Merge pull request #5949 from larshg/modernizeCmake

Modernize cmake remove global includes - PNG and Metslib

Author: larshg

CMakeLists.txt

@@ -354,12 +354,7 @@ if(PKG_CONFIG_FOUND)
   pkg_check_modules(METSLIB metslib)
   if(METSLIB_FOUND)
     set(HAVE_METSLIB ON)
-    include_directories(SYSTEM ${METSLIB_INCLUDE_DIRS})
-  else()
-    include_directories(SYSTEM "${PCL_SOURCE_DIR}/recognition/include/pcl/recognition/3rdparty/")
   endif()
-else()
-    include_directories(SYSTEM ${PCL_SOURCE_DIR}/recognition/include/pcl/recognition/3rdparty/)
 endif()
 
 # LibPNG
@@ -368,7 +363,6 @@ if(WITH_PNG)
   find_package(PNG)
   if(PNG_FOUND)
     set(HAVE_PNG ON)
-    include_directories(SYSTEM "${PNG_INCLUDE_DIR}")
   endif()
 endif()
 

apps/CMakeLists.txt

@@ -117,8 +117,8 @@ if(VTK_FOUND)
     target_link_libraries(pcl_openni_octree_compression pcl_common pcl_io pcl_filters pcl_visualization pcl_octree)
 
     if(HAVE_PNG)
-    PCL_ADD_EXECUTABLE(pcl_openni_organized_compression COMPONENT ${SUBSYS_NAME} SOURCES src/openni_organized_compression.cpp BUNDLE)
-    target_link_libraries(pcl_openni_organized_compression pcl_common pcl_io pcl_filters pcl_visualization pcl_octree)
+      PCL_ADD_EXECUTABLE(pcl_openni_organized_compression COMPONENT ${SUBSYS_NAME} SOURCES src/openni_organized_compression.cpp BUNDLE)
+      target_link_libraries(pcl_openni_organized_compression pcl_common pcl_io pcl_filters pcl_visualization pcl_octree)
     endif()
 
     PCL_ADD_EXECUTABLE(pcl_openni_shift_to_depth_conversion COMPONENT ${SUBSYS_NAME} SOURCES src/openni_shift_to_depth_conversion.cpp BUNDLE)

io/CMakeLists.txt

@@ -373,6 +373,7 @@ if(VTK_FOUND)
 endif()
 
 if(PNG_FOUND)
+  target_include_directories("${LIB_NAME}" SYSTEM PRIVATE ${PNG_INCLUDE_DIRS})
   target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES})
 endif()
 

recognition/CMakeLists.txt

@@ -161,6 +161,13 @@ set(LIB_NAME "pcl_${SUBSYS_NAME}")
 include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${face_detection_incs} ${ransac_based_incs} ${ransac_based_impl_incs} ${hv_incs} ${hv_impl_incs} ${cg_incs} ${cg_impl_incs} ${metslib_incs})
 target_link_libraries("${LIB_NAME}" pcl_common pcl_kdtree pcl_octree pcl_search pcl_features pcl_registration pcl_sample_consensus pcl_filters pcl_ml pcl_io)
+
+if(HAVE_METSLIB)
+  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${METSLIB_INCLUDE_DIRS})
+else()
+  target_include_directories(${LIB_NAME} SYSTEM PUBLIC ${PCL_SOURCE_DIR}/recognition/include/pcl/recognition/3rdparty/)
+endif()
+
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 # Install include files
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})

recognition/include/pcl/recognition/hv/hv_go.h

@@ -19,9 +19,10 @@
 
 #include <pcl/pcl_macros.h>
 #include <pcl/recognition/hv/hypotheses_verification.h>
-#include <pcl/recognition/3rdparty/metslib/mets.hh>
 #include <pcl/features/normal_3d.h>
 
+#include <metslib/mets.hh> // Either include 3.party in pcl/recognition/3rdparty or system installed metslib
+
 #include <memory>
 
 namespace pcl