cmake_minimum_required(VERSION 3.0.2)
project(rr_usb_camera)

find_package(catkin REQUIRED COMPONENTS
  image_transport roscpp cv_bridge sensor_msgs nodelet camera_info_manager roslint)

find_package(OpenCV REQUIRED)

find_package(Boost REQUIRED COMPONENTS system thread)

# roslint_cpp()

########################
## Set the build type ##
########################
# 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
# Default to 'Release' if none was specified

IF(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
  MESSAGE(STATUS "Setting build type to 'Release' as none was specified.")
  SET(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the build type" FORCE)
  SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
ENDIF()

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES cv_camera
  CATKIN_DEPENDS image_transport roscpp cv_bridge sensor_msgs nodelet camera_info_manager
  DEPENDS OpenCV
  )

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  )

## Declare a cpp library
add_library(cv_camera src/capture.cpp src/driver.cpp)
add_library(cv_camera_nodelet src/cv_camera_nodelet.cpp)


## Declare a cpp executable
add_executable(cv_camera_node src/cv_camera_node.cpp)
add_dependencies(cv_camera_node cv_camera)
add_dependencies(cv_camera_nodelet cv_camera)

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

target_link_libraries(cv_camera_nodelet
  ${catkin_LIBRARIES}
  cv_camera
  )

target_link_libraries(cv_camera_node
  ${catkin_LIBRARIES}
  cv_camera
  )

#############
## Install ##
#############

# ## 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 cv_camera cv_camera_nodelet cv_camera_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
#   )

# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   )

# # add xml file
# install(FILES cv_camera_nodelets.xml
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
#   )


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

# roslint_cpp(
#   src/capture.cpp src/cv_camera_node.cpp src/cv_camera_nodelet.cpp src/driver.cpp
#   )

# if (CATKIN_ENABLE_TESTING)
#   find_package(rostest REQUIRED)
#   add_rostest_gtest(test_cv_camera test/cv_camera.test
#     test/test_cv_camera.cpp)
#   target_link_libraries(test_cv_camera ${PROJECT_NAME} ${catkin_LIBRARIES})

#   add_rostest_gtest(test_cv_camera_no_yaml test/no_yaml.test
#     test/test_cv_camera_no_yaml.cpp)
#   target_link_libraries(test_cv_camera_no_yaml ${PROJECT_NAME} ${catkin_LIBRARIES})
# endif()
