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CMakeLists.txt
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CMakeLists.txt
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# ----------------------------------------------------------------------------
# Basic Configuration
# ----------------------------------------------------------------------------
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
PROJECT(aruco)
set(PROJECT_VERSION "2.0.15")
string(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}")
list(GET PROJECT_VERSION_PARTS 0 PROJECT_VERSION_MAJOR)
list(GET PROJECT_VERSION_PARTS 1 PROJECT_VERSION_MINOR)
list(GET PROJECT_VERSION_PARTS 2 PROJECT_VERSION_PATCH)
set(PROJECT_SOVERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
#------------------------------------------------------
# Build type
#------------------------------------------------------
IF(NOT CMAKE_BUILD_TYPE )
SET( CMAKE_BUILD_TYPE "Debug" )
ENDIF()
#------------------------------------------------------
# Lib Names and Dirs
#------------------------------------------------------
if(WIN32)
# Postfix of DLLs:
# Postfix of DLLs:
SET(PROJECT_DLLVERSION "${PROJECT_VERSION_MAJOR}${PROJECT_VERSION_MINOR}${PROJECT_VERSION_PATCH}")
SET(RUNTIME_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin CACHE PATH "Directory for dlls and binaries")
SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin CACHE PATH "Directory for binaries")
SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin CACHE PATH "Directory for dlls")
else()
# Postfix of so's:
set(PROJECT_DLLVERSION)
# SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_INSTALL_PREFIX}/lib/cmake/ /usr/lib/cmake)
endif()
OPTION(USE_OWN_EIGEN3 "Set to OFF to use a standard eigen3 version" ON)
OPTION(USE_DOUBLE_PRECISION_PNP "Set Double/float precision for posetracker" ON)
OPTION(BUILD_UTILS "Set to OFF to not compile utils " ON)
OPTION(BUILD_TESTS "Set to OFF to not compile utils " OFF)
OPTION(BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON)
OPTION(BUILD_GLSAMPLES "Set to OFF to build static libraries" OFF)
# ----------------------------------------------------------------------------
# Find Dependencies
# ----------------------------------------------------------------------------
FIND_PACKAGE(OpenCV REQUIRED )
set (ARUCO_REQUIRED_LIBRARIES ${OpenCV_LIBS})
INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS})
if(OpenCV_VERSION VERSION_LESS "3.0")#Opencv 2 requires the ad-hoc levmarq method for tracking since solvePnp from intrinsicguess does not work
IF(NOT USE_OWN_EIGEN3)
find_package( Eigen3 REQUIRED )
ELSE()
set(EIGEN3_INCLUDE_DIR "3rdparty/eigen3")
ENDIF()
include_directories( ${EIGEN3_INCLUDE_DIR} )
IF(USE_DOUBLE_PRECISION_PNP)
ADD_DEFINITIONS(-DDOUBLE_PRECISION_PNP)
ENDIF()
ENDIF()
# Check if we have OpenCV 3
IF(EXISTS ${GLUT_PATH})
INCLUDE_DIRECTORIES(${GLUT_PATH}/include)
SET(CMAKE_LIBRARY_PATH ${CMAKE_LIBRARY_PATH} ${GLUT_PATH}/lib)
ENDIF()
##LOOK FOR OPENGL AND GLUT
#FIND OPENGL LIBRARY. In Android, there is no need since it is included
IF(NOT ANDROID_CREATION)
if(BUILD_GLSAMPLES)
find_package(OpenGL)
find_package(GLUT)#standard package
MESSAGE(STATUS "GLUT_FOUND=${GLUT_FOUND} OPENGL_gl_LIBRARY=${OPENGL_gl_LIBRARY} GLUT_HEADER=${GLUT_HEADER}")
endif()
IF(NOT GLUT_FOUND) #else, freeglut
FIND_LIBRARY(GLUT_glut_LIBRARY NAMES freeglut)
MESSAGE(STATUS "GLUT_glut_LIBRARY=${GLUT_glut_LIBRARY}")
ENDIF()
IF ( (NOT GLUT_glut_LIBRARY AND NOT GLUT_FOUND) OR NOT OPENGL_gl_LIBRARY)
set(GL_FOUND "NO")
ELSE()
set(GL_FOUND "YES")
set (OPENGL_LIBS ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} ${GLUT_glut_LIBRARY})
ENDIF()
ENDIF()
#Omp
if(WIN32)
ELSE()
find_package(OpenMP )
if (OPENMP_FOUND)
set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
add_definitions(-DUSE_OMP)
endif()
ENDIF()
# ----------------------------------------------------------------------------
# PROJECT CONFIGURATION
# force some variables that could be defined in the command line to be written to cache
# ----------------------------------------------------------------------------
OPTION(INSTALL_DOC "Set to ON to build/install Documentation" OFF)
IF (INSTALL_DOC)
FIND_PACKAGE(Doxygen REQUIRED)
MESSAGE( STATUS "INSTALL_DOC: ${INSTALL_DOC} ")
INCLUDE("${PROJECT_SOURCE_DIR}/generateDoc.cmake")
GENERATE_DOCUMENTATION(${PROJECT_SOURCE_DIR}/dox.in)
ENDIF()
# ----------------------------------------------------------------------------
# Uninstall target, for "make uninstall"
# ----------------------------------------------------------------------------
CONFIGURE_FILE( "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY)
ADD_CUSTOM_TARGET(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
# ----------------------------------------------------------------------------
# create configuration file from .in file (If you use windows take care with paths)
# ----------------------------------------------------------------------------
CONFIGURE_FILE("${PROJECT_SOURCE_DIR}/config.cmake.in" "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")
INSTALL(FILES "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" DESTINATION lib/cmake/${PROJECT_NAME})
# ----------------------------------------------------------------------------
# Program Optimization and debug (Extracted from OpenCV)
# ----------------------------------------------------------------------------
set(WARNINGS_ARE_ERRORS OFF CACHE BOOL "Treat warnings as errors")
set(WHOLE_PROGRAM_OPTIMIZATION OFF CACHE BOOL "Flags for whole program optimization.")
set(EXTRA_C_FLAGS "")
set(EXTRA_C_FLAGS_RELEASE "")
set(EXTRA_C_FLAGS_DEBUG "")
set(EXTRA_EXE_LINKER_FLAGS "")
set(EXTRA_EXE_LINKER_FLAGS_RELEASE "")
set(EXTRA_EXE_LINKER_FLAGS_DEBUG "")
IF(CMAKE_COMPILER_IS_GNUCXX OR MINGW OR "${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
set(ENABLE_PROFILING OFF CACHE BOOL "Enable profiling in the GCC compiler (Add flags: -g -pg)")
set(USE_OMIT_FRAME_POINTER ON CACHE BOOL "Enable -fomit-frame-pointer for GCC")
if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm*) # We can use only -O2 because the -O3 causes gcc crash
set(USE_O2 ON CACHE BOOL "Enable -O2 for GCC")
set(USE_FAST_MATH ON CACHE BOOL "Enable -ffast-math for GCC")
endif()
if(${CMAKE_SYSTEM_PROCESSOR} MATCHES powerpc*)
set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
set(USE_POWERPC ON CACHE BOOL "Enable PowerPC for GCC")
endif ()
if(${CMAKE_SYSTEM_PROCESSOR} MATCHES amd64* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64*)
set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
set(USE_FAST_MATH ON CACHE BOOL "Enable -ffast-math for GCC")
set(USE_MMX ON CACHE BOOL "Enable MMX for GCC")
set(USE_SSE ON CACHE BOOL "Enable SSE for GCC")
set(USE_SSE2 ON CACHE BOOL "Enable SSE2 for GCC")
set(USE_SSE3 ON CACHE BOOL "Enable SSE3 for GCC")
endif()
if(${CMAKE_SYSTEM_PROCESSOR} MATCHES i686* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES x86)
set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
set(USE_FAST_MATH ON CACHE BOOL "Enable -ffast-math for GCC")
set(USE_MMX ON CACHE BOOL "Enable MMX for GCC")
set(USE_SSE OFF CACHE BOOL "Enable SSE for GCC")
set(USE_SSE2 OFF CACHE BOOL "Enable SSE2 for GCC")
set(USE_SSE3 OFF CACHE BOOL "Enable SSE3 for GCC")
endif ()
set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Wall")
if(WARNINGS_ARE_ERRORS)
set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Werror")
endif()
# The -Wno-long-long is required in 64bit systems when including sytem headers.
if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES amd64*)
set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Wno-long-long")
endif()
# Whole program optimization
if(WHOLE_PROGRAM_OPTIMIZATION)
set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -fwhole-program --combine")
endif()
# Other optimizations
if(USE_OMIT_FRAME_POINTER)
set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -fomit-frame-pointer")
endif()
if(USE_O2)
set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -O2")
endif()
if(USE_O3)
set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -O3")
endif()
if(USE_FAST_MATH)
set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -ffast-math")
endif()
if(USE_POWERPC)
set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -mcpu=G3 -mtune=G5")
endif()
if(USE_MMX)
set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -mmmx")
endif()
if(USE_SSE)
set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse")
endif()
if(USE_SSE2)
set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse2")
endif()
if(USE_SSE3 AND NOT MINGW) # SSE3 should be disabled under MingW because it generates compiler errors
set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse3")
endif()
if(ENABLE_PROFILING)
set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -pg -g")
else()
if(NOT APPLE)
set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -ffunction-sections")
endif()
endif()
# Parallel mode
if(ENABLE_OPENMP)
set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -fopenmp")
set(LINKER_LIBS ${LINKER_LIBS} gomp)
endif()
IF(${CMAKE_SYSTEM_PROCESSOR} MATCHES armv7l) # In ARM_COrtex8 with neon, enalble vectorized operations
SET(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -mcpu=cortex-a8 -mfpu=neon -mfloat-abi=softfp -ftree-vectorize ")
ENDIF()
set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -DNDEBUG")
set(EXTRA_C_FLAGS_DEBUG "-g3 -O0 -DDEBUG -D_DEBUG -W -Wextra -Wno-return-type")
MESSAGE( STATUS "-------------------------------------------------------------------------------" )
message( STATUS "GNU COMPILER")
MESSAGE( STATUS "-------------------------------------------------------------------------------" )
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${EXTRA_C_FLAGS} -std=c++11")
SET(CMAKE_CXX_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE}")
SET(CMAKE_CXX_FLAGS_DEBUG "${EXTRA_C_FLAGS_DEBUG}")
SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${EXTRA_EXE_LINKER_FLAGS}")
SET(CMAKE_EXE_LINKER_FLAGS_RELEASE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} ${EXTRA_EXE_LINKER_FLAGS_RELEASE}")
SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "${CMAKE_EXE_LINKER_FLAGS_DEBUG} ${EXTRA_EXE_LINKER_FLAGS_DEBUG}")
ENDIF ()
#------------------------------------------------
# DIRS
#------------------------------------------------
ADD_SUBDIRECTORY(src)
IF(BUILD_UTILS)
ADD_SUBDIRECTORY(utils)
ADD_SUBDIRECTORY(utils_markermap)
ADD_SUBDIRECTORY(utils_calibration)
# ADD_SUBDIRECTORY(utils_svm)
ENDIF()
IF(GL_FOUND AND BUILD_GLSAMPLES)
ADD_SUBDIRECTORY(utils_gl)
ENDIF()
IF(BUILD_TESTS)
ADD_SUBDIRECTORY(tests)
ENDIF()
# ----------------------------------------------------------------------------
# display status message for important variables
# ----------------------------------------------------------------------------
message( STATUS )
MESSAGE( STATUS "-------------------------------------------------------------------------------" )
message( STATUS "General configuration for ${PROJECT_NAME} ${PROJECT_VERSION}")
MESSAGE( STATUS "-------------------------------------------------------------------------------" )
message( STATUS )
message(" Built as dynamic libs?:" ${BUILD_SHARED_LIBS})
message(" Compiler:" "${CMAKE_COMPILER}" "${CMAKE_CXX_COMPILER}")
message( STATUS "C++ flags (Release): ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_RELEASE}")
message( STATUS "C++ flags (Debug): ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_DEBUG}")
message( STATUS "CMAKE_CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
message( STATUS "CMAKE_BINARY_DIR: ${CMAKE_BINARY_DIR}")
MESSAGE( STATUS )
MESSAGE( STATUS "CMAKE_SYSTEM_PROCESSOR = ${CMAKE_SYSTEM_PROCESSOR}" )
MESSAGE( STATUS "BUILD_SHARED_LIBS = ${BUILD_SHARED_LIBS}" )
MESSAGE( STATUS "CMAKE_INSTALL_PREFIX = ${CMAKE_INSTALL_PREFIX}" )
MESSAGE( STATUS "CMAKE_BUILD_TYPE = ${CMAKE_BUILD_TYPE}" )
MESSAGE( STATUS "CMAKE_MODULE_PATH = ${CMAKE_MODULE_PATH}" )
MESSAGE( STATUS )
MESSAGE( STATUS "--------------------------- Documentation -----------------------------" )
MESSAGE( STATUS )
MESSAGE( STATUS "INSTALL_DOC = ${INSTALL_DOC}" )
MESSAGE( STATUS "USE_LATEX = ${USE_LATEX}" )
MESSAGE( STATUS "USE_DOT = ${USE_DOT}" )
MESSAGE( STATUS "USE_CHM = ${USE_CHM}" )
MESSAGE( STATUS )
MESSAGE( STATUS "FOUND OPENGL=${GL_FOUND} LIBS=${OPENGL_LIBS}")
MESSAGE( STATUS "OpenCV_LIB_DIR=${OpenCV_LIB_DIR} OpenCV_INCLUDE_DIRS=${OpenCV_INCLUDE_DIRS}")
MESSAGE( STATUS "CMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}")
MESSAGE( STATUS "USE_OWN_EIGEN3=${USE_OWN_EIGEN3} EIGEN3_INCLUDE_DIR=${EIGEN3_INCLUDE_DIR}")
MESSAGE( STATUS )
MESSAGE( STATUS )
MESSAGE( STATUS "Change a value with: cmake -D<Variable>=<Value>" )
MESSAGE( STATUS )
# pkg-config
configure_file(aruco.pc.in aruco.pc @ONLY)
configure_file(aruco-uninstalled.pc.in aruco-uninstalled.pc @ONLY)
install(FILES "${PROJECT_BINARY_DIR}/aruco-uninstalled.pc" "${PROJECT_BINARY_DIR}/aruco.pc" DESTINATION lib/pkgconfig)