CMakeLists.txt

# Copyright 2015, Giacomo Dabisias"
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
# 
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
# 
# You should have received a copy of the GNU General Public License
# along with this program.  If not, see <http://www.gnu.org/licenses/>.
#
# @Author 
# Giacomo Dabisias, PhD Student
# PERCRO, (Laboratory of Perceptual Robotics)
# Scuola Superiore Sant'Anna
# via Luigi Alamanni 13D, San Giuliano Terme 56010 (PI), Italy

cmake_minimum_required(VERSION 2.8)
Project(kinect2grabber CXX)

set(CMAKE_CXX_FLAGS   "${CMAKE_CXX_FLAGS} -std=c++11") 
set(CMAKE_CXX_FLAGS   "${CMAKE_CXX_FLAGS} -march=native")
set(CMAKE_BUILD_TYPE  Release)
set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/modules")
set(INCLUDE           "${CMAKE_SOURCE_DIR}/include")

option(WITH_OPENCL "adds opencl support for freenect2" OFF)
if(${WITH_OPENCL})
	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_OPENCL")
endif()

option(WITH_CUDA "adds cuda support for freenect2" OFF)
if(${WITH_CUDA})
	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_CUDA")
endif()

option(WITH_SERIALIZATION "adds support for boost serialization" OFF)
if(${WITH_SERIALIZATION})
	find_package(Boost REQUIRED)
	include_directories(${INCLUDE})
	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_SERIALIZATION")
	set(BOOST_LIBS "boost_serialization")
endif()

option(WITH_ROS "adds support for ROS" OFF)
if(${WITH_ROS})
	find_package(catkin REQUIRED COMPONENTS   roscpp std_msgs pcl_conversions  pcl_ros
						sensor_msgs cv_bridge image_transport tf
						message_generation )
	catkin_package( CATKIN_DEPENDS roscpp rospy std_msgs pcl_conversions  pcl_ros
						sensor_msgs cv_bridge image_transport tf
						cmake_modules
	)
	include_directories(${catkin_INCLUDE_DIRS} include)
endif()

option(WITH_PCL "adds pcl cloud support" ON)
if(${WITH_PCL})
	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_PCL")
	find_package(PCL REQUIRED)
	link_directories(${PCL_LIBRARY_DIRS})
	add_definitions(${PCL_DEFINITIONS})
	include_directories(${PCL_INCLUDE_DIRS})
endif()

set(OpenCV_DIR "/usr/local/opencv320/share/OpenCV/")
find_package(OpenCV     REQUIRED)
find_package(Freenect2  REQUIRED)

include_directories(${OpenCV_INCLUDE_DIRS})
include_directories(${FREENECT2_INCLUDE_DIRS})
include_directories(${INCLUDE})

SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
add_executable(Kinect2Grabber      test.cpp)
add_executable(MultiKinect2Grabber multi_test.cpp)

target_link_libraries(Kinect2Grabber      ${OpenCV_LIBS} ${FREENECT2_LIBRARY} ${PCL_LIBRARIES} ${BOOST_LIBS})
target_link_libraries(MultiKinect2Grabber ${OpenCV_LIBS} ${FREENECT2_LIBRARY} ${PCL_LIBRARIES} ${BOOST_LIBS})

if(${WITH_ROS})
	add_executable(RosKinect2Grabber test_ros.cpp)
	target_link_libraries(RosKinect2Grabber ${catkin_LIBRARIES} ${OpenCV_LIBS} ${FREENECT2_LIBRARY} ${PCL_LIBRARIES} ${BOOST_LIBS})
endif()