Merge pull request autowarefoundation#1263 from CPFL/feature/imm_ukf_…

…pda_tracker [Fix] CMakeLists.txt and package.xml for Imm-Ukf-Pda-Tracker
geromidg · May 14, 2018 · 4af226c · 4af226c
2 parents 6763674 + f1fd98d
commit 4af226c
Show file tree

Hide file tree

Showing 2 changed files with 13 additions and 1 deletion.
diff --git a/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt b/ros/src/computing/perception/detection/packages/lidar_tracker/CMakeLists.txt
@@ -260,6 +260,17 @@ add_dependencies(kf_contour_tracker ${catkin_EXPORTED_TARGETS})
 
 #immUkfPda Track
 find_package(Eigen3 QUIET)
+if (NOT EIGEN3_FOUND)
+   # Fallback to cmake_modules
+   find_package(cmake_modules REQUIRED)
+   find_package(Eigen REQUIRED)
+   set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+   set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})  # Not strictly necessary as Eigen is head only
+   # Possibly map additional variables to the EIGEN3_ prefix.
+else ()
+   set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif ()
+
 set(SOURCE_FILES nodes/imm_ukf_pda_tracker/src/imm_ukf_pda_tracker_main.cpp nodes/imm_ukf_pda_tracker/src/imm_ukf_pda_tracker.cpp nodes/imm_ukf_pda_tracker/src/ukf.cpp)
 add_executable(imm_ukf_pda_tracker ${SOURCE_FILES})
 target_include_directories(imm_ukf_pda_tracker PRIVATE nodes/imm_ukf_pda_tracker/include)

diff --git a/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml b/ros/src/computing/perception/detection/packages/lidar_tracker/package.xml
@@ -8,7 +8,6 @@
     <license>BSD</license>
 
     <buildtool_depend>catkin</buildtool_depend>
-
     <build_depend>pcl_conversions</build_depend>
     <build_depend>pcl_ros</build_depend>
     <build_depend>roscpp</build_depend>
@@ -29,6 +28,7 @@
     <build_depend>grid_map_cv</build_depend>
     <build_depend>grid_map_msgs</build_depend>
     <build_depend>qtbase5-dev</build_depend>
+    <build_depend>eigen</build_depend>
 
     <run_depend>pcl_conversions</run_depend>
     <run_depend>pcl_ros</run_depend>
@@ -51,6 +51,7 @@
     <run_depend>grid_map_msgs</run_depend>
     <run_depend>libqt5-core</run_depend>
     <run_depend>libqt5-widgets</run_depend>
+    <run_depend>eigen</run_depend>
 
     <export></export>
 </package>