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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.1)
project(apriltag VERSION 3.3.0 LANGUAGES C CXX)
if(POLICY CMP0077)
cmake_policy(SET CMP0077 NEW)
endif()
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
option(ASAN "Use AddressSanitizer for debug builds to detect memory issues" OFF)
if (ASAN)
set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} \
-fsanitize=address \
-fsanitize=bool \
-fsanitize=bounds \
-fsanitize=enum \
-fsanitize=float-cast-overflow \
-fsanitize=float-divide-by-zero \
-fsanitize=nonnull-attribute \
-fsanitize=returns-nonnull-attribute \
-fsanitize=signed-integer-overflow \
-fsanitize=undefined \
-fsanitize=vla-bound \
-fno-sanitize=alignment \
-fsanitize=leak \
-fsanitize=object-size \
")
endif()
# Set a default build type if none was specified
set(default_build_type "Release")
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
set(CMAKE_BUILD_TYPE "${default_build_type}" 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()
aux_source_directory(common COMMON_SRC)
set(APRILTAG_SRCS apriltag.c apriltag_pose.c apriltag_quad_thresh.c)
# Library
file(GLOB TAG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/tag*.c)
add_library(${PROJECT_NAME} ${APRILTAG_SRCS} ${COMMON_SRC} ${TAG_FILES})
if (MSVC)
add_compile_definitions("_CRT_SECURE_NO_WARNINGS")
else()
find_package(Threads REQUIRED)
target_link_libraries(${PROJECT_NAME} PUBLIC Threads::Threads m)
endif()
set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION 3 VERSION ${PROJECT_VERSION})
set_target_properties(${PROJECT_NAME} PROPERTIES DEBUG_POSTFIX "d")
include(GNUInstallDirs)
target_include_directories(${PROJECT_NAME} PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/>"
"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>/apriltag")
# install header file hierarchy
file(GLOB HEADER_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *.h common/*.h)
list(REMOVE_ITEM HEADER_FILES apriltag_detect.docstring.h apriltag_py_type.docstring.h)
foreach(HEADER ${HEADER_FILES})
string(REGEX MATCH "(.*)[/\\]" DIR ${HEADER})
install(FILES ${HEADER} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}/${DIR})
endforeach()
# export library
set(generated_dir "${CMAKE_CURRENT_BINARY_DIR}/generated")
set(version_config "${generated_dir}/${PROJECT_NAME}ConfigVersion.cmake")
set(project_config "${generated_dir}/${PROJECT_NAME}Config.cmake")
set(targets_export_name "${PROJECT_NAME}Targets")
set(config_install_dir "share/${PROJECT_NAME}/cmake")
# Include module with fuction 'write_basic_package_version_file'
include(CMakePackageConfigHelpers)
# Configure '<PROJECT-NAME>Config.cmake'
# Use variables:
# * targets_export_name
# * PROJECT_NAME
configure_package_config_file(
"CMake/apriltagConfig.cmake.in"
"${project_config}"
INSTALL_DESTINATION "${config_install_dir}"
)
# Configure '<PROJECT-NAME>ConfigVersion.cmake'
# Note: PROJECT_VERSION is used as a VERSION
write_basic_package_version_file("${version_config}" COMPATIBILITY SameMajorVersion)
# install library
install(TARGETS ${PROJECT_NAME} EXPORT ${targets_export_name}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
)
install(EXPORT ${targets_export_name}
NAMESPACE apriltag::
DESTINATION ${config_install_dir})
install(FILES ${project_config} ${version_config} DESTINATION ${config_install_dir})
export(TARGETS apriltag
NAMESPACE apriltag::
FILE ${generated_dir}/${targets_export_name}.cmake)
# install pkgconfig related files
FILE(READ apriltag.pc.in PKGC)
STRING(REGEX REPLACE "^prefix=" "prefix=${CMAKE_INSTALL_PREFIX}" PKGC_CONF "${PKGC}" )
FILE(WRITE ${PROJECT_BINARY_DIR}/apriltag.pc ${PKGC_CONF})
install(FILES "${PROJECT_BINARY_DIR}/apriltag.pc" DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig/")
# Python wrapper
include(CMakeDependentOption)
cmake_dependent_option(BUILD_PYTHON_WRAPPER "Builds Python wrapper" ON BUILD_SHARED_LIBS OFF)
if(BUILD_PYTHON_WRAPPER)
SET(Python_ADDITIONAL_VERSIONS 3)
find_package(PythonLibs)
execute_process(COMMAND which python3 OUTPUT_QUIET RESULT_VARIABLE Python3_NOT_FOUND)
execute_process(COMMAND python3 -c "import numpy" RESULT_VARIABLE Numpy_NOT_FOUND)
endif(BUILD_PYTHON_WRAPPER)
if (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
# TODO deal with both python2/3
execute_process(COMMAND python3 ${CMAKE_CURRENT_SOURCE_DIR}/python_build_flags.py OUTPUT_VARIABLE PY_OUT)
set(PY_VARS CFLAGS LDFLAGS LINKER EXT_SUFFIX)
cmake_parse_arguments(PY "" "${PY_VARS}" "" ${PY_OUT})
separate_arguments(PY_CFLAGS)
list(REMOVE_ITEM PY_CFLAGS -flto)
separate_arguments(PY_LDFLAGS)
foreach(X detect py_type)
add_custom_command(OUTPUT ${PROJECT_BINARY_DIR}/apriltag_${X}.docstring.h
COMMAND < ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_${X}.docstring sed 's/\"/\\\\\"/g\; s/^/\"/\; s/$$/\\\\n\"/\;' > apriltag_${X}.docstring.h
WORKING_DIRECTORY ${PROJECT_BINARY_DIR})
endforeach()
add_custom_command(OUTPUT apriltag_pywrap.o
COMMAND ${CMAKE_C_COMPILER} ${PY_CFLAGS} -I${PROJECT_BINARY_DIR} -c -o apriltag_pywrap.o ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_pywrap.c
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_pywrap.c ${PROJECT_BINARY_DIR}/apriltag_detect.docstring.h ${PROJECT_BINARY_DIR}/apriltag_py_type.docstring.h)
add_custom_command(OUTPUT apriltag${PY_EXT_SUFFIX}
COMMAND ${PY_LINKER} ${PY_LDFLAGS} -Wl,-rpath,lib apriltag_pywrap.o $<TARGET_FILE:apriltag> -o apriltag${PY_EXT_SUFFIX}
DEPENDS ${PROJECT_NAME} apriltag_pywrap.o)
add_custom_target(apriltag_python ALL
DEPENDS apriltag${PY_EXT_SUFFIX})
execute_process(COMMAND python3 -m site --user-site OUTPUT_VARIABLE PY_DEST)
string(STRIP ${PY_DEST} PY_DEST)
install(FILES ${PROJECT_BINARY_DIR}/apriltag${PY_EXT_SUFFIX} DESTINATION ${PY_DEST})
endif (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
# Examples
# apriltag_demo
add_executable(apriltag_demo example/apriltag_demo.c)
target_link_libraries(apriltag_demo ${PROJECT_NAME})
# opencv_demo
# NB: contrib required for TickMeter in OpenCV 2.4. This is only required for 16.04 backwards compatibility and can be removed in the future.
find_package(OpenCV COMPONENTS core imgproc videoio highgui contrib QUIET)
if(OpenCV_FOUND)
add_executable(opencv_demo example/opencv_demo.cc)
target_link_libraries(opencv_demo apriltag ${OpenCV_LIBRARIES})
set_target_properties(opencv_demo PROPERTIES CXX_STANDARD 11)
install(TARGETS opencv_demo RUNTIME DESTINATION bin)
else()
message(WARNING "OpenCV not found: Not building demo")
endif(OpenCV_FOUND)
# install example programs
install(TARGETS apriltag_demo RUNTIME DESTINATION bin)