Catkinize csm

CMakeLists.txt

@@ -1,5 +1,88 @@
-## This CMakeLists.txt file exists only for building as ROS 3rd-party package. Building for other purpose is not tested. See https://github.com/AndreaCensi/csm/pull/10
 cmake_minimum_required(VERSION 2.8)
 project(csm)
 
-INSTALL(FILES package.xml DESTINATION share/csm)
+find_package(catkin REQUIRED COMPONENTS
+  cmake_modules
+  roscpp
+)
+
+find_package(Eigen REQUIRED)
+
+if(WIN32)
+  add_definitions(-DWINDOWS)
+  if(MSVC)
+    # SSE2 optimizations
+    add_definitions("/arch:SSE2")
+  endif()
+endif()
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS
+    roscpp
+  DEPENDS Eigen
+)
+
+include_directories(
+  include
+  src
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN_INCLUDE_DIRS})
+
+set(CSM_SRC
+  src/csm/laser_data.cpp
+  src/csm/math_utils.cpp
+  src/csm/math_utils_gsl.cpp
+  src/csm/utils.cpp
+  src/csm/logging.cpp
+  src/csm/sm_options.cpp
+  src/csm/orientation.cpp
+  src/csm/clustering.cpp)
+
+set(EGSL_SRC
+  src/egsl/egsl.cpp
+  src/egsl/egsl_conversions.cpp
+  src/egsl/egsl_misc.cpp
+  src/egsl/egsl_ops.cpp)
+
+set(GPC_SRC
+  src/gpc/gpc.cpp
+  src/gpc/gpc_utils.cpp)
+
+set(ICP_SRC
+  src/icp/icp.cpp
+  src/icp/icp_corr_dumb.cpp
+  src/icp/icp_corr_tricks.cpp
+  src/icp/icp_covariance.cpp
+  src/icp/icp_debug.cpp
+  src/icp/icp_loop.cpp
+  src/icp/icp_outliers.cpp)
+
+set(OPTIONS_SRC
+  src/options/options.cpp
+  src/options/options_interface.cpp)
+
+add_library(${PROJECT_NAME}
+  ${CSM_SRC}
+  ${EGSL_SRC}
+  ${GPC_SRC}
+  ${ICP_SRC}
+  ${OPTIONS_SRC})
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+install(DIRECTORY include/gsl_eigen/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/../gsl_eigen
+  FILES_MATCHING PATTERN "*.h"
+)

package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>csm</name>
   <version>1.0.0</version>
   <description>
@@ -22,9 +22,9 @@
   <url type="bugtracker">https://github.com/AndreaCensi/csm/issues</url>
   <maintainer email="[email protected]">Isaac I.Y. Saito</maintainer>
 
-  <buildtool_depend>cmake</buildtool_depend>
-  <run_depend>catkin</run_depend>
-  <export>
-    <build_type>cmake</build_type>
-  </export>
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>cmake_modules</build_depend>
+
+  <depend>roscpp</depend>
 </package>