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|
set(SUBSYS_NAME io)
set(SUBSYS_DESC "Point cloud IO library")
set(SUBSYS_DEPS common octree)
set(build TRUE)
PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
if(WIN32)
PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS openni openni2 pcap png vtk)
else(WIN32)
PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS openni openni2 pcap png vtk libusb-1.0)
endif(WIN32)
PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(IMAGE_INCLUDES
include/pcl/io/image_metadata_wrapper.h
include/pcl/io/image.h
include/pcl/io/image_rgb24.h
include/pcl/io/image_yuv422.h
include/pcl/io/image_ir.h
include/pcl/io/image_depth.h
)
set(IMAGE_SOURCES
src/image_rgb24.cpp
src/image_yuv422.cpp
src/image_ir.cpp
src/image_depth.cpp
)
## OpenNI 2.x
OPTION(BUILD_OPENNI2 "Build the OpenNI 2 Grabber." OFF)
MARK_AS_ADVANCED(BUILD_OPENNI2)
if(NOT BUILD_OPENNI2)
# Set OPENNI2_FOUND to false locally to avoid building anything OpenNI 2 related
# Remember that other modules (libraries) need to check explicitly for BUILD_OPENNI2
set(OPENNI2_FOUND FALSE)
endif()
if(OPENNI2_FOUND)
set(OPENNI2_GRABBER_INCLUDES
include/pcl/io/openni2_grabber.h
)
set(OPENNI2_INCLUDES
include/pcl/io/openni2/openni.h
include/pcl/io/openni2/openni2_metadata_wrapper.h
include/pcl/io/openni2/openni2_frame_listener.h
include/pcl/io/openni2/openni2_timer_filter.h
include/pcl/io/openni2/openni2_video_mode.h
include/pcl/io/openni2/openni2_convert.h
include/pcl/io/openni2/openni2_device.h
include/pcl/io/openni2/openni2_device_info.h
include/pcl/io/openni2/openni2_device_manager.h
)
set(OPENNI2_GRABBER_SOURCES
src/openni2_grabber.cpp
src/openni2/openni2_timer_filter.cpp
src/openni2/openni2_video_mode.cpp
src/openni2/openni2_convert.cpp
src/openni2/openni2_device.cpp
src/openni2/openni2_device_info.cpp
src/openni2/openni2_device_manager.cpp
)
source_group("OpenNI 2\\Header Files" FILES ${OPENNI2_GRABBER_INCLUDES} ${OPENNI2_INCLUDES} ${IMAGE_INCLUDES})
source_group("OpenNI 2\\Source Files" FILES ${OPENNI2_GRABBER_SOURCES} ${IMAGE_SOURCES})
# Copy OpenNI2 redist directory to bin. Needed for driver modules. Only tested on Windows.
if(MSVC)
file(COPY ${OPENNI2_REDIST_DIR} DESTINATION ${CMAKE_BINARY_DIR}/bin PATTERN *.*)
endif(MSVC)
endif(OPENNI2_FOUND)
## OpenNI 1.x
OPTION(BUILD_OPENNI "Build the OpenNI Grabber." ON)
MARK_AS_ADVANCED(BUILD_OPENNI)
if(NOT BUILD_OPENNI)
# Set OPENNI_FOUND to false locally to avoid building anything OpenNI related
# Remember that other modules (libraries) need to check explicitly for BUILD_OPENNI
set(OPENNI_FOUND FALSE)
endif()
if(OPENNI_FOUND)
set(OPENNI_GRABBER_INCLUDES
include/pcl/io/openni_grabber.h
include/pcl/io/oni_grabber.h
)
set(OPENNI_INCLUDES
include/pcl/io/openni_camera/openni_shift_to_depth_conversion.h
include/pcl/io/openni_camera/openni.h
include/pcl/io/openni_camera/openni_depth_image.h
include/pcl/io/openni_camera/openni_device.h
include/pcl/io/openni_camera/openni_device_kinect.h
include/pcl/io/openni_camera/openni_device_primesense.h
include/pcl/io/openni_camera/openni_device_xtion.h
include/pcl/io/openni_camera/openni_device_oni.h
include/pcl/io/openni_camera/openni_driver.h
include/pcl/io/openni_camera/openni_exception.h
include/pcl/io/openni_camera/openni_image.h
include/pcl/io/openni_camera/openni_image_bayer_grbg.h
include/pcl/io/openni_camera/openni_image_yuv_422.h
include/pcl/io/openni_camera/openni_image_rgb24.h
include/pcl/io/openni_camera/openni_ir_image.h
${IMAGE_INCLUDES}
)
set(OPENNI_GRABBER_SOURCES
src/openni_camera/openni_device.cpp
src/openni_camera/openni_device_primesense.cpp
src/openni_camera/openni_image_bayer_grbg.cpp
src/openni_camera/openni_depth_image.cpp
src/openni_camera/openni_ir_image.cpp
src/openni_camera/openni_device_kinect.cpp
src/openni_camera/openni_device_xtion.cpp
src/openni_camera/openni_device_oni.cpp
src/openni_camera/openni_driver.cpp
src/openni_camera/openni_exception.cpp
src/openni_camera/openni_image_yuv_422.cpp
src/openni_camera/openni_image_rgb24.cpp
src/openni_grabber.cpp
src/oni_grabber.cpp
${IMAGE_SOURCES}
)
endif(OPENNI_FOUND)
source_group("Image Headers" FILES ${IMAGE_INCLUDES})
source_group("Image Sources" FILES ${IMAGE_SOURCES})
if(FZAPI_FOUND)
set(FZAPI_GRABBER_INCLUDES
include/pcl/io/fotonic_grabber.h
)
# set(FZAPI_INCLUDES
# include/pcl/io/openni_camera/openni.h
# )
set(FZAPI_GRABBER_SOURCES
src/fotonic_grabber.cpp
)
endif(FZAPI_FOUND)
if(PXCAPI_FOUND)
set(PXC_GRABBER_INCLUDES
include/pcl/io/pxc_grabber.h
)
set(PXC_GRABBER_SOURCES
src/pxc_grabber.cpp
)
endif(PXCAPI_FOUND)
if(LIBUSB_1_FOUND)
set(DINAST_GRABBER_INCLUDES
include/pcl/io/dinast_grabber.h
)
set(DINAST_GRABBER_SOURCES
src/dinast_grabber.cpp
)
endif(LIBUSB_1_FOUND)
if (VTK_FOUND AND NOT ANDROID)
set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
include("${VTK_USE_FILE}")
set(VTK_IO_INCLUDES
"include/pcl/${SUBSYS_NAME}/vtk_lib_io.h"
"include/pcl/${SUBSYS_NAME}/png_io.h"
)
set(VTK_IO_INCLUDES_IMPL
"include/pcl/${SUBSYS_NAME}/impl/vtk_lib_io.hpp"
)
set(VTK_IO_SOURCE
src/vtk_lib_io.cpp
src/png_io.cpp
)
set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkIO vtkImaging vtkHybrid vtkGraphics vtkRendering vtkFiltering vtkVolumeRendering)
# Indicates that we can rely on VTK to be present
set(VTK_DEFINES -DPCL_BUILT_WITH_VTK)
endif ()
set(PLY_SOURCES src/ply/ply_parser.cpp)
set(PLY_INCLUDES
"include/pcl/${SUBSYS_NAME}/ply/byte_order.h"
"include/pcl/${SUBSYS_NAME}/ply/io_operators.h"
"include/pcl/${SUBSYS_NAME}/ply/ply.h"
"include/pcl/${SUBSYS_NAME}/ply/ply_parser.h"
)
PCL_ADD_LIBRARY(pcl_io_ply "${SUBSYS_NAME}" ${PLY_SOURCES} ${PLY_INCLUDES})
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/ply" ${PLY_INCLUDES})
set(srcs
src/debayer.cpp
src/pcd_grabber.cpp
src/pcd_io.cpp
src/vtk_io.cpp
src/ply_io.cpp
src/ascii_io.cpp
src/compression.cpp
src/lzf.cpp
src/lzf_image_io.cpp
src/obj_io.cpp
src/ifs_io.cpp
src/image_grabber.cpp
src/hdl_grabber.cpp
src/robot_eye_grabber.cpp
src/file_io.cpp
src/io_exception.cpp
${VTK_IO_SOURCE}
${OPENNI_GRABBER_SOURCES}
${OPENNI2_GRABBER_SOURCES}
${IMAGE_SOURCES}
${DINAST_GRABBER_SOURCES}
${FZAPI_GRABBER_SOURCES}
${PXC_GRABBER_SOURCES}
)
if(PNG_FOUND)
list(APPEND srcs
src/libpng_wrapper.cpp
)
endif(PNG_FOUND)
if(PCAP_FOUND)
set(PCAP_DEFINES -DHAVE_PCAP)
include_directories(${PCAP_INCLUDE_DIRS})
add_definitions(${PCAP_DEFINES})
endif(PCAP_FOUND)
set(incs
"include/pcl/${SUBSYS_NAME}/boost.h"
"include/pcl/${SUBSYS_NAME}/eigen.h"
"include/pcl/${SUBSYS_NAME}/debayer.h"
"include/pcl/${SUBSYS_NAME}/file_io.h"
"include/pcl/${SUBSYS_NAME}/lzf.h"
"include/pcl/${SUBSYS_NAME}/lzf_image_io.h"
"include/pcl/${SUBSYS_NAME}/io.h"
"include/pcl/${SUBSYS_NAME}/grabber.h"
"include/pcl/${SUBSYS_NAME}/file_grabber.h"
"include/pcl/${SUBSYS_NAME}/pcd_grabber.h"
"include/pcl/${SUBSYS_NAME}/pcd_io.h"
"include/pcl/${SUBSYS_NAME}/vtk_io.h"
"include/pcl/${SUBSYS_NAME}/ply_io.h"
"include/pcl/${SUBSYS_NAME}/tar.h"
"include/pcl/${SUBSYS_NAME}/obj_io.h"
"include/pcl/${SUBSYS_NAME}/ascii_io.h"
"include/pcl/${SUBSYS_NAME}/ifs_io.h"
"include/pcl/${SUBSYS_NAME}/image_grabber.h"
"include/pcl/${SUBSYS_NAME}/hdl_grabber.h"
"include/pcl/${SUBSYS_NAME}/robot_eye_grabber.h"
"include/pcl/${SUBSYS_NAME}/point_cloud_image_extractors.h"
"include/pcl/${SUBSYS_NAME}/io_exception.h"
${VTK_IO_INCLUDES}
${OPENNI_GRABBER_INCLUDES}
${OPENNI2_GRABBER_INCLUDES}
${IMAGE_INCLUDES}
${DINAST_GRABBER_INCLUDES}
${FZAPI_GRABBER_INCLUDES}
${PXC_GRABBER_INCLUDES}
)
set(compression_incs
include/pcl/compression/octree_pointcloud_compression.h
include/pcl/compression/color_coding.h
include/pcl/compression/compression_profiles.h
include/pcl/compression/entropy_range_coder.h
include/pcl/compression/point_coding.h
)
if(PNG_FOUND)
list(APPEND compression_incs
include/pcl/compression/organized_pointcloud_conversion.h
include/pcl/compression/libpng_wrapper.h
)
if(OPENNI_FOUND OR OPENNI2_FOUND)
list(APPEND compression_incs
include/pcl/compression/organized_pointcloud_compression.h
)
endif(OPENNI_FOUND OR OPENNI2_FOUND)
endif(PNG_FOUND)
set(impl_incs
"include/pcl/${SUBSYS_NAME}/impl/pcd_io.hpp"
"include/pcl/${SUBSYS_NAME}/impl/lzf_image_io.hpp"
"include/pcl/${SUBSYS_NAME}/impl/synchronized_queue.hpp"
"include/pcl/${SUBSYS_NAME}/impl/point_cloud_image_extractors.hpp"
include/pcl/compression/impl/entropy_range_coder.hpp
include/pcl/compression/impl/octree_pointcloud_compression.hpp
${VTK_IO_INCLUDES_IMPL}
)
if(PNG_FOUND AND (OPENNI_FOUND OR OPENNI2_FOUND) )
list(APPEND impl_incs
include/pcl/compression/impl/organized_pointcloud_compression.hpp
)
endif(PNG_FOUND AND (OPENNI_FOUND OR OPENNI2_FOUND) )
set(LIB_NAME "pcl_${SUBSYS_NAME}")
include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" ${VTK_INCLUDE_DIRECTORIES})
add_definitions(${VTK_DEFINES})
PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
link_directories(${VTK_LINK_DIRECTORIES})
target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES} )
if(PNG_FOUND)
target_link_libraries("${LIB_NAME}" "${PNG_LIBRARY}")
endif(PNG_FOUND)
if(LIBUSB_1_FOUND)
target_link_libraries("${LIB_NAME}" ${LIBUSB_1_LIBRARIES})
endif(LIBUSB_1_FOUND)
if(OPENNI2_FOUND)
target_link_libraries(${LIB_NAME} ${OPENNI2_LIBRARIES})
endif(OPENNI2_FOUND)
if(OPENNI_FOUND)
target_link_libraries("${LIB_NAME}" ${OPENNI_LIBRARIES})
endif(OPENNI_FOUND)
if(FZAPI_FOUND)
target_link_libraries("${LIB_NAME}" ${FZAPI_LIBS})
if(WIN32)
target_link_libraries("${LIB_NAME}" Version.lib)
endif(WIN32)
endif(FZAPI_FOUND)
if(PXCAPI_FOUND)
link_directories(${PXCAPI_LIB_DIRS})
target_link_libraries("${LIB_NAME}" ${PXCAPI_LIBS})
endif(PXCAPI_FOUND)
if (PCAP_FOUND)
target_link_libraries("${LIB_NAME}" ${PCAP_LIBRARIES})
endif(PCAP_FOUND)
set(EXT_DEPS eigen3)
if(OPENNI_FOUND)
list(APPEND EXT_DEPS libopenni)
endif(OPENNI_FOUND)
if(OPENNI2_FOUND)
list(APPEND EXT_DEPS libopenni2)
endif(OPENNI2_FOUND)
PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}"
"${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")
# Install include files
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
PCL_ADD_INCLUDES("${SUBSYS_NAME}" compression ${compression_incs})
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/openni_camera" ${OPENNI_INCLUDES})
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/openni2" ${OPENNI2_INCLUDES})
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
if(BUILD_tools)
add_subdirectory(tools)
endif(BUILD_tools)
endif(build)
|
