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
|
cmake_minimum_required(VERSION 3.0.2)
project(image_proc)
find_package(catkin REQUIRED)
find_package(catkin REQUIRED cv_bridge dynamic_reconfigure image_geometry image_transport nodelet nodelet_topic_tools roscpp sensor_msgs)
find_package(OpenCV REQUIRED)
find_package(Boost REQUIRED COMPONENTS thread)
# Dynamic reconfigure support
generate_dynamic_reconfigure_options(cfg/CropDecimate.cfg cfg/Debayer.cfg cfg/Rectify.cfg cfg/Resize.cfg)
catkin_package(
CATKIN_DEPENDS image_geometry roscpp sensor_msgs
DEPENDS OpenCV
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
)
include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
# Temporary fix for DataType deprecation in OpenCV 3.3.1. We continue to use the deprecated form for now because
# the new one is not available in OpenCV 2.4 (on Trusty).
add_definitions(-DOPENCV_TRAITS_ENABLE_DEPRECATED)
# Nodelet library
add_library(${PROJECT_NAME} src/libimage_proc/processor.cpp
src/nodelets/debayer.cpp
src/nodelets/rectify.cpp
src/nodelets/resize.cpp
src/nodelets/crop_decimate.cpp
src/libimage_proc/advertisement_checker.cpp
src/nodelets/edge_aware.cpp
src/nodelets/crop_non_zero.cpp
)
set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${image_proc_VERSION} SOVERSION "0d")
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OpenCV_LIBRARIES})
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(FILES nodelet_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
# Standalone node
add_executable(image_proc_exe src/nodes/image_proc.cpp)
target_link_libraries(image_proc_exe ${PROJECT_NAME} ${Boost_LIBRARIES} ${OpenCV_LIBRARIES})
SET_TARGET_PROPERTIES(image_proc_exe PROPERTIES OUTPUT_NAME image_proc)
install(TARGETS image_proc_exe
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# install the launch file
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/
)
if(CATKIN_ENABLE_TESTING)
#add_subdirectory(test)
endif()
|
