65 lines
1.9 KiB
CMake
65 lines
1.9 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rpt3d_wrapper_cpp)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++20
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 20)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# Find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rpt_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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# Add RapidPoseTriangulation implementation
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set(RAPID_POSE_TRIANGULATION_DIR "/RapidPoseTriangulation")
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add_library(rapid_pose_triangulation
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${RAPID_POSE_TRIANGULATION_DIR}/rpt/camera.cpp
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${RAPID_POSE_TRIANGULATION_DIR}/rpt/interface.cpp
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${RAPID_POSE_TRIANGULATION_DIR}/rpt/triangulator.cpp
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)
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target_include_directories(rapid_pose_triangulation PUBLIC
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${RAPID_POSE_TRIANGULATION_DIR}/extras/include
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${RAPID_POSE_TRIANGULATION_DIR}/rpt
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)
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target_compile_options(rapid_pose_triangulation PUBLIC
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-fPIC -O3 -march=native -Wall -Werror
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)
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# Build the executable
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add_executable(rpt3d_wrapper src/rpt3d_wrapper.cpp)
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ament_target_dependencies(rpt3d_wrapper rclcpp std_msgs rpt_msgs)
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target_include_directories(rpt3d_wrapper PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_link_libraries(rpt3d_wrapper
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rapid_pose_triangulation
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)
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install(TARGETS rpt3d_wrapper
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DESTINATION lib/${PROJECT_NAME})
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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