Extract third_party configuration to separate cmake file

CMakeLists.txt

@@ -86,152 +86,14 @@ include(cmake/imgui.cmake)
 include(cmake/imguizmo.cmake)
 include(cmake/implot.cmake)
 
-add_subdirectory(${THIRDPARTY_DIRECTORY}/eigen)
-set(EIGEN3_INCLUDE_DIR ${THIRDPARTY_DIRECTORY}/eigen)
-MESSAGE(STATUS "Using bundled Eigen3 : ${EIGEN3_INCLUDE_DIR}")
-
-if (BUILD_WITH_BUNDLED_FREEGLUT)
-    set(FREEGLUT_BUILD_DEMOS
-            OFF
-            CACHE BOOL "" FORCE)
-    add_subdirectory(${THIRDPARTY_DIRECTORY}/freeglut)
-    set(FREEGLUT_INCLUDE_DIR ${THIRDPARTY_DIRECTORY}/freeglut/include)
-    set(FREEGLUT_LIBRARY freeglut)
-    # Suppress unused variable warnings from FreeGlut
-    if (CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
-        target_compile_options(freeglut PRIVATE -Wno-unused-const-variable)
-    endif()
-    MESSAGE(STATUS "Using bundled FreeGlut")
-else()
-    find_package(GLUT REQUIRED)
-    set(FREEGLUT_INCLUDE_DIR ${GLUT_INCLUDE_DIR})
-    set(FREEGLUT_LIBRARY ${GLUT_glut_LIBRARY})
-    MESSAGE(STATUS "FreeGlut include dir: ${FREEGLUT_INCLUDE_DIR}")
-endif ()
-
-if (BUILD_WITH_BUNDLED_GLEW)
-    if(APPLE)
-      # On modern macOS AGL framework is deprecated/removed.
-      # We point AGL_LIBRARY to OpenGL to trick the submodule into linking against a valid framework instead of failing.
-      find_library(AGL_LIBRARY OpenGL)
-    endif()
-
-    add_subdirectory(${THIRDPARTY_DIRECTORY}/glew-cmake)
-    set(GLEW_INCLUDE_DIR ${THIRDPARTY_DIRECTORY}/glew-cmake/include)
-    set(GLEW_LIBRARY libglew_static)
-
-    MESSAGE(STATUS "Using bundled GLEW")
-else()
-    find_package(GLEW REQUIRED)
-    set(GLEW_INCLUDE_DIR ${GLEW_INCLUDE_DIRS})
-    set(GLEW_LIBRARY ${GLEW_LIBRARIES})
-    MESSAGE(STATUS "GLEW include dir: ${GLEW_INCLUDE_DIR}, GLEW library: ${GLEW_LIBRARY}")
-endif()
-
-if (BUILD_WITH_BUNDLED_LIBLASZIP)
-    add_subdirectory(${THIRDPARTY_DIRECTORY}/LASzip)
-    set(LASZIP_INCLUDE_DIR ${THIRDPARTY_DIRECTORY})
-    set(LASZIP_LIBRARY laszip)
-    MESSAGE(STATUS "Using bundled LASzip")
-
-    if(APPLE)
-        target_compile_definitions(laszip PUBLIC off64_t=off_t)
-    endif()
-else()
-    find_package(LASzip REQUIRED)
-    set(LASZIP_INCLUDE_DIR ${LASZIP_INCLUDE_DIR})
-    set(LASZIP_LIBRARY ${LASZIP_LIBRARY})
-    set(PLATFORM_LASZIP_LIB ${LASZIP_LIBRARY})
-    MESSAGE(STATUS "LASzip include dir: ${LASZIP_INCLUDE_DIR}, LASzip library: ${LASZIP_LIBRARY}")
-endif ()
-
-# Download or Search for OpenCV
-include(${THIRDPARTY_DIRECTORY_BINARY}/OpenCV/CMakeLists.txt)
-find_package(OpenCV REQUIRED)
-MESSAGE(STATUS "OpenCV include dir: ${OpenCV_INCLUDE_DIRS}, OpenCV librarys: ${OpenCV_LIBS}")
-
-# Download or Search for PROJ
-include(${THIRDPARTY_DIRECTORY_BINARY}/Proj/CMakeLists.txt)
-MESSAGE(STATUS "PROJ include dir: ${PROJ_INCLUDE_DIR}, PROJ library: ${PROJ_LIBRARY}")
-MESSAGE(STATUS "PROJ implementation library: ${PROJ_IMPLIB}, PROJ database: ${PROJ_DB}")
-
-# Option to build with bundled oneTBB
-if (BUILD_WITH_BUNDLED_ONETBB)
-    # Disable oneTBB components we don't need
-    set(TBB_TEST OFF CACHE BOOL "" FORCE)
-    set(TBB_EXAMPLES OFF CACHE BOOL "" FORCE)
-    set(TBB_STRICT OFF CACHE BOOL "" FORCE)
-    set(TBBMALLOC_BUILD OFF CACHE BOOL "" FORCE)
-    set(TBB_CPF OFF CACHE BOOL "" FORCE)
-
-    add_subdirectory(${THIRDPARTY_DIRECTORY}/oneTBB)
-    MESSAGE(STATUS "Using bundled oneTBB from: ${THIRDPARTY_DIRECTORY}/oneTBB")
-else()
-    # Find TBB from system
-    find_package(TBB REQUIRED)
-    MESSAGE(STATUS "Found system TBB")
-endif()
-
-# Add unordered_dense header-only library
-add_subdirectory(${THIRDPARTY_DIRECTORY}/unordered_dense)
-MESSAGE(STATUS "Using bundled unordered_dense from: ${THIRDPARTY_DIRECTORY}/unordered_dense")
-
-# Add spdlog logging library
-set(SPDLOG_BUILD_PIC ON CACHE BOOL "Build spdlog with position-independent code")
-add_subdirectory(${THIRDPARTY_DIRECTORY}/spdlog)
-MESSAGE(STATUS "Using bundled spdlog from: ${THIRDPARTY_DIRECTORY}/spdlog")
-
-# Add UTL header-only utility library
-add_subdirectory(${THIRDPARTY_DIRECTORY}/UTL)
-MESSAGE(STATUS "Using bundled UTL from: ${THIRDPARTY_DIRECTORY}/UTL")
-
-# ---- Profiler backend ----
-if(HDMAPPING_PROFILER STREQUAL "TRACY")
-    include(FetchContent)
-    FetchContent_Declare(tracy
-        GIT_REPOSITORY https://github.com/wolfpld/tracy.git
-        GIT_TAG        v0.13.1
-        GIT_SHALLOW    TRUE
-    )
-    set(TRACY_ENABLE    ON CACHE BOOL "" FORCE)
-    set(TRACY_ON_DEMAND ON CACHE BOOL "" FORCE)
-    FetchContent_MakeAvailable(tracy)
-    message(STATUS "HDMapping profiler: Tracy v0.13.1 (on-demand)")
-elseif(HDMAPPING_PROFILER STREQUAL "UTL")
-    message(STATUS "HDMapping profiler: UTL")
-else()
-    message(STATUS "HDMapping profiler: NONE (disabled)")
-endif()
-
-if(BUILD_WITH_PYBIND)
-    message(STATUS "BUILD_WITH_PYBIND is enabled: fetching pybind.")
-    include(FetchContent)
-    set(pybind11_SOURCE_DIR "${CMAKE_BINARY_DIR}/3rdparty/pybind11-src")
-    set(pybind11_BINARY_DIR "${CMAKE_BINARY_DIR}/3rdparty/pybind11-build")
-    FetchContent_Declare(
-        pybind11
-        GIT_REPOSITORY https://github.com/pybind/pybind11
-        GIT_TAG        v2.12.1
-        SOURCE_DIR     ${pybind11_SOURCE_DIR}
-        BINARY_DIR     ${pybind11_BINARY_DIR}
-    )
-    FetchContent_GetProperties(pybind11)
-    if(NOT pybind11_POPULATED)
-        FetchContent_MakeAvailable(pybind11)
-    endif()
-    add_subdirectory(pybind)
-else()
-    message(STATUS "BUILD_WITH_PYBIND is disabled.")
-endif()
-
-
-add_subdirectory(${THIRDPARTY_DIRECTORY}/vqf/vqf/cpp)
-add_subdirectory(${THIRDPARTY_DIRECTORY}/Fusion/Fusion)
-
-add_subdirectory(${EXTERNAL_LIBRARIES_DIRECTORY}/plycpp)
-add_subdirectory(${EXTERNAL_LIBRARIES_DIRECTORY}/wgs84_do_puwg92)
-add_subdirectory(${EXTERNAL_LIBRARIES_DIRECTORY}/WGS84toCartesian)
-
+# ============================================================================
+# Configure all dependencies (3rdparty and external libraries)
+# ============================================================================
+include(cmake/dependencies.cmake)
+
+# ============================================================================
+# Core Library
+# ============================================================================
 add_subdirectory(core)
 
 set(CORE_LIBRARIES core)

apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp

@@ -13,7 +13,6 @@
 const double DEG_TO_RAD = M_PI / 180.0f;
 const double RAD_TO_DEG = 180.0f / M_PI;
 
-// extern std::vector<std::pair<Eigen::Vector3d, Eigen::Vector3d>> global_tmp;
 namespace
 {
     //! Structure holds block of Hessian from observations to be sumed

cmake/dependencies.cmake

@@ -0,0 +1,204 @@
+# cmake/dependencies.cmake
+# Extract 3rdparty and external library configuration
+# Included from root CMakeLists.txt
+
+include_guard()
+
+message(STATUS "==== Configuring Dependencies ====")
+
+# ============================================================================
+# Graphics Libraries (Bundled or System)
+# ============================================================================
+
+# Eigen3 - Linear algebra library (bundled)
+add_subdirectory(${THIRDPARTY_DIRECTORY}/eigen)
+set(EIGEN3_INCLUDE_DIR ${THIRDPARTY_DIRECTORY}/eigen)
+message(STATUS "Using bundled Eigen3 : ${EIGEN3_INCLUDE_DIR}")
+
+# FreeGLUT - OpenGL utilities
+if (BUILD_WITH_BUNDLED_FREEGLUT)
+    set(FREEGLUT_BUILD_DEMOS OFF CACHE BOOL "" FORCE)
+    add_subdirectory(${THIRDPARTY_DIRECTORY}/freeglut)
+    set(FREEGLUT_INCLUDE_DIR ${THIRDPARTY_DIRECTORY}/freeglut/include)
+    set(FREEGLUT_LIBRARY freeglut)
+
+    # Suppress unused variable warnings from FreeGlut
+    if (CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+        target_compile_options(freeglut PRIVATE -Wno-unused-const-variable)
+    endif()
+    message(STATUS "Using bundled FreeGlut")
+else()
+    find_package(GLUT REQUIRED)
+    set(FREEGLUT_INCLUDE_DIR ${GLUT_INCLUDE_DIR})
+    set(FREEGLUT_LIBRARY ${GLUT_glut_LIBRARY})
+    message(STATUS "FreeGlut include dir: ${FREEGLUT_INCLUDE_DIR}")
+endif()
+
+# GLEW - OpenGL extension loader
+if (BUILD_WITH_BUNDLED_GLEW)
+    if(APPLE)
+        # On modern macOS AGL framework is deprecated/removed.
+        # Point AGL_LIBRARY to OpenGL to trick the submodule into linking against a valid framework
+        find_library(AGL_LIBRARY OpenGL)
+    endif()
+
+    add_subdirectory(${THIRDPARTY_DIRECTORY}/glew-cmake)
+    set(GLEW_INCLUDE_DIR ${THIRDPARTY_DIRECTORY}/glew-cmake/include)
+    set(GLEW_LIBRARY libglew_static)
+    message(STATUS "Using bundled GLEW")
+else()
+    find_package(GLEW REQUIRED)
+    set(GLEW_INCLUDE_DIR ${GLEW_INCLUDE_DIRS})
+    set(GLEW_LIBRARY ${GLEW_LIBRARIES})
+    message(STATUS "GLEW include dir: ${GLEW_INCLUDE_DIR}, GLEW library: ${GLEW_LIBRARY}")
+endif()
+
+# ============================================================================
+# Point Cloud & LiDAR Libraries
+# ============================================================================
+
+# LASzip - LAS file compression
+if (BUILD_WITH_BUNDLED_LIBLASZIP)
+    add_subdirectory(${THIRDPARTY_DIRECTORY}/LASzip)
+    set(LASZIP_INCLUDE_DIR ${THIRDPARTY_DIRECTORY})
+    set(LASZIP_LIBRARY laszip)
+    message(STATUS "Using bundled LASzip")
+
+    if(APPLE)
+        target_compile_definitions(laszip PUBLIC off64_t=off_t)
+    endif()
+else()
+    find_package(LASzip REQUIRED)
+    set(LASZIP_INCLUDE_DIR ${LASZIP_INCLUDE_DIR})
+    set(LASZIP_LIBRARY ${LASZIP_LIBRARY})
+    set(PLATFORM_LASZIP_LIB ${LASZIP_LIBRARY})
+    message(STATUS "LASzip include dir: ${LASZIP_INCLUDE_DIR}, LASzip library: ${LASZIP_LIBRARY}")
+endif()
+
+# ============================================================================
+# Computer Vision & Geospatial Libraries (Pre-downloaded)
+# ============================================================================
+
+# OpenCV - Computer vision library
+include(${THIRDPARTY_DIRECTORY_BINARY}/OpenCV/CMakeLists.txt)
+find_package(OpenCV REQUIRED)
+message(STATUS "OpenCV include dir: ${OpenCV_INCLUDE_DIRS}, OpenCV libs: ${OpenCV_LIBS}")
+
+# PROJ - Cartographic projections library
+include(${THIRDPARTY_DIRECTORY_BINARY}/Proj/CMakeLists.txt)
+message(STATUS "PROJ include dir: ${PROJ_INCLUDE_DIR}, PROJ library: ${PROJ_LIBRARY}")
+message(STATUS "PROJ implementation library: ${PROJ_IMPLIB}, PROJ database: ${PROJ_DB}")
+
+# ============================================================================
+# Threading & Performance Libraries
+# ============================================================================
+
+# oneTBB - Intel Threading Building Blocks (Bundled or System)
+if (BUILD_WITH_BUNDLED_ONETBB)
+    # Disable oneTBB components we don't need
+    set(TBB_TEST OFF CACHE BOOL "" FORCE)
+    set(TBB_EXAMPLES OFF CACHE BOOL "" FORCE)
+    set(TBB_STRICT OFF CACHE BOOL "" FORCE)
+    set(TBBMALLOC_BUILD OFF CACHE BOOL "" FORCE)
+    set(TBB_CPF OFF CACHE BOOL "" FORCE)
+
+    add_subdirectory(${THIRDPARTY_DIRECTORY}/oneTBB)
+    message(STATUS "Using bundled oneTBB from: ${THIRDPARTY_DIRECTORY}/oneTBB")
+else()
+    find_package(TBB REQUIRED)
+    message(STATUS "Found system TBB")
+endif()
+
+# ============================================================================
+# Header-Only & Utility Libraries
+# ============================================================================
+
+# unordered_dense - Hash map library
+add_subdirectory(${THIRDPARTY_DIRECTORY}/unordered_dense)
+message(STATUS "Using bundled unordered_dense from: ${THIRDPARTY_DIRECTORY}/unordered_dense")
+
+# spdlog - Logging library
+set(SPDLOG_BUILD_PIC ON CACHE BOOL "Build spdlog with position-independent code")
+add_subdirectory(${THIRDPARTY_DIRECTORY}/spdlog)
+message(STATUS "Using bundled spdlog from: ${THIRDPARTY_DIRECTORY}/spdlog")
+
+# UTL - Header-only utility library
+add_subdirectory(${THIRDPARTY_DIRECTORY}/UTL)
+message(STATUS "Using bundled UTL from: ${THIRDPARTY_DIRECTORY}/UTL")
+
+# ============================================================================
+# IMGui & Visualization Libraries
+# ============================================================================
+
+# Note: imgui, imguizmo, implot are configured separately in:
+# cmake/imgui.cmake, cmake/imguizmo.cmake, cmake/implot.cmake
+
+# VQF - Vector Quaternion Filter
+add_subdirectory(${THIRDPARTY_DIRECTORY}/vqf/vqf/cpp)
+message(STATUS "Using bundled VQF from: ${THIRDPARTY_DIRECTORY}/vqf/vqf/cpp")
+
+# Fusion - AHRS filter implementation
+add_subdirectory(${THIRDPARTY_DIRECTORY}/Fusion/Fusion)
+message(STATUS "Using bundled Fusion from: ${THIRDPARTY_DIRECTORY}/Fusion/Fusion")
+
+# ============================================================================
+# Profiler Backend - Optional
+# ============================================================================
+
+if(HDMAPPING_PROFILER STREQUAL "TRACY")
+    include(FetchContent)
+    FetchContent_Declare(tracy
+        GIT_REPOSITORY https://github.com/wolfpld/tracy.git
+        GIT_TAG        v0.13.1
+        GIT_SHALLOW    TRUE
+    )
+    set(TRACY_ENABLE    ON CACHE BOOL "" FORCE)
+    set(TRACY_ON_DEMAND ON CACHE BOOL "" FORCE)
+    FetchContent_MakeAvailable(tracy)
+    message(STATUS "HDMapping profiler: Tracy v0.13.1 (on-demand)")
+elseif(HDMAPPING_PROFILER STREQUAL "UTL")
+    message(STATUS "HDMapping profiler: UTL")
+else()
+    message(STATUS "HDMapping profiler: NONE (disabled)")
+endif()
+
+# ============================================================================
+# Python Bindings - Optional
+# ============================================================================
+
+if(BUILD_WITH_PYBIND)
+    message(STATUS "BUILD_WITH_PYBIND is enabled: fetching pybind11")
+    include(FetchContent)
+    set(pybind11_SOURCE_DIR "${CMAKE_BINARY_DIR}/3rdparty/pybind11-src")
+    set(pybind11_BINARY_DIR "${CMAKE_BINARY_DIR}/3rdparty/pybind11-build")
+    FetchContent_Declare(
+        pybind11
+        GIT_REPOSITORY https://github.com/pybind/pybind11
+        GIT_TAG        v2.12.1
+        SOURCE_DIR     ${pybind11_SOURCE_DIR}
+        BINARY_DIR     ${pybind11_BINARY_DIR}
+    )
+    FetchContent_GetProperties(pybind11)
+    if(NOT pybind11_POPULATED)
+        FetchContent_MakeAvailable(pybind11)
+    endif()
+    add_subdirectory(pybind)
+else()
+    message(STATUS "BUILD_WITH_PYBIND is disabled")
+endif()
+
+# ============================================================================
+# External Coordinate Transformation Libraries
+# ============================================================================
+
+# Custom WGS84 projection utilities
+add_subdirectory(${EXTERNAL_LIBRARIES_DIRECTORY}/plycpp)
+message(STATUS "Using external library: plycpp")
+
+add_subdirectory(${EXTERNAL_LIBRARIES_DIRECTORY}/wgs84_do_puwg92)
+message(STATUS "Using external library: wgs84_do_puwg92")
+
+add_subdirectory(${EXTERNAL_LIBRARIES_DIRECTORY}/WGS84toCartesian)
+message(STATUS "Using external library: WGS84toCartesian")
+
+message(STATUS "==== Dependencies Configuration Complete ====")

cmake/imgui.cmake

@@ -18,8 +18,12 @@ set(IMGUI_HEADER_FILES
     ${IMGUI_LIBRARY_BACKEND_DIRECTORY}/imgui_impl_opengl2.h)
 
 set(IMGUI_FILES ${IMGUI_SOURCE_FILES} ${IMGUI_HEADER_FILES})
-add_definitions(-DImDrawIdx=unsigned\ int)
-add_library(imgui STATIC ${IMGUI_FILES})
+
+add_library(imgui STATIC)
+target_sources(imgui PRIVATE ${IMGUI_FILES})
 target_include_directories(
     imgui PRIVATE ${IMGUI_LIBRARY_DIRECTORY} ${IMGUI_LIBRARY_BACKEND_DIRECTORY}
     ${THIRDPARTY_DIRECTORY}/freeglut/include)
+
+# public : projects linking this library will use that definition
+target_compile_definitions(imgui PUBLIC -DImDrawIdx=unsigned\ int)

cmake/imguizmo.cmake

@@ -19,7 +19,8 @@ set(IMGUIZMO_HEADER_FILES
 
 set(IMGUIZMO_FILES ${IMGUIZMO_SOURCE_FILES} ${IMGUIZMO_HEADER_FILES})
 
-add_library(imguizmo STATIC ${IMGUIZMO_FILES})
+add_library(imguizmo STATIC)
+target_sources(imguizmo PRIVATE ${IMGUIZMO_FILES})
 target_include_directories(
     imguizmo PRIVATE ${IMGUIZMO_LIBRARY_DIRECTORY}
     ${THIRDPARTY_DIRECTORY}/imgui)