Sma/rework cmake module

CMakeLists.txt

@@ -6,6 +6,3 @@ ENABLE_TESTING()  # enable CTest environment of subprojects
 ADD_SUBDIRECTORY( octomap )
 ADD_SUBDIRECTORY( octovis )
 ADD_SUBDIRECTORY( dynamicEDT3D )
-
-
-

dynamicEDT3D/CMakeLists.txt

@@ -66,35 +66,40 @@ install(FILES ${dynamicEDT3D_HDRS}	DESTINATION include/dynamicEDT3D)
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
 export(PACKAGE dynamicEDT3D)
- 
-# Create a dynamicEDT3DConfig.cmake file for the use from the build tree
+
+# Create a dynamicEDT3D-config.cmake file for the use from the build tree
 set(DYNAMICEDT3D_INCLUDE_DIRS "${INCLUDE_DIRS}")
 set(DYNAMICEDT3D_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
 # not used right now (export depends?)
 #set(DYNEDT3D_CMAKE_DIR "${PROJECT_BINARY_DIR}")
-configure_file(dynamicEDT3DConfig.cmake.in
-  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig.cmake" @ONLY)
-configure_file(dynamicEDT3DConfig-version.cmake.in
-  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3DConfig-version.cmake" @ONLY)
+configure_file(dynamicEDT3D-config.cmake.in
+  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3D-config.cmake" @ONLY)
+configure_file(dynamicEDT3D-config-version.cmake.in
+  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/dynamicEDT3D/dynamicEDT3D-config-version.cmake" @ONLY)
 
 # Install the export set for use with the install-tree
 #install(EXPORT FooBarLibraryDepends DESTINATION
 #  "${INSTALL_DATA_DIR}/FooBar/CMake"
 #  COMPONENT dev)
- 
-# Create a dynamicEDT3DConfig.cmake file for the use from the install tree
+
+# Create a dynamicEDT3D-config.cmake file for the use from the install tree
 # and install it
 set(DYNAMICEDT3D_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
 set(DYNAMICEDT3D_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
 #set(DYNAMICEDT3D_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
-configure_file(dynamicEDT3DConfig.cmake.in
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake" @ONLY)
-configure_file(dynamicEDT3DConfig-version.cmake.in
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake" @ONLY)
+configure_file(dynamicEDT3D-config.cmake.in
+  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3D-config.cmake" @ONLY)
+configure_file(dynamicEDT3D-config-version.cmake.in
+  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3D-config-version.cmake" @ONLY)
+IF(DEFINED NO_ABSOLUTE_PATH_IN_MODULE AND NO_ABSOLUTE_PATH_IN_MODULE)
+  set(DYNAMICEDT3D_MODULE_FILE "dynamicEDT3D-config.cmake")
+ELSE()
+  set(DYNAMICEDT3D_MODULE_FILE "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3D-config.cmake" )
+ENDIF()
 install(FILES
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake" 
-  DESTINATION lib/cmake/dynamicEDT3D/)
+  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3D-config-version.cmake"
+  "${DYNAMICEDT3D_MODULE_FILE}"
+  DESTINATION share/dynamicEDT3D/)
 
 # Write pkgconfig-file:
 include(InstallPkgConfigFile)
@@ -105,7 +110,7 @@ install_pkg_config_file(dynamicEDT3D
     VERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}.${DYNAMICEDT3D_PATCH_VERSION})
 
 
-# Documentation 
+# Documentation
 FIND_PACKAGE(Doxygen)
 IF(DOXYGEN_FOUND)
   ADD_CUSTOM_TARGET(docs_dynamicEDT3D ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/dynamicEDT3D.dox

dynamicEDT3D/dynamicEDT3D-config.cmake

@@ -0,0 +1,19 @@
+# - Config file for the OctoMap package
+# (example from http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file)
+# It defines the following variables
+#  OCTOMAP_INCLUDE_DIRS - include directories for OctoMap
+#  OCTOMAP_LIBRARIES    - libraries to link against
+
+set(DYNAMICEDT3D_INCLUDE_DIRS)
+set(DYNAMICEDT3D_INCLUDE DYNAMICEDT3D_INCLUDE-NOTFOUND)
+find_path(DYNAMICEDT3D_INCLUDE dynamicEDT3D/dynamicEDT3D.h)
+if(DYNAMICEDT3D_INCLUDE)
+  list(APPEND DYNAMICEDT3D_INCLUDE_DIRS ${DYNAMICEDT3D_INCLUDE})
+endif()
+
+set(DYNAMICEDT3D_LIBRARIES)
+set(DYNAMICEDT3D_LIB DYNAMICEDT3D_LIB-NOTFOUND)
+find_library(DYNAMICEDT3D_LIB dynamicedt3d)
+if(DYNAMICEDT3D_LIB)
+  list(APPEND DYNAMICEDT3D_LIBRARIES ${DYNAMICEDT3D_LIB})
+endif()

octomap/CMakeLists.txt

@@ -73,7 +73,7 @@ add_custom_target(uninstall
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
 export(PACKAGE octomap)
- 
+
 # Create a octomap-config.cmake file for the use from the build tree
 set(OCTOMAP_INCLUDE_DIRS "${INCLUDE_DIRS}")
 set(OCTOMAP_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
@@ -88,7 +88,7 @@ configure_file(octomap-config-version.cmake.in
 #install(EXPORT FooBarLibraryDepends DESTINATION
 #  "${INSTALL_DATA_DIR}/FooBar/CMake"
 #  COMPONENT dev)
- 
+
 # Create a octomap-config.cmake file for the use from the install tree
 # and install it
 set(OCTOMAP_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
@@ -98,9 +98,14 @@ configure_file(octomap-config.cmake.in
   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake" @ONLY)
 configure_file(octomap-config-version.cmake.in
   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" @ONLY)
+IF(DEFINED NO_ABSOLUTE_PATH_IN_MODULE AND NO_ABSOLUTE_PATH_IN_MODULE)
+  set(OCTOMAP_MODULE_FILE "octomap-config.cmake")
+ELSE()
+  set(OCTOMAP_MODULE_FILE "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake" )
+ENDIF()
 install(FILES
-  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake"
-  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" 
+  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake"
+  "${OCTOMAP_MODULE_FILE}"
   DESTINATION share/octomap/)
 
 # Write pkgconfig-file:
@@ -111,7 +116,7 @@ install_pkg_config_file(octomap
     REQUIRES
     VERSION ${OCTOMAP_VERSION})
 
-# Documentation 
+# Documentation
 FIND_PACKAGE(Doxygen)
 IF(DOXYGEN_FOUND)
   configure_file(${CMAKE_CURRENT_SOURCE_DIR}/octomap.dox.in ${CMAKE_CURRENT_BINARY_DIR}/octomap.dox @ONLY)

octomap/octomap-config.cmake

@@ -0,0 +1,41 @@
+# ===================================================================================
+#  The OctoMap CMake configuration file
+#
+#             ** File generated automatically, do not modify **
+#
+#  Usage from an external project:
+#    In your CMakeLists.txt, add these lines:
+#
+#    FIND_PACKAGE(octomap REQUIRED )
+#    TARGET_LINK_LIBRARIES(MY_TARGET_NAME ${OCTOMAP_LIBRARIES})
+#
+#    This file will define the following variables:
+#      - OCTOMAP_LIBRARIES      : The list of libraries to links against.
+#      - OCTOMAP_LIBRARY_DIRS   : The directory where lib files are. Calling
+#                                 LINK_DIRECTORIES with this path is NOT needed.
+#      - OCTOMAP_INCLUDE_DIRS   : The OpenCV include directories.
+#
+# Based on the example CMake Tutorial
+# http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file
+# and OpenCVConfig.cmake.in from OpenCV
+# ===================================================================================
+
+set(OCTOMAP_INCLUDE_DIRS)
+set(OCTOMAP_INCLUDE OCTOMAP_INCLUDE-NOTFOUND)
+find_path(OCTOMAP_INCLUDE octomap/octomap.h)
+if(OCTOMAP_INCLUDE)
+  list(APPEND OCTOMAP_INCLUDE_DIRS ${OCTOMAP_INCLUDE})
+endif()
+
+set(OCTOMAP_LIBRARIES)
+set(OCTOMAP_LIB OCTOMAP_LIB-NOTFOUND)
+find_library(OCTOMAP_LIB octomap)
+if(OCTOMAP_LIB)
+  list(APPEND OCTOMAP_LIBRARIES ${OCTOMAP_LIB})
+endif()
+
+set(OCTOMATH_LIB OCTOMATH_LIB-NOTFOUND)
+find_library(OCTOMATH_LIB octomath)
+if(OCTOMATH_LIB)
+  list(APPEND OCTOMAP_LIBRARIES ${OCTOMATH_LIB})
+endif()

octovis/CMakeLists.txt

@@ -47,15 +47,15 @@ set(INSTALL_TARGETS_DEFAULT_ARGS
   ARCHIVE DESTINATION lib
 )
 
-# Builds the "octovis" viewer based on OpenGL and 
+# Builds the "octovis" viewer based on OpenGL and
 # libQGLViewer, if dependencies available
 SET( BUILD_VIEWER 0)
 
 # Look for required libraries:
 FIND_PACKAGE(OpenGL)
 FIND_PACKAGE(Qt4)
-IF (OpenGL-NOTFOUND OR Qt4-NOTFOUND) 
-	MESSAGE ( "OpenGL and QT4 are required for octovis but could not be found.")	
+IF (OpenGL-NOTFOUND OR Qt4-NOTFOUND)
+	MESSAGE ( "OpenGL and QT4 are required for octovis but could not be found.")
 ELSE()
 	FIND_PACKAGE(QGLViewer)
 	IF(QGLViewer_FOUND)
@@ -70,12 +70,12 @@ ENDIF()
 IF(BUILD_VIEWER)
   MESSAGE(STATUS "\n")
   MESSAGE(STATUS "viewer octovis will be built")
-  
+
   set(INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
   INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
-   
+
   INCLUDE( CMakeLists_src.txt )
-    
+
   # Create an octovis-config.cmake file for the use from the build tree
   set(OCTOVIS_INCLUDE_DIR "${INCLUDE_DIRS}")
   set(OCTOVIS_LIB_DIR     "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
@@ -84,8 +84,8 @@ IF(BUILD_VIEWER)
   configure_file(octovis-config.cmake.in
     "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config.cmake" @ONLY)
   configure_file(octovis-config-version.cmake.in
-    "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config-version.cmake" @ONLY)  
-    
+    "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octovis/octovis-config-version.cmake" @ONLY)
+
   # Create a octovis-config.cmake file for the use from the install tree
   # and install it
   set(OCTOVIS_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
@@ -95,20 +95,25 @@ IF(BUILD_VIEWER)
     "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake" @ONLY)
   configure_file(octovis-config-version.cmake.in
     "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake" @ONLY)
+  IF(DEFINED NO_ABSOLUTE_PATH_IN_MODULE AND NO_ABSOLUTE_PATH_IN_MODULE)
+    set(OCTOVIS_MODULE_FILE "octovis-config.cmake")
+  ELSE()
+    set(OCTOVIS_MODULE_FILE "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake" )
+  ENDIF()
   install(FILES
-    "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config.cmake"
-    "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake" 
+    "${PROJECT_BINARY_DIR}/InstallFiles/octovis-config-version.cmake"
+    "${OCTOVIS_MODULE_FILE}"
     DESTINATION share/octovis/)
-    
-    
+
+
   # #installation:
   # # store all header files to install:
   file(GLOB octovis_HDRS  *.h *.hxx *.hpp)
   install(FILES ${octovis_HDRS} DESTINATION include/octovis)
 
   # Install catkin package.xml
   install(FILES package.xml DESTINATION share/octovis)
-  
+
 ELSE()
     MESSAGE ( "Unfortunately, the viewer (octovis) can not be built because some requirements are missing.")
 	MESSAGE ( "This will not affect the compilation of the stand-alone library and tools (octomap)")

octovis/octovis-config.cmake

@@ -0,0 +1,24 @@
+# - Config file for the OctoMap package
+# (example from http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file)
+# It defines the following variables
+#  OCTOVIS_INCLUDE_DIRS - include directories for OctoMap viewer
+#  OCTOVIS_LIBRARIES    - libraries to link against
+
+find_package(OCTOMAP)
+
+set(QGLViewer_LIB QGLViewer_LIB-NOTFOUND)
+find_library(QGLViewer_LIB QGLViewer)
+if(NOT QGLViewer_LIB)
+  message(FATAL "Could not find QGLViewer")
+endif()
+
+find_package(Qt4 COMPONENTS QTCORE QTGUI QTOPENGL)
+
+set(OCTOVIS_INCLUDE_DIRS)
+set(OCTOVIS_LIBRARIES)
+
+list(APPEND OCTOVIS_INCLUDE_DIRS ${OCTOMAP_INCLUDE}
+  ${QT_QTCORE_INCLUDE_DIR} ${QT_QTGUI_INCLUDE_DIR} ${QT_QTOPENGL_INCLUDE_DIR})
+
+list(APPEND OCTOVIS_LIBRARIES ${OCTOMAP_LIB} ${QGLViewer_LIB}
+  ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY} ${QT_QTOPENGL_LIBRARY})