CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(SegmentationMapping)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
SET(CMAKE_BUILD_TYPE Release)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 ")

#SET(EIGEN_INCLUDE_DIR /usr/local/include/eigen3)
#SET(ENV{TENSORFLOW_SOURCE_DIR} "/home/biped/thirdparty/tensorflow/")
#SET(ENV{TENSORFLOW_BUILD_DIR}  "/home/biped/thirdparty/tensorflow/build_docker/")
#list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake/Modules)


#find_package(TensorFlow REQUIRED)
#TensorFlow_REQUIRE_C_LIBRARY()
#TensorFlow_REQUIRE_SOURCE()
#message(${TensorFlow_SOURCE_DIR})


## 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
  message_filters
  rospy
  roscpp
  #octomap
  sensor_msgs
  geometry_msgs
  nav_msgs
  tf2_ros
  #cassie_msgs
  cv_bridge
  pcl_ros
  tf_conversions
  eigen_conversions
  image_geometry
  message_generation
)


option(USE_TF_C_LIB "Use Tensorflow C api " OFF) #OFF by default
if (USE_TF_C_LIB)
set(TENSORFLOW_DIR /home/cassie/sd_card/thirdparty/tensorflow/)
include_directories(${TENSORFLOW_DIR})
include_directories(${TENSORFLOW_DIR}/tensorflow)
include_directories(${TENSORFLOW_DIR}/bazel-tensorflow/external/eigen_archive)
include_directories(${TENSORFLOW_DIR}/bazel-tensorflow/external/protobuf_archive/src)
include_directories(${TENSORFLOW_DIR}/bazel-tensorflow/external/com_google_absl)
include_directories(${TENSORFLOW_DIR}/bazel-genfiles)
include_directories(${TENSORFLOW_DIR}/tensorflow/cc)
include_directories(${TENSORFLOW_DIR}/tensorflow/core)
link_directories(${TENSORFLOW_DIR}/bazel-bin/tensorflow)
else()
SET(EIGEN_INCLUDE_DIR /usr/include/eigen3)
#SET(EIGEN_INCLUDE_DIR /usr/local/include/eigen3)
#find_package (Eigen3  REQUIRED )
#IF( NOT EIGEN3_INCLUDE_DIR )
#    MESSAGE( FATAL_ERROR "Please point the environment variable EIGEN3_INCLUDE_DIR to the include directory of your Eigen3 installation.")
#ENDIF()
#message(${EIGEN3_INCLUDE_DIR})
endif(USE_TF_C_LIB)


## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(PCL REQUIRED)
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
message("PCL library path is ")
message(${PCL_INCLUDE_DIRS})
message(${PCL_LIBRARY_DIRS})




find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
message("octomap include dir is ${OCTOMAP_INCLUDE_DIRS} and ${OCTOMAP_LIBRARY_DIRS} and ${OCTOMAP_LIBRARIES}")

find_package(octomap_ros REQUIRED)
include_directories(${octomap_ros_INCLUDE_DIRS})
message("octomap_ros include dir is ${octomap_ros_INCLUDE_DIRS}")

#SET(OpenCV_DIR /home/cassie/sd_card/thirdparty/opencv3.4/opencv/build/)
find_package(OpenCV REQUIRED)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
 add_message_files(
   FILES
   ImageLabelDistribution.msg
 )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_msgs
 )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## 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/SegmentationMapping 
#  LIBRARIES segmentation_projection
  CATKIN_DEPENDS message_filters rospy sensor_msgs message_runtime 
#  DEPENDS system_lib
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
 include/SegmentationMapping
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${EIGEN_INCLUDE_DIR}
${OCTOMAP_INCLUDE_DIRS}
${octomap_ros__INCLUDE_DIRS}
)



## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/segmentation_projection.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
add_executable(labeled_pc_map_node src/labeled_pc_map_node.cpp)
#add_executable(nclt_map_node      src/rvsm_nclt_node.cpp)
#add_executable(query_semantic_tree src/query_semantic_tree.cpp)
add_executable(stereo_segmentation_node src/stereo_segmentation_node.cpp)
add_executable(lidar_projection_node src/lidar_projection_node.cpp)
## 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 "")

## 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})

add_dependencies(stereo_segmentation_node ${catkin_EXPORTED_TARGETS})
add_dependencies(lidar_projection_node ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(labeled_pc_map_node
  ${OCTOMAP_LIBRARIES}
  ${octomap_ros_LIBRARIES}
  ${catkin_LIBRARIES}
  ${PCL_COMMON_LIBRARIES}
  ${PCL_IO_LIBRARIES}
  #${TENSORFLOW_DIR}/bazel-bin/tensorflow/libtensorflow.so

)
#target_link_libraries(nclt_map_node
#  ${catkin_LIBRARIES}
#  ${PCL_COMMON_LIBRARIES}
#  ${PCL_IO_LIBRARIES}
#  ${OCTOMAP_LIBRARIES}
#)
#target_link_libraries(query_semantic_tree
#  ${catkin_LIBRARIES}
#  ${PCL_COMMON_LIBRARIES}
#  ${PCL_IO_LIBRARIES}
#  ${OCTOMAP_LIBRARIES}
#  )
#target_include_directories(stereo_segmentation_node PRIVATE ${TensorFlow_SOURCE_DIR})
target_link_libraries(stereo_segmentation_node #  PRIVATE TensorFlow_DEP
  ${EIGEN_INCLUDE_DIR}
  ${catkin_LIBRARIES}
  ${OpenCV_LIBS}
  #${TENSORFLOW_DIR}/bazel-bin/tensorflow/libtensorflow.so
)

target_link_libraries(lidar_projection_node
  ${EIGEN_INCLUDE_DIR}
  ${catkin_LIBRARIES}
  ${OpenCV_LIBS}
)

#############
## 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/segmentation_projection_node  scripts/projection.py scripts/gt_pose2bag.py  scripts/helper.py
  scripts/segmentation_node
  scripts/segmentation_node_two_camera
   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_segmentation_projection.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)