CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(cuda_img_processing)

## Compile as C++11, supported in ROS Kinetic and newer
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -march=native")
set(FreeImageLibPath "/usr/lib/x86_64-linux-gnu/libfreeimage-3.17.0.so")

## 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
  sensor_msgs
)

find_package(CUDA REQUIRED)

list(APPEND CMAKE_PREFIX_PATH "/usr/lib/x86_64-linux-gnu")

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

###################################
## 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 your 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 undistort_cuda
#  CATKIN_DEPENDS roscpp sensor_msgs
#  DEPENDS system_lib
)

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

# file( GLOB LIB_HEADERS include/cuda_imageprocessing/*.hpp include/nvJPEG/*.h )
# file( GLOB LIB_SOURCES src/ImageResizer.cpp src/GrayConverter.cpp)

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  thirdparty/Common
  thirdparty/Common/UtilNPP
  ${catkin_INCLUDE_DIRS}
  ${CUDA_INCLUDE_DIRS}
  ${FREEIMAGE_INCLUDE_DIRS}

)

set(CUDA_npp_LIBRARY 
${CUDA_nppc_LIBRARY}
${CUDA_nppial_LIBRARY}
${CUDA_nppicc_LIBRARY}
${CUDA_nppig_LIBRARY}
${CUDA_nppif_LIBRARY}
${CUDA_culibos_LIBRARY}
${CUDA_nppisu_LIBRARY}
)

# link_directories(${CMAKE_SOURCE_DIR}/${PROJECT_NAME}/lib/nvJPEG)

cuda_add_library(undistort_cuda SHARED include/processors/undistort.cu)


## Declare a C++ library
add_library(${PROJECT_NAME}
    src/cuda_img_processing.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

## 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(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)

## 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})
message(----------------)
message(CUDA_npp_LIBRARY: ${CUDA_npp_LIBRARY})
message(CUDA_LIBRARIES: ${CUDA_LIBRARIES})
message(FREEIMAGE_INCLUDE_DIRS: ${FREEIMAGE_INCLUDE_DIRS})
message(----------------)

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${CUDA_LIBRARIES}
  ${FREEIMAGE_LIBRARIES}
  ${FreeImageLibPath}
  ${CUDA_npp_LIBRARY}
    undistort_cuda
)


add_executable(${PROJECT_NAME}_node src/cuda_img_processing_node.cpp)

target_link_libraries(${PROJECT_NAME}_node
        ${PROJECT_NAME}
)

#############
## 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_cuda_imageprocessing.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)