Feature/pure cmake

gl_depth_sim/CMakeLists.txt

@@ -0,0 +1,132 @@
+cmake_minimum_required(VERSION 3.5.0)
+project(gl_depth_sim VERSION 0.2.0 LANGUAGES C CXX)
+
+# Required for core functionality
+find_package(glfw3 REQUIRED)
+find_package(OpenGL REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(PCL REQUIRED)
+find_package(OpenCV REQUIRED)
+
+find_package(Threads REQUIRED)
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+
+# Extensions
+find_package(assimp REQUIRED) # Just used for loading models in mesh_loader.h
+find_package(OpenCV REQUIRED) # Used for interface extension
+
+add_library(glad SHARED src/${PROJECT_NAME}/glad.c)
+target_include_directories(glad PRIVATE
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+
+# Primary rendering library
+# Independent of ROS, but does need glfw3 and assimp for model loading
+add_library(${PROJECT_NAME} SHARED
+  src/${PROJECT_NAME}/sim_depth_camera.cpp
+  src/${PROJECT_NAME}/mesh_loader.cpp
+  src/${PROJECT_NAME}/mesh.cpp
+  src/${PROJECT_NAME}/renderable_mesh.cpp
+  src/${PROJECT_NAME}/shader_program.cpp
+  src/${PROJECT_NAME}/glfw_guard.cpp)
+target_compile_options(${PROJECT_NAME} PRIVATE -std=c++14)
+target_compile_options(${PROJECT_NAME} PUBLIC -mno-avx -pthread)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+    ${EIGEN3_INCLUDE_DIR})
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  ${ASSIMP_LIBRARIES}
+  ${OPENGL_LIBRARIES}
+  glad
+  dl
+  glfw
+  )
+
+# Libaries for interfacing with opencv and pcl
+add_library(${PROJECT_NAME}_interfaces SHARED
+  src/interfaces/pcl_interface.cpp
+  src/interfaces/opencv_interface.cpp)
+target_compile_options(${PROJECT_NAME}_interfaces PRIVATE -std=c++14)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_include_directories(${PROJECT_NAME}_interfaces SYSTEM PUBLIC
+    ${PCL_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME}_interfaces PUBLIC
+  ${PROJECT_NAME}
+  ${OpenCV_LIBRARIES}
+  ${PCL_LIBRARIES}
+)
+
+# Simulated laser scanner library
+add_library(${PROJECT_NAME}_laser_scanner SHARED
+  src/${PROJECT_NAME}/sim_laser_scanner.cpp
+)
+target_compile_options(${PROJECT_NAME}_laser_scanner PRIVATE -std=c++14)
+target_include_directories(${PROJECT_NAME} PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>"
+)
+target_link_libraries(${PROJECT_NAME}_laser_scanner PUBLIC
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_interfaces
+)
+
+# Example showing basic usage
+add_executable(${PROJECT_NAME}_test src/usage_example.cpp)
+target_compile_options(${PROJECT_NAME}_test PRIVATE -std=c++14)
+set_target_properties(${PROJECT_NAME}_test PROPERTIES OUTPUT_NAME depth_example PREFIX "")
+target_include_directories(${PROJECT_NAME}_test PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCEDIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_link_libraries(${PROJECT_NAME}_test PUBLIC
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_interfaces)
+
+# Example showing an orbiting camera
+add_executable(${PROJECT_NAME}_orbit src/camera_orbit_example.cpp)
+target_compile_options(${PROJECT_NAME}_orbit PRIVATE -std=c++14)
+set_target_properties(${PROJECT_NAME}_orbit PROPERTIES OUTPUT_NAME orbit_example PREFIX "")
+target_include_directories(${PROJECT_NAME}_orbit PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include>")
+target_link_libraries(${PROJECT_NAME}_orbit PUBLIC
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_interfaces)
+
+install(DIRECTORY include/${PROJECT_NAME}
+  DESTINATION include)
+
+install(TARGETS
+  glad
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}_interfaces
+  ${PROJECT_NAME}_laser_scanner
+  ${PROJECT_NAME}_test
+  ${PROJECT_NAME}_orbit
+        EXPORT ${PROJECT_NAME}-targets
+        RUNTIME DESTINATION bin
+        LIBRARY DESTINATION lib
+        ARCHIVE DESTINATION lib)
+install(EXPORT ${PROJECT_NAME}-targets NAMESPACE gl_depth_sim:: DESTINATION lib/cmake/${PROJECT_NAME})
+
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+
+# Create cmake config files
+include(CMakePackageConfigHelpers)
+configure_package_config_file(${CMAKE_CURRENT_LIST_DIR}/cmake/${PROJECT_NAME}-config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake
+  INSTALL_DESTINATION lib/cmake/${PROJECT_NAME}
+  NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+
+write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake
+  VERSION ${PROJECT_VERSION} COMPATIBILITY ExactVersion)
+
+install(FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
+  DESTINATION lib/cmake/${PROJECT_NAME})
+
+export(EXPORT ${PROJECT_NAME}-targets NAMESPACE gl_depth_sim:: FILE ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-targets.cmake)

gl_depth_sim/cmake/gl_depth_sim-config.cmake.in

@@ -0,0 +1,15 @@
+@PACKAGE_INIT@
+
+set(@PROJECT_NAME@_FOUND ON)
+set_and_check(@PROJECT_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/include")
+set_and_check(@PROJECT_NAME@_LIBRARY_DIRS "${PACKAGE_PREFIX_DIR}/lib")
+
+include(CMakeFindDependencyMacro)
+find_dependency(Eigen3)
+find_dependency(assimp)
+find_dependency(OpenCV)
+find_dependency(OpenGL)
+find_dependency(glfw3)
+
+
+include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake")

include/gl_depth_sim/mesh.h → gl_depth_sim/include/gl_depth_sim/mesh.h

@@ -10,7 +10,6 @@ namespace gl_depth_sim
 template <typename T>
 using EigenAlignedVec = std::vector<T, Eigen::aligned_allocator<T>>;
 
-
 class Mesh
 {
 public:
@@ -22,6 +21,8 @@ class Mesh
   const std::vector<unsigned>& indices() const { return indices_; }
   const EigenAlignedVec<Eigen::Vector3f>& vertices() const { return vertices_; }
 
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
 private:
   EigenAlignedVec<Eigen::Vector3f> vertices_;
   std::vector<unsigned> indices_;

include/gl_depth_sim/shader_program.h → gl_depth_sim/include/gl_depth_sim/shader_program.h

@@ -19,6 +19,8 @@ class ShaderProgram
   void setInt(const std::string& attr, int val);
   void setUniformMat4(const std::string &attr, const Eigen::Matrix4f& mat);
 
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
 private:
   unsigned int id_;
 };

include/gl_depth_sim/sim_depth_camera.h → gl_depth_sim/include/gl_depth_sim/sim_depth_camera.h

@@ -1,10 +1,12 @@
 #ifndef GL_DEPTH_SIM_SIM_DEPTH_CAMERA_H
 #define GL_DEPTH_SIM_SIM_DEPTH_CAMERA_H
 
-#include "gl_depth_sim/camera_properties.h"
-#include "gl_depth_sim/glfw_guard.h"
-#include "gl_depth_sim/renderable_mesh.h"
-#include "gl_depth_sim/shader_program.h"
+#include <gl_depth_sim/camera_properties.h>
+#include <gl_depth_sim/glfw_guard.h>
+#include <gl_depth_sim/renderable_mesh.h>
+#include <gl_depth_sim/shader_program.h>
+
+#include <Eigen/Core>
 
 #include <memory>
 #include <vector>
@@ -16,13 +18,17 @@ struct GLFWwindow;
 namespace gl_depth_sim
 {
 
+template <typename T>
+using EigenAlignedVec = std::vector<T, Eigen::aligned_allocator<T>>;
+
 /**
  * @brief Utility data structure used internally by @class SimDepthCamera
  */
 struct RenderableObjectState
 {
   std::unique_ptr<RenderableMesh> mesh;
   Eigen::Isometry3d pose;
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 /**
@@ -38,6 +44,8 @@ struct RenderableObjectState
 class SimDepthCamera
 {
 public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
   /**
    * @brief Creates an OpenGL context and window using the given camera parameters. Only one of these should be created
    * at a time.

package.xml → gl_depth_sim/package.xml

@@ -8,18 +8,15 @@
 
   <license>LGPLv3</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>roscpp</depend>
-
-  <!--Used for examples and interfacing-->
-  <depend>tf2_ros</depend>
-  <depend>tf2_eigen</depend>
-  <depend>pcl_ros</depend>
-  <depend>visualization_msgs</depend>
-
   <!-- system dependency -->
   <build_depend>libglfw3-dev</build_depend>
+
   <depend>assimp</depend>
   <depend>libopencv-dev</depend>
+  <depend>libpcl-all-dev</depend>
+  <depend>eigen</depend>
 
+  <export>
+    <build_type>cmake</build_type>
+  </export>
 </package>