diff --git a/CMakeLists.txt b/CMakeLists.txt index 2e3a686..ed161e4 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("${PROJECT_SOURCE_DIR}/cmake/functions.cmake") -google_initialize_cartographer_project() -google_enable_testing() +#google_initialize_cartographer_project() +#google_enable_testing() find_package(Boost REQUIRED COMPONENTS iostreams) find_package(Ceres REQUIRED COMPONENTS SuiteSparse) find_package(Eigen3 REQUIRED) -find_package(LuaGoogle REQUIRED) -find_package(Protobuf 3.0.0 REQUIRED) +find_package(Lua REQUIRED) +find_package(Protobuf REQUIRED) +find_package(glog REQUIRED) +find_package(gflags REQUIRED) if (${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 @@ -213,18 +219,16 @@ 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 - "${CAIRO_INCLUDE_DIRS}") target_link_libraries(${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 ${PROTOBUF_LIBRARY} pthread) +#target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread) +target_link_libraries(${PROJECT_NAME} PUBLIC protobuf::libprotobuf) if(${BUILD_GRPC}) target_link_libraries(${PROJECT_NAME} PUBLIC grpc++) target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc) @@ -237,7 +241,7 @@ endif() set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}") set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS}) - +if(0) set(TEST_LIB cartographer_test_library ) @@ -265,7 +269,7 @@ foreach(ABS_FIL ${ALL_TESTS}) endif() target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB}) endforeach() - +endif() # Add the binary directory first, so that port.h is included after it has # been generated. target_include_directories(${PROJECT_NAME} PUBLIC 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()