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CMakeLists.txt
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# minimum required cmake version: 3.1.0
cmake_minimum_required(VERSION 3.1.0)
macro(info msg)
message(STATUS "Info: ${msg}")
endmacro()
macro(infoValue variableName)
info("${variableName}=\${${variableName}}")
endmacro()
option(BUILD_WITH_CUDA "Enable CUDA" OFF)
if(BUILD_WITH_CUDA)
info("Building with CUDA requires CMake v3.8+")
cmake_minimum_required(VERSION 3.8.0)
project(librealsense2 LANGUAGES CXX C CUDA)
else()
project(librealsense2 LANGUAGES CXX C)
endif()
##################################################################
# Parse librealsense version and assign it to CMake variables #
# This function parses librealsense public API header file, rs.h #
# and retrieves version numbers embedded in the source code. #
# Since the function relies on hard-coded variables, it is prone #
# for failures should these constants be modified in future #
##################################################################
function(assign_version_property VER_COMPONENT)
file(STRINGS "./include/librealsense2/rs.h" REALSENSE_VERSION_${VER_COMPONENT} REGEX "#define RS2_API_${VER_COMPONENT}_VERSION")
separate_arguments(REALSENSE_VERSION_${VER_COMPONENT})
list(GET REALSENSE_VERSION_${VER_COMPONENT} -1 tmp)
if (tmp LESS 0)
message( FATAL_ERROR "Could not obtain valid Librealsense version ${VER_COMPONENT} component - actual value is ${tmp}" )
endif()
set(REALSENSE_VERSION_${VER_COMPONENT} ${tmp} PARENT_SCOPE)
endfunction()
set(REALSENSE_VERSION_MAJOR -1)
set(REALSENSE_VERSION_MINOR -1)
set(REALSENSE_VERSION_PATCH -1)
assign_version_property(MAJOR)
assign_version_property(MINOR)
assign_version_property(PATCH)
set(REALSENSE_VERSION_STRING ${REALSENSE_VERSION_MAJOR}.${REALSENSE_VERSION_MINOR}.${REALSENSE_VERSION_PATCH})
infoValue(REALSENSE_VERSION_STRING)
# Save the command line compile commands in the build output
set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
# View the makefile commands during build
#set(CMAKE_VERBOSE_MAKEFILE on)
option(ENABLE_CCACHE "Build with ccache." ON)
if(ENABLE_CCACHE)
find_program(CCACHE_FOUND ccache)
if(CCACHE_FOUND)
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
endif(CCACHE_FOUND)
endif()
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CUDA_STANDARD 11)
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
endif()
# This parameter is meant for disabling graphical examples when building for
# save-to-disk targets.
option(BUILD_GRAPHICAL_EXAMPLES "Build graphical examples and tools." ON)
option(BUILD_WITH_OPENMP "Use OpenMP" OFF)
option(USE_SYSTEM_LIBUSB "Use the distribution libusb package" ON)
if (WIN32)
set(USE_SYSTEM_LIBUSB OFF)
endif()
option(ENABLE_ZERO_COPY "Enable zero copy functionality" OFF)
if (ENABLE_ZERO_COPY)
add_definitions(-DZERO_COPY)
endif()
if(ANDROID_NDK_TOOLCHAIN_INCLUDED)
unset(WIN32)
unset(UNIX)
unset(APPLE)
set(USE_SYSTEM_LIBUSB OFF)
set(BUILD_WITH_OPENMP OFF)
set(FORCE_LIBUVC ON)
set(BUILD_GRAPHICAL_EXAMPLES OFF)
set(ANDROID_STL "c++_static")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -pedantic -g -D_BSD_SOURCE")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -pedantic -g -Wno-missing-field-initializers")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fPIE -pie")
message(STATUS "Prepare RealSense SDK for Android OS (${ANDROID_NDK_ABI_NAME})")
endif()
if(USE_SYSTEM_LIBUSB)
add_definitions(-DUSE_SYSTEM_LIBUSB)
endif()
if(BUILD_WITH_OPENMP)
find_package(OpenMP)
if(NOT OPENMP_FOUND)
message(FATAL_ERROR "\n\n OpenMP package is missing!\n\n")
else()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}" PARENT_SCOPE)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}" PARENT_SCOPE)
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}" PARENT_SCOPE)
endif()
elseif(UNIX)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -pthread")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
endif()
option(BUILD_WITH_TM2 "Build with support for Intel TM2 tracking device" OFF)
option(BUILD_EASYLOGGINGPP "Build EasyLogging++ as a part of the build" ON)
if (BUILD_EASYLOGGINGPP)
add_definitions(-DBUILD_EASYLOGGINGPP)
endif()
if (BUILD_WITH_CUDA)
find_package(CUDA REQUIRED)
if(CUDA_FOUND)
include_directories(${CUDA_INCLUDE_DIRS})
SET(ALL_CUDA_LIBS ${CUDA_LIBRARIES} ${CUDA_cusparse_LIBRARY} ${CUDA_cublas_LIBRARY})
SET(LIBS ${LIBS} ${ALL_CUDA_LIBS})
message(STATUS "CUDA_LIBRARIES: ${CUDA_INCLUDE_DIRS} ${ALL_CUDA_LIBS}")
set(CUDA_PROPAGATE_HOST_FLAGS OFF)
set(CUDA_SEPARABLE_COMPILATION ON)
set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS}; -O3 -gencode arch=compute_53,code=sm_53
-gencode arch=compute_62,code=sm_62;")
endif()
endif()
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/CMake)
set(REALSENSE_CPP
src/environment.cpp
src/device_hub.cpp
src/pipeline.cpp
src/archive.cpp
src/context.cpp
src/device.cpp
src/sensor.cpp
src/algo.cpp
src/sync.cpp
src/stream.cpp
src/option.cpp
src/error-handling.cpp
src/hw-monitor.cpp
src/image.cpp
src/image_avx.cpp
src/ivcam/ivcam-private.cpp
src/log.cpp
src/rs.cpp
src/ivcam/sr300.cpp
src/types.cpp
src/linux/backend-v4l2.cpp
src/linux/backend-hid.cpp
src/backend.cpp
src/verify.c
src/software-device.cpp
src/proc/align.cpp
src/proc/colorizer.cpp
src/proc/pointcloud.cpp
src/proc/occlusion-filter.cpp
src/proc/synthetic-stream.cpp
src/proc/syncer-processing-block.cpp
src/proc/decimation-filter.cpp
src/proc/spatial-filter.cpp
src/proc/temporal-filter.cpp
src/proc/hole-filling-filter.cpp
src/proc/disparity-transform.cpp
src/source.cpp
src/ds5/ds5-options.cpp
src/ds5/ds5-timestamp.cpp
src/ds5/ds5-private.cpp
src/ds5/ds5-motion.cpp
src/ds5/ds5-rolling-shutter.cpp
src/ds5/ds5-device.cpp
src/ds5/ds5-color.cpp
src/ds5/ds5-active.cpp
src/ds5/ds5-factory.cpp
src/l500/l500.cpp
src/l500/l500-private.cpp
src/ds5/advanced_mode/rs_advanced_mode.cpp
src/ds5/advanced_mode/presets.cpp
src/ds5/advanced_mode/advanced_mode.cpp
third-party/sqlite/sqlite3.c
src/mock/sql.cpp
src/mock/recorder.cpp
src/media/record/record_device.cpp
src/media/record/record_sensor.cpp
src/media/playback/playback_device.cpp
src/media/playback/playback_sensor.cpp
)
## Check for Windows Version ##
if( (${CMAKE_SYSTEM_VERSION} EQUAL 6.1) OR (FORCE_WINUSB_UVC) ) # Windows 7
if (NOT CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_CURRENT_BINARY_DIR)
message("Preparing Windows 7 drivers" )
make_directory(${CMAKE_CURRENT_BINARY_DIR}/drivers/)
file(GLOB DRIVERS RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}/src/win7/drivers/" "${CMAKE_CURRENT_SOURCE_DIR}/src/win7/drivers/*")
foreach(item IN LISTS DRIVERS)
message("Copying ${CMAKE_CURRENT_SOURCE_DIR}/src/win7/drivers/${item} to ${CMAKE_CURRENT_BINARY_DIR}/drivers/" )
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/src/win7/drivers/${item}" "${CMAKE_CURRENT_BINARY_DIR}/drivers/${item}" COPYONLY)
endforeach()
endif()
add_custom_target(realsense-driver ALL DEPENDS ${DRIVERS})
list(APPEND REALSENSE_CPP
src/win7/win7-helpers.cpp
src/win7/win7-uvc.cpp
src/win7/win7-usb.cpp
src/win7/win7-hid.cpp
src/win7/win7-backend.cpp
)
else() # Some other windows version
list(APPEND REALSENSE_CPP
src/win/win-helpers.cpp
src/win/win-uvc.cpp
src/win/win-usb.cpp
src/win/win-hid.cpp
src/win/win-backend.cpp
)
endif()
if (BUILD_WITH_CUDA)
set(REALSENSE_CU
src/cuda/cuda-conversion.cu
src/cuda/cuda-pointcloud.cu
)
set(REALSENSE_CUH
src/cuda/cuda-conversion.cuh
src/cuda/cuda-pointcloud.cuh
)
endif()
set(REALSENSE_HPP
include/librealsense2/rs.hpp
include/librealsense2/rs.h
include/librealsense2/h/rs_types.h
include/librealsense2/h/rs_context.h
include/librealsense2/h/rs_device.h
include/librealsense2/h/rs_frame.h
include/librealsense2/h/rs_option.h
include/librealsense2/h/rs_processing.h
include/librealsense2/h/rs_record_playback.h
include/librealsense2/h/rs_sensor.h
include/librealsense2/h/rs_internal.h
include/librealsense2/h/rs_pipeline.h
include/librealsense2/hpp/rs_types.hpp
include/librealsense2/hpp/rs_context.hpp
include/librealsense2/hpp/rs_device.hpp
include/librealsense2/hpp/rs_frame.hpp
include/librealsense2/hpp/rs_processing.hpp
include/librealsense2/hpp/rs_record_playback.hpp
include/librealsense2/hpp/rs_sensor.hpp
include/librealsense2/hpp/rs_internal.hpp
include/librealsense2/hpp/rs_pipeline.hpp
include/librealsense2/rsutil.h
include/librealsense2/rs_advanced_mode.h
include/librealsense2/rs_advanced_mode.hpp
include/librealsense2/h/rs_advanced_mode_command.h
src/res/resource.h
src/core/streaming.h
src/core/debug.h
src/core/advanced_mode.h
src/core/roi.h
src/core/motion.h
src/core/video.h
src/core/options.h
src/core/info.h
src/core/extension.h
src/core/processing.h
src/software-device.h
src/environment.h
src/device_hub.h
src/pipeline.h
src/config.h
src/archive.h
src/concurrency.h
src/context.h
src/sensor.h
src/sync.h
src/sensor.h
src/stream.h
src/proc/align.h
src/proc/colorizer.h
src/proc/pointcloud.h
src/proc/occlusion-filter.h
src/proc/synthetic-stream.h
src/proc/decimation-filter.h
src/proc/spatial-filter.h
src/proc/temporal-filter.h
src/proc/hole-filling-filter.h
src/proc/syncer-processing-block.h
src/proc/disparity-transform.h
src/algo.h
src/option.h
src/metadata.h
src/metadata-parser.h
src/error-handling.h
src/hw-monitor.h
src/image.h
src/image_avx.h
src/source.h
src/ivcam/ivcam-private.h
src/types.h
src/backend.h
src/device.h
src/ivcam/sr300.h
src/ds5/ds5-factory.h
src/ds5/ds5-device.h
src/ds5/ds5-options.h
src/ds5/ds5-private.h
src/ds5/ds5-timestamp.h
src/ds5/ds5-active.h
src/ds5/ds5-motion.h
src/ds5/ds5-rolling-shutter.h
src/ds5/ds5-color.h
src/linux/backend-v4l2.h
src/linux/backend-hid.h
src/api.h
src/core/serialization.h
src/l500/l500.h
src/l500/l500-private.h
src/media/record/record_device.h
src/media/record/record_sensor.h
src/media/playback/playback_device.h
src/media/playback/playback_sensor.h
src/media/ros/ros_reader.h
src/media/ros/ros_writer.h
src/ds5/advanced_mode/json_loader.hpp
src/ds5/advanced_mode/presets.h
third-party/sqlite/sqlite3.h
src/mock/sql.h
src/mock/recorder.h
src/media/ros/ros_file_format.h
)
if(WIN32)
## Check for Windows Version ##
if( ${CMAKE_SYSTEM_VERSION} EQUAL 6.1 ) # Windows 7
list(APPEND REALSENSE_HPP
src/win7/win7-helpers.h
src/win7/win7-uvc.h
src/win7/win7-usb.h
src/win7/win7-hid.h
src/win7/win7-backend.h
)
else() # Some other windows version
list(APPEND REALSENSE_HPP
src/win/win-helpers.h
src/win/win-uvc.h
src/win/win-usb.h
src/win/win-hid.h
src/win/win-backend.h
)
endif()
endif()
if(BUILD_EASYLOGGINGPP)
list(APPEND REALSENSE_CPP third-party/easyloggingpp/src/easylogging++.cc)
list(APPEND REALSENSE_HPP third-party/easyloggingpp/src/easylogging++.h)
endif()
option(BUILD_WITH_STATIC_CRT "Build with static link CRT" ON)
if(WIN32)
## Check for Windows Version ##
if( ${CMAKE_SYSTEM_VERSION} EQUAL 6.1 ) # Windows 7
source_group("Source Files\\Backend" FILES
src/win7/win7-helpers.cpp
src/win7/win7-uvc.cpp
src/win7/win7-usb.cpp
src/win7/win7-hid.cpp
src/win7/win7-backend.cpp
src/linux/backend-v4l2.cpp
src/linux/backend-hid.cpp
src/backend.cpp
)
source_group("Header Files\\Backend" FILES
src/win7/win7-helpers.h
src/win7/win7-uvc.h
src/win7/win7-usb.h
src/win7/win7-hid.h
src/win7/win7-backend.h
src/linux/backend-v4l2.h
src/linux/backend-hid.h
src/backend.h)
else() # Some other windows version
source_group("Source Files\\Backend" FILES
src/win/win-helpers.cpp
src/win/win-uvc.cpp
src/win/win-usb.cpp
src/win/win-hid.cpp
src/win/win-backend.cpp
src/linux/backend-v4l2.cpp
src/linux/backend-hid.cpp
src/backend.cpp
src/win7/win7-helpers.cpp
src/win7/win7-uvc.cpp
src/win7/win7-usb.cpp
src/win7/win7-hid.cpp
src/win7/win7-backend.cpp
)
source_group("Header Files\\Backend" FILES
src/win/win-helpers.h
src/win/win-uvc.h
src/win/win-usb.h
src/win/win-hid.h
src/win/win-backend.h
src/linux/backend-v4l2.h
src/linux/backend-hid.h
src/backend.h)
endif()
source_group("Source Files\\Logging" FILES
third-party/easyloggingpp/src/easylogging++.cc
src/log.cpp
)
source_group("Source Files\\Media" FILES
src/media/record/record_device.cpp
src/media/record/record_sensor.cpp
src/media/playback/playback_device.cpp
src/media/playback/playback_sensor.cpp
)
source_group("Header Files\\API" FILES
include/librealsense2/rs.hpp
include/librealsense2/rs.h
CMake/realsense.def
)
source_group("Header Files\\API\\C Headers" FILES
include/librealsense2/h/rs_context.h
include/librealsense2/h/rs_device.h
include/librealsense2/h/rs_frame.h
include/librealsense2/h/rs_types.h
include/librealsense2/h/rs_sensor.h
include/librealsense2/h/rs_option.h
include/librealsense2/h/rs_processing.h
include/librealsense2/h/rs_record_playback.h
include/librealsense2/h/rs_pipeline.h
include/librealsense2/h/rs_internal.h
include/librealsense2/rsutil.h
include/librealsense2/rs_advanced_mode.h
include/librealsense2/h/rs_advanced_mode_command.h
)
source_group("Header Files\\API\\C++ Headers" FILES
include/librealsense2/hpp/rs_types.hpp
include/librealsense2/hpp/rs_context.hpp
include/librealsense2/hpp/rs_device.hpp
include/librealsense2/hpp/rs_frame.hpp
include/librealsense2/hpp/rs_processing.hpp
include/librealsense2/hpp/rs_pipeline.hpp
include/librealsense2/hpp/rs_record_playback.hpp
include/librealsense2/hpp/rs_sensor.hpp
include/librealsense2/hpp/rs_internal.hpp
include/librealsense2/rs_advanced_mode.hpp
)
source_group("Header Files\\Recorder" FILES
third-party/sqlite/sqlite3.h
src/mock/sql.h
src/mock/recorder.h
)
source_group("Source Files\\Recorder" FILES
third-party/sqlite/sqlite3.c
src/mock/sql.cpp
src/mock/recorder.cpp
)
source_group("Source Files\\API" FILES
src/rs.cpp
src/verify.c
src/ds5/advanced_mode/rs_advanced_mode.cpp
)
source_group("Header Files\\Media" FILES
src/media/record/record_device.h
src/media/record/record_sensor.h
src/media/playback/playback_device.h
src/media/playback/playback_sensor.h
)
source_group("Header Files\\Media\\Ros Serializer" FILES
src/media/ros/ros_reader.h
src/media/ros/ros_writer.h
src/media/ros/ros_file_format.h
)
source_group("Source Files\\Devices" FILES
src/l500/l500.cpp
src/l500/l500-private.cpp
src/ds5/ds5-device.cpp
src/ds5/ds5-factory.cpp
src/ds5/ds5-options.cpp
src/ds5/ds5-private.cpp
src/ds5/ds5-timestamp.cpp
src/ds5/ds5-motion.cpp
src/ds5/ds5-rolling-shutter.cpp
src/ds5/ds5-color.cpp
src/ds5/ds5-active.cpp
src/ivcam/sr300.cpp
src/ivcam/ivcam-private.cpp
src/software-device.cpp
)
source_group("Source Files\\Devices\\Advanced Mode" FILES
src/ds5/advanced_mode/rs_advanced_mode.cpp
src/ds5/advanced_mode/presets.cpp
src/ds5/advanced_mode/advanced_mode.cpp
)
source_group("Header Files\\Devices\\Advanced Mode" FILES
src/ds5/advanced_mode/json_loader.hpp
src/ds5/advanced_mode/presets.h
)
source_group("Header Files\\Devices" FILES
src/l500/l500.h
src/l500/l500-private.h
src/ds5/ds5-device.h
src/ds5/ds5-options.h
src/ds5/ds5-private.h
src/ds5/ds5-timestamp.h
src/ds5/ds5-factory.h
src/ds5/ds5-active.h
src/ds5/ds5-motion.h
src/ds5/ds5-rolling-shutter.h
src/ds5/ds5-color.h
src/ivcam/sr300.h
src/ivcam/ivcam-private.h
src/software-device.h
)
source_group("Header Files\\Core" FILES
src/core/streaming.h
src/core/debug.h
src/core/roi.h
src/core/video.h
src/core/motion.h
src/core/info.h
src/core/options.h
src/core/extension.h
src/core/processing.h
)
source_group("Header Files\\Logging" FILES
third-party/easyloggingpp/src/easylogging++.h
)
source_group("Source Files\\Processing Blocks" FILES
src/proc/colorizer.cpp
src/proc/synthetic-stream.cpp
src/proc/align.cpp
src/proc/pointcloud.cpp
src/proc/occlusion-filter.cpp
src/proc/decimation-filter.cpp
src/proc/spatial-filter.cpp
src/proc/temporal-filter.cpp
src/proc/hole-filling-filter.cpp
src/proc/syncer-processing-block.cpp
src/proc/disparity-transform.cpp
)
source_group("Header Files\\Processing Blocks" FILES
src/proc/colorizer.h
src/proc/align.h
src/proc/pointcloud.h
src/proc/occlusion-filter.h
src/proc/synthetic-stream.h
src/proc/decimation-filter.h
src/proc/spatial-filter.h
src/proc/temporal-filter.h
src/proc/syncer-processing-block.h
src/proc/disparity-transform.h
src/proc/hole-filling-filter.h
)
if(BUILD_WITH_STATIC_CRT)
foreach(flag_var
CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO
CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO)
if(${flag_var} MATCHES "/MD")
string(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
endif(${flag_var} MATCHES "/MD")
endforeach(flag_var)
endif()
else()
endif()
option(FORCE_LIBUVC "Explicitly turn-on libuvc backend" OFF)
option(FORCE_WINUSB_UVC "Explicitly turn-on winusb_uvc (for win7) backend" OFF)
if(WIN32)
## Check for Windows Version ##
if( ${CMAKE_SYSTEM_VERSION} EQUAL 6.1 ) # Windows 7
set(FORCE_WINUSB_UVC ON)
else() # Some other windows version
set(BACKEND RS2_USE_WMF_BACKEND)
endif()
set(REALSENSE_DEF CMake/realsense.def)
# Makes VS15 find the DLL when trying to run examples/tests
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
# build with multiple cores
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /MP")
add_definitions(-D__SSSE3__ -D_CRT_SECURE_NO_WARNINGS)
set_property(GLOBAL PROPERTY USE_FOLDERS ON)
elseif(APPLE)
set(FORCE_LIBUVC ON)
else()
set(BACKEND RS2_USE_V4L2_BACKEND)
endif()
if(FORCE_WINUSB_UVC)
set(BACKEND RS2_USE_WINUSB_UVC_BACKEND)
#
list(APPEND REALSENSE_CPP
src/win7/winusb_uvc/winusb_uvc.cpp
)
#
list(APPEND REALSENSE_HPP
src/libuvc/utlist.h
src/win7/winusb_uvc/winusb_uvc.h
)
#
source_group("Source Files\\WinUsbUvc" FILES
src/win7/winusb_uvc/winusb_uvc.cpp
)
#
source_group("Header Files\\WinUsbUvc" FILES
src/libuvc/utlist.h
src/win7/winusb_uvc/winusb_uvc.h
)
#
# message( WARNING "Using winusb_uvc!" )
endif()
if(FORCE_LIBUVC)
set(BACKEND RS2_USE_LIBUVC_BACKEND)
list(APPEND REALSENSE_CPP
src/libuvc/ctrl.cpp
src/libuvc/ctrl-gen.cpp
src/libuvc/device.cpp
src/libuvc/diag.cpp
src/libuvc/frame.cpp
src/libuvc/init.cpp
src/libuvc/misc.cpp
src/libuvc/stream.cpp
src/libuvc/libuvc.cpp
)
list(APPEND REALSENSE_HPP
src/libuvc/libuvc.h
src/libuvc/libuvc_internal.h
src/libuvc/utlist.h
src/libuvc/libuvc_config.h
)
source_group("Header Files\\LibUvc" FILES
src/libuvc/libuvc.h
src/libuvc/libuvc_internal.h
src/libuvc/utlist.h
src/libuvc/libuvc_config.h
)
source_group("Source Files\\LibUvc" FILES
src/libuvc/ctrl.cpp
src/libuvc/ctrl-gen.cpp
src/libuvc/device.cpp
src/libuvc/diag.cpp
src/libuvc/frame.cpp
src/libuvc/init.cpp
src/libuvc/misc.cpp
src/libuvc/stream.cpp
src/libuvc/libuvc.cpp
)
message( WARNING "Using libuvc!" )
endif()
if (MSVC)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj /wd4819")
add_definitions(-D_UNICODE)
set(LRS_TRY_USE_AVX true)
endif()
add_definitions(-D${BACKEND} -DUNICODE)
if(UNIX)
find_package(PkgConfig)
if(NOT PKG_CONFIG_FOUND)
message(FATAL_ERROR "\n\n PkgConfig package is missing!\n\n")
endif()
if (USE_SYSTEM_LIBUSB)
pkg_search_module(LIBUSB1 REQUIRED libusb-1.0)
if(LIBUSB1_FOUND)
include_directories(SYSTEM ${LIBUSB1_INCLUDE_DIRS})
link_directories(${LIBUSB1_LIBRARY_DIRS})
list(APPEND librealsense_PKG_DEPS "libusb-1.0")
else()
message( FATAL_ERROR "Failed to find libusb-1.0" )
endif(LIBUSB1_FOUND)
endif()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -pedantic -g -D_BSD_SOURCE")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -pedantic -g -Wno-missing-field-initializers")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar -Wsequence-point -Wformat-security")
execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpmachine OUTPUT_VARIABLE MACHINE)
if(${MACHINE} MATCHES "arm-linux-gnueabihf")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize")
elseif(${MACHINE} MATCHES "aarch64-linux-gnu")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mstrict-align -ftree-vectorize")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mstrict-align -ftree-vectorize")
else()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mssse3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mssse3")
set(LRS_TRY_USE_AVX true)
endif(${MACHINE} MATCHES "arm-linux-gnueabihf")
endif()
# Set CMAKE_INSTALL_* if not defined
include(GNUInstallDirs)
option(TRACE_API "Log all C API calls" OFF)
if(TRACE_API)
add_definitions(-DTRACE_API)
endif()
option(HWM_OVER_XU "Send HWM commands over UVC XU control" ON)
if(HWM_OVER_XU)
add_definitions(-DHWM_OVER_XU)
endif()
if (NOT USE_SYSTEM_LIBUSB)
if(NOT WIN32 OR FORCE_LIBUVC)
include(ExternalProject)
ExternalProject_Add(
libusb
GIT_REPOSITORY "https://github.com/libusb/libusb.git"
GIT_TAG "v1.0.23"
UPDATE_COMMAND ${CMAKE_COMMAND} -E copy
${CMAKE_CURRENT_SOURCE_DIR}/third-party/libusb/CMakeLists.txt
${CMAKE_CURRENT_BINARY_DIR}/third-party/libusb/CMakeLists.txt
PATCH_COMMAND ""
SOURCE_DIR "third-party/libusb/"
CMAKE_ARGS -DCMAKE_CXX_STANDARD_LIBRARIES=${CMAKE_CXX_STANDARD_LIBRARIES}
-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
-DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/libusb_install
TEST_COMMAND ""
)
set(LIBUSB_LOCAL_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/third-party/libusb)
set(LIBUSB1_LIBRARY_DIRS ${CMAKE_CURRENT_BINARY_DIR}/libusb_install/lib)
link_directories(${LIBUSB1_LIBRARY_DIRS})
set(LIBUSB1_LIBRARIES usb)
endif()
endif()
add_subdirectory(third-party/realsense-file)
if (BUILD_WITH_TM2)
message(STATUS "Building with TM2")
if(WIN32)
source_group("Source Files\\Devices\\Tracking" FILES
src/tm2/tm-context.cpp
src/tm2/tm-info.cpp
src/tm2/tm-device.cpp
)
source_group("Header Files\\Devices\\Tracking" FILES
src/tm2/tm-context.h
src/tm2/tm-info.h
src/tm2/tm-device.h
src/tm2/tm-conversions.h
src/tm2/controller_event_serializer.h
)
endif()
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/CMake)
find_package(libtm REQUIRED)
if(BUILD_WITH_STATIC_CRT)
foreach(flag_var
CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO
CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO)
if(${flag_var} MATCHES "/MD")
string(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
endif(${flag_var} MATCHES "/MD")
endforeach(flag_var)
endif()
list(APPEND REALSENSE_HPP
src/tm2/tm-context.h
src/tm2/tm-device.h
src/tm2/tm-info.h
src/tm2/tm-conversions.h
src/tm2/controller_event_serializer.h
)
list(APPEND REALSENSE_CPP
src/tm2/tm-context.cpp
src/tm2/tm-device.cpp
src/tm2/tm-info.cpp
)
include_directories(${LIBTM_INCLUDE_DIR})
set(TRACKING_DEVICE_LIBS libtm)
install(TARGETS libtm
EXPORT realsense2Targets
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
)
endif()
if(LRS_TRY_USE_AVX)
set_source_files_properties(src/image_avx.cpp PROPERTIES COMPILE_FLAGS -mavx2)
endif()
option(BUILD_SHARED_LIBS "Build shared library" ON)
if(BUILD_SHARED_LIBS)
if(WIN32)
add_library(realsense2 SHARED
${REALSENSE_CPP} ${REALSENSE_HPP} ${REALSENSE_DEF} ${REALSENSE_CU} ${REALSENSE_CUH}
src/res/resource.h
src/res/librealsense.rc)
source_group("Resources" FILES
src/res/resource.h
src/res/librealsense.rc
)
else()
add_library(realsense2 SHARED ${REALSENSE_CPP} ${REALSENSE_HPP} ${REALSENSE_CU} ${REALSENSE_CUH} ${REALSENSE_DEF})
endif()
else()
add_library(realsense2 STATIC ${REALSENSE_CPP} ${REALSENSE_HPP} ${REALSENSE_CU} ${REALSENSE_CUH})
endif()
if(BUILD_WITH_TM2)
target_compile_definitions(realsense2 PRIVATE WITH_TRACKING=1 BUILD_STATIC=1)
endif()
set_target_properties(realsense2 PROPERTIES VERSION ${REALSENSE_VERSION_STRING}
SOVERSION ${REALSENSE_VERSION_MAJOR})
if(ANDROID_NDK_TOOLCHAIN_INCLUDED)
if(BUILD_SHARED_LIBS)
find_library(log-lib log)
target_link_libraries(realsense2 PRIVATE realsense-file ${CMAKE_THREAD_LIBS_INIT} ${TRACKING_DEVICE_LIBS} log)
else()
target_link_libraries(realsense2 PRIVATE realsense-file ${CMAKE_THREAD_LIBS_INIT} ${TRACKING_DEVICE_LIBS})
endif()
else()
target_link_libraries(realsense2 PRIVATE realsense-file ${CMAKE_THREAD_LIBS_INIT} ${TRACKING_DEVICE_LIBS})
endif()
if (NOT USE_SYSTEM_LIBUSB)
if (NOT WIN32)
add_dependencies(realsense2 libusb)
target_link_libraries(realsense2 PRIVATE ${LIBUSB1_LIBRARIES})
endif()
else()
target_include_directories(realsense2 PRIVATE ${LIBUSB1_INCLUDE_DIRS})
target_link_libraries(realsense2 PRIVATE ${LIBUSB1_LIBRARIES})
endif()
add_definitions(-DELPP_THREAD_SAFE)
add_definitions(-DELPP_NO_DEFAULT_LOG_FILE)
list(APPEND librealsense_PKG_LIBS ${CMAKE_THREAD_LIBS_INIT})
include_directories(realsense2 src)
set_target_properties (realsense2 PROPERTIES
FOLDER Library
)
set(LRS_LIB_NAME realsense2)
# Add additional include directories to allow file to include rosbag headers
include(${CMAKE_CURRENT_LIST_DIR}/third-party/realsense-file/config.cmake)
target_include_directories(realsense2 PRIVATE
${ROSBAG_HEADER_DIRS}
${BOOST_INCLUDE_PATH}
${LZ4_INCLUDE_PATH}
${LIBUSB_LOCAL_INCLUDE_PATH}
)
if( (${CMAKE_SYSTEM_VERSION} EQUAL 6.1) OR (FORCE_WINUSB_UVC) ) # Windows 7
add_dependencies(realsense2 realsense-driver)
set_target_properties (realsense-driver PROPERTIES
FOLDER Library
)
endif()
target_include_directories(realsense2 PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
PRIVATE ${USB_INCLUDE_DIRS})
set_target_properties(realsense2
PROPERTIES
PUBLIC_HEADER
"include/librealsense2/rs.hpp;include/librealsense2/rs.h;include/librealsense2/h/rs_context.h;include/librealsense2/h/rs_device.h;include/librealsense2/h/rs_frame.h;include/librealsense2/h/rs_types.h;include/librealsense2/h/rs_sensor.h;include/librealsense2/h/rs_option.h;include/librealsense2/h/rs_processing.h;include/librealsense2/h/rs_record_playback.h;include/librealsense2/h/rs_pipeline.h;include/librealsense2/h/rs_internal.h;include/librealsense2/rsutil.h;include/librealsense2/rs_advanced_mode.h;include/librealsense2/h/rs_advanced_mode_command.h;include/librealsense2/hpp/rs_types.hpp;include/librealsense2/hpp/rs_context.hpp;include/librealsense2/hpp/rs_device.hpp;include/librealsense2/hpp/rs_frame.hpp;include/librealsense2/hpp/rs_processing.hpp;include/librealsense2/hpp/rs_pipeline.hpp;include/librealsense2/hpp/rs_record_playback.hpp;include/librealsense2/hpp/rs_sensor.hpp;include/librealsense2/hpp/rs_internal.hpp;include/librealsense2/rs_advanced_mode.hpp"
)
set(CMAKECONFIG_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}/cmake/realsense2")
install(TARGETS realsense2
EXPORT realsense2Targets
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_PREFIX}/include/librealsense2"
)
install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/librealsense2 DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
include(CMakePackageConfigHelpers)
configure_package_config_file(CMake/realsense2Config.cmake.in realsense2Config.cmake
INSTALL_DESTINATION ${CMAKECONFIG_INSTALL_DIR}
INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX}/bin
PATH_VARS CMAKE_INSTALL_INCLUDEDIR)
write_basic_package_version_file("${CMAKE_CURRENT_BINARY_DIR}/realsense2ConfigVersion.cmake"
VERSION ${REALSENSE_VERSION_STRING} COMPATIBILITY AnyNewerVersion)
install(EXPORT realsense2Targets FILE realsense2Targets.cmake NAMESPACE realsense2::
DESTINATION ${CMAKECONFIG_INSTALL_DIR})
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/realsense2Config.cmake"
DESTINATION ${CMAKECONFIG_INSTALL_DIR})
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/realsense2ConfigVersion.cmake"
DESTINATION ${CMAKECONFIG_INSTALL_DIR})