Make interface libraries for header only.

Added more of original func to PCLConfig.
Changed io_ply into a subsys system so its listed as modules.

2d/CMakeLists.txt

@@ -37,6 +37,9 @@ endif()
 include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
+
+PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME})
+
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} HEADER_ONLY)
 
 #Install include files

PCLConfig.cmake.in

@@ -23,12 +23,339 @@ set_and_check(PCL_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/Modules")
 
-find_dependency(Boost)
-find_dependency(Eigen3)
-find_dependency(Threads)
-find_dependency(OpenMP)
+### ---[ 3rd party libraries
+macro(find_boost)
+  if(PCL_ALL_IN_ONE_INSTALLER)
+    set(BOOST_ROOT "${PCL_ROOT}/3rdParty/Boost")
+  elseif(NOT BOOST_INCLUDEDIR)
+    set(BOOST_INCLUDEDIR "@Boost_INCLUDE_DIR@")
+  endif()
+
+  set(Boost_ADDITIONAL_VERSIONS
+    "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@.@Boost_SUBMINOR_VERSION@" "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@"
+    "1.84.0" "1.84" "1.83.0" "1.83" "1.82.0" "1.82" "1.81.0" "1.81" "1.80.0" "1.80"
+    "1.79.0" "1.79" "1.78.0" "1.78" "1.77.0" "1.77" "1.76.0" "1.76" "1.75.0" "1.75" 
+    "1.74.0" "1.74" "1.73.0" "1.73" "1.72.0" "1.72" "1.71.0" "1.71" "1.70.0" "1.70"
+    "1.69.0" "1.69" "1.68.0" "1.68" "1.67.0" "1.67" "1.66.0" "1.66" "1.65.1" "1.65.0" "1.65")
+
+  find_package(Boost 1.65.0 ${QUIET_} COMPONENTS @PCLCONFIG_AVAILABLE_BOOST_MODULES@)
 
-# Add the targets file
-include("${CMAKE_CURRENT_LIST_DIR}/pcl_common.cmake")
+  set(BOOST_FOUND ${Boost_FOUND})
+  set(BOOST_INCLUDE_DIRS "${Boost_INCLUDE_DIR}")
+  set(BOOST_LIBRARY_DIRS "${Boost_LIBRARY_DIRS}")
+  set(BOOST_LIBRARIES ${Boost_LIBRARIES})
+  if(WIN32 AND NOT MINGW AND NOT "${BOOST_DEFINITIONS}" MATCHES "BOOST_ALL_NO_LIB")
+    string(APPEND BOOST_DEFINITIONS -DBOOST_ALL_NO_LIB)
+  endif()
+endmacro()
 
-check_required_components(PCL)
+macro(find_eigen3)
+  if(PCL_ALL_IN_ONE_INSTALLER)
+    set(Eigen3_DIR "${PCL_ROOT}/3rdParty/Eigen3/share/eigen3/cmake/")
+  endif()
+  find_package(Eigen3 3.3 REQUIRED NO_MODULE)
+  if(NOT EIGEN3_FOUND AND Eigen3_FOUND)
+    set(EIGEN3_FOUND ${Eigen3_FOUND})
+  endif()
+  # In very new Eigen versions, EIGEN3_INCLUDE_DIR(S) is not defined any more, only the target:
+  if(TARGET Eigen3::Eigen)
+    set(EIGEN3_LIBRARIES Eigen3::Eigen)
+  endif()
+endmacro()
+
+#remove this as soon as qhull is shipped with FindQhull.cmake
+macro(find_qhull)
+  if(PCL_ALL_IN_ONE_INSTALLER)
+    set(QHULL_ROOT "${PCL_ROOT}/3rdParty/Qhull")
+  elseif(NOT QHULL_ROOT)
+    get_filename_component(QHULL_ROOT "@QHULL_INCLUDE_DIRS@" PATH)
+  endif()
+
+  set(PCL_QHULL_REQUIRED_TYPE @PCL_QHULL_REQUIRED_TYPE@)
+  find_package(Qhull)
+endmacro()
+
+#remove this as soon as libopenni is shipped with FindOpenni.cmake
+macro(find_openni)
+  if(PCL_FIND_QUIETLY)
+    set(OpenNI_FIND_QUIETLY TRUE)
+  endif()
+
+  if(NOT OPENNI_ROOT AND ("@HAVE_OPENNI@" STREQUAL "TRUE"))
+    set(OPENNI_INCLUDE_DIRS_HINT "@OPENNI_INCLUDE_DIRS@")
+    get_filename_component(OPENNI_LIBRARY_HINT "@OPENNI_LIBRARY@" PATH)
+  endif()
+
+  find_package(OpenNI)
+endmacro()
+
+#remove this as soon as libopenni2 is shipped with FindOpenni2.cmake
+macro(find_openni2)
+  if(PCL_FIND_QUIETLY)
+    set(OpenNI2_FIND_QUIETLY TRUE)
+  endif()
+
+  if(NOT OPENNI2_ROOT AND ("@HAVE_OPENNI2@" STREQUAL "TRUE"))
+    set(OPENNI2_INCLUDE_DIRS_HINT "@OPENNI2_INCLUDE_DIRS@")
+    get_filename_component(OPENNI2_LIBRARY_HINT "@OPENNI2_LIBRARY@" PATH)
+  endif()
+
+  find_package(OpenNI2)
+endmacro()
+
+#remove this as soon as the Ensenso SDK is shipped with FindEnsenso.cmake
+macro(find_ensenso)
+  if(PCL_FIND_QUIETLY)
+    set(ensenso_FIND_QUIETLY TRUE)
+  endif()
+
+  if(NOT ENSENSO_ROOT AND ("@HAVE_ENSENSO@" STREQUAL "TRUE"))
+    get_filename_component(ENSENSO_ABI_HINT "@ENSENSO_INCLUDE_DIR@" PATH)
+  endif()
+
+  find_package(Ensenso)
+endmacro()
+
+#remove this as soon as the davidSDK is shipped with FinddavidSDK.cmake
+macro(find_davidSDK)
+  if(PCL_FIND_QUIETLY)
+    set(DAVIDSDK_FIND_QUIETLY TRUE)
+  endif()
+
+  if(NOT davidSDK_ROOT AND ("@HAVE_DAVIDSDK@" STREQUAL "TRUE"))
+    get_filename_component(DAVIDSDK_ABI_HINT @DAVIDSDK_INCLUDE_DIR@ PATH)
+  endif()
+
+  find_package(davidSDK)
+endmacro()
+
+macro(find_dssdk)
+  if(PCL_FIND_QUIETLY)
+    set(DSSDK_FIND_QUIETLY TRUE)
+  endif()
+  if(NOT DSSDK_DIR AND ("@HAVE_DSSDK@" STREQUAL "TRUE"))
+    get_filename_component(DSSDK_DIR_HINT "@DSSDK_INCLUDE_DIRS@" PATH)
+  endif()
+
+  find_package(DSSDK)
+endmacro()
+
+macro(find_rssdk)
+  if(PCL_FIND_QUIETLY)
+    set(RSSDK_FIND_QUIETLY TRUE)
+  endif()
+  if(NOT RSSDK_DIR AND ("@HAVE_RSSDK@" STREQUAL "TRUE"))
+    get_filename_component(RSSDK_DIR_HINT "@RSSDK_INCLUDE_DIRS@" PATH)
+  endif()
+
+  find_package(RSSDK)
+endmacro()
+
+macro(find_rssdk2)
+  if(PCL_ALL_IN_ONE_INSTALLER)
+    set(realsense2_DIR "${PCL_ROOT}/3rdParty/librealsense2/lib/cmake/realsense2" CACHE PATH "The directory containing realsense2Config.cmake")
+  elseif(NOT realsense2_DIR)
+    get_filename_component(realsense2_DIR "@REALSENSE2_INCLUDE_DIRS@" PATH)
+    set(realsense2_DIR "${realsense2_DIR}/lib/cmake/realsense2" CACHE PATH "The directory containing realsense2Config.cmake")
+  endif()
+  find_package(RSSDK2)
+endmacro()
+
+#remove this as soon as flann is shipped with FindFlann.cmake
+macro(find_flann)
+  if(PCL_ALL_IN_ONE_INSTALLER)
+    set(FLANN_ROOT "${PCL_ROOT}/3rdParty/Flann")
+  elseif(NOT FLANN_ROOT)
+    set(FLANN_ROOT "@FLANN_ROOT@")
+  endif()
+
+  set(PCL_FLANN_REQUIRED_TYPE @PCL_FLANN_REQUIRED_TYPE@)
+  find_package(FLANN)
+endmacro()
+
+macro(find_VTK)
+  if(PCL_ALL_IN_ONE_INSTALLER AND NOT ANDROID)
+    if(EXISTS "${PCL_ROOT}/3rdParty/VTK/lib/cmake")
+      set(VTK_DIR "${PCL_ROOT}/3rdParty/VTK/lib/cmake/vtk-@VTK_MAJOR_VERSION@.@VTK_MINOR_VERSION@" CACHE PATH "The directory containing VTKConfig.cmake")
+    else()
+      set(VTK_DIR "${PCL_ROOT}/3rdParty/VTK/lib/vtk-@VTK_MAJOR_VERSION@.@VTK_MINOR_VERSION@" CACHE PATH "The directory containing VTKConfig.cmake")
+    endif()
+  elseif(NOT VTK_DIR AND NOT ANDROID)
+    set(VTK_DIR "@VTK_DIR@" CACHE PATH "The directory containing VTKConfig.cmake")
+  endif()
+  if(NOT ANDROID)
+    find_package(VTK ${QUIET_} COMPONENTS ${PCL_VTK_COMPONENTS})
+  endif()
+endmacro()
+
+macro(find_libusb)
+  find_package(libusb)
+endmacro()
+
+macro(find_glew)
+  find_package(GLEW)
+endmacro()
+
+# Finds each component external libraries if any
+# The functioning is as following
+# try to find _lib
+# |--> _lib found ==> include the headers,
+# |                   link to its library directories or include _lib_USE_FILE
+# `--> _lib not found
+#                   |--> _lib is optional ==> disable it (thanks to the guardians)
+#                   |                         and warn
+#                   `--> _lib is required
+#                                       |--> component is required explicitly ==> error
+#                                       `--> component is induced ==> warn and remove it
+#                                                                     from the list
+
+function(find_external_library _component _lib _is_optional)
+  if("${_lib}" STREQUAL "boost")
+    find_boost()
+  elseif("${_lib}" STREQUAL "eigen3")
+    find_eigen3()
+  elseif("${_lib}" STREQUAL "flann")
+    find_flann()
+  elseif("${_lib}" STREQUAL "qhull")
+    find_qhull()
+  elseif("${_lib}" STREQUAL "openni")
+    find_openni()
+  elseif("${_lib}" STREQUAL "openni2")
+    find_openni2()
+  elseif("${_lib}" STREQUAL "ensenso")
+    find_ensenso()
+  elseif("${_lib}" STREQUAL "davidSDK")
+    find_davidSDK()
+  elseif("${_lib}" STREQUAL "dssdk")
+    find_dssdk()
+  elseif("${_lib}" STREQUAL "rssdk")
+    find_rssdk()
+  elseif("${_lib}" STREQUAL "rssdk2")
+    find_rssdk2()
+  elseif("${_lib}" STREQUAL "vtk")
+    find_VTK()
+  elseif("${_lib}" STREQUAL "libusb")
+    find_libusb()
+  elseif("${_lib}" STREQUAL "glew")
+    find_glew()
+  elseif("${_lib}" STREQUAL "opengl")
+    find_package(OpenGL)
+  elseif("${_lib}" STREQUAL "pcap")
+    find_package(Pcap)
+  elseif("${_lib}" STREQUAL "png")
+    find_package(PNG)
+  elseif("${_lib}" STREQUAL "OpenMP")
+    find_package(OpenMP COMPONENTS CXX)
+    # the previous find_package call sets OpenMP_CXX_LIBRARIES, but not OPENMP_LIBRARIES, which is used further down
+    # we can link to the CMake target OpenMP::OpenMP_CXX by setting the following:
+    set(OPENMP_LIBRARIES OpenMP::OpenMP_CXX)
+  else()
+    message(WARNING "${_lib} is not handled by find_external_library")
+  endif()
+
+  string(TOUPPER "${_component}" COMPONENT)
+  string(TOUPPER "${_lib}" LIB)
+  string(REGEX REPLACE "[.-]" "_" LIB ${LIB})
+
+  if(${LIB}_FOUND)
+    list(APPEND PCL_${COMPONENT}_INCLUDE_DIRS ${${LIB}_INCLUDE_DIRS})
+    set(PCL_${COMPONENT}_INCLUDE_DIRS ${PCL_${COMPONENT}_INCLUDE_DIRS} PARENT_SCOPE)
+
+    if(${LIB} MATCHES "VTK")
+      if(${${LIB}_VERSION_MAJOR} GREATER_EQUAL 9)
+        set(ISVTK9ORGREATER TRUE)
+      endif()
+    endif()
+  else()
+    if("${_is_optional}" STREQUAL "OPTIONAL")
+      list(APPEND PCL_${COMPONENT}_DEFINITIONS "-DDISABLE_${LIB}")
+      pcl_message("** WARNING ** ${_component} features related to ${_lib} will be disabled")
+    elseif("${_is_optional}" STREQUAL "REQUIRED")
+      if((NOT PCL_FIND_ALL) OR (PCL_FIND_ALL EQUAL 1))
+        pcl_report_not_found("${_component} is required but ${_lib} was not found")
+      elseif(PCL_FIND_ALL EQUAL 0)
+        # raise error and remove _component from PCL_TO_FIND_COMPONENTS
+        string(TOUPPER "${_component}" COMPONENT)
+        pcl_message("** WARNING ** ${_component} will be disabled cause ${_lib} was not found")
+        list(REMOVE_ITEM PCL_TO_FIND_COMPONENTS ${_component})
+      endif()
+    endif()
+  endif()
+endfunction()
+
+#flatten dependencies recursivity is great \o/
+macro(compute_dependencies TO_FIND_COMPONENTS)
+  foreach(component ${${TO_FIND_COMPONENTS}})
+    set(pcl_component pcl_${component})
+    if(${pcl_component}_int_dep AND (NOT PCL_FIND_ALL))
+      foreach(dependency ${${pcl_component}_int_dep})
+        list(FIND ${TO_FIND_COMPONENTS} ${component} pos)
+        list(FIND ${TO_FIND_COMPONENTS} ${dependency} found)
+        if(found EQUAL -1)
+          set(pcl_dependency pcl_${dependency})
+          if(${pcl_dependency}_int_dep)
+            list(INSERT ${TO_FIND_COMPONENTS} ${pos} ${dependency})
+            if(pcl_${dependency}_ext_dep)
+              list(APPEND pcl_${component}_ext_dep ${pcl_${dependency}_ext_dep})
+            endif()
+            if(pcl_${dependency}_opt_dep)
+              list(APPEND pcl_${component}_opt_dep ${pcl_${dependency}_opt_dep})
+            endif()
+            compute_dependencies(${TO_FIND_COMPONENTS})
+          else()
+            list(INSERT ${TO_FIND_COMPONENTS} 0 ${dependency})
+          endif()
+        endif()
+      endforeach()
+    endif()
+  endforeach()
+endmacro()
+
+set(pcl_all_components @PCLCONFIG_AVAILABLE_COMPONENTS@)
+list(LENGTH pcl_all_components PCL_NB_COMPONENTS)
+
+#list each component dependencies IN PCL
+@PCLCONFIG_INTERNAL_DEPENDENCIES@
+
+#list each component external dependencies (ext means mandatory and opt means optional)
+@PCLCONFIG_EXTERNAL_DEPENDENCIES@
+
+@PCLCONFIG_OPTIONAL_DEPENDENCIES@
+
+# VTK components required by PCL
+set(PCL_VTK_COMPONENTS "@PCL_VTK_COMPONENTS@")
+
+#check if user provided a list of components
+#if no components at all or full list is given set PCL_FIND_ALL
+if(PCL_FIND_COMPONENTS)
+  list(LENGTH PCL_FIND_COMPONENTS PCL_FIND_COMPONENTS_LENGTH)
+  if(PCL_FIND_COMPONENTS_LENGTH EQUAL PCL_NB_COMPONENTS)
+    set(PCL_TO_FIND_COMPONENTS ${pcl_all_components})
+    set(PCL_FIND_ALL 1)
+  else()
+    set(PCL_TO_FIND_COMPONENTS ${PCL_FIND_COMPONENTS})
+  endif()
+else()
+  set(PCL_TO_FIND_COMPONENTS ${pcl_all_components})
+  set(PCL_FIND_ALL 1)
+endif()
+
+compute_dependencies(PCL_TO_FIND_COMPONENTS)
+
+# compute external dependencies per component
+foreach(component ${PCL_TO_FIND_COMPONENTS})
+    foreach(opt ${pcl_${component}_opt_dep})
+      find_external_library(${component} ${opt} OPTIONAL)
+    endforeach()
+    foreach(ext ${pcl_${component}_ext_dep})
+      find_external_library(${component} ${ext} REQUIRED)
+    endforeach()
+endforeach()
+
+set(PCL_LIBRARIES)
+foreach(component ${PCL_TO_FIND_COMPONENTS})
+  # Add the targets file
+  include("${CMAKE_CURRENT_LIST_DIR}/pcl_${component}.cmake")
+  check_required_components(${component})
+  list(APPEND PCL_LIBRARIES "pcl::pcl_${component}")
+endforeach()