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CMakeLists.txt 9.36 KB
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Rainer Kuemmerle authored 2016-06-22 19:01 . removing G2O_EIGEN3_INCLUDE
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
SET(CMAKE_LEGACY_CYGWIN_WIN32 0)
PROJECT(g2o)
# The library prefix
SET(LIB_PREFIX g2o_)
SET(g2o_C_FLAGS)
SET(g2o_CXX_FLAGS)
# default built type
IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Release CACHE STRING
"Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
FORCE)
ENDIF(NOT CMAKE_BUILD_TYPE)
# postfix, based on type
SET(CMAKE_DEBUG_POSTFIX "_d" CACHE STRING "postfix applied to debug build of libraries")
SET(CMAKE_RELEASE_POSTFIX "" CACHE STRING "postfix applied to release build of libraries")
SET(CMAKE_RELWITHDEBINFO_POSTFIX "_rd" CACHE STRING "postfix applied to release-with-debug-information libraries")
SET(CMAKE_MINSIZEREL_POSTFIX "_s" CACHE STRING "postfix applied to minimium-size-build libraries")
# work out the postfix; required where we use OUTPUT_NAME
IF(CMAKE_BUILD_TYPE MATCHES Release)
SET(EXE_POSTFIX)
ELSEIF(CMAKE_BUILD_TYPE MATCHES Debug)
SET(EXE_POSTFIX ${CMAKE_DEBUG_POSTFIX})
ELSEIF(CMAKE_BUILD_TYPE MATCHES RelWithDebInfo)
SET(EXE_POSTFIX ${CMAKE_RELWITHDEBINFO_POSTFIX})
ELSEIF(CMAKE_BUILD_TYPE MATCHES MinSizeRel)
SET(EXE_POSTFIX ${CMAKE_MINSIZEREL_POSTFIX})
ENDIF(CMAKE_BUILD_TYPE MATCHES Release)
# Allow the developer to select if Dynamic or Static libraries are built
OPTION (BUILD_SHARED_LIBS "Build Shared Libraries (preferred and required for the g2o plugin system)" ON)
SET (G2O_LIB_TYPE STATIC)
IF (BUILD_SHARED_LIBS)
SET (G2O_LIB_TYPE SHARED)
ENDIF()
# There seems to be an issue with MSVC8
# see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=83
if(MSVC90)
add_definitions(-DEIGEN_DONT_ALIGN_STATICALLY=1)
message(STATUS "Disabling memory alignment for MSVC8")
endif(MSVC90)
# On the Mac platform, configure the RPATH as per the install, to
# avoid the problem of loading both the built and installed versions
# of the shared targets
IF(APPLE)
SET(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
SET(CMAKE_INSTALL_RPATH "")
ENDIF(APPLE)
# Set the output directory for the build executables and libraries
SET(g2o_RUNTIME_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the binaries")
IF(WIN32)
SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the libraries")
ELSE(WIN32)
SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries")
ENDIF(WIN32)
SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${g2o_RUNTIME_OUTPUT_DIRECTORY})
# Set search directory for looking for our custom CMake scripts to
# look for SuiteSparse, QGLViewer, and Eigen3.
LIST(APPEND CMAKE_MODULE_PATH ${g2o_SOURCE_DIR}/cmake_modules)
# Detect OS and define macros appropriately
IF(WIN32)
ADD_DEFINITIONS(-DWINDOWS)
MESSAGE(STATUS "Compiling on Windows")
IF(MSVC)
MESSAGE(STATUS "Compiling with MSVC")
ADD_DEFINITIONS(-DNOMINMAX)
ADD_DEFINITIONS(-D_USE_MATH_DEFINES)
# SSE2 optimizations
if(NOT CMAKE_SIZEOF_VOID_P EQUAL 8) # No need to specify if building for x64 (actually, it generates an annoying warning)
ADD_DEFINITIONS("/arch:SSE2")
endif()
IF (BUILD_SHARED_LIBS)
# disable warning on missing DLL interfaces
ADD_DEFINITIONS("/wd4251")
ENDIF()
# Fix issue: https://github.com/RainerKuemmerle/g2o/issues/66
# Link error LNK2005 due to duplicated symbols
add_definitions("/Ob2")
# Fix other stupid warnings:
add_definitions(-D_CRT_SECURE_NO_WARNINGS=1) # Avoid deprecated fprintf(), etc.
add_definitions("/nologo")
add_definitions("/wd4244") # Conversion from double -> int
add_definitions("/wd4267") # Conversion during return
add_definitions("/wd4522") # Duplicated operator=() in Eigen headers
ENDIF(MSVC)
ELSEIF(CYGWIN)
MESSAGE(STATUS "Compiling on Cygwin")
ADD_DEFINITIONS(-DCYGWIN)
ELSEIF(APPLE)
ADD_DEFINITIONS(-DUNIX)
MESSAGE(STATUS "Compiling on OSX")
ELSEIF(UNIX)
ADD_DEFINITIONS(-DUNIX)
MESSAGE(STATUS "Compiling on Unix")
ENDIF(WIN32)
# detect Android Cross Compiler
# based on android-cmake which sets the variable ANDROID for us
IF(ANDROID)
ADD_DEFINITIONS(-DANDROID)
MESSAGE(STATUS "Cross compiling for Android")
ENDIF()
# For building the CHOLMOD / CSPARSE solvers
FIND_PACKAGE(Cholmod)
FIND_PACKAGE(BLAS)
FIND_PACKAGE(LAPACK)
IF(CHOLMOD_FOUND AND BLAS_FOUND AND LAPACK_FOUND)
MESSAGE(STATUS "Found CHOLMOD and its dependencies")
SET(CHOLMOD_FOUND TRUE)
ELSE()
SET(CHOLMOD_FOUND FALSE)
ENDIF()
FIND_PACKAGE(CSparse)
IF(CSPARSE_FOUND)
SET(BUILD_CSPARSE OFF CACHE BOOL "Build local CSparse library")
ELSE(CSPARSE_FOUND)
SET(BUILD_CSPARSE ON CACHE BOOL "Build local CSparse library")
IF(BUILD_CSPARSE)
SET(CSPARSE_FOUND TRUE)
ENDIF()
ENDIF(CSPARSE_FOUND)
OPTION(BUILD_LGPL_SHARED_LIBS "Build LGPL Code as Shared Libraries (LGPL Code)" ON)
SET (G2O_LGPL_LIB_TYPE STATIC)
IF (BUILD_LGPL_SHARED_LIBS)
SET (G2O_LGPL_LIB_TYPE SHARED)
ELSE()
MESSAGE(STATUS "Building LGPL code as static library (affects license of the binary)")
ENDIF()
# Eigen library parallelise itself, though, presumably due to performance issues
# OPENMP is experimental. We experienced some slowdown with it
SET(G2O_USE_OPENMP OFF CACHE BOOL "Build g2o with OpenMP support (EXPERIMENTAL)")
IF(G2O_USE_OPENMP)
FIND_PACKAGE(OpenMP)
IF(OPENMP_FOUND)
SET (G2O_OPENMP 1)
SET(g2o_C_FLAGS "${g2o_C_FLAGS} ${OpenMP_C_FLAGS}")
SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}")
MESSAGE(STATUS "Compiling with OpenMP support")
ENDIF(OPENMP_FOUND)
ENDIF(G2O_USE_OPENMP)
# OpenGL is used in the draw actions for the different types, as well
# as for creating the GUI itself
FIND_PACKAGE(OpenGL)
SET(G2O_USE_OPENGL ON CACHE BOOL "Build g2o with OpenGL support for visualization")
IF (OPENGL_FOUND AND G2O_USE_OPENGL)
SET (G2O_HAVE_OPENGL 1)
INCLUDE_DIRECTORIES(${OPENGL_INCLUDE_DIR})
MESSAGE(STATUS "Compiling with OpenGL support")
ENDIF()
# For building the GUI
FIND_PACKAGE(QGLViewer)
# shall we build the core apps using the library
SET(G2O_BUILD_APPS ON CACHE BOOL "Build g2o apps")
IF(G2O_BUILD_APPS)
MESSAGE(STATUS "Compiling g2o apps")
ENDIF(G2O_BUILD_APPS)
include(CMakeDependentOption)
CMAKE_DEPENDENT_OPTION(G2O_BUILD_LINKED_APPS "Build apps linked with the libraries (no plugin system)" OFF
"G2O_BUILD_APPS" OFF)
# shall we build the examples
SET(G2O_BUILD_EXAMPLES ON CACHE BOOL "Build g2o examples")
IF(G2O_BUILD_EXAMPLES)
MESSAGE(STATUS "Compiling g2o examples")
ENDIF(G2O_BUILD_EXAMPLES)
# Compiler specific options for gcc
IF(CMAKE_COMPILER_IS_GNUCXX)
OPTION (BUILD_WITH_MARCH_NATIVE "Build with \"-march native\"" ON)
MESSAGE(STATUS "Compiling with GCC")
IF(NOT ${ARCH} MATCHES arm)
# Generic settings for optimisation
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -msse4.2")
SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -msse4.2")
ENDIF()
# switch off optimization for debug builds
SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0")
SET(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -O0")
# OS X
#IF(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
#SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
#SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}")
#ENDIF(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
# Linux
IF(BUILD_WITH_MARCH_NATIVE AND NOT ${ARCH} MATCHES arm AND ${CMAKE_SYSTEM_NAME} MATCHES "Linux")
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
ENDIF()
# activate warnings !!!
SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall -W")
SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -W")
ENDIF(CMAKE_COMPILER_IS_GNUCXX)
IF(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
MESSAGE(STATUS "Compiling with Clang")
# activate all warnings
#SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Weverything")
#SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Weverything")
SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall")
SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall")
#SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -stdlib=libc++")
ENDIF()
# C++11 support
IF(NOT MSVC)
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
endif()
# specifying compiler flags
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}")
SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}")
# Find Eigen3
FIND_PACKAGE(Eigen3 REQUIRED)
# Set up the top-level include directories
INCLUDE_DIRECTORIES(${g2o_SOURCE_DIR} ${EIGEN3_INCLUDE_DIR})
# Generate config.h
SET(G2O_OPENGL_FOUND ${OPENGL_FOUND})
SET(G2O_HAVE_CHOLMOD ${CHOLMOD_FOUND})
SET(G2O_HAVE_CSPARSE ${CSPARSE_FOUND})
SET(G2O_SHARED_LIBS ${BUILD_SHARED_LIBS})
SET(G2O_LGPL_SHARED_LIBS ${BUILD_LGPL_SHARED_LIBS})
SET(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}")
configure_file(config.h.in ${PROJECT_BINARY_DIR}/g2o/config.h)
include_directories(${PROJECT_BINARY_DIR})
INSTALL(FILES ${PROJECT_BINARY_DIR}/g2o/config.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o)
# Include the subdirectories
ADD_SUBDIRECTORY(EXTERNAL)
ADD_SUBDIRECTORY(g2o)

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