145 lines
5.3 KiB
CMake
145 lines
5.3 KiB
CMake
cmake_minimum_required(VERSION 3.10...3.18)
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add_library(nlohmann::json INTERFACE IMPORTED GLOBAL)
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set_property(TARGET nlohmann::json PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/json/)
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add_subdirectory(basalt-headers EXCLUDE_FROM_ALL)
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add_subdirectory(ros EXCLUDE_FROM_ALL)
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add_subdirectory(apriltag EXCLUDE_FROM_ALL)
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set(BUILD_SHARED_LIBS OFF CACHE BOOL "Enable BUILD_SHARED_LIBS")
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set(BUILD_TESTS OFF CACHE BOOL "Enable BUILD_TESTS")
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set(BUILD_TOOLS OFF CACHE BOOL "Enable BUILD_TOOLS")
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set(CMAKE_EXPORT_NO_PACKAGE_REGISTRY ON)
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set(BUILD_PANGOLIN_LIBOPENEXR OFF CACHE BOOL "Enable BUILD_PANGOLIN_LIBOPENEXR")
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set(BUILD_PANGOLIN_PYTHON OFF CACHE BOOL "Enable BUILD_PANGOLIN_PYTHON")
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set(BUILD_EXAMPLES OFF CACHE BOOL "Enable BUILD_EXAMPLES")
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set(BUILD_PANGOLIN_LIBREALSENSE OFF CACHE BOOL "Enable librealsense")
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set(BUILD_PANGOLIN_LIBREALSENSE2 OFF CACHE BOOL "Enable librealsense2")
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# disable ffmpeg b/c build is broken on macOS since 2022-02
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# see: https://github.com/stevenlovegrove/Pangolin/issues/737
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set(BUILD_PANGOLIN_FFMPEG OFF CACHE BOOL "Build support for ffmpeg video input")
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set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}")
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set(EIGEN_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIR}")
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# Hack to disable march=native in opengv
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macro(add_definitions)
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if(NOT ${ARGV0} STREQUAL "-march=native")
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_add_definitions(${ARGN})
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endif()
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endmacro()
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add_subdirectory(opengv EXCLUDE_FROM_ALL)
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# Hack to disable CPack in Pangolin.
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macro(include)
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if(NOT ${ARGV0} STREQUAL "CPack")
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_include(${ARGN})
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endif()
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endmacro()
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add_subdirectory(Pangolin EXCLUDE_FROM_ALL)
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# fix aprilgrid
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target_compile_options(apriltag PRIVATE "-Wno-unused-private-field")
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# fix opengv: c++17 and debug postfix
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set_target_properties(opengv PROPERTIES
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CXX_STANDARD 17
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DEBUG_POSTFIX "")
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# fix opengv: compile options (CMAKE_CXX_FLAGS is overwritten by Opengv)
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target_compile_options(opengv PRIVATE
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-Wno-unused-private-field
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${BASALT_MARCH_FLAGS}
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"SHELL:${BASALT_PASSED_CXX_FLAGS}")
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# TODO: enable once mpark issue is fixed upstream pangolin
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#set_target_properties(pangolin PROPERTIES
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# CXX_STANDARD 17)
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# fix pangolin: gcc
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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target_compile_options(pangolin PRIVATE "-Wno-implicit-fallthrough")
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endif()
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# fix pangolin: macOS
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if(APPLE)
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target_compile_options(pangolin PRIVATE "-Wno-objc-missing-super-calls")
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endif()
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# fix pangolin: macOS >= 10.14 Mojave
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if(APPLE AND CMAKE_SYSTEM_VERSION VERSION_GREATER_EQUAL 18.0.0)
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target_compile_options(pangolin PRIVATE "-Wno-deprecated-declarations")
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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)
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target_compile_options(pangolin PRIVATE "-Wno-deprecated-copy")
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endif()
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endif()
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# fix pangolin: clang
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if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
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target_compile_options(pangolin PRIVATE "-Wno-null-pointer-arithmetic")
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endif()
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# fix pangolin: clang >= 8.0
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if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 8.0.0)
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target_compile_options(pangolin PRIVATE "-Wno-defaulted-function-deleted")
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endif()
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# fix pangolin: clang >= 10.0
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if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 10.0.0)
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target_compile_options(pangolin PRIVATE "-Wno-deprecated-copy")
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endif()
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# fix pangolin: clang >= 13.0
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if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 13.0.0)
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target_compile_options(pangolin PRIVATE "-Wno-unused-but-set-variable;-Wno-null-pointer-subtraction")
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endif()
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# fix pangolin: GCC >= 9.0
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 9.0)
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target_compile_options(pangolin PRIVATE "-Wno-stringop-truncation;-Wno-deprecated-copy")
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endif()
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# fix pangolin: GCC >= 10.0
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 10.0)
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target_compile_options(pangolin PRIVATE "-Wno-parentheses")
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endif()
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# check here the directories for the pangolin and opengv targets, and
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# confirm that the eigen-related include dirs match.
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foreach(_target opengv pangolin)
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get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
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foreach(_dir IN LISTS _include_dirs)
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if("${_dir}" MATCHES ".*/eigen3?(/unsupported)?$")
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if(NOT _dir MATCHES "^${EIGEN3_INCLUDE_DIR}.*")
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endif()
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endif()
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endforeach()
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endforeach()
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# opengv and pangolin assume that eigen is found outside the source
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# directory and thus include it in INTERFACE_INCLUDE_DIRECTORIES,
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# which makes cmake complain that that property contains paths in the
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# source folder. Thus, we update the property to only include these
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# eigen paths in the "BUILD_INTERFACE" (not "INSTALL").
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if (EIGEN3_INCLUDE_DIR MATCHES "^${CMAKE_SOURCE_DIR}.*")
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foreach(_target opengv pangolin)
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get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
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set(_include_dirs_new "")
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foreach(_dir IN LISTS _include_dirs)
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if(_dir MATCHES ".*/eigen(/unsupported)?$")
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string(REGEX REPLACE "(^${CMAKE_SOURCE_DIR}.*$)" "$<BUILD_INTERFACE:\\1>" _dir "${_dir}")
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endif()
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list(APPEND _include_dirs_new "${_dir}")
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endforeach()
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set_target_properties(${_target} PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${_include_dirs_new}")
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endforeach()
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endif()
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