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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(velo2cam_calibration)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
cv_bridge
image_geometry
image_transport
message_filters
roscpp
pcl_ros
sensor_msgs
std_msgs
stereo_msgs
tf
tf_conversions
dynamic_reconfigure
cmake_modules
# geometry_msgs
# tf2
# tf2_ros
# tf2_sensor_msgs
)
find_package(TinyXML REQUIRED)
find_package(OpenCV 3 REQUIRED)
find_package(PCL 1.7 REQUIRED)
generate_dynamic_reconfigure_options(
cfg/Laser.cfg
cfg/Camera.cfg
cfg/Plane.cfg
)
################################################
## Declare ROS messages, services and actions ##
################################################
## Generate messages in the 'msg' folder
add_message_files(
FILES
ClusterCentroids.msg
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
sensor_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
INCLUDE_DIRS include
DEPENDS TinyXML
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
${OpenCV_LIBRARIES}
${PCL_INCLUDE_DIRS}
${TinyXML_INCLUDE_DIRS}
)
link_directories(
${PCL_LIBRARY_DIRS}
)
add_definitions(
${PCL_DEFINITIONS}
)
## Declare cpp executables
add_executable(laser_pattern src/laser_pattern.cpp)
add_executable(stereo_pattern src/stereo_pattern.cpp)
add_executable(velo2cam_calibration src/velo2cam_calibration.cpp)
add_executable(pcl_coloring src/pcl_coloring.cpp)
add_executable(pcl_projection src/pcl_projection.cpp)
add_executable(levinson src/levinson.cpp)
add_executable(v2c_plane_segmentation src/plane.cpp)
add_executable(v2c_disp_masker src/disp_masker.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(laser_pattern
${catkin_EXPORTED_TARGETS}
velo2cam_calibration_generate_messages_cpp
${PROJECT_NAME}_gencfg
)
add_dependencies(stereo_pattern
${catkin_EXPORTED_TARGETS}
velo2cam_calibration_generate_messages_cpp
${PROJECT_NAME}_gencfg
)
add_dependencies(
velo2cam_calibration
${catkin_EXPORTED_TARGETS}
velo2cam_calibration_generate_messages_cpp
${PROJECT_NAME}_gencfg
)
add_dependencies(levinson ${catkin_EXPORTED_TARGETS})
add_dependencies(v2c_plane_segmentation ${PROJECT_NAME}_gencfg)
## Specify libraries to link a library or executable target against
target_link_libraries(stereo_pattern
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)
target_link_libraries(laser_pattern
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)
target_link_libraries(velo2cam_calibration
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
${TinyXML_LIBRARIES}
)
target_link_libraries(pcl_coloring
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)
target_link_libraries(pcl_projection
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)
target_link_libraries(levinson
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)
target_link_libraries(v2c_plane_segmentation
${catkin_LIBRARIES}
${PCL_LIBRARIES}
)
target_link_libraries(v2c_disp_masker
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
)