CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(face_detection_tracker)

################################################
## Declare ROS messages, services and actions ##
################################################

# option to enable OpenMP; only relevant for the KCF version with the
# VOT scale estimation
option(WITH_OPENMP "Enable OpenMP" OFF)

if(WITH_OPENMP)
    find_package(OpenMP REQUIRED)

    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
endif(WITH_OPENMP)

# add c++11 support
if(CMAKE_COMPILER_IS_GNUCC)
    ADD_DEFINITIONS ( -std=c++11 )
endif(CMAKE_COMPILER_IS_GNUCC)

# add OpenCV
set(OPENCV_DIR_HINT "")

if(WIN32)
    get_filename_component(OPENCV_DIR_PLATFORM $ENV{OPENCV_DIR} DIRECTORY)
    get_filename_component(OPENCV_DIR_HINT ${OPENCV_DIR_PLATFORM} DIRECTORY)
endif(WIN32)

set(OpenCV_STATIC OFF)
find_package(OpenCV REQUIRED HINTS ${OPENCV_DIR_HINT})

# add 3rdparty source
set(CF_TCLAP_DIR "3rdparty/tclap")
set(CF_CV_EXT_DIR "3rdparty/cv_ext")
set(CF_PIOTR_DIR "3rdparty/piotr")

set(CF_PIOTR_SOURCES
    ${CF_PIOTR_DIR}/gradientMex.hpp
    ${CF_PIOTR_DIR}/src/gradientMex.cpp
    ${CF_PIOTR_DIR}/src/sse.hpp
    ${CF_PIOTR_DIR}/src/wrappers.hpp)

set(CF_LIB_COMMON_SOURCES
    cf_libs/common/feature_channels.hpp
    cf_libs/common/mat_consts.hpp
    cf_libs/common/math_helper.hpp
    cf_libs/common/math_helper.cpp
    cf_libs/common/cf_tracker.hpp
    cf_libs/common/tracker_debug.hpp
    cf_libs/common/scale_estimator.hpp
    cf_libs/common/cv_ext.hpp
    ${CF_CV_EXT_DIR}/shift.cpp
    ${CF_CV_EXT_DIR}/shift.hpp
    ${CF_CV_EXT_DIR}/math_spectrums.cpp
    ${CF_CV_EXT_DIR}/math_spectrums.hpp
    ${CF_CV_EXT_DIR}/psr.hpp
    ${CF_PIOTR_SOURCES})

#############
## PROGRAM ##
#############


## 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
  message_generation
  rospy
  sensor_msgs
  cv_bridge
  roscpp
  std_msgs
  image_transport
  message_filters
)


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

## 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 run_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 run_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
# )
#add_message_files(
#   FILES
#   boundingBoxes.msg
#   rectangle.msg
#)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing 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 run_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 you 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 cf_libs
#  LIBRARIES visual_debug
    CATKIN_DEPENDS roscpp message_runtime
#  DEPENDS system_lib
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
  ${CF_TCLAP_DIR}
  ${CF_CV_EXT_DIR}
  ${CF_PIOTR_DIR}
  ${CF_PIOTR_DIR}/src
  cf_libs/kcf
  cf_libs/dsst
  cf_libs/common
  include
  ${roscpp_INCLUDE_DIRS}
)

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

add_library(KCFtracker cf_libs/kcf/kcf_debug.hpp cf_libs/kcf/kcf_tracker.hpp ${CF_LIB_COMMON_SOURCES})
target_link_libraries(KCFtracker
  ${catkin_LIBRARIES}
  ${OpenCV_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(visual_debug ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
# add_executable(visual_debug_node src/visual_debug_node.cpp)

## Declare a C++ library
add_library(face_detection_tracker_library src/face_detection_tracker.cpp)
add_library(extract_images_library src/extract_images.cpp)
## Specify libraries to link a library or executable target against
#target_link_libraries(face_detection_tracker_library ${roscpp_LIBRARIES} ${catkin_LIBRARIES} KCFtracker)

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(visual_debug_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(visual_debug_node
#   ${catkin_LIBRARIES}
# )

add_executable(face_detection_tracker src/main.cpp)
add_executable(extract_images src/main1.cpp)

target_link_libraries(extract_images extract_images_library
    ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

target_link_libraries(face_detection_tracker face_detection_tracker_library
    ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} KCFtracker)


#############
## 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 and/or libraries for installation
# install(TARGETS visual_debug visual_debug_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_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}
# )

install(TARGETS KCFtracker face_detection_tracker extract_images
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_visual_debug.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)