CMakeLists.txt

cmake_minimum_required(VERSION 3.5)

project(object_detector)

# set compilation
# set(CMAKE_CXX_STANDARD 11)
# set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
# set(CMAKE_POSITION_INDEPENDENT_CODE ON)
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -O3")

# useful macros
# include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/util.cmake)
# list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/modules)

# find dependencies
#find_package(Glog REQUIRED)
find_package(Threads)
find_package(OpenCV 4 REQUIRED)

# ROS
catkin_package(
    INCLUDE_DIRS include
    LIBRARIES ${PROJECT_NAME}
    CATKIN_DEPENDS 
    roscpp 
    usfs_common 
    usfs_inference 
    usfs_example
    usfs_bridge
    platform_driver
    DEPENDS)

find_package(catkin 
REQUIRED 
COMPONENTS
    std_msgs
    roscpp
    usfs_common
    usfs_inference
    usfs_example
    usfs_bridge
    cv_bridge
    image_transport
    pcl_ros
    platform_driver
    )

find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

find_package(Eigen3 REQUIRED)
include_directories(${Eigen3_INCLUDE_DIRS})

find_package(PCL 1.7 REQUIRED) 
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS}) 
add_definitions(${PCL_DEFINITIONS}) 

# common include directories
include_directories(
    include
    ${catkin_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
    ${Eigen3_INCLUDE_DIRS}
    ${PCL_DEFINITIONS}
)

# find all source files
# file(GLOB_RECURSE
#     src_files
#     ${PROJECT_SOURCE_DIR}/src/*.cc
#     ${PROJECT_SOURCE_DIR}/src/*/*.cc
#     )

# common library
# add_library(
#     ${PROJECT_NAME}
#     SHARED
#     ${src_files}
# )
# target_link_libraries(
#     ${PROJECT_NAME}
#     ${GLOG_LIBRARIES}
#     ${catkin_LIBRARIES}
#     Threads::Threads
#     ${OpenCV_LIBS}
# )

add_executable(detector src/detector.cpp) 
target_link_libraries(detector ${PCL_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_INCLUDE_DIRS} ${OpenCV_LIBS})