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refactor the build system -- use exported cmake targets instead of ma… #35

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refactor the build system -- use exported cmake targets instead of ma… #35

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fe15519
refactor the build system -- use exported cmake targets instead of ma…
feixh Feb 20, 2022
2e1c2d6
clean up -- remove more hard-coded paths
feixh Feb 20, 2022
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139 changes: 87 additions & 52 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
cmake_minimum_required(VERSION 3.5)
project(feh)

# vision lab visual-inertial navigation system
project(vl_vins)

# Set operating system variables
if (${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
Expand All @@ -22,9 +24,10 @@ if (BUILD_G2O)
add_definitions(-DUSE_G2O)
endif (BUILD_G2O)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O0 -std=c++17 -Wno-narrowing -Wno-register -fPIC -g")
set(CMAKE_CXX_STANDARD 17)
# TODO (xiaohfei): We should turn on -Wall and -Werror to eliminate all the warnings.
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O0 -Wno-narrowing -Wno-register -fPIC -g")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mtune=native -march=native")

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -funroll-loops")

# set(CMAKE_BUILD_TYPE "Debug")
Expand All @@ -42,56 +45,91 @@ add_definitions(-DGOOGLE_STRIP_LOG=1)
# add_definitions(-DEIGEN_DEFAULT_TO_ROW_MAJOR)
add_definitions(-DEIGEN_INITIALIZE_MATRICES_BY_ZERO)

find_package(OpenCV REQUIRED)
find_package(Python3 REQUIRED Interpreter Development)
set(THIRD_PARTY_DIR "${CMAKE_SOURCE_DIR}/thirdparty")
list(APPEND CMAKE_PREFIX_PATH ${THIRD_PARTY_DIR})

link_directories(
${PROJECT_SOURCE_DIR}/lib
${PROJECT_SOURCE_DIR}/thirdparty/gflags/lib
${PROJECT_SOURCE_DIR}/thirdparty/glog/lib
${PROJECT_SOURCE_DIR}/thirdparty/Pangolin/lib
${PROJECT_SOURCE_DIR}/thirdparty/jsoncpp/lib
${PROJECT_SOURCE_DIR}/thirdparty/gperftools/lib
${PROJECT_SOURCE_DIR}/thirdparty/DBoW2/lib
${PROJECT_SOURCE_DIR}/thirdparty/pnp/build
${PROJECT_SOURCE_DIR}/thirdparty/ceres-solver/lib
/usr/local/lib
find_package(OpenCV REQUIRED PATHS ${THIRD_PARTY_DIR}/opencv/install)
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We should add the following above this block so that CMake doesn't accidentally link to a version that was installed onto the OS or exported from another project:

+set(Eigen3_DIR ${THIRD_PARTY_DIR}/eigen/share/eigen3/cmake)
+set(Ceres_DIR ${THIRD_PARTY_DIR}/ceres-solver/lib/cmake/Ceres)
+set(gflags_DIR ${THIRD_PARTY_DIR}/gflags/lib/cmake/gflags)
+set(glog_DIR ${THIRD_PARTY_DIR}/glog/lib/cmake/glog)
+set(gtest_DIR ${THIRD_PARTY_DIR}/googletest/lib/cmake/GTest)
+set(jsoncpp_DIR ${THIRD_PARTY_DIR}/jsoncpp/lib/cmake/jsoncpp)
+set(Pangolin_DIR ${THIRD_PARTY_DIR}/Pangolin/lib/cmake/Pangolin)
+set(DBoW2_DIR ${THIRD_PARTY_DIR}/DBoW2/lib/cmake/DBoW2)

find_package(Python3 REQUIRED Interpreter Development)
find_package(Pangolin REQUIRED)
find_package(jsoncpp REQUIRED)

# Google stuff
find_package(gflags REQUIRED)
find_package(GTest REQUIRED NAMES GTest gtest googletest GoogleTest)
find_package(glog REQUIRED)
find_package(Ceres REQUIRED)

# DBoW2
find_package(DBoW2 REQUIRED)
# Create an interface target for DBoW2 (since DBoW2 does not export headers & libraries as a target).
# We will add the DBoW2 target to our dependency list in a bit.
add_library(DBoW2 INTERFACE)
target_include_directories(DBoW2 INTERFACE ${DBoW2_INCLUDE_DIR})
target_link_libraries(DBoW2 INTERFACE ${DBoW2_LIBS})

# The dependency PNP does not properly export a target for easy integration,
# so we create an interface target here, and will add the interface target to
# the dependency list in a bit.
add_library(pnp INTERFACE)
target_include_directories(pnp INTERFACE ${THIRD_PARTY_DIR}/pnp)
target_link_libraries(pnp INTERFACE ${THIRD_PARTY_DIR}/pnp/build/liblibpnp.a)

# TODO (xiaohfei): this is not working since gperftools does not properly generate cmake config files.
# Need to manually add gperftools if needed.
if (USE_GPERFTOOLS)
find_package(gperftools REQUIRED)
endif()


list(APPEND DEPS
# OpenCV
opencv_highgui
opencv_features2d
opencv_core
opencv_video
opencv_imgproc
opencv_imgcodecs
opencv_xfeatures2d

# Google stuff
glog::glog
GTest::gtest
GTest::gtest_main
GTest::gmock
GTest::gmock_main
gflags_static

# Ceres::ceres should carry over all its own dependencies, so we don't need
# to add the following dependencies: cxsparse, cholmod, lapack, and blas.
# But if needed, you can add them back.
Ceres::ceres

# Use jsoncpp_static if you are building modules of xivo as static libraryies
# jsoncpp_static
jsoncpp_lib

# Target "pangolin" exported by Pangolin should carry over its own dependencies, i.e.,
# GLEW and GL (in Linux). If needed, you can manually add them.
pangolin

# Loop closure dependencies.
pnp
DBoW2
)
if (IS_LINUX)
link_directories(/usr/lib/x86_64-linux-gnu)
endif(IS_LINUX)

link_libraries(${DEPS})


include_directories(
${PROJECT_SOURCE_DIR}/common
${PROJECT_SOURCE_DIR}/src
${PROJECT_SOURCE_DIR}/thirdparty/gflags/include
${PROJECT_SOURCE_DIR}/thirdparty/glog/include
${PROJECT_SOURCE_DIR}/thirdparty/Pangolin/include
${PROJECT_SOURCE_DIR}/thirdparty/jsoncpp/include
${PROJECT_SOURCE_DIR}/thirdparty/eigen/include/eigen3
${PROJECT_SOURCE_DIR}/thirdparty/gperftools/include
${PROJECT_SOURCE_DIR}/thirdparty/pybind11/include
${PROJECT_SOURCE_DIR}/thirdparty/DBoW2/include
${PROJECT_SOURCE_DIR}/thirdparty/pnp
${JSONCPP_INCLUDE_DIRS}
/usr/include/suitesparse
/usr/include
${OpenCV_INCLUDE_DIRS}
${Python3_INCLUDE_DIRS}
${CMAKE_SOURCE_DIR}/common
${CMAKE_SOURCE_DIR}/src
)



enable_testing()
add_subdirectory(thirdparty/googletest)
add_subdirectory(thirdparty/gflags)
include_directories(${PROJECT_SOURCE_DIR}/thirdparty/googletest/include)
# add_subdirectory(thirdparty/abseil-cpp)
if (BUILD_G2O)
link_directories(${PROJECT_SOURCE_DIR}/thirdparty/g2o/release/lib)
include_directories(${PROJECT_SOURCE_DIR}/thirdparty/g2o/release/include)
list(APPEND deps
link_directories(${THIRD_PARTY_DIR}/g2o/release/lib)
include_directories(${THIRD_PARTY_DIR}/g2o/release/include)
link_libraries(
g2o_core
g2o_solver_dense
g2o_solver_cholmod
Expand All @@ -100,12 +138,9 @@ if (BUILD_G2O)
g2o_types_slam3d
g2o_types_sba
g2o_stuff
cholmod
cxsparse
)
)
endif(BUILD_G2O)

# feh
add_subdirectory(common)
add_subdirectory(src)

Expand All @@ -120,10 +155,10 @@ add_subdirectory(src)
# If you see an error saying "Python.h: No such file or directory", you probably
# need to "sudo apt-get install python3-dev" assuming you are binding to python3.
set(PYBIND11_CPP_STANDARD -std=c++17)
add_subdirectory(thirdparty/pybind11)
add_subdirectory(${THIRD_PARTY_DIR}/pybind11)
pybind11_add_module(pyxivo MODULE pybind11/pyxivo.cpp)
set(libxivo common xest xapp)
set(pybind_deps common xest xapp)
if (BUILD_G2O)
list(APPEND libxivo xopt)
list(APPEND pybind_deps xopt)
endif(BUILD_G2O)
target_link_libraries(pyxivo PRIVATE ${libxivo})
target_link_libraries(pyxivo PRIVATE ${pybind_deps})
5 changes: 0 additions & 5 deletions common/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,12 +1,7 @@
cmake_minimum_required(VERSION 3.5)
project(common)

# # uncomment to overwrite target destinations
# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
# set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(common STATIC utils.cpp)
target_link_libraries(common pthread)

# option(BUILD_COMMON_TESTS True)
# if (${BUILD_COMMON_TESTS})
Expand Down
74 changes: 17 additions & 57 deletions src/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,6 @@ cmake_minimum_required(VERSION 3.5)

project(estimator)

# # overwrite binary output directory
# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
# set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

# if set, use inverse-depth parametrization
# add_definitions(-DUSE_INVDEPTH)

Expand All @@ -28,54 +24,19 @@ add_definitions(-DUSE_ONLINE_CAMERA_CALIB)
# rid of accumulated numeric error
#add_definitions(-DENFORCE_SO3_FREQ=50)

include_directories(
${PROJECT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/common)

link_directories(
${CMAKE_SOURCE_DIR}/lib)

list(APPEND deps
opencv_highgui
opencv_features2d
opencv_core
opencv_video
opencv_imgproc
opencv_imgcodecs
opencv_xfeatures2d
glog
GLEW
pangolin
pthread
jsoncpp
DBoW2
libpnp
common
ceres
cxsparse
cholmod
lapack
blas
)
if (IS_LINUX)
list(APPEND deps GL)
endif (IS_LINUX)

if (USE_GPERFTOOLS)
list(APPEND deps profiler)
endif (USE_GPERFTOOLS)

add_library(xapp STATIC

add_library(xapp SHARED
estimator_process.cpp
loader.cpp
geometry.cpp
metrics.cpp
publisher.cpp
graphwriter.cpp
viewer.cpp)
target_link_libraries(xapp ${deps})
target_link_libraries(xapp PUBLIC common)


add_library(xest STATIC
add_library(xest SHARED
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Any particular reason for building a shared library instead of a static library?

factory.cpp
estimator.cpp
princedormand.cpp
Expand All @@ -97,25 +58,24 @@ add_library(xest STATIC
mapper.cpp
camera_manager.cpp
imu.cpp)
target_link_libraries(xest PUBLIC common)
if (IS_MAC)
target_link_libraries(xest INTERFACE ${deps} "-Wl, -framework OpenGL")
elseif (IS_LINUX)
target_link_libraries(xest INTERFACE ${deps})
target_compile_options(xest "-Wl, -framework OpenGL")
endif()

set(libxivo xest xapp)

if (BUILD_G2O)
add_library(xopt STATIC
add_library(xopt SHARED
optimizer.cpp
optimizer_adapters.cpp
)
target_link_libraries(xopt xest ${deps})
target_link_libraries(xopt xest)
list(APPEND libxivo xopt)
endif(BUILD_G2O)

add_executable(vio app/vio.cpp)
target_link_libraries(vio ${libxivo} gflags::gflags)
target_link_libraries(vio ${libxivo})

################################################################################
# TOOLING
Expand All @@ -129,39 +89,39 @@ target_link_libraries(vio ${libxivo} gflags::gflags)
add_executable(unitTests_NumericalAlgorithms
test/unittest_givens.cpp
test/unittest_helpers.cpp)
target_link_libraries(unitTests_NumericalAlgorithms xest ${deps} gtest gtest_main)
target_link_libraries(unitTests_NumericalAlgorithms xest)
add_test(NAME NumericalAlgorithms COMMAND unitTests_NumericalAlgorithms)

add_executable(unitTests_Jacobians
test/unittest_jacobians_instate.cpp
test/unittest_jacobians_oos.cpp
test/unittest_helpers.cpp)
target_link_libraries(unitTests_Jacobians ${libxivo} ${deps} gtest gtest_main)
target_link_libraries(unitTests_Jacobians ${libxivo})
add_test(NAME Jacobians COMMAND unitTests_Jacobians)

add_executable(unitTests_Rodrigues
test/unittest_rodrigues.cpp)
target_link_libraries(unitTests_Rodrigues xest ${deps} gtest gtest_main)
target_link_libraries(unitTests_Rodrigues xest)
add_test(NAME Rodrigues COMMAND unitTests_Rodrigues)

add_executable(unitTests_pinhole
test/unittest_camera_pinhole.cpp)
target_link_libraries(unitTests_pinhole xest ${deps} gtest gtest_main)
target_link_libraries(unitTests_pinhole xest)
add_test(NAME CamerasPinhole COMMAND unitTests_pinhole)

add_executable(unitTests_radtan
test/unittest_camera_radtan.cpp)
target_link_libraries(unitTests_radtan xest ${deps} gtest gtest_main)
target_link_libraries(unitTests_radtan xest)
add_test(NAME CamerasRadtan COMMAND unitTests_radtan)

add_executable(unitTests_equi
test/unittest_camera_equi.cpp)
target_link_libraries(unitTests_equi xest ${deps} gtest gtest_main)
target_link_libraries(unitTests_equi xest)
add_test(NAME CamerasEqui COMMAND unitTests_equi)

add_executable(unitTests_atan
test/unittest_camera_atan.cpp)
target_link_libraries(unitTests_atan xest ${deps} gtest gtest_main)
target_link_libraries(unitTests_atan xest)
add_test(NAME CamerasAtan COMMAND unitTests_atan)

if (BUILD_G2O)
Expand Down