Skip to content

Latest commit

 

History

History
173 lines (123 loc) · 7.9 KB

readme.md

File metadata and controls

173 lines (123 loc) · 7.9 KB
Raw

3D Time of Flight : cmake

Overview

This folder contains helper cmake.in files for the project and also config files for other cmake projects to use in order to find the SDK.

Using the CMake build system

In order to build the SDK with cmake, we first need to have all the dependencies installed: glog, protobuf, libwebsockets ( Check instructions for your system ).

Next step is to initialize and update submodules git submodule update --init.

After creating a build folder and moving into it mkdir -p build && cd build, we can run cmake.

cmake -D<option> <path_to_ToF>

which will generate all the necessary recipes for building and installing. Useful cmake options are:

General custom options
<option> value default description
WITH_EXAMPLES on/off on Build the examples.
WITH_DOC on/off off Build the doxygen documentation.
WITH_PYTHON on/off off Build the python bindings.
WITH_OPENCV on/off off Build the opencv bindings.
WITH_OPEN3D on/off off Build the open3D bindings.
WITH_ROS2 on/off off Build the ROS2 bindings.
WITH_NETWORK on/off off Build the network interface for a Linux or Windows host build; use off for building on the target.
WITH_OFFLINE on/off off Build the offline mode. No hardware is required.
WITH_GLOG_DEPENDENCY on/off on Build the sdk with GLOG dependency. Used for logging.
WITH_COMMAND_LINE_TOOLS on/off on Build the command line tools.
WITH_COMMAND_LINE_TOOLS on/off on Build the command line tools.
CI_BUILD on/off off Only used for continuous integrations builds. Can overwrite other cmake options.
Target-only custom options
<option> value default description
NXP on/off off Builds in a specific way targeting the NXP system.
NVIDIA on/off off Builds in a specific way targeting the NVIDIA system.
WITH_PROTOBUF_DEPENDENCY on/off on Build the sdk with Protobuf dependency. Used for serializing the messages sent over network.
USE_DEPTH_COMPUTE_OPENSOURCE on/off off When on the open source radial to XYZ (point cloud) generation is used. Otherwise the closed source partial depth compute library is required.
CMake options
<option> value default description
CMAKE_PREFIX_PATH <path> Empty Specifies a path which will be used by the FIND_XXX() commands.
CMAKE_INSTALL_PREFIX <path> /usr/local on UNIX, c:/Program Files on Windows Installation directory used by cmake install.
PYTHON_EXECUTABLE <path> Path to default python executable used Specify which python executable should be used for building the python bindings.

Building and Installing

To build the sdk the following command is used:

cmake --build . [--config <config>] [--target <target>]

Where <config> is the build type: Debug, Release ... and target is one of the following:

<target> description
install Install the SDK in the system
doc Build the doxygen documentation
copy-dll-bindings Copy the necessary dll files in the bindings build folder (Only on Windows)

Example: Consider a user that has the dependencies for the project installed in specific folders in /opt: /opt/glog, /opt/protobuf, /opt/websockets, and that wants to install the SDK in /opt/aditof, with examples on and all the possible bindings enabled. The following set of commands will do:

cd ToF
git submodule update --init
mkdir build && cd build
cmake -DWITH_PYTHON=on -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" -DCMAKE_INSTALL_PREFIX="/opt/aditof" ..
sudo cmake --build . --target install

The sdk can also be built with the network interface

cmake -DWITH_NETWORK=on ..

When building with this option, Websockets is required as a dependency of the sdk

After installing you should run ldconfig to update the links/cache that the dynamic loader uses.

Using the SDK with other CMake projects

To use the SDK in your own project, simply add this two lines to your projects CMakeLists.txt and your good to go:

find_package(aditof 1.0.0 REQUIRED)
target_link_libraries(${PROJECT_NAME} PRIVATE aditof::aditof)

Instead of aditof::aditof you could use ${aditof_LIBRARIES}:

find_package(aditof 1.0.0 REQUIRED)
target_link_libraries(${PROJECT_NAME} PRIVATE ${aditof_LIBRARIES})

The prerequisite for this to work is to have the SDK installed in the system. If the path for the dependencies of the SDK, or even the SDK is not in the default PATH you might need to add a CMAKE_PREFIX_PATH that points to the dependencies/sdk when running the cmake command for your project.

Example: Consider a user that has the dependencies for the project installed in specific folders in /opt: /opt/glog, /opt/protobuf, /opt/websockets and the SDK in /opt/aditof and wants to use the SDK with another project. In the CMakeLists.txt of the project the two lines from above are required to be added and the cmake command should specify

-DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets;/opt/aditof"

Additional notes on the CMake options

WITH_PYTHON = ON

Install Python such that the python executable can be accessed from the command-line interface. Python 3.7 is required.

Tested with Python 3.7.9 64-bit.

WITH_DOC = ON

Install doxygen, ensure the doxygen exectuable is in the PATH.

https://www.doxygen.nl/download.html#srcbin

Tested with doxygen 1.9.4.

Install GraphViz, ensure the GraphViz executable to the PATH.

https://graphviz.org/download/

Tested with GraphViz 4.0.0.

WITH_OPENCV = ON

Download and install OpenCV 4.6.0 from to https://opencv.org/releases/.

It is important the OpenCV_DIR environment variable be set:

  • For a permananet addition for the current and future shells (note close and reopen shell): setx OpenCV_DIR C:\dev\opencv\build\x64\vc15\lib
  • For a temporary addition for the current shell: set OpenCV_DIR=C:\dev\opencv\build\x64\vc15\lib
WITH_OPEN3D = ON

Download and install open3d-devel-windows-amd64-0.15.1.zip from https://github.com/isl-org/Open3D/releases.

It is important the Open3D_DIR environment variable be set:

  • For a permananet addition for the current and future shells (note close and reopen shell): setx Open3D_DIR C:\dev\open3d\CMake
  • For a temporary addition for the current shell: set Open3D_DIR=C:\dev\open3d\CMake
WITH_ROS2 = ON

See here for more details.

USE_DEPTH_COMPUTE_OPENSOURCE = ON

Building with the Depth Compute Libraries

If USE_DEPTH_COMPUTE_OPENSOURCE is set to OFF in CMakeLists.txt the depth compute libraries (.lib and .dll) files must be provided for the build. The depth compute libraries are included in the evaluation platform release. From the ADTF3175x installation path, navigate to the folder depth_compute_installer, then execute the TOF_Depth_CompteEngine_Windows installer. From here on we will assume the depth compute installer is TOF_DepthComputeEngine_Windows-Rel3.0.0.exe.

Assuming the installation path for the depth compute installation was not changed, navigate to C:\Analog Devices\TOF_DepthComputeEngine_Windows-Rel3.0.0\lib.

One more assumption, you have cloned the ToF repo into a folder called ToF.

On the same level as the folder ToF, create a folder called libs. Copy the files from C:\Analog Devices\TOF_DepthComputeEngine_Windows-Rel3.0.0\lib into libs.

Where you should now have the following.

C:.
+---libs
|       tofi_compute.dll
|       tofi_compute.lib
|       tofi_config.dll
|       tofi_config.lib
|       tofi_processor.obj
|
\---ToF
    |   .clang-format
    |   .clangformatignore
    |   .gitignore
    |   appveyor.yml
    |   CMakeLists.txt
    |   ...