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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(astra_camera)
find_package(catkin REQUIRED actionlib camera_control_msgs camera_info_manager diagnostic_updater dynamic_reconfigure image_transport nodelet sensor_msgs roscpp message_generation)
find_package(Boost REQUIRED COMPONENTS system thread)
find_package(libuvc REQUIRED)
#MACHINE = $(shell uname -m)
execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES )
execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT )
MESSAGE(STATUS "ORRBEC Machine : ${MACHINES}")
MESSAGE(STATUS "ORRBEC Machine Bits : ${MACHINES_BIT}")
IF ( (${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64") )
set(HOST_PLATFORM "x64")
# for schroot enviroment
#ELSEIF ( (${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "32") )
# set(HOST_PLATFORM "x86")
#ELSEIF ( ${MACHINES} MATCHES "x86" )
#ELSEIF ( ${MACHINES} MATCHES "x86" )
# set(HOST_PLATFORM "x86")
#ELSEIF ( ${MACHINES} MATCHES "i686" )
# set(HOST_PLATFORM "x86")
#ELSEIF ( ${MACHINES} MATCHES "i386" )
# set(HOST_PLATFORM "x86")
ELSEIF ( ${MACHINES} MATCHES "arm" )
set(HOST_PLATFORM "arm")
ELSEIF ( (${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "64") )
set(HOST_PLATFORM "arm64")
ELSEIF ( (${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "32") )
set(HOST_PLATFORM "arm")
ENDIF ()
message(STATUS "ORRBEC : ${HOST_PLATFORM}")
message(STATUS "libuvc ${libuvc_VERSION_MAJOR}.${libuvc_VERSION_MINOR}.${libuvc_VERSION_PATCH}")
generate_dynamic_reconfigure_options(cfg/Astra.cfg cfg/UVCCamera.cfg)
add_service_files(
FILES
GetSerial.srv
GetDeviceType.srv
GetIRGain.srv
GetCameraInfo.srv
GetUVCExposure.srv
GetIRExposure.srv
GetUVCGain.srv
GetUVCWhiteBalance.srv
SetUVCWhiteBalance.srv
SetUVCGain.srv
SetIRExposure.srv
SetIRGain.srv
SetIRFlood.srv
SetLaser.srv
SetLDP.srv
SetFan.srv
SetUVCExposure.srv
ResetIRGain.srv
ResetIRExposure.srv
SwitchIRCamera.srv
SetDistortioncal.srv
SetAeEnable.srv
GetVersion.srv
SetAutoExposure.srv
SetAutoWhiteBalance.srv
SetMirror.srv
)
generate_messages(
DEPENDENCIES
std_msgs sensor_msgs
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES astra_wrapper
CATKIN_DEPENDS camera_info_manager actionlib camera_control_msgs diagnostic_updater dynamic_reconfigure image_transport nodelet sensor_msgs roscpp message_runtime
#DEPENDS libastra
)
add_definitions(-Dlibuvc_VERSION_MAJOR=${libuvc_VERSION_MAJOR})
add_definitions(-Dlibuvc_VERSION_MINOR=${libuvc_VERSION_MINOR})
add_definitions(-Dlibuvc_VERSION_PATCH=${libuvc_VERSION_PATCH})
set(ORBBEC_OPENNI2_REDIST "${CMAKE_CURRENT_SOURCE_DIR}/include/openni2_redist/${HOST_PLATFORM}")
link_directories(${ORBBEC_OPENNI2_REDIST}
${catkin_LINK_DIRS}
)
#MESSAGE(STATUS "ORRBEC : ${ORBBEC_OPENNI2_REDIST}")
include_directories(include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}/include/openni2
${libuvc_INCLUDE_DIRS}
)
add_library(astra_wrapper
src/astra_convert.cpp
src/astra_device.cpp
src/astra_device_info.cpp
src/astra_timer_filter.cpp
src/astra_frame_listener.cpp
src/astra_device_manager.cpp
src/astra_exception.cpp
src/astra_video_mode.cpp
src/astra_device_type.cpp
)
target_link_libraries(astra_wrapper ${catkin_LIBRARIES} -lOpenNI2 -L${ORBBEC_OPENNI2_REDIST}
${Boost_LIBRARIES} )
add_dependencies(astra_wrapper ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
add_library(astra_driver_lib
src/astra_driver.cpp
src/astra_device_type.cpp
)
target_link_libraries(astra_driver_lib astra_wrapper ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_dependencies(astra_driver_lib ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
add_library(astra_camera_nodelet
ros/astra_camera_nodelet.cpp
)
target_link_libraries(astra_camera_nodelet astra_driver_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_dependencies(astra_camera_nodelet ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
add_executable(astra_camera_node
ros/astra_camera_node.cpp
)
target_link_libraries(astra_camera_node astra_driver_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_dependencies(astra_camera_node ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
add_executable(astra_list_devices
src/list_devices.cpp
)
target_link_libraries(astra_list_devices astra_wrapper)
add_executable(astra_test_wrapper test/test_wrapper.cpp )
target_link_libraries(astra_test_wrapper astra_wrapper ${Boost_LIBRARIES})
add_executable(action_image_client test/action_image_client.cpp)
target_link_libraries(action_image_client ${catkin_LIBRARIES} ${Boost_LIBRARIES})
if (UNIX AND NOT APPLE)
add_executable(astra_usb_reset src/usb_reset.c)
set(ADDITIONAL_EXECUTABLES "astra_usb_reset")
endif()
add_executable(camera_node src/libuvc_camera/main.cpp
src/libuvc_camera/camera_driver.cpp
src/astra_device_type.cpp)
target_link_libraries(camera_node ${libuvc_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
add_dependencies(camera_node ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
add_library(libuvc_camera_nodelet src/libuvc_camera/nodelet.cpp
src/libuvc_camera/camera_driver.cpp
src/astra_device_type.cpp)
target_link_libraries(libuvc_camera_nodelet ${libuvc_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
add_dependencies(libuvc_camera_nodelet ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
install(TARGETS astra_wrapper action_image_client astra_camera_nodelet astra_camera_node astra_list_devices astra_driver_lib ${ADDITIONAL_EXECUTABLES}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(FILES include/openni2_redist/${HOST_PLATFORM}/libOpenNI2.so
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/
)
install(DIRECTORY include/openni2_redist/${HOST_PLATFORM}/OpenNI2
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
# add xml file
install(FILES astra_nodelets.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(FILES 56-orbbec-usb.rules
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/${PROJECT_NAME}
)
install(DIRECTORY scripts
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/${PROJECT_NAME}
)
install(FILES 56-orbbec-usb.rules
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY launch scripts
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(TARGETS camera_node libuvc_camera_nodelet
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)