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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(depth_image_proc)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()
find_package(Eigen3 QUIET)
if(NOT EIGEN3_FOUND)
find_package(Eigen REQUIRED)
set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
include_directories(include ${EIGEN3_INCLUDE_DIRS})
endif()
find_package(OpenCV REQUIRED)
ament_auto_add_library(${PROJECT_NAME} SHARED
src/convert_metric.cpp
src/crop_foremost.cpp
src/disparity.cpp
src/point_cloud_xyz.cpp
src/point_cloud_xyzrgb.cpp
src/point_cloud_xyzi.cpp
src/point_cloud_xyz_radial.cpp
src/point_cloud_xyzi_radial.cpp
src/register.cpp
)
rclcpp_components_register_nodes(${PROJECT_NAME}
"${PROJECT_NAME}::ConvertMetricNode"
"${PROJECT_NAME}::CropForemostNode"
"${PROJECT_NAME}::DisparityNode"
"${PROJECT_NAME}::PointCloudXyzNode"
"${PROJECT_NAME}::PointCloudXyzRadialNode"
"${PROJECT_NAME}::PointCloudXyziNode"
"${PROJECT_NAME}::PointCloudXyziRadialNode"
"${PROJECT_NAME}::PointCloudXyzrgbNode"
"${PROJECT_NAME}::RegisterNode"
)
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_auto_package(INSTALL_TO_SHARE launch)