mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 03:57:46 +08:00
refactory cmake
This commit is contained in:
Joe Dong
+73
-204
@@ -14,50 +14,83 @@ if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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endif ()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(ament_index_cpp REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(camera_info_manager REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(image_publisher REQUIRED)
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find_package(OpenCV REQUIRED)
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find_package(orbbec_camera_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_eigen REQUIRED)
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find_package(tf2_msgs REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_sensor_msgs REQUIRED)
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find_package(Threads REQUIRED)
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set(dependencies
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ament_cmake
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ament_index_cpp
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Eigen3
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builtin_interfaces
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cv_bridge
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camera_info_manager
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image_transport
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image_publisher
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OpenCV
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orbbec_camera_msgs
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rclcpp
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rclcpp_components
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sensor_msgs
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std_msgs
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std_srvs
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tf2
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tf2_eigen
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tf2_msgs
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tf2_ros
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tf2_sensor_msgs
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Threads
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)
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foreach (dep IN LISTS dependencies)
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find_package(${dep} REQUIRED)
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endforeach ()
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find_package(PkgConfig REQUIRED)
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pkg_search_module(GLOG REQUIRED libglog)
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if (NOT GLOG_FOUND)
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message(FATAL_ERROR "glog is not found")
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endif ()
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execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES)
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execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT)
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message(STATUS "ORRBEC Machine : ${MACHINES}")
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message(STATUS "ORRBEC Machine Bits : ${MACHINES_BIT}")
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if ((${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64"))
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set(HOST_PLATFORM "x64")
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elseif (${MACHINES} MATCHES "arm")
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elseif (${MACHINES} MATCHES "arm" OR (${MACHINES} MATCHES "aarch64" AND ${MACHINES_BIT} MATCHES "32"))
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set(HOST_PLATFORM "arm32")
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elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "64"))
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set(HOST_PLATFORM "arm64")
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elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "32"))
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set(HOST_PLATFORM "arm32")
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endif ()
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set(ORBBEC_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/SDK/lib/${HOST_PLATFORM})
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set(ORBBEC_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/SDK/include/)
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set(common_include_dirs
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$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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${ORBBEC_INCLUDE_DIR}
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${OpenCV_INCLUDED_DIRS}
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${GLOG_INCLUDED_DIRS}
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)
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set(common_libraries
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${ORBBEC_SDK_LIBRARIES}
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${OpenCV_LIBS}
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Eigen3::Eigen
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${GLOG_LIBRARIES}
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-lOrbbecSDK
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-L${ORBBEC_LIBS}
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)
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macro(add_orbbec_executable target source)
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add_executable(${target} ${source})
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target_include_directories(${target} PUBLIC ${common_include_dirs})
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target_link_libraries(${target} ${common_libraries} ${PROJECT_NAME})
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ament_target_dependencies(${target} ${dependencies})
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endmacro()
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# Define library and nodes
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add_library(${PROJECT_NAME} SHARED
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src/d2c_viewer.cpp
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src/dynamic_params.cpp
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@@ -69,203 +102,39 @@ add_library(${PROJECT_NAME} SHARED
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src/utils.cpp
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)
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set(dependencies
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ament_index_cpp
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builtin_interfaces
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cv_bridge
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camera_info_manager
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rclcpp_components
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Eigen3
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image_transport
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image_publisher
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orbbec_camera_msgs
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rclcpp
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rclcpp_components
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sensor_msgs
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std_msgs
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std_srvs
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tf2
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tf2_msgs
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tf2_ros
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tf2_sensor_msgs
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)
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ament_target_dependencies(${PROJECT_NAME}
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${dependencies}
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)
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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${ORBBEC_INCLUDE_DIR}
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${OpenCV_INCLUDED_DIRS}
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${GLOG_INCLUDED_DIRS}
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)
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target_link_libraries(${PROJECT_NAME}
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${ORBBEC_SDK_LIBRARIES}
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${OpenCV_LIBS}
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Eigen3::Eigen
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${GLOG_LIBRARIES}
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-lOrbbecSDK
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-L${ORBBEC_LIBS}
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)
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ament_target_dependencies(${PROJECT_NAME} ${dependencies})
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target_include_directories(${PROJECT_NAME} PUBLIC ${common_include_dirs})
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target_link_libraries(${PROJECT_NAME} ${common_libraries})
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rclcpp_components_register_node(${PROJECT_NAME}
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PLUGIN "orbbec_camera::OBCameraNodeDriver"
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EXECUTABLE orbbec_camera_node
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)
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add_executable(list_devices_node
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src/list_devices_node.cpp
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)
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# Add nodes using the macro
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add_orbbec_executable(list_devices_node src/list_devices_node.cpp)
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add_orbbec_executable(ob_cleanup_shm_node src/ob_cleanup_shm.cpp)
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add_orbbec_executable(list_depth_work_mode_node src/list_depth_work_mode.cpp)
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add_orbbec_executable(list_camera_profile_mode_node src/list_camera_profile.cpp)
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target_include_directories(list_devices_node PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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${ORBBEC_INCLUDE_DIR}
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${OpenCV_INCLUDED_DIRS}
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${GLOG_INCLUDED_DIRS}
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)
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target_link_libraries(list_devices_node
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${ORBBEC_SDK_LIBRARIES}
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${OpenCV_LIBS}
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Eigen3::Eigen
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${GLOG_LIBRARIES}
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-lOrbbecSDK
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-L${ORBBEC_LIBS}
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${PROJECT_NAME}
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)
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ament_target_dependencies(list_devices_node
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${dependencies}
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)
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add_executable(ob_cleanup_shm_node
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src/ob_cleanup_shm.cpp
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)
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target_include_directories(ob_cleanup_shm_node PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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${ORBBEC_INCLUDE_DIR}
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${OpenCV_INCLUDED_DIRS}
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${GLOG_INCLUDED_DIRS}
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)
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target_link_libraries(ob_cleanup_shm_node
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${ORBBEC_SDK_LIBRARIES}
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${OpenCV_LIBS}
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Eigen3::Eigen
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${GLOG_LIBRARIES}
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-lOrbbecSDK
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-L${ORBBEC_LIBS}
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${PROJECT_NAME}
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)
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ament_target_dependencies(ob_cleanup_shm_node
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${dependencies}
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)
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add_executable(list_depth_work_mode_node
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src/list_depth_work_mode.cpp
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)
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target_include_directories(list_depth_work_mode_node PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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${ORBBEC_INCLUDE_DIR}
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${OpenCV_INCLUDED_DIRS}
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${GLOG_INCLUDED_DIRS}
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)
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target_link_libraries(list_depth_work_mode_node
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${ORBBEC_SDK_LIBRARIES}
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${OpenCV_LIBS}
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Eigen3::Eigen
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${GLOG_LIBRARIES}
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-lOrbbecSDK
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-L${ORBBEC_LIBS}
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${PROJECT_NAME}
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)
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ament_target_dependencies(list_depth_work_mode_node
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${dependencies}
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)
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add_executable(list_camera_profile_mode_node
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src/list_camera_profile.cpp
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)
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target_include_directories(list_camera_profile_mode_node PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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${ORBBEC_INCLUDE_DIR}
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${OpenCV_INCLUDED_DIRS}
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${GLOG_INCLUDED_DIRS}
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)
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target_link_libraries(list_camera_profile_mode_node
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${ORBBEC_SDK_LIBRARIES}
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${OpenCV_LIBS}
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Eigen3::Eigen
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${GLOG_LIBRARIES}
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-lOrbbecSDK
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-L${ORBBEC_LIBS}
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${PROJECT_NAME}
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)
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ament_target_dependencies(list_depth_work_mode_node
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${dependencies}
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)
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# Install rules
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(
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DIRECTORY include/
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DESTINATION include
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)
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install(DIRECTORY
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launch
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DESTINATION share/${PROJECT_NAME}/
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)
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install(DIRECTORY
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config
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DESTINATION share/${PROJECT_NAME}/
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)
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install(DIRECTORY
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${ORBBEC_INCLUDE_DIR}
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DESTINATION include
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)
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install(DIRECTORY
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${ORBBEC_LIBS}/
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DESTINATION lib/
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FILES_MATCHING PATTERN "*.so"
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PATTERN "*.so.*"
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)
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install(DIRECTORY include/ DESTINATION include)
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
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install(DIRECTORY config DESTINATION share/${PROJECT_NAME}/)
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install(DIRECTORY ${ORBBEC_INCLUDE_DIR} DESTINATION include)
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install(DIRECTORY ${ORBBEC_LIBS}/ DESTINATION lib/ FILES_MATCHING PATTERN "*.so*")
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install(TARGETS list_devices_node
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ob_cleanup_shm_node
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list_depth_work_mode_node
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list_camera_profile_mode_node
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DESTINATION lib/${PROJECT_NAME}/
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)
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DESTINATION lib/${PROJECT_NAME}/)
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if (BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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Reference in New Issue
Block a user