feat: support BUILD_ONLY_BASE

openxrlab · Jan 26, 2024 · 947f3ee · 947f3ee
1 parent e38c3b3
commit 947f3ee
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Showing 13 changed files with 114 additions and 82 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -12,6 +12,8 @@ include(cmake/version.cmake)
 
 project(${META_PROJECT_NAME} VERSION ${META_VERSION} LANGUAGES C CXX)
 
+option(BUILD_ONLY_BASE "Only build base library" OFF)
+
 if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
     set(_DEFAULT_INSTALL_PREFIX ${CMAKE_SOURCE_DIR}/install)
     set(CMAKE_INSTALL_PREFIX ${_DEFAULT_INSTALL_PREFIX}
@@ -97,7 +99,7 @@ cmake_policy(SET CMP0077 NEW) # ENABLE CMP0077: option() honors normal variables
 #
 # c++11
 #
-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 

diff --git a/cmake/dependencies.cmake b/cmake/dependencies.cmake
@@ -1,32 +1,43 @@
-#
-# find external project and embbed to main project
-#
+# Public Target for target_link_libraries
+set(XRPRIMER_PUBLIC_TARGET)
 
 if(NOT IOS)
     find_package(Eigen3 REQUIRED CONFIG)
-    find_package(Ceres REQUIRED CONFIG)
+    list(APPEND XRPRIMER_PUBLIC_TARGET Eigen3::Eigen)
 
-    if(NOT TARGET Ceres::ceres)
-        add_library(Ceres::ceres INTERFACE IMPORTED)
-        set_target_properties(
-            Ceres::ceres PROPERTIES INTERFACE_LINK_LIBRARIES ceres
-        )
-    endif()
-
-    find_package(OpenCV REQUIRED CONFIG)
+    find_package(jsoncpp REQUIRED CONFIG)
+    list(APPEND XRPRIMER_PUBLIC_TARGET jsoncpp_static)
 
-    if(OpenCV_FOUND)
-        add_library(OpenCV::OpenCV INTERFACE IMPORTED GLOBAL)
-        target_include_directories(
-            OpenCV::OpenCV INTERFACE ${OpenCV_INCLUDE_DIRS}
-        )
-        target_link_libraries(OpenCV::OpenCV INTERFACE ${OpenCV_LIBS})
-    endif()
+    find_package(spdlog REQUIRED CONFIG)
+    list(APPEND XRPRIMER_PUBLIC_TARGET spdlog::spdlog_header_only)
 
     find_package(pybind11 REQUIRED CONFIG)
-    find_package(jsoncpp REQUIRED CONFIG)
-    find_package(spdlog REQUIRED CONFIG)
-    find_package(PnpSolver REQUIRED CONFIG)
+
+    if(NOT BUILD_ONLY_BASE)
+        find_package(Ceres REQUIRED CONFIG)
+
+        if(NOT TARGET Ceres::ceres)
+            add_library(Ceres::ceres INTERFACE IMPORTED)
+            set_target_properties(
+                Ceres::ceres PROPERTIES INTERFACE_LINK_LIBRARIES ceres
+            )
+        endif()
+
+        list(APPEND XRPRIMER_PUBLIC_TARGET Ceres::ceres)
+
+        find_package(OpenCV REQUIRED CONFIG)
+
+        if(OpenCV_FOUND)
+            add_library(OpenCV::OpenCV INTERFACE IMPORTED GLOBAL)
+            target_include_directories(
+                OpenCV::OpenCV INTERFACE ${OpenCV_INCLUDE_DIRS}
+            )
+            target_link_libraries(OpenCV::OpenCV INTERFACE ${OpenCV_LIBS})
+        endif()
+
+        find_package(PnpSolver REQUIRED CONFIG)
+        list(APPEND XRPRIMER_PUBLIC_TARGET PnpSolver::PnpSolver)
+    endif()
 else()
     # 指定opencv_framework_path
     if(EXISTS ${xrprimer_framework_path})
@@ -35,6 +46,7 @@ else()
             OpenCV::OpenCV INTERFACE -F${xrprimer_framework_path}
         )
         target_link_options(OpenCV::OpenCV INTERFACE -framework opencv2)
+        list(APPEND XRPRIMER_PUBLIC_TARGET OpenCV::OpenCV)
     else()
         message(
             FATAL_ERROR

diff --git a/cmake/external/pybind11.cmake b/cmake/external/pybind11.cmake
@@ -1,15 +1,13 @@
 if(NOT IOS)
     include(ExternalProject)
-
     externalproject_add(
         ext_pybind11
         PREFIX pybind11
-        URL https://github.com/pybind/pybind11/archive/refs/tags/v2.6.2.tar.gz
-        URL_HASH
-            SHA256=8ff2fff22df038f5cd02cea8af56622bc67f5b64534f1b83b9f133b8366acff2
+        URL https://github.com/pybind/pybind11/archive/refs/tags/v2.10.4.tar.gz
+            DOWNLOAD_EXTRACT_TIMESTAMP TRUE
         CMAKE_ARGS ${ExternalProject_CMAKE_ARGS_hidden}
                    -DCMAKE_INSTALL_PREFIX=${STAGED_INSTALL_PREFIX}/pybind11
-                   -DBUILD_TESTING=OFF
+                   -DBUILD_TESTING=OFF -DPYBIND11_USE_STATIC_PYTHON=ON
     )
 else()
     message(STATUS "[XRPrimer] Disable pybind11 on IOS")

diff --git a/cmake/setup_deps.cmake b/cmake/setup_deps.cmake
@@ -3,14 +3,21 @@
 #
 
 if(3RT_FROM_LOCAL)
+    if(POLICY CMP0135)
+        cmake_policy(SET CMP0135 NEW)
+    endif()
+
     include(${CMAKE_SOURCE_DIR}/cmake/external/common.cmake)
     include(${CMAKE_SOURCE_DIR}/cmake/external/eigen.cmake)
-    include(${CMAKE_SOURCE_DIR}/cmake/external/ceres.cmake)
-    include(${CMAKE_SOURCE_DIR}/cmake/external/opencv.cmake)
     include(${CMAKE_SOURCE_DIR}/cmake/external/pybind11.cmake)
     include(${CMAKE_SOURCE_DIR}/cmake/external/spdlog.cmake)
     include(${CMAKE_SOURCE_DIR}/cmake/external/jsoncpp.cmake)
-    include(${CMAKE_SOURCE_DIR}/cmake/external/pnpsolver.cmake)
+
+    if(NOT BUILD_ONLY_BASE)
+        include(${CMAKE_SOURCE_DIR}/cmake/external/ceres.cmake)
+        include(${CMAKE_SOURCE_DIR}/cmake/external/opencv.cmake)
+        include(${CMAKE_SOURCE_DIR}/cmake/external/pnpsolver.cmake)
+    endif()
 endif()
 
 if(3RT_FROM_CONAN)

diff --git a/cpp/pybind/CMakeLists.txt b/cpp/pybind/CMakeLists.txt
@@ -1,5 +1,7 @@
 find_package(Python3 COMPONENTS Interpreter Development)
 
+find_package(pybind11 REQUIRED CONFIG)
+
 if(Python3_FOUND)
     set(PYTHON_EXECUTABLE
         ${Python3_EXECUTABLE}
@@ -15,16 +17,26 @@ endif()
 
 set(PYTHON_VERSION "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}")
 
-pybind11_add_module(
-    xrprimer_cpp xrprimer_pybind.cpp data_structure/camera.cpp
-    data_structure/pose.cpp calibration/calibrator_api.cpp ops/pnpsolver.cpp
-    common/version.cpp
+pybind11_add_module(xrprimer_cpp)
+target_sources(
+    xrprimer_cpp PRIVATE xrprimer_pybind.cpp data_structure/camera.cpp
+                         data_structure/pose.cpp common/version.cpp
 )
 
-target_link_libraries(
-    xrprimer_cpp PUBLIC XRPrimer::xrprimer opencv_imgcodecs opencv_calib3d
-                        opencv_core
-)
+set(EXTERNAL_MODULES XRPrimer::xrprimer)
+
+if(NOT BUILD_ONLY_BASE)
+    set(EXTERNAL_MODULES ${EXTERNAL_MODULES} opencv_imgcodecs opencv_calib3d
+                         opencv_core
+    )
+else()
+    target_compile_definitions(xrprimer_cpp PRIVATE XRPRIMER_BUILD_BASE)
+endif()
+
+add_subdirectory(calibration)
+add_subdirectory(ops)
+
+target_link_libraries(xrprimer_cpp PUBLIC ${EXTERNAL_MODULES})
 target_include_directories(
     xrprimer_cpp PUBLIC $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/cpp/>
                         $<INSTALL_INTERFACE:include/>

diff --git a/cpp/pybind/calibration/CMakeLists.txt b/cpp/pybind/calibration/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(xrprimer_cpp PRIVATE calibrator_api.cpp)
diff --git a/cpp/pybind/calibration/calibrator_api.cpp b/cpp/pybind/calibration/calibrator_api.cpp
@@ -1,7 +1,12 @@
 
-#include <calibration/calibrator_api.h>
 #include <pybind/calibration/calibrator_api.h>
 
+#ifdef XRPRIMER_BUILD_BASE
+void xrprimer_pybind_calibrator(py::module &m) {}
+#else
+
+#include <calibration/calibrator_api.h>
+
 void pybind_camera_calibrator(py::module &m) {
     m.def("CalibrateMultiPinholeCamera", &CalibrateMultiPinholeCamera);
 }
@@ -10,3 +15,4 @@ void xrprimer_pybind_calibrator(py::module &m) {
     py::module m_submodule = m.def_submodule("calibrator");
     pybind_camera_calibrator(m_submodule);
 }
+#endif
diff --git a/cpp/pybind/ops/CMakeLists.txt b/cpp/pybind/ops/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(xrprimer_cpp PRIVATE pnpsolver.cpp)
diff --git a/cpp/pybind/ops/pnpsolver.cpp b/cpp/pybind/ops/pnpsolver.cpp
@@ -1,6 +1,12 @@
-#include <pnp_solver.h>
+
 #include <pybind/ops/pnpsolver.h>
 
+#ifdef XRPRIMER_BUILD_BASE
+void xrprimer_pybind_pnpsolver(py::module &m) {}
+#else
+
+#include <pnp_solver.h>
+
 py::dict prior_guided_pnp(
     const Eigen::Ref<Eigen::Matrix<float, 2, Eigen::Dynamic, Eigen::RowMajor>>
         points2D,
@@ -71,3 +77,4 @@ void xrprimer_pybind_pnpsolver(py::module &m) {
     py::module m_submodule = m.def_submodule("ops");
     pybind_pnpsolver(m_submodule);
 }
+#endif
diff --git a/cpp/pybind/xrprimer_pybind.cpp b/cpp/pybind/xrprimer_pybind.cpp
@@ -190,8 +190,8 @@ PYBIND11_MODULE(xrprimer_cpp, m) {
 
     pybind_eigen_classes(m);
     xrprimer_pybind_camera(m);
-    xrprimer_pybind_calibrator(m);
     xrprimer_pybind_version(m);
     xrprimer_pybind_pose(m);
+    xrprimer_pybind_calibrator(m);
     xrprimer_pybind_pnpsolver(m);
 }
diff --git a/cpp/xrprimer/CMakeLists.txt b/cpp/xrprimer/CMakeLists.txt
@@ -1,60 +1,42 @@
-set(Headers
-    common/version.h
-    calibration/calibrator.h
-    calibration/calibrator_api.h
-    data_structure/math_util.h
-    data_structure/camera/camera.h
-    data_structure/camera/pinhole_camera.h
-    data_structure/camera/omni_camera.h
-    data_structure/camera/fisheye_camera.h
-    data_structure/image.h
-    data_structure/pose.h
-    utils/logging.h
-)
-source_group("Headers" FILES ${Headers})
-
-set(Sources
-    common/version.cpp
-    calibration/calibrator.cpp
-    calibration/calibrator_api.cpp
-    data_structure/camera/camera.cpp
-    data_structure/camera/pinhole_camera.cpp
-    data_structure/camera/omni_camera.cpp
-    data_structure/camera/fisheye_camera.cpp
-    data_structure/image.cpp
-    data_structure/pose.cpp
-    utils/logging.cpp
-)
+if(NOT BUILD_ONLY_BASE)
+    add_subdirectory(calibration)
+endif()
 
-source_group("Sources" FILES ${Sources})
+add_library(xrprimer)
+add_library(XRPrimer::xrprimer ALIAS xrprimer)
 
-set(target xrprimer)
-
-add_library(${target} ${Headers} ${Sources})
-add_library(XRPrimer::${target} ALIAS ${target})
+target_sources(
+    xrprimer
+    PRIVATE common/version.cpp
+            data_structure/image.cpp
+            data_structure/pose.cpp
+            data_structure/camera/camera.cpp
+            data_structure/camera/fisheye_camera.cpp
+            data_structure/camera/omni_camera.cpp
+            data_structure/camera/pinhole_camera.cpp
+)
 
-target_compile_options(${target} PRIVATE -fPIC)
+target_compile_options(xrprimer PRIVATE -fPIC)
 
 include(GenerateExportHeader)
 generate_export_header(
-    ${target} EXPORT_FILE_NAME ${CMAKE_CURRENT_BINARY_DIR}/xrprimer_export.h
+    xrprimer EXPORT_FILE_NAME ${CMAKE_CURRENT_BINARY_DIR}/xrprimer_export.h
 )
 
 target_include_directories(
-    ${target}
+    xrprimer
     PUBLIC $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/cpp/xrprimer>
            $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/>
            $<INSTALL_INTERFACE:include/xrprimer>
 )
 
 target_link_libraries(
-    ${target}
-    PUBLIC $<$<NOT:$<PLATFORM_ID:IOS>>:PnpSolver::pnpsolver> OpenCV::OpenCV
-           Eigen3::Eigen Ceres::ceres jsoncpp_static spdlog::spdlog_header_only
+    xrprimer PUBLIC $<$<TARGET_EXISTS:calibrator_obj>:calibrator_obj>
+                    ${XRPRIMER_PUBLIC_TARGET}
 )
 
-install(TARGETS ${target} DESTINATION lib EXPORT ${target}-targets)
-install(EXPORT ${target}-targets DESTINATION lib/cmake/xrprimer
+install(TARGETS xrprimer DESTINATION lib EXPORT xrprimer-targets)
+install(EXPORT xrprimer-targets DESTINATION lib/cmake/xrprimer
         NAMESPACE XRPrimer::
 )
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING

diff --git a/cpp/xrprimer/calibration/CMakelists.txt b/cpp/xrprimer/calibration/CMakelists.txt
@@ -0,0 +1,3 @@
+add_library(calibrator_obj OBJECT)
+target_sources(calibrator_obj PUBLIC calibrator.cpp calibrator_api.cpp)
+target_include_directories(calibrator_obj PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/../)
diff --git a/docs/en/installation/cpp.md b/docs/en/installation/cpp.md
@@ -69,6 +69,7 @@ It is currently tested on Linux and iOS. Ideally it can be also compiled on macO
 ```bash
 #1. First run, get external dependencies, will install external deps to 3rdparty
 cmake -S. -Bbuild_deps <-D3RT_FROM_LOCAL=ON/-D3RT_FROM_CONAN=ON>
+cmake -S. -Bbuild_deps -D3RT_FROM_LOCAL=ON
 cmake --build build_deps
 
 #2. build xrprimer