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
  
  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
)

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})

target_compile_features(
  toid_vision PUBLIC
  c_std_99
  cxx_std_17
)


ament_package()