Extend CMake functions for reuse in other Cartographer subprojects. (#45)

- Change CARTOGRAPHER_LIBRARIES to be absolute path to adhere to the
  CMake documentation.
master
Holger Rapp 2016-10-12 13:39:03 +02:00 committed by GitHub
parent f6c9f9565f
commit 8e7996f015
3 changed files with 88 additions and 46 deletions

View File

@ -22,23 +22,7 @@ set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERS
set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}) set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake") include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules) google_initialize_cartographer_project()
if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
set(CMAKE_BUILD_TYPE Release)
endif()
if(CMAKE_BUILD_TYPE STREQUAL "Release")
google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
else()
message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
endif()
message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
find_package(Boost REQUIRED COMPONENTS system iostreams) find_package(Boost REQUIRED COMPONENTS system iostreams)
find_package(Ceres REQUIRED) find_package(Ceres REQUIRED)
@ -52,26 +36,6 @@ if(SPHINX_FOUND)
add_subdirectory("docs") add_subdirectory("docs")
endif() endif()
set(GMOCK_SRC_DIR "/usr/src/gmock" CACHE STRING "Path to google-mock sources.")
add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock")
google_add_flag(GOOG_CXX_FLAGS "-std=c++11")
if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
google_add_flag(GOOG_CXX_FLAGS "-Weverything")
google_add_flag(GOOG_CXX_FLAGS "-Werror=deprecated")
google_add_flag(GOOG_CXX_FLAGS "-Werror=non-pod-varargs")
else()
google_add_flag(GOOG_CXX_FLAGS "-Wall")
google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
endif()
# Turn some warnings into errors. These are defined for clang and gcc.
google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
enable_testing() enable_testing()
SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES") SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
@ -82,6 +46,8 @@ install(FILES package.xml DESTINATION share/cartographer)
set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files") set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files")
install(DIRECTORY configuration_files DESTINATION share/cartographer/) install(DIRECTORY configuration_files DESTINATION share/cartographer/)
install(DIRECTORY cmake DESTINATION share/cartographer/)
add_subdirectory("cartographer") add_subdirectory("cartographer")
include(CMakePackageConfigHelpers) include(CMakePackageConfigHelpers)
@ -96,11 +62,15 @@ list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${LUA_INCLUDE_DIR}")
list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${CERES_INCLUDE_DIRS}") list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${CERES_INCLUDE_DIRS}")
list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}") list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}")
set(CARTOGRAPHER_CMAKE_DIR "${CMAKE_INSTALL_PREFIX}/share/cartographer/cmake")
google_combined_library(cartographer google_combined_library(cartographer
SRCS "${ALL_LIBRARIES}" SRCS "${ALL_LIBRARIES}"
) )
get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION) get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION)
get_filename_component(CARTOGRAPHER_LIBRARY_FILE_BASENAME
${CARTOGRAPHER_LIBRARY_FILE} NAME)
install( install(
FILES FILES
${CARTOGRAPHER_LIBRARY_FILE} ${CARTOGRAPHER_LIBRARY_FILE}
@ -109,7 +79,7 @@ install(
) )
set(CARTOGRAPHER_LIBRARIES "") set(CARTOGRAPHER_LIBRARIES "")
list(APPEND CARTOGRAPHER_LIBRARIES "cartographer") list(APPEND CARTOGRAPHER_LIBRARIES "${CMAKE_INSTALL_PREFIX}/lib/${CARTOGRAPHER_LIBRARY_FILE_BASENAME}")
list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}") list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}")
list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}") list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}")
list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}") list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}")
@ -119,7 +89,7 @@ list(APPEND CARTOGRAPHER_LIBRARIES "webp")
CONFIGURE_PACKAGE_CONFIG_FILE( CONFIGURE_PACKAGE_CONFIG_FILE(
cartographer-config.cmake.in cartographer-config.cmake.in
"${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake" "${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS CARTOGRAPHER_CMAKE_DIR
INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
) )

View File

@ -29,6 +29,7 @@
set(CARTOGRAPHER_INCLUDE_DIRS "@PACKAGE_CARTOGRAPHER_INCLUDE_DIRS@") set(CARTOGRAPHER_INCLUDE_DIRS "@PACKAGE_CARTOGRAPHER_INCLUDE_DIRS@")
set(CARTOGRAPHER_LIBRARY_DIRS "@PACKAGE_CARTOGRAPHER_LIBRARY_DIRS@") set(CARTOGRAPHER_LIBRARY_DIRS "@PACKAGE_CARTOGRAPHER_LIBRARY_DIRS@")
set(CARTOGRAPHER_CMAKE_DIR "@PACKAGE_CARTOGRAPHER_CMAKE_DIR@")
set(CARTOGRAPHER_LIBRARIES set(CARTOGRAPHER_LIBRARIES
"@CARTOGRAPHER_LIBRARIES@" "@CARTOGRAPHER_LIBRARIES@"

View File

@ -25,6 +25,14 @@ macro(_parse_arguments ARGS)
USES_GLOG USES_GLOG
USES_GFLAGS USES_GFLAGS
) )
# Options only used by projects using Cartographers cmake files.
list(APPEND OPTIONS
USES_CARTOGRAPHER
USES_ROS
USES_ZLIB
USES_PCL
)
set(ONE_VALUE_ARG ) set(ONE_VALUE_ARG )
set(MULTI_VALUE_ARGS SRCS HDRS DEPENDS) set(MULTI_VALUE_ARGS SRCS HDRS DEPENDS)
cmake_parse_arguments(ARG cmake_parse_arguments(ARG
@ -33,31 +41,29 @@ 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} ${GOOG_CXX_FLAGS}")
set_target_properties(${NAME} PROPERTIES
COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
if(ARG_USES_EIGEN) if(ARG_USES_EIGEN)
target_include_directories("${NAME}" SYSTEM ${VISIBILITY} target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
"${EIGEN3_INCLUDE_DIR}") "${EIGEN3_INCLUDE_DIR}")
target_link_libraries("${NAME}" "${EIGEN3_LIBRARIES}") target_link_libraries("${NAME}" ${EIGEN3_LIBRARIES})
endif() endif()
if(ARG_USES_CERES) if(ARG_USES_CERES)
target_include_directories("${NAME}" SYSTEM ${VISIBILITY} target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
"${CERES_INCLUDE_DIRS}") "${CERES_INCLUDE_DIRS}")
target_link_libraries("${NAME}" "${CERES_LIBRARIES}") target_link_libraries("${NAME}" ${CERES_LIBRARIES})
endif() endif()
if(ARG_USES_LUA) if(ARG_USES_LUA)
target_include_directories("${NAME}" SYSTEM ${VISIBILITY} target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
"${LUA_INCLUDE_DIR}") "${LUA_INCLUDE_DIR}")
target_link_libraries("${NAME}" "${LUA_LIBRARIES}") target_link_libraries("${NAME}" ${LUA_LIBRARIES})
endif() endif()
if(ARG_USES_BOOST) if(ARG_USES_BOOST)
target_include_directories("${NAME}" SYSTEM ${VISIBILITY} target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
"{Boost_INCLUDE_DIRS}") "{Boost_INCLUDE_DIRS}")
target_link_libraries("${NAME}" "${Boost_LIBRARIES}") target_link_libraries("${NAME}" ${Boost_LIBRARIES})
endif() endif()
if(ARG_USES_WEBP) if(ARG_USES_WEBP)
@ -73,6 +79,38 @@ macro(_common_compile_stuff VISIBILITY)
target_link_libraries("${NAME}" gflags) target_link_libraries("${NAME}" gflags)
endif() endif()
if(ARG_USES_ROS)
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
"${catkin_INCLUDE_DIRS}")
target_link_libraries("${NAME}" ${catkin_LIBRARIES})
add_dependencies("${NAME}" ${catkin_EXPORTED_TARGETS}
)
endif()
if(ARG_USES_ZLIB)
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
"${ZLIB_INCLUDE_DIRS}")
target_link_libraries("${NAME}" ${ZLIB_LIBRARIES})
endif()
if(ARG_USES_CARTOGRAPHER)
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
"${CARTOGRAPHER_INCLUDE_DIRS}")
target_link_libraries("${NAME}" ${CARTOGRAPHER_LIBRARIES})
endif()
if(ARG_USES_PCL)
target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
"${PCL_INCLUDE_DIRS}")
target_link_libraries("${NAME}" ${PCL_LIBRARIES})
foreach(DEFINITION ${PCL_DEFINITIONS})
set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${DEFINITION}")
endforeach()
endif()
set_target_properties(${NAME} PROPERTIES
COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
# Add the binary directory first, so that port.h is included after it has # Add the binary directory first, so that port.h is included after it has
# been generated. # been generated.
target_include_directories("${NAME}" ${VISIBILITY} "${CMAKE_BINARY_DIR}") target_include_directories("${NAME}" ${VISIBILITY} "${CMAKE_BINARY_DIR}")
@ -265,5 +303,38 @@ function(google_proto_library NAME)
"${PROTOBUF_INCLUDE_DIR}") "${PROTOBUF_INCLUDE_DIR}")
# TODO(hrapp): This should not explicityly list pthread and use # TODO(hrapp): This should not explicityly list pthread and use
# PROTOBUF_LIBRARIES, but that failed on first try. # PROTOBUF_LIBRARIES, but that failed on first try.
target_link_libraries("${NAME}" "${PROTOBUF_LIBRARY}" pthread) target_link_libraries("${NAME}" ${PROTOBUF_LIBRARY} pthread)
endfunction() endfunction()
macro(google_initialize_cartographer_project)
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
set(GOOG_CXX_FLAGS "-pthread -std=c++11 ${GOOG_CXX_FLAGS}")
google_add_flag(GOOG_CXX_FLAGS "-Wall")
google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
# Turn some warnings into errors.
google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
google_add_flag(GOOG_CXX_FLAGS "-Werror=reorder")
google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
set(CMAKE_BUILD_TYPE Release)
endif()
if(CMAKE_BUILD_TYPE STREQUAL "Release")
google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
message(FATAL_ERROR "Compiling in debug mode is not supported.")
else()
message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
endif()
message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
set(GMOCK_SRC_DIR "/usr/src/gmock" CACHE STRING "Path to google-mock sources.")
add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock")
endmacro()