CMake引用PCL

CMake引用PCL

引入PCL

#
# 引入PCL
#
if(WIN32)
    add_definitions(-D_CRT_SECURE_NO_DEPRECATE)
    find_path(PCL_DIR PCLConfig.cmake PATHS 
        $ENV{PCL_DIR}
        "D:/install/PCL 1.13.0"
    )
endif()
find_package(PCL REQUIRED)

MESSAGE(STATUS "[PCL_INCLUDE_DIRS] ${PCL_INCLUDE_DIRS}")
MESSAGE(STATUS "[PCL_LIBRARY_DIRS] ${PCL_LIBRARY_DIRS}")
MESSAGE(STATUS "[PCL_LIBRARIES] ${PCL_LIBRARIES}")
MESSAGE(STATUS "[PCL_DEFINITIONS] ${PCL_DEFINITIONS}")

链接

方式一：使用PCL自带的变量

add_executable(pcd_write_test pcd_write.cpp)

target_include_directories(pcd_write_test PRIVATE ${PCL_INCLUDE_DIRS})
target_link_directories(pcd_write_test PRIVATE ${PCL_LIBRARY_DIRS})
target_link_libraries(pcd_write_test PRIVATE ${PCL_LIBRARIES})
# add_compile_definitions(PCL PRIVATE ${PCL_DEFINITIONS})

方法二：自己创建Target，方便链接

# 自己创建一个PCL Target
add_library(PCL INTERFACE)
target_include_directories(PCL INTERFACE ${PCL_INCLUDE_DIRS})
target_link_directories(PCL INTERFACE ${PCL_LIBRARY_DIRS})
target_link_libraries(PCL INTERFACE ${PCL_LIBRARIES})
# add_compile_definitions(PCL INTERFACE ${PCL_DEFINITIONS})

# 子工程直接引用PCL即可
add_executable(pcd_write_test pcd_write.cpp)
target_link_libraries(pcd_write_test PRIVATE PCL)

对于PCL的依赖库

如果我们还需要使用到PCL的一些依赖库，如boost等。
这就需要我们手动链接它们，因为${PCL_LIBRARIES}变量中并不包含boost。

find_package(PCL REQUIRED)

# 在PCL find_package之后即可，因为它会将依赖库的相关内容加入进来
find_package(Boost REQUIRED COMPONENTS thread)

# 
# 链接 
#
add_executable(pcd_write_test pcd_write.cpp)
target_link_libraries(pcd_write_test PRIVATE PCL 
    Boost::thread #手动链接
)