CMakeLists.txt

# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
# Copyright (c) 2021-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0

cmake_minimum_required(VERSION 3.5)
project(nvblox_rviz_plugin)

# Default to C++14 or we get hella warnings.
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
  set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic -O3)
endif()

# Default to release build
if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
endif()
message( STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}" )


## This setting causes Qt's "MOC" generation to happen automatically.
set(CMAKE_AUTOMOC ON)

find_package(catkin REQUIRED COMPONENTS
  rviz
  pluginlib
  nvblox_msgs
  std_msgs
  geometry_msgs
)

# QT5
find_package(Qt5 COMPONENTS Widgets REQUIRED)

catkin_package(
  INCLUDE_DIRS
    include
  LIBRARIES
    ${PROJECT_NAME}
    Qt5::Widgets
  CATKIN_DEPENDS
    rviz
    pluginlib
    nvblox_msgs
    std_msgs
    geometry_msgs
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${QT_INCLUDE_DIRS}
  ${CMAKE_CURRENT_BINARY_DIR}
  )

#############
# LIBRARIES #
#############
add_library(${PROJECT_NAME} SHARED
  include/nvblox_rviz_plugin/nvblox_hash_utils.h
  include/nvblox_rviz_plugin/nvblox_mesh_display.h
  include/nvblox_rviz_plugin/nvblox_mesh_visual.h
  src/nvblox_mesh_display.cpp
  src/nvblox_mesh_visual.cpp
)

add_dependencies(${PROJECT_NAME}
  ${catkin_EXPORTED_TARGETS}
)

target_include_directories(${PROJECT_NAME} PUBLIC
  ${catkin_INCLUDE_DIRS}
)

target_link_libraries(${PROJECT_NAME} PUBLIC
  Qt5::Widgets
  ${catkin_LIBRARIES}
)
##########
# EXPORT #
##########
# prevent pluginlib from using boost
target_compile_definitions(${PROJECT_NAME}  PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")

install(
  FILES plugins_description.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(
  DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/icons"
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

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

install(
  TARGETS ${PROJECT_NAME}
  EXPORT ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  INCLUDES DESTINATION include/${PROJECT_NAME}/
)