cmake_minimum_required(VERSION 3.5)
project(rtsp_opencv_publisher)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

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(sensor_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(OpenCV REQUIRED)

# 添加GStreamer的头文件和库
find_package(PkgConfig REQUIRED)
pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0)
pkg_check_modules(GSTREAMER_BASE REQUIRED gstreamer-base-1.0)

# 添加可执行文件
add_executable(rtsp_publisher_node src/rtsp_publisher_node.cpp)

# 包含头文件
ament_target_dependencies(rtsp_publisher_node rclcpp sensor_msgs cv_bridge OpenCV)

# 链接 OpenCV 库
target_include_directories(rtsp_publisher_node PUBLIC ${GSTREAMER_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
target_link_libraries(rtsp_publisher_node ${GSTREAMER_LIBRARIES} ${OpenCV_LIBS} avcodec avformat avutil swscale)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

# 安装可执行文件
install(TARGETS
  rtsp_publisher_node
  DESTINATION lib/${PROJECT_NAME})

ament_package()