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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(ed_sensor_integration)
find_package(catkin REQUIRED COMPONENTS
cb_planner_msgs_srvs
ed
geometry_msgs
kdl_parser
message_generation
visualization_msgs
)
# ------------------------------------------------------------------------------------------------
# ROS MESSAGES AND SERVICES
# ------------------------------------------------------------------------------------------------
add_message_files(
FILES
GUIAction.msg
ImageBinary.msg
doorDetection.msg
)
add_service_files(
FILES
GetImage.srv
Update.srv
RayTrace.srv
)
generate_messages(
DEPENDENCIES
geometry_msgs
)
# ------------------------------------------------------------------------------------------------
# CATKIN EXPORT
# ------------------------------------------------------------------------------------------------
catkin_package(
INCLUDE_DIRS include
LIBRARIES ed_kinect
# DEPENDS
CATKIN_DEPENDS geometry_msgs message_runtime
)
# ------------------------------------------------------------------------------------------------
# BUILD
# ------------------------------------------------------------------------------------------------
include_directories(
include
${catkin_INCLUDE_DIRS}
)
# ------------------------------------------------------------------------------------------------
# LIBRARIES
# ------------------------------------------------------------------------------------------------
add_library(ed_association
src/association_matrix.cpp
include/ed_sensor_integration/association_matrix.h
)
add_library(ed_kinect
src/kinect/image_buffer.cpp
include/ed/kinect/image_buffer.h
src/kinect/fitter.cpp
include/ed/kinect/fitter.h
src/kinect/beam_model.cpp
include/ed/kinect/beam_model.h
src/kinect/mesh_tools.cpp
include/ed/kinect/mesh_tools.h
src/kinect/segmenter.cpp
include/ed/kinect/segmenter.h
src/kinect/association.cpp
include/ed/kinect/association.h
src/kinect/updater.cpp
include/ed/kinect/updater.h
include/ed/kinect/entity_update.h
src/kinect/renderer.cpp
include/ed/kinect/renderer.h
)
target_link_libraries(ed_kinect ed_association ${catkin_LIBRARIES})
add_dependencies(ed_kinect ${PROJECT_NAME}_gencpp ${${PROJECT_NAME}_EXPORTED_TARGETS})
# ------------------------------------------------------------------------------------------------
# PLUGINS
# ------------------------------------------------------------------------------------------------
add_library(ed_kinect_plugin
src/kinect/kinect_plugin.cpp
src/kinect/kinect_plugin.h
src/kinect/ray_tracer.cpp
src/kinect/ray_tracer.h
)
target_link_libraries(ed_kinect_plugin ed_kinect ${catkin_LIBRARIES})
add_dependencies(ed_kinect_plugin ${PROJECT_NAME}_gencpp ${${PROJECT_NAME}_EXPORTED_TARGETS})
# ------------------------------------------------------------------------------------------------
add_library(ed_laser_plugin
src/laser/plugin.cpp
src/laser/plugin.h
)
target_link_libraries(ed_laser_plugin ed_association ${catkin_LIBRARIES})
add_library(ed_laser_plugin_tracking
src/laser/plugin_tracking.cpp
src/laser/plugin_tracking.h
)
target_link_libraries(ed_laser_plugin_tracking ed_association ${catkin_LIBRARIES})
# ------------------------------------------------------------------------------------------------
add_library(ed_clearer_plugin
src/clearer/clearer_plugin.cpp
src/clearer/clearer_plugin.h
)
target_link_libraries(ed_clearer_plugin ${catkin_LIBRARIES})
# ------------------------------------------------------------------------------------------------
# TOOLS
# ------------------------------------------------------------------------------------------------
add_executable(ed_image_saver tools/image_saver.cpp)
target_link_libraries(ed_image_saver ${catkin_LIBRARIES})
add_dependencies(ed_image_saver ${PROJECT_NAME}_gencpp)
add_executable(ed_segmenter tools/segmenter.cpp)
target_link_libraries(ed_segmenter ed_kinect)