single library

src/modules/simulation/gz_plugin/CMakeLists.txt

@@ -1,65 +1,36 @@
 cmake_minimum_required(VERSION 3.11.0 FATAL_ERROR)
-
 find_package(gz-cmake3 REQUIRED)
 
 project(OpticalFlowSystem)
 
 gz_find_package(gz-plugin2 REQUIRED COMPONENTS register)
-set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
-
 gz_find_package(gz-sim8 REQUIRED)
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
-
-find_package(gz-sensors8 REQUIRED)
-set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
-
+gz_find_package(gz-sensors8 REQUIRED)
+gz_find_package(gz-transport12 REQUIRED)
 find_package(OpenCV REQUIRED)
-
-# add_subdirectory(sensors optical_flow)
+find_package(Protobuf REQUIRED)
 
 PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS optical_flow.proto)
 
-add_library(optical_flow_plugin SHARED
-  ${PROTO_SRCS}
-  ${PROTO_HDRS}
-  OpticalFlow.cc
-)
-
-set(sensors
-  optical_flow_plugin
+add_library(${PROJECT_NAME} SHARED
+    OpticalFlow.cc
+    OpticalFlowSystem.cc
+    ${PROTO_SRCS}
+    ${PROTO_HDRS}
 )
 
-foreach(sensor ${sensors})
-  target_link_libraries(${sensor}
+target_link_libraries(${PROJECT_NAME}
     PUBLIC gz-sensors8::gz-sensors8
     PUBLIC gz-rendering8::gz-rendering8
+    PUBLIC gz-plugin2::gz-plugin2
+    PUBLIC gz-sim8::gz-sim8
+    PUBLIC gz-transport12::gz-transport12
     PUBLIC ${OpenCV_LIBS}
     PUBLIC ${PROTOBUF_LIBRARIES}
-  )
-
-  target_include_directories(${sensor}
-    PUBLIC ${CMAKE_CURRENT_BINARY_DIR}
-    PUBLIC ${OpenCV_INCLUDE_DIRS}
-  )
-
-endforeach()
-
-add_library(${PROJECT_NAME} SHARED
-  OpticalFlowSystem.cc
-)
-
-# add_dependencies(${PROJECT_NAME} optical_flow)
-
-target_link_libraries(${PROJECT_NAME}
-  PUBLIC ${sensors}
-  PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
-  PRIVATE gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}
-  PRIVATE ${OpenCV_LIBS}
 )
 
 target_include_directories(${PROJECT_NAME}
-    PUBLIC ${PROJECT_SOURCE_DIR}
+    PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
     PUBLIC ${CMAKE_CURRENT_BINARY_DIR}
     PUBLIC ${OpenCV_INCLUDE_DIRS}
 )

src/modules/simulation/gz_plugin/OpticalFlow.cc

@@ -41,6 +41,8 @@ bool OpticalFlow::Load(const sdf::Sensor &_sdf)
 
 void OpticalFlow::OnImage(const gz::msgs::Image &_msg)
 {
+	// gzdbg << "OpticalFlow::OnImage" << std::endl;
+
 	cv::Mat frame;
 
 	if (_msg.pixel_format_type() == gz::msgs::PixelFormatType::RGB_INT8) {
@@ -96,6 +98,8 @@ void OpticalFlow::OnImage(const gz::msgs::Image &_msg)
 
 bool OpticalFlow::Update(const std::chrono::steady_clock::duration &_now)
 {
+	// gzdbg << "OpticalFlow::Update" << std::endl;
+
 	auto currentTime = std::chrono::steady_clock::now();
 	auto deltaTime = std::chrono::duration_cast<std::chrono::microseconds>(currentTime - this->lastUpdateTime);