Build file improvements: pkgconfig, BUILD_TESTS flag, and other fixes

.gitignore

@@ -1,4 +1,6 @@
 cmake-build*
+.cache
+.vscode
 .idea
 CMakeLists.txt.user
 build*

CMakeLists.txt

@@ -101,7 +101,7 @@ set(CMAKE_CXX_FLAGS_CIDEBUG  "-O0 -DEIGEN_INITIALIZE_MATRICES_BY_NAN")
 set(CMAKE_CXX_FLAGS_CIRELWITHDEBINFO "-O3 -DEIGEN_INITIALIZE_MATRICES_BY_NAN")  # CI version with no debug symbols
 
 # base set of compile flags
-set(BASALT_CXX_FLAGS "-Wall -Wextra -Werror -Wno-error=unused-parameter -ftemplate-backtrace-limit=0")
+set(BASALT_CXX_FLAGS "-Wall -Wextra -Wno-error=unused-parameter -ftemplate-backtrace-limit=0")
 
 # clang-specific compile flags
 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
@@ -460,14 +460,23 @@ file(GLOB CONFIG_FILES "${CMAKE_CURRENT_SOURCE_DIR}/data/*.json")
 install(FILES ${CONFIG_FILES}
   DESTINATION ${CMAKE_INSTALL_PREFIX}/etc/basalt)
 
+configure_file(
+  ${CMAKE_CURRENT_LIST_DIR}/cmake_modules/basalt.pc.in
+  ${CMAKE_CURRENT_BINARY_DIR}/basalt.pc
+  @ONLY
+)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/basalt.pc DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/pkgconfig)
+
 
 # Replace install() to do-nothing macro.
 macro(install)
 endmacro()
-# Include subproject (or any other CMake code) with "disabled" install().
-enable_testing()
-add_subdirectory(thirdparty/basalt-headers/test)
-add_subdirectory(test)
+if (BUILD_TESTS)
+  # Include subproject (or any other CMake code) with "disabled" install().
+  enable_testing()
+  add_subdirectory(thirdparty/basalt-headers/test)
+  add_subdirectory(test)
+endif()
 # Restore original install() behavior.
 macro(install)
   _install(${ARGN})

cmake_modules/basalt.pc.in

@@ -0,0 +1,10 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+libdir=${prefix}/lib
+includedir=${prefix}/include
+
+Name: Basalt
+Description: Visual-Inertial Mapping with Non-Linear Factor Recovery
+Version: 0.1
+URL: https://gitlab.freedesktop.org/mateosss/basalt
+Libs: -L${libdir} -lbasalt
+Cflags: -isystem ${includedir}

thirdparty/CMakeLists.txt

@@ -56,7 +56,7 @@ set_target_properties(opengv PROPERTIES
 target_compile_options(opengv PRIVATE
   -Wno-unused-private-field
   ${BASALT_MARCH_FLAGS}
-  ${BASALT_PASSED_CXX_FLAGS})
+  "SHELL:${BASALT_PASSED_CXX_FLAGS}")
 
 # TODO: enable once mpark issue is fixed upstream pangolin
 #set_target_properties(pangolin PROPERTIES
@@ -142,6 +142,3 @@ if (EIGEN3_INCLUDE_DIR MATCHES "^${CMAKE_SOURCE_DIR}.*")
     set_target_properties(${_target} PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${_include_dirs_new}")
   endforeach()
 endif()
-
-
-