CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(perception_2d_to_3d)

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)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(vision_msgs REQUIRED)
find_package(image_transport REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(message_filters REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(image_geometry REQUIRED)
find_package(depth_image_proc REQUIRED)

find_package(OpenCV REQUIRED)

set(dependencies
  rclcpp
  sensor_msgs
  vision_msgs
  image_transport
  cv_bridge
  OpenCV
  message_filters
  pcl_conversions
  pcl_ros
  image_geometry
  depth_image_proc
)

include_directories(include)

add_library(${PROJECT_NAME} SHARED
  src/perception_2d_to_3d/DetectionTo3DfromDepthNode.cpp
)
ament_target_dependencies(${PROJECT_NAME} ${dependencies})

add_executable(detection_2d_to_3d_depth src/detection_2d_to_3d_depth_main.cpp)
ament_target_dependencies(detection_2d_to_3d_depth ${dependencies})
target_link_libraries(detection_2d_to_3d_depth ${PROJECT_NAME})

install(TARGETS
  ${PROJECT_NAME}
  detection_2d_to_3d_depth
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)

  set(ament_cmake_copyright_FOUND TRUE)
  set(ament_cmake_cpplint_FOUND TRUE)

  ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_export_dependencies(${dependencies})
ament_package()