429 lines
15 KiB
Text
429 lines
15 KiB
Text
cmake_minimum_required (VERSION 2.6.1)
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SET(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/3rdparty/CMakeModules" ${CMAKE_MODULE_PATH})
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project (Slam6D)
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#include_directories(OPENGL_INCLUDE_DIR)
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IF(WIN32)
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set(Boost_USE_STATIC_LIBS TRUE)
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ELSE(WIN32)
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set(Boost_USE_STATIC_LIBS FALSE)
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ENDIF(WIN32)
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SET(Boost_ADDITIONAL_VERSIONS "1.42" "1.42.0" "1.44" "1.44.0" "1.45.0" "1.45" "1.46" "1.46.1" "1.47.0" "1.47" "1.48" "1.49")
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IF(WIN32)
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# for some unknown reason no one variant works on all windows platforms
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find_package( Boost COMPONENTS serialization graph regex filesystem system thread date_time REQUIRED)
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ELSE(WIN32)
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find_package( Boost COMPONENTS serialization graph regex filesystem system thread date_time REQUIRED)
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ENDIF(WIN32)
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if(Boost_FOUND)
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link_directories(${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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#################################################
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# Declare Options and modify build accordingly ##
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#################################################
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## FreeGLUT
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OPTION(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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OPTION(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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OPTION(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_XWSHOW)
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MESSAGE(STATUS "Without wxshow")
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ENDIF(WITH_WXSHOW)
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## Shapes
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OPTION(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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option(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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OPTION(WITH_THERMO "Whether to build executables for mutual calibration of laser scanner and camera. ON/OFF" OFF)
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IF(WITH_THERMO)
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FIND_PACKAGE(OpenCV REQUIRED)
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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(${CMAKE_SOURCE_DIR}/3rdparty/cvblob)
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MESSAGE(STATUS "With thermo")
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ELSE(WITH_THERMO)
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MESSAGE(STATUS "Without thermo")
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ENDIF(WITH_THERMO)
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## Octree
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OPTION(WITH_OCTREE_DISPLAY "Whether to use octree display for efficiently culling scans ON/OFF" ON)
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IF(WITH_OCTREE_DISPLAY)
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MESSAGE(STATUS "Using octree display")
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SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DUSE_GL_POINTS")
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ELSE(WITH_OCTREE_DISPLAY)
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MESSAGE(STATUS "Using displaylists: Warning potentially much slower")
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ENDIF(WITH_OCTREE_DISPLAY)
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#SET (WITH_OCTREE_DISPLAY ${WITH_OCTREE_DISPLAY} CACHE BOOL
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#"Whether to use octree display for efficiently culling scans ON/OFF" FORCE)
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## Octree
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OPTION(WITH_COMPACT_OCTREE "Whether to use the compact octree display ON/OFF" OFF)
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IF(WITH_COMPACT_OCTREE)
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MESSAGE(STATUS "Using compact octrees")
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SET (CMAKE_CXX_FLAGS "${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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OPTION(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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OPTION(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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OPTION(WITH_VELOSLAM "Whether to build the Velodyne data processing (veloslam/veloshow) ON/OFF" OFF)
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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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OPTION(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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OPTION(WITH_TOOLS "Whether to build additional tools like convergence frame_to_graph etc. ON/OFF" OFF)
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IF(WITH_TOOLS)
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MESSAGE(STATUS "With Tools")
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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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## Scan reduction
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OPTION(WITH_SCAN_REDUCTION "Whether to build the scan reduction binary scan_red ON/OFF" OFF)
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IF(WITH_SCAN_REDUCTION)
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MESSAGE(STATUS "With scan_red")
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ELSE(WITH_SCAN_REDUCTION)
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MESSAGE(STATUS "Without scan_red")
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ENDIF(WITH_SCAN_REDUCTION)
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## Scan difference
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OPTION(WITH_SCAN_DIFF "Whether to build the scan_diff binary ON/OFF" OFF)
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IF(WITH_SCAN_DIFF)
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MESSAGE(STATUS "With scan_diff")
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ELSE(WITH_SCAN_DIFF)
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MESSAGE(STATUS "Without scan_diff")
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ENDIF(WITH_SCAN_DIFF)
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## CAD matching
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OPTION (WITH_CAD "Wether to build with CAD import lib ON/OFF" OFF)
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IF (WITH_CAD)
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MESSAGE (STATUS "With CAD import")
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find_package (Boost COMPONENTS program_options filesystem REQUIRED)
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ELSE (WITH_CAD)
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MESSAGE (STATUS "Without CAD import")
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ENDIF (WITH_CAD)
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## RivLib
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OPTION(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 ${RIEGL_DIR}libboost_system-mt-s-1_43_0-vns.a pthread)
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ENDIF(WIN32)
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FIND_PACKAGE(LibXml2 )
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ELSE(WITH_RIVLIB)
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MESSAGE(STATUS "Do NOT compile a scan IO for RXP")
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ENDIF(WITH_RIVLIB)
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## CUDA support, TODO depend on CUDA_FIND
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OPTION(WITH_CUDA "Compile with CUDA support" OFF)
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IF(WITH_CUDA)
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MESSAGE(STATUS "Compiling WITH CUDA support")
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FIND_PACKAGE(CUDA)
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SET (CMAKE_CXX_FLAGS "${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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OPTION(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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OPTION(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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## 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: ${PROCESSOR_COUNT})" )
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ENDIF(APPLE)
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# OPEN
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FIND_PACKAGE(OpenMP)
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IF(OPENMP_FOUND)
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OPTION(WITH_OPENMP "Whether to use parallel processing capabilities of OPENMP. ON/OFF" ON)
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ENDIF(OPENMP_FOUND)
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IF(OPENMP_FOUND AND WITH_OPENMP)
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MESSAGE(STATUS "With OpenMP ")
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SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAX_OPENMP_NUM_THREADS=${PROCESSOR_COUNT} -DOPENMP_NUM_THREADS=${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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## TORO
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OPTION(WITH_TORO "Whether to use TORO. ON/OFF" OFF)
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IF(WITH_TORO)
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IF(WIN32)
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SET(Subversion_SVN_EXECUTABLE "svn.exe")
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ENDIF(WIN32)
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cmake_minimum_required (VERSION 2.8)
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include(ExternalProject)
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ExternalProject_Add(toro3d
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SVN_REPOSITORY https://www.openslam.org/data/svn/toro/trunk
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SOURCE_DIR "${CMAKE_SOURCE_DIR}/3rdparty/toro"
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CONFIGURE_COMMAND ""
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BUILD_COMMAND make
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BUILD_IN_SOURCE 1
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INSTALL_COMMAND cp ${CMAKE_SOURCE_DIR}/3rdparty/toro/toro3d ${CMAKE_SOURCE_DIR}/bin/
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)
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MESSAGE(STATUS "With TORO ")
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ELSE(WITH_TORO)
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MESSAGE(STATUS "Without TORO")
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ENDIF(WITH_TORO)
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## HOGMAN
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OPTION(WITH_HOGMAN "Whether to use HOGMAN. ON/OFF" OFF)
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IF(WITH_HOGMAN)
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# dependant on libqt4-devi
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find_package( Qt4 REQUIRED)
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# CMake of earlier versions do not have external project capabilities
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cmake_minimum_required (VERSION 2.8)
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include(ExternalProject)
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ExternalProject_Add(hogman
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SVN_REPOSITORY https://svn.openslam.org/data/svn/hog-man/trunk
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SOURCE_DIR "${CMAKE_SOURCE_DIR}/3rdparty/hogman"
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CONFIGURE_COMMAND <SOURCE_DIR>/configure --prefix=<INSTALL_DIR>
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BUILD_COMMAND LD_LIBRARY_PATH=${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib make
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BUILD_IN_SOURCE 1
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INSTALL_COMMAND cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/bin/hogman3d ${CMAKE_SOURCE_DIR}/bin/ &&
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cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_csparse.so ${CMAKE_SOURCE_DIR}/lib/ &&
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cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph_optimizer_hogman.so ${CMAKE_SOURCE_DIR}/lib/ &&
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cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph_optimizer.so ${CMAKE_SOURCE_DIR}/lib/ &&
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cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph.so ${CMAKE_SOURCE_DIR}/lib/ &&
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cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph_viewer.so ${CMAKE_SOURCE_DIR}/lib/ &&
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cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_math.so ${CMAKE_SOURCE_DIR}/lib/ &&
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cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_qglviewer.so ${CMAKE_SOURCE_DIR}/lib/ &&
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cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_stuff.so ${CMAKE_SOURCE_DIR}/lib/
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)
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MESSAGE(STATUS "With HOGMAN: Currently hogman needs to be compiled manually, please make sure hogman3d is somewhere in your PATH")
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ELSE(WITH_HOGMAN)
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MESSAGE(STATUS "Without HOGMAN")
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ENDIF(WITH_HOGMAN)
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OPTION(EXPORT_SHARED_LIBS "Whether to build additional shared libraries for use in other projects. ON/OFF" OFF)
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IF(EXPORT_SHARED_LIBS)
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MESSAGE(STATUS "exporting additional libraries")
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ELSE(EXPORT_SHARED_LIBS)
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MESSAGE(STATUS "not exporting libraries")
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ENDIF(EXPORT_SHARED_LIBS)
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OPTION(WITH_METRICS "Whether to use metrics in slam6d. ON/OFF" OFF)
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IF(WITH_METRICS)
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MESSAGE(STATUS "With metrics in slam6d.")
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SET (CMAKE_CXX_FLAGS "${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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IF(WIN32)
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SET(ADDITIONAL_CFLAGS "-O2" CACHE STRING"Additional flags given to the compiler ()" )
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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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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)
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add_subdirectory(src/scanio)
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add_subdirectory(src/scanserver)
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add_subdirectory(src/veloslam)
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add_subdirectory(src/show)
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add_subdirectory(src/grid)
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add_subdirectory(src/pmd)
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add_subdirectory(src/shapes)
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add_subdirectory(src/thermo)
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IF(WITH_FBR)
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add_subdirectory(src/slam6d/fbr)
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ENDIF(WITH_FBR)
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add_subdirectory(src/scanner)
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add_subdirectory(src/model)
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IF(EXPORT_SHARED_LIBS)
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## Compiling a shared library containing all of the project
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add_library(slam SHARED src/slam6d/icp6D.cc)
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target_link_libraries(slam scanlib_s ANN_s sparse_s newmat_s)
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ENDIF(EXPORT_SHARED_LIBS)
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MESSAGE (STATUS "Build environment is set up!")
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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")
|
|
ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
|
|
|
INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/bin/Debug/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
|
|
IF( CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
|
INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
|
|
ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
|
INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe")
|
|
ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 )
|
|
ENDIF(MSVC)
|