CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(kinects_human_tracking)

set(CMAKE_BUILD_TYPE Release)

## Find non-catkin packages
find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
include_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

## 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
  cv_bridge
  geometry_msgs
  pcl_conversions
  pcl_ros
  roscpp
  rospy
  sensor_msgs
  std_msgs
  tf
  tf_conversions
  visualization_msgs
  message_generation
)

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

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependencies might have been
##     pulled in transitively but can be declared for certainty nonetheless:
##     * add a build_depend tag for "message_generation"
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

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

###################################
## 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 you 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 kinects_human_tracking
#  CATKIN_DEPENDS cv_bridge geometry_msgs image_transport libpcl-all-dev pcl_conversions pcl_ros roscpp rospy sensor_msgs std_msgs tf tf_conversions vision_opencv visualization_msgs
#  DEPENDS system_lib
 CATKIN_DEPENDS message_runtime
)

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

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

## Declare a cpp library
# add_library(kinects_human_tracking
#   src/${PROJECT_NAME}/kinects_human_tracking.cpp
# )

## Declare a cpp executable
add_executable(kinect_background_store src/kinect_background_store.cpp)
add_executable(kinect_img_bg_store src/kinect_img_bg_store.cpp)
add_executable(kinect_background_sub src/kinect_background_sub.cpp)
add_executable(kinect_img_bg_sub src/kinect_img_bg_sub.cpp)
add_executable(merge_kinects_pc src/merge_kinects_pc.cpp)
add_executable(kinect_human_tracking src/kinect_human_tracking.cpp src/kalmanFilter.cpp)
add_executable(closest_pt_tracking src/closest_pt_tracking.cpp src/kalmanFilter3Pos3Vel.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(kinect_img_bg_sub ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(kinect_img_bg_store ${PROJECT_NAME}_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(kinect_background_store  ${catkin_LIBRARIES})
target_link_libraries(kinect_img_bg_store  ${catkin_LIBRARIES})
target_link_libraries(kinect_background_sub  ${catkin_LIBRARIES})
target_link_libraries(kinect_img_bg_sub  ${catkin_LIBRARIES})
target_link_libraries(merge_kinects_pc ${catkin_LIBRARIES})
target_link_libraries(kinect_human_tracking  ${catkin_LIBRARIES})
target_link_libraries(closest_pt_tracking  ${catkin_LIBRARIES})

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

## Mark executables and/or libraries for installation
install(TARGETS kinect_background_store kinect_img_bg_store kinect_background_sub kinect_img_bg_sub merge_kinects_pc kinect_human_tracking closest_pt_tracking
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  PATTERN ".svn" EXCLUDE
)

## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY
  launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
install(DIRECTORY
  config/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_kinects_human_tracking.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)