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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
if (COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
endif (COMMAND cmake_policy)
project(OpenImuCameraCalibrator C CXX)
list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
# c++17 is important, otherwise template deduction in so3 spline will fail
set(CMAKE_CXX_STANDARD 17)
# getting some weird errors with alignment in theia view->features_
# add_definitions(-DEIGEN_MAX_ALIGN_BYTES=0)
set(BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable architecture-aware optimization (-march=native)")
if(BUILD_WITH_MARCH_NATIVE)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mtune=native -march=native")
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -mtune=native -march=native")
message(STATUS "Architecture-aware optimization (-march=native): ENABLED")
else()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mtune=native")
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -mtune=native")
message(STATUS "Architecture-aware optimization (-march=native): DISABLED")
endif()
# OpenCV
message("-- Check for OpenCV")
find_package(OpenCV)
if (OpenCV_FOUND)
message("-- Found OpenCV: ${OpenCV_INCLUDE_DIRS}")
else (OpenCV_FOUND)
message(FATAL_ERROR "Can't find OpenCV. Please set OpenCV_INCLUDE_DIR & "
"OpeneCV_LIBRARY")
endif (OpenCV_FOUND)
# TheiaSfM
find_package(Theia REQUIRED)
if (THEIA_FOUND)
message("-- Found TheiaSfM: ${THEIA_INCLUDE_DIRS}")
else (THEIA_FOUND)
message("Cannot find TheiaSfM!")
endif (THEIA_FOUND)
file(GLOB_RECURSE CAMCALIB_SOURCE_FILES ${CMAKE_SOURCE_DIR}/src/*.cc)
file(GLOB_RECURSE CAMCALIB_HEADER_FILES ${CMAKE_SOURCE_DIR}/include/*.h)
add_subdirectory(third_party/apriltag)
# commit d5ccee8 before fmt was added
include_directories(third_party/Sophus)
include_directories(${PROJECT_SOURCE_DIR})
include_directories(${CMAKE_SOURCE_DIR}/include
${THEIA_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS})
add_library(OpenImuCameraCalibrator STATIC ${CAMCALIB_SOURCE_FILES})
target_link_libraries(OpenImuCameraCalibrator apriltag)
add_subdirectory(applications)