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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(industrial_calibration_ros)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(image_transport REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(std_srvs REQUIRED)
find_package(boost_plugin_loader REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(industrial_calibration REQUIRED COMPONENTS core optimizations target_finders_opencv)
# ######################################################################################################################
# Build ##
# ######################################################################################################################
# Target Detector Node
add_executable(${PROJECT_NAME}_target_detector src/target_detector.cpp)
target_link_libraries(
${PROJECT_NAME}_target_detector
yaml-cpp
boost_plugin_loader::boost_plugin_loader
industrial_calibration::industrial_calibration_core
industrial_calibration::industrial_calibration_target_finders_opencv)
ament_target_dependencies(
${PROJECT_NAME}_target_detector
rclcpp
image_transport
sensor_msgs
cv_bridge
std_srvs
cv_bridge)
# PnP Validation node
add_executable(${PROJECT_NAME}_pnp_validation_node src/pnp_validation_node.cpp)
target_link_libraries(
${PROJECT_NAME}_pnp_validation_node
yaml-cpp
boost_plugin_loader::boost_plugin_loader
industrial_calibration::industrial_calibration_optimizations
industrial_calibration::industrial_calibration_target_finders_opencv)
ament_target_dependencies(
${PROJECT_NAME}_pnp_validation_node
rclcpp
image_transport
sensor_msgs
cv_bridge
std_srvs
cv_bridge)
# ######################################################################################################################
# Install ##
# ######################################################################################################################
install(TARGETS ${PROJECT_NAME}_target_detector ${PROJECT_NAME}_pnp_validation_node DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME}/)
install(PROGRAMS scripts/data_collection_node.py scripts/3d_data_collection_node.py scripts/image_trigger.py
DESTINATION lib/${PROJECT_NAME})
ament_package()