sam_pointcloud_cluster/CMakeLists.txt at main · qianhao0713/sam_pointcloud_cluster · GitHub

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cmake_minimum_required(VERSION 3.5)
project(sam_pointcloud_cluster)

if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic -openmp)
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(PCL 1.10 REQUIRED)
find_package(visualization_msgs REQUIRED)
#==========================================
find_package(perception_msgs REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Boost REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(image_transport REQUIRED)
find_package(Eigen3 REQUIRED)

find_package(rosidl_default_generators REQUIRED)
#=========================================


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)

  ament_lint_auto_find_test_dependencies()
endif()

#add_executable(ros2pcl_test_sub
# src/subscription_pcl.cpp
#)
#ament_target_dependencies(ros2pcl_test_sub
#  rclcpp
#  sensor_msgs
#  PCL
#)
#link_directories(${PCL_LIBRARY_DIRS})
#add_definitions(${PCL_DEFINITIONS})
#target_link_libraries(ros2pcl_test_sub ${PCL_LIBRARIES})
#====================================================================

link_directories(${PROJECT_NAME} PRIVATE
include
${ament_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${Boost_INCLUDE_DIR})


add_executable(PointCloudCluster src/PointCloudCluster.cpp)

ament_target_dependencies(PointCloudCluster
  rclcpp
  sensor_msgs
  PCL
  cv_bridge
  rclcpp_lifecycle
  rclcpp_components
  rosidl_default_generators
  std_msgs
  geometry_msgs
  message_filters
  image_transport
  perception_msgs
  visualization_msgs
  Eigen3
)


add_definitions(${PCL_DEFINITIONS})

target_link_libraries(PointCloudCluster ${catkin_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES})
#=====================================================================

install(TARGETS
  PointCloudCluster
  DESTINATION lib/${PROJECT_NAME})
ament_package()