forked from AprilRobotics/apriltag
-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
220 lines (178 loc) · 8.15 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
cmake_minimum_required(VERSION 3.16)
project(apriltag VERSION 3.4.2 LANGUAGES C)
if(POLICY CMP0077)
cmake_policy(SET CMP0077 NEW)
endif()
option(BUILD_SHARED_LIBS "Build shared libraries" ON)
option(BUILD_EXAMPLES "Build example executables" ON)
option(ASAN "Use AddressSanitizer for debug builds to detect memory issues" OFF)
if (ASAN)
set(ASAN_FLAGS "\
-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 \
")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${ASAN_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ASAN_FLAGS}")
endif()
# Set a default build type if none was specified
set(default_build_type "Release")
SET(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
message(STATUS "Setting build type to '${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()
if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Werror)
# add_compile_options(-Wpedantic)
add_compile_options(-Wno-shift-negative-value)
endif()
if(CMAKE_C_COMPILER_ID MATCHES "Clang" AND NOT APPLE AND NOT CMAKE_C_SIMULATE_ID MATCHES "MSVC")
add_link_options("-Wl,-z,relro,-z,now,-z,defs")
endif()
if(CMAKE_C_COMPILER_ID MATCHES "Clang" AND CMAKE_C_SIMULATE_ID MATCHES "MSVC")
# error: 'strdup' is deprecated: The POSIX name for this item is deprecated. Instead, use the ISO C and C++ conformant name: _strdup.
# "strdup" is standard since C23
add_definitions(-D _CRT_NONSTDC_NO_DEPRECATE)
# ignore "'fopen' is deprecated" and "'strncpy' is deprecated" warnings
add_definitions(-D _CRT_SECURE_NO_WARNINGS)
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})
set_property(TARGET ${PROJECT_NAME} PROPERTY POSITION_INDEPENDENT_CODE ON)
if (MSVC)
add_compile_definitions("_CRT_SECURE_NO_WARNINGS")
else()
find_package(Threads REQUIRED)
target_link_libraries(${PROJECT_NAME} PUBLIC Threads::Threads)
endif()
if (UNIX)
target_link_libraries(${PROJECT_NAME} PUBLIC m)
endif()
set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION 3 VERSION ${PROJECT_VERSION})
set_target_properties(${PROJECT_NAME} PROPERTIES DEBUG_POSTFIX "d")
set_property(TARGET ${PROJECT_NAME} PROPERTY C_STANDARD 99)
include(GNUInstallDirs)
target_include_directories(${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}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
)
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 file
configure_file(${PROJECT_NAME}.pc.in ${PROJECT_NAME}.pc @ONLY)
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc"
DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig")
# Python wrapper
option(BUILD_PYTHON_WRAPPER "Builds Python wrapper" ON)
find_package(Python3 QUIET COMPONENTS Development NumPy)
if(BUILD_PYTHON_WRAPPER AND Python3_Development_FOUND AND Python3_NumPy_FOUND)
include(CMake/vtkEncodeString.cmake)
foreach(X IN ITEMS detect py_type)
vtk_encode_string(
INPUT ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_${X}.docstring
NAME apriltag_${X}_docstring
)
endforeach()
add_custom_target(apriltag_py_docstrings DEPENDS
${PROJECT_BINARY_DIR}/apriltag_detect_docstring.h
${PROJECT_BINARY_DIR}/apriltag_py_type_docstring.h
)
# set the SOABI manually since renaming the library via OUTPUT_NAME does not work on MSVC
set(apriltag_py_target "apriltag.${Python3_SOABI}")
Python3_add_library(${apriltag_py_target} MODULE ${CMAKE_CURRENT_SOURCE_DIR}/apriltag_pywrap.c)
add_dependencies(${apriltag_py_target} apriltag_py_docstrings)
target_link_libraries(${apriltag_py_target} PRIVATE apriltag Python3::Python Python3::NumPy)
target_include_directories(${apriltag_py_target} PRIVATE ${PROJECT_BINARY_DIR})
set(PY_DEST ${CMAKE_INSTALL_PREFIX}/lib/python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}/site-packages/)
install(TARGETS ${apriltag_py_target} LIBRARY DESTINATION ${PY_DEST})
elseif(BUILD_PYTHON_WRAPPER)
message(WARNING
"Python bindings requested (BUILD_PYTHON_WRAPPER=ON) but Development and NumPy not found. "
"Python bindings will not be built. Set BUILD_PYTHON_WRAPPER=OFF to silent this warnings."
)
endif()
# Examples
if (BUILD_EXAMPLES)
# apriltag_demo
add_executable(apriltag_demo example/apriltag_demo.c)
target_link_libraries(apriltag_demo ${PROJECT_NAME})
# opencv_demo
set(_OpenCV_REQUIRED_COMPONENTS core imgproc videoio highgui)
find_package(OpenCV COMPONENTS ${_OpenCV_REQUIRED_COMPONENTS} QUIET CONFIG)
if(OpenCV_FOUND)
enable_language(CXX)
# 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.
# If we add it to the find_package initially, the demo won't build for newer OpenCV versions
if(OpenCV_VERSION VERSION_LESS "3.0.0")
list(APPEND _OpenCV_REQUIRED_COMPONENTS contrib)
find_package(OpenCV COMPONENTS ${_OpenCV_REQUIRED_COMPONENTS} CONFIG)
endif()
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(STATUS "OpenCV not found: Not building demo")
endif(OpenCV_FOUND)
# install example programs
install(TARGETS apriltag_demo RUNTIME DESTINATION bin)
endif()
if(BUILD_TESTING)
enable_testing()
add_subdirectory(test)
endif()