CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(multiple_kinect_baxter_calibration)

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  rospy
  pcl_ros
  pcl_conversions
  tf2
  tf2_ros
  tf2_geometry_msgs
  sensor_msgs
  std_msgs
  cv_bridge
  cmake_modules
  genmsg
)

## System dependencies are found with CMake's conventions
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)

## fallback for Eigen3
## https://github.com/ros-perception/perception_pcl/issues/106#issuecomment-134948296
find_package(Eigen 3 QUIET)
if(NOT Eigen_FOUND)
  find_package(PkgConfig)
  pkg_search_module(Eigen3 REQUIRED eigen3)
endif()

## Declare ROS service
add_service_files(
  FILES
  GetEEPosition.srv
)

## Generate added service
generate_messages(DEPENDENCIES geometry_msgs)

## Declare a catkin package
catkin_package()

## Build
include_directories(
  include/${PROJECT_NAME}
  ${PCL_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
  ${Eigen_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

## Print PCL Version (for debugging only) PCL_VERSION: 1.7.1
MESSAGE(STATUS "PCL_VERSION: " ${PCL_VERSION})

## Declare sphere_detector as a library
add_library(${PROJECT_NAME}_sphere_detector
  src/sphere_detector.cpp
)

## Link sphere_detector library against PCL and catkin
target_link_libraries(${PROJECT_NAME}_sphere_detector
  ${PCL_LIBRARIES}
  ${catkin_LIBRARIES}
)

## Build executables and link against libraries
add_executable(test_sphere_detector
  src/test_sphere_detector.cpp)
target_link_libraries(test_sphere_detector
  ${PROJECT_NAME}_sphere_detector
  ${PCL_LIBRARIES}
  ${catkin_LIBRARIES}
)

add_executable(data_collector_pc
  src/data_collector_pc.cpp)
target_link_libraries(data_collector_pc
  ${PROJECT_NAME}_sphere_detector
  ${PCL_LIBRARIES}
  ${catkin_LIBRARIES}
)

add_executable(save_pcd
  src/save_pcd.cpp)
target_link_libraries(save_pcd
  ${PCL_LIBRARIES}
  ${catkin_LIBRARIES}
)

add_executable(view_pc_realtime
  src/view_pc_realtime.cpp)
target_link_libraries(view_pc_realtime
  ${PCL_LIBRARIES}
  ${catkin_LIBRARIES}
)

add_executable(show_all_pc
  src/show_all_pc.cpp)
target_link_libraries(show_all_pc
  ${PCL_LIBRARIES}
  ${catkin_LIBRARIES}
)

add_executable(merge_pc
  src/merge_pc.cpp)
target_link_libraries(merge_pc
  ${PCL_LIBRARIES}
  ${catkin_LIBRARIES}
)

add_executable(view_image
  src/view_image.cpp)
target_link_libraries(view_image
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

add_executable(segment_image
  src/segment_image.cpp)
target_link_libraries(segment_image
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

add_executable(view_pcd
  src/view_pcd.cpp)
target_link_libraries(view_pcd
  ${PCL_LIBRARIES}
  ${catkin_LIBRARIES}
)