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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(openni2_camera)
find_package(catkin REQUIRED camera_info_manager dynamic_reconfigure image_transport nodelet sensor_msgs roscpp message_generation)
find_package(Boost REQUIRED COMPONENTS system thread)
find_package(PkgConfig)
pkg_check_modules(PC_OPENNI2 libopenni2)
if (NOT PC_OPENNI2_FOUND)
pkg_check_modules(PC_OPENNI2 REQUIRED openni2)
endif()
generate_dynamic_reconfigure_options(cfg/OpenNI2.cfg)
add_service_files(FILES
GetSerial.srv)
generate_messages()
catkin_package(
INCLUDE_DIRS include
LIBRARIES openni2_wrapper
CATKIN_DEPENDS camera_info_manager dynamic_reconfigure image_transport nodelet sensor_msgs roscpp message_runtime
DEPENDS libopenni2
)
include_directories(include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${PC_OPENNI2_INCLUDE_DIRS}
)
link_directories(${PC_OPENNI2_LIBRARY_DIRS})
add_library(openni2_wrapper
src/openni2_convert.cpp
src/openni2_device.cpp
src/openni2_device_info.cpp
src/openni2_timer_filter.cpp
src/openni2_frame_listener.cpp
src/openni2_device_manager.cpp
src/openni2_exception.cpp
src/openni2_video_mode.cpp
)
target_link_libraries(openni2_wrapper ${catkin_LIBRARIES} ${PC_OPENNI2_LIBRARIES} ${Boost_LIBRARIES} )
add_executable(test_wrapper test/test_wrapper.cpp )
target_link_libraries(test_wrapper openni2_wrapper ${Boost_LIBRARIES})
add_library(openni2_driver_lib
src/openni2_driver.cpp
)
target_link_libraries(openni2_driver_lib openni2_wrapper ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_dependencies(openni2_driver_lib ${PROJECT_NAME}_gencfg)
add_library(openni2_camera_nodelet
ros/openni2_camera_nodelet.cpp
)
target_link_libraries(openni2_camera_nodelet openni2_driver_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_dependencies(openni2_camera_nodelet ${PROJECT_NAME}_gencfg)
add_executable(openni2_camera_node
ros/openni2_camera_node.cpp
)
target_link_libraries(openni2_camera_node openni2_driver_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_dependencies(openni2_camera_node ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
add_executable(list_devices
src/list_devices.cpp
)
target_link_libraries(list_devices openni2_wrapper)
if (UNIX AND NOT APPLE)
add_executable(usb_reset src/usb_reset.c)
set(ADDITIONAL_EXECUTABLES "usb_reset")
endif()
install(TARGETS openni2_wrapper openni2_camera_nodelet openni2_camera_node list_devices openni2_driver_lib ${ADDITIONAL_EXECUTABLES}
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}
)
# add xml file
install(FILES openni2_nodelets.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)