cmake_minimum_required(VERSION 3.8)
project(toid_vision)

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

find_package(ament_cmake REQUIRED)

set(PACKAGE_DEPS
  rclcpp
  sensor_msgs
  message_filters
  cv_bridge
  OpenCV
  rclcpp_components
  tf2
  tf2_ros
  tf2_geometry_msgs
)

foreach(PACKAGE ${PACKAGE_DEPS})
  find_package(${PACKAGE} REQUIRED)
endforeach()

find_package(OpenCV 4 REQUIRED 
  COMPONENTS 
    opencv_core 
    opencv_aruco
    opencv_imgproc 
    opencv_imgcodecs
)


set(SOURCES
    src/toid_vision.cpp
    src/vision.cpp
)

set(SOURCES_COMPOSABLE
    src/toid_vision.cpp
)

add_executable(toid_vision ${SOURCES})

target_include_directories(
  toid_vision
  PRIVATE
  include
)

ament_target_dependencies(toid_vision ${PACKAGE_DEPS})

install(TARGETS toid_vision DESTINATION lib/${PROJECT_NAME})

# TOID_VISION COMPOSABLE NODE

add_library(toid_vision_component SHARED ${SOURCES_COMPOSABLE})

rclcpp_components_register_node(
    toid_vision_component
    PLUGIN "toid::NutDetector"
    EXECUTABLE nut_detector 
)

target_include_directories(
  toid_vision_component
  PRIVATE
  include
)

ament_target_dependencies(toid_vision_component ${PACKAGE_DEPS})

ament_export_targets(export_toid_vision_component)
install(TARGETS toid_vision_component
        EXPORT export_toid_vision_component
        ARCHIVE DESTINATION lib
        LIBRARY DESTINATION lib
        RUNTIME DESTINATION bin
)

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

target_compile_features(
  toid_vision PUBLIC
  c_std_99
  cxx_std_17
)


ament_package()