CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(sensor_fusion)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  sensor_msgs
  std_msgs
  cv_bridge
  image_geometry
  image_transport
  laser_geometry
  message_filters
  tf
  pcl_ros
  message_generation
  time_util
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)

find_package(OpenCV 3 REQUIRED)
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

find_package(OpenMP)
if (OPENMP_FOUND)
	set (CMAKE_C_FLAG "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
	set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()

find_package(Eigen3 REQUIRED COMPONENTS system)
include_directories(${Eigen_INCLUDE_DIRS})


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

###############################################a
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  Cluster.msg
  ClusterArray.msg
  Data.msg
  Node.msg
  NodeInfo.msg
)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   sensor_msgs   
   std_msgs
   geometry_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES sensor_fusion
  CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs
#  DEPENDS system_lib
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
 include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/sensor_fusion.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(camera_downsample src/camera_downsample.cpp)
add_executable(division src/division.cpp)
add_executable(division_one_shot src/division_one_shot.cpp)
add_executable(integration src/integration.cpp)
add_executable(laser_transform_pointcloud src/laser_transform_pointcloud.cpp)
add_executable(camera_transform_pointcloud src/camera_transform_pointcloud.cpp)
add_executable(lcl src/lcl.cpp)
add_executable(odom2baselink src/imu_complement.cpp)

## coloringcloud
add_executable(coloringcloud coloring/coloringcloud.cpp)

## projection
add_executable(projection projection/projection.cpp)

## Depth Image
add_executable(merge_cloud depthimage/merge_cloud.cpp)
add_executable(normal_estimation_local depthimage/normal_estimation_local.cpp)
add_executable(depthimage_creater depthimage/depthimage_creater.cpp)
add_executable(pcd_integrater depthimage/pcd_integrater.cpp)
add_executable(map_load depthimage/map_load.cpp)
add_executable(min_max depthimage/min_max.cpp)
add_executable(reference_viewer depthimage/reference_viewer.cpp)

## Calibration
# add_executable(pointcloud2image calibration/pointcloud2image.cpp)
# add_executable(lidar_seg_plane calibration/lidar_seg_plane.cpp)
# add_executable(lidar_seg_circle calibration/lidar_seg_circle.cpp)
# add_executable(camera_seg_plane calibration/camera_seg_plane.cpp)
# add_executable(camera_seg_circle calibration/camera_seg_circle.cpp)
# add_executable(sphere_fitting calibration/sphere_fitting.cpp)
# add_executable(icp_transform calibration/icp_transform.cpp)
# 
# 
# add_executable(detection_circle calibration/detection_circle.cpp)
# add_executable(sq_rm_ground calibration/sq_rm_ground.cpp)
# add_executable(sq_rm_ground_min_max calibration/sq_rm_ground_min_max.cpp)
# add_executable(save_points calibration/save_points.cpp)
# add_executable(rm_ground_division calibration/rm_ground_division.cpp)
# 
# add_executable(evaluate calibration/evaluate.cpp)


## Save Cloud
add_executable(save_data savecloud/save_data.cpp)
add_executable(message_filters_test savecloud/message_filters_test.cpp)
add_executable(transform_publisher savecloud/transform_publisher.cpp)
add_executable(transform_broadcast savecloud/transform_broadcast.cpp)

## paper
add_executable(pcd_saver paper/pcd_saver.cpp)
add_executable(threshold paper/threshold.cpp)
add_executable(pub_saveflag paper/pub_saveflag.cpp)
add_executable(node_saver paper/node_saver.cpp)
add_executable(map_maker paper/pcd_integrate.cpp)
add_executable(depthimage_for_paper paper/depthimage_for_paper.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(camera_downsample
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(division
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(division_one_shot
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(integration
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(laser_transform_pointcloud
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(camera_transform_pointcloud
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(lcl
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(odom2baselink
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)

# coloring
target_link_libraries(coloringcloud
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)

# projection
target_link_libraries(projection
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)

# calibration
# target_link_libraries(pointcloud2image
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )
# target_link_libraries(lidar_seg_plane
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )
# target_link_libraries(lidar_seg_circle
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )
# target_link_libraries(camera_seg_plane
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )
# target_link_libraries(camera_seg_circle
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )
# target_link_libraries(sphere_fitting
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )
# target_link_libraries(icp_transform
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )
# 
# target_link_libraries(detection_circle
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )
# target_link_libraries(sq_rm_ground  
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )
# target_link_libraries(sq_rm_ground_min_max  
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )
# target_link_libraries(save_points
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )
# target_link_libraries(rm_ground_division
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )
# target_link_libraries(evaluate
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBRARIES}
#   ${PCL_LIBRARIES}
# )

## Depth Image
target_link_libraries(merge_cloud
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(normal_estimation_local
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(depthimage_creater
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(pcd_integrater
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(map_load
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(min_max
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(reference_viewer
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)



## SaveCloud
target_link_libraries(save_data
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)

target_link_libraries(message_filters_test
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)

target_link_libraries(transform_publisher
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)

target_link_libraries(transform_broadcast
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)


## paper
target_link_libraries(pcd_saver
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(threshold
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(pub_saveflag
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(node_saver
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(map_maker
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
)
target_link_libraries(depthimage_for_paper
  ${catkin_LIBRARIES}
  ${OpenCV_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_sensor_fusion.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)