CMakeLists.txt

cmake_minimum_required(VERSION 2.8.11)
project(okvis_ros)

find_package(catkin REQUIRED  
  pcl_conversions
  pcl_ros
  roscpp
  sensor_msgs
  image_transport
  cv_bridge
  dynamic_reconfigure
  geometry_msgs
  image_geometry
)

# generate dynamic reconfigure stuff
generate_dynamic_reconfigure_options(cfg/Camera.cfg)

catkin_package(
    DEPENDS
    CATKIN_DEPENDS
    INCLUDE_DIRS include
    LIBRARIES ${PROJECT_NAME}
)

FIND_PACKAGE(Boost COMPONENTS filesystem system REQUIRED)
include_directories(${Boost_INCLUDE_DIRS})

find_package(OpenCV 3.0 REQUIRED)

find_package(mynteye QUIET)
find_package(mynteyed QUIET)

if(mynteye_FOUND)
   message(STATUS "MYNT-EYE-S-SDK found.")
else()
   message(STATUS "MYNT-EYE-S-SDK not found.")
endif()

if(mynteyed_FOUND)
   message(STATUS "MYNT-EYE-D-SDK found.")
else()
   message(STATUS "MYNT-EYE-D-SDK not found.")
endif()

# Release
set(CMAKE_BUILD_TYPE Release)

message(STATUS "Building with ${CMAKE_BUILD_TYPE}")

# The configure step fails at catkin_package() if this directory
# doesn't exist yet. Create it at configure time!
file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/include)

# let's pull in the okvis plain cmake project
set(BUILD_SHARED_LIBS OFF)
add_subdirectory(okvis)


# libvisensor
#list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/okvis/cmake")
#find_package(VISensor)

#if(VISENSORDRIVER_FOUND)
#  add_definitions(-DHAVE_LIBVISENSOR)
#  message(STATUS "Found libvisensor in ROS interface.")
#  include_directories(${VISensorDriver_INCLUDE_DIR})
#else()
#  message(WARNING "libvisensor not found")
#endif()

include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
  ${CMAKE_BINARY_DIR}/include
)

# compile the ROS dependent stuff into a library
add_definitions(-fPIC -march=native -Wextra -Winit-self -Woverloaded-virtual
                -Wnon-virtual-dtor -Wsign-promo -Wno-long-long -std=c++0x)
add_library(${PROJECT_NAME} STATIC src/Subscriber.cpp
                               src/Publisher.cpp
                               src/RosParametersReader.cpp
                               include/okvis/Subscriber.hpp
                               include/okvis/Publisher.hpp
                               include/okvis/RosParametersReader.hpp)

add_dependencies(${PROJECT_NAME} okvis_multisensor_processing)

# make sure configure headers are built before any node using them
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)

target_link_libraries(${PROJECT_NAME}  
  ${catkin_LIBRARIES}
  okvis_util
  okvis_kinematics
  okvis_time
  okvis_cv 
  okvis_common
  okvis_ceres
  okvis_timing
  okvis_matcher
  okvis_frontend 
  okvis_multisensor_processing
  pthread
)

#if(VISENSORDRIVER_FOUND)
#  target_link_libraries(${PROJECT_NAME} ${VISensorDriver_LIBRARY})
#endif()

include_directories(
  okvis/okvis_util/include
  okvis/okvis_kinematics/include
  okvis/okvis_time/include
  okvis/okvis_cv/include
  okvis/okvis_common/include
  okvis/okvis_ceres/include
  okvis/okvis_timing/include
  okvis/okvis_matcher/include
  okvis/okvis_frontend/include 
  okvis/okvis_multisensor_processing/include
)

add_executable(okvis_node src/okvis_node.cpp )
target_link_libraries(okvis_node ${PROJECT_NAME} )
add_executable(dataset_convertor src/dataset_convertor.cpp)
target_link_libraries(dataset_convertor ${PROJECT_NAME} )

# SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/../bin)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)

if(mynteye_FOUND)
  add_executable(okvis_app_mynteye_s okvis/okvis_apps/src/okvis_app_mynteye.cpp)
  target_link_libraries(okvis_app_mynteye_s
    okvis_util
    okvis_kinematics
    okvis_time
    okvis_cv 
    okvis_common
    okvis_ceres
    okvis_timing
    okvis_matcher
    okvis_frontend 
    okvis_multisensor_processing
    pthread 
    mynteye
    ${Boost_LIBRARIES}
  )
endif()

add_executable(okvis_node_synchronous src/okvis_node_synchronous.cpp)
target_link_libraries(okvis_node_synchronous ${PROJECT_NAME} )