CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(dbrt)

############################
# Options                  #
############################
option(DBOT_BUILD_GPU "Compile CUDA enabled trackers" ON)

find_package(CUDA QUIET)
if(DBOT_BUILD_GPU AND CUDA_FOUND)
  # activate gpu implementations
  add_definitions(-DDBOT_BUILD_GPU=1)
  set(DBOT_GPU_SUPPORT "YES")
else(DBOT_BUILD_GPU AND CUDA_FOUND)
  set(DBOT_GPU_SUPPORT "NO")
  if(DBOT_BUILD_GPU)
    message(WARNING "No CUDA support. Deactivating GPU implementation")
  endif(DBOT_BUILD_GPU)
  set(DBOT_BUILD_GPU OFF)
endif(DBOT_BUILD_GPU AND CUDA_FOUND)

add_definitions(-std=c++11 -fno-omit-frame-pointer)
add_definitions(-DPROFILING_ON=1) #print profiling output

find_package(catkin REQUIRED
    roscpp
    roslib
    sensor_msgs
    cv_bridge
    urdf
    kdl_parser
    rosbag
    message_filters
    robot_state_publisher
    image_transport
    tf
    tf_conversions
    tf2_ros
    fl
    dbot
    dbot_ros
)

find_package(orocos_kdl)

set(PROJECT_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
set(CMAKE_MODULE_PATH ${PROJECT_MODULE_PATH})

find_package(Boost REQUIRED)
find_package(Eigen REQUIRED)
find_package(OpenCV REQUIRED)

include_directories(${Boost_INCLUDE_DIRS})
include_directories(${Eigen_INCLUDE_DIRS})
include_directories(${OpenCV_INCLUDE_DIRS})

##########################################
# Dealing with different assimp versions #
##########################################
set(ASSIMP_PREFIX_PATH ${ASSIMP_HOME} ${ENV_ASSIMP_HOME} /usr/local /usr/local/include /usr/local/lib /usr/include /usr/lib /usr/local/include/assimp /usr/include/assimp /usr/lib/assimp /usr/local/lib/assimp)

# a header only used in Version 3
set(FileToCheckV3 "cimport.h")
find_path(ASSIMP_INCLUDE_DIR_V3
  NAMES ${FileToCheckV3}
  PATHS ${ASSIMP_PREFIX_PATH}
)

# a header only used in Version 2
set(FileToCheckV2 "assimp.h")
find_path(ASSIMP_INCLUDE_DIR_V2
  NAMES ${FileToCheckV2}
  PATHS ${ASSIMP_PREFIX_PATH}
)

IF(EXISTS "${ASSIMP_INCLUDE_DIR_V3}/${FileToCheckV3}")
  message("-- ${FileToCheckV3} exists. Therefore Assimp V3 must be installed and will be used.")
  # add flag for ros distro
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHAVE_V3")
ELSEIF(EXISTS "${ASSIMP_INCLUDE_DIR_V2}/${FileToCheckV2}" )
  message("-- ${FileToCheckV2} exists. Therefore Assimp V2 must be installed and will be used.")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHAVE_V2")
ELSE()
   message(FATAL_ERROR "-- Neither ${FileToCheckV2} nor ${FileToCheckV3} exists. Assimp doesn't seem to be installed.")
endif()

###################################
## catkin specific configuration ##
###################################
catkin_package(
    INCLUDE_DIRS
        source
    LIBRARIES
        dbrt
    CATKIN_DEPENDS
        roscpp
        roslib
        sensor_msgs
        urdf
        kdl_parser
        message_filters
        robot_state_publisher
        image_transport
        tf
        tf_conversions
        tf2_ros
        fl
        dbot
        dbot_ros
    DEPENDS
        orocos_kdl
        OpenCV
        eigen
        assimp
)

###########
## Build ##
###########

include_directories(source ${catkin_INCLUDE_DIRS})

file(GLOB_RECURSE headers source/${PROJECT_NAME}/*.hpp
                          source/${PROJECT_NAME}/*.h)

set(sources
    source/${PROJECT_NAME}/robot_publisher.cpp
    source/${PROJECT_NAME}/urdf_object_loader.cpp
    source/${PROJECT_NAME}/kinematics_from_urdf.cpp
    source/${PROJECT_NAME}/robot_transformer.cpp
    source/${PROJECT_NAME}/robot_transforms_provider.cpp
    source/${PROJECT_NAME}/tracker/robot_tracker.cpp
    source/${PROJECT_NAME}/tracker/fusion_tracker.cpp
    source/${PROJECT_NAME}/tracker/visual_tracker.cpp
    source/${PROJECT_NAME}/tracker/visual_tracker_ros.cpp
    source/${PROJECT_NAME}/tracker/rotary_tracker.cpp
    source/${PROJECT_NAME}/tracker/fusion_tracker_factory.cpp
    source/${PROJECT_NAME}/tracker/rotary_tracker_factory.cpp
    source/${PROJECT_NAME}/tracker/visual_tracker_factory.cpp
    source/${PROJECT_NAME}/builder/robot_rb_sensor_builder.cpp
    source/${PROJECT_NAME}/util/kinematics_factory.cpp
    source/${PROJECT_NAME}/util/camera_data_factory.cpp
    )


add_library(${PROJECT_NAME} ${dbot_headers}
                            ${headers}
                            ${sources})

target_link_libraries(${PROJECT_NAME} 
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  assimp)

add_executable(visual_tracker
     source/${PROJECT_NAME}/tracker/visual_tracker_node.cpp)
target_link_libraries(visual_tracker
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
     ${OpenCV_LIBS}
     yaml-cpp)

add_executable(rotary_tracker
     source/${PROJECT_NAME}/tracker/rotary_tracker_node.cpp)
target_link_libraries(rotary_tracker
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
     ${OpenCV_LIBS}
     yaml-cpp)

add_executable(fusion_tracker
     source/${PROJECT_NAME}/tracker/fusion_tracker_node.cpp)
target_link_libraries(fusion_tracker
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
     ${PCL_LIBRARIES}
     yaml-cpp)

add_executable(robot_emulator
     source/${PROJECT_NAME}/util/robot_emulator_node.cpp)
target_link_libraries(robot_emulator
     ${PROJECT_NAME}
     ${catkin_LIBRARIES}
     ${OpenCV_LIBS}
     yaml-cpp)