Convert to pure CMake, remove ROS node

CMakeLists.txt

@@ -1,112 +1,112 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(gl_depth_sim)
-
-add_compile_options(-std=c++14 -Wall -Wextra)
-
-find_package(catkin REQUIRED COMPONENTS
-  roscpp # Used for ROS examples
-  pcl_ros # Used for interfaces extension
-  tf # Used for ROS example
-  tf_conversions # Used for ROS example
-)
+cmake_minimum_required(VERSION 3.5.0)
+project(gl_depth_sim VERSION 0.2.0 LANGUAGES C CXX)
 
 # Required for core functionality
 find_package(glfw3 REQUIRED)
 find_package(OpenGL REQUIRED)
 find_package(Eigen3 REQUIRED)
+find_package(PCL REQUIRED)
 
 # Extensions
 find_package(assimp REQUIRED) # Just used for loading models in mesh_loader.h
 find_package(OpenCV REQUIRED) # Used for interface extension
 
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_interfaces
-  CATKIN_DEPENDS pcl_ros
-  DEPENDS OpenCV
-)
-
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
-)
+add_library(glad SHARED src/${PROJECT_NAME}/glad.c)
+target_include_directories(glad PRIVATE
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
 
 # Primary rendering library
 # Independent of ROS, but does need glfw3 and assimp for model loading
-add_library(${PROJECT_NAME}
+add_library(${PROJECT_NAME} SHARED
   src/${PROJECT_NAME}/sim_depth_camera.cpp
   src/${PROJECT_NAME}/mesh_loader.cpp
   src/${PROJECT_NAME}/mesh.cpp
   src/${PROJECT_NAME}/renderable_mesh.cpp
   src/${PROJECT_NAME}/shader_program.cpp
-  src/${PROJECT_NAME}/glad.c
-  src/${PROJECT_NAME}/glfw_guard.cpp
-)
-
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-target_link_libraries(${PROJECT_NAME}
-  ${OPENGL_LIBRARIES}
+  src/${PROJECT_NAME}/glfw_guard.cpp)
+target_compile_options(${PROJECT_NAME} PRIVATE -std=c++11)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_link_libraries(${PROJECT_NAME} PUBLIC
   ${ASSIMP_LIBRARIES}
+  OpenGL::OpenGL
+  glad
   dl
   glfw
-)
+  Eigen3::Eigen
+  )
 
 # Libaries for interfacing with opencv and pcl
-add_library(${PROJECT_NAME}_interfaces
+add_library(${PROJECT_NAME}_interfaces SHARED
   src/interfaces/pcl_interface.cpp
-  src/interfaces/opencv_interface.cpp
-)
-
-add_dependencies(${PROJECT_NAME}_interfaces ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-target_link_libraries(${PROJECT_NAME}_interfaces
+  src/interfaces/opencv_interface.cpp)
+target_compile_options(${PROJECT_NAME}_interfaces PRIVATE -std=c++11)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_include_directories(${PROJECT_NAME}_interfaces SYSTEM PUBLIC
+    ${PCL_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME}_interfaces PUBLIC
   ${PROJECT_NAME}
-  ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
+  ${PCL_LIBRARIES}
 )
 
 # Example showing basic usage
 add_executable(${PROJECT_NAME}_test src/usage_example.cpp)
-
+target_compile_options(${PROJECT_NAME}_test PRIVATE -std=c++11)
 set_target_properties(${PROJECT_NAME}_test PROPERTIES OUTPUT_NAME depth_example PREFIX "")
-
-target_link_libraries(${PROJECT_NAME}_test
+target_include_directories(${PROJECT_NAME}_test PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_link_libraries(${PROJECT_NAME}_test PUBLIC
   ${PROJECT_NAME}
-  ${PROJECT_NAME}_interfaces
-  ${catkin_LIBRARIES}
-)
+  ${PROJECT_NAME}_interfaces)
 
 # Example showing an orbiting camera
 add_executable(${PROJECT_NAME}_orbit src/camera_orbit_example.cpp)
-
+target_compile_options(${PROJECT_NAME}_orbit PRIVATE -std=c++11)
 set_target_properties(${PROJECT_NAME}_orbit PROPERTIES OUTPUT_NAME orbit_example PREFIX "")
-
-target_link_libraries(${PROJECT_NAME}_orbit
+target_include_directories(${PROJECT_NAME}_orbit PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_link_libraries(${PROJECT_NAME}_orbit PUBLIC
   ${PROJECT_NAME}
-  ${PROJECT_NAME}_interfaces
-  ${catkin_LIBRARIES}
-)
-
-# Example showing orbiting camera with point cloud publishing in ROS
-add_executable(${PROJECT_NAME}_ros_orbit src/camera_ros_example.cpp)
-
-set_target_properties(${PROJECT_NAME}_ros_orbit PROPERTIES OUTPUT_NAME ros_example PREFIX "")
+  ${PROJECT_NAME}_interfaces)
+install(DIRECTORY include/${PROJECT_NAME}
+  DESTINATION include
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE)
 
-target_link_libraries(${PROJECT_NAME}_ros_orbit
+install(TARGETS
+  glad
   ${PROJECT_NAME}
   ${PROJECT_NAME}_interfaces
-  ${catkin_LIBRARIES}
-)
-
-install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_interfaces
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-)
+  ${PROJECT_NAME}_test
+  ${PROJECT_NAME}_orbit
+        EXPORT ${PROJECT_NAME}-targets
+        RUNTIME DESTINATION bin
+        LIBRARY DESTINATION lib
+        ARCHIVE DESTINATION lib)
+install(EXPORT ${PROJECT_NAME}-targets NAMESPACE gl_depth_sim:: DESTINATION lib/cmake/${PROJECT_NAME})
+
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+
+# Create cmake config files
+include(CMakePackageConfigHelpers)
+configure_package_config_file(${CMAKE_CURRENT_LIST_DIR}/cmake/${PROJECT_NAME}-config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake
+  INSTALL_DESTINATION lib/cmake/${PROJECT_NAME}
+  NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+
+write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake
+  VERSION ${PROJECT_VERSION} COMPATIBILITY ExactVersion)
+
+install(FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
+  DESTINATION lib/cmake/${PROJECT_NAME})
+
+export(EXPORT ${PROJECT_NAME}-targets NAMESPACE gl_depth_sim:: FILE ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-targets.cmake)

cmake/gl_depth_sim-config.cmake.in

@@ -0,0 +1,15 @@
+@PACKAGE_INIT@
+
+set(@PROJECT_NAME@_FOUND ON)
+set_and_check(@PROJECT_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/include")
+set_and_check(@PROJECT_NAME@_LIBRARY_DIRS "${PACKAGE_PREFIX_DIR}/lib")
+
+include(CMakeFindDependencyMacro)
+find_dependency(Eigen3)
+find_dependency(assimp)
+find_dependency(OpenCV)
+find_dependency(OpenGL)
+find_dependency(glfw3)
+
+
+include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")

include/gl_depth_sim/mesh.h

@@ -14,6 +14,8 @@ using EigenAlignedVec = std::vector<T, Eigen::aligned_allocator<T>>;
 class Mesh
 {
 public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
   Mesh(const EigenAlignedVec<Eigen::Vector3f>& vertices, const std::vector<unsigned>& indices);
 
   std::size_t numIndices() const { return indices_.size(); }

include/gl_depth_sim/shader_program.h

@@ -10,6 +10,8 @@ namespace gl_depth_sim
 class ShaderProgram
 {
 public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
   ShaderProgram(const std::string& vertex_shader, const std::string& frag_shader);
   ~ShaderProgram();
 

include/gl_depth_sim/sim_depth_camera.h

@@ -23,6 +23,7 @@ struct RenderableObjectState
 {
   std::unique_ptr<RenderableMesh> mesh;
   Eigen::Isometry3d pose;
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 /**
@@ -82,6 +83,9 @@ class SimDepthCamera
   GLFWwindow* window_;
   std::unique_ptr<ShaderProgram> depth_program_;
   unsigned int fbo_;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 }

package.xml

@@ -8,17 +8,14 @@
 
   <license>LGPLv3</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>roscpp</depend>
-
-  <!--Used for examples and interfacing-->
-  <depend>tf</depend>
-  <depend>tf_conversions</depend>
-  <depend>pcl_ros</depend>
-
   <!-- system dependency -->
   <build_depend>libglfw3-dev</build_depend>
+
   <depend>assimp</depend>
   <depend>libopencv-dev</depend>
-
+  <depend>eigen</depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
 </package>