forked from laurentkneip/opengv
-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
394 lines (346 loc) · 16.3 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
cmake_minimum_required(VERSION 3.1.3)
project(opengv VERSION 1.0 LANGUAGES CXX)
# Set the build type. Options are:
#
# None (CMAKE_C_FLAGS or CMAKE_CXX_FLAGS used)
# Debug (CMAKE_C_FLAGS_DEBUG or CMAKE_CXX_FLAGS_DEBUG)
# Release (CMAKE_C_FLAGS_RELEASE or CMAKE_CXX_FLAGS_RELEASE)
# RelWithDebInfo (CMAKE_C_FLAGS_RELWITHDEBINFO or CMAKE_CXX_FLAGS_RELWITHDEBINFO)
# MinSizeRel (CMAKE_C_FLAGS_MINSIZEREL or CMAKE_CXX_FLAGS_MINSIZEREL)
set(CMAKE_BUILD_TYPE Release)
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
OPTION(BUILD_TESTS "Build tests" ON)
OPTION(BUILD_PYTHON "Build Python extension" OFF)
IF(MSVC)
set(BUILD_SHARED_LIBS OFF)
ELSE()
OPTION(BUILD_SHARED_LIBS "Build shared libraries" OFF)
OPTION(BUILD_POSITION_INDEPENDENT_CODE "Build position independent code (-fPIC)" ON)
ENDIF()
IF(MSVC)
add_compile_options(/wd4514 /wd4267 /bigobj)
add_definitions(-D_USE_MATH_DEFINES)
ELSE()
IF (CMAKE_SYSTEM_PROCESSOR MATCHES "(arm64)|(ARM64)|(aarch64)|(AARCH64)")
add_definitions (-march=armv8-a)
ELSEIF (CMAKE_SYSTEM_PROCESSOR MATCHES
"(arm)|(ARM)|(armhf)|(ARMHF)|(armel)|(ARMEL)")
add_definitions (-march=armv7-a)
ELSE ()
add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
ENDIF()
add_definitions (
-O3
-Wall
-Wextra
#-Werror
-Wwrite-strings
-Wno-unused-parameter
-fno-strict-aliasing
)
ENDIF()
IF(BUILD_POSITION_INDEPENDENT_CODE)
add_definitions( -fPIC )
ENDIF()
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/modules/")
find_package(Eigen REQUIRED)
set(ADDITIONAL_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIR}/unsupported)
set( OPENGV_SOURCE_FILES
src/absolute_pose/modules/main.cpp
src/absolute_pose/modules/gp3p/code.cpp
src/absolute_pose/modules/gp3p/init.cpp
src/absolute_pose/modules/gp3p/reductors.cpp
src/absolute_pose/modules/gp3p/spolynomials.cpp
src/absolute_pose/modules/Epnp.cpp
src/absolute_pose/modules/gpnp1/code.cpp
src/absolute_pose/modules/gpnp1/init.cpp
src/absolute_pose/modules/gpnp1/reductors.cpp
src/absolute_pose/modules/gpnp1/spolynomials.cpp
src/absolute_pose/modules/gpnp2/code.cpp
src/absolute_pose/modules/gpnp2/init.cpp
src/absolute_pose/modules/gpnp2/reductors.cpp
src/absolute_pose/modules/gpnp2/spolynomials.cpp
src/absolute_pose/modules/gpnp3/code.cpp
src/absolute_pose/modules/gpnp3/init.cpp
src/absolute_pose/modules/gpnp3/reductors.cpp
src/absolute_pose/modules/gpnp3/spolynomials.cpp
src/absolute_pose/modules/gpnp4/code.cpp
src/absolute_pose/modules/gpnp4/init.cpp
src/absolute_pose/modules/gpnp4/reductors.cpp
src/absolute_pose/modules/gpnp4/spolynomials.cpp
src/absolute_pose/modules/gpnp5/code.cpp
src/absolute_pose/modules/gpnp5/init.cpp
src/absolute_pose/modules/gpnp5/reductors.cpp
src/absolute_pose/modules/gpnp5/spolynomials.cpp
src/absolute_pose/modules/upnp2.cpp
src/absolute_pose/modules/upnp4.cpp
src/relative_pose/modules/main.cpp
src/relative_pose/modules/fivept_nister/modules.cpp
src/relative_pose/modules/fivept_stewenius/modules.cpp
src/relative_pose/modules/fivept_kneip/code.cpp
src/relative_pose/modules/fivept_kneip/init.cpp
src/relative_pose/modules/fivept_kneip/reductors.cpp
src/relative_pose/modules/fivept_kneip/spolynomials.cpp
src/relative_pose/modules/sixpt/modules2.cpp
src/relative_pose/modules/eigensolver/modules.cpp
src/relative_pose/modules/ge/modules.cpp
src/math/cayley.cpp
src/math/quaternion.cpp
src/math/arun.cpp
src/math/Sturm.cpp
src/math/roots.cpp
src/math/gauss_jordan.cpp
src/absolute_pose/methods.cpp
src/absolute_pose/CentralAbsoluteAdapter.cpp
src/absolute_pose/NoncentralAbsoluteAdapter.cpp
src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
src/relative_pose/methods.cpp
src/relative_pose/CentralRelativeAdapter.cpp
src/relative_pose/CentralRelativeWeightingAdapter.cpp
src/relative_pose/NoncentralRelativeAdapter.cpp
src/relative_pose/CentralRelativeMultiAdapter.cpp
src/relative_pose/NoncentralRelativeMultiAdapter.cpp
src/triangulation/methods.cpp
src/point_cloud/methods.cpp
src/point_cloud/PointCloudAdapter.cpp
src/sac_problems/absolute_pose/AbsolutePoseSacProblem.cpp
src/sac_problems/absolute_pose/MultiNoncentralAbsolutePoseSacProblem.cpp
src/sac_problems/relative_pose/CentralRelativePoseSacProblem.cpp
src/sac_problems/relative_pose/NoncentralRelativePoseSacProblem.cpp
src/sac_problems/relative_pose/RotationOnlySacProblem.cpp
src/sac_problems/relative_pose/TranslationOnlySacProblem.cpp
src/sac_problems/relative_pose/EigensolverSacProblem.cpp
src/sac_problems/relative_pose/MultiCentralRelativePoseSacProblem.cpp
src/sac_problems/relative_pose/MultiNoncentralRelativePoseSacProblem.cpp
src/sac_problems/point_cloud/PointCloudSacProblem.cpp
src/absolute_pose/MACentralAbsolute.cpp
src/absolute_pose/MANoncentralAbsolute.cpp
src/relative_pose/MACentralRelative.cpp
src/relative_pose/MANoncentralRelative.cpp
src/relative_pose/MANoncentralRelativeMulti.cpp
src/point_cloud/MAPointCloud.cpp )
set( OPENGV_HEADER_FILES
include/opengv/types.hpp
include/opengv/OptimizationFunctor.hpp
include/opengv/absolute_pose/methods.hpp
include/opengv/relative_pose/methods.hpp
include/opengv/triangulation/methods.hpp
include/opengv/point_cloud/methods.hpp
include/opengv/math/cayley.hpp
include/opengv/math/quaternion.hpp
include/opengv/math/arun.hpp
include/opengv/math/Sturm.hpp
include/opengv/math/roots.hpp
include/opengv/math/gauss_jordan.hpp
include/opengv/absolute_pose/AbsoluteAdapterBase.hpp
include/opengv/absolute_pose/CentralAbsoluteAdapter.hpp
include/opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp
include/opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp
include/opengv/absolute_pose/AbsoluteMultiAdapterBase.hpp
include/opengv/relative_pose/RelativeAdapterBase.hpp
include/opengv/relative_pose/RelativeMultiAdapterBase.hpp
include/opengv/relative_pose/CentralRelativeAdapter.hpp
include/opengv/relative_pose/CentralRelativeWeightingAdapter.hpp
include/opengv/relative_pose/NoncentralRelativeAdapter.hpp
include/opengv/relative_pose/CentralRelativeMultiAdapter.hpp
include/opengv/relative_pose/NoncentralRelativeMultiAdapter.hpp
include/opengv/point_cloud/PointCloudAdapterBase.hpp
include/opengv/point_cloud/PointCloudAdapter.hpp
include/opengv/sac_problems/absolute_pose/AbsolutePoseSacProblem.hpp
include/opengv/sac_problems/absolute_pose/MultiNoncentralAbsolutePoseSacProblem.hpp
include/opengv/sac_problems/relative_pose/CentralRelativePoseSacProblem.hpp
include/opengv/sac_problems/relative_pose/NoncentralRelativePoseSacProblem.hpp
include/opengv/sac_problems/relative_pose/MultiCentralRelativePoseSacProblem.hpp
include/opengv/sac_problems/relative_pose/MultiNoncentralRelativePoseSacProblem.hpp
include/opengv/sac_problems/relative_pose/EigensolverSacProblem.hpp
include/opengv/sac_problems/relative_pose/RotationOnlySacProblem.hpp
include/opengv/sac_problems/relative_pose/TranslationOnlySacProblem.hpp
include/opengv/sac_problems/point_cloud/PointCloudSacProblem.hpp
include/opengv/absolute_pose/MACentralAbsolute.hpp
include/opengv/absolute_pose/MANoncentralAbsolute.hpp
include/opengv/relative_pose/MACentralRelative.hpp
include/opengv/relative_pose/MANoncentralRelative.hpp
include/opengv/relative_pose/MANoncentralRelativeMulti.hpp
include/opengv/point_cloud/MAPointCloud.hpp )
add_library( opengv ${OPENGV_SOURCE_FILES} ${OPENGV_HEADER_FILES} )
add_library( random_generators test/random_generators.cpp test/random_generators.hpp test/experiment_helpers.cpp test/experiment_helpers.hpp test/time_measurement.cpp test/time_measurement.hpp )
set_target_properties( opengv random_generators PROPERTIES
SOVERSION ${PROJECT_VERSION}
VERSION ${PROJECT_VERSION}
CXX_STANDARD 11
CXX_STANDARD_REQUIRED ON
DEBUG_POSTFIX d )
target_include_directories( opengv PUBLIC
# only when building from the source tree
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
# only when using the lib from the install path
$<INSTALL_INTERFACE:include>
${ADDITIONAL_INCLUDE_DIRS} )
target_include_directories( random_generators PRIVATE ${ADDITIONAL_INCLUDE_DIRS} )
target_link_libraries( random_generators opengv )
IF (BUILD_TESTS)
enable_testing()
include_directories( ${ADDITIONAL_INCLUDE_DIRS} )
add_executable( test_absolute_pose test/test_absolute_pose.cpp )
target_link_libraries( test_absolute_pose opengv random_generators )
add_test(NAME test_absolute_pose
WORKING_DIRECTORY ${EXECUTABLE_OUTPUT_PATH}
COMMAND test_absolute_pose)
add_executable( test_absolute_pose_sac test/test_absolute_pose_sac.cpp )
target_link_libraries( test_absolute_pose_sac opengv random_generators )
add_test(NAME test_absolute_pose_sac
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_absolute_pose_sac)
add_executable( test_noncentral_absolute_pose test/test_noncentral_absolute_pose.cpp )
target_link_libraries( test_noncentral_absolute_pose opengv random_generators )
add_test(NAME test_noncentral_absolute_pose
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_noncentral_absolute_pose)
add_executable( test_noncentral_absolute_pose_sac test/test_noncentral_absolute_pose_sac.cpp )
target_link_libraries( test_noncentral_absolute_pose_sac opengv random_generators )
add_test(NAME test_noncentral_absolute_pose_sac
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_noncentral_absolute_pose_sac)
add_executable( test_multi_noncentral_absolute_pose_sac test/test_multi_noncentral_absolute_pose_sac.cpp )
target_link_libraries( test_multi_noncentral_absolute_pose_sac opengv random_generators )
add_test(NAME test_multi_noncentral_absolute_pose_sac
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_multi_noncentral_absolute_pose_sac)
add_executable( test_relative_pose test/test_relative_pose.cpp )
target_link_libraries( test_relative_pose opengv random_generators )
add_test(NAME test_relative_pose
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_relative_pose)
add_executable( test_relative_pose_rotationOnly test/test_relative_pose_rotationOnly.cpp )
target_link_libraries( test_relative_pose_rotationOnly opengv random_generators )
add_test(NAME test_relative_pose_rotationOnly
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_relative_pose_rotationOnly)
add_executable( test_relative_pose_rotationOnly_sac test/test_relative_pose_rotationOnly_sac.cpp )
target_link_libraries( test_relative_pose_rotationOnly_sac opengv random_generators )
add_test(NAME test_relative_pose_rotationOnly_sac
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_relative_pose_rotationOnly_sac)
add_executable( test_relative_pose_sac test/test_relative_pose_sac.cpp )
target_link_libraries( test_relative_pose_sac opengv random_generators )
add_test(NAME test_relative_pose_sac
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_relative_pose_sac)
add_executable( test_noncentral_relative_pose test/test_noncentral_relative_pose.cpp )
target_link_libraries( test_noncentral_relative_pose opengv random_generators )
add_test(NAME test_noncentral_relative_pose
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_noncentral_relative_pose)
add_executable( test_noncentral_relative_pose_sac test/test_noncentral_relative_pose_sac.cpp )
target_link_libraries( test_noncentral_relative_pose_sac opengv random_generators )
add_test(NAME test_noncentral_relative_pose_sac
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_noncentral_relative_pose_sac)
add_executable( test_multi_noncentral_relative_pose_sac test/test_multi_noncentral_relative_pose_sac.cpp )
target_link_libraries( test_multi_noncentral_relative_pose_sac opengv random_generators )
add_test(NAME test_multi_noncentral_relative_pose_sac
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_multi_noncentral_relative_pose_sac)
add_executable( test_eigensolver_sac test/test_eigensolver_sac.cpp )
target_link_libraries( test_eigensolver_sac opengv random_generators )
add_test(NAME test_eigensolver_sac
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_eigensolver_sac)
add_executable( test_triangulation test/test_triangulation.cpp )
target_link_libraries( test_triangulation opengv random_generators )
add_test(NAME test_triangulation
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_triangulation)
add_executable( test_eigensolver test/test_eigensolver.cpp )
target_link_libraries( test_eigensolver opengv random_generators )
add_test(NAME test_eigensolver
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_eigensolver)
add_executable( test_point_cloud test/test_point_cloud.cpp )
target_link_libraries( test_point_cloud opengv random_generators )
add_test(NAME test_point_cloud
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_point_cloud)
add_executable( test_point_cloud_sac test/test_point_cloud_sac.cpp )
target_link_libraries( test_point_cloud_sac opengv random_generators )
add_test(NAME test_point_cloud_sac
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_point_cloud_sac)
add_executable( test_Sturm test/test_Sturm.cpp )
target_link_libraries( test_Sturm opengv random_generators )
add_test(NAME test_Sturm
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
COMMAND test_Sturm)
set_target_properties(
test_absolute_pose
test_absolute_pose_sac
test_noncentral_absolute_pose
test_noncentral_absolute_pose_sac
test_multi_noncentral_absolute_pose_sac
test_relative_pose
test_relative_pose_rotationOnly
test_relative_pose_rotationOnly_sac
test_relative_pose_sac
test_noncentral_relative_pose
test_noncentral_relative_pose_sac
test_multi_noncentral_relative_pose_sac
test_eigensolver_sac
test_triangulation
test_eigensolver
test_point_cloud
test_point_cloud_sac
test_Sturm
PROPERTIES
CXX_STANDARD 11
CXX_STANDARD_REQUIRED ON
DEBUG_POSTFIX d )
ENDIF()
# Configuration
set(config_install_dir "lib/cmake/${PROJECT_NAME}-${PROJECT_VERSION}")
set(include_install_dir "include")
set(version_config "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake")
set(project_config "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")
set(targets_export_name "${PROJECT_NAME}Targets")
# Include module with fuction 'write_basic_package_version_file'
include(CMakePackageConfigHelpers)
# Configure '<PROJECT-NAME>ConfigVersion.cmake'
# Note: PROJECT_VERSION is used as a VERSION
write_basic_package_version_file(
"${version_config}" COMPATIBILITY SameMajorVersion )
# Configure '<PROJECT-NAME>Config.cmake'
# Use variables:
# * targets_export_name
# * PROJECT_NAME
configure_package_config_file(
"modules/Config.cmake.in"
"${project_config}"
INSTALL_DESTINATION "${config_install_dir}")
# Export '<PROJECT-NAME>Targets.cmake' to build dir (to find package in build dir without install)
export(TARGETS opengv FILE "${CMAKE_CURRENT_BINARY_DIR}/${targets_export_name}.cmake")
# Targets:
install(TARGETS opengv
EXPORT "${targets_export_name}"
LIBRARY DESTINATION "lib"
ARCHIVE DESTINATION "lib"
RUNTIME DESTINATION "bin"
INCLUDES DESTINATION "${include_install_dir}")
# Config
# * <prefix>/lib/cmake/opengv/opengvConfig.cmake
# * <prefix>/lib/cmake/opengv/opengvConfigVersion.cmake
install(FILES "${project_config}" "${version_config}"
DESTINATION "${config_install_dir}")
# Config
# * <prefix>/lib/cmake/opengv/opengvTargets.cmake
install(EXPORT "${targets_export_name}"
NAMESPACE "${namespace}"
DESTINATION "${config_install_dir}")
# Headers
install(DIRECTORY include/
DESTINATION ${include_install_dir}
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp")
if (BUILD_PYTHON)
add_subdirectory( python )
endif()