CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(realsense_camera_wrapper)

add_compile_options(-std=c++11
                    -O3
#                    -march=native
)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  image_transport
  cv_bridge
)
find_package(PCL 1.6 REQUIRED)
find_package(realsense2 REQUIRED COMPONENTS)
find_package(OpenCV REQUIRED COMPONENTS)
find_package(Boost REQUIRED COMPONENTS)

# Let other packages load this library
catkin_package(
   INCLUDE_DIRS
     include
    LIBRARIES
      realsense_camera_wrapper
)
## Specify additional locations of header files
include_directories(
  include/realsense_camera_wrapper
  ${realsense2_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
)

## Declare a C++ library
add_library(${PROJECT_NAME}
  src/${PROJECT_NAME}/realsense_camera.cpp
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}/realsense_camera_node.cpp)


## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node -lrt
  ${realsense2_LIBRARIES}
  librealsense2.so 
  libzmq.so
  ${OpenCV_LIBRARIES}
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
  ${Boost_LIBRARIES}
  ${PROJECT_NAME}
  ${ZeroMQ_LIBRARY}
 )


 target_link_libraries(${PROJECT_NAME}
  ${realsense2_LIBRARIES}
  librealsense2.so 
  ${OpenCV_LIBRARIES}
  ${catkin_LIBRARIES}
  ${PCL_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} ${PROJECT_NAME}_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_rosless_realsense_camera.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)