CMakeLists.txt

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

find_package(libg2o REQUIRED)
include_directories(${EIGEN_INCLUDE_DIRS} ${libg2o_INCLUDE_DIRS})
include_directories(/usr/include/suitesparse/)

rosbuild_add_library(${PROJECT_NAME} 
  src/features3d_pose_slam.cpp
  src/orb_extractor.cpp
  src/stereo_matcher.cpp
  )

rosbuild_add_library(stereo_matching
  src/stereo_matcher.cpp
  src/match_stats.cpp)

rosbuild_add_executable(stereo_stats src/tools/stereo_stats.cpp)
rosbuild_link_boost(stereo_stats program_options)
target_link_libraries(stereo_stats stereo_matching)
rosbuild_add_executable(stereo_match src/tools/stereo_match.cpp)
rosbuild_link_boost(stereo_match program_options)
target_link_libraries(stereo_match stereo_matching)

execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${EXECUTABLE_OUTPUT_PATH}/test)
rosbuild_add_gtest(test/image_proc_test test/image_proc_test.cpp)

target_link_libraries(test/image_proc_test gtest_main)

#common commands for building c++ executables and libraries
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})