Merge pull request IntelRealSense#39 from IntelRealSense/development

Merge from intelrealsense/librealsense/Development

CMake/Findlibtm.cmake

@@ -3,84 +3,82 @@
 # Set root directory of libtm as ENVIRONMENT VARIABLE: LIBTM_DIR
 # Then use with find_package(libtm) in your project
 
-
 #add windows/linux SUFFIX for libraries
 if(WIN32)
-	set(CMAKE_FIND_LIBRARY_SUFFIXES ".lib" ".dll")
-else()	
-	set(CMAKE_FIND_LIBRARY_SUFFIXES ".so" ".a")
+    set(CMAKE_FIND_LIBRARY_SUFFIXES ".lib" ".dll")
+else()
+    set(CMAKE_FIND_LIBRARY_SUFFIXES ".so" ".a")
 endif()
 
 #try to search for the LIBTM_DIR enviroment VARIABLE
 set(LIBTM_DIR
-	"$ENV{LIBTM_DIR}"
-	CACHE
-	PATH
-	"Root directory to search for LIBTM")
+    "$ENV{LIBTM_DIR}"
+    CACHE
+    PATH
+    "Root directory to search for LIBTM")
 
 # Look for the header file.
 find_path(LIBTM_INCLUDE_DIR
-	NAMES
-	TrackingManager.h
-	HINTS
-	"${LIBTM_DIR}/../libtm/include"
-	)
+    NAMES
+    TrackingManager.h
+    HINTS
+    "${LIBTM_DIR}/../libtm/include"
+    )
 
 # Look for the library.
 find_library(LIBTM_LIBRARY
-	NAMES
-	tm	
-	HINTS
-	"${LIBTM_DIR}/bin/Release"
-	)
+    NAMES
+    tm
+    HINTS
+    "${LIBTM_DIR}/bin/Release"
+    )
 # Look for the library debug flavor.
 find_library(LIBTM_LIBRARY_DEBUG
-	NAMES		
-	tm
-	HINTS
-	"${LIBTM_DIR}/bin/Debug"	
-	)
+    NAMES
+    tm
+    HINTS
+    "${LIBTM_DIR}/bin/Debug"
+    )
 
-	# Look for the library.
+    # Look for the library.
 find_library(INFRA_LIBRARY
-	NAMES
-	infra
-	HINTS
-	"${LIBTM_DIR}/bin/Release"
-	)
+    NAMES
+    infra
+    HINTS
+    "${LIBTM_DIR}/bin/Release"
+    )
 # Look for the library debug flavor.
 find_library(INFRA_LIBRARY_DEBUG
-	NAMES		
-	infra
-	HINTS
-	"${LIBTM_DIR}/bin/Debug"
-	)
-
+    NAMES
+    infra
+    HINTS
+    "${LIBTM_DIR}/bin/Debug"
+    )
 
 # handle the LIBTM and REQUIRED arguments and set LIBTM_FOUND to TRUE if
 # all listed variables are TRUE
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(LIBTM
-	DEFAULT_MSG
-	LIBTM_LIBRARY
-	LIBTM_LIBRARY_DEBUG
-	LIBTM_INCLUDE_DIR)
+    DEFAULT_MSG
+    LIBTM_LIBRARY
+    LIBTM_LIBRARY_DEBUG
+    LIBTM_INCLUDE_DIR)
 
 if (LIBTM_FOUND AND NOT TARGET libtm)
-	message(STATUS "LIBTM_INCLUDE_DIR: ${LIBTM_INCLUDE_DIR} LIBTM_LIBRARY: ${LIBTM_LIBRARY} INFRA_LIBRARY : ${INFRA_LIBRARY}")	
-	add_library(libtm INTERFACE)
-	set_property(TARGET libtm PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${LIBTM_INCLUDE_DIR})
-  	target_include_directories(libtm INTERFACE ${LIBTM_INCLUDE_DIR})  	
-  	target_link_libraries(libtm INTERFACE optimized ${LIBTM_LIBRARY} ${INFRA_LIBRARY} debug ${LIBTM_LIBRARY_DEBUG} ${INFRA_LIBRARY_DEBUG})
-	if (WIN32)
-        #set target architeture variable 
+    message(STATUS "LIBTM_INCLUDE_DIR: ${LIBTM_INCLUDE_DIR} LIBTM_LIBRARY: ${LIBTM_LIBRARY} INFRA_LIBRARY : ${INFRA_LIBRARY}")
+    add_library(libtm INTERFACE)
+    set_property(TARGET libtm PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${LIBTM_INCLUDE_DIR})
+    target_include_directories(libtm INTERFACE ${LIBTM_INCLUDE_DIR})
+    target_link_libraries(libtm INTERFACE optimized ${LIBTM_LIBRARY} ${INFRA_LIBRARY} debug ${LIBTM_LIBRARY_DEBUG} ${INFRA_LIBRARY_DEBUG})
+    if (WIN32)
+        #set target architeture variable
         if(CMAKE_SIZEOF_VOID_P EQUAL 8)
-	        set(TARGET_ARCH x64)
+            set(TARGET_ARCH x64)
         else()
-	        set(TARGET_ARCH win32)
+            set(TARGET_ARCH win32)
         endif()
-		# Force-link to libusb on Windows 
-		target_link_libraries(libtm INTERFACE ${LIBTM_DIR}/../3rdparty/win/libusb/bin/${TARGET_ARCH}/libusb-1.0.lib)
-	endif()
-	mark_as_advanced(LIBTM_DIR LIBTM_LIBRARY LIBTM_INCLUDE_DIR)
+        # Force-link to libusb on Windows
+        target_link_libraries(libtm INTERFACE ${LIBTM_DIR}/../3rdparty/win/libusb/bin/${TARGET_ARCH}/libusb-1.0.lib)
+    endif()
+    mark_as_advanced(LIBTM_DIR LIBTM_LIBRARY LIBTM_INCLUDE_DIR)
 endif()

CMake/android_config.cmake

@@ -0,0 +1,30 @@
+message(STATUS "Setting Android configurations")
+message(STATUS "Prepare RealSense SDK for Android OS (${ANDROID_NDK_ABI_NAME})")
+
+macro(os_set_flags)
+    unset(WIN32)
+    unset(UNIX)
+    unset(APPLE)
+    set(BUILD_WITH_TM2 OFF)
+    set(BUILD_WITH_OPENMP OFF)
+    set(FORCE_LIBUVC ON)
+    set(BUILD_GRAPHICAL_EXAMPLES OFF)
+    set(ANDROID_STL "c++_static")
+    set(CMAKE_C_FLAGS   "${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")
+    set(BACKEND RS2_USE_V4L2_BACKEND)
+    include(CMake/external_libusb.cmake)
+    set(LIBUSB1_LIBRARIES ${LIBUSB1_LIBRARIES} log)
+endmacro()
+
+macro(os_target_config)
+    if(BUILD_SHARED_LIBS)
+        find_library(log-lib log)
+        target_link_libraries(${LRS_TARGET} PRIVATE log)
+    endif()
+
+    add_dependencies(${LRS_TARGET} libusb)
+    target_link_libraries(${LRS_TARGET} PRIVATE ${LIBUSB1_LIBRARIES})
+endmacro()

CMake/apple_config.cmake

@@ -0,0 +1,22 @@
+message(STATUS "Setting Apple configurations")
+
+macro(os_set_flags)
+    set(FORCE_LIBUVC ON)
+    set(BUILD_WITH_TM2 OFF)
+
+    add_definitions(-DUSE_SYSTEM_LIBUSB)
+endmacro()
+
+macro(os_target_config)
+    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)
+
+    target_include_directories(${LRS_TARGET} PRIVATE ${LIBUSB1_INCLUDE_DIRS})
+    target_link_libraries(${LRS_TARGET} PRIVATE ${LIBUSB1_LIBRARIES})
+endmacro()

CMake/cuda_config.cmake

@@ -0,0 +1,15 @@
+info("Building with CUDA requires CMake v3.8+")
+cmake_minimum_required(VERSION 3.8.0)
+project(librealsense2 LANGUAGES CXX C CUDA)
+
+find_package(CUDA REQUIRED)
+
+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;")

CMake/external_libusb.cmake

@@ -0,0 +1,29 @@
+message(STATUS "Use external libusb")
+include(ExternalProject)
+
+ExternalProject_Add(
+    libusb
+
+    GIT_REPOSITORY "https://github.com/libusb/libusb.git"
+    GIT_TAG "master"
+
+    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(LIBUSB1_LIBRARY_DIRS ${CMAKE_CURRENT_BINARY_DIR}/libusb_install/lib)
+link_directories(${LIBUSB1_LIBRARY_DIRS})
+
+set(LIBUSB1_LIBRARIES usb)
+#set(LIBUSB_LOCAL_INCLUDE_PATH third-party/libusb)
+
+set(USE_EXTERNAL_USB ON)
+set(LIBUSB_LOCAL_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/third-party/libusb)

CMake/global_config.cmake

@@ -0,0 +1,92 @@
+# 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)
+
+include(GNUInstallDirs)
+# include librealsense helper macros
+include(CMake/lrs_macros.cmake)
+include(CMake/version_config.cmake)
+include(CMake/lrs_options.cmake)
+
+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()
+
+macro(global_set_flags)
+    set(LRS_TARGET realsense2)
+    set(LRS_LIB_NAME ${LRS_TARGET})
+
+    add_definitions(-DELPP_THREAD_SAFE)
+    add_definitions(-DELPP_NO_DEFAULT_LOG_FILE)
+
+    if (ENABLE_ZERO_COPY)
+        add_definitions(-DZERO_COPY)
+    endif()
+
+    if (BUILD_EASYLOGGINGPP)
+        add_definitions(-DBUILD_EASYLOGGINGPP)
+    endif()
+
+    if(TRACE_API)
+        add_definitions(-DTRACE_API)
+    endif()
+
+    if(HWM_OVER_XU)
+        add_definitions(-DHWM_OVER_XU)
+    endif()
+
+    if (ENFORCE_METADATA)
+      add_definitions(-DENFORCE_METADATA)
+    endif()
+
+    if (BUILD_WITH_CUDA)
+        add_definitions(-DRS2_USE_CUDA)
+    endif()
+
+    if(FORCE_LIBUVC)
+        set(BACKEND RS2_USE_LIBUVC_BACKEND)
+        message( WARNING "Using libuvc!" )
+    endif()
+
+    if (BUILD_WITH_CUDA)
+        include(CMake/cuda_config.cmake)
+    endif()
+
+    add_definitions(-D${BACKEND} -DUNICODE)
+endmacro()
+
+macro(global_target_config)
+    target_link_libraries(${LRS_TARGET} PRIVATE realsense-file ${CMAKE_THREAD_LIBS_INIT} ${TRACKING_DEVICE_LIBS})
+
+    include_directories(${LRS_TARGET} src)
+
+    set_target_properties (${LRS_TARGET} PROPERTIES FOLDER Library)
+
+    target_include_directories(${LRS_TARGET}
+        PRIVATE
+            ${ROSBAG_HEADER_DIRS}
+            ${BOOST_INCLUDE_PATH}
+            ${LZ4_INCLUDE_PATH}
+            ${LIBUSB_LOCAL_INCLUDE_PATH}
+        PUBLIC
+            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+            $<INSTALL_INTERFACE:include>
+            PRIVATE ${USB_INCLUDE_DIRS}
+    )
+endmacro()
+
+macro(add_tm2)
+    message(STATUS "Building with TM2")
+    add_subdirectory(third-party/libtm)
+    if(USE_EXTERNAL_USB)
+        add_dependencies(tm libusb)
+    endif()
+    target_compile_definitions(${LRS_TARGET} PRIVATE WITH_TRACKING=1 BUILD_STATIC=1)
+    target_link_libraries(${LRS_TARGET} PRIVATE tm ${CMAKE_THREAD_LIBS_INIT} ${TRACKING_DEVICE_LIBS})
+    target_include_directories(${LRS_TARGET} PRIVATE third-party/libtm/libtm/include)
+endmacro()

CMake/include_os.cmake

@@ -0,0 +1,11 @@
+    if (WIN32)
+        include(CMake/windows_config.cmake)
+    endif()
+
+    if(UNIX)
+        include(CMake/unix_config.cmake)
+    endif()
+
+    if(ANDROID_NDK_TOOLCHAIN_INCLUDED)
+        include(CMake/android_config.cmake)
+    endif()

CMake/install_config.cmake

@@ -0,0 +1,51 @@
+# Set CMAKE_INSTALL_* if not defined
+set(CMAKECONFIG_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}/cmake/${LRS_TARGET}")
+
+add_custom_target(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
+
+include(CMakePackageConfigHelpers)
+
+write_basic_package_version_file("${CMAKE_CURRENT_BINARY_DIR}/realsense2ConfigVersion.cmake"
+    VERSION ${REALSENSE_VERSION_STRING} COMPATIBILITY AnyNewerVersion)
+
+configure_package_config_file(CMake/realsense2Config.cmake.in realsense2Config.cmake
+    INSTALL_DESTINATION ${CMAKECONFIG_INSTALL_DIR}
+    INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX}/bin
+    PATH_VARS CMAKE_INSTALL_INCLUDEDIR
+)
+
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY)
+configure_file(config/librealsense.pc.in config/realsense2.pc @ONLY)
+
+install(TARGETS ${LRS_TARGET}
+    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}
+)
+
+install(EXPORT realsense2Targets
+        FILE realsense2Targets.cmake
+        NAMESPACE ${LRS_TARGET}::
+        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 ${CMAKECONFIG_INSTALL_DIR}
+)
+
+install(CODE "execute_process(COMMAND ldconfig)")
+
+# Set library pkgconfig file for facilitating 3rd party integration
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/config/realsense2.pc"
+        DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig"
+)