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