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|
# ------------------------------------------------------------------------------------
# Helper to use PCL from outside project
#
# target_link_libraries(my_fabulous_target PCL_XXX_LIBRARIES) where XXX is the
# upper cased xxx from :
# @PCLCONFIG_AVAILABLE_COMPONENTS_LIST@
#
# PCL_INCLUDE_DIRS is filled with PCL and available 3rdparty headers
# PCL_LIBRARY_DIRS is filled with PCL components libraries install directory and
# 3rdparty libraries paths
#
# www.pointclouds.org
#------------------------------------------------------------------------------------
if(POLICY CMP0074)
# TODO: update *_ROOT variables to be PCL_*_ROOT or equivalent.
# CMP0074 directly affects how Find* modules work and *_ROOT variables. Since
# this is a config file that will be consumed by parent projects with (likely)
# NEW behavior, we need to push a policy stack.
cmake_policy(PUSH)
cmake_policy(SET CMP0074 OLD)
endif()
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Modules")
### ---[ some useful macros
macro(pcl_report_not_found _reason)
unset(PCL_FOUND)
unset(PCL_LIBRARIES)
unset(PCL_COMPONENTS)
unset(PCL_INCLUDE_DIRS)
unset(PCL_LIBRARY_DIRS)
unset(PCL_DEFINITIONS)
if(PCL_FIND_REQUIRED)
message(FATAL_ERROR ${_reason})
elseif(NOT PCL_FIND_QUIETLY)
message(WARNING ${_reason})
endif()
if(POLICY CMP0074)
cmake_policy(POP)
endif()
return()
endmacro(pcl_report_not_found)
macro(pcl_message)
if(NOT PCL_FIND_QUIETLY)
message(${ARGN})
endif(NOT PCL_FIND_QUIETLY)
endmacro(pcl_message)
# Remove duplicate libraries
macro(pcl_remove_duplicate_libraries _unfiltered_libraries _filtered_libraries)
set(${_filtered_libraries})
set(_debug_libraries)
set(_optimized_libraries)
set(_other_libraries)
set(_waiting_for_debug 0)
set(_waiting_for_optimized 0)
set(_library_position -1)
foreach(library ${${_unfiltered_libraries}})
if("${library}" STREQUAL "debug")
set(_waiting_for_debug 1)
elseif("${library}" STREQUAL "optimized")
set(_waiting_for_optimized 1)
elseif(_waiting_for_debug)
list(FIND _debug_libraries "${library}" library_position)
if(library_position EQUAL -1)
list(APPEND ${_filtered_libraries} debug ${library})
list(APPEND _debug_libraries ${library})
endif()
set(_waiting_for_debug 0)
elseif(_waiting_for_optimized)
list(FIND _optimized_libraries "${library}" library_position)
if(library_position EQUAL -1)
list(APPEND ${_filtered_libraries} optimized ${library})
list(APPEND _optimized_libraries ${library})
endif()
set(_waiting_for_optimized 0)
else("${library}" STREQUAL "debug")
list(FIND _other_libraries "${library}" library_position)
if(library_position EQUAL -1)
list(APPEND ${_filtered_libraries} ${library})
list(APPEND _other_libraries ${library})
endif()
endif("${library}" STREQUAL "debug")
endforeach(library)
endmacro(pcl_remove_duplicate_libraries)
### ---[ 3rd party libraries
macro(find_boost)
if(PCL_ALL_IN_ONE_INSTALLER)
set(BOOST_ROOT "${PCL_ROOT}/3rdParty/Boost")
elseif(NOT BOOST_INCLUDEDIR)
set(BOOST_INCLUDEDIR "@Boost_INCLUDE_DIR@")
endif(PCL_ALL_IN_ONE_INSTALLER)
# use static Boost in Windows
if(WIN32)
set(Boost_USE_STATIC_LIBS @Boost_USE_STATIC_LIBS@)
set(Boost_USE_STATIC @Boost_USE_STATIC@)
set(Boost_USE_MULTITHREAD @Boost_USE_MULTITHREAD@)
endif(WIN32)
if(${CMAKE_VERSION} VERSION_LESS 2.8.5)
set(Boost_ADDITIONAL_VERSIONS
"1.47.0" "1.47" "1.46.1"
"1.46.0" "1.46" "1.45.0" "1.45" "1.44.0" "1.44" "1.43.0" "1.43")
else(${CMAKE_VERSION} VERSION_LESS 2.8.5)
set(Boost_ADDITIONAL_VERSIONS
"@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@.@Boost_SUBMINOR_VERSION@" "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@"
"1.68.0" "1.68" "1.67.0" "1.67" "1.66.0" "1.66" "1.65.1" "1.65.0" "1.65"
"1.64.0" "1.64" "1.63.0" "1.63" "1.62.0" "1.62" "1.61.0" "1.61" "1.60.0" "1.60"
"1.59.0" "1.59" "1.58.0" "1.58" "1.57.0" "1.57" "1.56.0" "1.56" "1.55.0" "1.55"
"1.54.0" "1.54" "1.53.0" "1.53" "1.52.0" "1.52" "1.51.0" "1.51"
"1.50.0" "1.50" "1.49.0" "1.49" "1.48.0" "1.48" "1.47.0" "1.47")
endif(${CMAKE_VERSION} VERSION_LESS 2.8.5)
# Disable the config mode of find_package(Boost)
set(Boost_NO_BOOST_CMAKE ON)
find_package(Boost 1.40.0 ${QUIET_} COMPONENTS @PCLCONFIG_AVAILABLE_BOOST_MODULES@)
set(BOOST_FOUND ${Boost_FOUND})
set(BOOST_INCLUDE_DIRS "${Boost_INCLUDE_DIR}")
set(BOOST_LIBRARY_DIRS "${Boost_LIBRARY_DIRS}")
set(BOOST_LIBRARIES ${Boost_LIBRARIES})
if(WIN32 AND NOT MINGW)
set(BOOST_DEFINITIONS ${BOOST_DEFINITIONS} -DBOOST_ALL_NO_LIB)
endif(WIN32 AND NOT MINGW)
endmacro(find_boost)
#remove this as soon as eigen is shipped with FindEigen.cmake
macro(find_eigen)
if(PCL_ALL_IN_ONE_INSTALLER)
set(EIGEN_ROOT "${PCL_ROOT}/3rdParty/Eigen")
elseif(NOT EIGEN_ROOT)
get_filename_component(EIGEN_ROOT "@EIGEN_INCLUDE_DIRS@" ABSOLUTE)
endif(PCL_ALL_IN_ONE_INSTALLER)
find_package(Eigen)
set(EIGEN_DEFINITIONS ${EIGEN_DEFINITIONS})
endmacro(find_eigen)
#remove this as soon as qhull is shipped with FindQhull.cmake
macro(find_qhull)
if(PCL_ALL_IN_ONE_INSTALLER)
set(QHULL_ROOT "${PCL_ROOT}/3rdParty/Qhull")
elseif(NOT QHULL_ROOT)
get_filename_component(QHULL_ROOT "@QHULL_INCLUDE_DIRS@" PATH)
endif(PCL_ALL_IN_ONE_INSTALLER)
set(QHULL_USE_STATIC @QHULL_USE_STATIC@)
find_package(Qhull)
endmacro(find_qhull)
#remove this as soon as libopenni is shipped with FindOpenni.cmake
macro(find_openni)
if(PCL_FIND_QUIETLY)
set(OpenNI_FIND_QUIETLY TRUE)
endif()
if(NOT OPENNI_ROOT AND ("@HAVE_OPENNI@" STREQUAL "TRUE"))
set(OPENNI_INCLUDE_DIRS_HINT "@OPENNI_INCLUDE_DIRS@")
get_filename_component(OPENNI_LIBRARY_HINT "@OPENNI_LIBRARY@" PATH)
endif()
find_package(OpenNI)
endmacro(find_openni)
#remove this as soon as libopenni2 is shipped with FindOpenni2.cmake
macro(find_openni2)
if(PCL_FIND_QUIETLY)
set(OpenNI2_FIND_QUIETLY TRUE)
endif()
if(NOT OPENNI2_ROOT AND ("@HAVE_OPENNI2@" STREQUAL "TRUE"))
set(OPENNI2_INCLUDE_DIRS_HINT "@OPENNI2_INCLUDE_DIRS@")
get_filename_component(OPENNI2_LIBRARY_HINT "@OPENNI2_LIBRARY@" PATH)
endif()
find_package(OpenNI2)
endmacro(find_openni2)
#remove this as soon as the Ensenso SDK is shipped with FindEnsenso.cmake
macro(find_ensenso)
if(PCL_FIND_QUIETLY)
set(ensenso_FIND_QUIETLY TRUE)
endif()
if(NOT ENSENSO_ROOT AND ("@HAVE_ENSENSO@" STREQUAL "TRUE"))
get_filename_component(ENSENSO_ABI_HINT "@ENSENSO_INCLUDE_DIR@" PATH)
endif()
find_package(Ensenso)
endmacro(find_ensenso)
#remove this as soon as the davidSDK is shipped with FinddavidSDK.cmake
macro(find_davidSDK)
if(PCL_FIND_QUIETLY)
set(DAVIDSDK_FIND_QUIETLY TRUE)
endif()
if(NOT davidSDK_ROOT AND ("@HAVE_DAVIDSDK@" STREQUAL "TRUE"))
get_filename_component(DAVIDSDK_ABI_HINT @DAVIDSDK_INCLUDE_DIR@ PATH)
endif()
find_package(davidSDK)
endmacro(find_davidSDK)
macro(find_dssdk)
if(PCL_FIND_QUIETLY)
set(DSSDK_FIND_QUIETLY TRUE)
endif()
if(NOT DSSDK_DIR AND ("@HAVE_DSSDK@" STREQUAL "TRUE"))
get_filename_component(DSSDK_DIR_HINT "@DSSDK_INCLUDE_DIRS@" PATH)
endif()
find_package(DSSDK)
endmacro(find_dssdk)
macro(find_rssdk)
if(PCL_FIND_QUIETLY)
set(RSSDK_FIND_QUIETLY TRUE)
endif()
if(NOT RSSDK_DIR AND ("@HAVE_RSSDK@" STREQUAL "TRUE"))
get_filename_component(RSSDK_DIR_HINT "@RSSDK_INCLUDE_DIRS@" PATH)
endif()
find_package(RSSDK)
endmacro(find_rssdk)
#remove this as soon as flann is shipped with FindFlann.cmake
macro(find_flann)
if(PCL_ALL_IN_ONE_INSTALLER)
set(FLANN_ROOT "${PCL_ROOT}/3rdParty/Flann")
elseif(NOT FLANN_ROOT)
get_filename_component(FLANN_ROOT "@FLANN_INCLUDE_DIRS@" PATH)
endif(PCL_ALL_IN_ONE_INSTALLER)
set(FLANN_USE_STATIC @FLANN_USE_STATIC@)
find_package(FLANN)
endmacro(find_flann)
macro(find_VTK)
if(PCL_ALL_IN_ONE_INSTALLER AND NOT ANDROID)
if(EXISTS "${PCL_ROOT}/3rdParty/VTK/lib/cmake")
set(VTK_DIR "${PCL_ROOT}/3rdParty/VTK/lib/cmake/vtk-@VTK_MAJOR_VERSION@.@VTK_MINOR_VERSION@" CACHE PATH "The directory containing VTKConfig.cmake")
else()
set(VTK_DIR "${PCL_ROOT}/3rdParty/VTK/lib/vtk-@VTK_MAJOR_VERSION@.@VTK_MINOR_VERSION@" CACHE PATH "The directory containing VTKConfig.cmake")
endif()
elseif(NOT VTK_DIR AND NOT ANDROID)
set(VTK_DIR "@VTK_DIR@" CACHE PATH "The directory containing VTKConfig.cmake")
endif(PCL_ALL_IN_ONE_INSTALLER AND NOT ANDROID)
if(NOT ANDROID)
find_package(VTK ${QUIET_})
endif()
endmacro(find_VTK)
macro(find_libusb)
if(NOT WIN32)
find_path(LIBUSB_1_INCLUDE_DIR
NAMES libusb-1.0/libusb.h
PATHS /usr/include /usr/local/include /opt/local/include /sw/include
PATH_SUFFIXES libusb-1.0)
find_library(LIBUSB_1_LIBRARY
NAMES usb-1.0
PATHS /usr/lib /usr/local/lib /opt/local/lib /sw/lib)
find_package_handle_standard_args(libusb-1.0 LIBUSB_1_LIBRARY LIBUSB_1_INCLUDE_DIR)
endif(NOT WIN32)
endmacro(find_libusb)
macro(find_glew)
find_package(GLEW)
endmacro(find_glew)
# Finds each component external libraries if any
# The functioning is as following
# try to find _lib
# |--> _lib found ==> include the headers,
# | link to its library directories or include _lib_USE_FILE
# `--> _lib not found
# |--> _lib is optional ==> disable it (thanks to the guardians)
# | and warn
# `--> _lib is required
# |--> component is required explicitly ==> error
# `--> component is induced ==> warn and remove it
# from the list
macro(find_external_library _component _lib _is_optional)
if("${_lib}" STREQUAL "boost")
find_boost()
elseif("${_lib}" STREQUAL "eigen")
find_eigen()
elseif("${_lib}" STREQUAL "flann")
find_flann()
elseif("${_lib}" STREQUAL "qhull")
find_qhull()
elseif("${_lib}" STREQUAL "openni")
find_openni()
elseif("${_lib}" STREQUAL "openni2")
find_openni2()
elseif("${_lib}" STREQUAL "ensenso")
find_ensenso()
elseif("${_lib}" STREQUAL "davidSDK")
find_davidSDK()
elseif("${_lib}" STREQUAL "dssdk")
find_dssdk()
elseif("${_lib}" STREQUAL "rssdk")
find_rssdk()
elseif("${_lib}" STREQUAL "vtk")
find_VTK()
elseif("${_lib}" STREQUAL "libusb-1.0")
find_libusb()
elseif("${_lib}" STREQUAL "glew")
find_glew()
elseif("${_lib}" STREQUAL "opengl")
find_package(OpenGL)
endif("${_lib}" STREQUAL "boost")
string(TOUPPER "${_component}" COMPONENT)
string(TOUPPER "${_lib}" LIB)
string(REGEX REPLACE "[.-]" "_" LIB ${LIB})
if(${LIB}_FOUND)
list(APPEND PCL_${COMPONENT}_INCLUDE_DIRS ${${LIB}_INCLUDE_DIRS})
if(${LIB}_USE_FILE)
include(${${LIB}_USE_FILE})
else(${LIB}_USE_FILE)
list(APPEND PCL_${COMPONENT}_LIBRARY_DIRS "${${LIB}_LIBRARY_DIRS}")
endif(${LIB}_USE_FILE)
if(${LIB}_LIBRARIES)
list(APPEND PCL_${COMPONENT}_LIBRARIES "${${LIB}_LIBRARIES}")
endif(${LIB}_LIBRARIES)
if(${LIB}_DEFINITIONS AND NOT ${LIB} STREQUAL "VTK")
list(APPEND PCL_${COMPONENT}_DEFINITIONS ${${LIB}_DEFINITIONS})
endif(${LIB}_DEFINITIONS AND NOT ${LIB} STREQUAL "VTK")
else(${LIB}_FOUND)
if("${_is_optional}" STREQUAL "OPTIONAL")
list(APPEND PCL_${COMPONENT}_DEFINITIONS "-DDISABLE_${LIB}")
pcl_message("** WARNING ** ${_component} features related to ${_lib} will be disabled")
elseif("${_is_optional}" STREQUAL "REQUIRED")
if((NOT PCL_FIND_ALL) OR (PCL_FIND_ALL EQUAL 1))
pcl_report_not_found("${_component} is required but ${_lib} was not found")
elseif(PCL_FIND_ALL EQUAL 0)
# raise error and remove _component from PCL_TO_FIND_COMPONENTS
string(TOUPPER "${_component}" COMPONENT)
pcl_message("** WARNING ** ${_component} will be disabled cause ${_lib} was not found")
list(REMOVE_ITEM PCL_TO_FIND_COMPONENTS ${_component})
endif((NOT PCL_FIND_ALL) OR (PCL_FIND_ALL EQUAL 1))
endif("${_is_optional}" STREQUAL "OPTIONAL")
endif(${LIB}_FOUND)
endmacro(find_external_library)
macro(pcl_check_external_dependency _component)
endmacro(pcl_check_external_dependency)
#flatten dependencies recursivity is great \o/
macro(compute_dependencies TO_FIND_COMPONENTS)
foreach(component ${${TO_FIND_COMPONENTS}})
set(pcl_component pcl_${component})
if(${pcl_component}_int_dep AND (NOT PCL_FIND_ALL))
foreach(dependency ${${pcl_component}_int_dep})
list(FIND ${TO_FIND_COMPONENTS} ${component} pos)
list(FIND ${TO_FIND_COMPONENTS} ${dependency} found)
if(found EQUAL -1)
set(pcl_dependency pcl_${dependency})
if(${pcl_dependency}_int_dep)
list(INSERT ${TO_FIND_COMPONENTS} ${pos} ${dependency})
if(pcl_${dependency}_ext_dep)
list(APPEND pcl_${component}_ext_dep ${pcl_${dependency}_ext_dep})
endif(pcl_${dependency}_ext_dep)
if(pcl_${dependency}_opt_dep)
list(APPEND pcl_${component}_opt_dep ${pcl_${dependency}_opt_dep})
endif(pcl_${dependency}_opt_dep)
compute_dependencies(${TO_FIND_COMPONENTS})
else(${pcl_dependency}_int_dep)
list(INSERT ${TO_FIND_COMPONENTS} 0 ${dependency})
endif(${pcl_dependency}_int_dep)
endif(found EQUAL -1)
endforeach(dependency)
endif(${pcl_component}_int_dep AND (NOT PCL_FIND_ALL))
endforeach(component)
endmacro(compute_dependencies)
### ---[ Find PCL
if(PCL_FIND_QUIETLY)
set(QUIET_ QUIET)
else(PCL_FIND_QUIETLY)
set(QUIET_)
endif(PCL_FIND_QUIETLY)
find_package(PkgConfig QUIET)
file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
if(WIN32 AND NOT MINGW)
# PCLConfig.cmake is installed to PCL_ROOT/cmake
get_filename_component(PCL_ROOT "${PCL_DIR}" PATH)
else(WIN32 AND NOT MINGW)
# PCLConfig.cmake is installed to PCL_ROOT/share/pcl-x.y
get_filename_component(PCL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../../../.." ABSOLUTE)
endif(WIN32 AND NOT MINGW)
# check whether PCLConfig.cmake is found into a PCL installation or in a build tree
if(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
# Found a PCL installation
# pcl_message("Found a PCL installation")
set(PCL_INCLUDE_DIRS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@")
if(EXISTS "${PCL_ROOT}/3rdParty")
set(PCL_ALL_IN_ONE_INSTALLER ON)
endif(EXISTS "${PCL_ROOT}/3rdParty")
elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
# Found a non-standard (likely ANDROID) PCL installation
# pcl_message("Found a PCL installation")
set(PCL_INCLUDE_DIRS "${PCL_ROOT}/include")
set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
if(EXISTS "${PCL_ROOT}/3rdParty")
set(PCL_ALL_IN_ONE_INSTALLER ON)
endif(EXISTS "${PCL_ROOT}/3rdParty")
elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
# Found PCLConfig.cmake in a build tree of PCL
# pcl_message("PCL found into a build tree.")
set(PCL_INCLUDE_DIRS "${PCL_DIR}/include") # for pcl_config.h
set(PCL_LIBRARY_DIRS "${PCL_DIR}/@LIB_INSTALL_DIR@")
set(PCL_SOURCES_TREE "@CMAKE_SOURCE_DIR@")
else(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
pcl_report_not_found("PCL can not be found on this machine")
endif(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
#set a suffix for debug libraries
set(PCL_DEBUG_SUFFIX "@CMAKE_DEBUG_POSTFIX@")
set(PCL_RELEASE_SUFFIX "@CMAKE_RELEASE_POSTFIX@")
#set SSE flags used compiling PCL
list(APPEND PCL_DEFINITIONS @PCLCONFIG_SSE_DEFINITIONS@)
list(APPEND PCL_COMPILE_OPTIONS @PCLCONFIG_SSE_COMPILE_OPTIONS@)
set(pcl_all_components @PCLCONFIG_AVAILABLE_COMPONENTS@ )
list(LENGTH pcl_all_components PCL_NB_COMPONENTS)
#list each component dependencies IN PCL
@PCLCONFIG_INTERNAL_DEPENDENCIES@
#list each component external dependencies (ext means mandatory and opt means optional)
@PCLCONFIG_EXTERNAL_DEPENDENCIES@
@PCLCONFIG_OPTIONAL_DEPENDENCIES@
set(pcl_header_only_components 2d cuda_common geometry gpu_tracking modeler in_hand_scanner point_cloud_editor cloud_composer optronic_viewer)
include(FindPackageHandleStandardArgs)
#check if user provided a list of components
#if no components at all or full list is given set PCL_FIND_ALL
if(PCL_FIND_COMPONENTS)
list(LENGTH PCL_FIND_COMPONENTS PCL_FIND_COMPONENTS_LENGTH)
if(PCL_FIND_COMPONENTS_LENGTH EQUAL PCL_NB_COMPONENTS)
set(PCL_TO_FIND_COMPONENTS ${pcl_all_components})
set(PCL_FIND_ALL 1)
else(PCL_FIND_COMPONENTS_LENGTH EQUAL PCL_NB_COMPONENTS)
set(PCL_TO_FIND_COMPONENTS ${PCL_FIND_COMPONENTS})
endif(PCL_FIND_COMPONENTS_LENGTH EQUAL PCL_NB_COMPONENTS)
else(PCL_FIND_COMPONENTS)
set(PCL_TO_FIND_COMPONENTS ${pcl_all_components})
set(PCL_FIND_ALL 1)
endif(PCL_FIND_COMPONENTS)
compute_dependencies(PCL_TO_FIND_COMPONENTS)
# We do not need to find components that have been found already, e.g. during previous invocation
# of find_package(PCL). Filter them out.
foreach(component ${PCL_TO_FIND_COMPONENTS})
string(TOUPPER "${component}" COMPONENT)
if(NOT PCL_${COMPONENT}_FOUND)
list(APPEND _PCL_TO_FIND_COMPONENTS ${component})
endif()
endforeach()
set(PCL_TO_FIND_COMPONENTS ${_PCL_TO_FIND_COMPONENTS})
unset(_PCL_TO_FIND_COMPONENTS)
if(NOT PCL_TO_FIND_COMPONENTS)
if(POLICY CMP0074)
cmake_policy(POP)
endif()
return()
endif()
# compute external dependencies per component
foreach(component ${PCL_TO_FIND_COMPONENTS})
foreach(opt ${pcl_${component}_opt_dep})
find_external_library(${component} ${opt} OPTIONAL)
endforeach(opt)
foreach(ext ${pcl_${component}_ext_dep})
find_external_library(${component} ${ext} REQUIRED)
endforeach(ext)
endforeach(component)
foreach(component ${PCL_TO_FIND_COMPONENTS})
set(pcl_component pcl_${component})
string(TOUPPER "${component}" COMPONENT)
pcl_message(STATUS "looking for PCL_${COMPONENT}")
string(REGEX REPLACE "^cuda_(.*)$" "\\1" cuda_component "${component}")
string(REGEX REPLACE "^gpu_(.*)$" "\\1" gpu_component "${component}")
find_path(PCL_${COMPONENT}_INCLUDE_DIR
NAMES pcl/${component}
pcl/apps/${component}
pcl/cuda/${cuda_component} pcl/cuda/${component}
pcl/gpu/${gpu_component} pcl/gpu/${component}
HINTS ${PCL_INCLUDE_DIRS}
"${PCL_SOURCES_TREE}"
PATH_SUFFIXES
${component}/include
apps/${component}/include
cuda/${cuda_component}/include
gpu/${gpu_component}/include
DOC "path to ${component} headers"
NO_DEFAULT_PATH)
mark_as_advanced(PCL_${COMPONENT}_INCLUDE_DIR)
if(PCL_${COMPONENT}_INCLUDE_DIR)
list(APPEND PCL_${COMPONENT}_INCLUDE_DIRS "${PCL_${COMPONENT}_INCLUDE_DIR}")
else(PCL_${COMPONENT}_INCLUDE_DIR)
#pcl_message("No include directory found for pcl_${component}.")
endif(PCL_${COMPONENT}_INCLUDE_DIR)
# Skip find_library for header only modules
list(FIND pcl_header_only_components ${component} _is_header_only)
if(_is_header_only EQUAL -1)
find_library(PCL_${COMPONENT}_LIBRARY ${pcl_component}${PCL_RELEASE_SUFFIX}
HINTS ${PCL_LIBRARY_DIRS}
DOC "path to ${pcl_component} library"
NO_DEFAULT_PATH)
get_filename_component(${component}_library_path
${PCL_${COMPONENT}_LIBRARY}
PATH)
mark_as_advanced(PCL_${COMPONENT}_LIBRARY)
find_library(PCL_${COMPONENT}_LIBRARY_DEBUG ${pcl_component}${PCL_DEBUG_SUFFIX}
HINTS ${PCL_LIBRARY_DIRS}
DOC "path to ${pcl_component} library debug"
NO_DEFAULT_PATH)
mark_as_advanced(PCL_${COMPONENT}_LIBRARY_DEBUG)
if(PCL_${COMPONENT}_LIBRARY_DEBUG)
get_filename_component(${component}_library_path_debug
${PCL_${COMPONENT}_LIBRARY_DEBUG}
PATH)
endif(PCL_${COMPONENT}_LIBRARY_DEBUG)
# Restrict this to Windows users
if(NOT PCL_${COMPONENT}_LIBRARY AND WIN32)
# might be debug only
set(PCL_${COMPONENT}_LIBRARY ${PCL_${COMPONENT}_LIBRARY_DEBUG})
endif(NOT PCL_${COMPONENT}_LIBRARY AND WIN32)
find_package_handle_standard_args(PCL_${COMPONENT} DEFAULT_MSG
PCL_${COMPONENT}_LIBRARY PCL_${COMPONENT}_INCLUDE_DIR)
else(_is_header_only EQUAL -1)
find_package_handle_standard_args(PCL_${COMPONENT} DEFAULT_MSG
PCL_${COMPONENT}_INCLUDE_DIR)
endif(_is_header_only EQUAL -1)
if(PCL_${COMPONENT}_FOUND)
if(NOT "${PCL_${COMPONENT}_INCLUDE_DIRS}" STREQUAL "")
set(_filtered "")
foreach(_inc ${PCL_${COMPONENT}_INCLUDE_DIRS})
if(EXISTS ${_inc})
list(APPEND _filtered "${_inc}")
endif()
endforeach()
list(REMOVE_DUPLICATES _filtered)
set(PCL_${COMPONENT}_INCLUDE_DIRS ${_filtered})
list(APPEND PCL_INCLUDE_DIRS ${_filtered})
endif(NOT "${PCL_${COMPONENT}_INCLUDE_DIRS}" STREQUAL "")
mark_as_advanced(PCL_${COMPONENT}_INCLUDE_DIRS)
if(_is_header_only EQUAL -1)
list(APPEND PCL_DEFINITIONS ${PCL_${COMPONENT}_DEFINITIONS})
list(APPEND PCL_LIBRARY_DIRS ${component_library_path})
if(PCL_${COMPONENT}_LIBRARY_DEBUG)
list(APPEND PCL_LIBRARY_DIRS ${component_library_path_debug})
endif()
list(APPEND PCL_COMPONENTS ${pcl_component})
mark_as_advanced(PCL_${COMPONENT}_LIBRARY PCL_${COMPONENT}_LIBRARY_DEBUG)
endif()
# Append internal dependencies
foreach(int_dep ${pcl_${component}_int_dep})
string(TOUPPER "${int_dep}" INT_DEP)
if(PCL_${INT_DEP}_FOUND)
list(APPEND PCL_${COMPONENT}_INCLUDE_DIRS ${PCL_${INT_DEP}_INCLUDE_DIRS})
if(PCL_${INT_DEP}_LIBRARIES)
list(APPEND PCL_${COMPONENT}_LINK_LIBRARIES "${PCL_${INT_DEP}_LIBRARIES}")
endif(PCL_${INT_DEP}_LIBRARIES)
endif(PCL_${INT_DEP}_FOUND)
endforeach(int_dep)
if(_is_header_only EQUAL -1)
add_library(${pcl_component} @PCL_LIB_TYPE@ IMPORTED)
if(PCL_${COMPONENT}_LIBRARY_DEBUG)
set_target_properties(${pcl_component}
PROPERTIES
IMPORTED_CONFIGURATIONS "RELEASE;DEBUG"
IMPORTED_LOCATION_RELEASE "${PCL_${COMPONENT}_LIBRARY}"
IMPORTED_LOCATION_DEBUG "${PCL_${COMPONENT}_LIBRARY_DEBUG}"
IMPORTED_IMPLIB_RELEASE "${PCL_${COMPONENT}_LIBRARY}"
IMPORTED_IMPLIB_DEBUG "${PCL_${COMPONENT}_LIBRARY_DEBUG}"
)
else()
set_target_properties(${pcl_component}
PROPERTIES
IMPORTED_LOCATION "${PCL_${COMPONENT}_LIBRARY}"
IMPORTED_IMPLIB "${PCL_${COMPONENT}_LIBRARY}"
)
endif()
foreach(def ${PCL_DEFINITIONS})
string(REPLACE " " ";" def2 ${def})
string(REGEX REPLACE "^-D" "" def3 "${def2}")
list(APPEND definitions ${def3})
endforeach()
if(CMAKE_VERSION VERSION_LESS 3.3)
set_target_properties(${pcl_component}
PROPERTIES
INTERFACE_COMPILE_DEFINITIONS "${definitions}"
INTERFACE_COMPILE_OPTIONS "${PCL_COMPILE_OPTIONS}"
INTERFACE_INCLUDE_DIRECTORIES "${PCL_${COMPONENT}_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${PCL_${COMPONENT}_LINK_LIBRARIES}"
)
else()
set_target_properties(${pcl_component}
PROPERTIES
INTERFACE_COMPILE_DEFINITIONS "${definitions}"
INTERFACE_COMPILE_OPTIONS "$<$<COMPILE_LANGUAGE:CXX>:${PCL_COMPILE_OPTIONS}>"
INTERFACE_INCLUDE_DIRECTORIES "${PCL_${COMPONENT}_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${PCL_${COMPONENT}_LINK_LIBRARIES}"
)
endif()
set(PCL_${COMPONENT}_LIBRARIES ${pcl_component})
endif()
endif(PCL_${COMPONENT}_FOUND)
endforeach(component)
if(NOT "${PCL_INCLUDE_DIRS}" STREQUAL "")
list(REMOVE_DUPLICATES PCL_INCLUDE_DIRS)
endif(NOT "${PCL_INCLUDE_DIRS}" STREQUAL "")
if(NOT "${PCL_LIBRARY_DIRS}" STREQUAL "")
list(REMOVE_DUPLICATES PCL_LIBRARY_DIRS)
endif(NOT "${PCL_LIBRARY_DIRS}" STREQUAL "")
if(NOT "${PCL_DEFINITIONS}" STREQUAL "")
list(REMOVE_DUPLICATES PCL_DEFINITIONS)
endif(NOT "${PCL_DEFINITIONS}" STREQUAL "")
pcl_remove_duplicate_libraries(PCL_COMPONENTS PCL_LIBRARIES)
# Add 3rd party libraries, as user code might include our .HPP implementations
list(APPEND PCL_LIBRARIES ${BOOST_LIBRARIES} ${QHULL_LIBRARIES} ${OPENNI_LIBRARIES} ${OPENNI2_LIBRARIES} ${ENSENSO_LIBRARIES} ${davidSDK_LIBRARIES} ${DSSDK_LIBRARIES} ${RSSDK_LIBRARIES} ${FLANN_LIBRARIES} ${VTK_LIBRARIES})
find_package_handle_standard_args(PCL DEFAULT_MSG PCL_LIBRARIES PCL_INCLUDE_DIRS)
mark_as_advanced(PCL_LIBRARIES PCL_INCLUDE_DIRS PCL_LIBRARY_DIRS)
if(POLICY CMP0074)
cmake_policy(POP)
endif()
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