Merge pull request #32 from pmoulon/develop_cmake_install

Enhance Cmake usability - Removing local copy of Eigen

Author: laurentkneip

CMakeLists.txt

@@ -1,28 +1,15 @@
-cmake_minimum_required(VERSION 2.4.6)
-project(opengv)
+cmake_minimum_required(VERSION 3.1.0)
+project(opengv CXX)
 
 set (OPENGV_VERSION_MAJOR 1)
 set (OPENGV_VERSION_MINOR 0)
 
-set(CMAKE_MODULE_PATH
-  ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
-
-# ==============================================================================
-# Check and enable C++11 support if available
-# ==============================================================================
-include(CXX11)
-check_for_cxx11_compiler(CXX11_COMPILER)
-# If a C++11 compiler is available, then set the appropriate flags
-IF(CXX11_COMPILER)
-  enable_cxx11()
-ENDIF(CXX11_COMPILER)
-
 # Set the build type.  Options are:
 #
 #  None (CMAKE_C_FLAGS or CMAKE_CXX_FLAGS used)
 #  Debug (CMAKE_C_FLAGS_DEBUG or CMAKE_CXX_FLAGS_DEBUG)
 #  Release (CMAKE_C_FLAGS_RELEASE or CMAKE_CXX_FLAGS_RELEASE)
-#  RelWithDebInfo (CMAKE_C_FLAGS_RELWITHDEBINFO or CMAKE_CXX_FLAGS_RELWITHDEBINFO
+#  RelWithDebInfo (CMAKE_C_FLAGS_RELWITHDEBINFO or CMAKE_CXX_FLAGS_RELWITHDEBINFO)
 #  MinSizeRel (CMAKE_C_FLAGS_MINSIZEREL or CMAKE_CXX_FLAGS_MINSIZEREL)
 
 set(CMAKE_BUILD_TYPE Release)
@@ -33,30 +20,38 @@ set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
 set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
 
 OPTION(BUILD_TESTS "Build tests" ON)
-OPTION(BUILD_SHARED_LIBS "Build shared libraries" OFF)
 OPTION(BUILD_PYTHON "Build Python extension" OFF)
-OPTION(BUILD_POSITION_INDEPENDENT_CODE "Build position independent code (-fPIC)" ON)
-OPTION(INSTALL_OPENGV "Install OpenGV on the system" OFF)
 
-add_definitions (-Wall -march=native -O3) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
+IF(MSVC)
+  set(BUILD_SHARED_LIBS OFF)
+ELSE()
+  OPTION(BUILD_SHARED_LIBS "Build shared libraries" OFF)
+  OPTION(BUILD_POSITION_INDEPENDENT_CODE "Build position independent code (-fPIC)" ON)
+ENDIF()
+
+IF(MSVC)
+  add_compile_options(/wd4514 /wd4267 $<$<CONFIG:DEBUG>:/bigobj>)
+ELSE()
+  add_definitions (-Wall -march=native -O3)
+ENDIF()
 
 IF(BUILD_POSITION_INDEPENDENT_CODE)
   add_definitions( -fPIC )
 ENDIF()
 
+ADD_DEFINITIONS (
+-Wall
+-Wextra
+#-Werror
+-Wwrite-strings
+-Wno-unused-parameter
+-fno-strict-aliasing
+)
 
-# get eigen (under windows)
-IF(WIN32)
-  set(ADDITIONAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/third_party
-                              ${PROJECT_SOURCE_DIR}/third_party/eigen3
-                              ${PROJECT_SOURCE_DIR}/third_party/eigen3/unsupported )
-ELSE()
-  set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/modules/")
-  find_package(Eigen REQUIRED)
-  set(ADDITIONAL_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIR}/unsupported )
-ENDIF()
-
-include_directories(${ADDITIONAL_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/include)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/modules/")
+find_package(Eigen REQUIRED)
+set(ADDITIONAL_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIR}/unsupported)
+include_directories(${PROJECT_SOURCE_DIR}/include)
 
 set( OPENGV_SOURCE_FILES
   src/absolute_pose/modules/main.cpp
@@ -177,18 +172,19 @@ set( OPENGV_HEADER_FILES
   include/opengv/relative_pose/MANoncentralRelativeMulti.hpp
   include/opengv/point_cloud/MAPointCloud.hpp )
 
-IF(WIN32)
-  add_library( opengv ${OPENGV_SOURCE_FILES} ${OPENGV_HEADER_FILES} )
-  add_library( random_generators test/random_generators.cpp test/random_generators.hpp test/experiment_helpers.cpp test/experiment_helpers.hpp test/time_measurement.cpp test/time_measurement.hpp )
-ELSE()
-  add_library( opengv ${OPENGV_SOURCE_FILES} ${OPENGV_HEADER_FILES} )
-  add_library( random_generators test/random_generators.cpp test/random_generators.hpp test/experiment_helpers.cpp test/experiment_helpers.hpp test/time_measurement.cpp test/time_measurement.hpp )
-  target_link_libraries(random_generators opengv)
-ENDIF()
-
+add_library( opengv ${OPENGV_SOURCE_FILES} ${OPENGV_HEADER_FILES} )
+add_library( random_generators test/random_generators.cpp test/random_generators.hpp test/experiment_helpers.cpp test/experiment_helpers.hpp test/time_measurement.cpp test/time_measurement.hpp )
+set_target_properties( opengv random_generators PROPERTIES
+  CXX_STANDARD 11
+  CXX_STANDARD_REQUIRED ON
+  DEBUG_POSTFIX d )
+target_include_directories( opengv PUBLIC ${ADDITIONAL_INCLUDE_DIRS} )
+target_include_directories( random_generators PRIVATE ${ADDITIONAL_INCLUDE_DIRS} )
+target_link_libraries( random_generators opengv )
 
 IF (BUILD_TESTS)
   enable_testing()
+  include_directories( ${ADDITIONAL_INCLUDE_DIRS} )
 
   add_executable( test_absolute_pose test/test_absolute_pose.cpp )
   target_link_libraries( test_absolute_pose opengv random_generators )
@@ -298,18 +294,46 @@ IF (BUILD_TESTS)
     WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
     COMMAND test_Sturm)
 
-ENDIF()
+  set_target_properties(
+    test_absolute_pose
+    test_absolute_pose_sac
+    test_noncentral_absolute_pose
+    test_noncentral_absolute_pose_sac
+    test_multi_noncentral_absolute_pose_sac
+    test_relative_pose
+    test_relative_pose_rotationOnly
+    test_relative_pose_rotationOnly_sac
+    test_relative_pose_sac
+    test_noncentral_relative_pose
+    test_noncentral_relative_pose_sac
+    test_multi_noncentral_relative_pose_sac
+    test_eigensolver_sac
+    test_triangulation
+    test_eigensolver
+    test_point_cloud
+    test_point_cloud_sac
+    test_Sturm
+
+    PROPERTIES
+    CXX_STANDARD 11
+    CXX_STANDARD_REQUIRED ON
+    DEBUG_POSTFIX d )
+
 
-IF (INSTALL_OPENGV)
-  install(
-    TARGETS opengv
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    COMPONENT library
-  )
 ENDIF()
 
+install(
+  TARGETS opengv
+  EXPORT opengv-export
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  COMPONENT library
+)
+target_include_directories(opengv PUBLIC "${CMAKE_INSTALL_PREFIX}/include")
 install(DIRECTORY include/ DESTINATION include/ FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp")
+install(EXPORT opengv-export DESTINATION CMake FILE opengv-config.cmake)
+
 
 if (BUILD_PYTHON)
   add_subdirectory( python )

cmake/CXX11.cmake

@@ -44,18 +44,28 @@ http://git-scm.com/
 sudo apt-get install build-essential
 \endverbatim
  *
- * <li>Install cmake and eigen3, those tools are required by the library. Type:
+ * <li>Install cmake. CMake is a cross-platform, open-source build system used for pretty much anything in the compilation process for the compilation/linking of the library. Type:
  *
 \verbatim
-sudo apt-get install cmake libeigen3-dev
+sudo apt-get install cmake
 \endverbatim
  *
- * CMake is a cross-platform, open-source build system used for pretty much anything in the compilation process but the compilation/linking itself. Eigen3 is a powerful linear algebra library used for all computations in OpenGV.
+ *
+ * <li>Install eigen3. Eigen3 is a powerful linear algebra library used for all computations in OpenGV. You can either use an installed version of a local install (unzipped version of Eigen3 downloaded from Eigen website).
+ *
+\verbatim
+sudo apt-get install cmake libeigen3-dev
+\endverbatim
  *
  * <li>Go to the top-level directory of OpenGV. Type:
  *
 \verbatim
 mkdir build && cd build && cmake .. && make
+\endverbatim
+ *
+ * If a message like "Could NOT find Eigen (missing: EIGEN_INCLUDE_DIR EIGEN_VERSION_OK)" appears. It's certainly because that you does not have Eigen3 installed on your computer system path. You can specify to cmake the path where Eigen is located by adding:
+\verbatim
+mkdir build && cd build && cmake .. -DEIGEN_INCLUDE_DIR:STRING="EigenIncludePath" && make
 \endverbatim
  *
  * <li>Done. The default configuration does not build the tests or python-wrappers, please set the according variables in CMakeLists.txt to ON if you desire the tests or python-wrappers to be built as well.
@@ -102,7 +112,7 @@ msbuild opengv.sln /p:Configuration=Release
  *
  * inside the build directory. While there is not a single warning under Linux, there are thousands of warnings under Windows :) If anyone knows the reason, please let us know.
  *
- * <li>Note that we included third-party stuff like eigen in the sub-folder third_party. It is cleaner to get a fresh download of those dependencies on your computer, and reset the INCLUDE-directories in the CMakeLists.txt file. You should absolutely do so if you already have a version of these dependencies installed on your system.
+ * <li>Note that we Eigen dependency is not longer included. It is better to get a fresh download of Eigen on your computer, and specify to cmake the Eigen include path with -DEIGEN_INCLUDE_DIR="path".
  * </ul>
  *
  * \section sec_installation_35 Installation under OSX
@@ -117,7 +127,17 @@ msbuild opengv.sln /p:Configuration=Release
  *
  * \section sec_installation_36 Installing OpenGV on the host OS
  *
- * At least under Linux and OSX, the installation on the host OS (including the headers) can be activated by simply setting INSTALL_OPENGV to ON.
+ * Installation on the host OS (including the headers) can be activated by simply launching the install target.
+ * By using "sudo make install" on Linux and OSX and by compiling the install target on the opengv Visual Studio solution in Windows. Sudo is required for system install.
+ * You can choose to have a local installation path by setting the cmake variable CMAKE_INSTALL_PREFIX to the path of your choice by using -DCMAKE_INSTALL_PREFIX:STRING="YourInstallPath" in the cmake command line.
+\verbatim
+cmake ../opengv 
+  -DEIGEN_INCLUDE_DIR="EigenIncludePath"
+  -DBUILD_TESTS=ON
+  -DCMAKE_INSTALL_PREFIX="YourInstallPath"
+make
+make install #sudo not required since we use a local installation
+\endverbatim 
  *
  * \section sec_installation_4 Installing the Matlab-wrapper (Windows-version)
  *
@@ -139,7 +159,7 @@ http://jimdavid.blogspot.com.au/2012/12/matlab-2012b-mex-setup-with-vs2012.html
  * <li>Once this is done, you can compile the mex-file by going to the opengv/matlab folder and typing in the console
  *
 \verbatim
-mex -I../include -I../third_party -I../third_party/eigen3 -L../build/lib/Release -lopengv opengv.cpp
+mex -I../include -I../EigenIncludePath -L../build/lib/Release -lopengv opengv.cpp
 \endverbatim
  *
  * <li>An additional note on 64-bit Windows/Matlab systems: If you have a Matlab version that is 64-bit, you will have to also compile OpenGV in 64-bit. You will have to follow
@@ -170,7 +190,7 @@ export LD_LIBRARY_PATH=<path to OpenGV>/build/lib:$LD_LIBRARY_PATH
  * <li>Go to the opengv/matlab-folder inside Matlab, and issue the command
  *
 \verbatim
-mex -I../include -I../third_party -I../third_party/eigen3 -L../build/lib -lopengv opengv.cpp -cxx
+mex -I../include -I../EigenIncludePath -L../build/lib -lopengv opengv.cpp -cxx
 \endverbatim
  *
  * Note the lib directory does not contain a Release subfolder under linux, and that the -cxx option has to be added.
@@ -184,4 +204,22 @@ mex -I../include -I../third_party -I../third_party/eigen3 -L../build/lib -lopeng
  *
  * The compliation of the Python wrappers can be enabled by setting the option BUILD_PYTHON to ON. Note that the python wrappers depend additionally on boost, and that the wrapper currently only allows access to the central methods.
  *
+ * \section sec_installation_8 Using the OpenGV inside your cmake c++ project
+ *
+ * Once your have a system or local install of opengv you can use it in your own project.
+ * In your cmake file, add the search for the opengv library:
+\verbatim
+find_package(opengv REQUIRED)
+if (opengv_FOUND)
+  add_executable(main_opengv_demo main.cpp)
+  target_link_libraries(main_opengv_demo opengv)
+endif (opengv_FOUND)
+\endverbatim
+ *
+ * Then run cmake for your project (if you are using a local install of opengv, you can specify where the library is located by using -Dopengv_DIR:
+\verbatim
+ cmake ../myproject
+ -DCMAKE_BUILD_TYPE=RELEASE 
+ -Dopengv_DIR:STRING=/home/Foo/Documents/Dev/opengv_Build/install/CMake/
+\endverbatim
  */

cmake/CheckCXXCompilerFlag.cmake

@@ -9,11 +9,9 @@ include_directories(${PYTHON_INCLUDE_DIRS})
 find_package(NumPy REQUIRED)
 include_directories(${NUMPY_INCLUDE_DIRS})
 
-
 add_library( pyopengv SHARED pyopengv.cpp )
 target_link_libraries(pyopengv opengv)
 
-
 set_target_properties(pyopengv PROPERTIES
     PREFIX ""
     SUFFIX ".so"