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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(icg_ros)
set(CMAKE_CXX_STANDARD 17)
# ===================== External Dependencies =====================
find_package(Eigen3 REQUIRED)
find_package(OpenGL REQUIRED)
find_package(GLEW REQUIRED)
find_package(glfw3 REQUIRED)
find_package(OpenCV REQUIRED)
find_package(gflags REQUIRED)
find_package(OpenMP REQUIRED)
if (OPENMP_FOUND)
if (WIN32)
set(CMAKE_CXX_FLAGS_RELEASE
"${CMAKE_C_FLAGS_RELEASE} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS_RELEASE
"${CMAKE_CXX_FLAGS_RELEASE} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS
"${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
else ()
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS
"${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
endIf ()
endif ()
# ===================== External Dependencies =====================
# ===================== ROS Dependencies =====================
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
sensor_msgs
cv_bridge
message_filters)
# ===================== ROS Dependencies =====================
# ===================== Checking =====================
set(CMAKE_CXX_VISIBILITY_PRESET hidden)
include(CheckCXXCompilerFlag)
check_cxx_compiler_flag(-march HAS_MARCH)
check_cxx_compiler_flag(-mtune HAS_MTUNE)
if (HAS_MARCH)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
endif ()
if (HAS_MTUNE)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mtune=native")
endif ()
check_cxx_compiler_flag(-ggdb HAS_GGDB)
check_cxx_compiler_flag(-Z7 HAS_Z7)
check_cxx_compiler_flag(-ftrapv HAS_FTRAPV)
check_cxx_compiler_flag(-Od HAS_OD)
if (HAS_GGDB)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -ggdb")
elseif (HAS_Z7)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Z7")
endif ()
if (HAS_FTRAPV)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -ftrapv")
endif ()
if (HAS_OD)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Od")
endif ()
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Wall")
check_cxx_compiler_flag(-Ob3 HAS_OB3)
check_cxx_compiler_flag(-O3 HAS_O3)
check_cxx_compiler_flag(-Ob2 HAS_OB2)
check_cxx_compiler_flag(-O2 HAS_O2)
if (HAS_OB3)
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Ob3")
elseif (HAS_O3)
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
elseif (HAS_OB2)
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Ob2")
elseif (HAS_O2)
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O2")
endif ()
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG")
# ===================== Checking =====================
# ===================== Set group name =====================
set(SOURCES
src/icg/common.cpp
src/icg/body.cpp
src/icg/renderer_geometry.cpp
src/icg/renderer.cpp
src/icg/normal_renderer.cpp
src/icg/basic_depth_renderer.cpp
src/icg/model.cpp
src/icg/region_model.cpp
src/icg/depth_model.cpp
src/icg/camera.cpp
src/icg/loader_camera.cpp
src/icg/viewer.cpp
src/icg/image_viewer.cpp
src/icg/normal_viewer.cpp
src/icg/modality.cpp
src/icg/region_modality.cpp
src/icg/depth_modality.cpp
src/icg/optimizer.cpp
src/icg/detector.cpp
src/icg/static_detector.cpp
src/icg/manual_detector.cpp
src/icg/refiner.cpp
src/icg/publisher.cpp
src/icg/tracker.cpp
src/icg/generator.cpp)
set(INTERFACE_SOURCES
src/icg_ros/icg_ros_interface.cpp
src/icg_ros/ros_camera.cpp)
set(LIBRARIES
Eigen3::Eigen
OpenGL::GL
GLEW::GLEW
glfw
gflags
${OpenCV_LIBRARIES})
if(UNIX)
list(APPEND LIBRARIES pthread stdc++fs)
endif()
# ===================== Set group name =====================
# ===================== STATIC Library =====================
catkin_package(
INCLUDE_DIRS include third_party
LIBRARIES icg
CATKIN_DEPENDS roscpp rospy std_msgs)
include_directories(
include
third_party
${catkin_INCLUDE_DIRS})
add_library(icg
STATIC ${SOURCES})
# ===================== STATIC Library =====================
# ===================== Executables =====================
add_executable(icg_test_node
src/icg_test_node.cpp ${INTERFACE_SOURCES})
# ===================== Executables =====================
# ===================== Linking =====================
target_link_libraries(icg_test_node
icg
${catkin_LIBRARIES})
target_link_libraries(icg PUBLIC
${LIBRARIES})
install(TARGETS icg
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
install(
DIRECTORY include/icg/
DIRECTORY third_party/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
# ===================== Linking =====================