CMakeLists.txt explanation
Can someone explain below mentioned CMakleLists.txt?What exactly each arg mean? I know it is a lengthy one..small overview of functions is of great use for me I have tried to understand the tutorials, but somewhere missing the link due to the complexity.
CMakeLists.txt:
cmake_minimum_required(VERSION 2.8)
project(pcl_ros)
## Find system dependencies
find_package(cmake_modules REQUIRED)
find_package(Boost REQUIRED COMPONENTS system filesystem thread)
find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED COMPONENTS core features filters io segmentation surface)
if(NOT "${PCL_LIBRARIES}" STREQUAL "")
# For debian: https://github.com/ros-perception/perception_pcl/issues/139
list(REMOVE_ITEM PCL_LIBRARIES
"vtkGUISupportQt"
"vtkGUISupportQtOpenGL"
"vtkGUISupportQtSQL"
"vtkGUISupportQtWebkit"
"vtkViewsQt"
"vtkRenderingQt")
endif()
## Find catkin packages
find_package(catkin REQUIRED COMPONENTS
dynamic_reconfigure
genmsg
nodelet
nodelet_topic_tools
pcl_conversions
pcl_msgs
pluginlib
rosbag
rosconsole
roscpp
roslib
sensor_msgs
std_msgs
tf
tf2_eigen
)
## Add include directories
include_directories(include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${Eigen3_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
## Generate dynamic_reconfigure
generate_dynamic_reconfigure_options(
cfg/EuclideanClusterExtraction.cfg
cfg/ExtractIndices.cfg
cfg/ExtractPolygonalPrismData.cfg
cfg/Feature.cfg
cfg/Filter.cfg
cfg/MLS.cfg
cfg/SACSegmentation.cfg
cfg/SACSegmentationFromNormals.cfg
cfg/SegmentDifferences.cfg
cfg/StatisticalOutlierRemoval.cfg
cfg/RadiusOutlierRemoval.cfg
cfg/VoxelGrid.cfg
cfg/CropBox.cfg
)
## Declare the catkin package
catkin_package(
INCLUDE_DIRS include
LIBRARIES
pcl_ros_filters
pcl_ros_io
pcl_ros_tf
CATKIN_DEPENDS
dynamic_reconfigure
message_filters
nodelet
nodelet_topic_tools
pcl_conversions
pcl_msgs
rosbag
roscpp
sensor_msgs
std_msgs
tf
DEPENDS
Boost
Eigen3
PCL
)
## Declare the pcl_ros_tf library
add_library(pcl_ros_tf src/transforms.cpp)
target_link_libraries(pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(pcl_ros_tf pcl_ros_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
## Nodelets
## Declare the pcl_ros_io library
add_library(pcl_ros_io
src/pcl_ros/io/bag_io.cpp
src/pcl_ros/io/concatenate_data.cpp
src/pcl_ros/io/concatenate_fields.cpp
src/pcl_ros/io/io.cpp
src/pcl_ros/io/pcd_io.cpp
)
target_link_libraries(pcl_ros_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES})
class_loader_hide_library_symbols(pcl_ros_io)
## Declare the pcl_ros_features library
add_library(pcl_ros_features
src/pcl_ros/features/feature.cpp
# Compilation is much faster if we include all the following CPP files in feature.cpp
src/pcl_ros/features/boundary.cpp
src/pcl_ros/features/fpfh.cpp
src/pcl_ros/features/fpfh_omp.cpp
src/pcl_ros/features/shot.cpp
src/pcl_ros/features/shot_omp.cpp
src/pcl_ros/features/moment_invariants.cpp
src/pcl_ros/features/normal_3d.cpp
src/pcl_ros/features/normal_3d_omp.cpp
src/pcl_ros/features/pfh.cpp
src/pcl_ros/features/principal_curvatures.cpp
src/pcl_ros/features/vfh.cpp
)
target_link_libraries (pcl_ros_features ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(pcl_ros_features ${PROJECT_NAME}_gencfg)
class_loader_hide_library_symbols(pcl_ros_features)
## Declare the pcl_ros_filters library
add_library(pcl_ros_filters
src/pcl_ros/filters/extract_indices.cpp
src/pcl_ros/filters/filter.cpp
src/pcl_ros/filters/passthrough.cpp
src/pcl_ros/filters/project_inliers.cpp
src/pcl_ros/filters/radius_outlier_removal.cpp
src/pcl_ros/filters/statistical_outlier_removal.cpp
src/pcl_ros/filters/voxel_grid.cpp
src/pcl_ros/filters/crop_box.cpp
)
target_link_libraries(pcl_ros_filters pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(pcl_ros_filters ${PROJECT_NAME}_gencfg)
class_loader_hide_library_symbols(pcl_ros_filters)
## Declare the pcl_ros_segmentation library
add_library (pcl_ros_segmentation
src/pcl_ros/segmentation/extract_clusters.cpp
src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
src/pcl_ros/segmentation/sac_segmentation.cpp
src/pcl_ros/segmentation/segment_differences.cpp
src/pcl_ros/segmentation/segmentation.cpp
)
target_link_libraries(pcl_ros_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(pcl_ros_segmentation ${PROJECT_NAME}_gencfg)
class_loader_hide_library_symbols(pcl_ros_segmentation)
## Declare the pcl_ros_surface library
add_library (pcl_ros_surface
src/pcl_ros/surface/surface.cpp
# Compilation is much faster if we include all the following CPP files in surface.cpp
src/pcl_ros/surface/convex_hull.cpp
src/pcl_ros/surface/moving_least_squares.cpp
)
target_link_libraries(pcl_ros_surface ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${PCL_LIBRARIES ...
Are you asking for an explanation for everything that is in that CMakeLists.txt file? Maybe you should start with this cmake tutorial. This seems to be more of a cmake question than a ROS one.
A lot of documentation can be found in the CMakeLists.txt template for ROS packages as well as on the ROS wiki.
More specific questions (maybe about a single command, or what you don't understand from the linked documentation) will most probably provoke better answers.