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CMakeLists.txt
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CMakeLists.txt
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CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
PROJECT(g2o)
# The library prefix
SET(LIB_PREFIX g2o_)
SET(g2o_C_FLAGS)
SET(g2o_CXX_FLAGS)
# default built type
IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Release CACHE STRING
"Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
FORCE)
ENDIF(NOT CMAKE_BUILD_TYPE)
# postfix, based on type
SET(CMAKE_DEBUG_POSTFIX "_d" CACHE STRING "postfix applied to debug build of libraries")
SET(CMAKE_RELEASE_POSTFIX "" CACHE STRING "postfix applied to release build of libraries")
SET(CMAKE_RELWITHDEBINFO_POSTFIX "_rd" CACHE STRING "postfix applied to release-with-debug-information libraries")
SET(CMAKE_MINSIZEREL_POSTFIX "_s" CACHE STRING "postfix applied to minimium-size-build libraries")
# work out the postfix; required where we use OUTPUT_NAME
IF(CMAKE_BUILD_TYPE MATCHES Release)
SET(EXE_POSTFIX)
ELSEIF(CMAKE_BUILD_TYPE MATCHES Debug)
SET(EXE_POSTFIX ${CMAKE_DEBUG_POSTFIX})
ELSEIF(CMAKE_BUILD_TYPE MATCHES RelWithDebInfo)
SET(EXE_POSTFIX ${CMAKE_RELWITHDEBINFO_POSTFIX})
ELSEIF(CMAKE_BUILD_TYPE MATCHES MinSizeRel)
SET(EXE_POSTFIX ${CMAKE_MINSIZEREL_POSTFIX})
ENDIF(CMAKE_BUILD_TYPE MATCHES Release)
# Allow the developer to select if Dynamic or Static libraries are built
IF(MSVC) # MSVC only works if we link statically
OPTION (BUILD_SHARED_LIBS "Build Shared Libraries (preferred and required for the g2o plugin system)" OFF)
ELSE(MSVC)
OPTION (BUILD_SHARED_LIBS "Build Shared Libraries (preferred and required for the g2o plugin system)" ON)
ENDIF()
SET (G2O_LIB_TYPE STATIC)
IF (BUILD_SHARED_LIBS)
SET (G2O_LIB_TYPE SHARED)
ENDIF()
# There seems to be an issue with MSVC8
# see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=83
if(MSVC90)
add_definitions(-DEIGEN_DONT_ALIGN_STATICALLY=1)
message(STATUS "Disabling memory alignment for MSVC8")
endif(MSVC90)
# On the Mac platform, configure the RPATH as per the install, to
# avoid the problem of loading both the built and installed versions
# of the shared targets
IF(APPLE)
SET(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
SET(CMAKE_INSTALL_RPATH "")
ENDIF(APPLE)
# Set the output directory for the build executables and libraries
SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib)
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin)
IF(WIN32)
SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin)
ELSE(WIN32)
SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib)
ENDIF(WIN32)
# Set search directory for looking for our custom CMake scripts to
# look for SuiteSparse and QGLViewer. Also pick up Eigen3's cmake
# module path because this will let us look for the system-wide
# installation of eigen3.
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${g2o_SOURCE_DIR}/cmake_modules ${g2o_SOURCE_DIR}/EXTERNAL/eigen3/cmake)
# Detect OS and define macros appropriately
IF(WIN32)
IF(CYGWIN)
MESSAGE(STATUS "Compiling on Cygwin")
ADD_DEFINITIONS(-DCYGWIN)
ELSE(CYGWIN)
ADD_DEFINITIONS(-DWINDOWS)
MESSAGE(STATUS "Compiling on Windows")
ENDIF(CYGWIN)
IF(MSVC)
MESSAGE(STATUS "Compiling on Windows (MSVC)")
ADD_DEFINITIONS(-DNOMINMAX)
ADD_DEFINITIONS(-D_USE_MATH_DEFINES)
ENDIF(MSVC)
ELSEIF(UNIX)
ADD_DEFINITIONS(-DUNIX)
MESSAGE(STATUS "Compiling on Unix")
ELSEIF(APPLE)
ADD_DEFINITIONS(-DUNIX)
MESSAGE(STATUS "Compiling on OSX")
ENDIF(WIN32)
# For building the CHOLMOD / CSPARSE solvers
FIND_PACKAGE(SuiteSparse)
IF(CSPARSE_FOUND)
SET(BUILD_CSPARSE OFF CACHE BOOL "Build local CSparse library")
ELSE(CSPARSE_FOUND)
SET(BUILD_CSPARSE ON CACHE BOOL "Build local CSparse library")
SET(CSPARSE_FOUND TRUE)
ENDIF(CSPARSE_FOUND)
# Eigen library parallelise itself, though, presumably due to performance issues
# OPENMP is experimental. We experienced some slowdown with it
FIND_PACKAGE(OpenMP)
SET( G2O_USE_OPENMP OFF CACHE BOOL "Build g2o with OpenMP support (EXPERIMENTAL)")
IF(OPENMP_FOUND AND G2O_USE_OPENMP)
SET (G2O_OPENMP 1)
SET(g2o_C_FLAGS "${g2o_C_FLAGS} ${OpenMP_C_FLAGS}")
SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}")
MESSAGE(STATUS "Compiling with OpenMP support")
ENDIF(OPENMP_FOUND AND G2O_USE_OPENMP)
# OpenGL is used in the draw actions for the different types, as well
# as for creating the GUI itself
FIND_PACKAGE(OpenGL)
SET(G2O_USE_OPENGL ON CACHE BOOL "Build g2o with OpenGL support for visualization")
IF (OPENGL_FOUND AND G2O_USE_OPENGL)
SET (G2O_HAVE_OPENGL 1)
INCLUDE_DIRECTORIES(${OPENGL_INCLUDE})
MESSAGE(STATUS "Compiling with OpenGL support")
ENDIF(OPENGL_FOUND AND G2O_USE_OPENGL)
# For building the GUI
FIND_PACKAGE(QGLViewer)
# shall we build the core apps using the library
SET(G2O_BUILD_APPS ON CACHE BOOL "Build g2o apps")
IF(G2O_BUILD_APPS)
MESSAGE(STATUS "Compiling g2o apps")
ENDIF(G2O_BUILD_APPS)
# shall we build the examples
SET(G2O_BUILD_EXAMPLES ON CACHE BOOL "Build g2o examples")
IF(G2O_BUILD_EXAMPLES)
MESSAGE(STATUS "Compiling g2o examples")
ENDIF(G2O_BUILD_EXAMPLES)
# Compiler specific options for gcc
IF(CMAKE_COMPILER_IS_GNUCXX)
# Generic settings for optimisation
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -msse4")
SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -msse4")
# OS X
#IF(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
#SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
#SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}")
#ENDIF(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
# Linux
IF(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
ENDIF(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
# activate warnings !!!
SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall -W")
SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -W")
ENDIF(CMAKE_COMPILER_IS_GNUCXX)
# specifying compiler flags
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}")
SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}")
# Find Eigen3
FIND_PACKAGE(Eigen3)
IF(EIGEN3_FOUND)
SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3")
ELSE(EIGEN3_FOUND)
MESSAGE("Using g2o-bundled version of Eigen3.")
SET(G2O_EIGEN3_INCLUDE ${g2o_SOURCE_DIR}/EXTERNAL/eigen3 CACHE PATH "Directory of Eigen3")
ENDIF(EIGEN3_FOUND)
# Set up the top-level include directories
INCLUDE_DIRECTORIES(${g2o_SOURCE_DIR} ${G2O_EIGEN3_INCLUDE})
# Generate config.h
SET(G2O_HAVE_CHOLMOD ${CHOLMOD_FOUND})
SET(G2O_HAVE_CSPARSE ${CSPARSE_FOUND})
SET(G2O_SHARED_LIBS ${BUILD_SHARED_LIBS})
configure_file(config.h.in ${PROJECT_BINARY_DIR}/g2o/config.h)
include_directories(${PROJECT_BINARY_DIR})
INSTALL(FILES ${PROJECT_BINARY_DIR}/g2o/config.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o)
# uninstall target
CONFIGURE_FILE(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
ADD_CUSTOM_TARGET(uninstall
COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
# Include the subdirectories
ADD_SUBDIRECTORY(EXTERNAL)
ADD_SUBDIRECTORY(g2o)