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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(sgm_stereo)
## Add support for C++11, supported in ROS Kinetic and newer
add_definitions(-std=c++11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -mavx -msse4.2 -msse4.1 -msse3 -msse2")
find_package(catkin REQUIRED COMPONENTS
cv_bridge
image_geometry
image_transport
message_filters
nodelet
roscpp
sensor_msgs
stereo_msgs
stereo_image_proc
)
find_package(OpenCV REQUIRED)
catkin_package(
INCLUDE_DIRS include
LIBRARIES sgm_stereo
CATKIN_DEPENDS cv_bridge image_geometry image_transport message_filters roscpp sensor_msgs stereo_image_proc
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
# SGM Lib
add_library(sgm_stereo src/SGMStereo.cpp)
add_dependencies(sgm_stereo ${catkin_EXPORTED_TARGETS})
target_link_libraries(sgm_stereo ${catkin_LIBRARIES} ${OpenCV_LIBS})
# SGM Stereo Nodelet
add_library(${PROJECT_NAME}_nodelet
src/sgm_stereo_node.cpp
)
target_link_libraries(${PROJECT_NAME}_nodelet
${catkin_LIBRARIES}
${OpenCV_LIBS}
${PROJECT_NAME}
)
#############
## Install ##
#############
## Mark executables and/or libraries for installation
install(
TARGETS ${PROJECT_NAME} sgm_stereo sgm_stereo_nodelet
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(FILES nodelet_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
)