IntelRealSense · ev-mp · May 19, 2019 · May 19, 2019 · May 19, 2019 · May 19, 2019
diff --git a/CMake/external_libusb.cmake b/CMake/external_libusb.cmake
@@ -7,7 +7,7 @@ ExternalProject_Add(
     GIT_TAG "2a7372db54094a406a755f0b8548b614ba8c78ec" # "v1.0.22" + Mac get_device_list hang fix
 
     UPDATE_COMMAND ${CMAKE_COMMAND} -E copy_if_different
-            ${CMAKE_SOURCE_DIR}/third-party/libusb/CMakeLists.txt
+            ${CMAKE_CURRENT_SOURCE_DIR}/third-party/libusb/CMakeLists.txt
             ${CMAKE_CURRENT_BINARY_DIR}/third-party/libusb/CMakeLists.txt
     PATCH_COMMAND ""
 

diff --git a/CMake/global_config.cmake b/CMake/global_config.cmake
@@ -25,6 +25,11 @@ macro(global_set_flags)
     add_definitions(-DELPP_THREAD_SAFE)
     add_definitions(-DELPP_NO_DEFAULT_LOG_FILE)
 
+    if (BUILD_GLSL_EXTENSIONS)
+        set(LRS_GL_TARGET realsense2-gl)
+        set(LRS_GL_LIB_NAME ${LRS_GL_TARGET})
+    endif()
+
     if (ENABLE_ZERO_COPY)
         add_definitions(-DZERO_COPY)
     endif()
@@ -58,6 +63,10 @@ macro(global_set_flags)
         include(CMake/cuda_config.cmake)
     endif()
 
+    if(BUILD_PYTHON_BINDINGS)
+        include(libusb_config)
+    endif()
+
     add_definitions(-D${BACKEND} -DUNICODE)
 endmacro()
 

diff --git a/CMake/install_config.cmake b/CMake/install_config.cmake
@@ -43,9 +43,9 @@ install(FILES "${CMAKE_CURRENT_BINARY_DIR}/realsense2ConfigVersion.cmake"
         DESTINATION ${CMAKECONFIG_INSTALL_DIR}
 )
 
-install(CODE "execute_process(COMMAND ldconfig)")
-
 # Set library pkgconfig file for facilitating 3rd party integration
 install(FILES "${CMAKE_CURRENT_BINARY_DIR}/config/realsense2.pc"
         DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig"
 )
+
+install(CODE "execute_process(COMMAND ldconfig)")
diff --git a/CMake/libusb_config.cmake b/CMake/libusb_config.cmake
@@ -8,7 +8,7 @@ if (NOT TARGET usb)
         target_include_directories(usb INTERFACE ${LIBUSB_INC})
         target_link_libraries(usb INTERFACE ${LIBUSB_LIB})
     else()
-        include(${CMAKE_SOURCE_DIR}/CMake/external_libusb.cmake)
+        include(CMake/external_libusb.cmake)
     endif()
     install(TARGETS usb EXPORT realsense2Targets)
 endif()
diff --git a/CMake/lrs_options.cmake b/CMake/lrs_options.cmake
@@ -1,6 +1,7 @@
 option(ENABLE_CCACHE "Build with ccache." ON)
 option(BUILD_WITH_CUDA "Enable CUDA" OFF)
-option(BUILD_GRAPHICAL_EXAMPLES "Build graphical examples and tools." ON)
+option(BUILD_GRAPHICAL_EXAMPLES "Build graphical examples and tools. Implies BUILD_GLSL_EXTENSIONS" ON)
+option(BUILD_GLSL_EXTENSIONS "Build GLSL extensions API" ON)
 option(BUILD_WITH_OPENMP "Use OpenMP" OFF)
 option(ENABLE_ZERO_COPY "Enable zero copy functionality" OFF)
 option(BUILD_WITH_TM2 "Build with support for Intel TM2 tracking device" ON)

diff --git a/CMake/realsense2-glConfig.cmake.in b/CMake/realsense2-glConfig.cmake.in
@@ -0,0 +1,12 @@
+@PACKAGE_INIT@
+
+set(realsense2-gl_VERSION_MAJOR "@REALSENSE_VERSION_MAJOR@")
+set(realsense2-gl_VERSION_MINOR "@REALSENSE_VERSION_MINOR@")
+set(realsense2-gl_VERSION_PATCH "@REALSENSE_VERSION_PATCH@")
+
+set(realsense2-gl_VERSION ${realsense2-gl_VERSION_MAJOR}.${realsense2-gl_VERSION_MINOR}.${realsense2-gl_VERSION_PATCH})
+
+set_and_check(realsense2-gl_INCLUDE_DIR "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
+
+include("${CMAKE_CURRENT_LIST_DIR}/realsense2-glTargets.cmake")
+set(realsense2-gl_LIBRARY realsense2-gl::realsense2-gl)
diff --git a/CMake/version_config.cmake b/CMake/version_config.cmake
@@ -23,3 +23,6 @@ assign_version_property(MINOR)
 assign_version_property(PATCH)
 set(REALSENSE_VERSION_STRING ${REALSENSE_VERSION_MAJOR}.${REALSENSE_VERSION_MINOR}.${REALSENSE_VERSION_PATCH})
 infoValue(REALSENSE_VERSION_STRING)
+if (BUILD_GLSL_EXTENSIONS)
+    set(REALSENSE-GL_VERSION_STRING ${REALSENSE_VERSION_MAJOR}.${REALSENSE_VERSION_MINOR}.${REALSENSE_VERSION_PATCH})
+endif()
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -51,12 +51,14 @@ option(BUILD_CV_KINFU_EXAMPLE "Build OpenCV KinectFusion example" OFF)
 
 add_subdirectory(wrappers)
 
-if (BUILD_EXAMPLES AND BUILD_GRAPHICAL_EXAMPLES)
+if (BUILD_EXAMPLES AND BUILD_GLSL_EXTENSIONS)
     find_package(glfw3 3.3 QUIET)
     if(NOT TARGET glfw)
         message(STATUS "GLFW 3.3 not found; using internal version")
+        set(GLFW_INSTALL ON)
         add_subdirectory(third-party/glfw)
     endif()
+    #add_subdirectory(src/gl)
 endif()
 
 if(BUILD_EXAMPLES)
@@ -72,8 +74,9 @@ if (BUILD_WITH_TM2)
     add_tm2()
 endif()
 
-if (BUILD_EXAMPLES AND BUILD_GRAPHICAL_EXAMPLES)
+include(CMake/install_config.cmake)
+
+if (BUILD_EXAMPLES AND BUILD_GLSL_EXTENSIONS)
     add_subdirectory(src/gl)
 endif()
 
-include(CMake/install_config.cmake)
diff --git a/config/librealsense-gl.pc.in b/config/librealsense-gl.pc.in
@@ -0,0 +1,17 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=${prefix}
+includedir=${prefix}/include
+#TODO: libdir=${exec_prefix}/lib@MULTI_ARCH_SUFFIX@
+libdir= ${prefix}/lib/x86_64-linux-gnu
+
+Name: realsense2-gl
+Description: Intel(R) RealSense(tm) GLSL Extension Module
+Version: @REALSENSE-GL_VERSION_STRING@
+URL: https://github.com/IntelRealSense/librealsense
+Requires.private: @LRS_LIB_NAME@
+Libs: -L${libdir} -l@LRS_LIB_NAME@
+Libs.private: @LRS_PKG_LIBS@
+Cflags: -I${includedir}
+
+#TODO check -Wl -Bdynamic
+#Libs: -L${libdir} -Wl,-Bdynamic -lrealsense
diff --git a/src/gl/CMakeLists.txt b/src/gl/CMakeLists.txt
@@ -33,6 +33,10 @@ set(REALSENSE_GL_CPP
     ${LZ4_DIR}/lz4.c
 )
 
+#set(DEPENDENCIES realsense2 ${OPENGL_LIBRARIES} glfw)
+#replaced with
+include(${CMAKE_SOURCE_DIR}/CMake/opengl_config.cmake)
+
 if (${BUILD_SHARED_LIBS} AND ${BUILD_EASYLOGGINGPP})
     list(APPEND REALSENSE_GL_CPP ../../third-party/easyloggingpp/src/easylogging++.cc)
 endif()
@@ -45,29 +49,73 @@ source_group("API" FILES
     ../../include/librealsense2-gl/rs_processing_gl.hpp
     realsense-gl.def)
 
-add_library(${PROJECT_NAME} ${REALSENSE_GL_CPP})
-include_directories(${LZ4_DIR})
-
-find_package(OpenGL)
-if(NOT OPENGL_FOUND)
-    message(FATAL_ERROR "\n\n OpenGL package is missing!\n\n")
-endif()
+add_library(${LRS_GL_TARGET} ${REALSENSE_GL_CPP})
 
 if(BUILD_SHARED_LIBS)
     add_definitions(-DSHARED_LIBS)
 endif()
 
-set(DEPENDENCIES realsense2 ${OPENGL_LIBRARIES} glfw)
+include_directories(${LZ4_DIR})
 
-target_include_directories(${PROJECT_NAME} PRIVATE
-    "${CMAKE_CURRENT_LIST_DIR}/.."
-    "${CMAKE_CURRENT_LIST_DIR}/../../include"
-    "${CMAKE_CURRENT_LIST_DIR}/../../common/gl/"
-    "${CMAKE_CURRENT_LIST_DIR}/../../common/"
-    "${CMAKE_CURRENT_LIST_DIR}/../../third-party/glad"
-    "${CMAKE_CURRENT_LIST_DIR}/../../third-party/glfw/include"
+#TODO - replace glfw dependency with
+#find_package(glfw REQUIRED) 
+target_include_directories(${PROJECT_NAME}
+    PRIVATE
+        ${CMAKE_CURRENT_LIST_DIR}/..
+        ${CMAKE_CURRENT_LIST_DIR}/../../third-party/glad
+        ${CMAKE_CURRENT_LIST_DIR}/../../common
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../include>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../third-party/glfw/include>
+        $<INSTALL_INTERFACE:/../../include>
+        $<INSTALL_INTERFACE:/../../third-party/glfw/include>
 )
+
 set_target_properties(${PROJECT_NAME} PROPERTIES FOLDER Library)
-target_link_libraries(${PROJECT_NAME} PRIVATE ${DEPENDENCIES})
+set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${REALSENSE_VERSION_STRING} SOVERSION "${REALSENSE_VERSION_MAJOR}.${REALSENSE_VERSION_MINOR}")
+write_basic_package_version_file("${CMAKE_CURRENT_BINARY_DIR}/realsense2-glConfigVersion.cmake"
+    VERSION ${REALSENSE_VERSION_STRING} COMPATIBILITY AnyNewerVersion)
+
+configure_package_config_file(../../CMake/realsense2-glConfig.cmake.in realsense2-glConfig.cmake
+    INSTALL_DESTINATION ${CMAKECONFIG_INSTALL_DIR}
+    INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX}/bin
+    PATH_VARS CMAKE_INSTALL_INCLUDEDIR
+)
+
+configure_file(../../config/librealsense-gl.pc.in ../../config/realsense2-gl.pc @ONLY)
+
+target_link_libraries(${PROJECT_NAME} 
+    PRIVATE ${DEPENDENCIES}
+)
+
+# CMake prior to 3.13 cannot install targets located in sub-directories.
+#https://gitlab.kitware.com/cmake/cmake/merge_requests/2152
+# Hence these targets will be invoked from the project and not the root directory
+install(TARGETS ${LRS_GL_TARGET}
+    EXPORT realsense2-glTargets
+    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_PREFIX}/include/librealsense2"
+)
+
+install(EXPORT realsense2-glTargets
+    FILE realsense2-glTargets.cmake
+    NAMESPACE ${LRS_GL_TARGET}::
+    DESTINATION ${CMAKECONFIG_INSTALL_DIR}
+)
+
+install(FILES "${CMAKE_BINARY_DIR}/src/gl/realsense2-glConfig.cmake"
+    DESTINATION ${CMAKECONFIG_INSTALL_DIR}
+)
+
+install(FILES "${CMAKE_BINARY_DIR}/src/gl/realsense2-glConfigVersion.cmake"
+        DESTINATION ${CMAKECONFIG_INSTALL_DIR}
+)
+
+# Set library pkgconfig file for facilitating 3rd party integration
+install(FILES "${CMAKE_BINARY_DIR}/config/realsense2-gl.pc"
+        DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig"
+)
 
-set(CMAKECONFIG_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}/../cmake/realsense2")
+install(CODE "execute_process(COMMAND ldconfig)")
diff --git a/third-party/glfw/CMakeLists.txt b/third-party/glfw/CMakeLists.txt
@@ -358,7 +358,8 @@ endif()
 # Install files other than the library
 # The library is installed by src/CMakeLists.txt
 #--------------------------------------------------------------------
-if (GLFW_INSTALL)
+# Enforce GLFW when selecting GLSL
+if (GLFW_INSTALL OR BUILD_GLSL_EXTENSIONS)
     install(DIRECTORY include/GLFW DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
             FILES_MATCHING PATTERN glfw3.h PATTERN glfw3native.h)
 

diff --git a/third-party/glfw/src/CMakeLists.txt b/third-party/glfw/src/CMakeLists.txt
@@ -151,7 +151,8 @@ if (MSVC)
     target_compile_definitions(glfw PRIVATE _CRT_SECURE_NO_WARNINGS)
 endif()
 
-if (GLFW_INSTALL)
+# Enforce GLFW when selecting GLSL
+if (GLFW_INSTALL OR BUILD_GLSL_EXTENSIONS)
     install(TARGETS glfw
             EXPORT glfwTargets
             RUNTIME DESTINATION "bin"

diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
@@ -2,7 +2,6 @@
 # Copyright(c) 2019 Intel Corporation. All Rights Reserved.
 #  minimum required cmake version: 3.1.0
 cmake_minimum_required(VERSION 3.1.0)
-
 project(RealsenseTools)
 
 # Save the command line compile commands in the build output
@@ -11,26 +10,35 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
 #set(CMAKE_VERBOSE_MAKEFILE on)
 
 # This parameter is meant for disabling graphical examples when building for
-# save-to-disk targets.
+# headless systems
 option(BUILD_GRAPHICAL_EXAMPLES "Build graphical examples." ON)
 
+set(DEPENDENCIES ${DEPENDENCIES} realsense2)
+
+add_subdirectory(convert)
+add_subdirectory(enumerate-devices)
+add_subdirectory(fw-logger)
+add_subdirectory(terminal)
+
 if(BUILD_GRAPHICAL_EXAMPLES)
     include(${CMAKE_SOURCE_DIR}/CMake/opengl_config.cmake)
+    if (NOT BUILD_GLSL_EXTENSIONS)
+        MESSAGE(STATUS "BUILD_GRAPHICAL_EXAMPLES explicitely depends on BUILD_GLSL_EXTENSIONS, set it ON")
+        SET(BUILD_GLSL_EXTENSIONS ON)
+    endif()
+    set(DEPENDENCIES ${DEPENDENCIES} realsense2-gl)
+    add_subdirectory(data-collect)
+    add_subdirectory(realsense-viewer)
+    add_subdirectory(depth-quality)
+    add_subdirectory(rosbag-inspector)
+    add_subdirectory(benchmark)
 else()
     if(ANDROID_NDK_TOOLCHAIN_INCLUDED)
         find_library(log-lib log)
-        set(DEPENDENCIES realsense2 log)
-    else()
-        set(DEPENDENCIES realsense2)
+        add_dependencies(RealsenseTools log)
+        set(DEPENDENCIES ${DEPENDENCIES} log)
+    #else()
+    #    set(DEPENDENCIES realsense2)
     endif()
 endif()
 
-add_subdirectory(terminal)
-add_subdirectory(fw-logger)
-add_subdirectory(enumerate-devices)
-add_subdirectory(realsense-viewer)
-add_subdirectory(data-collect)
-add_subdirectory(depth-quality)
-add_subdirectory(rosbag-inspector)
-add_subdirectory(convert)
-add_subdirectory(benchmark)
diff --git a/wrappers/python/CMakeLists.txt b/wrappers/python/CMakeLists.txt
@@ -17,7 +17,7 @@ set_target_properties(pyrealsense2 PROPERTIES VERSION
     ${REALSENSE_VERSION_STRING} SOVERSION "${REALSENSE_VERSION_MAJOR}.${REALSENSE_VERSION_MINOR}")
 set_target_properties(pyrealsense2 PROPERTIES FOLDER Wrappers/python)
 install(TARGETS pyrealsense2 EXPORT realsense2Targets
-		RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
         ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
 )
@@ -32,7 +32,7 @@ set(RAW_RS
     ../../third-party/easyloggingpp/src/easylogging++.h
     ../../third-party/easyloggingpp/src/easylogging++.cc
     ../../src/backend.h
-    ../../src/backend.cpp 
+    ../../src/backend.cpp
 )
 
 if(UNIX)
@@ -43,7 +43,7 @@ if(UNIX)
         ../../src/libusb/enumerator-libusb.cpp
     )
 endif()
-    
+
 if(WIN32)
     list(APPEND RAW_RS
         ../../src/win/win-helpers.cpp
@@ -91,8 +91,6 @@ endif()
 
 pybind11_add_module(pybackend2 SHARED ${RAW_RS})
 
-include(libusb_config)
-
 if(USE_EXTERNAL_USB)
     add_dependencies(pybackend2 libusb)
 endif()
@@ -105,11 +103,11 @@ include_directories(pybackend2 ../../include)
 
 install(TARGETS pybackend2
         EXPORT realsense2Targets
-		RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
         ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
 )
 
 if (BUILD_PYTHON_DOCS)
-	add_subdirectory(docs)
+    add_subdirectory(docs)
 endif()