Adds google_binary to create installable binaries. (#43)

- Do not link in Ceres if gflags or glog is used, but still rely on ceres
  to find those libraries for us.
- Update CMakeLists with new settings.

cartographer/common/CMakeLists.txt

@@ -19,7 +19,7 @@ configure_file (
   ${CMAKE_CURRENT_BINARY_DIR}/config.h)
 
 google_library(common_blocking_queue
-  USES_CERES
+  USES_GLOG
   HDRS
     blocking_queue.h
   DEPENDS
@@ -45,7 +45,7 @@ google_library(common_config
 )
 
 google_library(common_configuration_file_resolver
-  USES_CERES
+  USES_GLOG
   SRCS
     configuration_file_resolver.cc
   HDRS
@@ -66,7 +66,7 @@ google_library(common_fixed_ratio_sampler
 )
 
 google_library(common_histogram
-  USES_CERES
+  USES_GLOG
   SRCS
     histogram.cc
   HDRS
@@ -82,7 +82,7 @@ google_library(common_lua
 )
 
 google_library(common_lua_parameter_dictionary
-  USES_CERES
+  USES_GLOG
   SRCS
     lua_parameter_dictionary.cc
   HDRS
@@ -93,7 +93,7 @@ google_library(common_lua_parameter_dictionary
 )
 
 google_library(common_lua_parameter_dictionary_test_helpers
-  USES_CERES
+  USES_GLOG
   HDRS
     lua_parameter_dictionary_test_helpers.h
   DEPENDS
@@ -148,7 +148,7 @@ google_library(common_rate_timer
 )
 
 google_library(common_thread_pool
-  USES_CERES
+  USES_GLOG
   SRCS
     thread_pool.cc
   HDRS

cartographer/kalman_filter/CMakeLists.txt

@@ -31,8 +31,8 @@ google_library(kalman_filter_odometry_state_tracker
 )
 
 google_library(kalman_filter_pose_tracker
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     pose_tracker.cc
   HDRS
@@ -51,8 +51,8 @@ google_library(kalman_filter_pose_tracker
 )
 
 google_library(kalman_filter_unscented_kalman_filter
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   HDRS
     unscented_kalman_filter.h
   DEPENDS

cartographer/mapping/CMakeLists.txt

@@ -29,8 +29,8 @@ google_library(mapping_global_trajectory_builder_interface
 )
 
 google_library(mapping_map_builder
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     map_builder.cc
   HDRS
@@ -58,7 +58,7 @@ google_library(mapping_map_builder
 )
 
 google_library(mapping_probability_values
-  USES_CERES
+  USES_GLOG
   SRCS
     probability_values.cc
   HDRS
@@ -69,8 +69,8 @@ google_library(mapping_probability_values
 )
 
 google_library(mapping_sensor_collator
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   HDRS
     sensor_collator.h
   DEPENDS
@@ -81,7 +81,7 @@ google_library(mapping_sensor_collator
 )
 
 google_library(mapping_sparse_pose_graph
-  USES_CERES
+  USES_GLOG
   SRCS
     sparse_pose_graph.cc
   HDRS
@@ -98,8 +98,8 @@ google_library(mapping_sparse_pose_graph
 )
 
 google_library(mapping_submaps
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     submaps.cc
   HDRS
@@ -115,7 +115,7 @@ google_library(mapping_submaps
 )
 
 google_library(mapping_trajectory_connectivity
-  USES_CERES
+  USES_GLOG
   SRCS
     trajectory_connectivity.cc
   HDRS
@@ -155,7 +155,7 @@ google_test(mapping_sensor_collator_test
 )
 
 google_test(mapping_sparse_pose_graph_test
-  USES_CERES
+  USES_GLOG
   SRCS
     sparse_pose_graph_test.cc
   DEPENDS

cartographer/mapping_2d/CMakeLists.txt

@@ -28,8 +28,8 @@ google_library(mapping_2d_global_trajectory_builder
 )
 
 google_library(mapping_2d_laser_fan_inserter
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     laser_fan_inserter.cc
   HDRS
@@ -68,8 +68,8 @@ google_library(mapping_2d_local_trajectory_builder
 )
 
 google_library(mapping_2d_map_limits
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   HDRS
     map_limits.h
   DEPENDS
@@ -83,7 +83,7 @@ google_library(mapping_2d_map_limits
 )
 
 google_library(mapping_2d_probability_grid
-  USES_CERES
+  USES_GLOG
   HDRS
     probability_grid.h
   DEPENDS
@@ -108,8 +108,8 @@ google_library(mapping_2d_ray_casting
 )
 
 google_library(mapping_2d_sparse_pose_graph
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     sparse_pose_graph.cc
   HDRS
@@ -135,8 +135,8 @@ google_library(mapping_2d_sparse_pose_graph
 )
 
 google_library(mapping_2d_submaps
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   USES_WEBP
   SRCS
     submaps.cc
@@ -158,8 +158,8 @@ google_library(mapping_2d_submaps
 )
 
 google_library(mapping_2d_xy_index
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   HDRS
     xy_index.h
   DEPENDS

cartographer/mapping_2d/scan_matching/CMakeLists.txt

@@ -17,6 +17,7 @@ add_subdirectory("proto")
 google_library(mapping_2d_scan_matching_ceres_scan_matcher
   USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     ceres_scan_matcher.cc
   HDRS
@@ -49,8 +50,8 @@ google_library(mapping_2d_scan_matching_correlative_scan_matcher
 )
 
 google_library(mapping_2d_scan_matching_fast_correlative_scan_matcher
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     fast_correlative_scan_matcher.cc
   HDRS
@@ -66,8 +67,8 @@ google_library(mapping_2d_scan_matching_fast_correlative_scan_matcher
 )
 
 google_library(mapping_2d_scan_matching_fast_global_localizer
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     fast_global_localizer.cc
   HDRS
@@ -88,8 +89,8 @@ google_library(mapping_2d_scan_matching_occupied_space_cost_functor
 )
 
 google_library(mapping_2d_scan_matching_real_time_correlative_scan_matcher
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     real_time_correlative_scan_matcher.cc
   HDRS

cartographer/mapping_2d/sparse_pose_graph/CMakeLists.txt

@@ -13,8 +13,8 @@
 # limitations under the License.
 
 google_library(mapping_2d_sparse_pose_graph_constraint_builder
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     constraint_builder.cc
   HDRS
@@ -45,6 +45,7 @@ google_library(mapping_2d_sparse_pose_graph_constraint_builder
 google_library(mapping_2d_sparse_pose_graph_optimization_problem
   USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     optimization_problem.cc
   HDRS

cartographer/mapping_3d/CMakeLists.txt

@@ -46,8 +46,8 @@ google_library(mapping_3d_global_trajectory_builder
 )
 
 google_library(mapping_3d_hybrid_grid
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   HDRS
     hybrid_grid.h
   DEPENDS
@@ -58,8 +58,8 @@ google_library(mapping_3d_hybrid_grid
 )
 
 google_library(mapping_3d_imu_integration
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     imu_integration.cc
   HDRS
@@ -70,7 +70,7 @@ google_library(mapping_3d_imu_integration
 )
 
 google_library(mapping_3d_kalman_local_trajectory_builder
-  USES_CERES
+  USES_GLOG
   SRCS
     kalman_local_trajectory_builder.cc
   HDRS
@@ -107,8 +107,8 @@ google_library(mapping_3d_kalman_local_trajectory_builder_options
 )
 
 google_library(mapping_3d_laser_fan_inserter
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     laser_fan_inserter.cc
   HDRS
@@ -146,7 +146,7 @@ google_library(mapping_3d_local_trajectory_builder_interface
 )
 
 google_library(mapping_3d_local_trajectory_builder_options
-  USES_CERES
+  USES_GLOG
   SRCS
     local_trajectory_builder_options.cc
   HDRS
@@ -163,7 +163,7 @@ google_library(mapping_3d_local_trajectory_builder_options
 )
 
 google_library(mapping_3d_motion_filter
-  USES_CERES
+  USES_GLOG
   SRCS
     motion_filter.cc
   HDRS
@@ -177,7 +177,7 @@ google_library(mapping_3d_motion_filter
 )
 
 google_library(mapping_3d_optimizing_local_trajectory_builder
-  USES_CERES
+  USES_GLOG
   SRCS
     optimizing_local_trajectory_builder.cc
   HDRS
@@ -223,8 +223,8 @@ google_library(mapping_3d_rotation_cost_function
 )
 
 google_library(mapping_3d_sparse_pose_graph
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     sparse_pose_graph.cc
   HDRS
@@ -251,8 +251,8 @@ google_library(mapping_3d_sparse_pose_graph
 )
 
 google_library(mapping_3d_submaps
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     submaps.cc
   HDRS
@@ -285,8 +285,8 @@ google_test(mapping_3d_hybrid_grid_test
 )
 
 google_test(mapping_3d_kalman_local_trajectory_builder_test
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     kalman_local_trajectory_builder_test.cc
   DEPENDS

cartographer/mapping_3d/scan_matching/CMakeLists.txt

@@ -17,6 +17,7 @@ add_subdirectory("proto")
 google_library(mapping_3d_scan_matching_ceres_scan_matcher
   USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     ceres_scan_matcher.cc
   HDRS
@@ -38,8 +39,8 @@ google_library(mapping_3d_scan_matching_ceres_scan_matcher
 )
 
 google_library(mapping_3d_scan_matching_fast_correlative_scan_matcher
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     fast_correlative_scan_matcher.cc
   HDRS
@@ -78,8 +79,8 @@ google_library(mapping_3d_scan_matching_occupied_space_cost_functor
 )
 
 google_library(mapping_3d_scan_matching_precomputation_grid
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     precomputation_grid.cc
   HDRS
@@ -91,8 +92,8 @@ google_library(mapping_3d_scan_matching_precomputation_grid
 )
 
 google_library(mapping_3d_scan_matching_real_time_correlative_scan_matcher
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     real_time_correlative_scan_matcher.cc
   HDRS

cartographer/mapping_3d/sparse_pose_graph/CMakeLists.txt

@@ -13,8 +13,8 @@
 # limitations under the License.
 
 google_library(mapping_3d_sparse_pose_graph_constraint_builder
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     constraint_builder.cc
   HDRS
@@ -46,6 +46,7 @@ google_library(mapping_3d_sparse_pose_graph_constraint_builder
 google_library(mapping_3d_sparse_pose_graph_optimization_problem
   USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     optimization_problem.cc
   HDRS
@@ -67,8 +68,8 @@ google_library(mapping_3d_sparse_pose_graph_optimization_problem
 )
 
 google_test(mapping_3d_sparse_pose_graph_optimization_problem_test
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     optimization_problem_test.cc
   DEPENDS

cartographer/sensor/CMakeLists.txt

@@ -29,8 +29,8 @@ google_library(sensor_compressed_point_cloud
 )
 
 google_library(sensor_configuration
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     configuration.cc
   HDRS
@@ -57,8 +57,8 @@ google_library(sensor_laser
 )
 
 google_library(sensor_point_cloud
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     point_cloud.cc
   HDRS
@@ -70,7 +70,7 @@ google_library(sensor_point_cloud
 )
 
 google_library(sensor_sensor_packet_period_histogram_builder
-  USES_CERES
+  USES_GLOG
   SRCS
     sensor_packet_period_histogram_builder.cc
   HDRS

cartographer/transform/CMakeLists.txt

@@ -15,8 +15,8 @@
 add_subdirectory("proto")
 
 google_library(transform_rigid_transform
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     rigid_transform.cc
   HDRS
@@ -49,8 +49,8 @@ google_library(transform_transform
 )
 
 google_library(transform_transform_interpolation_buffer
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     transform_interpolation_buffer.cc
   HDRS

cmake/functions.cmake

@@ -22,6 +22,8 @@ macro(_parse_arguments ARGS)
     USES_LUA
     USES_BOOST
     USES_WEBP
+    USES_GLOG
+    USES_GFLAGS
   )
   set(ONE_VALUE_ARG )
   set(MULTI_VALUE_ARGS SRCS HDRS DEPENDS)
@@ -62,6 +64,15 @@ macro(_common_compile_stuff VISIBILITY)
     target_link_libraries("${NAME}" webp)
   endif()
 
+  # We rely on Ceres to find glog and gflags for us.
+  if(ARG_USES_GLOG)
+    target_link_libraries("${NAME}" glog)
+  endif()
+
+  if(ARG_USES_GFLAGS)
+    target_link_libraries("${NAME}" gflags)
+  endif()
+
   # Add the binary directory first, so that port.h is included after it has
   # been generated.
   target_include_directories("${NAME}" ${VISIBILITY} "${CMAKE_BINARY_DIR}")
@@ -186,6 +197,18 @@ function(google_test NAME)
   add_test(${NAME} ${NAME})
 endfunction()
 
+function(google_binary NAME)
+  _parse_arguments("${ARGN}")
+
+  add_executable(${NAME}
+    ${ARG_SRCS} ${ARG_HDRS}
+  )
+
+  _common_compile_stuff("PRIVATE")
+
+  install(TARGETS "${NAME}" RUNTIME DESTINATION bin)
+endfunction()
+
 function(google_library NAME)
   _parse_arguments("${ARGN}")
 

scripts/update_cmakelists.py

@@ -93,11 +93,12 @@ def ExtractUses(source):
       uses.add("USES_EIGEN")
     if re.match(r"^#include <lua.hpp>", line):
       uses.add("USES_LUA")
-    if re.match(r'^#include "(ceres|glog)/', line):
+    if re.match(r'^#include "ceres/', line):
-      # We abuse Ceres CFLAGS for other Google libraries that we all depend on.
-      # The alternative is to ship and maintain our own Find*.cmake files which
-      # is not appealing.
       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):
@@ -177,6 +178,16 @@ def main():
       name = 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):
+      # Binaries do not get their full subpath appended, but we prepend
+      # 'cartographer' to distinguish them after installation. So,
+      # 'io/asset_writer_main.cc' will generate a binary called
+      # 'cartographer_asset_writer'.
+      name = 'cartographer_' + path.basename(path.splitext(c)[0][:-5])
+      AddTarget("google_binary", name, directory, [c], [])
+
     assert (not sources), "Remaining sources without target: %s" % sources
 
   # Write the CMakeLists.txt files.