forked from 1425/openvslam
-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
144 lines (115 loc) · 4.98 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
cmake_minimum_required(VERSION 3.1)
project(openvslam LANGUAGES CXX C)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
if(POLICY CMP0042)
cmake_policy(SET CMP0042 NEW)
endif()
if(POLICY CMP0074)
cmake_policy(SET CMP0074 OLD)
endif()
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
# ----- Set build type -----
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
set(CMAKE_BUILD_TYPE "Release")
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
endif()
message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
# ----- Set options for debugging -----
set(USE_CCACHE ON CACHE BOOL "Use ccache to accelerate build")
find_program(CCACHE_EXE ccache)
if(USE_CCACHE AND CCACHE_EXE)
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_EXE}")
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "${CCACHE_EXE}")
message(STATUS "ccache: Enabled")
else()
set(USE_CCACHE OFF)
message(STATUS "ccache: Disabled")
endif()
set(USE_SANITIZER OFF CACHE BOOL "Enable Address/Memory sanitizer (set env as ASAN_OPTIONS=detect_leaks=1)")
if(USE_SANITIZER)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
message(STATUS "Address/Memory sanitizer: ENABLED")
else()
message(STATUS "Address/Memory sanitizer: DISABLED")
endif()
# ----- Set compiler options -----
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -Og")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Og")
set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -ffast-math")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -ffast-math")
set(BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable architecture-aware optimization (-march=native)")
if(BUILD_WITH_MARCH_NATIVE)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mtune=native -march=native")
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -mtune=native -march=native")
message(STATUS "Architecture-aware optimization (-march=native): ENABLED")
else()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mtune=native")
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -mtune=native")
message(STATUS "Architecture-aware optimization (-march=native): DISABLED")
endif()
# ----- Find dependencies -----
# Threads
find_package(Threads REQUIRED)
# Eigen
find_package(Eigen3 3.3 REQUIRED)
# yaml-cpp
find_package(yaml-cpp REQUIRED)
# OpenCV
find_package(OpenCV 3.3.1 QUIET
COMPONENTS
core imgcodecs videoio features2d calib3d highgui)
if(NOT OpenCV_FOUND)
find_package(OpenCV 4.0 REQUIRED
COMPONENTS
core imgcodecs videoio features2d calib3d highgui)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV >= 3.3.1 not found")
endif()
endif()
message(STATUS "Use OpenCV ${OpenCV_VERSION}")
# ----- Install configuration -----
include(CMakePackageConfigHelpers)
# Generate cmake configuration scripts
set(OPENVSLAM_GENERATED_DIR ${CMAKE_CURRENT_BINARY_DIR}/generated)
set(OPENVSLAM_VERSION_CONFIG ${OPENVSLAM_GENERATED_DIR}/${PROJECT_NAME}ConfigVersion.cmake)
set(OPENVSLAM_PROJECT_CONFIG ${OPENVSLAM_GENERATED_DIR}/${PROJECT_NAME}Config.cmake)
set(OPENVSLAM_TARGETS_EXPORT_NAME ${PROJECT_NAME}Targets)
set(OPENVSLAM_CONFIG_INSTALL_DIR lib/cmake/${PROJECT_NAME})
set(OPENVSLAM_NAMESPACE "${PROJECT_NAME}::")
set(OPENVSLAM_VERSION 0.0.1)
# Create a version config file
write_basic_package_version_file(${OPENVSLAM_VERSION_CONFIG}
VERSION ${OPENVSLAM_VERSION}
COMPATIBILITY SameMajorVersion)
# Create a project config file
configure_file(${PROJECT_SOURCE_DIR}/cmake/Config.cmake.in ${OPENVSLAM_PROJECT_CONFIG} @ONLY)
# Install to the specified directory
install(FILES ${OPENVSLAM_VERSION_CONFIG} ${OPENVSLAM_PROJECT_CONFIG}
DESTINATION ${OPENVSLAM_CONFIG_INSTALL_DIR})
install(EXPORT ${OPENVSLAM_TARGETS_EXPORT_NAME}
NAMESPACE ${OPENVSLAM_NAMESPACE}
DESTINATION ${OPENVSLAM_CONFIG_INSTALL_DIR})
# Set standard installation directories
set(RUNTIME_DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
set(LIBRARY_DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
set(ARCHIVE_DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
set(INCLUDES_DESTINATION ${CMAKE_INSTALL_PREFIX}/include)
# ----- Build selection -----
set(USE_PANGOLIN_VIEWER ON CACHE BOOL "Enable Pangolin Viewer")
set(USE_SOCKET_PUBLISHER OFF CACHE BOOL "Enable Socket Publisher")
add_subdirectory(src)
set(BUILD_EXAMPLES ON CACHE BOOL "Build examples")
if(BUILD_EXAMPLES)
add_subdirectory(example)
endif()
set(BUILD_TESTS OFF CACHE BOOL "Build tests")
if(BUILD_TESTS)
enable_testing()
add_subdirectory(test)
endif()