3D 激光导航算法

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  • 2022-06-03 10:26
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3D激光导航算法
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# Copyright 2016 The Cartographer Authors # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. cmake_minimum_required(VERSION 2.8.12) # Ships with Ubuntu 14.04 (Trusty) project(cartographer) set(CARTOGRAPHER_MAJOR_VERSION 1) set(CARTOGRAPHER_MINOR_VERSION 0) set(CARTOGRAPHER_PATCH_VERSION 0) set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION}) set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}) include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake") google_initialize_cartographer_project() google_enable_testing() find_package(Boost REQUIRED COMPONENTS iostreams) find_package(Ceres REQUIRED COMPONENTS SparseLinearAlgebraLibrary) find_package(Eigen3 REQUIRED) find_package(LuaGoogle REQUIRED) find_package(Protobuf REQUIRED) include(FindPkgConfig) PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16) # Only build the documentation if we can find Sphinx. find_package(Sphinx) if(SPHINX_FOUND) add_subdirectory("docs") endif() # Install catkin package.xml install(FILES package.xml DESTINATION share/cartographer) set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY ${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files CACHE PATH ".lua configuration files directory") install(DIRECTORY configuration_files DESTINATION share/cartographer/) install(DIRECTORY cmake DESTINATION share/cartographer/) file(GLOB_RECURSE ALL_SRCS "*.cc" "*.h") file(GLOB_RECURSE ALL_TESTS "*_test.cc") file(GLOB_RECURSE ALL_EXECUTABLES "*_main.cc") list(REMOVE_ITEM ALL_SRCS ${ALL_TESTS}) list(REMOVE_ITEM ALL_SRCS ${ALL_EXECUTABLES}) file(GLOB_RECURSE ALL_PROTOS "*.proto") set(ALL_PROTO_SRCS) set(ALL_PROTO_HDRS) foreach(ABS_FIL ${ALL_PROTOS}) file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL}) get_filename_component(DIR ${REL_FIL} DIRECTORY) get_filename_component(FIL_WE ${REL_FIL} NAME_WE) list(APPEND ALL_PROTO_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc") list(APPEND ALL_PROTO_HDRS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h") add_custom_command( OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc" "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h" COMMAND ${PROTOBUF_PROTOC_EXECUTABLE} ARGS --cpp_out ${PROJECT_BINARY_DIR} -I ${PROJECT_SOURCE_DIR} ${ABS_FIL} DEPENDS ${ABS_FIL} COMMENT "Running C++ protocol buffer compiler on ${ABS_FIL}" VERBATIM ) endforeach() set_source_files_properties(${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS} PROPERTIES GENERATED TRUE) list(APPEND ALL_SRCS ${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS}) add_library(${PROJECT_NAME} ${ALL_SRCS}) configure_file( ${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake ${PROJECT_BINARY_DIR}/cartographer/common/config.h) google_binary(cartographer_compute_relations_metrics SRCS cartographer/ground_truth/compute_relations_metrics_main.cc ) foreach(ABS_FIL ${ALL_TESTS}) file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL}) get_filename_component(DIR ${REL_FIL} DIRECTORY) get_filename_component(FIL_WE ${REL_FIL} NAME_WE) # Replace slashes as required for CMP0037. string(REPLACE "/" "." TEST_TARGET_NAME "${DIR}/${FIL_WE}") google_test("${TEST_TARGET_NAME}" ${ABS_FIL}) endforeach() target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${EIGEN3_INCLUDE_DIR}") target_link_libraries(${PROJECT_NAME} PUBLIC ${EIGEN3_LIBRARIES}) target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${CERES_INCLUDE_DIRS}") target_link_libraries(${PROJECT_NAME} PUBLIC ${CERES_LIBRARIES}) target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${LUA_INCLUDE_DIR}") target_link_libraries(${PROJECT_NAME} PUBLIC ${LUA_LIBRARIES}) target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${Boost_INCLUDE_DIRS}") target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES}) target_link_libraries(${PROJECT_NAME} PUBLIC webp) # 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_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 ${PROTOBUF_LIBRARY} pthread) # Add the binary directory first, so that port.h is included after it has # been generated. target_include_directories(${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}> $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}> $<INSTALL_INTERFACE:include> ) # TODO(damonkohler): Create a testing library. target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE "${GMOCK_INCLUDE_DIRS}") target_link_libraries(${PROJECT_NAME} PUBLIC ${GMOCK_LIBRARY}) set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}") set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS}) install( TARGETS ${PROJECT_NAME} EXPORT CartographerExport ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin ) # Install source headers. file(GLOB_RECURSE hdrs "*.h") foreach(HDR ${hdrs}) file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${HDR}) get_filename_component(INSTALL_DIR ${REL_FIL} DIRECTORY) install( FILES ${HDR} DESTINATION include/${INSTALL_DIR} ) endforeach() # Install generated headers. file(GLOB_RECURSE hdrs "*.h.in") foreach(HDR ${hdrs}) file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${HDR}) get_filename_component(DIR ${REL_FIL} DIRECTORY) get_filename_component(FIL_WE ${REL_FIL} NAME_WE) install( FILES ${PROJECT_BINARY_DIR}/${DIR}/${FILE_WE} DESTINATION include/${DIR} ) endforeach() # Install proto headers. foreach(HDR ${ALL_PROTO_HDRS}) file(RELATIVE_PATH REL_FIL ${PROJECT_BINARY_DIR} ${HDR}) get_filename_component(DIR ${REL_FIL} DIRECTORY) install( FILES ${HDR} DESTINATION include/${DIR} ) endforeach() set(CARTOGRAPHER_CMAKE_DIR share/cartographer/cmake) include(CMakePackageConfigHelpers) configure_package_config_file( cartographer-config.cmake.in ${PROJECT_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake PATH_VARS CARTOGRAPHER_CMAKE_DIR INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer ) install( EXPORT CartographerExport DESTINATION share/cartographer/cmake/ FILE CartographerTargets.cmake ) install( FILES ${PROJECT_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake DESTINATION share/cartographer/ )
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