mirror of https://github.com/koide3/small_gicp.git
347 lines
10 KiB
CMake
347 lines
10 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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project(small_gicp VERSION 1.0.0 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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if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
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set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build." FORCE)
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
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endif()
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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 "auto" CACHE STRING "Build with OpenMP")
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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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# 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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endif()
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if(BUILD_TESTS OR BUILD_EXAMPLES)
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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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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 CONFIG)
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if(NOT Eigen3_FOUND)
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message(STATUS "System Eigen not found. Download Eigen 3.4.0.")
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include(FetchContent)
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FetchContent_Populate(
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Eigen3
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URL https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz
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)
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add_library(Eigen3::Eigen INTERFACE IMPORTED GLOBAL)
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set_target_properties(Eigen3::Eigen PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
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)
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endif()
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if(BUILD_WITH_OPENMP STREQUAL "auto")
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find_package(OpenMP)
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set(BUILD_WITH_OPENMP ${OpenMP_FOUND})
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elseif(BUILD_WITH_OPENMP)
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find_package(OpenMP REQUIRED)
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endif()
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if (BUILD_WITH_TBB)
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find_package(TBB REQUIRED)
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add_compile_definitions(BUILD_WITH_TBB)
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endif()
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if (BUILD_WITH_PCL)
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find_package(PCL REQUIRED)
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add_compile_definitions(BUILD_WITH_PCL)
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if (NOT TARGET PCL::PCL)
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add_library(PCL::PCL INTERFACE IMPORTED)
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set_target_properties(PCL::PCL PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${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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if (NOT FAST_GICP_INCLUDE_DIR)
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set(FAST_GICP_INCLUDE_DIR $ENV{FAST_GICP_INCLUDE_DIR} CACHE PATH "Path to fast_gicp include directory")
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endif()
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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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if(MSVC)
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add_compile_definitions(_USE_MATH_DEFINES)
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add_compile_options(/bigobj)
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if(BUILD_WITH_OPENMP)
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add_compile_options(/openmp:llvm)
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endif()
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endif()
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##############
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## Coverage ##
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##############
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if(ENABLE_COVERAGE)
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# https://danielsieger.com/blog/2022/03/06/code-coverage-for-cpp.html
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set(CMAKE_CXX_FLAGS "-O0 -coverage")
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find_program(LCOV lcov REQUIRED)
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find_program(GENHTML genhtml REQUIRED)
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add_custom_target(coverage
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COMMAND ${LCOV} --directory . --capture --output-file coverage.info --ignore-errors mismatch
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COMMAND ${LCOV} --remove coverage.info -o coverage.info '/usr/*' --ignore-errors mismatch
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COMMAND ${GENHTML} --demangle-cpp -o coverage coverage.info
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
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endif()
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###########
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## Build ##
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###########
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include_directories(include)
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# Helper library
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if(BUILD_HELPER)
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add_library(small_gicp
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src/small_gicp/registration/registration.cpp
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src/small_gicp/registration/registration_helper.cpp
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)
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target_include_directories(small_gicp PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(small_gicp PUBLIC
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Eigen3::Eigen
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$<TARGET_NAME_IF_EXISTS:OpenMP::OpenMP_CXX>
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)
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endif()
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# Python bindings
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if(BUILD_PYTHON_BINDINGS)
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find_package(Python COMPONENTS Interpreter Development)
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find_package(pybind11 CONFIG REQUIRED)
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pybind11_add_module(small_gicp_python
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src/small_gicp/registration/registration.cpp
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src/small_gicp/registration/registration_helper.cpp
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src/python/pointcloud.cpp
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src/python/kdtree.cpp
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src/python/voxelmap.cpp
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src/python/preprocess.cpp
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src/python/result.cpp
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src/python/align.cpp
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src/python/factors.cpp
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src/python/misc.cpp
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src/python/python.cpp
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)
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target_include_directories(small_gicp_python PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(small_gicp_python PUBLIC
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Eigen3::Eigen
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$<TARGET_NAME_IF_EXISTS:OpenMP::OpenMP_CXX>
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)
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set_target_properties(small_gicp_python PROPERTIES OUTPUT_NAME small_gicp)
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endif()
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###############
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## Benchmark ##
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###############
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if(BUILD_BENCHMARKS)
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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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src/benchmark/odometry_benchmark_pcl.cpp
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src/benchmark/odometry_benchmark_fast_gicp.cpp
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src/benchmark/odometry_benchmark_fast_vgicp.cpp
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src/benchmark/odometry_benchmark_small_gicp.cpp
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src/benchmark/odometry_benchmark_small_gicp_pcl.cpp
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src/benchmark/odometry_benchmark_small_gicp_omp.cpp
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src/benchmark/odometry_benchmark_small_vgicp_omp.cpp
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src/benchmark/odometry_benchmark_small_gicp_tbb.cpp
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src/benchmark/odometry_benchmark_small_vgicp_tbb.cpp
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src/benchmark/odometry_benchmark_small_gicp_model_tbb.cpp
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src/benchmark/odometry_benchmark_small_gicp_model_omp.cpp
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src/benchmark/odometry_benchmark_small_vgicp_model_tbb.cpp
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src/benchmark/odometry_benchmark_small_vgicp_model_omp.cpp
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src/benchmark/odometry_benchmark_small_gicp_tbb_flow.cpp
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src/benchmark/odometry_benchmark.cpp
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)
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target_include_directories(odometry_benchmark PUBLIC
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${FAST_GICP_INCLUDE_DIR}
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)
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target_link_libraries(odometry_benchmark PRIVATE
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fmt::fmt
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Eigen3::Eigen
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$<TARGET_NAME_IF_EXISTS:OpenMP::OpenMP_CXX>
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$<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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$<TARGET_NAME_IF_EXISTS:PCL::PCL>
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)
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# KdTree construction benchmark
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add_executable(kdtree_benchmark
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src/benchmark/kdtree_benchmark.cpp
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)
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target_link_libraries(kdtree_benchmark PRIVATE
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fmt::fmt
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Eigen3::Eigen
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$<TARGET_NAME_IF_EXISTS:OpenMP::OpenMP_CXX>
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$<TARGET_NAME_IF_EXISTS:TBB::tbb>
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$<TARGET_NAME_IF_EXISTS:TBB::tbbmalloc>
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)
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# Downsampling benchmark
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add_executable(downsampling_benchmark
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src/benchmark/downsampling_benchmark.cpp
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)
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target_link_libraries(downsampling_benchmark PRIVATE
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fmt::fmt
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Eigen3::Eigen
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$<TARGET_NAME_IF_EXISTS:OpenMP::OpenMP_CXX>
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$<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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endif()
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#############
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## Example ##
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#############
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if(BUILD_EXAMPLES)
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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 ${EXAMPLE_SOURCE} NAME_WE)
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add_executable(${EXAMPLE_NAME} ${EXAMPLE_SOURCE})
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target_link_libraries(${EXAMPLE_NAME} PRIVATE
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small_gicp
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fmt::fmt
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TBB::tbb
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TBB::tbbmalloc
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PCL::PCL
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)
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if(MSVC)
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set_target_properties(${EXAMPLE_NAME}
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PROPERTIES VS_DEBUGGER_WORKING_DIRECTORY
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"${CMAKE_SOURCE_DIR}"
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)
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endif()
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endforeach()
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endif()
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##########
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## Test ##
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##########
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if(BUILD_TESTS)
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find_package(GTest REQUIRED)
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enable_testing()
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file(GLOB TEST_SOURCES "src/test/*.cpp")
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# Generate test target for each test source file
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foreach(TEST_SOURCE ${TEST_SOURCES})
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get_filename_component(TEST_NAME ${TEST_SOURCE} NAME_WE)
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add_executable(${TEST_NAME} ${TEST_SOURCE})
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target_link_libraries(${TEST_NAME} PRIVATE
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small_gicp
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fmt::fmt
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GTest::gtest_main
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TBB::tbb
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TBB::tbbmalloc
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PCL::PCL
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OpenMP::OpenMP_CXX
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)
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gtest_discover_tests(${TEST_NAME} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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if(MSVC)
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set_target_properties(${TEST_NAME}
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PROPERTIES VS_DEBUGGER_WORKING_DIRECTORY
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"${CMAKE_SOURCE_DIR}"
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)
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endif()
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endforeach()
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endif()
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#############
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## Install ##
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#############
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include(GNUInstallDirs)
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install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
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if(BUILD_HELPER)
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install(TARGETS small_gicp
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EXPORT small_gicp-targets
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
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RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
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)
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set(CMAKE_CONFIG_INSTALL_DIR
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"${CMAKE_INSTALL_LIBDIR}/cmake/small_gicp"
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CACHE PATH "Install directory for CMake config files"
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)
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include(CMakePackageConfigHelpers)
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install(EXPORT small_gicp-targets
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FILE small_gicp-targets.cmake
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NAMESPACE small_gicp::
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DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
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)
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configure_package_config_file(
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"${CMAKE_CURRENT_SOURCE_DIR}/cmake/small_gicp-config.cmake.in"
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"${CMAKE_CURRENT_BINARY_DIR}/small_gicp-config.cmake"
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INSTALL_DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
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)
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write_basic_package_version_file(
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"${CMAKE_CURRENT_BINARY_DIR}/small_gicp-config-version.cmake"
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VERSION ${VERSION}
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COMPATIBILITY SameMajorVersion
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)
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install(FILES
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"${CMAKE_CURRENT_BINARY_DIR}/small_gicp-config.cmake"
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"${CMAKE_CURRENT_BINARY_DIR}/small_gicp-config-version.cmake"
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DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
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)
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endif()
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if(BUILD_PYTHON_BINDINGS)
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if(DEFINED SKBUILD_PROJECT_NAME)
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set(PYTHON_INSTALL_DIR .)
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elseif(NOT DEFINED PYTHON_INSTALL_DIR)
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set(PYTHON_INSTALL_DIR lib/python${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}/site-packages)
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endif()
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install(TARGETS small_gicp_python
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LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}
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COMPONENT python
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)
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endif()
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