CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(kinfu)

find_package(catkin REQUIRED
    COMPONENTS message_generation roscpp std_srvs std_msgs sensor_msgs dynamic_reconfigure tf image_transport)

#include_directories(${PCL_INCLUDE_DIRS})

find_package(Eigen3 REQUIRED)
include_directories(${EIGEN_INCLUDE_DIRS})
add_definitions(${EIGEN_DEFINITIONS})

find_package(VTK REQUIRED)
include_directories(${VTK_INCLUDE_DIRS})

find_package(PCL 1.7.0 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

#add dynamic reconfigure api
generate_dynamic_reconfigure_options(cfg/dyn_config.cfg)
include_directories(include cfg/cpp)

#### Freenect2
find_package(freenect2)

IF(freenect2_FOUND)
  include_directories(${freenect2_INCLUDE_DIRS})
  find_package(OpenCV REQUIRED core features2d)
  include_directories(${OpenCV_INCLUDE_DIRS})
ELSE(freenect2_FOUND)
  add_definitions(-DCOMPILE_WITHOUT_freenect2)
ENDIF(freenect2_FOUND)

#### Cuda 
find_package(CUDA)

if (CUDA_FOUND) 
    message(" * CUDA ${CUDA_VERSION} was found")
    include(FindCUDA)
    include_directories(${CUDA_INCLUDE_DIRS})
else(CUDA_FOUND)
    message(" * CUDA is not found")
    message(FATAL_ERROR "Not all CUDA libraries are found")
endif(CUDA_FOUND) 

catkin_package(
   CATKIN_DEPENDS message_runtime std_msgs sensor_msgs dynamic_reconfigure
)

add_executable(kinfuLS src/kinfuLS.cpp)
add_dependencies(kinfuLS ${PROJECT_NAME}_gencfg)

target_link_libraries(kinfuLS boost_system boost_signals)
target_link_libraries(kinfuLS ${catkin_LIBRARIES})

target_link_libraries(kinfuLS ${CUDA_LIBRARIES})
target_link_libraries(kinfuLS ${PCL_LIBRARIES})

IF(freenect2_FOUND)
	target_link_libraries(kinfuLS ${freenect2_LIBRARY})
	set(OpenCV_LIBS opencv_core opencv_features2d)
	target_link_libraries(kinfuLS ${OpenCV_LIBS})
ENDIF()
set(CMAKE_CXX_FLAGS "--std=c++11")