319 lines
7.9 KiB
CMake
319 lines
7.9 KiB
CMake
# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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add_subdirectory("proto")
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add_subdirectory("scan_matching")
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add_subdirectory("sparse_pose_graph")
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google_library(mapping_3d_acceleration_cost_function
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USES_EIGEN
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HDRS
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acceleration_cost_function.h
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)
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google_library(mapping_3d_ceres_pose
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USES_CERES
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USES_EIGEN
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SRCS
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ceres_pose.cc
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HDRS
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ceres_pose.h
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DEPENDS
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transform_rigid_transform
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)
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google_library(mapping_3d_global_trajectory_builder
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SRCS
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global_trajectory_builder.cc
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HDRS
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global_trajectory_builder.h
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DEPENDS
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mapping_3d_local_trajectory_builder
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mapping_3d_proto_local_trajectory_builder_options
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mapping_3d_sparse_pose_graph
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mapping_global_trajectory_builder_interface
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)
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google_library(mapping_3d_hybrid_grid
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USES_CERES
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USES_EIGEN
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HDRS
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hybrid_grid.h
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DEPENDS
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common_make_unique
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common_math
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common_port
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mapping_probability_values
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)
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google_library(mapping_3d_imu_integration
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USES_CERES
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USES_EIGEN
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SRCS
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imu_integration.cc
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HDRS
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imu_integration.h
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DEPENDS
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common_time
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transform_transform
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)
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google_library(mapping_3d_kalman_local_trajectory_builder
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USES_CERES
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SRCS
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kalman_local_trajectory_builder.cc
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HDRS
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kalman_local_trajectory_builder.h
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DEPENDS
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common_make_unique
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common_time
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kalman_filter_pose_tracker
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kalman_filter_proto_pose_tracker_options
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mapping_2d_scan_matching_proto_real_time_correlative_scan_matcher_options
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mapping_3d_local_trajectory_builder_interface
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mapping_3d_motion_filter
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mapping_3d_proto_local_trajectory_builder_options
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mapping_3d_proto_submaps_options
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mapping_3d_scan_matching_ceres_scan_matcher
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mapping_3d_scan_matching_proto_ceres_scan_matcher_options
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mapping_3d_scan_matching_real_time_correlative_scan_matcher
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mapping_3d_submaps
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mapping_global_trajectory_builder_interface
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sensor_laser
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sensor_voxel_filter
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)
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google_library(mapping_3d_kalman_local_trajectory_builder_options
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SRCS
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kalman_local_trajectory_builder_options.cc
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HDRS
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kalman_local_trajectory_builder_options.h
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DEPENDS
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common_lua_parameter_dictionary
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kalman_filter_pose_tracker
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mapping_2d_scan_matching_real_time_correlative_scan_matcher
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mapping_3d_proto_kalman_local_trajectory_builder_options
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)
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google_library(mapping_3d_laser_fan_inserter
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USES_CERES
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USES_EIGEN
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SRCS
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laser_fan_inserter.cc
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HDRS
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laser_fan_inserter.h
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DEPENDS
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mapping_3d_hybrid_grid
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mapping_3d_proto_laser_fan_inserter_options
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mapping_probability_values
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sensor_laser
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sensor_point_cloud
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)
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google_library(mapping_3d_local_trajectory_builder
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SRCS
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local_trajectory_builder.cc
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HDRS
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local_trajectory_builder.h
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DEPENDS
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common_make_unique
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mapping_3d_kalman_local_trajectory_builder
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mapping_3d_local_trajectory_builder_interface
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mapping_3d_optimizing_local_trajectory_builder
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mapping_3d_proto_local_trajectory_builder_options
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)
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google_library(mapping_3d_local_trajectory_builder_interface
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HDRS
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local_trajectory_builder_interface.h
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DEPENDS
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common_time
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mapping_3d_submaps
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mapping_global_trajectory_builder_interface
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sensor_laser
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transform_rigid_transform
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)
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google_library(mapping_3d_local_trajectory_builder_options
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USES_CERES
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SRCS
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local_trajectory_builder_options.cc
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HDRS
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local_trajectory_builder_options.h
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DEPENDS
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common_lua_parameter_dictionary
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mapping_3d_kalman_local_trajectory_builder_options
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mapping_3d_motion_filter
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mapping_3d_optimizing_local_trajectory_builder_options
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mapping_3d_proto_local_trajectory_builder_options
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mapping_3d_scan_matching_ceres_scan_matcher
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mapping_3d_submaps
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sensor_voxel_filter
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)
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google_library(mapping_3d_motion_filter
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USES_CERES
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SRCS
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motion_filter.cc
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HDRS
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motion_filter.h
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DEPENDS
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common_lua_parameter_dictionary
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common_time
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mapping_3d_proto_motion_filter_options
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transform_rigid_transform
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transform_transform
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)
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google_library(mapping_3d_optimizing_local_trajectory_builder
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USES_CERES
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SRCS
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optimizing_local_trajectory_builder.cc
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HDRS
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optimizing_local_trajectory_builder.h
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DEPENDS
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common_ceres_solver_options
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common_make_unique
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common_time
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kalman_filter_pose_tracker
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mapping_3d_imu_integration
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mapping_3d_local_trajectory_builder_interface
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mapping_3d_motion_filter
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mapping_3d_proto_local_trajectory_builder_options
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mapping_3d_proto_optimizing_local_trajectory_builder_options
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mapping_3d_rotation_cost_function
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mapping_3d_scan_matching_occupied_space_cost_functor
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mapping_3d_scan_matching_proto_ceres_scan_matcher_options
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mapping_3d_scan_matching_translation_delta_cost_functor
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mapping_3d_submaps
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mapping_3d_translation_cost_function
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mapping_global_trajectory_builder_interface
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sensor_laser
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sensor_voxel_filter
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transform_rigid_transform
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transform_transform
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transform_transform_interpolation_buffer
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)
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google_library(mapping_3d_optimizing_local_trajectory_builder_options
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SRCS
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optimizing_local_trajectory_builder_options.cc
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HDRS
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optimizing_local_trajectory_builder_options.h
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DEPENDS
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common_lua_parameter_dictionary
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mapping_3d_proto_optimizing_local_trajectory_builder_options
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)
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google_library(mapping_3d_rotation_cost_function
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USES_EIGEN
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HDRS
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rotation_cost_function.h
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)
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google_library(mapping_3d_sparse_pose_graph
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USES_CERES
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USES_EIGEN
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SRCS
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sparse_pose_graph.cc
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HDRS
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sparse_pose_graph.h
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DEPENDS
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common_fixed_ratio_sampler
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common_make_unique
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common_math
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common_mutex
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common_thread_pool
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common_time
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kalman_filter_pose_tracker
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mapping_3d_sparse_pose_graph_constraint_builder
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mapping_3d_sparse_pose_graph_optimization_problem
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mapping_3d_submaps
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mapping_proto_scan_matching_progress
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mapping_sparse_pose_graph
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mapping_sparse_pose_graph_proto_constraint_builder_options
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mapping_trajectory_connectivity
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sensor_point_cloud
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sensor_voxel_filter
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transform_rigid_transform
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transform_transform
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)
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google_library(mapping_3d_submaps
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USES_CERES
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USES_EIGEN
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SRCS
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submaps.cc
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HDRS
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submaps.h
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DEPENDS
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common_math
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common_port
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mapping_2d_laser_fan_inserter
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mapping_2d_probability_grid
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mapping_3d_hybrid_grid
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mapping_3d_laser_fan_inserter
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mapping_3d_proto_submaps_options
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mapping_sparse_pose_graph
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mapping_submaps
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sensor_laser
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transform_transform
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)
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google_library(mapping_3d_translation_cost_function
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USES_EIGEN
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HDRS
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translation_cost_function.h
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)
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google_test(mapping_3d_hybrid_grid_test
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SRCS
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hybrid_grid_test.cc
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DEPENDS
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mapping_3d_hybrid_grid
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)
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google_test(mapping_3d_kalman_local_trajectory_builder_test
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USES_CERES
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USES_EIGEN
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SRCS
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kalman_local_trajectory_builder_test.cc
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DEPENDS
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common_lua_parameter_dictionary_test_helpers
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common_time
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mapping_3d_hybrid_grid
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mapping_3d_kalman_local_trajectory_builder
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mapping_3d_local_trajectory_builder_options
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sensor_laser
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transform_rigid_transform
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transform_rigid_transform_test_helpers
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transform_transform
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)
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google_test(mapping_3d_laser_fan_inserter_test
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SRCS
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laser_fan_inserter_test.cc
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DEPENDS
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common_lua_parameter_dictionary_test_helpers
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mapping_3d_laser_fan_inserter
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)
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google_test(mapping_3d_motion_filter_test
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SRCS
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motion_filter_test.cc
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DEPENDS
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common_lua_parameter_dictionary_test_helpers
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mapping_3d_motion_filter
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)
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