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CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
project(spark_dsg VERSION 1.0.6)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
add_compile_options(-Wall -Wextra)
option(SPARK_DSG_BUILD_EXAMPLES "Build examples" ON)
option(SPARK_DSG_BUILD_TESTS "Build tests" ON)
option(SPARK_DSG_BUILD_PYTHON "Build python bindings" ON)
option(SPARK_DSG_BUILD_ZMQ "Build zmq message interface" ON)
option(SPARK_DSG_PROFILE_BUILD "Profile build time" OFF)
option(BUILD_SHARED_LIBS "Build shared libs" ON)
find_package(nlohmann_json REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Threads REQUIRED)
find_package(PkgConfig REQUIRED)
pkg_check_modules(zmq libzmq)
if(SPARK_DSG_PROFILE_BUILD)
add_compile_options(-ftime-trace)
endif()
if(SPARK_DSG_BUILD_ZMQ AND zmq_FOUND)
set(SPARK_DSG_USE_ZMQ 1)
else()
set(SPARK_DSG_USE_ZMQ 0)
endif()
configure_file(cmake/spark_dsg_version.h.in include/spark_dsg_version.h)
add_library(
${PROJECT_NAME}
src/adjacency_matrix.cpp
src/base_layer.cpp
src/bounding_box_extraction.cpp
src/bounding_box.cpp
src/color.cpp
src/colormaps.cpp
src/dynamic_scene_graph_layer.cpp
src/dynamic_scene_graph.cpp
src/edge_attributes.cpp
src/edge_container.cpp
src/layer_prefix.cpp
src/layer_view.cpp
src/mesh.cpp
src/node_attributes.cpp
src/node_symbol.cpp
src/printing.cpp
src/scene_graph_layer.cpp
src/scene_graph_logger.cpp
src/scene_graph_node.cpp
src/scene_graph_types.cpp
src/scene_graph_utilities.cpp
src/zmq_interface.cpp
src/serialization/attribute_serialization.cpp
src/serialization/binary_conversions.cpp
src/serialization/binary_serialization.cpp
src/serialization/file_io.cpp
src/serialization/graph_binary_serialization.cpp
src/serialization/graph_json_serialization.cpp
src/serialization/json_conversions.cpp
src/serialization/mesh_serialization.cpp
src/serialization/versioning.cpp
)
if(NOT BUILD_SHARED_LIBS)
set_property(TARGET ${PROJECT_NAME} PROPERTY POSITION_INDEPENDENT_CODE 1)
endif()
target_include_directories(
${PROJECT_NAME}
PUBLIC $<INSTALL_INTERFACE:include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
)
target_link_libraries(
${PROJECT_NAME} PUBLIC Eigen3::Eigen nlohmann_json::nlohmann_json
PRIVATE Threads::Threads
)
if(SPARK_DSG_BUILD_ZMQ AND zmq_FOUND)
target_link_libraries(${PROJECT_NAME} PRIVATE ${zmq_LIBRARIES})
target_include_directories(${PROJECT_NAME} PRIVATE ${zmq_INCLUDE_DIRS})
endif()
if(SPARK_DSG_BUILD_EXAMPLES)
add_subdirectory(examples)
endif()
if(SPARK_DSG_BUILD_PYTHON OR SPARK_DSG_BUILD_TESTS)
if(NOT EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/third_party/pybind11/.git)
find_package(Git REQUIRED)
execute_process(
COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
)
endif()
add_subdirectory(third_party/pybind11 EXCLUDE_FROM_ALL)
add_subdirectory(python)
endif()
if(SPARK_DSG_BUILD_TESTS)
enable_testing()
add_subdirectory(tests)
endif()
include(GNUInstallDirs)
include(CMakePackageConfigHelpers)
add_library(
spark_dsg::${PROJECT_NAME} ALIAS ${PROJECT_NAME}
)
write_basic_package_version_file(
${CMAKE_CURRENT_BINARY_DIR}/spark_dsgConfigVersion.cmake VERSION ${PROJECT_VERSION}
COMPATIBILITY AnyNewerVersion
)
configure_package_config_file(
${CMAKE_CURRENT_LIST_DIR}/cmake/spark_dsgConfig.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/spark_dsgConfig.cmake
INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/spark_dsg
)
install(
TARGETS ${PROJECT_NAME}
EXPORT spark_dsg-targets
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
)
install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
install(
EXPORT spark_dsg-targets
FILE spark_dsgTargets.cmake
NAMESPACE spark_dsg::
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/spark_dsg
)
install(
FILES ${CMAKE_CURRENT_BINARY_DIR}/spark_dsgConfig.cmake
${CMAKE_CURRENT_BINARY_DIR}/spark_dsgConfigVersion.cmake
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/spark_dsg
)