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Manuel Stoiber
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feat(ICG): initial commit
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‎ICG/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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# =============================================================================
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project(ICG)
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# Options
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# =============================================================================
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option(USE_AZURE_KINECT "Use Azure Kinect" ON)
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option(USE_REALSENSE "Use RealSense D435" ON)
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# Libraries
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# =============================================================================
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if (WIN32)
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set(GLEW_STATIC true)
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set(OpenCV_STATIC true)
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set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>")
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endif ()
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find_package(Eigen3 3.3.2 REQUIRED)
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find_package(OpenGL REQUIRED)
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find_package(GLEW REQUIRED)
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find_package(glfw3 3.1.2 REQUIRED)
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find_package(OpenCV 4.0.0 REQUIRED)
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if(USE_AZURE_KINECT)
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find_package(K4A 1.3.0 REQUIRED)
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endif()
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if (USE_REALSENSE)
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find_package(realsense2 REQUIRED)
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endif ()
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find_package(OpenMP REQUIRED)
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if (OPENMP_FOUND)
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if (WIN32)
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set(CMAKE_CXX_FLAGS_RELEASE
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"${CMAKE_C_FLAGS_RELEASE} ${OpenMP_C_FLAGS}")
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set(CMAKE_CXX_FLAGS_RELEASE
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"${CMAKE_CXX_FLAGS_RELEASE} ${OpenMP_CXX_FLAGS}")
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set(CMAKE_EXE_LINKER_FLAGS
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"${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
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else ()
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set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
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set(CMAKE_EXE_LINKER_FLAGS
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"${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
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endIf ()
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endif ()
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# Compiler Settings
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# =============================================================================
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# Default settings
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_VISIBILITY_PRESET hidden)
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include(CheckCXXCompilerFlag)
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check_cxx_compiler_flag(-march HAS_MARCH)
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check_cxx_compiler_flag(-mtune HAS_MTUNE)
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if (HAS_MARCH)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
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endif ()
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if (HAS_MTUNE)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mtune=native")
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endif ()
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# Debug settings
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check_cxx_compiler_flag(-ggdb HAS_GGDB)
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check_cxx_compiler_flag(-Z7 HAS_Z7)
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check_cxx_compiler_flag(-ftrapv HAS_FTRAPV)
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check_cxx_compiler_flag(-Od HAS_OD)
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if (HAS_GGDB)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -ggdb")
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elseif (HAS_Z7)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Z7")
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endif ()
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if (HAS_FTRAPV)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -ftrapv")
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endif ()
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if (HAS_OD)
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Od")
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endif ()
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Wall")
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# Release settings
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check_cxx_compiler_flag(-Ob3 HAS_OB3)
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check_cxx_compiler_flag(-O3 HAS_O3)
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check_cxx_compiler_flag(-Ob2 HAS_OB2)
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check_cxx_compiler_flag(-O2 HAS_O2)
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if (HAS_OB3)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Ob3")
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elseif (HAS_O3)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
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elseif (HAS_OB2)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -Ob2")
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elseif (HAS_O2)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O2")
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endif ()
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG")
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# OS settings
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if (WIN32)
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if(OPENMP_FOUND)
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -openmp:experimental")
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endif()
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -MT")
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -MTd")
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endif()
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# Definitions
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# =============================================================================
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if (USE_AZURE_KINECT)
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add_definitions( -DUSE_AZURE_KINECT=${USE_AZURE_KINECT} )
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endif ()
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if (USE_REALSENSE)
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add_definitions( -DUSE_REALSENSE=${USE_REALSENSE} )
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endif ()
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# Directories
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# =============================================================================
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# Include Directories
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include_directories("${CMAKE_SOURCE_DIR}/include")
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include_directories("${CMAKE_SOURCE_DIR}/third_party")
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# Sub Directories
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add_subdirectory(src)
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add_subdirectory(examples)
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add_subdirectory(doc)

‎ICG/dlr_icg_components.png‎

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‎ICG/dlr_icg_video_real-world.png‎

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‎ICG/dlr_icg_video_ycb-video.png‎

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‎ICG/doc/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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# Check if Doxygen is installed
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find_package(Doxygen REQUIRED dot)
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# Generate Doxygen documentation
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if (DOXYGEN_FOUND)
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add_custom_target(doc_doxygen ALL
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COMMAND ${DOXYGEN_EXECUTABLE}
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM)
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else ()
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message(WARNING "Doxygen not found")
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endif ()

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