cmake_minimum_required(VERSION 2.8.3)
project(rtabmap)

## 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 roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs 
             image_transport tf tf_conversions laser_geometry pcl_conversions 
             pcl_ros nodelet dynamic_reconfigure rviz message_filters class_loader
             genmsg
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(OpenCV 2.4 REQUIRED core highgui flann features2d calib3d imgproc nonfree)
find_package(RTABMap 0.6 REQUIRED)

#Qt stuff
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
INCLUDE(${QT_USE_FILE})

## We also use Ogre
include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
pkg_check_modules(OGRE OGRE)
include_directories( ${OGRE_INCLUDE_DIRS} )
link_directories( ${OGRE_LIBRARY_DIRS} )

## 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 and services ##
#######################################

## Generate messages in the 'msg' folder
add_message_files(
   FILES
   Info.msg
   InfoEx.msg
   KeyPoint.msg
   MapData.msg
   Bytes.msg
)

## Generate services in the 'srv' folder
 add_service_files(
   FILES
   GetMap.srv
 )

## Generate added messages and services with any dependencies listed here
generate_messages(
   DEPENDENCIES
   std_msgs
   geometry_msgs
)

#add dynamic reconfigure api
generate_dynamic_reconfigure_options(cfg/Camera.cfg)

###################################
## 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 rtabmap_ros
  CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs 
                 image_transport tf tf_conversions laser_geometry pcl_conversions 
                 pcl_ros nodelet dynamic_reconfigure rviz message_filters class_loader
  DEPENDS RTABMap
)

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

MESSAGE(STATUS "RTABMap_INCLUDE_DIRS=${RTABMap_INCLUDE_DIRS}")

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

# libraries
SET(Libraries
   ${OpenCV_LIBRARIES}
   ${catkin_LIBRARIES}
   ${RTABMap_LIBRARIES}
)

## RVIZ plugin
qt4_wrap_cpp(MOC_FILES
  src/rviz/MapCloudDisplay.h
  src/rviz/OrbitOrientedViewController.h
)

# tf:message_filters, mixing boost and Qt signals
set_property(
   SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
   PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
   )
   
## Declare a cpp library
add_library(rtabmap_ros
   src/nodelets/data_throttle.cpp
   src/nodelets/data_odom_sync.cpp
   src/nodelets/point_cloud_xyzrgb.cpp 
   src/MsgConversion.cpp
   src/rviz/MapCloudDisplay.cpp
   src/rviz/OrbitOrientedViewController.cpp
   ${MOC_FILES}
)
target_link_libraries(rtabmap_ros
  ${Libraries}
  ${QT_LIBRARIES}
  ${OGRE_LIBRARIES}
)
add_dependencies(rtabmap_ros rtabmap_generate_messages_cpp)

add_executable(rtabmap src/CoreNode.cpp src/CoreWrapper.cpp)
add_dependencies(rtabmap rtabmap_generate_messages_cpp)
target_link_libraries(rtabmap rtabmap_ros ${Libraries})

add_executable(visual_odometry src/VisualOdometryNode.cpp)
target_link_libraries(visual_odometry rtabmap_ros ${Libraries})

add_executable(map_assembler src/MapAssemblerNode.cpp)
target_link_libraries(map_assembler rtabmap_ros ${Libraries})

add_executable(grid_map_assembler src/GridMapAssemblerNode.cpp)
target_link_libraries(grid_map_assembler rtabmap_ros ${Libraries})

add_executable(camera src/CameraNode.cpp)
add_dependencies(camera ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(camera ${Libraries})

add_executable(rtabmapviz src/GuiNode.cpp src/GuiWrapper.cpp src/PreferencesDialogROS.cpp)
target_link_libraries(rtabmapviz rtabmap_ros ${QT_LIBRARIES} ${Libraries})

add_executable(data_recorder src/DataRecorderNode.cpp)
target_link_libraries(data_recorder rtabmap_ros ${QT_LIBRARIES} ${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 rtabmap rtabmap_node
#   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}
#   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_rtabmap.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)