Merged pcl_integration branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/src/CMakeLists.txt

@@ -13,6 +13,7 @@ SET(SRC_FILES
 	
     Camera.cpp
     CameraThread.cpp
+    CameraOpenni.cpp
     
     EpipolarGeometry.cpp
 	VisualWord.cpp
@@ -22,6 +23,14 @@ SET(SRC_FILES
     Signature.cpp
 	Features2d.cpp
 	NearestNeighbor.cpp
+	Transform.cpp
+	
+	util3d.cpp
+	Odometry.cpp
+	
+	toro3d/posegraph3.cpp
+	toro3d/treeoptimizer3_iteration.cpp
+	toro3d/treeoptimizer3.cpp
 )
 
 SET(INCLUDE_DIRS
@@ -31,11 +40,9 @@ SET(INCLUDE_DIRS
 	${CMAKE_CURRENT_BINARY_DIR}
     ${OpenCV_INCLUDE_DIRS}
 	${SQLITE3_INCLUDE_DIR}
-)
-
-SET(LIBRARIES
-	${OpenCV_LIBS} 
-	${SQLITE3_LIBRARY}
+	${PCL_INCLUDE_DIRS}
+	${ZLIB_INCLUDE_DIRS}
+	
 )
 
 ####################################
@@ -65,26 +72,26 @@ ADD_CUSTOM_COMMAND(
 # Generate resources files END
 ####################################
 
+add_definitions(${PCL_DEFINITIONS})
+
 
 # Make sure the compiler can find include files from our library.
 INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 
 # Add binary that is built from the source file "main.cpp".
 # The extension is automatically found.
-ADD_LIBRARY(rtabmap_corelib ${SRC_FILES} ${RESOURCES_HEADERS})
-TARGET_LINK_LIBRARIES(rtabmap_corelib rtabmap_utilite ${LIBRARIES})
+ADD_LIBRARY(rtabmap_core ${SRC_FILES} ${RESOURCES_HEADERS})
+TARGET_LINK_LIBRARIES(rtabmap_core rtabmap_utilite ${OpenCV_LIBS} ${SQLITE3_LIBRARY} ${PCL_LIBRARIES} ${ZLIB_LIBRARIES})
 
-SET_TARGET_PROPERTIES(
-rtabmap_corelib 
-PROPERTIES
- OUTPUT_NAME ${PROJECT_PREFIX}_core
- INSTALL_NAME_DIR ${CMAKE_INSTALL_PREFIX}/lib
-)
-
-INSTALL(TARGETS rtabmap_corelib
-        RUNTIME DESTINATION bin COMPONENT runtime
-        LIBRARY DESTINATION lib COMPONENT devel
-        ARCHIVE DESTINATION lib COMPONENT devel)
+INSTALL(TARGETS rtabmap_core
+	    EXPORT RTABMapTargets
+        RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+        LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel
+        ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT devel)
 		
-install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/ DESTINATION include/ COMPONENT devel FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE)
+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/ 
+		DESTINATION "${INSTALL_INCLUDE_DIR}"
+		COMPONENT devel 
+		FILES_MATCHING PATTERN "*.h" 
+		PATTERN ".svn" EXCLUDE)