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CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
PROJECT( octovis )
include(CTest)
include(GNUInstallDirs)
# # version (e.g. for packaging)
set(OCTOVIS_MAJOR_VERSION 1)
set(OCTOVIS_MINOR_VERSION 10)
set(OCTOVIS_PATCH_VERSION 0)
set(OCTOVIS_VERSION ${OCTOVIS_MAJOR_VERSION}.${OCTOVIS_MINOR_VERSION}.${OCTOVIS_PATCH_VERSION})
set(OCTOVIS_SOVERSION ${OCTOVIS_MAJOR_VERSION}.${OCTOVIS_MINOR_VERSION})
# get rid of a useless warning:
if(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
if(POLICY CMP0042)
# Enable MACOSX_RPATH by default.
cmake_policy(SET CMP0042 NEW)
endif(POLICY CMP0042)
endif(COMMAND cmake_policy)
SET (CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/CMakeModules")
# COMPILER SETTINGS (default: Release) and flags
INCLUDE(CompilerSettings)
# Set output directories for libraries and executables
SET( BASE_DIR ${CMAKE_SOURCE_DIR} )
SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${BASE_DIR}/lib )
SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${BASE_DIR}/lib )
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${BASE_DIR}/bin )
# output dirs for multi-config builds (MSVC)
foreach( OUTPUTCONFIG ${CMAKE_CONFIGURATION_TYPES} )
STRING( TOUPPER ${OUTPUTCONFIG} OUTPUTCONFIG )
SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${BASE_DIR}/lib )
SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${BASE_DIR}/lib )
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${BASE_DIR}/bin )
endforeach( OUTPUTCONFIG CMAKE_CONFIGURATION_TYPES )
# We need the main octomap library to link against (same version as octovis)
# Look at parent directory by default, in case the complete distribution
# (octomap & octovis together) is built.
#
# Otherwise you need to export octomap_DIR to the directory containing
# the file octomap-config.cmake
find_package(octomap ${OCTOVIS_MAJOR_VERSION}.${OCTOVIS_MINOR_VERSION} REQUIRED
HINTS ${CMAKE_SOURCE_DIR}/lib/cmake/octomap
${CMAKE_SOURCE_DIR}/../octomap/lib/cmake/octomap
)
MESSAGE(STATUS "Found octomap version: " ${octomap_VERSION})
# Export the package for use from the build-tree
# (this registers the build-tree with a global CMake-registry)
export(PACKAGE octovis)
set(INSTALL_TARGETS_DEFAULT_ARGS
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}"
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
)
# Builds the "octovis" viewer based on OpenGL and
# libQGLViewer, if dependencies available
SET( BUILD_VIEWER 0)
option(OCTOVIS_QT5 "Link Octovis against Qt5?" ON)
# Look for required libraries:
set(OpenGL_GL_PREFERENCE LEGACY)
FIND_PACKAGE(OpenGL)
if(NOT OCTOVIS_QT5)
FIND_PACKAGE(Qt4)
endif(NOT OCTOVIS_QT5)
IF (OpenGL-NOTFOUND OR Qt4-NOTFOUND)
MESSAGE ( "OpenGL and QT4 are required for octovis but could not be found.")
ELSE()
FIND_PACKAGE(QGLViewer)
IF(QGLViewer_FOUND)
SET( BUILD_VIEWER 1)
ELSE()
MESSAGE ( "\n")
MESSAGE ( "libQGLViewer could not be found or generated.")
ENDIF()
ENDIF()
IF(BUILD_VIEWER)
MESSAGE(STATUS "\n")
MESSAGE(STATUS "viewer octovis will be built")
set(INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
INCLUDE( CMakeLists_src.txt )
# Create an octovis-config.cmake file for the use from the build tree
set(OCTOVIS_INCLUDE_DIRS "${INCLUDE_DIRS}")
set(OCTOVIS_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
# Set library names as absolute paths
# Windows, spec. MSVC requires the .lib suffix for imported libs
IF(WIN32)
set(OCTOVIS_LIBRARY
"${CMAKE_IMPORT_LIBRARY_PREFIX}octovis${CMAKE_IMPORT_LIBRARY_SUFFIX}"
)
ELSE()
set(OCTOVIS_LIBRARY
"${CMAKE_SHARED_LIBRARY_PREFIX}octovis${CMAKE_SHARED_LIBRARY_SUFFIX}"
)
ENDIF()
include(CMakePackageConfigHelpers)
CONFIGURE_PACKAGE_CONFIG_FILE(
octovis-config.cmake.in
"${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config.cmake"
PATH_VARS OCTOVIS_INCLUDE_DIRS OCTOVIS_LIB_DIR
INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/octovis)
WRITE_BASIC_PACKAGE_VERSION_FILE(
"${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config-version.cmake"
VERSION ${OCTOVIS_VERSION}
COMPATIBILITY AnyNewerVersion)
# not used right now (export depends?)
#set(OCTOMAP_CMAKE_DIR "${PROJECT_BINARY_DIR}")
# Create a octovis-config.cmake file for the use from the install tree
# and install it
set(OCTOVIS_INCLUDE_DIRS "${CMAKE_INSTALL_FULL_INCLUDEDIR}")
set(OCTOVIS_LIB_DIR "${CMAKE_INSTALL_FULL_LIBDIR}")
#set(OCTOMAP_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
set(OCTOVIS_INCLUDE_TARGETS
"include(\${CMAKE_CURRENT_LIST_DIR}/octovis-targets.cmake)")
CONFIGURE_PACKAGE_CONFIG_FILE(
octovis-config.cmake.in
"${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake"
PATH_VARS OCTOVIS_INCLUDE_DIRS OCTOVIS_LIB_DIR
INSTALL_DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/octovis")
WRITE_BASIC_PACKAGE_VERSION_FILE(
"${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake"
VERSION ${OCTOVIS_VERSION}
COMPATIBILITY AnyNewerVersion)
install(FILES
"${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake"
"${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake"
DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/octovis")
# #installation:
# # store all header files to install:
file(GLOB octovis_HDRS *.h *.hxx *.hpp)
install(FILES ${octovis_HDRS} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/octovis")
# Install catkin package.xml
install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATADIR}/octovis")
# Allows Colcon to find non-Ament packages when using workspace underlays
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} "")
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} DESTINATION share/ament_index/resource_index/packages)
ELSE()
MESSAGE ( "Unfortunately, the viewer (octovis) can not be built because some requirements are missing.")
MESSAGE ( "This will not affect the compilation of the stand-alone library and tools (octomap)")
MESSAGE ( "See README.txt or http://octomap.sf.net for further information.\n")
ENDIF()
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