cmake_minimum_required(VERSION 2.8.3)
project(laser_line_extraction)

find_package(catkin REQUIRED COMPONENTS
  cmake_modules
  geometry_msgs
  message_generation
  roscpp
  rospy
  sensor_msgs
  visualization_msgs
)

find_package(Eigen3 REQUIRED)

add_message_files(
  FILES
  LineSegment.msg
  LineSegmentList.msg
)

generate_messages(
  DEPENDENCIES
  sensor_msgs
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES line line_extraction line_extraction_ros
  CATKIN_DEPENDS geometry_msgs message_runtime roscpp sensor_msgs visualization_msgs
)

add_library(line src/line.cpp)
target_link_libraries(line ${catkin_LIBRARIES})

add_library(line_extraction src/line_extraction.cpp)
target_link_libraries(line_extraction ${catkin_LIBRARIES})

add_library(line_extraction_ros src/line_extraction_ros.cpp)
target_link_libraries(line_extraction_ros line line_extraction ${catkin_LIBRARIES})
add_dependencies(line_extraction_ros laser_line_extraction_generate_messages_cpp)

add_executable(line_extraction_node src/line_extraction_node.cpp)
target_link_libraries(line_extraction_node line_extraction_ros ${catkin_LIBRARIES})

include_directories(include ${catkin_INCLUDE_DIRS})
include_directories(include ${EIGEN3_INCLUDE_DIRS})

# catkin_add_gtest(${PROJECT_NAME}-test test/test_laser_line_extraction.cpp)

install(TARGETS line_extraction_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(TARGETS line_extraction_ros line_extraction line ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})