Added rpt3d ros wrapper.

extras/ros/rpt3d_wrapper_cpp/CMakeLists.txt

@@ -0,0 +1,72 @@
+cmake_minimum_required(VERSION 3.5)
+project(rpt3d_wrapper_cpp)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+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(rclcpp REQUIRED)
+find_package(rpt_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(OpenMP REQUIRED)
+
+# Add RapidPoseTriangulation implementation
+set(RAPID_POSE_TRIANGULATION_DIR "/RapidPoseTriangulation")
+add_library(rapid_pose_triangulation
+${RAPID_POSE_TRIANGULATION_DIR}/rpt/camera.cpp
+  ${RAPID_POSE_TRIANGULATION_DIR}/rpt/interface.cpp
+  ${RAPID_POSE_TRIANGULATION_DIR}/rpt/triangulator.cpp
+)
+target_include_directories(rapid_pose_triangulation PUBLIC
+  ${RAPID_POSE_TRIANGULATION_DIR}/extras/include
+  ${RAPID_POSE_TRIANGULATION_DIR}/rpt
+  ${OpenCV_INCLUDE_DIRS}
+)
+target_link_libraries(rapid_pose_triangulation PUBLIC
+  ${OpenCV_LIBS}
+  OpenMP::OpenMP_CXX
+)
+target_compile_options(rapid_pose_triangulation PUBLIC
+  -fPIC -O3 -march=native -Wall -Werror -fopenmp -fopenmp-simd
+)
+
+# Build the executable
+add_executable(rpt3d_wrapper src/rpt3d_wrapper.cpp)
+ament_target_dependencies(rpt3d_wrapper rclcpp std_msgs rpt_msgs)
+target_include_directories(rpt3d_wrapper PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+target_link_libraries(rpt3d_wrapper
+  ${OpenCV_LIBS}
+  rapid_pose_triangulation
+)
+
+install(TARGETS rpt3d_wrapper
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()