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CMakeLists.txt
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#############################################################################
#
# ViSP, open source Visual Servoing Platform software.
# Copyright (C) 2005 - 2024 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 3.10) # 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(POLICY CMP0146)
cmake_policy(SET CMP0146 OLD) # The ``FindCUDA`` module deprecated since CMake 3.10
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 "${PROJECT_SOURCE_DIR}/cmake")
include(cmake/VISPUtils.cmake)
include(cmake/VISPDetectCXXStandard.cmake) # Set cxx standard to 17 by default
#-----------------------------------------------------------------------------
# VISP version number. An even minor number corresponds to releases.
set(VISP_VERSION_MAJOR "3")
set(VISP_VERSION_MINOR "6")
set(VISP_VERSION_PATCH "1")
set(VISP_VERSION "${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")
# Try to locate visp-images and, if it exists, its version
vp_find_dataset(VISP_DATASET_FOUND VISP_DATASET_LOCATION
VISP_DATASET_VERSION
VISP_DATASET_VERSION_MAJOR
VISP_DATASET_VERSION_MINOR
VISP_DATASET_VERSION_PATCH)
#-----------------------------------------------------------------------------
# TO BE CHECKED BEFORE NEXT RELEASE
#
# Remove following 3 next lines and check if pcl produces a CMP0144 complain around CMake variable FLANN_ROOT set to /opt/homebrew
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)
# Make sure to refresh the python interpreter every time we rerun cmake
# If we don't do this, we may use an old or invalid python when installing the bindings
# that was cached by a previous attempt at building
if(CMAKE_VERSION VERSION_LESS "3.15.0")
set(PYTHON3_CACHE_LIST
PYTHON3INTERP_FOUND PYTHONINTERP_FOUND PYTHONLIBS_FOUND PYTHON_FOUND
PYTHON3_EXECUTABLE PYTHON_EXECUTABLE
)
foreach (_variableName ${PYTHON3_CACHE_LIST})
unset(${_variableName} CACHE)
endforeach()
include(cmake/VISPDetectPython.cmake)
else()
set(PYTHON3_CACHE_LIST
Python3_FOUND Python3_EXECUTABLE Python3_Interpreter_FOUND Python3_LIBRARIES
_Python3_EXECUTABLE _Python3_INCLUDE_DIR _Python3_INTERPRETER_PROPERTIES _Python3_LIBRARY_RELEASE
)
foreach (_variableName ${PYTHON3_CACHE_LIST})
unset(${_variableName} CACHE)
endforeach()
# Find strategy
set(Python3_FIND_REGISTRY LAST)
set(Python3_FIND_VIRTUALENV FIRST)
set(Python3_FIND_STRATEGY LOCATION)
find_package (Python3 COMPONENTS Interpreter Development)
# Alias variables to be consistent with previous detection method
set(PYTHON3_FOUND ${Python3_FOUND})
set(PYTHON3_EXECUTABLE ${Python3_EXECUTABLE})
set(PYTHON_DEFAULT_EXECUTABLE ${PYTHON3_EXECUTABLE})
set(PYTHON3INTERP_FOUND ${Python3_Interpreter_FOUND})
set(PYTHON3_VERSION_STRING ${Python3_VERSION})
endif()
endif()
# --- Python Bindings requirements ---
VP_OPTION(USE_PYBIND11 pybind11 QUIET "Include pybind11 to create Python bindings" "" ON)
# Minimum tool versions
set(CMAKE_MINIMUM_VERSION_PYTHON_BINDINGS "3.19.0")
set(PYTHON3_MINIMUM_VERSION_PYTHON_BINDINGS "3.7.0")
if(CMAKE_VERSION VERSION_LESS ${CMAKE_MINIMUM_VERSION_PYTHON_BINDINGS})
set(CMAKE_NOT_OK_FOR_BINDINGS TRUE)
message(STATUS "Required CMake version for Python bindings is ${CMAKE_MINIMUM_VERSION_PYTHON_BINDINGS},
but you have ${CMAKE_VERSION}.
Python bindings generation will be deactivated.
")
else()
set(CMAKE_NOT_OK_FOR_BINDINGS FALSE)
endif()
if(PYTHON3_VERSION_STRING VERSION_LESS ${PYTHON3_MINIMUM_VERSION_PYTHON_BINDINGS})
set(PYTHON3_NOT_OK_FOR_BINDINGS TRUE)
message(STATUS "Required Python version for Python bindings is ${PYTHON3_MINIMUM_VERSION_PYTHON_BINDINGS},
but you have ${PYTHON3_VERSION_STRING}.
Python bindings generation will be deactivated.
")
else()
set(PYTHON3_NOT_OK_FOR_BINDINGS FALSE)
endif()
if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_17)
set(CXX_STANDARD_NOT_OK_FOR_BINDINGS TRUE)
message(STATUS "Required C++ standard is C++17, but you have ${VISP_CXX_STANDARD}")
else()
set(CXX_STANDARD_NOT_OK_FOR_BINDINGS FALSE)
endif()
# Forbid system Python
if(DEFINED ENV{VIRTUAL_ENV} OR DEFINED ENV{CONDA_PREFIX})
set(_pip_args)
set(VISP_PYTHON_IS_SYSTEM_WIDE FALSE)
else()
# First solution: raise an error when cmake will call pip install
# set(_pip_args "--require-virtualenv") # If this is a system python, throw an error
if(PYTHON3_FOUND)
message(STATUS "The python version that you are using (${PYTHON3_EXECUTABLE}) is the system interpreter.
pip packages should not be installed system-wide!
Python bindings targets will be deactivated!
To reenable them, install conda or virtualenv,
delete the CMakeCache file then rerun cmake when inside the virtual environment.
")
set(VISP_PYTHON_IS_SYSTEM_WIDE TRUE)
endif()
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 apps as an option.
VP_OPTION(BUILD_APPS "" "" "Build utility applications (used for example for calibration)" "" (NOT ANDROID AND NOT WINRT AND NOT 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 python bindings as an option
VP_OPTION(BUILD_PYTHON_BINDINGS "" "" "Build Python bindings" "" ON IF (PYTHON3INTERP_FOUND AND USE_PYBIND11 AND NOT CMAKE_NOT_OK_FOR_BINDINGS AND NOT VISP_PYTHON_IS_SYSTEM_WIDE AND NOT PYTHON3_NOT_OK_FOR_BINDINGS AND NOT CXX_STANDARD_NOT_OK_FOR_BINDINGS) )
VP_OPTION(BUILD_PYTHON_BINDINGS_DOC "" "" "Build the documentation for the Python bindings" "" ON IF BUILD_PYTHON_BINDINGS )
# 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)
# Allow introduction of "visp" namespace. By default disabled to keep compat with previous versions
VP_OPTION(ENABLE_VISP_NAMESPACE "" "" "Enable visp namespace" "" OFF)
# Allow introduction of "explicit" keyword. By default disabled to keep compat with previous versions
VP_OPTION(ENABLE_EXPLICIT_KEYWORD "" "" "Enable c++ explicit keyword" "" 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_PANDA3D "MyPanda3D" "" "Include Panda3D support" "" ON IF 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 TRUE)
VP_OPTION(USE_THREADS Threads "" "Include std::thread support" "" ON)
VP_OPTION(USE_XML2 XML2 "" "Include libxml2 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 and std::threads, 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)
if(USE_PCL)
# PCL is used in modules gui, sensor and mbt.
# In these modules we cannot directly use PCL_INCLUDE_DIRS and PCL_LIBRARIES using:
# list(APPEND opt_incs ${PCL_INCLUDE_DIRS})
# list(APPEND opt_libs ${PCL_LIBRARIES})
# Using PCL_LIBRARIES works to build visp libraries, embedded examples, demos, tests and tutorials thanks to the
# components. But when examples, demos, tests and tutorials are build outside ViSP workspace as independent projects
# that are using ViSP as 3rd-party we lead to build issues due to VTK headers and libraries that are not found.
# That's why here, we are using vp_find_pcl() macro that will set PCL_DEPS_INCLUDE_DIRS and PCL_DEPS_LIBRARIES
# that contains also VTK material location.
vp_find_pcl(PCL_LIBRARIES PCL_DEPS_INCLUDE_DIRS PCL_DEPS_LIBRARIES)
set(PCL_REQUIRED_COMPONENTS "common;filters;io;visualization;segmentation")
# Create cmake vars corresponding to pcl components used by ViSP like VISP_HAVE_PCL_COMMON...
vp_detect_required_pcl_components(PCL_REQUIRED_COMPONENTS)
# USE_NLOHMANN_JSON is set to ON if nlohmann_json is installed and found thanks to nlohmann_jsonConfig.cmake.
# VTK that is a PCL 3rd party embbed also a built in version of nlohmann_json.
# Here we add a specific case to consider the nlohmann version coming from VTK when the system version is not found
if(NOT USE_NLOHMANN_JSON)
if(VISP_HAVE_NLOHMANN_JSON_FROM_VTK)
message(WARNING "json 3rd party is detected and used as a VTK 3rd party which is itself a PCL 3rd party. Thus we enable nlohmann json usage turning USE_NLOHMANN_JSON=ON.")
unset(USE_NLOHMANN_JSON)
set(USE_NLOHMANN_JSON ON CACHE BOOL "Include nlohmann json support thanks to VTK" FORCE)
endif()
endif()
endif()
# ----------------------------------------------------------------------------
# Handle OpenCV 2.4.8 as minimal version
# ----------------------------------------------------------------------------
if(USE_OPENCV)
if(OpenCV_VERSION)
if(OpenCV_VERSION VERSION_LESS "2.4.8")
message(WARNING "OpenCV 3rd party was detected but its version ${OpenCV_VERSION} is too old. Thus we disable OpenCV usage turning USE_OPENCV=OFF.")
unset(USE_OPENCV)
set(USE_OPENCV OFF CACHE BOOL "Include OpenCV support" FORCE)
endif()
else()
message(WARNING "OpenCV 3rd party was detected but its version cannot be found or is too old. Thus we disable OpenCV usage turning USE_OPENCV=OFF.")
unset(USE_OPENCV)
set(USE_OPENCV OFF CACHE BOOL "Include OpenCV support" FORCE)
endif()
endif()
# ----------------------------------------------------------------------------
# Handle cxx standard depending on specific 3rd parties. Should be before module parsing and VISP3rdParty.cmake include
# ----------------------------------------------------------------------------
# if c++ standard is not at leat c++17, force 3rd parties that require at least c++17 to OFF
if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_17)
if(USE_MAVSDK)
message(WARNING "mavsdk 3rd party was detected and needs at least c++17 standard compiler flag while you have set c++${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()
if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_14)
if(USE_FTIITSDK)
message(WARNING "IIT force-torque SDK 3rd party was detected and needs at least c++14 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable IIT force-torque usage turning USE_FTIITSDK=OFF.")
unset(USE_FTIITSDK)
set(USE_FTIITSDK OFF CACHE BOOL "Include IIT force-torque SDK support" FORCE)
endif()
if(USE_PCL AND (PCL_VERSION VERSION_GREATER 1.9.1))
# pcl > 1.9.1 requires c++14
message(WARNING "pcl 3rd party was detected and needs at least c++14 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable pcl usage turning USE_PCL=OFF.")
unset(USE_PCL)
set(USE_PCL OFF CACHE BOOL "Include pcl support" FORCE)
endif()
endif()
if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_11)
if(USE_OPENCV)
message(WARNING "OpenCV 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable OpenCV usage turning USE_OPENCV=OFF.")
unset(USE_OPENCV)
set(USE_OPENCV OFF CACHE BOOL "Include OpenCV support" FORCE)
endif()
if(USE_NLOHMANN_JSON)
message(WARNING "nlohmann json 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable nlohmann json usage turning USE_NLOHMANN_JSON=OFF.")
unset(USE_NLOHMANN_JSON)
set(USE_NLOHMANN_JSON OFF CACHE BOOL "Include nlohmann json 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++${USE_CXX_STANDARD}. Thus we disable realsense2 usage turning USE_REALSENSE2=OFF.")
unset(USE_REALSENSE2)
set(USE_REALSENSE2 OFF CACHE BOOL "Include librealsense2 support" FORCE)
endif()
if(USE_XML2)
message(WARNING "libxml2 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable libxml2 usage turning USE_XML2=OFF.")
unset(USE_XML2)
set(USE_XML2 OFF CACHE BOOL "Include libxml2 support" FORCE)
endif()
if(USE_QUALISYS)
message(WARNING "Qualisys SDK 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable qualisys usage turning USE_QUALISYS=OFF.")
unset(USE_QUALISYS)
set(USE_QUALISYS OFF CACHE BOOL "Include Qualisys SDK support" FORCE)
endif()
if(USE_BICLOPS)
message(WARNING "Biclops SDK 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable biclops usage turning USE_BICLOPS=OFF.")
unset(USE_BICLOPS)
set(USE_BICLOPS OFF CACHE BOOL "Include biclops support" FORCE)
endif()
if(USE_ARSDK)
message(WARNING "Parrot ARSDK 3rd party was detected and needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable ARSDK usage turning USE_ARSDK=OFF.")
unset(USE_ARSDK)
set(USE_ARSDK OFF CACHE BOOL "Include Parrot ARSDK support" FORCE)
endif()
if(USE_THREADS)
message(WARNING "std::thread was detected but needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable std::thread usage turning USE_THREADS=OFF.")
unset(USE_THREADS)
set(USE_THREADS OFF CACHE BOOL "Include std::thread support" FORCE)
endif()
if(USE_PANDA3D)
message(WARNING "Panda3D was detected but needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable Panda3D usage turning USE_PANDA3D=OFF.")
unset(USE_PANDA3D)
set(USE_PANDA3D OFF CACHE BOOL "Include Panda3D support" FORCE)
endif()
endif()
if(UNIX AND Threads_FOUND)
# Apriltag on unix needs native pthread. On windows we are using pthread built-in
set(USE_PTHREAD ON) # for AprilTag only
endif()
# ----------------------------------------------------------------------------
# Build-in 3rd parties. Should be after c++ standard potential modification
# ----------------------------------------------------------------------------
# Since C99 is not supported by MSVC 2010 or prior, we disable apriltag if MSVC < 2012
VP_OPTION(WITH_APRILTAG "" "" "Use AprilTag as built-in library" "" ON IF (USE_THREADS OR USE_PTHREAD) AND (NOT WINRT) AND (NOT MSVC_VERSION LESS 1700))
VP_OPTION(WITH_APRILTAG_BIG_FAMILY "" "" "Use AprilTag big family (41h12, 48h12, 49h12, 52h13)" "" OFF IF WITH_APRILTAG)
VP_OPTION(WITH_MINIZ "" "" "Use npz related I/O as built-in functions" "" ON)
VP_OPTION(WITH_ATIDAQ "" "" "Use atidaq-c as built-in library" "" ON IF USE_COMEDI AND NOT WINRT)
VP_OPTION(WITH_CLIPPER "" "" "Use clipper as built-in library" "" ON IF USE_OPENCV)
VP_OPTION(WITH_LAPACK "" "" "Use lapack as built-in library" "" ON IF NOT USE_LAPACK)
VP_OPTION(WITH_QBDEVICE "" "" "Use qbdevice-api as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS))
VP_OPTION(WITH_TAKKTILE2 "" "" "Use Right Hand takktile2 driver as built-in library" "" ON IF (NOT WIN32) AND (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
VP_OPTION(WITH_CATCH2 "" "" "Use catch2 built-in library" "" ON)
VP_OPTION(WITH_POLOLU "" "" "Use rapa pololu as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
VP_OPTION(WITH_PUGIXML "" "" "Use pugixml built-in third-party" "" ON)
VP_OPTION(WITH_SIMDLIB "" "" "Use simdlib built-in third-party" "" ON)
VP_OPTION(WITH_STBIMAGE "" "" "Use std_image built-in third-party" "" ON)
VP_OPTION(WITH_TINYEXR "" "" "Use tinyexr built-in third-party" "" ON)
if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_11)
if(WITH_POLOLU)
message(WARNING "pololu 3rd party needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable pololu usage turning WITH_POLOLU=OFF.")
unset(WITH_POLOLU)
set(WITH_POLOLU OFF CACHE BOOL "Build rapa pololu as built-in library" FORCE)
endif()
if(WITH_QBDEVICE)
message(WARNING "qbdevice-api 3rd party needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable qbdevice usage turning WITH_QBDEVICE=OFF.")
unset(WITH_QBDEVICE)
set(WITH_QBDEVICE OFF CACHE BOOL "Build rapa pololu as built-in library" FORCE)
endif()
if(WITH_TAKKTILE2)
message(WARNING "Right Hand takktile2 3rd party needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable takktile2 usage turning WITH_TAKKTILE2=OFF.")
unset(WITH_TAKKTILE2)
set(WITH_TAKKTILE2 OFF CACHE BOOL "Build rapa pololu as built-in library" FORCE)
endif()
endif()
if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_14)
if(WITH_CATCH2)
message(WARNING "catch2 3rd party needs at least c++14 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable catch2 usage turning WITH_CATCH2=OFF.")
unset(WITH_CATCH2)
set(WITH_CATCH2 OFF CACHE BOOL "Use catch2 built-in library" FORCE)
endif()
endif()
# ----------------------------------------------------------------------------
# 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 OR BUILD_EXAMPLES OR BUILD_DEMOS)
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 \"${cite_bib_file_}\"")
endif()
endif()
# - DOXYGEN_SHOULD_SKIP_THIS var
if (ENABLE_FULL_DOC)
set(DOXYGEN_SHOULD_SKIP_THIS "")
else()
set(DOXYGEN_SHOULD_SKIP_THIS "DOXYGEN_SHOULD_SKIP_THIS")
endif()
# - DOXYGEN_USE_MATHJAX corresponding to USE_MATHJAX in the doxy file
VP_OPTION(USE_MATHJAX "" "" "Use MathJax to generate latex formula" "" OFF)
if (USE_MATHJAX)
set(DOXYGEN_USE_MATHJAX "YES")
else()
set(DOXYGEN_USE_MATHJAX "NO")
endif()
# HTML version of the doc
set(DOXYGEN_GENERATE_HTML "YES")
set(DOXYGEN_GENERATE_XML "NO")
set(DOXYGEN_GENERATE_TEST_LIST "YES")
set(DOXYGEN_QUIET "NO")
set(DOXYGEN_INPUTS
"${VISP_SOURCE_DIR}/modules"
"${VISP_SOURCE_DIR}/example"
"${VISP_SOURCE_DIR}/tutorial"
"${VISP_SOURCE_DIR}/demo"
"${VISP_SOURCE_DIR}/doc"
"${VISP_BINARY_DIR}/doc"
"${VISP_CONTRIB_MODULES_PATH}"
)
string (REPLACE ";" " " DOXYGEN_INPUTS "${DOXYGEN_INPUTS}")
configure_file(${VISP_SOURCE_DIR}/doc/config-doxygen.in
${VISP_DOC_DIR}/config-doxygen
@ONLY )
# XML version of the doc
set(DOXYGEN_GENERATE_HTML "NO")
set(DOXYGEN_GENERATE_XML "YES")
set(DOXYGEN_GENERATE_TEST_LIST "NO")
set(DOXYGEN_QUIET "YES")
set(DOXYGEN_INPUTS
"${VISP_SOURCE_DIR}/modules"
)
string (REPLACE ";" " " DOXYGEN_INPUTS "${DOXYGEN_INPUTS}")
configure_file(${VISP_SOURCE_DIR}/doc/config-doxygen.in
${VISP_DOC_DIR}/config-doxygen-xml
@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
${VISP_DOC_DIR}/mainpage.dox
@ONLY )
else()
set(VISP_HAVE_DOXYGEN "no") # for header vpConfig.h
endif()
# ----------------------------------------------------------------------------
# Extra ViSP targets: uninstall, etc.
# ----------------------------------------------------------------------------
include(cmake/VISPExtraTargets.cmake)
# Ogre plugins and resources
include(cmake/OgreTools.cmake)
if(USE_OGRE)
vp_set_ogre_media()
set(VISP_HAVE_OGRE_VERSION "(${OGRE_VERSION_MAJOR}<<16 | ${OGRE_VERSION_MINOR}<<8 | ${OGRE_VERSION_PATCH})") # for vpConfig.h
endif()
#----------------------------------------------------------------------
# Add definitions
#----------------------------------------------------------------------
# With Visual Studio 2005, Microsoft deprecates the standard C library, for