CMakeLists.txt

cmake_minimum_required(VERSION 3.10.2)
project(ssd_nodelet)

add_compile_options(-std=c++14 -O3 -g -Wall)

find_package(OpenCV REQUIRED)

## 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
  cv_bridge
  geometry_msgs
  message_filters
  pcl_conversions
  pcl_ros
  roscpp
  rospy
  sensor_msgs
  std_msgs
  tf2_ros
  tf2
  tf2_geometry_msgs
  pluginlib
  nodelet
  sobits_msgs
)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
# )

## 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
#   geometry_msgs sensor_msgs std_msgs
# )

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS cv_bridge geometry_msgs message_filters pcl_conversions pcl_ros roscpp rospy sensor_msgs std_msgs tf2_ros tf2 tf2_geometry_msgs sobits_msgs
  DEPENDS OpenCV
  #  DEPENDS system_lib
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
)

add_library(${PROJECT_NAME} src/nodelets/image_subscriber_nodelet.cpp
                            src/nodelets/image_cloud_subscriber_nodelet.cpp
                            src/single_shot_multibox_detector.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

install(
  TARGETS ${PROJECT_NAME}
  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}
)