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ros-pkg: looking for local OpenCV libraries (with nonfree module) before those used in ROS (fixed for ROS Indigo)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1319 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-04 15:38:41 +00:00
parent d5537c0a16
commit 00982bf15b
1 changed files with 21 additions and 10 deletions
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CMakeLists.txt
+21 -10
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@@ -12,7 +12,7 @@ find_package(catkin REQUIRED COMPONENTS
## System dependencies are found with CMake's conventions ## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system) # find_package(Boost REQUIRED COMPONENTS system)
find_package(OpenCV 2.4 REQUIRED)
find_package(RTABMap 0.6 REQUIRED) find_package(RTABMap 0.6 REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures ## Uncomment this if the package has a setup.py. This macro ensures
@@ -81,9 +81,21 @@ MESSAGE(STATUS "RTABMap_INCLUDE_DIRS=${RTABMap_INCLUDE_DIRS}")
include_directories( include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/include ${CMAKE_CURRENT_SOURCE_DIR}/include
${RTABMap_INCLUDE_DIRS} ${RTABMap_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
) )
# libraries
SET(Libraries
${OpenCV_LIBRARIES}
${catkin_LIBRARIES}
${RTABMap_LIBRARIES}
)
MESSAGE(STATUS "**************************************************")
MESSAGE(STATUS "OpenCV_INCLUDE_DIRS=${OpenCV_INCLUDE_DIRS}")
MESSAGE(STATUS "OpenCV_LIBRARIES=${OpenCV_LIBRARIES}")
## Declare a cpp library ## Declare a cpp library
add_library(rtabmap_ros add_library(rtabmap_ros
src/nodelets/data_throttle.cpp src/nodelets/data_throttle.cpp
@@ -92,35 +104,34 @@ add_library(rtabmap_ros
src/MsgConversion.cpp src/MsgConversion.cpp
) )
target_link_libraries(rtabmap_ros target_link_libraries(rtabmap_ros
${catkin_LIBRARIES} ${Libraries}
${RTABMap_LIBRARIES}
) )
add_executable(rtabmap src/CoreNode.cpp src/CoreWrapper.cpp) add_executable(rtabmap src/CoreNode.cpp src/CoreWrapper.cpp)
add_dependencies(rtabmap rtabmap_generate_messages_cpp) add_dependencies(rtabmap rtabmap_generate_messages_cpp)
target_link_libraries(rtabmap rtabmap_ros ${catkin_LIBRARIES} ${RTABMap_LIBRARIES}) target_link_libraries(rtabmap rtabmap_ros ${Libraries})
add_executable(visual_odometry src/VisualOdometryNode.cpp) add_executable(visual_odometry src/VisualOdometryNode.cpp)
target_link_libraries(visual_odometry rtabmap_ros ${catkin_LIBRARIES} ${RTABMap_LIBRARIES}) target_link_libraries(visual_odometry rtabmap_ros ${Libraries})
add_executable(map_assembler src/MapAssemblerNode.cpp) add_executable(map_assembler src/MapAssemblerNode.cpp)
target_link_libraries(map_assembler rtabmap_ros ${catkin_LIBRARIES} ${RTABMap_LIBRARIES}) target_link_libraries(map_assembler rtabmap_ros ${Libraries})
add_executable(grid_map_assembler src/GridMapAssemblerNode.cpp) add_executable(grid_map_assembler src/GridMapAssemblerNode.cpp)
target_link_libraries(grid_map_assembler rtabmap_ros ${catkin_LIBRARIES} ${RTABMap_LIBRARIES}) target_link_libraries(grid_map_assembler rtabmap_ros ${Libraries})
add_executable(camera src/CameraNode.cpp) add_executable(camera src/CameraNode.cpp)
add_dependencies(camera ${${PROJECT_NAME}_EXPORTED_TARGETS}) add_dependencies(camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(camera ${catkin_LIBRARIES} ${RTABMap_LIBRARIES}) target_link_libraries(camera ${Libraries})
#Qt stuff #Qt stuff
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED) FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
INCLUDE(${QT_USE_FILE}) INCLUDE(${QT_USE_FILE})
add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp) add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
target_link_libraries(rtabmapviz rtabmap_ros ${QT_LIBRARIES} ${catkin_LIBRARIES} ${RTABMap_LIBRARIES}) target_link_libraries(rtabmapviz rtabmap_ros ${QT_LIBRARIES} ${Libraries})
add_executable(data_recorder src/DataRecorderNode.cpp) add_executable(data_recorder src/DataRecorderNode.cpp)
target_link_libraries(data_recorder rtabmap_ros ${catkin_LIBRARIES} ${QT_LIBRARIES} ${RTABMap_LIBRARIES}) target_link_libraries(data_recorder rtabmap_ros ${QT_LIBRARIES} ${Libraries})
############# #############
## Install ## ## Install ##