[cartographer]Upgrade to v1.0.0, remake patch and fix build error. (#6492)

2025-06-07 01:24:47 +08:00 · 2019-05-18 04:44:32 +08:00 · 2019-05-18 04:44:32 +08:00 · 2e51afcd65
commit 2e51afcd65
parent 41c7755acf
5 changed files with 218 additions and 157 deletions
--- a/ports/cartographer/CONTROL
+++ b/ports/cartographer/CONTROL
@ -1,4 +1,4 @@
 Source: cartographer
-Version: 0.3.0-6
-Build-Depends: ceres[eigensparse], gflags, glog, lua, cairo, boost-iostreams, gtest, protobuf
-Description: Google 2D & 3D SLAM package
+Version: 1.0.0
+Build-Depends: ceres[suitesparse], gflags, glog, lua, cairo, boost-iostreams, gtest, protobuf
+Description: Google 2D & 3D SLAM package
--- a/ports/cartographer/disable-C2338-cartographer.patch
+++ b/ports/cartographer/disable-C2338-cartographer.patch
@ -1,10 +1,10 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index bc92e9b..4c1826a 100644
+index 95bb132..fbd624d 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -226,7 +226,7 @@ target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE
-   "${GMOCK_INCLUDE_DIRS}")
- target_link_libraries(${PROJECT_NAME} PUBLIC ${GMOCK_LIBRARY})
+@@ -237,7 +237,7 @@ if(${BUILD_PROMETHEUS})
+   target_compile_definitions(${PROJECT_NAME} PUBLIC USE_PROMETHEUS=1)
+ endif()
 
 -set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
 +set(TARGET_COMPILE_FLAGS "-D_DISABLE_EXTENDED_ALIGNED_STORAGE ${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
--- a/ports/cartographer/fix-build-error.patch
+++ b/ports/cartographer/fix-build-error.patch
@ -0,0 +1,25 @@
+diff --git a/cartographer/common/internal/testing/thread_pool_for_testing.cc b/cartographer/common/internal/testing/thread_pool_for_testing.cc
+index f804e13..c987f68 100644
+--- a/cartographer/common/internal/testing/thread_pool_for_testing.cc
+++ b/cartographer/common/internal/testing/thread_pool_for_testing.cc
+@@ -16,7 +16,7 @@
+ 
+ #include "cartographer/common/internal/testing/thread_pool_for_testing.h"
+ 
+-#include <unistd.h>
+//#include <unistd.h>
+ #include <algorithm>
+ #include <chrono>
+ #include <numeric>
+diff --git a/cartographer/mapping/pose_graph_interface.h b/cartographer/mapping/pose_graph_interface.h
+index 6483ef4..6456720 100644
+--- a/cartographer/mapping/pose_graph_interface.h
+++ b/cartographer/mapping/pose_graph_interface.h
+@@ -18,6 +18,7 @@
+ #define CARTOGRAPHER_MAPPING_POSE_GRAPH_INTERFACE_H_
+ 
+ #include <vector>
+#include <array>
+ 
+ #include "cartographer/common/optional.h"
+ #include "cartographer/mapping/id.h"
--- a/ports/cartographer/fix-find-packages.patch
+++ b/ports/cartographer/fix-find-packages.patch
@ -1,146 +1,181 @@
- CMakeLists.txt                     | 45 ++++++++++++++++++++++----------------
- cartographer/common/math.h         |  4 +++-
- cartographer/common/thread_pool.cc |  2 +-
- cmake/functions.cmake              | 10 ++++-----
- 4 files changed, 35 insertions(+), 26 deletions(-)
-
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 55e9adc..bc92e9b 100644
--- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -26,18 +26,23 @@ option(BUILD_GRPC "build Cartographer gRPC support" false)
- set(GRPC_PLUGIN_PATH "/usr/local/bin/grpc_cpp_plugin")
- 
- include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
-google_initialize_cartographer_project()
-google_enable_testing()
-+#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(Lua REQUIRED)
- find_package(Protobuf 3.0.0 REQUIRED)
-+find_package(glog REQUIRED)
-+find_package(gflags REQUIRED)
- 
-include(FindPkgConfig)
-PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
-
-+#include(FindPkgConfig)
-+#PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
-+if(CMAKE_BUILD_TYPE STREQUAL Debug)
-+    set(CAIRO_LIB_SUFFIX d)
-+endif()
-+find_library(CAIRO_LIBRARY cairo${CAIRO_LIB_SUFFIX})
- # Only build the documentation if we can find Sphinx.
- find_package(Sphinx)
- if(SPHINX_FOUND)
-@@ -144,15 +149,15 @@ configure_file(
-   ${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
-   ${PROJECT_BINARY_DIR}/cartographer/common/config.h)
- 
-google_binary(cartographer_autogenerate_ground_truth
-  SRCS
-    cartographer/ground_truth/autogenerate_ground_truth_main.cc
-)
-
-google_binary(cartographer_compute_relations_metrics
-  SRCS
-    cartographer/ground_truth/compute_relations_metrics_main.cc
-)
-+#google_binary(cartographer_autogenerate_ground_truth
-+#  SRCS
-+#    cartographer/ground_truth/autogenerate_ground_truth_main.cc
-+#)
-+#
-+#google_binary(cartographer_compute_relations_metrics
-+#  SRCS
-+#    cartographer/ground_truth/compute_relations_metrics_main.cc
-+#)
- 
- if(${BUILD_GRPC})
-   google_binary(cartographer_grpc_server
-@@ -167,7 +172,7 @@ foreach(ABS_FIL ${ALL_TESTS})
-   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}" ${ABS_FIL})
-+  #google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
-   if(${BUILD_GRPC})
-     target_link_libraries("${TEST_TARGET_NAME}" PUBLIC grpc++)
-   endif()
-@@ -190,8 +195,9 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
- 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(${PROJECT_NAME} PUBLIC gflags)
-+#target_link_libraries(${PROJECT_NAME} PUBLIC glog)
-+#target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
-+target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARY})
- 
- target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-   "${CAIRO_INCLUDE_DIRS}")
-@@ -201,7 +207,8 @@ target_include_directories(${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 ${PROTOBUF_LIBRARY} pthread)
-+#target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
-+target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY})
- if(${BUILD_GRPC})
-   target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
- endif()
-diff --git a/cartographer/common/math.h b/cartographer/common/math.h
-index f0ae9e2..d32bdbe 100644
--- a/cartographer/common/math.h
-+++ b/cartographer/common/math.h
-@@ -16,7 +16,9 @@
- 
- #ifndef CARTOGRAPHER_COMMON_MATH_H_
- #define CARTOGRAPHER_COMMON_MATH_H_
-
-+ #ifndef M_PI
-+ #define M_PI 3.14159265358979323846
-+ #endif
- #include <cmath>
- #include <vector>
- 
-diff --git a/cartographer/common/thread_pool.cc b/cartographer/common/thread_pool.cc
-index fdda166..178472f 100644
--- a/cartographer/common/thread_pool.cc
-+++ b/cartographer/common/thread_pool.cc
-@@ -16,7 +16,7 @@
- 
- #include "cartographer/common/thread_pool.h"
- 
-#include <unistd.h>
-+//#include <unistd.h>
- #include <algorithm>
- #include <chrono>
- #include <numeric>
-diff --git a/cmake/functions.cmake b/cmake/functions.cmake
-index 3bfd343..b41a84e 100644
--- a/cmake/functions.cmake
-+++ b/cmake/functions.cmake
-@@ -118,12 +118,12 @@ macro(google_initialize_cartographer_project)
-   set(LIST_FILES_CMD "find ${PROJECT_SOURCE_DIR}/ -not -iwholename '*.git*' | sort | sed 's/^/#/'")
-   set(FILES_LIST_PATH "${PROJECT_BINARY_DIR}/AllFiles.cmake")
-   set(DETECT_CHANGES_CMD "bash" "-c" "${LIST_FILES_CMD} | diff -N -q ${FILES_LIST_PATH} - || ${LIST_FILES_CMD} > ${FILES_LIST_PATH}")
-  add_custom_target(${PROJECT_NAME}_detect_changes ALL
-    COMMAND ${DETECT_CHANGES_CMD}
-    VERBATIM
-  )
-+  #add_custom_target(${PROJECT_NAME}_detect_changes ALL
-+  #  COMMAND ${DETECT_CHANGES_CMD}
-+  #  VERBATIM
-+  #)
-   if(NOT EXISTS ${FILES_LIST_PATH})
-    execute_process(COMMAND ${DETECT_CHANGES_CMD})
-+   # execute_process(COMMAND ${DETECT_CHANGES_CMD})
-   endif()
-   include(${FILES_LIST_PATH})
- endmacro()
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 2e3a686..f36f15a 100644
+--- a/CMakeLists.txt
+++ b/CMakeLists.txt
+@@ -25,27 +25,33 @@ option(BUILD_GRPC "build Cartographer gRPC support" false)
+ option(BUILD_PROMETHEUS "build Prometheus monitoring support" false)
+ 
+ include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
+-google_initialize_cartographer_project()
+-google_enable_testing()
+#google_initialize_cartographer_project()
+#google_enable_testing()
+ 
+ find_package(Boost REQUIRED COMPONENTS iostreams)
+ find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
+ find_package(Eigen3 REQUIRED)
+-find_package(LuaGoogle REQUIRED)
+find_package(Lua REQUIRED)
+ find_package(Protobuf 3.0.0 REQUIRED)
+find_package(glog REQUIRED)
+find_package(gflags REQUIRED)
+ 
+ if (${BUILD_GRPC})
+   find_package(async_grpc REQUIRED)
+ endif()
+ 
+-include(FindPkgConfig)
+-PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
+#include(FindPkgConfig)
+#PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
+if(CMAKE_BUILD_TYPE STREQUAL Debug)
+    set(CAIRO_LIB_SUFFIX d)
+endif()
+find_library(CAIRO_LIBRARY cairo${CAIRO_LIB_SUFFIX})
+ 
+ # Only build the documentation if we can find Sphinx.
+-find_package(Sphinx)
+-if(SPHINX_FOUND)
+-  add_subdirectory("docs")
+-endif()
+#find_package(Sphinx)
+#if(SPHINX_FOUND)
+#  add_subdirectory("docs")
+#endif()
+ 
+ # Install catkin package.xml
+ install(FILES package.xml DESTINATION share/cartographer)
+@@ -169,20 +175,20 @@ configure_file(
+   ${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
+   ${PROJECT_BINARY_DIR}/cartographer/common/config.h)
+ 
+-google_binary(cartographer_autogenerate_ground_truth
+-  SRCS
+-    cartographer/ground_truth/autogenerate_ground_truth_main.cc
+-)
+-
+-google_binary(cartographer_compute_relations_metrics
+-  SRCS
+-    cartographer/ground_truth/compute_relations_metrics_main.cc
+-)
+-
+-google_binary(cartographer_migrate_serialization_format
+-  SRCS
+-    cartographer/io/migrate_serialization_format_main.cc
+-)
+#google_binary(cartographer_autogenerate_ground_truth
+#  SRCS
+#    cartographer/ground_truth/autogenerate_ground_truth_main.cc
+#)
+#
+#google_binary(cartographer_compute_relations_metrics
+#  SRCS
+#    cartographer/ground_truth/compute_relations_metrics_main.cc
+#)
+#
+#google_binary(cartographer_migrate_serialization_format
+#  SRCS
+#    cartographer/io/migrate_serialization_format_main.cc
+#)
+ 
+ if(${BUILD_GRPC})
+   google_binary(cartographer_grpc_server
+@@ -213,8 +219,9 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+ target_link_libraries(${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(${PROJECT_NAME} PUBLIC gflags)
+#target_link_libraries(${PROJECT_NAME} PUBLIC glog)
+#target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
+target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARY})
+ 
+ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+   "${CAIRO_INCLUDE_DIRS}")
+@@ -224,7 +231,8 @@ target_include_directories(${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 ${PROTOBUF_LIBRARY} pthread)
+#target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
+target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY})
+ if(${BUILD_GRPC})
+   target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
+   target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc)
+@@ -234,7 +242,7 @@ if(${BUILD_PROMETHEUS})
+   target_compile_definitions(${PROJECT_NAME} PUBLIC USE_PROMETHEUS=1)
+ endif()
+ 
+-set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
+set(TARGET_COMPILE_FLAGS "-D_DISABLE_EXTENDED_ALIGNED_STORAGE ${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
+ set_target_properties(${PROJECT_NAME} PROPERTIES
+   COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+ 
+@@ -255,7 +263,7 @@ foreach(ABS_FIL ${ALL_TESTS})
+   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}" ${ABS_FIL})
+  #google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
+   if(${BUILD_GRPC})
+     target_link_libraries("${TEST_TARGET_NAME}" PUBLIC grpc++)
+     target_link_libraries("${TEST_TARGET_NAME}" PUBLIC async_grpc)
+@@ -263,7 +271,7 @@ foreach(ABS_FIL ${ALL_TESTS})
+   if(${BUILD_PROMETHEUS})
+     target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp)
+   endif()
+-  target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
+  #target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
+ endforeach()
+ 
+ # Add the binary directory first, so that port.h is included after it has
+diff --git a/cartographer/common/math.h b/cartographer/common/math.h
+index c4a77ef..0248f66 100644
+--- a/cartographer/common/math.h
+++ b/cartographer/common/math.h
+@@ -17,6 +17,10 @@
+ #ifndef CARTOGRAPHER_COMMON_MATH_H_
+ #define CARTOGRAPHER_COMMON_MATH_H_
+ 
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+ #include <cmath>
+ #include <vector>
+ 
+diff --git a/cartographer/common/thread_pool.cc b/cartographer/common/thread_pool.cc
+index bc3c743..db424d1 100644
+--- a/cartographer/common/thread_pool.cc
+++ b/cartographer/common/thread_pool.cc
+@@ -16,7 +16,7 @@
+ 
+ #include "cartographer/common/thread_pool.h"
+ 
+-#include <unistd.h>
+//#include <unistd.h>
+ #include <algorithm>
+ #include <chrono>
+ #include <numeric>
+diff --git a/cmake/functions.cmake b/cmake/functions.cmake
+index 3bfd343..3d961b0 100644
+--- a/cmake/functions.cmake
+++ b/cmake/functions.cmake
+@@ -118,12 +118,12 @@ macro(google_initialize_cartographer_project)
+   set(LIST_FILES_CMD "find ${PROJECT_SOURCE_DIR}/ -not -iwholename '*.git*' | sort | sed 's/^/#/'")
+   set(FILES_LIST_PATH "${PROJECT_BINARY_DIR}/AllFiles.cmake")
+   set(DETECT_CHANGES_CMD "bash" "-c" "${LIST_FILES_CMD} | diff -N -q ${FILES_LIST_PATH} - || ${LIST_FILES_CMD} > ${FILES_LIST_PATH}")
+-  add_custom_target(${PROJECT_NAME}_detect_changes ALL
+-    COMMAND ${DETECT_CHANGES_CMD}
+-    VERBATIM
+-  )
+  #add_custom_target(${PROJECT_NAME}_detect_changes ALL
+  #  COMMAND ${DETECT_CHANGES_CMD}
+  #  VERBATIM
+  #)
+   if(NOT EXISTS ${FILES_LIST_PATH})
+-    execute_process(COMMAND ${DETECT_CHANGES_CMD})
+    #execute_process(COMMAND ${DETECT_CHANGES_CMD})
+   endif()
+   include(${FILES_LIST_PATH})
+ endmacro()
--- a/ports/cartographer/portfile.cmake
+++ b/ports/cartographer/portfile.cmake
@ -5,12 +5,13 @@ vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
 vcpkg_from_github(
    OUT_SOURCE_PATH SOURCE_PATH
    REPO googlecartographer/cartographer
-    REF a7ed7e224f98b396762c865b81b62dc3abea2e81
-    SHA512 2ab167c1c314591b4916baf70b8ad92ae542986c3578319d2454c904adae10f8027bc696579d6e2864d3606a6711563b82438e847527cad4ab0c2bd603a63eb7
+    REF 1.0.0
+    SHA512 4e3b38ee40d9758cbd51f087578b82efb7d1199b4b7696d31f45938ac06250caaea2b4d85ccb0a848c958ba187a0101ee95c87323ca236c613995b23b215041c
    HEAD_REF master
 	PATCHES
-        ${CMAKE_CURRENT_LIST_DIR}/fix-find-packages.patch
-        ${CMAKE_CURRENT_LIST_DIR}/disable-C2338-cartographer.patch
+        fix-find-packages.patch
+        disable-C2338-cartographer.patch
+        fix-build-error.patch
 )

 vcpkg_configure_cmake(