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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(ar_track_alvar)
set(MSG_DEPS
std_msgs
sensor_msgs
geometry_msgs
visualization_msgs)
find_package(catkin COMPONENTS
genmsg
roscpp
tf
tf2
image_transport
resource_retriever
cv_bridge
pcl_ros
pcl_conversions
std_msgs
message_generation
${MSG_DEPS}
dynamic_reconfigure
cmake_modules
ar_track_alvar_bundles
REQUIRED)
find_package(Eigen REQUIRED)
find_package(OpenCV REQUIRED)
find_package(TinyXML REQUIRED)
add_service_files(DIRECTORY srv
FILES
GetPositionAndOrientation.srv
SetCamTopic.srv)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
visualization_msgs
)
# dynamic reconfigure support
generate_dynamic_reconfigure_options(cfg/Params.cfg)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ar_track_alvar
CATKIN_DEPENDS
std_msgs
roscpp
tf
tf2
message_runtime
image_transport
sensor_msgs
geometry_msgs
visualization_msgs
resource_retriever
cv_bridge
pcl_ros
pcl_conversions
dynamic_reconfigure
)
include_directories(include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${TinyXML_INCLUDE_DIRS}
)
set(GENCPP_DEPS ar_track_alvar_msgs_gencpp std_msgs_gencpp sensor_msgs_gencpp geometry_msgs_gencpp visualization_msgs_gencpp)
add_library(ar_track_alvar
src/Camera.cpp
src/CaptureDevice.cpp
src/Pose.cpp
src/Marker.cpp
src/MarkerDetector.cpp
src/Bitset.cpp
src/Rotation.cpp
src/CvTestbed.cpp
src/CaptureDevice.cpp
src/CaptureFactory.cpp
src/CaptureFactory_unix.cpp
src/FileFormatUtils.cpp
src/Threads.cpp
src/Threads_unix.cpp
src/Mutex.cpp
src/Mutex_unix.cpp
src/ConnectedComponents.cpp
src/Line.cpp src/Plugin.cpp
src/Plugin_unix.cpp
src/DirectoryIterator.cpp
src/DirectoryIterator_unix.cpp
src/Draw.cpp
src/Util.cpp
src/Filter.cpp
src/Kalman.cpp
src/kinect_filtering.cpp
src/Optimization.cpp
src/MultiMarker.cpp
src/MultiMarkerBundle.cpp
src/MultiMarkerInitializer.cpp)
target_link_libraries(ar_track_alvar ${OpenCV_LIBS} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES})
add_dependencies(ar_track_alvar ${GENCPP_DEPS})
# Kinect filtering code
set(KINECT_FILTERING_TARGETS kinect_filtering medianFilter)
add_library(kinect_filtering src/kinect_filtering.cpp)
target_link_libraries(kinect_filtering ${catkin_LIBRARIES})
add_dependencies(kinect_filtering ${GENCPP_DEPS})
add_library(medianFilter src/medianFilter.cpp)
target_link_libraries(medianFilter ar_track_alvar ${catkin_LIBRARIES})
add_dependencies(medianFilter ${GENCPP_DEPS})
set(ALVAR_TARGETS ar_track_alvar individualMarkersNoKinect findMarkerBundlesNoKinect createMarker ar_track_alvar)
add_executable(individualMarkersNoKinect nodes/IndividualMarkersNoKinect.cpp)
target_link_libraries(individualMarkersNoKinect ar_track_alvar ${catkin_LIBRARIES})
add_dependencies(individualMarkersNoKinect ${PROJECT_NAME}_gencpp ${GENCPP_DEPS})
add_executable(findMarkerBundlesNoKinect nodes/FindMarkerBundlesNoKinect.cpp)
target_link_libraries(findMarkerBundlesNoKinect ar_track_alvar ${catkin_LIBRARIES})
add_dependencies(findMarkerBundlesNoKinect ${PROJECT_NAME}_gencpp ${GENCPP_DEPS})
add_executable(createMarker src/SampleMarkerCreator.cpp)
target_link_libraries(createMarker ar_track_alvar ${catkin_LIBRARIES})
add_dependencies(createMarker ${PROJECT_NAME}_gencpp ${GENCPP_DEPS})
install(TARGETS ${ALVAR_TARGETS} ${KINECT_FILTERING_TARGETS}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)