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allow use as component or node #858

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merged 1 commit into from
Jan 19, 2024
Merged

allow use as component or node #858

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51 changes: 40 additions & 11 deletions depth_image_proc/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -36,17 +36,46 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
src/register.cpp
)

rclcpp_components_register_nodes(${PROJECT_NAME}
"${PROJECT_NAME}::ConvertMetricNode"
"${PROJECT_NAME}::CropForemostNode"
"${PROJECT_NAME}::DisparityNode"
"${PROJECT_NAME}::PointCloudXyzNode"
"${PROJECT_NAME}::PointCloudXyzRadialNode"
"${PROJECT_NAME}::PointCloudXyziNode"
"${PROJECT_NAME}::PointCloudXyziRadialNode"
"${PROJECT_NAME}::PointCloudXyzrgbNode"
"${PROJECT_NAME}::PointCloudXyzrgbRadialNode"
"${PROJECT_NAME}::RegisterNode"
# Register individual components and also build standalone nodes for each
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "depth_image_proc::ConvertMetricNode"
EXECUTABLE convert_metric_node
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "depth_image_proc::CropForemostNode"
EXECUTABLE crop_foremost_node
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "depth_image_proc::DisparityNode"
EXECUTABLE disparity_node
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "depth_image_proc::PointCloudXyzNode"
EXECUTABLE point_cloud_xyz_node
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "depth_image_proc::PointCloudXyzrgbNode"
EXECUTABLE point_cloud_xyzrgb_node
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "depth_image_proc::PointCloudXyziNode"
EXECUTABLE point_cloud_xyzi_node
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "depth_image_proc::PointCloudXyzRadialNode"
EXECUTABLE point_cloud_xyz_radial_node
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "depth_image_proc::PointCloudXyziRadialNode"
EXECUTABLE point_cloud_xyzi_radial_node
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "depth_image_proc::PointCloudXyziRadialNode"
EXECUTABLE point_cloud_xyzrgb_radial_node
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "depth_image_proc::RegisterNode"
EXECUTABLE register_node
)

target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
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40 changes: 25 additions & 15 deletions image_proc/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -26,55 +26,65 @@ target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBRARIES}
)

# rectify library
# rectify component and node
ament_auto_add_library(rectify SHARED
src/rectify.cpp)
target_compile_definitions(rectify
PRIVATE "COMPOSITION_BUILDING_DLL"
)
rclcpp_components_register_nodes(rectify "image_proc::RectifyNode")
set(node_plugins "${node_plugins}image_proc::RectifyNode;$<TARGET_FILE:rectify>\n")
rclcpp_components_register_node(rectify
PLUGIN "image_proc::RectifyNode"
EXECUTABLE rectify_node
)

# debayer library
# debayer component and node
ament_auto_add_library(debayer SHARED
src/debayer.cpp
src/edge_aware.cpp
)
target_compile_definitions(debayer
PRIVATE "COMPOSITION_BUILDING_DLL"
)
rclcpp_components_register_nodes(debayer "image_proc::DebayerNode")
set(node_plugins "${node_plugins}image_proc::DebayerNode;$<TARGET_FILE:debayer>\n")
rclcpp_components_register_node(debayer
PLUGIN "image_proc::DebayerNode"
EXECUTABLE debayer_node
)

# resize library
# resize component and node
ament_auto_add_library(resize SHARED
src/resize.cpp
)
target_compile_definitions(resize
PRIVATE "COMPOSITION_BUILDING_DLL"
)
rclcpp_components_register_nodes(resize "image_proc::ResizeNode")
set(node_plugins "${node_plugins}image_proc::ResizeNode;$<TARGET_FILE:resize>\n")
rclcpp_components_register_node(resize
PLUGIN "image_proc::ResizeNode"
EXECUTABLE resize_node
)

# crop_decimate library
# crop_decimate component and node
ament_auto_add_library(crop_decimate SHARED
src/crop_decimate.cpp
)
target_compile_definitions(crop_decimate
PRIVATE "COMPOSITION_BUILDING_DLL"
)
rclcpp_components_register_nodes(crop_decimate "image_proc::CropDecimateNode")
set(node_plugins "${node_plugins}image_proc::CropDecimateNode;$<TARGET_FILE:crop_decimate>\n")
rclcpp_components_register_node(crop_decimate
PLUGIN "image_proc::CropDecimateNode"
EXECUTABLE crop_decimate_node
)

# crop_non_zero library
# crop_non_zero component and node
ament_auto_add_library(crop_non_zero SHARED
src/crop_non_zero.cpp
)
target_compile_definitions(crop_non_zero
PRIVATE "COMPOSITION_BUILDING_DLL"
)
rclcpp_components_register_nodes(crop_non_zero "image_proc::CropNonZeroNode")
set(node_plugins "${node_plugins}image_proc::CropNonZeroNode;$<TARGET_FILE:crop_non_zero>\n")
rclcpp_components_register_node(crop_non_zero
PLUGIN "image_proc::CropNonZeroNode"
EXECUTABLE crop_non_zero_node
)

# image_proc example node
ament_auto_add_executable(image_proc_exe
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1 change: 1 addition & 0 deletions stereo_image_proc/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@ target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBRARIES}
)

# Register individual components and also build standalone nodes for each
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "stereo_image_proc::DisparityNode"
EXECUTABLE disparity_node
Expand Down
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