CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(rosvino)

# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
find_package(InferenceEngine)
if (NOT InferenceEngine_FOUND)
    message(FATAL_ERROR "")
endif()

set(OpenCV_DIR $ENV{OpenCV_DIR})
#set(InferenceEngine_DIR $ENV{InferenceEngine_DIR})
find_package(catkin REQUIRED COMPONENTS
  message_generation roscpp OpenCV InferenceEngine sensor_msgs cv_bridge roslaunch topic_tools)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

# Flags
if(UNIX OR APPLE)
  # Linker flags.
  if( ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU" OR ${CMAKE_CXX_COMPILER_ID} STREQUAL "Intel")
    # GCC specific flags. ICC is compatible with them.
    set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -z noexecstack -z relro -z now")
    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -z noexecstack -z relro -z now")
  elseif(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
    # In Clang, -z flags are not compatible, they need to be passed to linker via -Wl.
    set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
  endif()

  # Compiler flags.
  if( ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU")
    # GCC specific flags.
    if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 4.9 OR CMAKE_CXX_COMPILER_VERSION VERSION_EQUAL 4.9)
      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIE -fstack-protector-strong")
    else()
      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIE -fstack-protector")
    endif()
  elseif(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
    # Clang is compatbile with some of the flags.
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIE -fstack-protector")
  elseif(${CMAKE_CXX_COMPILER_ID} STREQUAL "Intel" )
    # Same as above, with exception that ICC compilation crashes with -fPIE option, even
    # though it uses -pie linker option that require -fPIE during compilation. Checksec
    # shows that it generates correct PIE anyway if only -pie is provided.
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fstack-protector")
  endif()

  # Generic flags.
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}  -DCMAKE_BUILD_TYPE=Release -fPIC -fno-operator-names -Wformat -Wformat-security -Wall")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -g")

 # Add OpenMP support
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
endif()

# Add x86 intrinsic compiler support
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
execute_process(
    COMMAND bash -c "lscpu | grep -qi flags | grep -qi flags | grep -qi f16c"
    RESULT_VARIABLE SUPPORT_F16C)
if (SUPPORT_F16C EQUAL 0)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mf16c")
  add_definitions(-DSUPPORT_MF16C)
endif()

execute_process(
    COMMAND bash -c "lscpu | grep -qi flags | grep -qi flags | grep -qi sse4_1"
    RESULT_VARIABLE SUPPORT_SSE41)
if (SUPPORT_SSE41 EQUAL 0)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse4.1")
endif()

## Generate messages in the 'msg' folder
add_message_files(FILES
  Objects.msg
  Object.msg
)

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



catkin_package(
  CATKIN_DEPENDS
  message_runtime
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include ${catkin_INCLUDE_DIRS}
  ${InferenceEngine_INCLUDE_DIRS}/../include
  ${InferenceEngine_INCLUDE_DIRS}/../samples
  ${InferenceEngine_DIR}
  ${OpenCV_INCLUDE_DIRS}
)

##ADD ALL NODES LIKE SO##
add_executable(detect
  src/detect.cpp
)

add_executable(local_video
  src/local_video.cpp
)

add_executable(segment
  src/segment.cpp
)

add_executable(local_image
  src/local_image.cpp
)

add_dependencies(detect ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(segment ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(local_image ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(local_video ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})


target_link_libraries(detect
  ${catkin_LIBRARIES}
  ${InferenceEngine_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

target_link_libraries(segment
  ${catkin_LIBRARIES}
  ${InferenceEngine_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

target_link_libraries(local_image
  ${catkin_LIBRARIES}
  ${InferenceEngine_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

target_link_libraries(local_video
  ${catkin_LIBRARIES}
  ${InferenceEngine_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

install(TARGETS detect
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(TARGETS segment
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(TARGETS local_image
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(TARGETS local_video
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

function(dump_cmake_variables)
    get_cmake_property(_variableNames VARIABLES)
    list (SORT _variableNames)
    foreach (_variableName ${_variableNames})
        if (ARGV0)
            unset(MATCHED)
            string(REGEX MATCH ${ARGV0} MATCHED ${_variableName})
            if (NOT MATCHED)
                continue()
            endif()
        endif()
        message(STATUS "${_variableName}=${${_variableName}}")
    endforeach()
endfunction()

#Use for checking if cmake variables exist with the given text in name
#dump_cmake_variables(<name here>)

install(DIRECTORY launch/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch )

install(DIRECTORY msg/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/msg )

install(DIRECTORY models/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models )
   
install(DIRECTORY src/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/src )