Build all our source files into a single library. (#164)
parent
71c951b370
commit
4e9c3d69b5
153
CMakeLists.txt
153
CMakeLists.txt
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@ -12,9 +12,10 @@
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# See the License for the specific language governing permissions and
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# limitations under the License.
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cmake_minimum_required(VERSION 2.8.12)
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cmake_minimum_required(VERSION 2.8.12) # Ships with Ubuntu 14.04 (Trusty)
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project(cartographer)
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project(cartographer)
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set(CARTOGRAPHER_MAJOR_VERSION 1)
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set(CARTOGRAPHER_MAJOR_VERSION 1)
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set(CARTOGRAPHER_MINOR_VERSION 0)
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set(CARTOGRAPHER_MINOR_VERSION 0)
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set(CARTOGRAPHER_PATCH_VERSION 0)
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set(CARTOGRAPHER_PATCH_VERSION 0)
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@ -25,13 +26,13 @@ include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
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google_initialize_cartographer_project()
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google_initialize_cartographer_project()
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google_enable_testing()
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google_enable_testing()
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include(FindPkgConfig)
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find_package(Boost REQUIRED COMPONENTS iostreams)
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find_package(Boost REQUIRED COMPONENTS system iostreams)
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find_package(Ceres REQUIRED)
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find_package(Ceres REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(LuaGoogle REQUIRED)
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find_package(LuaGoogle REQUIRED)
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find_package(Protobuf REQUIRED)
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find_package(Protobuf REQUIRED)
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include(FindPkgConfig)
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PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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# Only build the documentation if we can find Sphinx.
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# Only build the documentation if we can find Sphinx.
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@ -40,8 +41,6 @@ if(SPHINX_FOUND)
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add_subdirectory("docs")
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add_subdirectory("docs")
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endif()
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endif()
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SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
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# Install catkin package.xml
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# Install catkin package.xml
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install(FILES package.xml DESTINATION share/cartographer)
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install(FILES package.xml DESTINATION share/cartographer)
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@ -50,8 +49,6 @@ install(DIRECTORY configuration_files DESTINATION share/cartographer/)
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install(DIRECTORY cmake DESTINATION share/cartographer/)
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install(DIRECTORY cmake DESTINATION share/cartographer/)
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add_subdirectory("cartographer")
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include(CMakePackageConfigHelpers)
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include(CMakePackageConfigHelpers)
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# Create a cartographer-config.cmake file for the use from the install tree
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# Create a cartographer-config.cmake file for the use from the install tree
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@ -66,28 +63,136 @@ list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}")
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set(CARTOGRAPHER_CMAKE_DIR "${CMAKE_INSTALL_PREFIX}/share/cartographer/cmake")
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set(CARTOGRAPHER_CMAKE_DIR "${CMAKE_INSTALL_PREFIX}/share/cartographer/cmake")
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google_combined_library(cartographer
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file(GLOB_RECURSE ALL_SRCS "*.cc" "*.h")
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SRCS "${ALL_LIBRARIES}"
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file(GLOB_RECURSE ALL_TESTS "*_test.cc")
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file(GLOB_RECURSE ALL_EXECUTABLES "*_main.cc")
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list(REMOVE_ITEM ALL_SRCS ${ALL_TESTS})
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list(REMOVE_ITEM ALL_SRCS ${ALL_EXECUTABLES})
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file(GLOB_RECURSE ALL_PROTOS "*.proto")
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set(ALL_PROTO_SRCS)
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set(ALL_PROTO_HDRS)
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foreach(ABS_FIL ${ALL_PROTOS})
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file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${ABS_FIL})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
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list(APPEND ALL_PROTO_SRCS "${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
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list(APPEND ALL_PROTO_HDRS "${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")
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add_custom_command(
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OUTPUT "${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
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"${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
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COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
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ARGS --cpp_out ${CMAKE_BINARY_DIR} -I
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${CMAKE_SOURCE_DIR} ${ABS_FIL}
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DEPENDS ${ABS_FIL}
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COMMENT "Running C++ protocol buffer compiler on ${ABS_FIL}"
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VERBATIM
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)
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endforeach()
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set_source_files_properties(${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS} PROPERTIES GENERATED TRUE)
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list(APPEND ALL_SRCS ${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS})
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add_library(cartographer ${ALL_SRCS})
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add_subdirectory("cartographer")
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target_include_directories(cartographer SYSTEM PUBLIC
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"${EIGEN3_INCLUDE_DIR}")
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target_link_libraries(cartographer PUBLIC ${EIGEN3_LIBRARIES})
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target_include_directories(cartographer SYSTEM PUBLIC
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"${CERES_INCLUDE_DIRS}")
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target_link_libraries(cartographer PUBLIC ${CERES_LIBRARIES})
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target_include_directories(cartographer SYSTEM PUBLIC
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"${LUA_INCLUDE_DIR}")
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target_link_libraries(cartographer PUBLIC ${LUA_LIBRARIES})
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target_include_directories(cartographer SYSTEM PUBLIC
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"${Boost_INCLUDE_DIRS}")
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target_link_libraries(cartographer PUBLIC ${Boost_LIBRARIES})
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target_link_libraries(cartographer PUBLIC webp)
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target_link_libraries(cartographer PUBLIC glog)
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target_link_libraries(cartographer PUBLIC gflags)
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target_include_directories(cartographer SYSTEM PUBLIC
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"${CAIRO_INCLUDE_DIRS}")
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target_link_libraries(cartographer PUBLIC ${CAIRO_LIBRARIES})
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target_include_directories(cartographer SYSTEM PUBLIC
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${PROTOBUF_INCLUDE_DIR})
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# TODO(hrapp): This should not explicitly list pthread and use
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# PROTOBUF_LIBRARIES, but that failed on first try.
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target_link_libraries(cartographer PUBLIC ${PROTOBUF_LIBRARY} pthread)
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# Add the binary directory first, so that port.h is included after it has
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# been generated.
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target_include_directories(cartographer PUBLIC
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$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
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$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
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$<INSTALL_INTERFACE:include>
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)
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)
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# TODO(hrapp): Replacing this get_property with a generator expression is not
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# TODO(damonkohler): Create a testing library.
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# very easy: it needs to be expanded into a variable which is then used for
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target_include_directories(cartographer SYSTEM PRIVATE
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# CONFIGURE_PACKAGE_CONFIG_FILE - I did not find an easy way to do it. A
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"${GMOCK_INCLUDE_DIRS}")
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# complicated way is to file(READ the cartographer-config.cmake.in and
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target_link_libraries(cartographer PUBLIC ${GMOCK_LIBRARIES})
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# string(CONFIGURE it, then file(GENERATE the output file. I do not have the
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# stomach to attempt this right now.
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set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION)
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set_target_properties(cartographer PROPERTIES
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get_filename_component(CARTOGRAPHER_LIBRARY_FILE_BASENAME
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COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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${CARTOGRAPHER_LIBRARY_FILE} NAME)
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install(
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install(TARGETS cartographer
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)
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# Install source headers.
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file(GLOB_RECURSE hdrs "*.h")
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foreach(HDR ${hdrs})
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file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${HDR})
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get_filename_component(INSTALL_DIR ${REL_FIL} DIRECTORY)
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install(
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FILES
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FILES
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${CARTOGRAPHER_LIBRARY_FILE}
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${HDR}
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DESTINATION
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DESTINATION
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lib
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include/${INSTALL_DIR}
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)
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)
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endforeach()
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# Install generated headers.
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file(GLOB_RECURSE hdrs "*.h.in")
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foreach(HDR ${hdrs})
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file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${HDR})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
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install(
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FILES
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${CMAKE_BINARY_DIR}/${DIR}/${FILE_WE}
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DESTINATION
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include/${DIR}
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)
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endforeach()
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# Install proto headers.
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foreach(HDR ${ALL_PROTO_HDRS})
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file(RELATIVE_PATH REL_FIL ${CMAKE_BINARY_DIR} ${HDR})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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install(
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FILES
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${HDR}
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DESTINATION
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include/${DIR}
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)
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endforeach()
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set(CARTOGRAPHER_LIBRARIES "")
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set(CARTOGRAPHER_LIBRARIES "")
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list(APPEND CARTOGRAPHER_LIBRARIES "${CMAKE_INSTALL_PREFIX}/lib/${CARTOGRAPHER_LIBRARY_FILE_BASENAME}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${CMAKE_INSTALL_PREFIX}/lib/libcartographer.a")
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list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}")
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@ -14,7 +14,6 @@
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add_subdirectory("common")
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add_subdirectory("common")
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add_subdirectory("ground_truth")
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add_subdirectory("ground_truth")
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add_subdirectory("io")
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add_subdirectory("kalman_filter")
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add_subdirectory("kalman_filter")
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add_subdirectory("mapping")
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add_subdirectory("mapping")
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add_subdirectory("mapping_2d")
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add_subdirectory("mapping_2d")
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@ -12,201 +12,36 @@
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# See the License for the specific language governing permissions and
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# limitations under the License.
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add_subdirectory("proto")
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configure_file (
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configure_file (
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${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake
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${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake
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${CMAKE_CURRENT_BINARY_DIR}/config.h)
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${CMAKE_CURRENT_BINARY_DIR}/config.h)
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google_library(common_blocking_queue
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USES_GLOG
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HDRS
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blocking_queue.h
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DEPENDS
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common_mutex
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common_port
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common_time
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)
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google_library(common_ceres_solver_options
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USES_CERES
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SRCS
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ceres_solver_options.cc
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HDRS
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ceres_solver_options.h
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DEPENDS
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common_lua_parameter_dictionary
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common_proto_ceres_solver_options
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)
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google_library(common_config
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HDRS
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config.h
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)
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google_library(common_configuration_file_resolver
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USES_GLOG
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SRCS
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configuration_file_resolver.cc
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HDRS
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configuration_file_resolver.h
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DEPENDS
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common_config
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common_lua_parameter_dictionary
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common_port
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)
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google_library(common_fixed_ratio_sampler
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SRCS
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fixed_ratio_sampler.cc
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HDRS
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fixed_ratio_sampler.h
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DEPENDS
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common_port
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)
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google_library(common_histogram
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USES_GLOG
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SRCS
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histogram.cc
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HDRS
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histogram.h
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DEPENDS
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common_port
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)
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google_library(common_interval
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HDRS
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interval.h
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)
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google_library(common_lua
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USES_LUA
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HDRS
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lua.h
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)
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google_library(common_lua_parameter_dictionary
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USES_GLOG
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SRCS
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lua_parameter_dictionary.cc
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HDRS
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lua_parameter_dictionary.h
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DEPENDS
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common_lua
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common_port
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)
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google_library(common_lua_parameter_dictionary_test_helpers
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USES_GLOG
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HDRS
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lua_parameter_dictionary_test_helpers.h
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DEPENDS
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common_lua_parameter_dictionary
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common_make_unique
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common_port
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)
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google_library(common_make_unique
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HDRS
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make_unique.h
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)
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google_library(common_math
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USES_CERES
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USES_EIGEN
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HDRS
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math.h
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DEPENDS
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common_port
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)
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google_library(common_mutex
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HDRS
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mutex.h
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DEPENDS
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common_time
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)
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google_library(common_port
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USES_BOOST
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HDRS
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port.h
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)
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google_library(common_rate_timer
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HDRS
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rate_timer.h
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DEPENDS
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common_math
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common_port
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common_time
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)
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google_library(common_thread_pool
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USES_GLOG
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SRCS
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thread_pool.cc
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HDRS
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thread_pool.h
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DEPENDS
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common_mutex
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)
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google_library(common_time
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SRCS
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time.cc
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HDRS
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time.h
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DEPENDS
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common_port
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)
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google_test(common_blocking_queue_test
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google_test(common_blocking_queue_test
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SRCS
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SRCS
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blocking_queue_test.cc
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blocking_queue_test.cc
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DEPENDS
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common_blocking_queue
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common_make_unique
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common_time
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)
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)
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google_test(common_configuration_files_test
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google_test(common_configuration_files_test
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SRCS
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SRCS
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configuration_files_test.cc
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configuration_files_test.cc
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DEPENDS
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common_config
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common_configuration_file_resolver
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common_lua_parameter_dictionary
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mapping_map_builder
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)
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)
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google_test(common_fixed_ratio_sampler_test
|
google_test(common_fixed_ratio_sampler_test
|
||||||
SRCS
|
SRCS
|
||||||
fixed_ratio_sampler_test.cc
|
fixed_ratio_sampler_test.cc
|
||||||
DEPENDS
|
|
||||||
common_fixed_ratio_sampler
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(common_lua_parameter_dictionary_test
|
google_test(common_lua_parameter_dictionary_test
|
||||||
SRCS
|
SRCS
|
||||||
lua_parameter_dictionary_test.cc
|
lua_parameter_dictionary_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
common_make_unique
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(common_math_test
|
google_test(common_math_test
|
||||||
SRCS
|
SRCS
|
||||||
math_test.cc
|
math_test.cc
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(common_rate_timer_test
|
google_test(common_rate_timer_test
|
||||||
SRCS
|
SRCS
|
||||||
rate_timer_test.cc
|
rate_timer_test.cc
|
||||||
DEPENDS
|
|
||||||
common_rate_timer
|
|
||||||
)
|
)
|
||||||
|
|
|
@ -1,18 +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.
|
|
||||||
|
|
||||||
google_proto_library(common_proto_ceres_solver_options
|
|
||||||
SRCS
|
|
||||||
ceres_solver_options.proto
|
|
||||||
)
|
|
|
@ -14,15 +14,6 @@
|
||||||
|
|
||||||
|
|
||||||
google_binary(cartographer_compute_relations_metrics
|
google_binary(cartographer_compute_relations_metrics
|
||||||
USES_GFLAGS
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
SRCS
|
||||||
compute_relations_metrics_main.cc
|
compute_relations_metrics_main.cc
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
mapping_proto_trajectory
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
transform_transform_interpolation_buffer
|
|
||||||
)
|
)
|
||||||
|
|
|
@ -1,158 +0,0 @@
|
||||||
google_library(io_cairo_types
|
|
||||||
USES_CAIRO
|
|
||||||
HDRS
|
|
||||||
cairo_types.h
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(io_counting_points_processor
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
counting_points_processor.cc
|
|
||||||
HDRS
|
|
||||||
counting_points_processor.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
io_points_processor
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(io_fixed_ratio_sampling_points_processor
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
fixed_ratio_sampling_points_processor.cc
|
|
||||||
HDRS
|
|
||||||
fixed_ratio_sampling_points_processor.h
|
|
||||||
DEPENDS
|
|
||||||
common_fixed_ratio_sampler
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
io_points_processor
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(io_min_max_range_filtering_points_processor
|
|
||||||
SRCS
|
|
||||||
min_max_range_filtering_points_processor.cc
|
|
||||||
HDRS
|
|
||||||
min_max_range_filtering_points_processor.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
io_points_batch
|
|
||||||
io_points_processor
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(io_null_points_processor
|
|
||||||
HDRS
|
|
||||||
null_points_processor.h
|
|
||||||
DEPENDS
|
|
||||||
io_points_processor
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(io_outlier_removing_points_processor
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
outlier_removing_points_processor.cc
|
|
||||||
HDRS
|
|
||||||
outlier_removing_points_processor.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
io_points_processor
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(io_pcd_writing_points_processor
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
pcd_writing_points_processor.cc
|
|
||||||
HDRS
|
|
||||||
pcd_writing_points_processor.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
io_points_batch
|
|
||||||
io_points_processor
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(io_ply_writing_points_processor
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
ply_writing_points_processor.cc
|
|
||||||
HDRS
|
|
||||||
ply_writing_points_processor.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
io_points_batch
|
|
||||||
io_points_processor
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(io_points_batch
|
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
|
||||||
points_batch.cc
|
|
||||||
HDRS
|
|
||||||
points_batch.h
|
|
||||||
DEPENDS
|
|
||||||
common_time
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(io_points_processor
|
|
||||||
HDRS
|
|
||||||
points_processor.h
|
|
||||||
DEPENDS
|
|
||||||
io_points_batch
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(io_points_processor_pipeline_builder
|
|
||||||
SRCS
|
|
||||||
points_processor_pipeline_builder.cc
|
|
||||||
HDRS
|
|
||||||
points_processor_pipeline_builder.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
io_counting_points_processor
|
|
||||||
io_fixed_ratio_sampling_points_processor
|
|
||||||
io_min_max_range_filtering_points_processor
|
|
||||||
io_null_points_processor
|
|
||||||
io_outlier_removing_points_processor
|
|
||||||
io_pcd_writing_points_processor
|
|
||||||
io_ply_writing_points_processor
|
|
||||||
io_points_processor
|
|
||||||
io_xray_points_processor
|
|
||||||
io_xyz_writing_points_processor
|
|
||||||
mapping_proto_trajectory
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(io_xray_points_processor
|
|
||||||
USES_CAIRO
|
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
|
||||||
xray_points_processor.cc
|
|
||||||
HDRS
|
|
||||||
xray_points_processor.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
common_math
|
|
||||||
io_cairo_types
|
|
||||||
io_points_processor
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
mapping_detect_floors
|
|
||||||
mapping_proto_trajectory
|
|
||||||
transform_rigid_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(io_xyz_writing_points_processor
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
xyz_writing_points_processor.cc
|
|
||||||
HDRS
|
|
||||||
xyz_writing_points_processor.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
io_points_processor
|
|
||||||
)
|
|
|
@ -12,67 +12,17 @@
|
||||||
# See the License for the specific language governing permissions and
|
# See the License for the specific language governing permissions and
|
||||||
# limitations under the License.
|
# limitations under the License.
|
||||||
|
|
||||||
add_subdirectory("proto")
|
|
||||||
|
|
||||||
google_library(kalman_filter_gaussian_distribution
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
gaussian_distribution.h
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(kalman_filter_pose_tracker
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
pose_tracker.cc
|
|
||||||
HDRS
|
|
||||||
pose_tracker.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
common_time
|
|
||||||
kalman_filter_gaussian_distribution
|
|
||||||
kalman_filter_proto_pose_tracker_options
|
|
||||||
kalman_filter_unscented_kalman_filter
|
|
||||||
mapping_imu_tracker
|
|
||||||
mapping_odometry_state_tracker
|
|
||||||
sensor_proto_sensor
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(kalman_filter_unscented_kalman_filter
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
HDRS
|
|
||||||
unscented_kalman_filter.h
|
|
||||||
DEPENDS
|
|
||||||
kalman_filter_gaussian_distribution
|
|
||||||
)
|
|
||||||
|
|
||||||
google_test(kalman_filter_gaussian_distribution_test
|
google_test(kalman_filter_gaussian_distribution_test
|
||||||
SRCS
|
SRCS
|
||||||
gaussian_distribution_test.cc
|
gaussian_distribution_test.cc
|
||||||
DEPENDS
|
|
||||||
kalman_filter_gaussian_distribution
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(kalman_filter_pose_tracker_test
|
google_test(kalman_filter_pose_tracker_test
|
||||||
SRCS
|
SRCS
|
||||||
pose_tracker_test.cc
|
pose_tracker_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
common_make_unique
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_rigid_transform_test_helpers
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(kalman_filter_unscented_kalman_filter_test
|
google_test(kalman_filter_unscented_kalman_filter_test
|
||||||
SRCS
|
SRCS
|
||||||
unscented_kalman_filter_test.cc
|
unscented_kalman_filter_test.cc
|
||||||
DEPENDS
|
|
||||||
kalman_filter_gaussian_distribution
|
|
||||||
kalman_filter_unscented_kalman_filter
|
|
||||||
)
|
)
|
||||||
|
|
|
@ -1,18 +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.
|
|
||||||
|
|
||||||
google_proto_library(kalman_filter_proto_pose_tracker_options
|
|
||||||
SRCS
|
|
||||||
pose_tracker_options.proto
|
|
||||||
)
|
|
|
@ -12,219 +12,22 @@
|
||||||
# See the License for the specific language governing permissions and
|
# See the License for the specific language governing permissions and
|
||||||
# limitations under the License.
|
# limitations under the License.
|
||||||
|
|
||||||
add_subdirectory("proto")
|
|
||||||
add_subdirectory("sparse_pose_graph")
|
|
||||||
|
|
||||||
google_library(mapping_collated_trajectory_builder
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
collated_trajectory_builder.cc
|
|
||||||
HDRS
|
|
||||||
collated_trajectory_builder.h
|
|
||||||
DEPENDS
|
|
||||||
common_port
|
|
||||||
common_rate_timer
|
|
||||||
common_time
|
|
||||||
mapping_global_trajectory_builder_interface
|
|
||||||
mapping_submaps
|
|
||||||
mapping_trajectory_builder
|
|
||||||
sensor_collator
|
|
||||||
sensor_data
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_detect_floors
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
detect_floors.cc
|
|
||||||
HDRS
|
|
||||||
detect_floors.h
|
|
||||||
DEPENDS
|
|
||||||
common_interval
|
|
||||||
common_time
|
|
||||||
mapping_proto_trajectory
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_global_trajectory_builder_interface
|
|
||||||
HDRS
|
|
||||||
global_trajectory_builder_interface.h
|
|
||||||
DEPENDS
|
|
||||||
common_time
|
|
||||||
mapping_submaps
|
|
||||||
mapping_trajectory_builder
|
|
||||||
sensor_laser
|
|
||||||
sensor_point_cloud
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_imu_tracker
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
imu_tracker.cc
|
|
||||||
HDRS
|
|
||||||
imu_tracker.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
common_time
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_map_builder
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
map_builder.cc
|
|
||||||
HDRS
|
|
||||||
map_builder.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
common_port
|
|
||||||
common_thread_pool
|
|
||||||
mapping_2d_global_trajectory_builder
|
|
||||||
mapping_2d_sparse_pose_graph
|
|
||||||
mapping_3d_global_trajectory_builder
|
|
||||||
mapping_3d_local_trajectory_builder_options
|
|
||||||
mapping_3d_sparse_pose_graph
|
|
||||||
mapping_collated_trajectory_builder
|
|
||||||
mapping_proto_map_builder_options
|
|
||||||
mapping_proto_submap_visualization
|
|
||||||
mapping_sparse_pose_graph
|
|
||||||
mapping_submaps
|
|
||||||
mapping_trajectory_builder
|
|
||||||
mapping_trajectory_node
|
|
||||||
sensor_collator
|
|
||||||
sensor_laser
|
|
||||||
sensor_voxel_filter
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_odometry_state_tracker
|
|
||||||
SRCS
|
|
||||||
odometry_state_tracker.cc
|
|
||||||
HDRS
|
|
||||||
odometry_state_tracker.h
|
|
||||||
DEPENDS
|
|
||||||
common_time
|
|
||||||
transform_rigid_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_probability_values
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
probability_values.cc
|
|
||||||
HDRS
|
|
||||||
probability_values.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_sparse_pose_graph
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
sparse_pose_graph.cc
|
|
||||||
HDRS
|
|
||||||
sparse_pose_graph.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
mapping_proto_scan_matching_progress
|
|
||||||
mapping_proto_sparse_pose_graph
|
|
||||||
mapping_proto_sparse_pose_graph_options
|
|
||||||
mapping_sparse_pose_graph_constraint_builder
|
|
||||||
mapping_sparse_pose_graph_optimization_problem_options
|
|
||||||
mapping_submaps
|
|
||||||
mapping_trajectory_node
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_submaps
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
submaps.cc
|
|
||||||
HDRS
|
|
||||||
submaps.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
mapping_probability_values
|
|
||||||
mapping_proto_submap_visualization
|
|
||||||
mapping_trajectory_node
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_trajectory_builder
|
|
||||||
HDRS
|
|
||||||
trajectory_builder.h
|
|
||||||
DEPENDS
|
|
||||||
common_make_unique
|
|
||||||
common_port
|
|
||||||
common_time
|
|
||||||
mapping_submaps
|
|
||||||
sensor_data
|
|
||||||
sensor_laser
|
|
||||||
sensor_point_cloud
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_trajectory_connectivity
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
trajectory_connectivity.cc
|
|
||||||
HDRS
|
|
||||||
trajectory_connectivity.h
|
|
||||||
DEPENDS
|
|
||||||
common_mutex
|
|
||||||
mapping_proto_trajectory_connectivity
|
|
||||||
mapping_submaps
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_trajectory_node
|
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
|
||||||
trajectory_node.cc
|
|
||||||
HDRS
|
|
||||||
trajectory_node.h
|
|
||||||
DEPENDS
|
|
||||||
common_time
|
|
||||||
mapping_proto_trajectory
|
|
||||||
sensor_laser
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_test(mapping_probability_values_test
|
google_test(mapping_probability_values_test
|
||||||
SRCS
|
SRCS
|
||||||
probability_values_test.cc
|
probability_values_test.cc
|
||||||
DEPENDS
|
|
||||||
mapping_probability_values
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_sparse_pose_graph_test
|
google_test(mapping_sparse_pose_graph_test
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
SRCS
|
||||||
sparse_pose_graph_test.cc
|
sparse_pose_graph_test.cc
|
||||||
DEPENDS
|
|
||||||
mapping_sparse_pose_graph
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_submaps_test
|
google_test(mapping_submaps_test
|
||||||
SRCS
|
SRCS
|
||||||
submaps_test.cc
|
submaps_test.cc
|
||||||
DEPENDS
|
|
||||||
mapping_submaps
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_trajectory_connectivity_test
|
google_test(mapping_trajectory_connectivity_test
|
||||||
SRCS
|
SRCS
|
||||||
trajectory_connectivity_test.cc
|
trajectory_connectivity_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
mapping_2d_submaps
|
|
||||||
mapping_trajectory_connectivity
|
|
||||||
)
|
)
|
||||||
|
|
|
@ -1,62 +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.
|
|
||||||
|
|
||||||
google_proto_library(mapping_proto_map_builder_options
|
|
||||||
SRCS
|
|
||||||
map_builder_options.proto
|
|
||||||
DEPENDS
|
|
||||||
mapping_2d_proto_local_trajectory_builder_options
|
|
||||||
mapping_3d_proto_local_trajectory_builder_options
|
|
||||||
mapping_proto_sparse_pose_graph_options
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_proto_scan_matching_progress
|
|
||||||
SRCS
|
|
||||||
scan_matching_progress.proto
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_proto_sparse_pose_graph
|
|
||||||
SRCS
|
|
||||||
sparse_pose_graph.proto
|
|
||||||
DEPENDS
|
|
||||||
mapping_proto_trajectory
|
|
||||||
transform_proto_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_proto_sparse_pose_graph_options
|
|
||||||
SRCS
|
|
||||||
sparse_pose_graph_options.proto
|
|
||||||
DEPENDS
|
|
||||||
mapping_sparse_pose_graph_proto_constraint_builder_options
|
|
||||||
mapping_sparse_pose_graph_proto_optimization_problem_options
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_proto_submap_visualization
|
|
||||||
SRCS
|
|
||||||
submap_visualization.proto
|
|
||||||
DEPENDS
|
|
||||||
transform_proto_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_proto_trajectory
|
|
||||||
SRCS
|
|
||||||
trajectory.proto
|
|
||||||
DEPENDS
|
|
||||||
transform_proto_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_proto_trajectory_connectivity
|
|
||||||
SRCS
|
|
||||||
trajectory_connectivity.proto
|
|
||||||
)
|
|
|
@ -1,41 +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("proto")
|
|
||||||
|
|
||||||
google_library(mapping_sparse_pose_graph_constraint_builder
|
|
||||||
SRCS
|
|
||||||
constraint_builder.cc
|
|
||||||
HDRS
|
|
||||||
constraint_builder.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
mapping_2d_scan_matching_ceres_scan_matcher
|
|
||||||
mapping_2d_scan_matching_fast_correlative_scan_matcher
|
|
||||||
mapping_3d_scan_matching_ceres_scan_matcher
|
|
||||||
mapping_3d_scan_matching_fast_correlative_scan_matcher
|
|
||||||
mapping_sparse_pose_graph_proto_constraint_builder_options
|
|
||||||
sensor_voxel_filter
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_sparse_pose_graph_optimization_problem_options
|
|
||||||
SRCS
|
|
||||||
optimization_problem_options.cc
|
|
||||||
HDRS
|
|
||||||
optimization_problem_options.h
|
|
||||||
DEPENDS
|
|
||||||
common_ceres_solver_options
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
mapping_sparse_pose_graph_proto_optimization_problem_options
|
|
||||||
)
|
|
|
@ -1,31 +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.
|
|
||||||
|
|
||||||
google_proto_library(mapping_sparse_pose_graph_proto_constraint_builder_options
|
|
||||||
SRCS
|
|
||||||
constraint_builder_options.proto
|
|
||||||
DEPENDS
|
|
||||||
mapping_2d_scan_matching_proto_ceres_scan_matcher_options
|
|
||||||
mapping_2d_scan_matching_proto_fast_correlative_scan_matcher_options
|
|
||||||
mapping_3d_scan_matching_proto_ceres_scan_matcher_options
|
|
||||||
mapping_3d_scan_matching_proto_fast_correlative_scan_matcher_options
|
|
||||||
sensor_proto_adaptive_voxel_filter_options
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_sparse_pose_graph_proto_optimization_problem_options
|
|
||||||
SRCS
|
|
||||||
optimization_problem_options.proto
|
|
||||||
DEPENDS
|
|
||||||
common_proto_ceres_solver_options
|
|
||||||
)
|
|
|
@ -12,219 +12,34 @@
|
||||||
# See the License for the specific language governing permissions and
|
# See the License for the specific language governing permissions and
|
||||||
# limitations under the License.
|
# limitations under the License.
|
||||||
|
|
||||||
add_subdirectory("proto")
|
|
||||||
add_subdirectory("scan_matching")
|
add_subdirectory("scan_matching")
|
||||||
add_subdirectory("sparse_pose_graph")
|
|
||||||
|
|
||||||
google_library(mapping_2d_global_trajectory_builder
|
|
||||||
SRCS
|
|
||||||
global_trajectory_builder.cc
|
|
||||||
HDRS
|
|
||||||
global_trajectory_builder.h
|
|
||||||
DEPENDS
|
|
||||||
mapping_2d_local_trajectory_builder
|
|
||||||
mapping_2d_sparse_pose_graph
|
|
||||||
mapping_global_trajectory_builder_interface
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_laser_fan_inserter
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
laser_fan_inserter.cc
|
|
||||||
HDRS
|
|
||||||
laser_fan_inserter.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_port
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
mapping_2d_proto_laser_fan_inserter_options
|
|
||||||
mapping_2d_ray_casting
|
|
||||||
mapping_2d_xy_index
|
|
||||||
sensor_laser
|
|
||||||
sensor_point_cloud
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_local_trajectory_builder
|
|
||||||
SRCS
|
|
||||||
local_trajectory_builder.cc
|
|
||||||
HDRS
|
|
||||||
local_trajectory_builder.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
common_time
|
|
||||||
mapping_2d_proto_local_trajectory_builder_options
|
|
||||||
mapping_2d_scan_matching_ceres_scan_matcher
|
|
||||||
mapping_2d_scan_matching_real_time_correlative_scan_matcher
|
|
||||||
mapping_2d_submaps
|
|
||||||
mapping_3d_motion_filter
|
|
||||||
mapping_global_trajectory_builder_interface
|
|
||||||
mapping_imu_tracker
|
|
||||||
mapping_odometry_state_tracker
|
|
||||||
sensor_configuration
|
|
||||||
sensor_laser
|
|
||||||
sensor_voxel_filter
|
|
||||||
transform_rigid_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_map_limits
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
HDRS
|
|
||||||
map_limits.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
mapping_2d_xy_index
|
|
||||||
mapping_trajectory_node
|
|
||||||
sensor_laser
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_probability_grid
|
|
||||||
USES_GLOG
|
|
||||||
HDRS
|
|
||||||
probability_grid.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
mapping_2d_map_limits
|
|
||||||
mapping_2d_xy_index
|
|
||||||
mapping_probability_values
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_ray_casting
|
|
||||||
SRCS
|
|
||||||
ray_casting.cc
|
|
||||||
HDRS
|
|
||||||
ray_casting.h
|
|
||||||
DEPENDS
|
|
||||||
mapping_2d_map_limits
|
|
||||||
mapping_2d_xy_index
|
|
||||||
sensor_laser
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_sparse_pose_graph
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
sparse_pose_graph.cc
|
|
||||||
HDRS
|
|
||||||
sparse_pose_graph.h
|
|
||||||
DEPENDS
|
|
||||||
common_fixed_ratio_sampler
|
|
||||||
common_make_unique
|
|
||||||
common_math
|
|
||||||
common_mutex
|
|
||||||
common_thread_pool
|
|
||||||
common_time
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
mapping_2d_sparse_pose_graph_constraint_builder
|
|
||||||
mapping_2d_sparse_pose_graph_optimization_problem
|
|
||||||
mapping_2d_submaps
|
|
||||||
mapping_proto_scan_matching_progress
|
|
||||||
mapping_sparse_pose_graph
|
|
||||||
mapping_sparse_pose_graph_proto_constraint_builder_options
|
|
||||||
mapping_trajectory_connectivity
|
|
||||||
sensor_compressed_point_cloud
|
|
||||||
sensor_point_cloud
|
|
||||||
sensor_voxel_filter
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_submaps
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
USES_WEBP
|
|
||||||
SRCS
|
|
||||||
submaps.cc
|
|
||||||
HDRS
|
|
||||||
submaps.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
common_port
|
|
||||||
mapping_2d_laser_fan_inserter
|
|
||||||
mapping_2d_map_limits
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
mapping_2d_proto_submaps_options
|
|
||||||
mapping_proto_submap_visualization
|
|
||||||
mapping_submaps
|
|
||||||
mapping_trajectory_node
|
|
||||||
sensor_laser
|
|
||||||
transform_rigid_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_xy_index
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
HDRS
|
|
||||||
xy_index.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
)
|
|
||||||
|
|
||||||
google_test(mapping_2d_laser_fan_inserter_test
|
google_test(mapping_2d_laser_fan_inserter_test
|
||||||
SRCS
|
SRCS
|
||||||
laser_fan_inserter_test.cc
|
laser_fan_inserter_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
common_make_unique
|
|
||||||
mapping_2d_laser_fan_inserter
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_2d_map_limits_test
|
google_test(mapping_2d_map_limits_test
|
||||||
SRCS
|
SRCS
|
||||||
map_limits_test.cc
|
map_limits_test.cc
|
||||||
DEPENDS
|
|
||||||
mapping_2d_map_limits
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_2d_probability_grid_test
|
google_test(mapping_2d_probability_grid_test
|
||||||
SRCS
|
SRCS
|
||||||
probability_grid_test.cc
|
probability_grid_test.cc
|
||||||
DEPENDS
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_2d_sparse_pose_graph_test
|
google_test(mapping_2d_sparse_pose_graph_test
|
||||||
SRCS
|
SRCS
|
||||||
sparse_pose_graph_test.cc
|
sparse_pose_graph_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
common_make_unique
|
|
||||||
common_thread_pool
|
|
||||||
common_time
|
|
||||||
mapping_2d_laser_fan_inserter
|
|
||||||
mapping_2d_sparse_pose_graph
|
|
||||||
mapping_2d_submaps
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_rigid_transform_test_helpers
|
|
||||||
transform_transform
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_2d_submaps_test
|
google_test(mapping_2d_submaps_test
|
||||||
SRCS
|
SRCS
|
||||||
submaps_test.cc
|
submaps_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
common_port
|
|
||||||
mapping_2d_submaps
|
|
||||||
transform_transform
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_2d_xy_index_test
|
google_test(mapping_2d_xy_index_test
|
||||||
SRCS
|
SRCS
|
||||||
xy_index_test.cc
|
xy_index_test.cc
|
||||||
DEPENDS
|
|
||||||
mapping_2d_xy_index
|
|
||||||
)
|
)
|
||||||
|
|
|
@ -1,36 +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.
|
|
||||||
|
|
||||||
google_proto_library(mapping_2d_proto_laser_fan_inserter_options
|
|
||||||
SRCS
|
|
||||||
laser_fan_inserter_options.proto
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_2d_proto_local_trajectory_builder_options
|
|
||||||
SRCS
|
|
||||||
local_trajectory_builder_options.proto
|
|
||||||
DEPENDS
|
|
||||||
mapping_2d_proto_submaps_options
|
|
||||||
mapping_2d_scan_matching_proto_ceres_scan_matcher_options
|
|
||||||
mapping_2d_scan_matching_proto_real_time_correlative_scan_matcher_options
|
|
||||||
mapping_3d_proto_motion_filter_options
|
|
||||||
sensor_proto_adaptive_voxel_filter_options
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_2d_proto_submaps_options
|
|
||||||
SRCS
|
|
||||||
submaps_options.proto
|
|
||||||
DEPENDS
|
|
||||||
mapping_2d_proto_laser_fan_inserter_options
|
|
||||||
)
|
|
|
@ -12,159 +12,22 @@
|
||||||
# See the License for the specific language governing permissions and
|
# See the License for the specific language governing permissions and
|
||||||
# limitations under the License.
|
# limitations under the License.
|
||||||
|
|
||||||
add_subdirectory("proto")
|
|
||||||
|
|
||||||
google_library(mapping_2d_scan_matching_ceres_scan_matcher
|
|
||||||
USES_CERES
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
ceres_scan_matcher.cc
|
|
||||||
HDRS
|
|
||||||
ceres_scan_matcher.h
|
|
||||||
DEPENDS
|
|
||||||
common_ceres_solver_options
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
mapping_2d_scan_matching_occupied_space_cost_functor
|
|
||||||
mapping_2d_scan_matching_proto_ceres_scan_matcher_options
|
|
||||||
mapping_2d_scan_matching_rotation_delta_cost_functor
|
|
||||||
mapping_2d_scan_matching_translation_delta_cost_functor
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_scan_matching_correlative_scan_matcher
|
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
|
||||||
correlative_scan_matcher.cc
|
|
||||||
HDRS
|
|
||||||
correlative_scan_matcher.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_math
|
|
||||||
mapping_2d_map_limits
|
|
||||||
mapping_2d_xy_index
|
|
||||||
sensor_point_cloud
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_scan_matching_fast_correlative_scan_matcher
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
fast_correlative_scan_matcher.cc
|
|
||||||
HDRS
|
|
||||||
fast_correlative_scan_matcher.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
mapping_2d_scan_matching_correlative_scan_matcher
|
|
||||||
mapping_2d_scan_matching_proto_fast_correlative_scan_matcher_options
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_scan_matching_fast_global_localizer
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
fast_global_localizer.cc
|
|
||||||
HDRS
|
|
||||||
fast_global_localizer.h
|
|
||||||
DEPENDS
|
|
||||||
mapping_2d_scan_matching_fast_correlative_scan_matcher
|
|
||||||
sensor_voxel_filter
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_scan_matching_occupied_space_cost_functor
|
|
||||||
USES_CERES
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
occupied_space_cost_functor.h
|
|
||||||
DEPENDS
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
sensor_point_cloud
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_scan_matching_real_time_correlative_scan_matcher
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
real_time_correlative_scan_matcher.cc
|
|
||||||
HDRS
|
|
||||||
real_time_correlative_scan_matcher.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_math
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
mapping_2d_scan_matching_correlative_scan_matcher
|
|
||||||
mapping_2d_scan_matching_proto_real_time_correlative_scan_matcher_options
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_scan_matching_rotation_delta_cost_functor
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
rotation_delta_cost_functor.h
|
|
||||||
DEPENDS
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_scan_matching_translation_delta_cost_functor
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
translation_delta_cost_functor.h
|
|
||||||
DEPENDS
|
|
||||||
transform_rigid_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_test(mapping_2d_scan_matching_ceres_scan_matcher_test
|
google_test(mapping_2d_scan_matching_ceres_scan_matcher_test
|
||||||
SRCS
|
SRCS
|
||||||
ceres_scan_matcher_test.cc
|
ceres_scan_matcher_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
common_make_unique
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
mapping_2d_scan_matching_ceres_scan_matcher
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_rigid_transform_test_helpers
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_2d_scan_matching_correlative_scan_matcher_test
|
google_test(mapping_2d_scan_matching_correlative_scan_matcher_test
|
||||||
SRCS
|
SRCS
|
||||||
correlative_scan_matcher_test.cc
|
correlative_scan_matcher_test.cc
|
||||||
DEPENDS
|
|
||||||
mapping_2d_scan_matching_correlative_scan_matcher
|
|
||||||
sensor_point_cloud
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_2d_scan_matching_fast_correlative_scan_matcher_test
|
google_test(mapping_2d_scan_matching_fast_correlative_scan_matcher_test
|
||||||
SRCS
|
SRCS
|
||||||
fast_correlative_scan_matcher_test.cc
|
fast_correlative_scan_matcher_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
mapping_2d_laser_fan_inserter
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
mapping_2d_scan_matching_fast_correlative_scan_matcher
|
|
||||||
transform_rigid_transform_test_helpers
|
|
||||||
transform_transform
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_2d_scan_matching_real_time_correlative_scan_matcher_test
|
google_test(mapping_2d_scan_matching_real_time_correlative_scan_matcher_test
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
SRCS
|
||||||
real_time_correlative_scan_matcher_test.cc
|
real_time_correlative_scan_matcher_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
common_make_unique
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
mapping_2d_laser_fan_inserter
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
mapping_2d_scan_matching_real_time_correlative_scan_matcher
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_transform
|
|
||||||
)
|
)
|
||||||
|
|
|
@ -1,30 +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.
|
|
||||||
|
|
||||||
google_proto_library(mapping_2d_scan_matching_proto_ceres_scan_matcher_options
|
|
||||||
SRCS
|
|
||||||
ceres_scan_matcher_options.proto
|
|
||||||
DEPENDS
|
|
||||||
common_proto_ceres_solver_options
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_2d_scan_matching_proto_fast_correlative_scan_matcher_options
|
|
||||||
SRCS
|
|
||||||
fast_correlative_scan_matcher_options.proto
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_2d_scan_matching_proto_real_time_correlative_scan_matcher_options
|
|
||||||
SRCS
|
|
||||||
real_time_correlative_scan_matcher_options.proto
|
|
||||||
)
|
|
|
@ -1,78 +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.
|
|
||||||
|
|
||||||
google_library(mapping_2d_sparse_pose_graph_constraint_builder
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
constraint_builder.cc
|
|
||||||
HDRS
|
|
||||||
constraint_builder.h
|
|
||||||
DEPENDS
|
|
||||||
common_fixed_ratio_sampler
|
|
||||||
common_histogram
|
|
||||||
common_make_unique
|
|
||||||
common_math
|
|
||||||
common_mutex
|
|
||||||
common_thread_pool
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
mapping_2d_scan_matching_ceres_scan_matcher
|
|
||||||
mapping_2d_scan_matching_fast_correlative_scan_matcher
|
|
||||||
mapping_2d_scan_matching_proto_ceres_scan_matcher_options
|
|
||||||
mapping_2d_scan_matching_proto_fast_correlative_scan_matcher_options
|
|
||||||
mapping_2d_submaps
|
|
||||||
mapping_3d_scan_matching_ceres_scan_matcher
|
|
||||||
mapping_3d_scan_matching_fast_correlative_scan_matcher
|
|
||||||
mapping_sparse_pose_graph
|
|
||||||
mapping_sparse_pose_graph_proto_constraint_builder_options
|
|
||||||
mapping_trajectory_connectivity
|
|
||||||
sensor_point_cloud
|
|
||||||
sensor_voxel_filter
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_sparse_pose_graph_optimization_problem
|
|
||||||
USES_CERES
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
optimization_problem.cc
|
|
||||||
HDRS
|
|
||||||
optimization_problem.h
|
|
||||||
DEPENDS
|
|
||||||
common_ceres_solver_options
|
|
||||||
common_histogram
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
common_time
|
|
||||||
mapping_2d_sparse_pose_graph_spa_cost_function
|
|
||||||
mapping_2d_submaps
|
|
||||||
mapping_3d_imu_integration
|
|
||||||
mapping_sparse_pose_graph
|
|
||||||
mapping_sparse_pose_graph_proto_optimization_problem_options
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_2d_sparse_pose_graph_spa_cost_function
|
|
||||||
USES_CERES
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
spa_cost_function.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
mapping_sparse_pose_graph
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
|
@ -12,308 +12,25 @@
|
||||||
# See the License for the specific language governing permissions and
|
# See the License for the specific language governing permissions and
|
||||||
# limitations under the License.
|
# limitations under the License.
|
||||||
|
|
||||||
add_subdirectory("proto")
|
|
||||||
add_subdirectory("scan_matching")
|
add_subdirectory("scan_matching")
|
||||||
add_subdirectory("sparse_pose_graph")
|
add_subdirectory("sparse_pose_graph")
|
||||||
|
|
||||||
google_library(mapping_3d_acceleration_cost_function
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
acceleration_cost_function.h
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_ceres_pose
|
|
||||||
USES_CERES
|
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
|
||||||
ceres_pose.cc
|
|
||||||
HDRS
|
|
||||||
ceres_pose.h
|
|
||||||
DEPENDS
|
|
||||||
transform_rigid_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_global_trajectory_builder
|
|
||||||
SRCS
|
|
||||||
global_trajectory_builder.cc
|
|
||||||
HDRS
|
|
||||||
global_trajectory_builder.h
|
|
||||||
DEPENDS
|
|
||||||
mapping_3d_local_trajectory_builder
|
|
||||||
mapping_3d_proto_local_trajectory_builder_options
|
|
||||||
mapping_3d_sparse_pose_graph
|
|
||||||
mapping_global_trajectory_builder_interface
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_hybrid_grid
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
HDRS
|
|
||||||
hybrid_grid.h
|
|
||||||
DEPENDS
|
|
||||||
common_make_unique
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
mapping_probability_values
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_imu_integration
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
imu_integration.cc
|
|
||||||
HDRS
|
|
||||||
imu_integration.h
|
|
||||||
DEPENDS
|
|
||||||
common_time
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_kalman_local_trajectory_builder
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
kalman_local_trajectory_builder.cc
|
|
||||||
HDRS
|
|
||||||
kalman_local_trajectory_builder.h
|
|
||||||
DEPENDS
|
|
||||||
common_make_unique
|
|
||||||
common_time
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
kalman_filter_proto_pose_tracker_options
|
|
||||||
mapping_2d_scan_matching_proto_real_time_correlative_scan_matcher_options
|
|
||||||
mapping_3d_local_trajectory_builder_interface
|
|
||||||
mapping_3d_motion_filter
|
|
||||||
mapping_3d_proto_local_trajectory_builder_options
|
|
||||||
mapping_3d_proto_submaps_options
|
|
||||||
mapping_3d_scan_matching_ceres_scan_matcher
|
|
||||||
mapping_3d_scan_matching_proto_ceres_scan_matcher_options
|
|
||||||
mapping_3d_scan_matching_real_time_correlative_scan_matcher
|
|
||||||
mapping_3d_submaps
|
|
||||||
mapping_global_trajectory_builder_interface
|
|
||||||
sensor_laser
|
|
||||||
sensor_voxel_filter
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_kalman_local_trajectory_builder_options
|
|
||||||
SRCS
|
|
||||||
kalman_local_trajectory_builder_options.cc
|
|
||||||
HDRS
|
|
||||||
kalman_local_trajectory_builder_options.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
mapping_2d_scan_matching_real_time_correlative_scan_matcher
|
|
||||||
mapping_3d_proto_kalman_local_trajectory_builder_options
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_laser_fan_inserter
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
laser_fan_inserter.cc
|
|
||||||
HDRS
|
|
||||||
laser_fan_inserter.h
|
|
||||||
DEPENDS
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
mapping_3d_proto_laser_fan_inserter_options
|
|
||||||
mapping_probability_values
|
|
||||||
sensor_laser
|
|
||||||
sensor_point_cloud
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_local_trajectory_builder
|
|
||||||
SRCS
|
|
||||||
local_trajectory_builder.cc
|
|
||||||
HDRS
|
|
||||||
local_trajectory_builder.h
|
|
||||||
DEPENDS
|
|
||||||
common_make_unique
|
|
||||||
mapping_3d_kalman_local_trajectory_builder
|
|
||||||
mapping_3d_local_trajectory_builder_interface
|
|
||||||
mapping_3d_optimizing_local_trajectory_builder
|
|
||||||
mapping_3d_proto_local_trajectory_builder_options
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_local_trajectory_builder_interface
|
|
||||||
HDRS
|
|
||||||
local_trajectory_builder_interface.h
|
|
||||||
DEPENDS
|
|
||||||
common_time
|
|
||||||
mapping_3d_submaps
|
|
||||||
mapping_global_trajectory_builder_interface
|
|
||||||
sensor_laser
|
|
||||||
transform_rigid_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_local_trajectory_builder_options
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
local_trajectory_builder_options.cc
|
|
||||||
HDRS
|
|
||||||
local_trajectory_builder_options.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
mapping_3d_kalman_local_trajectory_builder_options
|
|
||||||
mapping_3d_motion_filter
|
|
||||||
mapping_3d_optimizing_local_trajectory_builder_options
|
|
||||||
mapping_3d_proto_local_trajectory_builder_options
|
|
||||||
mapping_3d_scan_matching_ceres_scan_matcher
|
|
||||||
mapping_3d_submaps
|
|
||||||
sensor_voxel_filter
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_motion_filter
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
motion_filter.cc
|
|
||||||
HDRS
|
|
||||||
motion_filter.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_time
|
|
||||||
mapping_3d_proto_motion_filter_options
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_optimizing_local_trajectory_builder
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
optimizing_local_trajectory_builder.cc
|
|
||||||
HDRS
|
|
||||||
optimizing_local_trajectory_builder.h
|
|
||||||
DEPENDS
|
|
||||||
common_ceres_solver_options
|
|
||||||
common_make_unique
|
|
||||||
common_time
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
mapping_3d_imu_integration
|
|
||||||
mapping_3d_local_trajectory_builder_interface
|
|
||||||
mapping_3d_motion_filter
|
|
||||||
mapping_3d_proto_local_trajectory_builder_options
|
|
||||||
mapping_3d_proto_optimizing_local_trajectory_builder_options
|
|
||||||
mapping_3d_rotation_cost_function
|
|
||||||
mapping_3d_scan_matching_occupied_space_cost_functor
|
|
||||||
mapping_3d_scan_matching_proto_ceres_scan_matcher_options
|
|
||||||
mapping_3d_scan_matching_translation_delta_cost_functor
|
|
||||||
mapping_3d_submaps
|
|
||||||
mapping_3d_translation_cost_function
|
|
||||||
mapping_global_trajectory_builder_interface
|
|
||||||
sensor_laser
|
|
||||||
sensor_voxel_filter
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
transform_transform_interpolation_buffer
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_optimizing_local_trajectory_builder_options
|
|
||||||
SRCS
|
|
||||||
optimizing_local_trajectory_builder_options.cc
|
|
||||||
HDRS
|
|
||||||
optimizing_local_trajectory_builder_options.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
mapping_3d_proto_optimizing_local_trajectory_builder_options
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_rotation_cost_function
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
rotation_cost_function.h
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_sparse_pose_graph
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
sparse_pose_graph.cc
|
|
||||||
HDRS
|
|
||||||
sparse_pose_graph.h
|
|
||||||
DEPENDS
|
|
||||||
common_fixed_ratio_sampler
|
|
||||||
common_make_unique
|
|
||||||
common_math
|
|
||||||
common_mutex
|
|
||||||
common_thread_pool
|
|
||||||
common_time
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
mapping_3d_sparse_pose_graph_constraint_builder
|
|
||||||
mapping_3d_sparse_pose_graph_optimization_problem
|
|
||||||
mapping_3d_submaps
|
|
||||||
mapping_proto_scan_matching_progress
|
|
||||||
mapping_sparse_pose_graph
|
|
||||||
mapping_sparse_pose_graph_proto_constraint_builder_options
|
|
||||||
mapping_trajectory_connectivity
|
|
||||||
sensor_compressed_point_cloud
|
|
||||||
sensor_point_cloud
|
|
||||||
sensor_voxel_filter
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_submaps
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
submaps.cc
|
|
||||||
HDRS
|
|
||||||
submaps.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
mapping_2d_laser_fan_inserter
|
|
||||||
mapping_2d_probability_grid
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
mapping_3d_laser_fan_inserter
|
|
||||||
mapping_3d_proto_submaps_options
|
|
||||||
mapping_proto_submap_visualization
|
|
||||||
mapping_submaps
|
|
||||||
sensor_laser
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_translation_cost_function
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
translation_cost_function.h
|
|
||||||
)
|
|
||||||
|
|
||||||
google_test(mapping_3d_hybrid_grid_test
|
google_test(mapping_3d_hybrid_grid_test
|
||||||
SRCS
|
SRCS
|
||||||
hybrid_grid_test.cc
|
hybrid_grid_test.cc
|
||||||
DEPENDS
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_3d_kalman_local_trajectory_builder_test
|
google_test(mapping_3d_kalman_local_trajectory_builder_test
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
SRCS
|
||||||
kalman_local_trajectory_builder_test.cc
|
kalman_local_trajectory_builder_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
common_time
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
mapping_3d_kalman_local_trajectory_builder
|
|
||||||
mapping_3d_local_trajectory_builder_options
|
|
||||||
sensor_laser
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_rigid_transform_test_helpers
|
|
||||||
transform_transform
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_3d_laser_fan_inserter_test
|
google_test(mapping_3d_laser_fan_inserter_test
|
||||||
SRCS
|
SRCS
|
||||||
laser_fan_inserter_test.cc
|
laser_fan_inserter_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
mapping_3d_laser_fan_inserter
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_3d_motion_filter_test
|
google_test(mapping_3d_motion_filter_test
|
||||||
SRCS
|
SRCS
|
||||||
motion_filter_test.cc
|
motion_filter_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
mapping_3d_motion_filter
|
|
||||||
)
|
)
|
||||||
|
|
|
@ -1,55 +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.
|
|
||||||
|
|
||||||
google_proto_library(mapping_3d_proto_kalman_local_trajectory_builder_options
|
|
||||||
SRCS
|
|
||||||
kalman_local_trajectory_builder_options.proto
|
|
||||||
DEPENDS
|
|
||||||
kalman_filter_proto_pose_tracker_options
|
|
||||||
mapping_2d_scan_matching_proto_real_time_correlative_scan_matcher_options
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_3d_proto_laser_fan_inserter_options
|
|
||||||
SRCS
|
|
||||||
laser_fan_inserter_options.proto
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_3d_proto_local_trajectory_builder_options
|
|
||||||
SRCS
|
|
||||||
local_trajectory_builder_options.proto
|
|
||||||
DEPENDS
|
|
||||||
mapping_3d_proto_kalman_local_trajectory_builder_options
|
|
||||||
mapping_3d_proto_motion_filter_options
|
|
||||||
mapping_3d_proto_optimizing_local_trajectory_builder_options
|
|
||||||
mapping_3d_proto_submaps_options
|
|
||||||
mapping_3d_scan_matching_proto_ceres_scan_matcher_options
|
|
||||||
sensor_proto_adaptive_voxel_filter_options
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_3d_proto_motion_filter_options
|
|
||||||
SRCS
|
|
||||||
motion_filter_options.proto
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_3d_proto_optimizing_local_trajectory_builder_options
|
|
||||||
SRCS
|
|
||||||
optimizing_local_trajectory_builder_options.proto
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_3d_proto_submaps_options
|
|
||||||
SRCS
|
|
||||||
submaps_options.proto
|
|
||||||
DEPENDS
|
|
||||||
mapping_3d_proto_laser_fan_inserter_options
|
|
||||||
)
|
|
|
@ -12,182 +12,27 @@
|
||||||
# See the License for the specific language governing permissions and
|
# See the License for the specific language governing permissions and
|
||||||
# limitations under the License.
|
# limitations under the License.
|
||||||
|
|
||||||
add_subdirectory("proto")
|
|
||||||
|
|
||||||
google_library(mapping_3d_scan_matching_ceres_scan_matcher
|
|
||||||
USES_CERES
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
ceres_scan_matcher.cc
|
|
||||||
HDRS
|
|
||||||
ceres_scan_matcher.h
|
|
||||||
DEPENDS
|
|
||||||
common_ceres_solver_options
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
mapping_3d_ceres_pose
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
mapping_3d_scan_matching_occupied_space_cost_functor
|
|
||||||
mapping_3d_scan_matching_proto_ceres_scan_matcher_options
|
|
||||||
mapping_3d_scan_matching_rotation_delta_cost_functor
|
|
||||||
mapping_3d_scan_matching_translation_delta_cost_functor
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_scan_matching_fast_correlative_scan_matcher
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
fast_correlative_scan_matcher.cc
|
|
||||||
HDRS
|
|
||||||
fast_correlative_scan_matcher.h
|
|
||||||
DEPENDS
|
|
||||||
common_make_unique
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
mapping_2d_scan_matching_fast_correlative_scan_matcher
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
mapping_3d_scan_matching_precomputation_grid
|
|
||||||
mapping_3d_scan_matching_proto_fast_correlative_scan_matcher_options
|
|
||||||
mapping_3d_scan_matching_rotational_scan_matcher
|
|
||||||
mapping_trajectory_node
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_scan_matching_interpolated_grid
|
|
||||||
HDRS
|
|
||||||
interpolated_grid.h
|
|
||||||
DEPENDS
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_scan_matching_occupied_space_cost_functor
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
occupied_space_cost_functor.h
|
|
||||||
DEPENDS
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
mapping_3d_scan_matching_interpolated_grid
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_scan_matching_precomputation_grid
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
precomputation_grid.cc
|
|
||||||
HDRS
|
|
||||||
precomputation_grid.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
mapping_probability_values
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_scan_matching_real_time_correlative_scan_matcher
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
real_time_correlative_scan_matcher.cc
|
|
||||||
HDRS
|
|
||||||
real_time_correlative_scan_matcher.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
mapping_2d_scan_matching_proto_real_time_correlative_scan_matcher_options
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_scan_matching_rotation_delta_cost_functor
|
|
||||||
USES_CERES
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
rotation_delta_cost_functor.h
|
|
||||||
DEPENDS
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_scan_matching_rotational_scan_matcher
|
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
|
||||||
rotational_scan_matcher.cc
|
|
||||||
HDRS
|
|
||||||
rotational_scan_matcher.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
mapping_trajectory_node
|
|
||||||
sensor_point_cloud
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_scan_matching_translation_delta_cost_functor
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
translation_delta_cost_functor.h
|
|
||||||
DEPENDS
|
|
||||||
transform_rigid_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_test(mapping_3d_scan_matching_ceres_scan_matcher_test
|
google_test(mapping_3d_scan_matching_ceres_scan_matcher_test
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
SRCS
|
||||||
ceres_scan_matcher_test.cc
|
ceres_scan_matcher_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
mapping_3d_scan_matching_ceres_scan_matcher
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_rigid_transform_test_helpers
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_3d_scan_matching_fast_correlative_scan_matcher_test
|
google_test(mapping_3d_scan_matching_fast_correlative_scan_matcher_test
|
||||||
SRCS
|
SRCS
|
||||||
fast_correlative_scan_matcher_test.cc
|
fast_correlative_scan_matcher_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
mapping_3d_laser_fan_inserter
|
|
||||||
mapping_3d_scan_matching_fast_correlative_scan_matcher
|
|
||||||
transform_rigid_transform_test_helpers
|
|
||||||
transform_transform
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_3d_scan_matching_interpolated_grid_test
|
google_test(mapping_3d_scan_matching_interpolated_grid_test
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
SRCS
|
||||||
interpolated_grid_test.cc
|
interpolated_grid_test.cc
|
||||||
DEPENDS
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
mapping_3d_scan_matching_interpolated_grid
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_3d_scan_matching_precomputation_grid_test
|
google_test(mapping_3d_scan_matching_precomputation_grid_test
|
||||||
SRCS
|
SRCS
|
||||||
precomputation_grid_test.cc
|
precomputation_grid_test.cc
|
||||||
DEPENDS
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
mapping_3d_scan_matching_precomputation_grid
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(mapping_3d_scan_matching_real_time_correlative_scan_matcher_test
|
google_test(mapping_3d_scan_matching_real_time_correlative_scan_matcher_test
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
SRCS
|
||||||
real_time_correlative_scan_matcher_test.cc
|
real_time_correlative_scan_matcher_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
mapping_2d_scan_matching_real_time_correlative_scan_matcher
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
mapping_3d_scan_matching_real_time_correlative_scan_matcher
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_rigid_transform_test_helpers
|
|
||||||
transform_transform
|
|
||||||
)
|
)
|
||||||
|
|
|
@ -1,25 +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.
|
|
||||||
|
|
||||||
google_proto_library(mapping_3d_scan_matching_proto_ceres_scan_matcher_options
|
|
||||||
SRCS
|
|
||||||
ceres_scan_matcher_options.proto
|
|
||||||
DEPENDS
|
|
||||||
common_proto_ceres_solver_options
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(mapping_3d_scan_matching_proto_fast_correlative_scan_matcher_options
|
|
||||||
SRCS
|
|
||||||
fast_correlative_scan_matcher_options.proto
|
|
||||||
)
|
|
|
@ -12,82 +12,7 @@
|
||||||
# See the License for the specific language governing permissions and
|
# See the License for the specific language governing permissions and
|
||||||
# limitations under the License.
|
# limitations under the License.
|
||||||
|
|
||||||
google_library(mapping_3d_sparse_pose_graph_constraint_builder
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
constraint_builder.cc
|
|
||||||
HDRS
|
|
||||||
constraint_builder.h
|
|
||||||
DEPENDS
|
|
||||||
common_fixed_ratio_sampler
|
|
||||||
common_histogram
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_make_unique
|
|
||||||
common_math
|
|
||||||
common_mutex
|
|
||||||
common_thread_pool
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
mapping_3d_scan_matching_ceres_scan_matcher
|
|
||||||
mapping_3d_scan_matching_fast_correlative_scan_matcher
|
|
||||||
mapping_3d_scan_matching_proto_ceres_scan_matcher_options
|
|
||||||
mapping_3d_scan_matching_proto_fast_correlative_scan_matcher_options
|
|
||||||
mapping_3d_sparse_pose_graph_optimization_problem
|
|
||||||
mapping_3d_submaps
|
|
||||||
mapping_submaps
|
|
||||||
mapping_trajectory_connectivity
|
|
||||||
mapping_trajectory_node
|
|
||||||
sensor_compressed_point_cloud
|
|
||||||
sensor_point_cloud
|
|
||||||
sensor_voxel_filter
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_sparse_pose_graph_optimization_problem
|
|
||||||
USES_CERES
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
optimization_problem.cc
|
|
||||||
HDRS
|
|
||||||
optimization_problem.h
|
|
||||||
DEPENDS
|
|
||||||
common_ceres_solver_options
|
|
||||||
common_make_unique
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
common_time
|
|
||||||
mapping_3d_acceleration_cost_function
|
|
||||||
mapping_3d_ceres_pose
|
|
||||||
mapping_3d_imu_integration
|
|
||||||
mapping_3d_rotation_cost_function
|
|
||||||
mapping_3d_sparse_pose_graph_spa_cost_function
|
|
||||||
mapping_3d_submaps
|
|
||||||
mapping_sparse_pose_graph
|
|
||||||
mapping_sparse_pose_graph_proto_optimization_problem_options
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(mapping_3d_sparse_pose_graph_spa_cost_function
|
|
||||||
USES_CERES
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
spa_cost_function.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
mapping_sparse_pose_graph
|
|
||||||
transform_rigid_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_test(mapping_3d_sparse_pose_graph_optimization_problem_test
|
google_test(mapping_3d_sparse_pose_graph_optimization_problem_test
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
SRCS
|
||||||
optimization_problem_test.cc
|
optimization_problem_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
common_time
|
|
||||||
mapping_3d_sparse_pose_graph_optimization_problem
|
|
||||||
mapping_sparse_pose_graph_optimization_problem_options
|
|
||||||
transform_transform
|
|
||||||
)
|
)
|
||||||
|
|
|
@ -12,155 +12,32 @@
|
||||||
# See the License for the specific language governing permissions and
|
# See the License for the specific language governing permissions and
|
||||||
# limitations under the License.
|
# limitations under the License.
|
||||||
|
|
||||||
add_subdirectory("proto")
|
|
||||||
|
|
||||||
google_library(sensor_collator
|
|
||||||
SRCS
|
|
||||||
collator.cc
|
|
||||||
HDRS
|
|
||||||
collator.h
|
|
||||||
DEPENDS
|
|
||||||
sensor_data
|
|
||||||
sensor_ordered_multi_queue
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(sensor_compressed_point_cloud
|
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
|
||||||
compressed_point_cloud.cc
|
|
||||||
HDRS
|
|
||||||
compressed_point_cloud.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
sensor_point_cloud
|
|
||||||
sensor_proto_sensor
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(sensor_configuration
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
configuration.cc
|
|
||||||
HDRS
|
|
||||||
configuration.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
sensor_proto_configuration
|
|
||||||
transform_proto_transform
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(sensor_data
|
|
||||||
HDRS
|
|
||||||
data.h
|
|
||||||
DEPENDS
|
|
||||||
common_time
|
|
||||||
kalman_filter_pose_tracker
|
|
||||||
sensor_laser
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_rigid_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(sensor_laser
|
|
||||||
SRCS
|
|
||||||
laser.cc
|
|
||||||
HDRS
|
|
||||||
laser.h
|
|
||||||
DEPENDS
|
|
||||||
common_port
|
|
||||||
sensor_compressed_point_cloud
|
|
||||||
sensor_point_cloud
|
|
||||||
sensor_proto_sensor
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(sensor_ordered_multi_queue
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
ordered_multi_queue.cc
|
|
||||||
HDRS
|
|
||||||
ordered_multi_queue.h
|
|
||||||
DEPENDS
|
|
||||||
common_blocking_queue
|
|
||||||
common_make_unique
|
|
||||||
common_port
|
|
||||||
common_time
|
|
||||||
sensor_data
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(sensor_point_cloud
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
point_cloud.cc
|
|
||||||
HDRS
|
|
||||||
point_cloud.h
|
|
||||||
DEPENDS
|
|
||||||
sensor_proto_sensor
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(sensor_voxel_filter
|
|
||||||
SRCS
|
|
||||||
voxel_filter.cc
|
|
||||||
HDRS
|
|
||||||
voxel_filter.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_math
|
|
||||||
mapping_3d_hybrid_grid
|
|
||||||
sensor_point_cloud
|
|
||||||
sensor_proto_adaptive_voxel_filter_options
|
|
||||||
)
|
|
||||||
|
|
||||||
google_test(sensor_collator_test
|
google_test(sensor_collator_test
|
||||||
SRCS
|
SRCS
|
||||||
collator_test.cc
|
collator_test.cc
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary_test_helpers
|
|
||||||
common_make_unique
|
|
||||||
common_time
|
|
||||||
sensor_collator
|
|
||||||
sensor_proto_sensor
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(sensor_compressed_point_cloud_test
|
google_test(sensor_compressed_point_cloud_test
|
||||||
SRCS
|
SRCS
|
||||||
compressed_point_cloud_test.cc
|
compressed_point_cloud_test.cc
|
||||||
DEPENDS
|
|
||||||
sensor_compressed_point_cloud
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(sensor_laser_test
|
google_test(sensor_laser_test
|
||||||
SRCS
|
SRCS
|
||||||
laser_test.cc
|
laser_test.cc
|
||||||
DEPENDS
|
|
||||||
sensor_laser
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(sensor_ordered_multi_queue_test
|
google_test(sensor_ordered_multi_queue_test
|
||||||
SRCS
|
SRCS
|
||||||
ordered_multi_queue_test.cc
|
ordered_multi_queue_test.cc
|
||||||
DEPENDS
|
|
||||||
common_make_unique
|
|
||||||
sensor_ordered_multi_queue
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(sensor_point_cloud_test
|
google_test(sensor_point_cloud_test
|
||||||
SRCS
|
SRCS
|
||||||
point_cloud_test.cc
|
point_cloud_test.cc
|
||||||
DEPENDS
|
|
||||||
sensor_point_cloud
|
|
||||||
transform_transform
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(sensor_voxel_filter_test
|
google_test(sensor_voxel_filter_test
|
||||||
SRCS
|
SRCS
|
||||||
voxel_filter_test.cc
|
voxel_filter_test.cc
|
||||||
DEPENDS
|
|
||||||
sensor_voxel_filter
|
|
||||||
)
|
)
|
||||||
|
|
|
@ -1,32 +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.
|
|
||||||
|
|
||||||
google_proto_library(sensor_proto_adaptive_voxel_filter_options
|
|
||||||
SRCS
|
|
||||||
adaptive_voxel_filter_options.proto
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(sensor_proto_configuration
|
|
||||||
SRCS
|
|
||||||
configuration.proto
|
|
||||||
DEPENDS
|
|
||||||
transform_proto_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_proto_library(sensor_proto_sensor
|
|
||||||
SRCS
|
|
||||||
sensor.proto
|
|
||||||
DEPENDS
|
|
||||||
transform_proto_transform
|
|
||||||
)
|
|
|
@ -12,72 +12,12 @@
|
||||||
# See the License for the specific language governing permissions and
|
# See the License for the specific language governing permissions and
|
||||||
# limitations under the License.
|
# limitations under the License.
|
||||||
|
|
||||||
add_subdirectory("proto")
|
|
||||||
|
|
||||||
google_library(transform_rigid_transform
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
rigid_transform.cc
|
|
||||||
HDRS
|
|
||||||
rigid_transform.h
|
|
||||||
DEPENDS
|
|
||||||
common_lua_parameter_dictionary
|
|
||||||
common_math
|
|
||||||
common_port
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(transform_rigid_transform_test_helpers
|
|
||||||
USES_EIGEN
|
|
||||||
HDRS
|
|
||||||
rigid_transform_test_helpers.h
|
|
||||||
DEPENDS
|
|
||||||
common_port
|
|
||||||
transform_rigid_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(transform_transform
|
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
|
||||||
transform.cc
|
|
||||||
HDRS
|
|
||||||
transform.h
|
|
||||||
DEPENDS
|
|
||||||
common_math
|
|
||||||
transform_proto_transform
|
|
||||||
transform_rigid_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_library(transform_transform_interpolation_buffer
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GLOG
|
|
||||||
SRCS
|
|
||||||
transform_interpolation_buffer.cc
|
|
||||||
HDRS
|
|
||||||
transform_interpolation_buffer.h
|
|
||||||
DEPENDS
|
|
||||||
common_make_unique
|
|
||||||
common_time
|
|
||||||
mapping_proto_trajectory
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_transform
|
|
||||||
)
|
|
||||||
|
|
||||||
google_test(transform_transform_interpolation_buffer_test
|
google_test(transform_transform_interpolation_buffer_test
|
||||||
USES_EIGEN
|
|
||||||
SRCS
|
SRCS
|
||||||
transform_interpolation_buffer_test.cc
|
transform_interpolation_buffer_test.cc
|
||||||
DEPENDS
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_rigid_transform_test_helpers
|
|
||||||
transform_transform_interpolation_buffer
|
|
||||||
)
|
)
|
||||||
|
|
||||||
google_test(transform_transform_test
|
google_test(transform_transform_test
|
||||||
SRCS
|
SRCS
|
||||||
transform_test.cc
|
transform_test.cc
|
||||||
DEPENDS
|
|
||||||
transform_rigid_transform
|
|
||||||
transform_rigid_transform_test_helpers
|
|
||||||
transform_transform
|
|
||||||
)
|
)
|
||||||
|
|
|
@ -1,18 +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.
|
|
||||||
|
|
||||||
google_proto_library(transform_proto_transform
|
|
||||||
SRCS
|
|
||||||
transform.proto
|
|
||||||
)
|
|
|
@ -15,25 +15,9 @@
|
||||||
include(CMakeParseArguments)
|
include(CMakeParseArguments)
|
||||||
|
|
||||||
macro(_parse_arguments ARGS)
|
macro(_parse_arguments ARGS)
|
||||||
set(OPTIONS
|
set(OPTIONS)
|
||||||
USES_BOOST
|
|
||||||
USES_CERES
|
|
||||||
USES_EIGEN
|
|
||||||
USES_GFLAGS
|
|
||||||
USES_GLOG
|
|
||||||
USES_LUA
|
|
||||||
USES_WEBP
|
|
||||||
USES_CAIRO
|
|
||||||
)
|
|
||||||
|
|
||||||
# Options only used by projects using Cartographers cmake files.
|
|
||||||
list(APPEND OPTIONS
|
|
||||||
USES_CARTOGRAPHER
|
|
||||||
USES_PCL
|
|
||||||
USES_YAMLCPP
|
|
||||||
)
|
|
||||||
set(ONE_VALUE_ARG)
|
set(ONE_VALUE_ARG)
|
||||||
set(MULTI_VALUE_ARGS SRCS HDRS DEPENDS)
|
set(MULTI_VALUE_ARGS SRCS)
|
||||||
cmake_parse_arguments(ARG
|
cmake_parse_arguments(ARG
|
||||||
"${OPTIONS}" "${ONE_VALUE_ARG}" "${MULTI_VALUE_ARGS}" ${ARGS})
|
"${OPTIONS}" "${ONE_VALUE_ARG}" "${MULTI_VALUE_ARGS}" ${ARGS})
|
||||||
endmacro(_parse_arguments)
|
endmacro(_parse_arguments)
|
||||||
|
@ -41,178 +25,16 @@ endmacro(_parse_arguments)
|
||||||
macro(_common_compile_stuff VISIBILITY)
|
macro(_common_compile_stuff VISIBILITY)
|
||||||
set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
|
set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
|
||||||
|
|
||||||
foreach(DEPENDENCY ${ARG_DEPENDS})
|
|
||||||
target_link_libraries("${NAME}" PUBLIC ${DEPENDENCY})
|
|
||||||
endforeach()
|
|
||||||
|
|
||||||
if(catkin_INCLUDE_DIRS)
|
|
||||||
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
|
|
||||||
"${catkin_INCLUDE_DIRS}")
|
|
||||||
target_link_libraries("${NAME}" PUBLIC ${catkin_LIBRARIES})
|
|
||||||
add_dependencies("${NAME}" ${catkin_EXPORTED_TARGETS}
|
|
||||||
)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(ARG_USES_EIGEN)
|
|
||||||
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
|
|
||||||
"${EIGEN3_INCLUDE_DIR}")
|
|
||||||
target_link_libraries("${NAME}" PUBLIC ${EIGEN3_LIBRARIES})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(ARG_USES_CERES)
|
|
||||||
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
|
|
||||||
"${CERES_INCLUDE_DIRS}")
|
|
||||||
target_link_libraries("${NAME}" PUBLIC ${CERES_LIBRARIES})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(ARG_USES_LUA)
|
|
||||||
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
|
|
||||||
"${LUA_INCLUDE_DIR}")
|
|
||||||
target_link_libraries("${NAME}" PUBLIC ${LUA_LIBRARIES})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(ARG_USES_BOOST)
|
|
||||||
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
|
|
||||||
"${Boost_INCLUDE_DIRS}")
|
|
||||||
target_link_libraries("${NAME}" PUBLIC ${Boost_LIBRARIES})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(ARG_USES_WEBP)
|
|
||||||
target_link_libraries("${NAME}" PUBLIC webp)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# We rely on Ceres to find glog and gflags for us.
|
|
||||||
if(ARG_USES_GLOG)
|
|
||||||
target_link_libraries("${NAME}" PUBLIC glog)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(ARG_USES_GFLAGS)
|
|
||||||
target_link_libraries("${NAME}" PUBLIC gflags)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(ARG_USES_CARTOGRAPHER)
|
|
||||||
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
|
|
||||||
"${CARTOGRAPHER_INCLUDE_DIRS}")
|
|
||||||
target_link_libraries("${NAME}" PUBLIC ${CARTOGRAPHER_LIBRARIES})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(ARG_USES_PCL)
|
|
||||||
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
|
|
||||||
"${PCL_INCLUDE_DIRS}")
|
|
||||||
target_link_libraries("${NAME}" PUBLIC ${PCL_LIBRARIES})
|
|
||||||
foreach(DEFINITION ${PCL_DEFINITIONS})
|
|
||||||
set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${DEFINITION}")
|
|
||||||
endforeach()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(ARG_USES_YAMLCPP)
|
|
||||||
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
|
|
||||||
"${YAMLCPP_INCLUDE_DIRS}")
|
|
||||||
target_link_libraries("${NAME}" PUBLIC ${YAMLCPP_LIBRARIES})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(ARG_USES_CAIRO)
|
|
||||||
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
|
|
||||||
"${CAIRO_INCLUDE_DIRS}")
|
|
||||||
target_link_libraries("${NAME}" PUBLIC ${CAIRO_LIBRARIES})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
set_target_properties(${NAME} PROPERTIES
|
set_target_properties(${NAME} PROPERTIES
|
||||||
COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
|
COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
|
||||||
|
|
||||||
# Add the binary directory first, so that port.h is included after it has
|
target_include_directories(${NAME} PUBLIC ${PROJECT_NAME})
|
||||||
# been generated.
|
target_link_libraries(${NAME} PUBLIC ${PROJECT_NAME})
|
||||||
target_include_directories("${NAME}" ${VISIBILITY}
|
|
||||||
$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
|
|
||||||
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
|
|
||||||
$<INSTALL_INTERFACE:include>
|
|
||||||
)
|
|
||||||
|
|
||||||
# Figure out where to install the header. The logic goes like this: either
|
|
||||||
# the header is in the current binary directory (i.e. generated, like port.h)
|
|
||||||
# or in the current source directory - a regular header. It could also
|
|
||||||
# already be absolute (i.e. generated through a google_proto_library rule).
|
|
||||||
# In all cases we want to install the right header under the right subtree,
|
|
||||||
# e.g. foo/bar/baz.h.in will be installed from the binary directory as
|
|
||||||
# 'include/foo/bar/baz.h'.
|
|
||||||
foreach(HDR ${ARG_HDRS})
|
|
||||||
if(EXISTS ${CMAKE_CURRENT_BINARY_DIR}/${HDR})
|
|
||||||
set(ABS_FIL "${CMAKE_CURRENT_BINARY_DIR}/${HDR}")
|
|
||||||
file(RELATIVE_PATH REL_FIL ${CMAKE_BINARY_DIR} ${ABS_FIL})
|
|
||||||
elseif(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${HDR})
|
|
||||||
set(ABS_FIL "${CMAKE_CURRENT_SOURCE_DIR}/${HDR}")
|
|
||||||
file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${ABS_FIL})
|
|
||||||
else()
|
|
||||||
set(ABS_FIL "${HDR}")
|
|
||||||
file(RELATIVE_PATH REL_FIL ${CMAKE_BINARY_DIR} ${ABS_FIL})
|
|
||||||
endif()
|
|
||||||
get_filename_component(INSTALL_DIR ${REL_FIL} DIRECTORY)
|
|
||||||
install(
|
|
||||||
FILES
|
|
||||||
${ABS_FIL}
|
|
||||||
DESTINATION
|
|
||||||
include/${INSTALL_DIR}
|
|
||||||
)
|
|
||||||
endforeach()
|
|
||||||
endmacro(_common_compile_stuff)
|
endmacro(_common_compile_stuff)
|
||||||
|
|
||||||
# Create a static library out of other static libraries by running a GNU ar
|
function(google_test NAME)
|
||||||
# script over the dependencies.
|
_parse_arguments("${ARGN}")
|
||||||
function(google_combined_library NAME)
|
|
||||||
set(MULTI_VALUE_ARGS SRCS)
|
|
||||||
cmake_parse_arguments(ARG "" "" "${MULTI_VALUE_ARGS}" ${ARGN})
|
|
||||||
|
|
||||||
# CMake requires a source file for each library, so we create a dummy file
|
|
||||||
# that is empty. Its creation depends on all libraries we want to include in
|
|
||||||
# our combined static library, i.e. it will be touched whenever any of them
|
|
||||||
# change, which means that our combined library is regenerated.
|
|
||||||
set(DUMMY_SOURCE ${CMAKE_CURRENT_BINARY_DIR}/${NAME}_dummy.cc)
|
|
||||||
add_custom_command(
|
|
||||||
OUTPUT ${DUMMY_SOURCE}
|
|
||||||
COMMAND cmake -E touch ${DUMMY_SOURCE}
|
|
||||||
DEPENDS ${ARG_SRCS}
|
|
||||||
)
|
|
||||||
|
|
||||||
# Just a dummy library, we will overwrite its output directly after again
|
|
||||||
# with its POST_BUILD step.
|
|
||||||
google_library(${NAME}
|
|
||||||
SRCS ${DUMMY_SOURCE}
|
|
||||||
DEPENDS ${ARG_SRCS}
|
|
||||||
)
|
|
||||||
|
|
||||||
# We will delete the static lib generated by the last call to
|
|
||||||
# 'google_library' and recreate it using a GNU ar script that combines the
|
|
||||||
# SRCS into the NAME.
|
|
||||||
# TODO(hrapp): this is probably not very portable, but should work fine on
|
|
||||||
# Linux.
|
|
||||||
set(AR_SCRIPT "")
|
|
||||||
set(AR_SCRIPT "CREATE $<TARGET_FILE:${NAME}>\n")
|
|
||||||
foreach(SRC ${ARG_SRCS})
|
|
||||||
set(AR_SCRIPT "${AR_SCRIPT}ADDLIB $<TARGET_FILE:${SRC}>\n")
|
|
||||||
endforeach()
|
|
||||||
set(AR_SCRIPT "${AR_SCRIPT}SAVE\nEND\n")
|
|
||||||
set(AR_SCRIPT_FILE "${CMAKE_CURRENT_BINARY_DIR}/${NAME}_ar.script")
|
|
||||||
file(GENERATE OUTPUT ${AR_SCRIPT_FILE} CONTENT ${AR_SCRIPT})
|
|
||||||
|
|
||||||
add_custom_command(TARGET ${NAME} POST_BUILD
|
|
||||||
COMMAND rm $<TARGET_FILE:${NAME}>
|
|
||||||
COMMAND ${CMAKE_AR}
|
|
||||||
ARGS -M < ${AR_SCRIPT_FILE}
|
|
||||||
COMMENT "Recombining static libraries into ${NAME}."
|
|
||||||
)
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
# Create a variable 'VAR_NAME'='FLAG'. If VAR_NAME is already set, FLAG is
|
|
||||||
# appended.
|
|
||||||
function(google_add_flag VAR_NAME FLAG)
|
|
||||||
if (${VAR_NAME})
|
|
||||||
set(${VAR_NAME} "${${VAR_NAME}} ${FLAG}" PARENT_SCOPE)
|
|
||||||
else()
|
|
||||||
set(${VAR_NAME} "${FLAG}" PARENT_SCOPE)
|
|
||||||
endif()
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
macro(_common_test_stuff)
|
|
||||||
add_executable(${NAME}
|
add_executable(${NAME}
|
||||||
${ARG_SRCS} ${ARG_HDRS}
|
${ARG_SRCS} ${ARG_HDRS}
|
||||||
)
|
)
|
||||||
|
@ -222,33 +44,7 @@ macro(_common_test_stuff)
|
||||||
target_include_directories("${NAME}" SYSTEM PRIVATE
|
target_include_directories("${NAME}" SYSTEM PRIVATE
|
||||||
"${GMOCK_INCLUDE_DIRS}")
|
"${GMOCK_INCLUDE_DIRS}")
|
||||||
target_link_libraries("${NAME}" PUBLIC ${GMOCK_LIBRARIES})
|
target_link_libraries("${NAME}" PUBLIC ${GMOCK_LIBRARIES})
|
||||||
endmacro()
|
|
||||||
|
|
||||||
function(_google_catkin_test NAME)
|
|
||||||
if(NOT "${CATKIN_ENABLE_TESTING}")
|
|
||||||
return()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
_parse_arguments("${ARGN}")
|
|
||||||
_common_test_stuff()
|
|
||||||
|
|
||||||
# Copied from the catkin sources. Tracked in ros/catkin:#830.
|
|
||||||
add_dependencies(tests ${NAME})
|
|
||||||
get_target_property(_target_path ${NAME} RUNTIME_OUTPUT_DIRECTORY)
|
|
||||||
set(cmd "${_target_path}/${NAME} --gtest_output=xml:${CATKIN_TEST_RESULTS_DIR}/${PROJECT_NAME}/gtest-${NAME}.xml")
|
|
||||||
catkin_run_tests_target("gtest" ${NAME} "gtest-${NAME}.xml"
|
|
||||||
COMMAND ${cmd}
|
|
||||||
DEPENDENCIES ${NAME}
|
|
||||||
WORKING_DIRECTORY ${ARG_WORKING_DIRECTORY})
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
function(google_test NAME)
|
|
||||||
if (catkin_INCLUDE_DIRS)
|
|
||||||
_google_catkin_test(${ARGV})
|
|
||||||
return()
|
|
||||||
endif()
|
|
||||||
_parse_arguments("${ARGN}")
|
|
||||||
_common_test_stuff()
|
|
||||||
add_test(${NAME} ${NAME})
|
add_test(${NAME} ${NAME})
|
||||||
endfunction()
|
endfunction()
|
||||||
|
|
||||||
|
@ -264,64 +60,14 @@ function(google_binary NAME)
|
||||||
install(TARGETS "${NAME}" RUNTIME DESTINATION bin)
|
install(TARGETS "${NAME}" RUNTIME DESTINATION bin)
|
||||||
endfunction()
|
endfunction()
|
||||||
|
|
||||||
function(google_library NAME)
|
# Create a variable 'VAR_NAME'='FLAG'. If VAR_NAME is already set, FLAG is
|
||||||
_parse_arguments("${ARGN}")
|
# appended.
|
||||||
|
function(google_add_flag VAR_NAME FLAG)
|
||||||
add_library(${NAME}
|
if (${VAR_NAME})
|
||||||
STATIC
|
set(${VAR_NAME} "${${VAR_NAME}} ${FLAG}" PARENT_SCOPE)
|
||||||
${ARG_SRCS} ${ARG_HDRS}
|
else()
|
||||||
)
|
set(${VAR_NAME} "${FLAG}" PARENT_SCOPE)
|
||||||
set_property(TARGET "${NAME}" PROPERTY POSITION_INDEPENDENT_CODE ON)
|
endif()
|
||||||
|
|
||||||
# Update the global variable that contains all static libraries.
|
|
||||||
SET(ALL_LIBRARIES "${ALL_LIBRARIES};${NAME}" CACHE INTERNAL "ALL_LIBRARIES")
|
|
||||||
|
|
||||||
# This is needed for header only libraries. While they do not really mean
|
|
||||||
# anything for cmake, they are useful to make dependencies explicit.
|
|
||||||
set_target_properties(${NAME} PROPERTIES LINKER_LANGUAGE CXX)
|
|
||||||
|
|
||||||
_common_compile_stuff("PUBLIC")
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
function(google_proto_library NAME)
|
|
||||||
_parse_arguments("${ARGN}")
|
|
||||||
|
|
||||||
set(PROTO_SRCS)
|
|
||||||
set(PROTO_HDRS)
|
|
||||||
foreach(FIL ${ARG_SRCS})
|
|
||||||
get_filename_component(ABS_FIL ${FIL} ABSOLUTE)
|
|
||||||
get_filename_component(FIL_WE ${FIL} NAME_WE)
|
|
||||||
get_filename_component(FIL_NAME ${FIL} NAME)
|
|
||||||
|
|
||||||
list(APPEND PROTO_SRCS "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.pb.cc")
|
|
||||||
list(APPEND PROTO_HDRS "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.pb.h")
|
|
||||||
|
|
||||||
add_custom_command(
|
|
||||||
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.pb.cc"
|
|
||||||
"${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.pb.h"
|
|
||||||
COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
|
|
||||||
ARGS --cpp_out ${CMAKE_BINARY_DIR} -I
|
|
||||||
${CMAKE_SOURCE_DIR} ${ABS_FIL}
|
|
||||||
DEPENDS ${ABS_FIL}
|
|
||||||
COMMENT "Running C++ protocol buffer compiler on ${FIL}"
|
|
||||||
VERBATIM
|
|
||||||
)
|
|
||||||
endforeach()
|
|
||||||
|
|
||||||
set_source_files_properties(${PROTO_SRCS} ${PROTO_HDRS}
|
|
||||||
PROPERTIES GENERATED TRUE)
|
|
||||||
|
|
||||||
google_library("${NAME}"
|
|
||||||
SRCS "${PROTO_SRCS}"
|
|
||||||
HDRS "${PROTO_HDRS}"
|
|
||||||
DEPENDS "${ARG_DEPENDS}"
|
|
||||||
)
|
|
||||||
|
|
||||||
target_include_directories("${NAME}" SYSTEM "PUBLIC"
|
|
||||||
"${PROTOBUF_INCLUDE_DIR}")
|
|
||||||
# TODO(hrapp): This should not explicityly list pthread and use
|
|
||||||
# PROTOBUF_LIBRARIES, but that failed on first try.
|
|
||||||
target_link_libraries("${NAME}" PUBLIC ${PROTOBUF_LIBRARY} pthread)
|
|
||||||
endfunction()
|
endfunction()
|
||||||
|
|
||||||
macro(google_initialize_cartographer_project)
|
macro(google_initialize_cartographer_project)
|
||||||
|
|
|
@ -78,51 +78,18 @@ def ExtractProjectIncludes(project_name, source):
|
||||||
"""Returns all locally included files."""
|
"""Returns all locally included files."""
|
||||||
includes = set()
|
includes = set()
|
||||||
for line in open(MaybeUseCmakeFile(source)):
|
for line in open(MaybeUseCmakeFile(source)):
|
||||||
if source.endswith(".proto"):
|
|
||||||
match = re.match(r'^import "(' + project_name + r'/[^"]+)', line)
|
|
||||||
else:
|
|
||||||
match = re.match(r'^#include "(' + project_name + r'/[^"]+)"', line)
|
match = re.match(r'^#include "(' + project_name + r'/[^"]+)"', line)
|
||||||
if match:
|
if match:
|
||||||
includes.add(match.group(1))
|
includes.add(match.group(1))
|
||||||
return includes
|
return includes
|
||||||
|
|
||||||
|
|
||||||
def ExtractUses(project_name, source):
|
|
||||||
"""Finds the options for the third_party libraries used."""
|
|
||||||
uses = set()
|
|
||||||
for line in open(MaybeUseCmakeFile(source)):
|
|
||||||
if re.match(r'^#include "Eigen/', line):
|
|
||||||
uses.add("USES_EIGEN")
|
|
||||||
if re.match(r"^#include <lua.hpp>", line):
|
|
||||||
uses.add("USES_LUA")
|
|
||||||
if re.match(r'^#include "ceres/', line):
|
|
||||||
uses.add("USES_CERES")
|
|
||||||
if re.match(r'^#include "glog/', line):
|
|
||||||
uses.add("USES_GLOG")
|
|
||||||
if re.match(r'^#include "gflags/', line):
|
|
||||||
uses.add("USES_GFLAGS")
|
|
||||||
if re.match(r'^#include ["<]boost/', line):
|
|
||||||
uses.add("USES_BOOST")
|
|
||||||
if re.match(r'^#include ["<]webp/', line):
|
|
||||||
uses.add("USES_WEBP")
|
|
||||||
if re.match(r'^#include ["<]pcl/', line):
|
|
||||||
uses.add("USES_PCL")
|
|
||||||
if re.match(r'^#include ["<]yaml-cpp/', line):
|
|
||||||
uses.add("USES_YAMLCPP")
|
|
||||||
if re.match(r'^#include ["<]cairo/', line):
|
|
||||||
uses.add("USES_CAIRO")
|
|
||||||
if project_name != "cartographer":
|
|
||||||
if re.match(r'^#include ["<]cartographer/', line):
|
|
||||||
uses.add("USES_CARTOGRAPHER")
|
|
||||||
return uses
|
|
||||||
|
|
||||||
|
|
||||||
def FindSourceFiles(basedir):
|
def FindSourceFiles(basedir):
|
||||||
sources = set()
|
sources = set()
|
||||||
for (directory, _, filenames) in os.walk(basedir):
|
for (directory, _, filenames) in os.walk(basedir):
|
||||||
for filename in filenames:
|
for filename in filenames:
|
||||||
ext = path.splitext(filename)[-1]
|
ext = path.splitext(filename)[-1]
|
||||||
if ext in [".h", ".cc", ".proto"]:
|
if ext in [".h", ".cc"]:
|
||||||
sources.add(path.join(directory, filename))
|
sources.add(path.join(directory, filename))
|
||||||
elif filename.endswith(".h.cmake"):
|
elif filename.endswith(".h.cmake"):
|
||||||
sources.add(path.join(directory, path.splitext(filename)[0]))
|
sources.add(path.join(directory, path.splitext(filename)[0]))
|
||||||
|
@ -188,10 +155,6 @@ def RunOnDirectory(root):
|
||||||
for s in srcs + hdrs:
|
for s in srcs + hdrs:
|
||||||
relative_s = MakeRelative(s, base_directory)
|
relative_s = MakeRelative(s, base_directory)
|
||||||
targets_by_src[relative_s] = target
|
targets_by_src[relative_s] = target
|
||||||
if s.endswith(".proto"):
|
|
||||||
proto_stem = os.path.splitext(relative_s)[0]
|
|
||||||
targets_by_src[proto_stem + ".pb.h"] = target
|
|
||||||
targets_by_src[proto_stem + ".pb.cc"] = target
|
|
||||||
directories.add(directory)
|
directories.add(directory)
|
||||||
|
|
||||||
for (directory, sources) in FindSourceFiles(root):
|
for (directory, sources) in FindSourceFiles(root):
|
||||||
|
@ -201,13 +164,9 @@ def RunOnDirectory(root):
|
||||||
headers = set(fn for fn in sources if fn.endswith(".h"))
|
headers = set(fn for fn in sources if fn.endswith(".h"))
|
||||||
sources -= headers
|
sources -= headers
|
||||||
for h in sorted(headers):
|
for h in sorted(headers):
|
||||||
srcs = []
|
|
||||||
name = prepend_module_name(path.basename(path.splitext(h)[0]))
|
|
||||||
cc_file = path.splitext(h)[0] + ".cc"
|
cc_file = path.splitext(h)[0] + ".cc"
|
||||||
if cc_file in sources:
|
if cc_file in sources:
|
||||||
sources.remove(cc_file)
|
sources.remove(cc_file)
|
||||||
srcs.append(cc_file)
|
|
||||||
AddTarget("google_library", name, directory, srcs, [h])
|
|
||||||
|
|
||||||
tests = set(fn for fn in sources if fn.endswith("_test.cc"))
|
tests = set(fn for fn in sources if fn.endswith("_test.cc"))
|
||||||
sources -= tests
|
sources -= tests
|
||||||
|
@ -215,12 +174,6 @@ def RunOnDirectory(root):
|
||||||
name = prepend_module_name(path.basename(path.splitext(c)[0]))
|
name = prepend_module_name(path.basename(path.splitext(c)[0]))
|
||||||
AddTarget("google_test", name, directory, [c], [])
|
AddTarget("google_test", name, directory, [c], [])
|
||||||
|
|
||||||
protos = set(fn for fn in sources if fn.endswith(".proto"))
|
|
||||||
sources -= protos
|
|
||||||
for c in sorted(protos):
|
|
||||||
name = prepend_module_name(path.basename(path.splitext(c)[0]))
|
|
||||||
AddTarget("google_proto_library", name, directory, [c], [])
|
|
||||||
|
|
||||||
mains = set(fn for fn in sources if fn.endswith("_main.cc"))
|
mains = set(fn for fn in sources if fn.endswith("_main.cc"))
|
||||||
sources -= mains
|
sources -= mains
|
||||||
for c in sorted(mains):
|
for c in sorted(mains):
|
||||||
|
@ -235,16 +188,6 @@ def RunOnDirectory(root):
|
||||||
|
|
||||||
# Write the CMakeLists.txt files.
|
# Write the CMakeLists.txt files.
|
||||||
for directory in directories:
|
for directory in directories:
|
||||||
targets_in_directory = [t for t in targets if t.directory == directory]
|
|
||||||
for target in targets_in_directory:
|
|
||||||
for src in target.srcs + target.hdrs:
|
|
||||||
for header in ExtractProjectIncludes(project_name, src):
|
|
||||||
dependant = targets_by_src[header]
|
|
||||||
if dependant.name == target.name:
|
|
||||||
continue
|
|
||||||
target.depends.add(dependant.name)
|
|
||||||
target.uses.update(ExtractUses(project_name, src))
|
|
||||||
|
|
||||||
cmake_file = path.join(directory, "CMakeLists.txt")
|
cmake_file = path.join(directory, "CMakeLists.txt")
|
||||||
parts = GetNonGoogleTargetLines(cmake_file)
|
parts = GetNonGoogleTargetLines(cmake_file)
|
||||||
|
|
||||||
|
@ -259,7 +202,7 @@ def RunOnDirectory(root):
|
||||||
dump(parts["START"])
|
dump(parts["START"])
|
||||||
del parts["START"]
|
del parts["START"]
|
||||||
|
|
||||||
for target in targets_in_directory:
|
for target in [t for t in targets if t.directory == directory]:
|
||||||
dump(target.Format(directory))
|
dump(target.Format(directory))
|
||||||
if target.name in parts:
|
if target.name in parts:
|
||||||
dump(parts[target.name])
|
dump(parts[target.name])
|
||||||
|
|
Loading…
Reference in New Issue