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CMakeLists.txt
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105 lines (102 loc) · 3.54 KB
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cmake_minimum_required(VERSION 3.16)
project(net_cam VERSION 1.0)
message(STATUS "System Processor: ${CMAKE_SYSTEM_PROCESSOR}")
if (CMAKE_SYSTEM_PROCESSOR MATCHES "arm" OR CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
set(PLATFORM_DIR "arm")
set(MVCAM_LIB_DIR ${CMAKE_CURRENT_SOURCE_DIR}/mvcam/lib/aarch64)
elseif (CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64" OR CMAKE_SYSTEM_PROCESSOR MATCHES "amd64")
set(PLATFORM_DIR "x86")
set(MVCAM_LIB_DIR ${CMAKE_CURRENT_SOURCE_DIR}/mvcam/lib/x86/64)
else ()
message(STATUS "Unknown Architecture")
set(PLATFORM_DIR "Unknown")
endif ()
message(STATUS "Find MVCAM_LIB_DIR : ${MVCAM_LIB_DIR}")
find_package(Threads REQUIRED)
# **************************编译普通节点*****************************
add_executable(${PROJECT_NAME}
main.cpp
mv_cam.cpp
mv_cam.h
)
target_link_directories(${PROJECT_NAME} PRIVATE ${MVCAM_LIB_DIR})
target_link_libraries(${PROJECT_NAME} PRIVATE
infinite_sense_core
MvCameraControl
Threads::Threads
)
target_include_directories(${PROJECT_NAME} PRIVATE mvcam/include)
set_target_properties(${PROJECT_NAME} PROPERTIES INSTALL_RPATH "$ORIGIN")
# **************************编译ROS2节点*****************************
find_package(rclcpp QUIET)
if (NOT rclcpp_FOUND)
message(STATUS "rclcpp not found. ROS2 demo will not be built")
else ()
message(STATUS "rclcpp found. ROS2 demo will be built")
find_package(ament_cmake REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(image_transport REQUIRED)
find_package(OpenCV REQUIRED)
find_package(cv_bridge REQUIRED)
add_executable(${PROJECT_NAME}_ros2
main_ros2.cpp
mv_cam.cpp
mv_cam.h
)
target_link_directories(${PROJECT_NAME}_ros2 PRIVATE ${MVCAM_LIB_DIR})
target_include_directories(${PROJECT_NAME}_ros2 PUBLIC mvcam/include ${OpenCV_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME}_ros2
infinite_sense_core
${OpenCV_LIBRARIES}
MvCameraControl
)
set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
set(CMAKE_INSTALL_RPATH ${MVS_LIBRARIES})
ament_target_dependencies(${PROJECT_NAME}_ros2
rclcpp
std_msgs
sensor_msgs
image_transport
OpenCV
cv_bridge
)
install(TARGETS ${PROJECT_NAME}_ros2
DESTINATION lib/${PROJECT_NAME}
)
install(TARGETS infinite_sense_core
DESTINATION lib/${PROJECT_NAME}
)
ament_package()
endif ()
# **************************编译ROS1节点*****************************
find_package(catkin QUIET)
if (NOT catkin_FOUND)
message(STATUS "catkin not found, ROS1 demo will not be built")
else ()
message(STATUS "catkin found. ROS1 demo will be built")
find_package(catkin REQUIRED COMPONENTS
roscpp
sensor_msgs
cv_bridge
image_transport
geometry_msgs
)
file(GLOB_RECURSE SOURCE_FILES
main_ros.cpp
mv_cam.cpp
mv_cam.h
)
add_executable(${PROJECT_NAME}_ros ${SOURCE_FILES})
target_link_directories(${PROJECT_NAME}_ros PRIVATE ${MVCAM_LIB_DIR})
target_link_libraries(${PROJECT_NAME}_ros
infinite_sense_core
MvCameraControl
Threads::Threads
${catkin_LIBRARIES}
)
target_include_directories(${PROJECT_NAME}_ros PRIVATE
${catkin_INCLUDE_DIRS} mvcam/include
)
target_compile_definitions(${PROJECT_NAME}_ros PUBLIC -DROS_PLATFORM)
endif ()