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Make rct_image_tools a pure CMake package (#45)
* make rct_image_tools a pure cmake package * fix bad export of Eigen3::Eigen target * add Eigen3 CMake target workaround to other RCT packages * fix for missing EIGEN3_INCLUDE_DIRS in older versions of Eigen * use set_property instead of set_target_properties
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,80 +1,62 @@ | ||
| cmake_minimum_required(VERSION 3.5.0) | ||
| project(rct_image_tools) | ||
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| add_compile_options(-std=c++11 -Wall -Wextra) | ||
| project(rct_image_tools VERSION 0.1.0 LANGUAGES CXX) | ||
|
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| find_package(OpenCV REQUIRED) | ||
| find_package(yaml-cpp REQUIRED) | ||
| find_package(rct_common REQUIRED) | ||
| find_package(rct_optimizations REQUIRED) | ||
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| find_package(catkin REQUIRED) | ||
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| find_package(Eigen3 REQUIRED) | ||
| # Eigen 3.2 (Wily) only provides EIGEN3_INCLUDE_DIR, not EIGEN3_INCLUDE_DIRS | ||
| if(NOT EIGEN3_INCLUDE_DIRS) | ||
| set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) | ||
| endif() | ||
| if(NOT TARGET Eigen3::Eigen) | ||
| find_package(Threads REQUIRED) | ||
| add_library(Eigen3::Eigen IMPORTED INTERFACE) | ||
| set_property(TARGET Eigen3::Eigen PROPERTY INTERFACE_COMPILE_DEFINITIONS ${EIGEN3_DEFINITIONS}) | ||
| set_property(TARGET Eigen3::Eigen PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${EIGEN3_INCLUDE_DIRS}) | ||
| endif() | ||
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||
| catkin_package( | ||
| INCLUDE_DIRS | ||
| include | ||
| LIBRARIES | ||
| ${PROJECT_NAME} | ||
| yaml-cpp | ||
| DEPENDS | ||
| OpenCV | ||
| Eigen3 | ||
| ) | ||
|
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| ########### | ||
| ## Build ## | ||
| ########### | ||
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| include_directories( | ||
| include | ||
| ${catkin_INCLUDE_DIRS} | ||
| ${EIGEN3_INCLUDE_DIRS} | ||
| ) | ||
|
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| # Declare a C++ library | ||
| add_library(${PROJECT_NAME} | ||
| add_library(${PROJECT_NAME} SHARED | ||
| src/${PROJECT_NAME}/image_observation_finder.cpp | ||
| src/${PROJECT_NAME}/aruco_finder.cpp | ||
| src/${PROJECT_NAME}/circle_detector.cpp | ||
| src/${PROJECT_NAME}/modified_circle_grid_target.cpp | ||
| ) | ||
|
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| add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
|
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| target_link_libraries(${PROJECT_NAME} | ||
| ${catkin_LIBRARIES} | ||
| ${OpenCV_LIBRARIES} | ||
| target_compile_options(${PROJECT_NAME} PUBLIC -std=c++11) | ||
| target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra) | ||
| target_include_directories(${PROJECT_NAME} PUBLIC | ||
| "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>" | ||
| "$<INSTALL_INTERFACE:include>") | ||
| target_link_libraries(${PROJECT_NAME} PUBLIC | ||
| opencv_core | ||
| opencv_aruco | ||
| opencv_features2d | ||
| opencv_imgproc | ||
| opencv_highgui | ||
| yaml-cpp | ||
| Eigen3::Eigen | ||
| rct::rct_optimizations | ||
| ) | ||
|
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||
| add_executable(${PROJECT_NAME}_test | ||
| src/observation_finder_tests.cpp | ||
| ) | ||
|
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| add_dependencies(${PROJECT_NAME}_test ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
| if(RCT_BUILD_TESTS) | ||
| add_executable(${PROJECT_NAME}_test | ||
| src/observation_finder_tests.cpp | ||
| ) | ||
|
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||
| target_link_libraries(${PROJECT_NAME}_test | ||
| ${catkin_LIBRARIES} | ||
| ${PROJECT_NAME} | ||
| rct::rct_optimizations | ||
| ) | ||
|
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||
| ############# | ||
| ## Install ## | ||
| ############# | ||
| target_compile_options(${PROJECT_NAME}_test PUBLIC -std=c++11) | ||
| target_compile_options(${PROJECT_NAME}_test PRIVATE -Wall -Wextra) | ||
| target_include_directories(${PROJECT_NAME}_test PUBLIC | ||
| "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>" | ||
| "$<INSTALL_INTERFACE:include>") | ||
| target_link_libraries(${PROJECT_NAME}_test | ||
| ${PROJECT_NAME} | ||
| rct::rct_optimizations | ||
| ) | ||
| endif() | ||
|
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| install(TARGETS ${PROJECT_NAME} | ||
| ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| ) | ||
| rct_configure_package(${PROJECT_NAME}) | ||
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| install(DIRECTORY include/${PROJECT_NAME}/ | ||
| DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
| FILES_MATCHING PATTERN "*.h" | ||
| install(DIRECTORY include/${PROJECT_NAME} | ||
| DESTINATION include | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| @PACKAGE_INIT@ | ||
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| set(@PROJECT_NAME@_FOUND ON) | ||
| set_and_check(@PROJECT_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/include") | ||
| set_and_check(@PROJECT_NAME@_LIBRARY_DIRS "${PACKAGE_PREFIX_DIR}/lib") | ||
|
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| include(CMakeFindDependencyMacro) | ||
| find_dependency(Eigen3) | ||
| find_dependency(OpenCV) | ||
| find_dependency(yaml-cpp) | ||
|
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| include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake") |
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