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Merge branch 'demmeln/cmake-headers' into 'master' 

cmake: define all headers in target_sources

See merge request basalt/basalt!55
This commit is contained in:
Vladyslav Usenko 2022-03-16 16:53:06 +00:00
parent 71d8e30c33 4d50597b1e
commit b8b47d12c4
2 changed files with 92 additions and 27 deletions
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117
CMakeLists.txt
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@ -284,33 +284,98 @@ set_property(TARGET basalt::cli11 PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE
add_library(basalt::magic_enum INTERFACE IMPORTED) add_library(basalt::magic_enum INTERFACE IMPORTED)
set_property(TARGET basalt::magic_enum PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/magic_enum/include) set_property(TARGET basalt::magic_enum PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/magic_enum/include)
# main library
add_library(basalt SHARED)
add_library(basalt SHARED # List all header and source files with target_sources.
src/io/dataset_io.cpp # This ensures, e.g., that QtCreator >= 6.0 properly recognize these headers to belong to the project.
src/io/marg_data_io.cpp # To support cmake < 3.13, use absolute paths (see: https://crascit.com/2016/01/31/enhanced-source-file-handling-with-target_sources/)
src/calibration/aprilgrid.cpp target_sources(basalt
src/calibration/calibraiton_helper.cpp PUBLIC
src/calibration/vignette.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/aprilgrid.h
src/optical_flow/optical_flow.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/calibration_helper.h
src/linearization/landmark_block.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/cam_calib.h
src/linearization/linearization_base.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/cam_imu_calib.h
src/linearization/linearization_abs_qr.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/vignette.h
src/linearization/linearization_abs_sc.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/device/rs_t265.h
src/linearization/linearization_rel_sc.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/hash_bow/hash_bow.h
src/utils/vio_config.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/io/dataset_io.h
src/utils/system_utils.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/io/dataset_io_euroc.h
src/utils/time_utils.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/io/dataset_io_kitti.h
src/utils/keypoints.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/io/dataset_io_rosbag.h
src/vi_estimator/marg_helper.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/io/dataset_io_uzh.h
src/vi_estimator/sqrt_keypoint_vio.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/io/marg_data_io.h
src/vi_estimator/sqrt_keypoint_vo.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/block_diagonal.hpp
src/vi_estimator/vio_estimator.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/imu_block.hpp
src/vi_estimator/ba_base.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/landmark_block.hpp
src/vi_estimator/sqrt_ba_base.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/landmark_block_abs_dynamic.hpp
src/vi_estimator/sc_ba_base.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/linearization_abs_qr.hpp
src/vi_estimator/nfr_mapper.cpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/linearization_abs_sc.hpp
src/vi_estimator/landmark_database.cpp) ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/linearization_base.hpp
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/linearization_rel_sc.hpp
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/optical_flow/frame_to_frame_optical_flow.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/optical_flow/multiscale_frame_to_frame_optical_flow.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/optical_flow/optical_flow.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/optical_flow/patch.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/optical_flow/patch_optical_flow.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/optical_flow/patterns.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/optimization/accumulator.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/optimization/linearize.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/optimization/poses_linearize.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/optimization/poses_optimize.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/optimization/spline_linearize.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/optimization/spline_optimize.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/ba_utils.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/cast_utils.hpp
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/common_types.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/filesystem.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/format.hpp
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/imu_types.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/keypoints.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/nfr.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/sim_utils.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/system_utils.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/test_utils.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/time_utils.hpp
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/tracks.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/union_find.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/vio_config.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/utils/vis_utils.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/vi_estimator/ba_base.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/vi_estimator/landmark_database.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/vi_estimator/marg_helper.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/vi_estimator/nfr_mapper.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/vi_estimator/sc_ba_base.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/vi_estimator/sqrt_ba_base.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/vi_estimator/sqrt_keypoint_vio.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/vi_estimator/sqrt_keypoint_vo.h
${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/vi_estimator/vio_estimator.h
PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/src/calibration/aprilgrid.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/calibration/calibraiton_helper.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/calibration/vignette.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/io/dataset_io.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/io/marg_data_io.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/landmark_block.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_abs_qr.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_abs_sc.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_base.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/linearization/linearization_rel_sc.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/optical_flow/optical_flow.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/utils/keypoints.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/utils/system_utils.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/utils/time_utils.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/utils/vio_config.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/vi_estimator/ba_base.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/vi_estimator/landmark_database.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/vi_estimator/marg_helper.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/vi_estimator/nfr_mapper.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/vi_estimator/sc_ba_base.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/vi_estimator/sqrt_ba_base.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/vi_estimator/sqrt_keypoint_vio.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/vi_estimator/sqrt_keypoint_vo.cpp
${CMAKE_CURRENT_SOURCE_DIR}/src/vi_estimator/vio_estimator.cpp
)
target_link_libraries(basalt target_link_libraries(basalt
PUBLIC ${STD_CXX_FS} basalt::opencv basalt::basalt-headers TBB::tbb PUBLIC ${STD_CXX_FS} basalt::opencv basalt::basalt-headers TBB::tbb

2
thirdparty/basalt-headers vendored

@ -1 +1 @@
Subproject commit 36aa8910bff16b86653f5588aee43ed234f6abc3 Subproject commit cc0fb1d2214dc6bc1f9dbee1a5415d48a1982926