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CMakeLists.txt 10.35 KB
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Luigi Freda 提交于 2023-09-17 00:07 . first commit
cmake_minimum_required(VERSION 3.15)
project(slamplay)
#====================================
# options
set(OPENCV_VERSION "4" CACHE STRING "Desired OpenCV version") # this is the first target version that is searched for
set(SET_RPATH ON CACHE BOOL "Set RPATH instead of the default RUNPATH") # for solving the linking issue with g2o binaries (see the related node in the compiler options section)
set(BUILD_WITH_MARCH_NATIVE ON CACHE BOOL "Build with \"-march native\"")
set(WITH_OPENMP ON CACHE BOOL "Add OpenMP support") # useful for PCL (since we use the macro PCL_NO_PRECOMPILE!)
# NOTE: this is to remove the tons of cmake warning coming from importing ext packages
# see here: https://github.com/PointCloudLibrary/pcl/issues/3680
# when this is fixed, we can remove the following 3 lines.
if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS)
set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")
endif()
#====================================
# c++ standard
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON) # CMake will generate an error if it is unable to compile the code with a compiler that supports C++17.
#====================================
# compiler options
# Generate file compile_commands.json in our build folder: it contains the full command line to compile individual source files
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
#set(CMAKE_BUILD_TYPE Debug) # Uncomment this to force Debug build
if(CMAKE_BUILD_TYPE STREQUAL "Release")
# Release
set(MY_FLAGS "-Wall -Wextra -O3 -fPIC -DNDEBUG -Wno-unused-parameter -Wno-unused-function")
if(BUILD_WITH_MARCH_NATIVE)
set(MY_FLAGS "${MY_FLAGS} -march=native")
endif()
else()
if(CMAKE_BUILD_TYPE STREQUAL "Debug")
message(STATUS "\n!Compiling in Debug mode!\n")
# Debug
set(MY_FLAGS "-Wall -O3 -g")
endif()
endif()
# Add OpenMP flags
if( WITH_OPENMP )
set(MY_FLAGS "${MY_FLAGS} -fopenmp")
endif()
# In order to set RPATH (instead of RUNPATH) for g2o and other libraries linking issue.
# ISSUE: g2o binaries link to system g2o (here /opt/ros/noetic/lib/libg2o_core.so) and crash (different version);
# we need to set LD_LIBRARY_PATH for correct linking
# https://stackoverflow.com/questions/47117443/dynamic-linking-with-rpath-not-working-under-ubuntu-17-10
if(SET_RPATH)
set(MY_FLAGS "${MY_FLAGS} -Wl,--disable-new-dtags")
endif()
# get and store all the active flags
set(MY_C_FLAGS "${CMAKE_C_FLAGS} ${MY_FLAGS}")
set(MY_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MY_FLAGS}")
# apply flags
set(CMAKE_C_FLAGS "${MY_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${MY_CXX_FLAGS}")
message(STATUS "CMAKE_CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
#====================================
# cmake macros
include(${PROJECT_SOURCE_DIR}/cmake/macros.cmake)
#====================================
# bin and lib destination
#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
#====================================
# c++ macros
set(DATA_DIR "${CMAKE_CURRENT_SOURCE_DIR}/data" CACHE PATH "Where data live")
add_compile_definitions(DATA_DIR=${DATA_DIR})
#====================================
# packages
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
#list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/thirdparty/g2o/cmake_modules )
# fmt
find_package(fmt REQUIRED)
# cholmod
find_package(Cholmod REQUIRED)
#find_package(SuiteSparse REQUIRED)
# csparse
find_package(CSparse REQUIRED)
message(STATUS "CSparse include: ${CSPARSE_INCLUDE_DIR}")
# eigen
find_package(Eigen3 3.1.0 REQUIRED)
message(STATUS "eigen include: ${EIGEN3_INCLUDE_DIR}")
# boost
find_package(Boost REQUIRED COMPONENTS thread system filesystem)
# pangolin
#set(Pangolin_DIR ${PROJECT_SOURCE_DIR}/thirdparty/pangolin/build/) # this seems to work in general
set(CMAKE_PREFIX_PATH ${PROJECT_SOURCE_DIR}/thirdparty/pangolin/install/lib/cmake/Pangolin/) # this does only work (after make install) if we set the RPATH!
set(Pangolin_DIR ${PROJECT_SOURCE_DIR}/thirdparty/pangolin/install/) # this does only work (after make install) if we set the RPATH!
message(STATUS "set custom pangolin folder: ${Pangolin_DIR}")
find_package(Pangolin REQUIRED)
message(STATUS "pangolin include: ${Pangolin_INCLUDE_DIRS}")
message(STATUS "pangolin libs: ${Pangolin_LIBRARIES}")
# sophus
# just including the headers (no build is needed)
set(Sophus_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/thirdparty/sophus)
message(STATUS "set custom sophus include folders: ${Sophus_INCLUDE_DIRS}")
# gtsam
set(CMAKE_PREFIX_PATH ${PROJECT_SOURCE_DIR}/thirdparty/gtsam/install/lib/cmake/GTSAM/)
set(GTSAM_DIR ${PROJECT_SOURCE_DIR}/thirdparty/gtsam/install/)
message(STATUS "set custom gtsam folder: ${GTSAM_DIR}")
find_package(GTSAM REQUIRED)
message(STATUS "gtsam include: ${GTSAM_INCLUDE_DIR}")
# g2o
set(CMAKE_PREFIX_PATH ${PROJECT_SOURCE_DIR}/thirdparty/g2o/install/lib/cmake/g2o/)
set(G2O_ROOT ${PROJECT_SOURCE_DIR}/thirdparty/g2o/install/)
#set(G2O_LIB_DIR ${PROJECT_SOURCE_DIR}/thirdparty/g2o/install/lib)
message(STATUS "set custom g2o root folder: ${G2O_ROOT}")
find_package(G2O REQUIRED)
message(STATUS "g2o include: ${G2O_INCLUDE_DIR}")
message(STATUS "g2o lid dir: ${G2O_LIB_DIR}")
message(STATUS "g2o libs: ${G2O_LIBS}")
# ceres
set(CMAKE_PREFIX_PATH ${PROJECT_SOURCE_DIR}/thirdparty/ceres/install/lib/cmake/Ceres/)
set(Ceres_DIR ${PROJECT_SOURCE_DIR}/thirdparty/ceres/install/)
message(STATUS "set custom ceres folder: ${Ceres_DIR}")
find_package(Ceres REQUIRED)
message(STATUS "ceres include: ${CERES_LIBRARIES}")
# pcl
find_package(PCL 1.8 REQUIRED)
add_definitions(-DPCL_NO_PRECOMPILE) # this is strictly required when we define a new pcl point type;
# NOTE: apparently it solves a crash problem with test_pointcloud_mapping.cpp; unfortunately, it increases the build time
add_definitions( ${PCL_DEFINITIONS} )
message(STATUS "PCL_DEFINITIONS: ${PCL_DEFINITIONS}")
# opencv
message(STATUS "Desired OpenCV version: ${OPENCV_VERSION}")
find_package(OpenCV ${OPENCV_VERSION} REQUIRED)
message(STATUS "found OpenCV version: ${OpenCV_VERSION}")
message(STATUS "OpenCV include: ${OpenCV_INCLUDE_DIRS}")
message(STATUS "OpenCV install path: ${OpenCV_INSTALL_PATH}")
message(STATUS "OpenCV libs: ${OpenCV_LIBS}")
include(CheckIncludeFileCXX)
set (CMAKE_REQUIRED_INCLUDES ${OpenCV_INCLUDE_DIRS})
check_include_file_cxx(opencv2/xfeatures2d.hpp HAVE_OPENCV_CONTRIB) # detect if we have opencv_contrib
if(HAVE_OPENCV_CONTRIB)
message(STATUS "opencv_contrib found!")
add_definitions(-DHAVE_OPENCV_CONTRIB)
endif()
# mahigui
set(MAHIGUI_DIR ${PROJECT_SOURCE_DIR}/thirdparty/mahigui/install/)
message(STATUS "set custom mahi-gui folder: ${MAHIGUI_DIR}")
set(CMAKE_PREFIX_PATH ${PROJECT_SOURCE_DIR}/thirdparty/mahigui/install/lib/cmake/mahi-gui/)
find_package(mahi-gui QUIET)
set(CMAKE_PREFIX_PATH ${PROJECT_SOURCE_DIR}/thirdparty/mahigui/install/lib/cmake/mahi-util/)
find_package(mahi-util QUIET)
# json
set(CMAKE_PREFIX_PATH ${PROJECT_SOURCE_DIR}/thirdparty/json/install/share/cmake/nlohmann_json/)
set(JSON_DIR ${PROJECT_SOURCE_DIR}/thirdparty/json/install/)
message(STATUS "set custom json folder: ${JSON_DIR}")
find_package(nlohmann_json REQUIRED)
#sesync
set(SESYNC_ROOT ${PROJECT_SOURCE_DIR}/thirdparty/sesync)
message(STATUS "set sesync root folder: ${SESYNC_ROOT}")
find_package(SESync REQUIRED)
#message(STATUS "sesync lid dir: ${SESYNC_LIB_DIR}")
message(STATUS "sesync libs: ${SESYNC_LIBS}")
# DBoW3
set(CMAKE_PREFIX_PATH ${PROJECT_SOURCE_DIR}/thirdparty/dbow3/install/lib/cmake/DBoW3)
set(DBOW3_DIR ${PROJECT_SOURCE_DIR}/thirdparty/dbow3/install/)
message(STATUS "set custom DBoW3 folder: ${DBOW3_DIR}")
find_package(DBoW3 REQUIRED)
message(STATUS "DBoW3 includes: ${DBoW3_INCLUDE_DIRS}")
# ibow-lcd
set(OBINDEX2_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/thirdparty/obindex2/lib/include/)
set(OBINDEX2_LIB_DIR ${PROJECT_SOURCE_DIR}/thirdparty/obindex2/lib/build/)
set(IBOW_LCD_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/thirdparty/ibow-lcd/include/)
set(IBOW_LCD_LIB_DIR ${PROJECT_SOURCE_DIR}/thirdparty/ibow-lcd/build/)
set(IBOW_LCD_LIBS lcdetector obindex2)
# octomap
set(CMAKE_PREFIX_PATH "/usr/lib/x86_64-linux-gnu/octomap/;/usr/lib/") # specify the system lib path otherwise you will find ROS octomap and it will bring in the ROS version of g2o (https://github.com/gaoxiang12/octomap_tutor/issues/3)
find_package(octomap REQUIRED)
message(STATUS "OCTOMAP_LIBRARIES: ${OCTOMAP_LIBRARIES}")
# glog
find_package(Glog REQUIRED)
# gtest
find_package(GTest REQUIRED)
# gflags
find_package(GFlags REQUIRED)
#====================================
# includes
set(INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/utils/
)
# add all subdirs of utils
subdirlist(SUBDIRS ${PROJECT_SOURCE_DIR}/utils) # macro from cmake/macros.cmake
foreach(subdir ${SUBDIRS})
set(INCLUDE_DIRS ${INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/utils/${subdir})
endforeach()
set(EXT_INCLUDE_DIRS
${fmt_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${Boost_INCLUDE_DIRS}
${CHOLMOD_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${Sophus_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIR}
${G2O_INCLUDE_DIR}
${CERES_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${SESYNC_INCLUDE_DIRS}
${CSPARSE_INCLUDE_DIR}
${DBoW3_INCLUDE_DIRS}
${OBINDEX2_INCLUDE_DIR}
${IBOW_LCD_INCLUDE_DIR}
${OCTOMAP_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GTEST_INCLUDE_DIRS}
${GFLAGS_INCLUDE_DIRS}
)
#====================================
# libs
# internal libraries built in the folder utils
set(LIBS
orbslam2_features
bal_dataset
)
link_directories(
${G2O_LIB_DIR}
${PCL_LIBRARY_DIRS}
${GTSAM_LIBRARY_DIRS}
${DBoW3_LIB_DIR}
${IBOW_LCD_LIB_DIR}
${OBINDEX2_LIB_DIR}
)
set(EXT_LIBS
fmt::fmt
${EIGEN3_LIBS}
${Boost_LIBRARIES}
${CHOLMOD_LIBRARIES}
${Pangolin_LIBRARIES}
${PCL_LIBRARIES}
gtsam
${G2O_LIBS}
${CERES_LIBRARIES}
${OpenCV_LIBS}
mahi::gui
nlohmann_json::nlohmann_json
${SESYNC_LIBS}
${CSPARSE_LIBRARY}
${DBoW3_LIBS}
${IBOW_LCD_LIBS}
${OCTOMAP_LIBRARIES}
${GTEST_BOTH_LIBRARIES}
${GLOG_LIBRARIES}
${GFLAGS_LIBRARIES}
)
#====================================
# source files and folders to build
set(FOLDERS
utils
algebra_geometry
backend
frontend
io
viz
loop_closure
dense_mapping
full_slam
)
foreach(folder ${FOLDERS})
message(STATUS "adding folder: ${folder}")
add_subdirectory(${folder})
endforeach()
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