Merge pull request #34 from malban/pkg-config

Configure CMakeLists.txt to install files in a ROS compatible way.

CMakeLists.txt

@@ -2,4 +2,73 @@
 cmake_minimum_required(VERSION 2.8)
 project(csm)
 
-INSTALL(FILES package.xml DESTINATION share/csm)
+if(WIN32)
+  add_definitions(-DWINDOWS)
+  if(MSVC)
+    # SSE2 optimizations
+    add_definitions("/arch:SSE2")
+  endif()
+endif()
+
+find_package(Eigen3 REQUIRED)
+
+include_directories(include src ${EIGEN3_INCLUDE_DIR})
+
+set(CSM_SRC 
+  src/csm/laser_data.cpp
+  src/csm/math_utils.cpp
+  src/csm/math_utils_gsl.cpp
+  src/csm/utils.cpp
+  src/csm/logging.cpp
+  src/csm/sm_options.cpp
+  src/csm/orientation.cpp
+  src/csm/clustering.cpp)
+
+set(EGSL_SRC
+  src/egsl/egsl.cpp
+  src/egsl/egsl_conversions.cpp
+  src/egsl/egsl_misc.cpp
+  src/egsl/egsl_ops.cpp)
+
+set(GPC_SRC
+  src/gpc/gpc.cpp
+  src/gpc/gpc_utils.cpp)
+
+set(ICP_SRC
+  src/icp/icp.cpp
+  src/icp/icp_corr_dumb.cpp
+  src/icp/icp_corr_tricks.cpp
+  src/icp/icp_covariance.cpp
+  src/icp/icp_debug.cpp
+  src/icp/icp_loop.cpp
+  src/icp/icp_outliers.cpp)
+
+set(OPTIONS_SRC  
+   src/options/options.cpp
+   src/options/options_interface.cpp)
+
+add_library(${PROJECT_NAME}
+  ${CSM_SRC}
+  ${EGSL_SRC} 
+  ${GPC_SRC}
+  ${ICP_SRC}
+  ${OPTIONS_SRC})
+
+add_library(${PROJECT_NAME}-static STATIC 
+  ${CSM_SRC}
+  ${EGSL_SRC} 
+  ${GPC_SRC}
+  ${ICP_SRC}
+  ${OPTIONS_SRC})
+
+install(TARGETS ${PROJECT_NAME}
+                ${PROJECT_NAME}-static 
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib)
+install(DIRECTORY include/ DESTINATION include)
+install(FILES package.xml DESTINATION share/csm)
+
+# pkg-config
+set(PKG_CONFIG_C_FLAGS "-I${EIGEN3_INCLUDE_DIR}")
+configure_file(pkg-config/csm.pc.in ${CMAKE_CURRENT_BINARY_DIR}/csm.pc @ONLY)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/csm.pc DESTINATION lib/pkgconfig)

package.xml

@@ -23,7 +23,9 @@
   <maintainer email="[email protected]">Isaac I.Y. Saito</maintainer>
 
   <buildtool_depend>cmake</buildtool_depend>
-  <run_depend>catkin</run_depend>
+
+  <build_depend>eigen</build_depend>
+
   <export>
     <build_type>cmake</build_type>
   </export>

pkg-config/csm.pc.in

@@ -0,0 +1,9 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+libdir=${prefix}/lib
+includedir=${prefix}/include
+
+Name: csm
+Description: The C(anonical) Scan Matcher
+Version: @csm_version@
+Libs: -L${libdir} -lcsm-static 
+Cflags: @PKG_CONFIG_C_FLAGS@ -I${includedir}