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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(rovi_pose_estimator)
# C++17
set(CMAKE_CXX_STANDARD 17)
# find catkin and any catkin packages
find_package(
catkin REQUIRED
COMPONENTS
roscpp
roslib
std_msgs
sensor_msgs
image_transport
cv_bridge
pcl_ros
rovi_utils
rovi_gazebo
)
find_package(OpenCV 4)
find_package(PCL 1.8)
# Finding Eigen is somewhat complicated because of our need to support Ubuntu
# all the way back to saucy. First we look for the Eigen3 cmake module
# provided by the libeigen3-dev on newer Ubuntu. If that fails, then we
# fall-back to the version provided by cmake_modules, which is a stand-in.
find_package(Eigen3 QUIET)
if(NOT EIGEN3_FOUND)
find_package(cmake_modules REQUIRED)
find_package(Eigen REQUIRED)
set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
endif()
# Note that eigen 3.2 (on Ubuntu Wily) only provides EIGEN3_INCLUDE_DIR,
# not EIGEN3_INCLUDE_DIRS, so we have to set the latter from the former.
if(NOT EIGEN3_INCLUDE_DIRS)
set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()
# declare a catkin package
catkin_package(
INCLUDE_DIRS
include
LIBRARIES
lib_rovi_pose_est_M1
lib_rovi_pose_est_M3
CATKIN_DEPENDS
roscpp
roslib
std_msgs
sensor_msgs
image_transport
cv_bridge
pcl_ros
rovi_utils
rovi_gazebo
DEPENDS
EIGEN3
OpenCV
PCL
)
# include dirs
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
################################################################################################
# libraries
# M1
add_library(lib_rovi_pose_est_M1 src/lib_rovi_pose_est_M1.cpp)
target_link_libraries(lib_rovi_pose_est_M1 ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES})
# M3
add_library(lib_rovi_pose_est_M3 src/lib_rovi_pose_est_M3.cpp)
target_link_libraries(lib_rovi_pose_est_M3 ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
install(
TARGETS
lib_rovi_pose_est_M1
lib_rovi_pose_est_M3
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
# install all project namespaced headers (package/include)
install(
DIRECTORY
include/rovi_pose_estimator
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
################################################################################################
# nodes
add_executable(pose_M1 src/pose_M1.cpp)
target_link_libraries(pose_M1 lib_rovi_pose_est_M1)
add_executable(pose_M3 src/pose_M3.cpp)
target_link_libraries(pose_M3 lib_rovi_pose_est_M3)