CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(bb_utils)

# 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)
find_package(rclcpp REQUIRED)
find_package(OpenCV REQUIRED)

find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(derived_object_msgs REQUIRED)
find_package(vision_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(rosgraph_msgs REQUIRED)

find_package(bb_interfaces REQUIRED) 

find_package(message_filters REQUIRED)
find_package(rosbag2_cpp REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(image_geometry REQUIRED)

# Add to run launch files
install(DIRECTORY
  config
  launch
  DESTINATION share/${PROJECT_NAME}
)

# Add to include header files
include_directories(include)

# %%%%%%%%%%%%%%%%%%%%%%% TO USE IMGUI

find_package(Vulkan REQUIRED)

# GLFW
set(GLFW_DIR /opt/opengl/glfw-3.3.8) # -----> Set this to point to an up-to-date GLFW repo

option(GLFW_BUILD_EXAMPLES "Build the GLFW example programs" OFF)
option(GLFW_BUILD_TESTS "Build the GLFW test programs" OFF)
option(GLFW_BUILD_DOCS "Build the GLFW documentation" OFF)
option(GLFW_INSTALL "Generate installation target" OFF)
option(GLFW_DOCUMENT_INTERNALS "Include internals in documentation" OFF)
add_subdirectory(${GLFW_DIR} binary_dir EXCLUDE_FROM_ALL)
include_directories(${GLFW_DIR}/include)

# Dear ImGui
set(IMGUI_DIR /opt/imgui/)    # -------> Set this to point to an up-to-date Dear ImGui repo
# ImPlot
set(IMPLOT_DIR /opt/implot/)  # -------> Set this to point to an up-to-date ImPlot repo

include_directories(${IMGUI_DIR} ${IMPLOT_DIR} ${IMGUI_DIR}/backends ..)

file(GLOB imgui_files
    ${IMGUI_DIR}/backends/imgui_impl_glfw.cpp 
    ${IMGUI_DIR}/backends/imgui_impl_vulkan.cpp 
    ${IMGUI_DIR}/imgui.cpp 
    ${IMGUI_DIR}/imgui_draw.cpp 
    ${IMGUI_DIR}/imgui_demo.cpp 
    ${IMGUI_DIR}/imgui_tables.cpp 
    ${IMGUI_DIR}/imgui_widgets.cpp
)

file(GLOB implot_files
    ${IMPLOT_DIR}/implot.cpp
    ${IMPLOT_DIR}/implot_items.cpp
    ${IMPLOT_DIR}/implot_demo.cpp
)

# ImGui_f
include_directories(/opt/ImGui-f/src)   # -------> Set this to point to an up-to-date ImGui-f repo

# Libraries
set(LIBRARIES "glfw;Vulkan::Vulkan")

# Use vulkan headers from glfw:
include_directories(${GLFW_DIR}/deps)


# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# EXECUTABLES
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# %%%%%%% VISUALIZER %%%%%%%%%%%
add_executable(bb_visualizer 
  src/bb_visualizer.cpp 
  ${imgui_files} # added imgui files
  ${implot_files} # added implot files
  )  
ament_target_dependencies(bb_visualizer 
  rclcpp
  std_msgs
  geometry_msgs
  visualization_msgs
  tf2_geometry_msgs
  bb_interfaces
  )
# Added for ImGui
target_link_libraries(bb_visualizer
  ${LIBRARIES}
)

# %%%%%%%%% BAG CONVERTER %%%%%%%%%
add_executable(rewrite_bag_timestamps src/rewrite_bag_timestamps.cpp)
ament_target_dependencies(rewrite_bag_timestamps 
  rosbag2_cpp 
  rclcpp
  sensor_msgs
  vision_msgs
  rosgraph_msgs
  tf2_msgs
  derived_object_msgs
  visualization_msgs
  )
# ------------------

# %%%%%%%%% BB_BENCHMARK %%%%%%%%%%%
add_executable(bb_benchmark 
  src/bb_benchmark.cpp
  src/lapjv.cpp
  )
ament_target_dependencies(bb_benchmark
  rclcpp
  tf2_ros
  tf2_geometry_msgs
  vision_msgs
  visualization_msgs
  OpenCV
  image_geometry
  bb_interfaces
  )
# -----------


install(TARGETS 
  bb_visualizer
  rewrite_bag_timestamps
  bb_benchmark
  DESTINATION lib/${PROJECT_NAME})



if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()