find_package(teaserpp REQUIRED)

[narutojxl]

Hi @koide3，
I try to build with teaser. I downloaded your modified teaser++ and make installed the lib into the default path/usr/local/. Then the hdl_global_localization/CMakeLists.txt configs as following:

option(ENABLE_TEASER "Build with Teaser++" OFF)
find_package(teaserpp  REQUIRED)
include_directories( ${teaserpp_INCLUDE_DIR} )
set(TEASER_LIBRARIES
	   teaserpp::teaser_registration 
	   teaserpp::teaser_io
	   teaserpp::teaser_features
)
add_library(hdl_global_localization_teaser
	src/hdl_global_localization/engines/global_localization_fpfh_teaser.cpp
  )
target_link_libraries(hdl_global_localization_teaser
	${TEASER_LIBRARIES}
  )
target_link_libraries(hdl_global_localization
	hdl_global_localization_teaser
  )

When building, the output is:

CMake Error at hdl_global_localization_noted/CMakeLists.txt:45 (find_package):
  By not providing "Findteaserpp.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "teaserpp",
  but CMake did not find one.

  Could not find a package configuration file provided by "teaserpp" with any
  of the following names:

	teaserppConfig.cmake
	teaserpp-config.cmake

  Add the installation prefix of "teaserpp" to CMAKE_PREFIX_PATH or set
  "teaserpp_DIR" to a directory containing one of the above files.  If
  "teaserpp" provides a separate development package or SDK, be sure it has
  been installed.

In the /usr/local/lib/cmake/teaserpp/, there is no teaserppConfig.cmake or teaserpp-config.cmake, but teaserppTargets.cmake and teaserppTargets-release.cmake. How to fix this problem, thanks for your help and time!

/usr/local/lib/cmake/teaserpp/teaserppTargets.cmake
/usr/local/lib/cmake/teaserpp/teaserppTargets-release.cmake

[koide3]

Hi @narutojxl ,

You don't need to make & install teaser yourself. If you set ENABLE_TEASER=ON, catkin_make automatically clone and build teaser and install it in catkin_ws/devel.

[narutojxl]

Hi @koide3, thanks for your reply. When i ENABLE_TEASER=ON, CMakeLists.txt#L100 and #L105, the build output is:

The dependency target "teaser" of target "hdl_global_localization_teaser" does not exist.
The dependency target "teaser" of target "hdl_global_localization" does not exist.

comment the two lines, everything is OK.
BTW, if we want to use teaser as a standalone lib, for example other projects use teaser with find_package(), how to fix the problem :)

[yutouwd]

Hi @koide3,

I also have tried to build teaser++ but failed. The error is different with @narutojxl I set ENABLE_TEASER=ON and then catkin_make. The error is:

In file included from /home/yutouwd/workspace/hdl_new_global/build/hdl_global_localization/teaser-prefix/src/teaser/teaser/include/teaser/fpfh.h:12:0,
                 from /home/yutouwd/workspace/hdl_new_global/build/hdl_global_localization/teaser-prefix/src/teaser/teaser/src/fpfh.cc:9:
/home/yutouwd/workspace/hdl_new_global/build/hdl_global_localization/teaser-prefix/src/teaser/teaser/include/pcl/fpfh.h:41:10: fatal error: pcl/features/fpfh.h: No such file or directory
 #include <pcl/features/fpfh.h>
          ^~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/yutouwd/workspace/hdl_new_global/build/hdl_global_localization/teaser-prefix/src/teaser/teaser/src/matcher.cc:9:0:
/home/yutouwd/workspace/hdl_new_global/build/hdl_global_localization/teaser-prefix/src/teaser/teaser/include/teaser/matcher.h:12:10: fatal error: pcl/point_cloud.h: No such file or directory
 #include <pcl/point_cloud.h>

It seems it could not find PCL. But when I build teaser++ by using cmake .. && make, it doesn't have any error. Do you have some suggestions to fix it. Thanks for your help.

[koide3]

Hi @narutojxl ,
I personally didn't want to install teaser on the system and chose to build it locally in catkin_ws. But, maybe it's good to support a way with find_package() as well. I'll update CMakeLists so that it checks if teaser is installed on the system and use it if available.

@yutouwd ,
Can you build teaser with cmake .. -DBUILD_TEASER_FPFH=ON?

[narutojxl]

Hi @koide3, thanks for your suggestions. I have asked the raw teaser's author how to use teaser with find_package(). If anybody knows how to use, please give a comment, i will be appreciated much.

[yutouwd]

Hi @koide3,
Thanks for your reply. I build teaser with cmake .. -DBUILD_TEASER_FPFH=ON. It would have the same problem. I'm using Ubuntu18.04 and PCL version is 1.8.

[WilliamWoo45]

Hi @koide3,
Thanks for your reply. I build teaser with cmake .. -DBUILD_TEASER_FPFH=ON. It would have the same problem. I'm using Ubuntu18.04 and PCL version is 1.8.

Dear Koide @koide3,

I run into the same issue with @yutouwd.
Any solution for this?

Thanks and best regards,
William

[hitbg-yjm]

Hi @koide3,
Thanks for your reply. I build teaser with cmake .. -DBUILD_TEASER_FPFH=ON. It would have the same problem. I'm using Ubuntu18.04 and PCL version is 1.8.

Dear Koide @koide3,

I run into the same issue with @yutouwd.
Any solution for this?

Thanks and best regards,
William

This link may be the answer.
https://teaser.readthedocs.io/en/latest/installation.html#installing-dependencies