forked from isl-org/Open3D
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathCMakeLists.txt
executable file
·730 lines (684 loc) · 32.4 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
cmake_minimum_required(VERSION 3.18)
# If you're using Ubuntu 18.04, we suggest you install the latest CMake from the
# official repository https://apt.kitware.com/. CMake 3.18+ is required to
# allow linking with OBJECT libraries, to prevent erroneous -gencode option
# deduplication with CUDA, and to simplify generator expressions for selecting
# compile flags and setting global hardened link flags.
if (APPLE)
set (CMAKE_OSX_DEPLOYMENT_TARGET "10.14" CACHE STRING
"Minimum OS X deployment version" FORCE)
endif()
# Open3D build options
option(BUILD_SHARED_LIBS "Build shared libraries" OFF)
option(BUILD_EXAMPLES "Build Open3D examples programs" ON )
option(BUILD_UNIT_TESTS "Build Open3D unit tests" OFF)
option(BUILD_BENCHMARKS "Build the micro benchmarks" OFF)
option(BUILD_PYTHON_MODULE "Build the python module" ON )
option(BUILD_CUDA_MODULE "Build the CUDA module" OFF)
option(BUILD_COMMON_CUDA_ARCHS "Build for common CUDA GPUs (for release)" OFF)
option(BUILD_CACHED_CUDA_MANAGER "Build the cached CUDA memory manager" ON )
option(BUILD_GUI "Builds new GUI" ON )
option(BUILD_JUPYTER_EXTENSION "Enable Jupyter support for Open3D" OFF)
option(WITH_OPENMP "Use OpenMP multi-threading" ON )
option(WITH_IPPICV "Use Intel Performance Primitives" ON )
option(ENABLE_HEADLESS_RENDERING "Use OSMesa for headless rendering" OFF)
if (BUILD_SHARED_LIBS)
option(STATIC_WINDOWS_RUNTIME "Use static (MT/MTd) Windows runtime" OFF)
else()
option(STATIC_WINDOWS_RUNTIME "Use static (MT/MTd) Windows runtime" ON )
endif()
option(GLIBCXX_USE_CXX11_ABI "Set -D_GLIBCXX_USE_CXX11_ABI=1" OFF)
option(BUILD_RPC_INTERFACE "Build the RPC interface" OFF)
# 3rd-party build options
option(USE_BLAS "Use BLAS/LAPACK instead of MKL" OFF)
option(USE_SYSTEM_EIGEN3 "Use system pre-installed eigen3" OFF)
option(USE_SYSTEM_FLANN "Use system pre-installed flann" OFF)
option(USE_SYSTEM_FMT "Use system pre-installed fmt" OFF)
option(USE_SYSTEM_GLEW "Use system pre-installed glew" OFF)
option(USE_SYSTEM_GLFW "Use system pre-installed glfw" OFF)
option(USE_SYSTEM_GOOGLETEST "Use system pre-installed googletest" OFF)
option(USE_SYSTEM_IMGUI "Use system pre-installed imgui" OFF)
option(USE_SYSTEM_JPEG "Use system pre-installed jpeg" OFF)
option(USE_SYSTEM_LIBLZF "Use system pre-installed liblzf" OFF)
option(USE_SYSTEM_PNG "Use system pre-installed png" OFF)
option(USE_SYSTEM_PYBIND11 "Use system pre-installed pybind11" OFF)
option(USE_SYSTEM_QHULL "Use system pre-installed qhull" OFF)
option(USE_SYSTEM_TINYGLTF "Use system pre-installed tinygltf" OFF)
option(USE_SYSTEM_TINYOBJLOADER "Use system pre-installed tinyobjloader" OFF)
option(BUILD_FILAMENT_FROM_SOURCE "Build filament from source" OFF)
option(PREFER_OSX_HOMEBREW "Prefer Homebrew libs over frameworks" ON )
option(WITH_FAISS "Enable Faiss" ON )
# Sensor options
option(BUILD_LIBREALSENSE "Build support for Intel RealSense camera" OFF)
option(USE_SYSTEM_LIBREALSENSE "Use system pre-installed librealsense" OFF)
option(BUILD_AZURE_KINECT "Build support for Azure Kinect sensor" OFF)
# ML library options
option(BUILD_TENSORFLOW_OPS "Build ops for TensorFlow" OFF)
option(BUILD_PYTORCH_OPS "Build ops for PyTorch" OFF)
option(BUNDLE_OPEN3D_ML "Includes the Open3D-ML repo in the wheel" OFF)
# Release build options
option(DEVELOPER_BUILD "Add +commit_hash to the project version number" ON )
if (NOT DEVELOPER_BUILD)
if (NOT BUILD_COMMON_CUDA_ARCHS)
set(BUILD_COMMON_CUDA_ARCHS ON CACHE BOOL "Build for common CUDA GPUs (for release)" FORCE)
message(WARNING "Setting BUILD_COMMON_CUDA_ARCHS=ON since DEVELOPER_BUILD is OFF.")
endif()
endif()
# In ExternalProject_Add, if OPEN3D_THIRD_PARTY_DOWNLOAD_DIR is specified, CMake will
# first try to look for the required files in OPEN3D_THIRD_PARTY_DOWNLOAD_DIR, before
# downloading it from the internet. The files inside OPEN3D_THIRD_PARTY_DOWNLOAD_DIR
# are prepared manually by the user. This is only supported by limited 3rd party
# libraries.
# Default build type on single-config generators.
# For multi-config generators (e.g. Visual Studio), CMAKE_CONFIGURATION_TYPES
# will be set, and we don't specify a default CMAKE_BUILD_TYPE.
# https://blog.kitware.com/cmake-and-the-default-build-type/
if(NOT CMAKE_CONFIGURATION_TYPES)
if(NOT CMAKE_BUILD_TYPE)
message(STATUS "Setting build type to RelWithDebInfo as none was specified.")
set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Choose the type of build." FORCE)
# Set the possible values of build type for cmake-gui.
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
"Debug" "Release" "MinSizeRel" "RelWithDebInfo")
endif()
message(STATUS "CMAKE_BUILD_TYPE is set to ${CMAKE_BUILD_TYPE}.")
endif()
find_program(CCACHE "ccache")
if (CCACHE)
message(STATUS "ccache found at ${CCACHE}")
set(CMAKE_C_COMPILER_LAUNCHER ${CCACHE})
set(CMAKE_CXX_COMPILER_LAUNCHER ${CCACHE})
if(BUILD_CUDA_MODULE)
set(CMAKE_CUDA_COMPILER_LAUNCHER ${CCACHE})
endif()
endif()
set(THIRD_PARTY_FROM "cmake options")
if(DEFINED ENV{OPEN3D_THIRD_PARTY_DOWNLOAD_DIR} AND
IS_DIRECTORY "$ENV{OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}" AND
NOT OPEN3D_THIRD_PARTY_DOWNLOAD_DIR)
set(OPEN3D_THIRD_PARTY_DOWNLOAD_DIR "$ENV{OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}")
set(THIRD_PARTY_FROM "the environment")
endif()
if(OPEN3D_THIRD_PARTY_DOWNLOAD_DIR)
message(STATUS "OPEN3D_THIRD_PARTY_DOWNLOAD_DIR is set to "
"${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR} from ${THIRD_PARTY_FROM}.")
else()
message(STATUS "OPEN3D_THIRD_PARTY_DOWNLOAD_DIR is not specified, will download directly.")
endif()
set(FILAMENT_PRECOMPILED_ROOT "" CACHE PATH "Path to precompiled Filament library (used if BUILD_FILAMENT_FROM_SOURCE=OFF)")
if (PREFER_OSX_HOMEBREW)
set(CMAKE_FIND_FRAMEWORK LAST)
set(CMAKE_FIND_APPBUNDLE LAST)
endif()
# Set OpenGL policy
if(NOT USE_SYSTEM_GLFW)
cmake_policy(SET CMP0072 OLD)
endif()
cmake_policy(GET CMP0072 CMP0072_VALUE)
# Catch a few incompatible build options
if (APPLE AND ENABLE_HEADLESS_RENDERING)
message(STATUS "Headless rendering is not supported on Mac OS")
set(ENABLE_HEADLESS_RENDERING OFF)
endif()
if(ENABLE_HEADLESS_RENDERING AND BUILD_GUI)
message(STATUS "Headless rendering disables the Open3D GUI")
set(BUILD_GUI OFF)
endif()
if(ENABLE_HEADLESS_RENDERING AND (USE_SYSTEM_GLEW OR USE_SYSTEM_GLFW))
message(STATUS "Headless rendering requires customized GLEW and GLFW builds")
set(USE_SYSTEM_GLEW OFF)
set(USE_SYSTEM_GLFW OFF)
endif()
if(BUNDLE_OPEN3D_ML AND NOT (BUILD_TENSORFLOW_OPS OR BUILD_PYTORCH_OPS))
message(SEND_ERROR "3DML depends on TensorFlow or PyTorch Ops. Enable them with -DBUILD_TENSORFLOW_OPS=ON or -DBUILD_PYTORCH_OPS=ON")
endif()
# Parse Open3D version number
file(STRINGS "cpp/open3d/version.txt" OPEN3D_VERSION_READ)
foreach(ver ${OPEN3D_VERSION_READ})
if (ver MATCHES "OPEN3D_VERSION_(MAJOR|MINOR|PATCH) +([^ ]+)$")
set(OPEN3D_VERSION_${CMAKE_MATCH_1} "${CMAKE_MATCH_2}" CACHE INTERNAL "")
endif()
endforeach()
set(OPEN3D_VERSION_DEVHASH "")
if(DEVELOPER_BUILD)
execute_process(COMMAND git -C "${CMAKE_SOURCE_DIR}" log --pretty=format:%h -n 1
OUTPUT_VARIABLE GIT_REV)
if (GIT_REV)
set(OPEN3D_VERSION_DEVHASH "+${GIT_REV}")
endif()
endif()
string(CONCAT OPEN3D_VERSION
"${OPEN3D_VERSION_MAJOR}"
".${OPEN3D_VERSION_MINOR}"
".${OPEN3D_VERSION_PATCH}"
)
set(OPEN3D_VERSION_FULL "${OPEN3D_VERSION}${OPEN3D_VERSION_DEVHASH}")
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/docs/Doxyfile.in
${CMAKE_CURRENT_SOURCE_DIR}/docs/Doxyfile @ONLY)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/docs/getting_started.rst.in
${CMAKE_CURRENT_SOURCE_DIR}/docs/getting_started.rst @ONLY)
project(Open3D VERSION ${OPEN3D_VERSION} LANGUAGES C CXX)
message(STATUS "Open3D ${OPEN3D_VERSION_FULL}")
if(UNIX AND NOT APPLE)
execute_process(COMMAND uname -p
OUTPUT_VARIABLE PROCESSOR_ARCH
OUTPUT_STRIP_TRAILING_WHITESPACE
)
if(CMAKE_HOST_SYSTEM_PROCESSOR STREQUAL "aarch64")
set(LINUX_AARCH64 TRUE)
endif()
endif()
# Set BLAS/LAPACK library preference.
if(LINUX_AARCH64)
if(NOT USE_BLAS)
set(USE_BLAS ON)
message(WARNING "ARM CPU detected, setting USE_BLAS=ON.")
endif()
if(BUILD_GUI AND (NOT BUILD_FILAMENT_FROM_SOURCE))
set(BUILD_FILAMENT_FROM_SOURCE ON)
message(WARNING "ARM CPU detected, setting BUILD_FILAMENT_FROM_SOURCE=ON.")
endif()
endif()
# CMake modules
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/3rdparty/CMake)
# setup PYTHON_EXECUTABLE if not set
find_package(PythonExecutable REQUIRED) # invokes the module in 3rdparty/CMake
# npm version has to be MAJOR.MINOR.PATCH
string(CONCAT PROJECT_VERSION_THREE_NUMBER "${OPEN3D_VERSION_MAJOR}"
".${OPEN3D_VERSION_MINOR}"
".${OPEN3D_VERSION_PATCH}")
# PyPI package name controls specifies the repository name on PyPI. The default
# name is "open3d". In the past, for historical reasons, we've used the
# following names for PyPI, while they are now deprecated:
# - open3d-python
# - py3d
# - open3d-original
# - open3d-official
# - open-3d
if(NOT DEFINED PYPI_PACKAGE_NAME)
set(PYPI_PACKAGE_NAME "open3d")
endif()
# Set additional info
set(PROJECT_EMAIL "[email protected]")
set(PROJECT_HOME "http://www.open3d.org")
set(PROJECT_DOCS "http://www.open3d.org/docs")
set(PROJECT_CODE "https://github.com/intel-isl/Open3D")
set(PROJECT_ISSUES "https://github.com/intel-isl/Open3D/issues")
# Set installation paths
if(UNIX OR CYGWIN)
include(GNUInstallDirs)
set(Open3D_INSTALL_INCLUDE_DIR "${CMAKE_INSTALL_INCLUDEDIR}")
set(Open3D_INSTALL_BIN_DIR "${CMAKE_INSTALL_BINDIR}")
set(Open3D_INSTALL_LIB_DIR "${CMAKE_INSTALL_LIBDIR}")
set(Open3D_INSTALL_CMAKE_DIR "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
else()
set(Open3D_INSTALL_INCLUDE_DIR include)
set(Open3D_INSTALL_BIN_DIR bin)
set(Open3D_INSTALL_LIB_DIR lib)
set(Open3D_INSTALL_CMAKE_DIR CMake)
endif()
# Put build results in some predictable places
# The $<CONFIG> generator expression makes sure that XCode or Visual Studio do not
# append additional path components, as we need to know *exactly* where the build results
# end up.
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib/$<CONFIG>)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib/$<CONFIG>)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
# Global Security options (including 3rd party code)
# Add -fPIC for library and -fPIE for executable to compiler and linker. Does not add -pie !
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
# -Wall -Wextra -Werror or /W4 /WX are enabled for Open3D code (not 3rd party)
if (MSVC)
set(HARDENING_CFLAGS
/sdl # SDL Checks
/GS # Code Generation: Security Check
/guard:cf # Code Generation: Control Flow Guard
CACHE STRING "Compiler flags for security hardening")
set(HARDENING_LDFLAGS
/INCREMENTAL:NO # Disable incremental Linking
/NXCOMPAT # Data Execution Prevention: On by default in VS2019
/DYNAMICBASE # Randomized Base Address
/HIGHENTROPYVA #
#/INTEGRITYCHECK # Signed binary: Disabled
CACHE STRING "Linker flags for security hardening")
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
add_compile_definitions(_FORTIFY_SOURCE=2) # Buffer overflow detection
set(HARDENING_CFLAGS
-fstack-protector # Stack-based buffer overrun detection
-Wformat -Wformat-security # Format string vulnerability
CACHE STRING "Compiler flags for security hardening")
set(HARDENING_LDFLAGS
-fsanitize=safe-stack # Stack execution protection
-Wl,-z,relro,-z,now # Data relocation protection
-pie # Position independent executable
CACHE STRING "Linker flags for security hardening")
if(NOT BUILD_SHARED_LIBS AND NOT BUILD_PYTHON_MODULE)
list(APPEND HARDENING_CFLAGS -fsanitize=safe-stack) # Stack execution protection
list(APPEND HARDENING_LDFLAGS -fsanitize=safe-stack) # only static libraries supported
endif()
if(NOT DEVELOPER_BUILD)
list(APPEND HARDENING_CFLAGS -O2)
list(APPEND HARDENING_LDFLAGS -S) # Strip debug symbols
endif()
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
add_compile_definitions(_FORTIFY_SOURCE=2) # Buffer overflow detection
set(HARDENING_CFLAGS
-fstack-protector # Stack-based buffer overrun detection
-Wformat -Wformat-security # Format string vulnerability
CACHE STRING "Compiler flags for security hardening")
set(HARDENING_LDFLAGS ""
# -pie Position independent execution is default on macOSX 10.6+
CACHE STRING "Linker flags for security hardening")
if(NOT DEVELOPER_BUILD) # Strip debug symbols
list(APPEND HARDENING_CFLAGS -O2)
list(APPEND HARDENING_LDFLAGS -S)
endif()
elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
add_compile_definitions(_FORTIFY_SOURCE=2) # Buffer overflow detection
set(HARDENING_CFLAGS
-fstack-protector-strong # Stack-based buffer overrun detection
-Wformat -Wformat-security # Format string vulnerability
CACHE STRING "Compiler flags for security hardening")
set(HARDENING_LDFLAGS
-Wl,-z,noexecstack # Stack execution protection
-Wl,-z,relro,-z,now # Data relocation protection
-pie # Position independent executable
CACHE STRING "Linker flags for security hardening")
if(NOT DEVELOPER_BUILD) # Strip debug symbols
list(APPEND HARDENING_CFLAGS -O2)
list(APPEND HARDENING_LDFLAGS -strip-debug)
endif()
else()
message(WARNING "Unsupported compiler: ${CMAKE_CXX_COMPILER_ID}. No security "
"flags set")
endif()
include(CheckCXXCompilerFlag)
foreach(FLAG ${HARDENING_CFLAGS})
string(MAKE_C_IDENTIFIER "${FLAG}" FLAGRESULT)
check_cxx_compiler_flag("${FLAG}" FLAG${FLAGRESULT})
if (NOT FLAG${FLAGRESULT})
list(REMOVE_ITEM HARDENING_CFLAGS ${FLAG})
message(WARNING "Compiler does not support security option ${FLAG}")
endif()
endforeach()
include(CheckLinkerFlag)
foreach(FLAG ${HARDENING_LDFLAGS})
string(MAKE_C_IDENTIFIER "${FLAG}" FLAGRESULT)
check_linker_flag(CXX "${FLAG}" FLAG${FLAGRESULT}) # cmake 3.18+
if (NOT FLAG${FLAGRESULT})
list(REMOVE_ITEM HARDENING_LDFLAGS ${FLAG})
message(WARNING "Linker does not support security option ${FLAG}")
endif()
endforeach()
message(STATUS "Using security hardening compiler flags: ${HARDENING_CFLAGS} and
linker flags: ${HARDENING_LDFLAGS}")
list(TRANSFORM HARDENING_LDFLAGS REPLACE "-pie"
"$<$<STREQUAL:$<TARGET_PROPERTY:TYPE>,EXECUTABLE>:-pie>")
string(REPLACE ";" "," CUDA_HARDENING_CFLAGS "${HARDENING_CFLAGS}")
string(REPLACE ";" "," CUDA_HARDENING_LDFLAGS "${HARDENING_LDFLAGS}")
add_compile_options(
"$<$<COMPILE_LANGUAGE:CUDA>:-Xcompiler=${CUDA_HARDENING_CFLAGS}>"
"$<$<COMPILE_LANGUAGE:CXX>:${HARDENING_CFLAGS}>"
)
add_link_options(
"$<$<COMPILE_LANGUAGE:CUDA>:-Xcompiler=${CUDA_HARDENING_LDFLAGS}>"
"$<$<COMPILE_LANGUAGE:CXX>:${HARDENING_LDFLAGS}>"
)
# Build CUDA module by default if CUDA is available
if(BUILD_CUDA_MODULE)
find_package(CUDAToolkit REQUIRED)
if(BUILD_COMMON_CUDA_ARCHS)
# Build with all known (and deprecated) architectures.
# See https://docs.nvidia.com/cuda/cuda-c-best-practices-guide/index.html#building-for-maximum-compatibility.
if(CUDAToolkit_VERSION VERSION_GREATER_EQUAL "11.1")
set(CMAKE_CUDA_ARCHITECTURES 35-real 37-real 50-real 52-real 53-real
60-real 61-real 62-real 70-real 72-real 75-real 80-real 86)
elseif(CUDAToolkit_VERSION VERSION_GREATER_EQUAL "11.0")
set(CMAKE_CUDA_ARCHITECTURES 35-real 37-real 50-real 52-real 53-real
60-real 61-real 62-real 70-real 72-real 75-real 80)
elseif(CUDAToolkit_VERSION VERSION_GREATER_EQUAL "10.0")
set(CMAKE_CUDA_ARCHITECTURES 30-real 32-real 35-real 37-real 50-real
52-real 53-real 60-real 61-real 62-real 70-real 72-real 75)
else()
message(STATUS "Old CUDA <10.0 detected. Falling back to CMake's default architectures.")
endif()
else()
if(CMAKE_CUDA_ARCHITECTURES)
message(STATUS "Building with user-provided architectures")
else()
file(WRITE
"${CMAKE_CURRENT_BINARY_DIR}/cuda_architectures.c"
"
#include <stdio.h>
#include <cuda_runtime_api.h>
int main() {
int n;
if (cudaGetDeviceCount(&n) == cudaSuccess) {
for (int i = 0; i < n; ++i) {
int major, minor;
if (cudaDeviceGetAttribute(&major, cudaDevAttrComputeCapabilityMajor,
i) == cudaSuccess &&
cudaDeviceGetAttribute(&minor, cudaDevAttrComputeCapabilityMinor,
i) == cudaSuccess) {
if (i > 0) {
printf(\";\");
}
printf(\"%d%d-real\", major, minor);
}
}
}
return 0;
}
")
try_run(
DETECTION_RETURN_VALUE DETECTION_COMPILED
"${CMAKE_CURRENT_BINARY_DIR}"
"${CMAKE_CURRENT_BINARY_DIR}/cuda_architectures.c"
LINK_LIBRARIES CUDA::cudart
RUN_OUTPUT_VARIABLE DETECTED_ARCHITECTURES)
if(DETECTED_ARCHITECTURES)
message(STATUS "Building with detected architectures.")
set(CMAKE_CUDA_ARCHITECTURES ${DETECTED_ARCHITECTURES})
else()
message(STATUS "Failed to detect architectures. Falling back to CMake's default architectures.")
endif()
endif()
endif()
message(STATUS "CMAKE_CUDA_ARCHITECTURES: ${CMAKE_CUDA_ARCHITECTURES}")
enable_language(CUDA)
endif ()
# OS specific settings
if(WIN32)
# Windows defaults to hidden symbol visibility, override that
# TODO: It would be better to explictly export symbols.
# Then, we could use -fvisibility=hidden for Linux as well
SET(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
if(MSVC)
# Make sure we don't hit the 65535 object member limit with MSVC
#
# /bigobj allows object files with more than 65535 members
# /Ob2 enables function inlining, because MSVC is particularly
# verbose with inline members
#
# See: https://github.com/tensorflow/tensorflow/pull/10962
add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:/bigobj;/Ob2>")
endif()
if (STATIC_WINDOWS_RUNTIME)
set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>")
else()
set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>DLL")
endif()
endif()
# Downloads files from https://github.com/intel-isl/open3d_downloads to
# Open3D/examples/test_data/open3d_downloads.
include(ExternalProject)
ExternalProject_Add(
open3d_downloads
DOWNLOAD_COMMAND ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/examples/test_data/download_test_data.py
UPDATE_COMMAND ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/examples/test_data/download_test_data.py
CONFIGURE_COMMAND ""
BUILD_COMMAND ""
INSTALL_COMMAND ""
)
# Folder view for project files
set_property(GLOBAL PROPERTY USE_FOLDERS ON)
# Convenience function to link against all third-party libraries
# We need this because we create a lot of object libraries to assemble
# the main Open3D library
function(open3d_link_3rdparty_libraries target)
target_link_libraries(${target} PRIVATE ${Open3D_3RDPARTY_PRIVATE_TARGETS})
target_link_libraries(${target} PUBLIC ${Open3D_3RDPARTY_PUBLIC_TARGETS})
foreach(dep IN LISTS Open3D_3RDPARTY_HEADER_TARGETS)
if(TARGET ${dep})
get_property(inc TARGET ${dep} PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
if(inc)
set_property(TARGET ${target} APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${inc})
endif()
get_property(inc TARGET ${dep} PROPERTY INTERFACE_SYSTEM_INCLUDE_DIRECTORIES)
if(inc)
set_property(TARGET ${target} APPEND PROPERTY INTERFACE_SYSTEM_INCLUDE_DIRECTORIES ${inc})
endif()
get_property(def TARGET ${dep} PROPERTY INTERFACE_COMPILE_DEFINITIONS)
if(def)
set_property(TARGET ${target} APPEND PROPERTY INTERFACE_COMPILE_DEFINITIONS ${def})
endif()
endif()
endforeach()
endfunction()
# Check if the compiler defines the _GLIBCXX_USE_CXX11_ABI macro
include(CheckCXXSourceCompiles)
check_cxx_source_compiles("#include <cxxabi.h>
int main() { return _GLIBCXX_USE_CXX11_ABI; }" HAS_GLIBCXX_USE_CXX11_ABI)
# Convenience function to set important target properties
function(open3d_set_global_properties target)
# Libraries need to be compiled with position independent code
get_target_property(target_type ${target} TYPE)
if (NOT target_type STREQUAL "EXECUTABLE")
set_target_properties(${target} PROPERTIES POSITION_INDEPENDENT_CODE ON)
endif()
# Tell CMake we want a compiler that supports C++14 features
target_compile_features(${target} PUBLIC cxx_std_14)
# Colorize GCC/Clang terminal outputs
if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-fdiagnostics-color=always>)
elseif (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-fcolor-diagnostics>)
endif ()
target_include_directories(${target} PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/cpp>
$<INSTALL_INTERFACE:${Open3D_INSTALL_INCLUDE_DIR}>
)
if(BUILD_CUDA_MODULE)
target_compile_definitions(${target} PRIVATE BUILD_CUDA_MODULE)
if(BUILD_CACHED_CUDA_MANAGER)
target_compile_definitions(${target} PRIVATE BUILD_CACHED_CUDA_MANAGER)
endif()
endif()
if(BUILD_GUI)
target_compile_definitions(${target} PRIVATE BUILD_GUI)
endif()
if(USE_BLAS)
target_compile_definitions(${target} PRIVATE USE_BLAS)
endif()
if(BUILD_RPC_INTERFACE)
target_compile_definitions(${target} PRIVATE BUILD_RPC_INTERFACE ZMQ_STATIC)
endif()
if(GLIBCXX_USE_CXX11_ABI)
target_compile_definitions(${target} PUBLIC _GLIBCXX_USE_CXX11_ABI=1)
else()
target_compile_definitions(${target} PUBLIC _GLIBCXX_USE_CXX11_ABI=0)
endif()
if(ENABLE_HEADLESS_RENDERING)
target_compile_definitions(${target} PRIVATE HEADLESS_RENDERING)
endif()
if(NOT WITH_OPENMP)
target_compile_options(${target} PRIVATE "$<$<COMPILE_LANGUAGE:CXX>:-Wno-unknown-pragmas>")
endif()
if(WIN32)
target_compile_definitions(${target} PRIVATE
WINDOWS
_CRT_SECURE_NO_DEPRECATE
_CRT_NONSTDC_NO_DEPRECATE
_SCL_SECURE_NO_WARNINGS
)
if(MSVC)
target_compile_definitions(${target} PRIVATE NOMINMAX _USE_MATH_DEFINES _ENABLE_EXTENDED_ALIGNED_STORAGE)
target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:/EHsc /wd4996>)
# Multi-thread compile, two ways to enable
# Option 1, at build time: cmake --build . --parallel %NUMBER_OF_PROCESSORS%
# https://stackoverflow.com/questions/36633074/set-the-number-of-threads-in-a-cmake-build
# Option 2, at configure time: add /MP flag, no need to use Option 1
# https://docs.microsoft.com/en-us/cpp/build/reference/mp-build-with-multiple-processes?view=vs-2019
target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:/MP>)
if(BUILD_GUI)
# GLEW and Open3D make direct OpenGL calls and link to opengl32.lib;
# Filament needs to link through bluegl.lib.
# See https://github.com/google/filament/issues/652
target_link_options(${target} PRIVATE /force:multiple)
endif()
# The examples' .pdb files use up a lot of space and cause us to run
# out of space on Github Actions. Compressing gives us another couple of GB.
target_link_options(${target} PRIVATE /pdbcompress)
endif()
elseif(APPLE)
target_compile_definitions(${target} PRIVATE UNIX APPLE)
target_compile_options(${target} PRIVATE "-Wno-deprecated-declarations")
elseif(UNIX)
target_compile_definitions(${target} PRIVATE UNIX)
target_compile_options(${target} PRIVATE "-Wno-deprecated-declarations" "$<$<COMPILE_LANGUAGE:CXX>:-Wno-unused-result>")
endif()
target_compile_options(${target} PRIVATE "$<$<COMPILE_LANGUAGE:CUDA>:--expt-extended-lambda>")
# TBB static version is used
# See: https://github.com/wjakob/tbb/commit/615d690c165d68088c32b6756c430261b309b79c
target_compile_definitions(${target} PRIVATE __TBB_LIB_NAME=tbb_static)
if(WITH_FAISS)
target_compile_definitions(${target} PRIVATE WITH_FAISS)
endif()
# Download test data files from open3d_downloads repo.
add_dependencies(${target} open3d_downloads)
endfunction()
macro(add_source_group module_name)
file(GLOB MODULE_HEADER_FILES "${module_name}/*.h")
source_group("Header Files\\${module_name}" FILES ${MODULE_HEADER_FILES})
file(GLOB MODULE_SOURCE_FILES "${module_name}/*.cpp")
source_group("Source Files\\${module_name}" FILES ${MODULE_SOURCE_FILES})
endmacro()
# Enumerate all third-party libraries which we need later
# This creates the necessary targets and sets the
# Open3D_3RDPARTY_*_TARGETS variables we use in open3d_link_3rdparty_libraries
include(3rdparty/find_dependencies.cmake)
# Open3D library
add_subdirectory(cpp)
# Examples
add_subdirectory(examples)
# Install CMake configuration files
install(EXPORT ${PROJECT_NAME}Targets NAMESPACE ${PROJECT_NAME}:: DESTINATION ${Open3D_INSTALL_CMAKE_DIR})
export(EXPORT ${PROJECT_NAME}Targets NAMESPACE ${PROJECT_NAME}::)
# `make check-style` checks style for c++/cuda/python/ipynb files
add_custom_target(check-style
COMMAND ${PYTHON_EXECUTABLE}
${CMAKE_CURRENT_SOURCE_DIR}/util/check_style.py
COMMENT "Python executable used for style check: ${PYTHON_EXECUTABLE}."
)
# `make apply-style` applies style for c++/cuda/python/ipynb files
add_custom_target(apply-style
COMMAND ${PYTHON_EXECUTABLE}
${CMAKE_CURRENT_SOURCE_DIR}/util/check_style.py --do_apply_style
COMMENT "Python executable used for style check: ${PYTHON_EXECUTABLE}."
)
# `make check-cpp-style` checks style for c++/cuda files.
# This works outside of python virtualenv.
add_custom_target(check-cpp-style
COMMAND ${CMAKE_COMMAND}
-DPROJECT_SOURCE_DIR="${PROJECT_SOURCE_DIR}"
-DDO_APPLY_STYLE=OFF
-P ${CMAKE_CURRENT_SOURCE_DIR}/util/check_cpp_style.cmake
)
# `make apply-cpp-style` applies style for c++/cuda files.
# This works outside of python virtualenv.
add_custom_target(apply-cpp-style
COMMAND ${CMAKE_COMMAND}
-DPROJECT_SOURCE_DIR="${PROJECT_SOURCE_DIR}"
-DDO_APPLY_STYLE=ON
-P ${CMAKE_CURRENT_SOURCE_DIR}/util/check_cpp_style.cmake
)
function(open3d_aligned_print first second)
string(LENGTH "${first}" first_len)
math(EXPR star_len "40 - ${first_len}")
# CMake 3.15+ has string(REPEAT), but this is backwards compatible
string(SUBSTRING "........................................" 0 ${star_len} stars)
message(STATUS " ${first} ${stars} ${second}")
endfunction()
message(STATUS "================================================================================")
message(STATUS "Open3D ${PROJECT_VERSION} Configuration Summary")
message(STATUS "================================================================================")
message(STATUS "Enabled Features:")
open3d_aligned_print("OpenMP" "${WITH_OPENMP}")
open3d_aligned_print("Headless Rendering" "${ENABLE_HEADLESS_RENDERING}")
open3d_aligned_print("Azure Kinect Support" "${BUILD_AZURE_KINECT}")
open3d_aligned_print("Intel RealSense Support" "${BUILD_LIBREALSENSE}")
open3d_aligned_print("CUDA Support" "${BUILD_CUDA_MODULE}")
open3d_aligned_print("Build GUI" "${BUILD_GUI}")
open3d_aligned_print("Build Shared Library" "${BUILD_SHARED_LIBS}")
if(WIN32)
open3d_aligned_print("Use Windows Static Runtime" "${STATIC_WINDOWS_RUNTIME}")
endif()
open3d_aligned_print("Build Unit Tests" "${BUILD_UNIT_TESTS}")
open3d_aligned_print("Build Examples" "${BUILD_EXAMPLES}")
open3d_aligned_print("Build Python Module" "${BUILD_PYTHON_MODULE}")
if(BUILD_PYTHON_MODULE)
open3d_aligned_print("- with Jupyter Notebook Support" "${BUILD_JUPYTER_EXTENSION}")
endif()
open3d_aligned_print("Build TensorFlow Ops" "${BUILD_TENSORFLOW_OPS}")
open3d_aligned_print("Build PyTorch Ops" "${BUILD_PYTORCH_OPS}")
if (BUILD_PYTORCH_OPS AND BUILD_CUDA_MODULE AND
CUDAToolkit_VERSION VERSION_GREATER_EQUAL "11.0" )
message( WARNING
"--------------------------------------------------------------------------------\n"
" \n"
" You are compiling PyTorch ops with CUDA 11. This configuration may have \n"
" stability issues. See https://github.com/intel-isl/Open3D/issues/3324 and \n"
" https://github.com/pytorch/pytorch/issues/52663 for more information on this \n"
" problem. \n"
" \n"
" We recommend to compile PyTorch from source with compile flags \n"
" '-Xcompiler -fno-gnu-unique' \n"
" \n"
" or use the PyTorch wheels at \n"
" https://github.com/intel-isl/open3d_downloads/releases/tag/torch1.7.1 \n"
" \n"
"--------------------------------------------------------------------------------\n"
)
endif()
open3d_aligned_print("Build Benchmarks" "${BUILD_BENCHMARKS}")
open3d_aligned_print("Bundle Open3D-ML" "${BUNDLE_OPEN3D_ML}")
open3d_aligned_print("Build RPC interface" "${BUILD_RPC_INTERFACE}")
if(GLIBCXX_USE_CXX11_ABI)
set(usage "1")
else()
set(usage "0")
endif()
open3d_aligned_print("Force GLIBCXX_USE_CXX11_ABI=" "${usage}")
message(STATUS "================================================================================")
message(STATUS "Third-Party Dependencies:")
set(deps
EIGEN3
FAISS
FILAMENT
FLANN
FMT
GLEW
GLFW
GOOGLETEST
IMGUI
IPPICV
JPEG
JSONCPP
LIBLZF
OPENGL
PNG
PYBIND11
QHULL
LIBREALSENSE
TINYFILEDIALOGS
TINYGLTF
TINYOBJLOADER
)
foreach(dep IN ITEMS ${deps})
if(${dep}_TARGET)
if(NOT USE_SYSTEM_${dep})
set(usage "yes (build from source)")
else()
set(usage "yes")
if(${dep}_VERSION_STRING)
set(usage "${usage} (v${${dep}_VERSION_STRING})")
elseif(${dep}_VERSION)
set(usage "${usage} (v${${dep}_VERSION})")
endif()
endif()
else()
set(usage "no")
endif()
open3d_aligned_print("${dep}" "${usage}")
endforeach()
message(STATUS "================================================================================")