mirror of https://github.com/koide3/small_gicp.git
245 lines
6.8 KiB
CMake
245 lines
6.8 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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project(small_gicp)
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set(CMAKE_CXX_STANDARD 17)
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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 "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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# Eigen is the sole mandatory dependency
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find_package(Eigen3 REQUIRED)
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find_package(OpenMP)
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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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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_WITH_TBB "Build with TBB" ON)
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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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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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##############
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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
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COMMAND ${LCOV} --remove coverage.info -o coverage.info '/usr/*'
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COMMAND ${GENHTML} --demangle-cpp -o coverage coverage.info
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
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endif()
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#############
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## Install ##
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#############
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install(DIRECTORY include/ DESTINATION include)
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###########
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## Build ##
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###########
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# Helper library
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if(BUILD_HELPER)
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add_library(small_gicp_helper SHARED
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src/small_gicp/registration/registration.cpp
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src/small_gicp/registration/registration_helper.cpp
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)
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target_include_directories(small_gicp_helper PUBLIC
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include
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${EIGEN3_INCLUDE_DIR}
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)
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target_link_libraries(small_gicp_helper
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OpenMP::OpenMP_CXX
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)
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install(TARGETS small_gicp_helper DESTINATION lib)
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endif()
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find_package(Python COMPONENTS Interpreter Development)
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find_package(pybind11 CONFIG)
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# Python bindings
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if(BUILD_PYTHON_BINDINGS)
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pybind11_add_module(small_gicp src/python/python.cpp)
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target_include_directories(small_gicp PUBLIC
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include
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${EIGEN3_INCLUDE_DIR}
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)
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target_link_libraries(small_gicp PRIVATE
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small_gicp_helper
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OpenMP::OpenMP_CXX
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)
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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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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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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 $ENV{FAST_GICP_INCLUDE_DIR})
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add_compile_definitions(BUILD_WITH_FAST_GICP)
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endif()
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# Odometry benchmark
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add_executable(odometry_benchmark
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src/small_gicp/benchmark/benchmark_odom.cpp
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src/benchmark/odometry_benchmark_pcl.cpp
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src/benchmark/odometry_benchmark_fast_gicp.cpp
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src/benchmark/odometry_benchmark_fast_vgicp.cpp
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src/benchmark/odometry_benchmark_small_gicp.cpp
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src/benchmark/odometry_benchmark_small_gicp_omp.cpp
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src/benchmark/odometry_benchmark_small_vgicp_omp.cpp
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src/benchmark/odometry_benchmark_small_gicp_tbb.cpp
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src/benchmark/odometry_benchmark_small_vgicp_tbb.cpp
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src/benchmark/odometry_benchmark_small_vgicp_model_tbb.cpp
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src/benchmark/odometry_benchmark_small_gicp_tbb_flow.cpp
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src/benchmark/odometry_benchmark.cpp
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)
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target_include_directories(odometry_benchmark PUBLIC
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include
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${PCL_INCLUDE_DIRS}
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${TBB_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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${Iridescence_INCLUDE_DIRS}
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${FAST_GICP_INCLUDE_DIR}
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)
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target_link_libraries(odometry_benchmark
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fmt::fmt
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OpenMP::OpenMP_CXX
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${PCL_LIBRARIES}
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${TBB_LIBRARIES}
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${Iridescence_LIBRARIES}
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)
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# KdTree construction benchmark
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add_executable(kdtree_benchmark
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src/benchmark/kdtree_benchmark.cpp
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)
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target_include_directories(kdtree_benchmark PUBLIC
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include
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${TBB_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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)
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target_link_libraries(kdtree_benchmark
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fmt::fmt
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OpenMP::OpenMP_CXX
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${TBB_LIBRARIES}
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)
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if(BUILD_WITH_PCL)
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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_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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${EIGEN3_INCLUDE_DIR}
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)
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target_link_libraries(downsampling_benchmark
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fmt::fmt
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OpenMP::OpenMP_CXX
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${PCL_LIBRARIES}
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${TBB_LIBRARIES}
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)
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endif()
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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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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 ${EXAMPLE_SOURCE} NAME_WE)
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add_executable(${EXAMPLE_NAME} ${EXAMPLE_SOURCE})
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target_include_directories(${EXAMPLE_NAME} PUBLIC
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include
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${PCL_INCLUDE_DIRS}
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${TBB_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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)
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target_link_libraries(${EXAMPLE_NAME}
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small_gicp_helper
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fmt::fmt
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OpenMP::OpenMP_CXX
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${PCL_LIBRARIES}
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${TBB_LIBRARIES}
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)
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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(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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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} ${TEST_SOURCE})
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target_include_directories(${TEST_NAME} PUBLIC
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include
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${PCL_INCLUDE_DIRS}
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${TBB_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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)
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target_link_libraries(${TEST_NAME}
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small_gicp_helper
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fmt::fmt
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OpenMP::OpenMP_CXX
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GTest::gtest_main
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${PCL_LIBRARIES}
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${TBB_LIBRARIES}
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)
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gtest_discover_tests(${TEST_NAME} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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endforeach()
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endif()
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