MYNT-EYE-S-SDK/samples/CMakeLists.txt
2019-11-01 15:37:57 +08:00

294 lines
7.8 KiB
CMake

# Copyright 2018 Slightech Co., Ltd. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
cmake_minimum_required(VERSION 3.0)
project(mynteye_samples VERSION 2.0.0 LANGUAGES C CXX)
get_filename_component(PRO_DIR ${PROJECT_SOURCE_DIR} DIRECTORY)
include(${PRO_DIR}/cmake/Common.cmake)
include(${PRO_DIR}/cmake/Utils.cmake)
# options
include(${PRO_DIR}/cmake/Option.cmake)
# flags
if(OS_WIN)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
else()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
endif()
include(${PRO_DIR}/cmake/DetectCXX11.cmake)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
string(STRIP "${CMAKE_C_FLAGS}" CMAKE_C_FLAGS)
string(STRIP "${CMAKE_CXX_FLAGS}" CMAKE_CXX_FLAGS)
message(STATUS "C_FLAGS: ${CMAKE_C_FLAGS}")
message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
# packages
LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
find_package(mynteye REQUIRED)
message(STATUS "Found mynteye: ${mynteye_VERSION}")
include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
if(mynteye_WITH_GLOG)
include(${PRO_DIR}/cmake/DetectGLog.cmake)
endif()
#LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
# targets
set(OUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/_output")
include_directories(
${PRO_DIR}/src
)
set_outdir(
"${OUT_DIR}/lib"
"${OUT_DIR}/lib"
"${OUT_DIR}/bin"
)
if(OS_MAC)
# samples above uvc layer
make_executable(camera_u
SRCS uvc_camera.cc
LINK_LIBS mynteye ${OpenCV_LIBS}
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
else()
# samples above device layer
make_executable(camera_with_junior_device_api
SRCS camera_with_junior_device_api.cc
LINK_LIBS mynteye ${OpenCV_LIBS}
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
# samples above api layer
if(WITH_API)
## camera_a
make_executable(camera_with_senior_api
SRCS camera_with_senior_api.cc
LINK_LIBS mynteye ${OpenCV_LIBS}
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
## get_depth_with_region
make_executable(get_depth_with_region
SRCS get_depth_with_region.cc
LINK_LIBS mynteye ${OpenCV_LIBS}
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
endif()
endif()
# targets
include_directories(
${OpenCV_INCLUDE_DIRS}
)
# tutorials
if(WITH_API)
# make_executable2(NAME
# [SRCS src1 src2 ...]
# [WITH_OPENCV]
# [WITH_PCL])
macro(make_executable2 NAME)
set(options WITH_OPENCV WITH_PCL)
set(oneValueArgs)
set(multiValueArgs SRCS)
cmake_parse_arguments(THIS "${options}" "${oneValueArgs}"
"${multiValueArgs}" ${ARGN})
set(__link_libs mynteye)
set(__dll_search_paths ${PRO_DIR}/_install/bin)
if(THIS_WITH_OPENCV)
list(APPEND __link_libs ${OpenCV_LIBS})
list(APPEND __dll_search_paths ${OpenCV_LIB_SEARCH_PATH})
endif()
if(THIS_WITH_PCL)
list(APPEND __link_libs ${PCL_LIBRARIES})
#list(APPEND __link_libs pcl::pcl)
list(APPEND __dll_search_paths ${PCL_LIB_SEARCH_PATH})
endif()
add_executable(${NAME} ${THIS_SRCS})
target_link_libraries(${NAME} ${__link_libs})
target_create_scripts(${NAME} DLL_SEARCH_PATHS ${__dll_search_paths})
if(THIS_WITH_PCL)
target_include_directories(${NAME} PRIVATE ${PCL_INCLUDE_DIRS})
#target_compile_definitions(${NAME} PRIVATE ${PCL_DEFINITIONS})
#target_compile_options(${NAME} PRIVATE ${PCL_COMPILE_OPTIONS})
endif()
if(OS_WIN)
target_compile_definitions(${NAME}
PUBLIC GLOG_NO_ABBREVIATED_SEVERITIES
)
endif()
endmacro()
# packages
# If you install PCL to different directory, please set CMAKE_PREFIX_PATH to find it.
#LIST(APPEND CMAKE_PREFIX_PATH /usr/local/share)
find_package(PCL)
if(PCL_FOUND)
message(STATUS "Found PCL: ${PCL_VERSION}")
#message(STATUS "PCL_LIBRARIES: ${PCL_LIBRARIES}")
#message(STATUS "PCL_INCLUDE_DIRS: ${PCL_INCLUDE_DIRS}")
#message(STATUS "PCL_LIBRARY_DIRS: ${PCL_LIBRARY_DIRS}")
#message(STATUS "PCL_DEFINITIONS: ${PCL_DEFINITIONS}")
#message(STATUS "PCL_COMPILE_OPTIONS: ${PCL_COMPILE_OPTIONS}")
if(OS_WIN)
get_filename_component(PCL_LIB_SEARCH_PATH "${PCL_LIBRARY_DIRS}/../bin" ABSOLUTE)
else()
set(PCL_LIB_SEARCH_PATH "${PCL_LIBRARY_DIRS}")
endif()
else()
message(WARNING "PCL not found :(")
endif()
# beginner level
## data
make_executable2(get_device_info SRCS get_device_info.cc WITH_OPENCV)
make_executable2(get_img_params SRCS get_img_params.cc WITH_OPENCV)
make_executable2(get_imu_params SRCS get_imu_params.cc WITH_OPENCV)
make_executable2(get_stereo_rectified SRCS get_stereo_rectified.cc WITH_OPENCV)
make_executable2(get_disparity SRCS get_disparity.cc WITH_OPENCV)
make_executable2(get_depth SRCS get_depth.cc WITH_OPENCV)
make_executable2(get_data_without_select SRCS get_data_without_select.cc WITH_OPENCV)
make_executable2(get_imu_correspondence
SRCS get_imu_correspondence.cc util_cv.cc
WITH_OPENCV
)
make_executable2(get_imu SRCS get_imu.cc util_cv.cc WITH_OPENCV)
make_executable2(save_single_image SRCS save_single_image.cc WITH_OPENCV)
make_executable2(get_from_callbacks
SRCS get_from_callbacks.cc util_cv.cc
WITH_OPENCV
)
make_executable2(get_with_plugin SRCS get_with_plugin.cc WITH_OPENCV)
## control
make_executable2(ctrl_framerate SRCS ctrl_framerate.cc WITH_OPENCV)
make_executable2(ctrl_imu_low_pass_filter SRCS ctrl_imu_low_pass_filter.cc WITH_OPENCV)
make_executable2(ctrl_imu_range SRCS ctrl_imu_range.cc util_cv.cc WITH_OPENCV)
make_executable2(ctrl_infrared SRCS ctrl_infrared.cc WITH_OPENCV)
make_executable2(ctrl_iic_address SRCS ctrl_iic_address.cc WITH_OPENCV)
make_executable2(ctrl_sync_timestamp SRCS ctrl_sync_timestamp.cc WITH_OPENCV)
make_executable2(ctrl_auto_exposure
SRCS ctrl_auto_exposure.cc util_cv.cc
WITH_OPENCV
)
make_executable2(ctrl_manual_exposure
SRCS ctrl_manual_exposure.cc util_cv.cc
WITH_OPENCV
)
if(PCL_FOUND)
make_executable2(get_depth_and_points
SRCS get_depth_and_points.cc util_cv.cc util_pcl.cc
WITH_OPENCV WITH_PCL
)
endif()
endif()
if(OS_WIN)
else()
## device_writer
add_library(device_writer STATIC device_writer.cc)
target_link_libraries(device_writer mynteye ${OpenCV_LIBS})
## device_info_writer
make_executable(write_device_info
SRCS write_device_info.cc
LINK_LIBS device_writer
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
## img_params_writer
make_executable(write_img_params
SRCS write_img_params.cc
LINK_LIBS device_writer
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
## imu_params_writer
make_executable(write_imu_params
SRCS write_imu_params.cc
LINK_LIBS device_writer
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
## save_all_infos
make_executable(save_all_infos
SRCS save_all_infos.cc
LINK_LIBS device_writer
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
endif()
## record
make_executable(record
SRCS record.cc dataset.cc
LINK_LIBS mynteye ${OpenCV_LIBS}
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)