Separate tools and tests

test/CMakeLists.txt

@@ -17,15 +17,6 @@ find_package(yaml-cpp REQUIRED)
 find_package(OpenVINO REQUIRED)
 find_package(OpenCV 4.5 REQUIRED)
 
-find_package(hikcamera QUIET)
-
-set(HIKCAMERA_AVAILABLE OFF)
-if(hikcamera_FOUND)
-    set(HIKCAMERA_AVAILABLE ON)
-elseif(DEFINED hikcamera_LIBRARIES)
-    set(HIKCAMERA_AVAILABLE ON)
-endif()
-
 include_directories(
     ${RMCS_SRC_DIR}
     ${hikcamera_INCLUDE_DIRS}
@@ -107,52 +98,3 @@ target_link_libraries(
     test_static_tf
     yaml-cpp::yaml-cpp
 )
-
-# Visualization
-add_executable(
-    example_visualization
-    ${TEST_DIR}/visualization.cpp
-    ${RMCS_SRC_DIR}/utility/rclcpp/visual/armor.cpp
-    ${RMCS_SRC_DIR}/utility/rclcpp/visual/posture.cpp
-    ${RMCS_SRC_DIR}/utility/panic.cpp
-    ${RMCS_SRC_DIR}/utility/math/solve_armors.cpp
-    ${RMCS_SRC_DIR}/utility/rclcpp/node.cpp
-)
-target_link_libraries(
-    example_visualization
-    rclcpp::rclcpp
-    ${visualization_msgs_LIBRARIES}
-    ${geometry_msgs_LIBRARIES}
-)
-
-if(HIKCAMERA_AVAILABLE)
-    # Hikcamera
-    add_executable(
-        example_hikcamera
-        ${TEST_DIR}/hikcamera.cpp
-    )
-    target_link_libraries(
-        example_hikcamera
-        ${OpenCV_LIBS}
-        ${hikcamera_LIBRARIES}
-    )
-
-    # RTP Streaming
-    add_executable(
-        example_streaming
-        ${TEST_DIR}/streaming.cpp
-        ${RMCS_SRC_DIR}/module/capturer/hikcamera.cpp
-        ${RMCS_SRC_DIR}/module/debug/visualization/stream_session.cpp
-        ${RMCS_SRC_DIR}/module/debug/visualization/stream_context.cpp
-        ${RMCS_SRC_DIR}/utility/image/image.cpp
-        ${RMCS_SRC_DIR}/utility/rclcpp/node.cpp
-    )
-    target_link_libraries(
-        example_streaming
-        rclcpp::rclcpp
-        ${OpenCV_LIBS}
-        ${hikcamera_LIBRARIES}
-    )
-else()
-    message(STATUS "hikcamera 未检测到，跳过相关构建")
-endif()

tool/CMakeLists.txt

@@ -0,0 +1,87 @@
+cmake_minimum_required(VERSION 3.22)
+project(rmcs_auto_aim_v2_tools)
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(RMCS_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/..")
+set(RMCS_SRC_DIR "${RMCS_SOURCE_DIR}/src")
+
+find_package(rclcpp REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+find_package(yaml-cpp REQUIRED)
+find_package(OpenCV 4 REQUIRED)
+
+include_directories(
+    ${RMCS_SRC_DIR}
+    ${rclcpp_INCLUDE_DIRS}
+    ${visualization_msgs_INCLUDE_DIRS}
+    ${geometry_msgs_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+)
+
+set(TOOL_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+
+# Visualization
+add_executable(
+    visualization
+    ${TOOL_DIR}/visualization.cpp
+    ${RMCS_SRC_DIR}/utility/rclcpp/visual/armor.cpp
+    ${RMCS_SRC_DIR}/utility/rclcpp/visual/posture.cpp
+    ${RMCS_SRC_DIR}/utility/panic.cpp
+    ${RMCS_SRC_DIR}/utility/math/solve_armors.cpp
+    ${RMCS_SRC_DIR}/utility/rclcpp/node.cpp
+)
+target_link_libraries(
+    visualization
+    rclcpp::rclcpp
+    ${visualization_msgs_LIBRARIES}
+    ${geometry_msgs_LIBRARIES}
+)
+
+find_package(hikcamera QUIET)
+
+set(HIKCAMERA_AVAILABLE OFF)
+if(hikcamera_FOUND)
+    set(HIKCAMERA_AVAILABLE ON)
+elseif(DEFINED hikcamera_LIBRARIES)
+    set(HIKCAMERA_AVAILABLE ON)
+endif()
+
+if(HIKCAMERA_AVAILABLE)
+    include_directories(
+        ${hikcamera_INCLUDE_DIRS}
+    )
+
+    # Hikcamera
+    add_executable(
+        hikcamera
+        ${TOOL_DIR}/hikcamera.cpp
+    )
+    target_link_libraries(
+        hikcamera
+        ${OpenCV_LIBS}
+        ${hikcamera_LIBRARIES}
+    )
+
+    # RTP Streaming
+    add_executable(
+        streaming
+        ${TOOL_DIR}/streaming.cpp
+        ${RMCS_SRC_DIR}/module/capturer/hikcamera.cpp
+        ${RMCS_SRC_DIR}/module/debug/visualization/stream_session.cpp
+        ${RMCS_SRC_DIR}/module/debug/visualization/stream_context.cpp
+        ${RMCS_SRC_DIR}/utility/image/image.cpp
+        ${RMCS_SRC_DIR}/utility/rclcpp/node.cpp
+    )
+    target_link_libraries(
+        streaming
+        rclcpp::rclcpp
+        ${OpenCV_LIBS}
+        ${hikcamera_LIBRARIES}
+    )
+else()
+    message(STATUS "hikcamera 未检测到，跳过相关构建")
+endif()