CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(ros_dvs_bridge)

set(CMAKE_CXX_STANDARD 17)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

find_package(DifferentiableImage REQUIRED)

## 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
  roscpp
  rospy
  std_msgs
  sensor_msgs
  image_transport
  visp_bridge
  rosbag
  cv_bridge
  message_generation
  dynamic_reconfigure
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## 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 ##
################################################

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

## Generate services in the 'srv' folder
add_service_files(
  FILES
  diff_lambda.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
  geometry_msgs
  sensor_msgs
)

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

catkin_package(
  CATKIN_DEPENDS message_runtime
  CATKIN_DEPENDS dynamic_reconfigure
)

################################################
## 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



###################################
## 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
#  LIBRARIES ros_dvs_bridge
#  CATKIN_DEPENDS roscpp std_msgs
#  DEPENDS system_lib
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/ros_dvs_bridge.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}_pgmvsVisualServoing ${${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(${PROJECT_NAME}_node src/ros_dvs_bridge_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}_pgmvsVisualServoing ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#creates the desired image saver for PVS
add_executable(${PROJECT_NAME}_pvsCaptureAndSaveDesired src/photometric-visual-servoing/pvsCaptureAndSaveDesired.cpp src/photometric-visual-servoing/pvsDesiredImageManager.cpp)
target_link_libraries(${PROJECT_NAME}_pvsCaptureAndSaveDesired ${catkin_LIBRARIES})

#creates the visual servoer for PVS
add_executable(${PROJECT_NAME}_pvsVisualServoing src/photometric-visual-servoing/pvsVisualServoing.cpp src/photometric-visual-servoing/pvsPhotometricVisualServoing.cpp)
target_link_libraries(${PROJECT_NAME}_pvsVisualServoing ${catkin_LIBRARIES})


#creates the desired image saver for PGMVS
add_executable(${PROJECT_NAME}_pgmvsCaptureAndSaveDesired src/PGM-visual-servoing/pgmvsCaptureAndSaveDesired.cpp src/PGM-visual-servoing/pgmvsDesiredImageManager.cpp)
target_link_libraries(${PROJECT_NAME}_pgmvsCaptureAndSaveDesired ${catkin_LIBRARIES})

#Service for calculating initial lambda_g 
add_executable(lambdaService src/PGM-visual-servoing/lambdaService.cpp)
target_link_libraries(lambdaService ${catkin_LIBRARIES} DifferentiableImage)


#creates the visual servoer for PGMVS
# if(${USE_PER})
  find_package(PER REQUIRED per_core per_io per_features per_sensor_pose_estimation per_estimation)
  if(PER_FOUND)
	  include(${PER_USE_FILE})
  endif(PER_FOUND)

  find_package(VISP REQUIRED)

  add_executable(${PROJECT_NAME}_pgmvsVisualServoing src/PGM-visual-servoing/pgmvsVisualServoing.cpp src/PGM-visual-servoing/pgmvsPGMVisualServoing.cpp)

  target_link_libraries(${PROJECT_NAME}_pgmvsVisualServoing ${catkin_LIBRARIES})
# endif()

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

# 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}_pgmvsVisualServoing ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

# Add cmake target dependencies of the executable
# same as for the library above
add_dependencies(${PROJECT_NAME}_pgmvsVisualServoing ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})


SET(USE_PER FALSE CACHE BOOL "Sets the use of libPeR" FORCE)


#############
## 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
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_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_ros_dvs_bridge.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)