181 lines
6.5 KiB
Diff
Executable file
181 lines
6.5 KiB
Diff
Executable file
diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 2e3a686..f36f15a 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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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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include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
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-google_initialize_cartographer_project()
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-google_enable_testing()
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+#google_initialize_cartographer_project()
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+#google_enable_testing()
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find_package(Boost REQUIRED COMPONENTS iostreams)
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find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
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find_package(Eigen3 REQUIRED)
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-find_package(LuaGoogle REQUIRED)
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+find_package(Lua REQUIRED)
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find_package(Protobuf 3.0.0 REQUIRED)
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+find_package(glog REQUIRED)
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+find_package(gflags REQUIRED)
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if (${BUILD_GRPC})
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find_package(async_grpc REQUIRED)
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endif()
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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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+#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${CAIRO_LIB_SUFFIX})
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# Only build the documentation if we can find Sphinx.
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-find_package(Sphinx)
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-if(SPHINX_FOUND)
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- add_subdirectory("docs")
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-endif()
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+#find_package(Sphinx)
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+#if(SPHINX_FOUND)
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+# add_subdirectory("docs")
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+#endif()
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# Install catkin package.xml
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install(FILES package.xml DESTINATION share/cartographer)
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@@ -169,20 +175,20 @@ configure_file(
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${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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-
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-google_binary(cartographer_migrate_serialization_format
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- SRCS
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- cartographer/io/migrate_serialization_format_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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+#
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+#google_binary(cartographer_migrate_serialization_format
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+# SRCS
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+# cartographer/io/migrate_serialization_format_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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@@ -213,8 +219,9 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
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# We expect find_package(Ceres) to have located these for us.
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-target_link_libraries(${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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"${CAIRO_INCLUDE_DIRS}")
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@@ -224,7 +231,8 @@ target_include_directories(${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(${PROJECT_NAME} PUBLIC grpc++)
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target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc)
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@@ -234,7 +242,7 @@ if(${BUILD_PROMETHEUS})
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target_compile_definitions(${PROJECT_NAME} PUBLIC USE_PROMETHEUS=1)
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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 "-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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COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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@@ -255,7 +263,7 @@ 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("${TEST_TARGET_NAME}" PUBLIC grpc++)
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target_link_libraries("${TEST_TARGET_NAME}" PUBLIC async_grpc)
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@@ -263,7 +271,7 @@ foreach(ABS_FIL ${ALL_TESTS})
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if(${BUILD_PROMETHEUS})
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target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp)
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endif()
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- target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
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+ #target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
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endforeach()
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# Add the binary directory first, so that port.h is included after it has
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diff --git a/cartographer/common/math.h b/cartographer/common/math.h
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index c4a77ef..0248f66 100644
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--- a/cartographer/common/math.h
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+++ b/cartographer/common/math.h
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@@ -17,6 +17,10 @@
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#ifndef CARTOGRAPHER_COMMON_MATH_H_
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#define CARTOGRAPHER_COMMON_MATH_H_
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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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+
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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 bc3c743..db424d1 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..3d961b0 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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