CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(rovy_navigation_cameras)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp tf2_geometry_msgs tf cv_bridge image_transport image_geometry)

include_directories(include ${catkin_INCLUDE_DIRS})

set(STANDALONE ON)

if(STANDALONE)
    ##executable##
    catkin_package()
    add_executable(rovy_navigation_cameras
        src/rovy_navigation_cameras.cpp
        src/Camera.cpp
        src/CameraT265.cpp
        src/CameraD435.cpp
        src/MedianFilter.c)
else()
    ##library##
    catkin_package(INCLUDE_DIRS include
        CATKIN_DEPENDS roscpp tf2_geometry_msgs tf cv_bridge image_transport
        LIBRARIES rovy_navigation_cameras)
    add_library(rovy_navigation_cameras
        src/rovy_navigation_cameras.cpp
        src/Camera.cpp
        src/CameraT265.cpp
        src/CameraD435.cpp
        src/MedianFilter.c)
    install(TARGETS rovy_navigation_cameras
            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})
endif()

target_link_libraries(rovy_navigation_cameras ${catkin_LIBRARIES})

set(CMAKE_CXX_FLAGS "-Wformat -Wformat-security -Wall -Wno-psabi -lrealsense2 -lutils ${CMAKE_CXX_FLAGS}")