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cmake: adjust to basalt headers cmake changes

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This commit is contained in:
Nikolaus Demmel 2021-11-22 02:20:10 +01:00
parent c294e3666d
commit e37d3f02e7
5 changed files with 37 additions and 34 deletions
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60
CMakeLists.txt
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@ -1,6 +1,4 @@
cmake_minimum_required(VERSION 3.10) cmake_minimum_required(VERSION 3.10...3.18)
include("thirdparty/basalt-headers/cmake_modules/PreProjectWorkarounds.cmake")
project(basalt) project(basalt)
@ -251,37 +249,40 @@ set(CMAKE_CXX_FLAGS "${BASALT_CXX_FLAGS} ${BASALT_MARCH_FLAGS} ${BASALT_PASSED_C
set(EIGEN_INCLUDE_DIR_HINTS ${EIGEN_ROOT}) set(EIGEN_INCLUDE_DIR_HINTS ${EIGEN_ROOT})
find_package(Eigen3 3.4.0 EXACT REQUIRED MODULE) find_package(Eigen3 3.4.0 EXACT REQUIRED MODULE)
include_directories(${EIGEN3_INCLUDE_DIR})
message(STATUS "Found Eigen headers in: ${EIGEN3_INCLUDE_DIR}") message(STATUS "Found Eigen headers in: ${EIGEN3_INCLUDE_DIR}")
if(NOT EIGEN3_INCLUDE_DIR MATCHES "^${EIGEN_ROOT}") if(NOT EIGEN3_INCLUDE_DIR MATCHES "^${EIGEN_ROOT}")
message(WARNING "Found Eigen headers are outside of specified EIGEN_ROOT '${EIGEN_ROOT}'") message(WARNING "Found Eigen headers are outside of specified EIGEN_ROOT '${EIGEN_ROOT}'")
endif() endif()
find_package(TBB REQUIRED) find_package(TBB REQUIRED)
include_directories(${TBB_INCLUDE_DIR})
message(STATUS "Found TBB ${TBB_VERSION_MAJOR}.${TBB_VERSION_MINOR} (interface version ${TBB_INTERFACE_VERSION}) headers in: ${TBB_INCLUDE_DIRS}") message(STATUS "Found TBB ${TBB_VERSION_MAJOR}.${TBB_VERSION_MINOR} (interface version ${TBB_INTERFACE_VERSION}) headers in: ${TBB_INCLUDE_DIRS}")
if (TBB_INTERFACE_VERSION LESS 11004) if (TBB_INTERFACE_VERSION LESS 11004)
# enable global_control header for earlier TBB versions (Ubuntu 16.04, 18.04) # enable global_control header for earlier TBB versions (Ubuntu 16.04, 18.04)
add_definitions(-DTBB_PREVIEW_GLOBAL_CONTROL) add_definitions(-DTBB_PREVIEW_GLOBAL_CONTROL)
endif() endif()
find_package(OpenCV REQUIRED core imgproc calib3d highgui) # NOTE: not specifying version, since 2, 3 or 4 is fine
include_directories(${OpenCV_INCLUDE_DIR}) find_package(OpenCV REQUIRED COMPONENTS core imgproc calib3d highgui)
message(STATUS "Found OpenCV headers in: ${OpenCV_INCLUDE_DIR}") message(STATUS "Found OpenCV ${OpenCV_VERSION} headers in: ${OpenCV_INCLUDE_DIRS}")
message(STATUS "Found OpenCV_LIBS: ${OpenCV_LIBS}") message(STATUS "Found OpenCV_LIBS: ${OpenCV_LIBS}")
# Add our own custom scoped opencv target since none is provided by OpenCV itself
add_library(basalt::opencv INTERFACE IMPORTED)
set_property(TARGET basalt::opencv PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${OpenCV_INCLUDE_DIRS})
set_property(TARGET basalt::opencv PROPERTY INTERFACE_LINK_LIBRARIES ${OpenCV_LIBS})
find_package(fmt REQUIRED) find_package(fmt REQUIRED)
message(STATUS "Found {fmt} ${fmt_VERSION} in: ${fmt_DIR}")
add_subdirectory(thirdparty) add_subdirectory(thirdparty)
# custom scoped cli11 target
add_library(basalt::cli11 INTERFACE IMPORTED)
set_property(TARGET basalt::cli11 PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/CLI11/include)
include_directories(thirdparty/basalt-headers/thirdparty/Sophus) # custom scoped magic_enum target
include_directories(thirdparty/basalt-headers/thirdparty/cereal/include) add_library(basalt::magic_enum INTERFACE IMPORTED)
include_directories(thirdparty/basalt-headers/include) set_property(TARGET basalt::magic_enum PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/magic_enum/include)
include_directories(thirdparty/CLI11/include)
include_directories(thirdparty/magic_enum/include)
include_directories(include)
add_library(basalt SHARED add_library(basalt SHARED
@ -312,54 +313,55 @@ add_library(basalt SHARED
target_link_libraries(basalt target_link_libraries(basalt
PUBLIC ${TBB_LIBRARIES} ${STD_CXX_FS} ${OpenCV_LIBS} fmt::fmt PUBLIC ${STD_CXX_FS} basalt::opencv basalt::basalt-headers TBB::tbb
PRIVATE rosbag apriltag opengv nlohmann::json) PRIVATE basalt::magic_enum rosbag apriltag opengv nlohmann::json fmt::fmt)
target_include_directories(basalt PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
target_compile_definitions(basalt PUBLIC ${BASALT_COMPILE_DEFINITIONS}) target_compile_definitions(basalt PUBLIC ${BASALT_COMPILE_DEFINITIONS})
#target_compile_definitions(basalt PUBLIC BASALT_DISABLE_ASSERTS) #target_compile_definitions(basalt PUBLIC BASALT_DISABLE_ASSERTS)
add_executable(basalt_calibrate src/calibrate.cpp src/calibration/cam_calib.cpp) add_executable(basalt_calibrate src/calibrate.cpp src/calibration/cam_calib.cpp)
target_link_libraries(basalt_calibrate basalt pangolin) target_link_libraries(basalt_calibrate basalt pangolin basalt::cli11)
add_executable(basalt_calibrate_imu src/calibrate_imu.cpp src/calibration/cam_imu_calib.cpp) add_executable(basalt_calibrate_imu src/calibrate_imu.cpp src/calibration/cam_imu_calib.cpp)
target_link_libraries(basalt_calibrate_imu basalt pangolin) target_link_libraries(basalt_calibrate_imu basalt pangolin basalt::cli11)
add_executable(basalt_vio_sim src/vio_sim.cpp) add_executable(basalt_vio_sim src/vio_sim.cpp)
target_link_libraries(basalt_vio_sim basalt pangolin) target_link_libraries(basalt_vio_sim basalt pangolin basalt::cli11)
add_executable(basalt_mapper_sim src/mapper_sim.cpp) add_executable(basalt_mapper_sim src/mapper_sim.cpp)
target_link_libraries(basalt_mapper_sim basalt pangolin) target_link_libraries(basalt_mapper_sim basalt pangolin basalt::cli11)
# mapper sim native doesn't use template free interface # mapper sim native doesn't use template free interface
if(BASALT_INSTANTIATIONS_DOUBLE) if(BASALT_INSTANTIATIONS_DOUBLE)
add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp) add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp)
target_link_libraries(basalt_mapper_sim_naive basalt pangolin) target_link_libraries(basalt_mapper_sim_naive basalt pangolin basalt::cli11)
endif() endif()
add_executable(basalt_mapper src/mapper.cpp) add_executable(basalt_mapper src/mapper.cpp)
target_link_libraries(basalt_mapper basalt pangolin) target_link_libraries(basalt_mapper basalt pangolin basalt::cli11)
add_executable(basalt_opt_flow src/opt_flow.cpp) add_executable(basalt_opt_flow src/opt_flow.cpp)
target_link_libraries(basalt_opt_flow basalt pangolin) target_link_libraries(basalt_opt_flow basalt pangolin basalt::cli11)
add_executable(basalt_vio src/vio.cpp) add_executable(basalt_vio src/vio.cpp)
target_link_libraries(basalt_vio basalt pangolin) target_link_libraries(basalt_vio basalt pangolin basalt::cli11)
add_executable(basalt_time_alignment src/time_alignment.cpp) add_executable(basalt_time_alignment src/time_alignment.cpp)
target_link_libraries(basalt_time_alignment basalt pangolin) target_link_libraries(basalt_time_alignment basalt pangolin basalt::cli11)
add_executable(basalt_kitti_eval src/kitti_eval.cpp) add_executable(basalt_kitti_eval src/kitti_eval.cpp)
target_link_libraries(basalt_kitti_eval) target_link_libraries(basalt_kitti_eval basalt::basalt-headers basalt::cli11)
find_package(realsense2 QUIET) find_package(realsense2 QUIET)
if(realsense2_FOUND) if(realsense2_FOUND)
add_executable(basalt_rs_t265_record src/rs_t265_record.cpp src/device/rs_t265.cpp) add_executable(basalt_rs_t265_record src/rs_t265_record.cpp src/device/rs_t265.cpp)
target_link_libraries(basalt_rs_t265_record basalt realsense2::realsense2 ${OpenCV_LIBS} pangolin) target_link_libraries(basalt_rs_t265_record basalt realsense2::realsense2 pangolin basalt::cli11)
add_executable(basalt_rs_t265_vio src/rs_t265_vio.cpp src/device/rs_t265.cpp) add_executable(basalt_rs_t265_vio src/rs_t265_vio.cpp src/device/rs_t265.cpp)
target_link_libraries(basalt_rs_t265_vio basalt realsense2::realsense2 pangolin) target_link_libraries(basalt_rs_t265_vio basalt realsense2::realsense2 pangolin basalt::cli11)
endif() endif()

2
test/CMakeLists.txt
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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.10) cmake_minimum_required(VERSION 3.10...3.18)
# Note: add_subdirectory(googletest ...) is called in basalt-headers # Note: add_subdirectory(googletest ...) is called in basalt-headers

3
thirdparty/CMakeLists.txt vendored
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@ -1,8 +1,9 @@
cmake_minimum_required(VERSION 3.10) cmake_minimum_required(VERSION 3.10...3.18)
add_library(nlohmann::json INTERFACE IMPORTED GLOBAL) add_library(nlohmann::json INTERFACE IMPORTED GLOBAL)
set_property(TARGET nlohmann::json PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/json/) set_property(TARGET nlohmann::json PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/json/)
add_subdirectory(basalt-headers EXCLUDE_FROM_ALL)
add_subdirectory(ros EXCLUDE_FROM_ALL) add_subdirectory(ros EXCLUDE_FROM_ALL)
add_subdirectory(apriltag EXCLUDE_FROM_ALL) add_subdirectory(apriltag EXCLUDE_FROM_ALL)

4
thirdparty/apriltag/CMakeLists.txt vendored
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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.2) cmake_minimum_required(VERSION 3.2...3.18)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
@ -20,6 +20,6 @@ include_directories(../basalt-headers/thirdparty/Sophus)
add_library(apriltag STATIC ${APRILTAG_SRCS} src/apriltag.cpp) add_library(apriltag STATIC ${APRILTAG_SRCS} src/apriltag.cpp)
target_include_directories(apriltag PUBLIC include) target_include_directories(apriltag PUBLIC include)
target_link_libraries(apriltag PUBLIC ${OpenCV_LIBS}) target_link_libraries(apriltag PUBLIC basalt::opencv Sophus::Sophus)

2
thirdparty/basalt-headers vendored

@ -1 +1 @@
Subproject commit e9bce48383ab0d7bad83c6e26711798a346467d2 Subproject commit 79ab28e443326bdf863c81c4457bccf19a48097e