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).
This commit is contained in:
Nikolaus Demmel
parent
2d247ac74c
commit
6755f08678
197
.gitlab-ci.yml
197
.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:
|
||||
stage: build
|
||||
variables:
|
||||
CXX_MARCH: 'corei7-avx'
|
||||
# template for docker builds with ccache
|
||||
.prepare_docker_template: &prepare_docker_definition
|
||||
tags:
|
||||
- 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/
|
||||
- ctest -V
|
||||
- cd ../../
|
||||
- mkdir deb_bionic
|
||||
- cp build/*.deb deb_bionic/
|
||||
- cd ..
|
||||
- mkdir $DEB_DIR
|
||||
- mv build/*.deb $DEB_DIR/
|
||||
- dpkg -i $DEB_DIR/*.deb
|
||||
# smoke test to see if all executables at least start up
|
||||
- basalt_calibrate --help
|
||||
- basalt_calibrate_imu --help
|
||||
- basalt_mapper --help
|
||||
- basalt_mapper_sim --help
|
||||
- basalt_mapper_sim_naive --help
|
||||
- basalt_opt_flow --help
|
||||
- basalt_vio --help
|
||||
- basalt_vio_sim --help
|
||||
|
||||
# template for build & unit test configurations (no deb)
|
||||
.compile_test_template: &compile_test_definition
|
||||
stage: build
|
||||
script:
|
||||
- mkdir build
|
||||
- cd build
|
||||
- cmake .. -DCMAKE_BUILD_TYPE=${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 $DEB_DIR/*.deb
|
||||
# smoke test to see if all executables at least start up
|
||||
- basalt_calibrate --help
|
||||
- basalt_calibrate_imu --help
|
||||
- basalt_mapper --help
|
||||
- basalt_mapper_sim --help
|
||||
- basalt_mapper_sim_naive --help
|
||||
- basalt_opt_flow --help
|
||||
- basalt_vio --help
|
||||
- basalt_vio_sim --help
|
||||
|
||||
bionic-release-compile:
|
||||
<<: *prepare_docker_definition
|
||||
<<: *compile_test_package_definition
|
||||
cache:
|
||||
key: bionic-release
|
||||
variables:
|
||||
CXX_MARCH: 'corei7-avx'
|
||||
DEB_DIR: deb_bionic
|
||||
artifacts:
|
||||
paths:
|
||||
- deb_bionic/*.deb
|
||||
- scripts/eval_full/*
|
||||
expire_in: 1 week
|
||||
|
||||
compile_16_04:
|
||||
stage: build
|
||||
xenial-release-compile:
|
||||
<<: *prepare_docker_definition
|
||||
<<: *compile_test_package_definition
|
||||
image: vladyslavusenko/b_image_xenial:latest
|
||||
cache:
|
||||
key: xenial-release
|
||||
variables:
|
||||
CXX_MARCH: 'corei7-avx'
|
||||
before_script:
|
||||
- mkdir -p ccache
|
||||
- export CCACHE_BASEDIR=${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/
|
||||
DEB_DIR: deb_xenial
|
||||
artifacts:
|
||||
paths:
|
||||
- deb_xenial/*.deb
|
||||
expire_in: 1 week
|
||||
only:
|
||||
- master
|
||||
image: vladyslavusenko/b_image_xenial:latest
|
||||
|
||||
bionic-debug-compile:
|
||||
<<: *prepare_docker_definition
|
||||
<<: *compile_test_package_definition
|
||||
cache:
|
||||
key: bionic-debug
|
||||
variables:
|
||||
BUILD_TYPE: Debug
|
||||
|
||||
eval_euroc:
|
||||
stage: test
|
||||
parallel: 10
|
||||
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:
|
||||
- dataset-eval
|
||||
- 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: eval
|
||||
parallel: 10
|
||||
tags: [docker, 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 $REPOSITORY_URL/bionic/
|
||||
|
|
|
|||
271
CMakeLists.txt
271
CMakeLists.txt
|
|
@ -1,9 +1,14 @@
|
|||
cmake_minimum_required(VERSION 3.8)
|
||||
cmake_minimum_required(VERSION 3.10)
|
||||
|
||||
include("thirdparty/basalt-headers/cmake_modules/PreProjectWorkarounds.cmake")
|
||||
|
||||
project(basalt)
|
||||
|
||||
set(CMAKE_MODULE_PATH "${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_DEBIAN_PACKAGE_MAINTAINER "Vladyslav Usenko <vlad.usenko@tum.de>")
|
||||
SET(CPACK_PACKAGE_VERSION_MAJOR "0")
|
||||
SET(CPACK_PACKAGE_VERSION_MINOR "1")
|
||||
SET(CPACK_PACKAGE_VERSION_PATCH "0-${PROJECT_VERSION_REVISION}~${LSB_RELEASE_ID_SHORT}")
|
||||
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_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
|
||||
set(CPACK_GENERATOR "DEB")
|
||||
set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Vladyslav Usenko <vlad.usenko@tum.de>")
|
||||
set(CPACK_PACKAGE_VERSION_MAJOR "0")
|
||||
set(CPACK_PACKAGE_VERSION_MINOR "1")
|
||||
set(CPACK_PACKAGE_VERSION_PATCH "0-${PROJECT_VERSION_REVISION}~${LSB_RELEASE_ID_SHORT}")
|
||||
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_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
|
||||
include(CPack)
|
||||
|
||||
|
||||
# Configure CCache if available
|
||||
find_program(CCACHE_PROGRAM ccache)
|
||||
if(CCACHE_PROGRAM)
|
||||
message(STATUS "Found ccache: ${CCACHE_PROGRAM}")
|
||||
set(CMAKE_C_COMPILER_LAUNCHER ${CCACHE_PROGRAM})
|
||||
set(CMAKE_CXX_COMPILER_LAUNCHER ${CCACHE_PROGRAM})
|
||||
endif(CCACHE_PROGRAM)
|
||||
if (NOT CMAKE_C_COMPILER_LAUNCHER AND NOT CMAKE_CXX_COMPILER_LAUNCHER)
|
||||
find_program(CCACHE_PROGRAM ccache)
|
||||
if(CCACHE_PROGRAM)
|
||||
message(STATUS "Found ccache: ${CCACHE_PROGRAM}")
|
||||
set(CMAKE_C_COMPILER_LAUNCHER ${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: ${CMAKE_CXX_COMPILER_LAUNCHER}")
|
||||
endif()
|
||||
|
||||
IF( NOT CMAKE_BUILD_TYPE )
|
||||
SET( CMAKE_BUILD_TYPE Release)
|
||||
ENDIF()
|
||||
if( NOT CMAKE_BUILD_TYPE )
|
||||
set( CMAKE_BUILD_TYPE Release)
|
||||
endif()
|
||||
|
||||
if(NOT CXX_MARCH)
|
||||
set(CXX_MARCH native)
|
||||
endif()
|
||||
|
||||
IF(NOT CXX_MARCH)
|
||||
SET(CXX_MARCH native)
|
||||
ENDIF()
|
||||
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_CXX_EXTENSIONS OFF)
|
||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||
|
||||
|
||||
# Flags used for CHECK_CXX_SOURCE_COMPILES
|
||||
set(CMAKE_REQUIRED_FLAGS "-Wno-unused-variable -Wno-unused-value")
|
||||
set(CMAKE_REQUIRED_FLAGS "-Wno-error")
|
||||
|
||||
|
||||
IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
|
||||
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(CMAKE_CXX_FLAGS "-Wall -Werror -Wextra -Wno-deprecated-register -Qunused-arguments -fcolor-diagnostics -fopenmp")
|
||||
ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "AppleClang")
|
||||
SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
|
||||
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -ftree-vectorize -march=${CXX_MARCH}")
|
||||
SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -ftree-vectorize -march=${CXX_MARCH}")
|
||||
SET(CMAKE_CXX_FLAGS "-Wall -Wextra -Wno-deprecated-register -Wno-deprecated-declarations -Wno-sign-compare -Wno-exceptions -Wno-missing-field-initializers -Wno-unused-parameter -Wno-unused-private-field -Qunused-arguments -fcolor-diagnostics -nostdinc++")
|
||||
include_directories(/usr/local/opt/llvm/include/c++/v1)
|
||||
link_directories(/usr/local/opt/llvm/lib)
|
||||
SET(STD_CXX_FS c++fs)
|
||||
ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
|
||||
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(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")
|
||||
SET(STD_CXX_FS stdc++fs)
|
||||
ENDIF()
|
||||
# save flags passed by user
|
||||
set(BASALT_PASSED_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
|
||||
|
||||
set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g -DEIGEN_INITIALIZE_MATRICES_BY_NAN") # cmake default: "-g"
|
||||
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -DEIGEN_INITIALIZE_MATRICES_BY_NAN") # cmake default: "-O2 -g -DNDEBUG"
|
||||
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG") # cmake default: "-O3 -DNDEBUG"
|
||||
|
||||
# base set of compile flags
|
||||
set(BASALT_CXX_FLAGS "-Wall -Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0")
|
||||
|
||||
# clang-specific compile flags
|
||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
|
||||
set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-exceptions -fcolor-diagnostics")
|
||||
endif()
|
||||
|
||||
|
||||
# Set platform / compiler specific compile flags and checks
|
||||
if(APPLE)
|
||||
# Need to investigate how to reliably detect and use OpenMP on macOS...
|
||||
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/marg_data_io.cpp
|
||||
src/calibration/cam_calib.cpp
|
||||
src/calibration/cam_imu_calib.cpp
|
||||
src/calibration/calibraiton_helper.cpp
|
||||
src/calibration/vignette.cpp
|
||||
src/utils/vio_config.cpp
|
||||
src/optical_flow/optical_flow.cpp
|
||||
src/vi_estimator/keypoint_vio.cpp
|
||||
src/vi_estimator/keypoint_vio_linearize.cpp
|
||||
src/vi_estimator/vio_estimator.cpp
|
||||
src/vi_estimator/ba_base.cpp
|
||||
src/vi_estimator/nfr_mapper.cpp
|
||||
src/utils/keypoints.cpp)
|
||||
src/io/dataset_io.cpp
|
||||
src/io/marg_data_io.cpp
|
||||
src/calibration/cam_calib.cpp
|
||||
src/calibration/cam_imu_calib.cpp
|
||||
src/calibration/calibraiton_helper.cpp
|
||||
src/calibration/vignette.cpp
|
||||
src/utils/vio_config.cpp
|
||||
src/optical_flow/optical_flow.cpp
|
||||
src/vi_estimator/keypoint_vio.cpp
|
||||
src/vi_estimator/keypoint_vio_linearize.cpp
|
||||
src/vi_estimator/vio_estimator.cpp
|
||||
src/vi_estimator/ba_base.cpp
|
||||
src/vi_estimator/nfr_mapper.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 )
|
||||
target_link_libraries(basalt_vio_sim ${Pangolin_LIBRARIES} opengv ${STD_CXX_FS} ${TBB_LIBRARIES} basalt)
|
||||
add_executable(basalt_vio_sim src/vio_sim.cpp)
|
||||
target_link_libraries(basalt_vio_sim basalt)
|
||||
|
||||
add_executable(basalt_mapper_sim src/mapper_sim.cpp )
|
||||
target_link_libraries(basalt_mapper_sim ${Pangolin_LIBRARIES} opengv ${TBB_LIBRARIES} basalt)
|
||||
add_executable(basalt_mapper_sim src/mapper_sim.cpp)
|
||||
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
|
||||
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
|
||||
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
|
||||
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
|
||||
)
|
||||
EXPORT BasaltTargets
|
||||
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
|
||||
LIBRARY 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
|
||||
DESTINATION ${CMAKE_INSTALL_PREFIX}/etc/basalt
|
||||
)
|
||||
install(FILES ${CONFIG_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/data/basalt-data/orbvoc.dbow3
|
||||
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(${ARGN})
|
||||
endmacro()
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,31 +1,28 @@
|
|||
cmake_minimum_required(VERSION 3.2)
|
||||
|
||||
find_package(TBB REQUIRED)
|
||||
include_directories(${TBB_INCLUDE_DIR})
|
||||
|
||||
set(GTEST_MAIN_LIBRARY gtest_main)
|
||||
set(GTEST_LIBRARY gtest)
|
||||
cmake_minimum_required(VERSION 3.10)
|
||||
|
||||
# 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} ${TBB_LIBRARIES} opengv basalt)
|
||||
target_link_libraries(test_nfr gtest gtest_main basalt)
|
||||
|
||||
|
||||
enable_testing()
|
||||
|
||||
add_test(test_image test_image COMMAND Test)
|
||||
add_test(test_spline_opt test_spline_opt COMMAND Test)
|
||||
add_test(test_vio test_vio COMMAND Test)
|
||||
add_test(test_nfr test_nfr COMMAND Test)
|
||||
include(GoogleTest)
|
||||
|
||||
gtest_discover_tests(test_image DISCOVERY_TIMEOUT 30)
|
||||
gtest_discover_tests(test_spline_opt DISCOVERY_TIMEOUT 30)
|
||||
gtest_discover_tests(test_vio DISCOVERY_TIMEOUT 30)
|
||||
gtest_discover_tests(test_nfr DISCOVERY_TIMEOUT 30)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,106 @@
|
|||
cmake_minimum_required(VERSION 3.10)
|
||||
|
||||
add_subdirectory(ros EXCLUDE_FROM_ALL)
|
||||
add_subdirectory(apriltag EXCLUDE_FROM_ALL)
|
||||
add_subdirectory(DBoW3 EXCLUDE_FROM_ALL)
|
||||
|
||||
|
||||
set(BUILD_SHARED_LIBS OFF CACHE BOOL "Enable BUILD_SHARED_LIBS")
|
||||
set(BUILD_TESTS OFF CACHE BOOL "Enable BUILD_TESTS")
|
||||
set(BUILD_TOOLS OFF CACHE BOOL "Enable BUILD_TOOLS")
|
||||
set(CMAKE_EXPORT_NO_PACKAGE_REGISTRY ON)
|
||||
|
||||
set(BUILD_PANGOLIN_LIBOPENEXR OFF CACHE BOOL "Enable BUILD_PANGOLIN_LIBOPENEXR")
|
||||
set(BUILD_PANGOLIN_PYTHON OFF CACHE BOOL "Enable BUILD_PANGOLIN_PYTHON")
|
||||
set(BUILD_EXAMPLES OFF CACHE BOOL "Enable BUILD_EXAMPLES")
|
||||
|
||||
set(EIGEN_INCLUDE_DIR "${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()
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue