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Merge branch 'develop' of https://github.com/rjdmoore/fictrac into co…
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…ntrol_features
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@davidt0x
davidt0x committed Nov 21, 2019
2 parents ae1e7f2 + 94372ad commit 9359a9f
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Showing 50 changed files with 2,119 additions and 1,059 deletions.
127 changes: 75 additions & 52 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ project (FicTrac)

# The version number.
set (FICTRAC_VERSION_MAJOR 2)
set (FICTRAC_VERSION_MINOR 0)
set (FICTRAC_VERSION_MINOR 2)

# output version info to be included by project
configure_file (
Expand All @@ -13,7 +13,7 @@ configure_file (

# dependency search dirs
set(OPENCV_DIR "." CACHE PATH "Path to OpenCV folder containing OpenCVConfig.cmake")
set(NLOPT_DIR "." CACHE PATH "Path to NLOpt folder containing libnlopt-0.lib")
set(NLOPT_DIR "." CACHE PATH "Path to NLopt folder containing NLoptConfig.cmake")

# output dirs
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
Expand All @@ -22,119 +22,142 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)

# optional build config
option(PGR_USB3 "Use Spinnaker SDK to capture from PGR USB3 cameras" OFF) # Disabled by default
option(PGR_USB2 "Use FlyCapture SDK to capture from PGR USB2 cameras" OFF) # Disabled by default
if(PGR_USB3)
set(PGR_DIR "." CACHE PATH "Path to PGR Spinnaker SDK folder")
elseif(PGR_USB2)
set(PGR_DIR "." CACHE PATH "Path to PGR FlyCapture SDK folder")
endif()

# find dependencies
set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${OPENCV_DIR} ${NLOPT_DIR})
find_package(OpenCV REQUIRED)
find_package(NLopt CONFIG REQUIRED)
if(NLopt_FOUND)
get_filename_component(NLopt_INCLUDE_DIRS "${NLOPT_CONFIG_FILE}/../../../include" REALPATH)
# set(NLopt_LIBS ${NLOPT_LIBRARY_DIRS}/lib/nlopt.lib)
message(STATUS "Found NLopt: ${NLOPT_CONFIG_FILE}")
else()
message(FATAL_ERROR "Error! Could not find NLopt lib at ${NLOPT_LIB}!")
endif()
if(MSVC)
find_package(opencv)
find_library(NLOPT_LIB libnlopt-0.lib)

if(PGR_USB3)
set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${PGR_DIR}/lib64/vs2015)
find_library(PGR_LIB Spinnaker_v140.lib)
elseif(PGR_USB2)
set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${PGR_DIR}/lib64/vs2015)
find_library(PGR_LIB FlyCapture2_v140.lib)
endif()
else() # gcc
find_package(OpenCV)
find_library(NLOPT_LIB libnlopt.a)

if(PGR_USB3)
set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${PGR_DIR})
find_library(PGR_LIB libSpinnaker.so)
elseif(PGR_USB2)
set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${PGR_DIR})
find_library(PGR_LIB libflycapture.so)
endif()
endif()
get_filename_component(NLOPT_DIR ${NLOPT_LIB} DIRECTORY)
if(NLOPT_LIB)
message(STATUS "Found NLOpt lib ${NLOPT_LIB}")
if(PGR_USB2 OR PGR_USB3)
get_filename_component(PGR_DIR ${PGR_LIB} DIRECTORY)
get_filename_component(PGR_DIR ${PGR_DIR} DIRECTORY) # step up 1 level
if(MSVC)
message(STATUS "You might need to add ${NLOPT_DIR} to your PATH to be able to run the executable.")
get_filename_component(PGR_DIR ${PGR_DIR} DIRECTORY) # step up 1 level
endif()
else()
message(FATAL_ERROR "Error! Could not find NLOpt lib at ${NLOPT_DIR}!")
endif()
if(PGR_USB3)
if(PGR_LIB)
message(STATUS "Found PGR Spinnaker lib ${PGR_LIB}")
message(STATUS "Found PGR FlyCapture/Spinnaker lib ${PGR_LIB}")
else()
message(FATAL_ERROR "Error! Could not find PGR Spinnaker lib at ${PGR_DIR}!")
message(FATAL_ERROR "Error! Could not find PGR FlyCapture/Spinnaker lib at ${PGR_DIR}!")
endif()
endif()

# ZeroMQ dependencies
find_package(cppzmq)

# add include dirs
include_directories(${PROJECT_SOURCE_DIR}/include ${OpenCV_INCLUDE_DIRS} ${NLOPT_DIR})
if(PGR_USB3)
include_directories(${PGR_DIR}/include)
include_directories(${PGR_DIR}/include/spinnaker)
include_directories(${PROJECT_SOURCE_DIR}/include ${OpenCV_INCLUDE_DIRS} ${NLopt_INCLUDE_DIRS})
if(PGR_USB2 OR PGR_USB3)
if(MSVC)
include_directories(${PGR_DIR}/include)
else()
if(PGR_USB2)
include_directories(${PGR_DIR}/include/flycapture) # for ubuntu default install dir
elseif(PGR_USB3)
include_directories(${PGR_DIR}/include/spinnaker) # for ubuntu default install dir
endif()
endif()
endif()

# find sources to build
file(GLOB LIBFICTRAC_SRCS ${PROJECT_SOURCE_DIR}/src/*.cpp)

# add targets
add_library(libfictrac STATIC ${LIBFICTRAC_SRCS})
add_library(fictrac_core STATIC ${LIBFICTRAC_SRCS})
add_executable(configGui ${PROJECT_SOURCE_DIR}/exec/configGui.cpp)
add_executable(fictrac ${PROJECT_SOURCE_DIR}/exec/fictrac.cpp)

# add preprocessor definitions
# public means defs will be inherited by linked executables
target_compile_definitions(libfictrac PUBLIC _CRT_SECURE_NO_WARNINGS NOMINMAX)
if(PGR_USB3)
target_compile_definitions(libfictrac PUBLIC PGR_USB3)
target_compile_definitions(fictrac_core PUBLIC _CRT_SECURE_NO_WARNINGS NOMINMAX)
if(PGR_USB2)
target_compile_definitions(fictrac_core PUBLIC PGR_USB2)
elseif(PGR_USB3)
target_compile_definitions(fictrac_core PUBLIC PGR_USB3)
endif()

# add compile options
if(MSVC)
target_compile_options(libfictrac PUBLIC $<$<CONFIG:Release>:/MP /GS /GL /W3 /WX- /Gy /Zc:wchar_t /O2 /Oi /Zc:inline /fp:precise /MD /EHsc>)
target_compile_options(fictrac_core PUBLIC $<$<CONFIG:Release>:/MP /GS /GL /W3 /WX- /Gy /Zc:wchar_t /O2 /Oi /Zc:inline /fp:precise /MD /EHsc /std:c++17>)
# set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "${CMAKE_SHARED_LINKER_FLAGS_RELEASE} /LTCG")
else() # gcc
target_compile_options(libfictrac PUBLIC -Ofast -Wall -c -fmessage-length=0 -std=c++14 -Wno-unused-function -march=native -MMD)
target_compile_options(fictrac_core PUBLIC -Ofast -Wall -c -fmessage-length=0 -std=c++17 -Wno-unused-function -march=native -MMD)
endif()

# linking and post-build
target_link_libraries(libfictrac PUBLIC ${OpenCV_LIBS} ${NLOPT_LIB} cppzmq)
if(PGR_USB3)
target_link_libraries(libfictrac PUBLIC ${PGR_LIB})
# linking
target_link_libraries(fictrac_core PUBLIC ${OpenCV_LIBS} ${NLOPT_LIBRARIES} cppzmq)
if(MSVC)
target_link_libraries(fictrac_core PUBLIC Ws2_32)
else() # gcc
target_link_libraries(fictrac_core PUBLIC pthread)
endif()
if(PGR_USB2 OR PGR_USB3)
target_link_libraries(fictrac_core PUBLIC ${PGR_LIB})
endif()

# post-build
if(MSVC)
# win-specific libraries
target_link_libraries(libfictrac PUBLIC Ws2_32)

# copy all opencv dlls
set(OPENCV_VER_STRING ${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH})
foreach(lib ${OpenCV_LIBS})
if(EXISTS "${_OpenCV_LIB_PATH}/${lib}${OPENCV_VER_STRING}.dll")
list(APPEND TO_COPY "${_OpenCV_LIB_PATH}/${lib}${OPENCV_VER_STRING}.dll" "${_OpenCV_LIB_PATH}/${lib}${OPENCV_VER_STRING}d.dll")
if(EXISTS "${OpenCV_INSTALL_PATH}/bin/${lib}${OPENCV_VER_STRING}.dll")
list(APPEND TO_COPY "${OpenCV_INSTALL_PATH}/bin/${lib}${OPENCV_VER_STRING}.dll")
endif()
endforeach()

set(FFMPEG_LIB_BASE opencv_ffmpeg${OPENCV_VER_STRING})
if(${OpenCV_ARCH} STREQUAL x64)
set(FFMPEG_LIB ${FFMPEG_LIB_BASE}_64.dll)
else()
set(FFMPEG_LIB ${FFMPEG_LIB_BASE}.dll)
endif()
list(APPEND TO_COPY "${_OpenCV_LIB_PATH}/${FFMPEG_LIB}")
# set(FFMPEG_LIB_BASE opencv_ffmpeg${OPENCV_VER_STRING})
# if("${OpenCV_ARCH}" STREQUAL x86)
# set(FFMPEG_LIB ${FFMPEG_LIB_BASE}.dll)
# else()
# # default to 64-bit
# set(FFMPEG_LIB ${FFMPEG_LIB_BASE}_64.dll)
# endif()
# list(APPEND TO_COPY "${OpenCV_INSTALL_PATH}/bin/${FFMPEG_LIB}")

# copy nlopt dll
list(APPEND TO_COPY "${NLOPT_DIR}/libnlopt-0.dll")
# list(APPEND TO_COPY "${NLOPT_LIBRARY_DIRS}/bin/nlopt.dll")

# copy h264 dll
list(APPEND TO_COPY "${PROJECT_SOURCE_DIR}/dll/openh264-1.7.0-win64.dll")
file(GLOB DLLS ${PROJECT_SOURCE_DIR}/dll/*.dll)
list(APPEND TO_COPY "${DLLS}")

add_custom_command( TARGET fictrac POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
${TO_COPY}
"${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/$<$<CONFIG:Release>:Release>$<$<CONFIG:Debug>:Debug>/")
else() # gcc
# socket libs, pthread
target_link_libraries(libfictrac PUBLIC pthread)
# nothing here...
endif()

target_link_libraries(configGui libfictrac)
add_dependencies(configGui libfictrac)
target_link_libraries(fictrac libfictrac)
add_dependencies(fictrac libfictrac)
target_link_libraries(configGui fictrac_core)
add_dependencies(configGui fictrac_core)
target_link_libraries(fictrac fictrac_core)
add_dependencies(fictrac fictrac_core)
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