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CMakeLists.txt
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set (sources
Manager.cc
Sensor.cc
Noise.cc
GaussianNoiseModel.cc
PointCloudUtil.cc
SensorFactory.cc
SensorTypes.cc
Util.cc
)
set(rendering_sources
RenderingSensor.cc
RenderingEvents.cc
ImageGaussianNoiseModel.cc
ImageNoise.cc
)
set (gtest_sources
Manager_TEST.cc
Noise_TEST.cc
Sensor_TEST.cc
Util_TEST.cc
)
if (MSVC)
# TODO(louise) Remove this once warnings are suppressed in ign-rendering
set_source_files_properties(
${rendering_sources}
COMPILE_FLAGS "/wd4251"
)
endif()
# Create the library target.
ign_create_core_library(SOURCES ${sources} CXX_STANDARD 14)
target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
PUBLIC
ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER}
ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
sdformat${SDF_VER}::sdformat${SDF_VER}
PRIVATE
ignition-common${IGN_COMMON_VER}::profiler
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
)
target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC DepthPoints_EXPORTS)
ign_add_component(rendering SOURCES ${rendering_sources} GET_TARGET_NAME rendering_target)
target_link_libraries(${rendering_target}
PUBLIC
ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
)
set(camera_sources CameraSensor.cc)
ign_add_component(camera SOURCES ${camera_sources} GET_TARGET_NAME camera_target)
# custom compile definitions since the one provided automatically is versioned and will
# make the code need to change with every major version
target_compile_definitions(${camera_target} PUBLIC CameraSensor_EXPORTS)
target_link_libraries(${camera_target}
PUBLIC
${rendering_target}
PRIVATE
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)
set(depth_camera_sources DepthCameraSensor.cc)
ign_add_component(depth_camera SOURCES ${depth_camera_sources} GET_TARGET_NAME depth_camera_target)
target_compile_definitions(${depth_camera_target} PUBLIC DepthCameraSensor_EXPORTS)
target_link_libraries(${depth_camera_target}
PRIVATE
${camera_target}
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)
set(lidar_sources Lidar.cc)
ign_add_component(lidar SOURCES ${lidar_sources} GET_TARGET_NAME lidar_target)
target_compile_definitions(${lidar_target} PUBLIC Lidar_EXPORTS)
target_link_libraries(${lidar_target}
PUBLIC
${rendering_target}
PRIVATE
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)
set(gpu_lidar_sources GpuLidarSensor.cc)
ign_add_component(gpu_lidar SOURCES ${gpu_lidar_sources} GET_TARGET_NAME gpu_lidar_target)
target_compile_definitions(${gpu_lidar_target} PUBLIC GpuLidarSensor_EXPORTS)
target_link_libraries(${gpu_lidar_target}
PRIVATE
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
${lidar_target}
)
set(logical_camera_sources LogicalCameraSensor.cc)
ign_add_component(logical_camera SOURCES ${logical_camera_sources} GET_TARGET_NAME logical_camera_target)
target_compile_definitions(${logical_camera_target} PUBLIC LogicalCameraSensor_EXPORTS)
target_link_libraries(${logical_camera_target}
PRIVATE
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)
set(magnetometer_sources MagnetometerSensor.cc)
ign_add_component(magnetometer SOURCES ${magnetometer_sources} GET_TARGET_NAME magnetometer_target)
set(imu_sources ImuSensor.cc)
ign_add_component(imu SOURCES ${imu_sources} GET_TARGET_NAME imu_target)
set(force_torque_sources ForceTorqueSensor.cc)
ign_add_component(force_torque SOURCES ${force_torque_sources} GET_TARGET_NAME force_torque_target)
set(altimeter_sources AltimeterSensor.cc)
ign_add_component(altimeter SOURCES ${altimeter_sources} GET_TARGET_NAME altimeter_target)
set(air_pressure_sources AirPressureSensor.cc)
ign_add_component(air_pressure SOURCES ${air_pressure_sources} GET_TARGET_NAME air_pressure_target)
set(navsat_sources NavSatSensor.cc)
ign_add_component(navsat SOURCES ${navsat_sources} GET_TARGET_NAME navsat_target)
set(rgbd_camera_sources RgbdCameraSensor.cc)
ign_add_component(rgbd_camera SOURCES ${rgbd_camera_sources} GET_TARGET_NAME rgbd_camera_target)
target_compile_definitions(${rgbd_camera_target} PUBLIC RgbdCameraSensor_EXPORTS)
target_link_libraries(${rgbd_camera_target}
PRIVATE
${camera_target}
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)
set(thermal_camera_sources ThermalCameraSensor.cc)
ign_add_component(thermal_camera SOURCES ${thermal_camera_sources} GET_TARGET_NAME thermal_camera_target)
target_link_libraries(${thermal_camera_target}
PRIVATE
${camera_target}
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)
set(segmentation_camera_sources SegmentationCameraSensor.cc)
ign_add_component(segmentation_camera SOURCES ${segmentation_camera_sources} GET_TARGET_NAME segmentation_camera_target)
target_compile_definitions(${segmentation_camera_target} PUBLIC SegmentationCameraSensor_EXPORTS)
target_link_libraries(${segmentation_camera_target}
PRIVATE
${camera_target}
ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
)
# Build the unit tests.
ign_build_tests(TYPE UNIT SOURCES ${gtest_sources} LIB_DEPS ${rendering_target})
# Build the unit tests that depend on components.
ign_build_tests(TYPE UNIT SOURCES Lidar_TEST.cc LIB_DEPS ${lidar_target})
ign_build_tests(TYPE UNIT SOURCES Camera_TEST.cc LIB_DEPS ${camera_target})
ign_build_tests(TYPE UNIT SOURCES ImuSensor_TEST.cc LIB_DEPS ${imu_target})