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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(v4l2_camera)
list(INSERT CMAKE_MODULE_PATH 0 ${CMAKE_CURRENT_LIST_DIR}/cmake)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# 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 dependencies
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_ros REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(camera_info_manager REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(image_transport REQUIRED)
find_package(shm_msgs REQUIRED)
find_package(Boost REQUIRED system filesystem date_time iostreams serialization)
find_package(VTK REQUIRED)
find_package(libusb REQUIRED)
add_library(v4l2_camera
src/v4l2_camera.cpp
src/v4l2_camera_device.cpp)
rclcpp_components_register_nodes(v4l2_camera "v4l2_camera::V4L2Camera")
target_link_libraries(v4l2_camera
opencv_highgui
)
target_include_directories(v4l2_camera PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
ament_target_dependencies(v4l2_camera
"rclcpp"
"rclcpp_components"
"camera_info_manager"
"cv_bridge"
"image_transport"
"shm_msgs"
)
target_compile_options(v4l2_camera PRIVATE -Werror)
# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(v4l2_camera PRIVATE "V4L2_CAMERA_BUILDING_LIBRARY")
install(
DIRECTORY include/
DESTINATION include
)
install(
TARGETS v4l2_camera
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
add_executable(v4l2_camera_node src/v4l2_camera_node.cpp)
target_include_directories(v4l2_camera_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(v4l2_camera_node v4l2_camera)
target_compile_options(v4l2_camera_node PRIVATE -Werror)
add_executable(v4l2_camera_compose_test src/v4l2_camera_compose_test.cpp)
target_include_directories(v4l2_camera_compose_test PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(v4l2_camera_compose_test v4l2_camera)
target_compile_options(v4l2_camera_compose_test PRIVATE -Werror)
add_executable(v4l2_camera_image_subscriber src/v4l2_camera_image_subscriber.cpp)
target_include_directories(v4l2_camera_image_subscriber PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(v4l2_camera_image_subscriber v4l2_camera)
target_compile_options(v4l2_camera_image_subscriber PRIVATE -Werror)
add_subdirectory(tool)
# install launch files
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}
)
install(TARGETS
v4l2_camera_node v4l2_camera_image_subscriber
EXPORT export_${PROJECT_NAME}
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
set(ament_cmake_copyright_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_include_directories(
include
)
ament_export_targets(
export_${PROJECT_NAME}
)
ament_export_libraries(
v4l2_camera
)
ament_export_dependencies(
"camera_info_manager"
)
ament_package()