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Commit e755a92d authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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still debuging

parent e90d308c
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2 merge requests!8Cmake refactoring was merged to main, merge back to devel also,!7Resolve "Adapt to core CMakeLists.txt refactor"
Pipeline #10918 failed
......@@ -4,13 +4,14 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
# The project name and the type of project
PROJECT(laser_scan_utils)
# Paths
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
set(INCLUDE_INSTALL_DIR include/iri-algorithms)
set(LIB_INSTALL_DIR lib/)
# Build type
IF (NOT CMAKE_BUILD_TYPE)
#SET(CMAKE_BUILD_TYPE "DEBUG")
SET(CMAKE_BUILD_TYPE "RELEASE")
ENDIF (NOT CMAKE_BUILD_TYPE)
message(STATUS "Configured to compile in ${CMAKE_BUILD_TYPE} mode.")
......@@ -19,7 +20,34 @@ message(STATUS "Configured to compile in ${CMAKE_BUILD_TYPE} mode.")
SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall -D_REENTRANT")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT")
#find dependencies
#Set compiler according C++11 support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
if(COMPILER_SUPPORTS_CXX11)
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++11 support.")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
# Options
IF(NOT BUILD_TESTS)
OPTION(BUILD_TESTS "Build Unit tests" ON)
ENDIF(NOT BUILD_TESTS)
IF(NOT BUILD_DEMOS)
OPTION(BUILD_DEMOS "Build demos" ON)
ENDIF(NOT BUILD_DEMOS)
if(BUILD_TESTS)
# Enables testing for this directory and below.
# Note that ctest expects to find a test file in the build directory root.
# Therefore, this command should be in the source directory root.
#include(CTest) # according to http://public.kitware.com/pipermail/cmake/2012-June/050853.html
enable_testing()
endif()
# ============ DEPENDENCIES ============
FIND_PACKAGE(Eigen3 3.3 REQUIRED CONFIG)
FIND_PACKAGE(falkolib QUIET)
find_package(PkgConfig)
......@@ -28,37 +56,16 @@ link_directories(${csm_LIBRARY_DIRS})
message(csm_LIBRARY_DIRS: ${csm_LIBRARY_DIRS})
# keep only the files in a lib folder: by default the "." is in csm_LIBRARY_DIRS,
# which is not acceptable for target_link_directories
string(REPLACE "./" "/" csm_LIBRARY_DIRS ${csm_LIBRARY_DIRS})
# SET(csm_LIBRARY_DIRS_LENGTH "0")
# list(LENGTH csm_LIBRARY_DIRS csm_LIBRARY_DIRS_LENGTH )
message(csm_LIBRARY_DIRS: ${csm_LIBRARY_DIRS})
# list(FILTER csm_LIBRARY_DIRS EXCLUDE REGEX ".")
# message(csm_LIBRARY_DIRS: ${csm_LIBRARY_DIRS})
foreach (my_entry IN LISTS csm_LIBRARY_DIRS)
message("csm_LIBRARY_DIRS has ${my_entry}")
endforeach()
list(FILTER csm_LIBRARY_DIRS INCLUDE REGEX "lib")
foreach (my_entry IN LISTS csm_LIBRARY_DIRS)
message("csm_LIBRARY_DIRS has ${my_entry}")
endforeach()
#Build tests
IF(NOT BUILD_TESTS)
OPTION(BUILD_TESTS "Build Unit tests" ON)
ENDIF(NOT BUILD_TESTS)
#Build demos
IF(NOT BUILD_DEMOS)
OPTION(BUILD_DEMOS "Build demos" ON)
ENDIF(NOT BUILD_DEMOS)
#Set compiler according C++11 support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++11 support.")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++0x support.")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
# ============ INCLUDES ============
......@@ -152,12 +159,19 @@ ENDIF(falkolib_FOUND)
#Build tests
#===============EXAMPLE=========================
#========================================
IF(BUILD_DEMOS)
MESSAGE("Building examples.")
ADD_SUBDIRECTORY(examples)
ENDIF(BUILD_DEMOS)
#Build tests
IF(BUILD_TESTS)
MESSAGE("Building tests.")
set(_LASER_SCAN_UTILS_ROOT_DIR ${CMAKE_SOURCE_DIR})
add_subdirectory(test)
ENDIF(BUILD_TESTS)
#install library
#=============================================================
INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets
......@@ -168,12 +182,6 @@ INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets
install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/${PROJECT_NAME}/cmake)
#install headers
INSTALL(FILES ${HDRS_BASE}
DESTINATION include/iri-algorithms/laser_scan_utils)
INSTALL(FILES ${HDRS}
DESTINATION include/iri-algorithms/laser_scan_utils)
# Configure the package installation
include(CMakePackageConfigHelpers)
configure_package_config_file(
......@@ -192,25 +200,17 @@ install(
# Specifies include directories to use when compiling the plugin target
# This way, include_directories does not need to be called in plugins depending on this one
# target_include_directories(${PROJECT_NAME} INTERFACE
# $<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
# )
target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/laser_scan_utils>
$<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
target_include_directories(${PROJECT_NAME} INTERFACE
$<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
)
#Build tests
IF(BUILD_TESTS)
# Enables testing for this directory and below.
# Note that ctest expects to find a test file in the build directory root.
# Therefore, this command should be in the source directory root.
#include(CTest) # according to http://public.kitware.com/pipermail/cmake/2012-June/050853.html
MESSAGE("Building tests.")
enable_testing()
set(_LASER_SCAN_UTILS_ROOT_DIR ${CMAKE_SOURCE_DIR})
add_subdirectory(test)
ENDIF(BUILD_TESTS)
#install headers
INSTALL(FILES ${HDRS_BASE}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME})
INSTALL(FILES ${HDRS}
DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME})
export(PACKAGE ${PROJECT_NAME})
FIND_PACKAGE(Doxygen MODULE)
......
# Retrieve googletest from github & compile
add_subdirectory(gtest)
#Include directories
INCLUDE_DIRECTORIES(../src)
INCLUDE_DIRECTORIES(/data)
FIND_PACKAGE(Eigen3 3.3 REQUIRED CONFIG)
FIND_PACKAGE(PythonLibs QUIET)
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(${csm_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(${falkolib_INCLUDE_DIRS})
############# USE THIS TEST AS AN EXAMPLE ####################
# #
# Create a specific test executable for gtest_example #
# laser_scan_utils_add_gtest(gtest_example gtest_example.cpp)#
# target_link_libraries(gtest_example ${PROJECT_NAME}) #
# #
##############################################################
......@@ -24,14 +14,8 @@ laser_scan_utils_add_gtest(gtest_example gtest_example.cpp)
# gtest icp
IF(csm_FOUND)
laser_scan_utils_add_gtest(gtest_icp gtest_icp.cpp)
IF(python_FOUND)
target_link_libraries(gtest_icp ${PROJECT_NAME} ${PYTHON_LIBRARIES})
ELSE(python_FOUND)
target_link_libraries(gtest_icp ${PROJECT_NAME})
ENDIF(python_FOUND)
ENDIF(csm_FOUND)
IF(falkolib_FOUND)
laser_scan_utils_add_gtest(gtest_loop_closure_falko gtest_loop_closure_falko.cpp ${PROJECT_SOURCE_DIR}/test/data)
target_link_libraries(gtest_loop_closure_falko ${PROJECT_NAME})
laser_scan_utils_add_gtest(gtest_loop_closure_falko gtest_loop_closure_falko.cpp)
ENDIF(falkolib_FOUND)
\ No newline at end of file
......@@ -63,18 +63,23 @@ else()
GIT_REPOSITORY https://github.com/google/googletest.git
GIT_TAG main)
FetchContent_MakeAvailable(googletest)
#FetchContent_MakeAvailable(googletest)
FetchContent_GetProperties(googletest)
if(NOT googletest_POPULATED)
FetchContent_Populate(googletest)
add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR} EXCLUDE_FROM_ALL)
endif()
endif()
function(laser_scan_utils_add_gtest target)
add_executable(${target} ${ARGN})
if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
add_dependencies(${target} libgtest)
target_link_libraries(${target} libgtest ${PLUGIN_NAME})
target_link_libraries(${target} PUBLIC libgtest ${PROJECT_NAME})
target_include_directories(${target} PUBLIC ${GTEST_INCLUDE_DIRS})
else()
target_link_libraries(${target} gtest_main ${PLUGIN_NAME})
target_link_libraries(${target} PUBLIC gtest_main ${PROJECT_NAME})
endif()
add_test(NAME ${target} COMMAND ${target})
endfunction()
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