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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
# cmake_policy(SET CMP0060 NEW)
# ------------------------------------------------------------------------------
# Project name
# ------------------------------------------------------------------------------
project(deepfactors LANGUAGES CXX CUDA)
set(${PROJECT_NAME}_VERSION 0.1)
# ------------------------------------------------------------------------------
# Default build configuration
# ------------------------------------------------------------------------------
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build." FORCE)
# Set the possible values of build type for cmake-gui
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
"Debug" "Release" "MinSizeRel" "RelWithDebInfo")
endif()
# output all executables to a single dir
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
# ------------------------------------------------------------------------------
# CMake modules directory
# ------------------------------------------------------------------------------
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
# ------------------------------------------------------------------------------
# Build Options
# ------------------------------------------------------------------------------
option(DF_BUILD_TESTS "Build unit tests" ON)
option(DF_BUILD_DEMO "Build the main demo" ON)
option(DF_BUILD_TOOLS "Build tools" OFF)
option(DF_ENABLE_TIMING "Enable timing of crucial parts of the system" OFF)
option(DF_WITH_FLYCAP "Compile support for PoinGrey FlyCapture SDK cameras" OFF)
# Allow selecting the network code_size at compile-time
set(DF_CODE_SIZE 32 CACHE STRING "Size of the compact code representation")
set_property(CACHE DF_CODE_SIZE PROPERTY STRINGS 32 64 128)
add_definitions(-DDF_CODE_SIZE=${DF_CODE_SIZE})
if(DF_ENABLE_TIMING)
add_definitions(-DENABLE_TIMING)
endif()
# ------------------------------------------------------------------------------
# Compile Options
# ------------------------------------------------------------------------------
# enable c++17
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# enable warnings
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-Wall>)
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-Wno-unused-parameter>)
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-Wno-unused-variable>)
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-Wno-catch-value>) # for pangolin
# disable eigen vectorization and alignment
# we were getting nasty segfaults heisenbugs with them
add_definitions(-DEIGEN_DONT_VECTORIZE
-DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
-DEIGEN_DONT_ALIGN)
# ------------------------------------------------------------------------------
# Print Project Info
# ------------------------------------------------------------------------------
message("Project: ${PROJECT_NAME}")
message("Version: ${${PROJECT_NAME}_VERSION}")
message("Build type: ${CMAKE_BUILD_TYPE}")
message("Compiled on: ${CMAKE_SYSTEM}")
# ------------------------------------------------------------------------------
# Dependencies
# For the downloaded deps, we rely here on XXX_DIR cache variables
# that were set by thirdparty/CMakeLists.txt file parsed earlier
# ------------------------------------------------------------------------------
add_subdirectory(thirdparty)
find_package(CUDA QUIET REQUIRED)
find_package(Jsoncpp QUIET REQUIRED)
find_package(Sophus QUIET REQUIRED)
find_package(VisionCore QUIET REQUIRED)
find_package(brisk QUIET REQUIRED)
find_package(Glog QUIET REQUIRED)
find_package(OpenCV QUIET REQUIRED)
find_package(opengv QUIET REQUIRED)
find_package(GTSAM QUIET REQUIRED)
find_package(Eigen3 QUIET REQUIRED)
find_package(Pangolin QUIET REQUIRED)
find_package(Boost QUIET REQUIRED COMPONENTS filesystem)
find_package(TensorFlow QUIET REQUIRED)
# ------------------------------------------------------------------------------
# Build
# ------------------------------------------------------------------------------
add_subdirectory(sources)
# ------------------------------------------------------------------------------
# Unit Tests
# ------------------------------------------------------------------------------
if(DF_BUILD_TESTS)
add_subdirectory(tests)
endif()
# ------------------------------------------------------------------------------
# Installation - generate version file
# ------------------------------------------------------------------------------
include(CMakePackageConfigHelpers)
write_basic_package_version_file(
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
VERSION ${${PROJECT_NAME}_VERSION}
COMPATIBILITY AnyNewerVersion
)
# ------------------------------------------------------------------------------
# Installation - export Targets
# ------------------------------------------------------------------------------
# export(EXPORT ${PROJECT_NAME}Targets
# FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Targets.cmake"
# NAMESPACE ${PROJECT_NAME}::)
# configure_file(${PROJECT_NAME}Config.cmake.in
# "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" COPYONLY)
#
# set(ConfigPackageLocation lib/cmake/${PROJECT_NAME})
# install(EXPORT ${PROJECT_NAME}Targets
# FILE ${PROJECT_NAME}Targets.cmake
# NAMESPACE ${PROJECT_NAME}::
# DESTINATION ${ConfigPackageLocation})
# install(
# FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
# "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
# DESTINATION ${ConfigPackageLocation}
# )
# export package to cmake cache
export(PACKAGE ${PROJECT_NAME})