| cmake_minimum_required(VERSION 3.0.2) | |
| project(midas_cpp) | |
| ## Compile as C++11, supported in ROS Kinetic and newer | |
| # add_compile_options(-std=c++11) | |
| ## 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 | |
| image_transport | |
| roscpp | |
| rospy | |
| sensor_msgs | |
| std_msgs | |
| ) | |
| ## System dependencies are found with CMake's conventions | |
| # find_package(Boost REQUIRED COMPONENTS system) | |
| list(APPEND CMAKE_PREFIX_PATH "~/libtorch") | |
| list(APPEND CMAKE_PREFIX_PATH "/usr/local/lib/python3.6/dist-packages/torch/lib") | |
| list(APPEND CMAKE_PREFIX_PATH "/usr/local/lib/python2.7/dist-packages/torch/lib") | |
| if(NOT EXISTS "~/libtorch") | |
| if (EXISTS "/usr/local/lib/python3.6/dist-packages/torch") | |
| include_directories(/usr/local/include) | |
| include_directories(/usr/local/lib/python3.6/dist-packages/torch/include/torch/csrc/api/include) | |
| include_directories(/usr/local/lib/python3.6/dist-packages/torch/include) | |
| link_directories(/usr/local/lib) | |
| link_directories(/usr/local/lib/python3.6/dist-packages/torch/lib) | |
| set(CMAKE_PREFIX_PATH /usr/local/lib/python3.6/dist-packages/torch) | |
| set(Boost_USE_MULTITHREADED ON) | |
| set(Torch_DIR /usr/local/lib/python3.6/dist-packages/torch) | |
| elseif (EXISTS "/usr/local/lib/python2.7/dist-packages/torch") | |
| include_directories(/usr/local/include) | |
| include_directories(/usr/local/lib/python2.7/dist-packages/torch/include/torch/csrc/api/include) | |
| include_directories(/usr/local/lib/python2.7/dist-packages/torch/include) | |
| link_directories(/usr/local/lib) | |
| link_directories(/usr/local/lib/python2.7/dist-packages/torch/lib) | |
| set(CMAKE_PREFIX_PATH /usr/local/lib/python2.7/dist-packages/torch) | |
| set(Boost_USE_MULTITHREADED ON) | |
| set(Torch_DIR /usr/local/lib/python2.7/dist-packages/torch) | |
| endif() | |
| endif() | |
| find_package(Torch REQUIRED) | |
| find_package(OpenCV REQUIRED) | |
| include_directories( ${OpenCV_INCLUDE_DIRS} ) | |
| add_executable(midas_cpp src/main.cpp) | |
| target_link_libraries(midas_cpp "${TORCH_LIBRARIES}" "${OpenCV_LIBS} ${catkin_LIBRARIES}") | |
| set_property(TARGET midas_cpp PROPERTY CXX_STANDARD 14) | |
| ################################### | |
| ## 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 your 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 midas_cpp | |
| # CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs | |
| # DEPENDS system_lib | |
| ) | |
| ########### | |
| ## Build ## | |
| ########### | |
| ## Specify additional locations of header files | |
| ## Your package locations should be listed before other locations | |
| include_directories( | |
| # include | |
| ${catkin_INCLUDE_DIRS} | |
| ) | |
| ## Declare a C++ library | |
| # add_library(${PROJECT_NAME} | |
| # src/${PROJECT_NAME}/midas_cpp.cpp | |
| # ) | |
| ## Add cmake target dependencies of the library | |
| ## as an example, code may need to be generated before libraries | |
| ## either from message generation or dynamic reconfigure | |
| # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | |
| ## Declare a C++ executable | |
| ## With catkin_make all packages are built within a single CMake context | |
| ## The recommended prefix ensures that target names across packages don't collide | |
| # add_executable(${PROJECT_NAME}_node src/midas_cpp_node.cpp) | |
| ## Rename C++ executable without prefix | |
| ## The above recommended prefix causes long target names, the following renames the | |
| ## target back to the shorter version for ease of user use | |
| ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" | |
| # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") | |
| ## Add cmake target dependencies of the executable | |
| ## same as for the library above | |
| # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | |
| ## Specify libraries to link a library or executable target against | |
| # target_link_libraries(${PROJECT_NAME}_node | |
| # ${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 | |
| # catkin_install_python(PROGRAMS | |
| # scripts/my_python_script | |
| # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | |
| # ) | |
| ## Mark executables for installation | |
| ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html | |
| # install(TARGETS ${PROJECT_NAME}_node | |
| # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | |
| # ) | |
| ## Mark libraries for installation | |
| ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html | |
| # install(TARGETS ${PROJECT_NAME} | |
| # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | |
| # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | |
| # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} | |
| # ) | |
| ## Mark cpp header files for installation | |
| # install(DIRECTORY include/${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_midas_cpp.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) | |
| install(TARGETS ${PROJECT_NAME} | |
| ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | |
| LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | |
| RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | |
| ) | |
| add_custom_command( | |
| TARGET midas_cpp POST_BUILD | |
| COMMAND ${CMAKE_COMMAND} -E copy | |
| ${CMAKE_CURRENT_BINARY_DIR}/midas_cpp | |
| ${CMAKE_SOURCE_DIR}/midas_cpp | |
| ) |