cmake_minimum_required(VERSION 3.24)

file(READ "SOPHUS_VERSION" SOPHUS_VERSION)

project(Sophus VERSION ${SOPHUS_VERSION})

include(CMakePackageConfigHelpers)

include(GNUInstallDirs)

# Determine if sophus is built as a subproject (using add_subdirectory) or if it

# is the master project.

if(NOT DEFINED SOPHUS_MASTER_PROJECT)

set(SOPHUS_MASTER_PROJECT OFF)

if(CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)

set(SOPHUS_MASTER_PROJECT ON)

message(STATUS "CMake version: ${CMAKE_VERSION}")

endif()

endif()

option(SOPHUS_INSTALL "Generate the install target." ${SOPHUS_MASTER_PROJECT})

if(SOPHUS_MASTER_PROJECT)

# Release by default Turn on Debug with "-DCMAKE_BUILD_TYPE=Debug"

if(NOT CMAKE_BUILD_TYPE)

set(CMAKE_BUILD_TYPE RelWithDebInfo)

endif()

set(CMAKE_CXX_STANDARD 17)

set(CMAKE_COMPILE_WARNING_AS_ERROR Off)

# Set compiler specific settings (FixMe: Should not cmake do this for us

# automatically?)

if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")

add_compile_options(-Wall -Wextra -Wno-deprecated-register

-Qunused-arguments -fcolor-diagnostics)

elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")

add_compile_options(-Wall -Wextra -Wno-deprecated-declarations

-ftemplate-backtrace-limit=0 -Wno-array-bounds)

elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")

add_compile_options(/bigobj /wd4305 /wd4244 /MP)

add_compile_definitions(_USE_MATH_DEFINES)

endif()

# Add local path for finding packages, set the local version first

list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules")

endif()

# Find public dependencies if targets are not yet defined. (Targets might be for

# example defined by a parent project including Sophus via `add_subdirectory`.)

if(NOT TARGET Eigen3::Eigen)

find_package(Eigen3 3.4.0 REQUIRED)

endif()

# Define interface library target

add_library(sophus INTERFACE)

add_library(Sophus::Sophus ALIAS sophus)

set(SOPHUS_HEADER_FILES

sophus/average.hpp

sophus/cartesian.hpp

sophus/ceres_manifold.hpp

sophus/ceres_typetraits.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/spline.hpp

sophus/types.hpp)

set(SOPHUS_OTHER_FILES sophus/test_macros.hpp)

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_include_directories(sophus SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIR})

endif()

# Associate target with include directory

target_include_directories(

sophus INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>"

"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")

# Add sources as custom target so that they are shown in IDE's

add_custom_target(other SOURCES ${SOPHUS_OTHER_FILES} ${SOPHUS_HEADER_FILES})

# Create 'test' make target using ctest

option(BUILD_SOPHUS_TESTS "Build tests." ON)

if(BUILD_SOPHUS_TESTS)

enable_testing()

add_subdirectory(test)

endif()

# Build python sophus bindings

option(BUILD_PYTHON_BINDINGS "Build python sophus bindings." OFF)

if(BUILD_PYTHON_BINDINGS)

if(NOT TARGET fmt::fmt)

find_package(fmt REQUIRED)

endif()

include(FetchContent)

FetchContent_Declare(

pybind11

GIT_REPOSITORY https://github.com/pybind/pybind11.git

GIT_TAG master)

FetchContent_MakeAvailable(pybind11)

add_subdirectory(${pybind11_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR}/pybind)

pybind11_add_module(sophus_pybind

${CMAKE_CURRENT_SOURCE_DIR}/sophus_pybind/bindings.cpp)

target_link_libraries(sophus_pybind PUBLIC sophus fmt::fmt)

endif(BUILD_PYTHON_BINDINGS)

if(SOPHUS_INSTALL)

# 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)

endif()