cmake_minimum_required(VERSION 3.8)
project(find-pose)

add_compile_options(-g)
# find dependencies
find_package(ament_cmake REQUIRED)

find_package(Boost REQUIRED COMPONENTS system) # dependencies from PCL
find_package(PCL REQUIRED COMPONENTS common io)

find_package(depth_image_proc REQUIRED)
include_directories(SYSTEM
  ${PCL_INCLUDE_DIRS}
  ${rcl_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)
include_directories(${depth_image_proc_INCLUDE_DIRS})

SET(Libraries
   pcl_conversions
)
####### DEPENDENCIES #######
FIND_PACKAGE(OpenCV REQUIRED) # tested on 2.3.1

# check if version status is "-dev" (SIFT compatibility issue between 4.3.0 vs 4.3.0-dev)
FIND_FILE(OpenCV_VERSION_HPP opencv2/core/version.hpp
  PATHS ${OpenCV_INCLUDE_DIRS}
  NO_DEFAULT_PATH)
FILE(READ ${OpenCV_VERSION_HPP} TMPTXT)
STRING(FIND "${TMPTXT}" "-dev" matchres)
IF(NOT ${matchres} EQUAL -1)
  add_definitions(-DOPENCV_DEV)
ENDIF(NOT ${matchres} EQUAL -1)

SET(NONFREE 1)
IF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
   SET(NONFREE 0)
ELSEIF(OpenCV_VERSION VERSION_GREATER "3.4.2")
  FIND_FILE(OpenCV_MODULES_HPP opencv2/opencv_modules.hpp 
    PATHS ${OpenCV_INCLUDE_DIRS}
    NO_DEFAULT_PATH)
  FILE(READ ${OpenCV_MODULES_HPP} TMPTXT)
  STRING(FIND "${TMPTXT}" "#define OPENCV_ENABLE_NONFREE" matchres)
  IF(${matchres} EQUAL -1)
    SET(NONFREE 0)
  ENDIF(${matchres} EQUAL -1)
ENDIF()

############################################################################


find_package(ament_cmake REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(pcl_msgs REQUIRED)
find_package(image_transport REQUIRED)
find_package(message_filters REQUIRED)
find_package(yolov3_msg REQUIRED)

add_executable(convert_pointcloud_to_depth src/convert_pointcloud_to_depth.cpp)
ament_target_dependencies(convert_pointcloud_to_depth ${Libraries} rclcpp_components rclcpp sensor_msgs cv_bridge pcl_conversions image_transport message_filters)
target_link_libraries(convert_pointcloud_to_depth ${PCL_LBRARIES} ${Boost_LIBRARIES})

include_directories(
   include
   ${catkin_INCLUDE_DIRS}
)
 SET(SRC_FILES 
      ${SRC_FILES}
      src/FindObjectROS.cpp
)
find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
include_directories(${Qt5Core_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS})
#ADD_LIBRARY(find_object ${SRC_FILES})
add_executable(find_pose_node src/FindObjectROS.cpp src/find_pose_node.cpp)
set_target_properties(find_pose_node PROPERTIES  OUTPUT_NAME find_pose_node)
ament_target_dependencies(find_pose_node rclcpp rclcpp_components yolov3_msg cv_bridge sensor_msgs image_transport message_filters tf2_msgs tf2_geometry_msgs ${AMENT_LIBRARIES})
target_link_libraries(find_pose_node Qt5::Core Qt5::Widgets ${OpenCV_LIBRARIES} ${LIBRARIES})



install(TARGETS
  convert_pointcloud_to_depth
  find_pose_node
  DESTINATION lib/${PROJECT_NAME})


#############
   ## Install ##
   #############
   install(PROGRAMS
    launch/find-pose-node.py
    DESTINATION lib/${PROJECT_NAME}
  )



ament_package()