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CMakeLists.txt
executable file
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(hobot_image_publisher)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(hbm_img_msgs REQUIRED)
find_package(img_msgs REQUIRED)
set(FFMPEG_LIBRARIES avformat avutil avcodec)
if(PLATFORM_X3)
message("build platform X3")
set(SYS_ROOT ${CMAKE_SYSROOT})
message("SYS_ROOT is " ${SYS_ROOT})
include_directories(
${SYS_ROOT}/usr/include/opencv/
)
link_directories(
${SYS_ROOT}/usr/lib/hbbpu/
${SYS_ROOT}/usr/lib/
)
set(SYS_LIB hbmem opencv_world ${FFMPEG_LIBRARIES})
elseif(PLATFORM_Rdkultra)
message("build platform Rdkultra")
set(SYS_ROOT ${CMAKE_SYSROOT})
message("SYS_ROOT is " ${SYS_ROOT})
include_directories(
${SYS_ROOT}/usr/include/opencv/
)
link_directories(
${SYS_ROOT}/usr/lib/hbbpu/
${SYS_ROOT}/usr/lib/
)
set(SYS_LIB hbmem opencv_world ${FFMPEG_LIBRARIES})
elseif(PLATFORM_X86)
message("build platform X86")
find_package(OpenCV 4 REQUIRED)
include_directories(
/usr/include/
/usr/include/opencv4
)
link_directories(
/lib/
)
set(SYS_LIB ${OpenCV_LIBS} ${FFMPEG_LIBRARIES})
elseif(PLATFORM_X5)
message("build platform X5")
set(SYS_ROOT ${CMAKE_SYSROOT})
message("SYS_ROOT is " ${SYS_ROOT})
include_directories(
${SYS_ROOT}/usr/include/opencv/
)
link_directories(
${SYS_ROOT}/usr/lib/hbbpu/
${SYS_ROOT}/usr/lib/
)
set(SYS_LIB opencv_world ${FFMPEG_LIBRARIES})
else()
message("invalid platform, build platform X3 default")
set(SYS_ROOT ${CMAKE_SYSROOT})
message("SYS_ROOT is " ${SYS_ROOT})
include_directories(
${SYS_ROOT}/usr/include/opencv/
)
link_directories(
${SYS_ROOT}/usr/lib/hbbpu/
${SYS_ROOT}/usr/lib/
)
set(SYS_LIB hbmem opencv_world ${FFMPEG_LIBRARIES})
set(PLATFORM_X3 ON)
endif()
add_executable(hobot_image_pub
src/main.cpp
src/image_pub_node.cpp
)
ament_target_dependencies(
hobot_image_pub
rclcpp
sensor_msgs
hbm_img_msgs
img_msgs
)
target_link_libraries(hobot_image_pub ${SYS_LIB})
include_directories(include
${PROJECT_SOURCE_DIR}
)
# Install executables
install(
TARGETS hobot_image_pub
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY
${PROJECT_SOURCE_DIR}/config/
DESTINATION lib/${PROJECT_NAME}/config/
)
install(DIRECTORY
${PROJECT_SOURCE_DIR}/launch/
DESTINATION share/${PROJECT_NAME}/launch)
ament_package()