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295
CMakeLists.txt
Normal file
295
CMakeLists.txt
Normal file
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cmake_minimum_required(VERSION 3.0.2)
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project(robot_depth_image_proc VERSION 1.0.0 LANGUAGES CXX)
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# ========================================================
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# Detect build mode
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# ========================================================
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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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set(BUILDING_WITH_CATKIN TRUE)
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message(STATUS "Building robot_depth_image_proc with Catkin")
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building robot_depth_image_proc with Standalone CMake")
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endif()
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# ========================================================
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# C++ Standard
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# ========================================================
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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add_compile_options(-Wall -Wextra -Wpedantic)
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# ========================================================
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# Common dependencies
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# ========================================================
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find_package(Boost REQUIRED COMPONENTS thread)
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find_package(Eigen3 REQUIRED)
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# ========================================================
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# Standalone mode
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# ========================================================
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if(NOT BUILDING_WITH_CATKIN)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
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# ⚠️ placeholder libraries
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set(PACKAGES_DIR
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cv_bridge
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robot_sensor_msgs
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robot_cpp
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data_convert
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robot_image_geometry
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)
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find_library(TF3_LIBRARY
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NAMES tf3
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PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu
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)
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if(NOT TF3_LIBRARY)
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message(FATAL_ERROR "❌ tf3 library not found")
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endif()
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# ========================================================
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# Catkin mode
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# ========================================================
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else()
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find_package(catkin REQUIRED COMPONENTS
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cv_bridge
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robot_sensor_msgs
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robot_cpp
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data_convert
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robot_image_geometry
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roscpp
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sensor_msgs
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std_msgs
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tf2_ros
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)
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find_library(TF3_LIBRARY
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NAMES tf3
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PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu
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)
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if(NOT TF3_LIBRARY)
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message(FATAL_ERROR "❌ tf3 library not found")
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endif()
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME}
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CATKIN_DEPENDS
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cv_bridge
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robot_sensor_msgs
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robot_cpp
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data_convert
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robot_image_geometry
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roscpp
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sensor_msgs
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std_msgs
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tf2_ros
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DEPENDS Boost Eigen3
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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)
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endif()
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# ========================================================
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# Check headers
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# ========================================================
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include(CheckIncludeFile)
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check_include_file(sys/time.h HAVE_SYS_TIME_H)
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if(HAVE_SYS_TIME_H)
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add_definitions(-DHAVE_SYS_TIME_H)
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endif()
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# ========================================================
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# Library
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# ========================================================
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add_library(${PROJECT_NAME} SHARED
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src/point_cloud_xyz.cpp
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)
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# ========================================================
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# Catkin linking
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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add_dependencies(${PROJECT_NAME}
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${catkin_EXPORTED_TARGETS}
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)
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(${PROJECT_NAME}
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PUBLIC
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${catkin_LIBRARIES}
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PRIVATE
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Boost::thread
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Eigen3::Eigen
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${TF3_LIBRARY}
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)
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# ========================================================
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# Standalone linking
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# ========================================================
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else()
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(${PROJECT_NAME}
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PUBLIC
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${PACKAGES_DIR}
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PRIVATE
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Boost::thread
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Eigen3::Eigen
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${TF3_LIBRARY}
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)
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set_target_properties(${PROJECT_NAME} PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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BUILD_RPATH "${CMAKE_BINARY_DIR}"
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INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
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)
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endif()
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# ========================================================
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# Test node + unit tests
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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add_executable(depth_image_proc_test_node
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src/depth_image_proc_test_node.cpp
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)
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add_dependencies(depth_image_proc_test_node
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${catkin_EXPORTED_TARGETS}
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)
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target_include_directories(depth_image_proc_test_node PRIVATE
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include
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${catkin_INCLUDE_DIRS}
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)
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target_link_libraries(depth_image_proc_test_node
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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)
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add_executable(depth_image_proc_node
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src/depth_image_proc_node.cpp
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)
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add_dependencies(depth_image_proc_node
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${catkin_EXPORTED_TARGETS}
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)
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target_include_directories(depth_image_proc_node PRIVATE
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include
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${catkin_INCLUDE_DIRS}
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)
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target_link_libraries(depth_image_proc_node
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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)
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install(TARGETS depth_image_proc_test_node depth_image_proc_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY launch rviz
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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if(CATKIN_ENABLE_TESTING)
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find_package(GTest REQUIRED)
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catkin_add_gtest(test_point_cloud_xyz
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test/test_point_cloud_xyz.cpp
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)
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if(TARGET test_point_cloud_xyz)
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target_include_directories(test_point_cloud_xyz PRIVATE
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include
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${catkin_INCLUDE_DIRS}
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)
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target_link_libraries(test_point_cloud_xyz
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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GTest::GTest
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GTest::Main
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)
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endif()
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endif()
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endif()
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# ========================================================
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# Install
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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else()
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install(TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}-targets
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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(EXPORT ${PROJECT_NAME}-targets
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FILE ${PROJECT_NAME}-targets.cmake
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NAMESPACE ${PROJECT_NAME}::
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DESTINATION lib/cmake/${PROJECT_NAME}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include
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FILES_MATCHING PATTERN "*.h"
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)
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endif()
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