mirror of https://github.com/koide3/small_gicp.git
151 lines
3.9 KiB
CMake
151 lines
3.9 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 ${CMAKE_CXX_FLAGS}")
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endif()
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find_package(fmt REQUIRED)
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find_package(PCL REQUIRED)
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find_package(TBB REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(Iridescence REQUIRED)
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set(FAST_GICP_INCLUDE_DIR /home/koide/workspace/fast_gicp/include)
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find_package(OpenMP)
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if (OPENMP_FOUND)
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set(CMAKE_C_FLAGS "${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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# ${Iridescence_LIBRARIES}
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# )
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add_library(small_gicp SHARED
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src/small_gicp/registration/registration.cpp
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src/small_gicp/registration/registration_helper.cpp
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)
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target_include_directories(small_gicp PUBLIC
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include
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${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/small_gicp/util/benchmark_odom.cpp
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src/odometry_benchmark_pcl.cpp
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src/odometry_benchmark_fast_gicp.cpp
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src/odometry_benchmark_fast_vgicp.cpp
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src/odometry_benchmark_small_gicp.cpp
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src/odometry_benchmark_small_gicp_omp.cpp
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src/odometry_benchmark_small_vgicp_omp.cpp
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src/odometry_benchmark_small_gicp_tbb.cpp
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src/odometry_benchmark_small_vgicp_tbb.cpp
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src/odometry_benchmark_small_vgicp_model_tbb.cpp
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src/odometry_benchmark_small_gicp_tbb_flow.cpp
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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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${PCL_INCLUDE_DIRS}
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${TBB_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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${Iridescence_INCLUDE_DIRS}
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${FAST_GICP_INCLUDE_DIR}
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)
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target_link_libraries(odometry_benchmark
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fmt::fmt
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${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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)
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##########
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## Test ##
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##########
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option(BUILD_TESTS "Build test" ON)
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if(BUILD_TESTS)
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include(FetchContent)
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FetchContent_Declare(googletest URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip)
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FetchContent_MakeAvailable(googletest)
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include(GoogleTest)
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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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${EIGEN3_INCLUDE_DIR}
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${Iridescence_INCLUDE_DIRS}
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)
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target_link_libraries(${TEST_NAME}
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small_gicp
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fmt::fmt
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GTest::gtest_main
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${PCL_LIBRARIES}
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${TBB_LIBRARIES}
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${Iridescence_LIBRARIES}
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)
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gtest_discover_tests(${TEST_NAME} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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endforeach()
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endif()
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