Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
@@ -0,0 +1,86 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(velodyne_pointcloud)
+
+# Set minimum C++ standard to C++11
+if (NOT "${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}")
+  message(STATUS "Changing CXX_STANDARD from C++98 to C++11")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+elseif ("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98")
+  message(STATUS "Changing CXX_STANDARD from C++98 to C++11")
+  set(CMAKE_CXX_STANDARD 11)
+endif()
+
+set(${PROJECT_NAME}_CATKIN_DEPS
+    angles
+    nodelet
+    roscpp
+    roslib
+    sensor_msgs
+    tf
+    velodyne_driver
+    velodyne_msgs
+    dynamic_reconfigure
+    diagnostic_updater
+)
+
+find_package(catkin REQUIRED COMPONENTS
+             ${${PROJECT_NAME}_CATKIN_DEPS}
+             roslint)
+
+find_package(Boost COMPONENTS signals)
+find_package(Eigen3 REQUIRED)
+# Resolve system dependency on yaml-cpp, which apparently does not
+# provide a CMake find_package() module.
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
+find_path(YAML_CPP_INCLUDE_DIR
+          NAMES yaml_cpp.h
+          PATHS ${YAML_CPP_INCLUDE_DIRS})
+find_library(YAML_CPP_LIBRARY
+             NAMES YAML_CPP
+             PATHS ${YAML_CPP_LIBRARY_DIRS})
+
+link_directories(${YAML_CPP_LIBRARY_DIRS})
+
+generate_dynamic_reconfigure_options(
+  cfg/CloudNode.cfg cfg/TransformNode.cfg
+)
+
+if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
+  add_definitions(-DHAVE_NEW_YAMLCPP)
+endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
+
+include_directories(include ${catkin_INCLUDE_DIRS}
+  ${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake
+  ${EIGEN3_INCLUDE_DIR}
+)
+
+catkin_package(
+    CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS}
+    INCLUDE_DIRS include
+    LIBRARIES velodyne_rawdata)
+
+#add_executable(dynamic_reconfigure_node src/dynamic_reconfigure_node.cpp)
+#target_link_libraries(dynamic_reconfigure_node
+#   ${catkin_LIBRARIES}
+# )
+
+add_subdirectory(src/lib)
+add_subdirectory(src/conversions)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+install(FILES nodelets.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+install(DIRECTORY params/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/params)
+install(PROGRAMS scripts/gen_calibration.py
+        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+roslint_cpp()
+
+if (CATKIN_ENABLE_TESTING)
+  add_subdirectory(tests)
+endif()