Moves the contents of the cartographer subdirectory up one level.

master
Damon Kohler 2016-08-03 12:48:29 +02:00
parent 188e5fb7bd
commit 269c28cb0c
249 changed files with 142 additions and 142 deletions

134
CMakeLists.txt Normal file
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@ -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/
)

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@ -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")

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@ -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")

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