Adds google_binary to create installable binaries. (#43)

- Do not link in Ceres if gflags or glog is used, but still rely on ceres to find those libraries for us. - Update CMakeLists with new settings.
cartographer-project · Oct 11, 2016 · eeb17bf · eeb17bf
1 parent 8f5fc98
commit eeb17bf
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Showing 13 changed files with 87 additions and 49 deletions.
diff --git a/cartographer/common/CMakeLists.txt b/cartographer/common/CMakeLists.txt
@@ -19,7 +19,7 @@ configure_file (
   ${CMAKE_CURRENT_BINARY_DIR}/config.h)
 
 google_library(common_blocking_queue
-  USES_CERES
+  USES_GLOG
   HDRS
     blocking_queue.h
   DEPENDS
@@ -45,7 +45,7 @@ google_library(common_config
 )
 
 google_library(common_configuration_file_resolver
-  USES_CERES
+  USES_GLOG
   SRCS
     configuration_file_resolver.cc
   HDRS
@@ -66,7 +66,7 @@ google_library(common_fixed_ratio_sampler
 )
 
 google_library(common_histogram
-  USES_CERES
+  USES_GLOG
   SRCS
     histogram.cc
   HDRS
@@ -82,7 +82,7 @@ google_library(common_lua
 )
 
 google_library(common_lua_parameter_dictionary
-  USES_CERES
+  USES_GLOG
   SRCS
     lua_parameter_dictionary.cc
   HDRS
@@ -93,7 +93,7 @@ google_library(common_lua_parameter_dictionary
 )
 
 google_library(common_lua_parameter_dictionary_test_helpers
-  USES_CERES
+  USES_GLOG
   HDRS
     lua_parameter_dictionary_test_helpers.h
   DEPENDS
@@ -148,7 +148,7 @@ google_library(common_rate_timer
 )
 
 google_library(common_thread_pool
-  USES_CERES
+  USES_GLOG
   SRCS
     thread_pool.cc
   HDRS

diff --git a/cartographer/kalman_filter/CMakeLists.txt b/cartographer/kalman_filter/CMakeLists.txt
@@ -31,8 +31,8 @@ google_library(kalman_filter_odometry_state_tracker
 )
 
 google_library(kalman_filter_pose_tracker
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     pose_tracker.cc
   HDRS
@@ -51,8 +51,8 @@ google_library(kalman_filter_pose_tracker
 )
 
 google_library(kalman_filter_unscented_kalman_filter
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   HDRS
     unscented_kalman_filter.h
   DEPENDS

diff --git a/cartographer/mapping/CMakeLists.txt b/cartographer/mapping/CMakeLists.txt
@@ -29,8 +29,8 @@ google_library(mapping_global_trajectory_builder_interface
 )
 
 google_library(mapping_map_builder
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     map_builder.cc
   HDRS
@@ -58,7 +58,7 @@ google_library(mapping_map_builder
 )
 
 google_library(mapping_probability_values
-  USES_CERES
+  USES_GLOG
   SRCS
     probability_values.cc
   HDRS
@@ -69,8 +69,8 @@ google_library(mapping_probability_values
 )
 
 google_library(mapping_sensor_collator
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   HDRS
     sensor_collator.h
   DEPENDS
@@ -81,7 +81,7 @@ google_library(mapping_sensor_collator
 )
 
 google_library(mapping_sparse_pose_graph
-  USES_CERES
+  USES_GLOG
   SRCS
     sparse_pose_graph.cc
   HDRS
@@ -98,8 +98,8 @@ google_library(mapping_sparse_pose_graph
 )
 
 google_library(mapping_submaps
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     submaps.cc
   HDRS
@@ -115,7 +115,7 @@ google_library(mapping_submaps
 )
 
 google_library(mapping_trajectory_connectivity
-  USES_CERES
+  USES_GLOG
   SRCS
     trajectory_connectivity.cc
   HDRS
@@ -155,7 +155,7 @@ google_test(mapping_sensor_collator_test
 )
 
 google_test(mapping_sparse_pose_graph_test
-  USES_CERES
+  USES_GLOG
   SRCS
     sparse_pose_graph_test.cc
   DEPENDS

diff --git a/cartographer/mapping_2d/CMakeLists.txt b/cartographer/mapping_2d/CMakeLists.txt
@@ -28,8 +28,8 @@ google_library(mapping_2d_global_trajectory_builder
 )
 
 google_library(mapping_2d_laser_fan_inserter
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     laser_fan_inserter.cc
   HDRS
@@ -68,8 +68,8 @@ google_library(mapping_2d_local_trajectory_builder
 )
 
 google_library(mapping_2d_map_limits
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   HDRS
     map_limits.h
   DEPENDS
@@ -83,7 +83,7 @@ google_library(mapping_2d_map_limits
 )
 
 google_library(mapping_2d_probability_grid
-  USES_CERES
+  USES_GLOG
   HDRS
     probability_grid.h
   DEPENDS
@@ -108,8 +108,8 @@ google_library(mapping_2d_ray_casting
 )
 
 google_library(mapping_2d_sparse_pose_graph
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     sparse_pose_graph.cc
   HDRS
@@ -135,8 +135,8 @@ google_library(mapping_2d_sparse_pose_graph
 )
 
 google_library(mapping_2d_submaps
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   USES_WEBP
   SRCS
     submaps.cc
@@ -158,8 +158,8 @@ google_library(mapping_2d_submaps
 )
 
 google_library(mapping_2d_xy_index
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   HDRS
     xy_index.h
   DEPENDS

diff --git a/cartographer/mapping_2d/scan_matching/CMakeLists.txt b/cartographer/mapping_2d/scan_matching/CMakeLists.txt
@@ -17,6 +17,7 @@ add_subdirectory("proto")
 google_library(mapping_2d_scan_matching_ceres_scan_matcher
   USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     ceres_scan_matcher.cc
   HDRS
@@ -49,8 +50,8 @@ google_library(mapping_2d_scan_matching_correlative_scan_matcher
 )
 
 google_library(mapping_2d_scan_matching_fast_correlative_scan_matcher
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     fast_correlative_scan_matcher.cc
   HDRS
@@ -66,8 +67,8 @@ google_library(mapping_2d_scan_matching_fast_correlative_scan_matcher
 )
 
 google_library(mapping_2d_scan_matching_fast_global_localizer
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     fast_global_localizer.cc
   HDRS
@@ -88,8 +89,8 @@ google_library(mapping_2d_scan_matching_occupied_space_cost_functor
 )
 
 google_library(mapping_2d_scan_matching_real_time_correlative_scan_matcher
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     real_time_correlative_scan_matcher.cc
   HDRS

diff --git a/cartographer/mapping_2d/sparse_pose_graph/CMakeLists.txt b/cartographer/mapping_2d/sparse_pose_graph/CMakeLists.txt
@@ -13,8 +13,8 @@
 # limitations under the License.
 
 google_library(mapping_2d_sparse_pose_graph_constraint_builder
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     constraint_builder.cc
   HDRS
@@ -45,6 +45,7 @@ google_library(mapping_2d_sparse_pose_graph_constraint_builder
 google_library(mapping_2d_sparse_pose_graph_optimization_problem
   USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     optimization_problem.cc
   HDRS

diff --git a/cartographer/mapping_3d/CMakeLists.txt b/cartographer/mapping_3d/CMakeLists.txt
@@ -46,8 +46,8 @@ google_library(mapping_3d_global_trajectory_builder
 )
 
 google_library(mapping_3d_hybrid_grid
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   HDRS
     hybrid_grid.h
   DEPENDS
@@ -58,8 +58,8 @@ google_library(mapping_3d_hybrid_grid
 )
 
 google_library(mapping_3d_imu_integration
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     imu_integration.cc
   HDRS
@@ -70,7 +70,7 @@ google_library(mapping_3d_imu_integration
 )
 
 google_library(mapping_3d_kalman_local_trajectory_builder
-  USES_CERES
+  USES_GLOG
   SRCS
     kalman_local_trajectory_builder.cc
   HDRS
@@ -107,8 +107,8 @@ google_library(mapping_3d_kalman_local_trajectory_builder_options
 )
 
 google_library(mapping_3d_laser_fan_inserter
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     laser_fan_inserter.cc
   HDRS
@@ -146,7 +146,7 @@ google_library(mapping_3d_local_trajectory_builder_interface
 )
 
 google_library(mapping_3d_local_trajectory_builder_options
-  USES_CERES
+  USES_GLOG
   SRCS
     local_trajectory_builder_options.cc
   HDRS
@@ -163,7 +163,7 @@ google_library(mapping_3d_local_trajectory_builder_options
 )
 
 google_library(mapping_3d_motion_filter
-  USES_CERES
+  USES_GLOG
   SRCS
     motion_filter.cc
   HDRS
@@ -177,7 +177,7 @@ google_library(mapping_3d_motion_filter
 )
 
 google_library(mapping_3d_optimizing_local_trajectory_builder
-  USES_CERES
+  USES_GLOG
   SRCS
     optimizing_local_trajectory_builder.cc
   HDRS
@@ -223,8 +223,8 @@ google_library(mapping_3d_rotation_cost_function
 )
 
 google_library(mapping_3d_sparse_pose_graph
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     sparse_pose_graph.cc
   HDRS
@@ -251,8 +251,8 @@ google_library(mapping_3d_sparse_pose_graph
 )
 
 google_library(mapping_3d_submaps
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     submaps.cc
   HDRS
@@ -285,8 +285,8 @@ google_test(mapping_3d_hybrid_grid_test
 )
 
 google_test(mapping_3d_kalman_local_trajectory_builder_test
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     kalman_local_trajectory_builder_test.cc
   DEPENDS

diff --git a/cartographer/mapping_3d/scan_matching/CMakeLists.txt b/cartographer/mapping_3d/scan_matching/CMakeLists.txt
@@ -17,6 +17,7 @@ add_subdirectory("proto")
 google_library(mapping_3d_scan_matching_ceres_scan_matcher
   USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     ceres_scan_matcher.cc
   HDRS
@@ -38,8 +39,8 @@ google_library(mapping_3d_scan_matching_ceres_scan_matcher
 )
 
 google_library(mapping_3d_scan_matching_fast_correlative_scan_matcher
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     fast_correlative_scan_matcher.cc
   HDRS
@@ -78,8 +79,8 @@ google_library(mapping_3d_scan_matching_occupied_space_cost_functor
 )
 
 google_library(mapping_3d_scan_matching_precomputation_grid
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     precomputation_grid.cc
   HDRS
@@ -91,8 +92,8 @@ google_library(mapping_3d_scan_matching_precomputation_grid
 )
 
 google_library(mapping_3d_scan_matching_real_time_correlative_scan_matcher
-  USES_CERES
   USES_EIGEN
+  USES_GLOG
   SRCS
     real_time_correlative_scan_matcher.cc
   HDRS