mirror of https://github.com/koide3/small_gicp.git
enable packages at the beginning (#16)
* enable packages at the beginning
This commit is contained in:
koide3
GitHub
parent
81829663cb
commit
d09f9202bb
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@ -23,7 +23,7 @@ jobs:
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- name: Install Dependencies
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run: |
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sudo apt-get -y update
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sudo apt-get install -y build-essential cmake python3-pip pybind11-dev libeigen3-dev libfmt-dev libtbb-dev libomp-dev libpcl-dev libgtest-dev lcov
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sudo apt-get install --no-install-recommends -y build-essential cmake python3-pip pybind11-dev libeigen3-dev libfmt-dev libtbb-dev libomp-dev libpcl-dev libgtest-dev lcov
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pip install -U setuptools pytest pytest-cov numpy scipy
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- name: Build (C++)
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@ -40,7 +40,7 @@ jobs:
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- name: Build (Python)
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run: |
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python3 setup.py build && python3 setup.py install --user
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pip install . --user
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- name: Test (Python)
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run: |
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@ -12,7 +12,7 @@ on:
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workflow_dispatch:
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jobs:
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build:
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test:
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runs-on: ubuntu-22.04
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steps:
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@ -23,7 +23,7 @@ jobs:
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- name: Install Dependencies
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run: |
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sudo apt-get -y update
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sudo apt-get install -y build-essential cmake python3-pip pybind11-dev libeigen3-dev libfmt-dev libtbb-dev libomp-dev libpcl-dev libgtest-dev
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sudo apt-get install --no-install-recommends -y build-essential cmake python3-pip pybind11-dev libeigen3-dev libfmt-dev libtbb-dev libomp-dev libpcl-dev libgtest-dev
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pip install -U setuptools pytest numpy scipy
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- name: Build
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@ -33,5 +33,5 @@ jobs:
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cmake --build . -j$(nproc)
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ctest -j$(nproc)
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cd ..
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python3 setup.py build && python3 setup.py install --user
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pip install . --user
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pytest src/example/basic_registration.py
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@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.16)
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project(small_gicp VERSION 0.0.1 LANGUAGES CXX)
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project(small_gicp VERSION 0.0.1 LANGUAGES C CXX)
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set(CMAKE_CXX_STANDARD 17)
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
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@ -13,18 +13,31 @@ option(BUILD_SHARED_LIBS "Build shared libraries" ON)
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option(CMAKE_POSITION_INDEPENDENT_CODE "Generate position-independent code" ON)
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set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
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# Build options
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option(BUILD_HELPER "Build helper library" ON)
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option(BUILD_TESTS "Build tests" OFF)
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option(BUILD_EXAMPLES "Build examples" OFF)
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option(BUILD_BENCHMARKS "Build benchmarks" OFF)
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option(BUILD_PYTHON_BINDINGS "Build python bindings" OFF)
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option(ENABLE_COVERAGE "Enable coverage" OFF)
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# Dependency options
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set(BUILD_WITH_OPENMP CACHE STRING "Build with OpenMP" "auto")
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option(BUILD_WITH_TBB "Build with TBB" ON)
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option(BUILD_WITH_TBB "Build with TBB" OFF)
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option(BUILD_WITH_PCL "Build with PCL (required for benchmark and test only)" OFF)
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option(BUILD_WITH_FAST_GICP "Build with fast_gicp (required for benchmark and test only)" OFF)
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option(BUILD_WITH_IRIDESCENCE "Build with Iridescence (required for benchmark)" OFF)
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option(BUILD_WITH_MARCH_NATIVE "Build with -march=native" OFF)
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option(ENABLE_COVERAGE "Enable coverage" OFF)
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option(BUILD_PYTHON_BINDINGS "Build python bindings" OFF)
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# Set mandatory dependencies of optional features
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if(BUILD_TESTS OR BUILD_EXAMPLES OR BUILD_BENCHMARKS)
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find_package(fmt REQUIRED)
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set(BUILD_HELPER ON CACHE BOOL "Helper library is required" FORCE)
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set(BUILD_WITH_TBB ON CACHE BOOL "TBB is required" FORCE)
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endif()
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if(BUILD_TESTS OR BUILD_EXAMPLES)
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set(BUILD_WITH_PCL ON CACHE BOOL "PCL is required" FORCE)
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endif()
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# Eigen is the sole mandatory dependency
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find_package(Eigen3 REQUIRED CONFIG)
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@ -36,6 +49,34 @@ elseif(BUILD_WITH_OPENMP)
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find_package(OpenMP REQUIRED)
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endif()
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if (BUILD_WITH_TBB)
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find_package(TBB REQUIRED)
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add_compile_definitions(BUILD_WITH_TBB)
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endif()
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if (BUILD_WITH_PCL)
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find_package(PCL REQUIRED)
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add_compile_definitions(BUILD_WITH_PCL)
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if (NOT TARGET PCL::PCL)
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add_library(PCL::PCL INTERFACE IMPORTED)
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set_target_properties(PCL::PCL PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${PCL_INCLUDE_DIRS}"
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INTERFACE_LINK_LIBRARIES "${PCL_LIBRARIES}"
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)
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endif()
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endif()
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if (BUILD_WITH_IRIDESCENCE)
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find_package(Iridescence REQUIRED)
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add_compile_definitions(BUILD_WITH_IRIDESCENCE)
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endif()
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if (BUILD_WITH_FAST_GICP)
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# set(FAST_GICP_INCLUDE_DIR /home/koide/workspace/fast_gicp/include)
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set(FAST_GICP_INCLUDE_DIR $ENV{FAST_GICP_INCLUDE_DIR})
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add_compile_definitions(BUILD_WITH_FAST_GICP)
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endif()
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if(BUILD_WITH_MARCH_NATIVE)
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add_compile_options(-march=native)
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endif()
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@ -93,32 +134,6 @@ endif()
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## Benchmark ##
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###############
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if(BUILD_BENCHMARKS)
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find_package(fmt REQUIRED)
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if (BUILD_WITH_TBB)
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find_package(TBB REQUIRED)
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add_compile_definitions(BUILD_WITH_TBB)
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endif()
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if (BUILD_WITH_PCL)
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find_package(PCL REQUIRED)
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add_compile_definitions(BUILD_WITH_PCL)
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if (NOT TARGET PCL::PCL)
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add_library(PCL::PCL INTERFACE IMPORTED)
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set_target_properties(PCL::PCL PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${PCL_INCLUDE_DIRS}"
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INTERFACE_LINK_LIBRARIES "${PCL_LIBRARIES}"
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)
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endif()
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endif()
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if (BUILD_WITH_IRIDESCENCE)
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find_package(Iridescence REQUIRED)
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add_compile_definitions(BUILD_WITH_IRIDESCENCE)
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endif()
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if (BUILD_WITH_FAST_GICP)
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# set(FAST_GICP_INCLUDE_DIR /home/koide/workspace/fast_gicp/include)
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set(FAST_GICP_INCLUDE_DIR $ENV{FAST_GICP_INCLUDE_DIR})
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add_compile_definitions(BUILD_WITH_FAST_GICP)
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endif()
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# Odometry benchmark
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add_executable(odometry_benchmark
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src/small_gicp/benchmark/benchmark_odom.cpp
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@ -143,10 +158,10 @@ if(BUILD_BENCHMARKS)
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fmt::fmt
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Eigen3::Eigen
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$<TARGET_NAME_IF_EXISTS:OpenMP::OpenMP_CXX>
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Iridescence::Iridescence
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TBB::tbb
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TBB::tbbmalloc
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PCL::PCL
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$<TARGET_NAME_IF_EXISTS:Iridescence::Iridescence>
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$<TARGET_NAME_IF_EXISTS:TBB::tbb>
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$<TARGET_NAME_IF_EXISTS:TBB::tbbmalloc>
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$<TARGET_NAME_IF_EXISTS:PCL::PCL>
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)
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# KdTree construction benchmark
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@ -157,8 +172,8 @@ if(BUILD_BENCHMARKS)
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fmt::fmt
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Eigen3::Eigen
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$<TARGET_NAME_IF_EXISTS:OpenMP::OpenMP_CXX>
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TBB::tbb
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TBB::tbbmalloc
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$<TARGET_NAME_IF_EXISTS:TBB::tbb>
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$<TARGET_NAME_IF_EXISTS:TBB::tbbmalloc>
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)
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if(BUILD_WITH_PCL)
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@ -170,8 +185,8 @@ if(BUILD_BENCHMARKS)
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fmt::fmt
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Eigen3::Eigen
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$<TARGET_NAME_IF_EXISTS:OpenMP::OpenMP_CXX>
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TBB::tbb
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TBB::tbbmalloc
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$<TARGET_NAME_IF_EXISTS:TBB::tbb>
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$<TARGET_NAME_IF_EXISTS:TBB::tbbmalloc>
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PCL::PCL
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)
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endif()
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@ -181,10 +196,6 @@ endif()
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## Example ##
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#############
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if(BUILD_EXAMPLES)
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find_package(fmt REQUIRED)
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find_package(PCL REQUIRED)
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find_package(TBB REQUIRED)
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file(GLOB EXAMPLE_SOURCES "src/example/*.cpp")
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foreach(EXAMPLE_SOURCE ${EXAMPLE_SOURCES})
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get_filename_component(EXAMPLE_NAME ${EXAMPLE_SOURCE} NAME_WE)
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@ -203,9 +214,6 @@ endif()
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## Test ##
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##########
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if(BUILD_TESTS)
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find_package(fmt REQUIRED)
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find_package(PCL REQUIRED)
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find_package(TBB REQUIRED)
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find_package(GTest REQUIRED)
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enable_testing()
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@ -1,30 +0,0 @@
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find_path(GTSAM_INCLUDE_DIRS gtsam/inference/FactorGraph.h
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HINTS /usr/local/include /usr/include
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DOC "GTSAM include directories")
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find_library(GTSAM_LIB NAMES gtsam
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HINTS /usr/local/lib /usr/lib
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DOC "GTSAM libraries")
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find_library(GTSAM_UNSTABLE_LIB NAMES gtsam_unstable
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HINTS /usr/local/lib /usr/lib
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DOC "GTSAM_UNSTABLE libraries")
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find_dependency(TBB REQUIRED)
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add_library(gtsam INTERFACE IMPORTED GLOBAL)
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set_target_properties(gtsam PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${GTSAM_INCLUDE_DIRS}"
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INTERFACE_LINK_LIBRARIES "${GTSAM_LIB} TBB::tbb TBB::tbbmalloc")
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add_library(gtsam_unstable INTERFACE IMPORTED GLOBAL)
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set_target_properties(gtsam_unstable PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${GTSAM_INCLUDE_DIRS}"
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INTERFACE_LINK_LIBRARIES "${GTSAM_UNSTABLE_LIB} gtsam")
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if(GTSAM_LIB AND GTSAM_UNSTABLE_LIB AND TARGET TBB::tbb AND TARGET TBB::tbbmalloc)
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set(GTSAM_LIBRARIES gtsam gtsam_unstable)
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endif()
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(GTSAM DEFAULT_MSG GTSAM_INCLUDE_DIRS GTSAM_LIBRARIES)
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@ -1,32 +0,0 @@
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find_path(TBB_INCLUDE_DIRS tbb/tbb.h
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HINTS /usr/local/include /usr/include
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DOC "oneTBB include directories")
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find_library(TBB_LIB NAMES tbb
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HINTS /usr/local/lib /usr/lib /usr/lib/x86_64-linux-gnu
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DOC "TBB libraries")
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find_library(TBB_MALLOC_LIB NAMES tbbmalloc
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HINTS /usr/local/lib /usr/lib
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DOC "TBB malloc libraries")
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if(TARGET TBB::tbb)
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return()
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endif()
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add_library(TBB::tbb INTERFACE IMPORTED GLOBAL)
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set_target_properties(TBB::tbb PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${TBB_INCLUDE_DIRS}"
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INTERFACE_LINK_LIBRARIES "${TBB_LIB}")
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add_library(TBB::tbbmalloc INTERFACE IMPORTED GLOBAL)
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set_target_properties(TBB::tbbmalloc PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${TBB_INCLUDE_DIRS}"
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INTERFACE_LINK_LIBRARIES "${TBB_MALLOC_LIB}")
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if(TBB_LIB AND TBB_MALLOC_LIB)
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set(TBB_LIBRARIES TBB::tbb TBB::tbbmalloc)
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endif()
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(TBB DEFAULT_MSG TBB_INCLUDE_DIRS TBB_LIBRARIES)
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@ -17,15 +17,12 @@ COPY . /root/small_gicp
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WORKDIR /root/small_gicp/build
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RUN rm -rf ./*
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RUN cmake .. -DBUILD_WITH_TBB=ON
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RUN cmake --build . -j$(nproc)
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RUN cmake .. -DBUILD_TESTS=ON -DBUILD_EXAMPLES=ON -DBUILD_BENCHMARKS=ON -DBUILD_WITH_TBB=ON -DBUILD_WITH_PCL=ON
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RUN cmake --build . -j$(nproc)
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RUN ctest -j$(nproc)
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WORKDIR /root/small_gicp
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RUN python3 setup.py build && python3 setup.py install
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RUN pip install .
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RUN pytest src/example/basic_registration.py
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WORKDIR /
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@ -27,15 +27,12 @@ COPY . /root/small_gicp
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WORKDIR /root/small_gicp/build
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RUN rm -rf ./*
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RUN cmake .. -DBUILD_WITH_TBB=ON
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RUN cmake --build . -j$(nproc)
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RUN cmake .. -DBUILD_TESTS=ON -DBUILD_EXAMPLES=ON -DBUILD_BENCHMARKS=ON -DBUILD_WITH_TBB=ON -DBUILD_WITH_PCL=ON
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RUN cmake --build . -j$(nproc)
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RUN ctest -j$(nproc)
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WORKDIR /root/small_gicp
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RUN python3 setup.py build && python3 setup.py install
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RUN pip install .
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RUN pytest src/example/basic_registration.py
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WORKDIR /
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