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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(upper_body_detector)
find_package(catkin REQUIRED COMPONENTS
cv_bridge
geometry_msgs
ground_plane_estimation
image_transport
message_filters
message_generation
roscpp
sensor_msgs
std_msgs
visualization_msgs
)
find_package(Boost REQUIRED COMPONENTS thread)
find_package(Qt4 REQUIRED COMPONENTS QtCore QtGui)
include(${QT_USE_FILE})
set(CMAKE_BUILD_TYPE Release)
if(CMAKE_COMPILER_IS_GNUCXX)
set(CMAKE_CXX_FLAGS "-O3") ## Optimize
endif()
#######################################
## Declare ROS messages and services ##
#######################################
add_message_files(
FILES
UpperBodyDetector.msg
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS
cv_bridge
geometry_msgs
ground_plane_estimation
image_transport
message_filters
roscpp
sensor_msgs
std_msgs
visualization_msgs
)
###########
## Build ##
###########
include_directories( include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)
add_executable(upper_body_detector
src/main.cpp
src/Camera.cpp
src/Globals.cpp
src/KConnectedComponentLabeler.cpp
src/Math.cpp
src/pointcloud.cpp
src/ROI.cpp
src/CPoint.cpp
src/detector.cpp
src/AncillaryMethods.cpp
src/Hypo.cpp
src/FrameInlier.cpp
)
add_dependencies(upper_body_detector ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
target_link_libraries(upper_body_detector
${catkin_LIBRARIES}
${Boost_LIBRARIES}
${QT_LIBRARIES}
${QT_QTCORE_LIBRARY}
${QT_QTGUI_LIBRARY}
)
#############
## Install ##
#############
install(TARGETS upper_body_detector
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)