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update CMake #2

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merged 5 commits into from
Feb 9, 2024
Merged

update CMake #2

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70ed5d4
CMake: use option()
nim65s Dec 7, 2023
12970e0
CMake: use FetchContent
nim65s Dec 9, 2023
aa8e2f7
CMake: enable realsense
nim65s Dec 12, 2023
fde173c
pybind11 is found by CMake
nim65s Dec 13, 2023
7924f00
additional cmake details
nim65s Dec 13, 2023
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4 changes: 0 additions & 4 deletions .gitmodules
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Original file line number Diff line number Diff line change
@@ -1,4 +0,0 @@
[submodule "extern/3DObjectTracking"]
path = extern/3DObjectTracking
url = git@github.com:DLR-RM/3DObjectTracking.git
branch = master
50 changes: 29 additions & 21 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,33 +1,41 @@
cmake_minimum_required(VERSION 3.10)
cmake_minimum_required(VERSION 3.11)
project(pym3t LANGUAGES CXX)

find_package(pybind11 CONFIG REQUIRED)
option(USE_AZURE_KINECT "Use Azure Kinect" OFF)
option(USE_REALSENSE "Use RealSense D435" ON)
option(USE_GTEST "Use gtest" OFF)

# TODO: find a way to pass these options as command line arguments
set(USE_AZURE_KINECT OFF CACHE BOOL "Use Azure Kinect")
set(USE_REALSENSE ON CACHE BOOL "Use RealSense D435")
set(USE_GTEST OFF CACHE BOOL "Use gtest")
cmake_policy(SET CMP0148 OLD) # required for current pybind11

set(CMAKE_BUILD_TYPE "RELEASE")
# set(CMAKE_BUILD_TYPE "DEBUG")
# set(CMAKE_BUILD_TYPE "RELEASE") set(CMAKE_BUILD_TYPE "DEBUG")

set(CMAKE_CXX_STANDARD 17)

# We need libraries to be generated with Position Independent Code
# otherwise compilation error in the pybind11 code
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")

add_subdirectory(extern/3DObjectTracking/M3T)
include(FetchContent)
FetchContent_Declare(
pybind11
GIT_REPOSITORY "https://github.com/pybind/pybind11"
GIT_TAG "v2.11.1")
FetchContent_Declare(
m3t
GIT_REPOSITORY "https://github.com/DLR-RM/3DObjectTracking.git"
GIT_TAG "master"
SOURCE_SUBDIR "M3T" CMAKE_ARGS "-DUSE_AZURE_KINECT=${USE_AZURE_KINECT}"
"-DUSE_REALSENSE=${USE_REALSENSE}" "-DUSE_GTEST=${USE_GTEST}")
FetchContent_MakeAvailable(pybind11 m3t)

# Create library for the extensions to m3t
add_library(m3t_ext src/dummy_camera.cpp)
target_include_directories(m3t_ext PUBLIC include)
add_library(m3t_ext src/dummy_camera.cpp include/pym3t/dummy_camera.h)
target_compile_features(m3t_ext PUBLIC cxx_std_17)
target_include_directories(
m3t_ext
PUBLIC $<INSTALL_INTERFACE:include>
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>
$<BUILD_INTERFACE:${m3t_SOURCE_DIR}/include>)
target_link_libraries(m3t_ext PUBLIC m3t)

pybind11_add_module(_pym3t_mod MODULE src/pym3t.cpp)
target_link_libraries(_pym3t_mod PUBLIC m3t)
target_link_libraries(_pym3t_mod PUBLIC m3t_ext)
target_compile_features(_pym3t_mod PUBLIC cxx_std_17)
target_include_directories(_pym3t_mod PUBLIC include)
target_include_directories(
_pym3t_mod PUBLIC $<INSTALL_INTERFACE:include>
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>)

install(TARGETS _pym3t_mod DESTINATION pym3t)
install(TARGETS _pym3t_mod DESTINATION pym3t)
1 change: 0 additions & 1 deletion extern/3DObjectTracking
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Submodule 3DObjectTracking deleted from 35c26c
2 changes: 1 addition & 1 deletion include/pym3t/dummy_camera.h
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
#ifndef M3t_INCLUDE_M3t_dummy_camera_H_
#define M3t_INCLUDE_M3t_dummy_camera_H_

#include <filesystem/filesystem.h>
#include <filesystem>
#include <m3t/camera.h>
#include <m3t/common.h>

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2 changes: 1 addition & 1 deletion pyproject.toml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
[build-system]
# build time dependencies, installed in an isolated environment
requires = ["scikit-build-core", "pybind11"]
requires = ["scikit-build-core"]
# use scikit-build instead of setuptools
build-backend = "scikit_build_core.build"

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