mirror of
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[cartographer]Upgrade to v1.0.0, remake patch and fix build error. (#6492)
This commit is contained in:
JackBoosY
Phil Christensen
parent
41c7755acf
commit
2e51afcd65
@ -1,4 +1,4 @@
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Source: cartographer
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Source: cartographer
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Version: 0.3.0-6
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Version: 1.0.0
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Build-Depends: ceres[eigensparse], gflags, glog, lua, cairo, boost-iostreams, gtest, protobuf
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Build-Depends: ceres[suitesparse], gflags, glog, lua, cairo, boost-iostreams, gtest, protobuf
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Description: Google 2D & 3D SLAM package
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Description: Google 2D & 3D SLAM package
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@ -1,10 +1,10 @@
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index bc92e9b..4c1826a 100644
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index 95bb132..fbd624d 100644
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--- a/CMakeLists.txt
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -226,7 +226,7 @@ target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE
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@@ -237,7 +237,7 @@ if(${BUILD_PROMETHEUS})
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"${GMOCK_INCLUDE_DIRS}")
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target_compile_definitions(${PROJECT_NAME} PUBLIC USE_PROMETHEUS=1)
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target_link_libraries(${PROJECT_NAME} PUBLIC ${GMOCK_LIBRARY})
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endif()
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-set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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-set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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+set(TARGET_COMPILE_FLAGS "-D_DISABLE_EXTENDED_ALIGNED_STORAGE ${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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+set(TARGET_COMPILE_FLAGS "-D_DISABLE_EXTENDED_ALIGNED_STORAGE ${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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25
ports/cartographer/fix-build-error.patch
Normal file
25
ports/cartographer/fix-build-error.patch
Normal file
@ -0,0 +1,25 @@
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diff --git a/cartographer/common/internal/testing/thread_pool_for_testing.cc b/cartographer/common/internal/testing/thread_pool_for_testing.cc
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index f804e13..c987f68 100644
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--- a/cartographer/common/internal/testing/thread_pool_for_testing.cc
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+++ b/cartographer/common/internal/testing/thread_pool_for_testing.cc
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@@ -16,7 +16,7 @@
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#include "cartographer/common/internal/testing/thread_pool_for_testing.h"
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-#include <unistd.h>
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+//#include <unistd.h>
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#include <algorithm>
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#include <chrono>
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#include <numeric>
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diff --git a/cartographer/mapping/pose_graph_interface.h b/cartographer/mapping/pose_graph_interface.h
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index 6483ef4..6456720 100644
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--- a/cartographer/mapping/pose_graph_interface.h
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+++ b/cartographer/mapping/pose_graph_interface.h
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@@ -18,6 +18,7 @@
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#define CARTOGRAPHER_MAPPING_POSE_GRAPH_INTERFACE_H_
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#include <vector>
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+#include <array>
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#include "cartographer/common/optional.h"
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#include "cartographer/mapping/id.h"
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@ -1,146 +1,181 @@
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CMakeLists.txt | 45 ++++++++++++++++++++++----------------
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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cartographer/common/math.h | 4 +++-
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index 2e3a686..f36f15a 100644
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cartographer/common/thread_pool.cc | 2 +-
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--- a/CMakeLists.txt
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cmake/functions.cmake | 10 ++++-----
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+++ b/CMakeLists.txt
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4 files changed, 35 insertions(+), 26 deletions(-)
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@@ -25,27 +25,33 @@ option(BUILD_GRPC "build Cartographer gRPC support" false)
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option(BUILD_PROMETHEUS "build Prometheus monitoring support" false)
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 55e9adc..bc92e9b 100644
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include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
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--- a/CMakeLists.txt
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-google_initialize_cartographer_project()
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+++ b/CMakeLists.txt
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-google_enable_testing()
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@@ -26,18 +26,23 @@ option(BUILD_GRPC "build Cartographer gRPC support" false)
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+#google_initialize_cartographer_project()
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set(GRPC_PLUGIN_PATH "/usr/local/bin/grpc_cpp_plugin")
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+#google_enable_testing()
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include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
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find_package(Boost REQUIRED COMPONENTS iostreams)
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-google_initialize_cartographer_project()
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find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
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-google_enable_testing()
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find_package(Eigen3 REQUIRED)
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+#google_initialize_cartographer_project()
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-find_package(LuaGoogle REQUIRED)
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+#google_enable_testing()
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+find_package(Lua REQUIRED)
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find_package(Protobuf 3.0.0 REQUIRED)
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find_package(Boost REQUIRED COMPONENTS iostreams)
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+find_package(glog REQUIRED)
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find_package(Ceres REQUIRED COMPONENTS SparseLinearAlgebraLibrary)
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+find_package(gflags REQUIRED)
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find_package(Eigen3 REQUIRED)
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-find_package(LuaGoogle REQUIRED)
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if (${BUILD_GRPC})
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+find_package(Lua REQUIRED)
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find_package(async_grpc REQUIRED)
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find_package(Protobuf 3.0.0 REQUIRED)
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endif()
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+find_package(glog REQUIRED)
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+find_package(gflags REQUIRED)
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-include(FindPkgConfig)
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-PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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-include(FindPkgConfig)
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+#include(FindPkgConfig)
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-PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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+#PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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-
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+if(CMAKE_BUILD_TYPE STREQUAL Debug)
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+#include(FindPkgConfig)
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+ set(CAIRO_LIB_SUFFIX d)
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+#PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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+endif()
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+if(CMAKE_BUILD_TYPE STREQUAL Debug)
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+find_library(CAIRO_LIBRARY cairo${CAIRO_LIB_SUFFIX})
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+ set(CAIRO_LIB_SUFFIX d)
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+endif()
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# Only build the documentation if we can find Sphinx.
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+find_library(CAIRO_LIBRARY cairo${CAIRO_LIB_SUFFIX})
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-find_package(Sphinx)
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# Only build the documentation if we can find Sphinx.
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-if(SPHINX_FOUND)
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find_package(Sphinx)
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- add_subdirectory("docs")
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if(SPHINX_FOUND)
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-endif()
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@@ -144,15 +149,15 @@ configure_file(
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+#find_package(Sphinx)
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${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
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+#if(SPHINX_FOUND)
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${PROJECT_BINARY_DIR}/cartographer/common/config.h)
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+# add_subdirectory("docs")
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+#endif()
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-google_binary(cartographer_autogenerate_ground_truth
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- SRCS
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# Install catkin package.xml
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- cartographer/ground_truth/autogenerate_ground_truth_main.cc
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install(FILES package.xml DESTINATION share/cartographer)
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-)
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@@ -169,20 +175,20 @@ configure_file(
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-
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${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
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-google_binary(cartographer_compute_relations_metrics
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${PROJECT_BINARY_DIR}/cartographer/common/config.h)
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- SRCS
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- cartographer/ground_truth/compute_relations_metrics_main.cc
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-google_binary(cartographer_autogenerate_ground_truth
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-)
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- SRCS
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+#google_binary(cartographer_autogenerate_ground_truth
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- cartographer/ground_truth/autogenerate_ground_truth_main.cc
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+# SRCS
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-)
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+# cartographer/ground_truth/autogenerate_ground_truth_main.cc
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-
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+#)
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-google_binary(cartographer_compute_relations_metrics
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+#
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- SRCS
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+#google_binary(cartographer_compute_relations_metrics
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- cartographer/ground_truth/compute_relations_metrics_main.cc
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+# SRCS
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-)
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+# cartographer/ground_truth/compute_relations_metrics_main.cc
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-
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+#)
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-google_binary(cartographer_migrate_serialization_format
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- SRCS
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if(${BUILD_GRPC})
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- cartographer/io/migrate_serialization_format_main.cc
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google_binary(cartographer_grpc_server
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-)
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@@ -167,7 +172,7 @@ foreach(ABS_FIL ${ALL_TESTS})
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+#google_binary(cartographer_autogenerate_ground_truth
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get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
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+# SRCS
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# Replace slashes as required for CMP0037.
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+# cartographer/ground_truth/autogenerate_ground_truth_main.cc
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string(REPLACE "/" "." TEST_TARGET_NAME "${DIR}/${FIL_WE}")
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+#)
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- google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
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+#
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+ #google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
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+#google_binary(cartographer_compute_relations_metrics
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if(${BUILD_GRPC})
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+# SRCS
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target_link_libraries("${TEST_TARGET_NAME}" PUBLIC grpc++)
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+# cartographer/ground_truth/compute_relations_metrics_main.cc
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endif()
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+#)
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@@ -190,8 +195,9 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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+#
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target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
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+#google_binary(cartographer_migrate_serialization_format
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+# SRCS
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# We expect find_package(Ceres) to have located these for us.
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+# cartographer/io/migrate_serialization_format_main.cc
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-target_link_libraries(${PROJECT_NAME} PUBLIC glog)
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+#)
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-target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
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+#target_link_libraries(${PROJECT_NAME} PUBLIC glog)
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if(${BUILD_GRPC})
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+#target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
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google_binary(cartographer_grpc_server
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+target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARY})
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@@ -213,8 +219,9 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${CAIRO_INCLUDE_DIRS}")
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# We expect find_package(Ceres) to have located these for us.
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@@ -201,7 +207,8 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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-target_link_libraries(${PROJECT_NAME} PUBLIC glog)
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${PROTOBUF_INCLUDE_DIR})
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-target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
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# TODO(hrapp): This should not explicitly list pthread and use
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+#target_link_libraries(${PROJECT_NAME} PUBLIC glog)
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# PROTOBUF_LIBRARIES, but that failed on first try.
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+#target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
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-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
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+target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARY})
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+#target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
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+target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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if(${BUILD_GRPC})
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"${CAIRO_INCLUDE_DIRS}")
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target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
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@@ -224,7 +231,8 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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endif()
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${PROTOBUF_INCLUDE_DIR})
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diff --git a/cartographer/common/math.h b/cartographer/common/math.h
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# TODO(hrapp): This should not explicitly list pthread and use
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index f0ae9e2..d32bdbe 100644
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# PROTOBUF_LIBRARIES, but that failed on first try.
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--- a/cartographer/common/math.h
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-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
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+++ b/cartographer/common/math.h
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+#target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
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@@ -16,7 +16,9 @@
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+target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY})
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|
if(${BUILD_GRPC})
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#ifndef CARTOGRAPHER_COMMON_MATH_H_
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target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
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#define CARTOGRAPHER_COMMON_MATH_H_
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target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc)
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-
|
@@ -234,7 +242,7 @@ if(${BUILD_PROMETHEUS})
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+ #ifndef M_PI
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target_compile_definitions(${PROJECT_NAME} PUBLIC USE_PROMETHEUS=1)
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+ #define M_PI 3.14159265358979323846
|
endif()
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+ #endif
|
|
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#include <cmath>
|
-set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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#include <vector>
|
+set(TARGET_COMPILE_FLAGS "-D_DISABLE_EXTENDED_ALIGNED_STORAGE ${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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|
set_target_properties(${PROJECT_NAME} PROPERTIES
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diff --git a/cartographer/common/thread_pool.cc b/cartographer/common/thread_pool.cc
|
COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
|
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index fdda166..178472f 100644
|
|
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--- a/cartographer/common/thread_pool.cc
|
@@ -255,7 +263,7 @@ foreach(ABS_FIL ${ALL_TESTS})
|
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+++ b/cartographer/common/thread_pool.cc
|
get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
|
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@@ -16,7 +16,7 @@
|
# Replace slashes as required for CMP0037.
|
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|
string(REPLACE "/" "." TEST_TARGET_NAME "${DIR}/${FIL_WE}")
|
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#include "cartographer/common/thread_pool.h"
|
- google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
|
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|
+ #google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
|
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-#include <unistd.h>
|
if(${BUILD_GRPC})
|
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+//#include <unistd.h>
|
target_link_libraries("${TEST_TARGET_NAME}" PUBLIC grpc++)
|
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#include <algorithm>
|
target_link_libraries("${TEST_TARGET_NAME}" PUBLIC async_grpc)
|
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#include <chrono>
|
@@ -263,7 +271,7 @@ foreach(ABS_FIL ${ALL_TESTS})
|
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#include <numeric>
|
if(${BUILD_PROMETHEUS})
|
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diff --git a/cmake/functions.cmake b/cmake/functions.cmake
|
target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp)
|
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index 3bfd343..b41a84e 100644
|
endif()
|
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--- a/cmake/functions.cmake
|
- target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
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+++ b/cmake/functions.cmake
|
+ #target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
|
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@@ -118,12 +118,12 @@ macro(google_initialize_cartographer_project)
|
endforeach()
|
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set(LIST_FILES_CMD "find ${PROJECT_SOURCE_DIR}/ -not -iwholename '*.git*' | sort | sed 's/^/#/'")
|
|
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set(FILES_LIST_PATH "${PROJECT_BINARY_DIR}/AllFiles.cmake")
|
# Add the binary directory first, so that port.h is included after it has
|
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set(DETECT_CHANGES_CMD "bash" "-c" "${LIST_FILES_CMD} | diff -N -q ${FILES_LIST_PATH} - || ${LIST_FILES_CMD} > ${FILES_LIST_PATH}")
|
diff --git a/cartographer/common/math.h b/cartographer/common/math.h
|
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- add_custom_target(${PROJECT_NAME}_detect_changes ALL
|
index c4a77ef..0248f66 100644
|
||||||
- COMMAND ${DETECT_CHANGES_CMD}
|
--- a/cartographer/common/math.h
|
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- VERBATIM
|
+++ b/cartographer/common/math.h
|
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- )
|
@@ -17,6 +17,10 @@
|
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+ #add_custom_target(${PROJECT_NAME}_detect_changes ALL
|
#ifndef CARTOGRAPHER_COMMON_MATH_H_
|
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+ # COMMAND ${DETECT_CHANGES_CMD}
|
#define CARTOGRAPHER_COMMON_MATH_H_
|
||||||
+ # VERBATIM
|
|
||||||
+ #)
|
+#ifndef M_PI
|
||||||
if(NOT EXISTS ${FILES_LIST_PATH})
|
+#define M_PI 3.14159265358979323846
|
||||||
- execute_process(COMMAND ${DETECT_CHANGES_CMD})
|
+#endif
|
||||||
+ # execute_process(COMMAND ${DETECT_CHANGES_CMD})
|
+
|
||||||
endif()
|
#include <cmath>
|
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include(${FILES_LIST_PATH})
|
#include <vector>
|
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endmacro()
|
|
||||||
|
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()
|
||||||
|
|||||||
@ -5,12 +5,13 @@ vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
|
|||||||
vcpkg_from_github(
|
vcpkg_from_github(
|
||||||
OUT_SOURCE_PATH SOURCE_PATH
|
OUT_SOURCE_PATH SOURCE_PATH
|
||||||
REPO googlecartographer/cartographer
|
REPO googlecartographer/cartographer
|
||||||
REF a7ed7e224f98b396762c865b81b62dc3abea2e81
|
REF 1.0.0
|
||||||
SHA512 2ab167c1c314591b4916baf70b8ad92ae542986c3578319d2454c904adae10f8027bc696579d6e2864d3606a6711563b82438e847527cad4ab0c2bd603a63eb7
|
SHA512 4e3b38ee40d9758cbd51f087578b82efb7d1199b4b7696d31f45938ac06250caaea2b4d85ccb0a848c958ba187a0101ee95c87323ca236c613995b23b215041c
|
||||||
HEAD_REF master
|
HEAD_REF master
|
||||||
PATCHES
|
PATCHES
|
||||||
${CMAKE_CURRENT_LIST_DIR}/fix-find-packages.patch
|
fix-find-packages.patch
|
||||||
${CMAKE_CURRENT_LIST_DIR}/disable-C2338-cartographer.patch
|
disable-C2338-cartographer.patch
|
||||||
|
fix-build-error.patch
|
||||||
)
|
)
|
||||||
|
|
||||||
vcpkg_configure_cmake(
|
vcpkg_configure_cmake(
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user