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fixed missing OpenCV stuff in CMakeLists.txt #2

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fixed missing OpenCV stuff in CMakeLists.txt #2

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93 changes: 49 additions & 44 deletions moveit_task_constructor_gpd/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,20 +12,21 @@ add_definitions(-W -Wall -Wextra

# Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
actionlib
eigen_conversions
geometry_msgs
message_generation
moveit_task_constructor_msgs
roscpp
rosparam_shortcuts
sensor_msgs
std_msgs
actionlib
eigen_conversions
geometry_msgs
message_generation
moveit_task_constructor_msgs
roscpp
rosparam_shortcuts
sensor_msgs
std_msgs
)

# System dependencies are found with CMake's conventions
find_package(Eigen3 REQUIRED)
find_package(PCL 1.8 REQUIRED)
find_package(OpenCV REQUIRED)

find_library(GPD_LIB NAMES gpd PATHS /usr/local/lib PATH_SUFFIXES lib NO_DEFAULT_PATH)
if (GPD_LIB)
Expand All @@ -36,7 +37,7 @@ endif()

find_path(GPD_INCLUDE_DIRS NAMES gpd PATHS /usr/local/include NO_DEFAULT_PATH)
if (GPD_INCLUDE_DIRS)
message(STATUS "Include directory GPD found in ${GPD_INCLUDE_DIRS}")
message(STATUS "Include directory GPD found in ${GPD_INCLUDE_DIRS}")
else()
message(FATAL_ERROR "Include directory GPD not found")
endif()
Expand All @@ -57,18 +58,18 @@ generate_messages(
## Catkin specific configuration ##
###################################
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS
eigen_conversions
geometry_msgs
message_runtime
moveit_task_constructor_msgs
sensor_msgs
std_msgs
DEPENDS
EIGEN3
PCL
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS
eigen_conversions
geometry_msgs
message_runtime
moveit_task_constructor_msgs
sensor_msgs
std_msgs
DEPENDS
EIGEN3
PCL
)

###########
Expand All @@ -80,8 +81,9 @@ catkin_package(
include_directories(
SYSTEM
${EIGEN3_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${GPD_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${GPD_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)

include_directories(
Expand All @@ -98,55 +100,58 @@ add_library(${PROJECT_NAME}
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME}
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)


# Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${OpenCV_LIBRARIES}
)

# Declare a C++ executable
add_executable(grasp_cloud_detection
src/grasp_cloud_detection.cpp
src/grasp_detection.cpp
src/grasp_cloud_detection.cpp
src/grasp_detection.cpp
)

add_executable(point_cloud_server
src/cloud_server.cpp
src/point_cloud_server.cpp
src/cloud_server.cpp
src/point_cloud_server.cpp
)


## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(grasp_cloud_detection
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)

add_dependencies(point_cloud_server
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)


# Specify libraries to link a library or executable target against
target_link_libraries(grasp_cloud_detection
${catkin_LIBRARIES}
${PROJECT_NAME}
${Eigen3_LIBRARIES}
${PCL_LIBRARIES}
${GPD_LIB}
${catkin_LIBRARIES}
${PROJECT_NAME}
${Eigen3_LIBRARIES}
${PCL_LIBRARIES}
${GPD_LIB}
${OpenCV_LIBRARIES}
)

target_link_libraries(point_cloud_server
${catkin_LIBRARIES}
${PROJECT_NAME}
${PCL_LIBRARIES}
${catkin_LIBRARIES}
${PROJECT_NAME}
${PCL_LIBRARIES}
${OpenCV_LIBRARIES}
)

#############
Expand Down