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https://github.com/cemu-project/vcpkg.git
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port for google cartographer (#2665)
* initial try to add port files * updates control and patch * minor fix * release is now built * install succeed * update to the latest commit * use cmake to export the symbols in dynamic linkage * [cartographer] Reformatting and added dependency on ceres[eigensparse]
This commit is contained in:
mmazat
Robert Schumacher
parent
d4004c8ac9
commit
d6ff55a735
4
ports/cartographer/CONTROL
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4
ports/cartographer/CONTROL
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@ -0,0 +1,4 @@
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Source: cartographer
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Version: 0.3.0-3
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Build-Depends: ceres[eigensparse], gflags, glog, lua, cairo, boost-iostreams, gtest, protobuf
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Description: Google 2D & 3D SLAM package
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146
ports/cartographer/fix-find-packages.patch
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146
ports/cartographer/fix-find-packages.patch
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@ -0,0 +1,146 @@
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CMakeLists.txt | 45 ++++++++++++++++++++++----------------
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cartographer/common/math.h | 4 +++-
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cartographer/common/thread_pool.cc | 2 +-
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cmake/functions.cmake | 10 ++++-----
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4 files changed, 35 insertions(+), 26 deletions(-)
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 55e9adc..bc92e9b 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -26,18 +26,23 @@ option(BUILD_GRPC "build Cartographer gRPC support" false)
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set(GRPC_PLUGIN_PATH "/usr/local/bin/grpc_cpp_plugin")
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include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
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-google_initialize_cartographer_project()
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-google_enable_testing()
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+#google_initialize_cartographer_project()
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+#google_enable_testing()
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find_package(Boost REQUIRED COMPONENTS iostreams)
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find_package(Ceres REQUIRED COMPONENTS SparseLinearAlgebraLibrary)
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find_package(Eigen3 REQUIRED)
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-find_package(LuaGoogle REQUIRED)
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+find_package(Lua REQUIRED)
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find_package(Protobuf 3.0.0 REQUIRED)
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+find_package(glog REQUIRED)
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+find_package(gflags REQUIRED)
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-include(FindPkgConfig)
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-PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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-
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+#include(FindPkgConfig)
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+#PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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+if(CMAKE_BUILD_TYPE STREQUAL Debug)
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+ set(CAIRO_LIB_SUFFIX d)
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+endif()
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+find_library(CAIRO_LIBRARY cairo${CAIRO_LIB_SUFFIX})
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# Only build the documentation if we can find Sphinx.
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find_package(Sphinx)
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if(SPHINX_FOUND)
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@@ -144,15 +149,15 @@ configure_file(
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${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
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${PROJECT_BINARY_DIR}/cartographer/common/config.h)
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-google_binary(cartographer_autogenerate_ground_truth
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- SRCS
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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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- SRCS
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- cartographer/ground_truth/compute_relations_metrics_main.cc
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-)
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+#google_binary(cartographer_autogenerate_ground_truth
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+# SRCS
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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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+# SRCS
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+# cartographer/ground_truth/compute_relations_metrics_main.cc
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+#)
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if(${BUILD_GRPC})
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google_binary(cartographer_grpc_server
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@@ -167,7 +172,7 @@ foreach(ABS_FIL ${ALL_TESTS})
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get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
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# Replace slashes as required for CMP0037.
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string(REPLACE "/" "." TEST_TARGET_NAME "${DIR}/${FIL_WE}")
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- google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
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+ #google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
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if(${BUILD_GRPC})
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target_link_libraries("${TEST_TARGET_NAME}" PUBLIC grpc++)
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endif()
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@@ -190,8 +195,9 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
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# We expect find_package(Ceres) to have located these for us.
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-target_link_libraries(${PROJECT_NAME} PUBLIC glog)
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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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+#target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
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+target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARY})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${CAIRO_INCLUDE_DIRS}")
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@@ -201,7 +207,8 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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${PROTOBUF_INCLUDE_DIR})
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# TODO(hrapp): This should not explicitly list pthread and use
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# PROTOBUF_LIBRARIES, but that failed on first try.
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-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
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+#target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
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+target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY})
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if(${BUILD_GRPC})
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target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
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endif()
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diff --git a/cartographer/common/math.h b/cartographer/common/math.h
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index f0ae9e2..d32bdbe 100644
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--- a/cartographer/common/math.h
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+++ b/cartographer/common/math.h
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@@ -16,7 +16,9 @@
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#ifndef CARTOGRAPHER_COMMON_MATH_H_
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#define CARTOGRAPHER_COMMON_MATH_H_
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-
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+ #ifndef M_PI
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+ #define M_PI 3.14159265358979323846
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+ #endif
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#include <cmath>
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#include <vector>
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diff --git a/cartographer/common/thread_pool.cc b/cartographer/common/thread_pool.cc
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index fdda166..178472f 100644
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--- a/cartographer/common/thread_pool.cc
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+++ b/cartographer/common/thread_pool.cc
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@@ -16,7 +16,7 @@
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#include "cartographer/common/thread_pool.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/cmake/functions.cmake b/cmake/functions.cmake
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index 3bfd343..b41a84e 100644
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--- a/cmake/functions.cmake
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+++ b/cmake/functions.cmake
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@@ -118,12 +118,12 @@ macro(google_initialize_cartographer_project)
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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")
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set(DETECT_CHANGES_CMD "bash" "-c" "${LIST_FILES_CMD} | diff -N -q ${FILES_LIST_PATH} - || ${LIST_FILES_CMD} > ${FILES_LIST_PATH}")
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- add_custom_target(${PROJECT_NAME}_detect_changes ALL
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- COMMAND ${DETECT_CHANGES_CMD}
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- VERBATIM
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- )
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+ #add_custom_target(${PROJECT_NAME}_detect_changes ALL
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+ # COMMAND ${DETECT_CHANGES_CMD}
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+ # VERBATIM
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+ #)
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if(NOT EXISTS ${FILES_LIST_PATH})
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- execute_process(COMMAND ${DETECT_CHANGES_CMD})
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+ # execute_process(COMMAND ${DETECT_CHANGES_CMD})
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endif()
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include(${FILES_LIST_PATH})
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endmacro()
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39
ports/cartographer/portfile.cmake
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39
ports/cartographer/portfile.cmake
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@ -0,0 +1,39 @@
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include(vcpkg_common_functions)
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vcpkg_from_github(
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OUT_SOURCE_PATH SOURCE_PATH
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REPO googlecartographer/cartographer
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REF a7ed7e224f98b396762c865b81b62dc3abea2e81
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SHA512 2ab167c1c314591b4916baf70b8ad92ae542986c3578319d2454c904adae10f8027bc696579d6e2864d3606a6711563b82438e847527cad4ab0c2bd603a63eb7
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HEAD_REF master
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)
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vcpkg_apply_patches(
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SOURCE_PATH ${SOURCE_PATH}
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PATCHES
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${CMAKE_CURRENT_LIST_DIR}/fix-find-packages.patch
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)
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vcpkg_configure_cmake(
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SOURCE_PATH ${SOURCE_PATH}
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OPTIONS
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-DGFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION=OFF
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-DGLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION=OFF
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-Dgtest_disable_pthreads=ON
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-DCMAKE_USE_PTHREADS_INIT=OFF
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-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON
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OPTIONS_DEBUG
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-DFORCE_DEBUG_BUILD=True
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)
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vcpkg_install_cmake()
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vcpkg_copy_pdbs()
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# Clean
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file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
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file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/share)
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# Handle copyright of cartographer
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file(COPY ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/cartographer)
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file(RENAME ${CURRENT_PACKAGES_DIR}/share/cartographer/LICENSE ${CURRENT_PACKAGES_DIR}/share/cartographer/copyright)
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