Moves the contents of the cartographer subdirectory up one level.

CMakeLists.txt

@@ -0,0 +1,134 @@
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required (VERSION 2.8.7)
+
+project(cartographer)
+set(CARTOGRAPHER_MAJOR_VERSION 1)
+set(CARTOGRAPHER_MINOR_VERSION 0)
+set(CARTOGRAPHER_PATCH_VERSION 0)
+set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION})
+set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
+
+include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
+SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
+
+if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+if(CMAKE_BUILD_TYPE STREQUAL "Release")
+  google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
+elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
+  google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
+elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
+  message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
+else()
+  message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
+endif()
+
+message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
+
+find_package(Boost REQUIRED COMPONENTS system iostreams)
+find_package(Ceres REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(LuaGoogle REQUIRED)
+find_package(Protobuf REQUIRED)
+
+# Only build the documentation if we can find Sphinx.
+find_package(Sphinx)
+if(SPHINX_FOUND)
+  add_subdirectory("doc")
+endif()
+
+set(GMOCK_SRC_DIR "/usr/src/gmock" CACHE STRING "Path to google-mock sources.")
+
+add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock")
+
+google_add_flag(GOOG_CXX_FLAGS "-std=c++11")
+
+if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+  google_add_flag(GOOG_CXX_FLAGS "-Weverything")
+  google_add_flag(GOOG_CXX_FLAGS "-Werror=deprecated")
+  google_add_flag(GOOG_CXX_FLAGS "-Werror=non-pod-varargs")
+else()
+  google_add_flag(GOOG_CXX_FLAGS "-Wall")
+  google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
+endif()
+
+# Turn some warnings into errors. These are defined for clang and gcc.
+google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
+google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
+google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
+
+enable_testing()
+
+SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
+
+# Install catkin package.xml
+install(FILES package.xml DESTINATION share/cartographer)
+
+set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files")
+install(DIRECTORY configuration_files DESTINATION share/cartographer/)
+
+add_subdirectory("cartographer")
+
+include(CMakePackageConfigHelpers)
+
+# Create a cartographer-config.cmake file for the use from the install tree
+# and install it
+set(CARTOGRAPHER_LIBRARY_DIRS "${CMAKE_INSTALL_PREFIX}/lib")
+list(APPEND CARTOGRAPHER_LIBRARY_DIRS "${LUA_LIBRARY_DIR}")
+
+set(CARTOGRAPHER_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
+list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${LUA_INCLUDE_DIR}")
+list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${CERES_INCLUDE_DIRS}")
+list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}")
+
+google_combined_library(cartographer
+  SRCS "${ALL_LIBRARIES}"
+)
+
+get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION)
+install(
+  FILES
+    ${CARTOGRAPHER_LIBRARY_FILE}
+  DESTINATION
+    lib
+)
+
+# TODO(hrapp): We have to mention glog here, otherwise we get unresolved
+# symbols. Piggybacking on Ceres does not seem to do the trick.
+set(CARTOGRAPHER_LIBRARIES "")
+list(APPEND CARTOGRAPHER_LIBRARIES "cartographer")
+list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}")
+list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}")
+list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}")
+list(APPEND CARTOGRAPHER_LIBRARIES "${PROTOBUF_LIBRARIES}")
+list(APPEND CARTOGRAPHER_LIBRARIES "webp")
+list(APPEND CARTOGRAPHER_LIBRARIES "glog")
+
+CONFIGURE_PACKAGE_CONFIG_FILE(
+  cartographer-config.cmake.in
+  "${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
+  PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS
+  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
+)
+
+install(
+  FILES
+    "${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
+  DESTINATION
+    share/cartographer/
+)

cartographer/CMakeLists.txt

@@ -12,123 +12,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required (VERSION 2.8.7)
-
-project(cartographer)
-set(CARTOGRAPHER_MAJOR_VERSION 1)
-set(CARTOGRAPHER_MINOR_VERSION 0)
-set(CARTOGRAPHER_PATCH_VERSION 0)
-set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION})
-set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
-
-include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
-SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
-
-if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
-  set(CMAKE_BUILD_TYPE Release)
-endif()
-
-if(CMAKE_BUILD_TYPE STREQUAL "Release")
-  google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
-elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
-  google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
-elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
-  message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
-else()
-  message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
-endif()
-
-message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
-
-find_package(Boost REQUIRED COMPONENTS system iostreams)
-find_package(Ceres REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(LuaGoogle REQUIRED)
-find_package(Protobuf REQUIRED)
-
-# Only build the documentation if we can find Sphinx.
-find_package(Sphinx)
-if(SPHINX_FOUND)
-  add_subdirectory("doc")
-endif()
-
-set(GMOCK_SRC_DIR "/usr/src/gmock" CACHE STRING "Path to google-mock sources.")
-
-add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock")
-
-google_add_flag(GOOG_CXX_FLAGS "-std=c++11")
-
-if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-  google_add_flag(GOOG_CXX_FLAGS "-Weverything")
-  google_add_flag(GOOG_CXX_FLAGS "-Werror=deprecated")
-  google_add_flag(GOOG_CXX_FLAGS "-Werror=non-pod-varargs")
-else()
-  google_add_flag(GOOG_CXX_FLAGS "-Wall")
-  google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
-endif()
-
-# Turn some warnings into errors. These are defined for clang and gcc.
-google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
-google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
-google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
-
-enable_testing()
-
-SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
-
-# Install catkin package.xml
-install(FILES package.xml DESTINATION share/cartographer)
-
-set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files")
-install(DIRECTORY configuration_files DESTINATION share/cartographer/)
-
-add_subdirectory("cartographer")
-
-include(CMakePackageConfigHelpers)
-
-# Create a cartographer-config.cmake file for the use from the install tree
-# and install it
-set(CARTOGRAPHER_LIBRARY_DIRS "${CMAKE_INSTALL_PREFIX}/lib")
-list(APPEND CARTOGRAPHER_LIBRARY_DIRS "${LUA_LIBRARY_DIR}")
-
-set(CARTOGRAPHER_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
-list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${LUA_INCLUDE_DIR}")
-list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${CERES_INCLUDE_DIRS}")
-list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}")
-
-google_combined_library(cartographer
-  SRCS "${ALL_LIBRARIES}"
-)
-
-get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION)
-install(
-  FILES
-    ${CARTOGRAPHER_LIBRARY_FILE}
-  DESTINATION
-    lib
-)
-
-# TODO(hrapp): We have to mention glog here, otherwise we get unresolved
-# symbols. Piggybacking on Ceres does not seem to do the trick.
-set(CARTOGRAPHER_LIBRARIES "")
-list(APPEND CARTOGRAPHER_LIBRARIES "cartographer")
-list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}")
-list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}")
-list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}")
-list(APPEND CARTOGRAPHER_LIBRARIES "${PROTOBUF_LIBRARIES}")
-list(APPEND CARTOGRAPHER_LIBRARIES "webp")
-list(APPEND CARTOGRAPHER_LIBRARIES "glog")
-
-CONFIGURE_PACKAGE_CONFIG_FILE(
-  cartographer-config.cmake.in
-  "${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
-  PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS
-  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
-)
-
-install(
-  FILES
-    "${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
-  DESTINATION
-    share/cartographer/
-)
+add_subdirectory("common")
+add_subdirectory("kalman_filter")
+add_subdirectory("mapping")
+add_subdirectory("mapping_2d")
+add_subdirectory("mapping_3d")
+add_subdirectory("proto")
+add_subdirectory("sensor")
+add_subdirectory("transform")

cartographer/cartographer/CMakeLists.txt

@@ -1,22 +0,0 @@
-# Copyright 2016 The Cartographer Authors
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#      http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-add_subdirectory("common")
-add_subdirectory("kalman_filter")
-add_subdirectory("mapping")
-add_subdirectory("mapping_2d")
-add_subdirectory("mapping_3d")
-add_subdirectory("proto")
-add_subdirectory("sensor")
-add_subdirectory("transform")