cmake_minimum_required(VERSION 3.8)
project(camera_calibration)

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

# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(image_transport REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(rm_interfaces REQUIRED)

include_directories(
  include
  ${OpenCV_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
)

# Node library - without rclcpp_components registration
add_library(camera_calibration_lib SHARED
  src/calibration_node.cpp
)

ament_target_dependencies(camera_calibration_lib
  rclcpp
  std_msgs
  sensor_msgs
  image_transport
  cv_bridge
  OpenCV
  Eigen3
  rm_interfaces
)

# Create executable directly instead of using component registration
add_executable(camera_calibration_node src/calibration_node.cpp)
ament_target_dependencies(camera_calibration_node
  rclcpp
  std_msgs
  sensor_msgs
  image_transport
  cv_bridge
  OpenCV
  Eigen3
  rm_interfaces
)
target_link_libraries(camera_calibration_node camera_calibration_lib)

install(TARGETS camera_calibration_lib
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
)

install(TARGETS camera_calibration_node
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/
  DESTINATION include
)

install(DIRECTORY launch/
  DESTINATION share/${PROJECT_NAME}/launch
)

install(DIRECTORY config/
  DESTINATION share/${PROJECT_NAME}/config
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

ament_export_dependencies(
  rclcpp
  std_msgs
  sensor_msgs
  image_transport
  cv_bridge
  OpenCV
  Eigen3
)

ament_package()