rtp_image_processor/CMakeLists.txt at main · 0x126/rtp_image_processor · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
cmake_minimum_required(VERSION 3.10)
project(rtp_image_processor)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# Platform detection
if(EXISTS "/etc/nv_tegra_release")
    set(JETSON_PLATFORM ON)
    add_definitions(-DJETSON_PLATFORM)
endif()

# Find ROS2 packages
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(image_transport REQUIRED)
find_package(camera_info_manager REQUIRED)
find_package(OpenCV REQUIRED)

# Dependencies
find_package(PkgConfig REQUIRED)
pkg_check_modules(GST REQUIRED
    gstreamer-1.0>=1.14
    gstreamer-app-1.0>=1.14
    gstreamer-rtp-1.0>=1.14
)

# Source files
set(SOURCES
    src/image_processor.cpp
)

# Library creation
add_library(imageprocessor SHARED ${SOURCES})

target_include_directories(imageprocessor
    PUBLIC
        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
        $<INSTALL_INTERFACE:include>
    PRIVATE
        ${GST_INCLUDE_DIRS}
)

target_link_libraries(imageprocessor
    PRIVATE
        ${GST_LIBRARIES}
)

target_compile_options(imageprocessor PRIVATE ${GST_CFLAGS_OTHER})

# ROS2 Component library
add_library(rtp_image_processor_component SHARED
    src/rtp_image_processor_node.cpp
)

target_include_directories(rtp_image_processor_component
    PUBLIC
        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
        $<INSTALL_INTERFACE:include>
    PRIVATE
        ${GST_INCLUDE_DIRS}
        ${OpenCV_INCLUDE_DIRS}
)

ament_target_dependencies(rtp_image_processor_component
    rclcpp
    rclcpp_components
    sensor_msgs
    std_msgs
    cv_bridge
    image_transport
    camera_info_manager
)

target_link_libraries(rtp_image_processor_component
    imageprocessor
    ${GST_LIBRARIES}
    ${OpenCV_LIBS}
)

rclcpp_components_register_node(
    rtp_image_processor_component
    PLUGIN "rtp_image_processor::RtpImageProcessorNode"
    EXECUTABLE rtp_image_processor_node
)

# Original demo executable
add_executable(image_processor_demo examples/main.cpp)
target_link_libraries(image_processor_demo imageprocessor)

# Installation
install(TARGETS imageprocessor
    LIBRARY DESTINATION lib
    ARCHIVE DESTINATION lib
)

install(DIRECTORY include/
    DESTINATION include
)

install(TARGETS
    rtp_image_processor_component
    RUNTIME DESTINATION bin
    LIBRARY DESTINATION lib
    ARCHIVE DESTINATION lib
)

install(TARGETS
    rtp_image_processor_node
    image_processor_demo
    DESTINATION lib/${PROJECT_NAME}
)

# Install launch files
install(DIRECTORY launch
    DESTINATION share/${PROJECT_NAME}
)

# Install config files
install(DIRECTORY config
    DESTINATION share/${PROJECT_NAME}
)

# Tests
if(BUILD_TESTING)
    find_package(ament_lint_auto REQUIRED)
    ament_lint_auto_find_test_dependencies()
endif()

ament_package()