Update to use EGL

gl_depth_sim/CMakeLists.txt

@@ -0,0 +1,125 @@
+cmake_minimum_required(VERSION 3.5.0)
+project(gl_depth_sim VERSION 0.2.0 LANGUAGES C CXX)
+
+SET(CMAKE_CXX_STANDARD 14)
+SET(CMAKE_CXX_EXTENSIONS OFF)
+
+# Required for core functionality
+find_package(Eigen3 REQUIRED)
+find_package(PCL REQUIRED)
+find_package(OpenCV REQUIRED)
+
+find_package(Threads REQUIRED)
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+
+# Extensions
+find_package(assimp REQUIRED) # Just used for loading models in mesh_loader.h
+find_package(OpenCV REQUIRED) # Used for interface extension
+
+add_library(glad SHARED src/${PROJECT_NAME}/egl.c src/${PROJECT_NAME}/gl.c)
+target_include_directories(glad PRIVATE
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+
+# Primary rendering library
+# Independent of ROS, but does need glfw3 and assimp for model loading
+add_library(${PROJECT_NAME} SHARED
+  src/${PROJECT_NAME}/sim_depth_camera.cpp
+  src/${PROJECT_NAME}/mesh_loader.cpp
+  src/${PROJECT_NAME}/mesh.cpp
+  src/${PROJECT_NAME}/renderable_mesh.cpp
+  src/${PROJECT_NAME}/shader_program.cpp)
+target_compile_options(${PROJECT_NAME} PUBLIC -mno-avx)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  ${ASSIMP_LIBRARIES}
+  glad
+  dl
+  Threads::Threads
+  Eigen3::Eigen
+  )
+
+# Libaries for interfacing with opencv and pcl
+add_library(${PROJECT_NAME}_interfaces SHARED
+  src/interfaces/pcl_interface.cpp
+  src/interfaces/opencv_interface.cpp)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_include_directories(${PROJECT_NAME}_interfaces SYSTEM PUBLIC
+    ${PCL_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME}_interfaces PUBLIC
+  ${PROJECT_NAME}
+  ${OpenCV_LIBRARIES}
+  ${PCL_LIBRARIES}
+)
+
+# Simulated laser scanner library
+add_library(${PROJECT_NAME}_laser_scanner SHARED
+  src/${PROJECT_NAME}/sim_laser_scanner.cpp
+)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>"
+)
+target_link_libraries(${PROJECT_NAME}_laser_scanner PUBLIC
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_interfaces
+)
+
+# Example showing basic usage
+add_executable(${PROJECT_NAME}_test src/usage_example.cpp)
+set_target_properties(${PROJECT_NAME}_test PROPERTIES OUTPUT_NAME depth_example PREFIX "")
+target_include_directories(${PROJECT_NAME}_test PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCEDIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_link_libraries(${PROJECT_NAME}_test PUBLIC
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_interfaces)
+
+# Example showing an orbiting camera
+add_executable(${PROJECT_NAME}_orbit src/camera_orbit_example.cpp)
+set_target_properties(${PROJECT_NAME}_orbit PROPERTIES OUTPUT_NAME orbit_example PREFIX "")
+target_include_directories(${PROJECT_NAME}_orbit PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_link_libraries(${PROJECT_NAME}_orbit PUBLIC
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_interfaces)
+
+install(DIRECTORY include/${PROJECT_NAME}
+  DESTINATION include)
+
+install(TARGETS
+  glad
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_interfaces
+  ${PROJECT_NAME}_laser_scanner
+  ${PROJECT_NAME}_test
+  ${PROJECT_NAME}_orbit
+        EXPORT ${PROJECT_NAME}-targets
+        RUNTIME DESTINATION bin
+        LIBRARY DESTINATION lib
+        ARCHIVE DESTINATION lib)
+install(EXPORT ${PROJECT_NAME}-targets NAMESPACE gl_depth_sim:: DESTINATION lib/cmake/${PROJECT_NAME})
+
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+
+# Create cmake config files
+include(CMakePackageConfigHelpers)
+configure_package_config_file(${CMAKE_CURRENT_LIST_DIR}/cmake/${PROJECT_NAME}-config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake
+  INSTALL_DESTINATION lib/cmake/${PROJECT_NAME}
+  NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+
+write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake
+  VERSION ${PROJECT_VERSION} COMPATIBILITY ExactVersion)
+
+install(FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
+  DESTINATION lib/cmake/${PROJECT_NAME})
+
+export(EXPORT ${PROJECT_NAME}-targets NAMESPACE gl_depth_sim:: FILE ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-targets.cmake)

gl_depth_sim/cmake/gl_depth_sim-config.cmake.in

@@ -0,0 +1,14 @@
+@PACKAGE_INIT@
+
+set(@PROJECT_NAME@_FOUND ON)
+set_and_check(@PROJECT_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/include")
+set_and_check(@PROJECT_NAME@_LIBRARY_DIRS "${PACKAGE_PREFIX_DIR}/lib")
+
+include(CMakeFindDependencyMacro)
+find_dependency(Eigen3)
+find_dependency(assimp)
+find_dependency(OpenCV)
+find_dependency(OpenGL)
+find_dependency(PCL)
+
+include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")