Revert "More alot (#419)"

This reverts commit 9ea8908.

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
(cherry picked from commit 1a78fcb)

cv_bridge/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.14)
+cmake_minimum_required(VERSION 3.5)
 project(cv_bridge)
 
 find_package(ament_cmake_ros REQUIRED)
@@ -33,7 +33,7 @@ if(NOT ANDROID)
     endif()
   endif()
 else()
-  find_package(Boost REQUIRED COMPONENTS python)
+  find_package(Boost REQUIRED)
 endif()
 
 find_package(rcpputils REQUIRED)
@@ -79,10 +79,14 @@ ament_export_dependencies(
   sensor_msgs
 )
 
-ament_export_targets(export_${PROJECT_NAME})
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
 
 # install the include folder
-install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+)
 
 install(TARGETS ${PROJECT_NAME}
         RUNTIME DESTINATION bin

cv_bridge/src/CMakeLists.txt

@@ -2,46 +2,74 @@
 add_library(${PROJECT_NAME} cv_bridge.cpp rgb_colors.cpp)
 include(GenerateExportHeader)
 generate_export_header(${PROJECT_NAME} EXPORT_FILE_NAME ${PROJECT_NAME}/${PROJECT_NAME}_export.h)
-target_include_directories(${PROJECT_NAME} PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>"
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-target_link_libraries(${PROJECT_NAME} PUBLIC
-  ${sensor_msgs_TARGETS}
-  opencv_core
-  opencv_imgproc
-  opencv_imgcodecs)
-target_link_libraries(${PROJECT_NAME} PRIVATE
-  Boost::headers
-  rcpputils::rcpputils)
-
-install(TARGETS ${PROJECT_NAME} EXPORT export_${PROJECT_NAME}
+target_include_directories(${PROJECT_NAME}
+  PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
+  ${PROJECT_SOURCE_DIR}/include
+  ${Boost_INCLUDE_DIRS})
+ament_target_dependencies(${PROJECT_NAME}
+  "OpenCV"
+  "sensor_msgs"
+)
+target_link_libraries(${PROJECT_NAME} ${PYTHON_LIBRARIES} ${Boost_LIBRARIES} ${OpenCV_LIBRARIES} rcpputils::rcpputils)
+
+install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
 install(FILES
   ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/${PROJECT_NAME}_export.h
-  DESTINATION include/${PROJECT_NAME}/${PROJECT_NAME})
+  DESTINATION include/${PROJECT_NAME})
 
 if(NOT ANDROID)
-  find_package(Python3 REQUIRED COMPONENTS Development NumPy)
+# add a Boost Python library
+find_package(PythonInterp REQUIRED)
+find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
 
-  Python3_add_library(${PROJECT_NAME}_boost MODULE module.cpp module_opencv3.cpp)
-  target_link_libraries(${PROJECT_NAME}_boost PRIVATE
-    ${PROJECT_NAME}
-    Boost::python
-    Python3::NumPy)
-  target_compile_definitions(${PROJECT_NAME}_boost PRIVATE PYTHON3)
+# Get the numpy include directory from its python module
+if(NOT PYTHON_NUMPY_INCLUDE_DIR)
+  execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import numpy; print(numpy.get_include())"
+    RESULT_VARIABLE PYTHON_NUMPY_PROCESS
+    OUTPUT_VARIABLE PYTHON_NUMPY_INCLUDE_DIR
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
 
-  if(OpenCV_VERSION_MAJOR VERSION_EQUAL 4)
-    target_compile_definitions(${PROJECT_NAME}_boost PRIVATE OPENCV_VERSION_4)
+  if(PYTHON_NUMPY_PROCESS EQUAL 0)
+    file(TO_CMAKE_PATH "${PYTHON_NUMPY_INCLUDE_DIR}" PYTHON_NUMPY_INCLUDE_CMAKE_PATH)
+    set(PYTHON_NUMPY_INCLUDE_DIR ${PYTHON_NUMPY_INCLUDE_CMAKE_PATH} CACHE PATH "Numpy include directory")
+  else()
+    message(SEND_ERROR "Could not determine the NumPy include directory, verify that NumPy was installed correctly.")
   endif()
+endif()
+
+include_directories(${PYTHON_INCLUDE_PATH} ${PYTHON_NUMPY_INCLUDE_DIR})
+
+if(PYTHON_VERSION_MAJOR VERSION_EQUAL 3)
+  add_definitions(-DPYTHON3)
+endif()
+
+if(OpenCV_VERSION_MAJOR VERSION_EQUAL 4)
+  add_definitions(-DOPENCV_VERSION_4)
+endif()
+
+if(OpenCV_VERSION_MAJOR VERSION_LESS 3)
+  add_library(${PROJECT_NAME}_boost module.cpp module_opencv2.cpp)
+else()
+  add_library(${PROJECT_NAME}_boost module.cpp module_opencv3.cpp)
+endif()
+target_link_libraries(${PROJECT_NAME}_boost
+  ${PYTHON_LIBRARIES}
+  ${PROJECT_NAME}
+)
 
+set_target_properties(${PROJECT_NAME}_boost PROPERTIES
+                      LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/boost/
+                      PREFIX ""
+)
+if(APPLE)
   set_target_properties(${PROJECT_NAME}_boost PROPERTIES
-                        LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/boost/
-                        PREFIX ""
-  )
-  install(TARGETS ${PROJECT_NAME}_boost DESTINATION ${PYTHON_INSTALL_DIR}/${PROJECT_NAME}/boost/)
+                        SUFFIX ".so")
+endif()
+
+install(TARGETS ${PROJECT_NAME}_boost DESTINATION ${PYTHON_INSTALL_DIR}/${PROJECT_NAME}/boost/)
 endif()

cv_bridge/test/CMakeLists.txt

@@ -21,10 +21,8 @@ ament_add_gtest(${PROJECT_NAME}-utest
   APPEND_LIBRARY_DIRS "${cv_bridge_lib_dir}")
 target_link_libraries(${PROJECT_NAME}-utest
   ${PROJECT_NAME}
-  Boost::headers
-  opencv_core
-  opencv_imgcodecs
-  ${sensor_msgs_TARGETS})
+  ${OpenCV_LIBRARIES}
+)
 
 # enable cv_bridge python tests
 find_package(ament_cmake_pytest REQUIRED)

image_geometry/CMakeLists.txt

@@ -18,40 +18,47 @@ endif()
 find_package(OpenCV REQUIRED COMPONENTS calib3d core highgui imgproc)
 find_package(sensor_msgs REQUIRED)
 
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+# add a library
 add_library(${PROJECT_NAME}
-  src/pinhole_camera_model.cpp
-  src/stereo_camera_model.cpp
+  src/pinhole_camera_model.cpp src/stereo_camera_model.cpp
+)
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
+ament_target_dependencies(
+  ${PROJECT_NAME}
+  OpenCV
+  sensor_msgs
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION include/${PROJECT_NAME}
 )
-target_include_directories(${PROJECT_NAME} PUBLIC
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-target_link_libraries(${PROJECT_NAME} PUBLIC
-  opencv_calib3d
-  opencv_core
-  opencv_highgui
-  opencv_imgproc
-  ${sensor_msgs_TARGETS})
-
-install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME} PRIVATE "IMAGE_GEOMETRY_BUILDING_DLL")
 
-install(TARGETS ${PROJECT_NAME} EXPORT export_${PROJECT_NAME}
+install(TARGETS ${PROJECT_NAME}
         RUNTIME DESTINATION bin
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib
 )
 
+# image_geometry_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
+# the project library that they link against is on the library path.
+# This is especially important on Windows.
+# This is overwritten each loop, but which one it points to doesn't really matter.
+set(image_geometry_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
+
+# add tests
 if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
-  ament_add_gtest(${PROJECT_NAME}-utest test/utest.cpp)
-  target_link_libraries(${PROJECT_NAME}-utest ${PROJECT_NAME})
+  add_subdirectory(test)
 endif()
 
-ament_export_targets(export_${PROJECT_NAME})
+ament_export_libraries(${PROJECT_NAME})
 ament_export_dependencies(OpenCV)
-ament_export_dependencies(sensor_msgs)
-
+ament_export_include_directories(include)
 ament_package()

image_geometry/test/CMakeLists.txt

@@ -4,8 +4,8 @@ find_package(ament_cmake_gtest REQUIRED)
 
 # ament_add_pytest_test(directed.py "directed.py")
 
-ament_add_gtest(${PROJECT_NAME}-utest utest.cpp)
-target_link_libraries(${PROJECT_NAME}-utest ${PROJECT_NAME})
+ament_add_gtest(${PROJECT_NAME}-utest utest.cpp APPEND_LIBRARY_DIRS "${image_geometry_lib_dir}")
+target_link_libraries(${PROJECT_NAME}-utest ${PROJECT_NAME} ${OpenCV_LIBS})
 
-ament_add_gtest(${PROJECT_NAME}-utest-equi utest_equi.cpp)
-target_link_libraries(${PROJECT_NAME}-utest-equi ${PROJECT_NAME})
+ament_add_gtest(${PROJECT_NAME}-utest-equi utest_equi.cpp APPEND_LIBRARY_DIRS "${image_geometry_lib_dir}")
+target_link_libraries(${PROJECT_NAME}-utest-equi ${PROJECT_NAME} ${OpenCV_LIBS})