CMakeLists.txt

cmake_minimum_required(VERSION 3.4)
project(Sophus VERSION 1.1.0)

include(CMakePackageConfigHelpers)
include(GNUInstallDirs)

# Release by default
# Turn on Debug with "-DCMAKE_BUILD_TYPE=Debug"
if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE Release)
endif()

set(CMAKE_CXX_STANDARD 14)

# Set compiler specific settings (FixMe: Should not cmake do this for us automatically?)
IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
   SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
   SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra  -Wno-deprecated-register -Qunused-arguments -fcolor-diagnostics")
ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
   SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
   SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -std=c++14 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0")
   SET(CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_DEBUG} --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")
   SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE "${CMAKE_EXE_LINKER_FLAGS_DEBUG} --coverage")
   SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} --coverage")
ELSEIF(CMAKE_CXX_COMPILER_ID MATCHES "^MSVC$")
   ADD_DEFINITIONS("-D _USE_MATH_DEFINES /bigobj /wd4305 /wd4244 /MP")
ENDIF()

# Add local path for finding packages, set the local version first
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules")

# Basic logging (in ensure and test macros)
option(USE_BASIC_LOGGING "Use basic logging" OFF)

if(USE_BASIC_LOGGING)
  set (CMAKE_DISABLE_FIND_PACKAGE_fmt ON)
endif()

# Public dependencies
find_package(Eigen3 3.3.0 REQUIRED)
find_package(fmt)

# Define interface library target
add_library(sophus INTERFACE)

set(SOPHUS_HEADER_FILES
  sophus/average.hpp
  sophus/common.hpp
  sophus/geometry.hpp
  sophus/interpolate.hpp
  sophus/interpolate_details.hpp
  sophus/num_diff.hpp
  sophus/rotation_matrix.hpp
  sophus/rxso2.hpp
  sophus/rxso3.hpp
  sophus/se2.hpp
  sophus/se3.hpp
  sophus/sim2.hpp
  sophus/sim3.hpp
  sophus/sim_details.hpp
  sophus/so2.hpp
  sophus/so3.hpp
  sophus/types.hpp
  sophus/velocities.hpp
)

set(SOPHUS_OTHER_FILES
  sophus/test_macros.hpp
  sophus/example_ensure_handler.cpp
)

if(MSVC)
  # Define common math constants if we compile with MSVC
  target_compile_definitions (sophus INTERFACE _USE_MATH_DEFINES)
endif (MSVC)

# Add Eigen interface dependency, depending on available cmake info
if(TARGET Eigen3::Eigen)
  target_link_libraries(sophus INTERFACE Eigen3::Eigen)
  set(Eigen3_DEPENDENCY "find_dependency (Eigen3 ${Eigen3_VERSION})")
else(TARGET Eigen3::Eigen)
  target_include_directories (sophus SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIR})
endif(TARGET Eigen3::Eigen)

if(USE_BASIC_LOGGING OR NOT TARGET fmt::fmt)
  # NOTE fmt_FOUND does not seem to be defined even though the package config
  # was found.
  target_compile_definitions(sophus INTERFACE SOPHUS_USE_BASIC_LOGGING=1)
else()
  target_link_libraries(sophus INTERFACE fmt::fmt)
  set(fmt_DEPENDENCY "find_dependency (fmt ${fmt_VERSION})")
endif()

# Associate target with include directory
target_include_directories(sophus INTERFACE
    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>"
    "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
)

# Declare all used C++14 features
target_compile_features (sophus INTERFACE
  cxx_auto_type
  cxx_decltype
  cxx_nullptr
  cxx_right_angle_brackets
  cxx_variadic_macros
  cxx_variadic_templates
)

# Add sources as custom target so that they are shown in IDE's
add_custom_target(other SOURCES ${SOPHUS_OTHER_FILES})

# Create 'test' make target using ctest
option(BUILD_TESTS "Build tests." ON)
if(BUILD_TESTS)
    enable_testing()
    add_subdirectory(test)
endif()

# Create examples make targets using ctest
option(BUILD_EXAMPLES "Build examples." ON)
if(BUILD_EXAMPLES)
    add_subdirectory(examples)
endif()

# Export package for use from the build tree
set(SOPHUS_CMAKE_EXPORT_DIR ${CMAKE_INSTALL_DATADIR}/sophus/cmake)

set_target_properties(sophus PROPERTIES EXPORT_NAME Sophus)

install(TARGETS sophus EXPORT SophusTargets)
install(EXPORT SophusTargets
  NAMESPACE Sophus::
  DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR}
)

export(TARGETS sophus NAMESPACE Sophus:: FILE SophusTargets.cmake)
export(PACKAGE Sophus)

configure_package_config_file(
  SophusConfig.cmake.in
  ${CMAKE_CURRENT_BINARY_DIR}/SophusConfig.cmake
  INSTALL_DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR}
  NO_CHECK_REQUIRED_COMPONENTS_MACRO
)

# Remove architecture dependence. Sophus is a header-only library.
set(TEMP_SIZEOF_VOID_P ${CMAKE_SIZEOF_VOID_P})
unset(CMAKE_SIZEOF_VOID_P)

# Write version to file
write_basic_package_version_file (
  SophusConfigVersion.cmake
  VERSION ${PROJECT_VERSION}
  COMPATIBILITY SameMajorVersion
)

# Recover architecture dependence
set(CMAKE_SIZEOF_VOID_P ${TEMP_SIZEOF_VOID_P})

# Install cmake targets
install(
  FILES ${CMAKE_CURRENT_BINARY_DIR}/SophusConfig.cmake
        ${CMAKE_CURRENT_BINARY_DIR}/SophusConfigVersion.cmake
  DESTINATION ${SOPHUS_CMAKE_EXPORT_DIR}
)

# Install header files
install(
  FILES ${SOPHUS_HEADER_FILES}
  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/sophus
)