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refactory cmake

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This commit is contained in:
Joe Dong
2023-08-25 17:27:57 +08:00
parent a623d4a4ca
commit 4d2ecc7fe2
1 changed files with 73 additions and 204 deletions
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orbbec_camera/CMakeLists.txt
+73 -204
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@@ -14,50 +14,83 @@ if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
endif () endif ()
# find dependencies # find dependencies
find_package(ament_cmake REQUIRED) set(dependencies
find_package(ament_index_cpp REQUIRED) ament_cmake
find_package(Eigen3 REQUIRED) ament_index_cpp
find_package(builtin_interfaces REQUIRED) Eigen3
find_package(cv_bridge REQUIRED) builtin_interfaces
find_package(camera_info_manager REQUIRED) cv_bridge
find_package(image_transport REQUIRED) camera_info_manager
find_package(image_publisher REQUIRED) image_transport
find_package(OpenCV REQUIRED) image_publisher
find_package(orbbec_camera_msgs REQUIRED) OpenCV
find_package(rclcpp REQUIRED) orbbec_camera_msgs
find_package(rclcpp_components REQUIRED) rclcpp
find_package(sensor_msgs REQUIRED) rclcpp_components
find_package(std_msgs REQUIRED) sensor_msgs
find_package(std_srvs REQUIRED) std_msgs
find_package(tf2 REQUIRED) std_srvs
find_package(tf2_eigen REQUIRED) tf2
find_package(tf2_msgs REQUIRED) tf2_eigen
find_package(tf2_ros REQUIRED) tf2_msgs
find_package(tf2_sensor_msgs REQUIRED) tf2_ros
find_package(Threads REQUIRED) tf2_sensor_msgs
Threads
)
foreach (dep IN LISTS dependencies)
find_package(${dep} REQUIRED)
endforeach ()
find_package(PkgConfig REQUIRED) find_package(PkgConfig REQUIRED)
pkg_search_module(GLOG REQUIRED libglog) pkg_search_module(GLOG REQUIRED libglog)
if (NOT GLOG_FOUND) if (NOT GLOG_FOUND)
message(FATAL_ERROR "glog is not found") message(FATAL_ERROR "glog is not found")
endif () endif ()
execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES) execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES)
execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT) execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT)
message(STATUS "ORRBEC Machine : ${MACHINES}") message(STATUS "ORRBEC Machine : ${MACHINES}")
message(STATUS "ORRBEC Machine Bits : ${MACHINES_BIT}") message(STATUS "ORRBEC Machine Bits : ${MACHINES_BIT}")
if ((${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64")) if ((${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64"))
set(HOST_PLATFORM "x64") set(HOST_PLATFORM "x64")
elseif (${MACHINES} MATCHES "arm") elseif (${MACHINES} MATCHES "arm" OR (${MACHINES} MATCHES "aarch64" AND ${MACHINES_BIT} MATCHES "32"))
set(HOST_PLATFORM "arm32") set(HOST_PLATFORM "arm32")
elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "64")) elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "64"))
set(HOST_PLATFORM "arm64") set(HOST_PLATFORM "arm64")
elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "32"))
set(HOST_PLATFORM "arm32")
endif () endif ()
set(ORBBEC_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/SDK/lib/${HOST_PLATFORM}) set(ORBBEC_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/SDK/lib/${HOST_PLATFORM})
set(ORBBEC_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/SDK/include/) set(ORBBEC_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/SDK/include/)
set(common_include_dirs
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${GLOG_INCLUDED_DIRS}
)
set(common_libraries
${ORBBEC_SDK_LIBRARIES}
${OpenCV_LIBS}
Eigen3::Eigen
${GLOG_LIBRARIES}
-lOrbbecSDK
-L${ORBBEC_LIBS}
)
macro(add_orbbec_executable target source)
add_executable(${target} ${source})
target_include_directories(${target} PUBLIC ${common_include_dirs})
target_link_libraries(${target} ${common_libraries} ${PROJECT_NAME})
ament_target_dependencies(${target} ${dependencies})
endmacro()
# Define library and nodes
add_library(${PROJECT_NAME} SHARED add_library(${PROJECT_NAME} SHARED
src/d2c_viewer.cpp src/d2c_viewer.cpp
src/dynamic_params.cpp src/dynamic_params.cpp
@@ -69,203 +102,39 @@ add_library(${PROJECT_NAME} SHARED
src/utils.cpp src/utils.cpp
) )
set(dependencies ament_target_dependencies(${PROJECT_NAME} ${dependencies})
ament_index_cpp target_include_directories(${PROJECT_NAME} PUBLIC ${common_include_dirs})
builtin_interfaces target_link_libraries(${PROJECT_NAME} ${common_libraries})
cv_bridge
camera_info_manager
rclcpp_components
Eigen3
image_transport
image_publisher
orbbec_camera_msgs
rclcpp
rclcpp_components
sensor_msgs
std_msgs
std_srvs
tf2
tf2_msgs
tf2_ros
tf2_sensor_msgs
)
ament_target_dependencies(${PROJECT_NAME}
${dependencies}
)
target_include_directories(${PROJECT_NAME} 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}
${ORBBEC_SDK_LIBRARIES}
${OpenCV_LIBS}
Eigen3::Eigen
${GLOG_LIBRARIES}
-lOrbbecSDK
-L${ORBBEC_LIBS}
)
rclcpp_components_register_node(${PROJECT_NAME} rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "orbbec_camera::OBCameraNodeDriver" PLUGIN "orbbec_camera::OBCameraNodeDriver"
EXECUTABLE orbbec_camera_node EXECUTABLE orbbec_camera_node
) )
add_executable(list_devices_node # Add nodes using the macro
src/list_devices_node.cpp add_orbbec_executable(list_devices_node src/list_devices_node.cpp)
) add_orbbec_executable(ob_cleanup_shm_node src/ob_cleanup_shm.cpp)
add_orbbec_executable(list_depth_work_mode_node src/list_depth_work_mode.cpp)
add_orbbec_executable(list_camera_profile_mode_node src/list_camera_profile.cpp)
target_include_directories(list_devices_node PUBLIC # Install rules
$<BUILD_INTERFACE:${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}
)
add_executable(list_depth_work_mode_node
src/list_depth_work_mode.cpp
)
target_include_directories(list_depth_work_mode_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_depth_work_mode_node
${ORBBEC_SDK_LIBRARIES}
${OpenCV_LIBS}
Eigen3::Eigen
${GLOG_LIBRARIES}
-lOrbbecSDK
-L${ORBBEC_LIBS}
${PROJECT_NAME}
)
ament_target_dependencies(list_depth_work_mode_node
${dependencies}
)
add_executable(list_camera_profile_mode_node
src/list_camera_profile.cpp
)
target_include_directories(list_camera_profile_mode_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_camera_profile_mode_node
${ORBBEC_SDK_LIBRARIES}
${OpenCV_LIBS}
Eigen3::Eigen
${GLOG_LIBRARIES}
-lOrbbecSDK
-L${ORBBEC_LIBS}
${PROJECT_NAME}
)
ament_target_dependencies(list_depth_work_mode_node
${dependencies}
)
install(TARGETS ${PROJECT_NAME} install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION lib ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib LIBRARY DESTINATION lib
RUNTIME DESTINATION bin RUNTIME DESTINATION bin
) )
install( install(DIRECTORY include/ DESTINATION include)
DIRECTORY include/ install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
DESTINATION include install(DIRECTORY config DESTINATION share/${PROJECT_NAME}/)
) install(DIRECTORY ${ORBBEC_INCLUDE_DIR} DESTINATION include)
install(DIRECTORY ${ORBBEC_LIBS}/ DESTINATION lib/ FILES_MATCHING PATTERN "*.so*")
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}/
)
install(DIRECTORY
config
DESTINATION share/${PROJECT_NAME}/
)
install(DIRECTORY
${ORBBEC_INCLUDE_DIR}
DESTINATION include
)
install(DIRECTORY
${ORBBEC_LIBS}/
DESTINATION lib/
FILES_MATCHING PATTERN "*.so"
PATTERN "*.so.*"
)
install(TARGETS list_devices_node install(TARGETS list_devices_node
ob_cleanup_shm_node ob_cleanup_shm_node
list_depth_work_mode_node list_depth_work_mode_node
list_camera_profile_mode_node list_camera_profile_mode_node
DESTINATION lib/${PROJECT_NAME}/ DESTINATION lib/${PROJECT_NAME}/)
)
if (BUILD_TESTING) if (BUILD_TESTING)
find_package(ament_lint_auto REQUIRED) find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies() ament_lint_auto_find_test_dependencies()