## BEGIN_TUTORIAL
## This CMakeLists.txt file for rviz_plugin_tutorials builds both the
## TeleopPanel tutorial and the ImuDisplay tutorial.
##
## First start with some standard catkin stuff.
cmake_minimum_required(VERSION 3.0.2)
project(point_visual)

set(SDK_PATH "./sdk/")

FILE(GLOB SDK_SRC 
  "${SDK_PATH}/src/arch/linux/*.cpp"
  "${SDK_PATH}/src/hal/*.cpp"
  "${SDK_PATH}/src/*.cpp"
)

find_package(catkin REQUIRED COMPONENTS 
rviz roscpp std_msgs 
rosconsole sensor_msgs # node.cpp
rosbag
pcl_ros  
)

find_package(PCL REQUIRED)
include_directories(
 include
 ${catkin_INCLUDE_DIRS}
 /usr/include/pcl-1.8
)


catkin_package()

include_directories(
  ${catkin_INCLUDE_DIRS}
  ${SDK_PATH}/include
  ${SDK_PATH}/src
)

link_directories(${catkin_LIBRARY_DIRS})

## This setting causes Qt's "MOC" generation to happen automatically.
set(CMAKE_AUTOMOC ON)

## This plugin includes Qt widgets, so we must include Qt.
## We'll use the version that rviz used so they are compatible.
if(rviz_QT_VERSION VERSION_LESS "5")
  message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
  find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
  ## pull in all required include dirs, define QT_LIBRARIES, etc.
  include(${QT_USE_FILE})
else()
  message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
  find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
  ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
  set(QT_LIBRARIES Qt5::Widgets)
endif()

## I prefer the Qt signals and slots to avoid defining "emit", "slots",
## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
add_definitions(-DQT_NO_KEYWORDS)

## Here we specify the list of source files.
## The generated MOC files are included automatically as headers.
set(SRC_FILES
  src/myviz.cpp
  src/main.cpp
  tools/color.cpp
  src/loginDialog.cpp
)

## Add the "myviz" executable and specify the list of source files we
## collected above in ``${SRC_FILES}``.



add_executable(myviz ${SRC_FILES} )

# add_executable(rplidarNode src/node.cpp ${SDK_SRC})  # 创建启动laser
# target_link_libraries(rplidarNode ${catkin_LIBRARIES})
target_link_libraries(myviz -lcrypto)


## Link the myviz executable with whatever Qt libraries have been defined by
## the ``find_package(Qt4 ...)`` line above, or by the
## ``set(QT_LIBRARIES Qt5::Widgets)``, and with whatever libraries
## catkin has included.

target_link_libraries(myviz ${QT_LIBRARIES} ${catkin_LIBRARIES})

## END_TUTORIAL

## Install
install(TARGETS myviz DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

# install(TARGETS rplidarNode 
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

install(DIRECTORY launch sdk
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  USE_SOURCE_PERMISSIONS
)