200 lines
4.1 KiB
CMake
200 lines
4.1 KiB
CMake
cmake_minimum_required(VERSION 3.0.2)
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project(robot_image_geometry 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_image_geometry with Catkin")
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building robot_image_geometry 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(
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-Wall
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-Wextra
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-Wpedantic
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)
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# ========================================================
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# Common dependencies
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# ========================================================
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find_package(OpenCV 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 "${CMAKE_BINARY_DIR}")
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set(PACKAGES_DIR
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robot_sensor_msgs
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)
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include_directories(
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include
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${OpenCV_INCLUDE_DIRS}
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)
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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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robot_sensor_msgs
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)
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catkin_package(
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INCLUDE_DIRS
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include
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LIBRARIES
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${PROJECT_NAME}
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CATKIN_DEPENDS
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robot_sensor_msgs
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DEPENDS
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OpenCV
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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)
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endif()
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# ========================================================
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# Library
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# ========================================================
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add_library(${PROJECT_NAME} SHARED
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src/pinhole_camera_model.cpp
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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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# ========================================================
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# Link
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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add_dependencies(
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${PROJECT_NAME}
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${catkin_EXPORTED_TARGETS}
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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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${OpenCV_LIBRARIES}
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)
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else()
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target_link_libraries(${PROJECT_NAME}
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PUBLIC
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${PACKAGES_DIR}
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${OpenCV_LIBRARIES}
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)
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set_target_properties(${PROJECT_NAME}
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PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY
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${CMAKE_BINARY_DIR}
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BUILD_RPATH
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"${CMAKE_BINARY_DIR}"
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INSTALL_RPATH
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"${CMAKE_INSTALL_PREFIX}/lib"
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)
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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(
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TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION
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${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION
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${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION
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${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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install(
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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(
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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(
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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(
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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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# ========================================================
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# Tests
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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if(CATKIN_ENABLE_TESTING AND EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test)
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add_subdirectory(test)
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endif()
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endif() |