Add aruco detector and hik camera driver source

2026-08-26 15:54:51 +09:00
parent a7ecd0856e
commit 98fe85eb31
22 changed files with 6580 additions and 0 deletions
@@ -0,0 +1,68 @@
+cmake_minimum_required(VERSION 3.8)
+project(hik_camera_ros2_driver)
+
+## Use C++14
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+## By adding -Wall and -Werror, the compiler does not ignore warnings anymore,
+## enforcing cleaner code.
+add_definitions(-Wall -Werror)
+
+## Export compile commands for clangd
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/hik_camera_node.cpp
+)
+
+target_include_directories(${PROJECT_NAME} PUBLIC hikSDK/include)
+
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
+  target_link_directories(${PROJECT_NAME} PUBLIC hikSDK/lib/amd64)
+  install(
+    DIRECTORY hikSDK/lib/amd64/
+    DESTINATION lib
+  )
+elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
+  target_link_directories(${PROJECT_NAME} PUBLIC hikSDK/lib/arm64)
+  install(
+    DIRECTORY hikSDK/lib/arm64/
+    DESTINATION lib
+  )
+else()
+  message(FATAL_ERROR "Unsupported host system architecture: ${CMAKE_HOST_SYSTEM_PROCESSOR}!")
+endif()
+
+target_link_libraries(${PROJECT_NAME}
+  FormatConversion
+  MediaProcess
+  MvCameraControl
+  MVRender
+  MvUsb3vTL
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN hik_camera_ros2_driver::HikCameraRos2DriverNode
+  EXECUTABLE ${PROJECT_NAME}_node
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_copyright
+    ament_cmake_cpplint
+    ament_cmake_uncrustify
+    ament_cmake_flake8
+  )
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config
+)