make cpp installable

PRBonn · Nov 18, 2024 · a31be32 · a31be32
1 parent 0395784
commit a31be32
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Showing 25 changed files with 159 additions and 15 deletions.
diff --git a/cpp/kiss_icp/3rdparty/find_dependencies.cmake b/cpp/kiss_icp/3rdparty/find_dependencies.cmake
@@ -37,7 +37,72 @@ function(find_external_dependency PACKAGE_NAME TARGET_NAME INCLUDED_CMAKE_PATH)
   endif()
 endfunction()
 
-find_external_dependency("Eigen3" "Eigen3::Eigen" "${CMAKE_CURRENT_LIST_DIR}/eigen/eigen.cmake")
-find_external_dependency("Sophus" "Sophus::Sophus" "${CMAKE_CURRENT_LIST_DIR}/sophus/sophus.cmake")
-find_external_dependency("TBB" "TBB::tbb" "${CMAKE_CURRENT_LIST_DIR}/tbb/tbb.cmake")
-find_external_dependency("tsl-robin-map" "tsl::robin_map" "${CMAKE_CURRENT_LIST_DIR}/tsl_robin/tsl_robin.cmake")
+if(NOT DOWNLOAD_MISSING_DEPS)
+  find_package(Eigen3 REQUIRED) # sudo apt install libeigen3-dev
+  find_package(Sophus REQUIRED) # sudo apt install ros-noetic-sophus
+  find_package(TBB REQUIRED) # sudo apt install libtbb-dev
+  find_package(tsl-robin-map REQUIRED) # clone & install from https://github.com/Tessil/robin-map.git into misc_ws, and run `cmake -Bbuild && cmake --build build && sudo cmake --install build`)
+
+else()
+  find_package(Eigen3)
+  find_package(Sophus)
+  find_package(TBB)
+  find_package(tsl-robin-map)
+endif()
+
+if(TARGET Eigen3::Eigen)
+  message("Found package Eigen3 locally")
+endif()
+if(TARGET Sophus::Sophus)
+  message("Found package Sophus locally")
+endif()
+if(TARGET TBB::tbb)
+  message("Found package TBB locally")
+endif()
+if(TARGET tsl::robin_map)
+  message("Found package tsl-robin-map locally")
+endif()
+
+if(NOT (TARGET Eigen3::Eigen AND TARGET Sophus::Sophus AND TARGET tsl::robin_map AND TARGET TBB::tbb))
+  message(FATAL_ERROR "
+  Exporting fetched dependencies is currently broken
+  I have no idea how to do it automatically ¯\\_(ツ)_/¯
+  please set DOWNLOAD_MISSING_DEPS to OFF in the main CMakeLists.txt and install the dependencies yourself.
+  The find_dependencies file lists the corresponding installation instructions.
+  ")
+endif()
+
+if(DOWNLOAD_MISSING_DEPS)
+  if(NOT TARGET Eigen3::Eigen)
+    message("Trying to download external dependency Eigen3...")
+    find_external_dependency("Eigen3" "Eigen3::Eigen" "${CMAKE_CURRENT_LIST_DIR}/eigen/eigen.cmake")
+    message("done.")
+    if(NOT TARGET Eigen3::Eigen)
+      message(FATAL_ERROR "loading Eigen3::Eigen failed.")
+    endif()
+  endif()
+  if(NOT TARGET Sophus::Sophus)
+    message("Trying to download external dependency Sophus...")
+    find_external_dependency("Sophus" "Sophus::Sophus" "${CMAKE_CURRENT_LIST_DIR}/sophus/sophus.cmake")
+    message("done.")
+    if(NOT TARGET Sophus::Sophus)
+      message(FATAL_ERROR "loading Sophus::Sophus failed.")
+    endif()
+  endif()
+  if(NOT TARGET TBB::tbb)
+    message("Trying to download external dependency TBB...")
+    find_external_dependency("TBB" "TBB::tbb" "${CMAKE_CURRENT_LIST_DIR}/tbb/tbb.cmake")
+    message("done.")
+    if(NOT TARGET TBB::tbb)
+      message(FATAL_ERROR "loading TBB:tbb failed.")
+    endif()
+  endif()
+  if(NOT TARGET tsl::robin_map)
+    message("Trying to download external dependency tsl-robin-map...")
+    find_external_dependency("tsl-robin-map" "tsl::robin_map" "${CMAKE_CURRENT_LIST_DIR}/tsl_robin/tsl_robin.cmake")
+    message("done.")
+    if(NOT TARGET tsl::robin_map)
+      message(FATAL_ERROR "loading tsl::robin_map failed.")
+    endif()
+  endif()
+endif()
diff --git a/cpp/kiss_icp/3rdparty/tsl_robin/tsl_robin.cmake b/cpp/kiss_icp/3rdparty/tsl_robin/tsl_robin.cmake
@@ -21,5 +21,5 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 include(FetchContent)
-FetchContent_Declare(tessil SYSTEM URL https://github.com/Tessil/robin-map/archive/refs/tags/v1.2.1.tar.gz)
-FetchContent_MakeAvailable(tessil)
+FetchContent_Declare(tsl-robin-map SYSTEM URL https://github.com/Tessil/robin-map/archive/refs/tags/v1.2.1.tar.gz)
+FetchContent_MakeAvailable(tsl-robin-map)
diff --git a/cpp/kiss_icp/CMakeLists.txt b/cpp/kiss_icp/CMakeLists.txt
@@ -23,12 +23,16 @@
 cmake_minimum_required(VERSION 3.16...3.26)
 project(kiss_icp_cpp VERSION 1.1.0 LANGUAGES CXX)
 
+include(GNUInstallDirs)
+include(CMakePackageConfigHelpers)
+
 # Setup build options
 option(USE_CCACHE "Build using Ccache if found on the path" ON)
 option(USE_SYSTEM_EIGEN3 "Use system pre-installed Eigen" ON)
 option(USE_SYSTEM_SOPHUS "Use system pre-installed Sophus" ON)
 option(USE_SYSTEM_TSL-ROBIN-MAP "Use system pre-installed tsl_robin" ON)
 option(USE_SYSTEM_TBB "Use system pre-installed oneAPI/tbb" ON)
+option(DOWNLOAD_MISSING_DEPS "try and download missing depedencies from repos" OFF)
 
 # ccache setup
 if(USE_CCACHE)
@@ -45,9 +49,35 @@ set(CMAKE_BUILD_TYPE Release)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-include(3rdparty/find_dependencies.cmake)
-include(cmake/CompilerOptions.cmake)
+include(${CMAKE_CURRENT_LIST_DIR}/3rdparty/find_dependencies.cmake)
+include(${CMAKE_CURRENT_LIST_DIR}/cmake/CompilerOptions.cmake)
+
+add_subdirectory(src)
+
+install(EXPORT kiss_icpTargets
+        FILE kiss_icpTargets.cmake
+        NAMESPACE kiss_icp::
+        DESTINATION "share/cmake/kiss_icp")
+
+
+configure_package_config_file(${CMAKE_CURRENT_LIST_DIR}/cmake/Config.cmake.in
+  "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfig.cmake"
+  INSTALL_DESTINATION "share/cmake/kiss_icp"
+)
+
+# generate the version file for the config file
+write_basic_package_version_file(
+  "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfigVersion.cmake"
+  VERSION "${version}"
+  COMPATIBILITY SameMinorVersion
+)
+
+
+install(DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/include/kiss_icp"
+        DESTINATION "include")
 
-add_subdirectory(core)
-add_subdirectory(metrics)
-add_subdirectory(pipeline)
+install(FILES
+          "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfig.cmake"
+          "${CMAKE_CURRENT_BINARY_DIR}/kiss_icpConfigVersion.cmake"
+        DESTINATION "share/cmake/kiss_icp"
+)
diff --git a/cpp/kiss_icp/README.md b/cpp/kiss_icp/README.md
@@ -2,11 +2,20 @@
 
 ## How to build
 
-```sh
+```bash
 cmake -Bbuild
 cmake --build build -j$(nproc --all)
 ```
 
+## How to install:
+
+```bash
+# install system-wide
+cmake --install build
+# or install to a custom location (e.g. "/usr/local")
+cmake --install build --prefix "<your_custom_install_prefix>"
+```
+
 ## Dependencies
 
 The cmake build system should handle all dependencies for you. In case you have some particular

diff --git a/cpp/kiss_icp/cmake/Config.cmake.in b/cpp/kiss_icp/cmake/Config.cmake.in
@@ -0,0 +1,11 @@
+@PACKAGE_INIT@
+
+include(CMakeFindDependencyMacro)
+find_dependency(Eigen3 REQUIRED)
+find_dependency(Sophus REQUIRED)
+find_dependency(TBB REQUIRED)
+find_dependency(tsl-robin-map REQUIRED)
+
+include("${CMAKE_CURRENT_LIST_DIR}/kiss_icpTargets.cmake")
+
+check_required_components(kiss_icp)
diff --git a/cpp/kiss_icp/core/Deskew.hpp → ...kiss_icp/include/kiss_icp/core/Deskew.hpp b/cpp/kiss_icp/core/Deskew.hpp → ...kiss_icp/include/kiss_icp/core/Deskew.hpp
diff --git a/cpp/kiss_icp/core/Preprocessing.hpp → ...p/include/kiss_icp/core/Preprocessing.hpp b/cpp/kiss_icp/core/Preprocessing.hpp → ...p/include/kiss_icp/core/Preprocessing.hpp
diff --git a/cpp/kiss_icp/core/Registration.hpp → ...cp/include/kiss_icp/core/Registration.hpp b/cpp/kiss_icp/core/Registration.hpp → ...cp/include/kiss_icp/core/Registration.hpp
diff --git a/cpp/kiss_icp/core/Threshold.hpp → ...s_icp/include/kiss_icp/core/Threshold.hpp b/cpp/kiss_icp/core/Threshold.hpp → ...s_icp/include/kiss_icp/core/Threshold.hpp
diff --git a/cpp/kiss_icp/core/VoxelHashMap.hpp → ...cp/include/kiss_icp/core/VoxelHashMap.hpp b/cpp/kiss_icp/core/VoxelHashMap.hpp → ...cp/include/kiss_icp/core/VoxelHashMap.hpp
diff --git a/cpp/kiss_icp/core/VoxelUtils.hpp → ..._icp/include/kiss_icp/core/VoxelUtils.hpp b/cpp/kiss_icp/core/VoxelUtils.hpp → ..._icp/include/kiss_icp/core/VoxelUtils.hpp
diff --git a/cpp/kiss_icp/metrics/Metrics.hpp → ..._icp/include/kiss_icp/metrics/Metrics.hpp b/cpp/kiss_icp/metrics/Metrics.hpp → ..._icp/include/kiss_icp/metrics/Metrics.hpp
diff --git a/cpp/kiss_icp/pipeline/KissICP.hpp → ...icp/include/kiss_icp/pipeline/KissICP.hpp b/cpp/kiss_icp/pipeline/KissICP.hpp → ...icp/include/kiss_icp/pipeline/KissICP.hpp
diff --git a/cpp/kiss_icp/src/CMakeLists.txt b/cpp/kiss_icp/src/CMakeLists.txt
@@ -0,0 +1,3 @@
+add_subdirectory(core)
+add_subdirectory(metrics)
+add_subdirectory(pipeline)
diff --git a/cpp/kiss_icp/core/CMakeLists.txt → cpp/kiss_icp/src/core/CMakeLists.txt b/cpp/kiss_icp/core/CMakeLists.txt → cpp/kiss_icp/src/core/CMakeLists.txt
@@ -23,5 +23,14 @@
 add_library(kiss_icp_core STATIC)
 target_sources(kiss_icp_core PRIVATE Registration.cpp Deskew.cpp VoxelHashMap.cpp VoxelUtils.cpp Preprocessing.cpp
                                      Threshold.cpp)
-target_link_libraries(kiss_icp_core PUBLIC Eigen3::Eigen tsl::robin_map TBB::tbb Sophus::Sophus)
+target_include_directories(kiss_icp_core PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include/kiss_icp/core>
+  $<INSTALL_INTERFACE:include/kiss_icp/core>
+)
+target_link_libraries(kiss_icp_core PUBLIC Eigen3::Eigen tsl::robin_map Sophus::Sophus)
+target_link_libraries(kiss_icp_core PRIVATE TBB::tbb)
 set_global_target_properties(kiss_icp_core)
+
+install(TARGETS kiss_icp_core
+        DESTINATION lib/kiss_icp/core
+        EXPORT kiss_icpTargets)
diff --git a/cpp/kiss_icp/core/Deskew.cpp → cpp/kiss_icp/src/core/Deskew.cpp b/cpp/kiss_icp/core/Deskew.cpp → cpp/kiss_icp/src/core/Deskew.cpp
@@ -30,7 +30,7 @@
 
 namespace {
 /// TODO(Nacho) Explain what is the very important meaning of this param
-constexpr double mid_pose_timestamp{0.5};
+constexpr double mid_pose_timestamp{0.5}; // 0.5 for middle of scan
 }  // namespace
 
 namespace kiss_icp {

diff --git a/cpp/kiss_icp/core/Preprocessing.cpp → cpp/kiss_icp/src/core/Preprocessing.cpp b/cpp/kiss_icp/core/Preprocessing.cpp → cpp/kiss_icp/src/core/Preprocessing.cpp
diff --git a/cpp/kiss_icp/core/Registration.cpp → cpp/kiss_icp/src/core/Registration.cpp b/cpp/kiss_icp/core/Registration.cpp → cpp/kiss_icp/src/core/Registration.cpp
diff --git a/cpp/kiss_icp/core/Threshold.cpp → cpp/kiss_icp/src/core/Threshold.cpp b/cpp/kiss_icp/core/Threshold.cpp → cpp/kiss_icp/src/core/Threshold.cpp
diff --git a/cpp/kiss_icp/core/VoxelHashMap.cpp → cpp/kiss_icp/src/core/VoxelHashMap.cpp b/cpp/kiss_icp/core/VoxelHashMap.cpp → cpp/kiss_icp/src/core/VoxelHashMap.cpp
diff --git a/cpp/kiss_icp/core/VoxelUtils.cpp → cpp/kiss_icp/src/core/VoxelUtils.cpp b/cpp/kiss_icp/core/VoxelUtils.cpp → cpp/kiss_icp/src/core/VoxelUtils.cpp
diff --git a/cpp/kiss_icp/metrics/CMakeLists.txt → cpp/kiss_icp/src/metrics/CMakeLists.txt b/cpp/kiss_icp/metrics/CMakeLists.txt → cpp/kiss_icp/src/metrics/CMakeLists.txt
@@ -22,5 +22,13 @@
 # SOFTWARE.
 add_library(kiss_icp_metrics STATIC)
 target_sources(kiss_icp_metrics PRIVATE Metrics.cpp)
+target_include_directories(kiss_icp_metrics PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include/kiss_icp/metrics>
+  $<INSTALL_INTERFACE:include/kiss_icp/metrics>
+)
 target_link_libraries(kiss_icp_metrics PUBLIC Eigen3::Eigen)
 set_global_target_properties(kiss_icp_metrics)
+
+install(TARGETS kiss_icp_metrics
+        DESTINATION lib/kiss_icp/metrics
+        EXPORT kiss_icpTargets)
diff --git a/cpp/kiss_icp/metrics/Metrics.cpp → cpp/kiss_icp/src/metrics/Metrics.cpp b/cpp/kiss_icp/metrics/Metrics.cpp → cpp/kiss_icp/src/metrics/Metrics.cpp
diff --git a/cpp/kiss_icp/pipeline/CMakeLists.txt → cpp/kiss_icp/src/pipeline/CMakeLists.txt b/cpp/kiss_icp/pipeline/CMakeLists.txt → cpp/kiss_icp/src/pipeline/CMakeLists.txt
@@ -23,5 +23,14 @@
 
 add_library(kiss_icp_pipeline STATIC)
 target_sources(kiss_icp_pipeline PRIVATE KissICP.cpp)
+target_include_directories(kiss_icp_pipeline PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include/kiss_icp/pipeline>
+  $<INSTALL_INTERFACE:include/kiss_icp/pipeline>
+)
 target_link_libraries(kiss_icp_pipeline PUBLIC kiss_icp_core)
 set_global_target_properties(kiss_icp_pipeline)
+
+install(TARGETS kiss_icp_pipeline
+        DESTINATION lib/kiss_icp/pipeline
+        EXPORT kiss_icpTargets
+        )
diff --git a/cpp/kiss_icp/pipeline/KissICP.cpp → cpp/kiss_icp/src/pipeline/KissICP.cpp b/cpp/kiss_icp/pipeline/KissICP.cpp → cpp/kiss_icp/src/pipeline/KissICP.cpp
@@ -21,7 +21,7 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 // SOFTWARE.
 
-#include "KissICP.hpp"
+#include "kiss_icp/pipeline/KissICP.hpp"
 
 #include <Eigen/Core>
 #include <vector>