CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(spheres_localization)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  freenect_camera
  image_transport
	pcl_ros
  roscpp
  message_generation
  sensor_msgs
  std_msgs
)

find_package(OpenCV REQUIRED)
find_package(Boost REQUIRED)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

#######################################
## Declare ROS messages and services ##
#######################################

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  pose.msg
  point_match.msg
  point_match_array.msg
)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  sensor_msgs
  std_msgs
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES spheres_localization
CATKIN_DEPENDS message_runtime
#  CATKIN_DEPENDS cv_bridge freenect_camera image_transport roscpp sensor_msgs std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
	${Boost_INCLUDE_DIR}
	${OpenCV_INCLUDE_DIRS}
	./include
  ${PCL_INCLUDE_DIRS}
)

## Declare a cpp library
# add_library(spheres_localization
#   src/${PROJECT_NAME}/spheres_localization.cpp
# )
add_library(MessageHandler src/visualization/MessageHandler.cpp)
add_library(PoseVisualizer src/visualization/PoseVisualizer.cpp)

## Declare a cpp executable
add_executable(pose_estimation src/pose_estimation/pose_estimation.cpp)
add_executable(charting src/charting/charting.cpp)
add_executable(visualization src/visualization/visualization.cpp)
add_executable(temp_broadcaster src/pose_estimation/temp_broadcaster.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(spheres_localization_node spheres_localization_generate_messages_cpp)

## Specify libraries to link a library or executable target against
# target_link_libraries(spheres_localization_node
#   ${catkin_LIBRARIES}
# )

add_definitions(${PCL_DEFINITIONS})
add_definitions(-Wno-deprecated -DEIGEN_DONT_VECTORIZE -DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)

target_link_libraries(MessageHandler ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}  ${Boost_LIBRARIES} 
${PCL_LIBRARIES}  libvtkCommon.so libvtkFiltering.so libvtkRendering.so libvtkGraphics.so libvtkIO.so libvtkHybrid.so)

target_link_libraries(PoseVisualizer ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}  ${Boost_LIBRARIES} 
${PCL_LIBRARIES}  libvtkCommon.so libvtkFiltering.so libvtkRendering.so libvtkGraphics.so libvtkIO.so libvtkHybrid.so)

target_link_libraries(charting ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}  ${Boost_LIBRARIES})
target_link_libraries(pose_estimation ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}  ${Boost_LIBRARIES}
${PCL_LIBRARIES}  libvtkCommon.so libvtkFiltering.so libvtkRendering.so libvtkGraphics.so)
target_link_libraries(visualization ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}  ${Boost_LIBRARIES} 
${PCL_LIBRARIES}  libvtkCommon.so libvtkFiltering.so libvtkRendering.so libvtkGraphics.so libvtkIO.so libvtkHybrid.so MessageHandler PoseVisualizer)


target_link_libraries(temp_broadcaster ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}  ${Boost_LIBRARIES} 
${PCL_LIBRARIES}  libvtkCommon.so libvtkFiltering.so libvtkRendering.so libvtkGraphics.so)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS spheres_localization spheres_localization_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_spheres_localization.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)