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Big refactoring code

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* Removal of unnecessary files
* Optimized multi-camera launch
* Explicitly list the parameters in the launch file
This commit is contained in:
默存
2023-02-06 17:26:10 +08:00
parent 04e4d4151e
commit 202719bd8c
59 changed files with 4931 additions and 806 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/CMakeLists.txt
+93 -12
View File
@@ -19,9 +19,9 @@ find_package(ament_index_cpp REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(camera_info_manager REQUIRED)
find_package(image_transport REQUIRED)
find_package(image_publisher REQUIRED)
find_package(magic_enum REQUIRED)
find_package(OpenCV REQUIRED)
find_package(orbbec_camera_msgs REQUIRED)
find_package(rclcpp REQUIRED)
@@ -40,7 +40,7 @@ pkg_search_module(GLOG REQUIRED libglog)
if (NOT GLOG_FOUND)
message(FATAL_ERROR "glog is not found")
endif()
endif ()
execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES)
execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT)
message(STATUS "ORRBEC Machine : ${MACHINES}")
@@ -71,6 +71,7 @@ set(dependencies
ament_index_cpp
builtin_interfaces
cv_bridge
camera_info_manager
Eigen3
image_transport
image_publisher
@@ -89,10 +90,7 @@ set(dependencies
ament_target_dependencies(${PROJECT_NAME}
${dependencies}
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "orbbec_camera::OBCameraNodeFactory"
EXECUTABLE orbbec_camera_node
)
target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -108,11 +106,93 @@ target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
Eigen3::Eigen
${GLOG_LIBRARIES}
magic_enum::magic_enum
-lOrbbecSDK
-L${ORBBEC_LIBS}
)
add_executable(${PROJECT_NAME}_node
src/main.cpp
)
target_include_directories(${PROJECT_NAME}_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${GLOG_INCLUDED_DIRS}
)
target_link_libraries(${PROJECT_NAME}_node
${ORBBEC_SDK_LIBRARIES}
${OpenCV_LIBS}
Eigen3::Eigen
${GLOG_LIBRARIES}
-lOrbbecSDK
-L${ORBBEC_LIBS}
${PROJECT_NAME}
)
ament_target_dependencies(${PROJECT_NAME}_node
${dependencies}
)
add_executable(list_devices_node
src/list_devices_node.cpp
)
target_include_directories(list_devices_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${GLOG_INCLUDED_DIRS}
)
target_link_libraries(list_devices_node
${ORBBEC_SDK_LIBRARIES}
${OpenCV_LIBS}
Eigen3::Eigen
${GLOG_LIBRARIES}
-lOrbbecSDK
-L${ORBBEC_LIBS}
${PROJECT_NAME}
)
ament_target_dependencies(list_devices_node
${dependencies}
)
add_executable(ob_cleanup_shm_node
src/ob_cleanup_shm.cpp
)
target_include_directories(ob_cleanup_shm_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${GLOG_INCLUDED_DIRS}
)
target_link_libraries(ob_cleanup_shm_node
${ORBBEC_SDK_LIBRARIES}
${OpenCV_LIBS}
Eigen3::Eigen
${GLOG_LIBRARIES}
-lOrbbecSDK
-L${ORBBEC_LIBS}
${PROJECT_NAME}
)
ament_target_dependencies(ob_cleanup_shm_node
${dependencies}
)
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
@@ -134,11 +214,6 @@ install(DIRECTORY
DESTINATION share/${PROJECT_NAME}/
)
install(DIRECTORY
params
DESTINATION share/${PROJECT_NAME}/
)
install(DIRECTORY
${ORBBEC_INCLUDE_DIR}
DESTINATION include
@@ -151,6 +226,12 @@ install(DIRECTORY
PATTERN "*.so.*"
)
install(TARGETS list_devices_node
ob_cleanup_shm_node
${PROJECT_NAME}_node
DESTINATION lib/${PROJECT_NAME}/
)
if (BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()