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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.4)
project(rovi_vision)
# C++17
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# find catkin and any catkin packages
find_package(
catkin REQUIRED
COMPONENTS
roscpp
roslib
ros_utils
sensor_msgs
pcl_conversions
)
# OpenCV
find_package(OpenCV 4 REQUIRED)
# PCL
find_package(
PCL 1.10 REQUIRED
COMPONENTS
common
io
segmentation
registration
kdtree
filters
features
visualization
)
# Eigen3 (Finding Eigen is somewhat complicated ..)
# https://github.com/ros/geometry2/blob/noetic-devel/tf2_eigen/CMakeLists.txt
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()
if(NOT EIGEN3_INCLUDE_DIRS)
set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()
# declare a catkin package
catkin_package(
INCLUDE_DIRS
include
LIBRARIES
rovi_vision
CATKIN_DEPENDS
roscpp
roslib
ros_utils
sensor_msgs
pcl_conversions
DEPENDS
OpenCV
PCL
EIGEN3
)
# include directories
include_directories(
include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
################################################################################################
# libraries
# REMEMBER TO ADD TO INSTALL TARGETS (bottom of file) !!!
## rovi_vision
add_library(rovi_vision
src/RGBTemplateMatching/RGBTemplateMatching.cpp
src/RANSACRegistrationWithICP/RANSACRegistrationWithICP.cpp
)
target_link_libraries(rovi_vision ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES})
################################################################################################
# nodes
add_executable(demo_RGBTemplateMatching examples/demo_RGBTemplateMatching.cpp)
target_link_libraries(demo_RGBTemplateMatching ${catkin_LIBRARIES} rovi_vision)
add_executable(demo_RANSACRegistrationWithICP examples/demo_RANSACRegistrationWithICP.cpp)
target_link_libraries(demo_RANSACRegistrationWithICP ${catkin_LIBRARIES} rovi_vision)
# ...
################################################################################################
# install targets
## executables and/or libraries for installation
install(
TARGETS
rovi_vision
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## install header files
install(
DIRECTORY
include/rovi_vision/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)