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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(ground_plane_estimation)
## 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
cv_bridge
image_transport
message_filters
message_generation
roscpp
sensor_msgs
std_msgs
tf
)
find_package(Boost REQUIRED COMPONENTS thread)
set(CMAKE_BUILD_TYPE Release)
if(CMAKE_COMPILER_IS_GNUCXX)
set(CMAKE_CXX_FLAGS "-O3") ## Optimize
endif()
#######################################
## Declare ROS messages and services ##
#######################################
add_message_files(
FILES
GroundPlane.msg
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS
cv_bridge
image_transport
message_filters
roscpp
sensor_msgs
std_msgs
tf
)
###########
## Build ##
###########
include_directories(include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
add_executable(ground_plane_estimated src/estimated_gp.cpp src/Camera.cpp src/Globals.cpp src/groundplaneestimator.cpp src/Math.cpp src/pointcloud.cpp)
add_executable(ground_plane_fixed src/fixed_gp.cpp)
add_dependencies(ground_plane_estimated ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(ground_plane_fixed ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(ground_plane_estimated
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)
target_link_libraries(ground_plane_fixed
${catkin_LIBRARIES}
)
#############
## Install ##
#############
install(TARGETS ground_plane_estimated ground_plane_fixed
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)