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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(ensenso)
find_package(catkin REQUIRED COMPONENTS
camera_info_manager
cmake_modules
cv_bridge
eigen_conversions
geometry_msgs
message_generation
pcl_conversions
pcl_ros
std_msgs
std_srvs
tf_conversions
image_transport
)
find_package(Boost REQUIRED COMPONENTS system filesystem thread)
find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "/opt/ensenso/cmake")
find_package(Ensenso REQUIRED)
catkin_python_setup()
add_message_files(
FILES
RawStereoPattern.msg
)
add_service_files(
FILES
CalibrateHandEye.srv
EstimatePatternPose.srv
)
generate_messages(
DEPENDENCIES
geometry_msgs
std_msgs
)
generate_dynamic_reconfigure_options(
cfg/CameraParameters.cfg
)
catkin_package(
INCLUDE_DIRS
include
LIBRARIES
ensenso_grabber
CATKIN_DEPENDS
camera_info_manager
cv_bridge
eigen_conversions
message_runtime
geometry_msgs
std_msgs
std_srvs
pcl_conversions
pcl_ros
tf_conversions
)
# Order of the include dirs matters!
include_directories(include)
include_directories(${PCL_INCLUDE_DIRS})
include_directories(${ENSENSO_INCLUDE_DIRS})
include_directories(${catkin_INCLUDE_DIRS})
add_definitions(${PCL_DEFINITIONS})
# Libraries
add_library(ensenso_grabber src/ensenso_grabber.cpp)
target_link_libraries(ensenso_grabber ${ENSENSO_LIBRARIES} ${PCL_LIBRARIES} ${catkin_LIBRARIES})
add_executable(ensenso_driver src/ensenso_driver.cpp)
add_dependencies(ensenso_driver ${catkin_EXPORTED_TARGETS})
target_link_libraries(ensenso_driver ensenso_grabber ${PCL_LIBRARIES} ${catkin_LIBRARIES})