ci and cmake improvements

Changes along the line of
https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/1 and
https://gitlab.com/VladyslavUsenko/basalt-headers/merge_requests/2,
and more.

Warning free builds on macos 10.11 - 10.14, Ubuntu Xenial &
Bionic. (macOS 10.14 is not yet in CI, but tested locally.)

Changes similar to basalt-headers:

 - cmake: raise minimum version to 3.10
 - cmake: add workarounds to support macOS < 10.14
 - cmake: set ccache only if not yet set and print info
 - cmake: add NDEBUG define (to disable asserts) for release build and
   EIGEN_INITIALIZE_MATRICES_BY_NAN for others. Add externally supplied
   CMAKE_CXX_FLAGS at the end to allow overriding the defaults.
 - tests: add enable_testing() in main CMakeLists.txt, such that we can
   call 'ctest' from build folder.
 - tests: simplify gtest / gtest_main linking
 - tests: use the newer gtest_discover_tests instead of add_test, which
   adds a separate cmake test for every gtest, even with multiple
   defined in a single executable. Its not only more reliable and less
   verbose in the CMakeLists.txt, but also allows to run 'ctest'
   without -V and still see status for every individual test.
 - ci: add build jobs for Debug/RelWithDebInfo on Bionic, as well as
   builds on Xenial and El Capitan. Use templates to simplify
   .gitlab-ci.yml
 - ci: clang-format job

Additional changes:

 - cmake: unify formatting
 - cmake: various diagnostic warnings for situations that are
   unsupported (should help with gitlab issues).
 - cmake options to disable openmp, pass custom eigen root,
   compiler-launcher, additional CXX_FLAGS that can override default
   flags also for submodules (opengv etc), ...
 - cmake: moved configuration of submodule libs to
   `thirdparty/CMakeLists.txt`. This includes various fixes for
   limiatations of the thirdparty cmake definitions. In particular
   ensures that correct eigen is used, that opengv respects march and
   CXX_FLAGS passed from command line.
 - cmake: simplified linking of executables. Linking `basalt` is
   enough.
 - cmake: basalt sources now build with the minimal disabled
   warnings ("-Wall Wextra -Werror -Wno-unused-parameter
   -ftemplate-backtrace-limit=0", and additionally "-Wno-exceptions"
   for clang). Additional flags are now only set for the submodule
   targets in thirdparty.
 - tests: Running ctest in build folder now also runs the unit tests
   from basalt-headers.
 - ci: in addition to the additional compile jobs and there are now
   also 'test' jobs, that check that the executables in the deb's
   work (runs on all branches, not just master).

.gitlab-ci.yml

@@ -1,83 +1,173 @@
 image: vladyslavusenko/b_image:latest
 
+variables:
+  GIT_SUBMODULE_STRATEGY: recursive
+  BUILD_TYPE: Release
+  CXX_MARCH: native
+  CMAKE_INSTALL_PREFIX: /usr/
+  DEB_DIR: deb
+
 stages:
   - build
   - test
-  - test_results
+  - eval
+  - eval_results
   - deploy
 
-compile:
+# template for docker builds with ccache
-  stage: build
+.prepare_docker_template: &prepare_docker_definition
-  variables:
+  tags:
-    CXX_MARCH: 'corei7-avx'
+    - docker
   before_script:
     - mkdir -p ccache
     - export CCACHE_BASEDIR=${PWD}
     - export CCACHE_DIR=${PWD}/ccache
-  tags: 
-    - docker
   cache:
-    key: bionic
     paths:
     - ccache/
+
+# template for build & unit test & make deb configurations
+.compile_test_package_template: &compile_test_package_definition
+  stage: build
   script:
-    - ./scripts/update_submodules.sh
     - mkdir build
     - cd build
-    - cmake .. -DCMAKE_BUILD_TYPE=Release -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=/usr/
+    - cmake .. -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
     - make -j3
+    - ctest
     - make package
-    - cd test/
+    - cd ..
-    - ctest -V
+    - mkdir $DEB_DIR
-    - cd ../../
+    - mv build/*.deb $DEB_DIR/
-    - mkdir deb_bionic
+    - dpkg -i $DEB_DIR/*.deb
-    - cp build/*.deb deb_bionic/
+    # smoke test to see if all executables at least start up
+    - basalt_calibrate --help
+    - basalt_calibrate_imu --help
+    - basalt_mapper --help
+    - basalt_mapper_sim --help
+    - basalt_mapper_sim_naive --help
+    - basalt_opt_flow --help
+    - basalt_vio --help
+    - basalt_vio_sim --help
+
+# template for build & unit test configurations (no deb)
+.compile_test_template: &compile_test_definition
+  stage: build
+  script:
+    - mkdir build
+    - cd build
+    - cmake .. -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+    - make -j3
+    - ctest
+    # smoke test to see if all executables at least start up
+    - ./basalt_calibrate --help
+    - ./basalt_calibrate_imu --help
+    - ./basalt_mapper --help
+    - ./basalt_mapper_sim --help
+    - ./basalt_mapper_sim_naive --help
+    - ./basalt_opt_flow --help
+    - ./basalt_vio --help
+    - ./basalt_vio_sim --help
+
+# template to test debian
+.test_deb_template: &test_deb_definition
+  stage: test
+  tags:
+    - docker
+  variables:
+    GIT_STRATEGY: none
+  script:
+    - dpkg -i $DEB_DIR/*.deb
+    # smoke test to see if all executables at least start up
+    - basalt_calibrate --help
+    - basalt_calibrate_imu --help
+    - basalt_mapper --help
+    - basalt_mapper_sim --help
+    - basalt_mapper_sim_naive --help
+    - basalt_opt_flow --help
+    - basalt_vio --help
+    - basalt_vio_sim --help
+
+bionic-release-compile:
+  <<: *prepare_docker_definition
+  <<: *compile_test_package_definition
+  cache:
+    key: bionic-release
+  variables:
+    CXX_MARCH: 'corei7-avx'
+    DEB_DIR: deb_bionic
   artifacts:
     paths:
     - deb_bionic/*.deb
     - scripts/eval_full/*
     expire_in: 1 week
 
-compile_16_04:
+xenial-release-compile:
-  stage: build
+  <<: *prepare_docker_definition
+  <<: *compile_test_package_definition
+  image: vladyslavusenko/b_image_xenial:latest
+  cache:
+    key: xenial-release
   variables:
     CXX_MARCH: 'corei7-avx'
-  before_script:
+    DEB_DIR: deb_xenial
-    - mkdir -p ccache
-    - export CCACHE_BASEDIR=${PWD}
-    - export CCACHE_DIR=${PWD}/ccache
-  tags: 
-    - docker
-  cache:
-    key: xenial
-    paths:
-    - ccache/
-  script:
-    - ./scripts/update_submodules.sh
-    - mkdir build
-    - cd build
-    - cmake .. -DCMAKE_BUILD_TYPE=Release -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=/usr/
-    - make -j3
-    - make package
-    - cd test/
-    - ctest -V
-    - cd ../../
-    - mkdir deb_xenial
-    - cp build/*.deb deb_xenial/
   artifacts:
     paths:
     - deb_xenial/*.deb
     expire_in: 1 week
-  only:
+
-    - master
+bionic-debug-compile:
+  <<: *prepare_docker_definition
+  <<: *compile_test_package_definition
+  cache:
+    key: bionic-debug
+  variables:
+    BUILD_TYPE: Debug
+
+bionic-relwithdebinfo-compile:
+  <<: *prepare_docker_definition
+  <<: *compile_test_package_definition
+  cache:
+    key: bionic-relwithdebinfo
+  variables:
+    BUILD_TYPE: RelWithDebInfo
+
+elcapitan-relwithdebinfo-compile:
+  <<: *compile_test_definition
+  tags: [macos, "10.11"]
+  variables:
+    BUILD_TYPE: RelWithDebInfo
+
+# check if clang-format would make any changes
+clang-format:
+  # TODO: add clang-format version >= 8 to "vladyslavusenko/b_image"
+  image: nikolausdemmel/ubuntu-dev-dbatk:16.04
+  tags:
+    - docker
+  stage: build
+  variables:
+    GIT_SUBMODULE_STRATEGY: none
+  script:
+    - ./scripts/clang-format-all.sh
+    # check if any files are now modified and error if yes
+    - (if git diff --name-only --diff-filter=M | grep '\..pp$'; then echo $'\n    Some files are not properly formatted. You can use "./scripts/clang-format-all.sh".\n'; git diff --diff-filter=M; false; fi)
+
+bionic-test:
+  <<: *test_deb_definition
+  variables:
+    DEB_DIR: deb_bionic
+
+xenial-test:
+  <<: *test_deb_definition
   image: vladyslavusenko/b_image_xenial:latest
+  variables:
+    DEB_DIR: deb_xenial
 
-
+# evaluate on EuRoC sequences
 eval_euroc:
-  stage: test
+  stage: eval
   parallel: 10
-  tags: 
+  tags: [docker, dataset-eval]
-    - dataset-eval
   variables:
     GIT_STRATEGY: none
   only:
@@ -91,13 +181,14 @@ eval_euroc:
     - cd scripts/eval_full
     - ./run_evaluations.sh
 
+# aggregate results for all EuRoC sequences
 gen_results_euroc:
-  stage: test_results
+  stage: eval_results
   variables:
     GIT_STRATEGY: none
-  when: on_success
   tags: 
     - docker
+  when: on_success
   only:
     - master
   artifacts:
@@ -109,11 +200,15 @@ gen_results_euroc:
     - cat euroc_results.txt
     - mv euroc_results.txt ../../
 
-
+# deploy deb packages
 deploy:
   stage: deploy
+  variables:
+    GIT_STRATEGY: none
   tags: 
     - docker
+  only:
+    - master
   before_script:
     - eval $(ssh-agent -s)
     - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
@@ -121,10 +216,6 @@ deploy:
     - chmod 700 ~/.ssh
     - echo "$SSH_KNOWN_HOSTS" > ~/.ssh/known_hosts
     - chmod 644 ~/.ssh/known_hosts
-  variables:
-    GIT_STRATEGY: none
-  only:
-    - master
   script:
     - scp $SCP_FLAGS deb_xenial/*.deb $REPOSITORY_URL/xenial/    
     - scp $SCP_FLAGS deb_bionic/*.deb $REPOSITORY_URL/bionic/

CMakeLists.txt

@@ -1,9 +1,14 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.10)
+
+include("thirdparty/basalt-headers/cmake_modules/PreProjectWorkarounds.cmake")
+
 project(basalt)
 
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/" ${CMAKE_MODULE_PATH})
 
-set(EIGEN_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/basalt-headers/thirdparty/eigen")
+if(NOT EIGEN_ROOT)
+  set(EIGEN_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/basalt-headers/thirdparty/eigen")
+endif()
 
 string(TOLOWER "${PROJECT_NAME}" PROJECT_NAME_LOWERCASE)
 find_program(DPKG_PROGRAM dpkg DOC "dpkg program of Debian-based systems")
@@ -11,89 +16,163 @@ if(DPKG_PROGRAM)
   execute_process(
     COMMAND ${DPKG_PROGRAM} --print-architecture
     OUTPUT_VARIABLE CPACK_DEBIAN_PACKAGE_ARCHITECTURE
-    OUTPUT_STRIP_TRAILING_WHITESPACE
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
-  )
 endif(DPKG_PROGRAM)
 
 
 find_program(LSB_RELEASE_PROGRAM lsb_release DOC "lsb_release program of Debian-based systems")
 if(LSB_RELEASE_PROGRAM)
-execute_process(COMMAND ${LSB_RELEASE_PROGRAM} -rs
+  execute_process(COMMAND ${LSB_RELEASE_PROGRAM} -rs
     OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT
-    OUTPUT_STRIP_TRAILING_WHITESPACE
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
-)
 
-if(${LSB_RELEASE_ID_SHORT} EQUAL "18.04")
+  if(${LSB_RELEASE_ID_SHORT} EQUAL "18.04")
     set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.65.1, libboost-date-time1.65.1, libboost-program-options1.65.1, libboost-regex1.65.1, libopencv-dev, libglew2.0, libjpeg8, libpng16-16")
-elseif(${LSB_RELEASE_ID_SHORT} EQUAL "16.04")
+
+  elseif(${LSB_RELEASE_ID_SHORT} EQUAL "16.04")
     set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.58.0, libboost-date-time1.58.0, libboost-program-options1.58.0, libboost-regex1.58.0, libopencv-dev, libglew1.13, libjpeg8, libpng12-0")
-endif(${LSB_RELEASE_ID_SHORT} EQUAL "18.04")
+  endif()
 
 endif(LSB_RELEASE_PROGRAM)
 
 string(TIMESTAMP PROJECT_VERSION_REVISION "%Y%m%d%H%M")
 
-SET(CPACK_GENERATOR "DEB")
+set(CPACK_GENERATOR "DEB")
-SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Vladyslav Usenko <vlad.usenko@tum.de>")
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Vladyslav Usenko <vlad.usenko@tum.de>")
-SET(CPACK_PACKAGE_VERSION_MAJOR "0")
+set(CPACK_PACKAGE_VERSION_MAJOR "0")
-SET(CPACK_PACKAGE_VERSION_MINOR "1")
+set(CPACK_PACKAGE_VERSION_MINOR "1")
-SET(CPACK_PACKAGE_VERSION_PATCH "0-${PROJECT_VERSION_REVISION}~${LSB_RELEASE_ID_SHORT}")
+set(CPACK_PACKAGE_VERSION_PATCH "0-${PROJECT_VERSION_REVISION}~${LSB_RELEASE_ID_SHORT}")
-SET(CPACK_DEBIAN_PACKAGE_DEPENDS ${DEBIAN_DEPENDS})
+set(CPACK_DEBIAN_PACKAGE_DEPENDS ${DEBIAN_DEPENDS})
-SET(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME_LOWERCASE}_${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}_${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
+set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME_LOWERCASE}_${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}_${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
-SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
+set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
 include(CPack)
 
 
 # Configure CCache if available
-find_program(CCACHE_PROGRAM ccache)
+if (NOT CMAKE_C_COMPILER_LAUNCHER AND NOT CMAKE_CXX_COMPILER_LAUNCHER)
-if(CCACHE_PROGRAM)
+  find_program(CCACHE_PROGRAM ccache)
-  message(STATUS "Found ccache: ${CCACHE_PROGRAM}")
+  if(CCACHE_PROGRAM)
-  set(CMAKE_C_COMPILER_LAUNCHER   ${CCACHE_PROGRAM})
+    message(STATUS "Found ccache: ${CCACHE_PROGRAM}")
-  set(CMAKE_CXX_COMPILER_LAUNCHER ${CCACHE_PROGRAM})
+    set(CMAKE_C_COMPILER_LAUNCHER   ${CCACHE_PROGRAM})
-endif(CCACHE_PROGRAM)
+    set(CMAKE_CXX_COMPILER_LAUNCHER ${CCACHE_PROGRAM})
+  else()
+    message(STATUS "Dind't find ccache")
+  endif()
+else()
+  message(STATUS "Compiler launcher already set. Not configuring ccache.")
+  message(STATUS "CMAKE_C_COMPILER_LAUNCHER: ${CMAKE_C_COMPILER_LAUNCHER}")
+  message(STATUS "CMAKE_CXX_COMPILER_LAUNCHER: ${CMAKE_CXX_COMPILER_LAUNCHER}")
+endif()
 
-IF( NOT CMAKE_BUILD_TYPE )
+if( NOT CMAKE_BUILD_TYPE )
-   SET( CMAKE_BUILD_TYPE Release)
+  set( CMAKE_BUILD_TYPE Release)
-ENDIF()
+endif()
+
+if(NOT CXX_MARCH)
+  set(CXX_MARCH native)
+endif()
 
-IF(NOT CXX_MARCH)
-   SET(CXX_MARCH native)
-ENDIF()
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
+
 # Flags used for CHECK_CXX_SOURCE_COMPILES
-set(CMAKE_REQUIRED_FLAGS "-Wno-unused-variable -Wno-unused-value")
+set(CMAKE_REQUIRED_FLAGS "-Wno-error")
 
 
-IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+# save flags passed by user
-   SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
+set(BASALT_PASSED_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
-   SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}")
+
-   SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}")
+set(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g -DEIGEN_INITIALIZE_MATRICES_BY_NAN")          # cmake default: "-g"
-   SET(CMAKE_CXX_FLAGS "-Wall -Werror -Wextra -Wno-deprecated-register -Qunused-arguments -fcolor-diagnostics -fopenmp")
+set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -DEIGEN_INITIALIZE_MATRICES_BY_NAN")  # cmake default: "-O2 -g -DNDEBUG"
-ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "AppleClang")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")                                      # cmake default: "-O3 -DNDEBUG"
-   SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
+
-   SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}")
+# base set of compile flags
-   SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}")
+set(BASALT_CXX_FLAGS "-Wall -Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0")
-   SET(CMAKE_CXX_FLAGS "-Wall -Wextra -Wno-deprecated-register -Wno-deprecated-declarations -Wno-sign-compare -Wno-exceptions -Wno-missing-field-initializers -Wno-unused-parameter -Wno-unused-private-field -Qunused-arguments -fcolor-diagnostics -nostdinc++")
+
-   include_directories(/usr/local/opt/llvm/include/c++/v1)
+# clang-specific compile flags
-   link_directories(/usr/local/opt/llvm/lib)
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
-   SET(STD_CXX_FS c++fs)
+  set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-exceptions -fcolor-diagnostics")
-ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
+endif()
-   SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
+
-   SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}")
+
-   SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}")
+# Set platform / compiler specific compile flags and checks
-   SET(CMAKE_CXX_FLAGS "-Wall -Werror -Wextra -std=c++11 -Wno-misleading-indentation -Wno-sign-compare -Wno-maybe-uninitialized -Wno-int-in-bool-context -Wno-implicit-fallthrough -Wno-unused-parameter -Wno-deprecated-declarations -ftemplate-backtrace-limit=0 -fopenmp")
+if(APPLE)
-   SET(STD_CXX_FS stdc++fs)
+  # Need to investigate how to reliably detect and use OpenMP on macOS...
-ENDIF()
+  set(USE_OPENMP_DEFAULT Off)
+
+  # Among others, setting CMAKE_FIND_FRAMEWORK to LAST fixed issues
+  # with installed Mono that contains old headers (libpng, ...).
+  # See: https://github.com/openMVG/openMVG/issues/1349#issuecomment-401492811
+  set(CMAKE_FIND_FRAMEWORK LAST)
+
+  # use brewed llvm's libc++
+  add_compile_options("-nostdinc++")
+  include_directories("/usr/local/opt/llvm/include/c++/v1")
+  link_directories("/usr/local/opt/llvm/lib")
+  set(STD_CXX_FS c++fs)
+
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    message(STATUS "Detected macOS with non-Apple clang")
+
+  elseif(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
+    message(STATUS "Detected macOS with Apple clang")
+    # Apple clang on macOS < 10.14 Mojave is too old
+    if(CMAKE_SYSTEM_VERSION VERSION_LESS 18.0.0)
+      message(WARNING "Detected Darwin version ${CMAKE_SYSTEM_VERSION}, which is earlier than macos 10.14 Mojave. Apple clang is too old and not supported. Use clang from homebrew.")
+    endif()
+
+  else()
+    message(WARNING "Detected macOS with unsupported compiler ${CMAKE_CXX_COMPILER_ID}")
+  endif()
+
+elseif(UNIX)
+  set(USE_OPENMP_DEFAULT On)
+
+  # assume libstdc++
+  set(STD_CXX_FS stdc++fs)
+
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    set(LINUX_CLANG 1)
+    message(STATUS "Detected Linux with clang.")
+    message(WARNING "Clang on Linux is currently not fully supported. You'll likely need to get a recent version of TBB.")
+
+  elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    message(STATUS "Detected Linux with gcc.")
+
+  else()
+    message(WARNING "Detected Linux with unsupported compiler ${CMAKE_CXX_COMPILER_ID}")
+  endif()
+
+else()
+  message(WARNING "Only Linux and macOS are currently supported")
+endif()
+
+
+# OpenMP option and compile flags
+option(USE_OPENMP "Use OpenMP (e.g. for parallel computation in Eigen)" ${USE_OPENMP_DEFAULT})
+if(USE_OPENMP)
+  message(STATUS "OpenMP Enabled")
+  set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -fopenmp")
+else()
+  message(STATUS "OpenMP Disabled")
+endif()
+
+
+# setup combined compiler flags
+set(CMAKE_CXX_FLAGS "${BASALT_CXX_FLAGS} -march=${CXX_MARCH} ${BASALT_PASSED_CXX_FLAGS}")
+
 
 set(EIGEN_INCLUDE_DIR_HINTS ${EIGEN_ROOT})
 find_package(Eigen3 3.3.7 REQUIRED)
 include_directories(${EIGEN3_INCLUDE_DIR})
 message(STATUS "Found Eigen headers in: ${EIGEN3_INCLUDE_DIR}")
+if(NOT EIGEN3_INCLUDE_DIR MATCHES "^${EIGEN_ROOT}")
+  message(WARNING "Found Eigen headers are outside of specified EIGEN_ROOT '${EIGEN_ROOT}'")
+endif()
 
 find_package(TBB REQUIRED)
 include_directories(${TBB_INCLUDE_DIR})
@@ -103,26 +182,9 @@ include_directories(${OpenCV_INCLUDE_DIR})
 message(STATUS "Found OpenCV headers in: ${OpenCV_INCLUDE_DIR}")
 message(STATUS "Found OpenCV_LIBS: ${OpenCV_LIBS}")
 
-add_subdirectory(thirdparty/ros)
-add_subdirectory(thirdparty/apriltag)
-add_subdirectory(thirdparty/DBoW3)
 
+add_subdirectory(thirdparty)
 
-set(BUILD_SHARED_LIBS OFF CACHE BOOL "Enable BUILD_SHARED_LIBS")
-set(BUILD_TESTS OFF CACHE BOOL "Enable BUILD_TESTS")
-
-set(BUILD_PANGOLIN_LIBOPENEXR OFF CACHE BOOL "Enable BUILD_PANGOLIN_LIBOPENEXR")
-set(BUILD_PANGOLIN_PYTHON OFF CACHE BOOL "Enable BUILD_PANGOLIN_PYTHON")
-set(BUILD_EXAMPLES OFF CACHE BOOL "Enable BUILD_EXAMPLES")
-add_subdirectory(thirdparty/opengv EXCLUDE_FROM_ALL)
-
-# Hack to disable CPack in Pangolin.
-macro(include)
-  if(NOT ${ARGV0} STREQUAL "CPack")
-    _include(${ARGN})
-  endif()
-endmacro()
-add_subdirectory(thirdparty/Pangolin EXCLUDE_FROM_ALL)
 
 include_directories(thirdparty/basalt-headers/thirdparty/Sophus)
 include_directories(thirdparty/basalt-headers/thirdparty/cereal/include)
@@ -135,76 +197,71 @@ include_directories(include)
 
 
 add_library(basalt SHARED
-    src/io/dataset_io.cpp
+  src/io/dataset_io.cpp
-    src/io/marg_data_io.cpp
+  src/io/marg_data_io.cpp
-    src/calibration/cam_calib.cpp
+  src/calibration/cam_calib.cpp
-    src/calibration/cam_imu_calib.cpp
+  src/calibration/cam_imu_calib.cpp
-    src/calibration/calibraiton_helper.cpp
+  src/calibration/calibraiton_helper.cpp
-    src/calibration/vignette.cpp
+  src/calibration/vignette.cpp
-    src/utils/vio_config.cpp
+  src/utils/vio_config.cpp
-    src/optical_flow/optical_flow.cpp
+  src/optical_flow/optical_flow.cpp
-    src/vi_estimator/keypoint_vio.cpp
+  src/vi_estimator/keypoint_vio.cpp
-    src/vi_estimator/keypoint_vio_linearize.cpp
+  src/vi_estimator/keypoint_vio_linearize.cpp
-    src/vi_estimator/vio_estimator.cpp
+  src/vi_estimator/vio_estimator.cpp
-    src/vi_estimator/ba_base.cpp
+  src/vi_estimator/ba_base.cpp
-    src/vi_estimator/nfr_mapper.cpp
+  src/vi_estimator/nfr_mapper.cpp
-    src/utils/keypoints.cpp)
+  src/utils/keypoints.cpp)
 
 
-target_link_libraries(basalt rosbag pangolin apriltag ${OPENGV_LIBS} ${TBB_LIBRARIES} ${OpenCV_LIBS} opengv ${STD_CXX_FS} DBoW3)
+target_link_libraries(basalt PUBLIC ${TBB_LIBRARIES} ${STD_CXX_FS} ${OpenCV_LIBS} pangolin PRIVATE rosbag apriltag opengv DBoW3)
 
 
 add_executable(basalt_calibrate src/calibrate.cpp)
-target_link_libraries(basalt_calibrate ${Pangolin_LIBRARIES} apriltag ${OPENGV_LIBS} ${TBB_LIBRARIES} ${rosbag_LIBRARIES} basalt)
+target_link_libraries(basalt_calibrate basalt)
 
 add_executable(basalt_calibrate_imu src/calibrate_imu.cpp)
-target_link_libraries(basalt_calibrate_imu ${Pangolin_LIBRARIES} apriltag ${OPENGV_LIBS} ${TBB_LIBRARIES} ${rosbag_LIBRARIES} basalt)
+target_link_libraries(basalt_calibrate_imu basalt)
 
 
-add_executable(basalt_vio_sim src/vio_sim.cpp )
+add_executable(basalt_vio_sim src/vio_sim.cpp)
-target_link_libraries(basalt_vio_sim ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} ${TBB_LIBRARIES} basalt)
+target_link_libraries(basalt_vio_sim basalt)
 
-add_executable(basalt_mapper_sim src/mapper_sim.cpp )
+add_executable(basalt_mapper_sim src/mapper_sim.cpp)
-target_link_libraries(basalt_mapper_sim ${Pangolin_LIBRARIES} opengv ${TBB_LIBRARIES} basalt)
+target_link_libraries(basalt_mapper_sim basalt)
 
 add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp)
-target_link_libraries(basalt_mapper_sim_naive ${Pangolin_LIBRARIES} opengv ${TBB_LIBRARIES} basalt)
+target_link_libraries(basalt_mapper_sim_naive basalt)
 
 add_executable(basalt_mapper src/mapper.cpp)
-target_link_libraries(basalt_mapper ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} ${TBB_LIBRARIES} basalt)
+target_link_libraries(basalt_mapper basalt)
 
 
 add_executable(basalt_opt_flow src/opt_flow.cpp)
-target_link_libraries(basalt_opt_flow ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} basalt)
+target_link_libraries(basalt_opt_flow basalt)
 
 add_executable(basalt_vio src/vio.cpp)
-target_link_libraries(basalt_vio ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} basalt)
+target_link_libraries(basalt_vio basalt)
-
 
 
 install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper_sim_naive basalt_mapper basalt_opt_flow basalt_vio basalt
-    EXPORT BasaltTargets
+  EXPORT BasaltTargets
-    RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
+  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-    LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-    ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
-)
 
 file(GLOB CONFIG_FILES "${CMAKE_CURRENT_SOURCE_DIR}/data/*.json")
-INSTALL(FILES ${CONFIG_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/data/basalt-data/orbvoc.dbow3
+install(FILES ${CONFIG_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/data/basalt-data/orbvoc.dbow3
-      DESTINATION ${CMAKE_INSTALL_PREFIX}/etc/basalt
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/etc/basalt)
-)
 
 
 # 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)
 # Restore original install() behavior.
 macro(install)
-    _install(${ARGN})
+  _install(${ARGN})
 endmacro()
-
-
-

test/CMakeLists.txt

@@ -1,31 +1,28 @@
-cmake_minimum_required(VERSION 3.2)
+cmake_minimum_required(VERSION 3.10)
-
-find_package(TBB REQUIRED)
-include_directories(${TBB_INCLUDE_DIR})
-
-set(GTEST_MAIN_LIBRARY gtest_main)
-set(GTEST_LIBRARY gtest)
 
+# Note: add_subdirectory(googletest ...) is called in basalt-headers
 
 include_directories(../thirdparty/basalt-headers/test/include)
 
 
 add_executable(test_image src/test_image.cpp)
-target_link_libraries(test_image ${GTEST_LIBRARY} ${GTEST_MAIN_LIBRARY} ${OpenCV_LIBS} basalt)
+target_link_libraries(test_image gtest gtest_main basalt)
 
 add_executable(test_spline_opt src/test_spline_opt.cpp)
-target_link_libraries(test_spline_opt ${GTEST_LIBRARY} ${GTEST_MAIN_LIBRARY} ${TBB_LIBRARIES} opengv basalt)
+target_link_libraries(test_spline_opt gtest gtest_main basalt)
 
 add_executable(test_vio src/test_vio.cpp)
-target_link_libraries(test_vio ${GTEST_LIBRARY} ${GTEST_MAIN_LIBRARY} ${TBB_LIBRARIES} opengv basalt)
+target_link_libraries(test_vio gtest gtest_main basalt)
 
 add_executable(test_nfr src/test_nfr.cpp)
-target_link_libraries(test_nfr ${GTEST_LIBRARY} ${GTEST_MAIN_LIBRARY} ${TBB_LIBRARIES} opengv basalt)
+target_link_libraries(test_nfr gtest gtest_main basalt)
 
 
 enable_testing()
 
-add_test(test_image test_image COMMAND Test)
+include(GoogleTest)
-add_test(test_spline_opt test_spline_opt COMMAND Test)
+
-add_test(test_vio test_vio COMMAND Test)
+gtest_discover_tests(test_image DISCOVERY_TIMEOUT 30)
-add_test(test_nfr test_nfr COMMAND Test)
+gtest_discover_tests(test_spline_opt DISCOVERY_TIMEOUT 30)
+gtest_discover_tests(test_vio DISCOVERY_TIMEOUT 30)
+gtest_discover_tests(test_nfr DISCOVERY_TIMEOUT 30)

thirdparty/CMakeLists.txt

@@ -0,0 +1,106 @@
+cmake_minimum_required(VERSION 3.10)
+
+add_subdirectory(ros EXCLUDE_FROM_ALL)
+add_subdirectory(apriltag EXCLUDE_FROM_ALL)
+add_subdirectory(DBoW3 EXCLUDE_FROM_ALL)
+
+
+set(BUILD_SHARED_LIBS OFF CACHE BOOL "Enable BUILD_SHARED_LIBS")
+set(BUILD_TESTS OFF CACHE BOOL "Enable BUILD_TESTS")
+set(BUILD_TOOLS OFF CACHE BOOL "Enable BUILD_TOOLS")
+set(CMAKE_EXPORT_NO_PACKAGE_REGISTRY ON)
+
+set(BUILD_PANGOLIN_LIBOPENEXR OFF CACHE BOOL "Enable BUILD_PANGOLIN_LIBOPENEXR")
+set(BUILD_PANGOLIN_PYTHON OFF CACHE BOOL "Enable BUILD_PANGOLIN_PYTHON")
+set(BUILD_EXAMPLES OFF CACHE BOOL "Enable BUILD_EXAMPLES")
+
+set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}")
+set(EIGEN_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIR}")
+
+add_subdirectory(opengv EXCLUDE_FROM_ALL)
+
+# Hack to disable CPack in Pangolin.
+macro(include)
+  if(NOT ${ARGV0} STREQUAL "CPack")
+    _include(${ARGN})
+  endif()
+endmacro()
+add_subdirectory(Pangolin EXCLUDE_FROM_ALL)
+
+
+# fix aprilgrid
+target_compile_options(apriltag PRIVATE "-Wno-unused-private-field")
+
+# fix opengv: c++17 and debug postfix
+set_target_properties(opengv PROPERTIES
+  CXX_STANDARD 17
+  DEBUG_POSTFIX "")
+
+# fix opengv: compile options (CMAKE_CXX_FLAGS is overwritten by Opengv)
+target_compile_options(opengv PRIVATE
+  -Wno-unused-private-field
+  -march=${CXX_MARCH}
+  ${BASALT_PASSED_CXX_FLAGS})
+
+# TODO: enable once mpark issue is fixed upstream pangolin
+#set_target_properties(pangolin PROPERTIES
+#  CXX_STANDARD 17)
+
+# fix pangolin: gcc
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+  target_compile_options(pangolin PRIVATE "-Wno-implicit-fallthrough")
+endif()
+
+# fix pangolin: macOS
+if(APPLE)
+  target_compile_options(pangolin PRIVATE "-Wno-objc-missing-super-calls")
+endif()
+
+# fix pangolin: macOS >= 10.14 Mojave
+if(APPLE AND CMAKE_SYSTEM_VERSION VERSION_GREATER_EQUAL 18.0.0)
+  target_compile_options(pangolin PRIVATE "-Wno-deprecated-declarations")
+endif()
+
+# fix pangolin: clang
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
+  target_compile_options(pangolin PRIVATE "-Wno-null-pointer-arithmetic")
+endif()
+
+# fix pangolin: clang >= 8.0
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 8.0.0)
+  target_compile_options(pangolin PRIVATE "-Wno-defaulted-function-deleted")
+endif()
+
+# check here the directories for the pangolin and opengv targets, and
+# confirm that the eigen-related include dirs match.
+foreach(_target opengv pangolin)
+  get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+  foreach(_dir IN LISTS _include_dirs)
+    if("${_dir}" MATCHES ".*/eigen3?(/unsupported)?$")
+      if(NOT _dir MATCHES "^${EIGEN3_INCLUDE_DIR}.*")
+      endif()
+    endif()
+  endforeach()
+endforeach()
+
+# opengv and pangolin assume that eigen is found outside the source
+# directory and thus include it in INTERFACE_INCLUDE_DIRECTORIES,
+# which makes cmake complain that that property contains paths in the
+# source folder. Thus, we update the property to only include these
+# eigen paths in the "BUILD_INTERFACE" (not "INSTALL").
+if (EIGEN3_INCLUDE_DIR MATCHES "^${CMAKE_SOURCE_DIR}.*")
+  foreach(_target opengv pangolin)
+    get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+    set(_include_dirs_new "")
+    foreach(_dir IN LISTS _include_dirs)
+      if(_dir MATCHES ".*/eigen(/unsupported)?$")
+        string(REGEX REPLACE "(^${CMAKE_SOURCE_DIR}.*$)" "$<BUILD_INTERFACE:\\1>" _dir "${_dir}")
+      endif()
+      list(APPEND _include_dirs_new "${_dir}")
+    endforeach()
+    set_target_properties(${_target} PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${_include_dirs_new}")
+  endforeach()
+endif()
+
+
+