cmake_minimum_required(VERSION 3.8)
project(preception_pkg)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# 设置CMake策略以处理_ROOT变量
cmake_policy(SET CMP0074 NEW)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(OpenCV REQUIRED)
# 查找PCL和ROS2 PCL包
find_package(PCL REQUIRED COMPONENTS common filters features io segmentation surface)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

# 添加C++组件
add_executable(point_cloud_processor src/point_cloud_processor.cpp)
ament_target_dependencies(point_cloud_processor 
  rclcpp 
  sensor_msgs 
  pcl_conversions
  pcl_ros
)

# 链接PCL库
target_link_libraries(point_cloud_processor
  ${PCL_LIBRARIES}
)

# 安装C++可执行文件
install(TARGETS
  point_cloud_processor
  DESTINATION lib/${PROJECT_NAME})

# 安装Python脚本
install(PROGRAMS
  scripts/object_detection_node.py
  DESTINATION lib/${PROJECT_NAME}
)

# 安装其他资源
install(DIRECTORY
  models
  DESTINATION share/${PROJECT_NAME}
)

ament_package()
