diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index ffd3390d04e0cceb6bb51e6eba877d932870b220..7e2209c52900a9292198a5a436974059cdc153a4 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,38 +1,12 @@
# Retrieve googletest from github & compile
add_subdirectory(gtest)
-
-# Include gtest directory.
-include_directories(${GTEST_INCLUDE_DIRS})
-
wolf_add_gtest(gtest_pinhole gtest_pinhole.cpp)
-target_link_libraries(gtest_pinhole ${PLUGIN_NAME})
wolf_add_gtest(gtest_capture_image gtest_capture_image.cpp)
-target_link_libraries(gtest_capture_image ${PLUGIN_NAME})
wolf_add_gtest(gtest_feature_point_image gtest_feature_point_image.cpp)
-target_link_libraries(gtest_feature_point_image ${PLUGIN_NAME})
-
wolf_add_gtest(gtest_sensor_camera gtest_sensor_camera.cpp)
-target_link_libraries(gtest_sensor_camera ${PLUGIN_NAME})
-
-wolf_add_gtest(gtest_processor_visual_odometry gtest_processor_visual_odometry.cpp)
-target_link_libraries(gtest_processor_visual_odometry ${PLUGIN_NAME})
-
-# # FactorTrifocal test
-# wolf_add_gtest(gtest_factor_trifocal gtest_factor_trifocal.cpp)
-# target_link_libraries(gtest_factor_trifocal ${PLUGIN_NAME})
-
-# # FactorFeatureEpipolar test
-# wolf_add_gtest(gtest_factor_epipolar gtest_factor_epipolar.cpp)
-# target_link_libraries(gtest_factor_epipolar ${PLUGIN_NAME})
-
-# # ProcessorBundleAdjustment test
-# wolf_add_gtest(gtest_processor_bundle_adjustment gtest_processor_bundle_adjustment.cpp)
-# target_link_libraries(gtest_processor_bundle_adjustment ${PLUGIN_NAME})
-# # FactorPixelHp test -> depends on processor_bundle_adjustment.cpp
-# wolf_add_gtest(gtest_factor_pixel_hp gtest_factor_pixel_hp.cpp)
-# target_link_libraries(gtest_factor_pixel_hp ${PLUGIN_NAME})
+wolf_add_gtest(gtest_processor_visual_odometry gtest_processor_visual_odometry.cpp)
\ No newline at end of file
diff --git a/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
index 559756b02472653c655c44152c452ba8767ef6f2..0fe7d7a08d4d323f4171f9a210fb547914e894c2 100644
--- a/test/gtest/CMakeLists.txt
+++ b/test/gtest/CMakeLists.txt
@@ -1,65 +1,80 @@
-cmake_minimum_required(VERSION 2.8.8)
-project(gtest_builder C CXX)
+if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
+ message("CMake version less than 3.11.0")
-# We need thread support
-#find_package(Threads REQUIRED)
+ # Enable ExternalProject CMake module
+ include(ExternalProject)
-# Enable ExternalProject CMake module
-include(ExternalProject)
+ set(GTEST_FORCE_SHARED_CRT ON)
+ set(GTEST_DISABLE_PTHREADS OFF)
-set(GTEST_FORCE_SHARED_CRT ON)
-set(GTEST_DISABLE_PTHREADS OFF)
+ # For some reason I need to disable PTHREADS
+ # with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
+ # This is a known issue for MinGW :
+ # https://github.com/google/shaderc/pull/174
+ #if(MINGW)
+ # set(GTEST_DISABLE_PTHREADS ON)
+ #endif()
-# For some reason I need to disable PTHREADS
-# with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
-# This is a known issue for MinGW :
-# https://github.com/google/shaderc/pull/174
-#if(MINGW)
- set(GTEST_DISABLE_PTHREADS ON)
-#endif()
+ # Download GoogleTest
+ ExternalProject_Add(googletest
+ GIT_REPOSITORY https://github.com/google/googletest.git
+ GIT_TAG v1.8.x
+ # TIMEOUT 1 # We'll try this
+ CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
+ -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
+ -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
+ -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
+ -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
+ -DBUILD_GTEST=ON
+ PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
+ # Disable install step
+ INSTALL_COMMAND ""
+ UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
+ )
-# Download GoogleTest
-ExternalProject_Add(googletest
- GIT_REPOSITORY https://github.com/google/googletest.git
- GIT_TAG v1.8.x
- # TIMEOUT 1 # We'll try this
- CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
- -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
- -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
- -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
- -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
- -DBUILD_GTEST=ON
- PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
- # Disable install step
- INSTALL_COMMAND ""
- UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
-)
+ # Get GTest source and binary directories from CMake project
-# Get GTest source and binary directories from CMake project
+ # Specify include dir
+ ExternalProject_Get_Property(googletest source_dir)
+ set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
-# Specify include dir
-ExternalProject_Get_Property(googletest source_dir)
-set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
+ # Specify MainTest's link libraries
+ ExternalProject_Get_Property(googletest binary_dir)
+ set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
-# Specify MainTest's link libraries
-ExternalProject_Get_Property(googletest binary_dir)
-set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
+ # Create a libgtest target to be used as a dependency by test programs
+ add_library(libgtest IMPORTED STATIC GLOBAL)
+ add_dependencies(libgtest googletest)
-# Create a libgtest target to be used as a dependency by test programs
-add_library(libgtest IMPORTED STATIC GLOBAL)
-add_dependencies(libgtest googletest)
+ # Set libgtest properties
+ set_target_properties(libgtest PROPERTIES
+ "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
+ "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
+ )
-# Set libgtest properties
-set_target_properties(libgtest PROPERTIES
- "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
- "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
-)
+else()
+ message("CMake version equal or greater than 3.11.0")
+
+ include(FetchContent)
+
+ FetchContent_Declare(
+ googletest
+ GIT_REPOSITORY https://github.com/google/googletest.git
+ GIT_TAG main)
+
+ FetchContent_MakeAvailable(googletest)
+
+endif()
+
function(wolf_add_gtest target)
add_executable(${target} ${ARGN})
- add_dependencies(${target} libgtest)
- target_link_libraries(${target} libgtest)
-
- #WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/bin
+ if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
+ add_dependencies(${target} libgtest)
+ target_link_libraries(${target} libgtest ${PLUGIN_NAME})
+ target_include_directories(${target} PUBLIC ${GTEST_INCLUDE_DIRS})
+ else()
+ target_link_libraries(${target} PUBLIC gtest_main ${PLUGIN_NAME})
+ endif()
add_test(NAME ${target} COMMAND ${target})
endfunction()