cmake_minimum_required(VERSION 3.10...3.18) project(basalt) set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/" ${CMAKE_MODULE_PATH}) if(NOT EIGEN_ROOT) set(EIGEN_ROOT "${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") if(DPKG_PROGRAM) execute_process( COMMAND ${DPKG_PROGRAM} --print-architecture OUTPUT_VARIABLE CPACK_DEBIAN_PACKAGE_ARCHITECTURE 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 ${LSB_RELEASE_PROGRAM} -rs OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT OUTPUT_STRIP_TRAILING_WHITESPACE) if(${LSB_RELEASE_ID_SHORT} EQUAL "20.04") set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.71.0, libboost-date-time1.71.0, libboost-program-options1.71.0, libboost-regex1.71.0, libopencv-dev, libglew2.1, libjpeg8, libpng16-16, librealsense2, librealsense2-dkms, librealsense2-gl, librealsense2-utils") elseif(${LSB_RELEASE_ID_SHORT} EQUAL "18.04") set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.65.1, libboost-date-time1.65.1, libboost-program-options1.65.1, libboost-regex1.65.1, libopencv-dev, libglew2.0, libjpeg8, libpng16-16, librealsense2, librealsense2-dkms, librealsense2-gl, librealsense2-utils") elseif(${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, libstdc++6, librealsense2, librealsense2-dkms, librealsense2-gl, librealsense2-utils") 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 ") 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 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: ${CMAKE_CXX_COMPILER_LAUNCHER}") endif() if( NOT CMAKE_BUILD_TYPE ) set( CMAKE_BUILD_TYPE Release) endif() if(NOT CXX_MARCH) set(CXX_MARCH native) endif() IF(NOT APPLE OR NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64") set(BASALT_MARCH_FLAGS "-march=${CXX_MARCH}") ELSE() message(STATUS "Running on Apple ${CMAKE_SYSTEM_PROCESSOR}. Disabled -march flag.") ENDIF() set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_EXTENSIONS OFF) set(CMAKE_POSITION_INDEPENDENT_CODE ON) # Flags used for CHECK_CXX_SOURCE_COMPILES set(CMAKE_REQUIRED_FLAGS "-Wno-error") # save flags passed by user set(BASALT_PASSED_CXX_FLAGS "${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" set(CMAKE_CXX_FLAGS_CIDEBUG "-O0 -DEIGEN_INITIALIZE_MATRICES_BY_NAN") # CI version with no debug symbols 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 -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") set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-exceptions -fcolor-diagnostics -frelaxed-template-template-args -Wno-error=deprecated-declarations") if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 10) # These are disabled to avoid lot's of warnings in Eigen code with clang 10 set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-misleading-indentation -Wno-error=deprecated-copy") endif() # - Added TBB_USE_GLIBCXX_VERSION macro to specify the version of GNU # libstdc++ when it cannot be properly recognized, e.g. when used # with Clang on Linux* OS. Adopted from https://github.com/wjakob/tbb if(NOT TBB_USE_GLIBCXX_VERSION AND UNIX AND NOT APPLE) if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang") string(REPLACE "." "0" TBB_USE_GLIBCXX_VERSION ${CMAKE_CXX_COMPILER_VERSION}) endif() add_definitions(-DTBB_USE_GLIBCXX_VERSION=${TBB_USE_GLIBCXX_VERSION}) endif() else() set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-error=maybe-uninitialized -Wno-error=implicit-fallthrough") if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 9) # These are disabled to avoid lot's of warnings in Eigen code with gcc-9 set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-error=deprecated-copy") endif() if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 10.0) # These are disabled due to warnings in pangolin #set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-error=parentheses") set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-parentheses") endif() 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) if(CMAKE_SYSTEM_VERSION VERSION_LESS 19.0.0) # use brewed llvm's libc++ include_directories("/usr/local/opt/llvm/include/c++/v1") link_directories("/usr/local/opt/llvm/lib") add_compile_options("-nostdinc++") #set(STD_CXX_FS c++fs) # Workaround for cmake not to filter the manually added standard include path # See: https://gitlab.kitware.com/cmake/cmake/issues/19227#note_669894 list(REMOVE_ITEM CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES "/usr/local/opt/llvm/include/c++/v1") endif() 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") message(STATUS "Detected Linux with clang.") # Note: Whatever the issue was, this seems to not be an issue any more, at least with more recent clang and Ubuntu versions (tested clang-12 and Ubuntu 18.04) #message(WARNING "Clang on Linux is currently not fully supported. You'll likely need to get a recent version of TBB.") #set(LINUX_CLANG 1) elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") message(STATUS "Detected Linux with gcc.") else() message(WARNING "Detected Linux with unsupported compiler ${CMAKE_CXX_COMPILER_ID}") endif() else() message(WARNING "Only Linux and macOS are currently supported") endif() # OpenMP option and compile flags # # Note: OpenMP and TBB don't mix well, so we disable Eigen's parallelization. # It's trying to paralellize matrix products during SC, which we run in a parallel_reduce using TBB. # Turns out using OpenMP can slow down the computby factor 10-100x! So for now we discable it completely. # One place where Eigen's parallelization could still have been useful is the CG solver in the mapper. # We could in the future investiagte other implementations (paralellized with TBB) or selectively enabling # Eigen's parallelization just for CG, setting number of threads to 1 everywhere else. # Another way to ensure Eigen doesn't use OpenMP regardless of how it was built is setting the environment # variable OMP_NUM_THREADS=1 beofre running the application. # # See: https://eigen.tuxfamily.org/dox/TopicMultiThreading.html # # If we enable BLAS / LAPACK either directly or via thirdparty libs like ceres, # make sure to disable OpenMP for the linked BLAS library. In particular on Ubuntu it seems OpenBLAS is often installed, # and it can have similar issues in multithreaded applications if it's own parallelization with OpenMP is enabled. # You can set the environment varaibles OPENBLAS_NUM_THREADS=1 or OMP_NUM_THREADS=1. This is also mentioned in the ceres # installation documentation. # # See also: https://github.com/xianyi/OpenBLAS/wiki/faq#multi-threaded # # Set EIGEN_DONT_PARALLELIZE to be sure it doesn't use openmp, # just in case some dependency enables openmp without us noticing. set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE") #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() # Make specialization for double / float optional. # Disabling them can be useful for better compile times during development. option(BASALT_INSTANTIATIONS_DOUBLE "Instatiate templates for Scalar=double." ON) option(BASALT_INSTANTIATIONS_FLOAT "Instatiate templates for Scalar=float." ON) if(BASALT_INSTANTIATIONS_DOUBLE) list(APPEND BASALT_COMPILE_DEFINITIONS BASALT_INSTANTIATIONS_DOUBLE) endif() if(BASALT_INSTANTIATIONS_FLOAT) list(APPEND BASALT_COMPILE_DEFINITIONS BASALT_INSTANTIATIONS_FLOAT) endif() # setup combined compiler flags set(CMAKE_CXX_FLAGS "${BASALT_CXX_FLAGS} ${BASALT_MARCH_FLAGS} ${BASALT_PASSED_CXX_FLAGS}") set(EIGEN_INCLUDE_DIR_HINTS ${EIGEN_ROOT}) find_package(Eigen3 3.4.0 EXACT REQUIRED MODULE) 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) 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) # enable global_control header for earlier TBB versions (Ubuntu 16.04, 18.04) add_definitions(-DTBB_PREVIEW_GLOBAL_CONTROL) endif() # NOTE: not specifying version, since 2, 3 or 4 is fine find_package(OpenCV REQUIRED COMPONENTS core imgproc calib3d highgui) message(STATUS "Found OpenCV ${OpenCV_VERSION} headers in: ${OpenCV_INCLUDE_DIRS}") 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) message(STATUS "Found {fmt} ${fmt_VERSION} in: ${fmt_DIR}") add_subdirectory(thirdparty) # custom scoped monado target add_library(basalt::monado INTERFACE IMPORTED) set_property(TARGET basalt::monado PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/monado) # 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) # custom scoped magic_enum target 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) # main library add_library(basalt_internal STATIC) # List all header and source files with target_sources. # This ensures, e.g., that QtCreator >= 6.0 properly recognize these headers to belong to the project. # To support cmake < 3.13, use absolute paths (see: https://crascit.com/2016/01/31/enhanced-source-file-handling-with-target_sources/) target_sources(basalt_internal PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/aprilgrid.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/calibration_helper.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/cam_calib.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/cam_imu_calib.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/calibration/vignette.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/device/rs_t265.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/hash_bow/hash_bow.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/io/dataset_io.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/io/dataset_io_euroc.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/io/dataset_io_kitti.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/io/dataset_io_rosbag.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/io/dataset_io_uzh.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/io/marg_data_io.h ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/block_diagonal.hpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/imu_block.hpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/landmark_block.hpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/landmark_block_abs_dynamic.hpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/linearization_abs_qr.hpp ${CMAKE_CURRENT_SOURCE_DIR}/include/basalt/linearization/linearization_abs_sc.hpp ${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_internal PUBLIC ${STD_CXX_FS} basalt::opencv basalt::basalt-headers TBB::tbb pangolin basalt::cli11 basalt::monado PRIVATE basalt::magic_enum rosbag apriltag opengv nlohmann::json fmt::fmt) target_include_directories(basalt_internal PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include) target_compile_definitions(basalt_internal PUBLIC ${BASALT_COMPILE_DEFINITIONS}) #target_compile_definitions(basalt_internal PUBLIC BASALT_DISABLE_ASSERTS) add_library(basalt SHARED) target_sources(basalt PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src/monado/slam_tracker.cpp) target_link_libraries(basalt basalt_internal) add_executable(basalt_calibrate src/calibrate.cpp src/calibration/cam_calib.cpp) target_link_libraries(basalt_calibrate basalt_internal pangolin basalt::cli11) add_executable(basalt_calibrate_imu src/calibrate_imu.cpp src/calibration/cam_imu_calib.cpp) target_link_libraries(basalt_calibrate_imu basalt_internal pangolin basalt::cli11) add_executable(basalt_vio_sim src/vio_sim.cpp) target_link_libraries(basalt_vio_sim basalt_internal pangolin basalt::cli11) add_executable(basalt_mapper_sim src/mapper_sim.cpp) target_link_libraries(basalt_mapper_sim basalt_internal pangolin basalt::cli11) # mapper sim native doesn't use template free interface if(BASALT_INSTANTIATIONS_DOUBLE) add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp) target_link_libraries(basalt_mapper_sim_naive basalt_internal pangolin basalt::cli11) endif() add_executable(basalt_mapper src/mapper.cpp) target_link_libraries(basalt_mapper basalt_internal pangolin basalt::cli11) add_executable(basalt_opt_flow src/opt_flow.cpp) target_link_libraries(basalt_opt_flow basalt_internal pangolin basalt::cli11) add_executable(basalt_vio src/vio.cpp) target_link_libraries(basalt_vio basalt_internal pangolin basalt::cli11) add_executable(basalt_time_alignment src/time_alignment.cpp) target_link_libraries(basalt_time_alignment basalt_internal pangolin basalt::cli11) add_executable(basalt_kitti_eval src/kitti_eval.cpp) target_link_libraries(basalt_kitti_eval basalt::basalt-headers basalt::cli11) find_package(realsense2 QUIET) if(realsense2_FOUND) add_executable(basalt_rs_t265_record src/rs_t265_record.cpp src/device/rs_t265.cpp) target_link_libraries(basalt_rs_t265_record basalt_internal realsense2::realsense2 pangolin basalt::cli11) add_executable(basalt_rs_t265_vio src/rs_t265_vio.cpp src/device/rs_t265.cpp) target_link_libraries(basalt_rs_t265_vio basalt_internal realsense2::realsense2 pangolin basalt::cli11) endif() # Let's export only the slam_tracker.hpp functions for libORB_SLAM3.so, # But will let a libORB_SLAM3_EXAMPLES.so for the regular ORB-SLAM3 examples to use # if the user builds with -DBUILD_EXAMPLES=On set_target_properties(${PROJECT_NAME} PROPERTIES C_VISIBILITY_PRESET hidden CXX_VISIBILITY_PRESET hidden VISIBILITY_INLINES_HIDDEN YES LINK_DEPENDS ${CMAKE_CURRENT_LIST_DIR}/cmake_modules/basalt.map LINK_FLAGS "-Wl,--version-script=${CMAKE_CURRENT_LIST_DIR}/cmake_modules/basalt.map" ) install(TARGETS basalt basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper basalt_opt_flow basalt_vio basalt_kitti_eval basalt_time_alignment EXPORT BasaltTargets RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib) if(BASALT_INSTANTIATIONS_DOUBLE) install(TARGETS basalt_mapper_sim_naive EXPORT BasaltTargets RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib) endif() if(realsense2_FOUND) install(TARGETS basalt_rs_t265_record basalt_rs_t265_vio EXPORT BasaltTargets RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib) endif() file(GLOB SCRIPTS_TO_INSTALL "${CMAKE_CURRENT_SOURCE_DIR}/scripts/basalt_*.py") install(PROGRAMS ${SCRIPTS_TO_INSTALL} DESTINATION ${CMAKE_INSTALL_PREFIX}/bin) file(GLOB CONFIG_FILES "${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 ${CMAKE_INSTALL_PREFIX}/lib/pkgconfig) # Replace install() to do-nothing macro. macro(install) endmacro() if (BUILD_TESTS) # Include subproject (or any other CMake code) with "disabled" install(). enable_testing() add_subdirectory(thirdparty/basalt-headers/test) add_subdirectory(test) endif() # Restore original install() behavior. macro(install) _install(${ARGN}) endmacro()