mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-15 04:20:20 +08:00
170 lines
4.3 KiB
CMake
170 lines
4.3 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(orbbec_camera)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -O3")
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fPIC -g")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -O3")
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fPIC -g")
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set(CMAKE_BUILD_TYPE "Debug")
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if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic -Werror)
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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(image_transport REQUIRED)
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find_package(image_publisher REQUIRED)
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find_package(magic_enum 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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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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set(HOST_PLATFORM "arm")
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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 "arm")
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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 ${CMAKE_CURRENT_SOURCE_DIR}/SDK/include/)
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add_library(${PROJECT_NAME} SHARED
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src/dynamic_params.cpp
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src/ob_camera_node_factory.cpp
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src/ob_camera_node.cpp
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src/ros_param_backend.cpp
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src/ros_service.cpp
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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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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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rclcpp_components_register_node(${PROJECT_NAME}
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PLUGIN "orbbec_camera::OBCameraNodeFactory"
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EXECUTABLE orbbec_camera_node
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)
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target_include_directories(${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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magic_enum::magic_enum
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-lOrbbecSDK
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-L${ORBBEC_LIBS}
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)
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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/${PROJECT_NAME}/
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)
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install(DIRECTORY
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params
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DESTINATION share/${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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if (BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif ()
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ament_export_include_directories(include ${ORBBEC_INCLUDE_DIR})
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ament_export_libraries(${PROJECT_NAME})
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ament_export_dependencies(${dependencies} ${ORBBEC_LIBS})
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ament_package()
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