CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(any_spinnaker_camera_driver)

set(CMAKE_CXX_STANDARD 17)
add_compile_options(-Wall -Wextra -Wpedantic)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

find_package(catkin REQUIRED
  COMPONENTS
    camera_info_manager
    diagnostic_aggregator
    diagnostic_msgs
    diagnostic_updater
    dynamic_reconfigure
    image_exposure_msgs
    image_transport
    nodelet
    roscpp
    sensor_msgs
    wfov_camera_msgs
)

find_package(OpenCV REQUIRED)

generate_dynamic_reconfigure_options(
  cfg/Spinnaker.cfg
)

catkin_package(
  INCLUDE_DIRS
    include
  LIBRARIES
    Camera
    SpinnakerCameraLib
    Diagnostics
  CATKIN_DEPENDS
    image_exposure_msgs
    nodelet
    roscpp
    sensor_msgs
    wfov_camera_msgs
  DEPENDS
    OpenCV
)


# If Spinnacker is already present, use the found version. If not, download it.
# We can't resolve this dependency using the usual rosdep means because
# the Point Grey EULA prohibits redistributing the headers or the packages which
# contains them. We work around this by downloading the archive directly from
# their website during this step in the build process.
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
find_package(Spinnaker QUIET)
# if(NOT Spinnaker_FOUND)
#   message(STATUS "libSpinnaker not found in system library path")
#   include(cmake/DownloadSpinnaker.cmake)
#   download_spinnaker(Spinnaker_LIBRARIES Spinnaker_INCLUDE_DIRS)
# endif()

message(STATUS "libSpinnaker library: ${Spinnaker_LIBRARIES}")
message(STATUS "libSpinnaker include: ${Spinnaker_INCLUDE_DIRS}")


include_directories(SYSTEM
                    ${Spinnaker_INCLUDE_DIRS}
                    ${catkin_INCLUDE_DIRS}
                    ${OpenCV_INCLUDE_DIRS})
include_directories(include)

add_library(SpinnakerCameraLib src/SpinnakerCamera.cpp)

# Include the Spinnaker Libs
target_link_libraries(SpinnakerCameraLib
                      Camera
                      Cm3
                      ${Spinnaker_LIBRARIES}
                      ${catkin_LIBRARIES}
                      ${OpenCV_LIBRARIES})


# Test Executable for Spinnaker
add_executable(spinnaker_test_node
              src/spinnaker_test_node.cpp
)

target_link_libraries(spinnaker_test_node
  SpinnakerCameraLib
  ${catkin_LIBRARIES}
)


add_dependencies(SpinnakerCameraLib ${PROJECT_NAME}_gencfg)


add_library(Camera src/camera.cpp)
target_link_libraries(Camera ${catkin_LIBRARIES})
add_dependencies(Camera ${PROJECT_NAME}_gencfg)

add_library(Cm3 src/cm3.cpp)
target_link_libraries(Cm3 Camera ${catkin_LIBRARIES})
add_dependencies(Cm3 ${PROJECT_NAME}_gencfg)

add_library(Diagnostics src/diagnostics.cpp)
target_link_libraries(Diagnostics Camera SpinnakerCameraLib ${catkin_LIBRARIES})
add_dependencies(Diagnostics ${PROJECT_NAME}_gencfg)

add_library(SpinnakerCameraNodelet src/nodelet.cpp)
target_link_libraries(SpinnakerCameraNodelet Diagnostics SpinnakerCameraLib Camera Cm3 ${catkin_LIBRARIES})

add_executable(spinnaker_camera_node src/node.cpp)
target_link_libraries(spinnaker_camera_node SpinnakerCameraLib ${catkin_LIBRARIES})
set_target_properties(spinnaker_camera_node PROPERTIES OUTPUT_NAME camera_node PREFIX "")

install(
  TARGETS
    SpinnakerCameraLib
    SpinnakerCameraNodelet
    Camera
    Cm3
    Diagnostics
    spinnaker_camera_node
    spinnaker_test_node
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

catkin_install_python(
  PROGRAMS
    scripts/thin_lens_equation_plot.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Redistributing the flycapture .so file is permitted by the SDK EULA:
# http://www.ptgrey.com/support/kb/data/PGR-FlyCap-SDK-LA.pdf
# if(EXISTS ${CMAKE_CURRENT_BINARY_DIR}/usr/lib)
#   install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/usr/lib/ DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#            PATTERN libQt* EXCLUDE)
# else()
#   get_filename_component(Spinnaker_LIB_DIR ${Spinnaker_LIBRARIES} DIRECTORY)
#   file(READ ${PROJECT_SOURCE_DIR}/cmake/install_files filenames)
#   foreach(filename ${filenames})
#     install(FILES ${Spinnaker_LIB_DIR}/${filename} DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
#   endforeach()
# endif()

install(
  FILES
   nodelet_plugins.xml
   FLIR_license.txt
 DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

install(
  DIRECTORY
    cfg
    launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(
  DIRECTORY
    include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

if (CATKIN_ENABLE_TESTING)
  find_package(roslaunch REQUIRED)
  roslaunch_add_file_check(launch/camera.launch)

#   find_package(roslint REQUIRED)
#   set(ROSLINT_CPP_OPTS "--filter=-build/c++11")
#   roslint_cpp()
#   roslint_add_test()
endif()

##############
##   Test   ##
##############
if(CATKIN_ENABLE_TESTING)
  find_package(catkin REQUIRED
    COMPONENTS
      camera_info_manager
      diagnostic_aggregator
      diagnostic_msgs
      diagnostic_updater
      dynamic_reconfigure
      image_exposure_msgs
      image_transport
      nodelet
      roscpp
      sensor_msgs
      wfov_camera_msgs
  )

  catkin_add_gtest(test_${PROJECT_NAME}
    test/empty_test.cpp
  )
  target_include_directories(test_${PROJECT_NAME}
    PRIVATE
      include
    SYSTEM PUBLIC
      ${catkin_INCLUDE_DIRS}
  )
  target_link_libraries(test_${PROJECT_NAME}
    gtest_main
    Camera
    SpinnakerCameraLib
    Diagnostics
    ${catkin_LIBRARIES}
  )

  ###################
  ## Code_coverage ##
  ###################
  find_package(cmake_code_coverage QUIET)
  if(cmake_code_coverage_FOUND)
    add_gtest_coverage(
      TEST_BUILD_TARGETS
        test_${PROJECT_NAME}
    )
  endif()
endif()

#################
## Clang_tools ##
#################
find_package(cmake_clang_tools QUIET)
if(cmake_clang_tools_FOUND)
  add_default_clang_tooling(
    DISABLE_CLANG_FORMAT
    DISABLE_CLANG_TIDY
  )
endif(cmake_clang_tools_FOUND)