set(SUBSYS_NAME segmentation)
set(SUBSYS_DESC "Point cloud segmentation library")
set(SUBSYS_DEPS common geometry search sample_consensus kdtree octree features filters)

set(build TRUE)
PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})

PCL_ADD_DOC(${SUBSYS_NAME})

if(build)
    set(srcs 
        src/extract_clusters.cpp
        src/extract_polygonal_prism_data.cpp
        src/sac_segmentation.cpp
        src/seeded_hue_segmentation.cpp
        src/segment_differences.cpp
        src/region_growing.cpp
        src/region_growing_rgb.cpp
        src/organized_connected_component_segmentation.cpp
        src/organized_multi_plane_segmentation.cpp
        src/planar_polygon_fusion.cpp
        src/crf_normal_segmentation.cpp
        src/conditional_euclidean_clustering.cpp
        src/supervoxel_clustering.cpp
       )
    # NOTE: boost/graph/boykov_kolmogorov_max_flow.hpp only exists for versions > 1.43
    if(Boost_MAJOR_VERSION GREATER 1 OR Boost_MINOR_VERSION GREATER 43)
    set(srcs
        ${srcs}
        src/min_cut_segmentation.cpp
       )
    endif()

    set(incs 
        include/pcl/${SUBSYS_NAME}/boost.h
        include/pcl/${SUBSYS_NAME}/extract_clusters.h
        include/pcl/${SUBSYS_NAME}/extract_labeled_clusters.h
        include/pcl/${SUBSYS_NAME}/extract_polygonal_prism_data.h
        include/pcl/${SUBSYS_NAME}/sac_segmentation.h
        include/pcl/${SUBSYS_NAME}/seeded_hue_segmentation.h
        include/pcl/${SUBSYS_NAME}/segment_differences.h
        include/pcl/${SUBSYS_NAME}/region_growing.h
        include/pcl/${SUBSYS_NAME}/region_growing_rgb.h
        include/pcl/${SUBSYS_NAME}/comparator.h
        include/pcl/${SUBSYS_NAME}/plane_coefficient_comparator.h
        include/pcl/${SUBSYS_NAME}/euclidean_plane_coefficient_comparator.h
        include/pcl/${SUBSYS_NAME}/edge_aware_plane_comparator.h
        include/pcl/${SUBSYS_NAME}/rgb_plane_coefficient_comparator.h
        include/pcl/${SUBSYS_NAME}/plane_refinement_comparator.h
        include/pcl/${SUBSYS_NAME}/euclidean_cluster_comparator.h
	include/pcl/${SUBSYS_NAME}/ground_plane_comparator.h
        include/pcl/${SUBSYS_NAME}/organized_connected_component_segmentation.h
        include/pcl/${SUBSYS_NAME}/organized_multi_plane_segmentation.h
        include/pcl/${SUBSYS_NAME}/region_3d.h
        include/pcl/${SUBSYS_NAME}/planar_region.h
        include/pcl/${SUBSYS_NAME}/planar_polygon_fusion.h
        include/pcl/${SUBSYS_NAME}/crf_normal_segmentation.h
        include/pcl/${SUBSYS_NAME}/conditional_euclidean_clustering.h
        include/pcl/${SUBSYS_NAME}/supervoxel_clustering.h
        )
    # NOTE: boost/graph/boykov_kolmogorov_max_flow.hpp only exists for versions > 1.43
    if(Boost_MAJOR_VERSION GREATER 1 OR Boost_MINOR_VERSION GREATER 43)
    set(incs
        ${incs}
        include/pcl/${SUBSYS_NAME}/min_cut_segmentation.h
       )
    endif()

    set(impl_incs 
        include/pcl/${SUBSYS_NAME}/impl/extract_clusters.hpp
        include/pcl/${SUBSYS_NAME}/impl/extract_labeled_clusters.hpp
        include/pcl/${SUBSYS_NAME}/impl/extract_polygonal_prism_data.hpp
        include/pcl/${SUBSYS_NAME}/impl/sac_segmentation.hpp
        include/pcl/${SUBSYS_NAME}/impl/seeded_hue_segmentation.hpp
        include/pcl/${SUBSYS_NAME}/impl/segment_differences.hpp
        include/pcl/${SUBSYS_NAME}/impl/region_growing.hpp
        include/pcl/${SUBSYS_NAME}/impl/region_growing_rgb.hpp
        include/pcl/${SUBSYS_NAME}/impl/organized_connected_component_segmentation.hpp
        include/pcl/${SUBSYS_NAME}/impl/organized_multi_plane_segmentation.hpp
        include/pcl/${SUBSYS_NAME}/impl/planar_polygon_fusion.hpp
        include/pcl/${SUBSYS_NAME}/impl/crf_normal_segmentation.hpp
        include/pcl/${SUBSYS_NAME}/impl/conditional_euclidean_clustering.hpp
        include/pcl/${SUBSYS_NAME}/impl/supervoxel_clustering.hpp
        )
    # NOTE: boost/graph/boykov_kolmogorov_max_flow.hpp only exists for versions > 1.43
    if(Boost_MAJOR_VERSION GREATER 1 OR Boost_MINOR_VERSION GREATER 43)
    set(impl_incs
        ${impl_incs}
        include/pcl/${SUBSYS_NAME}/impl/min_cut_segmentation.hpp
       )
    endif()

    set(LIB_NAME pcl_${SUBSYS_NAME})
    include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
    PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
    target_link_libraries(${LIB_NAME} pcl_search pcl_sample_consensus pcl_filters pcl_features)
    PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")

    # Install include files
    PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
    PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
endif(build)


