CMakeLists.txt

cmake_minimum_required(VERSION 3.6)

set(CMAKE_CONFIGURATION_TYPES Debug Release CACHE TYPE INTERNAL FORCE)

project(voxel_carving)

# Options
set(LIBRARY_DIR ${CMAKE_CURRENT_SOURCE_DIR}/Libs CACHE PATH "Path to lib folder")
set(Eigen3_DIR ${LIBRARY_DIR}/Eigen/share/eigen3/cmake CACHE PATH "Path to installed Eigen")
# Configure Source & Binary Directories ---------------------------------------
set(PROJECT_ROOT "${PROJECT_SOURCE_DIR}")
set(PROJECT_SOURCE_DIR "${PROJECT_SOURCE_DIR}/src")
# set (OpenCV_DIR /home/cmake/opencv/compiled CACHE PATH "Path to installed OpenCV")
find_package( OpenCV REQUIRED )
find_package( OpenMP REQUIRED ) # disable if you don't want OpenMP support
find_package( Eigen3 REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )

# GoogleTest
include(FetchContent)
FetchContent_Declare(
  googletest
  URL https://github.com/google/googletest/archive/609281088cfefc76f9d0ce82e1ff6c30cc3591e5.zip
)
# For Windows: Prevent overriding the parent project's compiler/linker settings
set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
FetchContent_MakeAvailable(googletest)

# Open3D
include(FetchContent)
if (APPLE)
FetchContent_Declare(
  open3d
  URL https://github.com/isl-org/Open3D/releases/download/v0.15.1/open3d-devel-darwin-x86_64-0.15.1.tar.xz
)
endif()
if (UNIX)
FetchContent_Declare(
  open3d
  URL https://github.com/isl-org/Open3D/releases/download/v0.15.1/open3d-devel-linux-x86_64-cxx11-abi-0.15.1.tar.xz
)
endif()
if (WIN32)
FetchContent_Declare(
  open3d
  URL https://github.com/isl-org/Open3D/releases/download/v0.15.1/open3d-devel-windows-amd64-0.15.1.zip
)
endif()
FetchContent_MakeAvailable(open3d)
set(Open3D_DIR ${CMAKE_CURRENT_BINARY_DIR}/_deps/open3d-src/lib/cmake/Open3D CACHE PATH "Path to installed o3d")
find_package( Open3D REQUIRED )

if(NOT CMAKE_BUILD_TYPE)
    message(STATUS "No CMAKE_BUILD_TYPE specified, default to Release.")
    set(CMAKE_BUILD_TYPE "Release")
endif()

# Set C++ flags
set(CMAKE_CXX_STANDARD 17)
# set(CMAKE_CXX_FLAGS "-Wall -Wextra")
# set(CMAKE_CXX_FLAGS_DEBUG "-g")
# set(CMAKE_CXX_FLAGS_RELEASE "-O3 -march=native -fopenmp")

add_definitions("-D_DISABLE_EXTENDED_ALIGNED_STORAGE")

set(HEADER_FILES 
    inc/Eigen.h
    inc/VoxelGrid.hpp
    inc/ImagePreprocessor.hpp
    inc/PoseEstimator.hpp
    inc/ForegroundSegmenter.hpp
)

set(SOURCE_FILES 
    src/VoxelGrid.cpp
    src/CalibrationIntrinsics.cpp
    src/PoseEstimator.cpp
    src/ImagePreprocessor.cpp
    src/ForegroundSegmenter.cpp
)

link_directories(${FreeImage_LIBRARY_DIR})
add_executable(voxel_carving main.cpp ${HEADER_FILES} ${SOURCE_FILES})
target_link_libraries(voxel_carving ${OpenCV_LIBS} Eigen3::Eigen Open3D::Open3D OpenMP::OpenMP_CXX)
target_include_directories(voxel_carving PUBLIC ${EIGEN3_INCLUDE_DIR})
target_sources(voxel_carving PRIVATE ${SOURCE_FILES})

# Unit Tests
add_executable(test_voxel_carving test/Test_ImagePreprocessor.cpp)
target_link_libraries(test_voxel_carving ${OpenCV_LIBS} Eigen3::Eigen Open3D::Open3D gtest gtest_main OpenMP::OpenMP_CXX)
target_include_directories(voxel_carving PUBLIC ${EIGEN3_INCLUDE_DIR})
add_test( test_voxel_carving test_voxel_carving )
target_sources(test_voxel_carving PRIVATE ${SOURCE_FILES})

# For mac os use additional compile flag
if(MACOS)
    target_compile_options(voxel_carving PRIVATE -mmacosx-version-min=12.0)
    target_compile_options(test_voxel_carving PRIVATE -mmacosx-version-min=12.0)
endif(MACOS)

# On Windows copy dll to executable folder
if(WIN32)
    get_target_property(open3d_type Open3D::Open3D TYPE)
    if(open3d_type STREQUAL "SHARED_LIBRARY")
        message(STATUS "Copying Open3D.dll to ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>")
        add_custom_command(TARGET voxel_carving POST_BUILD
                        COMMAND ${CMAKE_COMMAND} -E copy
                                ${CMAKE_CURRENT_BINARY_DIR}/_deps/open3d-src/bin/Open3D.dll
                                ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
    endif()

    # Visual Studio properties
    set_property(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY VS_STARTUP_PROJECT voxel_carving)
    set_property(TARGET voxel_carving PROPERTY VS_DEBUGGER_WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/)
endif()