73 lines
2.0 KiB
CMake
73 lines
2.0 KiB
CMake
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
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project(ROBOT)
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set(CMAKE_MODULE_PATH
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${CMAKE_SOURCE_DIR}/../Vision/cmake/modules
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${CMAKE_MODULE_PATH}
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)
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################################################
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## Bring in dependent projects
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################################################
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find_package(Boost REQUIRED COMPONENTS system)
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find_package(o3d3xx_camera REQUIRED)
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find_package(o3d3xx_framegrabber REQUIRED)
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find_package(o3d3xx_image REQUIRED)
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find_package(PCL 1.7.1 REQUIRED)
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find_package(OpenCV REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system)
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find_library(LIB_boost_system NAMES boost_system)
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################################################
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## Manage our compiler and linker flags
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################################################
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -std=c++11")
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include_directories(
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${O3D3XX_IMAGE_INCLUDE_DIRS}
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${O3D3XX_CAMERA_INCLUDE_DIRS}
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${O3D3XX_FRAMEGRABBER_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${CMAKE_SOURCE_DIR}/urlib
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)
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link_directories(
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${O3D3XX_IMAGE_INCLUDE_DIRS}
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${O3D3XX_CAMERA_INCLUDE_DIRS}
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${O3D3XX_FRAMEGRABBER_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${CMAKE_SOURCE_DIR}/urlib
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)
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add_definitions(
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${PCL_DEFINITIONS}
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${OpenCV_DEFINITIONS}
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)
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add_library (urlib
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${CMAKE_SOURCE_DIR}/../Vision/AerobicVision.cpp
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${CMAKE_SOURCE_DIR}/urlib/UR_Control.cpp
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${CMAKE_SOURCE_DIR}/urlib/UR3_Lib.cpp
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${CMAKE_SOURCE_DIR}/urlib/ur_communication.cpp
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${CMAKE_SOURCE_DIR}/urlib/ur_realtime_communication.cpp
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${CMAKE_SOURCE_DIR}/urlib/robot_state.cpp
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${CMAKE_SOURCE_DIR}/urlib/robot_state_RT.cpp)
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target_link_libraries (urlib ${O3D3XX_CAMERA_LIBRARIES}
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${O3D3XX_FRAMEGRABBER_LIBRARIES}
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${O3D3XX_IMAGE_LIBRARIES}
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${PCL_LIBRARIES}
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${OpenCV_LIBRARIES}
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)
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## Build paths - add project files here
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## 2d depth image blob detector
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add_executable (main Main.cpp)
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target_link_libraries (main urlib)
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