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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10)
include("thirdparty/basalt-headers/cmake_modules/PreProjectWorkarounds.cmake")
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 "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(${LSB_RELEASE_ID_SHORT} EQUAL "16.04")
set(DEBIAN_DEPENDS "libtbb2, liblz4-1, libbz2-1.0, libboost-filesystem1.58.0, libboost-date-time1.58.0, libboost-program-options1.58.0, libboost-regex1.58.0, libopencv-dev, libglew1.13, libjpeg8, libpng12-0, libstdc++6, librealsense2, librealsense2-dkms, librealsense2-gl, librealsense2-utils")
endif()
endif(LSB_RELEASE_PROGRAM)
string(TIMESTAMP PROJECT_VERSION_REVISION "%Y%m%d%H%M")
set(CPACK_GENERATOR "DEB")
set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Vladyslav Usenko <[email protected]>")
set(CPACK_PACKAGE_VERSION_MAJOR "0")
set(CPACK_PACKAGE_VERSION_MINOR "1")
set(CPACK_PACKAGE_VERSION_PATCH "0-${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: ${CMAKE_CXX_COMPILER_LAUNCHER}")
endif()
if( NOT CMAKE_BUILD_TYPE )
set( CMAKE_BUILD_TYPE Release)
endif()
if(NOT CXX_MARCH)
set(CXX_MARCH native)
endif()
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# Flags used for CHECK_CXX_SOURCE_COMPILES
set(CMAKE_REQUIRED_FLAGS "-Wno-error")
# save flags passed by user
set(BASALT_PASSED_CXX_FLAGS "${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 -Werror -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 "${BASALT_CXX_FLAGS} -Wno-exceptions -fcolor-diagnostics -Wno-error=deprecated-declarations")
else()
set(BASALT_CXX_FLAGS "${BASALT_CXX_FLAGS} -Wno-error=maybe-uninitialized")
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)
# use brewed llvm's libc++
# Note: the suffix "/../v1" for the include path is needed to work around a recent cmake issue:
# https://gitlab.kitware.com/cmake/cmake/issues/19251#note_571030
include_directories("/usr/local/opt/llvm/include/c++/v1/../v1")
link_directories("/usr/local/opt/llvm/lib")
add_compile_options("-nostdinc++")
set(STD_CXX_FS c++fs)
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")
set(LINUX_CLANG 1)
message(STATUS "Detected Linux with clang.")
message(WARNING "Clang on Linux is currently not fully supported. You'll likely need to get a recent version of TBB.")
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
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()
# setup combined compiler flags
set(CMAKE_CXX_FLAGS "${BASALT_CXX_FLAGS} -march=${CXX_MARCH} ${BASALT_PASSED_CXX_FLAGS}")
set(EIGEN_INCLUDE_DIR_HINTS ${EIGEN_ROOT})
find_package(Eigen3 3.3.7 EXACT REQUIRED MODULE)
include_directories(${EIGEN3_INCLUDE_DIR})
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 '${EIGEN_ROOT}'")
endif()
find_package(TBB REQUIRED)
include_directories(${TBB_INCLUDE_DIR})
find_package(OpenCV REQUIRED core imgproc calib3d highgui)
include_directories(${OpenCV_INCLUDE_DIR})
message(STATUS "Found OpenCV headers in: ${OpenCV_INCLUDE_DIR}")
message(STATUS "Found OpenCV_LIBS: ${OpenCV_LIBS}")
add_subdirectory(thirdparty)
include_directories(thirdparty/basalt-headers/thirdparty/Sophus)
include_directories(thirdparty/basalt-headers/thirdparty/cereal/include)
include_directories(thirdparty/basalt-headers/include)
include_directories(thirdparty/CLI11/include)
include_directories(thirdparty/fast/include)
include_directories(include)
add_library(basalt SHARED
src/io/dataset_io.cpp
src/io/marg_data_io.cpp
src/calibration/aprilgrid.cpp
src/calibration/calibraiton_helper.cpp
src/calibration/vignette.cpp
src/utils/vio_config.cpp
src/optical_flow/optical_flow.cpp
src/vi_estimator/keypoint_vio.cpp
src/vi_estimator/keypoint_vio_linearize.cpp
src/vi_estimator/keypoint_vo.cpp
src/vi_estimator/vio_estimator.cpp
src/vi_estimator/ba_base.cpp
src/vi_estimator/nfr_mapper.cpp
src/vi_estimator/landmark_database.cpp
src/utils/keypoints.cpp)
target_link_libraries(basalt PUBLIC ${TBB_LIBRARIES} ${STD_CXX_FS} ${OpenCV_LIBS} PRIVATE rosbag apriltag opengv)
add_executable(basalt_calibrate src/calibrate.cpp src/calibration/cam_calib.cpp)
target_link_libraries(basalt_calibrate basalt pangolin)
add_executable(basalt_calibrate_imu src/calibrate_imu.cpp src/calibration/cam_imu_calib.cpp)
target_link_libraries(basalt_calibrate_imu basalt pangolin)
add_executable(basalt_vio_sim src/vio_sim.cpp)
target_link_libraries(basalt_vio_sim basalt pangolin)
add_executable(basalt_mapper_sim src/mapper_sim.cpp)
target_link_libraries(basalt_mapper_sim basalt pangolin)
add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp)
target_link_libraries(basalt_mapper_sim_naive basalt pangolin)
add_executable(basalt_mapper src/mapper.cpp)
target_link_libraries(basalt_mapper basalt pangolin)
add_executable(basalt_opt_flow src/opt_flow.cpp)
target_link_libraries(basalt_opt_flow basalt pangolin)
add_executable(basalt_vio src/vio.cpp)
target_link_libraries(basalt_vio basalt pangolin)
add_executable(basalt_time_alignment src/time_alignment.cpp)
target_link_libraries(basalt_time_alignment basalt pangolin)
add_executable(basalt_kitti_eval src/kitti_eval.cpp)
target_link_libraries(basalt_kitti_eval)
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 realsense2::realsense2 ${OpenCV_LIBS} pangolin)
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)
endif()
install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper_sim_naive basalt_mapper basalt_opt_flow basalt_vio basalt_kitti_eval basalt_time_alignment basalt
EXPORT BasaltTargets
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
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 ${CMAKE_INSTALL_PREFIX}/etc/basalt)
# Replace install() to do-nothing macro.
macro(install)
endmacro()
# Include subproject (or any other CMake code) with "disabled" install().
enable_testing()
add_subdirectory(thirdparty/basalt-headers/test)
add_subdirectory(test)
# Restore original install() behavior.
macro(install)
_install(${ARGN})
endmacro()