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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 )