# -*- coding: utf-8 -*-

from __future__ import print_function

from collections import defaultdict

from Cython.Distutils import build_ext

from distutils.core import setup

from distutils.extension import Extension

# from Cython.Build import cythonize # MacOS NG

from setuptools import setup, find_packages, Extension

import subprocess

import numpy

import sys

import platform

import os

import time

sys.path.append('./pcl')

sys.path.append('./tests')

setup_requires = []

install_requires = [

'filelock',

'nose',

'numpy',

'Cython>=0.25.2',

]

def pkgconfig(flag):

# Equivalent in Python 2.7 (but not 2.6):

# subprocess.check_output(['pkg-config', flag] + pcl_libs).split()

p = subprocess.Popen(['pkg-config', flag] +

pcl_libs, stdout=subprocess.PIPE)

stdout, _ = p.communicate()

# Assume no evil spaces in filenames; unsure how pkg-config would

# handle those, anyway.

# decode() is required in Python 3. TODO how do know the encoding?

return stdout.decode().split()

def pkgconfig_win(flag, cut):

# Equivalent in Python 2.7 (but not 2.6):

# subprocess.check_output(['pkg-config', flag] + pcl_libs).split()

p = subprocess.Popen(['.\\pkg-config\\pkg-config.exe', flag] +

pcl_libs, stdout=subprocess.PIPE)

stdout, _ = p.communicate()

# Assume no evil spaces in filenames; unsure how pkg-config would

# handle those, anyway.

# decode() is required in Python 3. TODO how do know the encoding?

# return stdout.decode().split()

# Windows

# return stdout.decode().replace('\r\n', '').replace('\ ', ' ').replace('/', '\\').split(cut)

return stdout.decode().replace('\r\n', '').replace('\ ', ' ').replace('/', '\\').split(cut)

if platform.system() == "Windows":

# Check 32bit or 64bit

is_64bits = sys.maxsize > 2**32

# if is_64bits == True

# environment Value

for k, v in os.environ.items():

# print("{key} : {value}".format(key=k, value=v))

if k == "PCL_ROOT":

pcl_root = v

# print(pcl_root)

# print("%s: find environment PCL_ROOT" % pcl_root)

break

else:

print("cannot find environment PCL_ROOT", file=sys.stderr)

sys.exit(1)

# Add environment Value

for k, v in os.environ.items():

# print("{key} : {value}".format(key=k, value=v))

if k == "PKG_CONFIG_PATH":

pkgconfigstr = v

break

else:

# print("cannot find environment PKG_CONFIG_PATH", file=sys.stderr)

print("cannot find environment PKG_CONFIG_PATH")

pkgconfigstr = pcl_root + '\\lib\\pkgconfig;' + pcl_root + \

'\\3rdParty\\FLANN\\lib\\pkgconfig;' + \

pcl_root + '\\3rdParty\\Eigen\\lib\\pkgconfig;'

os.environ["PKG_CONFIG_PATH"] = pcl_root + '\\lib\\pkgconfig;' + pcl_root + \

'\\3rdParty\\FLANN\\lib\\pkgconfig;' + \

pcl_root + '\\3rdParty\\Eigen\\lib\\pkgconfig;'

print("set environment PKG_CONFIG_PATH=%s" % pkgconfigstr)

# other package(common)

# BOOST_ROOT

for k, v in os.environ.items():

# print("{key} : {value}".format(key=k, value=v))

if k == "BOOST_ROOT":

boost_root = v

break

else:

boost_root = pcl_root + '\\3rdParty\\Boost'

# EIGEN_ROOT

for k, v in os.environ.items():

# print("{key} : {value}".format(key=k, value=v))

if k == "EIGEN_ROOT":

eigen_root = v

break

else:

eigen_root = pcl_root + '\\3rdParty\\Eigen'

# FLANN_ROOT

for k, v in os.environ.items():

# print("{key} : {value}".format(key=k, value=v))

if k == "FLANN_ROOT":

flann_root = v

break

else:

flann_root = pcl_root + '\\3rdParty\\FLANN'

# QHULL_ROOT

for k, v in os.environ.items():

# print("{key} : {value}".format(key=k, value=v))

if k == "QHULL_ROOT":

qhull_root = v

break

else:

qhull_root = pcl_root + '\\3rdParty\\Qhull'

# VTK_DIR

for k, v in os.environ.items():

# print("{key} : {value}".format(key=k, value=v))

if k == "VTK_DIR":

vtk_root = v

break

else:

vtk_root = pcl_root + '\\3rdParty\\VTK'

# custom(CUDA)

# custom(WinPcap)

# get pkg-config.exe filePath

pkgconfigPath = os.getcwd() + '\\pkg-config\\pkg-config.exe'

print(pkgconfigPath)

# AppVeyor Check

for k, v in os.environ.items():

# print("{key} : {value}".format(key=k, value=v))

if k == "PCL_VERSION":

pcl_version = '-' + v

break

else:

# Try to find PCL. XXX we should only do this when trying to build or install.

PCL_SUPPORTED = ["-1.8", "-1.7", "-1.6", ""] # in order of preference

for pcl_version in PCL_SUPPORTED:

if subprocess.call(['.\\pkg-config\\pkg-config.exe', 'pcl_common%s' % pcl_version]) == 0:

# if subprocess.call([pkgconfigPath, 'pcl_common%s' % pcl_version]) == 0:

break

else:

print("%s: error: cannot find PCL, tried" %

sys.argv[0], file=sys.stderr)

for version in PCL_SUPPORTED:

print(' pkg-config pcl_common%s' % version, file=sys.stderr)

sys.exit(1)

print(pcl_version)

# pcl_version = '-1.6'

# Python Version Check

info = sys.version_info

if pcl_version == '-1.6':

# PCL 1.6.0 python Version == 3.4(>= 3.4?, 2.7 -> NG)

# Visual Studio 2010

if info.major == 3 and info.minor == 4:

boost_version = '1_49'

vtk_version = '5.8'

pcl_libs = ["common", "features", "filters", "kdtree", "octree",

"registration", "sample_consensus", "search", "segmentation",

"surface", "tracking", "visualization"]

pass

else:

print('no building Python Version')

sys.exit(1)

elif pcl_version == '-1.7':

# PCL 1.7.2 python Version >= 3.5

# Visual Studio 2015

if info.major == 3 and info.minor >= 5:

boost_version = '1_57'

vtk_version = '6.2'

pass

# pcl-1.8

# 1.8.1 use 2d required features

pcl_libs = ["2d", "common", "features", "filters", "geometry",

"io", "kdtree", "keypoints", "ml", "octree", "outofcore", "people",

"recognition", "registration", "sample_consensus", "search",

"segmentation", "stereo", "surface", "tracking", "visualization"]

else:

print('no building Python Version')

sys.exit(1)

elif pcl_version == '-1.8':

# PCL 1.8.0 python Version >= 3.5

# Visual Studio 2015

if info.major == 3 and info.minor >= 5:

# PCL 1.8.1

boost_version = '1_64'

vtk_version = '8.0'

# pcl-1.8

# 1.8.1 use 2d required features

pcl_libs = ["2d", "common", "features", "filters", "geometry",

"io", "kdtree", "keypoints", "ml", "octree", "outofcore", "people",

"recognition", "registration", "sample_consensus", "search",

"segmentation", "stereo", "surface", "tracking", "visualization"]

pass

else:

print('no building Python Version')

sys.exit(1)

else:

print('pcl_version Unknown')

sys.exit(1)

# Find build/link options for PCL using pkg-config.

pcl_libs = ["pcl_%s%s" % (lib, pcl_version) for lib in pcl_libs]

# pcl_libs += ['Eigen3']

# print(pcl_libs)

ext_args = defaultdict(list)

# set include path

ext_args['include_dirs'].append(numpy.get_include())

# Get setting pkg-config

# add include headers

# use pkg-config

# print('test')

# for flag in pkgconfig_win('--cflags-only-I', '-I'):

# print(flag.lstrip().rstrip())

# print('test')

# ext_args['include_dirs'].append(flag.lstrip().rstrip())

# no use pkg-config

if pcl_version == '-1.6':

# 1.6.0

# boost 1.5.5

# vtk 5.8

# ext_args['include_dirs'].append([pcl_root + '\\include\\pcl' + pcl_version, pcl_root + '\\3rdParty\\Eigen\\include', pcl_root + '\\3rdParty\\Boost\\include', pcl_root + '\\3rdParty\\FLANN\include'])

# inc_dirs = [pcl_root + '\\include\\pcl' + pcl_version, pcl_root + '\\3rdParty\\Eigen\\include', pcl_root + '\\3rdParty\\Boost\\include', pcl_root + '\\3rdParty\\FLANN\include']

# NG

# inc_dirs = [pcl_root + '\\include\\pcl' + pcl_version, pcl_root + '\\3rdParty\\Eigen\\include', pcl_root + '\\3rdParty\\FLANN\\include']

# 3rdParty

# inc_dirs = [pcl_root + '\\include\\pcl' + pcl_version, pcl_root + '\\3rdParty\\Eigen\\include', pcl_root + '\\3rdParty\\Boost\\include', pcl_root + '\\3rdParty\\FLANN\\include']

# + add VTK

inc_dirs = [pcl_root + '\\include\\pcl' + pcl_version, pcl_root + '\\3rdParty\\Eigen\\include', pcl_root + '\\3rdParty\\Boost\\include', pcl_root + '\\3rdParty\\FLANN\\include', pcl_root + '\\3rdParty\\VTK\\include\\vtk-' + vtk_version]

elif pcl_version == '-1.7':

# 1.7.2

# boost 1.5.7

# vtk 6.2

inc_dirs = [pcl_root + '\\include\\pcl' + pcl_version, pcl_root + '\\3rdParty\\\Eigen\\eigen3', pcl_root + '\\3rdParty\\Boost\\include\\boost-' + boost_version, pcl_root + '\\3rdParty\\FLANN\\include', pcl_root + '\\3rdParty\\VTK\\include\\vtk-' + vtk_version]

elif pcl_version == '-1.8':

# 1.8.0

# boost 1.6.1

# vtk 7.0

inc_dirs = [pcl_root + '\\include\\pcl' + pcl_version, pcl_root + '\\3rdParty\\\Eigen\\eigen3', pcl_root + '\\3rdParty\\Boost\\include\\boost-' + boost_version, pcl_root + '\\3rdParty\\FLANN\\include', pcl_root + '\\3rdParty\\VTK\\include\\vtk-' + vtk_version]

else:

inc_dirs = []

for inc_dir in inc_dirs:

ext_args['include_dirs'].append(inc_dir)

# for flag in pkgconfig_win('--libs-only-L', '-L'):

# print(flag.lstrip().rstrip())

# ext_args['library_dirs'].append(flag[2:])

# for flag in pkgconfig_win('--libs-only-other', '-l'):

# print(flag.lstrip().rstrip())

# ext_args['extra_link_args'].append(flag)

# end

# set library path

if pcl_version == '-1.6':

# 3rdParty(+Boost, +VTK)

lib_dirs = [pcl_root + '\\lib', pcl_root + '\\3rdParty\\Boost\\lib', pcl_root + '\\3rdParty\\FLANN\\lib', pcl_root + '\\3rdParty\\VTK\lib\\vtk-5.8']

# extern -> NG?

elif pcl_version == '-1.7':

# 1.7.2

# 3rdParty(+Boost, +VTK)

lib_dirs = [pcl_root + '\\lib', pcl_root + '\\3rdParty\\Boost\\lib', pcl_root + '\\3rdParty\\FLANN\\lib', pcl_root + '\\3rdParty\\VTK\lib']

elif pcl_version == '-1.8':

# 1.8.0

# 3rdParty(+Boost, +VTK)

lib_dirs = [pcl_root + '\\lib', pcl_root + '\\3rdParty\\Boost\\lib', pcl_root + '\\3rdParty\\FLANN\\lib', pcl_root + '\\3rdParty\\VTK\lib']

else:

lib_dir = []

for lib_dir in lib_dirs:

ext_args['library_dirs'].append(lib_dir)

# OpenNI2?

# %OPENNI2_REDIST64% %OPENNI2_REDIST%

# set compiler flags

# for flag in pkgconfig_win('--cflags-only-other'):

# if flag.startswith('-D'):

# macro, value = flag[2:].split('=', 1)

# ext_args['define_macros'].append((macro, value))

# else:

# ext_args['extra_compile_args'].append(flag)

#

# for flag in pkgconfig_win('--libs-only-l', '-l'):

# if flag == "-lflann_cpp-gd":

# print("skipping -lflann_cpp-gd (see https://github.com/strawlab/python-pcl/issues/29")

# continue

# ext_args['libraries'].append(flag.lstrip().rstrip())

if pcl_version == '-1.6':

# release

# libreleases = ['pcl_apps_release', 'pcl_common_release', 'pcl_features_release', 'pcl_filters_release', 'pcl_io_release', 'pcl_io_ply_release', 'pcl_kdtree_release', 'pcl_keypoints_release', 'pcl_octree_release', 'pcl_registration_release', 'pcl_sample_consensus_release', 'pcl_segmentation_release', 'pcl_search_release', 'pcl_surface_release', 'pcl_tracking_release', 'pcl_visualization_release', 'flann', 'flann_s']

# release + vtk

libreleases = ['pcl_apps_release', 'pcl_common_release', 'pcl_features_release', 'pcl_filters_release', 'pcl_io_release', 'pcl_io_ply_release', 'pcl_kdtree_release', 'pcl_keypoints_release', 'pcl_octree_release', 'pcl_registration_release', 'pcl_sample_consensus_release', 'pcl_segmentation_release', 'pcl_search_release', 'pcl_surface_release', 'pcl_tracking_release', 'pcl_visualization_release', 'flann', 'flann_s', 'vtkInfovis', 'MapReduceMPI', 'vtkNetCDF', 'QVTK', 'vtkNetCDF_cxx', 'vtkRendering', 'vtkViews', 'vtkVolumeRendering', 'vtkWidgets', 'mpistubs', 'vtkalglib', 'vtkCharts', 'vtkexoIIc', 'vtkexpat', 'vtkCommon', 'vtkfreetype', 'vtkDICOMParser', 'vtkftgl', 'vtkFiltering', 'vtkhdf5', 'vtkjpeg', 'vtkGenericFiltering', 'vtklibxml2', 'vtkGeovis', 'vtkmetaio', 'vtkpng', 'vtkGraphics', 'vtkproj4', 'vtkHybrid', 'vtksqlite', 'vtksys', 'vtkIO', 'vtktiff', 'vtkImaging', 'vtkverdict', 'vtkzlib']

# add boost

# dynamic lib

# libreleases = ['pcl_apps_release', 'pcl_common_release', 'pcl_features_release', 'pcl_filters_release', 'pcl_io_release', 'pcl_io_ply_release', 'pcl_kdtree_release', 'pcl_keypoints_release', 'pcl_octree_release', 'pcl_registration_release', 'pcl_sample_consensus_release', 'pcl_segmentation_release', 'pcl_search_release', 'pcl_surface_release', 'pcl_tracking_release', 'pcl_visualization_release', 'flann', 'flann_s', 'boost_date_time-vc100-mt-1_47', 'boost_filesystem-vc100-mt-1_49', 'boost_graph-vc100-mt-1_49', 'boost_graph_parallel-vc100-mt-1_49', 'boost_iostreams-vc100-mt-1_49', 'boost_locale-vc100-mt-1_49', 'boost_math_c99-vc100-mt-1_49', 'boost_math_c99f-vc100-mt-1_49', 'boost_math_tr1-vc100-mt-1_49', 'boost_math_tr1f-vc100-mt-1_49', 'boost_mpi-vc100-mt-1_49', 'boost_prg_exec_monitor-vc100-mt-1_49', 'boost_program_options-vc100-mt-1_49', 'boost_random-vc100-mt-1_49', 'boost_regex-vc100-mt-1_49', 'boost_serialization-vc100-mt-1_49', 'boost_signals-vc100-mt-1_49', 'boost_system-vc100-mt-1_49', 'boost_thread-vc100-mt-1_49', 'boost_timer-vc100-mt-1_49', 'boost_unit_test_framework-vc100-mt-1_49', 'boost_wave-vc100-mt-1_49', 'boost_wserialization-vc100-mt-1_49']

# static lib

# boost_chrono-vc100-mt-1_49 -> NG(1.47/1.49)

# boost_date_time-vc100-mt-1_49.lib -> NG

# libreleases = ['pcl_apps_release', 'pcl_common_release', 'pcl_features_release', 'pcl_filters_release', 'pcl_io_release', 'pcl_io_ply_release', 'pcl_kdtree_release', 'pcl_keypoints_release', 'pcl_octree_release', 'pcl_registration_release', 'pcl_sample_consensus_release', 'pcl_segmentation_release', 'pcl_search_release', 'pcl_surface_release', 'pcl_tracking_release', 'pcl_visualization_release', 'flann', 'flann_s', 'libboost_date_time-vc100-mt-1_49', 'libboost_filesystem-vc100-mt-1_49', 'libboost_graph_parallel-vc100-mt-1_49', 'libboost_iostreams-vc100-mt-1_49', 'libboost_locale-vc100-mt-1_49', 'libboost_math_c99-vc100-mt-1_49', 'libboost_math_c99f-vc100-mt-1_49', 'libboost_math_tr1-vc100-mt-1_49', 'libboost_math_tr1f-vc100-mt-1_49', 'libboost_mpi-vc100-mt-1_49', 'libboost_prg_exec_monitor-vc100-mt-1_49', 'libboost_program_options-vc100-mt-1_49', 'libboost_random-vc100-mt-1_49', 'libboost_regex-vc100-mt-1_49', 'libboost_serialization-vc100-mt-1_49', 'libboost_signals-vc100-mt-1_49', 'libboost_system-vc100-mt-1_49', 'libboost_test_exec_monitor-vc100-mt-1_49', 'libboost_thread-vc100-mt-1_49', 'libboost_timer-vc100-mt-1_49', 'libboost_unit_test_framework-vc100-mt-1_49', 'libboost_wave-vc100-mt-1_49', 'libboost_wserialization-vc100-mt-1_49']

# 'MapReduceMPI-gd.lib', 'vtkNetCDF-gd.lib', 'QVTK-gd.lib', 'vtkNetCDF_cxx-gd.lib', 'vtkRendering-gd.lib', 'vtkViews-gd.lib', 'vtkVolumeRendering-gd.lib', 'vtkWidgets-gd.lib', 'mpistubs-gd.lib', 'vtkalglib-gd.lib', 'vtkCharts-gd.lib', 'vtkexoIIc-gd.lib', 'vtkexpat-gd.lib', 'vtkCommon-gd.lib', 'vtkfreetype-gd.lib', 'vtkDICOMParser-gd.lib', 'vtkftgl-gd.lib', 'vtkFiltering-gd.lib', 'vtkhdf5-gd.lib', 'vtkjpeg-gd.lib', 'vtkGenericFiltering-gd.lib', 'vtklibxml2-gd.lib', 'vtkGeovis-gd.lib', 'vtkmetaio-gd.lib', 'vtkpng-gd.lib', 'vtkGraphics-gd.lib', 'vtkproj4-gd.lib', 'vtkHybrid-gd.lib', 'vtksqlite-gd.lib', 'vtksys-gd.lib', 'vtkIO-gd.lib', 'vtktiff-gd.lib', 'vtkImaging-gd.lib', 'vtkverdict-gd.lib', 'vtkzlib-gd.lib', 'vtkInfovis-gd.lib',

# add boost

# dynamic lib

# libreleases = ['pcl_common_release', 'pcl_features_release', 'pcl_filters_release', 'pcl_io_release', 'pcl_io_ply_release', 'pcl_kdtree_release', 'pcl_keypoints_release', 'pcl_octree_release', 'pcl_registration_release', 'pcl_sample_consensus_release', 'pcl_segmentation_release', 'pcl_search_release', 'pcl_surface_release', 'pcl_tracking_release', 'pcl_visualization_release', 'flann', 'flann_s', 'boost_date_time-vc100-mt-1_47', 'boost_filesystem-vc100-mt-1_49', 'boost_graph-vc100-mt-1_49', 'boost_graph_parallel-vc100-mt-1_49', 'boost_iostreams-vc100-mt-1_49', 'boost_locale-vc100-mt-1_49', 'boost_math_c99-vc100-mt-1_49', 'boost_math_c99f-vc100-mt-1_49', 'boost_math_tr1-vc100-mt-1_49', 'boost_math_tr1f-vc100-mt-1_49', 'boost_mpi-vc100-mt-1_49', 'boost_prg_exec_monitor-vc100-mt-1_49', 'boost_program_options-vc100-mt-1_49', 'boost_random-vc100-mt-1_49', 'boost_regex-vc100-mt-1_49', 'boost_serialization-vc100-mt-1_49', 'boost_signals-vc100-mt-1_49', 'boost_system-vc100-mt-1_49', 'boost_thread-vc100-mt-1_49', 'boost_timer-vc100-mt-1_49', 'boost_unit_test_framework-vc100-mt-1_49', 'boost_wave-vc100-mt-1_49', 'boost_wserialization-vc100-mt-1_49']

# static lib

# libreleases = ['pcl_common_release', 'pcl_features_release', 'pcl_filters_release', 'pcl_io_release', 'pcl_io_ply_release', 'pcl_kdtree_release', 'pcl_keypoints_release', 'pcl_octree_release', 'pcl_registration_release', 'pcl_sample_consensus_release', 'pcl_segmentation_release', 'pcl_search_release', 'pcl_surface_release', 'pcl_tracking_release', 'pcl_visualization_release', 'flann', 'flann_s', 'libboost_date_time-vc100-mt-1_49', 'libboost_filesystem-vc100-mt-1_49', 'libboost_graph_parallel-vc100-mt-1_49', 'libboost_iostreams-vc100-mt-1_49', 'libboost_locale-vc100-mt-1_49', 'libboost_math_c99-vc100-mt-1_49', 'libboost_math_c99f-vc100-mt-1_49', 'libboost_math_tr1-vc100-mt-1_49', 'libboost_math_tr1f-vc100-mt-1_49', 'libboost_mpi-vc100-mt-1_49', 'libboost_prg_exec_monitor-vc100-mt-1_49', 'libboost_program_options-vc100-mt-1_49', 'libboost_random-vc100-mt-1_49', 'libboost_regex-vc100-mt-1_49', 'libboost_serialization-vc100-mt-1_49', 'libboost_signals-vc100-mt-1_49', 'libboost_system-vc100-mt-1_49', 'libboost_test_exec_monitor-vc100-mt-1_49', 'libboost_thread-vc100-mt-1_49', 'libboost_timer-vc100-mt-1_49', 'libboost_unit_test_framework-vc100-mt-1_49', 'libboost_wave-vc100-mt-1_49', 'libboost_wserialization-vc100-mt-1_49']

elif pcl_version == '-1.7':

# release

# libreleases = ['pcl_common_release', 'pcl_features_release', 'pcl_filters_release', 'pcl_io_release', 'pcl_io_ply_release', 'pcl_kdtree_release', 'pcl_keypoints_release', 'pcl_octree_release', 'pcl_registration_release', 'pcl_sample_consensus_release', 'pcl_segmentation_release', 'pcl_search_release', 'pcl_surface_release', 'pcl_tracking_release', 'pcl_visualization_release', 'flann', 'flann_s']

# release + vtk

libreleases = ['pcl_common_release', 'pcl_features_release', 'pcl_filters_release', 'pcl_io_release', 'pcl_io_ply_release', 'pcl_kdtree_release', 'pcl_keypoints_release', 'pcl_octree_release', 'pcl_outofcore_release', 'pcl_people_release', 'pcl_recognition_release', 'pcl_registration_release', 'pcl_sample_consensus_release', 'pcl_search_release', 'pcl_segmentation_release', 'pcl_surface_release', 'pcl_tracking_release', 'pcl_visualization_release', 'flann', 'flann_s', 'vtkalglib-' + vtk_version, 'vtkChartsCore-' + vtk_version, 'vtkCommonColor-' + vtk_version, 'vtkCommonComputationalGeometry-' + vtk_version, 'vtkCommonCore-' + vtk_version, 'vtkCommonDataModel-' + vtk_version, 'vtkCommonExecutionModel-' + vtk_version, 'vtkCommonMath-' + vtk_version, 'vtkCommonMisc-' + vtk_version, 'vtkCommonSystem-' + vtk_version, 'vtkCommonTransforms-' + vtk_version, 'vtkDICOMParser-' + vtk_version, 'vtkDomainsChemistry-' + vtk_version, 'vtkexoIIc-' + vtk_version, 'vtkexpat-' + vtk_version, 'vtkFiltersAMR-' + vtk_version, 'vtkFiltersCore-' + vtk_version, 'vtkFiltersExtraction-' + vtk_version, 'vtkFiltersFlowPaths-' + vtk_version, 'vtkFiltersGeneral-' + vtk_version, 'vtkFiltersGeneric-' + vtk_version, 'vtkFiltersGeometry-' + vtk_version, 'vtkFiltersHybrid-' + vtk_version, 'vtkFiltersHyperTree-' + vtk_version, 'vtkFiltersImaging-' + vtk_version, 'vtkFiltersModeling-' + vtk_version, 'vtkFiltersParallel-' + vtk_version, 'vtkFiltersParallelImaging-' + vtk_version, 'vtkFiltersProgrammable-' + vtk_version, 'vtkFiltersSelection-' + vtk_version, 'vtkFiltersSMP-' + vtk_version, 'vtkFiltersSources-' + vtk_version, 'vtkFiltersStatistics-' + vtk_version, 'vtkFiltersTexture-' + vtk_version, 'vtkFiltersVerdict-' + vtk_version, 'vtkfreetype-' + vtk_version, 'vtkGeovisCore-' + vtk_version, 'vtkgl2ps-' + vtk_version, 'vtkhdf5-' + vtk_version, 'vtkhdf5_hl-' + vtk_version,

'vtkImagingColor-' + vtk_version, 'vtkImagingCore-' + vtk_version, 'vtkImagingFourier-' + vtk_version, 'vtkImagingGeneral-' + vtk_version, 'vtkImagingHybrid-' + vtk_version, 'vtkImagingMath-' + vtk_version, 'vtkImagingMorphological-' + vtk_version, 'vtkImagingSources-' + vtk_version, 'vtkImagingStatistics-' + vtk_version, 'vtkImagingStencil-' + vtk_version, 'vtkInfovisCore-' + vtk_version, 'vtkInfovisLayout-' + vtk_version, 'vtkInteractionImage-' + vtk_version, 'vtkInteractionStyle-' + vtk_version, 'vtkInteractionWidgets-' + vtk_version, 'vtkIOAMR-' + vtk_version, 'vtkIOCore-' + vtk_version, 'vtkIOEnSight-' + vtk_version, 'vtkIOExodus-' + vtk_version, 'vtkIOExport-' + vtk_version, 'vtkIOGeometry-' + vtk_version, 'vtkIOImage-' + vtk_version, 'vtkIOImport-' + vtk_version, 'vtkIOInfovis-' + vtk_version, 'vtkIOLegacy-' + vtk_version, 'vtkIOLSDyna-' + vtk_version, 'vtkIOMINC-' + vtk_version, 'vtkIOMovie-' + vtk_version, 'vtkIONetCDF-' + vtk_version, 'vtkIOParallel-' + vtk_version, 'vtkIOParallelXML-' + vtk_version, 'vtkIOPLY-' + vtk_version, 'vtkIOSQL-' + vtk_version, 'vtkIOVideo-' + vtk_version, 'vtkIOXML-' + vtk_version, 'vtkIOXMLParser-' + vtk_version, 'vtkjpeg-' + vtk_version, 'vtkjsoncpp-' + vtk_version, 'vtklibxml2-' + vtk_version, 'vtkmetaio-' + vtk_version, 'vtkNetCDF-' + vtk_version, 'vtkNetCDF_cxx-' + vtk_version, 'vtkoggtheora-' + vtk_version, 'vtkParallelCore-' + vtk_version, 'vtkpng-' + vtk_version, 'vtkproj4-' + vtk_version, 'vtkRenderingAnnotation-' + vtk_version, 'vtkRenderingContext2D-' + vtk_version, 'vtkRenderingContextOpenGL-' + vtk_version, 'vtkRenderingCore-' + vtk_version, 'vtkRenderingFreeType-' + vtk_version, 'vtkRenderingGL2PS-' + vtk_version, 'vtkRenderingImage-' + vtk_version, 'vtkRenderingLabel-' + vtk_version, 'vtkRenderingLIC-' + vtk_version, 'vtkRenderingLOD-' + vtk_version, 'vtkRenderingOpenGL-' + vtk_version, 'vtkRenderingVolume-' + vtk_version, 'vtkRenderingVolumeOpenGL-' + vtk_version, 'vtksqlite-' + vtk_version, 'vtksys-' + vtk_version, 'vtktiff-' + vtk_version, 'vtkverdict-' + vtk_version, 'vtkViewsContext2D-' + vtk_version, 'vtkViewsCore-' + vtk_version, 'vtkViewsInfovis-' + vtk_version, 'vtkzlib-' + vtk_version]

elif pcl_version == '-1.8':

# release

# libreleases = ['pcl_common_release', 'pcl_features_release', 'pcl_filters_release', 'pcl_io_release', 'pcl_io_ply_release', 'pcl_kdtree_release', 'pcl_keypoints_release', 'pcl_octree_release', 'pcl_registration_release', 'pcl_sample_consensus_release', 'pcl_segmentation_release', 'pcl_search_release', 'pcl_surface_release', 'pcl_tracking_release', 'pcl_visualization_release', 'flann', 'flann_s']

# libreleases = ['pcl_common_release', 'pcl_features_release', 'pcl_filters_release', 'pcl_io_release', 'pcl_io_ply_release', 'pcl_kdtree_release', 'pcl_keypoints_release', 'pcl_octree_release', 'pcl_registration_release', 'pcl_sample_consensus_release', 'pcl_segmentation_release', 'pcl_search_release', 'pcl_surface_release', 'pcl_tracking_release', 'pcl_visualization_release', 'flann', 'flann_s', 'vtkInfovis', 'MapReduceMPI', 'vtkNetCDF', 'QVTK', 'vtkNetCDF_cxx', 'vtkRendering', 'vtkViews', 'vtkVolumeRendering', 'vtkWidgets', 'mpistubs', 'vtkalglib', 'vtkCharts', 'vtkexoIIc', 'vtkexpat', 'vtkCommon', 'vtkfreetype', 'vtkDICOMParser', 'vtkftgl', 'vtkFiltering', 'vtkhdf5', 'vtkjpeg', 'vtkGenericFiltering', 'vtklibxml2', 'vtkGeovis', 'vtkmetaio', 'vtkpng', 'vtkGraphics', 'vtkproj4', 'vtkHybrid', 'vtksqlite', 'vtksys', 'vtkIO', 'vtktiff', 'vtkImaging', 'vtkverdict', 'vtkzlib']

# release + vtk7.0

libreleases = ['pcl_common_release', 'pcl_features_release', 'pcl_filters_release', 'pcl_io_release', 'pcl_io_ply_release', 'pcl_kdtree_release', 'pcl_keypoints_release', 'pcl_ml_release', 'pcl_octree_release', 'pcl_outofcore_release', 'pcl_people_release', 'pcl_recognition_release', 'pcl_registration_release', 'pcl_sample_consensus_release', 'pcl_search_release', 'pcl_segmentation_release', 'pcl_stereo_release', 'pcl_surface_release', 'pcl_tracking_release', 'pcl_visualization_release', 'flann', 'flann_s', 'vtkalglib-' + vtk_version, 'vtkChartsCore-' + vtk_version, 'vtkCommonColor-' + vtk_version, 'vtkCommonComputationalGeometry-' + vtk_version, 'vtkCommonCore-' + vtk_version, 'vtkCommonDataModel-' + vtk_version, 'vtkCommonExecutionModel-' + vtk_version, 'vtkCommonMath-' + vtk_version, 'vtkCommonMisc-' + vtk_version, 'vtkCommonSystem-' + vtk_version, 'vtkCommonTransforms-' + vtk_version, 'vtkDICOMParser-' + vtk_version, 'vtkDomainsChemistry-' + vtk_version, 'vtkexoIIc-' + vtk_version, 'vtkexpat-' + vtk_version, 'vtkFiltersAMR-' + vtk_version, 'vtkFiltersCore-' + vtk_version, 'vtkFiltersExtraction-' + vtk_version, 'vtkFiltersFlowPaths-' + vtk_version, 'vtkFiltersGeneral-' + vtk_version, 'vtkFiltersGeneric-' + vtk_version, 'vtkFiltersGeometry-' + vtk_version, 'vtkFiltersHybrid-' + vtk_version, 'vtkFiltersHyperTree-' + vtk_version, 'vtkFiltersImaging-' + vtk_version, 'vtkFiltersModeling-' + vtk_version, 'vtkFiltersParallel-' + vtk_version, 'vtkFiltersParallelImaging-' + vtk_version, 'vtkFiltersProgrammable-' + vtk_version, 'vtkFiltersSelection-' + vtk_version, 'vtkFiltersSMP-' + vtk_version, 'vtkFiltersSources-' + vtk_version, 'vtkFiltersStatistics-' + vtk_version, 'vtkFiltersTexture-' + vtk_version, 'vtkFiltersVerdict-' + vtk_version, 'vtkfreetype-' + vtk_version, 'vtkGeovisCore-' + vtk_version, 'vtkgl2ps-' + vtk_version, 'vtkhdf5-' + vtk_version,

'vtkhdf5_hl-' + vtk_version, 'vtkImagingColor-' + vtk_version, 'vtkImagingCore-' + vtk_version, 'vtkImagingFourier-' + vtk_version, 'vtkImagingGeneral-' + vtk_version, 'vtkImagingHybrid-' + vtk_version, 'vtkImagingMath-' + vtk_version, 'vtkImagingMorphological-' + vtk_version, 'vtkImagingSources-' + vtk_version, 'vtkImagingStatistics-' + vtk_version, 'vtkImagingStencil-' + vtk_version, 'vtkInfovisCore-' + vtk_version, 'vtkInfovisLayout-' + vtk_version, 'vtkInteractionImage-' + vtk_version, 'vtkInteractionStyle-' + vtk_version, 'vtkInteractionWidgets-' + vtk_version, 'vtkIOAMR-' + vtk_version, 'vtkIOCore-' + vtk_version, 'vtkIOEnSight-' + vtk_version, 'vtkIOExodus-' + vtk_version, 'vtkIOExport-' + vtk_version, 'vtkIOGeometry-' + vtk_version, 'vtkIOImage-' + vtk_version, 'vtkIOImport-' + vtk_version, 'vtkIOInfovis-' + vtk_version, 'vtkIOLegacy-' + vtk_version, 'vtkIOLSDyna-' + vtk_version, 'vtkIOMINC-' + vtk_version, 'vtkIOMovie-' + vtk_version, 'vtkIONetCDF-' + vtk_version, 'vtkIOParallel-' + vtk_version, 'vtkIOParallelXML-' + vtk_version, 'vtkIOPLY-' + vtk_version, 'vtkIOSQL-' + vtk_version, 'vtkIOVideo-' + vtk_version, 'vtkIOXML-' + vtk_version, 'vtkIOXMLParser-' + vtk_version, 'vtkjpeg-' + vtk_version, 'vtkjsoncpp-' + vtk_version, 'vtklibxml2-' + vtk_version, 'vtkmetaio-' + vtk_version, 'vtkNetCDF-' + vtk_version, 'vtkoggtheora-' + vtk_version, 'vtkParallelCore-' + vtk_version, 'vtkpng-' + vtk_version, 'vtkproj4-' + vtk_version, 'vtkRenderingAnnotation-' + vtk_version, 'vtkRenderingContext2D-' + vtk_version, 'vtkRenderingContextOpenGL-' + vtk_version, 'vtkRenderingCore-' + vtk_version, 'vtkRenderingFreeType-' + vtk_version, 'vtkRenderingGL2PS-' + vtk_version, 'vtkRenderingImage-' + vtk_version, 'vtkRenderingLabel-' + vtk_version, 'vtkRenderingLIC-' + vtk_version, 'vtkRenderingLOD-' + vtk_version, 'vtkRenderingOpenGL-' + vtk_version, 'vtkRenderingVolume-' + vtk_version, 'vtkRenderingVolumeOpenGL-' + vtk_version, 'vtksqlite-' + vtk_version, 'vtksys-' + vtk_version, 'vtktiff-' + vtk_version, 'vtkverdict-' + vtk_version, 'vtkViewsContext2D-' + vtk_version, 'vtkViewsCore-' + vtk_version, 'vtkViewsInfovis-' + vtk_version, 'vtkzlib-' + vtk_version]

else:

libreleases = []

for librelease in libreleases:

ext_args['libraries'].append(librelease)

# Note :

# vtk Version setting

# use vtk need library(Windows base library)

# http://public.kitware.com/pipermail/vtkusers/2008-July/047291.html

win_libreleases = ['kernel32', 'user32', 'gdi32', 'winspool', 'comdlg32',

'advapi32', 'shell32', 'ole32', 'oleaut32', 'uuid', 'odbc32', 'odbccp32']

for win_librelease in win_libreleases:

ext_args['libraries'].append(win_librelease)

# http://www.pcl-users.org/error-in-use-PCLVisualizer-td3719235.html

# Download MSSDKs

# http://msdn.microsoft.com/en-us/windows/bb980924.aspx

#

# http://stackoverflow.com/questions/1236670/how-to-make-opengl-apps-in-64-bits-windows

# C:\Program Files (x86)\Microsoft SDKs\Windows\7.0\Lib\x64\OpenGL32.lib

# C:\Program Files (x86)\Microsoft SDKs\Windows\v7.0A\Lib\x64\OpenGL32.lib

# Add OpenGL32 .h/.lib

win_kit_incs = []

win_kit_libdirs = []

if pcl_version == '-1.6':

if is_64bits == True:

# win_opengl_libdirs = ['C:\\Program Files (x86)\\Microsoft SDKs\\Windows\\v7.0A\\Lib\\x64']

# AppVeyor

win_kit_libdirs = ['C:\\Program Files\\Microsoft SDKs\\Windows\\v7.1\\Lib\\x64']

else:

# win_opengl_libdirs = ['C:\\Program Files (x86)\\Microsoft SDKs\\Windows\\v7.0A\\Lib\\win32']

# AppVeyor

win_kit_libdirs = ['C:\\Program Files\\Microsoft SDKs\\Windows\\v7.1\\Lib\\win32']

elif pcl_version == '-1.7':

if is_64bits == True:

win_kit_libdirs = ['C:\\Program Files (x86)\\Microsoft SDKs\\Windows\\v8.0A\\Lib\\x64']

else:

win_kit_libdirs = ['C:\\Program Files (x86)\\Microsoft SDKs\\Windows\\v8.0A\\Lib\\win32']

elif pcl_version == '-1.8':

if is_64bits == True:

# already set path

# win_kit_libdirs = ['C:\\Program Files (x86)\\Microsoft SDKs\\Windows\\v8.1A\\Lib\\x64']

# Windows OS 7?

# win_kit_incs = ['C:\\Program Files (x86)\\Windows Kits\\8.1\\Include\\shared', 'C:\\Program Files (x86)\\Windows Kits\\8.1\\Include\\um']

# win_kit_libdirs = ['C:\\Program Files (x86)\\Windows Kits\\8.1\\Lib\\winv6.3\\um\\x64']

# win_kit_libdirs = ['C:\\Program Files (x86)\\Windows Kits\\10\\Lib\\10.0.10240.0\\ucrt\\x64']

# Windows OS 8/8.1/10?

# win_kit_incs = ['C:\\Program Files (x86)\\Windows Kits\\10\\Include\\10.0.10240.0\\ucrt']

# win_kit_incs = ['C:\\Program Files (x86)\\Windows Kits\\10\\Include\\shared']

pass

else:

# already set path

# Windows OS 7

# win_kit_libdirs = ['C:\\Program Files (x86)\\Microsoft SDKs\\Windows\\v8.1A\\Lib\\win32']

# win_kit_libdirs = ['C:\\Program Files (x86)\\Windows Kits\\8.1\\Lib\\winv6.3\\um\\x86']

# win_kit_incs = ['C:\\Program Files (x86)\\Windows Kits\\8.1\\Include\\shared', 'C:\\Program Files (x86)\\Windows Kits\\8.1\\Include\\um']

pass

else:

pass

for inc_dir in win_kit_incs:

ext_args['include_dirs'].append(inc_dir)

for lib_dir in win_kit_libdirs:

ext_args['library_dirs'].append(lib_dir)

win_opengl_libreleases = ['OpenGL32']

for opengl_librelease in win_opengl_libreleases:

ext_args['libraries'].append(opengl_librelease)

# use OpenNI

# use OpenNI2

# add environment PATH : pcl/bin, OpenNI2/Tools

# use CUDA?

# CUDA_PATH

# CUDA_PATH_V7_5

# CUDA_PATH_V8_0

for k, v in os.environ.items():

# print("{key} : {value}".format(key=k, value=v))

if k == "CUDA_PATH":

cuda_root = v

break

else:

print('No use cuda.')

pass

# ext_args['define_macros'].append(('EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET', '1'))

# define_macros=[('BOOST_NO_EXCEPTIONS', 'None')],

# debugs = [('EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET', '1'), ('BOOST_NO_EXCEPTIONS', 'None')]

# _CRT_SECURE_NO_WARNINGS : windows cutr warning no view

defines = [('EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET',

'1'), ('_CRT_SECURE_NO_WARNINGS', '1')]

for define in defines:

ext_args['define_macros'].append(define)

# ext_args['extra_compile_args'].append('/DWIN32')

# ext_args['extra_compile_args'].append('/D_WINDOWS')

# ext_args['extra_compile_args'].append('/W3')

# ext_args['extra_compile_args'].append('/GR')

ext_args['extra_compile_args'].append('/EHsc')

# FW: Link time errors in RangeImage (with /clr)

# http://www.pcl-users.org/FW-Link-time-errors-in-RangeImage-with-clr-td3581422.html

# ext_args['extra_compile_args'].append('/clr:nostdlib')

# OpenNI2?(+Python3)

# https://ci.appveyor.com/project/KazuakiM/vim-ms-translator/branch/master

# ext_args['extra_compile_args'].append('/DDYNAMIC_MSVCRT_DLL=\"msvcr100.dll\"')

# ext_args['extra_compile_args'].append('/DDYNAMIC_MSVCRT_DLL=\"msvcr100.dll\"')

# NG

# ext_args['extra_compile_args'].append('/NODEFAULTLIB:msvcrtd')

# https://blogs.msdn.microsoft.com/vcblog/2015/03/03/introducing-the-universal-crt/

# default args

# ext_args['extra_compile_args'].append('/MD')

# custom

# ext_args['extra_compile_args'].append('/MDd')

# ext_args['extra_compile_args'].append('/MTd')

# ext_args['extra_compile_args'].append('/MT')

# use OpenMP

# https://stackoverflow.com/questions/7844830/cython-openmp-compiler-flag

# ext_args['extra_compile_args'].append('/openmp')

# include_dirs=[pcl_root + '\\include\\pcl' + pcl_version, pcl_root + '\\3rdParty\\Eigen\\include', pcl_root + '\\3rdParty\\Boost\\include', pcl_root + '\\3rdParty\\FLANN\include', 'C:\\Anaconda2\\envs\\my_env\\Lib\\site-packages\\numpy\\core\\include'],

# library_dirs=[pcl_root + '\\lib', pcl_root + '\\3rdParty\\Boost\\lib', pcl_root + '\\3rdParty\\FLANN\\lib'],

# libraries=["pcl_apps_debug", "pcl_common_debug", "pcl_features_debug", "pcl_filters_debug", "pcl_io_debug", "pcl_io_ply_debug", "pcl_kdtree_debug", "pcl_keypoints_debug", "pcl_octree_debug", "pcl_registration_debug", "pcl_sample_consensus_debug", "pcl_segmentation_debug", "pcl_search_debug", "pcl_surface_debug", "pcl_tracking_debug", "pcl_visualization_debug", "flann-gd", "flann_s-gd", "boost_chrono-vc100-mt-1_49", "boost_date_time-vc100-mt-1_49", "boost_filesystem-vc100-mt-1_49", "boost_graph-vc100-mt-1_49", "boost_graph_parallel-vc100-mt-1_49", "boost_iostreams-vc100-mt-1_49", "boost_locale-vc100-mt-1_49", "boost_math_c99-vc100-mt-1_49", "boost_math_c99f-vc100-mt-1_49", "boost_math_tr1-vc100-mt-1_49", "boost_math_tr1f-vc100-mt-1_49", "boost_mpi-vc100-mt-1_49", "boost_prg_exec_monitor-vc100-mt-1_49", "boost_program_options-vc100-mt-1_49", "boost_random-vc100-mt-1_49", "boost_regex-vc100-mt-1_49", "boost_serialization-vc100-mt-1_49", "boost_signals-vc100-mt-1_49", "boost_system-vc100-mt-1_49", "boost_thread-vc100-mt-1_49", "boost_timer-vc100-mt-1_49", "boost_unit_test_framework-vc100-mt-1_49", "boost_wave-vc100-mt-1_49", "boost_wserialization-vc100-mt-1_49", "libboost_chrono-vc100-mt-1_49", "libboost_date_time-vc100-mt-1_49", "libboost_filesystem-vc100-mt-1_49", "libboost_graph_parallel-vc100-mt-1_49", "libboost_iostreams-vc100-mt-1_49", "libboost_locale-vc100-mt-1_49", "libboost_math_c99-vc100-mt-1_49", "libboost_math_c99f-vc100-mt-1_49", "libboost_math_tr1-vc100-mt-1_49", "libboost_math_tr1f-vc100-mt-1_49", "libboost_mpi-vc100-mt-1_49", "libboost_prg_exec_monitor-vc100-mt-1_49", "libboost_program_options-vc100-mt-1_49", "libboost_random-vc100-mt-1_49", "libboost_regex-vc100-mt-1_49", "libboost_serialization-vc100-mt-1_49", "libboost_signals-vc100-mt-1_49", "libboost_system-vc100-mt-1_49", "libboost_test_exec_monitor-vc100-mt-1_49", "libboost_thread-vc100-mt-1_49", "libboost_timer-vc100-mt-1_49", "libboost_unit_test_framework-vc100-mt-1_49", "libboost_wave-vc100-mt-1_49", "libboost_wserialization-vc100-mt-1_49"],

## define_macros=[('BOOST_NO_EXCEPTIONS', 'None')],

# define_macros=[('EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET', '1')],

# extra_compile_args=["/EHsc"],

print(ext_args)

if pcl_version == '-1.6':

module = [Extension("pcl._pcl", ["pcl/_pcl.pyx", "pcl/minipcl.cpp", "pcl/ProjectInliers.cpp"], language="c++", **ext_args),

Extension("pcl.pcl_visualization", [

"pcl/pcl_visualization.pyx"], language="c++", **ext_args),

# Extension("pcl.pcl_grabber", ["pcl/pcl_grabber.pyx", "pcl/grabber_callback.cpp"], language="c++", **ext_args),

# debug

# gdb_debug=True,

]

elif pcl_version == '-1.7':

module = [Extension("pcl._pcl", ["pcl/_pcl_172.pyx", "pcl/minipcl.cpp", "pcl/ProjectInliers.cpp"], language="c++", **ext_args),

Extension("pcl.pcl_visualization", [

"pcl/pcl_visualization.pyx"], language="c++", **ext_args),

# Extension("pcl.pcl_grabber", ["pcl/pcl_grabber.pyx", "pcl/grabber_callback.cpp"], language="c++", **ext_args),

# debug

# gdb_debug=True,

]

elif pcl_version == '-1.8':

module = [Extension("pcl._pcl", ["pcl/_pcl_180.pyx", "pcl/minipcl.cpp", "pcl/ProjectInliers.cpp"], language="c++", **ext_args),

Extension("pcl.pcl_visualization", [

"pcl/pcl_visualization.pyx"], language="c++", **ext_args),

# Extension("pcl.pcl_grabber", ["pcl/pcl_grabber.pyx", "pcl/grabber_callback.cpp"], language="c++", **ext_args),

# debug

# gdb_debug=True,

]

else:

print('no pcl install or pkg-config missed.')

sys.exit(1)

else:

# Not 'Windows'

if platform.system() == "Darwin":

os.environ['ARCHFLAGS'] = ''

# Try to find PCL. XXX we should only do this when trying to build or install.

PCL_SUPPORTED = ["-1.8", "-1.7", "-1.6", ""] # in order of preference

for pcl_version in PCL_SUPPORTED:

if subprocess.call(['pkg-config', 'pcl_common%s' % pcl_version]) == 0:

break

else:

print("%s: error: cannot find PCL, tried" %

sys.argv[0], file=sys.stderr)

for version in PCL_SUPPORTED:

print(' pkg-config pcl_common%s' % version, file=sys.stderr)

sys.exit(1)

# Find build/link options for PCL using pkg-config.

pcl_libs = ["common", "features", "filters", "io", "kdtree", "octree",

"registration", "sample_consensus", "search", "segmentation",

"surface", "tracking", "visualization"]

pcl_libs = ["pcl_%s%s" % (lib, pcl_version) for lib in pcl_libs]

ext_args = defaultdict(list)

ext_args['include_dirs'].append(numpy.get_include())

for flag in pkgconfig('--cflags-only-I'):

ext_args['include_dirs'].append(flag[2:])

# OpenNI?

# "-I/usr/include/openni"

# "-I/usr/include/openni"

# /usr/include/ni

ext_args['include_dirs'].append('/usr/include/ni')

# ext_args['library_dirs'].append()

# ext_args['libraries'].append()

for flag in pkgconfig('--cflags-only-other'):

if flag.startswith('-D'):

macro, value = flag[2:].split('=', 1)

ext_args['define_macros'].append((macro, value))

else:

ext_args['extra_compile_args'].append(flag)

for flag in pkgconfig('--libs-only-l'):

if flag == "-lflann_cpp-gd":

print(

"skipping -lflann_cpp-gd (see https://github.com/strawlab/python-pcl/issues/29")

continue

ext_args['libraries'].append(flag[2:])

for flag in pkgconfig('--libs-only-L'):

ext_args['library_dirs'].append(flag[2:])

for flag in pkgconfig('--libs-only-other'):

ext_args['extra_link_args'].append(flag)

# grabber?

# -lboost_system

ext_args['extra_link_args'].append('-lboost_system')

# ext_args['extra_link_args'].append('-lboost_bind')

# Fix compile error on Ubuntu 12.04 (e.g., Travis-CI).

ext_args['define_macros'].append(

("EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET", "1"))

if pcl_version == '-1.6':

module = [Extension("pcl._pcl", ["pcl/_pcl.pyx", "pcl/minipcl.cpp", "pcl/ProjectInliers.cpp"], language="c++", **ext_args),

# Extension("pcl.pcl_visualization", ["pcl/pcl_visualization.pyx"], language="c++", **ext_args),

# Extension("pcl.pcl_grabber", ["pcl/pcl_grabber.pyx", "pcl/grabber_callback.cpp"], language="c++", **ext_args),

# debug

# gdb_debug=True,

]

elif pcl_version == '-1.7':

module = [Extension("pcl._pcl", ["pcl/_pcl_172.pyx", "pcl/minipcl.cpp", "pcl/ProjectInliers.cpp"], language="c++", **ext_args),

# Extension("pcl.pcl_visualization", ["pcl/pcl_visualization.pyx"], language="c++", **ext_args),

# Extension("pcl.pcl_grabber", ["pcl/pcl_grabber.pyx", "pcl/grabber_callback.cpp"], language="c++", **ext_args),

# debug

# gdb_debug=True,

]

elif pcl_version == '-1.8':

module = [Extension("pcl._pcl", ["pcl/_pcl_180.pyx", "pcl/minipcl.cpp", "pcl/ProjectInliers.cpp"], language="c++", **ext_args),

# Extension("pcl.pcl_visualization", ["pcl/pcl_visualization.pyx"], language="c++", **ext_args),

# Extension("pcl.pcl_grabber", ["pcl/pcl_grabber.pyx", "pcl/grabber_callback.cpp"], language="c++", **ext_args),

# debug

# gdb_debug=True,

]

else:

print('no pcl install or pkg-config missed.')

sys.exit(1)

setup(name='python-pcl',

description='pcl wrapper',

url='http://github.com/strawlab/python-pcl',

version='0.2',

author='John Stowers',

author_email='john.stowers@gmail.com',

license='BSD',

packages=["pcl"],

zip_safe=False,

setup_requires=setup_requires,

install_requires=install_requires,

tests_require=['mock', 'nose'],

ext_modules=module,

cmdclass={'build_ext': build_ext}

)