Add CMake support and SWIG bindings for RapidPoseTriangulation

2026-01-29 17:37:38 +08:00
parent 1ab099098e
commit 7405454480
6 changed files with 74 additions and 18 deletions
@@ -0,0 +1,52 @@
+# SWIG Python bindings for RapidPoseTriangulation
+
+# Find required packages
+find_package(SWIG REQUIRED COMPONENTS python)
+find_package(Python3 REQUIRED COMPONENTS Development)
+
+# Include SWIG macros
+include(UseSWIG)
+
+# Compiler flags (matching original Makefile)
+set(RPT_COMPILE_FLAGS -fPIC -O3 -march=native -Wall -flto=auto)
+
+# Create static library from rpt sources
+set(RPT_SOURCES
+    ${CMAKE_SOURCE_DIR}/rpt/camera.cpp
+    ${CMAKE_SOURCE_DIR}/rpt/interface.cpp
+    ${CMAKE_SOURCE_DIR}/rpt/triangulator.cpp
+)
+
+add_library(rpt_core STATIC ${RPT_SOURCES})
+target_include_directories(rpt_core PUBLIC ${CMAKE_SOURCE_DIR}/rpt)
+target_compile_options(rpt_core PRIVATE ${RPT_COMPILE_FLAGS})
+
+# SWIG interface
+set_property(SOURCE rpt.i PROPERTY CPLUSPLUS ON)
+set_property(SOURCE rpt.i PROPERTY SWIG_MODULE_NAME rpt)
+
+# Set output directory for generated files to match original Makefile behavior
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+
+swig_add_library(rpt
+    TYPE MODULE
+    LANGUAGE python
+    OUTPUT_DIR ${CMAKE_CURRENT_SOURCE_DIR}
+    OUTFILE_DIR ${CMAKE_CURRENT_SOURCE_DIR}
+    SOURCES rpt.i
+)
+
+# Link the SWIG module
+target_link_libraries(rpt PRIVATE rpt_core Python3::Module)
+target_compile_options(rpt PRIVATE ${RPT_COMPILE_FLAGS})
+
+# Set the output directory
+set_target_properties(rpt PROPERTIES
+    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+# Ensure SWIG can find headers
+target_include_directories(rpt PRIVATE
+    ${CMAKE_SOURCE_DIR}/rpt
+    ${Python3_INCLUDE_DIRS}
+)
@@ -1,14 +0,0 @@
-# Standard compile options for the C++ executable
-FLAGS = -fPIC -O3 -march=native -Wall -Werror -flto=auto
-
-# The Python interface through SWIG
-PYTHON_VERSION = $(shell python3 -c 'import sys; print(f"{sys.version_info.major}.{sys.version_info.minor}");')
-PYTHONI = -I/usr/include/python$(PYTHON_VERSION)/
-PYTHONL = -Xlinker -export-dynamic
-
-# Default super-target
-all:
-	cd ../rpt/ && g++ $(FLAGS) -std=c++2a -c *.cpp ; cd ../swig/
-	swig -c++ -python -keyword -o rpt_wrap.cxx rpt.i
-	g++ $(FLAGS) $(PYTHONI) -c rpt_wrap.cxx -o rpt_wrap.o
-	g++ $(FLAGS) $(PYTHONL) -shared ../rpt/*.o rpt_wrap.o -o _rpt.so