From 4c535150568fb22f1e2be78fbbcc95118b0f6845 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Wed, 31 Oct 2018 10:38:27 +0800
Subject: [PATCH] Improve ros cmake files

---
 .../src/mynt_eye_ros_wrapper/CMakeLists.txt   | 15 +++++---
 .../cmake/DetectOpenCV.cmake                  | 37 +++++++++++++++++++
 .../cmake/IncludeGuard.cmake                  | 23 ++++++++++++
 3 files changed, 69 insertions(+), 6 deletions(-)
 create mode 100644 wrappers/ros/src/mynt_eye_ros_wrapper/cmake/DetectOpenCV.cmake
 create mode 100644 wrappers/ros/src/mynt_eye_ros_wrapper/cmake/IncludeGuard.cmake

diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
index ae85a88..92cea6c 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt
@@ -15,8 +15,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(mynt_eye_ros_wrapper)
 
-get_filename_component(SDK_DIR "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE)
-
 if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
@@ -77,9 +75,11 @@ catkin_package(
   CATKIN_DEPENDS cv_bridge geometry_msgs image_transport nodelet roscpp sensor_msgs std_msgs tf
 )
 
-get_filename_component(SDK_DIR "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE)
+#get_filename_component(SDK_DIR "${PROJECT_SOURCE_DIR}/../../../.." ABSOLUTE)
+#LIST(APPEND CMAKE_PREFIX_PATH ${SDK_DIR}/_install/lib/cmake)
+
+LIST(APPEND CMAKE_MODULE_PATH cmake)
 
-LIST(APPEND CMAKE_PREFIX_PATH ${SDK_DIR}/_install/lib/cmake)
 find_package(mynteye REQUIRED)
 message(STATUS "Found mynteye: ${mynteye_VERSION}")
 
@@ -87,10 +87,13 @@ if(NOT mynteye_WITH_API)
   message(FATAL_ERROR "Must with API layer :(")
 endif()
 
-include(${SDK_DIR}/cmake/DetectOpenCV.cmake)
+include(cmake/DetectOpenCV.cmake)
 
 if(mynteye_WITH_GLOG)
-  include(${SDK_DIR}/cmake/DetectGLog.cmake)
+  find_package(glog REQUIRED)
+  if(glog_FOUND)
+    add_definitions(-DWITH_GLOG)
+  endif()
 endif()
 
 # targets
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/DetectOpenCV.cmake b/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/DetectOpenCV.cmake
new file mode 100644
index 0000000..4673876
--- /dev/null
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/DetectOpenCV.cmake
@@ -0,0 +1,37 @@
+# Copyright 2018 Slightech Co., Ltd. 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.
+
+include(${CMAKE_CURRENT_LIST_DIR}/IncludeGuard.cmake)
+cmake_include_guard()
+
+find_package(OpenCV REQUIRED)
+message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
+if(OpenCV_VERSION VERSION_LESS 3.0)
+  add_definitions(-DUSE_OPENCV2)
+elseif(OpenCV_VERSION VERSION_LESS 4.0)
+  add_definitions(-DUSE_OPENCV3)
+else()
+  add_definitions(-DUSE_OPENCV4)
+endif()
+
+list(FIND OpenCV_LIBS "opencv_world" __index)
+if(${__index} GREATER -1)
+  set(WITH_OPENCV_WORLD TRUE)
+endif()
+
+if(MSVC OR MSYS OR MINGW)
+  get_filename_component(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}/../bin" ABSOLUTE)
+else()
+  set(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}")
+endif()
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/IncludeGuard.cmake b/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/IncludeGuard.cmake
new file mode 100644
index 0000000..4c5dd68
--- /dev/null
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/cmake/IncludeGuard.cmake
@@ -0,0 +1,23 @@
+# Copyright 2018 Slightech Co., Ltd. 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.
+
+# include_guard: https://cmake.org/cmake/help/latest/command/include_guard.html
+
+macro(cmake_include_guard)
+  get_property(INCLUDE_GUARD GLOBAL PROPERTY "_INCLUDE_GUARD_${CMAKE_CURRENT_LIST_FILE}")
+  if(INCLUDE_GUARD)
+    return()
+  endif()
+  set_property(GLOBAL PROPERTY "_INCLUDE_GUARD_${CMAKE_CURRENT_LIST_FILE}" TRUE)
+endmacro()