cmake_minimum_required(VERSION 2.8.3)
project(mtt)

## 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
  roscpp
  std_msgs
  sensor_msgs
  geometry_msgs
  message_generation
  pcl_ros
  atlascar_base
  kfilter
  colormap
  pcl_conversions
  laser_geometry
  roslib
)

set(CMAKE_CXX_FLAGS "-std=c++0x")

find_package(Eigen3 REQUIRED)
find_package(GTK2 REQUIRED)

find_package(PkgConfig REQUIRED)
find_package(OpenCV REQUIRED)

pkg_check_modules(GVC libgvc)   #sudo apt-get install libgraphviz-dev  #V. Santos, 22-Mar-2014

if(GVC_FOUND)
else()
    message(WARNING "libgvc not found. Please do: sudo apt-get install libgraphviz-dev.")
endif()

add_definitions(-DHAVE_STRING_H)

## 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 and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependencies might have been
##     pulled in transitively but can be declared for certainty nonetheless:
##     * add a build_depend tag for "message_generation"
##     * 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
  Target.msg
  TargetList.msg
  TargetListPC.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
  sensor_msgs
  geometry_msgs
)

###################################
## 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
#  LIBRARIES mtt
#  CATKIN_DEPENDS roscpp std_msgs message_runtime sensor_msgs geometry_msgs pcl_ros atlascar_base kfilter colormap pcl_conversions laser_geometry
 DEPENDS Eigen kfilter colormap pcl_ros
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(${catkin_INCLUDE_DIRS} include)
include_directories(${EIGEN3_INCLUDE_DIR})
include_directories(${OpenCV_INCLUDE_DIRS})

add_executable(mtt src/mtt.cpp src/mtt_clustering.cpp src/mtt_auxiliar.cpp src/mtt_association.cpp src/mtt_kalman.cpp)
add_executable(mtt_new_msg src/mtt_new_msg.cpp src/mtt_clustering.cpp src/mtt_auxiliar.cpp src/mtt_association.cpp src/mtt_kalman.cpp)
add_executable(line_fitting src/line_fitting.cpp)
add_executable(log_recorder src/log_recorder.cpp)
add_executable(planar_pc_generator src/planar_pc_generator.cpp)
add_executable(simple_planar_pc_generator_atlasmv src/simple_planar_pc_generator_atlasmv.cpp)
add_executable(simple_planar_pc_generator src/simple_planar_pc_generator.cpp)
add_executable(mtt_pedect src/mtt_new_msg.cpp src/mtt_clustering.cpp src/mtt_auxiliar_pedect.cpp src/mtt_association.cpp src/mtt_kalman.cpp)
add_executable(gnn src/gnn.cpp src/munkres.cpp src/k_best.cpp)
# add_executable(demo src/demo.cpp)

add_dependencies(mtt mtt_generate_messages_cpp)
add_dependencies(mtt_new_msg mtt_generate_messages_cpp)
add_dependencies(line_fitting mtt_generate_messages_cpp)
add_dependencies(log_recorder mtt_generate_messages_cpp)
add_dependencies(planar_pc_generator mtt_generate_messages_cpp)
add_dependencies(simple_planar_pc_generator_atlasmv mtt_generate_messages_cpp)
add_dependencies(simple_planar_pc_generator mtt_generate_messages_cpp)
add_dependencies(mtt_pedect mtt_generate_messages_cpp)
add_dependencies(gnn mtt_generate_messages_cpp)

target_link_libraries(mtt ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(mtt_new_msg  ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(line_fitting  ${catkin_LIBRARIES})
target_link_libraries(log_recorder  ${catkin_LIBRARIES})
target_link_libraries(simple_planar_pc_generator_atlasmv  ${catkin_LIBRARIES})
target_link_libraries(simple_planar_pc_generator ${catkin_LIBRARIES})
target_link_libraries(planar_pc_generator  ${catkin_LIBRARIES} ${Eigen3_LIBRARIES})
target_link_libraries(mtt_pedect ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(gnn ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
# target_link_libraries(demo ${catkin_LIBRARIES})

set(COMPILE_MHT false)

if(COMPILE_MHT)
    include_directories(${GTK2_INCLUDE_DIRS})
    include_directories(${GVC_INCLUDE_DIRS})
    include_directories(${catkin_INCLUDE_DIRS} include)

    add_library(gvplugin_xgtk src/gvplugin_xgtk.cpp src/callbacks_mht.cpp src/graph_wrapper.cpp src/hypothesisTree.cpp)

    target_link_libraries(gvplugin_xgtk ${GVC_LIBRARIES} ${GTK2_LIBRARIES} ${catkin_LIBRARIES} ${Eigen3_LIBRARIES})

    add_library(munkres src/munkres.cpp src/matrix.cpp src/k_best.cpp)

    add_executable(mht src/mht.cpp src/point.cpp src/measurement.cpp src/target.cpp src/metrics.cpp src/motionModel.cpp src/hypothesis.cpp src/cluster.cpp src/hypothesisTree.cpp src/mht_implementation.cpp)

    add_dependencies(mht mtt_generate_messages_cpp)

    target_link_libraries(mht gvplugin_xgtk munkres ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${GVC_LIBRARIES})

    target_link_libraries(gnn munkres ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${OpenCV_LIBRARIES})
else()
    message(WARNING "Will not complile the advanced mht module, there where changes to the graphviz library rendering the graph_wrapper unusable")
endif()
#############
## 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 mtt mtt_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}
# )

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

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