math/pose6.cpp
+  src/math/quaternion.cpp
+  src/octree_rgb.cpp
+  src/octree.cpp
+)
+target_compile_options(${PROJECT_NAME} PRIVATE ${OpenMP_FLAGS})
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${OpenMP_LIBRARIES}
+)
+
+install(TARGETS ${PROJECT_NAME}
+  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}
+  FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+)