cmake_minimum_required(VERSION 3.10...3.18) add_library(nlohmann::json INTERFACE IMPORTED GLOBAL) set_property(TARGET nlohmann::json PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/json/) add_subdirectory(basalt-headers EXCLUDE_FROM_ALL) add_subdirectory(ros EXCLUDE_FROM_ALL) add_subdirectory(apriltag EXCLUDE_FROM_ALL) set(BUILD_SHARED_LIBS OFF CACHE BOOL "Enable BUILD_SHARED_LIBS") set(BUILD_TESTS OFF CACHE BOOL "Enable BUILD_TESTS") set(BUILD_TOOLS OFF CACHE BOOL "Enable BUILD_TOOLS") set(CMAKE_EXPORT_NO_PACKAGE_REGISTRY ON) set(BUILD_PANGOLIN_LIBOPENEXR OFF CACHE BOOL "Enable BUILD_PANGOLIN_LIBOPENEXR") set(BUILD_PANGOLIN_PYTHON OFF CACHE BOOL "Enable BUILD_PANGOLIN_PYTHON") set(BUILD_EXAMPLES OFF CACHE BOOL "Enable BUILD_EXAMPLES") set(BUILD_PANGOLIN_LIBREALSENSE OFF CACHE BOOL "Enable librealsense") set(BUILD_PANGOLIN_LIBREALSENSE2 OFF CACHE BOOL "Enable librealsense2") # disable ffmpeg b/c build is broken on macOS since 2022-02 # see: https://github.com/stevenlovegrove/Pangolin/issues/737 set(BUILD_PANGOLIN_FFMPEG OFF CACHE BOOL "Build support for ffmpeg video input") set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}") set(EIGEN_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIR}") # Hack to disable march=native in opengv macro(add_definitions) if(NOT ${ARGV0} STREQUAL "-march=native") _add_definitions(${ARGN}) endif() endmacro() 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 ${BASALT_MARCH_FLAGS} ${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") if((CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang") AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 13.0.0) target_compile_options(pangolin PRIVATE "-Wno-deprecated-copy") endif() 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() # fix pangolin: clang >= 10.0 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 10.0.0) target_compile_options(pangolin PRIVATE "-Wno-deprecated-copy") endif() # fix pangolin: clang >= 13.0 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 13.0.0) target_compile_options(pangolin PRIVATE "-Wno-unused-but-set-variable;-Wno-null-pointer-subtraction") endif() # fix pangolin: GCC >= 9.0 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 9.0) target_compile_options(pangolin PRIVATE "-Wno-stringop-truncation;-Wno-deprecated-copy") endif() # fix pangolin: GCC >= 10.0 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 10.0) target_compile_options(pangolin PRIVATE "-Wno-parentheses") 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 "(^${CMAKE_SOURCE_DIR}.*$)" "$" _dir "${_dir}") endif() list(APPEND _include_dirs_new "${_dir}") endforeach() set_target_properties(${_target} PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${_include_dirs_new}") endforeach() endif()