CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)

project(realsense_person)

# Save the command line compile commands in the build output
set(CMAKE_EXPORT_COMPILE_COMMANDS 1)

# View the makefile commands during build
set(CMAKE_VERBOSE_MAKEFILE on)

# Set compile flags
set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -O2 -D_FORTIFY_SOURCE=2 -fstack-protector-strong -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}")
# Flags executables
set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now")
# Flags shared libraries
set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now")

# TODO: Use PkgConfig for the beta3 release of the PersonTracking library
# find_package(PkgConfig REQUIRED)
# pkg_search_module(PERSONTRACKING REQUIRED realsense_persontracking)

# TODO: Remove the temporary hardcoded paths in the beta3 release of the PersonTracking library
set(PERSONTRACKING_LIBRARIES /usr/local/lib/librealsense_persontracking.so)
set(PERSONTRACKING_INCLUDE_DIRS /usr/include/librealsense/pt /usr/local/include)

# OpenCV used for producing detection image frames.
find_package(OpenCV REQUIRED)

# Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  nodelet
  dynamic_reconfigure
  cv_bridge
  message_filters
  std_msgs
  sensor_msgs
  geometry_msgs
  message_generation
  rostest
)

generate_dynamic_reconfigure_options(
  cfg/person_params.cfg
)

add_message_files(
  FILES
  BoundingBox.msg
  RegisteredPoint.msg
  PersonId.msg
  Person.msg
  PersonDetection.msg
  PersonFace.msg
  PersonSkeleton.msg
  PersonBody.msg
  PersonTracking.msg
)

add_service_files(
  FILES
  GetTrackingId.srv
  Register.srv
  Recognize.srv
  Reinforce.srv
  StartTracking.srv
  StopTracking.srv
  Serialize.srv
  Deserialize.srv
)

generate_messages(
  DEPENDENCIES
  std_msgs
  sensor_msgs
  geometry_msgs
)

###################################
## catkin specific configuration ##
###################################
catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS std_msgs sensor_msgs geometry_msgs message_runtime
  LIBRARIES ${PROJECT_NAME}_nodelet
)

###########
## Build ##
###########
# Specify additional locations of header files
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${PERSONTRACKING_INCLUDE_DIRS}
)
# Declare a C++ library
add_library(${PROJECT_NAME}_nodelet
  src/person_nodelet.cpp
)
target_link_libraries(${PROJECT_NAME}_nodelet
  ${catkin_LIBRARIES}
  ${OpenCV_LIBS}
  ${PERSONTRACKING_LIBRARIES}
)
add_dependencies(${PROJECT_NAME}_nodelet
  ${catkin_EXPORTED_TARGETS}
  ${${PROJECT_NAME}_EXPORTED_TARGETS}
  ${PROJECT_NAME}_generate_messages_cpp
)

################
## Unit Tests ##
################
add_executable(test_person_minset test/person_minset.cpp)
target_link_libraries(test_person_minset
  ${catkin_LIBRARIES}
  ${GTEST_LIBRARIES}
)

#############
## Install ##
#############
# Install nodelet library
install(TARGETS ${PROJECT_NAME}_nodelet
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Install header files
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

# Install launch files
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

# Install xml files
install(FILES nodelet_plugins.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)