fix build without installing because no system deps are present

PRBonn · Nov 20, 2024 · d402bee · d402bee
1 parent a5c5f22
commit d402bee
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Showing 4 changed files with 32 additions and 22 deletions.
diff --git a/cpp/kiss_icp/3rdparty/find_dependencies.cmake b/cpp/kiss_icp/3rdparty/find_dependencies.cmake
@@ -64,15 +64,22 @@ if(TARGET tsl::robin_map)
   message("Found package tsl-robin-map locally")
 endif()
 
-if(NOT (TARGET Eigen3::Eigen AND TARGET Sophus::Sophus AND TARGET tsl::robin_map AND TARGET TBB::tbb))
+if(INSTALL_KISS_ICP_CPP AND NOT (TARGET Eigen3::Eigen AND TARGET Sophus::Sophus AND TARGET tsl::robin_map AND TARGET
+                                                                                                              TBB::tbb))
   message(
     WARNING
       "
-  Exporting fetched dependencies is currently broken
+  Exporting fetched dependencies is currently broken.
   I have no idea how to do it automatically ¯\\_(ツ)_/¯
-  If you want to do this, please set DOWNLOAD_MISSING_DEPS to OFF in the main CMakeLists.txt and install the dependencies yourself.
+  If you want to make the kiss_icp c++ library available system-wide,
+  please set DOWNLOAD_MISSING_DEPS to OFF in the main CMakeLists.txt and install the dependencies yourself.
   The find_dependencies file lists the corresponding installation instructions.
   ")
+  set(INSTALL_KISS_ICP_CPP OFF)
+else()
+  if(INSTALL_KISS_ICP_CPP)
+    message("All system dependencies found! Installing kiss_icp as a c++ library is possible.")
+  endif()
 endif()
 
 if(DOWNLOAD_MISSING_DEPS)

diff --git a/cpp/kiss_icp/CMakeLists.txt b/cpp/kiss_icp/CMakeLists.txt
@@ -32,7 +32,8 @@ option(USE_SYSTEM_EIGEN3 "Use system pre-installed Eigen" ON)
 option(USE_SYSTEM_SOPHUS "Use system pre-installed Sophus" ON)
 option(USE_SYSTEM_TSL-ROBIN-MAP "Use system pre-installed tsl_robin" ON)
 option(USE_SYSTEM_TBB "Use system pre-installed oneAPI/tbb" ON)
-option(DOWNLOAD_MISSING_DEPS "try and download missing depedencies from repos" ON)
+option(DOWNLOAD_MISSING_DEPS "Try and download missing depedencies from repos" ON)
+option(INSTALL_KISS_ICP_CPP "Install kiss_icp c++ library, requires all dependencies to be installed system-wide" ON)
 
 # ccache setup
 if(USE_CCACHE)
@@ -54,17 +55,19 @@ include(${CMAKE_CURRENT_LIST_DIR}/cmake/CompilerOptions.cmake)
 
 add_subdirectory(src)
 
-install(EXPORT kiss_icpTargets FILE kiss_icpTargets.cmake NAMESPACE kiss_icp:: DESTINATION "share/cmake/kiss_icp")
+if(INSTALL_KISS_ICP_CPP)
+  install(EXPORT kiss_icpTargets FILE kiss_icpTargets.cmake NAMESPACE kiss_icp:: DESTINATION "share/cmake/kiss_icp")
 
-configure_package_config_file(
-  ${CMAKE_CURRENT_LIST_DIR}/cmake/Config.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfig.cmake"
-  INSTALL_DESTINATION "share/cmake/kiss_icp")
+  configure_package_config_file(
+    ${CMAKE_CURRENT_LIST_DIR}/cmake/Config.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfig.cmake"
+    INSTALL_DESTINATION "share/cmake/kiss_icp")
 
-# generate the version file for the config file
-write_basic_package_version_file("${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfigVersion.cmake" VERSION "${version}"
-                                 COMPATIBILITY SameMinorVersion)
+  # generate the version file for the config file
+  write_basic_package_version_file("${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfigVersion.cmake" VERSION "${version}"
+                                   COMPATIBILITY SameMinorVersion)
 
-install(DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/include/kiss_icp" DESTINATION "include")
+  install(DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/include/kiss_icp" DESTINATION "include")
 
-install(FILES "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfig.cmake"
-              "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfigVersion.cmake" DESTINATION "share/cmake/kiss_icp")
+  install(FILES "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfig.cmake"
+                "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfigVersion.cmake" DESTINATION "share/cmake/kiss_icp")
+endif()
diff --git a/cpp/kiss_icp/include/kiss_icp/pipeline/KissICP.hpp b/cpp/kiss_icp/include/kiss_icp/pipeline/KissICP.hpp
@@ -26,9 +26,9 @@
 #include <tuple>
 #include <vector>
 
-#include "kiss_icp/core/Registration.hpp"
-#include "kiss_icp/core/Threshold.hpp"
-#include "kiss_icp/core/VoxelHashMap.hpp"
+#include "Registration.hpp"
+#include "Threshold.hpp"
+#include "VoxelHashMap.hpp"
 
 namespace kiss_icp::pipeline {
 

diff --git a/cpp/kiss_icp/src/pipeline/KissICP.cpp b/cpp/kiss_icp/src/pipeline/KissICP.cpp
@@ -21,15 +21,15 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 // SOFTWARE.
 
-#include "kiss_icp/pipeline/KissICP.hpp"
+#include "KissICP.hpp"
 
 #include <Eigen/Core>
 #include <vector>
 
-#include "kiss_icp/core/Deskew.hpp"
-#include "kiss_icp/core/Preprocessing.hpp"
-#include "kiss_icp/core/Registration.hpp"
-#include "kiss_icp/core/VoxelHashMap.hpp"
+#include "Deskew.hpp"
+#include "Preprocessing.hpp"
+#include "Registration.hpp"
+#include "VoxelHashMap.hpp"
 
 namespace kiss_icp::pipeline {