cartographer/CMakeLists.txt

271 lines
9.4 KiB
CMake

# 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.
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)
set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION})
set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
option(BUILD_GRPC "build Cartographer gRPC support" false)
# TODO(gaschler): Make this an option.
set(GRPC_PLUGIN_PATH "/usr/local/bin/grpc_cpp_plugin")
include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
google_initialize_cartographer_project()
google_enable_testing()
find_package(Boost REQUIRED COMPONENTS iostreams)
find_package(Ceres REQUIRED COMPONENTS SparseLinearAlgebraLibrary)
find_package(Eigen3 REQUIRED)
find_package(LuaGoogle REQUIRED)
find_package(Protobuf 3.0.0 REQUIRED)
include(FindPkgConfig)
PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
# Only build the documentation if we can find Sphinx.
find_package(Sphinx)
if(SPHINX_FOUND)
add_subdirectory("docs")
endif()
# Install catkin package.xml
install(FILES package.xml DESTINATION share/cartographer)
set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY ${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files
CACHE PATH ".lua configuration files directory")
install(DIRECTORY configuration_files DESTINATION share/cartographer/)
install(DIRECTORY cmake DESTINATION share/cartographer/)
file(GLOB_RECURSE ALL_LIBRARY_HDRS "*.h")
file(GLOB_RECURSE ALL_LIBRARY_SRCS "*.cc")
file(GLOB_RECURSE ALL_TESTS "*_test.cc")
file(GLOB_RECURSE ALL_EXECUTABLES "*_main.cc")
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_TESTS})
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_EXECUTABLES})
file(GLOB_RECURSE ALL_GRPC_FILES "cartographer_grpc/*")
if (NOT ${BUILD_GRPC})
list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_GRPC_FILES})
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_GRPC_FILES})
list(REMOVE_ITEM ALL_TESTS ${ALL_GRPC_FILES})
list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_GRPC_FILES})
endif()
set(INSTALL_SOURCE_HDRS ${ALL_LIBRARY_HDRS})
file(GLOB_RECURSE INTERNAL_HDRS "cartographer/internal/*.h"
"cartographer_grpc/internal/*.h")
list(REMOVE_ITEM INSTALL_SOURCE_HDRS ${INTERNAL_HDRS})
file(GLOB_RECURSE ALL_PROTOS "*.proto")
file(GLOB_RECURSE ALL_GRPC_SERVICES "*_service.proto")
list(REMOVE_ITEM ALL_PROTOS ALL_GRPC_SERVICES)
if (NOT ${BUILD_GRPC})
list(REMOVE_ITEM ALL_PROTOS ${ALL_GRPC_FILES})
endif()
# TODO(cschuet): Move proto compilation to separate function.
set(ALL_PROTO_SRCS)
set(ALL_PROTO_HDRS)
foreach(ABS_FIL ${ALL_PROTOS})
file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
get_filename_component(DIR ${REL_FIL} DIRECTORY)
get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
list(APPEND ALL_PROTO_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
list(APPEND ALL_PROTO_HDRS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")
add_custom_command(
OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
ARGS --cpp_out ${PROJECT_BINARY_DIR} -I
${PROJECT_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_LIBRARY_HDRS ${ALL_PROTO_HDRS})
list(APPEND ALL_LIBRARY_SRCS ${ALL_PROTO_SRCS})
if(${BUILD_GRPC})
set(ALL_GRPC_SERVICE_SRCS)
set(ALL_GRPC_SERVICE_HDRS)
foreach(ABS_FIL ${ALL_GRPC_SERVICES})
file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
get_filename_component(DIR ${REL_FIL} DIRECTORY)
get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
list(APPEND ALL_GRPC_SERVICE_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
list(APPEND ALL_GRPC_SERVICE_HDRS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")
list(APPEND ALL_GRPC_SERVICE_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.grpc.pb.cc")
list(APPEND ALL_GRPC_SERVICE_HDRS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.grpc.pb.h")
add_custom_command(
OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.grpc.pb.cc"
"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.grpc.pb.h"
COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
ARGS --grpc_out ${PROJECT_BINARY_DIR}
--cpp_out ${PROJECT_BINARY_DIR}
-I ${PROJECT_SOURCE_DIR}
--plugin=protoc-gen-grpc=${GRPC_PLUGIN_PATH}
${ABS_FIL}
DEPENDS ${ABS_FIL}
COMMENT "Running C++ protocol buffer compiler with gRPC support on ${ABS_FIL}"
VERBATIM
)
endforeach()
set_source_files_properties(${ALL_GRPC_SERVICE_SRCS} ${ALL_GRPC_SERVICE_HDRS} PROPERTIES GENERATED TRUE)
list(APPEND ALL_LIBRARY_HDRS ${ALL_GRPC_SERVICE_HDRS})
list(APPEND ALL_LIBRARY_SRCS ${ALL_GRPC_SERVICE_SRCS})
endif()
set(INSTALL_GENERATED_HDRS ${ALL_PROTO_HDRS} ${ALL_GRPC_SERVICE_HDRS})
add_library(${PROJECT_NAME} ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS})
configure_file(
${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
${PROJECT_BINARY_DIR}/cartographer/common/config.h)
google_binary(cartographer_autogenerate_ground_truth
SRCS
cartographer/ground_truth/autogenerate_ground_truth_main.cc
)
google_binary(cartographer_compute_relations_metrics
SRCS
cartographer/ground_truth/compute_relations_metrics_main.cc
)
if(${BUILD_GRPC})
google_binary(cartographer_grpc_server
SRCS
cartographer_grpc/map_builder_server_main.cc
)
endif()
foreach(ABS_FIL ${ALL_TESTS})
file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
get_filename_component(DIR ${REL_FIL} DIRECTORY)
get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
# Replace slashes as required for CMP0037.
string(REPLACE "/" "." TEST_TARGET_NAME "${DIR}/${FIL_WE}")
google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
if(${BUILD_GRPC})
target_link_libraries("${TEST_TARGET_NAME}" PUBLIC grpc++)
endif()
endforeach()
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
"${EIGEN3_INCLUDE_DIR}")
target_link_libraries(${PROJECT_NAME} PUBLIC ${EIGEN3_LIBRARIES})
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
"${CERES_INCLUDE_DIRS}")
target_link_libraries(${PROJECT_NAME} PUBLIC ${CERES_LIBRARIES})
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
"${LUA_INCLUDE_DIR}")
target_link_libraries(${PROJECT_NAME} PUBLIC ${LUA_LIBRARIES})
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
"${Boost_INCLUDE_DIRS}")
target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
# We expect find_package(Ceres) to have located these for us.
target_link_libraries(${PROJECT_NAME} PUBLIC glog)
target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
"${CAIRO_INCLUDE_DIRS}")
target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARIES})
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
${PROTOBUF_INCLUDE_DIR})
# TODO(hrapp): This should not explicitly list pthread and use
# PROTOBUF_LIBRARIES, but that failed on first try.
target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
if(${BUILD_GRPC})
target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
endif()
# Add the binary directory first, so that port.h is included after it has
# been generated.
target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${PROJECT_BINARY_DIR}>
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>
)
# TODO(damonkohler): Create a testing library.
target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE
"${GMOCK_INCLUDE_DIRS}")
target_link_libraries(${PROJECT_NAME} PUBLIC ${GMOCK_LIBRARY})
set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
set_target_properties(${PROJECT_NAME} PROPERTIES
COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
install(
TARGETS ${PROJECT_NAME}
EXPORT CartographerExport
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
foreach(HDR ${INSTALL_SOURCE_HDRS})
file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${HDR})
get_filename_component(DIR ${REL_FIL} DIRECTORY)
install(
FILES ${HDR}
DESTINATION include/${DIR}
)
endforeach()
foreach(HDR ${INSTALL_GENERATED_HDRS})
file(RELATIVE_PATH REL_FIL ${PROJECT_BINARY_DIR} ${HDR})
get_filename_component(DIR ${REL_FIL} DIRECTORY)
install(
FILES ${HDR}
DESTINATION include/${DIR}
)
endforeach()
set(CARTOGRAPHER_CMAKE_DIR share/cartographer/cmake)
include(CMakePackageConfigHelpers)
configure_package_config_file(
cartographer-config.cmake.in
${PROJECT_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake
PATH_VARS CARTOGRAPHER_CMAKE_DIR
INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
)
install(
EXPORT CartographerExport
DESTINATION share/cartographer/cmake/
FILE CartographerTargets.cmake
)
install(
FILES ${PROJECT_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake
DESTINATION share/cartographer/
)