PCL在ROS中的CMakeLists.txt
cmake_minimum_required(VERSION 3.1)
project(pose_tracker)
## Compile as C++11, supported in ROS Kinetic and newer
#add_compile_options(-std=c++11)
add_compile_options(-std=c++14)
#set(CMAKE_CXX_FLAGS "-std=c++11 -03")
#set(CMAKE_CXX_STANDARD 14)
#set(CMAKE_CXX_STANDARD_REQUIRED ON)
#set(CMAKE_CXX_EXTENSIONS OFF)
#fastdeploy
set(FASTDEPLOY_INSTALL_DIR /root/FastDeploy/build/installed_fastdeploy)
include(${FASTDEPLOY_INSTALL_DIR}/FastDeploy.cmake)
message(STATUS "FASTDEPLOY_LIBS path: " ${FASTDEPLOY_LIBS})
find_package(OpenCV 4.2 EXACT)
message(STATUS "Opencv include path: " ${OpenCV_INCLUDE_DIRS})
message(STATUS "Opencv lib path: " ${OpenCV_LIBRARIES})
find_package(PCL 1.10 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
cv_bridge
eigen_conversions
geometry_msgs
image_transport
message_generation
roscpp
sensor_msgs
nav_msgs
std_msgs
pcl_conversions
pcl_ros
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES pose_tracker
CATKIN_DEPENDS cv_bridge eigen_conversions geometry_msgs image_transport message_generation roscpp sensor_msgs nav_msgs std_msgs pcl_conversions pcl_ros
DEPENDS PCL
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
${FASTDEPLOY_INCS}
${OpenCV_INCLUDE_DIRS}
/usr/include/eigen3
/usr/include
/usr/local/include
${PCL_INCLUDE_DIRS}
)
file(GLOB SOURCE_FILES src/*.cpp)
add_executable(${PROJECT_NAME}_node ${SOURCE_FILES})
target_include_directories(${PROJECT_NAME}_node PRIVATE
include
${CATKIN_DEVEL_PREFIX}/include/
${FASTDEPLOY_INSTALL_DIR}/incldue/
)
## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node
${catkin_LIBRARIES}
${FASTDEPLOY_LIBS}
${OpenCV_LIBRARIES}
${FASTDEPLOY_INSTALL_DIR}/lib
${PCL_LIBRARIES}
)