/
CMakeLists.txt
1654 lines (1497 loc) · 79.4 KB
/
CMakeLists.txt
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#############################################################################
#
# ViSP, open source Visual Servoing Platform software.
# Copyright (C) 2005 - 2023 by Inria. All rights reserved.
#
# This software is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
# See the file LICENSE.txt at the root directory of this source
# distribution for additional information about the GNU GPL.
#
# For using ViSP with software that can not be combined with the GNU
# GPL, please contact Inria about acquiring a ViSP Professional
# Edition License.
#
# See https://visp.inria.fr for more information.
#
# This software was developed at:
# Inria Rennes - Bretagne Atlantique
# Campus Universitaire de Beaulieu
# 35042 Rennes Cedex
# France
#
# If you have questions regarding the use of this file, please contact
# Inria at visp@inria.fr
#
# This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
# WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
#
# Description:
# ViSP overall configuration file. Detect third party libraries (X11, GTK, ...)
#
#############################################################################
# Detect crosscompiling; need to be before project(VISP) to work
if(NOT CMAKE_TOOLCHAIN_FILE)
# Modify default install prefix
if(WIN32)
set(CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/install" CACHE PATH "Installation Directory")
endif()
else(NOT CMAKE_TOOLCHAIN_FILE)
#Android: set output folder to ${CMAKE_BINARY_DIR}
set(LIBRARY_OUTPUT_PATH_ROOT ${CMAKE_BINARY_DIR} CACHE PATH "root for library output, set this to change where android libs are compiled to" )
# Crosscompiling
set(CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/install" CACHE PATH "Installation Directory")
endif()
if(CMAKE_SYSTEM_NAME MATCHES WindowsPhone OR CMAKE_SYSTEM_NAME MATCHES WindowsStore)
set(WINRT TRUE)
endif(CMAKE_SYSTEM_NAME MATCHES WindowsPhone OR CMAKE_SYSTEM_NAME MATCHES WindowsStore)
if(WINRT)
add_definitions(-DWINRT)
if(CMAKE_SYSTEM_NAME MATCHES WindowsPhone)
set(WINRT_PHONE TRUE)
add_definitions(-DWINRT_PHONE)
elseif(CMAKE_SYSTEM_NAME MATCHES WindowsStore)
set(WINRT_STORE TRUE)
add_definitions(-DWINRT_STORE)
endif()
if(CMAKE_SYSTEM_VERSION MATCHES 10 OR CMAKE_SYSTEM_VERSION MATCHES 10.0)
set(WINRT_10 TRUE)
add_definitions(-DWINRT_10)
elseif(CMAKE_SYSTEM_VERSION MATCHES 8.1)
set(WINRT_8_1 TRUE)
add_definitions(-DWINRT_8_1)
elseif(CMAKE_SYSTEM_VERSION MATCHES 8.0)
set(WINRT_8_0 TRUE)
add_definitions(-DWINRT_8_0)
endif()
endif()
# By default set release configuration
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel." FORCE)
endif()
cmake_minimum_required(VERSION 3.5) # needs to be before project() for policy CMP0025
# Detect if the toolchain is for Aldebaran naoqi
if(CMAKE_TOOLCHAIN_FILE AND I_AM_A_ROBOT)
include(platforms/naoqi/cmake/extra.cmake)
endif()
if(POLICY CMP0020)
cmake_policy(SET CMP0020 NEW) # For UsTK: Qt5
endif()
if(POLICY CMP0022)
cmake_policy(SET CMP0022 NEW) # Due to sensor ATIDAQ_LIBRARIES
endif()
if(POLICY CMP0025)
cmake_policy(SET CMP0025 NEW) # To set compiler id for Apple Clang to AppleClang instead of Clang. Required to detect OpenMP support on MacOS
endif()
if(POLICY CMP0053)
cmake_policy(SET CMP0053 NEW) # For UsTK: VTK and Qt5
endif()
if(POLICY CMP0054)
cmake_policy(SET CMP0054 NEW) # To turn off a warning in native FindOpenMP with cmake 3.9.2
endif()
if(POLICY CMP0068)
cmake_policy(SET CMP0068 NEW) # CMake 3.9+: `RPATH` settings on macOS do not affect `install_name`.
endif()
if(POLICY CMP0072)
cmake_policy(SET CMP0072 NEW) # To use legacy GL library with FindOpenGL and cmake 3.12.0
endif()
if(POLICY CMP0074)
cmake_policy(SET CMP0074 NEW) # For PCL_ROOT usage and cmake 3.12.0 when PCL 1.9.1 all in one is used on Windows
endif()
if(POLICY CMP0075)
cmake_policy(SET CMP0075 NEW) # For check_include_file and cmake 3.12.0
endif()
if(APPLE)
# Fix following errors for libpng and libjpeg detection:
# - Application built with libpng-1.4.12 but running with 1.6.37,
# - Wrong JPEG library version: library is 90, caller expects 80.
# The reason is that headers were found in /Library/Frameworks/Mono.framework/Headers
# while libraries in /usr/local/lib
set(CMAKE_FIND_FRAMEWORK LAST)
endif()
project(VISP C CXX)
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
include(cmake/VISPUtils.cmake)
include(cmake/VISPDetectCXXStandard.cmake) # Set cxx standard to 11 by default
if (CMAKE_VERSION VERSION_LESS 3.0.0)
vp_clear_vars(VISPModules_TARGETS)
endif()
#-----------------------------------------------------------------------------
# VISP version number. An even minor number corresponds to releases.
set(VISP_VERSION_MAJOR "3")
set(VISP_VERSION_MINOR "6")
set(VISP_VERSION_PATCH "0")
set(VISP_VERSION "${VISP_VERSION_MAJOR}.${VISP_VERSION_MINOR}.${VISP_VERSION_PATCH}")
set(VISP_SOVERSION "${VISP_VERSION_MAJOR}.${VISP_VERSION_MINOR}")
# Package revision number
set(VISP_REVISION "1")
#-----------------------------------------------------------------------------
# TO BE CHECKED BEFORE NEXT RELEASE
#
# see here: https://github.com/PointCloudLibrary/pcl/issues/3680
# when this is fixed, we can remove the following 3 lines.
if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS)
set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")
endif()
#-----------------------------------------------------------------------------
find_file(GNU_INSTALL_DIRS_FROM_CMAKE NAMES GNUInstallDirs.cmake PATHS ${CMAKE_ROOT}/Modules)
mark_as_advanced(GNU_INSTALL_DIRS_FROM_CMAKE)
if(GNU_INSTALL_DIRS_FROM_CMAKE)
include(${CMAKE_ROOT}/Modules/GNUInstallDirs.cmake)
else()
include(cmake/GNUInstallDirs.cmake)
endif()
#----------------------------------------------------------------------
# Tool specific
#----------------------------------------------------------------------
# PCL tools
include(cmake/PCLTools.cmake)
#----------------------------------------------------------------------
# Platform specific
#----------------------------------------------------------------------
include(cmake/VISPDetectPlatform.cmake)
# where to install the library and headers
if(ANDROID)
# Where to build modules
set(LIBRARY_OUTPUT_PATH "${VISP_BINARY_DIR}/lib/${ANDROID_NDK_ABI_NAME}")
# Where to build internal 3rdparties
vp_update(VISP_3P_LIBRARY_OUTPUT_PATH "${VISP_BINARY_DIR}/3rdparty/lib/${ANDROID_NDK_ABI_NAME}")
vp_update(VISP_INSTALL_BINARIES_PREFIX "sdk/native/")
# set binary path
vp_update(VISP_BIN_INSTALL_PATH "sdk/native/bin/${ANDROID_NDK_ABI_NAME}")
# set samples path
vp_update(VISP_SAMPLES_BIN_INSTALL_PATH "sdk/native/samples/${ANDROID_NDK_ABI_NAME}")
vp_update(VISP_LIB_INSTALL_PATH "sdk/native/libs/${ANDROID_NDK_ABI_NAME}")
vp_update(VISP_LIB_ARCHIVE_INSTALL_PATH "sdk/native/staticlibs/${ANDROID_NDK_ABI_NAME}")
vp_update(VISP_3P_LIB_INSTALL_PATH "sdk/native/3rdparty/libs/${ANDROID_NDK_ABI_NAME}")
vp_update(VISP_CONFIG_INSTALL_PATH "sdk/native/jni")
vp_update(VISP_INC_INSTALL_PATH "sdk/native/jni/include")
vp_update(VISP_SAMPLES_SRC_INSTALL_PATH "samples/native")
vp_update(VISP_INSTALL_DATAROOTDIR "sdk/etc")
elseif(WIN32 AND CMAKE_HOST_SYSTEM_NAME MATCHES Windows)
# Where to build modules
set(LIBRARY_OUTPUT_PATH "${VISP_BINARY_DIR}/lib")
# Where to build internal 3rdparties
vp_update(VISP_3P_LIBRARY_OUTPUT_PATH "${VISP_BINARY_DIR}/3rdparty/lib${LIB_SUFFIX}")
if(DEFINED VISP_RUNTIME AND DEFINED VISP_ARCH)
vp_update(VISP_INSTALL_BINARIES_PREFIX "${VISP_ARCH}/${VISP_RUNTIME}/")
else()
message(STATUS "Can't detect runtime and/or arch")
vp_update(VISP_INSTALL_BINARIES_PREFIX "")
endif()
if(VISP_STATIC)
vp_update(VISP_LIB_INSTALL_PATH "${VISP_INSTALL_BINARIES_PREFIX}staticlib${LIB_SUFFIX}")
else()
vp_update(VISP_LIB_INSTALL_PATH "${VISP_INSTALL_BINARIES_PREFIX}lib${LIB_SUFFIX}")
endif()
vp_update(VISP_3P_LIB_INSTALL_PATH "${VISP_INSTALL_BINARIES_PREFIX}staticlib${LIB_SUFFIX}")
vp_update(VISP_SAMPLES_SRC_INSTALL_PATH samples/native)
vp_update(VISP_JAR_INSTALL_PATH java)
vp_update(VISP_INC_INSTALL_PATH "${CMAKE_INSTALL_INCLUDEDIR}")
vp_update(VISP_BIN_INSTALL_PATH "${VISP_INSTALL_BINARIES_PREFIX}bin")
vp_update(VISP_INSTALL_DATAROOTDIR "${CMAKE_INSTALL_DATAROOTDIR}/visp-${VISP_VERSION}")
vp_update(VISP_CONFIG_INSTALL_PATH ".")
else() # UNIX
# Where to build modules
set(LIBRARY_OUTPUT_PATH "${VISP_BINARY_DIR}/lib")
# Where to build internal 3rdparties
vp_update(VISP_3P_LIBRARY_OUTPUT_PATH "${VISP_BINARY_DIR}/3rdparty/lib${LIB_SUFFIX}")
vp_update(VISP_INSTALL_BINARIES_PREFIX "")
#----------------------------------------------------------------------
# Multi-arch option that should be enable for debian packaging
#----------------------------------------------------------------------
VP_OPTION(ENABLE_MULTIARCH "" "" "Enable multi-arch support" "" OFF IF (NOT APPLE))
# The location where includes and libraries will be installed
if(ENABLE_MULTIARCH)
# The 2 following lines should be used to enable multi-arch support.
vp_update(VISP_INC_INSTALL_PATH "${CMAKE_INSTALL_INCLUDEDIR}/${CMAKE_LIBRARY_ARCHITECTURE}")
vp_update(VISP_LIB_INSTALL_PATH "${CMAKE_INSTALL_LIBDIR}/${CMAKE_LIBRARY_ARCHITECTURE}")
else()
# catkin doesn't support multi-arch; use rather the next 2 lines
vp_update(VISP_INC_INSTALL_PATH "${CMAKE_INSTALL_INCLUDEDIR}")
vp_update(VISP_LIB_INSTALL_PATH "${CMAKE_INSTALL_LIBDIR}")
endif()
vp_update(VISP_BIN_INSTALL_PATH "${CMAKE_INSTALL_BINDIR}")
vp_update(VISP_INSTALL_DATAROOTDIR "${CMAKE_INSTALL_DATAROOTDIR}/visp-${VISP_VERSION}")
vp_update(VISP_3P_LIB_INSTALL_PATH "${VISP_LIB_INSTALL_PATH}/visp/3rdparty")
vp_update(VISP_SAMPLES_SRC_INSTALL_PATH "${VISP_INSTALL_DATAROOTDIR}/samples")
vp_update(VISP_JAR_INSTALL_PATH "${VISP_INSTALL_DATAROOTDIR}/java")
vp_update(VISP_CONFIG_INSTALL_PATH "${VISP_LIB_INSTALL_PATH}/cmake/visp")
endif()
# the include directory we depend on for the build
set(VISP_INCLUDE_DIR ${VISP_BINARY_DIR}/${VISP_INC_INSTALL_PATH})
set(VISP_DOC_DIR "${VISP_BINARY_DIR}/doc")
# The location where includes and libraries will be build
set(BINARY_OUTPUT_PATH ${VISP_BINARY_DIR}/${VISP_BIN_INSTALL_PATH})
if(WIN32)
# Postfix of .lib and .dll
set(VISP_DEBUG_POSTFIX "d")
set(VISP_DLLVERSION "${VISP_VERSION_MAJOR}${VISP_VERSION_MINOR}${VISP_VERSION_PATCH}")
else()
set(VISP_DEBUG_POSTFIX "")
set(VISP_DLLVERSION "")
endif()
# --- Python Support ---
if(NOT IOS)
include(cmake/VISPDetectPython.cmake)
endif()
include_directories(${VISP_INCLUDE_DIR})
#----------------------------------------------------------------------
# x86 SIMD optimization
#----------------------------------------------------------------------
VP_OPTION(ENABLE_SSE2 "" "" "Enable SSE2 instructions" "" ON IF ((MSVC OR CMAKE_COMPILER_IS_GNUCXX) AND (X86 OR X86_64)) )
VP_OPTION(ENABLE_SSE3 "" "" "Enable SSE3 instructions" "" ON IF ((MSVC OR CMAKE_COMPILER_IS_GNUCXX) AND (X86 OR X86_64)) )
VP_OPTION(ENABLE_SSSE3 "" "" "Enable SSSE3 instructions" "" ON IF ((MSVC OR CMAKE_COMPILER_IS_GNUCXX) AND (X86_64)) ) # X86 disabled since it produces an issue on Debian i386
if(X86_64)
VP_OPTION(ENABLE_AVX "" "" "Enable AVX instructions" "" OFF) # should be explicitly enabled, used in matrix transpose code
endif()
#----------------------------------------------------------------------
# BLAS / LAPACK
#----------------------------------------------------------------------
if(NOT WINRT AND NOT IOS)
include(cmake/ChooseBlas.cmake)
endif()
# ----------------------------------------------------------------------------
# Handle RPATH
# ----------------------------------------------------------------------------
set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${VISP_LIB_INSTALL_PATH}")
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
if(ANDROID)
vp_update(VISP_JNI_INSTALL_PATH "${VISP_LIB_INSTALL_PATH}")
elseif(INSTALL_CREATE_DISTRIB)
vp_update(VISP_JNI_INSTALL_PATH "${VISP_JAR_INSTALL_PATH}/${VISP_ARCH}")
else()
vp_update(VISP_JNI_INSTALL_PATH "${VISP_JAR_INSTALL_PATH}")
endif()
vp_update(VISP_JNI_BIN_INSTALL_PATH "${VISP_JNI_INSTALL_PATH}")
if(NOT VISP_LIB_ARCHIVE_INSTALL_PATH)
set(VISP_LIB_ARCHIVE_INSTALL_PATH ${VISP_LIB_INSTALL_PATH})
endif()
# ----------------------------------------------------------------------------
# Path for additional contrib modules
# ----------------------------------------------------------------------------
set(VISP_CONTRIB_MODULES_PATH "" CACHE PATH "Where to look for additional contrib ViSP modules")
# Get the OS
set(OS ${CMAKE_SYSTEM_NAME})
set(OGRE_DIR $ENV{OGRE_DIR})
if(NOT OGRE_DIR) # For compat with previous ViSP versions
set(OGRE_DIR $ENV{OGRE_HOME})
endif()
if(OGRE_DIR)
# replace \ with / especially for windows
STRING(REGEX REPLACE "\\\\" "/" OGRE_DIR ${OGRE_DIR})
endif()
# add the path to detect Ogre3D
if(WIN32)
list(APPEND CMAKE_MODULE_PATH "${OGRE_DIR}/cmake")
list(APPEND CMAKE_MODULE_PATH "${OGRE_DIR}")
endif(WIN32)
if(UNIX)
list(APPEND CMAKE_MODULE_PATH "${OGRE_DIR}/cmake")
list(APPEND CMAKE_MODULE_PATH "${OGRE_DIR}/CMake")
list(APPEND CMAKE_MODULE_PATH "${OGRE_DIR}")
list(APPEND CMAKE_MODULE_PATH "/usr/local/lib/OGRE/cmake")
list(APPEND CMAKE_MODULE_PATH "/usr/lib/OGRE/cmake")
list(APPEND CMAKE_MODULE_PATH "/usr/local/lib64/OGRE/cmake")
list(APPEND CMAKE_MODULE_PATH "/usr/lib64/OGRE/cmake")
list(APPEND CMAKE_MODULE_PATH "/usr/share/OGRE/cmake/modules")
endif(UNIX)
# ----------------------------------------------------------------------------
# Check for system libs
# ----------------------------------------------------------------------------
include(CheckLibraryExists)
if(UNIX)
# try to found -lm requested on some platforms to link with X11
find_library(M_LIBRARY NAMES m)
mark_as_advanced(M_LIBRARY)
if(M_LIBRARY)
list(APPEND VISP_LINKER_LIBS ${M_LIBRARY})
endif()
# try to found -lsocket -lnsl requested for vpNetwork and vpSickLDMRS
find_library(SOCKET_LIBRARY NAMES socket)
find_library(NSL_LIBRARY NAMES nsl)
mark_as_advanced(SOCKET_LIBRARY NSL_LIBRARY)
if (SOCKET_LIBRARY)
list(APPEND VISP_LINKER_LIBS ${SOCKET_LIBRARY})
endif()
if (NSL_LIBRARY)
list(APPEND VISP_LINKER_LIBS ${NSL_LIBRARY})
endif()
endif()
if(WIN32)
# winmm.lib for timeGetTime() under windows
check_library_exists("winmm.lib" getch "" HAVE_LIBWINMM) # for timeGetTime()
if(HAVE_LIBWINMM)
list(APPEND VISP_LINKER_LIBS "winmm.lib")
endif()
# rpcrt4.lib for timeGetTime() under windows
check_library_exists("rpcrt4.lib" getch "" HAVE_LIBRPCRT4) # for UuidToString()
if(HAVE_LIBRPCRT4)
list(APPEND VISP_LINKER_LIBS "rpcrt4.lib")
endif()
endif()
if(WIN32 AND NOT CYGWIN)
VP_CHECK_PACKAGE(WS2_32)
# Should be before include(cmake/VISPDetectCXXStandard.cmake)
VP_CHECK_FUNCTION_EXISTS(inet_ntop "${WS2_32_LIBRARY}")
else()
# Should be before include(cmake/VISPDetectCXXStandard.cmake)
VP_CHECK_FUNCTION_EXISTS(inet_ntop "")
endif()
#--------------------------------------------------------------------
# Option management
#--------------------------------------------------------------------
# Choose static or shared libraries.
VP_OPTION(BUILD_SHARED_LIBS "" "" "Build ViSP shared libraries (.dll/.so) instead of static ones (.lib/.a)" "" NOT (ANDROID OR APPLE_FRAMEWORK))
# Build examples as an option.
VP_OPTION(BUILD_EXAMPLES "" "" "Build ViSP examples" "" ON)
# Build examples as an option.
VP_OPTION(BUILD_TESTS "" "" "Build ViSP tests" "" ON)
VP_OPTION(BUILD_COVERAGE "" "" "Enables test coverage" "" OFF IF (BUILD_TESTS AND CMAKE_COMPILER_IS_GNUCXX))
# Build java as an option
VP_OPTION(BUILD_JAVA "" "" "Enable Java support" "" (ANDROID OR NOT CMAKE_CROSSCOMPILING) IF (ANDROID OR (NOT APPLE_FRAMEWORK AND NOT WINRT)) )
VP_OPTION(BUILD_FAT_JAVA_LIB "" "" "Create Java wrapper exporting all functions of ViSP library (requires static build of ViSP modules)" "" ANDROID IF NOT BUILD_SHARED_LIBS)
VP_OPTION(BUILD_ANDROID_SERVICE "" "" "Build ViSP Manager for Google Play" "" OFF IF ANDROID )
VP_OPTION(BUILD_ANDROID_PROJECTS "" "" "Build Android projects providing .apk files" "" ON IF ANDROID )
VP_OPTION(BUILD_ANDROID_EXAMPLES "" "" "Build examples for Android platform" "" ON IF ANDROID )
VP_OPTION(INSTALL_ANDROID_EXAMPLES "" "" "Install Android examples" "" OFF IF ANDROID )
# Build demos as an option.
VP_OPTION(BUILD_DEMOS "" "" "Build ViSP demos" "" ON)
# Build tutorials as an option.
VP_OPTION(BUILD_TUTORIALS "" "" "Build ViSP tutorials" "" ON)
# Build apps as an option.
vp_check_subdirectories(VISP_CONTRIB_MODULES_PATH apps APPS_FOUND)
if(APPS_FOUND)
VP_OPTION(BUILD_APPS "" "" "Build ViSP apps" "" ON)
endif()
# Build deprecated functions as an option.
VP_OPTION(BUILD_DEPRECATED_FUNCTIONS "" "" "Build deprecated functionalities" "" ON)
VP_OPTION(ACTIVATE_WARNING_3PARTY_MUTE "" "" "Add flags to disable warning due to known 3rd parties" "" ON)
# Debug and trace cflags
set(ENABLE_DEBUG_LEVEL 0 CACHE STRING "Set a debug level value between 0 and 9")
if(ENABLE_DEBUG_LEVEL)
if(ENABLE_DEBUG_LEVEL MATCHES "^([0-9]+)?$")
set(VP_DEBUG_MODE ${CMAKE_MATCH_1})
set(VP_DEBUG TRUE)
set(VP_TRACE TRUE)
else()
set(VP_DEBUG_MODE 0)
endif()
else()
set(VP_DEBUG_MODE 0)
endif()
VP_OPTION(BUILD_WITH_STATIC_CRT "" "" "Enables use of staticaly linked CRT for staticaly linked ViSP" "" ON IF MSVC)
# ----------------------------------------------------------------------------
# Build options
# ----------------------------------------------------------------------------
VP_OPTION(ENABLE_SOLUTION_FOLDERS "" "" "Solution folder in Visual Studio or in other IDEs" "" (MSVC_IDE OR CMAKE_GENERATOR MATCHES Xcode))
# Note that it is better to set ENABLE_MOMENTS_COMBINE_MATRICES to OFF
VP_OPTION(ENABLE_MOMENTS_COMBINE_MATRICES "" "" "Use linear combination of matrices instead of linear combination of moments to compute interaction matrices." "" OFF)
VP_OPTION(ENABLE_TEST_WITHOUT_DISPLAY "" "" "Don't use display feature when testing" "" ON)
VP_OPTION(ENABLE_FULL_DOC "" "" "Build doc with internal classes that are by default not part of the doc" "" OFF)
if(ENABLE_SOLUTION_FOLDERS)
set_property(GLOBAL PROPERTY USE_FOLDERS ON)
set_property(GLOBAL PROPERTY PREDEFINED_TARGETS_FOLDER "CMakeTargets")
endif()
if(ENABLE_TEST_WITHOUT_DISPLAY)
set(OPTION_TO_DESACTIVE_DISPLAY "-d")
endif()
# Check for Inria's robot drivers
VP_CHECK_PACKAGE(RAW1394)
VP_CHECK_PACKAGE(RT)
VP_CHECK_PACKAGE(CALINUX)
VP_CHECK_PACKAGE(IRISA)
# check for linux/parport.h
VP_CHECK_PACKAGE(PARPORT)
# OpenGL
VP_CHECK_PACKAGE(OpenGL)
# for pioneer
VP_CHECK_PACKAGE(RT)
VP_CHECK_PACKAGE(DL)
# for Afma6 calibration data
VP_CHECK_PACKAGE(Afma6_data)
if(AFMA6_DATA_FOUND)
set(VISP_AFMA6_DATA_PATH ${AFMA6_DATA_PATH})
else()
set(VISP_AFMA6_DATA_PATH "")
endif()
# for Viper850 calibration data
VP_CHECK_PACKAGE(Viper850_data)
if(VIPER850_DATA_FOUND)
set(VISP_VIPER850_DATA_PATH ${VIPER850_DATA_PATH})
else()
set(VISP_VIPER850_DATA_PATH "")
endif()
# for Viper650 calibration data
VP_CHECK_PACKAGE(Viper650_data)
if(VIPER650_DATA_FOUND)
set(VISP_VIPER650_DATA_PATH ${VIPER650_DATA_PATH})
else()
set(VISP_VIPER650_DATA_PATH "")
endif()
find_host_program(XRANDR xrandr)
VP_CHECK_PACKAGE(C99)
VP_OPTION(USE_AFMA4 "" "" "Include Afma4 robot support" "" ON IF (RAW1394_FOUND AND RT_FOUND AND CALINUX_FOUND AND IRISA_FOUND AND NOT WINRT AND NOT IOS))
VP_OPTION(USE_AFMA6 "" "" "Include Afma6 robot support" "" ON IF (RAW1394_FOUND AND RT_FOUND AND CALINUX_FOUND AND IRISA_FOUND AND NOT WINRT AND NOT IOS))
VP_OPTION(USE_VIPER650 "" "" "Include Viper s650 robot support" "" ON IF (RAW1394_FOUND AND RT_FOUND AND CALINUX_FOUND AND IRISA_FOUND AND NOT WINRT AND NOT IOS))
VP_OPTION(USE_VIPER850 "" "" "Include Viper s850 robot support" "" ON IF (RAW1394_FOUND AND RT_FOUND AND CALINUX_FOUND AND IRISA_FOUND AND NOT WINRT AND NOT IOS))
VP_OPTION(USE_UR_RTDE ur_rtde QUIET "Include Universal Robot RTDE C++ interface support for UR robots" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_VIRTUOSE Virtuose "" "Include Virtuose SDK support for Haption devices" "" ON IF NOT WINRT)
VP_OPTION(USE_ARSDK ARSDK QUIET "Include Parrot ARSDK support" "" ON IF NOT WINRT AND NOT IOS)
if(USE_ARSDK)
VP_OPTION(USE_FFMPEG FFMPEG "" "Include ffmpeg support for Parrot Bebop2" "" ON)
endif()
VP_OPTION(USE_FRANKA Franka QUIET "Include libfranka SDK support for Franka Emika robots" "" ON IF NOT WINRT AND NOT IOS)
# Note: libfranka needs c++14 option to build, but to use the library c++11 is enough.
# That's why, setting USE_CXX_STANDARD=11 (which is the default) allows to use libfranka.
VP_OPTION(USE_JACOSDK JacoSDK "" "Include Kinova Jaco SDK support" "" ON IF NOT MINGW AND NOT APPLE AND NOT WINRT AND NOT IOS)
VP_OPTION(USE_MAVSDK MAVSDK QUIET "Include mavsdk support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_DC1394 DC1394 "" "Include dc1394 support" "" ON IF UNIX AND NOT WINRT AND NOT IOS)
VP_OPTION(USE_V4L2 V4L2 "" "Include v4l2 support" "" ON IF UNIX AND NOT WINRT AND NOT IOS)
VP_OPTION(USE_FLYCAPTURE FlyCapture "" "Include FlyCapture SDK support for FLIR cameras" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_PYLON Pylon "" "Include Pylon SDK support for Basler cameras" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_UEYE Ueye "" "Include uEye SDK support for IDS cameras" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_COMEDI Comedi "" "Include comedi (linux control and measurement device interface) support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_FTIITSDK FTIITSDK "" "Include IIT force-torque SDK support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_BICLOPS BICLOPS "" "Include biclops support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_PTU46 PTU46 "" "Include ptu-46 support" "" ON IF UNIX AND NOT WINRT AND NOT IOS)
VP_OPTION(USE_FLIRPTUSDK FlirPtuSDK "" "Include Flir PTU SDK support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_CMU1394 CMU1394 "" "Include cmu1494 support" "" ON IF WIN32 AND NOT WINRT AND NOT IOS)
VP_OPTION(USE_QUALISYS Qualisys "" "Include Qualisys SDK support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_VICON Vicon "" "Include Vicon SDK support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_GDI GDI "" "Include gdi support" "" ON IF WIN32 AND NOT WINRT AND NOT IOS)
#VP_OPTION(USE_DIRECT3D DIRECT3D "" "Include d3d support" "" ON IF WIN32 AND NOT WINRT AND NOT IOS)
VP_OPTION(USE_DIRECTSHOW DIRECTSHOW "" "Include dshow support" "" ON IF WIN32 AND NOT WINRT AND NOT IOS)
VP_OPTION(USE_OPENMP OpenMP "" "Include openmp support" "" ON)
VP_OPTION(USE_EIGEN3 Eigen3 QUIET "Include eigen3 support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_COIN3D "Coin3D;MyCoin3D" "" "Include coin3d support" "" ON IF OPENGL_FOUND AND NOT WINRT AND NOT IOS)
VP_OPTION(USE_YARP YARP QUIET "Include yarp support" "YARP_DIR" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_OGRE OGRE QUIET "Include Ogre support" "OGRE_DIR" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_OIS OIS QUIET "Include Ogre/ois support" "OIS_DIR" ON IF USE_OGRE AND NOT WINRT AND NOT IOS)
VP_OPTION(USE_LIBFREENECT LIBFREENECT "" "Include libfreenect support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_LIBUSB_1 LIBUSB_1 "" "Include libusb-1 support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_REALSENSE RealSense "" "Include RealSense SDK support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_REALSENSE2 RealSense2 "" "Include RealSense2 SDK support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_OCCIPITAL_STRUCTURE Occipital_Structure "" "Include Occipital Structure SDK support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_SOWIN SOWIN "" "Include Coin/SoWin support" "" OFF IF (WIN32 AND USE_COIN3D) AND NOT WINRT AND NOT IOS)
# Check for SoQt 1.6.0 linked to Qt5 or older version with SOQT
VP_OPTION(USE_SOQT "SoQt;SOQT" QUIET "Include Coin/SoQt support" "" OFF IF USE_COIN3D AND NOT WINRT AND NOT IOS)
if(SOQT_FOUND) # SoQt < 1.6.0 that depends on Qt4 was found. We need an explicit Qt4 search
VP_OPTION(USE_QT Qt "" "Include Coin/SoQt/Qt support" "" ON IF USE_SOQT AND NOT WINRT AND NOT IOS)
endif()
VP_OPTION(USE_SOXT SOXT "" "Include Coin/SoXt support" "" OFF IF USE_COIN3D AND NOT WINRT AND NOT IOS)
set(THREADS_PREFER_PTHREAD_FLAG ON)
VP_OPTION(USE_PTHREAD Threads "" "Include pthread support" "" ON IF NOT (WIN32 OR MINGW))
# We need threads with c++11
if((VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98) AND NOT USE_PTHREAD)
if(Threads_FOUND)
message(WARNING "We need threads. Turn USE_PTHREAD=ON.")
unset(USE_PTHREAD)
set(USE_PTHREAD ON CACHE BOOL "Include pthread support" FORCE)
endif()
endif()
VP_OPTION(USE_XML2 XML2 "" "Include xml support" "" ON IF NOT WINRT)
if(CMAKE_TOOLCHAIN_FILE)
# Find opencv2.framework for ios and naoqi
VP_OPTION(USE_OPENCV "MyOpenCV" QUIET "Include OpenCV support" "OpenCV_DIR;OpenCV_FOUND;OPENCV_FOUND" ON)
else()
VP_OPTION(USE_OPENCV "OpenCV;MyOpenCV" QUIET "Include OpenCV support" "OpenCV_DIR;OpenCV_FOUND;OPENCV_FOUND" ON)
endif()
VP_OPTION(USE_ZLIB "ZLIB;MyZLIB" "" "Include zlib support" "" ON IF NOT WINRT AND NOT IOS)
set(X11_ADVANCED "X11_xcb_util_LIB;X11_xcb_util_INCLUDE_PATH;X11_xcb_xfixes_INCLUDE_PATH;X11_xcb_xfixes_LIB")
VP_OPTION(USE_X11 X11 "" "Include X11 support" "${X11_ADVANCED}" ON IF NOT WINRT AND NOT IOS)
# The native FindGTK2.cmake doesn't consider libgobject-2.0 that is
# requested by ViSP. That's why we use our FindMyGTK2.cmake
VP_OPTION(USE_GTK2 MyGTK2 "" "Include gtk2 support" "" OFF IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_JPEG "JPEG;MyJPEG" "" "Include jpeg support" "" ON IF NOT IOS)
VP_OPTION(USE_PNG "PNG;MyPNG" "" "Include png support" "" ON IF NOT IOS)
# To control Pioneer mobile robots, under UNIX we need Aria, pthread, rt and dl 3rd party libraries
VP_OPTION(USE_ARIA ARIA "" "Include aria support" "" ON IF NOT WINRT AND NOT IOS)
#VP_OPTION(USE_RT RT "" "Include rt support" "" ON)
#VP_OPTION(USE_DL DL "" "Include dl support" "" ON)
# bar codes
VP_OPTION(USE_ZBAR ZBAR "" "Include zbar support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_DMTX DMTX "" "Include dmtx support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_PCL PCL QUIET "Include Point Cloud Library support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_TENSORRT TensorRT "" "Include TensorRT support" "" ON IF NOT WINRT AND NOT IOS)
VP_OPTION(USE_NLOHMANN_JSON nlohmann_json QUIET "Include nlohmann json support" "" ON)
# ----------------------------------------------------------------------------
# Handle cxx standard depending on specific 3rd parties. Should be before module parsing and VISP3rdParty.cmake include
# ----------------------------------------------------------------------------
# if c++ standard is not at leat c++11, force 3rd parties that require at least c++11 to OFF
if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_11)
if(USE_REALSENSE)
message(WARNING "librealsense 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable librealsense usage turning USE_REALSENSE=OFF.")
unset(USE_REALSENSE)
set(USE_REALSENSE OFF CACHE BOOL "Include RealSense SDK support" FORCE)
endif()
if(USE_REALSENSE2)
message(WARNING "librealsense2 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable librealsense2 usage turning USE_REALSENSE2=OFF.")
unset(USE_REALSENSE2)
set(USE_REALSENSE2 OFF CACHE BOOL "Include RealSense2 SDK support" FORCE)
endif()
if(USE_FRANKA)
message(WARNING "libfranka 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable libfranka usage turning USE_FRANKA=OFF.")
unset(USE_FRANKA)
set(USE_FRANKA OFF CACHE BOOL "Include libfranka SDK support for Franka Emika robots" FORCE)
endif()
if(USE_UR_RTDE)
message(WARNING "ur_rtde 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable ur_rtde usage turning USE_UR_RTDE=OFF.")
unset(USE_UR_RTDE)
set(USE_UR_RTDE OFF CACHE BOOL "Include ur_rtde SDK support for Universal Robots robots" FORCE)
endif()
if((OpenCV_VERSION VERSION_GREATER 4.0.0) OR (OpenCV_VERSION VERSION_EQUAL 4.0.0))
# if c++ standard is not at least 11: disable opencv 4.x usage
message(WARNING "OpenCV ${OpenCV_VERSION} 3rd party was detected and needs c++11 or higher compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable OpenCV usage turning USE_OPENCV=OFF")
unset(USE_OPENCV)
set(USE_OPENCV OFF CACHE BOOL "Include OpenCV support" FORCE)
endif()
# Downgrade to cxx98 to completely disable cxx11
unset(CMAKE_CXX_STANDARD)
endif()
if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_17)
if(USE_MAVSDK)
message(WARNING "mavsdk 3rd party was detected and needs at least c++17 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable MAVSDK usage turning USE_MAVSDK=OFF.")
unset(USE_MAVSDK)
set(USE_MAVSDK OFF CACHE BOOL "Include mavsdk support for mavlink compatible devices" FORCE)
endif()
endif()
# Upgrade c++ standard to 14 for pcl 1.9.1.99 that enables by default c++ 14 standard
if(USE_PCL)
if(PCL_VERSION VERSION_GREATER 1.9.1)
# pcl > 1.9.1 requires c++14
# if c++14 option is OFF, force to c++14
if((VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_14) AND CXX14_STANDARD_FOUND)
message(WARNING "pcl ${PCL_VERSION} 3rd party was detected and needs c++14 compiler flags that is turned off. Thus to enable pcl usage we turn USE_CXX_STANDARD=14.")
set(USE_CXX_STANDARD "14" CACHE STRING "cxx standard" FORCE) # Update cmake-gui option
unset(CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
set(VISP_CXX_STANDARD ${VISP_CXX_STANDARD_14}) # for vpConfig.h
endif()
endif()
endif()
# Upgrade c++ standard to 14 for IIT force-torque SDK that needs at least c++ 14 standard
if(USE_FTIITSDK)
if((VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_14) AND CXX14_STANDARD_FOUND)
message(WARNING "IIT force-torque SDK 3rd party was detected and needs c++14 compiler flags that is turned off. Thus to enable IIT SDK usage we turn USE_CXX_STANDARD=14.")
set(USE_CXX_STANDARD "14" CACHE STRING "cxx standard" FORCE) # Update cmake-gui option
unset(CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
set(VISP_CXX_STANDARD ${VISP_CXX_STANDARD_14}) # for vpConfig.h
endif()
endif()
# ----------------------------------------------------------------------------
# Build-in 3rd parties. Should be after c++ standard potential modification
# ----------------------------------------------------------------------------
VP_OPTION(WITH_PTHREAD "" "" "Build pthread as built-in library" "" ON IF (NOT USE_PTHREAD) AND (WIN32 OR MINGW) AND (NOT WINRT_8_1) AND (NOT WINRT_8_0))
# Since C99 is not supported by MSVC 2010 or prior, we disable apriltag if MSVC < 2012
VP_OPTION(WITH_APRILTAG "" "" "Build AprilTag as built-in library" "" ON IF (USE_PTHREAD OR WITH_PTHREAD) AND (NOT WINRT_8_1) AND (NOT WINRT_8_0) AND (NOT MSVC_VERSION LESS 1700))
VP_OPTION(WITH_APRILTAG_BIG_FAMILY "" "" "Build AprilTag big family (41h12, 48h12, 49h12, 52h13)" "" OFF IF WITH_APRILTAG)
VP_OPTION(WITH_ATIDAQ "" "" "Build atidaq-c as built-in library" "" ON IF USE_COMEDI AND NOT WINRT)
VP_OPTION(WITH_CLIPPER "" "" "Build clipper as built-in library" "" ON IF USE_OPENCV)
VP_OPTION(WITH_LAPACK "" "" "Build lapack as built-in library" "" ON IF NOT USE_LAPACK)
VP_OPTION(WITH_QBDEVICE "" "" "Build qbdevice-api as built-in library" "" ON IF (VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98) AND (NOT WINRT) AND (NOT IOS))
VP_OPTION(WITH_TAKKTILE2 "" "" "Build Right Hand takktile2 driver as built-in library" "" ON IF (VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98) AND (NOT WIN32) AND (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
VP_OPTION(WITH_CATCH2 "" "" "Use catch2" "" ON IF (VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98))
# ----------------------------------------------------------------------------
# Check for specific functions. Should be after cxx standard detection in VISPDetectCXXStandard.cmake and potential modification depending on pcl, realsense2, libfranka
# ----------------------------------------------------------------------------
VP_CHECK_PACKAGE(IsNaN)
VP_CHECK_PACKAGE(IsInf)
VP_CHECK_PACKAGE(Round)
VP_CHECK_PACKAGE(Erfc)
VP_CHECK_PACKAGE(Strtof)
VP_CHECK_PACKAGE(IsFinite)
VP_CHECK_PACKAGE(Log1p)
#----------------------------------------------------------------------
# For Dart server and tests
# We use CDash set through CTestConfig.cmake file
# Dashboards are sent to https://cdash-ci.inria.fr/index.php?project=ViSP
#----------------------------------------------------------------------
if(BUILD_TESTS)
enable_testing()
mark_as_advanced(DART_ROOT)
mark_as_advanced(BUILD_TESTING)
endif()
#----------------------------------------------------------------------
# Try to find doxygen for documentation generation
# Use "make visp_doc" target to generate the documentation
#----------------------------------------------------------------------
find_package(Doxygen)
if(DOXYGEN_FOUND)
set(VISP_HAVE_DOXYGEN "yes") # for header vpConfig.h
## we need latex for doxygen because of the formulas
find_package(LATEX)
if(NOT LATEX_COMPILER)
message(STATUS "latex command LATEX_COMPILER not found but usually required. You will probably get warnings and user interaction on doxy run.")
endif()
if(NOT MAKEINDEX_COMPILER)
message(STATUS "makeindex command MAKEINDEX_COMPILER not found but usually required.")
endif()
if(NOT DVIPS_CONVERTER)
message(STATUS "dvips command DVIPS_CONVERTER not found but usually required.")
endif()
# set vars used in doxygen config file
# - DOXYGEN_STRIP_FROM_INC_PATH corresponding to STRIP_FROM_INC_PATH in the doxy file
set(DOXYGEN_STRIP_FROM_INC_PATH "")
foreach(m ${VISP_MODULES_BUILD} ${VISP_MODULES_DISABLED_USER} ${VISP_MODULES_DISABLED_AUTO} ${VISP_MODULES_DISABLED_FORCE})
if(m MATCHES "^visp_")
set(DOXYGEN_STRIP_FROM_INC_PATH "${DOXYGEN_STRIP_FROM_INC_PATH} \\ \n\t\t\t \"${VISP_MODULE_${m}_LOCATION}/include\"")
endif()
endforeach()
# - DOXYGEN_IMAGE_PATH corresponding to IMAGE_PATH in the doxy file
set(DOXYGEN_IMAGE_PATH "\"${VISP_SOURCE_DIR}/doc/image\"")
if(VISP_CONTRIB_MODULES_PATH)
foreach(contrib ${VISP_CONTRIB_MODULES_PATH})
set(image_path_ "${VISP_CONTRIB_MODULES_PATH}/doc/image")
if(EXISTS ${image_path_})
set(DOXYGEN_IMAGE_PATH "${DOXYGEN_IMAGE_PATH} \\ \n\t\t\t \"${image_path_}\"")
endif()
endforeach()
endif()
# - DOXYGEN_CITE_BIB_FILES corresponding to CITE_BIB_FILES in the doxy file
set(DOXYGEN_CITE_BIB_FILES "\"${VISP_SOURCE_DIR}/doc/biblio/references.bib\"")
if(VISP_CONTRIB_MODULES_PATH)
set(cite_bib_file_ "${VISP_CONTRIB_MODULES_PATH}/doc/biblio/references.bib")
if(EXISTS ${cite_bib_file_})
set(DOXYGEN_CITE_BIB_FILES "${DOXYGEN_CITE_BIB_FILES} \\ \n\t\t\t \"${cite_bib_file_}\"")
endif()
endif()
# - DOXYGEN_SHOULD_SKIP_THIS var
if (ENABLE_FULL_DOC)
set(DOXYGEN_SHOULD_SKIP_THIS "")
else()
set(DOXYGEN_SHOULD_SKIP_THIS "DOXYGEN_SHOULD_SKIP_THIS")
endif()
# - DOXYGEN_USE_MATHJAX corresponding to USE_MATHJAX in the doxy file
VP_OPTION(USE_MATHJAX "" "" "Use MathJax to generate latex formula" "" OFF)
if (USE_MATHJAX)
set(DOXYGEN_USE_MATHJAX "YES")
else()
set(DOXYGEN_USE_MATHJAX "NO")
endif()
configure_file(${VISP_SOURCE_DIR}/doc/config-doxygen.in
${VISP_DOC_DIR}/config-doxygen
@ONLY )
# set vars used in mainpage.dox.in
# - VISP_MAINPAGE_EXTENSION
set(VISP_MAINPAGE_EXTENSION "")
if(VISP_CONTRIB_MODULES_PATH)
foreach(contrib ${VISP_CONTRIB_MODULES_PATH})
set(mainpage_ext_file_ "${contrib}/doc/mainpage_extension.doc")
if(EXISTS ${mainpage_ext_file_})
file(READ ${mainpage_ext_file_} mainpage_ext_content_)
set(VISP_MAINPAGE_EXTENSION "${VISP_MAINPAGE_EXTENSION}\n${mainpage_ext_content_}")
endif()
endforeach()
endif()
configure_file(${VISP_SOURCE_DIR}/doc/mainpage.dox.in
${VISP_DOC_DIR}/mainpage.dox
@ONLY )
else()
set(VISP_HAVE_DOXYGEN "no") # for header vpConfig.h
endif()
# ----------------------------------------------------------------------------
# Extra ViSP targets: uninstall, etc.
# ----------------------------------------------------------------------------
include(cmake/VISPExtraTargets.cmake)
# Ogre plugins and resources
include(cmake/OgreTools.cmake)
if(USE_OGRE)
vp_set_ogre_media()
endif()
#----------------------------------------------------------------------
# Add definitions
#----------------------------------------------------------------------
# With Visual Studio 2005, Microsoft deprecates the standard C library, for
# example fopen() and sprintf(), to non-portable functions fopen_s() and
# sprintf_s(). These functions are considered by Microsoft more secure. This is
# a worthwhile exercise ! The use of these deprecated functions causes a lot of
# warnings. To suppress it, we add the _CRT_SECURE_NO_DEPRECATE preprocessor
# definition
if(WIN32 AND MSVC)
add_definitions("-D_CRT_SECURE_NO_DEPRECATE")
add_definitions("-D_SCL_SECURE_NO_WARNINGS") # to avoid warning C4996; std::copy::_Unchecked_iterators::_Deprecate
endif()
#----------------------------------------------------------------------
# Use statically or dynamically linked CRT?
# Default: dynamic
#----------------------------------------------------------------------
if(MSVC)
include(cmake/VISPCRTLinkage.cmake)
endif(MSVC)
#----------------------------------------------------------------------
# Create and install visp-config.1.gz man page
#----------------------------------------------------------------------
if(UNIX AND NOT ANDROID)
find_host_program(GZIP gzip)
if(GZIP)
file(MAKE_DIRECTORY ${VISP_BINARY_DIR}/doc/man/man1)
add_custom_command(
OUTPUT ${VISP_BINARY_DIR}/doc/man/man1/visp-config.1.gz
COMMAND ${GZIP} -9 -c ${CMAKE_CURRENT_SOURCE_DIR}/doc/man/man1/visp-config.1 > ${VISP_BINARY_DIR}/doc/man/man1/visp-config.1.gz
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/doc/man/man1/visp-config.1
)
add_custom_target(man ALL
DEPENDS ${VISP_BINARY_DIR}/doc/man/man1/visp-config.1.gz
)
install(FILES
${VISP_BINARY_DIR}/doc/man/man1/visp-config.1.gz
DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/man/man1
PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
COMPONENT dev
)
endif()
endif()
#----------------------------------------------------------------------
# Add 3rd-party libraries
#----------------------------------------------------------------------
include(cmake/VISP3rdParty.cmake)
# --- Java Support ---
if(BUILD_JAVA)
if(ANDROID)
include(cmake/android/ViSPDetectAndroidSDK.cmake)
else()
include(cmake/VISPDetectApacheAnt.cmake)
find_package(JNI)
endif()
endif()
if(ANDROID AND ANDROID_EXECUTABLE AND ANT_EXECUTABLE AND (ANT_VERSION VERSION_GREATER 1.7) AND (ANDROID_TOOLS_Pkg_Revision GREATER 13))
SET(CAN_BUILD_ANDROID_PROJECTS TRUE)
else()
SET(CAN_BUILD_ANDROID_PROJECTS FALSE)
endif()
#-----------------------------------------------------------------------------
# Add extra compilation flags
#-----------------------------------------------------------------------------
include(cmake/AddExtraCompilationFlags.cmake) # should be called after FindOpenMP and cxx standard potential changes
#----------------------------------------------------------------------
# Modules
#----------------------------------------------------------------------
include(cmake/VISPModule.cmake)
# process subdirectories
add_subdirectory(modules)
#-------------------------------------------------------------------------------
# specific things that need to be updated in vpConfig.h
#-------------------------------------------------------------------------------
VP_SET(VISP_HAVE_OPENMP TRUE IF USE_OPENMP)
VP_SET(VISP_HAVE_OPENCV TRUE IF (BUILD_MODULE_visp_core AND USE_OPENCV))
VP_SET(VISP_HAVE_X11 TRUE IF (BUILD_MODULE_visp_core AND USE_X11))
VP_SET(VISP_HAVE_GTK TRUE IF (BUILD_MODULE_visp_core AND USE_GTK2))
VP_SET(VISP_HAVE_GDI TRUE IF (BUILD_MODULE_visp_core AND USE_GDI))
VP_SET(VISP_HAVE_D3D9 TRUE IF (BUILD_MODULE_visp_core AND USE_DIRECT3D))
VP_SET(VISP_HAVE_JPEG TRUE IF (BUILD_MODULE_visp_core AND USE_JPEG))
VP_SET(VISP_HAVE_PNG TRUE IF (BUILD_MODULE_visp_core AND USE_PNG))
VP_SET(VISP_HAVE_YARP TRUE IF (BUILD_MODULE_visp_core AND USE_YARP))
VP_SET(VISP_HAVE_EIGEN3 TRUE IF (BUILD_MODULE_visp_core AND USE_EIGEN3))
VP_SET(VISP_HAVE_MKL TRUE IF (BUILD_MODULE_visp_core AND USE_MKL))
VP_SET(VISP_HAVE_NETLIB TRUE IF (BUILD_MODULE_visp_core AND USE_NETLIB))
VP_SET(VISP_HAVE_OPENBLAS TRUE IF (BUILD_MODULE_visp_core AND USE_OPENBLAS))
VP_SET(VISP_HAVE_ATLAS TRUE IF (BUILD_MODULE_visp_core AND USE_ATLAS))
VP_SET(VISP_HAVE_GSL TRUE IF (BUILD_MODULE_visp_core AND USE_GSL))
VP_SET(VISP_HAVE_LAPACK TRUE IF (BUILD_MODULE_visp_core AND (USE_LAPACK OR WITH_LAPACK)))
VP_SET(VISP_HAVE_LAPACK_ATLAS TRUE IF (BUILD_MODULE_visp_core AND USE_ATLAS))
VP_SET(VISP_HAVE_LAPACK_BUILT_IN TRUE IF (BUILD_MODULE_visp_core AND WITH_LAPACK))
VP_SET(VISP_HAVE_LAPACK_GSL TRUE IF (BUILD_MODULE_visp_core AND USE_GSL))
VP_SET(VISP_HAVE_LAPACK_MKL TRUE IF (BUILD_MODULE_visp_core AND USE_MKL))
VP_SET(VISP_HAVE_LAPACK_NETLIB TRUE IF (BUILD_MODULE_visp_core AND USE_NETLIB))
VP_SET(VISP_HAVE_LAPACK_OPENBLAS TRUE IF (BUILD_MODULE_visp_core AND USE_OPENBLAS))
VP_SET(VISP_HAVE_PTHREAD TRUE IF (BUILD_MODULE_visp_core AND USE_PTHREAD))
VP_SET(VISP_HAVE_XML2 TRUE IF (BUILD_MODULE_visp_core AND USE_XML2))
VP_SET(VISP_HAVE_PCL TRUE IF (BUILD_MODULE_visp_core AND USE_PCL))
VP_SET(VISP_HAVE_TENSORRT TRUE IF (BUILD_MODULE_visp_core AND USE_TENSORRT))
VP_SET(VISP_HAVE_NLOHMANN_JSON TRUE IF (BUILD_MODULE_visp_core AND USE_NLOHMANN_JSON))
VP_SET(VISP_HAVE_OGRE TRUE IF (BUILD_MODULE_visp_ar AND USE_OGRE))
VP_SET(VISP_HAVE_OIS TRUE IF (BUILD_MODULE_visp_ar AND USE_OIS))
VP_SET(VISP_HAVE_COIN3D TRUE IF (BUILD_MODULE_visp_ar AND USE_COIN3D))
VP_SET(VISP_HAVE_SOWIN TRUE IF (BUILD_MODULE_visp_ar AND USE_SOWIN))
VP_SET(VISP_HAVE_SOXT TRUE IF (BUILD_MODULE_visp_ar AND USE_SOXT))
VP_SET(VISP_HAVE_SOQT TRUE IF (BUILD_MODULE_visp_ar AND USE_SOQT))
VP_SET(VISP_HAVE_QT TRUE IF (BUILD_MODULE_visp_ar AND USE_QT))
VP_SET(VISP_HAVE_ZBAR TRUE IF (BUILD_MODULE_visp_detection AND USE_ZBAR))
VP_SET(VISP_HAVE_DMTX TRUE IF (BUILD_MODULE_visp_detection AND USE_DMTX))
VP_SET(VISP_HAVE_AFMA4 TRUE IF (BUILD_MODULE_visp_robot AND USE_AFMA4))
VP_SET(VISP_HAVE_AFMA6 TRUE IF (BUILD_MODULE_visp_robot AND USE_AFMA6))
VP_SET(VISP_HAVE_VIPER650 TRUE IF (BUILD_MODULE_visp_robot AND USE_VIPER650))
VP_SET(VISP_HAVE_VIPER850 TRUE IF (BUILD_MODULE_visp_robot AND USE_VIPER850))
VP_SET(VISP_HAVE_UR_RTDE TRUE IF (BUILD_MODULE_visp_robot AND USE_UR_RTDE))
VP_SET(VISP_HAVE_FRANKA TRUE IF (BUILD_MODULE_visp_robot AND USE_FRANKA))
VP_SET(VISP_HAVE_JACOSDK TRUE IF (BUILD_MODULE_visp_robot AND USE_JACOSDK))
VP_SET(VISP_HAVE_MAVSDK TRUE IF (BUILD_MODULE_visp_robot AND USE_MAVSDK))
VP_SET(VISP_HAVE_BICLOPS TRUE IF (BUILD_MODULE_visp_robot AND USE_BICLOPS))
VP_SET(VISP_HAVE_PTU46 TRUE IF (BUILD_MODULE_visp_robot AND USE_PTU46))
VP_SET(VISP_HAVE_FLIR_PTU_SDK TRUE IF (BUILD_MODULE_visp_robot AND USE_FLIRPTUSDK))
VP_SET(VISP_HAVE_ARSDK TRUE IF (BUILD_MODULE_visp_robot AND USE_ARSDK))
VP_SET(VISP_HAVE_FFMPEG TRUE IF (BUILD_MODULE_visp_robot AND USE_FFMPEG))
#VP_SET(VISP_HAVE_PIONEER TRUE IF (BUILD_MODULE_visp_robot AND USE_ARIA))
if(BUILD_MODULE_visp_robot AND USE_ARIA)
if(UNIX AND USE_PTHREAD AND RT_FOUND AND DL_FOUND)
set(VISP_HAVE_PIONEER TRUE)
elseif(NOT UNIX)
set(VISP_HAVE_PIONEER TRUE)
endif()
endif()
#VP_SET(VISP_HAVE_VIRTUOSE TRUE IF (BUILD_MODULE_visp_robot AND USE_VIRTUOSE))
if(BUILD_MODULE_visp_robot AND USE_VIRTUOSE)
if(UNIX AND USE_PTHREAD AND RT_FOUND AND DL_FOUND)
set(VISP_HAVE_VIRTUOSE TRUE)
elseif(NOT UNIX)
set(VISP_HAVE_VIRTUOSE TRUE)
endif()
endif()
VP_SET(VISP_HAVE_COIN3D TRUE IF (BUILD_MODULE_visp_robot AND USE_COIN3D))
VP_SET(VISP_HAVE_V4L2 TRUE IF (BUILD_MODULE_visp_sensor AND USE_V4L2))
VP_SET(VISP_HAVE_DC1394 TRUE IF (BUILD_MODULE_visp_sensor AND USE_DC1394))
VP_SET(VISP_HAVE_CMU1394 TRUE IF (BUILD_MODULE_visp_sensor AND USE_CMU1394))
VP_SET(VISP_HAVE_DIRECTSHOW TRUE IF (BUILD_MODULE_visp_sensor AND USE_DIRECTSHOW))
VP_SET(VISP_HAVE_LIBFREENECT TRUE IF (BUILD_MODULE_visp_sensor AND USE_LIBFREENECT))
VP_SET(VISP_HAVE_LIBUSB_1 TRUE IF (BUILD_MODULE_visp_sensor AND USE_LIBUSB_1))
VP_SET(VISP_HAVE_REALSENSE TRUE IF (BUILD_MODULE_visp_sensor AND USE_REALSENSE))
VP_SET(VISP_HAVE_REALSENSE2 TRUE IF (BUILD_MODULE_visp_sensor AND USE_REALSENSE2))
VP_SET(VISP_HAVE_OCCIPITAL_STRUCTURE TRUE IF (BUILD_MODULE_visp_sensor AND USE_OCCIPITAL_STRUCTURE))
VP_SET(VISP_HAVE_FLYCAPTURE TRUE IF (BUILD_MODULE_visp_sensor AND USE_FLYCAPTURE))
VP_SET(VISP_HAVE_PYLON TRUE IF (BUILD_MODULE_visp_sensor AND USE_PYLON))
VP_SET(VISP_HAVE_UEYE TRUE IF (BUILD_MODULE_visp_sensor AND USE_UEYE))
VP_SET(VISP_HAVE_COMEDI TRUE IF (BUILD_MODULE_visp_sensor AND USE_COMEDI))
VP_SET(VISP_HAVE_ATIDAQ TRUE IF (BUILD_MODULE_visp_sensor AND WITH_ATIDAQ))
VP_SET(VISP_HAVE_FT_IIT_SDK TRUE IF (BUILD_MODULE_visp_sensor AND USE_FTIITSDK))
VP_SET(VISP_HAVE_CLIPPER TRUE IF (BUILD_MODULE_visp_mbt AND BUILD_MODULE_visp_klt AND WITH_CLIPPER))
VP_SET(VISP_HAVE_APRILTAG TRUE IF (BUILD_MODULE_visp_detection AND WITH_APRILTAG))
VP_SET(VISP_HAVE_APRILTAG_BIG_FAMILY TRUE IF (BUILD_MODULE_visp_detection AND WITH_APRILTAG AND WITH_APRILTAG_BIG_FAMILY))
VP_SET(VISP_HAVE_QBDEVICE TRUE IF (BUILD_MODULE_visp_robot AND WITH_QBDEVICE))
VP_SET(VISP_HAVE_TAKKTILE2 TRUE IF (BUILD_MODULE_visp_robot AND WITH_TAKKTILE2))
VP_SET(VISP_HAVE_CATCH2 TRUE IF (BUILD_MODULE_visp_core AND WITH_CATCH2))
VP_SET(VISP_HAVE_QUALISYS TRUE IF (BUILD_MODULE_visp_sensor AND USE_QUALISYS))
VP_SET(VISP_HAVE_VICON TRUE IF (BUILD_MODULE_visp_sensor AND USE_VICON))
VP_SET(VISP_BUILD_SHARED_LIBS TRUE IF BUILD_SHARED_LIBS) # for header vpConfig.h
VP_SET(VISP_HAVE_DC1394_CAMERA_ENUMERATE TRUE IF (USE_DC1394 AND DC1394_CAMERA_ENUMERATE_FOUND)) # for header vpConfig.h
VP_SET(VISP_HAVE_DC1394_FIND_CAMERAS TRUE IF (USE_DC1394 AND DC1394_FIND_CAMERAS_FOUND)) # for header vpConfig.h
VP_SET(VISP_HAVE_D3D9 TRUE IF USE_DIRECT3D) # for header vpConfig.h
VP_SET(VISP_HAVE_GTK TRUE IF USE_GTK2) # for header vpConfig.h
VP_SET(VISP_HAVE_XRANDR TRUE IF XRANDR) # for header vpConfig.h
# Check if libfreenect dependencies (ie libusb-1.0 and libpthread) are available
if(USE_LIBFREENECT AND USE_LIBUSB_1 AND USE_PTHREAD)
if(LIBFREENECT_FOUND AND LIBUSB_1_FOUND AND PTHREAD_FOUND)
set(VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES TRUE)
# The material is found. Check if libfreenect is an old version
include(CheckCXXSourceCompiles)
set(CMAKE_REQUIRED_LIBRARIES ${LIBFREENECT_LIBRARIES} ${PTHREAD_LIBRARIES} ${LIBUSB_1_LIBRARIES})
set(CMAKE_REQUIRED_INCLUDES ${LIBFREENECT_INCLUDE_DIRS} ${PTHREAD_INCLUDE_DIRS} ${LIBUSB_1_INCLUDE_DIRS})
CHECK_CXX_SOURCE_COMPILES("
#include <libfreenect.hpp>
class vpMyKinect : public Freenect::FreenectDevice
{
};
int main()
{
Freenect::Freenect<vpMyKinect> freenect;
}
" LIBFREENECT_IS_OLD_VERSION)
#MESSAGE("LIBFREENECT_IS_OLD_VERSION: ${LIBFREENECT_IS_OLD_VERSION}")
if(LIBFREENECT_IS_OLD_VERSION)
set(VISP_HAVE_LIBFREENECT_OLD TRUE) # for header vpConfig.h
else()
set(VISP_HAVE_LIBFREENECT_OLD FALSE) # for header vpConfig.h
endif()
endif()
endif()