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425 lines
16 KiB
CMake
425 lines
16 KiB
CMake
cmake_minimum_required (VERSION 2.8.2)
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SET(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/3rdparty/CMakeModules" ${CMAKE_MODULE_PATH})
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project (3DTK)
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#include_directories(OPENGL_INCLUDE_DIR)
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IF(WIN32)
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set(Boost_USE_STATIC_LIBS TRUE)
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ELSE(WIN32)
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set(Boost_USE_STATIC_LIBS FALSE)
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ENDIF(WIN32)
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SET(Boost_ADDITIONAL_VERSIONS "1.42" "1.42.0" "1.44" "1.44.0" "1.45.0" "1.45" "1.46" "1.46.1" "1.47.0" "1.47" "1.48" "1.49")
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IF(WIN32)
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# for some unknown reason no one variant works on all windows platforms
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find_package( Boost COMPONENTS serialization graph regex filesystem system thread date_time program_options REQUIRED)
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ELSE(WIN32)
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find_package( Boost COMPONENTS serialization graph regex filesystem system thread date_time program_options REQUIRED)
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ENDIF(WIN32)
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if(Boost_FOUND)
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link_directories(${BOOST_LIBRARY_DIRS})
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include_directories(${Boost_INCLUDE_DIRS})
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add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
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endif()
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FIND_PACKAGE(OpenCV REQUIRED)
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include("3rdparty/CMakeModules/OpenCV.cmake")
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SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_OPENCV_FLAGS}")
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#################################################
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# Declare Options and modify build accordingly ##
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#################################################
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FUNCTION(ENFORCE_OPTION_DEP_3DTK option VALUE)
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SET (${option} "${VALUE}" CACHE BOOL "${${option}_DESCRIPTION}" FORCE) # this option set to VALUE as advised
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#now make sure other dependencies are also true
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FOREACH(d ${${option}_DEPENDENCIES}) # look through all my dependencies
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STRING(REGEX REPLACE " +" ";" CMAKE_DEPENDENT_OPTION_DEP "${d}")
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# check for a not in front
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STRING(STRIP "${CMAKE_DEPENDENT_OPTION_DEP}" CMAKE_DEPENDENT_OPTION_DEP)
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STRING(SUBSTRING "${CMAKE_DEPENDENT_OPTION_DEP}" 0 3 CMAKE_DEPENDENT_OPTION_DEP_3)
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STRING(TOUPPER "${CMAKE_DEPENDENT_OPTION_DEP_3}" CMAKE_DEPENDENT_OPTION_DEP_3)
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STRING(COMPARE EQUAL "${CMAKE_DEPENDENT_OPTION_DEP_3}" "NOT" CMAKE_DEPENDENT_OPTION_DEP_NOT)
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#STRING(REPLACE "NOT " "" CMAKE_DEPENDENT_OPTION_DEP "${d}")
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IF(CMAKE_DEPENDENT_OPTION_DEP_NOT) # we found a NOT
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STRING(REPLACE "NOT;" "" CMAKE_DEPENDENT_OPTION_DEP "${CMAKE_DEPENDENT_OPTION_DEP}")
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IF(${CMAKE_DEPENDENT_OPTION_DEP}) # not met, make sure it is
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ENFORCE_OPTION_DEP_3DTK(${CMAKE_DEPENDENT_OPTION_DEP} OFF)
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ELSE(${CMAKE_DEPENDENT_OPTION_DEP}) # dependency is met
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ENDIF(${CMAKE_DEPENDENT_OPTION_DEP})
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ELSE(CMAKE_DEPENDENT_OPTION_DEP_NOT)
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IF(${CMAKE_DEPENDENT_OPTION_DEP}) # dependency is met
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ELSE(${CMAKE_DEPENDENT_OPTION_DEP}) # not met, make sure it is
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ENFORCE_OPTION_DEP_3DTK(${CMAKE_DEPENDENT_OPTION_DEP} ON)
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ENDIF(${CMAKE_DEPENDENT_OPTION_DEP})
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ENDIF(CMAKE_DEPENDENT_OPTION_DEP_NOT)
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ENDFOREACH(d)
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ENDFUNCTION(ENFORCE_OPTION_DEP_3DTK)
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MACRO(OPT_DEP option doc default depends)
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OPTION(${option} "${doc}" "${default}")
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SET(${option} "${${option}}" CACHE BOOL "${doc}" FORCE)
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SET(${option}_DEPENDENCIES "${depends}" CACHE INTERNAL "" FORCE)
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SET(${option}_DESCRIPTION "${doc}" CACHE INTERNAL "" FORCE)
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IF (${option})
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#MESSAGE(STATUS "Yes ${option} is true")
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# MESSAGE("FOREACH d in ${depends}")
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FOREACH(d ${depends})
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STRING(REGEX REPLACE " +" ";" CMAKE_DEPENDENT_OPTION_DEP "${d}")
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# check for a not in front
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STRING(STRIP "${CMAKE_DEPENDENT_OPTION_DEP}" CMAKE_DEPENDENT_OPTION_DEP)
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STRING(SUBSTRING "${CMAKE_DEPENDENT_OPTION_DEP}" 0 3 CMAKE_DEPENDENT_OPTION_DEP_3)
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STRING(TOUPPER "${CMAKE_DEPENDENT_OPTION_DEP_3}" CMAKE_DEPENDENT_OPTION_DEP_3)
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STRING(COMPARE EQUAL "${CMAKE_DEPENDENT_OPTION_DEP_3}" "NOT" CMAKE_DEPENDENT_OPTION_DEP_NOT)
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IF(CMAKE_DEPENDENT_OPTION_DEP_NOT) # we found a NOT
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STRING(REPLACE "NOT;" "" CMAKE_DEPENDENT_OPTION_DEP "${CMAKE_DEPENDENT_OPTION_DEP}")
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IF(${CMAKE_DEPENDENT_OPTION_DEP}) # not met, make sure it is
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ENFORCE_OPTION_DEP_3DTK(${CMAKE_DEPENDENT_OPTION_DEP} OFF)
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ELSE(${CMAKE_DEPENDENT_OPTION_DEP}) # dependency is met
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ENDIF(${CMAKE_DEPENDENT_OPTION_DEP})
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ELSE(CMAKE_DEPENDENT_OPTION_DEP_NOT)
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IF(${CMAKE_DEPENDENT_OPTION_DEP}) # dependency is met
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ELSE(${CMAKE_DEPENDENT_OPTION_DEP}) # not met, make sure it is
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ENFORCE_OPTION_DEP_3DTK(${CMAKE_DEPENDENT_OPTION_DEP} ON)
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ENDIF(${CMAKE_DEPENDENT_OPTION_DEP})
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ENDIF(CMAKE_DEPENDENT_OPTION_DEP_NOT)
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ENDFOREACH(d)
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ENDIF(${option})
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ENDMACRO(OPT_DEP)
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## FreeGLUT
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OPT_DEP(WITH_FREEGLUT "Whether freeglut is available. This enables iterative drawing in show. ON/OFF" ON "")
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IF(WITH_FREEGLUT)
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MESSAGE(STATUS "With freeglut")
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SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_FREEGLUT")
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ELSE(WITH_FREEGLUT)
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MESSAGE(STATUS "Without freeglut")
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ENDIF(WITH_FREEGLUT)
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## Show
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OPT_DEP(WITH_SHOW "Whether to build Show. This is the Visualization program of slam6d. ON/OFF" ON "" )
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IF(WITH_SHOW)
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FIND_PACKAGE(OpenGL REQUIRED)
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FIND_PACKAGE(GLUT REQUIRED)
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MESSAGE(STATUS "With show")
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ELSE(WITH_SHOW)
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# SET (WITH_OCTREE_DISPLAY "ON" CACHE INTERNAL "" FORCE)
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MESSAGE(STATUS "Without show")
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ENDIF(WITH_SHOW)
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## WXShow
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OPT_DEP(WITH_WXSHOW "Whether to build WXShow. This is the wxwidgets variant of Show. ON/OFF" OFF "")
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IF(WITH_WXSHOW)
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FIND_PACKAGE(OpenGL REQUIRED)
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FIND_PACKAGE(GLUT REQUIRED)
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find_package(wxWidgets COMPONENTS core base gl REQUIRED)
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# set wxWidgets_wxrc_EXECUTABLE to be ignored in the configuration
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SET (wxWidgets_wxrc_EXECUTABLE " " CACHE INTERNAL "" FORCE)
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# wxWidgets include (this will do all the magic to configure everything)
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include( ${wxWidgets_USE_FILE})
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MESSAGE(STATUS "With wxshow")
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ELSE(WITH_WXSHOW)
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MESSAGE(STATUS "Without wxshow")
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ENDIF(WITH_WXSHOW)
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## Shapes
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OPT_DEP(WITH_SHAPE_DETECTION "Whether to build shapes and planes executable for detecting planes. ON/OFF" OFF "")
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IF(WITH_SHAPE_DETECTION)
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MESSAGE(STATUS "With shape detection")
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ELSE(WITH_SHAPE_DETECTION)
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MESSAGE(STATUS "Without shape detection")
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ENDIF(WITH_SHAPE_DETECTION)
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## Interior reconstruction
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OPT_DEP(WITH_MODEL "Whether to build model executable for modelling interior environments. ON/OFF" OFF "")
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if(WITH_MODEL)
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message(STATUS "With interior reconstruction")
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else(WITH_MODEL)
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message(STATUS "Without interior reconstruction")
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endif(WITH_MODEL)
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## Thermo
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OPT_DEP(WITH_THERMO "Whether to build executables for mutual calibration of laser scanner and camera. ON/OFF" OFF "WITH_SHAPE_DETECTION")
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IF(WITH_THERMO)
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add_subdirectory(3rdparty/cvblob)
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include_directories(${CMAKE_SOURCE_DIR}/3rdparty/cvblob)
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link_directories(${CMAKE_SOURCE_DIR}/3rdparty/cvblob)
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MESSAGE(STATUS "With thermo")
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ELSE(WITH_THERMO)
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MESSAGE(STATUS "Without thermo")
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ENDIF(WITH_THERMO)
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## Octree
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OPT_DEP(WITH_COMPACT_OCTREE "Whether to use the compact octree display ON/OFF" OFF "")
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IF(WITH_COMPACT_OCTREE)
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MESSAGE(STATUS "Using compact octrees")
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SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DUSE_COMPACT_TREE")
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ELSE(WITH_COMPACT_OCTREE)
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MESSAGE(STATUS "Not using compact octreees: Warning uses more memory")
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ENDIF(WITH_COMPACT_OCTREE)
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## Glee?
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OPT_DEP(WITH_GLEE "Whether to use OpenGL extensions, requires glee. ON/OFF" OFF "")
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IF(WITH_GLEE)
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MESSAGE(STATUS "Using opengl extensions")
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SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_GLEE")
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ELSE(WITH_GLEE)
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MESSAGE(STATUS "Not using opengl extensions")
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ENDIF(WITH_GLEE)
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## Gridder
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OPT_DEP(WITH_GRIDDER "Whether to build the 2DGridder binary ON/OFF" OFF "")
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IF(WITH_GRIDDER)
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MESSAGE(STATUS "With 2DGridder")
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ELSE(WITH_GRIDDER)
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MESSAGE(STATUS "Without 2DGridder")
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ENDIF(WITH_GRIDDER)
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## Dynamic VELOSLAM
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OPT_DEP(WITH_VELOSLAM "Whether to build the Velodyne data processing (veloslam/veloshow) ON/OFF" OFF "WITH_SHOW")
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IF(WITH_VELOSLAM)
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MESSAGE(STATUS "With VELOSLAM")
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ELSE(WITH_VELOSLAM)
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MESSAGE(STATUS "Without VELOSLAM")
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ENDIF(WITH_VELOSLAM)
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## Home-made Laserscanner
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OPT_DEP(WITH_DAVID_3D_SCANNER "Whether to build the David scanner app for homemade laser scanners binary ON/OFF" OFF "")
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IF(WITH_DAVID_3D_SCANNER)
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MESSAGE(STATUS "With David scanner")
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ELSE(WITH_DAVID_3D_SCANNER)
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MESSAGE(STATUS "Without David scanner")
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ENDIF(WITH_DAVID_3D_SCANNER)
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## Tools
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OPT_DEP(WITH_TOOLS "Whether to build additional tools like convergence frame_to_graph etc. ON/OFF" OFF "WITH_FBR")
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IF(WITH_TOOLS)
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MESSAGE(STATUS "With Tools")
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find_package (Boost COMPONENTS program_options REQUIRED)
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ELSE(WITH_TOOLS)
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MESSAGE(STATUS "Without Tools")
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ENDIF(WITH_TOOLS)
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## Segmentation
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OPT_DEP(WITH_SEGMENTATION "Whether to build scan segmantion program ON/OFF" OFF "WITH_FBR")
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IF(WITH_SEGMENTATION)
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MESSAGE(STATUS "With segmentation")
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find_package (Boost COMPONENTS program_options REQUIRED)
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ELSE(WITH_SEGMENTATION)
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MESSAGE(STATUS "Without segmentation")
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ENDIF(WITH_SEGMENTATION)
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## RivLib
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OPT_DEP(WITH_RIVLIB "Whether the RIEGL rivlib is present ON/OFF" OFF "")
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IF(WITH_RIVLIB)
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MESSAGE(STATUS "Compiling a scan IO for RXP files")
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include_directories(${CMAKE_SOURCE_DIR}/3rdparty)
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link_directories(${CMAKE_SOURCE_DIR}/3rdparty)
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SET(RIEGL_DIR ${CMAKE_SOURCE_DIR}/3rdparty/riegl/)
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IF(WIN32)
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SET(RIVLIB ${RIEGL_DIR}libscanlib-mt.lib ${RIEGL_DIR}libctrllib-mt.lib ${RIEGL_DIR}libboost_system-mt-1_43_0-vns.lib)
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ELSE(WIN32)
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SET(RIVLIB ${RIEGL_DIR}libscanlib-mt-s.a ${RIEGL_DIR}libctrllib-mt-s.a ${RIEGL_DIR}libboost_system-mt-s-1_43_0-vns.a pthread)
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ENDIF(WIN32)
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FIND_PACKAGE(LibXml2 )
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ELSE(WITH_RIVLIB)
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MESSAGE(STATUS "Do NOT compile a scan IO for RXP")
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ENDIF(WITH_RIVLIB)
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## CUDA support, TODO depend on CUDA_FIND
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OPT_DEP(WITH_CUDA "Compile with CUDA support" OFF "")
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IF(WITH_CUDA)
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MESSAGE(STATUS "Compiling WITH CUDA support")
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FIND_PACKAGE(CUDA)
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SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_CUDA")
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ELSE(WITH_CUDA)
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MESSAGE(STATUS "Compiling WITHOUT CUDA support")
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ENDIF(WITH_CUDA)
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## PMD
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OPT_DEP(WITH_PMD "Whether to build the PMD tools like grabVideoAnd3D calibrate etc. ON/OFF" OFF "")
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IF(WITH_PMD)
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FIND_PACKAGE(OpenGL REQUIRED)
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MESSAGE(STATUS "With Tools")
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ELSE(WITH_PMD)
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MESSAGE(STATUS "Without Tools")
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ENDIF(WITH_PMD)
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## FBR
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OPT_DEP(WITH_FBR "Whether to compile feature based registration. ON/OFF" OFF "")
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IF(WITH_FBR)
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MESSAGE(STATUS "With FBR ")
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ELSE(WITH_FBR)
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MESSAGE(STATUS "Without FBR")
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ENDIF(WITH_FBR)
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# OPEN
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FIND_PACKAGE(OpenMP)
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IF(OPENMP_FOUND)
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OPT_DEP(WITH_OPENMP "Whether to use parallel processing capabilities of OPENMP. ON/OFF" ON "")
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ENDIF(OPENMP_FOUND)
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IF(OPENMP_FOUND AND WITH_OPENMP)
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MESSAGE(STATUS "With OpenMP ")
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SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAX_OPENMP_NUM_THREADS=${NUMBER_OF_CPUS} -DOPENMP_NUM_THREADS=${NUMBER_OF_CPUS} ${OpenMP_CXX_FLAGS} -DOPENMP")
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ELSE(OPENMP_FOUND AND WITH_OPENMP)
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MESSAGE(STATUS "Without OpenMP")
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SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAX_OPENMP_NUM_THREADS=1 -DOPENMP_NUM_THREADS=1")
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ENDIF(OPENMP_FOUND AND WITH_OPENMP)
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OPT_DEP(EXPORT_SHARED_LIBS "Whether to build additional shared libraries for use in other projects. ON/OFF" OFF "WITH_SHOW;WITH_FBR")
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IF(EXPORT_SHARED_LIBS)
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## Compile a single shared library containing all of 3DTK
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add_library(slam SHARED src/slam6d/icp6D.cc)
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target_link_libraries(slam scan_s ANN_s sparse_s newmat_s show_s fbr_s)
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MESSAGE(STATUS "exporting additional libraries")
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ELSE(EXPORT_SHARED_LIBS)
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MESSAGE(STATUS "not exporting libraries")
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ENDIF(EXPORT_SHARED_LIBS)
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OPT_DEP(WITH_METRICS "Whether to use metrics in slam6d. ON/OFF" OFF "")
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IF(WITH_METRICS)
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MESSAGE(STATUS "With metrics in slam6d.")
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SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_METRICS")
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ELSE(WITH_METRICS)
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MESSAGE(STATUS "Without metrics in slam6d.")
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ENDIF(WITH_METRICS)
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#################################################
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# OPERATING SYSTEM SPECIFIC BEHAVIOUR ##
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#################################################
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## Special treatment for system specifics
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IF(APPLE)
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add_definitions(-Dfopen64=fopen)
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ENDIF(APPLE)
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## Multiple Cores
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IF(APPLE)
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SET(PROCESSOR_COUNT 2)
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ELSE(APPLE)
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INCLUDE(CountProcessors)
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SET(NUMBER_OF_CPUS "${PROCESSOR_COUNT}" CACHE STRING "The number of processors to use (default: ${PROCESSOR_COUNT})" )
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ENDIF(APPLE)
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IF(WIN32)
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SET(ADDITIONAL_CFLAGS "-O2" CACHE STRING "Additional flags given to the compiler ( -O2)" )
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include_directories(${CMAKE_SOURCE_DIR}/3rdparty/windows/)
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link_directories(${CMAKE_SOURCE_DIR}/3rdparty/windows)
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link_directories(${CMAKE_SOURCE_DIR}/3rdparty/windows/x64)
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add_library(XGetopt STATIC ${CMAKE_SOURCE_DIR}/3rdparty/windows/XGetopt.cpp)
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SET(CMAKE_STATIC_LIBRARY_SUFFIX "32.lib")
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ELSE(WIN32)
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SET(ADDITIONAL_CFLAGS "-O3 -std=c++0x -msse3 -Wall -finline-functions -Wno-unused-but-set-variable -Wno-write-strings -Wno-char-subscripts -Wno-unused-result" CACHE STRING"Additional flags given to the compiler (-O3 -Wall -finline-functions -Wno-write-strings)" )
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# Add include path for OpenGL without GL/-prefix
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# to avoid the include incompatibility between MACOS
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# and linux
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FIND_PATH(OPENGL_INC gl.h /usr/include/GL)
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include_directories(${OPENGL_INC})
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ENDIF(WIN32)
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# Add OpenGL includes for MACOS if needed
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# The OSX OpenGL frameworks natively supports freeglut extensions
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IF(APPLE)
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include_directories(/System/Library/Frameworks/GLUT.framework/Headers)
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include_directories(/System/Library/Frameworks/OpenGL.framework/Headers)
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ENDIF(APPLE)
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# hack to "circumvent" Debug and Release folders that are created under visual studio
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# this is why the INSTALL target has to be used in visual studio
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IF(MSVC)
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INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/bin/Release/ CONFIGURATIONS Release DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
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IF( CMAKE_SIZEOF_VOID_P EQUAL 8 )
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INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/ CONFIGURATIONS Release DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
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ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 )
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INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/ CONFIGURATIONS Release DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
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ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 )
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INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/bin/Debug/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
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IF( CMAKE_SIZEOF_VOID_P EQUAL 8 )
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INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
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ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 )
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INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
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ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 )
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ENDIF(MSVC)
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#################################################
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# GENERAL PROJECT SETTINGS ##
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#################################################
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SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CFLAGS}")
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# Hide CMake variables
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SET (CMAKE_INSTALL_PREFIX "/usr/local" CACHE INTERNAL "" FORCE)
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SET (CMAKE_BUILD_TYPE "" CACHE INTERNAL "" FORCE)
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# Set output directories for libraries and executables
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SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib )
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SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/obj )
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SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin )
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# Set include and link dirs ...
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include_directories(${CMAKE_SOURCE_DIR}/include)
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include_directories(${CMAKE_SOURCE_DIR}/3rdparty/)
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include_directories(${CMAKE_SOURCE_DIR}/3rdparty/glui)
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include_directories(${CMAKE_SOURCE_DIR}/3rdparty/wxthings/include/)
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include_directories(${CMAKE_SOURCE_DIR}/3rdparty/ann_1.1.1_modified/include)
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include_directories(${CMAKE_SOURCE_DIR}/3rdparty/ann_1.1.1_modified/src)
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link_directories(${CMAKE_SOURCE_DIR}/obj)
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link_directories(${CMAKE_SOURCE_DIR}/lib)
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add_subdirectory(3rdparty)
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add_subdirectory(src/slam6d)
|
|
add_subdirectory(src/scanio)
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|
add_subdirectory(src/scanserver)
|
|
add_subdirectory(src/segmentation)
|
|
add_subdirectory(src/normals)
|
|
add_subdirectory(src/veloslam)
|
|
add_subdirectory(src/show)
|
|
add_subdirectory(src/grid)
|
|
add_subdirectory(src/pmd)
|
|
add_subdirectory(src/shapes)
|
|
add_subdirectory(src/thermo)
|
|
add_subdirectory(src/slam6d/fbr)
|
|
add_subdirectory(src/scanner)
|
|
add_subdirectory(src/model)
|
|
|
|
MESSAGE (STATUS "Build environment is set up!")
|