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CMakeLists.txt
135 lines (108 loc) · 5.99 KB
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10)
project(slambench)
# CMake variables
#######################################################
MESSAGE(STATUS CMAKE_MODULE_PATH=${CMAKE_MODULE_PATH})
SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin CACHE PATH "Build directory" FORCE)
SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib CACHE PATH "Build directory" FORCE)
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
SET(CMAKE_BUILD_FILES_DIRECTORY ${PROJECT_BINARY_DIR}/bfd)
SET(CMAKE_BINARY_DIR ${PROJECT_BINARY_DIR}/bindir)
SET(CMAKE_CACHEFILE_DIR ${PROJECT_BINARY_DIR}/cache)
SET(CMAKE_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/builddir)
# Most common compiler flags
#######################################################
set(GENERAL_COMPILATION_FLAGS "-g -O3 -Wall -Wextra")
if(CMAKE_COMPILER_IS_GNUCC)
add_definitions(-D_FILE_OFFSET_BITS=64) ## Workaround for 32 bit boards with fwrite 2G limit
set(GENERAL_COMPILATION_FLAGS "${GENERAL_COMPILATION_FLAGS} -Wno-error=deprecated-declarations ") # Eigen raises deprecated declarations warnings and int-in-bool-context warnings.
set(GENERAL_COMPILATION_FLAGS "${GENERAL_COMPILATION_FLAGS} -Wno-unknown-pragmas -Wno-error=deprecated-declarations -Wno-error=unused-result -Wno-error=reorder")
if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 6.0)
set(GENERAL_COMPILATION_FLAGS "${GENERAL_COMPILATION_FLAGS} -Wno-error=ignored-attributes -Wno-misleading-indentation")
endif()
if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 7.0)
set(GENERAL_COMPILATION_FLAGS "${GENERAL_COMPILATION_FLAGS} -Wno-error=implicit-fallthrough= -Wno-int-in-bool-context ")
endif()
endif()
if(APPLE)
set(GENERAL_COMPILATION_FLAGS "${GENERAL_COMPILATION_FLAGS} -D__APPLE__")
endif(APPLE)
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++2a" COMPILER_SUPPORTS_CXX20)
CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
if(COMPILER_SUPPORTS_CXX20)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++2a")
message(STATUS "Using flag -std=c++2a")
elseif(COMPILER_SUPPORTS_CXX17)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
message(STATUS "Using flag -std=c++17")
elseif(COMPILER_SUPPORTS_CXX14)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
message(STATUS "Using flag -std=c++14")
elseif(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
message(STATUS "Using flag -std=c++11")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${GENERAL_COMPILATION_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GENERAL_COMPILATION_FLAGS}")
# DEFINE SLAMBENCH LIBS/INCLUDES
######################################################
find_package(Eigen3 REQUIRED)
SET(SLAMBENCH_INCLUDE_DIR ${EIGEN3_INCLUDE_DIR} ${CMAKE_SOURCE_DIR}/framework/shared/include CACHE STRING "The include paths needed to use SLAMBENCH")
SET(SLAMBENCH_LIBRARIES slambench-utils -Wl,--whole-archive slambench-io slambench-metrics -Wl,--no-whole-archive)
SET(SLAMBENCH_C_WRAPPER -Wl,--whole-archive slambench-c-wrapper -Wl,--no-whole-archive)
# SLAMBENCH FUNCTIONS
#######################################################
if(NOT WIN32)
string(ASCII 27 Esc)
set(ColorReset "${Esc}[m")
set(Red "${Esc}[31m")
set(Green "${Esc}[32m")
endif()
SET(NULL_FILE_PATH ${PROJECT_BINARY_DIR}/null.cpp)
if (NOT EXISTS ${NULL_FILE_PATH})
file(WRITE ${NULL_FILE_PATH} "")
ENDIF()
function(explore_implementations algorithm_name implementations_path)
set(appname ${algorithm_name})
FILE(GLOB VERSIONS ${implementations_path})
FOREACH(version_dir ${VERSIONS})
IF(IS_DIRECTORY ${version_dir})
get_filename_component(appversion ${version_dir} NAME)
MESSAGE(STATUS "Load version ${appversion} of ${appname}.")
ADD_SUBDIRECTORY(${version_dir})
ENDIF()
ENDFOREACH(version_dir)
endfunction()
function(generate_slam_binaries_only library_name )
message(STATUS "Potential interfaces are ${SLAMBENCH_INTERFACES}...")
FOREACH(INTERFACE ${SLAMBENCH_INTERFACES})
message(STATUS "${Green}Generation of ${library_name}-${INTERFACE} : Activated${ColorReset}")
add_executable(${library_name}-${INTERFACE} ${NULL_FILE_PATH})
target_link_libraries(${library_name}-${INTERFACE} PRIVATE ${library_name} ${INTERFACE} ${library_name})
SET_TARGET_PROPERTIES(${library_name}-${INTERFACE} PROPERTIES LINK_FLAGS "${ARGN}")
install(TARGETS ${library_name}-${INTERFACE} DESTINATION bin/)
ENDFOREACH()
endfunction()
function(generate_slam_library library_name )
message(STATUS "Potential interfaces are ${SLAMBENCH_INTERFACES}...")
FOREACH(INTERFACE ${SLAMBENCH_INTERFACES})
message(STATUS "${Green}Generation of ${library_name}-${INTERFACE} : Activated${ColorReset}")
add_executable(${library_name}-${INTERFACE} ${NULL_FILE_PATH})
target_link_libraries(${library_name}-${INTERFACE} PRIVATE ${library_name} ${INTERFACE} ${library_name})
SET_TARGET_PROPERTIES(${library_name}-${INTERFACE} PROPERTIES LINK_FLAGS "${ARGN}")
install(TARGETS ${library_name}-${INTERFACE} DESTINATION bin/)
ENDFOREACH()
message(STATUS "${Green}Generation of ${library_name}-library : Activated${ColorReset}")
add_library(${library_name}-library SHARED ${NULL_FILE_PATH})
target_link_libraries(${library_name}-library PRIVATE ${SLAMBENCH_C_WRAPPER} ${library_name})
SET_TARGET_PROPERTIES(${library_name}-library PROPERTIES LINK_FLAGS "${ARGN}")
install(TARGETS ${library_name}-library DESTINATION lib/)
endfunction()
#### SUB FOLDERS ####
add_subdirectory(framework) # SLAMBench framework
add_subdirectory(benchmarks) # Benchmarks