CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(gpuimageproc)

add_definitions(-std=c++11)
## 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
  nodelet
  dynamic_reconfigure
  sensor_msgs
  tf
  image_geometry
  cv_bridge
  image_transport
  camera_calibration_parsers
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(OpenCV 
    PATHS /usr/local_ros
    NO_DEFAULT_PATH 
    REQUIRED)
message(STATUS "OpenCV_INCLUDE_DIRS: ${OpenCV_INCLUDE_DIRS}")


## 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, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependencies might have been
##     pulled in transitively but can be declared for certainty nonetheless:
##     * add a build_depend tag for "message_generation"
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

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

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

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

generate_dynamic_reconfigure_options(
    cfg/GPU.cfg
)


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

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
# TODO: Check names of system library include directories (opencv)
include_directories(
    include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

## Declare a cpp library
add_library(${PROJECT_NAME}
    src/GPUStereoProcessor.cpp
    src/StereoProcessor.cpp
    src/StereoProcessorNodelet.cpp
    src/GpuSenderIfc.cpp
    src/GpuSenderImage.cpp
    src/GpuSenderDisparity.cpp
    src/GpuSenderPc2.cpp

)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)

add_executable(${PROJECT_NAME}_node
        src/StereoProcessorNode.cpp
        )
target_link_libraries(${PROJECT_NAME}_node
    ${PROJECT_NAME})

###################################
## 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 ${PROJECT_NAME}
  CATKIN_DEPENDS nodelet sensor_msgs
  DEPENDS OpenCV
)
## Declare a cpp executable
# add_executable(gpuimageproc_node src/gpuimageproc_node.cpp)

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

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

#############
## 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 ${PROJECT_NAME}
   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}
)

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

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

# add tests
if(CATKIN_ENABLE_TESTING)
    add_subdirectory(test)
endif()


################################################
#Add all files in subdirectories of the project in
# a dummy_target so qtcreator have access to all files
FILE(GLOB_RECURSE extra_files
#    ${CMAKE_SOURCE_DIR}/*
${CMAKE_SOURCE_DIR}/launch/*
${CMAKE_SOURCE_DIR}/plugins/*
${CMAKE_SOURCE_DIR}/cfg/*
${CMAKE_SOURCE_DIR}/test/*
${CMAKE_SOURCE_DIR}/*
)
add_custom_target(dummy_${PROJECT_NAME} SOURCES ${extra_files})
################################################