cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization #  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
set(ROS_BUILD_TYPE Debug)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
rosbuild_gensrv()

# For dynamic_reconfigure
rosbuild_find_ros_package(dynamic_reconfigure)
include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
gencfg()

#common commands for building c++ executables and libraries
rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)

# Build our lib.
rosbuild_add_library(${PROJECT_NAME} src/blob.cc 
                                     src/blob_store.cpp
                                     src/segmenter.cc
                                     src/blob_properties.cpp
                                     src/detailedplane.cc
                                     src/centroid.cc
                                     src/intermediary.cc
                                     src/miniatureoccupancygrid.cc)

rosbuild_add_executable(filter src/filter.cc)
target_link_libraries(filter ${PROJECT_NAME})

rosbuild_add_executable(plane_tracker src/plane_tracker.cc
                                      src/detailedplane.cc
                                      src/centroid.cc)

rosbuild_add_executable(synchronizedcamerathrottler
                        src/synchronizedcamerathrottler.cc)
rosbuild_add_executable(object_tracker src/object_tracker.cc)
target_link_libraries(object_tracker ${PROJECT_NAME})

# Record player, stolen from Caroline. 
rosbuild_add_library(${PROJECT_NAME}nodelet
                     src/openni_record_player_nodelet.cpp)
rosbuild_add_executable(openni_record_player_node
                        src/openni_record_player_node.cpp)
target_link_libraries(openni_record_player_node ${PROJECT_NAME}nodelet)

# Testing is vital.
rosbuild_add_gtest(test_miniatureoccupancygrid
                   src/test_miniatureoccupancygrid.cc)
target_link_libraries(test_miniatureoccupancygrid ${PROJECT_NAME})

# Map
rosbuild_download_data(http://pr.willowgarage.com/data/maps/willow-edited-2010-02-18-0.025.pgm willow.pgm 91d2d5b306c12a46dcad645a3da3cc12)

