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CMakeLists.txt
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CMakeLists.txt
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# ubuntu 12.04 LTS cmake version 2.8.7
# ubuntu 14.04 LTS cmake version 2.8.12.2
# ubuntu 16.04 LTS cmake version 3.5.1
cmake_minimum_required(VERSION 2.8.3)
macro(info msg)
message(STATUS "Info: ${msg}")
endmacro()
macro(infoValue variableName)
info("${variableName}=\${${variableName}}")
endmacro()
##################################################################
# Parse librealsense version and assign it to CMake variables #
# This function parses librealsense public API header file, rs.h #
# and retrieves version numbers embedded in the source code. #
# Since the function relies on hard-coded variables, it is prone #
# for failures should these constants be modified in future #
##################################################################
function(assign_version_property VER_COMPONENT)
file(STRINGS "./include/librealsense/rs.h" REALSENSE_VERSION_${VER_COMPONENT} REGEX "#define RS_API_${VER_COMPONENT}_VERSION")
separate_arguments(REALSENSE_VERSION_${VER_COMPONENT})
list(GET REALSENSE_VERSION_${VER_COMPONENT} -1 tmp)
if (tmp LESS 0)
message( FATAL_ERROR "Could not obtain valid Librealsense version ${VER_COMPONENT} component - actual value is ${tmp}" )
endif()
set(REALSENSE_VERSION_${VER_COMPONENT} ${tmp} PARENT_SCOPE)
endfunction()
set(REALSENSE_VERSION_MAJOR -1)
set(REALSENSE_VERSION_MINOR -1)
set(REALSENSE_VERSION_PATCH -1)
assign_version_property(MAJOR)
assign_version_property(MINOR)
assign_version_property(PATCH)
set(REALSENSE_VERSION_STRING ${REALSENSE_VERSION_MAJOR}.${REALSENSE_VERSION_MINOR}.${REALSENSE_VERSION_PATCH})
infoValue(REALSENSE_VERSION_STRING)
IF(DEFINED ENV{ROS_PACKAGE_PATH})
set(ROS_BUILD_TYPE TRUE)
ENDIF()
IF (${ROS_BUILD_TYPE})
message(STATUS "Building in a ROS environment")
project(librealsense)
#################################
# catkin specific configuration #
#################################
find_package(catkin REQUIRED)
# 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(
INCLUDE_DIRS include
LIBRARIES realsense
)
ELSE()
project(Realsense)
ENDIF()
# Save the command line compile commands in the build output
set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
# View the makefile commands during build
#set(CMAKE_VERBOSE_MAKEFILE on)
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c11")
set(CMAKE_CXX_FLAGS "${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()
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/CMake)
set(REALSENSE_CPP
src/archive.cpp
src/context.cpp
src/device.cpp
src/ds-device.cpp
src/ds-private.cpp
src/f200.cpp
src/hw-monitor.cpp
src/image.cpp
src/ivcam-private.cpp
src/ivcam-device.cpp
src/log.cpp
src/motion-module.cpp
src/r200.cpp
src/rs.cpp
src/sr300.cpp
src/stream.cpp
src/sync.cpp
src/timestamps.cpp
src/types.cpp
src/uvc-libuvc.cpp
src/uvc-v4l2.cpp
src/uvc-wmf.cpp
src/uvc.cpp
src/verify.c
src/zr300.cpp
)
set(REALSENSE_HPP
src/archive.h
src/context.h
src/device.h
src/ds-device.h
src/ds-private.h
src/f200.h
src/hw-monitor.h
src/image.h
src/ivcam-private.h
src/ivcam-device.h
src/motion-module.h
src/r200.h
src/sr300.h
src/stream.h
src/sync.h
src/timestamps.h
src/types.h
src/uvc.h
src/zr300.h
)
if(WIN32)
set(BACKEND RS_USE_WMF_BACKEND)
set(REALSENSE_DEF CMake/realsense.def)
# Makes VS15 find the DLL when trying to run examples/tests
set (CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
set (CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
elseif(APPLE)
set(BACKEND RS_USE_LIBUVC_BACKEND)
else()
set(BACKEND RS_USE_V4L2_BACKEND)
endif()
add_definitions(-D${BACKEND} -DUNICODE)
if(UNIX)
list(APPEND REALSENSE_CPP
src/libuvc/ctrl.c
src/libuvc/dev.c
src/libuvc/diag.c
src/libuvc/frame.c
src/libuvc/init.c
src/libuvc/stream.c
)
list(APPEND REALSENSE_HPP
src/libuvc/libuvc_config.h
src/libuvc/libuvc.h
src/libuvc/libuvc_internal.h
src/libuvc/utlist.h
)
find_package(PkgConfig REQUIRED)
find_package (Threads REQUIRED)
pkg_search_module(LIBUSB1 REQUIRED libusb-1.0)
if(LIBUSB1_FOUND)
include_directories(SYSTEM ${LIBUSB1_INCLUDE_DIRS})
link_directories(${LIBUSB1_LIBRARY_DIRS})
else()
message( FATAL_ERROR "Failed to find libusb-1.0" )
endif(LIBUSB1_FOUND)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -pedantic -g -D_BSD_SOURCE")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -pedantic -g -Ofast -Wno-missing-field-initializers")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar")
execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpmachine OUTPUT_VARIABLE MACHINE)
if(${MACHINE} MATCHES "arm-linux-gnueabihf")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize")
elseif(${MACHINE} MATCHES "aarch64-linux-gnu")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mstrict-align -ftree-vectorize")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mstrict-align -ftree-vectorize")
else(${MACHINE} MATCHES "arm-linux-gnueabihf")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mssse3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mssse3")
endif(${MACHINE} MATCHES "arm-linux-gnueabihf")
endif()
# Set CMAKE_INSTALL_* if not defined
include(GNUInstallDirs)
option(BUILD_SHARED_LIBS "Build shared library" ON)
if(BUILD_SHARED_LIBS)
add_library(realsense SHARED ${REALSENSE_CPP} ${REALSENSE_HPP} ${REALSENSE_DEF})
set_target_properties(realsense PROPERTIES VERSION ${REALSENSE_VERSION_STRING}
SOVERSION ${REALSENSE_VERSION_MAJOR})
target_link_libraries(realsense ${LIBUSB1_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT})
else()
add_library(realsense STATIC ${REALSENSE_CPP} ${REALSENSE_HPP})
endif()
target_include_directories(realsense PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include/ ${LIBUSB1_INCLUDE_DIRS})
IF (${ROS_BUILD_TYPE})
install(TARGETS realsense
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
ELSE()
install( TARGETS realsense
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
)
install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/librealsense DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
ENDIF()
option(BUILD_EXAMPLES "Build realsense examples." OFF)
if(BUILD_EXAMPLES)
add_subdirectory(examples)
endif()
option(BUILD_UNIT_TESTS "Build realsense unit tests." ON)
if(BUILD_UNIT_TESTS)
add_subdirectory(unit-tests)
endif()
# Check for unreferenced files
FILE(GLOB_RECURSE AllSources RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
"src/*.c" "src/*.cpp" "src/*.cc" "src/*.c++"
"src/*.h" "src/*.hpp" "src/*.hh" "src/*.h++")
#message ( "${AllSources}" )
#message ( "${REALSENSE_CPP}" )
#message ( "${REALSENSE_HPP}" )
foreach(afile ${REALSENSE_CPP})
list(REMOVE_ITEM AllSources ${afile})
endforeach(afile)
foreach(afile ${REALSENSE_HPP})
list(REMOVE_ITEM AllSources ${afile})
endforeach(afile)
list(LENGTH AllSources ignore_count)
if(${ignore_count} GREATER 0)
if(${ignore_count} GREATER 1)
message ( WARNING "${ignore_count} source files ignored: ${AllSources}" )
else(${ignore_count} GREATER 1)
message ( WARNING "Source file ignored: ${AllSources}" )
endif(${ignore_count} GREATER 1)
endif(${ignore_count} GREATER 0)
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY)
add_custom_target(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")