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CMakeLists.txt
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cmake_minimum_required(VERSION 3.12.0)
# CMake 3.12+ is required to allow linking with OBJECT libraries
# and to prevent erroneous -gencode option deduplication with CUDA.
# If you're using Ubuntu 18.04 or older, we suggest you install
# a backported CMake from https://apt.kitware.com/
set (CMAKE_OSX_DEPLOYMENT_TARGET "10.9" CACHE STRING "Minimum OS X deployment version")
# Config options
option(BUILD_SHARED_LIBS "Build shared libraries" OFF)
option(WITH_OPENMP "Use OpenMP multi-threading" ON)
option(ENABLE_HEADLESS_RENDERING "Use OSMesa for headless rendering" OFF)
option(BUILD_CPP_EXAMPLES "Build the Open3D example programs" ON)
option(BUILD_UNIT_TESTS "Build the Open3D unit tests" OFF)
option(BUILD_GOOGLETEST "Build googletest framework from source" ON)
option(BUILD_BENCHMARKS "Build the micro benchmarks" OFF)
option(BUILD_EIGEN3 "Use the Eigen3 that comes with Open3D" ON)
option(BUILD_FILAMENT "Build filament from source" OFF)
option(BUILD_FLANN "Use the flann that comes with Open3D" ON)
option(BUILD_FMT "Build fmtlib from source" ON)
option(BUILD_GLEW "Build glew from source" OFF)
option(BUILD_GLFW "Build glfw from source" OFF)
option(BUILD_IMGUI "Build Dear ImGui from source" ON)
option(BUILD_LIBLZF "Build liblzf from source" ON)
option(BUILD_PNG "Build png from source" OFF)
option(BUILD_ZLIB "Build zlib from source" OFF)
option(BUILD_JPEG "Build jpeg-turbo from source" OFF)
option(BUILD_PYBIND11 "Build pybind11 from source" ON)
option(BUILD_PYTHON_MODULE "Build the python module" ON)
option(BUILD_LIBREALSENSE "Build support for Intel RealSense camera" OFF)
option(BUILD_AZURE_KINECT "Build support for Azure Kinect sensor" OFF)
option(BUILD_TINYFILEDIALOGS "Build tinyfiledialogs from source" ON)
option(BUILD_TINYGLTF "Build TinyGLTF from source" ON)
option(BUILD_TINYOBJLOADER "Build tinyobjloader from source" ON)
option(BUILD_QHULL "Build qhull from source" ON)
option(BUILD_CUDA_MODULE "Build the CUDA module" OFF)
option(BUILD_TENSORFLOW_OPS "Build ops for Tensorflow" OFF)
option(BUILD_PYTORCH_OPS "Build ops for Pytorch" OFF)
option(ENABLE_GUI "Builds new GUI" ON)
option(ENABLE_JUPYTER "Enable Jupyter support for Open3D" ON)
option(USE_VULKAN "Enables Vulkan support for renderer" OFF)
option(STATIC_WINDOWS_RUNTIME "Use static (MT/MTd) Windows runtime" OFF)
option(GLIBCXX_USE_CXX11_ABI "Set -D_GLIBCXX_USE_CXX11_ABI=1" OFF)
option(PREFER_OSX_HOMEBREW "Prefer Homebrew libs over frameworks" ON)
set(FILAMENT_PRECOMPILED_ROOT "" CACHE PATH "Path to precompiled Filament library (used if BUILD_FILAMENT=OFF)")
set(FILAMENT_SOURCE_ROOT "" CACHE PATH "Path to Filament library sources (used if BUILD_FILAMENT=ON)")
if (PREFER_OSX_HOMEBREW)
set(CMAKE_FIND_FRAMEWORK LAST)
set(CMAKE_FIND_APPBUNDLE LAST)
endif()
# Cache variables for specifying the GPU architectures
set(CUDA_ARCH "Auto" CACHE STRING "Selects GPU architectures for code generation, \
one of (Auto|BasicPTX|User). Set to 'User' to set a custom list of architectures" )
set_property(CACHE CUDA_ARCH PROPERTY STRINGS Auto BasicPTX User)
set(CUDA_ARCH_USER "" CACHE STRING "User defined list of GPU architectures, e.g. 3.5 5.0+PTX Turing" )
# Default build type
if(NOT CMAKE_BUILD_TYPE)
message(STATUS "No CMAKE_BUILD_TYPE specified, default to RelWithDebInfo")
set(CMAKE_BUILD_TYPE "RelWithDebInfo")
endif()
# Set OpenGL policy
if (POLICY CMP0072)
cmake_policy(SET CMP0072 NEW)
set(CMP0072_VALUE NEW)
if (BUILD_GLFW)
cmake_policy(SET CMP0072 OLD)
set(CMP0072_VALUE OLD)
endif()
endif()
# Set policy for hidden symbol visibility
if(POLICY CMP0063)
cmake_policy(SET CMP0063 NEW)
endif()
# Set policy to enable MSVC_RUNTIME_LIBRARY property
if(POLICY CMP0091)
cmake_policy(SET CMP0091 NEW)
endif()
# Catch a few incompatible build options
if((UNIX AND NOT APPLE) AND BUILD_LIBREALSENSE)
message(STATUS "Disabling RealSense since it is not fully supported on Linux.")
set(BUILD_LIBREALSENSE OFF)
endif()
if (APPLE AND ENABLE_HEADLESS_RENDERING)
message(STATUS "Headless rendering is not supported on Mac OS")
set(ENABLE_HEADLESS_RENDERING OFF)
endif()
if(ENABLE_HEADLESS_RENDERING AND ENABLE_GUI)
message(STATUS "Headless rendering disables the Open3D GUI")
set(ENABLE_GUI OFF)
endif()
if(ENABLE_HEADLESS_RENDERING AND (NOT BUILD_GLEW OR NOT BUILD_GLFW))
message(STATUS "Headless rendering requires customized GLEW and GLFW builds")
set(BUILD_GLEW ON)
set(BUILD_GLFW ON)
endif()
if(ENABLE_GUI AND WIN32)
message(STATUS "New GUI is currently unsupported on Windows")
set(ENABLE_GUI OFF)
endif()
# Parse Open3D version number
file(STRINGS "cpp/open3d/version.txt" OPEN3D_VERSION_READ)
foreach(ver ${OPEN3D_VERSION_READ})
if (ver MATCHES "OPEN3D_VERSION_(MAJOR|MINOR|PATCH|TWEAK) +([^ ]+)$")
set(OPEN3D_VERSION_${CMAKE_MATCH_1} "${CMAKE_MATCH_2}" CACHE INTERNAL "")
endif()
endforeach()
string(CONCAT OPEN3D_VERSION
"${OPEN3D_VERSION_MAJOR}"
".${OPEN3D_VERSION_MINOR}"
".${OPEN3D_VERSION_PATCH}"
".${OPEN3D_VERSION_TWEAK}"
)
project(Open3D VERSION ${OPEN3D_VERSION} LANGUAGES C CXX)
message(STATUS "Open3D ${PROJECT_VERSION}")
# CMake modules
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/3rdparty/CMake)
# setup PYTHON_EXECUTABLE if not set
find_package(PythonExecutable REQUIRED) # invokes the module in 3rdparty/CMake
# npm version has to be MAJOR.MINOR.PATCH
string(CONCAT PROJECT_VERSION_THREE_NUMBER "${OPEN3D_VERSION_MAJOR}"
".${OPEN3D_VERSION_MINOR}"
".${OPEN3D_VERSION_PATCH}")
# PyPI package name controls specifies the repository name on PyPI. The default
# name is "open3d". In the past, for historical reasons, we've used the
# following names for PyPI, while they are now deprecated:
# - open3d-python
# - py3d
# - open3d-original
# - open3d-official
# - open-3d
if(NOT DEFINED PYPI_PACKAGE_NAME)
set(PYPI_PACKAGE_NAME "open3d")
endif()
# Set additional info
set(PROJECT_EMAIL "[email protected]")
set(PROJECT_HOME "http://www.open3d.org")
set(PROJECT_DOCS "http://www.open3d.org/docs")
set(PROJECT_CODE "https://github.com/intel-isl/Open3D")
set(PROJECT_ISSUES "https://github.com/intel-isl/Open3D/issues")
# Set installation paths
if(UNIX OR CYGWIN)
include(GNUInstallDirs)
set(Open3D_INSTALL_INCLUDE_DIR "${CMAKE_INSTALL_INCLUDEDIR}")
set(Open3D_INSTALL_BIN_DIR "${CMAKE_INSTALL_BINDIR}")
set(Open3D_INSTALL_LIB_DIR "${CMAKE_INSTALL_LIBDIR}")
set(Open3D_INSTALL_CMAKE_DIR "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
else()
set(Open3D_INSTALL_INCLUDE_DIR include)
set(Open3D_INSTALL_BIN_DIR bin)
set(Open3D_INSTALL_LIB_DIR lib)
set(Open3D_INSTALL_CMAKE_DIR CMake)
endif()
# Put build results in some predictable places
# The $<CONFIG> generator expression makes sure that XCode or Visual Studio do not
# append additional path components, as we need to know *exactly* where the build results
# end up.
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib/$<CONFIG>)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib/$<CONFIG>)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
# Build CUDA module by default if CUDA is available
# Compatible with CMake 3.8+
if (BUILD_CUDA_MODULE)
include(CheckLanguage)
check_language(CUDA)
message(STATUS "CMAKE_CUDA_COMPILER: ${CMAKE_CUDA_COMPILER}")
message(STATUS "CMAKE_CUDA_COMPILER_VERSION: ${CMAKE_CUDA_COMPILER_VERSION}")
if(CMAKE_CUDA_COMPILER)
find_package(CUDA REQUIRED) # required for cuda_select_nvcc_arch_flags
message(STATUS "Building CUDA enabled")
enable_language(CUDA)
# Get gencode flags
if("${CUDA_ARCH}" STREQUAL "User")
cuda_select_nvcc_arch_flags(CUDA_GENCODES "${CUDA_ARCH_USER}")
elseif("${CUDA_ARCH}" STREQUAL "BasicPTX")
# Include oldest and most recent PTX and rely on JIT compilation
set(CUDA_GENCODES "-gencode arch=compute_30,code=compute_30;-gencode arch=compute_75,code=compute_75")
else()
cuda_select_nvcc_arch_flags(CUDA_GENCODES "${CUDA_ARCH}")
endif()
# Make CUDA_GENCODES a string to avoid deduplication in target_compile_options
string( REPLACE ";" " " CUDA_GENCODES "${CUDA_GENCODES}")
message(STATUS "CUDA_GENCODES: ${CUDA_GENCODES}")
# Allows CUDA headers to be included as "system" headers for CMake prior
# to 3.17,
# https://gitlab.kitware.com/cmake/cmake/-/issues/20270
# https://github.com/intel-isl/Open3D/issues/2040
if(CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES)
list(REMOVE_ITEM CMAKE_CUDA_IMPLICIT_INCLUDE_DIRECTORIES
${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES})
endif()
message(STATUS "CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES: ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES}")
message(STATUS "CMAKE_CUDA_IMPLICIT_INCLUDE_DIRECTORIES: ${CMAKE_CUDA_IMPLICIT_INCLUDE_DIRECTORIES}")
else()
set(BUILD_CUDA_MODULE OFF)
message(STATUS "No CUDA support")
endif()
endif ()
# OS specific settings
if(ENABLE_GUI AND WIN32)
# Filament links normally only against static runtime
set(STATIC_WINDOWS_RUNTIME ON)
if(NOT COMMAND target_link_options) # CMake 3.13+ required
# GLEW and Open3D make direct OpenGL calls and link to opengl32.lib;
# Filament needs to link through bluegl.lib.
# See https://github.com/google/filament/issues/652
string(APPEND CMAKE_EXE_LINKER_FLAGS " /force:multiple")
string(APPEND CMAKE_SHARED_LINKER_FLAGS " /force:multiple")
endif()
endif()
if(WIN32)
# Windows defaults to hidden symbol visibility, override that
# TODO: It would be better to explictly export symbols.
# Then, we could use -fvisibility=hidden for Linux as well
SET(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
if(MSVC)
# Make sure we don't hit the 65535 object member limit with MSVC
#
# /bigobj allows object files with more than 65535 members
# /Ob2 enables function inlining, because MSVC is particularly
# verbose with inline members
#
# See: https://github.com/tensorflow/tensorflow/pull/10962
add_compile_options(/bigobj /Ob2)
endif()
if (STATIC_WINDOWS_RUNTIME)
# This needs cmake_policy(SET CMP0091 NEW)
set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>")
endif()
endif()
# Folder view for project files
set_property(GLOBAL PROPERTY USE_FOLDERS ON)
# Convenience function to link against all third-party libraries
# We need this because we create a lot of object libraries to assemble
# the main Open3D library
function(open3d_link_3rdparty_libraries target)
target_link_libraries(${target} PRIVATE ${Open3D_3RDPARTY_PRIVATE_TARGETS})
target_link_libraries(${target} PUBLIC ${Open3D_3RDPARTY_PUBLIC_TARGETS})
foreach(dep IN LISTS Open3D_3RDPARTY_HEADER_TARGETS)
if(TARGET ${dep})
get_property(inc TARGET ${dep} PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
if(inc)
set_property(TARGET ${target} APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${inc})
endif()
get_property(inc TARGET ${dep} PROPERTY INTERFACE_SYSTEM_INCLUDE_DIRECTORIES)
if(inc)
set_property(TARGET ${target} APPEND PROPERTY INTERFACE_SYSTEM_INCLUDE_DIRECTORIES ${inc})
endif()
get_property(def TARGET ${dep} PROPERTY INTERFACE_COMPILE_DEFINITIONS)
if(def)
set_property(TARGET ${target} APPEND PROPERTY INTERFACE_COMPILE_DEFINITIONS ${def})
endif()
endif()
endforeach()
endfunction()
# Check if the compiler defines the _GLIBCXX_USE_CXX11_ABI macro
include(CheckCXXSourceCompiles)
check_cxx_source_compiles("#include <cxxabi.h>
int main() { return _GLIBCXX_USE_CXX11_ABI; }" HAS_GLIBCXX_USE_CXX11_ABI)
# Convenience function to set important target properties
function(open3d_set_global_properties target)
# Libraries need to be compiled with position independent code
get_target_property(target_type ${target} TYPE)
if (NOT target_type STREQUAL "EXECUTABLE")
set_target_properties(${target} PROPERTIES POSITION_INDEPENDENT_CODE ON)
endif()
# Tell CMake we want a compiler that supports C++14 features
target_compile_features(${target} PUBLIC cxx_variadic_templates cxx_constexpr cxx_override cxx_static_assert cxx_trailing_return_types cxx_return_type_deduction)
target_include_directories(${target} PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/cpp>
$<INSTALL_INTERFACE:${Open3D_INSTALL_INCLUDE_DIR}>
)
if(BUILD_CUDA_MODULE)
target_compile_definitions(${target} PRIVATE BUILD_CUDA_MODULE)
endif()
if(GLIBCXX_USE_CXX11_ABI)
target_compile_definitions(${target} PUBLIC _GLIBCXX_USE_CXX11_ABI=1)
else()
target_compile_definitions(${target} PUBLIC _GLIBCXX_USE_CXX11_ABI=0)
endif()
if(ENABLE_HEADLESS_RENDERING)
target_compile_definitions(${target} PRIVATE HEADLESS_RENDERING)
endif()
if(WIN32)
target_compile_definitions(${target} PRIVATE
WINDOWS
_CRT_SECURE_NO_DEPRECATE
_CRT_NONSTDC_NO_DEPRECATE
_SCL_SECURE_NO_WARNINGS
)
if(MSVC)
target_compile_definitions(${target} PRIVATE NOMINMAX _USE_MATH_DEFINES _ENABLE_EXTENDED_ALIGNED_STORAGE)
target_compile_options(${target} PRIVATE /EHsc /wd4522 /Wv:18 /WX)
# Multi-thread compile, two ways to enable
# Option 1, at build time: cmake --build . --parallel %NUMBER_OF_PROCESSORS%
# https://stackoverflow.com/questions/36633074/set-the-number-of-threads-in-a-cmake-build
# OPtion 2, at configure time: add /MP flag, no need to use Option 1
# https://docs.microsoft.com/en-us/cpp/build/reference/mp-build-with-multiple-processes?view=vs-2019
#
# /bigobj is enabled by default. On Windows, the build type (Debug, Release)
# is set at build time, not config time, since CMAKE_BUILD_TYPE is not
# supported on Windows.
# ref: https://stackoverflow.com/a/15110915
# ref: https://stackoverflow.com/a/19026241
target_compile_options(${target} PRIVATE /MP)
if(COMMAND target_link_options)
if(ENABLE_GUI)
# GLEW and Open3D make direct OpenGL calls and link to opengl32.lib;
# Filament needs to link through bluegl.lib.
# See https://github.com/google/filament/issues/652
target_link_options(${target} PRIVATE /force:multiple)
endif()
endif()
endif()
elseif(APPLE)
target_compile_definitions(${target} PRIVATE UNIX APPLE)
target_compile_options(${target} PRIVATE "-Wno-deprecated-declarations")
elseif(UNIX)
target_compile_definitions(${target} PRIVATE UNIX)
target_compile_options(${target} PRIVATE "-Wno-deprecated-declarations" "$<$<COMPILE_LANGUAGE:CXX>:-Wno-unused-result>")
endif()
# The SHELL: prefix requires CMake 3.12+
target_compile_options(${target} PRIVATE "$<$<COMPILE_LANGUAGE:CUDA>:--expt-extended-lambda>" "$<$<COMPILE_LANGUAGE:CUDA>:SHELL:${CUDA_GENCODES}>")
endfunction()
macro(add_source_group module_name)
file(GLOB MODULE_HEADER_FILES "${module_name}/*.h")
source_group("Header Files\\${module_name}" FILES ${MODULE_HEADER_FILES})
file(GLOB MODULE_SOURCE_FILES "${module_name}/*.cpp")
source_group("Source Files\\${module_name}" FILES ${MODULE_SOURCE_FILES})
endmacro()
# Enumerate all third-party libraries which we need later
# This creates the necessary targets and sets the
# Open3D_3RDPARTY_*_TARGETS variables we use in open3d_link_3rdparty_libraries
include(3rdparty/find_dependencies.cmake)
# Open3D library
add_subdirectory(cpp)
# Examples
add_subdirectory(examples)
# Install CMake configuration files
install(EXPORT ${PROJECT_NAME}Targets NAMESPACE ${PROJECT_NAME}:: DESTINATION ${Open3D_INSTALL_CMAKE_DIR})
export(EXPORT ${PROJECT_NAME}Targets NAMESPACE ${PROJECT_NAME}::)
# `make check-style` checks style for c++/cuda/python/ipynb files
add_custom_target(check-style
COMMAND ${PYTHON_EXECUTABLE}
${CMAKE_CURRENT_SOURCE_DIR}/util/scripts/check_style.py
COMMENT "Python executable used for style check: ${PYTHON_EXECUTABLE}."
)
# `make apply-style` applies style for c++/cuda/python/ipynb files
add_custom_target(apply-style
COMMAND ${PYTHON_EXECUTABLE}
${CMAKE_CURRENT_SOURCE_DIR}/util/scripts/check_style.py --do_apply_style
COMMENT "Python executable used for style check: ${PYTHON_EXECUTABLE}."
)
# `make check-cpp-style` checks style for c++/cuda files.
# This works outside of python virtualenv.
add_custom_target(check-cpp-style
COMMAND ${CMAKE_COMMAND}
-DPROJECT_SOURCE_DIR="${PROJECT_SOURCE_DIR}"
-DDO_APPLY_STYLE=OFF
-P ${CMAKE_CURRENT_SOURCE_DIR}/util/scripts/check_cpp_style.cmake
)
# `make apply-cpp-style` applies style for c++/cuda files.
# This works outside of python virtualenv.
add_custom_target(apply-cpp-style
COMMAND ${CMAKE_COMMAND}
-DPROJECT_SOURCE_DIR="${PROJECT_SOURCE_DIR}"
-DDO_APPLY_STYLE=ON
-P ${CMAKE_CURRENT_SOURCE_DIR}/util/scripts/check_cpp_style.cmake
)
function(open3d_aligned_print first second)
string(LENGTH "${first}" first_len)
math(EXPR star_len "40 - ${first_len}")
# CMake 3.15+ has string(REPEAT), but this is backwards compatible
string(SUBSTRING "........................................" 0 ${star_len} stars)
message(STATUS " ${first} ${stars} ${second}")
endfunction()
message(STATUS "========================================================================")
message(STATUS "Open3D ${PROJECT_VERSION} Configuration Summary")
message(STATUS "========================================================================")
message(STATUS "Enabled Features:")
open3d_aligned_print("OpenMP" "${WITH_OPENMP}")
open3d_aligned_print("Headless Rendering" "${ENABLE_HEADLESS_RENDERING}")
open3d_aligned_print("Azure Kinect Support" "${BUILD_AZURE_KINECT}")
open3d_aligned_print("CUDA Support" "${BUILD_CUDA_MODULE}")
open3d_aligned_print("Build GUI" "${ENABLE_GUI}")
open3d_aligned_print("Build Shared Library" "${BUILD_SHARED_LIBS}")
open3d_aligned_print("Build Unit Tests" "${BUILD_UNIT_TESTS}")
open3d_aligned_print("Build Examples" "${BUILD_CPP_EXAMPLES}")
open3d_aligned_print("Build Python Module" "${BUILD_PYTHON_MODULE}")
if(BUILD_PYTHON_MODULE)
open3d_aligned_print("- with Jupyter Notebook Support" "${ENABLE_JUPYTER}")
endif()
open3d_aligned_print("Build Tensorflow Ops" "${BUILD_TENSORFLOW_OPS}")
open3d_aligned_print("Build Pytorch Ops" "${BUILD_PYTORCH_OPS}")
open3d_aligned_print("Build Benchmarks" "${BUILD_BENCHMARKS}")
if(GLIBCXX_USE_CXX11_ABI)
set(usage "1")
else()
set(usage "0")
endif()
open3d_aligned_print("Force GLIBCXX_USE_CXX11_ABI=" "${usage}")
message(STATUS "========================================================================")
message(STATUS "Third-Party Dependencies:")
foreach(dep IN ITEMS EIGEN3 FILAMENT FLANN FMT GLEW GLFW GOOGLETEST IMGUI JPEG JSONCPP LIBLZF OPENGL PNG PYBIND11 QHULL LIBREALSENSE TINYFILEDIALOGS TINYGLTF TINYOBJLOADER)
if(${dep}_TARGET)
if(BUILD_${dep})
set(usage "yes (build from source)")
else()
set(usage "yes")
if(${dep}_VERSION_STRING)
set(usage "${usage} (v${${dep}_VERSION_STRING})")
elseif(${dep}_VERSION)
set(usage "${usage} (v${${dep}_VERSION})")
endif()
endif()
else()
set(usage "no")
endif()
open3d_aligned_print("${dep}" "${usage}")
endforeach()
message(STATUS "========================================================================")