Merge pull request #103 from MOLAorg/master

Modernize cmake; make cmake compatible with git submoduling

CMakeLists.txt

@@ -18,30 +18,33 @@ execute_process(
 )
 if (NOT GREP_VERSION_RESULT EQUAL 0)
 	message(SEND_ERROR "Cannot grep version number: ${GREP_VERSION_RESULT}")
-endif (NOT GREP_VERSION_RESULT EQUAL 0)
+endif ()
 string(REGEX REPLACE ".*\"(.*)\".*" "\\1" PROJECT_VERSION "${PROJECT_VERSION}" )
 
 if (NOT CMAKE_BUILD_TYPE)
 	message("-- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release.")
 	set(CMAKE_BUILD_TYPE Release CACHE STRING
 	  "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
 	  FORCE)
-else (NOT CMAKE_BUILD_TYPE)
+else ()
 	if (CMAKE_BUILD_TYPE STREQUAL "Debug")
 		message("\n=================================================================================")
 		message("\n-- Build type: Debug. Performance will be terrible!")
 		message("-- Add -DCMAKE_BUILD_TYPE=Release to the CMake command line to get an optimized build.")
 		message("\n=================================================================================")
-	endif (CMAKE_BUILD_TYPE STREQUAL "Debug")
-endif (NOT CMAKE_BUILD_TYPE)
+	endif ()
+endif ()
 
 if (NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
 	add_definitions(-O3)
-endif(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
+endif()
 
 # Documentation
-set(DOXYFILE_LATEX false)
-include(UseDoxygen)
+option(LIBNABO_BUILD_DOXYGEN "Build libnabo doxygen documentation" ON)
+if (LIBNABO_BUILD_DOXYGEN)
+  set(DOXYFILE_LATEX false)
+  include(UseDoxygen)
+endif()
 
 # Switch on warnings.
 if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
@@ -56,17 +59,17 @@ if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
 	if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.3")
 		message(FATAL_ERROR "Your clang compiler has version ${CMAKE_CXX_COMPILER_VERSION}, while version 3.3 or later is required")
 	endif ()
-elseif (CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
+elseif ()
 	# using AppleClang
 	if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "5.1")
 		message(FATAL_ERROR "Your XCode environment has version ${CMAKE_CXX_COMPILER_VERSION}, while version 5.1 or later is required")
 	endif ()
-elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+elseif ()
 	# using GCC
 	if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "4.8.2")
 		message(FATAL_ERROR "Your g++ compiler has version ${CMAKE_CXX_COMPILER_VERSION}, while version 4.8.2 or later is required")
 	endif ()
-elseif (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+elseif ()
 	# using MSVC
 	if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "19.0.23506")
 		message(FATAL_ERROR "Your Microsoft Visual C++ compiler has version ${CMAKE_CXX_COMPILER_VERSION}, while version MSVC 2015 Update 1+ is required")
@@ -87,19 +90,6 @@ else ()
 	set (CMAKE_CXX_STANDARD 11)
 endif ()
 
-# openmp
-set(USE_OPEN_MP TRUE CACHE BOOL "Set to FALSE to not use OpenMP")
-if (USE_OPEN_MP)
-	find_package(OpenMP)
-	if (OPENMP_FOUND)
-		add_definitions(-fopenmp -DHAVE_OPENMP)
-		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-		if (CMAKE_COMPILER_IS_GNUCC)
-			set(EXTRA_LIBS ${EXTRA_LIBS} gomp)
-		endif(CMAKE_COMPILER_IS_GNUCC)
-	endif(OPENMP_FOUND)
-endif (USE_OPEN_MP)
-
 # eigen 2 or 3
 find_path(EIGEN_INCLUDE_DIR Eigen/Core
 	/usr/local/include/eigen3
@@ -123,10 +113,10 @@ if (USE_OPEN_CL)
 		find_library(OPENCL_LIBRARIES opencl64)
 		if (!OPENCL_LIBRARIES)
 			find_library(OPENCL_LIBRARIES opencl32)
-		endif (!OPENCL_LIBRARIES)
-	else (WIN32)
+		endif ()
+	else ()
 		find_library(OPENCL_LIBRARIES OpenCL ENV LD_LIBRARY_PATH)
-	endif (WIN32)
+	endif ()
 	if (OPENCL_INCLUDE_DIR AND OPENCL_LIBRARIES)
 		add_definitions(-DHAVE_OPENCL)
 		set(EXTRA_LIBS ${OPENCL_LIBRARIES} ${EXTRA_LIBS})
@@ -135,13 +125,11 @@ if (USE_OPEN_CL)
 		message("OpenCL enabled and found, enabling CL support")
 	else (OPENCL_INCLUDE_DIR AND OPENCL_LIBRARIES)
 		message("OpenCL enabled but not found, disabling CL support")
-	endif (OPENCL_INCLUDE_DIR AND OPENCL_LIBRARIES)
-else (USE_OPEN_CL)
+	endif ()
+else ()
 	message("OpenCL disabled, not looking for it")
-endif (USE_OPEN_CL)
+endif ()
 
-# include all libs so far
-include_directories(${CMAKE_SOURCE_DIR} ${EIGEN_INCLUDE_DIR})
 
 # main nabo lib
 set(NABO_SRC
@@ -154,13 +142,35 @@ set(SHARED_LIBS FALSE CACHE BOOL "Set to TRUE to build shared library")
 if (SHARED_LIBS)
 	add_library(${LIB_NAME} SHARED ${NABO_SRC})
 	install(TARGETS ${LIB_NAME} LIBRARY DESTINATION lib)
-else (SHARED_LIBS)
-	add_library(${LIB_NAME} ${NABO_SRC})
-	add_definitions(-fPIC)
+else ()
+	add_library(${LIB_NAME} STATIC ${NABO_SRC})
+	if (NOT MSVC)
+		target_compile_options(${LIB_NAME} PRIVATE -fPIC)
+	endif()
 	install(TARGETS ${LIB_NAME} ARCHIVE DESTINATION lib)
-endif (SHARED_LIBS)
+endif ()
 set_target_properties(${LIB_NAME} PROPERTIES VERSION "${PROJECT_VERSION}" SOVERSION 1)
 
+target_include_directories(${LIB_NAME} PUBLIC
+	${EIGEN_INCLUDE_DIR}
+	$<INSTALL_INTERFACE:>
+	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  )
+
+# openmp
+set(USE_OPEN_MP TRUE CACHE BOOL "Set to FALSE to not use OpenMP")
+if (USE_OPEN_MP)
+	find_package(OpenMP)
+	if (OPENMP_FOUND)
+		target_compile_options(${LIB_NAME} PRIVATE -fopenmp ${OpenMP_CXX_FLAGS})
+		target_compile_definitions(${LIB_NAME} PRIVATE HAVE_OPENMP)
+		if (CMAKE_COMPILER_IS_GNUCC)
+			target_link_libraries(${LIB_NAME} PUBLIC gomp)
+		endif()
+	endif()
+endif ()
+
+
 # create doc before installing
 set(DOC_INSTALL_TARGET "share/doc/${PROJECT_NAME}/api" CACHE STRING "Target where to install doxygen documentation")
 install(FILES nabo/nabo.h DESTINATION include/nabo)
@@ -172,21 +182,33 @@ endif (DOXYGEN_FOUND)
 
 enable_testing()
 
-add_subdirectory(examples)
-add_subdirectory(tests)
-add_subdirectory(python)
+
+option(LIBNABO_BUILD_EXAMPLES "Build libnabo examples" ON)
+if (LIBNABO_BUILD_EXAMPLES)
+  add_subdirectory(examples)
+endif()
+
+option(LIBNABO_BUILD_TESTS "Build libnabo tests" ON)
+if(LIBNABO_BUILD_TESTS)
+  add_subdirectory(tests)
+endif()
+
+option(LIBNABO_BUILD_PYTHON "Build libnabo python" ON)
+if(LIBNABO_BUILD_PYTHON)
+  add_subdirectory(python)
+endif()
 
 # Install catkin package.xml
 install(FILES package.xml DESTINATION share/libnabo)
 
 #=============================================
 # to allow find_package() on libnabo
 #=============================================
-# 
+#
 # the following case be used in an external project requiring libnabo:
 #  ...
-#  find_package(libnabo) 
-#  include_directories(${libnabo_INCLUDE_DIRS}) 
+#  find_package(libnabo)
+#  include_directories(${libnabo_INCLUDE_DIRS})
 #  target_link_libraries(executableName ${libnabo_LIBRARIES})
 #  ...
 
@@ -197,6 +219,34 @@ install(FILES package.xml DESTINATION share/libnabo)
 # Register the local build in case one doesn't use "make install"
 export(PACKAGE libnabo)
 
+include(GNUInstallDirs)
+
+# 'make install' to the correct locations (provided by GNUInstallDirs).
+install(TARGETS ${LIB_NAME} EXPORT ${PROJECT_NAME}-targets
+    ARCHIVE  DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    LIBRARY  DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    RUNTIME  DESTINATION ${CMAKE_INSTALL_BINDIR})  # This is for Windows
+#install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+add_library(${PROJECT_NAME}::${LIB_NAME} ALIAS ${LIB_NAME})
+
+# This makes the project importable from the install directory
+# Put config file in per-project dir (name MUST match), can also
+# just go into 'cmake'.
+install(
+	EXPORT ${PROJECT_NAME}-targets
+	DESTINATION share/${PROJECT_NAME}/cmake
+	NAMESPACE ${PROJECT_NAME}::
+)
+
+# This makes the project importable from the build directory
+export(
+	TARGETS ${LIB_NAME}
+	FILE ${PROJECT_NAME}-targets.cmake
+	NAMESPACE ${PROJECT_NAME}::
+)
+
+
 # Create variable with the library location
 set(libnabo_library $<TARGET_FILE:${LIB_NAME}>)
 
@@ -237,10 +287,12 @@ install(FILES
 #=============================================
 # Add uninstall target
 #=============================================
-configure_file(
-	"${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
-	"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
-	IMMEDIATE @ONLY)
-
-add_custom_target(uninstall
-	COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+if (NOT TARGET uninstall)
+  configure_file(
+	  "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
+	  "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
+	  IMMEDIATE @ONLY)
+
+  add_custom_target(uninstall
+	  COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+endif()

README.md

@@ -53,7 +53,7 @@ Under Unix, assuming that [Eigen] and [Boost] are installed system-wide, you can
 	BUILD_DIR=${SRC_DIR}/build
 	mkdir -p ${BUILD_DIR} && cd ${BUILD_DIR}
 	cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ${SRC_DIR}
-	# if Eigen or Boost are not available system-wide, run at that point: 
+	# if Eigen or Boost are not available system-wide, run at that point:
 	#   cmake-gui .
 	# cmake-gui allows you to tell the location of Eigen or Boost
 	make
@@ -78,11 +78,11 @@ libnabo is easy to use. For example, assuming that you are working with floats a
 	using namespace Eigen;
 	...
 	NNSearchF* nns = NNSearchF::createKDTreeLinearHeap(M);
-	
+
 	const int K = 5;
 	VectorXi indices(K);
 	VectorXf dists2(K);
-	
+
 	nns->knn(q, indices, dists2, K);
 
 In this example, `M` is an [Eigen] (refering to the software, not to the math) matrix (column major, float) and `q` is an [Eigen] vector (float). Note that `M` **must stay alive** throughout the use of libnabo, otherwise the results of `knn` are undefined.
@@ -92,6 +92,10 @@ See `examples/trivial.cpp` for a compilable version of this example, and `exampl
 Running `make doc` in your build directory will generate a browsable documentation in `doc/html`.
 The main page `doc/html/index.html` contains a detailed overview of the usage of libnabo.
 
+You can find a complete CMake integration
+example in [examples/libnabo-cmake-example](examples/libnabo-cmake-example) to
+see how to look for, and link against this library.
+
 Python bindings
 ===============
 
@@ -119,7 +123,7 @@ The distribution of libnabo integrates a unit test module, based on CTest.
 Just type:
 
 	make test
-   
+
 ...in the build directory to run the tests.
 Their outputs are available in the `Testing` directory.
 These consist of validation and benchmarking tests.

examples/libnabo-cmake-example/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.0)
+project(libnabo-cmake-example)
+
+# This looks for the libnabo-config.cmake file, which in turns
+# includes libnabo-targets.cmake:
+find_package(libnabo REQUIRED)
+
+add_executable(${PROJECT_NAME} trivial.cpp)
+
+# This sets both the include directories and link library:
+target_link_libraries(${PROJECT_NAME} libnabo::nabo)

examples/libnabo-cmake-example/trivial.cpp

@@ -0,0 +1,28 @@
+// This example is in the public domain
+
+#include "nabo/nabo.h"
+
+int main()
+{
+	using namespace Nabo;
+	using namespace Eigen;
+
+	// 100 points in 3D
+	MatrixXf M = MatrixXf::Random(3, 100);
+	// 1 query points
+	VectorXf q = VectorXf::Random(3);
+
+	// create a kd-tree for M, note that M must stay valid during the lifetime of the kd-tree
+	NNSearchF* nns = NNSearchF::createKDTreeLinearHeap(M);
+
+	// look for the 5 nearest neighbour of a the single-point query
+	const int K = 5;
+	VectorXi indices(K);
+	VectorXf dists2(K);
+	nns->knn(q, indices, dists2, K);
+
+	// cleanup kd-tree
+	delete nns;
+
+	return 0;
+}

libnaboConfig.cmake.in

@@ -1,17 +1,6 @@
 # - Config file for the libnabo package
-# It defines the following variables
-#  libnabo_INCLUDE_DIRS - include directories for libnabo
-#  libnabo_LIBRARIES    - libraries to link against
-
-# Compute paths
-get_filename_component(libnabo_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-set(libnabo_INCLUDE_DIRS "@libnabo_include_dirs@")
 
-if(CMAKE_COMPILER_IS_GNUCC)
-	set(libnabo_LIBRARIES @libnabo_library@ gomp)
-else(CMAKE_COMPILER_IS_GNUCC)
-	set(libnabo_LIBRARIES @libnabo_library@)
-endif(CMAKE_COMPILER_IS_GNUCC)
+include(${CMAKE_CURRENT_LIST_DIR}/libnabo-targets.cmake)
 
 # This causes catkin_simple to link against these libraries
 set(libnabo_FOUND_CATKIN_PROJECT true)

python/CMakeLists.txt

@@ -52,14 +52,15 @@ if (PYTHONLIBS_FOUND AND PYTHONINTERP_FOUND)
 		if (SHARED_LIBS)
 			python_add_module(pynabo SHARED nabo.cpp)
 			target_link_libraries(pynabo ${LIB_NAME} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES})
-		else (SHARED_LIBS)
+		else ()
 			set(PYTHON_SRC "nabo.cpp")
 			foreach(file ${NABO_SRC})
 				set(PYTHON_SRC ${PYTHON_SRC} "../${file}")
 			endforeach(file)
 			python_add_module(pynabo ${PYTHON_SRC})
 			target_link_libraries(pynabo ${Boost_LIBRARIES} ${PYTHON_LIBRARIES})
-		endif (SHARED_LIBS)
+			target_include_directories(pynabo PRIVATE ${EIGEN_INCLUDE_DIR})
+		endif ()
 		# fix for old python_add_module
 		set_target_properties(pynabo PROPERTIES PREFIX "")
 		if (PYTHON_CUSTOM_TARGET)