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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(gscam)
# System Dependencies
find_package(PkgConfig)
pkg_check_modules(GSTREAMER REQUIRED gstreamer-0.10)
pkg_check_modules(GST_APP REQUIRED gstreamer-app-0.10)
if(USE_ROSBUILD)
# Use rosbuild
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
rosbuild_init()
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
include_directories(${GLIB_INCLUDE_DIRS} ${GST_APP_INCLUDE_DIRS})
rosbuild_add_library(gscam src/gscam.cpp)
target_link_libraries(gscam
${GSTREAMER_LIBRARIES}
${GST_APP_LIBRARIES})
rosbuild_add_executable(gscam_node src/gscam_node.cpp)
target_link_libraries(gscam_node gscam
${GSTREAMER_LIBRARIES}
${GST_APP_LIBRARIES})
set_target_properties(gscam_node PROPERTIES OUTPUT_NAME gscam)
rosbuild_add_library(GSCamNodelet src/gscam_nodelet.cpp)
target_link_libraries(GSCamNodelet gscam
${GSTREAMER_LIBRARIES}
${GST_APP_LIBRARIES})
else()
# Use Catkin
find_package(catkin REQUIRED
COMPONENTS roscpp image_transport sensor_msgs nodelet
camera_calibration_parsers camera_info_manager
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES gscam
CATKIN_DEPENDS roscpp nodelet image_transport sensor_msgs
camera_calibration_parsers camera_info_manager
DEPENDS GSTREAMER GST_APP
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${GLIB_INCLUDE_DIRS}
${GST_APP_INCLUDE_DIRS})
add_library(gscam src/gscam.cpp)
target_link_libraries(gscam
${catkin_LIBRARIES}
${GSTREAMER_LIBRARIES}
${GST_APP_LIBRARIES})
add_executable(gscam_node src/gscam_node.cpp)
target_link_libraries(gscam_node gscam
${catkin_LIBRARIES}
${GSTREAMER_LIBRARIES}
${GST_APP_LIBRARIES})
set_target_properties(gscam_node PROPERTIES OUTPUT_NAME gscam)
add_library(GSCamNodelet src/gscam_nodelet.cpp)
target_link_libraries(GSCamNodelet gscam
${catkin_LIBRARIES}
${GSTREAMER_LIBRARIES}
${GST_APP_LIBRARIES})
# Install directives
install(TARGETS gscam gscam_node GSCamNodelet
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE)
install(FILES nodelet_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(FILES
examples/v4l.launch
examples/gscam_nodelet.launch
examples/nodelet_pipeline.launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(FILES examples/uncalibrated_parameters.ini
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/examples
)
# Interim compatibility
# Remove this in the next release
install(FILES ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
set(EXECUTABLE_OUTPUT_PATH ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME})
endif()
# Interim compatibility
# Remove this in the next distribution release
configure_file(scripts/gscam_node.in ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node)
file(COPY ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node
DESTINATION ${EXECUTABLE_OUTPUT_PATH}
FILE_PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE)