cmake_minimum_required(VERSION 3.0)
project(segnet_ros)

# SET(CMAKE_BUILD_TYPE "Debug")

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-g -std=c++11)

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

# set(ENV{Caffe_DIR} "/home/yubao/data/software/caffe-segnet-cudnn5/share/Caffe")
set(ENV{Caffe_DIR} "/root/semseg/SegNet/caffe-segnet/build/install")

## 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
  image_transport
  roscpp
  roslib
  rospy
  sensor_msgs
  std_msgs
  tf
  cv_bridge
  message_runtime
  message_generation
  actionlib
  actionlib_msgs
  rosbag
  geometry_msgs
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
if(Boost_FOUND)
    add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
    message(STATUS "Boost  found")
endif()


find_package(Glog REQUIRED)
find_package(OpenCV 3.1 REQUIRED)
# FIND_PACKAGE( PCL 1.7 REQUIRED)

find_package(Caffe)
# find_package(Caffe HINTS "/home/yubao/data/software/caffe-segnet-cudnn5/share/Caffe")
add_definitions(${Caffe_DEFINITIONS})

## 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, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

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

# Generate actions in the 'action' folder
add_action_files(
  FILES
      segnet.action
)

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

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.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 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 segnet_ros
 CATKIN_DEPENDS image_transport roscpp roslib rospy sensor_msgs std_msgs tf message_generation message_runtime actionlib_msgs actionlib rosbag
 # 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}
  ${Caffe_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
  # ${PCL_INCLUDE_DIRS}  
  ${Boost_INCLUDE_DIRS}
  ~/catkin_ws/devel/include
)

message(${catkin_INCLUDE_DIRS})

# Declare a C++ library
add_library(${PROJECT_NAME}
  src/segnet.cpp
  src/libsegnet.cpp
  src/action_server.cpp
)

target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${OpenCV_LIBS}
  ${Caffe_LIBRARIES}
  # ${PCL_LIBRARIES}
)


## 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
# action server example
add_executable(segnet_action_server
    src/action_server_node.cpp
    )
target_link_libraries(segnet_action_server
  ${PROJECT_NAME}
)

# action client example
add_executable(segnet_action_client
    src/action_client_node.cpp
    )
target_link_libraries(segnet_action_client
  ${PROJECT_NAME}
)

# add_dependencies(${PROJECT_NAME}_node 
  # segnet_ros_gencpp
# )
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${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
#   ${PROJECT_NAME}
#   ${catkin_LIBRARIES}
#   ${OpenCV_LIBS}
#   ${Caffe_LIBRARIES}
#   ${PCL_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 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_segnet_ros.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)