CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(cv_leg_tracking)

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

find_package(catkin REQUIRED COMPONENTS
  roslint
  roscpp
  roslib
  rosconsole
  sensor_msgs
  std_msgs
  std_srvs
  geometry_msgs
  laser_geometry
  pcl_conversions
  pcl_ros
  tf2
  tf2_ros
  tf2_msgs
  tf2_sensor_msgs
  cv_bridge
  image_transport
  image_geometry
)

# find_package(Eigen3 REQUIRED)
find_package(Eigen3)
if(NOT EIGEN3_FOUND)
  # Fallback to cmake_modules
  find_package(cmake_modules REQUIRED)
  find_package(Eigen REQUIRED)
else()
  set(Eigen_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
  set(Eigen_LIBRARIES ${EIGEN3_LIBRARIES}) 
endif()

# find_package(OpenCV REQUIRED)

find_package(Boost REQUIRED)

catkin_package(
  INCLUDE_DIRS include
#   LIBRARIES kalman
  CATKIN_DEPENDS std_msgs
  DEPENDS EIGEN3
)

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

add_executable(${PROJECT_NAME} src/cv_leg_tracking.cpp src/cv_leg_tracking_node.cpp)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(
  ${PROJECT_NAME}
  ${Boost_INCLUDE_DIRS}
  ${Eigen_LIBRARIES}
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  )

### INSTALL ###
install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

### LINT ###
roslint_cpp(src/cv_leg_tracking.cpp src/cv_leg_tracking_node.cpp)