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greenhouse/find-object/CMakeLists.txt
apoorva fabea45044 Add 'find-object/' from commit '635efcd6220cabc258b88c54b1ae4279035bbe31' 
git-subtree-dir: find-object
git-subtree-mainline: 9bd639e88c266d990f53b2799ba476d34cfc9c89
git-subtree-split: 635efcd6220cabc258b88c54b1ae4279035bbe31
2023-02-25 14:20:22 +05:30

473 lines
16 KiB
CMake
Raw Blame History

cmake_minimum_required(VERSION 3.5)
SET(CATKIN_BUILD FALSE)
SET(COLCON_BUILD FALSE)
# Detect if it is called by catkin (ros1)
IF(CATKIN_TOPLEVEL OR CATKIN_BUILD_BINARY_PACKAGE OR CATKIN_SKIP_TESTING OR CATKIN_ENABLE_TESTING OR CATKIN_DEVEL_PREFIX)
SET(CATKIN_BUILD TRUE)
ELSE()
# Detect if it is called by colcon (ros2)
IF(DEFINED AMENT_PREFIX_PATH) # buildfarm
SET(COLCON_BUILD TRUE)
ELSE() # colcon local build in ros2_ws
string(FIND ${CMAKE_BINARY_DIR} ${CMAKE_SOURCE_DIR} POS)
IF(${POS} EQUAL -1)
SET(COLCON_BUILD TRUE)
ENDIF()
ENDIF()
ENDIF()
MESSAGE(STATUS "CATKIN_BUILD=${CATKIN_BUILD}")
MESSAGE(STATUS "COLCON_BUILD=${COLCON_BUILD}")
SET(ROS_BUILD FALSE)
IF(CATKIN_BUILD OR COLCON_BUILD)
SET(ROS_BUILD TRUE)
ENDIF()
IF(NOT ROS_BUILD)
#Standalone build
PROJECT( Find-Object )
ELSE()
#ROS build
PROJECT( find_object_2d )
MESSAGE(STATUS "ROS_DISTRO=$ENV{ROS_DISTRO}")
ENDIF()
# Catkin doesn't support multiarch library path,
# fix to "lib" if not set by user.
IF(NOT DEFINED CMAKE_INSTALL_LIBDIR)
set(CMAKE_INSTALL_LIBDIR "lib")
ENDIF(NOT DEFINED CMAKE_INSTALL_LIBDIR)
INCLUDE(GNUInstallDirs)
####### local cmake modules #######
SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
# Policy CMP0043 introduced in cmake version 3.0 IGNORES the use of COMPILE_DEFINITIONS suffixed variables, e.g. COMPILE_DEFINITIONS_DEBUG
# Set to OLD behavior until minimum cmake version >= 2.8.10 (version that COMPILE_DEFINITIONS can be set by generator expressions instead)
if (POLICY CMP0043)
cmake_policy(SET CMP0043 OLD)
endif (POLICY CMP0043)
# Policy CMP0042 introduced in cmake version 3.0 enables the use of @rpath in an install name via MACOSX_RPATH by default
# Set to OLD behavior so that all versions use the same behavior, or until minimum cmake version >= 2.8.12 (version where @rpath is available)
if (POLICY CMP0042)
cmake_policy(SET CMP0042 OLD)
endif (POLICY CMP0042)
#######################
# VERSION
#######################
SET(PROJECT_VERSION "0.7.0")
SET(PROJECT_PREFIX find_object)
STRING(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}")
LIST(GET PROJECT_VERSION_PARTS 0 PROJECT_VERSION_MAJOR)
LIST(GET PROJECT_VERSION_PARTS 1 PROJECT_VERSION_MINOR)
LIST(GET PROJECT_VERSION_PARTS 2 PROJECT_VERSION_PATCH)
ADD_DEFINITIONS(-DPROJECT_PREFIX="${PROJECT_PREFIX}")
ADD_DEFINITIONS(-DPROJECT_VERSION="${PROJECT_VERSION}")
ADD_DEFINITIONS(-DPROJECT_NAME="${PROJECT_NAME}")
####### DEPENDENCIES #######
FIND_PACKAGE(OpenCV REQUIRED) # tested on 2.3.1
# check if version status is "-dev" (SIFT compatibility issue between 4.3.0 vs 4.3.0-dev)
FIND_FILE(OpenCV_VERSION_HPP opencv2/core/version.hpp
PATHS ${OpenCV_INCLUDE_DIRS}
NO_DEFAULT_PATH)
FILE(READ ${OpenCV_VERSION_HPP} TMPTXT)
STRING(FIND "${TMPTXT}" "-dev" matchres)
IF(NOT ${matchres} EQUAL -1)
add_definitions(-DOPENCV_DEV)
ENDIF(NOT ${matchres} EQUAL -1)
# For SuperPoint
SET(TORCH 0)
FIND_PACKAGE(Torch QUIET)
IF(TORCH_FOUND)
MESSAGE(STATUS "Found Torch: ${TORCH_INCLUDE_DIRS}")
SET(TORCH 1)
ENDIF(TORCH_FOUND)
IF(NOT MSVC)
IF(TORCH_FOUND)
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
IF(COMPILER_SUPPORTS_CXX14)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
set(CMAKE_CXX_STANDARD 14)
ELSE()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use Torch.")
ENDIF()
ENDIF(TORCH_FOUND)
IF( NOT CMAKE_CXX_STANDARD AND OpenCV_VERSION_MAJOR EQUAL 4)
#Newest versions require std11
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
IF(COMPILER_SUPPORTS_CXX17)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
ELSEIF(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ELSEIF(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${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()
ENDIF()
ENDIF()
# look for Qt5 before Qt4
FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Network QUIET)
IF(NOT Qt5_FOUND)
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtNetwork REQUIRED)
ENDIF(NOT Qt5_FOUND)
ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals used in ROS
FIND_PACKAGE(Tcmalloc QUIET)
FIND_PACKAGE(ZLIB REQUIRED QUIET)
SET(NONFREE 1)
IF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
SET(NONFREE 0)
ELSEIF(OpenCV_VERSION VERSION_GREATER "3.4.2")
FIND_FILE(OpenCV_MODULES_HPP opencv2/opencv_modules.hpp
PATHS ${OpenCV_INCLUDE_DIRS}
NO_DEFAULT_PATH)
FILE(READ ${OpenCV_MODULES_HPP} TMPTXT)
STRING(FIND "${TMPTXT}" "#define OPENCV_ENABLE_NONFREE" matchres)
IF(${matchres} EQUAL -1)
SET(NONFREE 0)
ENDIF(${matchres} EQUAL -1)
ENDIF()
CONFIGURE_FILE(Version.h.in ${PROJECT_SOURCE_DIR}/include/${PROJECT_PREFIX}/Version.h)
IF(NOT ROS_BUILD)
#Standalone build
IF(WIN32 AND NOT MINGW)
ADD_DEFINITIONS("-wd4251")
ELSE ()
ADD_DEFINITIONS( "-Wall" )
ENDIF()
#ADD_DEFINITIONS("-DUNICODE") # to test with UNICODE projects
####### COMPILATION PARAMS #######
# In case of Makefiles if the user does not setup CMAKE_BUILD_TYPE, assume it's Release:
IF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
IF("${CMAKE_BUILD_TYPE}" STREQUAL "")
set(CMAKE_BUILD_TYPE Release)
ENDIF("${CMAKE_BUILD_TYPE}" STREQUAL "")
ENDIF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
SET(CMAKE_DEBUG_POSTFIX "d")
####### Build libraries as shared or static #######
OPTION( BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON )
####### OUTPUT DIR #######
SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
####### INSTALL DIR #######
# Offer the user the choice of overriding the installation directories
set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR} CACHE PATH
"Installation directory for header files")
if(WIN32 AND NOT CYGWIN)
set(DEF_INSTALL_CMAKE_DIR CMake)
else()
set(DEF_INSTALL_CMAKE_DIR ${CMAKE_INSTALL_LIBDIR}/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR})
endif()
set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
"Installation directory for CMake files")
####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
IF(APPLE)
OPTION(BUILD_AS_BUNDLE "Set to ON to build as bundle (DragNDrop)" OFF)
ENDIF(APPLE)
IF(APPLE AND BUILD_AS_BUNDLE)
# Required when packaging, and set CMAKE_INSTALL_PREFIX to "/".
SET(CPACK_SET_DESTDIR TRUE)
SET(CMAKE_BUNDLE_NAME
"${PROJECT_NAME}")
SET(CMAKE_BUNDLE_LOCATION "/")
# make sure CMAKE_INSTALL_PREFIX ends in /
SET(CMAKE_INSTALL_PREFIX
"/${CMAKE_BUNDLE_NAME}.app/Contents")
ENDIF(APPLE AND BUILD_AS_BUNDLE)
####### SOURCES (Projects) #######
ADD_SUBDIRECTORY( src )
ADD_SUBDIRECTORY( app )
ADD_SUBDIRECTORY( tools )
IF(NONFREE OR OpenCV_VERSION VERSION_GREATER "4.2.0") # SIFT is free from 4.3.0
ADD_SUBDIRECTORY( example )
ENDIF(NONFREE OR OpenCV_VERSION VERSION_GREATER "4.2.0")
#######################
# Uninstall target, for "make uninstall"
#######################
CONFIGURE_FILE(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
ADD_CUSTOM_TARGET(uninstall
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
#######################
# Setup FindObjectConfig.cmake
#######################
# Create the FindObjectConfig.cmake and FindObjectConfigVersion files
file(RELATIVE_PATH REL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
file(RELATIVE_PATH REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
# ... for the build tree
set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
configure_file(FindObjectConfig.cmake.in
"${PROJECT_BINARY_DIR}/FindObjectConfig.cmake" @ONLY)
# ... for the install tree
set(CONF_INCLUDE_DIRS "\${FindObject_CMAKE_DIR}/${REL_INCLUDE_DIR}")
set(CONF_LIB_DIR "\${FindObject_CMAKE_DIR}/${REL_LIB_DIR}")
configure_file(FindObjectConfig.cmake.in
"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/FindObjectConfig.cmake" @ONLY)
# ... for both
configure_file(FindObjectConfigVersion.cmake.in
"${PROJECT_BINARY_DIR}/FindObjectConfigVersion.cmake" @ONLY)
# Install the FindObjectConfig.cmake and FindObjectConfigVersion.cmake
install(FILES
"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/FindObjectConfig.cmake"
"${PROJECT_BINARY_DIR}/FindObjectConfigVersion.cmake"
DESTINATION "${INSTALL_CMAKE_DIR}" COMPONENT devel)
####
#######################
# CPACK (Packaging)
#######################
INCLUDE(InstallRequiredSystemLibraries)
SET(CPACK_PACKAGE_NAME "${PROJECT_NAME}")
SET(CPACK_PACKAGE_VENDOR "${PROJECT_NAME} project")
SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Find-Object")
SET(CPACK_PACKAGE_VERSION_MAJOR "${PROJECT_VERSION_MAJOR}")
SET(CPACK_PACKAGE_VERSION_MINOR "${PROJECT_VERSION_MINOR}")
SET(CPACK_PACKAGE_VERSION_PATCH "${PROJECT_VERSION_PATCH}")
SET(CPACK_PACKAGE_CONTACT "matlabbe@gmail.com")
set(CPACK_SOURCE_IGNORE_FILES
"\\\\.svn/"
"${PROJECT_SOURCE_DIR}/build/[a-zA-Z0-9_]+"
"~$"
"${PROJECT_SOURCE_DIR}/bin/.*${PROJECT_PREFIX}"
"${PROJECT_SOURCE_DIR}/bin/.*${PROJECT_NAME}"
"\\\\.DS_Store"
)
IF(WIN32)
SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/LICENSE")
IF(CMAKE_CL_64)
SET(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES64")
ELSE()
SET(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES")
ENDIF()
SET(CPACK_GENERATOR "ZIP;NSIS")
SET(CPACK_SOURCE_GENERATOR "ZIP")
SET(CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME}")
SET(ICON_PATH "${PROJECT_SOURCE_DIR}/app/${PROJECT_NAME}.ico")
SET(CPACK_NSIS_MUI_ICON ${ICON_PATH})
SET(CPACK_NSIS_MUI_UNIICON ${ICON_PATH})
SET(CPACK_NSIS_DISPLAY_NAME "${PROJECT_NAME}")
SET(CPACK_NSIS_CONTACT ${CPACK_PACKAGE_CONTACT})
# Set the icon used for the Windows "Add or Remove Programs" tool.
SET(CPACK_NSIS_INSTALLED_ICON_NAME bin\\\\${PROJECT_NAME}.exe)
SET(CPACK_PACKAGE_EXECUTABLES "${PROJECT_NAME}" "${PROJECT_NAME}" ${CPACK_PACKAGE_EXECUTABLES})
SET(CPACK_CREATE_DESKTOP_LINKS "${PROJECT_NAME}" ${CPACK_CREATE_DESKTOP_LINKS})
SET(CPACK_PACKAGE_INSTALL_DIRECTORY "${PROJECT_NAME}")
ELSEIF(APPLE)
IF(BUILD_AS_BUNDLE)
# On APPLE and if BUILD_AS_BUNDLE=ON, the project is created as a bundle
# over the main app (see ./src).Here we package only this bundle. Note
# that we set CMAKE_INSTALL_PREFIX to "/" when packaging to DragNDrop...
SET(CPACK_GENERATOR "DragNDrop")
ELSE()
SET(CPACK_GENERATOR "PackageMaker;TBZ2")
ENDIF()
SET(CPACK_SOURCE_GENERATOR "TBZ2")
SET(CPACK_PACKAGE_ICON "${PROJECT_SOURCE_DIR}/app/${PROJECT_NAME}.icns")
ELSE()
SET(CPACK_SOURCE_GENERATOR "ZIP")
ENDIF()
INCLUDE(CPack)
#######################
# OUTPUT INFO
#######################
MESSAGE(STATUS "--------------------------------------------")
MESSAGE(STATUS "Info :")
MESSAGE(STATUS " CMAKE_INSTALL_PREFIX = ${CMAKE_INSTALL_PREFIX}")
MESSAGE(STATUS " CMAKE_BUILD_TYPE = ${CMAKE_BUILD_TYPE}")
MESSAGE(STATUS " PROJECT_VERSION = ${PROJECT_VERSION}")
IF(OpenCV_VERSION_MAJOR EQUAL 2)
IF(OPENCV_NONFREE_FOUND)
MESSAGE(STATUS " With OpenCV 2 nonfree module (SIFT/SURF) = YES")
ELSE()
MESSAGE(STATUS " With OpenCV 2 nonfree module (SIFT/SURF) = NO (not found)")
ENDIF()
ELSE()
IF(OPENCV_XFEATURES2D_FOUND)
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION} xfeatures2d module (BRIEF/FREAK/KAZE) = YES")
ELSE()
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION} xfeatures2d module (BRIEF/FREAK/KAZE) = NO (not found)")
ENDIF()
IF(OpenCV_VERSION VERSION_GREATER "4.2.0")
IF(NONFREE)
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION} nonfree module (SURF) = YES")
ELSE()
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION} nonfree module (SURF) = NO")
ENDIF()
ELSEIF()
IF(NONFREE)
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION} nonfree module (SIFT/SURF) = YES")
ELSE()
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION} nonfree module (SIFT/SURF) = NO")
ENDIF()
ENDIF()
ENDIF()
IF(QT4_FOUND)
MESSAGE(STATUS " With Qt4 = YES")
ELSEIF(Qt5_FOUND)
MESSAGE(STATUS " With Qt5 = YES")
ELSE()
MESSAGE(STATUS " With Qt = NO (Qt not found)")
ENDIF()
IF(Tcmalloc_FOUND)
MESSAGE(STATUS " With tcmalloc = YES")
ELSE()
MESSAGE(STATUS " With tcmalloc = NO (tcmalloc not found)")
ENDIF(Tcmalloc_FOUND)
IF(TORCH_FOUND)
MESSAGE(STATUS " With Torch = YES")
ELSE()
MESSAGE(STATUS " With Torch = NO (libtorch not found)")
ENDIF(TORCH_FOUND)
IF(APPLE)
MESSAGE(STATUS " BUILD_AS_BUNDLE = ${BUILD_AS_BUNDLE}")
ENDIF(APPLE)
MESSAGE(STATUS "--------------------------------------------")
ELSEIF(CATKIN_BUILD)
#ROS Catkin build
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
cv_bridge roscpp sensor_msgs std_msgs image_transport message_filters tf message_generation
)
## Generate messages in the 'msg' folder
add_message_files(
FILES
ObjectsStamped.msg
DetectionInfo.msg
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
sensor_msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
CATKIN_DEPENDS cv_bridge roscpp sensor_msgs std_msgs image_transport message_filters tf message_runtime
DEPENDS OpenCV
)
###########
## Build ##
###########
ADD_SUBDIRECTORY( src )
#############
## Install ##
#############
## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY
launch/ros1
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
ELSE() # COLCON_BUILD
#ROS Colcon build
find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(image_transport REQUIRED)
find_package(message_filters REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
## Generate messages and services
rosidl_generate_interfaces(${PROJECT_NAME}
msg/ObjectsStamped.msg
msg/DetectionInfo.msg
DEPENDENCIES std_msgs sensor_msgs
)
ament_export_dependencies(rosidl_default_runtime)
###########
## Build ##
###########
ADD_SUBDIRECTORY( src )
#############
## Install ##
#############
install(DIRECTORY
launch/ros2/.
DESTINATION share/${PROJECT_NAME}/launch
)
ament_package()
ENDIF()
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