-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathCMakeLists.txt
121 lines (106 loc) · 3.1 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
cmake_minimum_required(VERSION 3.6)
project(depthcompletion)
cmake_policy(SET CMP0057 NEW)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE RelWithDebInfo)
endif()
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
set(CUDA_TOOLKIT_ROOT_DIR /usr/local/cuda-11.4)
set(TensorRT_DIR /usr/share/doc/tensorrt-8.5.2.2)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(quadrotor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(OpenCV REQUIRED)
find_package(CUDA REQUIRED)
find_package(TensorRT REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(pluginlib REQUIRED)
find_package(realsense_camera REQUIRED)
find_package(realsense2 REQUIRED)
find_library(NVINFER nvinfer)
find_library(NVINFER_PLUGIN nvinfer_plugin)
set(dependencies
rclcpp
geometry_msgs
nav_msgs
std_msgs
sensor_msgs
visualization_msgs
Eigen3
yaml-cpp
tf2
tf2_ros
rclcpp_components
cv_bridge
OpenCV
CUDA
TensorRT
pluginlib
realsense_camera
realsense2
rosidl_default_generators
)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/DepthCompletion.msg"
DEPENDENCIES std_msgs sensor_msgs
)
ament_export_dependencies(rosidl_default_runtime)
if (NOT CUDA_INCLUDE_DIRS)
set(CUDA_INCLUDE_DIRS ${CUDA_TOOLKIT_ROOT_DIR}/targets/aarch64-linux/include)
endif()
if (NOT CUDA_LIBRARIES)
set(CUDA_LIBRARIES ${CUDA_TOOLKIT_ROOT_DIR}/targets/aarch64-linux/lib)
endif()
include_directories(
include
${OpenCV_INCLUDE_DIRS}
${CUDA_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${realsense2_INCLUDE_DIR}
${TensorRT_INCLUDE_DIRS}
${realsense2_INCLUDE_DIR}
${CMAKE_SOURCE_DIR}/../realsense-cpp/realsense_camera/include
)
add_library(depth_completion SHARED src/nodelet.cpp)
set_target_properties(depth_completion PROPERTIES COMPILE_DEFINITIONS "COMPOSITION_BUILDING_DLL")
ament_target_dependencies(depth_completion ${dependencies})
rosidl_target_interfaces(depth_completion ${PROJECT_NAME} "rosidl_typesupport_cpp")
target_link_libraries(depth_completion
${rclcpp_LIBRARIES}
${YAML_CPP_LIBRARIES}
${OpenCV_LIBRARIES}
${cv_bridge_LIBRARIES}
${sensor_msgs_LIBRARIES}
${CUDA_LIBRARIES}
${TensorRT_LIBRARIES}
${NVINFER}
${NVINFER_PLUGIN}
realsense2::realsense2
)
rclcpp_components_register_nodes(depth_completion "depthcompletion::DepthCompletionNodelet")
ament_export_dependencies(${dependencies})
install(TARGETS
depth_completion
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch/)
install(DIRECTORY include/ DESTINATION share/${PROJECT_NAME}/include/)
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_package()