Build all our source files into a single library. (#164)

CMakeLists.txt

@@ -12,9 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 2.8.12)  # Ships with Ubuntu 14.04 (Trusty)
 
 project(cartographer)
+
 set(CARTOGRAPHER_MAJOR_VERSION 1)
 set(CARTOGRAPHER_MINOR_VERSION 0)
 set(CARTOGRAPHER_PATCH_VERSION 0)
@@ -25,13 +26,13 @@ include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
 google_initialize_cartographer_project()
 google_enable_testing()
 
-include(FindPkgConfig)
+find_package(Boost REQUIRED COMPONENTS iostreams)
-
-find_package(Boost REQUIRED COMPONENTS system iostreams)
 find_package(Ceres REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(LuaGoogle REQUIRED)
 find_package(Protobuf REQUIRED)
+
+include(FindPkgConfig)
 PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
 
 # Only build the documentation if we can find Sphinx.
@@ -40,8 +41,6 @@ if(SPHINX_FOUND)
   add_subdirectory("docs")
 endif()
 
-SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
-
 # Install catkin package.xml
 install(FILES package.xml DESTINATION share/cartographer)
 
@@ -50,8 +49,6 @@ install(DIRECTORY configuration_files DESTINATION share/cartographer/)
 
 install(DIRECTORY cmake DESTINATION share/cartographer/)
 
-add_subdirectory("cartographer")
-
 include(CMakePackageConfigHelpers)
 
 # Create a cartographer-config.cmake file for the use from the install tree
@@ -66,28 +63,136 @@ list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}")
 
 set(CARTOGRAPHER_CMAKE_DIR "${CMAKE_INSTALL_PREFIX}/share/cartographer/cmake")
 
-google_combined_library(cartographer
+file(GLOB_RECURSE ALL_SRCS "*.cc" "*.h")
-  SRCS "${ALL_LIBRARIES}"
+file(GLOB_RECURSE ALL_TESTS "*_test.cc")
+file(GLOB_RECURSE ALL_EXECUTABLES "*_main.cc")
+list(REMOVE_ITEM ALL_SRCS ${ALL_TESTS})
+list(REMOVE_ITEM ALL_SRCS ${ALL_EXECUTABLES})
+
+file(GLOB_RECURSE ALL_PROTOS "*.proto")
+set(ALL_PROTO_SRCS)
+set(ALL_PROTO_HDRS)
+foreach(ABS_FIL ${ALL_PROTOS})
+  file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${ABS_FIL})
+  get_filename_component(DIR ${REL_FIL} DIRECTORY)
+  get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
+
+  list(APPEND ALL_PROTO_SRCS "${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
+  list(APPEND ALL_PROTO_HDRS "${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")
+
+  add_custom_command(
+    OUTPUT "${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
+           "${CMAKE_BINARY_DIR}/${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 ${ABS_FIL}"
+    VERBATIM
+  )
+endforeach()
+
+set_source_files_properties(${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS} PROPERTIES GENERATED TRUE)
+list(APPEND ALL_SRCS ${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS})
+
+add_library(cartographer ${ALL_SRCS})
+add_subdirectory("cartographer")
+
+target_include_directories(cartographer SYSTEM PUBLIC
+  "${EIGEN3_INCLUDE_DIR}")
+target_link_libraries(cartographer PUBLIC ${EIGEN3_LIBRARIES})
+
+target_include_directories(cartographer SYSTEM PUBLIC
+  "${CERES_INCLUDE_DIRS}")
+target_link_libraries(cartographer PUBLIC ${CERES_LIBRARIES})
+
+target_include_directories(cartographer SYSTEM PUBLIC
+  "${LUA_INCLUDE_DIR}")
+target_link_libraries(cartographer PUBLIC ${LUA_LIBRARIES})
+
+target_include_directories(cartographer SYSTEM PUBLIC
+  "${Boost_INCLUDE_DIRS}")
+target_link_libraries(cartographer PUBLIC ${Boost_LIBRARIES})
+
+target_link_libraries(cartographer PUBLIC webp)
+
+target_link_libraries(cartographer PUBLIC glog)
+
+target_link_libraries(cartographer PUBLIC gflags)
+
+target_include_directories(cartographer SYSTEM PUBLIC
+  "${CAIRO_INCLUDE_DIRS}")
+target_link_libraries(cartographer PUBLIC ${CAIRO_LIBRARIES})
+
+target_include_directories(cartographer SYSTEM PUBLIC
+  ${PROTOBUF_INCLUDE_DIR})
+# TODO(hrapp): This should not explicitly list pthread and use
+# PROTOBUF_LIBRARIES, but that failed on first try.
+target_link_libraries(cartographer PUBLIC ${PROTOBUF_LIBRARY} pthread)
+
+# Add the binary directory first, so that port.h is included after it has
+# been generated.
+target_include_directories(cartographer PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
+    $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
+    $<INSTALL_INTERFACE:include>
 )
 
-# TODO(hrapp): Replacing this get_property with a generator expression is not
+# TODO(damonkohler): Create a testing library.
-# very easy: it needs to be expanded into a variable which is then used for
+target_include_directories(cartographer SYSTEM PRIVATE
-# CONFIGURE_PACKAGE_CONFIG_FILE - I did not find an easy way to do it. A
+  "${GMOCK_INCLUDE_DIRS}")
-# complicated way is to file(READ the cartographer-config.cmake.in and
+target_link_libraries(cartographer PUBLIC ${GMOCK_LIBRARIES})
-# string(CONFIGURE it, then file(GENERATE the output file. I do not have the
+
-# stomach to attempt this right now.
+set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
-get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION)
+set_target_properties(cartographer PROPERTIES
-get_filename_component(CARTOGRAPHER_LIBRARY_FILE_BASENAME
+  COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
-  ${CARTOGRAPHER_LIBRARY_FILE} NAME)
+
-install(
+install(TARGETS cartographer
-  FILES
+        ARCHIVE DESTINATION lib
-    ${CARTOGRAPHER_LIBRARY_FILE}
+        LIBRARY DESTINATION lib
-  DESTINATION
+        RUNTIME DESTINATION bin)
-    lib
+
-)
+# Install source headers.
+file(GLOB_RECURSE hdrs "*.h")
+foreach(HDR ${hdrs})
+  file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${HDR})
+  get_filename_component(INSTALL_DIR ${REL_FIL} DIRECTORY)
+  install(
+    FILES
+      ${HDR}
+    DESTINATION
+      include/${INSTALL_DIR}
+  )
+endforeach()
+
+# Install generated headers.
+file(GLOB_RECURSE hdrs "*.h.in")
+foreach(HDR ${hdrs})
+  file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${HDR})
+  get_filename_component(DIR ${REL_FIL} DIRECTORY)
+  get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
+  install(
+    FILES
+      ${CMAKE_BINARY_DIR}/${DIR}/${FILE_WE}
+    DESTINATION
+      include/${DIR}
+  )
+endforeach()
+
+# Install proto headers.
+foreach(HDR ${ALL_PROTO_HDRS})
+  file(RELATIVE_PATH REL_FIL ${CMAKE_BINARY_DIR} ${HDR})
+  get_filename_component(DIR ${REL_FIL} DIRECTORY)
+  install(
+    FILES
+      ${HDR}
+    DESTINATION
+      include/${DIR}
+  )
+endforeach()
 
 set(CARTOGRAPHER_LIBRARIES "")
-list(APPEND CARTOGRAPHER_LIBRARIES "${CMAKE_INSTALL_PREFIX}/lib/${CARTOGRAPHER_LIBRARY_FILE_BASENAME}")
+list(APPEND CARTOGRAPHER_LIBRARIES "${CMAKE_INSTALL_PREFIX}/lib/libcartographer.a")
 list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}")
 list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}")
 list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}")

cartographer/CMakeLists.txt

@@ -14,7 +14,6 @@
 
 add_subdirectory("common")
 add_subdirectory("ground_truth")
-add_subdirectory("io")
 add_subdirectory("kalman_filter")
 add_subdirectory("mapping")
 add_subdirectory("mapping_2d")

cartographer/common/CMakeLists.txt

@@ -12,201 +12,36 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-add_subdirectory("proto")
-
 configure_file (
   ${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake
   ${CMAKE_CURRENT_BINARY_DIR}/config.h)
 
-google_library(common_blocking_queue
-  USES_GLOG
-  HDRS
-    blocking_queue.h
-  DEPENDS
-    common_mutex
-    common_port
-    common_time
-)
-
-google_library(common_ceres_solver_options
-  USES_CERES
-  SRCS
-    ceres_solver_options.cc
-  HDRS
-    ceres_solver_options.h
-  DEPENDS
-    common_lua_parameter_dictionary
-    common_proto_ceres_solver_options
-)
-
-google_library(common_config
-  HDRS
-    config.h
-)
-
-google_library(common_configuration_file_resolver
-  USES_GLOG
-  SRCS
-    configuration_file_resolver.cc
-  HDRS
-    configuration_file_resolver.h
-  DEPENDS
-    common_config
-    common_lua_parameter_dictionary
-    common_port
-)
-
-google_library(common_fixed_ratio_sampler
-  SRCS
-    fixed_ratio_sampler.cc
-  HDRS
-    fixed_ratio_sampler.h
-  DEPENDS
-    common_port
-)
-
-google_library(common_histogram
-  USES_GLOG
-  SRCS
-    histogram.cc
-  HDRS
-    histogram.h
-  DEPENDS
-    common_port
-)
-
-google_library(common_interval
-  HDRS
-    interval.h
-)
-
-google_library(common_lua
-  USES_LUA
-  HDRS
-    lua.h
-)
-
-google_library(common_lua_parameter_dictionary
-  USES_GLOG
-  SRCS
-    lua_parameter_dictionary.cc
-  HDRS
-    lua_parameter_dictionary.h
-  DEPENDS
-    common_lua
-    common_port
-)
-
-google_library(common_lua_parameter_dictionary_test_helpers
-  USES_GLOG
-  HDRS
-    lua_parameter_dictionary_test_helpers.h
-  DEPENDS
-    common_lua_parameter_dictionary
-    common_make_unique
-    common_port
-)
-
-google_library(common_make_unique
-  HDRS
-    make_unique.h
-)
-
-google_library(common_math
-  USES_CERES
-  USES_EIGEN
-  HDRS
-    math.h
-  DEPENDS
-    common_port
-)
-
-google_library(common_mutex
-  HDRS
-    mutex.h
-  DEPENDS
-    common_time
-)
-
-google_library(common_port
-  USES_BOOST
-  HDRS
-    port.h
-)
-
-google_library(common_rate_timer
-  HDRS
-    rate_timer.h
-  DEPENDS
-    common_math
-    common_port
-    common_time
-)
-
-google_library(common_thread_pool
-  USES_GLOG
-  SRCS
-    thread_pool.cc
-  HDRS
-    thread_pool.h
-  DEPENDS
-    common_mutex
-)
-
-google_library(common_time
-  SRCS
-    time.cc
-  HDRS
-    time.h
-  DEPENDS
-    common_port
-)
-
 google_test(common_blocking_queue_test
   SRCS
     blocking_queue_test.cc
-  DEPENDS
-    common_blocking_queue
-    common_make_unique
-    common_time
 )
 
 google_test(common_configuration_files_test
   SRCS
     configuration_files_test.cc
-  DEPENDS
-    common_config
-    common_configuration_file_resolver
-    common_lua_parameter_dictionary
-    mapping_map_builder
 )
 
 google_test(common_fixed_ratio_sampler_test
   SRCS
     fixed_ratio_sampler_test.cc
-  DEPENDS
-    common_fixed_ratio_sampler
 )
 
 google_test(common_lua_parameter_dictionary_test
   SRCS
     lua_parameter_dictionary_test.cc
-  DEPENDS
-    common_lua_parameter_dictionary
-    common_lua_parameter_dictionary_test_helpers
-    common_make_unique
 )
 
 google_test(common_math_test
   SRCS
     math_test.cc
-  DEPENDS
-    common_math
 )
 
 google_test(common_rate_timer_test
   SRCS
     rate_timer_test.cc
-  DEPENDS
-    common_rate_timer
 )

cartographer/common/proto/CMakeLists.txt

@@ -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
-)

cartographer/ground_truth/CMakeLists.txt

@@ -14,15 +14,6 @@
 
 
 google_binary(cartographer_compute_relations_metrics
-  USES_GFLAGS
-  USES_GLOG
   SRCS
     compute_relations_metrics_main.cc
-  DEPENDS
-    common_math
-    common_port
-    mapping_proto_trajectory
-    transform_rigid_transform
-    transform_transform
-    transform_transform_interpolation_buffer
 )

cartographer/io/CMakeLists.txt

@@ -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
-)

cartographer/kalman_filter/CMakeLists.txt

@@ -12,67 +12,17 @@
 # See the License for the specific language governing permissions and
 # 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
   SRCS
     gaussian_distribution_test.cc
-  DEPENDS
-    kalman_filter_gaussian_distribution
 )
 
 google_test(kalman_filter_pose_tracker_test
   SRCS
     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
   SRCS
     unscented_kalman_filter_test.cc
-  DEPENDS
-    kalman_filter_gaussian_distribution
-    kalman_filter_unscented_kalman_filter
 )

cartographer/kalman_filter/proto/CMakeLists.txt

@@ -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
-)

cartographer/mapping/CMakeLists.txt

@@ -12,219 +12,22 @@
 # See the License for the specific language governing permissions and
 # 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
   SRCS
     probability_values_test.cc
-  DEPENDS
-    mapping_probability_values
 )
 
 google_test(mapping_sparse_pose_graph_test
-  USES_GLOG
   SRCS
     sparse_pose_graph_test.cc
-  DEPENDS
-    mapping_sparse_pose_graph
 )
 
 google_test(mapping_submaps_test
   SRCS
     submaps_test.cc
-  DEPENDS
-    mapping_submaps
 )
 
 google_test(mapping_trajectory_connectivity_test
   SRCS
     trajectory_connectivity_test.cc
-  DEPENDS
-    common_lua_parameter_dictionary_test_helpers
-    mapping_2d_submaps
-    mapping_trajectory_connectivity
 )

cartographer/mapping/proto/CMakeLists.txt

@@ -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
-)

cartographer/mapping/sparse_pose_graph/CMakeLists.txt

@@ -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
-)

cartographer/mapping/sparse_pose_graph/proto/CMakeLists.txt

@@ -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
-)

cartographer/mapping_2d/CMakeLists.txt

@@ -12,219 +12,34 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-add_subdirectory("proto")
 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
   SRCS
     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
   SRCS
     map_limits_test.cc
-  DEPENDS
-    mapping_2d_map_limits
 )
 
 google_test(mapping_2d_probability_grid_test
   SRCS
     probability_grid_test.cc
-  DEPENDS
-    mapping_2d_probability_grid
 )
 
 google_test(mapping_2d_sparse_pose_graph_test
   SRCS
     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
   SRCS
     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
   SRCS
     xy_index_test.cc
-  DEPENDS
-    mapping_2d_xy_index
 )

cartographer/mapping_2d/proto/CMakeLists.txt

@@ -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
-)

cartographer/mapping_2d/scan_matching/CMakeLists.txt

@@ -12,159 +12,22 @@
 # See the License for the specific language governing permissions and
 # 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
   SRCS
     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
   SRCS
     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
   SRCS
     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
-  USES_EIGEN
   SRCS
     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
 )

cartographer/mapping_2d/scan_matching/proto/CMakeLists.txt

@@ -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
-)

cartographer/mapping_2d/sparse_pose_graph/CMakeLists.txt

@@ -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
-)

cartographer/mapping_3d/CMakeLists.txt

@@ -12,308 +12,25 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-add_subdirectory("proto")
 add_subdirectory("scan_matching")
 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
   SRCS
     hybrid_grid_test.cc
-  DEPENDS
-    mapping_3d_hybrid_grid
 )
 
 google_test(mapping_3d_kalman_local_trajectory_builder_test
-  USES_EIGEN
-  USES_GLOG
   SRCS
     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
   SRCS
     laser_fan_inserter_test.cc
-  DEPENDS
-    common_lua_parameter_dictionary_test_helpers
-    mapping_3d_laser_fan_inserter
 )
 
 google_test(mapping_3d_motion_filter_test
   SRCS
     motion_filter_test.cc
-  DEPENDS
-    common_lua_parameter_dictionary_test_helpers
-    mapping_3d_motion_filter
 )

cartographer/mapping_3d/proto/CMakeLists.txt

@@ -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
-)

cartographer/mapping_3d/scan_matching/CMakeLists.txt

@@ -12,182 +12,27 @@
 # See the License for the specific language governing permissions and
 # 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
-  USES_EIGEN
   SRCS
     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
   SRCS
     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
-  USES_EIGEN
   SRCS
     interpolated_grid_test.cc
-  DEPENDS
-    mapping_3d_hybrid_grid
-    mapping_3d_scan_matching_interpolated_grid
 )
 
 google_test(mapping_3d_scan_matching_precomputation_grid_test
   SRCS
     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
-  USES_EIGEN
   SRCS
     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
 )

cartographer/mapping_3d/scan_matching/proto/CMakeLists.txt

@@ -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
-)

cartographer/mapping_3d/sparse_pose_graph/CMakeLists.txt

@@ -12,82 +12,7 @@
 # See the License for the specific language governing permissions and
 # 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
-  USES_EIGEN
-  USES_GLOG
   SRCS
     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
 )

cartographer/sensor/CMakeLists.txt

@@ -12,155 +12,32 @@
 # See the License for the specific language governing permissions and
 # 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
   SRCS
     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
   SRCS
     compressed_point_cloud_test.cc
-  DEPENDS
-    sensor_compressed_point_cloud
 )
 
 google_test(sensor_laser_test
   SRCS
     laser_test.cc
-  DEPENDS
-    sensor_laser
 )
 
 google_test(sensor_ordered_multi_queue_test
   SRCS
     ordered_multi_queue_test.cc
-  DEPENDS
-    common_make_unique
-    sensor_ordered_multi_queue
 )
 
 google_test(sensor_point_cloud_test
   SRCS
     point_cloud_test.cc
-  DEPENDS
-    sensor_point_cloud
-    transform_transform
 )
 
 google_test(sensor_voxel_filter_test
   SRCS
     voxel_filter_test.cc
-  DEPENDS
-    sensor_voxel_filter
 )

cartographer/sensor/proto/CMakeLists.txt

@@ -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
-)

cartographer/transform/CMakeLists.txt

@@ -12,72 +12,12 @@
 # See the License for the specific language governing permissions and
 # 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
-  USES_EIGEN
   SRCS
     transform_interpolation_buffer_test.cc
-  DEPENDS
-    transform_rigid_transform
-    transform_rigid_transform_test_helpers
-    transform_transform_interpolation_buffer
 )
 
 google_test(transform_transform_test
   SRCS
     transform_test.cc
-  DEPENDS
-    transform_rigid_transform
-    transform_rigid_transform_test_helpers
-    transform_transform
 )

cartographer/transform/proto/CMakeLists.txt

@@ -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
-)

cmake/functions.cmake

@@ -15,25 +15,9 @@
 include(CMakeParseArguments)
 
 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(MULTI_VALUE_ARGS SRCS HDRS DEPENDS)
+  set(MULTI_VALUE_ARGS SRCS)
   cmake_parse_arguments(ARG
     "${OPTIONS}" "${ONE_VALUE_ARG}" "${MULTI_VALUE_ARGS}" ${ARGS})
 endmacro(_parse_arguments)
@@ -41,178 +25,16 @@ endmacro(_parse_arguments)
 macro(_common_compile_stuff VISIBILITY)
   set(TARGET_COMPILE_FLAGS "${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
     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)
 
-# 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}
     ${ARG_SRCS} ${ARG_HDRS}
   )
@@ -222,33 +44,7 @@ macro(_common_test_stuff)
   target_include_directories("${NAME}" SYSTEM PRIVATE
     "${GMOCK_INCLUDE_DIRS}")
   target_link_libraries("${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})
 endfunction()
 
@@ -264,64 +60,14 @@ function(google_binary NAME)
   install(TARGETS "${NAME}" RUNTIME DESTINATION bin)
 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()
 
 macro(google_initialize_cartographer_project)

scripts/update_cmakelists.py

@@ -78,51 +78,18 @@ def ExtractProjectIncludes(project_name, source):
   """Returns all locally included files."""
   includes = set()
   for line in open(MaybeUseCmakeFile(source)):
-    if source.endswith(".proto"):
+    match = re.match(r'^#include "(' + project_name + r'/[^"]+)"', line)
-      match = re.match(r'^import "(' + project_name + r'/[^"]+)', line)
-    else:
-      match = re.match(r'^#include "(' + project_name + r'/[^"]+)"', line)
     if match:
       includes.add(match.group(1))
   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):
   sources = set()
   for (directory, _, filenames) in os.walk(basedir):
     for filename in filenames:
       ext = path.splitext(filename)[-1]
-      if ext in [".h", ".cc", ".proto"]:
+      if ext in [".h", ".cc"]:
         sources.add(path.join(directory, filename))
       elif filename.endswith(".h.cmake"):
         sources.add(path.join(directory, path.splitext(filename)[0]))
@@ -188,10 +155,6 @@ def RunOnDirectory(root):
     for s in srcs + hdrs:
       relative_s = MakeRelative(s, base_directory)
       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)
 
   for (directory, sources) in FindSourceFiles(root):
@@ -201,13 +164,9 @@ def RunOnDirectory(root):
     headers = set(fn for fn in sources if fn.endswith(".h"))
     sources -= headers
     for h in sorted(headers):
-      srcs = []
-      name = prepend_module_name(path.basename(path.splitext(h)[0]))
       cc_file = path.splitext(h)[0] + ".cc"
       if cc_file in sources:
         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"))
     sources -= tests
@@ -215,12 +174,6 @@ def RunOnDirectory(root):
       name = prepend_module_name(path.basename(path.splitext(c)[0]))
       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"))
     sources -= mains
     for c in sorted(mains):
@@ -235,16 +188,6 @@ def RunOnDirectory(root):
 
   # Write the CMakeLists.txt files.
   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")
     parts = GetNonGoogleTargetLines(cmake_file)
 
@@ -259,7 +202,7 @@ def RunOnDirectory(root):
     dump(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))
       if target.name in parts:
         dump(parts[target.name])