mirror of https://github.com/koide3/small_gicp.git
99 lines
2.3 KiB
CMake
99 lines
2.3 KiB
CMake
cmake_minimum_required(VERSION 3.5.2)
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project(small_gicp)
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set(CMAKE_CXX_STANDARD 20)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${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 "RelWithDebInfo" 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_TESTS "Build test" OFF)
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option(BUILD_WITH_MARCH_NATIVE "Build with -march=native" OFF)
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if(BUILD_WITH_MARCH_NATIVE)
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add_compile_options(-march=native)
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set(CMAKE_C_FLAGS "-march=native ${CMAKE_C_FLAGS}")
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set(CMAKE_CXX_FLAGS "-march=native ${CMAKE_CXX_FLAGS}")
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endif()
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find_package(fmt REQUIRED)
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find_package(PCL REQUIRED)
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find_package(TBB REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(Iridescence REQUIRED)
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find_package(OpenMP)
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if (OPENMP_FOUND)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
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endif()
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###########
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## Build ##
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###########
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# add_executable(small_gicp_test
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# src/small_gicp_test.cpp
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# )
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# target_include_directories(small_gicp_test PUBLIC
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# include
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# ${PCL_INCLUDE_DIRS}
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# ${TBB_INCLUDE_DIRS}
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# ${EIGEN3_INCLUDE_DIR}
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# ${Iridescence_INCLUDE_DIRS}
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# )
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# target_link_libraries(small_gicp_test
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# ${PCL_LIBRARIES}
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# ${TBB_LIBRARIES}
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# ${Iridescence_LIBRARIES}
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# )
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add_library(small_gicp SHARED
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src/small_gicp/registration/registration.cpp
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)
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target_include_directories(small_gicp PUBLIC
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include
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${PCL_INCLUDE_DIRS}
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${TBB_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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)
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target_link_libraries(small_gicp
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${PCL_LIBRARIES}
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${TBB_LIBRARIES}
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)
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add_executable(odometry_benchmark
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src/odometry_benchmark.cpp
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)
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target_include_directories(odometry_benchmark PUBLIC
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include
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/home/koide/workspace/fast_gicp/include
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${PCL_INCLUDE_DIRS}
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${TBB_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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${Iridescence_INCLUDE_DIRS}
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)
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target_link_libraries(odometry_benchmark
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fmt::fmt
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${PCL_LIBRARIES}
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${TBB_LIBRARIES}
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${Iridescence_LIBRARIES}
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)
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add_executable(downsampling_benchmark
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src/downsampling_benchmark.cpp
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)
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target_include_directories(downsampling_benchmark PUBLIC
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include
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${PCL_INCLUDE_DIRS}
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${TBB_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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)
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target_link_libraries(downsampling_benchmark
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fmt::fmt
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${PCL_LIBRARIES}
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${TBB_LIBRARIES}
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) |