Merge branch 'tier4/main' into fix/organize_dockerfile

Signed-off-by: Shintaro Sakoda <[email protected]>

CMakeLists.txt

@@ -1,8 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(ndt_omp)
 
-add_definitions(-std=c++14)
-set(CMAKE_CXX_FLAGS "-std=c++14")
+add_definitions(-std=c++17)
+set(CMAKE_CXX_FLAGS "-std=c++17")
 
 # Compile flags for SIMD instructions
 if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
@@ -20,78 +20,6 @@ endif()
 # pcl 1.7 causes a segfault when it is built with debug mode
 set(CMAKE_BUILD_TYPE "RELEASE")
 
-if($ENV{ROS_VERSION} EQUAL 1)
-# ROS1
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  pcl_ros
-)
-
-find_package(PCL 1.7 REQUIRED)
-include_directories(${PCL_INCLUDE_DIRS})
-link_directories(${PCL_LIBRARY_DIRS})
-add_definitions(${PCL_DEFINITIONS})
-
-message(STATUS "PCL_INCLUDE_DIRS:" ${PCL_INCLUDE_DIRS})
-message(STATUS "PCL_LIBRARY_DIRS:" ${PCL_LIBRARY_DIRS})
-message(STATUS "PCL_DEFINITIONS:" ${PCL_DEFINITIONS})
-
-find_package(OpenMP)
-if (OPENMP_FOUND)
-    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
-    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-endif()
-
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ndt_omp
-)
-
-###########
-## Build ##
-###########
-include_directories(include)
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-)
-
-add_library(ndt_omp
-  src/pclomp/voxel_grid_covariance_omp.cpp
-  src/pclomp/ndt_omp.cpp
-  src/pclomp/gicp_omp.cpp
-)
-
-add_executable(align
-  apps/align.cpp
-)
-add_dependencies(align
-  ndt_omp
-)
-target_link_libraries(align
-  ${catkin_LIBRARIES}
-  ${PCL_LIBRARIES}
-  ndt_omp
-)
-
-#############
-## INSTALL ##
-#############
-
-install(
-  TARGETS
-    ndt_omp
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-)
-
-# install headers
-install(DIRECTORY include/pclomp
-        DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
-else()
 # ROS2
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
@@ -155,5 +83,3 @@ target_link_libraries(regression_test
   ${PCL_LIBRARIES}
   ndt_omp multigrid_ndt_omp
 )
-
-endif()