v01
This commit is contained in:
Ivan
394
thirdparty/opengv/CMakeLists.txt
vendored
Normal file
394
thirdparty/opengv/CMakeLists.txt
vendored
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@@ -0,0 +1,394 @@
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cmake_minimum_required(VERSION 3.1.3)
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project(opengv VERSION 1.0 LANGUAGES CXX)
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# Set the build type. Options are:
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#
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# None (CMAKE_C_FLAGS or CMAKE_CXX_FLAGS used)
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# Debug (CMAKE_C_FLAGS_DEBUG or CMAKE_CXX_FLAGS_DEBUG)
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# Release (CMAKE_C_FLAGS_RELEASE or CMAKE_CXX_FLAGS_RELEASE)
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# RelWithDebInfo (CMAKE_C_FLAGS_RELWITHDEBINFO or CMAKE_CXX_FLAGS_RELWITHDEBINFO)
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# MinSizeRel (CMAKE_C_FLAGS_MINSIZEREL or CMAKE_CXX_FLAGS_MINSIZEREL)
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set(CMAKE_BUILD_TYPE Release)
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#set the default path for built executables to the "bin" directory
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set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
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#set the default path for built libraries to the "lib" directory
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set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
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OPTION(BUILD_TESTS "Build tests" ON)
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OPTION(BUILD_PYTHON "Build Python extension" OFF)
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IF(MSVC)
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set(BUILD_SHARED_LIBS OFF)
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ELSE()
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OPTION(BUILD_SHARED_LIBS "Build shared libraries" OFF)
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OPTION(BUILD_POSITION_INDEPENDENT_CODE "Build position independent code (-fPIC)" ON)
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ENDIF()
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IF(MSVC)
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add_compile_options(/wd4514 /wd4267 /bigobj)
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add_definitions(-D_USE_MATH_DEFINES)
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ELSE()
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IF (CMAKE_SYSTEM_PROCESSOR MATCHES "(arm64)|(ARM64)|(aarch64)|(AARCH64)")
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add_definitions (-march=armv8-a)
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ELSEIF (CMAKE_SYSTEM_PROCESSOR MATCHES
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"(arm)|(ARM)|(armhf)|(ARMHF)|(armel)|(ARMEL)")
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add_definitions (-march=armv7-a)
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ELSE ()
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add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
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ENDIF()
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add_definitions (
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-O3
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-Wall
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-Wextra
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#-Werror
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-Wwrite-strings
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-Wno-unused-parameter
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-fno-strict-aliasing
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)
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ENDIF()
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IF(BUILD_POSITION_INDEPENDENT_CODE)
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add_definitions( -fPIC )
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ENDIF()
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/modules/")
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find_package(Eigen REQUIRED)
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set(ADDITIONAL_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIR}/unsupported)
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set( OPENGV_SOURCE_FILES
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src/absolute_pose/modules/main.cpp
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src/absolute_pose/modules/gp3p/code.cpp
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src/absolute_pose/modules/gp3p/init.cpp
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src/absolute_pose/modules/gp3p/reductors.cpp
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src/absolute_pose/modules/gp3p/spolynomials.cpp
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src/absolute_pose/modules/Epnp.cpp
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src/absolute_pose/modules/gpnp1/code.cpp
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src/absolute_pose/modules/gpnp1/init.cpp
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src/absolute_pose/modules/gpnp1/reductors.cpp
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src/absolute_pose/modules/gpnp1/spolynomials.cpp
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src/absolute_pose/modules/gpnp2/code.cpp
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src/absolute_pose/modules/gpnp2/init.cpp
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src/absolute_pose/modules/gpnp2/reductors.cpp
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src/absolute_pose/modules/gpnp2/spolynomials.cpp
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src/absolute_pose/modules/gpnp3/code.cpp
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src/absolute_pose/modules/gpnp3/init.cpp
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src/absolute_pose/modules/gpnp3/reductors.cpp
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src/absolute_pose/modules/gpnp3/spolynomials.cpp
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src/absolute_pose/modules/gpnp4/code.cpp
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src/absolute_pose/modules/gpnp4/init.cpp
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src/absolute_pose/modules/gpnp4/reductors.cpp
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src/absolute_pose/modules/gpnp4/spolynomials.cpp
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src/absolute_pose/modules/gpnp5/code.cpp
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src/absolute_pose/modules/gpnp5/init.cpp
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src/absolute_pose/modules/gpnp5/reductors.cpp
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src/absolute_pose/modules/gpnp5/spolynomials.cpp
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src/absolute_pose/modules/upnp2.cpp
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src/absolute_pose/modules/upnp4.cpp
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src/relative_pose/modules/main.cpp
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src/relative_pose/modules/fivept_nister/modules.cpp
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src/relative_pose/modules/fivept_stewenius/modules.cpp
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src/relative_pose/modules/fivept_kneip/code.cpp
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src/relative_pose/modules/fivept_kneip/init.cpp
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src/relative_pose/modules/fivept_kneip/reductors.cpp
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src/relative_pose/modules/fivept_kneip/spolynomials.cpp
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src/relative_pose/modules/sixpt/modules2.cpp
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src/relative_pose/modules/eigensolver/modules.cpp
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src/relative_pose/modules/ge/modules.cpp
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src/math/cayley.cpp
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src/math/quaternion.cpp
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src/math/arun.cpp
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src/math/Sturm.cpp
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src/math/roots.cpp
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src/math/gauss_jordan.cpp
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src/absolute_pose/methods.cpp
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src/absolute_pose/CentralAbsoluteAdapter.cpp
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src/absolute_pose/NoncentralAbsoluteAdapter.cpp
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src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
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src/relative_pose/methods.cpp
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src/relative_pose/CentralRelativeAdapter.cpp
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src/relative_pose/CentralRelativeWeightingAdapter.cpp
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src/relative_pose/NoncentralRelativeAdapter.cpp
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src/relative_pose/CentralRelativeMultiAdapter.cpp
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src/relative_pose/NoncentralRelativeMultiAdapter.cpp
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src/triangulation/methods.cpp
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src/point_cloud/methods.cpp
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src/point_cloud/PointCloudAdapter.cpp
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src/sac_problems/absolute_pose/AbsolutePoseSacProblem.cpp
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src/sac_problems/absolute_pose/MultiNoncentralAbsolutePoseSacProblem.cpp
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src/sac_problems/relative_pose/CentralRelativePoseSacProblem.cpp
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src/sac_problems/relative_pose/NoncentralRelativePoseSacProblem.cpp
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src/sac_problems/relative_pose/RotationOnlySacProblem.cpp
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src/sac_problems/relative_pose/TranslationOnlySacProblem.cpp
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src/sac_problems/relative_pose/EigensolverSacProblem.cpp
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src/sac_problems/relative_pose/MultiCentralRelativePoseSacProblem.cpp
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src/sac_problems/relative_pose/MultiNoncentralRelativePoseSacProblem.cpp
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src/sac_problems/point_cloud/PointCloudSacProblem.cpp
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src/absolute_pose/MACentralAbsolute.cpp
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src/absolute_pose/MANoncentralAbsolute.cpp
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src/relative_pose/MACentralRelative.cpp
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src/relative_pose/MANoncentralRelative.cpp
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src/relative_pose/MANoncentralRelativeMulti.cpp
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src/point_cloud/MAPointCloud.cpp )
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set( OPENGV_HEADER_FILES
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include/opengv/types.hpp
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include/opengv/OptimizationFunctor.hpp
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include/opengv/absolute_pose/methods.hpp
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include/opengv/relative_pose/methods.hpp
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include/opengv/triangulation/methods.hpp
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include/opengv/point_cloud/methods.hpp
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include/opengv/math/cayley.hpp
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include/opengv/math/quaternion.hpp
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include/opengv/math/arun.hpp
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include/opengv/math/Sturm.hpp
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include/opengv/math/roots.hpp
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include/opengv/math/gauss_jordan.hpp
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include/opengv/absolute_pose/AbsoluteAdapterBase.hpp
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include/opengv/absolute_pose/CentralAbsoluteAdapter.hpp
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include/opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp
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include/opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp
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include/opengv/absolute_pose/AbsoluteMultiAdapterBase.hpp
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include/opengv/relative_pose/RelativeAdapterBase.hpp
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include/opengv/relative_pose/RelativeMultiAdapterBase.hpp
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include/opengv/relative_pose/CentralRelativeAdapter.hpp
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include/opengv/relative_pose/CentralRelativeWeightingAdapter.hpp
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include/opengv/relative_pose/NoncentralRelativeAdapter.hpp
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include/opengv/relative_pose/CentralRelativeMultiAdapter.hpp
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include/opengv/relative_pose/NoncentralRelativeMultiAdapter.hpp
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include/opengv/point_cloud/PointCloudAdapterBase.hpp
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include/opengv/point_cloud/PointCloudAdapter.hpp
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include/opengv/sac_problems/absolute_pose/AbsolutePoseSacProblem.hpp
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include/opengv/sac_problems/absolute_pose/MultiNoncentralAbsolutePoseSacProblem.hpp
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include/opengv/sac_problems/relative_pose/CentralRelativePoseSacProblem.hpp
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include/opengv/sac_problems/relative_pose/NoncentralRelativePoseSacProblem.hpp
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include/opengv/sac_problems/relative_pose/MultiCentralRelativePoseSacProblem.hpp
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include/opengv/sac_problems/relative_pose/MultiNoncentralRelativePoseSacProblem.hpp
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include/opengv/sac_problems/relative_pose/EigensolverSacProblem.hpp
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include/opengv/sac_problems/relative_pose/RotationOnlySacProblem.hpp
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include/opengv/sac_problems/relative_pose/TranslationOnlySacProblem.hpp
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include/opengv/sac_problems/point_cloud/PointCloudSacProblem.hpp
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include/opengv/absolute_pose/MACentralAbsolute.hpp
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include/opengv/absolute_pose/MANoncentralAbsolute.hpp
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include/opengv/relative_pose/MACentralRelative.hpp
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include/opengv/relative_pose/MANoncentralRelative.hpp
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include/opengv/relative_pose/MANoncentralRelativeMulti.hpp
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include/opengv/point_cloud/MAPointCloud.hpp )
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add_library( opengv ${OPENGV_SOURCE_FILES} ${OPENGV_HEADER_FILES} )
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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 )
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set_target_properties( opengv random_generators PROPERTIES
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SOVERSION ${PROJECT_VERSION}
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VERSION ${PROJECT_VERSION}
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CXX_STANDARD 11
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CXX_STANDARD_REQUIRED ON
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DEBUG_POSTFIX d )
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target_include_directories( opengv PUBLIC
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# only when building from the source tree
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
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# only when using the lib from the install path
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$<INSTALL_INTERFACE:include>
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${ADDITIONAL_INCLUDE_DIRS} )
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target_include_directories( random_generators PRIVATE ${ADDITIONAL_INCLUDE_DIRS} )
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target_link_libraries( random_generators opengv )
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IF (BUILD_TESTS)
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enable_testing()
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include_directories( ${ADDITIONAL_INCLUDE_DIRS} )
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add_executable( test_absolute_pose test/test_absolute_pose.cpp )
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target_link_libraries( test_absolute_pose opengv random_generators )
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add_test(NAME test_absolute_pose
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WORKING_DIRECTORY ${EXECUTABLE_OUTPUT_PATH}
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COMMAND test_absolute_pose)
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add_executable( test_absolute_pose_sac test/test_absolute_pose_sac.cpp )
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target_link_libraries( test_absolute_pose_sac opengv random_generators )
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add_test(NAME test_absolute_pose_sac
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WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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COMMAND test_absolute_pose_sac)
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add_executable( test_noncentral_absolute_pose test/test_noncentral_absolute_pose.cpp )
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target_link_libraries( test_noncentral_absolute_pose opengv random_generators )
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add_test(NAME test_noncentral_absolute_pose
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WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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COMMAND test_noncentral_absolute_pose)
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add_executable( test_noncentral_absolute_pose_sac test/test_noncentral_absolute_pose_sac.cpp )
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target_link_libraries( test_noncentral_absolute_pose_sac opengv random_generators )
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add_test(NAME test_noncentral_absolute_pose_sac
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WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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COMMAND test_noncentral_absolute_pose_sac)
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add_executable( test_multi_noncentral_absolute_pose_sac test/test_multi_noncentral_absolute_pose_sac.cpp )
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target_link_libraries( test_multi_noncentral_absolute_pose_sac opengv random_generators )
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add_test(NAME test_multi_noncentral_absolute_pose_sac
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WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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COMMAND test_multi_noncentral_absolute_pose_sac)
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add_executable( test_relative_pose test/test_relative_pose.cpp )
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target_link_libraries( test_relative_pose opengv random_generators )
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add_test(NAME test_relative_pose
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WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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COMMAND test_relative_pose)
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add_executable( test_relative_pose_rotationOnly test/test_relative_pose_rotationOnly.cpp )
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target_link_libraries( test_relative_pose_rotationOnly opengv random_generators )
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add_test(NAME test_relative_pose_rotationOnly
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WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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COMMAND test_relative_pose_rotationOnly)
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add_executable( test_relative_pose_rotationOnly_sac test/test_relative_pose_rotationOnly_sac.cpp )
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target_link_libraries( test_relative_pose_rotationOnly_sac opengv random_generators )
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add_test(NAME test_relative_pose_rotationOnly_sac
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WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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COMMAND test_relative_pose_rotationOnly_sac)
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add_executable( test_relative_pose_sac test/test_relative_pose_sac.cpp )
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target_link_libraries( test_relative_pose_sac opengv random_generators )
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add_test(NAME test_relative_pose_sac
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WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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COMMAND test_relative_pose_sac)
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add_executable( test_noncentral_relative_pose test/test_noncentral_relative_pose.cpp )
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target_link_libraries( test_noncentral_relative_pose opengv random_generators )
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add_test(NAME test_noncentral_relative_pose
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WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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COMMAND test_noncentral_relative_pose)
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add_executable( test_noncentral_relative_pose_sac test/test_noncentral_relative_pose_sac.cpp )
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target_link_libraries( test_noncentral_relative_pose_sac opengv random_generators )
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add_test(NAME test_noncentral_relative_pose_sac
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WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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COMMAND test_noncentral_relative_pose_sac)
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add_executable( test_multi_noncentral_relative_pose_sac test/test_multi_noncentral_relative_pose_sac.cpp )
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target_link_libraries( test_multi_noncentral_relative_pose_sac opengv random_generators )
|
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add_test(NAME test_multi_noncentral_relative_pose_sac
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WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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||||
COMMAND test_multi_noncentral_relative_pose_sac)
|
||||
|
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add_executable( test_eigensolver_sac test/test_eigensolver_sac.cpp )
|
||||
target_link_libraries( test_eigensolver_sac opengv random_generators )
|
||||
add_test(NAME test_eigensolver_sac
|
||||
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
|
||||
COMMAND test_eigensolver_sac)
|
||||
|
||||
add_executable( test_triangulation test/test_triangulation.cpp )
|
||||
target_link_libraries( test_triangulation opengv random_generators )
|
||||
add_test(NAME test_triangulation
|
||||
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
|
||||
COMMAND test_triangulation)
|
||||
|
||||
add_executable( test_eigensolver test/test_eigensolver.cpp )
|
||||
target_link_libraries( test_eigensolver opengv random_generators )
|
||||
add_test(NAME test_eigensolver
|
||||
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
|
||||
COMMAND test_eigensolver)
|
||||
|
||||
add_executable( test_point_cloud test/test_point_cloud.cpp )
|
||||
target_link_libraries( test_point_cloud opengv random_generators )
|
||||
add_test(NAME test_point_cloud
|
||||
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
|
||||
COMMAND test_point_cloud)
|
||||
|
||||
add_executable( test_point_cloud_sac test/test_point_cloud_sac.cpp )
|
||||
target_link_libraries( test_point_cloud_sac opengv random_generators )
|
||||
add_test(NAME test_point_cloud_sac
|
||||
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
|
||||
COMMAND test_point_cloud_sac)
|
||||
|
||||
add_executable( test_Sturm test/test_Sturm.cpp )
|
||||
target_link_libraries( test_Sturm opengv random_generators )
|
||||
add_test(NAME test_Sturm
|
||||
WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
|
||||
COMMAND test_Sturm)
|
||||
|
||||
set_target_properties(
|
||||
test_absolute_pose
|
||||
test_absolute_pose_sac
|
||||
test_noncentral_absolute_pose
|
||||
test_noncentral_absolute_pose_sac
|
||||
test_multi_noncentral_absolute_pose_sac
|
||||
test_relative_pose
|
||||
test_relative_pose_rotationOnly
|
||||
test_relative_pose_rotationOnly_sac
|
||||
test_relative_pose_sac
|
||||
test_noncentral_relative_pose
|
||||
test_noncentral_relative_pose_sac
|
||||
test_multi_noncentral_relative_pose_sac
|
||||
test_eigensolver_sac
|
||||
test_triangulation
|
||||
test_eigensolver
|
||||
test_point_cloud
|
||||
test_point_cloud_sac
|
||||
test_Sturm
|
||||
|
||||
PROPERTIES
|
||||
CXX_STANDARD 11
|
||||
CXX_STANDARD_REQUIRED ON
|
||||
DEBUG_POSTFIX d )
|
||||
|
||||
|
||||
ENDIF()
|
||||
|
||||
# Configuration
|
||||
set(config_install_dir "lib/cmake/${PROJECT_NAME}-${PROJECT_VERSION}")
|
||||
set(include_install_dir "include")
|
||||
set(version_config "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake")
|
||||
set(project_config "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")
|
||||
set(targets_export_name "${PROJECT_NAME}Targets")
|
||||
|
||||
# Include module with fuction 'write_basic_package_version_file'
|
||||
include(CMakePackageConfigHelpers)
|
||||
|
||||
# Configure '<PROJECT-NAME>ConfigVersion.cmake'
|
||||
# Note: PROJECT_VERSION is used as a VERSION
|
||||
write_basic_package_version_file(
|
||||
"${version_config}" COMPATIBILITY SameMajorVersion )
|
||||
|
||||
# Configure '<PROJECT-NAME>Config.cmake'
|
||||
# Use variables:
|
||||
# * targets_export_name
|
||||
# * PROJECT_NAME
|
||||
configure_package_config_file(
|
||||
"modules/Config.cmake.in"
|
||||
"${project_config}"
|
||||
INSTALL_DESTINATION "${config_install_dir}")
|
||||
|
||||
# Export '<PROJECT-NAME>Targets.cmake' to build dir (to find package in build dir without install)
|
||||
export(TARGETS opengv FILE "${CMAKE_CURRENT_BINARY_DIR}/${targets_export_name}.cmake")
|
||||
|
||||
# Targets:
|
||||
install(TARGETS opengv
|
||||
EXPORT "${targets_export_name}"
|
||||
LIBRARY DESTINATION "lib"
|
||||
ARCHIVE DESTINATION "lib"
|
||||
RUNTIME DESTINATION "bin"
|
||||
INCLUDES DESTINATION "${include_install_dir}")
|
||||
|
||||
# Config
|
||||
# * <prefix>/lib/cmake/opengv/opengvConfig.cmake
|
||||
# * <prefix>/lib/cmake/opengv/opengvConfigVersion.cmake
|
||||
install(FILES "${project_config}" "${version_config}"
|
||||
DESTINATION "${config_install_dir}")
|
||||
|
||||
# Config
|
||||
# * <prefix>/lib/cmake/opengv/opengvTargets.cmake
|
||||
install(EXPORT "${targets_export_name}"
|
||||
NAMESPACE "${namespace}"
|
||||
DESTINATION "${config_install_dir}")
|
||||
|
||||
# Headers
|
||||
install(DIRECTORY include/
|
||||
DESTINATION ${include_install_dir}
|
||||
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp")
|
||||
|
||||
|
||||
if (BUILD_PYTHON)
|
||||
add_subdirectory( python )
|
||||
endif()
|
||||
Reference in New Issue
Block a user