<commit_before>if(TRUE)

set(SUBSYS_NAME gpu_kinfu)
set(SUBSYS_PATH gpu/gpu_kinfu)
set(SUBSYS_DESC "Kinect Fusion implementation")
set(SUBSYS_DEPS common gpu_containers gpu_utils gpu_features visualization io)

#find_package(OpenCV QUIET)
set(OpenCV_FOUND 0)

if (TRUE)
	set(build FALSE)
	PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
	PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
	PCL_SET_SUBSYS_INCLUDE_DIR(${SUBSYS_NAME} ${SUBSYS_PATH})
	mark_as_advanced("BUILD_${SUBSYS_NAME}")
	
	if(OpenCV_FOUND)
		add_definitions(-DHAVE_OPENCV)	
		include_directories(${OpenCV_INCLUDE_DIRS})
	else()
		remove_definitions(-DHAVE_OPENCV)
	endif()

	if (build)
		FILE(GLOB incs include/pcl/gpu/kinfu/*.h*)
		FILE(GLOB srcs src/*.cpp src/*.h*)
		FILE(GLOB cuda src/cuda/*.cu src/cuda/*.h*)
		#FILE(GLOB tsdf src/cuda/tsdf_volume.cu)
		#FILE(GLOB est src/cuda/estimate_tranform.cu)
				
		source_group("Source Files\\cuda" FILES ${cuda} )    
		source_group("Source Files" FILES ${srcs} )		
	    
		set(LIB_NAME pcl_${SUBSYS_NAME})
		include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${CMAKE_CURRENT_SOURCE_DIR}/src ${CUDA_INCLUDE_DIRS})			

		if (UNIX OR APPLE)
			set (CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}  "-Xcompiler;-fPIC;")			
		endif()
		
		if(NOT UNIX OR APPLE)
		    add_definitions(-DPCLAPI_EXPORTS)
		endif()
		
		if(TRUE)
			#list(REMOVE_ITEM cuda ${est})
			#CUDA_COMPILE(est_objs ${est})		
                       
			set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "--ftz=true;--prec-div=false;--prec-sqrt=false") 
			CUDA_COMPILE(cuda_objs ${cuda})		
			
			#LIST(APPEND cuda ${est})
		    #LIST(APPEND cuda_objs ${est_objs})
			
		else()		
			list(REMOVE_ITEM cuda ${tsdf})
			CUDA_COMPILE(cuda_objs ${cuda})		
			set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}  "--ftz=true;--prec-div=false;--prec-sqrt=false") 
			CUDA_COMPILE(tsdf_obj ${tsdf})
		
		    LIST(APPEND cuda ${tsdf})
		    LIST(APPEND cuda_objs ${tsdf_obj})
		endif()
		 
		PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${cuda} ${cuda_objs})
		PCL_ADD_SSE_FLAGS(${LIB_NAME})
		target_link_libraries(${LIB_NAME} pcl_gpu_utils pcl_gpu_containers pcl_gpu_octree)
				
		if(OpenCV_FOUND)
			target_link_libraries(${LIB_NAME} ${OpenCV_LIBS})
		endif()
		 
		set(EXT_DEPS "")
		#set(EXT_DEPS CUDA)
		PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")

		# Install include files
		PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_PATH} ${incs})
		
		add_subdirectory(test)
		add_subdirectory(tools)
	endif()
endif()
endif()
<commit_msg>* partial bugfix issue 536, kinfu headers are installed in wrong directory after sudo make install<commit_after>if(TRUE)

set(SUBSYS_NAME gpu_kinfu)
set(SUBSYS_PATH gpu/kinfu)
set(SUBSYS_DESC "Kinect Fusion implementation")
set(SUBSYS_DEPS common gpu_containers gpu_utils gpu_features visualization io)

#find_package(OpenCV QUIET)
set(OpenCV_FOUND 0)

if (TRUE)
	set(build FALSE)
	PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
	PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
	PCL_SET_SUBSYS_INCLUDE_DIR(${SUBSYS_NAME} ${SUBSYS_PATH})
	mark_as_advanced("BUILD_${SUBSYS_NAME}")
	
	if(OpenCV_FOUND)
		add_definitions(-DHAVE_OPENCV)	
		include_directories(${OpenCV_INCLUDE_DIRS})
	else()
		remove_definitions(-DHAVE_OPENCV)
	endif()

	if (build)
		FILE(GLOB incs include/pcl/gpu/kinfu/*.h*)
		FILE(GLOB srcs src/*.cpp src/*.h*)
		FILE(GLOB cuda src/cuda/*.cu src/cuda/*.h*)
		#FILE(GLOB tsdf src/cuda/tsdf_volume.cu)
		#FILE(GLOB est src/cuda/estimate_tranform.cu)
				
		source_group("Source Files\\cuda" FILES ${cuda} )    
		source_group("Source Files" FILES ${srcs} )		
	    
		set(LIB_NAME pcl_${SUBSYS_NAME})
		include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${CMAKE_CURRENT_SOURCE_DIR}/src ${CUDA_INCLUDE_DIRS})			

		if (UNIX OR APPLE)
			set (CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}  "-Xcompiler;-fPIC;")			
		endif()
		
		if(NOT UNIX OR APPLE)
		    add_definitions(-DPCLAPI_EXPORTS)
		endif()
		
		if(TRUE)
			#list(REMOVE_ITEM cuda ${est})
			#CUDA_COMPILE(est_objs ${est})		
                       
			set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "--ftz=true;--prec-div=false;--prec-sqrt=false") 
			CUDA_COMPILE(cuda_objs ${cuda})		
			
			#LIST(APPEND cuda ${est})
		    #LIST(APPEND cuda_objs ${est_objs})
			
		else()		
			list(REMOVE_ITEM cuda ${tsdf})
			CUDA_COMPILE(cuda_objs ${cuda})		
			set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}  "--ftz=true;--prec-div=false;--prec-sqrt=false") 
			CUDA_COMPILE(tsdf_obj ${tsdf})
		
		    LIST(APPEND cuda ${tsdf})
		    LIST(APPEND cuda_objs ${tsdf_obj})
		endif()
		 
		PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${cuda} ${cuda_objs})
		PCL_ADD_SSE_FLAGS(${LIB_NAME})
		target_link_libraries(${LIB_NAME} pcl_gpu_utils pcl_gpu_containers pcl_gpu_octree)
				
		if(OpenCV_FOUND)
			target_link_libraries(${LIB_NAME} ${OpenCV_LIBS})
		endif()
		 
		set(EXT_DEPS "")
		#set(EXT_DEPS CUDA)
		PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")

		# Install include files
		PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_PATH} ${incs})
		
		add_subdirectory(test)
		add_subdirectory(tools)
	endif()
endif()
endif()

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